raycast impl
(not finished normals and intersection point returning)
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Ara
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#include "rays.h"
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#include "aabb.h"
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#include "glm/glm.hpp"
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constexpr std::array<AAFaceKind,AABBFACES_COUNT> AABBFACES_KINDS_ORDER = {
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AAFaceKind::Xperp, AAFaceKind::Xperp,
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AAFaceKind::Yperp, AAFaceKind::Yperp,
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AAFaceKind::Zperp, AAFaceKind::Zperp};
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std::unordered_map<rayvec3, AABBFaces> Rays::raysBoxCache_ = {};
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const rayvec3 X_AXIS = rayvec3(1,0,0), Y_AXIS = rayvec3(0,1,0), Z_AXIS = rayvec3(0,0,1);
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//make edges from AABB
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AABBFaces::AABBFaces(const rayvec3& parentBoxPos, const AABB& parentBox){
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rayvec3 pbMin = parentBox.min(),
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pbMax = parentBox.max(),
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pbRealPos = parentBoxPos + pbMin;
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rayvec2 yzMax = rayvec2(parentBoxPos.y + pbMax.y, parentBoxPos.z + pbMax.z ),
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xzMax = rayvec2(parentBoxPos.x + pbMax.x, parentBoxPos.z + pbMax.z ),
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xyMax = rayvec2(parentBoxPos.x + pbMax.x, parentBoxPos.y + pbMax.y );
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faces[0] = {pbRealPos, yzMax};
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faces[1] = {parentBoxPos + rayvec3(pbMax.x, pbMin.y, pbMin.z), yzMax};
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faces[2] = {pbRealPos, xzMax};
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faces[3] = {parentBoxPos + rayvec3(pbMin.x, pbMax.y, pbMin.z), xzMax};
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faces[4] = {pbRealPos, xyMax};
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faces[5] = {parentBoxPos + rayvec3(pbMin.x, pbMin.y, pbMax.z), xyMax};
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}
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template <>
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RayRelation Rays::rayIntersectAAFace<AAFaceKind::Xperp>(
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const rayvec3& rayOrigin,
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const rayvec3& rayDir,
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const rayvec3& faceMin,
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const rayvec2& faceOppositeCorner, //y and z global coords of opposite corner
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rayvec3& intersectPoint_ret
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){
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if (fabs(glm::dot(rayDir, X_AXIS)) < 1.0E-8){ //precision
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if (rayOrigin.x == faceMin.x) {
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return RayRelation::Embed; // there can be check of hit, but not necessarily
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}
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return RayRelation::Parallel;
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}
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glm::float64 rayCoef = (faceMin.x - rayOrigin.x) / (rayDir.x);
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intersectPoint_ret = {faceMin.x,
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rayCoef*rayDir.y + rayOrigin.y,
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rayCoef*rayDir.z + rayOrigin.z};
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if (rayDir.x > 0){
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if (intersectPoint_ret.y >= faceMin.y
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&& intersectPoint_ret.y <= faceOppositeCorner[0]
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&& intersectPoint_ret.z >= faceMin.z
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&& intersectPoint_ret.z <= faceOppositeCorner[1]){
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return RayRelation::Intersect;
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}
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}
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else{
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if (intersectPoint_ret.y <= faceMin.y
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&& intersectPoint_ret.y >= faceOppositeCorner[0]
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&& intersectPoint_ret.z <= faceMin.z
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&& intersectPoint_ret.z >= faceOppositeCorner[1]){
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return RayRelation::Intersect;
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}
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}
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return RayRelation::None;
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}
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template <>
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RayRelation Rays::rayIntersectAAFace<AAFaceKind::Yperp>(
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const rayvec3& rayOrigin,
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const rayvec3& rayDir,
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const rayvec3& faceMin,
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const rayvec2& faceOppositeCorner, //x and z global coords of opposite corner
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rayvec3& intersectPoint_ret
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){
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if (fabs(glm::dot(rayDir, Y_AXIS)) < 1.0E-8){ //precision
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if (rayOrigin.y == faceMin.y) {
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return RayRelation::Embed; // there can be check of hit, but not necessarily
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}
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return RayRelation::Parallel;
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}
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glm::float64 rayCoef = (faceMin.y - rayOrigin.y) / (rayDir.y);
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intersectPoint_ret = {rayCoef*rayDir.x + rayOrigin.x,
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faceMin.y,
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rayCoef*rayDir.z + rayOrigin.z};
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if (rayDir.y > 0){
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if (intersectPoint_ret.x >= faceMin.x //Face-hit check
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&& intersectPoint_ret.x <= faceOppositeCorner[0]
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&& intersectPoint_ret.z >= faceMin.z
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&& intersectPoint_ret.z <= faceOppositeCorner[1] ){
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return RayRelation::Intersect;
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}
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}
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else{
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if (intersectPoint_ret.x <= faceMin.x //Face-hit check for negative dir.
