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/**
@file Ray.cpp
@maintainer Morgan McGuire, http://graphics.cs.williams.edu
@created 2002-07-12
@edited 2004-03-19
*/
#include "G3D/platform.h"
#include "G3D/Ray.h"
#include "G3D/Plane.h"
#include "G3D/Sphere.h"
#include "G3D/CollisionDetection.h"
namespace G3D {
void Ray::set(const Vector3& origin, const Vector3& direction) {
m_origin = origin;
m_direction = direction;
debugAssert(direction.isUnit());
m_invDirection = Vector3::one() / direction;
// ray slope
ibyj = m_direction.x * m_invDirection.y;
jbyi = m_direction.y * m_invDirection.x;
jbyk = m_direction.y * m_invDirection.z;
kbyj = m_direction.z * m_invDirection.y;
ibyk = m_direction.x * m_invDirection.z;
kbyi = m_direction.z * m_invDirection.x;
// precomputed terms
c_xy = m_origin.y - jbyi * m_origin.x;
c_xz = m_origin.z - kbyi * m_origin.x;
c_yx = m_origin.x - ibyj * m_origin.y;
c_yz = m_origin.z - kbyj * m_origin.y;
c_zx = m_origin.x - ibyk * m_origin.z;
c_zy = m_origin.y - jbyk * m_origin.z;
//ray slope classification
if (m_direction.x < 0) {
if (m_direction.y < 0) {
if (m_direction.z < 0) {
classification = MMM;
} else if (m_direction.z > 0) {
classification = MMP;
} else { //(m_direction.z >= 0)
classification = MMO;
}
} else { //(m_direction.y >= 0)
if (m_direction.z < 0) {
if (m_direction.y == 0) {
classification = MOM;
} else {
classification = MPM;
}
} else { //(m_direction.z >= 0)
if ((m_direction.y == 0) && (m_direction.z == 0)) {
classification = MOO;
} else if (m_direction.z == 0) {
classification = MPO;
} else if (m_direction.y == 0) {
classification = MOP;
} else {
classification = MPP;
}
}
}
} else { //(m_direction.x >= 0)
if (m_direction.y < 0) {
if (m_direction.z < 0) {
if (m_direction.x == 0) {
classification = OMM;
} else {
classification = PMM;
}
} else { //(m_direction.z >= 0)
if ((m_direction.x == 0) && (m_direction.z == 0)) {
classification = OMO;
} else if (m_direction.z == 0) {
classification = PMO;
} else if (m_direction.x == 0) {
classification = OMP;
} else {
classification = PMP;
}
}
} else { //(m_direction.y >= 0)
if (m_direction.z < 0) {
if ((m_direction.x == 0) && (m_direction.y == 0)) {
classification = OOM;
} else if (m_direction.x == 0) {
classification = OPM;
} else if (m_direction.y == 0) {
classification = POM;
} else {
classification = PPM;
}
} else { //(m_direction.z > 0)
if (m_direction.x == 0) {
if (m_direction.y == 0) {
classification = OOP;
} else if (m_direction.z == 0) {
classification = OPO;
} else {
classification = OPP;
}
} else {
if ((m_direction.y == 0) && (m_direction.z == 0)) {
classification = POO;
} else if (m_direction.y == 0) {
classification = POP;
} else if (m_direction.z == 0) {
classification = PPO;
} else {
classification = PPP;
}
}
}
}
}
}
Ray::Ray(class BinaryInput& b) {
deserialize(b);
}
void Ray::serialize(class BinaryOutput& b) const {
m_origin.serialize(b);
m_direction.serialize(b);
}
void Ray::deserialize(class BinaryInput& b) {
m_origin.deserialize(b);
m_direction.deserialize(b);
set(m_origin, m_direction);
}
Ray Ray::refract(
const Vector3& newOrigin,
const Vector3& normal,
float iInside,
float iOutside) const {
Vector3 D = m_direction.refractionDirection(normal, iInside, iOutside);
return Ray(newOrigin + (m_direction + normal * (float)sign(m_direction.dot(normal))) * 0.001f, D);
}
Ray Ray::reflect(
const Vector3& newOrigin,
const Vector3& normal) const {
Vector3 D = m_direction.reflectionDirection(normal);
return Ray(newOrigin + (D + normal) * 0.001f, D);
}
Vector3 Ray::intersection(const Plane& plane) const {
float d;
Vector3 normal = plane.normal();
plane.getEquation(normal, d);
float rate = m_direction.dot(normal);
if (rate >= 0.0f) {
return Vector3::inf();
} else {
float t = -(d + m_origin.dot(normal)) / rate;
return m_origin + m_direction * t;
}
}
float Ray::intersectionTime(const class Sphere& sphere, bool solid) const {
Vector3 dummy;
return CollisionDetection::collisionTimeForMovingPointFixedSphere(
m_origin, m_direction, sphere, dummy, dummy, solid);
}
float Ray::intersectionTime(const class Plane& plane) const {
Vector3 dummy;
return CollisionDetection::collisionTimeForMovingPointFixedPlane(
m_origin, m_direction, plane, dummy);
}
float Ray::intersectionTime(const class Box& box) const {
Vector3 dummy;
float time = CollisionDetection::collisionTimeForMovingPointFixedBox(
m_origin, m_direction, box, dummy);
if ((time == finf()) && (box.contains(m_origin))) {
return 0.0f;
} else {
return time;
}
}
float Ray::intersectionTime(const class AABox& box) const {
Vector3 dummy;
bool inside;
float time = CollisionDetection::collisionTimeForMovingPointFixedAABox(
m_origin, m_direction, box, dummy, inside);
if ((time == finf()) && inside) {
return 0.0f;
} else {
return time;
}
}
}
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