#include <OPC_RayCollider.h>

Inheritance diagram for RayCollider:

Public Member Functions
bool	Collide (const Ray &world_ray, const Model &model, const Matrix4x4 world=null, udword cache=null)

bool	Collide (const Ray &world_ray, const AABBTree *tree, Container &box_indices)

inline_ udword	GetNbIntersections () const

inline_ udword	GetNbRayBVTests () const

inline_ udword	GetNbRayPrimTests () const

	override (Collider) const char *ValidateSettings()

	RayCollider ()

inline_ void	SetClosestHit (bool flag)

inline_ void	SetCulling (bool flag)

inline_ void	SetDestination (CollisionFaces *cf)

inline_ void	SetMaxDist (float max_dist=MAX_FLOAT)

virtual	~RayCollider ()

Public Member Functions inherited from Collider
	Collider ()

inline_ BOOL	ContactFound () const

inline_ BOOL	FirstContactEnabled () const

inline_ BOOL	GetContactStatus () const

inline_ void	SetFirstContact (bool flag)

inline_ void	SetPrimitiveTests (bool flag)

inline_ void	SetTemporalCoherence (bool flag)

inline_ BOOL	SkipPrimitiveTests () const

inline_ BOOL	TemporalCoherenceEnabled () const

inline_ BOOL	TemporalHit () const

virtual const char *	ValidateSettings ()=0

virtual	~Collider ()

Protected Member Functions
void	_RayStab (const AABBCollisionNode *node)

void	_RayStab (const AABBNoLeafNode *node)

void	_RayStab (const AABBQuantizedNode *node)

void	_RayStab (const AABBQuantizedNoLeafNode *node)

void	_RayStab (const AABBTreeNode *node, Container &box_indices)

void	_SegmentStab (const AABBCollisionNode *node)

void	_SegmentStab (const AABBNoLeafNode *node)

void	_SegmentStab (const AABBQuantizedNode *node)

void	_SegmentStab (const AABBQuantizedNoLeafNode *node)

void	_SegmentStab (const AABBTreeNode *node, Container &box_indices)

BOOL	InitQuery (const Ray &world_ray, const Matrix4x4 world=null, udword face_id=null)

inline_ BOOL	RayAABBOverlap (const Point &center, const Point &extents)

inline_ BOOL	RayTriOverlap (const Point &vert0, const Point &vert1, const Point &vert2)

inline_ BOOL	SegmentAABBOverlap (const Point &center, const Point &extents)

Protected Member Functions inherited from Collider
virtual inline_ void	InitQuery ()

inline_ BOOL	Setup (const BaseModel *model)

Protected Attributes
Point	mCenterCoeff

bool	mClosestHit
	Report closest hit only. More...

bool	mCulling
	Stab culled faces or not. More...

Point	mData

Point	mData2

Point	mDir
	Ray direction (normalized) More...

Point	mExtentsCoeff

Point	mFDir
	fabsf(mDir) More...

float	mMaxDist
	Valid segment on the ray. More...

udword	mNbIntersections
	Number of valid intersections. More...

udword	mNbRayBVTests
	Number of Ray-BV tests. More...

udword	mNbRayPrimTests
	Number of Ray-Primitive tests. More...

Point	mOrigin
	Ray origin. More...

CollisionFace	mStabbedFace
	Current stabbed face. More...

CollisionFaces *	mStabbedFaces
	List of stabbed faces. More...

Protected Attributes inherited from Collider
const BaseModel *	mCurrentModel
	Current model for collision query (owner of touched faces) More...

udword	mFlags
	Bit flags. More...

const MeshInterface *	mIMesh
	User-defined mesh interface. More...

Detailed Description

Contains a ray-vs-tree collider. This class performs a stabbing query on an AABB tree, i.e. does a ray-mesh collision.

