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Add ray intersection tests against most shapes.
This commit is contained in:
Andrew Meadows
parent
e75340f8ce
commit
ab3d582d79
2 changed files with 132 additions and 37 deletions
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@ -765,5 +765,86 @@ bool capsuleAACube(const CapsuleShape* capsuleA, const glm::vec3& cubeCenter, fl
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return sphereAACube(nearestApproach, capsuleA->getRadius(), cubeCenter, cubeSide, collisions);
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}
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bool findRayIntersectionWithShapes(const QVector<Shape*> shapes, const glm::vec3& rayStart, const glm::vec3& rayDirection, float& minDistance) {
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float hitDistance = FLT_MAX;
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int numShapes = shapes.size();
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for (int i = 0; i < numShapes; ++i) {
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Shape* shape = shapes.at(i);
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if (shape) {
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float distance;
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if (findRayIntersectionWithShape(shape, rayStart, rayDirection, distance)) {
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if (distance < hitDistance) {
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hitDistance = distance;
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}
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}
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}
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}
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if (hitDistance < FLT_MAX) {
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minDistance = hitDistance;
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}
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return false;
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}
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bool findRayIntersectionWithShape(const Shape* shape, const glm::vec3& rayStart, const glm::vec3& rayDirection, float& distance) {
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// NOTE: rayDirection is assumed to be normalized
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int typeA = shape->getType();
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if (typeA == Shape::SPHERE_SHAPE) {
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const SphereShape* sphere = static_cast<const SphereShape*>(shape);
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glm::vec3 sphereCenter = sphere->getPosition();
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float r2 = sphere->getRadius() * sphere->getRadius(); // r2 = radius^2
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// compute closest approach (CA)
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float a = glm::dot(sphere->getPosition() - rayStart, rayDirection); // a = distance from ray-start to CA
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float b2 = glm::distance2(sphereCenter, rayStart + a * rayDirection); // b2 = squared distance from sphere-center to CA
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if (b2 > r2) {
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// ray does not hit sphere
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return false;
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}
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float c = sqrtf(r2 - b2); // c = distance from CA to sphere surface along rayDirection
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float d2 = glm::distance2(rayStart, sphereCenter); // d2 = squared distance from sphere-center to ray-start
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if (a < 0.0f) {
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// ray points away from sphere-center
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if (d2 > r2) {
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// ray starts outside sphere
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return false;
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}
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// ray starts inside sphere
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distance = c + a;
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} else if (d2 > r2) {
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// ray starts outside sphere
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distance = a - c;
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} else {
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// ray starts inside sphere
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distance = a + c;
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}
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return true;
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} else if (typeA == Shape::CAPSULE_SHAPE) {
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const CapsuleShape* capsule = static_cast<const CapsuleShape*>(shape);
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float radius = capsule->getRadius();
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glm::vec3 capsuleStart, capsuleEnd;
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capsule->getStartPoint(capsuleStart);
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capsule->getEndPoint(capsuleEnd);
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// NOTE: findRayCapsuleIntersection returns 'true' with distance = 0 when rayStart is inside capsule.
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// TODO: implement the raycast to return inside surface intersection for the internal rayStart.
