Consequences of the plane change + change perspective
The perspective matrix now as in glm (because the near frustum plane was wrong). So there is a factor "2" on the component w and the skybox must be changed in consequence. Former-commit-id: 09dd049c177532b9ace34a5a60b1b96014652297
This commit is contained in:
Gawaboumga
parent
f2b80bfe64
commit
282bdf9864
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@ -180,7 +180,7 @@ NzFrustum<T>& NzFrustum<T>::Extract(const NzMatrix4<T>& clipMatrix)
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plane[0] *= invLength;
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plane[1] *= invLength;
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plane[2] *= invLength;
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plane[3] *= invLength;
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plane[3] *= -invLength;
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m_planes[nzFrustumPlane_Right].Set(plane);
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@ -195,7 +195,7 @@ NzFrustum<T>& NzFrustum<T>::Extract(const NzMatrix4<T>& clipMatrix)
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plane[0] *= invLength;
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plane[1] *= invLength;
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plane[2] *= invLength;
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plane[3] *= invLength;
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plane[3] *= -invLength;
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m_planes[nzFrustumPlane_Left].Set(plane);
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@ -210,7 +210,7 @@ NzFrustum<T>& NzFrustum<T>::Extract(const NzMatrix4<T>& clipMatrix)
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plane[0] *= invLength;
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plane[1] *= invLength;
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plane[2] *= invLength;
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plane[3] *= invLength;
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plane[3] *= -invLength;
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m_planes[nzFrustumPlane_Bottom].Set(plane);
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@ -225,7 +225,7 @@ NzFrustum<T>& NzFrustum<T>::Extract(const NzMatrix4<T>& clipMatrix)
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plane[0] *= invLength;
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plane[1] *= invLength;
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plane[2] *= invLength;
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plane[3] *= invLength;
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plane[3] *= -invLength;
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m_planes[nzFrustumPlane_Top].Set(plane);
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@ -240,7 +240,7 @@ NzFrustum<T>& NzFrustum<T>::Extract(const NzMatrix4<T>& clipMatrix)
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plane[0] *= invLength;
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plane[1] *= invLength;
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plane[2] *= invLength;
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plane[3] *= invLength;
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plane[3] *= -invLength;
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m_planes[nzFrustumPlane_Far].Set(plane);
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@ -255,7 +255,7 @@ NzFrustum<T>& NzFrustum<T>::Extract(const NzMatrix4<T>& clipMatrix)
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plane[0] *= invLength;
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plane[1] *= invLength;
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plane[2] *= invLength;
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plane[3] *= invLength;
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plane[3] *= -invLength;
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m_planes[nzFrustumPlane_Near].Set(plane);
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@ -332,10 +332,7 @@ NzFrustum<T>& NzFrustum<T>::Extract(const NzMatrix4<T>& clipMatrix)
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template<typename T>
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NzFrustum<T>& NzFrustum<T>::Extract(const NzMatrix4<T>& view, const NzMatrix4<T>& projection)
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{
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NzMatrix4<T> clipMatrix(view);
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clipMatrix *= projection;
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return Extract(clipMatrix);
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return Extract(NzMatrix4<T>::Concatenate(view, projection));
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}
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template<typename T>
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@ -578,6 +578,21 @@ NzMatrix4<T>& NzMatrix4<T>::MakeIdentity()
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return *this;
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}
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template<typename T>
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NzMatrix4<T>& NzMatrix4<T>::MakeLookAt(const NzVector3<T>& eye, const NzVector3<T>& target, const NzVector3<T>& up)
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{
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NzVector3<T> f = NzVector3<T>::Normalize(target - eye);
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NzVector3<T> s = NzVector3<T>::Normalize(f.CrossProduct(up));
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NzVector3<T> u = s.CrossProduct(f);
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Set(s.x, u.x, -f.x, T(0.0),
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s.y, u.y, -f.y, T(0.0),
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s.z, u.z, -f.z, T(0.0),
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-s.DotProduct(eye), -u.DotProduct(eye), f.DotProduct(eye), T(1.0));
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return *this;
