Completed ray/line casting system and refactoring

--HG--
extra : convert_revision : svn%3A7752d6cf-9f14-4ad2-affc-04f1e67b81a5/trunk%40200

KREngine/KREngine/Classes/KRCamera.cpp

@@ -67,39 +67,27 @@ KRCamera::~KRCamera() {
 
 void KRCamera::renderFrame(float deltaTime)
 {
+
+    createBuffers();
+    
+    KRScene &scene = getScene();
+
     
 #if TARGET_OS_IPHONE
 
+
     KRMat4 viewMatrix = KRMat4::Invert(getModelMatrix());
     
     GLint defaultFBO;
     GLDEBUG(glGetIntegerv(GL_FRAMEBUFFER_BINDING, &defaultFBO));
     
-    createBuffers();
-    
     settings.setViewportSize(KRVector2(backingWidth, backingHeight));
     KRMat4 projectionMatrix;
     projectionMatrix.perspective(settings.perspective_fov, settings.m_viewportSize.x / settings.m_viewportSize.y, settings.perspective_nearz, settings.perspective_farz);
     m_viewport = KRViewport(settings.getViewportSize(), viewMatrix, projectionMatrix);
-    
-    renderFrame(getScene(), deltaTime);
-    
-    GLDEBUG(glBindFramebuffer(GL_FRAMEBUFFER, defaultFBO));
-    renderPost();
-#endif
-
-}
-
-void KRCamera::renderFrame(KRScene &scene, float deltaTime) {
-
-#if TARGET_OS_IPHONE
 
     KRVector3 vecCameraDirection = m_viewport.getCameraDirection();
     
-//    GLuint shadowDepthTexture[KRENGINE_MAX_SHADOW_BUFFERS];
-//    KRViewport shadowViewports[KRENGINE_MAX_SHADOW_BUFFERS];
-//    int cShadows = 0;
-    
     if(settings.bEnableDeferredLighting) {
         //  ----====---- Opaque Geometry, Deferred rendering Pass 1 ----====----
         
@@ -387,6 +375,9 @@ void KRCamera::renderFrame(KRScene &scene, float deltaTime) {
     
 
 //    fprintf(stderr, "VBO Mem: %i Kbyte    Texture Mem: %i/%i Kbyte (active/total)     Shader Handles: %i   Visible Bounds: %i  Max Texture LOD: %i\n", (int)m_pContext->getModelManager()->getMemUsed() / 1024, (int)m_pContext->getTextureManager()->getActiveMemUsed() / 1024, (int)m_pContext->getTextureManager()->getMemUsed() / 1024, (int)m_pContext->getShaderManager()->getShaderHandlesUsed(), (int)m_visibleBounds.size(), m_pContext->getTextureManager()->getLODDimCap());
+    
+    GLDEBUG(glBindFramebuffer(GL_FRAMEBUFFER, defaultFBO));
+    renderPost();
 #endif
 
 }

KREngine/KREngine/Classes/KRCamera.h

@@ -73,8 +73,6 @@ private:
         
     void destroyBuffers();
     
-    void renderFrame(KRScene &scene, float deltaTime);
-    
     KRTexture *m_pSkyBoxTexture;
     KRViewport m_viewport;
     

KREngine/KREngine/Classes/KRCollider.cpp

@@ -75,13 +75,14 @@ KRAABB KRCollider::getBounds() {
 
 bool KRCollider::lineCast(const KRVector3 &v0, const KRVector3 &v1, KRHitInfo &hitinfo)
 {
+    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());
-            KRVector3 v0_model_space = KRMat4::Dot(getModelMatrix(), v0);
+            KRVector3 v0_model_space = KRMat4::Dot(getInverseModelMatrix(), v0);
-            KRVector3 v1_model_space = KRMat4::Dot(getModelMatrix(), v1);
+            KRVector3 v1_model_space = KRMat4::Dot(getInverseModelMatrix(), v1);
             if(m_models[0]->lineCast(v0_model_space, v1_model_space, hitinfo_model_space)) {
-                hitinfo = KRHitInfo(KRMat4::Dot(getModelMatrix(), hitinfo_model_space.getPosition()), KRMat4::DotNoTranslate(getModelMatrix(), hitinfo_model_space.getNormal()), this);
+                hitinfo = KRHitInfo(KRMat4::Dot(getModelMatrix(), hitinfo_model_space.getPosition()), KRVector3::Normalize(KRMat4::DotNoTranslate(getModelMatrix(), hitinfo_model_space.getNormal())), this);
                 return true;
             }
         }
@@ -91,13 +92,14 @@ bool KRCollider::lineCast(const KRVector3 &v0, const KRVector3 &v1, KRHitInfo &h
 
