450 lines
15 KiB
C++
450 lines
15 KiB
C++
/*
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* This program source code file is part of KiCad, a free EDA CAD application.
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*
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* Copyright (C) 2015-2016 Mario Luzeiro <mrluzeiro@ua.pt>
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* Copyright (C) 1992-2016 KiCad Developers, see AUTHORS.txt for contributors.
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (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, you may find one here:
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* http://www.gnu.org/licenses/old-licenses/gpl-2.0.html
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* or you may search the http://www.gnu.org website for the version 2 license,
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* or you may write to the Free Software Foundation, Inc.,
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA
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*/
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/**
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* @file croundseg.cpp
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* @brief
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*/
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#include "croundseg.h"
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CROUNDSEG::CROUNDSEG( const CROUNDSEGMENT2D &aSeg2D,
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float aZmin,
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float aZmax ) : COBJECT( OBJ3D_ROUNDSEG ),
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m_segment( aSeg2D.m_segment )
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{
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m_radius = aSeg2D.GetRadius();
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m_radius_squared = m_radius * m_radius;
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m_inv_radius = 1.0f / m_radius;
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m_plane_dir_left = SFVEC3F( -m_segment.m_Dir.y, m_segment.m_Dir.x, 0.0f );
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m_plane_dir_right = SFVEC3F( m_segment.m_Dir.y, -m_segment.m_Dir.x, 0.0f );
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m_bbox.Reset();
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m_bbox.Set( SFVEC3F( m_segment.m_Start.x, m_segment.m_Start.y, aZmin),
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SFVEC3F( m_segment.m_End.x, m_segment.m_End.y, aZmax) );
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m_bbox.Set( m_bbox.Min() - SFVEC3F( m_radius, m_radius, 0.0f ),
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m_bbox.Max() + SFVEC3F( m_radius, m_radius, 0.0f ) );
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m_bbox.ScaleNextUp();
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m_centroid = m_bbox.GetCenter();
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m_center_left = m_centroid + m_plane_dir_left * m_radius;
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m_center_right = m_centroid + m_plane_dir_right * m_radius;
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m_seglen_over_two_squared = (m_segment.m_Length / 2.0f) *
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(m_segment.m_Length / 2.0f);
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}
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bool CROUNDSEG::Intersect( const RAY &aRay, HITINFO &aHitInfo ) const
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{
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// Top / Botton plane
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// /////////////////////////////////////////////////////////////////////////
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float zPlanePos = aRay.m_dirIsNeg[2]? m_bbox.Max().z : m_bbox.Min().z;
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float tPlane = ( zPlanePos - aRay.m_Origin.z) * aRay.m_InvDir.z;
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if( ( tPlane >= aHitInfo.m_tHit ) || ( tPlane < FLT_EPSILON ) )
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return false; // Early exit
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SFVEC2F planeHitPoint2d( aRay.m_Origin.x + aRay.m_Dir.x * tPlane,
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aRay.m_Origin.y + aRay.m_Dir.y * tPlane );
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float dSquared = m_segment.DistanceToPointSquared( planeHitPoint2d );
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if( dSquared <= m_radius_squared )
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{
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if( tPlane < aHitInfo.m_tHit )
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{
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aHitInfo.m_tHit = tPlane;
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aHitInfo.m_HitPoint = SFVEC3F( planeHitPoint2d.x,
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planeHitPoint2d.y,
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aRay.m_Origin.z + aRay.m_Dir.z * tPlane );
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aHitInfo.m_HitNormal = SFVEC3F( 0.0f,
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0.0f,
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aRay.m_dirIsNeg[2]? 1.0f: -1.0f );
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aHitInfo.pHitObject = this;
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m_material->PerturbeNormal( aHitInfo.m_HitNormal, aRay, aHitInfo );
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return true;
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}
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return false;
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}
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// Test LEFT / RIGHT plane
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// /////////////////////////////////////////////////////////////////////////
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float normal_dot_ray = glm::dot( m_plane_dir_right, aRay.m_Dir );
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if( normal_dot_ray < 0.0f ) // If the dot is neg, the it hits the plane
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{
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const float n_dot_ray_origin = glm::dot( m_plane_dir_right,
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m_center_right - aRay.m_Origin );
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const float t = n_dot_ray_origin / normal_dot_ray;
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if( t > 0.0f )
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{
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const SFVEC3F hitP = aRay.at( t );
