private void TestToStringWithCulture(CultureInfo culture)
{
CultureInfo originalCulture = Thread.CurrentThread.CurrentCulture;
Thread.CurrentThread.CurrentCulture = culture;
try
{
string listSeparator = culture.TextInfo.ListSeparator;
string decimalSeparator = culture.NumberFormat.NumberDecimalSeparator;
var o = new Ray3F(new Vec3F(1.1f, 2.2f, 3.3f), new Vec3F(4.4f, 5.5f, 6.6f));
string s = o.ToString(null, null);
TestToStringResults(o, s, listSeparator, decimalSeparator);
string s2 = o.ToString();
Assert.AreEqual(s, s2);
s = o.ToString("G", culture);
TestToStringResults(o, s, listSeparator, decimalSeparator);
s = o.ToString("R", culture);
TestToStringResults(o, s, listSeparator, decimalSeparator);
}
finally
{
Thread.CurrentThread.CurrentCulture = originalCulture;
}
}
private void TestToStringResults(Ray3F o, string s, string listSeparator, string decimalSeparator)
{
string[] results = s.Split(new[] { listSeparator }, StringSplitOptions.RemoveEmptyEntries);
Assert.AreEqual(results.Length, 6);
foreach (string oneFloatString in results)
Assert.True(oneFloatString.Contains(decimalSeparator));
Assert.AreEqual(float.Parse(results[0]), o.Origin.X);
Assert.AreEqual(float.Parse(results[1]), o.Origin.Y);
Assert.AreEqual(float.Parse(results[2]), o.Origin.Z);
Assert.AreEqual(float.Parse(results[3]), o.Direction.X);
Assert.AreEqual(float.Parse(results[4]), o.Direction.Y);
Assert.AreEqual(float.Parse(results[5]), o.Direction.Z);
}
/// <summary>
/// Tests if a specified ray intersects this sphere</summary>
/// <param name="ray">The ray, with an origin and unit-length direction. Only intersections in
/// front of the ray count.</param>
/// <param name="x">The intersection point, if there was an intersection</param>
/// <returns>True iff ray intersects this sphere</returns>
/// <remarks>Algorithm is from _Real-Time Rendering_, p. 299</remarks>
public bool Intersects(Ray3F ray, out Vec3F x)
{
// vector from ray's origin to sphere's center
Vec3F oToC = Center - ray.Origin;
// 'd' is the distance from the ray's origin to the nearest point on the ray to Center.
// Assumes that Direction has unit length.
float d = Vec3F.Dot(oToC, ray.Direction);
// distToCenterSquared is the distance from ray's origin to Center, squared.
float distToCenterSquared = oToC.LengthSquared;
float radiusSquared = Radius * Radius;
// if the sphere is behind the ray and the ray's origin is outside the sphere...
if (d < 0 && distToCenterSquared > radiusSquared)
{
x = new Vec3F();
return(false);
}
// 'm' is the distance from the ray to the center. Pythagorean's theorem.
float mSquared = distToCenterSquared - d * d;
if (mSquared > radiusSquared)
{
x = new Vec3F();
return(false);
}
// 'q' is the distance from the first intersection point to the nearest point
// on the ray to Center. Pythagorean's theorem.
float q = (float)Math.Sqrt(radiusSquared - mSquared);
// 't' is the distance along 'ray' to the point of first intersection.
float t;
if (distToCenterSquared > radiusSquared)
{
// ray's origin is outside the sphere.
t = d - q;
}
else
{
// ray's origin is inside the sphere.
t = d + q;
}
// the point of intersection is ray's origin plus distance along ray's direction
x = ray.Origin + t * ray.Direction;
return(true);
}
public HitRegion Pick(Matrix4F world, Matrix4F view, Ray3F rayL, Ray3F rayV, float s)
{
m_hitRegion = HitRegion.None;
m_hitRayV = rayV;
m_hitMatrix.Set(world);
m_hitWorldView = world * view;
float sl = s * SquareLength;
// test xy square.
