public static Vector3 GetGridLocalMin(SpatialGrid grids, SpatialGridIndex index)
{
Vector3 localMin = new Vector3(0, 0, 0);
localMin.x = grids.min.x + grids.w * index.x;
localMin.y = grids.min.y + grids.h * index.y;
localMin.z = grids.min.z + grids.d * index.z;
return(localMin);
}
public static Vector3 GetGridLocalMax(SpatialGrid grids, SpatialGridIndex index)
{
Vector3 localMax = new Vector3(0, 0, 0);
localMax.x = grids.min.x + grids.w * (index.x + 1);
localMax.y = grids.min.y + grids.h * (index.y + 1);
localMax.z = grids.min.z + grids.d * (index.z + 1);
return(localMax);
}
public static void GetDeltaToBoundary(SpatialGridIndex entryGridIndex, SpatialGrid grids, Ray entryToBoundaryRay, GridStep steps, ref RayHit rayHitX, ref RayHit rayHitY, ref RayHit rayHitZ)
{
InnerDistanceToBoundary(
entryToBoundaryRay,
steps,
GetGridLocalMin(grids, entryGridIndex),
GetGridLocalMax(grids, entryGridIndex),
ref rayHitX,
ref rayHitY,
ref rayHitZ);
}
public static RayHit LocalGridTrace(Ray ray, SpatialGridIndex index, List <int> geomGridList, List <RTTriangle_t> triangles, SpatialGrid grids, int excludeGeometry)
{
RayHit bestHit = RayHit.CreateRayHit();
RayHit currentHit = RayHit.CreateRayHit();
int start = 0;
int count = 0;
GetNumberOfGeometryInGrid(index, geomGridList, grids.dimension, out start, out count);
if (count == 0)
{
return(bestHit);
}
Vector3 localMin = SpatialGridCompute.GetGridLocalMin(grids, index);
Vector3 localMax = SpatialGridCompute.GetGridLocalMax(grids, index);
for (int t = 0; t < count; t++)
{
if (triangles[start + t].id == excludeGeometry)
{
continue;
}
RTTriangle.IntersectTriangle(ray, ref currentHit, triangles[start + t]);
if (!(localMin.x <= currentHit.hitPoint.x && currentHit.hitPoint.x <= localMax.x))
{
currentHit = bestHit; // Reset currentHit
continue;
}
if (!(localMin.y <= currentHit.hitPoint.y && currentHit.hitPoint.y <= localMax.y))
{
currentHit = bestHit; // Reset currentHit
continue;
}
if (!(localMin.z <= currentHit.hitPoint.z && currentHit.hitPoint.z <= localMax.z))
{
currentHit = bestHit; // Reset currentHit
continue;
}
bestHit = currentHit;
}
return(bestHit);
}
public static void GetNumberOfGeometryInGrid(SpatialGridIndex index, List <int> geomGridList, int dimension,
out int start, out int count)
{
int i = index.z + index.y * dimension + index.x * dimension * dimension;
try
{
start = geomGridList[i];
count = geomGridList[i + 1] - geomGridList[i]; // The index is offset by 1 due to leading zero field
}
catch (ArgumentException e)
{
Debug.LogError($"ArgOut i = {i} x = {index.x} y = {index.y} z = {index.z} d = {dimension}");
start = 0;
count = 0;
}
}
public CubeController GetGridAtIndex(SpatialGridIndex index)
{
if (index.x < 0 || index.x >= _cubes.GetLength(0))
{
return(null);
}
if (index.y < 0 || index.y >= _cubes.GetLength(1))
{
return(null);
}
if (index.z < 0 || index.z >= _cubes.GetLength(2))
{
return(null);
}
return(_cubes[index.x, index.y, index.z]);
}
public static void DistanceBetweenBoundary(Ray ray, GridStep steps, SpatialGridIndex entryGridIndex, SpatialGrid grids, Vector3 firstHitX, Vector3 firstHitY, Vector3 firstHitZ, ref RayHit rayHitX, ref RayHit rayHitY, ref RayHit rayHitZ)
{
Vector3 min = GetGridLocalMin(grids, entryGridIndex);
Vector3 max = GetGridLocalMax(grids, entryGridIndex);
Ray rX = SpatialGridTrace.CreateRay(firstHitX, ray.direction);
Ray rY = SpatialGridTrace.CreateRay(firstHitY, ray.direction);