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const SFVEC3F v = hitP - m_center_right;
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const float len = glm::dot( v, v );
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if( (len <= m_seglen_over_two_squared) &&
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(hitP.z >= m_bbox.Min().z) &&
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(hitP.z <= m_bbox.Max().z) )
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{
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if( t < aHitInfo.m_tHit )
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{
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aHitInfo.m_tHit = t;
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aHitInfo.m_HitPoint = hitP;
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aHitInfo.m_HitNormal = SFVEC3F( m_plane_dir_right.x,
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m_plane_dir_right.y,
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0.0f );
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aHitInfo.pHitObject = this;
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m_material->PerturbeNormal( aHitInfo.m_HitNormal, aRay, aHitInfo );
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return true;
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}
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return false;
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}
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}
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}
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else
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{
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normal_dot_ray = glm::dot( m_plane_dir_left, aRay.m_Dir );
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if( normal_dot_ray < 0.0f ) // If the dot is neg, the it hits the plane
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{
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const float n_dot_ray_origin = glm::dot( m_plane_dir_left,
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m_center_left - aRay.m_Origin );
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const float t = n_dot_ray_origin / normal_dot_ray;
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if( t > 0.0f )
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{
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const SFVEC3F hitP = aRay.at( t );
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const SFVEC3F v = hitP - m_center_left;
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const float len = glm::dot( v, v );
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if( (len <= m_seglen_over_two_squared) &&
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(hitP.z >= m_bbox.Min().z) &&
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(hitP.z <= m_bbox.Max().z) )
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{
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if( t < aHitInfo.m_tHit )
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{
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aHitInfo.m_tHit = t;
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aHitInfo.m_HitPoint = hitP;
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aHitInfo.m_HitNormal = SFVEC3F( m_plane_dir_left.x,
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m_plane_dir_left.y,
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0.0f );
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aHitInfo.pHitObject = this;
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m_material->PerturbeNormal( aHitInfo.m_HitNormal, aRay, aHitInfo );
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return true;
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}
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return false;
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}
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}
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}
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}
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// Based on:
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// http://www.cs.utah.edu/~lha/Code%206620%20/Ray4/Cylinder.cpp
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// Ray-sphere intersection: geometric
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// /////////////////////////////////////////////////////////////////////////
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const double OCx_Start = aRay.m_Origin.x - m_segment.m_Start.x;
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const double OCy_Start = aRay.m_Origin.y - m_segment.m_Start.y;
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const double p_dot_p_Start = OCx_Start * OCx_Start + OCy_Start * OCy_Start;
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const double a = (double)aRay.m_Dir.x * (double)aRay.m_Dir.x +
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(double)aRay.m_Dir.y * (double)aRay.m_Dir.y;
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const double b_Start = (double)aRay.m_Dir.x * (double)OCx_Start +
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(double)aRay.m_Dir.y * (double)OCy_Start;
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const double c_Start = p_dot_p_Start - m_radius_squared;
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const float delta_Start = (float)(b_Start * b_Start - a * c_Start);
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if( delta_Start > FLT_EPSILON )
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{
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const float sdelta = sqrtf( delta_Start );
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const float t = (-b_Start - sdelta) / a;
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const float z = aRay.m_Origin.z + t * aRay.m_Dir.z;
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if( (z >= m_bbox.Min().z) &&
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(z <= m_bbox.Max().z) )
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{
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if( t < aHitInfo.m_tHit )
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{
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aHitInfo.m_tHit = t;
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aHitInfo.m_HitPoint = aRay.at( t );
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const SFVEC2F hitPoint2D = SFVEC2F( aHitInfo.m_HitPoint.x,
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aHitInfo.m_HitPoint.y );
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aHitInfo.m_HitNormal = SFVEC3F(
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(hitPoint2D.x - m_segment.m_Start.x) * m_inv_radius,
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(hitPoint2D.y - m_segment.m_Start.y) * m_inv_radius,