Vec3F p1 = new Vec3F(0, 0, 0);
Vec3F p2 = new Vec3F(sl, 0, 0);
Vec3F p3 = new Vec3F(sl, sl, 0);
Vec3F p4 = new Vec3F(0, sl, 0);
Plane3F plane = new Plane3F(p1, p2, p3);
Vec3F p;
if (rayL.IntersectPlane(plane, out p))
{
// test point in 2d rectangle.
if (p.X > p1.X && p.X < p2.X
&& p.Y > p1.Y && p.Y < p4.Y)
{
m_hitRegion = HitRegion.XYSquare;
return m_hitRegion;
}
}
// test xz square
p1 = new Vec3F(0, 0, 0);
p2 = new Vec3F(sl, 0, 0);
p3 = new Vec3F(sl, 0, sl);
p4 = new Vec3F(0, 0, sl);
plane = new Plane3F(p1, p2, p3);
if (rayL.IntersectPlane(plane, out p))
{
// test point in 2d rectangle.
if (p.X > p1.X && p.X < p2.X
&& p.Z > p1.Z && p.Z < p4.Z)
{
m_hitRegion = HitRegion.XZSquare;
return m_hitRegion;
}
}
// test yz square
p1 = new Vec3F(0, 0, 0);
p2 = new Vec3F(0, 0, sl);
p3 = new Vec3F(0, sl, sl);
p4 = new Vec3F(0, sl, 0);
plane = new Plane3F(p1, p2, p3);
if (rayL.IntersectPlane(plane, out p))
{
// test point in 2d rectangle.
if (p.Z > p1.Z && p.Z < p2.Z
&& p.Y > p1.Z && p.Y < p4.Y)
{
m_hitRegion = HitRegion.YZSquare;
return m_hitRegion;
}
}
Vec3F min = new Vec3F(-0.5f, -0.5f, -0.5f);
Vec3F max = new Vec3F(0.5f, 0.5f, 0.5f);
AABB box = new AABB(min, max);
Matrix4F boxScale = new Matrix4F();
Matrix4F boxTrans = new Matrix4F();
Matrix4F BoxMtrx = new Matrix4F();
// X axis
boxScale.Scale(new Vec3F(s, s * br, s * br));
boxTrans.Translation = new Vec3F(s / 2, 0, 0);
BoxMtrx = boxScale * boxTrans;
Ray3F ray = rayL;
BoxMtrx.Invert(BoxMtrx);
ray.Transform(BoxMtrx);
if (box.Intersect(ray))
{
m_hitRegion = HitRegion.XAxis;
return m_hitRegion;
}
// y axis
boxScale.Scale(new Vec3F(s * br, s, s * br));
boxTrans.Translation = new Vec3F(0, s / 2, 0);
BoxMtrx = boxScale * boxTrans;
ray = rayL;
BoxMtrx.Invert(BoxMtrx);
ray.Transform(BoxMtrx);
if (box.Intersect(ray))
{
m_hitRegion = HitRegion.YAxis;
return m_hitRegion;
}
// z axis
boxScale.Scale(new Vec3F(s * br, s * br, s));
boxTrans.Translation = new Vec3F(0, 0, s / 2);
BoxMtrx = boxScale * boxTrans;
ray = rayL;
BoxMtrx.Invert(BoxMtrx);
ray.Transform(BoxMtrx);
if (box.Intersect(ray))
{
m_hitRegion = HitRegion.ZAxis;
}
return m_hitRegion;
}
public Vec3F OnDragging(Ray3F rayV)
{
if (m_hitRegion == HitRegion.None)
return Vec3F.ZeroVector;
Vec3F xLocal = m_hitMatrix.XAxis;
Vec3F yLocal = m_hitMatrix.YAxis;
Vec3F zLocal = m_hitMatrix.ZAxis;
Vec3F xAxis = m_hitWorldView.XAxis;
Vec3F yAxis = m_hitWorldView.YAxis;
Vec3F zAxis = m_hitWorldView.ZAxis;
Vec3F origin = m_hitWorldView.Translation;
Vec3F translate;
float a1, a2;
switch (m_hitRegion)
{
case HitRegion.XAxis:
{
a1 = Math.Abs(Vec3F.Dot(m_hitRayV.Direction, yAxis));
a2 = Math.Abs(Vec3F.Dot(m_hitRayV.Direction, zAxis));
Vec3F axis = (a1 > a2 ? yAxis : zAxis);
Vec3F p0 = m_hitRayV.IntersectPlane(axis, -Vec3F.Dot(axis, origin));
Vec3F p1 = rayV.IntersectPlane(axis, -Vec3F.Dot(axis, origin));
float dragAmount = Vec3F.Dot((p1 - p0), xAxis);
translate = dragAmount * xLocal;
}
break;
case HitRegion.YAxis:
{
a1 = Math.Abs(Vec3F.Dot(m_hitRayV.Direction, zAxis));
a2 = Math.Abs(Vec3F.Dot(m_hitRayV.Direction, xAxis));
Vec3F axis = (a1 > a2 ? zAxis : xAxis);
Vec3F p0 = m_hitRayV.IntersectPlane(axis, -Vec3F.Dot(axis, origin));
Vec3F p1 = rayV.IntersectPlane(axis, -Vec3F.Dot(axis, origin));