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}
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template<typename T>
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NzMatrix4<T>& NzMatrix4<T>::MakeOrtho(T left, T right, T top, T bottom, T zNear, T zFar)
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{
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@ -590,22 +605,6 @@ NzMatrix4<T>& NzMatrix4<T>::MakeOrtho(T left, T right, T top, T bottom, T zNear,
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return *this;
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}
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template<typename T>
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NzMatrix4<T>& NzMatrix4<T>::MakeLookAt(const NzVector3<T>& eye, const NzVector3<T>& target, const NzVector3<T>& up)
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{
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NzVector3<T> f = NzVector3<T>::Normalize(target - eye);
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NzVector3<T> u(up.GetNormal());
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NzVector3<T> s = NzVector3<T>::Normalize(f.CrossProduct(u));
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u = s.CrossProduct(f);
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Set(s.x, u.x, -f.x, T(0.0),
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s.y, u.y, -f.y, T(0.0),
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s.z, u.z, -f.z, T(0.0),
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-s.DotProduct(eye), -u.DotProduct(eye), f.DotProduct(eye), T(1.0));
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return *this;
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}
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template<typename T>
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NzMatrix4<T>& NzMatrix4<T>::MakePerspective(T angle, T ratio, T zNear, T zFar)
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{
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@ -616,12 +615,12 @@ NzMatrix4<T>& NzMatrix4<T>::MakePerspective(T angle, T ratio, T zNear, T zFar)
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angle = NzDegreeToRadian(angle/F(2.0));
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#endif
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T yScale = F(1.0) / std::tan(angle);
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T yScale = std::tan(M_PI_2 - angle);
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Set(yScale / ratio, F(0.0), F(0.0), F(0.0),
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F(0.0), yScale, F(0.0), F(0.0),
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F(0.0), F(0.0), zFar / (zNear-zFar), F(-1.0),
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F(0.0), F(0.0), (zNear*zFar) / (zNear-zFar), F(0.0));
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F(0.0), F(0.0), - (zFar + zNear) / (zFar - zNear), F(-1.0),
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F(0.0), F(0.0), F(-2.0) * (zNear * zFar) / (zFar - zNear), F(0.0));
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return *this;
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}
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@ -696,7 +695,7 @@ NzMatrix4<T>& NzMatrix4<T>::MakeViewMatrix(const NzVector3<T>& translation, cons
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// Une matrice de vue doit appliquer une transformation opposée à la matrice "monde"
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NzQuaternion<T> invRot = rotation.GetConjugate(); // Inverse de la rotation
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return MakeTransform(-(invRot*translation), invRot);
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return MakeTransform(-(invRot * translation), invRot);
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}
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template<typename T>
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@ -821,9 +820,9 @@ NzString NzMatrix4<T>::ToString() const
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{
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NzStringStream ss;
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return ss << "Matrix4(" << m11 << ", " << m12 << ", " << m13 << ", " << m14 << ",\n"
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<< " " << m21 << ", " << m22 << ", " << m23 << ", " << m24 << ",\n"
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<< " " << m31 << ", " << m32 << ", " << m33 << ", " << m34 << ",\n"
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<< " " << m41 << ", " << m42 << ", " << m43 << ", " << m44 << ')';
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<< " " << m21 << ", " << m22 << ", " << m23 << ", " << m24 << ",\n"
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<< " " << m31 << ", " << m32 << ", " << m33 << ", " << m34 << ",\n"
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<< " " << m41 << ", " << m42 << ", " << m43 << ", " << m44 << ')';
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}
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template<typename T>
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@ -86,7 +86,8 @@ namespace
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"void main()\n"
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"{\n"
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" gl_Position = WorldViewProjMatrix * vec4(VertexPosition, 1.0);\n"
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" vec4 WVPVertex = WorldViewProjMatrix * vec4(VertexPosition, 1.0);\n"
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" gl_Position = WVPVertex.xyww;\n"
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" vTexCoord = vec3(VertexPosition.x, VertexPosition.y, -VertexPosition.z);\n"
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"}\n";
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@ -101,7 +102,8 @@ namespace
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"void main()\n"
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"{\n"
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" gl_Position = WorldViewProjMatrix * vec4(VertexPosition, 1.0);\n"
