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Diffstat (limited to 'contrib/Opcode/OPC_RayCollider.cpp')
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1 files changed, 762 insertions, 0 deletions
diff --git a/contrib/Opcode/OPC_RayCollider.cpp b/contrib/Opcode/OPC_RayCollider.cpp new file mode 100644 index 0000000..d1c90a5 --- /dev/null +++ b/contrib/Opcode/OPC_RayCollider.cpp @@ -0,0 +1,762 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for a ray collider. + * \file OPC_RayCollider.cpp + * \author Pierre Terdiman + * \date June, 2, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a ray-vs-tree collider. + * This class performs a stabbing query on an AABB tree, i.e. does a ray-mesh collision. + * + * HIGHER DISTANCE BOUND: + * + * If P0 and P1 are two 3D points, let's define: + * - d = distance between P0 and P1 + * - Origin = P0 + * - Direction = (P1 - P0) / d = normalized direction vector + * - A parameter t such as a IcePoint P on the line (P0,P1) is P = Origin + t * Direction + * - t = 0 --> P = P0 + * - t = d --> P = P1 + * + * Then we can define a general "ray" as: + * + * struct Ray + * { + * IcePoint Origin; + * IcePoint Direction; + * }; + * + * But it actually maps three different things: + * - a segment, when 0 <= t <= d + * - a half-line, when 0 <= t < +infinity, or -infinity < t <= d + * - a line, when -infinity < t < +infinity + * + * In Opcode, we support segment queries, which yield half-line queries by setting d = +infinity. + * We don't support line-queries. If you need them, shift the origin along the ray by an appropriate margin. + * + * In short, the lower bound is always 0, and you can setup the higher bound "d" with RayCollider::SetMaxDist(). + * + * Query |segment |half-line |line + * --------|-------------------|---------------|---------------- + * Usages |-shadow feelers |-raytracing |- + * |-sweep tests |-in/out tests | + * + * FIRST CONTACT: + * + * - You can setup "first contact" mode or "all contacts" mode with RayCollider::SetFirstContact(). + * - In "first contact" mode we return as soon as the ray hits one face. If can be useful e.g. for shadow feelers, where + * you want to know whether the path to the light is free or not (a boolean answer is enough). + * - In "all contacts" mode we return all faces hit by the ray. + * + * TEMPORAL COHERENCE: + * + * - You can enable or disable temporal coherence with RayCollider::SetTemporalCoherence(). + * - It currently only works in "first contact" mode. + * - If temporal coherence is enabled, the previously hit triangle is cached during the first query. Then, next queries + * start by colliding the ray against the cached triangle. If they still collide, we return immediately. + * + * CLOSEST HIT: + * + * - You can enable or disable "closest hit" with RayCollider::SetClosestHit(). + * - It currently only works in "all contacts" mode. + * - If closest hit is enabled, faces are sorted by distance on-the-fly and the closest one only is reported. + * + * BACKFACE CULLING: + * + * - You can enable or disable backface culling with RayCollider::SetCulling(). + * - If culling is enabled, ray will not hit back faces (only front faces). + * + * + * + * \class RayCollider + * \author Pierre Terdiman + * \version 1.3 + * \date June, 2, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * This class describes a face hit by a ray or segment. + * This is a particular class dedicated to stabbing queries. + * + * \class CollisionFace + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * This class is a dedicated collection of CollisionFace. + * + * \class CollisionFaces + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace Opcode; + +#include "OPC_RayAABBOverlap.h" +#include "OPC_RayTriOverlap.h" + +#define SET_CONTACT(prim_index, flag) \ + mNbIntersections++; \ + /* Set contact status */ \ + mFlags |= flag; \ + /* In any case the contact has been found and recorded in mStabbedFace */ \ + mStabbedFace.mFaceID = prim_index; + +#ifdef OPC_RAYHIT_CALLBACK + + #define HANDLE_CONTACT(prim_index, flag) \ + SET_CONTACT(prim_index, flag) \ + \ + if(mHitCallback) (mHitCallback)(mStabbedFace, mUserData); + + #define UPDATE_CACHE \ + if(cache && GetContactStatus()) \ + { \ + *cache = mStabbedFace.mFaceID; \ + } +#else + + #define HANDLE_CONTACT(prim_index, flag) \ + SET_CONTACT(prim_index, flag) \ + \ + /* Now we can also record it in mStabbedFaces if available */ \ + if(mStabbedFaces) \ + { \ + /* If we want all faces or if that's the first one we hit */ \ + if(!mClosestHit || !mStabbedFaces->GetNbFaces()) \ + { \ + mStabbedFaces->AddFace(mStabbedFace); \ + } \ + else \ + { \ + /* We only keep closest hit */ \ + CollisionFace* Current = const_cast<CollisionFace*>(mStabbedFaces->GetFaces()); \ + if(Current && mStabbedFace.mDistance<Current->mDistance) \ + { \ + *Current = mStabbedFace; \ + } \ + } \ + } + + #define UPDATE_CACHE \ + if(cache && GetContactStatus() && mStabbedFaces) \ + { \ + const CollisionFace* Current = mStabbedFaces->GetFaces(); \ + if(Current) *cache = Current->mFaceID; \ + else *cache = INVALID_ID; \ + } +#endif + +#define SEGMENT_PRIM(prim_index, flag) \ + /* Request vertices from the app */ \ + VertexPointers VP; mIMesh->GetTriangle(VP, prim_index); \ + \ + /* Perform ray-tri overlap test and return */ \ + if(RayTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) \ + { \ + /* Intersection IcePoint is valid if dist < segment's length */ \ + /* We know dist>0 so we can use integers */ \ + if(IR(mStabbedFace.mDistance)<IR(mMaxDist)) \ + { \ + HANDLE_CONTACT(prim_index, flag) \ + } \ + } + +#define RAY_PRIM(prim_index, flag) \ + /* Request vertices from the app */ \ + VertexPointers VP; mIMesh->GetTriangle(VP, prim_index); \ + \ + /* Perform ray-tri overlap test and return */ \ + if(RayTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) \ + { \ + HANDLE_CONTACT(prim_index, flag) \ + } + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +RayCollider::RayCollider() : + mNbRayBVTests (0), + mNbRayPrimTests (0), + mNbIntersections (0), + mCulling (true), +#ifdef OPC_RAYHIT_CALLBACK + mHitCallback (null), + mUserData (0), +#else + mClosestHit (false), + mStabbedFaces (null), +#endif + mMaxDist (MAX_FLOAT) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +RayCollider::~RayCollider() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Validates current settings. You should call this method after all the settings and callbacks have been defined. + * \return null if everything is ok, else a string describing the problem + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const char* RayCollider::ValidateSettings() +{ + if(mMaxDist<0.0f) return "Higher distance bound must be positive!"; + if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!"; +#ifndef OPC_RAYHIT_CALLBACK + if(mClosestHit && FirstContactEnabled()) return "Closest hit doesn't work with ""First contact"" mode!"; + if(TemporalCoherenceEnabled() && mClosestHit) return "Temporal coherence can't guarantee to report closest hit!"; +#endif + if(SkipPrimitiveTests()) return "SkipPrimitiveTests not possible for RayCollider ! (not implemented)"; + return null; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Generic stabbing query for generic OPCODE models. After the call, access the results: + * - with GetContactStatus() + * - in the user-provided destination array + * + * \param world_ray [in] stabbing ray in world space + * \param model [in] Opcode model to collide with + * \param world [in] model's world matrix, or null + * \param cache [in] a possibly cached face index, or null + * \return true if success + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool RayCollider::Collide(const Ray& world_ray, const Model& model, const Matrix4x4* world, udword* cache) +{ + // Checkings + if(!Setup(&model)) return false; + + // Init collision query + if(InitQuery(world_ray, world, cache)) return true; + + if(!model.HasLeafNodes()) + { + if(model.IsQuantized()) + { + const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree(); + + // Setup dequantization coeffs + mCenterCoeff = Tree->mCenterCoeff; + mExtentsCoeff = Tree->mExtentsCoeff; + + // Perform stabbing query + if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes()); + else _RayStab(Tree->GetNodes()); + } + else + { + const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); + + // Perform stabbing query + if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes()); + else _RayStab(Tree->GetNodes()); + } + } + else + { + if(model.IsQuantized()) + { + const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree(); + + // Setup dequantization coeffs + mCenterCoeff = Tree->mCenterCoeff; + mExtentsCoeff = Tree->mExtentsCoeff; + + // Perform stabbing query + if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes()); + else _RayStab(Tree->GetNodes()); + } + else + { + const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); + + // Perform stabbing query + if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes()); + else _RayStab(Tree->GetNodes()); + } + } + + // Update cache if needed + UPDATE_CACHE + return true; +} + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Initializes a stabbing query : + * - reset stats & contact status + * - compute ray in local space + * - check temporal coherence + * + * \param world_ray [in] stabbing ray in world space + * \param world [in] object's world matrix, or null + * \param face_id [in] index of previously stabbed triangle + * \return TRUE if we can return immediately + * \warning SCALE NOT SUPPORTED. The matrix must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +BOOL RayCollider::InitQuery(const Ray& world_ray, const Matrix4x4* world, udword* face_id) +{ + // Reset stats & contact status + Collider::InitQuery(); + mNbRayBVTests = 0; + mNbRayPrimTests = 0; + mNbIntersections = 0; +#ifndef OPC_RAYHIT_CALLBACK + if(mStabbedFaces) mStabbedFaces->Reset(); +#endif + + // Compute ray in local space + // The (Origin/Dir) form is needed for the ray-triangle test anyway (even for segment tests) + if(world) + { + Matrix3x3 InvWorld = *world; + mDir = InvWorld * world_ray.mDir; + + Matrix4x4 World; + InvertPRMatrix(World, *world); + mOrigin = world_ray.mOrig * World; + } + else + { + mDir = world_ray.mDir; + mOrigin = world_ray.mOrig; + } + + // 4) Special case: 1-triangle meshes [Opcode 1.3] + if(mCurrentModel && mCurrentModel->HasSingleNode()) + { + // We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0. + if(!SkipPrimitiveTests()) + { + // Perform overlap test between the unique triangle and the ray (and set contact status if needed) + SEGMENT_PRIM(udword(0), OPC_CONTACT) + + // Return immediately regardless of status + return TRUE; + } + } + + // Check temporal coherence : + + // Test previously colliding primitives first + if(TemporalCoherenceEnabled() && FirstContactEnabled() && face_id && *face_id!=INVALID_ID) + { +#ifdef OLD_CODE +#ifndef OPC_RAYHIT_CALLBACK + if(!mClosestHit) +#endif + { + // Request vertices from the app + VertexPointers VP; + mIMesh->GetTriangle(VP, *face_id); + // Perform ray-cached tri overlap test + if(RayTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) + { + // Intersection IcePoint is valid if: + // - distance is positive (else it can just be a face behind the orig IcePoint) + // - distance is smaller than a given max distance (useful for shadow feelers) +// if(mStabbedFace.mDistance>0.0f && mStabbedFace.mDistance<mMaxDist) + if(IR(mStabbedFace.mDistance)<IR(mMaxDist)) // The other test is already performed in RayTriOverlap + { + // Set contact status + mFlags |= OPC_TEMPORAL_CONTACT; + + mStabbedFace.mFaceID = *face_id; + +#ifndef OPC_RAYHIT_CALLBACK + if(mStabbedFaces) mStabbedFaces->AddFace(mStabbedFace); +#endif + return TRUE; + } + } + } +#else + // New code + // We handle both IceSegment/ray queries with the same segment code, and a possible infinite limit + SEGMENT_PRIM(*face_id, OPC_TEMPORAL_CONTACT) + + // Return immediately if possible + if(GetContactStatus()) return TRUE; +#endif + } + + // Precompute data (moved after temporal coherence since only needed for ray-AABB) + if(IR(mMaxDist)!=IEEE_MAX_FLOAT) + { + // For IceSegment-AABB overlap + mData = 0.5f * mDir * mMaxDist; + mData2 = mOrigin + mData; + + // Precompute mFDir; + mFDir.x = fabsf(mData.x); + mFDir.y = fabsf(mData.y); + mFDir.z = fabsf(mData.z); + } + else + { + // For Ray-AABB overlap +// udword x = SIR(mDir.x)-1; +// udword y = SIR(mDir.y)-1; +// udword z = SIR(mDir.z)-1; +// mData.x = FR(x); +// mData.y = FR(y); +// mData.z = FR(z); + + // Precompute mFDir; + mFDir.x = fabsf(mDir.x); + mFDir.y = fabsf(mDir.y); + mFDir.z = fabsf(mDir.z); + } + + return FALSE; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Stabbing query for vanilla AABB trees. + * \param world_ray [in] stabbing ray in world space + * \param tree [in] AABB tree + * \param box_indices [out] indices of stabbed boxes + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool RayCollider::Collide(const Ray& world_ray, const AABBTree* tree, Container& box_indices) +{ + // ### bad design here + + // This is typically called for a scene tree, full of -AABBs-, not full of triangles. + // So we don't really have "primitives" to deal with. Hence it doesn't work with + // "FirstContact" + "TemporalCoherence". + ASSERT( !(FirstContactEnabled() && TemporalCoherenceEnabled()) ); + + // Checkings + if(!tree) return false; + + // Init collision query + // Basically this is only called to initialize precomputed data + if(InitQuery(world_ray)) return true; + + // Perform stabbing query + if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(tree, box_indices); + else _RayStab(tree, box_indices); + + return true; +} + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for normal AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_SegmentStab(const AABBCollisionNode* node) +{ + // Perform IceSegment-AABB overlap test + if(!SegmentAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + if(node->IsLeaf()) + { + SEGMENT_PRIM(node->GetPrimitive(), OPC_CONTACT) + } + else + { + _SegmentStab(node->GetPos()); + + if(ContactFound()) return; + + _SegmentStab(node->GetNeg()); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for quantized AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_SegmentStab(const AABBQuantizedNode* node) +{ + // Dequantize box + const QuantizedAABB& Box = node->mAABB; + const IcePoint Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); + const IcePoint Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); + + // Perform IceSegment-AABB overlap test + if(!SegmentAABBOverlap(Center, Extents)) return; + + if(node->IsLeaf()) + { + SEGMENT_PRIM(node->GetPrimitive(), OPC_CONTACT) + } + else + { + _SegmentStab(node->GetPos()); + + if(ContactFound()) return; + + _SegmentStab(node->GetNeg()); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for