float dragAmount = Vec3F.Dot((p1 - p0), yAxis);
translate = dragAmount * yLocal;
}
break;
case HitRegion.ZAxis:
{
a1 = Math.Abs(Vec3F.Dot(m_hitRayV.Direction, xAxis));
a2 = Math.Abs(Vec3F.Dot(m_hitRayV.Direction, yAxis));
Vec3F axis = (a1 > a2 ? xAxis : yAxis);
Vec3F p0 = m_hitRayV.IntersectPlane(axis, -Vec3F.Dot(axis, origin));
Vec3F p1 = rayV.IntersectPlane(axis, -Vec3F.Dot(axis, origin));
float dragAmount = Vec3F.Dot((p1 - p0), zAxis);
translate = dragAmount * zLocal;
}
break;
case HitRegion.XYSquare:
{
Vec3F p0 = m_hitRayV.IntersectPlane(zAxis, -Vec3F.Dot(zAxis, origin));
Vec3F p1 = rayV.IntersectPlane(zAxis, -Vec3F.Dot(zAxis, origin));
Vec3F deltaLocal = p1 - p0;
float dragX = Vec3F.Dot(xAxis, deltaLocal);
float dragY = Vec3F.Dot(yAxis, deltaLocal);
translate = dragX * xLocal + dragY * yLocal;
}
break;
case HitRegion.YZSquare:
{
Vec3F p0 = m_hitRayV.IntersectPlane(xAxis, -Vec3F.Dot(xAxis, origin));
Vec3F p1 = rayV.IntersectPlane(xAxis, -Vec3F.Dot(xAxis, origin));
Vec3F deltaLocal = p1 - p0;
float dragY = Vec3F.Dot(yAxis, deltaLocal);
float dragZ = Vec3F.Dot(zAxis, deltaLocal);
translate = dragY * yLocal + dragZ * zLocal;
}
break;
case HitRegion.XZSquare:
{
Vec3F p0 = m_hitRayV.IntersectPlane(yAxis, -Vec3F.Dot(yAxis, origin));
Vec3F p1 = rayV.IntersectPlane(yAxis, -Vec3F.Dot(yAxis, origin));
Vec3F deltaLocal = p1 - p0;
float dragX = Vec3F.Dot(xAxis, deltaLocal);
float dragZ = Vec3F.Dot(zAxis, deltaLocal);
translate = dragX * xLocal + dragZ * zLocal;
}
break;
default:
throw new ArgumentOutOfRangeException();
}
return translate;
}
public static HitRecord[] RayPick(Matrix4F viewxform, Matrix4F projxfrom, Ray3F rayW, bool skipSelected)
{
HitRecord* nativeHits = null;
int count;
fixed (float* ptr1 = &viewxform.M11, ptr2 = &projxfrom.M11)
{
NativeRayPick(
ptr1,
ptr2,
&rayW,
skipSelected,
&nativeHits,
out count);
}
var objects = new List<HitRecord>();
for (int k = 0; k < count; k++)
{
objects.Add(*nativeHits);
nativeHits++;
}
return objects.ToArray();
}
public static bool RayPick(Matrix4F viewxform, Matrix4F projxfrom, Ray3F rayW, bool skipSelected, out HitRecord hit)
{
HitRecord* nativeHits = null;
int count;
//bool skipSelected,
fixed (float* ptr1 = &viewxform.M11, ptr2 = &projxfrom.M11)
{
NativeRayPick(
ptr1,
ptr2,
&rayW,
skipSelected,
&nativeHits,
out count);
}
if(count > 0)
{
hit = *nativeHits;
}
else
{
hit = new HitRecord();
}
return count > 0;
}
/// <summary>
/// Tests if specified ray intersects the box</summary>
/// <param name="ray">The ray</param>
/// <returns>True iff ray intersects box</returns>
public bool Intersects(Ray3F ray)
{
// http://www.gametutorials.com/gtstore/pc-429-9-ray-and-aabb-collision.aspx
// Compute the ray delta
Vec3F rayDelta = ray.Direction * 100000f;
// First we check to see if the origin of the ray is
// inside the AABB. If it is, the ray intersects the AABB so
// we'll return true. We start by assuming the ray origin is
// inside the AABB
bool inside = true;
// This stores the distance from either the min or max (x,y,z) to the ray's
// origin (x,y,z) respectively, divided by the length of the ray. The largest
// value has the delta time of a possible intersection.