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&& intersectPoint_ret.x >= faceOppositeCorner[0]
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&& intersectPoint_ret.z <= faceMin.z
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&& intersectPoint_ret.z >= faceOppositeCorner[1]){
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return RayRelation::Intersect;
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}
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}
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return RayRelation::None;
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}
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template <>
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RayRelation Rays::rayIntersectAAFace<AAFaceKind::Zperp>(
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const rayvec3& rayOrigin,
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const rayvec3& rayDir,
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const rayvec3& faceMin,
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const rayvec2& faceOppositeCorner, //x and y global coords of opposite corner
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rayvec3& intersectPoint_ret
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){
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if (fabs(glm::dot(rayDir, Z_AXIS)) < 1.0E-8){ //precision
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if (rayOrigin.z == faceMin.z) {
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return RayRelation::Embed; // there can be check of hit, but not necessarily
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}
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return RayRelation::Parallel;
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}
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glm::float64 rayCoef = (faceMin.z - rayOrigin.z) / (rayDir.z);
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intersectPoint_ret = {rayCoef*rayDir.x + rayOrigin.x,
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rayCoef*rayDir.y + rayOrigin.y,
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faceMin.z};
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if (rayDir.y > 0){
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if (intersectPoint_ret.x >= faceMin.x //Face-hit check
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&& intersectPoint_ret.x <= faceOppositeCorner[0]
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&& intersectPoint_ret.y >= faceMin.y
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&& intersectPoint_ret.y <= faceOppositeCorner[1] ){
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return RayRelation::Intersect;
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}
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}
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else{
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if (intersectPoint_ret.x <= faceMin.x //Face-hit check
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&& intersectPoint_ret.x >= faceOppositeCorner[0]
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&& intersectPoint_ret.y <= faceMin.y
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&& intersectPoint_ret.y >= faceOppositeCorner[1] ){
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return RayRelation::Intersect;
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}
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}
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return RayRelation::None;
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}
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template <>
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RayRelation Rays::isRayIntersectsAAFace<AAFaceKind::Xperp>(
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const rayvec3& rayOrigin,
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const rayvec3& rayDir,
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const rayvec3& faceMin,
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const rayvec2& faceOppositeCorner
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){
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if (fabs(glm::dot(rayDir, X_AXIS)) < 1.0E-8){ //precision of "parallelity"
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if (rayOrigin.x == faceMin.x) {
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return RayRelation::Embed; // there can be check of hit, but not necessarily
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}
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return RayRelation::Parallel;
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}
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glm::float64 rayCoef = (faceMin.x - rayOrigin.x);
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rayvec3 intersectPointMult = {faceMin.x * rayDir.x,
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rayCoef*rayDir.y + rayOrigin.y * rayDir.x,
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rayCoef*rayDir.z + rayOrigin.z * rayDir.x};
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if (rayDir.x > 0){
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if (intersectPointMult.y >= faceMin.y * rayDir.x //Face-hit check
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&& intersectPointMult.y <= faceOppositeCorner[0] * rayDir.x
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&& intersectPointMult.z >= faceMin.z * rayDir.x
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&& intersectPointMult.z <= faceOppositeCorner[1] * rayDir.x){
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return RayRelation::Intersect;
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}
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}
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else{
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if (intersectPointMult.y <= faceMin.y * rayDir.x //Face-hit check for negative dir.
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&& intersectPointMult.y >= faceOppositeCorner[0] * rayDir.x
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&& intersectPointMult.z <= faceMin.z * rayDir.x
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&& intersectPointMult.z >= faceOppositeCorner[1] * rayDir.x){
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return RayRelation::Intersect;
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}
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}
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return RayRelation::None;
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}
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template <>
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RayRelation Rays::isRayIntersectsAAFace<AAFaceKind::Yperp>(
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const rayvec3& rayOrigin,
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const rayvec3& rayDir,
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const rayvec3& faceMin,
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const rayvec2& faceOppositeCorner
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){
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if (fabs(glm::dot(rayDir, Y_AXIS)) < 1.0E-8){ //precision
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if (rayOrigin.y == faceMin.y) {
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return RayRelation::Embed; // there can be check of hit, but not necessarily
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}
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return RayRelation::Parallel;
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}
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glm::float64 rayCoef = (faceMin.y - rayOrigin.y);
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rayvec3 intersectPointMult = {rayCoef*rayDir.x + rayOrigin.x * rayDir.y,
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faceMin.y * rayDir.y,
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rayCoef*rayDir.z + rayOrigin.z * rayDir.y};
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if (rayDir.y > 0){
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if (intersectPointMult.x >= faceMin.x * rayDir.y //Face-hit check
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&& intersectPointMult.x <= faceOppositeCorner[0] * rayDir.y
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&& intersectPointMult.z >= faceMin.z * rayDir.y
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&& intersectPointMult.z <= faceOppositeCorner[1] * rayDir.y){
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return RayRelation::Intersect;
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}
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}
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else{
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if (intersectPointMult.x <= faceMin.x * rayDir.y //Face-hit check for negative dir.