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0.0f );
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aHitInfo.pHitObject = this;
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m_material->PerturbeNormal( aHitInfo.m_HitNormal, aRay, aHitInfo );
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return true;
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}
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return false;
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}
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}
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const double OCx_End = aRay.m_Origin.x - m_segment.m_End.x;
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const double OCy_End = aRay.m_Origin.y - m_segment.m_End.y;
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const double p_dot_p_End = OCx_End * OCx_End + OCy_End * OCy_End;
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const double b_End = (double)aRay.m_Dir.x * (double)OCx_End +
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(double)aRay.m_Dir.y * (double)OCy_End;
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const double c_End = p_dot_p_End - m_radius_squared;
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const float delta_End = (float)(b_End * b_End - a * c_End);
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if( delta_End > FLT_EPSILON )
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{
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const float sdelta = sqrtf( delta_End );
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const float t = (-b_End - sdelta) / a;
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const float z = aRay.m_Origin.z + t * aRay.m_Dir.z;
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if( (z >= m_bbox.Min().z) &&
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(z <= m_bbox.Max().z) )
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{
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if( t < aHitInfo.m_tHit )
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{
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aHitInfo.m_tHit = t;
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aHitInfo.m_HitPoint = aRay.at( t );
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const SFVEC2F hitPoint2D = SFVEC2F( aHitInfo.m_HitPoint.x,
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aHitInfo.m_HitPoint.y );
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aHitInfo.m_HitNormal = SFVEC3F(
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(hitPoint2D.x - m_segment.m_End.x) * m_inv_radius,
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(hitPoint2D.y - m_segment.m_End.y) * m_inv_radius,
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0.0f );
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aHitInfo.pHitObject = this;
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m_material->PerturbeNormal( aHitInfo.m_HitNormal, aRay, aHitInfo );
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return true;
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}
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return false;
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}
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}
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return false;
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}
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bool CROUNDSEG::IntersectP( const RAY &aRay, float aMaxDistance ) const
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{
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// Top / Botton plane
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// /////////////////////////////////////////////////////////////////////////
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const float zPlanePos = aRay.m_dirIsNeg[2]? m_bbox.Max().z : m_bbox.Min().z;
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const float tPlane = ( zPlanePos - aRay.m_Origin.z) * aRay.m_InvDir.z;
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if( ( tPlane >= aMaxDistance) || ( tPlane < FLT_EPSILON ) )
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return false; // Early exit
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const SFVEC2F planeHitPoint2d( aRay.m_Origin.x + aRay.m_Dir.x * tPlane,
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aRay.m_Origin.y + aRay.m_Dir.y * tPlane );
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const float dSquared = m_segment.DistanceToPointSquared( planeHitPoint2d );
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if( dSquared <= m_radius_squared )
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{
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if( tPlane < aMaxDistance )
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return true;
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return false;
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}
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// Since the IntersectP is used for shadows, we are simplifying the test
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// intersection and only consider the top/bottom plane of the segment
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return false;
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#if 0
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// Test LEFT / RIGHT plane
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// /////////////////////////////////////////////////////////////////////////
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float normal_dot_ray = glm::dot( m_plane_dir_right, aRay.m_Dir );
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if( normal_dot_ray < 0.0f ) // If the dot is neg, the it hits the plane
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{
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float n_dot_ray_origin = glm::dot( m_plane_dir_right,
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m_center_right - aRay.m_Origin );
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float t = n_dot_ray_origin / normal_dot_ray;
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if( t > 0.0f )
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{
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SFVEC3F hitP = aRay.at( t );
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SFVEC3F v = hitP - m_center_right;
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float len = glm::dot( v, v );
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if( (len <= m_seglen_over_two_squared) &&
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(hitP.z >= m_bbox.Min().z) && (hitP.z <= m_bbox.Max().z) )
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{
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if( t < aMaxDistance )
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return true;