float xt, yt, zt;
// Test the X component of the ray's origin to see if we are inside or not
if (ray.Origin.X < Min.X)
{
xt = Min.X - ray.Origin.X;
if (xt > rayDelta.X) // If the ray is moving away from the AABB, there is no intersection
{
return(false);
}
xt /= rayDelta.X;
inside = false;
}
else if (ray.Origin.X > Max.X)
{
xt = Max.X - ray.Origin.X;
if (xt < rayDelta.X) // If the ray is moving away from the AABB, there is no intersection
{
return(false);
}
xt /= rayDelta.X;
inside = false;
}
else
{
// Later on we use the "xt", "yt", and "zt" variables to determine which plane (either
// xy, xz, or yz) we may collide with. Since the x component of the ray
// origin is in between, the AABB's left and right side (which reside in the yz plane),
// we know we don't have to test those sides so we set this to a negative value.
xt = -1.0f;
}
// Test the X component of the ray's origin to see if we are inside or not
if (ray.Origin.Y < Min.Y)
{
yt = Min.Y - ray.Origin.Y;
if (yt > rayDelta.Y) // If the ray is moving away from the AABB, there is no intersection
{
return(false);
}
yt /= rayDelta.Y;
inside = false;
}
else if (ray.Origin.Y > Max.Y)
{
yt = Max.Y - ray.Origin.Y;
if (yt < rayDelta.Y) // If the ray is moving away from the AABB, there is no intersection
{
return(false);
}
yt /= rayDelta.Y;
inside = false;
}
else
{
// Later on we use the "xt", "yt", and "zt" variables to determine which plane (either
// xy, xz, or yz) we may collide with. Since the y component of the ray
// origin is in between, the AABB's top and bottom side (which reside in the xz plane),
// we know we don't have to test those sides so we set this to a negative value.
yt = -1.0f;
}
if (ray.Origin.Z < Min.Z)
{
zt = Min.Z - ray.Origin.Z;
if (zt > rayDelta.Z) // If the ray is moving away from the AABB, there is no intersection
{
return(false);
}
zt /= rayDelta.Z;
inside = false;
}
else if (ray.Origin.Z > Max.Z)
{
zt = Max.Z - ray.Origin.Z;
if (zt < rayDelta.Z) // If the ray is moving away from the AABB, there is no intersection
{
return(false);
}
zt /= rayDelta.Z;
inside = false;
}
else
{
// Later on we use the "xt", "yt", and "zt" variables to determine which plane (either
// xy, xz, or yz) we may collide with. Since the z component of the ray
// origin is in between, the AABB's front and back side (which reside in the xy plane),
// we know we don't have to test those sides so we set this to a negative value.
zt = -1.0f;
}
// If the origin inside the AABB
if (inside)
{
return(true); // The ray intersects the AABB
}
// Otherwise we have some checking to do...