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" vec4 WVPVertex = WorldViewProjMatrix * vec4(VertexPosition, 1.0);\n"
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" gl_Position = WVPVertex.xyww;\n"
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" vTexCoord = vec3(VertexPosition.x, VertexPosition.y, -VertexPosition.z);\n"
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"}\n";
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@ -0,0 +1,82 @@
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#include <Nazara/Math/Frustum.hpp>
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#include <catch.hpp>
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SCENARIO("Frustum", "[MATH][FRUSTUM]")
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{
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GIVEN("One frustum (90, 1, 1, 1000, (0, 0, 0), (1, 0, 0))")
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{
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NzFrustumf frustum;
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frustum.Build(NzFromDegrees(90.f), 1.f, 1.f, 1000.f, NzVector3f::Zero(), NzVector3f::UnitX());
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WHEN("We ask for intersection with objects outside the frustum")
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{
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THEN("These results are expected")
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{
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NzBoundingVolumef bv(NzVector3f::Zero(), NzVector3f::Unit());
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bv.Update(NzMatrix4f::Identity());
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REQUIRE(nzIntersectionSide_Outside == frustum.Intersect(bv));
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REQUIRE(nzIntersectionSide_Outside == frustum.Intersect(NzBoxf(NzVector3f::Zero(), NzVector3f::Unit() * 0.9f)));
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NzOrientedBoxf obb(NzVector3f::Zero(), NzVector3f::Unit() * 0.9f);
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obb.Update(NzMatrix4f::Identity());
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REQUIRE(nzIntersectionSide_Outside == frustum.Intersect(obb));
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REQUIRE(nzIntersectionSide_Outside == frustum.Intersect(NzSpheref(NzVector3f::Zero(), 0.5f)));
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NzVector3f tmp = NzVector3f::Zero();
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REQUIRE(nzIntersectionSide_Outside == frustum.Intersect(&tmp, 1));
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tmp = NzVector3f::UnitX() * -10.f;
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REQUIRE(nzIntersectionSide_Outside == frustum.Intersect(&tmp, 1));
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}
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}
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WHEN("We ask for intersection with objects inside the frustum")
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{
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THEN("These results are expected")
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{
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NzBoundingVolumef bv(500.f, -0.5f, -0.5f, 1.f, 1.f, 1.f);
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bv.Update(NzMatrix4f::Identity());
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REQUIRE(nzIntersectionSide_Inside == frustum.Intersect(bv));
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REQUIRE(nzIntersectionSide_Inside == frustum.Intersect(NzBoxf(NzVector3f::UnitX() * 500.f, NzVector3f::Unit())));
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NzOrientedBoxf obb(NzVector3f::UnitX() * 100.f, NzVector3f::Unit());
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obb.Update(NzMatrix4f::Identity());
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REQUIRE(nzIntersectionSide_Inside == frustum.Intersect(obb));
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REQUIRE(nzIntersectionSide_Inside == frustum.Intersect(NzSpheref(NzVector3f::UnitX() * 100.f, 0.5f)));
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NzVector3f tmp = NzVector3f::UnitX() * 100.f;
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REQUIRE(nzIntersectionSide_Inside == frustum.Intersect(&tmp, 1));
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}
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}
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WHEN("We ask for contains with objects outside the frustum")
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{
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THEN("These results are expected")
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{
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NzBoundingVolumef bv(0.f, -0.25f, -0.25f, 0.5f, 0.5f, 0.5f);
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bv.Update(NzMatrix4f::Identity());
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CHECK(!frustum.Contains(bv));
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CHECK(!frustum.Contains(NzBoxf(0.f, -0.25f, -0.25f, 0.5f, 0.5f, 0.5f)));
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NzOrientedBoxf obb(0.f, -0.25f, -0.25f, 0.5f, 0.5f, 0.5f);
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obb.Update(NzMatrix4f::Identity());
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CHECK(!frustum.Contains(obb));
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CHECK(!frustum.Contains(NzSpheref(NzVector3f::Zero(), 0.5f)));
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NzVector3f tmp = NzVector3f::Zero();
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CHECK(!frustum.Contains(&tmp, 1));
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}
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}
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WHEN("We ask for contains with objects inside the frustum")
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{
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THEN("These results are expected")