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return findRayCapsuleIntersection(rayStart, rayDirection, capsuleStart, capsuleEnd, radius, distance);
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} else if (typeA == Shape::PLANE_SHAPE) {
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const PlaneShape* plane = static_cast<const PlaneShape*>(shape);
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glm::vec3 n = plane->getNormal();
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glm::vec3 P = plane->getPosition();
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float denominator = glm::dot(n, rayDirection);
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if (fabsf(denominator) < EPSILON) {
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// line is parallel to plane
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return glm::dot(P - rayStart, n) < EPSILON;
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} else {
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float d = glm::dot(P - rayStart, n) / denominator;
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if (d > 0.0f) {
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// ray points toward plane
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distance = d;
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return true;
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}
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}
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}
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return false;
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}
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} // namespace ShapeCollider
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@ -21,8 +21,8 @@
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namespace ShapeCollider {
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/// \param shapeA pointer to first shape
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/// \param shapeB pointer to second shape
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/// \param shapeA pointer to first shape (cannot be NULL)
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/// \param shapeB pointer to second shape (cannot be NULL)
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/// \param collisions[out] collision details
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/// \return true if shapes collide
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bool collideShapes(const Shape* shapeA, const Shape* shapeB, CollisionList& collisions);
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@ -33,123 +33,137 @@ namespace ShapeCollider {
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/// \return true if any shapes collide
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bool collideShapesCoarse(const QVector<const Shape*>& shapesA, const QVector<const Shape*>& shapesB, CollisionInfo& collision);
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/// \param shapeA a pointer to a shape
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/// \param shapeA a pointer to a shape (cannot be NULL)
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/// \param cubeCenter center of cube
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/// \param cubeSide lenght of side of cube
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/// \param collisions[out] average collision details
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/// \return true if shapeA collides with axis aligned cube
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bool collideShapeWithAACube(const Shape* shapeA, const glm::vec3& cubeCenter, float cubeSide, CollisionList& collisions);
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/// \param sphereA pointer to first shape
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/// \param sphereB pointer to second shape
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/// \param sphereA pointer to first shape (cannot be NULL)
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/// \param sphereB pointer to second shape (cannot be NULL)
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/// \param[out] collisions where to append collision details
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/// \return true if shapes collide
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bool sphereSphere(const SphereShape* sphereA, const SphereShape* sphereB, CollisionList& collisions);
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/// \param sphereA pointer to first shape
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/// \param capsuleB pointer to second shape
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/// \param sphereA pointer to first shape (cannot be NULL)
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/// \param capsuleB pointer to second shape (cannot be NULL)
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/// \param[out] collisions where to append collision details
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/// \return true if shapes collide
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bool sphereCapsule(const SphereShape* sphereA, const CapsuleShape* capsuleB, CollisionList& collisions);
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/// \param sphereA pointer to first shape
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/// \param planeB pointer to second shape
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/// \param sphereA pointer to first shape (cannot be NULL)
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/// \param planeB pointer to second shape (cannot be NULL)
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/// \param[out] collisions where to append collision details
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/// \return true if shapes collide
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bool spherePlane(const SphereShape* sphereA, const PlaneShape* planeB, CollisionList& collisions);
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/// \param capsuleA pointer to first shape
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/// \param sphereB pointer to second shape
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/// \param capsuleA pointer to first shape (cannot be NULL)
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/// \param sphereB pointer to second shape (cannot be NULL)
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/// \param[out] collisions where to append collision details
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/// \return true if shapes collide
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bool capsuleSphere(const CapsuleShape* capsuleA, const SphereShape* sphereB, CollisionList& collisions);
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/// \param capsuleA pointer to first shape
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/// \param capsuleB pointer to second shape
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/// \param capsuleA pointer to first shape (cannot be NULL)
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/// \param capsuleB pointer to second shape (cannot be NULL)
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/// \param[out] collisions where to append collision details
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/// \return true if shapes collide
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bool capsuleCapsule(const CapsuleShape* capsuleA, const CapsuleShape* capsuleB, CollisionList& collisions);
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/// \param capsuleA pointer to first shape
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/// \param planeB pointer to second shape
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/// \param capsuleA pointer to first shape (cannot be NULL)
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/// \param planeB pointer to second shape (cannot be NULL)
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/// \param[out] collisions where to append collision details
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/// \return true if shapes collide
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bool capsulePlane(const CapsuleShape* capsuleA, const PlaneShape* planeB, CollisionList& collisions);
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/// \param planeA pointer to first shape
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/// \param sphereB pointer to second shape
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/// \param planeA pointer to first shape (cannot be NULL)
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/// \param sphereB pointer to second shape (cannot be NULL)
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/// \param[out] collisions where to append collision details
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/// \return true if shapes collide
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bool planeSphere(const PlaneShape* planeA, const SphereShape* sphereB, CollisionList& collisions);
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/// \param planeA pointer to first shape
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/// \param capsuleB pointer to second shape
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/// \param planeA pointer to first shape (cannot be NULL)
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/// \param capsuleB pointer to second shape (cannot be NULL)
