Implemented KRModel::RayCast and KRModel::LineCast methods

Implemented KRHitInfo

--HG--
extra : convert_revision : svn%3A7752d6cf-9f14-4ad2-affc-04f1e67b81a5/trunk%40191

KREngine/KREngine.xcodeproj/project.pbxproj

@@ -190,6 +190,10 @@
 		E4C454B3167BC04C003586CD /* KRModelSphere.h in Headers */ = {isa = PBXBuildFile; fileRef = E4C454B1167BC04B003586CD /* KRModelSphere.h */; };
 		E4C454B5167BC05C003586CD /* KRModelSphere.cpp in Sources */ = {isa = PBXBuildFile; fileRef = E4C454B4167BC05C003586CD /* KRModelSphere.cpp */; };
 		E4C454B6167BC05C003586CD /* KRModelSphere.cpp in Sources */ = {isa = PBXBuildFile; fileRef = E4C454B4167BC05C003586CD /* KRModelSphere.cpp */; };
+		E4C454B8167BD236003586CD /* KRHitInfo.h in Headers */ = {isa = PBXBuildFile; fileRef = E4C454B7167BD235003586CD /* KRHitInfo.h */; };
+		E4C454B9167BD236003586CD /* KRHitInfo.h in Headers */ = {isa = PBXBuildFile; fileRef = E4C454B7167BD235003586CD /* KRHitInfo.h */; };
+		E4C454BB167BD248003586CD /* KRHitInfo.cpp in Sources */ = {isa = PBXBuildFile; fileRef = E4C454BA167BD248003586CD /* KRHitInfo.cpp */; };
+		E4C454BC167BD248003586CD /* KRHitInfo.cpp in Sources */ = {isa = PBXBuildFile; fileRef = E4C454BA167BD248003586CD /* KRHitInfo.cpp */; };
 		E4CA10E51637BD0A005D9400 /* KRTexturePVR.h in Headers */ = {isa = PBXBuildFile; fileRef = E4CA10E41637BD0A005D9400 /* KRTexturePVR.h */; };
 		E4CA10E61637BD0A005D9400 /* KRTexturePVR.h in Headers */ = {isa = PBXBuildFile; fileRef = E4CA10E41637BD0A005D9400 /* KRTexturePVR.h */; settings = {ATTRIBUTES = (Public, ); }; };
 		E4CA10E91637BD2B005D9400 /* KRTexturePVR.cpp in Sources */ = {isa = PBXBuildFile; fileRef = E4CA10E81637BD2B005D9400 /* KRTexturePVR.cpp */; };
@@ -389,6 +393,8 @@
 		E4C454AE167BB8FC003586CD /* KRModelCube.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; name = KRModelCube.cpp; path = Classes/KRModelCube.cpp; sourceTree = "<group>"; };
 		E4C454B1167BC04B003586CD /* KRModelSphere.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = KRModelSphere.h; path = Classes/KRModelSphere.h; sourceTree = "<group>"; };
 		E4C454B4167BC05C003586CD /* KRModelSphere.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; name = KRModelSphere.cpp; path = Classes/KRModelSphere.cpp; sourceTree = "<group>"; };
+		E4C454B7167BD235003586CD /* KRHitInfo.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = KRHitInfo.h; path = Classes/KRHitInfo.h; sourceTree = "<group>"; };
+		E4C454BA167BD248003586CD /* KRHitInfo.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; name = KRHitInfo.cpp; path = Classes/KRHitInfo.cpp; sourceTree = "<group>"; };
 		E4CA10E41637BD0A005D9400 /* KRTexturePVR.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = KRTexturePVR.h; path = Classes/KRTexturePVR.h; sourceTree = "<group>"; };
 		E4CA10E81637BD2B005D9400 /* KRTexturePVR.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; name = KRTexturePVR.cpp; path = Classes/KRTexturePVR.cpp; sourceTree = "<group>"; };
 		E4CA10EB1637BD47005D9400 /* KRTextureTGA.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = KRTextureTGA.h; path = Classes/KRTextureTGA.h; sourceTree = "<group>"; };
@@ -753,6 +759,8 @@
 				E4030E4B160A3CF000592648 /* KRStockGeometry.h */,
 				E4CA11731639CBD1005D9400 /* KRViewport.h */,
 				E4CA11771639CC8E005D9400 /* KRViewport.cpp */,
+				E4C454B7167BD235003586CD /* KRHitInfo.h */,
+				E4C454BA167BD248003586CD /* KRHitInfo.cpp */,
 			);
 			name = Classes;
 			sourceTree = "<group>";
@@ -867,6 +875,7 @@
 				104A335F1672D31C001C8BA6 /* KRCollider.h in Headers */,
 				E4C454AC167BB8EC003586CD /* KRModelCube.h in Headers */,
 				E4C454B2167BC04C003586CD /* KRModelSphere.h in Headers */,
+				E4C454B8167BD236003586CD /* KRHitInfo.h in Headers */,
 			);
 			runOnlyForDeploymentPostprocessing = 0;
 		};
@@ -929,6 +938,7 @@
 				E4324BAC16444DEF0043185B /* KRParticleSystemNewtonian.h in Headers */,
 				E4C454AD167BB8EC003586CD /* KRModelCube.h in Headers */,
 				E4C454B3167BC04C003586CD /* KRModelSphere.h in Headers */,
+				E4C454B9167BD236003586CD /* KRHitInfo.h in Headers */,
 			);
 			runOnlyForDeploymentPostprocessing = 0;
 		};
@@ -1066,6 +1076,7 @@
 				104A335E1672D31C001C8BA6 /* KRCollider.cpp in Sources */,
 				E4C454AF167BB8FC003586CD /* KRModelCube.cpp in Sources */,
 				E4C454B5167BC05C003586CD /* KRModelSphere.cpp in Sources */,
+				E4C454BB167BD248003586CD /* KRHitInfo.cpp in Sources */,
 			);
 			runOnlyForDeploymentPostprocessing = 0;
 		};
@@ -1126,6 +1137,7 @@
 				E480BE6D1671C653004EC8AD /* KRBone.cpp in Sources */,
 				E4C454B0167BB8FC003586CD /* KRModelCube.cpp in Sources */,
 				E4C454B6167BC05C003586CD /* KRModelSphere.cpp in Sources */,
+				E4C454BC167BD248003586CD /* KRHitInfo.cpp in Sources */,
 			);
 			runOnlyForDeploymentPostprocessing = 0;
 		};