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{
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NzBoundingVolumef bv(500.f, -0.5f, -0.5f, 1.f, 1.f, 1.f);
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bv.Update(NzMatrix4f::Identity());
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CHECK(frustum.Contains(bv));
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CHECK(frustum.Contains(NzBoxf(500.f, -0.5f, -0.5f, 1.f, 1.f, 1.f)));
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NzOrientedBoxf obb(500.f, -0.5f, -0.5f, 1.f, 1.f, 1.f);
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obb.Update(NzMatrix4f::Identity());
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CHECK(frustum.Contains(obb));
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CHECK(frustum.Contains(NzSpheref(NzVector3f::UnitX() * 500.f, 1.f)));
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NzVector3f tmp = NzVector3f::UnitX() * 500.f;
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CHECK(frustum.Contains(&tmp, 1));
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}
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}
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}
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}
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@ -0,0 +1,134 @@
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#include <Nazara/Math/Matrix4.hpp>
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#include <catch.hpp>
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SCENARIO("Matrix4", "[MATH][MATRIX4]")
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{
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GIVEN("Two identity matrix")
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{
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NzMatrix4f firstIdentity(NzMatrix4<int>::Identity());
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NzMatrix4f secondIdentity(1.f, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f);
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WHEN("We compare them")
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{
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THEN("They are equal")
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{
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REQUIRE(firstIdentity == secondIdentity);
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}
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}
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WHEN("We multiply the first with a vector")
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{
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THEN("Vector stay the same")
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{
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REQUIRE(firstIdentity.Transform(NzVector2f::Unit()) == NzVector2f::Unit());
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REQUIRE(firstIdentity.Transform(NzVector3f::Unit()) == NzVector3f::Unit());
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REQUIRE(firstIdentity.Transform(NzVector4f(1.f, 1.f, 1.f, 1.f)) == NzVector4f(1.f, 1.f, 1.f, 1.f));
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}
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}
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WHEN("We multiply them")
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{
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THEN("It keeps being a identity")
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{
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REQUIRE(firstIdentity.Concatenate(secondIdentity) == firstIdentity);
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REQUIRE(firstIdentity.ConcatenateAffine(secondIdentity) == firstIdentity);
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REQUIRE((firstIdentity * secondIdentity) == firstIdentity);
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REQUIRE((1.f * firstIdentity) == firstIdentity);
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REQUIRE(firstIdentity.Inverse() == secondIdentity.InverseAffine());
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}
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}
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}
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GIVEN("Two different matrix")
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{
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NzMatrix4f matrix1(1.0f, 0.0f, 0.0f, 0.0f,
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7.0f, 2.0f, 0.0f, 0.0f,
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1.0f, 5.0f, 3.0f, 0.0f,
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8.0f, 9.0f, 2.0f, 4.0f);
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NzMatrix4f matrix2(1.0f, 1.0f, 2.0f, -1.0f,
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-2.0f, -1.0f, -2.0f, 2.0f,
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4.0f, 2.0f, 5.0f, -4.0f,
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5.0f, -3.0f, -7.0f, -6.0f);
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WHEN("We ask for determinant")
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{
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THEN("These results are expected")
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{
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REQUIRE(matrix1.GetDeterminant() == Approx(24.f));
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REQUIRE(matrix2.GetDeterminant() == Approx(-1.f));
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}
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}
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WHEN("We multiply the matrix and its inverse")
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{
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NzMatrix4f invMatrix1;
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matrix1.GetInverse(&invMatrix1);
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NzMatrix4f invMatrix2;
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matrix2.GetInverse(&invMatrix2);
