Implemented KRNode::getInverseModelMatrix

Implemented KRNode::rayCast
Implemented KRNode::lineCast
Fixed bug in KRCollider::rayCast

--HG--
extra : convert_revision : svn%3A7752d6cf-9f14-4ad2-affc-04f1e67b81a5/trunk%40193

KREngine/KREngine/Classes/KRCollider.cpp

@@ -73,3 +73,30 @@ KRAABB KRCollider::getBounds() {
     }
 }
 
+bool KRCollider::lineCast(const KRVector3 &v0, const KRVector3 &v1, KRHitInfo &hitinfo)
+{
+    if(m_models.size()) {
+        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 v1_model_space = KRMat4::Dot(getModelMatrix(), 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()), hitinfo_model_space.getNode());
+            return true;
+        }
+    }
+    return false;
+}
+
+bool KRCollider::rayCast(const KRVector3 &v0, const KRVector3 &v1, KRHitInfo &hitinfo)
+{
+    if(m_models.size()) {
+        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 v1_model_space = v0_model_space + KRMat4::DotNoTranslate(getModelMatrix(), KRVector3::Normalize(v1 - v0));
+        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()), hitinfo_model_space.getNode());
+            return true;
+        }
+    }
+    return false;
+}

KREngine/KREngine/Classes/KRCollider.h

@@ -55,6 +55,9 @@ public:
     virtual tinyxml2::XMLElement *saveXML( tinyxml2::XMLNode *parent);
     virtual KRAABB getBounds();
     
+    bool lineCast(const KRVector3 &v0, const KRVector3 &v1, KRHitInfo &hitinfo);
+    bool rayCast(const KRVector3 &v0, const KRVector3 &v1, KRHitInfo &hitinfo);
+    
 private:
     std::vector<KRModel *> m_models;
     std::string m_model_name;

KREngine/KREngine/Classes/KRMat4.cpp

@@ -293,6 +293,16 @@ KRVector3 KRMat4::Dot(const KRMat4 &m, const KRVector3 &v) {
     );
 }
 
+// Dot product without including translation; useful for transforming normals and tangents
+KRVector3 DotNoTranslate(const KRMat4 &m, const KRVector3 &v)
+{
+    return KRVector3(
+                     v.x * (float)m[0*4 + 0] + v.y * (float)m[1*4 + 0] + v.z * (float)m[2*4 + 0],
+                     v.x * (float)m[0*4 + 1] + v.y * (float)m[1*4 + 1] + v.z * (float)m[2*4 + 1],
+                     v.x * (float)m[0*4 + 2] + v.y * (float)m[1*4 + 2] + v.z * (float)m[2*4 + 2]
+    );
+}
+
 /* Dot Product, returning w component as if it were a KRVector4 (This will be deprecated once KRVector4 is implemented instead*/
 float KRMat4::DotW(const KRMat4 &m, const KRVector3 &v) {
     return v.x * (float)m[0*4 + 3] + v.y * (float)m[1*4 + 3] + v.z * (float)m[2*4 + 3] + (float)m[3*4 + 3];

KREngine/KREngine/Classes/KRMat4.h

@@ -104,6 +104,7 @@ public:
     bool invert();
     void transpose();
     
+    static KRVector3 DotNoTranslate(const KRMat4 &m, const KRVector3 &v); // Dot product without including translation; useful for transforming normals and tangents
     static KRMat4 Invert(const KRMat4 &m);
     static KRMat4 Transpose(const KRMat4 &m);
     static KRVector3 Dot(const KRMat4 &m, const KRVector3 &v);

KREngine/KREngine/Classes/KRModel.cpp

@@ -774,8 +774,14 @@ bool KRModel::rayCast(const KRVector3 &line_v0, const KRVector3 &line_v1, const
         // 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()));
+        float distance_v0 = (tri_v0 - hit_point).magnitude();
-        KRVector3 normal = tri_n0 * (1.0 - distances[0]) + tri_n1 * (1.0 - distances[1]) + tri_n2 * (1.0 - distances[3]);
+        float distance_v1 = (tri_v1 - hit_point).magnitude();
+        float distance_v2 = (tri_v2 - hit_point).magnitude();
+        float distance_total = distance_v0 + distance_v1 + distance_v2;
+        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);
         
         hitinfo = KRHitInfo(hit_point, KRVector3());
     }

KREngine/KREngine/Classes/KRNode.cpp

@@ -33,6 +33,7 @@ KRNode::KRNode(KRScene &scene, std::string name) : KRContextObject(scene.getCont
     m_pScene = &scene;
     getScene().notify_sceneGraphCreate(this);
     m_modelMatrixValid = false;
+    m_inverseModelMatrixValid = false;
     m_bindPoseMatrixValid = false;
     m_inverseBindPoseMatrixValid = false;
     m_modelMatrix = KRMat4();
@@ -98,6 +99,7 @@ void KRNode::loadXML(tinyxml2::XMLElement *e) {
     m_bindPoseMatrixValid = false;
     m_inverseBindPoseMatrixValid = false;
     m_modelMatrixValid = false;
+    m_inverseModelMatrixValid = false;
     
     for(tinyxml2::XMLElement *child_element=e->FirstChildElement(); child_element != NULL; child_element = child_element->NextSiblingElement()) {
         KRNode *child_node = KRNode::LoadXML(getScene(), child_element);
@@ -237,6 +239,7 @@ KRAABB KRNode::getBounds() {
 void KRNode::invalidateModelMatrix()
 {
     m_modelMatrixValid = false;
+    m_inverseModelMatrixValid = false;
     for(std::vector<KRNode *>::iterator itr=m_childNodes.begin(); itr < m_childNodes.end(); ++itr) {
         KRNode *child = (*itr);
         child->invalidateModelMatrix();
@@ -275,6 +278,14 @@ const KRMat4 &KRNode::getModelMatrix()
     return m_modelMatrix;
 }
 
+const KRMat4 &KRNode::getInverseModelMatrix()
+{
+    if(!m_inverseModelMatrixValid) {
+        m_inverseModelMatrix = KRMat4::Invert(getModelMatrix());
+    }
+    return m_inverseModelMatrix;
+}
+
 const KRMat4 &KRNode::getBindPoseMatrix()
 {
     if(!m_bindPoseMatrixValid) {

KREngine/KREngine/Classes/KRNode.h

@@ -73,6 +73,7 @@ public:
     
     virtual KRAABB getBounds();
     const KRMat4 &getModelMatrix();
+    const KRMat4 &getInverseModelMatrix();
     const KRMat4 &getBindPoseMatrix();
     const KRMat4 &getInverseBindPoseMatrix();
     
@@ -114,9 +115,11 @@ private:
     void invalidateModelMatrix();
     void invalidateBindPoseMatrix();
     KRMat4 m_modelMatrix;
+    KRMat4 m_inverseModelMatrix;
     KRMat4 m_bindPoseMatrix;
     KRMat4 m_inverseBindPoseMatrix;
     bool m_modelMatrixValid;
+    bool m_inverseModelMatrixValid;
     bool m_bindPoseMatrixValid;
     bool m_inverseBindPoseMatrixValid;