// We want to test the AABB planes with largest value out of xt, yt, and zt. So
// first we determine which value is the largest.
float t = xt;
if (yt > t)
{
t = yt;
}
if (zt > t)
{
t = zt;
}
// **NOTE** Normally comparing two floating point numbers won't necessarily work, however,
// since we set to explicitly to equal either xt, yt, or zt above, the equality test
// will pass
if (t == xt) // If the ray intersects with the AABB's YZ plane
{
// Compute intersection values
float y = ray.Origin.Y + rayDelta.Y * t;
float z = ray.Origin.Z + rayDelta.Z * t;
// Test to see if collision takes place within the bounds of the AABB
if (y < Min.Y || y > Max.Y)
{
return(false);
}
else if (z < Min.Z || z > Max.Z)
{
return(false);
}
}
else if (t == yt) // Intersects with the XZ plane
{
// Compute intersection values
float x = ray.Origin.X + rayDelta.X * t;
float z = ray.Origin.Z + rayDelta.Z * t;
// Test to see if collision takes place within the bounds of the AABB
if (x < Min.X || x > Max.X)
{
return(false);
}
else if (z < Min.Z || z > Max.Z)
{
return(false);
}
}
else // Intersects with the XY plane
{
// Compute intersection values
float x = ray.Origin.X + rayDelta.X * t;
float y = ray.Origin.Y + rayDelta.Y * t;
// Test to see if collision takes place within the bounds of the AABB
if (x < Min.X || x > Max.X)
{
return(false);
}
else if (y < Min.Y || y > Max.Y)
{
return(false);
}
}
// The ray intersects the AABB
return(true);
}
public bool Intersect(Ray3F r)
{
float tmin;
float tmax;
Vec3F pos;
Vec3F norm;
bool result = Intersect(r, out tmin,out tmax, out pos, out norm);
return result;
}
/// <summary>
/// compute ray in given space starting from
/// screen space x,y.
/// The space of the computed ray depends on the value of mtrx:
/// world * view * projection // ray in local space (object space).
/// view * projection // ray in world space.
/// projection // ray in view space.
/// </summary>
public Ray3F GetRay(Point scrPt, Matrix4F mtrx)
{
Vec3F min = Unproject(new Vec3F(scrPt.X, scrPt.Y, 0), mtrx);
Vec3F max = Unproject(new Vec3F(scrPt.X, scrPt.Y, 1), mtrx);
Vec3F dir = Vec3F.Normalize(max - min);
Ray3F ray = new Ray3F(min, dir);
return ray;
}
/// <summary>
/// compute ray in world space starting from
/// screen space x,y.
/// </summary>
public Ray3F GetWorldRay(Point scrPt)
{
Matrix4F vp = Camera.ViewMatrix * Camera.ProjectionMatrix;
Vec3F min = Unproject(new Vec3F(scrPt.X, scrPt.Y, 0), vp);
Vec3F max = Unproject(new Vec3F(scrPt.X, scrPt.Y, 1), vp);
Vec3F dir = Vec3F.Normalize(max - min);
Ray3F ray = new Ray3F(min, dir);
return ray;
}
public virtual bool Pick(ViewControl vc, Point scrPt)
{
Matrix4F normWorld = GetManipulatorMatrix();
if (normWorld == null) return false;
HitRayV = vc.GetRay(scrPt, vc.Camera.ProjectionMatrix);
HitMatrix.Set(normWorld);
return true;
}
private bool CalculateTerrainIntersection(ViewControl vc, Ray3F ray, GUILayer.IntersectionTestSceneWrapper testScene, out Vec3F result)
{
var nativeVC = vc as NativeDesignControl;
if (nativeVC == null) { result = Vec3F.ZeroVector; return false; }
var pick = XLEBridgeUtils.Picking.RayPick(nativeVC.Adapter, ray, XLEBridgeUtils.Picking.Flags.Terrain);
if (pick != null && pick.Length > 0)
{
result = pick[0].hitPt;
return true;
}
result = Vec3F.ZeroVector;
return false;
}
/// <summary>
/// Creates a ray originating at the given normalized window coordinates and pointing into
/// the screen, along -Z axis. Normalized window coordinates are in the range [-0.5,0.5]
/// with +x pointing to the right and +y pointing up.</summary>
/// <param name="x">The x normalized window coordinate</param>
/// <param name="y">The y normalized window coordinate</param>