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THEN("We get the identity")
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{
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NzMatrix4f tmp = matrix1 * invMatrix1;
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REQUIRE(tmp.m32 == Approx(0.f));
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REQUIRE(tmp.m42 == Approx(0.f));
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tmp.m32 = 0.f;
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tmp.m42 = 0.f;
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REQUIRE(tmp == NzMatrix4f::Identity());
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REQUIRE((matrix2 * invMatrix2) == NzMatrix4f::Identity());
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}
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}
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}
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GIVEN("One transformed matrix from rotation 45 and translation 0")
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{
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NzMatrix4f transformedMatrix = NzMatrix4f::Transform(NzVector3f::Zero(), NzQuaternionf::Identity());
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REQUIRE(transformedMatrix == NzMatrix4f::Identity());
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WHEN("We compare with the right matrix")
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{
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THEN("Rotation around X")
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{
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transformedMatrix.MakeTransform(NzVector3f::Zero(), NzEulerAnglesf(NzFromDegrees(45.f), 0.f, 0.f).ToQuaternion());
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NzMatrix4f rotation45X(1.f, 0.f, 0.f, 0.f,
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0.f, std::sqrt(2.f) / 2.f, std::sqrt(2.f) / 2.f, 0.f,
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0.f, -std::sqrt(2.f) / 2.f, std::sqrt(2.f) / 2.f, 0.f,
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0.f, 0.f, 0.f, 1.f);
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REQUIRE(transformedMatrix == rotation45X);
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transformedMatrix.MakeTransform(NzVector3f::Unit(), NzEulerAnglesf(NzFromDegrees(45.f), 0.f, 0.f).ToQuaternion());
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rotation45X.ApplyTranslation(NzVector3f::Unit());
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REQUIRE(transformedMatrix == rotation45X);
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}
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THEN("Rotation around Y")
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{
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transformedMatrix.MakeTransform(NzVector3f::Zero(), NzEulerAnglesf(0.f, NzFromDegrees(45.f), 0.f).ToQuaternion());
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NzMatrix4f rotation45Y(std::sqrt(2.f) / 2.f, 0.f, -std::sqrt(2.f) / 2.f, 0.f,
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0.f, 1.f, 0.f, 0.f,
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std::sqrt(2.f) / 2.f, 0.f, std::sqrt(2.f) / 2.f, 0.f,
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0.f, 0.f, 0.f, 1.f);
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|
||||
REQUIRE(transformedMatrix == rotation45Y);
|
||||
transformedMatrix.MakeTransform(NzVector3f::Unit(), NzEulerAnglesf(0.f, NzFromDegrees(45.f), 0.f).ToQuaternion());
|
||||
rotation45Y.ApplyTranslation(NzVector3f::Unit());
|
||||
REQUIRE(transformedMatrix == rotation45Y);
|
||||
}
|
||||
|
||||
THEN("Rotation around Z")
|
||||
{
|
||||
transformedMatrix.MakeTransform(NzVector3f::Zero(), NzEulerAnglesf(0.f, 0.f, NzFromDegrees(45.f)).ToQuaternion());
|
||||
NzMatrix4f rotation45Z( std::sqrt(2.f) / 2.f, std::sqrt(2.f) / 2.f, 0.f, 0.f,
|
||||
-std::sqrt(2.f) / 2.f, std::sqrt(2.f) / 2.f, 0.f, 0.f,
|
||||
0.f, 0.f, 1.f, 0.f,
|
||||
0.f, 0.f, 0.f, 1.f);
|
||||
|
||||
REQUIRE(transformedMatrix == rotation45Z);
|
||||
transformedMatrix.MakeTransform(NzVector3f::Unit(), NzEulerAnglesf(NzEulerAnglesf(0.f, 0.f, NzFromDegrees(45.f)).ToQuaternion()));
|
||||
rotation45Z.ApplyTranslation(NzVector3f::Unit());
|
||||
REQUIRE(transformedMatrix == rotation45Z);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,95 @@
|
|||
#include <Nazara/Math/Ray.hpp>
|
||||
#include <catch.hpp>
|
||||
|
||||
SCENARIO("Ray", "[RAY]")
|
||||
{
|
||||
GIVEN("Two same rays (0, 0, 0) -> (0, 1, 0)")
|
||||
{
|
||||
NzRayf firstRay(NzRay<int>(NzPlane<int>::XY(), NzPlane<int>::YZ()));
|
||||
NzRayf secondRay(0.f, 0.f, 0.f, 0.f, 1.f, 0.f);
|
||||
|
||||
WHEN("We compare them")
|
||||
{
|
||||
THEN("They are the same and Y axis")
|
||||
{
|
||||
REQUIRE(firstRay == secondRay);
|
||||
REQUIRE(firstRay == NzRayf::AxisY());
|
||||
}
|
||||
}
|
||||
|
||||
WHEN("We ask for the closest point")
|
||||
{
|
||||
THEN("The point that is multiple on the ray, is at multiple")
|
||||
{
|
||||
REQUIRE(firstRay.ClosestPoint(secondRay.GetPoint(1.f)) == Approx(1.f));
|
||||
}
|
||||
}
|
||||
|
||||
WHEN("We ask for intersection")
|
||||
{
|
||||
THEN("For the Box collision's")
|
||||
{
|
||||
float tmpClosest;
|
||||
float tmpFurthest;
|
||||
|
||||
CHECK(firstRay.Intersect(NzBoxf(-0.5f, 1.f, -0.5f, 1.f, 1.f, 1.f), &tmpClosest, &tmpFurthest));
|
||||
REQUIRE(firstRay.GetPoint(tmpClosest) == NzVector3f::UnitY());
|
||||
REQUIRE(firstRay.GetPoint(tmpFurthest) == (NzVector3f::UnitY() * 2.f));
|
||||
CHECK(!firstRay.Intersect(NzBoxf(-10.f, 1.f, -10.f, 1.f, 1.f, 1.f), &tmpClosest, &tmpFurthest));
|
||||
}
|
||||
|
||||
THEN("For the Plane collision's")
|
||||
{
|
||||
float tmpHit;
|
||||
|
||||
CHECK(firstRay.Intersect(NzPlanef(NzVector3f::UnitY(), 1.f), &tmpHit));
|
||||
REQUIRE(firstRay.GetPoint(tmpHit) == NzVector3f::UnitY());
|
||||
CHECK(firstRay.Intersect(NzPlanef::XZ(), &tmpHit));
|
||||
REQUIRE(firstRay.GetPoint(tmpHit) == NzVector3f::Zero());
|
||||
CHECK(firstRay.Intersect(NzPlanef(NzVector3f::UnitY(), 2.f), &tmpHit));
|
||||
REQUIRE(firstRay.GetPoint(tmpHit) == 2.f * NzVector3f::UnitY());
|
||||
|
||||
CHECK(!firstRay.Intersect(NzPlanef(NzVector3f::UnitX(), 1.f)));