 bool KRCollider::rayCast(const KRVector3 &v0, const KRVector3 &dir, KRHitInfo &hitinfo)
 {
+    loadModel();
     if(m_models.size()) {
         if(getBounds().intersectsRay(v0, dir)) {
-            KRHitInfo hitinfo_model_space = KRHitInfo(KRMat4::Dot(getInverseModelMatrix(), hitinfo.getPosition()), KRMat4::DotNoTranslate(getInverseModelMatrix(), hitinfo.getNormal()), hitinfo.getNode());
+            KRHitInfo hitinfo_model_space = KRHitInfo(KRMat4::Dot(getInverseModelMatrix(), hitinfo.getPosition()), KRVector3::Normalize(KRMat4::DotNoTranslate(getInverseModelMatrix(), hitinfo.getNormal())), hitinfo.getNode());
-            KRVector3 v0_model_space = KRMat4::Dot(getModelMatrix(), v0);
+            KRVector3 v0_model_space = KRMat4::Dot(getInverseModelMatrix(), v0);
-            KRVector3 dir_model_space = KRMat4::DotNoTranslate(getModelMatrix(), dir);
+            KRVector3 dir_model_space = KRMat4::DotNoTranslate(getInverseModelMatrix(), dir);
             if(m_models[0]->rayCast(v0_model_space, dir, hitinfo_model_space)) {
-                hitinfo = KRHitInfo(KRMat4::Dot(getModelMatrix(), hitinfo_model_space.getPosition()), KRMat4::DotNoTranslate(getModelMatrix(), hitinfo_model_space.getNormal()), this);
+                hitinfo = KRHitInfo(KRMat4::Dot(getModelMatrix(), hitinfo_model_space.getPosition()), KRVector3::Normalize(KRMat4::DotNoTranslate(getModelMatrix(), hitinfo_model_space.getNormal())), this);
                 return true;
             }
         }

KREngine/KREngine/Classes/KREngine.h

@@ -66,8 +66,7 @@ typedef enum KREngineParameterType {KRENGINE_PARAMETER_INT, KRENGINE_PARAMETER_F
 -(void)setParameterValueWithName: (NSString *)name Value: (float)v;
 -(int)getParameterIndexWithName: (NSString *)name;
 
-- (void)renderScene: (KRScene *)pScene WithViewMatrix: (KRMat4)viewMatrix AndDeltaTime: (float)deltaTime;
+- (void)renderScene: (KRScene *)pScene WithDeltaTime: (float)deltaTime;
-- (void)renderScene: (KRScene *)pScene WithPosition: (KRVector3)position Yaw: (GLfloat)yaw Pitch: (GLfloat)pitch Roll: (GLfloat)roll AndDeltaTime: (float)deltaTime;
 - (void)setNearZ: (float)dNearZ;
 - (void)setFarZ: (float)dFarZ;
 