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return false;
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}
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}
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}
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else
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{
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normal_dot_ray = glm::dot( m_plane_dir_left, aRay.m_Dir );
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if( normal_dot_ray < 0.0f ) // If the dot is neg, the it hits the plane
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{
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const float n_dot_ray_origin = glm::dot( m_plane_dir_left,
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m_center_left - aRay.m_Origin );
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const float t = n_dot_ray_origin / normal_dot_ray;
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if( t > 0.0f )
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{
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SFVEC3F hitP = aRay.at( t );
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SFVEC3F v = hitP - m_center_left;
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float len = glm::dot( v, v );
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if( (len <= m_seglen_over_two_squared) &&
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(hitP.z >= m_bbox.Min().z) && (hitP.z <= m_bbox.Max().z) )
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{
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if( t < aMaxDistance )
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return true;
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return false;
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}
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}
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}
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}
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// Based on:
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// http://www.cs.utah.edu/~lha/Code%206620%20/Ray4/Cylinder.cpp
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// Ray-sphere intersection: geometric
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// /////////////////////////////////////////////////////////////////////////
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double OCx_Start = aRay.m_Origin.x - m_segment.m_Start.x;
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double OCy_Start = aRay.m_Origin.y - m_segment.m_Start.y;
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double p_dot_p_Start = OCx_Start * OCx_Start + OCy_Start * OCy_Start;
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double a = (double)aRay.m_Dir.x * (double)aRay.m_Dir.x +
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(double)aRay.m_Dir.y * (double)aRay.m_Dir.y;
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double b_Start = (double)aRay.m_Dir.x * (double)OCx_Start +
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(double)aRay.m_Dir.y * (double)OCy_Start;
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double c_Start = p_dot_p_Start - m_radius_squared;
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float delta_Start = (float)(b_Start * b_Start - a * c_Start);
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if( delta_Start > FLT_EPSILON )
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{
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float sdelta = sqrtf( delta_Start );
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float t = (-b_Start - sdelta) / a;
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float z = aRay.m_Origin.z + t * aRay.m_Dir.z;
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if( (z >= m_bbox.Min().z) &&
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(z <= m_bbox.Max().z) )
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{
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if( t < aMaxDistance )
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return true;
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return false;
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}
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}
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double OCx_End = aRay.m_Origin.x - m_segment.m_End.x;
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double OCy_End = aRay.m_Origin.y - m_segment.m_End.y;
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double p_dot_p_End = OCx_End * OCx_End + OCy_End * OCy_End;
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double b_End = (double)aRay.m_Dir.x * (double)OCx_End +
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(double)aRay.m_Dir.y * (double)OCy_End;
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double c_End = p_dot_p_End - m_radius_squared;
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float delta_End = (float)(b_End * b_End - a * c_End);
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if( delta_End > FLT_EPSILON )
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{
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float sdelta = sqrtf( delta_End );
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float t = (-b_End - sdelta) / a;
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float z = aRay.m_Origin.z + t * aRay.m_Dir.z;
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if( (z >= m_bbox.Min().z) &&
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(z <= m_bbox.Max().z) )
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{
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if( t < aMaxDistance )
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return true;
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return false;
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}
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}
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return false;
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#endif
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}
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bool CROUNDSEG::Intersects( const CBBOX &aBBox ) const
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{
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//!TODO: improove
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return m_bbox.Intersects( aBBox );
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}
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SFVEC3F CROUNDSEG::GetDiffuseColor( const HITINFO &aHitInfo ) const
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{
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(void)aHitInfo; // unused
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return m_diffusecolor;
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}
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