|
||||
}
|
||||
|
||||
THEN("For the Sphere collision's")
|
||||
{
|
||||
float tmpClosest;
|
||||
float tmpFurthest;
|
||||
|
||||
CHECK(firstRay.Intersect(NzSpheref(NzVector3f::UnitY(), 0.1f), &tmpClosest, &tmpFurthest));
|
||||
REQUIRE(firstRay.GetPoint(tmpClosest) == NzVector3f::UnitY() * 0.9f);
|
||||
REQUIRE(firstRay.GetPoint(tmpFurthest) == (NzVector3f::UnitY() * 1.1f));
|
||||
|
||||
CHECK(!firstRay.Intersect(NzSpheref(NzVector3f::UnitX(), 0.9f)));
|
||||
}
|
||||
|
||||
THEN("For the OBB collision's")
|
||||
{
|
||||
float tmpClosest;
|
||||
float tmpFurthest;
|
||||
|
||||
NzOrientedBoxf obb(-0.5f, 1.f, -0.5f, 1.f, 1.f, 1.f);
|
||||
obb.Update(NzMatrix4f::Rotate(NzEulerAnglesf(0.f, 90.f, 0.f).ToQuaternion()));
|
||||
|
||||
CHECK(firstRay.Intersect(obb, &tmpClosest, &tmpFurthest));
|
||||
REQUIRE(firstRay.GetPoint(tmpClosest) == NzVector3f::UnitY());
|
||||
REQUIRE(firstRay.GetPoint(tmpFurthest) == (NzVector3f::UnitY() * 2.f));
|
||||
|
||||
obb = NzOrientedBoxf(-10.f, 1.f, -10.f, 1.f, 1.f, 1.f);
|
||||
obb.Update(NzMatrix4f::Rotate(NzEulerAnglesf(0.f, 0.f, 90.f).ToQuaternion()));
|
||||
CHECK(!firstRay.Intersect(obb, &tmpClosest, &tmpFurthest));
|
||||
}
|
||||
|
||||
THEN("For the bounding volume collision's")
|
||||
{
|
||||
NzBoundingVolumef nullVolume(nzExtend_Null);
|
||||
CHECK(!firstRay.Intersect(nullVolume));
|
||||
|
||||
NzBoundingVolumef infiniteVolume(nzExtend_Infinite);
|
||||
CHECK(firstRay.Intersect(infiniteVolume));
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,78 @@
|
|||
// Copyright (C) 2015 Gawaboumga (https://github.com/Gawaboumga) - Jérôme Leclercq
|
||||
// This file is part of the "Nazara Engine - Mathematics module"
|
||||
// For conditions of distribution and use, see copyright notice in Config.hpp
|
||||
|
||||
#pragma once
|
||||
|
||||
#ifndef NAZARA_RAY_HPP
|
||||
#define NAZARA_RAY_HPP
|
||||
|
||||
#include <Nazara/Core/String.hpp>
|
||||
#include <Nazara/Math/Box.hpp>
|
||||
#include <Nazara/Math/Frustum.hpp>
|
||||
#include <Nazara/Math/Matrix4.hpp>
|
||||
#include <Nazara/Math/OrientedBox.hpp>
|
||||
#include <Nazara/Math/Plane.hpp>
|
||||
#include <Nazara/Math/Sphere.hpp>
|
||||
#include <Nazara/Math/Vector3.hpp>
|
||||
|
||||
template<typename T>
|
||||
class NzRay
|
||||
{
|
||||
public:
|
||||
NzRay() = default;
|
||||
NzRay(T X, T Y, T Z, T directionX, T directionY, T directionZ);
|
||||
NzRay(const T origin[3], const T direction[3]);
|
||||
NzRay(const NzPlane<T>& planeOne, const NzPlane<T>& planeTwo);
|
||||
NzRay(const NzVector3<T>& origin, const NzVector3<T>& direction);
|
||||
template<typename U> explicit NzRay(const NzRay<U>& ray);
|
||||
template<typename U> explicit NzRay(const NzVector3<U>& origin, const NzVector3<U>& direction);
|
||||
NzRay(const NzRay<T>& ray) = default;
|
||||
~NzRay() = default;
|
||||
|
||||
T ClosestPoint(const NzVector3<T>& point) const;
|
||||
|
||||
NzVector3<T> GetPoint(T lambda) const;
|
||||
|
||||
bool Intersect(const NzBoundingVolume<T>& volume, T* closestHit = nullptr, T* furthestHit = nullptr) const;
|
||||
bool Intersect(const NzBox<T>& box, T* closestHit = nullptr, T* furthestHit = nullptr) const;
|
||||
bool Intersect(const NzBox<T>& box, const NzMatrix4<T>& transform, T* closestHit = nullptr, T* furthestHit = nullptr) const;
|
||||
bool Intersect(const NzOrientedBox<T>& orientedBox, T* closestHit = nullptr, T* furthestHit = nullptr) const;
|
||||
bool Intersect(const NzPlane<T>& plane, T* hit = nullptr) const;
|
||||
bool Intersect(const NzSphere<T>& sphere, T* closestHit = nullptr, T* furthestHit = nullptr) const;
|
||||
|
||||
NzRay& MakeAxisX();
|
||||
NzRay& MakeAxisY();
|
||||
NzRay& MakeAxisZ();
|
||||
|
||||
NzRay& Set(T X, T Y, T Z, T directionX, T directionY, T directionZ);
|
||||
NzRay& Set(const T origin[3], const T direction[3]);
|
||||
NzRay& Set(const NzPlane<T>& planeOne, const NzPlane<T>& planeTwo);
|
||||
NzRay& Set(const NzRay& ray);
|
||||
NzRay& Set(const NzVector3<T>& origin, const NzVector3<T>& direction);
|
||||
template<typename U> NzRay& Set(const NzRay<U>& ray);
|
||||
template<typename U> NzRay& Set(const NzVector3<U>& origin, const NzVector3<U>& direction);
|
||||
|
||||
NzString ToString() const;
|
||||
|
||||
NzVector3<T> operator*(T lambda) const;
|
||||
|
||||
bool operator==(const NzRay& ray) const;
|
||||
bool operator!=(const NzRay& ray) const;
|
||||
|
||||
static NzRay AxisX();
|
||||
static NzRay AxisY();
|
||||
static NzRay AxisZ();
|
||||
static NzRay Lerp(const NzRay& from, const NzRay& to, T interpolation);
|
||||
|
||||
NzVector3<T> direction, origin;
|
||||
};
|
||||
|
||||
template<typename T> std::ostream& operator<<(std::ostream& out, const NzRay<T>& vec);
|
||||
|
||||
typedef NzRay<double> NzRayd;
|
||||
typedef NzRay<float> NzRayf;
|
||||
|
||||
#include <Nazara/Math/Ray.inl>
|
||||
|
||||
#endif // NAZARA_RAY_HPP
|
||||
|
|
@ -0,0 +1,443 @@
|
|||
// Copyright (C) 2015 Gawaboumga (https://github.com/Gawaboumga) - Jérôme Leclercq
|
||||
// This file is part of the "Nazara Engine - Mathematics module"
|
||||
// For conditions of distribution and use, see copyright notice in Config.hpp
|
||||
|
||||
#include <Nazara/Core/StringStream.hpp>
|
||||
#include <limits>
|
||||
#include <Nazara/Core/Debug.hpp>
|
||||
|
||||
#define F(a) static_cast<T>(a)
|
||||
|
||||
template<typename T>
|
||||
NzRay<T>::NzRay(T X, T Y, T Z, T DirectionX, T DirectionY, T DirectionZ)
|
||||
{
|
||||
Set(X, Y, Z, DirectionX, DirectionY, DirectionZ);
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
NzRay<T>::NzRay(const T Origin[3], const T Direction[3])
|
||||
{
|
||||
Set(Origin, Direction);
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
NzRay<T>::NzRay(const NzPlane<T>& planeOne, const NzPlane<T>& planeTwo)
|
||||
{
|
||||
Set(planeOne, planeTwo);
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
NzRay<T>::NzRay(const NzVector3<T>& Origin, const NzVector3<T>& Direction)
|
||||
{
|
||||
Set(Origin, Direction);
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
template<typename U>
|
||||
NzRay<T>::NzRay(const NzRay<U>& ray)
|
||||
{
|
||||
Set(ray);
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
template<typename U>
|
||||