KREngine/KREngine/Classes/KRHitInfo.cpp

@@ -0,0 +1,86 @@
+//
+//  KRHitInfo.cpp
+//  KREngine
+//
+//  Copyright 2012 Kearwood Gilbert. All rights reserved.
+//
+//  Redistribution and use in source and binary forms, with or without modification, are
+//  permitted provided that the following conditions are met:
+//
+//  1. Redistributions of source code must retain the above copyright notice, this list of
+//  conditions and the following disclaimer.
+//
+//  2. Redistributions in binary form must reproduce the above copyright notice, this list
+//  of conditions and the following disclaimer in the documentation and/or other materials
+//  provided with the distribution.
+//
+//  THIS SOFTWARE IS PROVIDED BY KEARWOOD GILBERT ''AS IS'' AND ANY EXPRESS OR IMPLIED
+//  WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+//  FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL KEARWOOD GILBERT OR
+//  CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+//  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+//  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+//  ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+//  NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+//  ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+//  The views and conclusions contained in the software and documentation are those of the
+//  authors and should not be interpreted as representing official policies, either expressed
+//  or implied, of Kearwood Gilbert.
+//
+
+#include "KRHitInfo.h"
+
+KRHitInfo::KRHitInfo()
+{
+    m_position = KRVector3::Zero();
+    m_normal = KRVector3::Zero();
+    m_node = NULL;
+}
+
+KRHitInfo::KRHitInfo(const KRVector3 &position, const KRVector3 &normal, KRNode *node)
+{
+    m_position = position;
+    m_normal = normal;
+    m_node = node;
+}
+
+KRHitInfo::KRHitInfo(const KRVector3 &position, const KRVector3 &normal)
+{
+    m_position = position;
+    m_normal = normal;
+    m_node = NULL;
+}
+
+KRHitInfo::~KRHitInfo()
+{
+    
+}
+
+bool KRHitInfo::didHit() const
+{
+    return m_normal == KRVector3::Zero();
+}
+
+KRVector3 KRHitInfo::getPosition() const
+{
+    return m_position;
+}
+
+KRVector3 KRHitInfo::getNormal() const
+{
+    return m_normal;
+}
+
+KRNode *KRHitInfo::getNode() const
+{
+    return m_node;
+}
+
+KRHitInfo& KRHitInfo::operator =(const KRHitInfo& b)
+{
+    m_position = b.m_position;
+    m_normal = b.m_normal;
+    m_node = b.m_node;
+    return *this;
+}