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/// \param[out] collisions where to append collision details
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/// \return true if shapes collide
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bool planeCapsule(const PlaneShape* planeA, const CapsuleShape* capsuleB, CollisionList& collisions);
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/// \param planeA pointer to first shape
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/// \param planeB pointer to second shape
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/// \param planeA pointer to first shape (cannot be NULL)
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/// \param planeB pointer to second shape (cannot be NULL)
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/// \param[out] collisions where to append collision details
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/// \return true if shapes collide
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bool planePlane(const PlaneShape* planeA, const PlaneShape* planeB, CollisionList& collisions);
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/// \param sphereA pointer to first shape
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/// \param listB pointer to second shape
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/// \param sphereA pointer to first shape (cannot be NULL)
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/// \param listB pointer to second shape (cannot be NULL)
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/// \param[out] collisions where to append collision details
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/// \return true if shapes collide
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bool sphereList(const SphereShape* sphereA, const ListShape* listB, CollisionList& collisions);
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/// \param capuleA pointer to first shape
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/// \param listB pointer to second shape
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/// \param capuleA pointer to first shape (cannot be NULL)
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/// \param listB pointer to second shape (cannot be NULL)
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/// \param[out] collisions where to append collision details
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/// \return true if shapes collide
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bool capsuleList(const CapsuleShape* capsuleA, const ListShape* listB, CollisionList& collisions);
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/// \param planeA pointer to first shape
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/// \param listB pointer to second shape
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/// \param planeA pointer to first shape (cannot be NULL)
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/// \param listB pointer to second shape (cannot be NULL)
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/// \param[out] collisions where to append collision details
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/// \return true if shapes collide
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bool planeList(const PlaneShape* planeA, const ListShape* listB, CollisionList& collisions);
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/// \param listA pointer to first shape
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/// \param sphereB pointer to second shape
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/// \param listA pointer to first shape (cannot be NULL)
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/// \param sphereB pointer to second shape (cannot be NULL)
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/// \param[out] collisions where to append collision details
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/// \return true if shapes collide
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bool listSphere(const ListShape* listA, const SphereShape* sphereB, CollisionList& collisions);
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/// \param listA pointer to first shape
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/// \param capsuleB pointer to second shape
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/// \param listA pointer to first shape (cannot be NULL)
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/// \param capsuleB pointer to second shape (cannot be NULL)
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/// \param[out] collisions where to append collision details
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/// \return true if shapes collide
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bool listCapsule(const ListShape* listA, const CapsuleShape* capsuleB, CollisionList& collisions);
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/// \param listA pointer to first shape
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/// \param planeB pointer to second shape
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/// \param listA pointer to first shape (cannot be NULL)
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/// \param planeB pointer to second shape (cannot be NULL)
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/// \param[out] collisions where to append collision details
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/// \return true if shapes collide
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bool listPlane(const ListShape* listA, const PlaneShape* planeB, CollisionList& collisions);
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/// \param listA pointer to first shape
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/// \param capsuleB pointer to second shape
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/// \param listA pointer to first shape (cannot be NULL)
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/// \param capsuleB pointer to second shape (cannot be NULL)
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/// \param[out] collisions where to append collision details
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/// \return true if shapes collide
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bool listList(const ListShape* listA, const ListShape* listB, CollisionList& collisions);
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/// \param sphereA pointer to sphere
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/// \param sphereA pointer to sphere (cannot be NULL)
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/// \param cubeCenter center of cube
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/// \param cubeSide lenght of side of cube
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/// \param[out] collisions where to append collision details
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/// \return true if sphereA collides with axis aligned cube
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bool sphereAACube(const SphereShape* sphereA, const glm::vec3& cubeCenter, float cubeSide, CollisionList& collisions);
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/// \param capsuleA pointer to capsule
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/// \param capsuleA pointer to capsule (cannot be NULL)
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/// \param cubeCenter center of cube
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/// \param cubeSide lenght of side of cube
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/// \param[out] collisions where to append collision details
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/// \return true if capsuleA collides with axis aligned cube
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bool capsuleAACube(const CapsuleShape* capsuleA, const glm::vec3& cubeCenter, float cubeSide, CollisionList& collisions);
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/// \param shapes list of pointers to shapes (shape pointers may be NULL)
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/// \param startPoint beginning of ray
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/// \param direction direction of ray
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/// \param minDistance[out] shortest distance to intersection of ray with a shapes
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/// \return true if ray hits any shape in shapes
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bool findRayIntersectionWithShapes(const QVector<Shape*> shapes, const glm::vec3& startPoint, const glm::vec3& direction, float& minDistance);
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/// \param shapeA pointer to shape (cannot be NULL)
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/// \param startPoint beginning of ray
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/// \param direction direction of ray
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/// \param distance[out] distance to intersection of shape and ray
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/// \return true if ray hits shapeA
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bool findRayIntersectionWithShape(const Shape* shapeA, const glm::vec3& startPoint, const glm::vec3& direction, float& distance);
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} // namespace ShapeCollider
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#endif // hifi_ShapeCollider_h
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