/// <returns>The ray</returns>
public Ray3F CreateRay(float x, float y)
{
float height, width;
// Setup ray
Ray3F ray = new Ray3F();
// World height on origin's z value
if (Frustum.IsOrtho)
{
width = Frustum.Right - Frustum.Left;
height = Frustum.Top - Frustum.Bottom;
ray.Origin = new Vec3F(x * width, y * height, -NearZ);
ray.Direction = new Vec3F(0, 0, -1);
}
else
{
height = Frustum.Far * (float)Math.Tan(Frustum.FovY / 2.0f) * 2.0f;
width = Frustum.Far * (float)Math.Tan(Frustum.FovX / 2.0f) * 2.0f;
ray.Origin = new Vec3F(0, 0, 0);
ray.Direction = new Vec3F(x * width, y * height, -Frustum.Far);
float l = ray.Direction.Length;
ray.Direction = ray.Direction / l;
}
return ray;
}
private bool CalculateTerrainIntersection(ViewControl vc, Ray3F ray, GUILayer.IntersectionTestSceneWrapper testScene, out Vec3F result)
{
var pick = XLEBridgeUtils.Picking.RayPick(vc, ray, XLEBridgeUtils.Picking.Flags.Terrain);
if (pick != null && pick.Length > 0)
{
result = pick[0].hitPt;
return true;
}
result = new Vec3F(0.0f, 0.0f, 0.0f);
return false;
}
/// <summary>
/// Projects the ghost</summary>
private void ProjectGhost(DomNode ghost,
Ray3F rayw,
HitRecord? hit)
{
ITransformable xformnode = ghost.Cast<ITransformable>();
IBoundable bnode = ghost.As<IBoundable>();
AABB box = bnode.BoundingBox;
Vec3F pt;
if (hit.HasValue && hit.Value.hasNormal)
{
Vec3F rad = box.Radius;
Vec3F norm = hit.Value.normal;
Vec3F absNorm = Vec3F.Abs(norm);
Vec3F offset = Vec3F.ZeroVector;
if (absNorm.X > absNorm.Y)
{
if (absNorm.X > absNorm.Z)
offset.X = norm.X > 0 ? rad.X : -rad.X;
else
offset.Z = norm.Z > 0 ? rad.Z : -rad.Z;
}
else
{
if (absNorm.Y > absNorm.Z)
offset.Y = norm.Y > 0 ? rad.Y : -rad.Y;
else
offset.Z = norm.Z > 0 ? rad.Z : -rad.Z;
}
Vec3F localCenter = box.Center - xformnode.Translation;
pt = hit.Value.hitPt + (offset - localCenter);
}
else
{
float offset = 6.0f * box.Radius.Length;
pt = rayw.Origin + offset * rayw.Direction;
}
if (ViewType == ViewTypes.Front)
pt.Z = 0.0f;
else if (ViewType == ViewTypes.Top)
pt.Y = 0.0f;
else if (ViewType == ViewTypes.Left)
pt.X = 0.0f;
xformnode.Translation = pt;
}
public bool RayPick(Ray3F rayw, out RayPickRetVal retval)
{
INativeObject nobj = this.As<INativeObject>();
IntPtr retvalPtr = IntPtr.Zero;
IntPtr rayptr = new IntPtr(&rayw);
nobj.InvokeFunction("RayPick", rayptr, out retvalPtr);
if (retvalPtr != IntPtr.Zero)
retval = *(RayPickRetVal*)retvalPtr;
else
retval = new RayPickRetVal();
return retval.picked;
}
public bool Intersect(Ray3F r,
out float out_tmin,
out float out_tmax,
out Vec3F out_pos,
out Vec3F out_nor)
{
out_pos = Vec3F.ZeroVector;
out_nor = Vec3F.ZeroVector;
out_tmin = 0.0f;
out_tmax = 0.0f;
Vec3F p = r.Origin;
Vec3F d = r.Direction;
float tmin = float.MinValue;
float tmax = float.MaxValue;
// check vs. all three 'slabs' of the aabb
for (int i = 0; i < 3; ++i)
{
if (Math.Abs(d[i]) < float.Epsilon)
{ // ray is parallel to slab, no hit if origin not within slab
if (p[i] < Min[i] || p[i] > Max[i])
{
return false;
}
}
else
{
// compute intersection t values of ray with near and far plane of slab
float ood = 1.0f / d[i];
float t1 = (Min[i] - p[i]) * ood;
float t2 = (Max[i] - p[i]) * ood;
tmin = Math.Max(tmin, Math.Min(t1, t2));
tmax = Math.Min(tmax, Math.Max(t1, t2));
// exit with no collision as soon as slab intersection becomes empty
if (tmin > tmax)
{
return false;
}
}
}
if (tmax < 0.0f)
{
// entire bounding box is behind us
return false;
}
else if (tmin < 0.0f)
{
// we are inside the bounding box
out_tmin = 0.0f;
out_tmax = tmax;
out_pos = p + d * tmax;
out_nor = Vec3F.Normalize(Center - out_pos); // use 'sphere' type normal calculation to approximate.
