static void assert_same_hit(AxisAlignedBox3d aabox, Box3d obox, Ray3d ray, bool bIsAlwaysHit)
{
IntrRay3Box3 ohit = new IntrRay3Box3(ray, obox);
ohit.Find();
if (bIsAlwaysHit)
{
Debug.Assert(ohit.Find() == true);
}
IntrRay3AxisAlignedBox3 aabbhit = new IntrRay3AxisAlignedBox3(ray, aabox);
aabbhit.Find();
if (bIsAlwaysHit)
{
Debug.Assert(aabbhit.Find() == true);
}
Debug.Assert(ohit.Find() == aabbhit.Find());
Debug.Assert(ohit.Test() == ohit.Find());
Debug.Assert(aabbhit.Test() == aabbhit.Find());
if (ohit.Find())
{
Debug.Assert(MathUtil.EpsilonEqual(ohit.RayParam0, aabbhit.RayParam0, MathUtil.ZeroTolerance));
}
}
override public bool FindRayIntersection(Ray3f worldRay, out SORayHit hit)
{
hit = null;
// project world ray into local coords
FScene scene = GetScene();
Ray3f sceneRay = scene.ToSceneRay(worldRay);
Ray3f localRay = SceneTransforms.SceneToObject(this, sceneRay);
// also need width in local coords
float sceneWidth = scene.ToSceneDimension(visibleWidth);
float localWidth = SceneTransforms.SceneToObject(this, sceneWidth) * HitWidthMultiplier;
// bounding-box hit test (would be nice to do w/o object allocation...)
AxisAlignedBox3d hitBox = localBounds;
hitBox.Expand(localWidth);
IntrRay3AxisAlignedBox3 box_test = new IntrRay3AxisAlignedBox3(localRay, hitBox);
if (box_test.Find() == false)
{
return(false);
}
// raycast against curve (todo: spatial data structure for this? like 2D polycurve bbox tree?)
double rayHitT;
if (CurveUtils.FindClosestRayIntersection(curve, localWidth, localRay, out rayHitT))
{
hit = new SORayHit();
// transform local hit point back into world coords
Vector3f rayPos = localRay.PointAt((float)rayHitT);
Vector3f scenePos = SceneTransforms.ObjectToSceneP(this, rayPos);
hit.hitPos = SceneTransforms.SceneToWorldP(scene, scenePos);
hit.fHitDist = worldRay.Project(hit.hitPos);
hit.hitNormal = Vector3f.Zero;
hit.hitGO = root;
hit.hitSO = this;
return(true);
}
return(false);
}
/// <summary>
/// try to find intersection of ray with curves
/// </summary>
public int FindRayIntersection(Ray3d ray, double useRadius = -1)
{
double r = (useRadius > 0) ? useRadius : Radius;
double nearest_t = double.MaxValue;
int hit_i = -1;
for (int i = 0; i < CurveSet.Length; ++i)
{
if (CurveSet[i].visible == false)
{
continue;
}
if (IntrRay3AxisAlignedBox3.Intersects(ref ray, ref CurveSet[i].bounds, r) == false)
{
continue;
}
int hitSeg; double ray_t;
if (CurveSet[i].spatial.FindClosestRayIntersction(ray, r, out hitSeg, out ray_t))
{
if (ray_t < nearest_t)
{
nearest_t = ray_t;
hit_i = i;
}
}
// brute-force version
//double ray_t;
//if ( CurveUtils.FindClosestRayIntersection(CurveSet[i].curve, r, ray, out ray_t )) {
// if ( ray_t < nearest_t ) {
// nearest_t = ray_t;
// hit_i = i;
// }
//}
}
return(hit_i);
}
// [RMS] this only tests some basic cases...
public static void test_RayBoxIntersect()
{
Random rand = new Random(316136327);
// check that box hit works
for (int ii = 0; ii < 1000; ++ii)
{
// generate random triangle
Triangle3d t = new Triangle3d(rand.PointInRange(10), rand.PointInRange(10), rand.PointInRange(10));
AxisAlignedBox3d bounds = new AxisAlignedBox3d(t.V0);
bounds.Contain(t.V1);
bounds.Contain(t.V2);
Vector3d c = (t.V0 + t.V1 + t.V2) / 3.0;
for (int jj = 0; jj < 1000; ++jj)
{
Vector3d d = rand.Direction();
Ray3d ray = new Ray3d(c - 100 * d, d);
IntrRay3AxisAlignedBox3 bhit = new IntrRay3AxisAlignedBox3(ray, bounds);
Debug.Assert(bhit.Find());
IntrRay3Triangle3 thit = new IntrRay3Triangle3(ray, t);
Debug.Assert(thit.Find());
Debug.Assert(bhit.RayParam0 < thit.RayParameter);
}
}
int N = 100;
for (int ii = 0; ii < N; ++ii)
{
// generate random boxes
Vector3d c = rand.PointInRange(10);
Vector3d e = rand.PositivePoint();
AxisAlignedBox3d aabox = new AxisAlignedBox3d(c - e, c + e);
Box3d obox = new Box3d(c, Vector3d.AxisX, Vector3d.AxisY, Vector3d.AxisZ, e);
double r = aabox.DiagonalLength;
// center-out tests
for (int jj = 0; jj < N; ++jj)
{
Ray3d ray = new Ray3d(c, rand.Direction());
assert_same_hit(aabox, obox, ray, true);
}
// outside-in tests
for (int jj = 0; jj < N; ++jj)
{
Vector3d p = c + 2 * r * rand.Direction();
Ray3d ray = new Ray3d(p, (c - p).Normalized);
assert_same_hit(aabox, obox, ray, true);
}
}
// random rays
int hits = 0;
int InnerN = 1000;
for (int ii = 0; ii < N; ++ii)
{
// generate random boxe
Vector3d c = rand.PointInRange(10);
Vector3d e = rand.PositivePoint();
// every tenth box, set an axis to degenerate
if (ii % 10 == 0)
{
e[rand.Next() % 3] = 0;
}
AxisAlignedBox3d aabox = new AxisAlignedBox3d(c - e, c + e);
Box3d obox = new Box3d(c, Vector3d.AxisX, Vector3d.AxisY, Vector3d.AxisZ, e);
double r = aabox.DiagonalLength;
TrivialBox3Generator boxgen = new TrivialBox3Generator()
{
Box = obox
};
boxgen.Generate();
DMesh3 mesh = new DMesh3();
boxgen.MakeMesh(mesh);
for (int i = 0; i < InnerN; ++i)
{
Vector3d target = c + rand.PointInRange(r);
Vector3d o = c + rand.PointInRange(10 * r);
Ray3d ray = new Ray3d(o, (target - o).Normalized);
assert_same_hit(aabox, obox, ray, false);
int hitT = MeshQueries.FindHitTriangle_LinearSearch(mesh, ray);
bool bMeshHit = (hitT != DMesh3.InvalidID);
if (bMeshHit)
{
++hits;
}
IntrRay3AxisAlignedBox3 aabbhit = new IntrRay3AxisAlignedBox3(ray, aabox);
Debug.Assert(aabbhit.Find() == bMeshHit);
Debug.Assert(aabbhit.Test() == bMeshHit);
}
}
System.Console.WriteLine("hit {0} of {1} rays", hits, N * InnerN);
}