KREngine/KREngine/Classes/KRHitInfo.h

@@ -0,0 +1,59 @@
+//
+//  KRHitInfo.h
+//  KREngine
+//
+//  Copyright 2012 Kearwood Gilbert. All rights reserved.
+//
+//  Redistribution and use in source and binary forms, with or without modification, are
+//  permitted provided that the following conditions are met:
+//
+//  1. Redistributions of source code must retain the above copyright notice, this list of
+//  conditions and the following disclaimer.
+//
+//  2. Redistributions in binary form must reproduce the above copyright notice, this list
+//  of conditions and the following disclaimer in the documentation and/or other materials
+//  provided with the distribution.
+//
+//  THIS SOFTWARE IS PROVIDED BY KEARWOOD GILBERT ''AS IS'' AND ANY EXPRESS OR IMPLIED
+//  WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+//  FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL KEARWOOD GILBERT OR
+//  CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+//  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+//  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+//  ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+//  NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+//  ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+//  The views and conclusions contained in the software and documentation are those of the
+//  authors and should not be interpreted as representing official policies, either expressed
+//  or implied, of Kearwood Gilbert.
+//
+
+#ifndef KRHITINFO_H
+#define KRHITINFO_H
+
+#import "KRVector3.h"
+#import "KRNode.h"
+
+class KRHitInfo {
+public:
+    KRHitInfo();
+    KRHitInfo(const KRVector3 &position, const KRVector3 &normal);
+    KRHitInfo(const KRVector3 &position, const KRVector3 &normal, KRNode *node);
+    ~KRHitInfo();
+    
+    KRVector3 getPosition() const;
+    KRVector3 getNormal() const;
+    KRNode *getNode() const;
+    bool didHit() const;
+    
+    KRHitInfo& operator =(const KRHitInfo& b);
+    
+    
+private:
+    KRNode *m_node;
+    KRVector3 m_position;
+    KRVector3 m_normal;
+};
+
+#endif

KREngine/KREngine/Classes/KRModel.cpp

@@ -510,7 +510,7 @@ unsigned char *KRModel::getVertexData() const {
     return ((unsigned char *)m_pData->getStart()) + sizeof(pack_header) + sizeof(pack_material) * pHeader->submesh_count + sizeof(pack_bone) * pHeader->bone_count;
 }
 
-KRModel::pack_material *KRModel::getSubmesh(int mesh_index)
+KRModel::pack_material *KRModel::getSubmesh(int mesh_index) const
 {
     return (pack_material *)((unsigned char *)m_pData->getStart() + sizeof(pack_header)) + mesh_index;
 }
@@ -520,13 +520,13 @@ unsigned char *KRModel::getVertexData(int index) const
     return getVertexData() + m_vertex_size * index;
 }
 
-int KRModel::getSubmeshCount()
+int KRModel::getSubmeshCount() const
 {
     pack_header *header = getHeader();
     return header->submesh_count;
 }
 
-int KRModel::getVertexCount(int submesh)
+int KRModel::getVertexCount(int submesh) const
 {
     return getSubmesh(submesh)->vertex_count;
 }
@@ -708,7 +708,118 @@ void KRModel::optimize()
     // TODO - Add algorithm to convert model to indexed vertices, identying vertexes with identical attributes and optimizing order of trianges for best usage post-vertex-transform cache on GPU
 }
 
