private float?ProcessTriangle(int triangleIndex)
{
System.Diagnostics.Debug.Assert((int)m_flags != 0);
MyTriangle_Vertexes triangle;
MyTriangleVertexIndices triangleIndices = m_model.Triangles[triangleIndex];
m_model.GetVertex(triangleIndices.I0, triangleIndices.I2, triangleIndices.I1, out triangle.Vertex0, out triangle.Vertex1, out triangle.Vertex2);
Vector3 calculatedTriangleNormal = MyUtils.GetNormalVectorFromTriangle(ref triangle);
//We dont want backside intersections
if (((int)(m_flags & IntersectionFlags.FLIPPED_TRIANGLES) == 0) &&
Vector3.Dot(m_line.Direction, calculatedTriangleNormal) > 0)
{
return(null);
}
Line lineF = (Line)m_line;
float?distance = MyUtils.GetLineTriangleIntersection(ref lineF, ref triangle);
if (distance.HasValue)
{
var result = new MyIntersectionResultLineTriangle(ref triangle, ref calculatedTriangleNormal, distance.Value);
m_result.Add(result);
}
return(distance);
}
public MyIntersectionResultLineTriangleEx(MyIntersectionResultLineTriangle triangle, IMyEntity entity, ref LineD line, Vector3D intersectionPointInWorldSpace, Vector3 normalInWorldSpace)
{
Triangle = triangle;
Entity = entity;
InputLineInObjectSpace = line;
NormalInObjectSpace = NormalInWorldSpace = normalInWorldSpace;
IntersectionPointInWorldSpace = intersectionPointInWorldSpace;
IntersectionPointInObjectSpace = (Vector3)IntersectionPointInWorldSpace;
}
// Find and return closer intersection of these two. If intersection is null then it's not really an intersection.
public static MyIntersectionResultLineTriangle? GetCloserIntersection(ref MyIntersectionResultLineTriangle? a, ref MyIntersectionResultLineTriangle? b)
{
if (((a == null) && (b != null)) ||
((a != null) && (b != null) && (b.Value.Distance < a.Value.Distance)))
{
// If only "b" contains valid intersection, or when it's closer than "a"
return b;
}
else
{
// This will be returned also when ((a == null) && (b == null))
return a;
}
}
public MyIntersectionResultLineTriangleEx(MyIntersectionResultLineTriangle triangle, IMyEntity entity, ref LineD line)
{
Triangle = triangle;
Entity = entity;
InputLineInObjectSpace = line;
NormalInObjectSpace = MyUtils.GetNormalVectorFromTriangle(ref Triangle.InputTriangle);
IntersectionPointInObjectSpace = line.From + line.Direction * Triangle.Distance;
if (Entity is IMyVoxelBase)
{
IntersectionPointInWorldSpace = (Vector3D)IntersectionPointInObjectSpace;
NormalInWorldSpace = NormalInObjectSpace;
// This will move intersection point from world space into voxel map's object space
IntersectionPointInObjectSpace = IntersectionPointInObjectSpace - ((IMyVoxelBase)Entity).PositionLeftBottomCorner;
}
else
{
var worldMatrix = Entity.WorldMatrix;
NormalInWorldSpace = (Vector3)MyUtils.GetTransformNormalNormalized((Vector3D)NormalInObjectSpace, ref worldMatrix);
IntersectionPointInWorldSpace = Vector3D.Transform((Vector3D)IntersectionPointInObjectSpace, ref worldMatrix);
}
}
public MyIntersectionResultLineTriangleEx(MyIntersectionResultLineTriangle triangle, IMyEntity entity, ref LineD line)
{
Triangle = triangle;
Entity = entity;
InputLineInObjectSpace = line;
NormalInObjectSpace = MyUtils.GetNormalVectorFromTriangle(ref Triangle.InputTriangle);
IntersectionPointInObjectSpace = line.From + line.Direction * Triangle.Distance;
if (Entity is IMyVoxelBase)
{
IntersectionPointInWorldSpace = (Vector3D)IntersectionPointInObjectSpace;
NormalInWorldSpace = NormalInObjectSpace;
// This will move intersection point from world space into voxel map's object space
IntersectionPointInObjectSpace = IntersectionPointInObjectSpace - ((IMyVoxelBase)Entity).PositionLeftBottomCorner;
}
else
{
var worldMatrix = Entity.WorldMatrix;
NormalInWorldSpace = (Vector3)MyUtils.GetTransformNormalNormalized((Vector3D)NormalInObjectSpace, ref worldMatrix);
IntersectionPointInWorldSpace = Vector3D.Transform((Vector3D)IntersectionPointInObjectSpace, ref worldMatrix);
}
}
// Finds intersection between line and model, using octree for speedup the lookup.