no-leaf AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_SegmentStab(const AABBNoLeafNode* node) +{ + // Perform IceSegment-AABB overlap test + if(!SegmentAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + if(node->HasPosLeaf()) + { + SEGMENT_PRIM(node->GetPosPrimitive(), OPC_CONTACT) + } + else _SegmentStab(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) + { + SEGMENT_PRIM(node->GetNegPrimitive(), OPC_CONTACT) + } + else _SegmentStab(node->GetNeg()); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for quantized no-leaf AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_SegmentStab(const AABBQuantizedNoLeafNode* node) +{ + // Dequantize box + const QuantizedAABB& Box = node->mAABB; + const IcePoint Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); + const IcePoint Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); + + // Perform IceSegment-AABB overlap test + if(!SegmentAABBOverlap(Center, Extents)) return; + + if(node->HasPosLeaf()) + { + SEGMENT_PRIM(node->GetPosPrimitive(), OPC_CONTACT) + } + else _SegmentStab(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) + { + SEGMENT_PRIM(node->GetNegPrimitive(), OPC_CONTACT) + } + else _SegmentStab(node->GetNeg()); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for vanilla AABB trees. + * \param node [in] current collision node + * \param box_indices [out] indices of stabbed boxes + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_SegmentStab(const AABBTreeNode* node, Container& box_indices) +{ + // Test the box against the segment + IcePoint Center, Extents; + node->GetAABB()->GetCenter(Center); + node->GetAABB()->GetExtents(Extents); + if(!SegmentAABBOverlap(Center, Extents)) return; + + if(node->IsLeaf()) + { + box_indices.Add(node->GetPrimitives(), node->GetNbPrimitives()); + } + else + { + _SegmentStab(node->GetPos(), box_indices); + _SegmentStab(node->GetNeg(), box_indices); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for normal AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_RayStab(const AABBCollisionNode* node) +{ + // Perform Ray-AABB overlap test + if(!RayAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + if(node->IsLeaf()) + { + RAY_PRIM(node->GetPrimitive(), OPC_CONTACT) + } + else + { + _RayStab(node->GetPos()); + + if(ContactFound()) return; + + _RayStab(node->GetNeg()); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for quantized AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_RayStab(const AABBQuantizedNode* node) +{ + // Dequantize box + const QuantizedAABB& Box = node->mAABB; + const IcePoint Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); + const IcePoint Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); + + // Perform Ray-AABB overlap test + if(!RayAABBOverlap(Center, Extents)) return; + + if(node->IsLeaf()) + { + RAY_PRIM(node->GetPrimitive(), OPC_CONTACT) + } + else + { + _RayStab(node->GetPos()); + + if(ContactFound()) return; + + _RayStab(node->GetNeg()); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for no-leaf AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_RayStab(const AABBNoLeafNode* node) +{ + // Perform Ray-AABB overlap test + if(!RayAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + if(node->HasPosLeaf()) + { + RAY_PRIM(node->GetPosPrimitive(), OPC_CONTACT) + } + else _RayStab(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) + { + RAY_PRIM(node->GetNegPrimitive(), OPC_CONTACT) + } + else _RayStab(node->GetNeg()); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for quantized no-leaf AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_RayStab(const AABBQuantizedNoLeafNode* node) +{ + // Dequantize box + const QuantizedAABB& Box = node->mAABB; + const IcePoint Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); + const IcePoint Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); + + // Perform Ray-AABB overlap test + if(!RayAABBOverlap(Center, Extents)) return; + + if(node->HasPosLeaf()) + { + RAY_PRIM(node->GetPosPrimitive(), OPC_CONTACT) + } + else _RayStab(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) + { + RAY_PRIM(node->GetNegPrimitive(), OPC_CONTACT) + } + else _RayStab(node->GetNeg()); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for vanilla AABB trees. + * \param node [in] current collision node + * \param box_indices [out] indices of stabbed boxes + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_RayStab(const AABBTreeNode* node, Container& box_indices) +{ + // Test the box against the ray + IcePoint Center, Extents; + node->GetAABB()->GetCenter(Center); + node->GetAABB()->GetExtents(Extents); + if(!RayAABBOverlap(Center, Extents)) return; + + if(node->IsLeaf()) + { + mFlags |= OPC_CONTACT; + box_indices.Add(node->GetPrimitives(), node->GetNbPrimitives()); + } + else + { + _RayStab(node->GetPos(), box_indices); + _RayStab(node->GetNeg(), box_indices); + } +} |