Ray rZ = SpatialGridTrace.CreateRay(firstHitZ, ray.direction);
if (steps.x >= 0)
{
rayHitX = RayPlaneIntersectionCompute.RayPlaneIntersection(rX, GridNormalLeft, max + GridNormalRight);
}
else
{
rayHitX = RayPlaneIntersectionCompute.RayPlaneIntersection(rX, GridNormalRight, min + GridNormalLeft);
}
if (steps.y >= 0)
{
rayHitY = RayPlaneIntersectionCompute.RayPlaneIntersection(rY, GridNormalDown, max + GridNormalUp);
}
else
{
rayHitY = RayPlaneIntersectionCompute.RayPlaneIntersection(rY, GridNormalUp, min + GridNormalDown);
}
if (steps.z >= 0)
{
rayHitZ = RayPlaneIntersectionCompute.RayPlaneIntersection(rZ, GridNormalBack, max + GridNormalForward);
}
else
{
rayHitZ = RayPlaneIntersectionCompute.RayPlaneIntersection(rZ, GridNormalForward, min + GridNormalBack);
}
}
public static bool IsGridIndexOutsideGrid(SpatialGrid grid, SpatialGridIndex index)
{
return((index.x >= grid.dimension || index.x < 0) ||
(index.y >= grid.dimension || index.y < 0) ||
(index.z >= grid.dimension || index.z < 0));
}
public static RayHit Trace(Ray cameraRay, SpatialGrid spatialGrid, List <int> geometryIndexList,
List <RTTriangle_t> geometryList, int exclude)
{
RayHit bestHit = RayHit.CreateRayHit();
float t0 = float.NegativeInfinity;
float t1 = float.PositiveInfinity;
if (RayBoxIntersectionCompute.RayBoxIntersection(cameraRay, spatialGrid.min, spatialGrid.max, ref t0, ref t1))
{
Vector3 entry = cameraRay.GetPoint(t1);
GridStep step = DetermineGridStep(cameraRay);
Ray entryToBoundaryRay = CreateRay(entry, cameraRay.direction);
SpatialGridIndex entryGridIndex = SpatialGridCompute.GetGridIndexAtPoint(spatialGrid, entry);
RayHit deltaX = new RayHit();
RayHit deltaY = new RayHit();
RayHit deltaZ = new RayHit();
SpatialGridCompute.GetDeltaToBoundary(
entryGridIndex,
spatialGrid,
entryToBoundaryRay,
step,
ref deltaX,
ref deltaY,
ref deltaZ);
RayHit distToNextX = new RayHit();
RayHit distToNextY = new RayHit();
RayHit distToNextZ = new RayHit();
SpatialGridCompute.DistanceBetweenBoundary(
cameraRay,
step,
entryGridIndex,
spatialGrid,
deltaX.hitPoint,
deltaY.hitPoint,
deltaZ.hitPoint,
ref distToNextX,
ref distToNextY,
ref distToNextZ
);
float tx = deltaX.distance;
float ty = deltaY.distance;
float tz = deltaZ.distance;
SpatialGridIndex current = entryGridIndex;
#region Debug
CubeController currentGridController = CubeGlobalData.Instance.GetGridAtIndex(current);
JoeRayCaster.voxelsHitList.Clear();
JoeRayCaster.voxelsHitList.Add(currentGridController);
#endregion //Debug
bool hasHit = false;
bool outside = false;
do
{
bestHit = LocalGridTrace(
cameraRay,
current,
geometryIndexList,
geometryList,
spatialGrid,
-1);
if (tx < ty)
{
if (tx < tz)
{
// Move On X
current.x = current.x + step.x;
tx += distToNextX.distance;
}
else
{
// Move On Z
current.z = current.z + step.z;
tz += distToNextZ.distance;
}
}
else
{
if (ty < tz)
{
// Move On Y
current.y = current.y + step.y;
ty += distToNextY.distance;
}
else
{
// Move On Z
current.z = current.z + step.z;
tz += distToNextZ.distance;
}
}
#region Debug
currentGridController = CubeGlobalData.Instance.GetGridAtIndex(current);
if (currentGridController != null)
{
JoeRayCaster.voxelsHitList.Add(currentGridController);
}
#endregion
hasHit = (bestHit.distance < float.PositiveInfinity);
outside = SpatialGridCompute.IsGridIndexOutsideGrid(spatialGrid, current);
}while(!hasHit && !outside);
}
else
{
JoeRayCaster.voxelsHitList.Clear();
}
return(bestHit);
}