// Another speedup is, that first we check triangles that are directly in the node and then start
// checking node's childs. But only if child node instersection is less than last know min distance.
MyIntersectionResultLineTriangle? GetIntersectionWithLineRecursive(MyModel model, ref LineD line, double? minDistanceUntilNow)
{
// Check if line intersects bounding box of this node and if distance to bounding box is less then last know min distance
Line lineF = (Line)line;
double? distanceToBoundingBox = MyUtils.GetLineBoundingBoxIntersection(ref lineF, ref m_boundingBox);
if ((distanceToBoundingBox.HasValue == false) || ((minDistanceUntilNow != null) && (minDistanceUntilNow < distanceToBoundingBox.Value))) return null;
// Triangles that are directly in this node
MyIntersectionResultLineTriangle? foundIntersection = null;
// temporary variable for storing tirngle boundingbox info
BoundingBox triangleBoundingBox = new BoundingBox();
BoundingBox lineBB = BoundingBox.CreateInvalid();
lineBB = lineBB.Include(line.From);
lineBB = lineBB.Include(line.To);
for (int i = 0; i < m_triangleIndices.Count; i++)
{
int triangleIndex = m_triangleIndices[i];
model.GetTriangleBoundingBox(triangleIndex, ref triangleBoundingBox);
// First test intersection of triangleVertexes's bounding box with line's bounding box. And only if they overlap or intersect, do further intersection tests.
if (triangleBoundingBox.Intersects(ref lineBB))
{
// See that we swaped vertex indices!!
MyTriangle_Vertexes triangle;
MyTriangleVertexIndices triangleIndices = model.Triangles[triangleIndex];
triangle.Vertex0 = model.GetVertex(triangleIndices.I0);
triangle.Vertex1 = model.GetVertex(triangleIndices.I2);
triangle.Vertex2 = model.GetVertex(triangleIndices.I1);
double? distance = MyUtils.GetLineTriangleIntersection(ref lineF, ref triangle);
// If intersection occured and if distance to intersection is closer to origin than any previous intersection
if ((distance != null) && ((foundIntersection == null) || (distance.Value < foundIntersection.Value.Distance)))
{
Vector3 calculatedTriangleNormal = MyUtils.GetNormalVectorFromTriangle(ref triangle);
// We need to remember original triangleVertexes coordinates (not transformed by world matrix)
foundIntersection = new MyIntersectionResultLineTriangle(ref triangle, ref calculatedTriangleNormal, distance.Value);
}
}
}
// Get intersection with childs of this node
if (m_childs != null)
{
for (int i = 0; i < m_childs.Count; i++)
{
MyIntersectionResultLineTriangle? childIntersection = m_childs[i].GetIntersectionWithLineRecursive(model, ref line,
(foundIntersection == null) ? (double?)null : foundIntersection.Value.Distance);
// If intersection occured and if distance to intersection is closer to origin than any previous intersection
foundIntersection = MyIntersectionResultLineTriangle.GetCloserIntersection(ref foundIntersection, ref childIntersection);
}
}
return foundIntersection;
}
public MyIntersectionResultLineTriangleEx(MyIntersectionResultLineTriangle triangle, IMyEntity entity, ref LineD line, Vector3D intersectionPointInWorldSpace, Vector3 normalInWorldSpace)
{
Triangle = triangle;
Entity = entity;
InputLineInObjectSpace = line;
NormalInObjectSpace = NormalInWorldSpace = normalInWorldSpace;
IntersectionPointInWorldSpace = intersectionPointInWorldSpace;
IntersectionPointInObjectSpace = (Vector3)IntersectionPointInWorldSpace;
}
private void GetCellLineIntersectionOctree(ref MyIntersectionResultLineTriangle? result, ref Line modelSpaceLine, ref float? minDistanceUntilNow, CellData cachedDataCell, IntersectionFlags flags)
{
m_overlapElementCache.Clear();