return true;
}
else
{
// ray intersects all 3 slabs. return point and normal of intersection
out_tmin = tmin;
out_pos = p + d * tmin;
out_nor = Vec3F.Normalize(Center - out_pos); // use 'sphere' type normal calculation to approximate.
return true;
}
}
/// <summary>
/// Tests if specified ray intersects the box</summary>
/// <param name="ray">The ray</param>
/// <returns>True iff ray intersects box</returns>
public bool Intersects(Ray3F ray)
{
// http://www.gametutorials.com/gtstore/pc-429-9-ray-and-aabb-collision.aspx
// Compute the ray delta
Vec3F rayDelta = ray.Direction * 100000f;
// First we check to see if the origin of the ray is
// inside the AABB. If it is, the ray intersects the AABB so
// we'll return true. We start by assuming the ray origin is
// inside the AABB
bool inside = true;
// This stores the distance from either the min or max (x,y,z) to the ray's
// origin (x,y,z) respectively, divided by the length of the ray. The largest
// value has the delta time of a possible intersection.
float xt, yt, zt;
// Test the X component of the ray's origin to see if we are inside or not
if (ray.Origin.X < Min.X)
{
xt = Min.X - ray.Origin.X;
if (xt > rayDelta.X) // If the ray is moving away from the AABB, there is no intersection
return false;
xt /= rayDelta.X;
inside = false;
}
else if (ray.Origin.X > Max.X)
{
xt = Max.X - ray.Origin.X;
if (xt < rayDelta.X) // If the ray is moving away from the AABB, there is no intersection
return false;
xt /= rayDelta.X;
inside = false;
}
else
{
// Later on we use the "xt", "yt", and "zt" variables to determine which plane (either
// xy, xz, or yz) we may collide with. Since the x component of the ray
// origin is in between, the AABB's left and right side (which reside in the yz plane),
// we know we don't have to test those sides so we set this to a negative value.
xt = -1.0f;
}
// Test the X component of the ray's origin to see if we are inside or not
if (ray.Origin.Y < Min.Y)
{
yt = Min.Y - ray.Origin.Y;
if (yt > rayDelta.Y) // If the ray is moving away from the AABB, there is no intersection
return false;
yt /= rayDelta.Y;
inside = false;
}
else if (ray.Origin.Y > Max.Y)
{
yt = Max.Y - ray.Origin.Y;
if (yt < rayDelta.Y) // If the ray is moving away from the AABB, there is no intersection
return false;
yt /= rayDelta.Y;
inside = false;
}
else
{
// Later on we use the "xt", "yt", and "zt" variables to determine which plane (either
// xy, xz, or yz) we may collide with. Since the y component of the ray
// origin is in between, the AABB's top and bottom side (which reside in the xz plane),
// we know we don't have to test those sides so we set this to a negative value.
yt = -1.0f;
}
if (ray.Origin.Z < Min.Z)
{
zt = Min.Z - ray.Origin.Z;
if (zt > rayDelta.Z) // If the ray is moving away from the AABB, there is no intersection
return false;
zt /= rayDelta.Z;
inside = false;
}
else if (ray.Origin.Z > Max.Z)
{
zt = Max.Z - ray.Origin.Z;
if (zt < rayDelta.Z) // If the ray is moving away from the AABB, there is no intersection
return false;
zt /= rayDelta.Z;
inside = false;
}
else
{
// Later on we use the "xt", "yt", and "zt" variables to determine which plane (either
// xy, xz, or yz) we may collide with. Since the z component of the ray
// origin is in between, the AABB's front and back side (which reside in the xy plane),
// we know we don't have to test those sides so we set this to a negative value.
zt = -1.0f;
}
// If the origin inside the AABB
if (inside)
return true; // The ray intersects the AABB
// Otherwise we have some checking to do...