HIGHER DISTANCE BOUND:

    If P0 and P1 are two 3D points, let's define:
    - d = distance between P0 and P1
    - Origin        = P0
    - Direction     = (P1 - P0) / d = normalized direction vector
    - A parameter t such as a point P on the line (P0,P1) is P = Origin + t * Direction
    - t = 0  -->  P = P0
    - t = d  -->  P = P1

    Then we can define a general "ray" as:

            struct Ray
            {
                    Point   Origin;
                    Point   Direction;
            };

    But it actually maps three different things:
    - a segment,   when 0 <= t <= d
    - a half-line, when 0 <= t < +infinity, or -infinity < t <= d
    - a line,      when -infinity < t < +infinity

    In Opcode, we support segment queries, which yield half-line queries by setting d = +infinity.
    We don't support line-queries. If you need them, shift the origin along the ray by an appropriate margin.

    In short, the lower bound is always 0, and you can setup the higher bound "d" with RayCollider::SetMaxDist().

    Query   |segment                        |half-line              |line
    --------|-------------------|---------------|----------------
    Usages  |-shadow feelers        |-raytracing    |-
                    |-sweep tests           |-in/out tests  |

FIRST CONTACT:

    - You can setup "first contact" mode or "all contacts" mode with RayCollider::SetFirstContact().
    - In "first contact" mode we return as soon as the ray hits one face. If can be useful e.g. for shadow feelers, where
    you want to know whether the path to the light is free or not (a boolean answer is enough).
    - In "all contacts" mode we return all faces hit by the ray.

TEMPORAL COHERENCE:

    - You can enable or disable temporal coherence with RayCollider::SetTemporalCoherence().
    - It currently only works in "first contact" mode.
    - If temporal coherence is enabled, the previously hit triangle is cached during the first query. Then, next queries
    start by colliding the ray against the cached triangle. If they still collide, we return immediately.

CLOSEST HIT:

    - You can enable or disable "closest hit" with RayCollider::SetClosestHit().
    - It currently only works in "all contacts" mode.
    - If closest hit is enabled, faces are sorted by distance on-the-fly and the closest one only is reported.

BACKFACE CULLING:

    - You can enable or disable backface culling with RayCollider::SetCulling().
    - If culling is enabled, ray will not hit back faces (only front faces).

Author: Pierre Terdiman

Version: 1.3

Date: June, 2, 2001

Definition at line 63 of file OPC_RayCollider.h.

Constructor & Destructor Documentation

◆ RayCollider()

RayCollider::RayCollider ( )

◆ ~RayCollider()

virtual RayCollider::~RayCollider ( )

virtual

Member Function Documentation

◆ _RayStab() [1/5]

void RayCollider::_RayStab ( const AABBCollisionNode * node )

protected

◆ _RayStab() [2/5]

void RayCollider::_RayStab ( const AABBNoLeafNode * node )

protected

◆ _RayStab() [3/5]

void RayCollider::_RayStab ( const AABBQuantizedNode * node )

protected

◆ _RayStab() [4/5]

void RayCollider::_RayStab ( const AABBQuantizedNoLeafNode * node )

protected

◆ _RayStab() [5/5]

void RayCollider::_RayStab	(	const AABBTreeNode *	node,
		Container &	box_indices
	)

protected

◆ _SegmentStab() [1/5]

void RayCollider::_SegmentStab ( const AABBCollisionNode * node )

protected

◆ _SegmentStab() [2/5]

void RayCollider::_SegmentStab ( const AABBNoLeafNode * node )

protected

◆ _SegmentStab() [3/5]

void RayCollider::_SegmentStab ( const AABBQuantizedNode * node )

protected

◆ _SegmentStab() [4/5]

void RayCollider::_SegmentStab ( const AABBQuantizedNoLeafNode * node )

protected

◆ _SegmentStab() [5/5]

void RayCollider::_SegmentStab	(	const AABBTreeNode *	node,
		Container &	box_indices
	)

protected

◆ Collide() [1/2]

bool RayCollider::Collide	(	const Ray &	world_ray,
		const Model &	model,
		const Matrix4x4 *	world = `null`,
		udword *	cache = `null`
	)

Generic stabbing query for generic OPCODE models. After the call, access the results:

with GetContactStatus()
in the user-provided destination array

Parameters

world_ray	[in] stabbing ray in world space
model	[in] Opcode model to collide with
world	[in] model's world matrix, or null
cache	[in] a possibly cached face index, or null

Returns: true if success

Warning: SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.