if (cachedDataCell.Octree != null)
{
Vector3 packedStart;
cachedDataCell.GetPackedPosition(ref modelSpaceLine.From, out packedStart);
var ray = new Ray(packedStart, modelSpaceLine.Direction);
cachedDataCell.Octree.GetIntersectionWithLine(ref ray, m_overlapElementCache);
}
for (int j = 0; j < m_overlapElementCache.Count; j++)
{
var i = m_overlapElementCache[j];
if (cachedDataCell.VoxelTriangles == null) //probably not calculated yet
continue;
// this should never happen
if (i >= cachedDataCell.VoxelTriangles.Length)
{
Debug.Assert(i < cachedDataCell.VoxelTriangles.Length);
continue;
}
MyVoxelTriangle voxelTriangle = cachedDataCell.VoxelTriangles[i];
MyTriangle_Vertexes triangleVertices;
cachedDataCell.GetUnpackedPosition(voxelTriangle.VertexIndex0, out triangleVertices.Vertex0);
cachedDataCell.GetUnpackedPosition(voxelTriangle.VertexIndex1, out triangleVertices.Vertex1);
cachedDataCell.GetUnpackedPosition(voxelTriangle.VertexIndex2, out triangleVertices.Vertex2);
Vector3 calculatedTriangleNormal = MyUtils.GetNormalVectorFromTriangle(ref triangleVertices);
//We dont want backside intersections
if (((int)(flags & IntersectionFlags.FLIPPED_TRIANGLES) == 0) &&
Vector3.Dot(modelSpaceLine.Direction, calculatedTriangleNormal) > 0)
continue;
// AABB intersection test removed, AABB is tested inside BVH
float? distance = MyUtils.GetLineTriangleIntersection(ref modelSpaceLine, ref triangleVertices);
// If intersection occured and if distance to intersection is closer to origin than any previous intersection
if ((distance != null) && ((result == null) || (distance.Value < result.Value.Distance)))
{
minDistanceUntilNow = distance.Value;
result = new MyIntersectionResultLineTriangle(ref triangleVertices, ref calculatedTriangleNormal, distance.Value);
}
}
}
public bool Intersect(ref Line localLine, out MyIntersectionResultLineTriangle result, IntersectionFlags flags)
{
MyPrecalcComponent.AssertUpdateThread();
ProfilerShort.Begin("VoxelMap.LineIntersection AABB sweep");
m_sweepResultCache.Clear();
MyGridIntersection.Calculate(
m_sweepResultCache,
(int)MyVoxelConstants.GEOMETRY_CELL_SIZE_IN_METRES,
localLine.From,
localLine.To,
new Vector3I(0, 0, 0),
m_cellsCount - 1
);
ProfilerShort.End();
ProfilerShort.Begin("VoxelMap.LineIntersection test AABBs");
float? minDistanceUntilNow = null;
BoundingBox cellBoundingBox;
MyCellCoord cell = new MyCellCoord();
MyIntersectionResultLineTriangle? tmpResult = null;
for (int index = 0; index < m_sweepResultCache.Count; index++)
{
cell.CoordInLod = m_sweepResultCache[index];
MyVoxelCoordSystems.GeometryCellCoordToLocalAABB(ref cell.CoordInLod, out cellBoundingBox);
float? distanceToBoundingBox = MyUtils.GetLineBoundingBoxIntersection(ref localLine, ref cellBoundingBox);
// Sweep results are sorted; when we get far enough, make an early exit
const float earlyOutDistance = 1.948557f * MyVoxelConstants.GEOMETRY_CELL_SIZE_IN_METRES; // = sqrt(3) * 9/8 * cell_side
if (minDistanceUntilNow != null && distanceToBoundingBox != null && minDistanceUntilNow + earlyOutDistance < distanceToBoundingBox.Value)
{
break;
}
// Get cell from cache. If not there, precalc it and store in the cache.
// If null is returned, we know that cell doesn't contain any triangleVertexes so we don't need to do intersections.
CellData cachedDataCell = GetCell(ref cell);
if (cachedDataCell == null || cachedDataCell.VoxelTrianglesCount == 0) continue;
GetCellLineIntersectionOctree(ref tmpResult, ref localLine, ref minDistanceUntilNow, cachedDataCell, flags);
}
ProfilerShort.End();
result = tmpResult ?? default(MyIntersectionResultLineTriangle);
return tmpResult.HasValue;
}