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https://github.com/scummvm/scummvm.git
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121 lines
3.2 KiB
C++
121 lines
3.2 KiB
C++
/* ScummVM - Graphic Adventure Engine
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*
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* ScummVM is the legal property of its developers, whose names
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* are too numerous to list here. Please refer to the COPYRIGHT
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* file distributed with this source distribution.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "math/ray.h"
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#include "common/util.h"
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namespace Math {
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Ray::Ray() {
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}
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Ray::Ray(const Vector3d &origin, const Vector3d &direction) :
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_origin(origin),
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_direction(direction) {
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}
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void Ray::transform(const Matrix4 &matrix) {
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matrix.transform(&_origin, true);
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matrix.transform(&_direction, false);
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_direction.normalize();
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}
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void Ray::rotate(const Quaternion &rot) {
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rot.transform(_origin);
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rot.transform(_direction);
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_direction.normalize();
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}
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void Ray::rotateDirection(const Quaternion &rot) {
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rot.transform(_direction);
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_direction.normalize();
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}
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void Ray::translate(const Vector3d &v) {
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_origin += v;
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}
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bool Ray::intersectAABB(const AABB &aabb) const {
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Vector3d dirFrac;
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dirFrac.x() = 1.0f / _direction.x();
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dirFrac.y() = 1.0f / _direction.y();
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dirFrac.z() = 1.0f / _direction.z();
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float t1 = (aabb.getMin().x() - _origin.x()) * dirFrac.x();
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float t2 = (aabb.getMax().x() - _origin.x()) * dirFrac.x();
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float t3 = (aabb.getMin().y() - _origin.y()) * dirFrac.y();
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float t4 = (aabb.getMax().y() - _origin.y()) * dirFrac.y();
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float t5 = (aabb.getMin().z() - _origin.z()) * dirFrac.z();
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float t6 = (aabb.getMax().z() - _origin.z()) * dirFrac.z();
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float tMin = MAX(MAX(MIN(t1, t2), MIN(t3, t4)), MIN(t5, t6));
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float tMax = MIN(MIN(MAX(t1, t2), MAX(t3, t4)), MAX(t5, t6));
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// If tMax < 0, the ray is intersecting the AABB, but the whole AABB is in the opposite direction
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if (tMax < 0) {
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return false;
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}
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// If tMin > tMax, the ray doesn't intersect the AABB
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if (tMin > tMax) {
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return false;
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}
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return true;
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}
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// Algorithm adapted from https://www.lighthouse3d.com/tutorials/maths/ray-triangle-intersection/
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bool Ray::intersectTriangle(const Vector3d &v0, const Vector3d &v1,
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const Vector3d &v2, Vector3d &vout, float &fout) const {
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const Vector3d e1 = v1 - v0;
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const Vector3d e2 = v2 - v0;
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const Vector3d h = Vector3d::crossProduct(_direction, e2);
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float a = e1.dotProduct(h);
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if (fabs(a) < 1e-6f)
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return false;
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float f = 1.0f / a;
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const Vector3d s = _origin - v0;
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float u = f * s.dotProduct(h);
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if (u < 0.0f || u > 1.0f)
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return false;
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const Vector3d q = Vector3d::crossProduct(s, e1);
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float v = f * _direction.dotProduct(q);
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if (v < 0.0f || u + v > 1.0f)
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return false;
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float t = f * e2.dotProduct(q);
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if (t < 1e-6f)
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return false;
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fout = t;
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vout = _origin + t * _direction;
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return true;
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}
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}
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