// We want to test the AABB planes with largest value out of xt, yt, and zt. So
// first we determine which value is the largest.
float t = xt;
if (yt > t)
t = yt;
if (zt > t)
t = zt;
// **NOTE** Normally comparing two floating point numbers won't necessarily work, however,
// since we set to explicitly to equal either xt, yt, or zt above, the equality test
// will pass
if (t == xt) // If the ray intersects with the AABB's YZ plane
{
// Compute intersection values
float y = ray.Origin.Y + rayDelta.Y * t;
float z = ray.Origin.Z + rayDelta.Z * t;
// Test to see if collision takes place within the bounds of the AABB
if (y < Min.Y || y > Max.Y)
return false;
else if (z < Min.Z || z > Max.Z)
return false;
}
else if (t == yt) // Intersects with the XZ plane
{
// Compute intersection values
float x = ray.Origin.X + rayDelta.X * t;
float z = ray.Origin.Z + rayDelta.Z * t;
// Test to see if collision takes place within the bounds of the AABB
if (x < Min.X || x > Max.X)
return false;
else if (z < Min.Z || z > Max.Z)
return false;
}
else // Intersects with the XY plane
{
// Compute intersection values
float x = ray.Origin.X + rayDelta.X * t;
float y = ray.Origin.Y + rayDelta.Y * t;
// Test to see if collision takes place within the bounds of the AABB
if (x < Min.X || x > Max.X)
return false;
else if (y < Min.Y || y > Max.Y)
return false;
}
// The ray intersects the AABB
return true;
}
private static float CalcAngle(Vec3F origin, Plane3F plane, Ray3F ray0, Ray3F ray1, float snapAngle)
{
float theta = 0;
Vec3F p0;
Vec3F p1;
if( ray0.IntersectPlane(plane, out p0)
&& ray1.IntersectPlane(plane, out p1))
{
Vec3F v0 = Vec3F.Normalize(p0 - origin);
Vec3F v1 = Vec3F.Normalize(p1 - origin);
theta = CalcAngle(v0, v1, plane.Normal, snapAngle);
}
return theta;
}
/// <summary>
/// Tests if a specified ray intersects this sphere</summary>
/// <param name="ray">The ray, with an origin and unit-length direction. Only intersections in
/// front of the ray count.</param>
/// <param name="x">The intersection point, if there was an intersection</param>
/// <returns>True iff ray intersects this sphere</returns>
/// <remarks>Algorithm is from _Real-Time Rendering_, p. 299</remarks>
public bool Intersects(Ray3F ray, out Vec3F x)
{
// vector from ray's origin to sphere's center
Vec3F oToC = Center - ray.Origin;
// 'd' is the distance from the ray's origin to the nearest point on the ray to Center.
// Assumes that Direction has unit length.
float d = Vec3F.Dot(oToC, ray.Direction);
// distToCenterSquared is the distance from ray's origin to Center, squared.
float distToCenterSquared = oToC.LengthSquared;
float radiusSquared = Radius * Radius;
// if the sphere is behind the ray and the ray's origin is outside the sphere...
if (d < 0 && distToCenterSquared > radiusSquared)
{
x = new Vec3F();
return false;
}
// 'm' is the distance from the ray to the center. Pythagorean's theorem.
float mSquared = distToCenterSquared - d * d;
if (mSquared > radiusSquared)
{
x = new Vec3F();
return false;
}
// 'q' is the distance from the first intersection point to the nearest point
// on the ray to Center. Pythagorean's theorem.
float q = (float)Math.Sqrt(radiusSquared - mSquared);
// 't' is the distance along 'ray' to the point of first intersection.
float t;
if (distToCenterSquared > radiusSquared)
{
// ray's origin is outside the sphere.
t = d - q;
}
else
{
// ray's origin is inside the sphere.
t = d + q;
}
// the point of intersection is ray's origin plus distance along ray's direction
x = ray.Origin + t * ray.Direction;
return true;
}