NzRay<T>::NzRay(const NzVector3<U>& Origin, const NzVector3<U>& Direction)
|
||||
{
|
||||
Set(Origin, Direction);
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
T NzRay<T>::ClosestPoint(const NzVector3<T>& point) const
|
||||
{
|
||||
NzVector3<T> delta = point - origin;
|
||||
T vsq = direction.GetSquaredLength();
|
||||
T proj = delta.DotProduct(direction);
|
||||
|
||||
return proj/vsq;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
NzVector3<T> NzRay<T>::GetPoint(T lambda) const
|
||||
{
|
||||
return origin + lambda * direction;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
bool NzRay<T>::Intersect(const NzBoundingVolume<T>& volume, T* closestHit, T* furthestHit) const
|
||||
{
|
||||
switch (volume.extend)
|
||||
{
|
||||
case nzExtend_Finite:
|
||||
{
|
||||
if (Intersect(volume.aabb))
|
||||
return Intersect(volume.obb, closestHit, furthestHit);
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
case nzExtend_Infinite:
|
||||
{
|
||||
if (closestHit)
|
||||
*closestHit = F(0.0);
|
||||
|
||||
if (furthestHit)
|
||||
*furthestHit = std::numeric_limits<T>::infinity();
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
case nzExtend_Null:
|
||||
return false;
|
||||
}
|
||||
|
||||
NazaraError("Invalid extend type (0x" + NzString::Number(volume.extend, 16) + ')');
|
||||
return false;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
bool NzRay<T>::Intersect(const NzBox<T>& box, T* closestHit, T* furthestHit) const
|
||||
{
|
||||
// http://www.gamedev.net/topic/429443-obb-ray-and-obb-plane-intersection/
|
||||
T tfirst = F(0.0);
|
||||
T tlast = std::numeric_limits<T>::infinity();
|
||||
|
||||
NzVector3<T> boxMin = box.GetMinimum();
|
||||
NzVector3<T> boxMax = box.GetMaximum();
|
||||
|
||||
for (unsigned int i = 0; i < 3; ++i)
|
||||
{
|
||||
T dir = direction[i];
|
||||
T ori = origin[i];
|
||||
T max = boxMax[i];
|
||||
T min = boxMin[i];
|
||||
|
||||
if (NzNumberEquals(dir, F(0.0)))
|
||||
{
|
||||
if (ori < max && ori > min)
|
||||
continue;
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
T tmin = (min - ori) / dir;
|
||||
T tmax = (max - ori) / dir;
|
||||
if (tmin > tmax)
|
||||
std::swap(tmin, tmax);
|
||||
|
||||
if (tmax < tfirst || tmin > tlast)
|
||||
return false;
|
||||
|
||||
tfirst = std::max(tfirst, tmin);
|
||||
tlast = std::min(tlast, tmax);
|
||||
}
|
||||
|
||||
if (closestHit)
|
||||
*closestHit = tfirst;
|
||||
|
||||
if (furthestHit)
|
||||
*furthestHit = tlast;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
bool NzRay<T>::Intersect(const NzBox<T>& box, const NzMatrix4<T>& transform, T* closestHit, T* furthestHit) const
|
||||
{
|
||||
// http://www.opengl-tutorial.org/miscellaneous/clicking-on-objects/picking-with-custom-ray-obb-function/
|
||||
// Intersection method from Real-Time Rendering and Essential Mathematics for Games
|
||||
T tMin = F(0.0);
|
||||
T tMax = std::numeric_limits<T>::infinity();
|
||||
|
||||
NzVector3<T> boxMin = box.GetMinimum();
|
||||
NzVector3<T> boxMax = box.GetMaximum();
|
||||
NzVector3<T> delta = transform.GetTranslation() - origin;
|
||||
|
||||
// Test intersection with the 2 planes perpendicular to the OBB's X axis
|
||||
for (unsigned int i = 0; i < 3; ++i)
|
||||
{
|
||||
NzVector3<T> axis(transform(0, i), transform(1, i), transform(2, i));
|
||||
T e = axis.DotProduct(delta);
|
||||
T f = direction.DotProduct(axis);
|
||||
|
||||
if (!NzNumberEquals(f, F(0.0)))
|
||||
{
|
||||
T t1 = (e + boxMin[i]) / f; // Intersection with the "left" plane
|
||||
T t2 = (e + boxMax[i]) / f; // Intersection with the "right" plane
|
||||
// t1 and t2 now contain distances betwen ray origin and ray-plane intersections
|
||||
|
||||
// We want t1 to represent the nearest intersection,
|
||||
// so if it's not the case, invert t1 and t2
|
||||
if (t1 > t2)
|
||||
std::swap(t1, t2);
|
||||
|
||||
// tMax is the nearest "far" intersection (amongst the X,Y and Z planes pairs)
|
||||
if (t2 < tMax)
|
||||
tMax = t2;
|
||||
|
||||
// tMin is the farthest "near" intersection (amongst the X,Y and Z planes pairs)
|
||||
if (t1 > tMin)
|
||||
tMin = t1;
|
||||
|
||||
// And here's the trick :
|
||||
// If "far" is closer than "near", then there is NO intersection.
|
||||
if (tMax < tMin)
|
||||
return false;
|
||||
}
|
||||
else
|
||||
// Rare case : the ray is almost parallel to the planes, so they don't have any "intersection"
|
||||
if (-e + boxMin[i] > F(0.0) || -e + boxMax[i] < F(0.0))
|
||||
return false;
|
||||
}
|
||||
|
||||
if (closestHit)
|
||||
*closestHit = tMin;
|
||||
|
||||
if (furthestHit)
|
||||
*furthestHit = tMax;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
bool NzRay<T>::Intersect(const NzOrientedBox<T>& orientedBox, T* closestHit, T* furthestHit) const
|
||||
{
|
||||
NzVector3<T> corner = orientedBox.GetCorner(nzBoxCorner_FarLeftBottom);
|
||||
NzVector3<T> oppositeCorner = orientedBox.GetCorner(nzBoxCorner_NearRightTop);
|
||||
|
||||
NzVector3<T> width = (orientedBox.GetCorner(nzBoxCorner_NearLeftBottom) - corner);
|
||||
NzVector3<T> height = (orientedBox.GetCorner(nzBoxCorner_FarLeftTop) - corner);
|
||||
NzVector3<T> depth = (orientedBox.GetCorner(nzBoxCorner_FarRightBottom) - corner);
|
||||
|
||||
// Construction de la matrice de transformation de l'OBB
|
||||
NzMatrix4<T> matrix(width.x, height.x, depth.x, corner.x,
|
||||
width.y, height.y, depth.y, corner.y,
|
||||
width.z, height.z, depth.z, corner.z,
|
||||
F(0.0), F(0.0), F(0.0), F(1.0));
|
||||
|
||||
matrix.InverseAffine();
|
||||
|
||||
corner = matrix.Transform(corner);
|
||||
oppositeCorner = matrix.Transform(oppositeCorner);
|
||||
|
||||
NzBox<T> tmpBox(corner, oppositeCorner);
|
||||
NzRay<T> tmpRay(matrix.Transform(origin), matrix.Transform(direction));
|
||||
|
||||
return tmpRay.Intersect(tmpBox, closestHit, furthestHit);
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
bool NzRay<T>::Intersect(const NzPlane<T>& plane, T* hit) const
|
||||
{
|
||||
T divisor = plane.normal.DotProduct(direction);
|
||||
if (NzNumberEquals(divisor, F(0.0)))
|
||||
return false; // perpendicular
|
||||
|
||||
T lambda = -(plane.normal.DotProduct(origin) - plane.distance) / divisor; // The plane is ax + by + cz = d
|
||||
if (lambda < F(0.0))
|
||||
return false; // The plane is 'behind' the ray.