◆ Collide() [2/2]

bool RayCollider::Collide	(	const Ray &	world_ray,
		const AABBTree *	tree,
		Container &	box_indices
	)

◆ GetNbIntersections()

inline_ udword RayCollider::GetNbIntersections ( ) const

inline

Stats: gets the number of intersection found after a collision query. Can be used for in/out tests.

See also: GetNbRayBVTests(); GetNbRayPrimTests()

Returns: the number of valid intersections during last query

Definition at line 168 of file OPC_RayCollider.h.

◆ GetNbRayBVTests()

inline_ udword RayCollider::GetNbRayBVTests ( ) const

inline

Stats: gets the number of Ray-BV overlap tests after a collision query.

See also: GetNbRayPrimTests(); GetNbIntersections()

Returns: the number of Ray-BV tests performed during last query

Definition at line 147 of file OPC_RayCollider.h.

◆ GetNbRayPrimTests()

inline_ udword RayCollider::GetNbRayPrimTests ( ) const

inline

Stats: gets the number of Ray-Triangle overlap tests after a collision query.

See also: GetNbRayBVTests(); GetNbIntersections()

Returns: the number of Ray-Triangle tests performed during last query

Definition at line 157 of file OPC_RayCollider.h.

◆ InitQuery()

BOOL RayCollider::InitQuery	(	const Ray &	world_ray,
		const Matrix4x4 *	world = `null`,
		udword *	face_id = `null`
	)

protected

◆ override()

RayCollider::override ( Collider ) const

Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider.

Returns: null if everything is ok, else a string describing the problem

◆ RayAABBOverlap()

inline_ BOOL RayCollider::RayAABBOverlap	(	const Point &	center,
		const Point &	extents
	)

protected

Computes a ray-AABB overlap test using the separating axis theorem. Ray is cached within the class.

Parameters

center	[in] AABB center
extents	[in] AABB extents

Returns: true on overlap

Definition at line 40 of file OPC_RayAABBOverlap.h.

◆ RayTriOverlap()

inline_ BOOL RayCollider::RayTriOverlap	(	const Point &	vert0,
		const Point &	vert1,
		const Point &	vert2
	)

protected

Computes a ray-triangle intersection test. Original code from Tomas M�ller's "Fast Minimum Storage Ray-Triangle Intersection". It's been optimized a bit with integer code, and modified to return a non-intersection if distance from ray origin to triangle is negative.

Parameters

vert0	[in] triangle vertex
vert1	[in] triangle vertex
vert2	[in] triangle vertex

Returns: true on overlap. mStabbedFace is filled with relevant info.

Definition at line 16 of file OPC_RayTriOverlap.h.

◆ SegmentAABBOverlap()

inline_ BOOL RayCollider::SegmentAABBOverlap	(	const Point &	center,
		const Point &	extents
	)

protected

Computes a segment-AABB overlap test using the separating axis theorem. Segment is cached within the class.

Parameters

center	[in] AABB center
extents	[in] AABB extents

Returns: true on overlap

Definition at line 15 of file OPC_RayAABBOverlap.h.

◆ SetClosestHit()

inline_ void RayCollider::SetClosestHit ( bool flag )

inline

Settings: enable or disable "closest hit" mode.

Parameters

flag	[in] true to report closest hit only

See also: SetCulling(bool flag); SetMaxDist(float max_dist); SetDestination(StabbedFaces* sf)

Definition at line 99 of file OPC_RayCollider.h.

◆ SetCulling()

inline_ void RayCollider::SetCulling ( bool flag )

inline

Settings: enable or disable backface culling.

Parameters

flag	[in] true to enable backface culling

See also: SetClosestHit(bool flag); SetMaxDist(float max_dist); SetDestination(StabbedFaces* sf)

Definition at line 110 of file OPC_RayCollider.h.

◆ SetDestination()

inline_ void RayCollider::SetDestination ( CollisionFaces * cf )

inline

Settings: sets the destination array for stabbed faces.

