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Fixed bugs in RayCast routines, which resulted in incorrect hit test results for scaled or rotated collision meshes.

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Added implementation to stub function , KRAABB::intersectsRay, to enable performance boost for RayCast routines
This commit is contained in:
Kearwood Gilbert
2013-05-01 15:07:27 -07:00
parent b7b9bedf14
commit 09f6c3362d
4 changed files with 90 additions and 9 deletions
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14
KREngine/kraken/KRCollider.cpp
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@@ -99,7 +99,10 @@ bool KRCollider::lineCast(const KRVector3 &v0, const KRVector3 &v1, KRHitInfo &h
loadModel();
if(m_models.size()) {
if(getBounds().intersectsLine(v0, v1)) {
KRHitInfo hitinfo_model_space = KRHitInfo(KRMat4::Dot(getInverseModelMatrix(), hitinfo.getPosition()), KRMat4::DotNoTranslate(getInverseModelMatrix(), hitinfo.getNormal()), hitinfo.getNode());
KRHitInfo hitinfo_model_space;
if(hitinfo.didHit()) {
hitinfo_model_space = KRHitInfo(KRMat4::Dot(getInverseModelMatrix(), hitinfo.getPosition()), KRMat4::DotNoTranslate(getInverseModelMatrix(), hitinfo.getNormal()), hitinfo.getNode());
}
KRVector3 v0_model_space = KRMat4::Dot(getInverseModelMatrix(), v0);
KRVector3 v1_model_space = KRMat4::Dot(getInverseModelMatrix(), v1);
if(m_models[0]->lineCast(v0_model_space, v1_model_space, hitinfo_model_space)) {
@@ -118,10 +121,13 @@ bool KRCollider::rayCast(const KRVector3 &v0, const KRVector3 &dir, KRHitInfo &h
loadModel();
if(m_models.size()) {
if(getBounds().intersectsRay(v0, dir)) {
KRHitInfo hitinfo_model_space = KRHitInfo(KRMat4::Dot(getInverseModelMatrix(), hitinfo.getPosition()), KRVector3::Normalize(KRMat4::DotNoTranslate(getInverseModelMatrix(), hitinfo.getNormal())), hitinfo.getNode());
KRHitInfo hitinfo_model_space;
if(hitinfo.didHit()) {
hitinfo_model_space = KRHitInfo(KRMat4::Dot(getInverseModelMatrix(), hitinfo.getPosition()), KRVector3::Normalize(KRMat4::DotNoTranslate(getInverseModelMatrix(), hitinfo.getNormal())), hitinfo.getNode());
}
KRVector3 v0_model_space = KRMat4::Dot(getInverseModelMatrix(), v0);
KRVector3 dir_model_space = KRMat4::DotNoTranslate(getInverseModelMatrix(), dir);
if(m_models[0]->rayCast(v0_model_space, dir, hitinfo_model_space)) {
KRVector3 dir_model_space = KRVector3::Normalize(KRMat4::DotNoTranslate(getInverseModelMatrix(), dir));
if(m_models[0]->rayCast(v0_model_space, dir_model_space, hitinfo_model_space)) {
hitinfo = KRHitInfo(KRMat4::Dot(getModelMatrix(), hitinfo_model_space.getPosition()), KRVector3::Normalize(KRMat4::DotNoTranslate(getModelMatrix(), hitinfo_model_space.getNormal())), this);
return true;
}