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&& intersectPointMult.x >= faceOppositeCorner[0] * rayDir.y
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&& intersectPointMult.z <= faceMin.z * rayDir.y
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&& intersectPointMult.z >= faceOppositeCorner[1] * rayDir.y){
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return RayRelation::Intersect;
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}
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}
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return RayRelation::None;
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}
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template <>
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RayRelation Rays::isRayIntersectsAAFace<AAFaceKind::Zperp>(
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const rayvec3& rayOrigin,
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const rayvec3& rayDir,
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const rayvec3& faceMin,
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const rayvec2& faceOppositeCorner
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){
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if (fabs(glm::dot(rayDir, Z_AXIS)) < 1.0E-8){ //precision
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if (rayOrigin.z == faceMin.z) {
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return RayRelation::Embed; // there can be check of hit, but not necessarily
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}
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return RayRelation::Parallel;
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}
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glm::float64 rayCoef = (faceMin.z - rayOrigin.z);
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rayvec3 intersectPointMult = {rayCoef*rayDir.x + rayOrigin.x * rayDir.z,
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rayCoef*rayDir.y + rayOrigin.y * rayDir.z,
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faceMin.z * rayDir.z};
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if (rayDir.y > 0){
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if (intersectPointMult.x >= faceMin.x * rayDir.z //Face-hit check
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&& intersectPointMult.x <= faceOppositeCorner[0] * rayDir.z
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&& intersectPointMult.y >= faceMin.y * rayDir.z
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&& intersectPointMult.y <= faceOppositeCorner[1] * rayDir.z){
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return RayRelation::Intersect;
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}
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}
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else{
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if (intersectPointMult.x <= faceMin.x * rayDir.z //Face-hit check
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&& intersectPointMult.x >= faceOppositeCorner[0] * rayDir.z
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&& intersectPointMult.y <= faceMin.y * rayDir.z
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&& intersectPointMult.y >= faceOppositeCorner[1] * rayDir.z){
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return RayRelation::Intersect;
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}
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}
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return RayRelation::None;
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}
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RayRelation Rays::rayIntersectAABB(
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const rayvec3& rayOrigin,
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const rayvec3& rayDir,
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const rayvec3& boxPos,
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const AABB& box,
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rayvec3& pointIn_ret,
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rayvec3& pointOut_ret,
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glm::ivec3& normal_ret){
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if constexpr (IS_RAYS_BOX_CACHE_ON){
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if (raysBoxCache_.find(boxPos) != raysBoxCache_.end()){
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const AABBFaces& boxFaces = raysBoxCache_[boxPos];
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return rayIntersectAABBFaces(rayOrigin, rayDir, boxFaces, pointIn_ret, pointOut_ret, normal_ret);
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} else {
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const AABBFaces& boxFaces = AABBFaces(boxPos, box);
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raysBoxCache_[boxPos] = boxFaces;
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return rayIntersectAABBFaces(rayOrigin, rayDir, boxFaces, pointIn_ret, pointOut_ret, normal_ret);
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}
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} else {
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const AABBFaces& boxFaces = AABBFaces(boxPos, box);
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return rayIntersectAABBFaces(rayOrigin, rayDir, boxFaces, pointIn_ret, pointOut_ret, normal_ret);
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}
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}
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RayRelation Rays::rayIntersectAABBFaces(
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const rayvec3& rayOrigin,
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const rayvec3& rayDir,
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const AABBFaces& boxFaces,
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rayvec3& pointIn_ret,
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rayvec3& pointOut_ret,
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glm::ivec3& normal_ret){//TODO: refs update
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RayRelation rel;
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unsigned char intersectedCount = 0;
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rel = isRayIntersectsAAFace<AABBFACES_KINDS_ORDER[0]>(
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rayOrigin, rayDir, boxFaces.faces[0].first, boxFaces.faces[0].second
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);
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intersectedCount+= (bool)rel;
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rel = isRayIntersectsAAFace<AABBFACES_KINDS_ORDER[1]>(
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rayOrigin, rayDir, boxFaces.faces[1].first, boxFaces.faces[1].second
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);
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intersectedCount+= (bool)rel;
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rel = isRayIntersectsAAFace<AABBFACES_KINDS_ORDER[2]>(
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rayOrigin, rayDir, boxFaces.faces[2].first, boxFaces.faces[2].second
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);
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intersectedCount+= (bool)rel;
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rel = isRayIntersectsAAFace<AABBFACES_KINDS_ORDER[3]>(
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rayOrigin, rayDir, boxFaces.faces[3].first, boxFaces.faces[3].second
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);
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intersectedCount+= (bool)rel;
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rel = isRayIntersectsAAFace<AABBFACES_KINDS_ORDER[4]>(
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rayOrigin, rayDir, boxFaces.faces[4].first, boxFaces.faces[4].second
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);
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intersectedCount+= (bool)rel;
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rel = isRayIntersectsAAFace<AABBFACES_KINDS_ORDER[5]>(
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rayOrigin, rayDir, boxFaces.faces[5].first, boxFaces.faces[5].second
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);
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intersectedCount+= (bool)rel;
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if (intersectedCount > 0) return RayRelation::Intersect;
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return RayRelation::None;
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}
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