Parameters

cf	[in] destination array, filled during queries

See also: SetClosestHit(bool flag); SetCulling(bool flag); SetMaxDist(float max_dist)

Definition at line 136 of file OPC_RayCollider.h.

◆ SetMaxDist()

inline_ void RayCollider::SetMaxDist ( float max_dist = MAX_FLOAT )

inline

Settings: sets the higher distance bound.

Parameters

max_dist [in] higher distance bound. Default = maximal value, for ray queries (else segment)

See also: SetClosestHit(bool flag); SetCulling(bool flag); SetDestination(StabbedFaces* sf)

Definition at line 121 of file OPC_RayCollider.h.

Member Data Documentation

◆ mCenterCoeff

Point RayCollider::mCenterCoeff

protected

Definition at line 198 of file OPC_RayCollider.h.

◆ mClosestHit

bool RayCollider::mClosestHit

protected

Report closest hit only.

Definition at line 203 of file OPC_RayCollider.h.

◆ mCulling

bool RayCollider::mCulling

protected

Stab culled faces or not.

Definition at line 205 of file OPC_RayCollider.h.

◆ mData

Point RayCollider::mData

protected

Definition at line 183 of file OPC_RayCollider.h.

◆ mData2

Point RayCollider::mData2

protected

Definition at line 183 of file OPC_RayCollider.h.

◆ mDir

Point RayCollider::mDir

protected

Ray direction (normalized)

Definition at line 181 of file OPC_RayCollider.h.

◆ mExtentsCoeff

Point RayCollider::mExtentsCoeff

protected

Definition at line 199 of file OPC_RayCollider.h.

◆ mFDir

Point RayCollider::mFDir

protected

fabsf(mDir)

Definition at line 182 of file OPC_RayCollider.h.

◆ mMaxDist

float RayCollider::mMaxDist

protected

Valid segment on the ray.

Definition at line 201 of file OPC_RayCollider.h.

◆ mNbIntersections

udword RayCollider::mNbIntersections

protected

Number of valid intersections.

Definition at line 196 of file OPC_RayCollider.h.

◆ mNbRayBVTests

udword RayCollider::mNbRayBVTests

protected

Number of Ray-BV tests.

Definition at line 193 of file OPC_RayCollider.h.

◆ mNbRayPrimTests

udword RayCollider::mNbRayPrimTests

protected

Number of Ray-Primitive tests.

Definition at line 194 of file OPC_RayCollider.h.

◆ mOrigin

Point RayCollider::mOrigin

protected

Ray origin.

Definition at line 180 of file OPC_RayCollider.h.

◆ mStabbedFace

CollisionFace RayCollider::mStabbedFace

protected

Current stabbed face.

Definition at line 185 of file OPC_RayCollider.h.

◆ mStabbedFaces

CollisionFaces* RayCollider::mStabbedFaces

protected

List of stabbed faces.

Definition at line 190 of file OPC_RayCollider.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RayCollider()

◆ ~RayCollider()

Member Function Documentation

◆ _RayStab() [1/5]

◆ _RayStab() [2/5]

◆ _RayStab() [3/5]

◆ _RayStab() [4/5]

◆ _RayStab() [5/5]

◆ _SegmentStab() [1/5]

◆ _SegmentStab() [2/5]

◆ _SegmentStab() [3/5]

◆ _SegmentStab() [4/5]

◆ _SegmentStab() [5/5]

◆ Collide() [1/2]

◆ Collide() [2/2]

◆ GetNbIntersections()

◆ GetNbRayBVTests()

◆ GetNbRayPrimTests()

◆ InitQuery()

◆ override()

◆ RayAABBOverlap()

◆ RayTriOverlap()

◆ SegmentAABBOverlap()

◆ SetClosestHit()

◆ SetCulling()

◆ SetDestination()

◆ SetMaxDist()

Member Data Documentation

◆ mCenterCoeff

◆ mClosestHit

◆ mCulling

◆ mData

◆ mData2

◆ mDir

◆ mExtentsCoeff

◆ mFDir

◆ mMaxDist

◆ mNbIntersections

◆ mNbRayBVTests

◆ mNbRayPrimTests

◆ mOrigin

◆ mStabbedFace

◆ mStabbedFaces