KREngine/KREngine/Classes/KREngine.mm

@@ -154,25 +154,11 @@ using namespace std;
     return self;
 }
 
-- (void)renderScene: (KRScene *)pScene WithPosition: (KRVector3)position Yaw: (GLfloat)yaw Pitch: (GLfloat)pitch Roll: (GLfloat)roll AndDeltaTime: (float)deltaTime
+- (void)renderScene: (KRScene *)pScene WithDeltaTime: (float)deltaTime
-{
-    KRMat4 viewMatrix;
-    viewMatrix.translate(-position.x, -position.y, -position.z);
-    viewMatrix.rotate(yaw, Y_AXIS);
-    viewMatrix.rotate(pitch, X_AXIS);
-    viewMatrix.rotate(roll, Z_AXIS);
-    
-    [self renderScene: pScene WithViewMatrix: viewMatrix AndDeltaTime: deltaTime];
-}
-
-- (void)renderScene: (KRScene *)pScene WithViewMatrix: (KRMat4)viewMatrix AndDeltaTime: (float)deltaTime
 {
     KRCamera *camera = pScene->find<KRCamera>();
     if(camera) {
         camera->settings = _settings;
-        KRMat4 invView = KRMat4::Invert(viewMatrix);
-        camera->setLocalRotation(KRMat4::DotNoTranslate(invView, KRVector3::Forward()));
-        camera->setLocalTranslation(KRMat4::Dot(invView, KRVector3::Zero()));
     }
     pScene->renderFrame(deltaTime);
 }

KREngine/KREngine/Classes/KRHitInfo.cpp

@@ -59,7 +59,7 @@ KRHitInfo::~KRHitInfo()
 
 bool KRHitInfo::didHit() const
 {
-    return m_normal == KRVector3::Zero();
+    return m_normal != KRVector3::Zero();
 }
 
 KRVector3 KRHitInfo::getPosition() const

KREngine/KREngine/Classes/KRModel.cpp

@@ -808,9 +808,9 @@ bool KRModel::rayCast(const KRVector3 &line_v0, const KRVector3 &dir, const KRVe
         distance_v0 /= distance_total;
         distance_v1 /= distance_total;
         distance_v2 /= distance_total;
-        KRVector3 normal = tri_n0 * (1.0 - distance_v0) + tri_n1 * (1.0 - distance_v1) + tri_n2 * (1.0 - distance_v2);
+        KRVector3 normal = KRVector3::Normalize(tri_n0 * (1.0 - distance_v0) + tri_n1 * (1.0 - distance_v1) + tri_n2 * (1.0 - distance_v2));
         
-        hitinfo = KRHitInfo(hit_point, KRVector3());
+        hitinfo = KRHitInfo(hit_point, normal);
     }
     
     return true; // hit_point is in triangle

KREngine/KREngine/Classes/KROctree.cpp

@@ -98,12 +98,18 @@ std::set<KRNode *> &KROctree::getOuterSceneNodes()
 bool KROctree::lineCast(const KRVector3 &v0, const KRVector3 &v1, KRHitInfo &hitinfo)
 {
     bool hit_found = false;
+    std::vector<KRCollider *> outer_colliders;
+    
     for(std::set<KRNode *>::iterator outer_nodes_itr=m_outerSceneNodes.begin(); outer_nodes_itr != m_outerSceneNodes.end(); outer_nodes_itr++) {
         KRCollider *collider = dynamic_cast<KRCollider *>(*outer_nodes_itr);
         if(collider) {
-            if(collider->lineCast(v0, v1, hitinfo)) hit_found = true;
+            outer_colliders.push_back(collider);
         }
     }
+    for(std::vector<KRCollider *>::iterator itr=outer_colliders.begin(); itr != outer_colliders.end(); itr++) {
+        if((*itr)->lineCast(v0, v1, hitinfo)) hit_found = true;
+    }
+    
     if(m_pRootNode) {
         if(m_pRootNode->lineCast(v0, v1, hitinfo)) hit_found = true;
     }

KREngine/KREngine/Classes/KRQuaternion.cpp

@@ -62,7 +62,7 @@ KRQuaternion& KRQuaternion::operator =( const KRQuaternion& p ) {
 }
 
 KRQuaternion::KRQuaternion(const KRVector3 &euler) {
-    setEuler(euler);
+    setEulerZYX(euler);
 }
 
 KRQuaternion::KRQuaternion(const KRVector3 &from_vector, const KRVector3 &to_vector) {
@@ -79,7 +79,7 @@ KRQuaternion::~KRQuaternion() {
     