|
||||
|
||||
if (hit)
|
||||
*hit = lambda;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
bool NzRay<T>::Intersect(const NzSphere<T>& sphere, T* closestHit, T* furthestHit) const
|
||||
{
|
||||
NzVector3<T> sphereRay = sphere.GetPosition() - origin;
|
||||
T length = sphereRay.DotProduct(direction);
|
||||
|
||||
if (length < F(0.0))
|
||||
return false; // ray is perpendicular to the vector origin - center
|
||||
|
||||
T squaredDistance = sphereRay.GetSquaredLength() - length*length;
|
||||
T squaredRadius = sphere.radius*sphere.radius;
|
||||
|
||||
if (squaredDistance > squaredRadius)
|
||||
return false; // if the ray is further than the radius
|
||||
|
||||
// Calcul des points d'intersection si besoin
|
||||
if (closestHit || furthestHit)
|
||||
{
|
||||
T deltaLambda = std::sqrt(squaredRadius - squaredDistance);
|
||||
|
||||
if (closestHit)
|
||||
*closestHit = length - deltaLambda;
|
||||
|
||||
if (furthestHit)
|
||||
*furthestHit = length + deltaLambda;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
NzRay<T>& NzRay<T>::MakeAxisX()
|
||||
{
|
||||
return Set(NzVector3<T>::Zero(), NzVector3<T>::UnitX());
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
NzRay<T>& NzRay<T>::MakeAxisY()
|
||||
{
|
||||
return Set(NzVector3<T>::Zero(), NzVector3<T>::UnitY());
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
NzRay<T>& NzRay<T>::MakeAxisZ()
|
||||
{
|
||||
return Set(NzVector3<T>::Zero(), NzVector3<T>::UnitZ());
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
NzRay<T>& NzRay<T>::Set(T X, T Y, T Z, T directionX, T directionY, T directionZ)
|
||||
{
|
||||
direction.Set(directionX, directionY, directionZ);
|
||||
origin.Set(X, Y, Z);
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
NzRay<T>& NzRay<T>::Set(const T Origin[3], const T Direction[3])
|
||||
{
|
||||
direction.Set(Direction);
|
||||
origin.Set(Origin);
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
NzRay<T>& NzRay<T>::Set(const NzPlane<T>& planeOne, const NzPlane<T>& planeTwo)
|
||||
{
|
||||
T termOne = planeOne.normal.GetLength();
|
||||
T termTwo = planeOne.normal.DotProduct(planeTwo.normal);
|
||||
T termFour = planeTwo.normal.GetLength();
|
||||
T det = termOne * termFour - termTwo * termTwo;
|
||||
|
||||
#if NAZARA_MATH_SAFE
|
||||
if (NzNumberEquals(det, F(0.0)))
|
||||
{
|
||||
NzString error("Planes are parallel.");
|
||||
|
||||
NazaraError(error);
|
||||
throw std::domain_error(error);
|
||||
}
|
||||
#endif
|
||||
|
||||
T invdet = F(1.0) / det;
|
||||
T fc0 = (termFour * -planeOne.distance + termTwo * planeTwo.distance) * invdet;
|
||||
T fc1 = (termOne * -planeTwo.distance + termTwo * planeOne.distance) * invdet;
|
||||
|
||||
direction = planeOne.normal.CrossProduct(planeTwo.normal);
|
||||
origin = planeOne.normal * fc0 + planeTwo.normal * fc1;
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
NzRay<T>& NzRay<T>::Set(const NzRay& ray)
|
||||
{
|
||||
std::memcpy(this, &ray, sizeof(NzRay));
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
NzRay<T>& NzRay<T>::Set(const NzVector3<T>& Origin, const NzVector3<T>& Direction)
|
||||
{
|
||||
direction = Direction;
|
||||
origin = Origin;
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
template<typename U>
|
||||
NzRay<T>& NzRay<T>::Set(const NzRay<U>& ray)
|
||||
{
|
||||
direction.Set(ray.direction);
|
||||
origin.Set(ray.origin);
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
template<typename U>
|
||||
NzRay<T>& NzRay<T>::Set(const NzVector3<U>& Origin, const NzVector3<U>& Direction)
|
||||
{
|
||||
direction.Set(Direction);
|
||||
origin.Set(Origin);
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
NzString NzRay<T>::ToString() const
|
||||
{
|
||||
NzStringStream ss;
|
||||
|
||||
return ss << "Ray(origin: " << origin.ToString() << ", direction: " << direction.ToString() << ")";
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
NzVector3<T> NzRay<T>::operator*(T lambda) const
|
||||
{
|
||||
return GetPoint(lambda);
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
bool NzRay<T>::operator==(const NzRay& ray) const
|
||||
{
|
||||
return direction == ray.direction && origin == ray.origin;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
bool NzRay<T>::operator!=(const NzRay& ray) const
|
||||
{
|
||||
return !operator==(ray);
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
NzRay<T> NzRay<T>::AxisX()
|
||||
{
|
||||
NzRay axis;
|
||||
axis.MakeAxisX();
|
||||
|
||||
return axis;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
NzRay<T> NzRay<T>::AxisY()
|
||||
{
|
||||
NzRay axis;
|
||||
axis.MakeAxisY();
|
||||
|
||||
return axis;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
NzRay<T> NzRay<T>::AxisZ()
|
||||
{
|
||||
NzRay axis;
|
||||
axis.MakeAxisZ();
|
||||
|
||||
return axis;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
NzRay<T> NzRay<T>::Lerp(const NzRay& from, const NzRay& to, T interpolation)
|
||||
{
|
||||
return NzRay<T>(from.origin.Lerp(to.origin, interpolation), from.direction.Lerp(to.direction, interpolation));
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
std::ostream& operator<<(std::ostream& out, const NzRay<T>& ray)
|
||||
{
|
||||
return out << ray.ToString();
|
||||
}
|
||||
|
||||
#undef F
|
||||
|
||||
#include <Nazara/Core/DebugOff.hpp>
|
||||
Loading…
Reference in New Issue