-KRModel::model_format_t KRModel::getModelFormat()
+KRModel::model_format_t KRModel::getModelFormat() const
 {
     return (model_format_t)getHeader()->model_format;
 }
+
+bool KRModel::rayCast(const KRVector3 &line_v0, const KRVector3 &line_v1, const KRVector3 &tri_v0, const KRVector3 &tri_v1, const KRVector3 &tri_v2, const KRVector3 &tri_n0, const KRVector3 &tri_n1, const KRVector3 &tri_n2, KRHitInfo &hitinfo)
+{
+    // algorithm based on Dan Sunday's implementation at http://geomalgorithms.com/a06-_intersect-2.html
+    const float SMALL_NUM = 0.00000001; // anything that avoids division overflow
+    KRVector3   u, v, n;              // triangle vectors
+    KRVector3   dir, w0, w;           // ray vectors
+    float       r, a, b;              // params to calc ray-plane intersect
+    
+    // get triangle edge vectors and plane normal
+    u = tri_v1 - tri_v0;
+    v = tri_v2 - tri_v0;
+    n = KRVector3::Cross(u, v); // cross product
+    if (n == KRVector3::Zero())             // triangle is degenerate
+        return false;                  // do not deal with this case
+    
+    dir = line_v1 - line_v0;              // ray direction vector
+    w0 = line_v0 - tri_v0;
+    a = -KRVector3::Dot(n, w0);
+    b = KRVector3::Dot(n,dir);
+    if (fabs(b) < SMALL_NUM) {     // ray is  parallel to triangle plane
+        if (a == 0)                 
+            return false; // ray lies in triangle plane
+        else {
+            return false; // ray disjoint from plane
+        }
+    }
+    
+    // get intersect point of ray with triangle plane
+    r = a / b;
+    if (r < 0.0)                    // ray goes away from triangle
+        return false;                   // => no intersect
+    // for a segment, also test if (r > 1.0) => no intersect
+    
+    
+    KRVector3 hit_point = line_v0 + dir * r;            // intersect point of ray and plane
+    
+    // is hit_point inside triangle?
+    float    uu, uv, vv, wu, wv, D;
+    uu = KRVector3::Dot(u,u);
+    uv = KRVector3::Dot(u,v);
+    vv = KRVector3::Dot(v,v);
+    w = hit_point - tri_v0;
+    wu = KRVector3::Dot(w,u);
+    wv = KRVector3::Dot(w,v);
+    D = uv * uv - uu * vv;
+    
+    // get and test parametric coords
+    float s, t;
+    s = (uv * wv - vv * wu) / D;
+    if (s < 0.0 || s > 1.0)         // hit_point is outside triangle
+        return false;
+    t = (uv * wu - uu * wv) / D;
+    if (t < 0.0 || (s + t) > 1.0)  // hit_point is outside triangle
+        return false;
+    
+    float new_hit_distance_sqr = (hit_point - line_v0).sqrMagnitude();
+    float prev_hit_distance_sqr = (hitinfo.getPosition() - line_v0).sqrMagnitude();
+    if(new_hit_distance_sqr < prev_hit_distance_sqr) {
+        // Update the hitinfo object if this hit is closer than the prior hit
+        
+        // Interpolate between the three vertex normals, performing a 3-way lerp of tri_n0, tri_n1, and tri_n2
+        KRVector3 distances = KRVector3::Normalize(KRVector3((tri_v0 - hit_point).magnitude(), (tri_v1 - hit_point).magnitude(), (tri_v2 - hit_point).magnitude()));
+        KRVector3 normal = tri_n0 * (1.0 - distances[0]) + tri_n1 * (1.0 - distances[1]) + tri_n2 * (1.0 - distances[3]);
+        
+        hitinfo = KRHitInfo(hit_point, KRVector3());
+    }
+    
+    return true; // hit_point is in triangle
+}
+
+bool KRModel::rayCast(const KRVector3 &line_v0, const KRVector3 &line_v1, int tri_index0, int tri_index1, int tri_index2, KRHitInfo &hitinfo) const
+{
+    return rayCast(line_v0, line_v1, getVertexPosition(tri_index0), getVertexPosition(tri_index1), getVertexPosition(tri_index2), getVertexNormal(tri_index0), getVertexNormal(tri_index1), getVertexNormal(tri_index2), hitinfo);
+}
+
+bool KRModel::rayCast(const KRVector3 &v0, const KRVector3 &v1, KRHitInfo &hitinfo) const
+{
+    bool hit_found = false;
+    for(int submesh_index=0; submesh_index < getSubmeshCount(); submesh_index++) {
+        int vertex_count = getVertexCount(submesh_index);
+        switch(getModelFormat()) {
+            case KRENGINE_MODEL_FORMAT_TRIANGLES:
+                for(int triangle_index=0; triangle_index < vertex_count / 3; triangle_index++) {
+                    hit_found |= rayCast(v0, v1, getVertexPosition(triangle_index*3), getVertexPosition(triangle_index*3+1), getVertexPosition(triangle_index*3+2), getVertexNormal(triangle_index*3), getVertexNormal(triangle_index*3+1), getVertexNormal(triangle_index*3+2), hitinfo);
+                }
+                break;
+            case KRENGINE_MODEL_FORMAT_STRIP:
+                for(int triangle_index=0; triangle_index < vertex_count - 2; triangle_index++) {
+                    hit_found |= rayCast(v0, v1, getVertexPosition(triangle_index), getVertexPosition(triangle_index+1), getVertexPosition(triangle_index+2), getVertexNormal(triangle_index), getVertexNormal(triangle_index+1), getVertexNormal(triangle_index+2), hitinfo);
+                }
+                break;
+            default:
+                break;
+        }
+    }
+    return hit_found;
+}
+
+bool KRModel::lineCast(const KRVector3 &v0, const KRVector3 &v1, KRHitInfo &hitinfo) const
+{
+    KRHitInfo new_hitinfo;
+    if(rayCast(v0, v1, new_hitinfo)) {
+        if((new_hitinfo.getPosition() - v0).sqrMagnitude() <= (v1 - v0).sqrMagnitude()) {
+            // The hit was between v1 and v2
+            hitinfo = new_hitinfo;
+            return true;
+        }
+    }
+    return false; // Either no hit, or the hit was beyond v1
+}