 }
 
-void KRQuaternion::setEuler(const KRVector3 &euler) {
+void KRQuaternion::setEulerZYX(const KRVector3 &euler) {
     // ZYX Order!
     m_val[0] = cos(euler[0] / 2.0) * cos(euler[1] / 2.0) * cos(euler[2] / 2.0) + sin(euler[0] / 2.0) * sin(euler[1] / 2.0) * sin(euler[2] / 2.0);
     m_val[1] = sin(euler[0] / 2.0) * cos(euler[1] / 2.0) * cos(euler[2] / 2.0) - cos(euler[0] / 2.0) * sin(euler[1] / 2.0) * sin(euler[2] / 2.0);
@@ -95,13 +95,29 @@ float &KRQuaternion::operator [](unsigned i) {
     return m_val[i];
 }
 
-KRVector3 KRQuaternion::euler() const {
+KRVector3 KRQuaternion::eulerXYZ() const {
-    KRVector3 euler;
+    double a2 = 2 * (m_val[0] * m_val[2] - m_val[1] * m_val[3]);
-    euler[0] = atan2(2.0 * (m_val[0] * m_val[1] + m_val[2] * m_val[3]), 1.0 - 2.0 * (m_val[1] * m_val[1] + m_val[2] * m_val[2]));
+    if(a2 <= -0.99999) {
-    euler[1] = asin(2.0 * (m_val[0] * m_val[2] - m_val[3] * m_val[1]));
+        return KRVector3(
-    euler[2] = atan2(2.0 * (m_val[0] * m_val[3] + m_val[1] * m_val[2]), 1.0 - 2.0 * (m_val[2] * m_val[2] + m_val[3] * m_val[3]));
+           2.0 * atan2(m_val[1], m_val[0]),
+           -PI / 2.0,
+           0
+        );
+    } else if(a2 >= 0.99999) {
+        return KRVector3(
+           2.0 * atan2(m_val[1], m_val[0]),
+           PI / 2.0,
+           0
+        );
+    } else {
+        return KRVector3(
+             atan2(2 * (m_val[0] * m_val[1] + m_val[2] * m_val[3]), (1 - 2 * (m_val[1] * m_val[1] + m_val[2] * m_val[2]))),
+             asin(a2),
+             atan2(2 * (m_val[0] * m_val[3] + m_val[1] * m_val[2]), (1 - 2 * (m_val[2] * m_val[2] + m_val[3] * m_val[3])))
+         );
+    }
     
-    return euler;
+
 }
 
 bool operator ==(KRQuaternion &v1, KRQuaternion &v2) {

KREngine/KREngine/Classes/KRQuaternion.h

@@ -69,8 +69,8 @@ public:
     float operator [](unsigned i) const;
     
     
-    void setEuler(const KRVector3 &euler);
+    void setEulerZYX(const KRVector3 &euler);
-    KRVector3 euler() const;
+    KRVector3 eulerXYZ() const;
     KRMat4 rotationMatrix() const;
     
     void normalize();

KREngine/KREngine/Classes/KRScene.cpp

@@ -53,6 +53,7 @@ KRScene::KRScene(KRContext &context, std::string name) : KRResource(context, nam
     
     m_skyBoxName = "";
 }
+
 KRScene::~KRScene() {
     delete m_pRootNode;
     m_pRootNode = NULL;
@@ -66,7 +67,9 @@ void KRScene::renderFrame(float deltaTime) {
     getContext().startFrame(deltaTime);
     KRCamera *camera = find<KRCamera>();
     if(camera == NULL) {
-        
+        // Add a default camera if none are present
+        camera = new KRCamera(*this, "default_camera");
+        m_pRootNode->addChild(camera);
     }
     camera->renderFrame(deltaTime);
     getContext().endFrame(deltaTime);
@@ -431,7 +434,7 @@ void KRScene::addDefaultLights()
 {
     KRDirectionalLight *light1 = new KRDirectionalLight(*this, "default_light1");
     
-    light1->setLocalRotation((KRQuaternion(KRVector3(0.0, M_PI * 0.10, 0.0)) * KRQuaternion(KRVector3(0.0, 0.0, -M_PI * 0.15))).euler());
+    light1->setLocalRotation((KRQuaternion(KRVector3(0.0, M_PI * 0.10, 0.0)) * KRQuaternion(KRVector3(0.0, 0.0, -M_PI * 0.15))).eulerXYZ());
     m_pRootNode->addChild(light1);
 }