KREngine/KREngine/Classes/KRModel.h

@@ -56,6 +56,7 @@ using std::list;
 #import "KRMaterialManager.h"
 #import "KRCamera.h"
 #import "KRViewport.h"
+#import "KRHitInfo.h"
 
 class KRMaterial;
 class KRNode;
@@ -156,8 +157,8 @@ public:
     static bool lod_sort_predicate(const KRModel *m1, const KRModel *m2);
     bool has_vertex_attribute(vertex_attrib_t attribute_type) const;
     
-    int getSubmeshCount();
+    int getSubmeshCount() const;
-    int getVertexCount(int submesh);
+    int getVertexCount(int submesh) const;
     KRVector3 getVertexPosition(int index) const;
     KRVector3 getVertexNormal(int index) const;
     KRVector3 getVertexTangent(int index) const;
@@ -181,9 +182,13 @@ public:
     char *getBoneName(int bone_index);
 
     
-    model_format_t getModelFormat();
+    model_format_t getModelFormat() const;
-private:
     
+    bool lineCast(const KRVector3 &v0, const KRVector3 &v1, KRHitInfo &hitinfo) const;
+    bool rayCast(const KRVector3 &v0, const KRVector3 &v1, KRHitInfo &hitinfo) const;
+private:
+    bool rayCast(const KRVector3 &line_v0, const KRVector3 &line_v1, int tri_index0, int tri_index1, int tri_index2, KRHitInfo &hitinfo) const;
+    static bool rayCast(const KRVector3 &line_v0, const KRVector3 &line_v1, const KRVector3 &tri_v0, const KRVector3 &tri_v1, const KRVector3 &tri_v2, const KRVector3 &tri_n0, const KRVector3 &tri_n1, const KRVector3 &tri_n2, KRHitInfo &hitinfo);
     
     int m_lodCoverage; // This LOD level is activated when the bounding box of the model will cover less than this percent of the screen (100 = highest detail model)
     vector<KRMaterial *> m_materials;
@@ -223,7 +228,7 @@ private:
     
     
     
-    pack_material *getSubmesh(int mesh_index);
+    pack_material *getSubmesh(int mesh_index) const;
     unsigned char *getVertexData() const;
     unsigned char *getVertexData(int index) const;
     pack_header *getHeader() const;