add ray intersection checks
This commit is contained in:
ohyzha
@@ -14,6 +14,7 @@
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#include <glm/gtx/matrix_decompose.hpp>
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#include <glm/gtx/quaternion.hpp>
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#include <glm/gtx/transform.hpp>
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#include <glm/gtx/intersect.hpp>
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#include <glm/gtx/io.hpp>
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#include <numbers>
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240
openVulkanoCpp/Scene/Ray.cpp
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240
openVulkanoCpp/Scene/Ray.cpp
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@@ -0,0 +1,240 @@
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/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at https://mozilla.org/MPL/2.0/.
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*/
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#include "Ray.hpp"
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#include <vector>
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namespace
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{
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int SolveQuadraticEquation(float a, float b, float c, float& x0, float& x1)
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{
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float discr = b * b - 4 * a * c;
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if (discr < 0)
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{
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return 0;
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}
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if (discr == 0)
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{
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x0 = x1 = (-b) / (2 * a);
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return 1;
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}
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float q = (b > 0) ? -0.5 * (b + std::sqrt(discr)) : -0.5 * (b - std::sqrt(discr));
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x0 = q / a;
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x1 = c / q;
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if (x0 > x1)
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{
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std::swap(x0, x1);
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}
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return 2;
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}
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};
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namespace OpenVulkano::Scene
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{
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using namespace Math::Utils;
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std::optional<RayHit> Ray::IntersectSphere(const Math::Vector3f& center, float radius) const
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{
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RayHit hitRes;
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if (intersectRaySphere(m_origin, m_dir, center, radius, hitRes.point, hitRes.normal))
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{
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hitRes.distance = distance(m_origin, hitRes.point);
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return hitRes;
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}
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return {};
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}
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std::optional<RayHit> Ray::IntersectTriangle(const Math::Vector3f& v0, const Math::Vector3f& v1,
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const Math::Vector3f& v2) const
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{
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RayHit hitRes;
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vec2 baryPos;
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if (intersectRayTriangle(m_origin, m_dir, v0, v1, v2, baryPos, hitRes.distance) && hitRes.distance >= 0)
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{
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hitRes.point = (1.f - baryPos.x - baryPos.y) * v0 + baryPos.x * v1 + baryPos.y * v2;
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// calculate like cross product or leave empty ? what if current triangle is smoothly shaded ?
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hitRes.normal = Math::Vector3f(0);
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return hitRes;
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}
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return {};
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}
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std::optional<RayHit> Ray::IntersectQuad(const Math::Vector3f& v0, const Math::Vector3f& v1,
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const Math::Vector3f& v2, const Math::Vector3f& v3) const
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{
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if (auto hitRes = IntersectTriangle(v0, v1, v2))
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{
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return hitRes;
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}
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if (auto hitRes = IntersectTriangle(v0, v2, v3))
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{
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return hitRes;
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}
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return {};
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}
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std::optional<RayHit> Ray::IntersectAABB(const Math::AABB& bbox) const
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{
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RayHit h1, h2;
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const int intersections = this->IntersectAABB(bbox, h1, h2);
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switch (intersections)
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{
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case 1:
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return h1;
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case 2:
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return (h1.distance < h2.distance) ? h1 : h2;
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}
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return {};
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}
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int Ray::IntersectAABB(const Math::AABB& bbox, RayHit& p1, RayHit& p2) const
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{
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const auto bMax = bbox.max;
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const auto bMin = bbox.min;
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float tmin = (bMin.x - m_origin.x) / m_dir.x;
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float tmax = (bMax.x - m_origin.x) / m_dir.x;
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if (tmin > tmax)
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{
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std::swap(tmin, tmax);
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}
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float tymin = (bMin.y - m_origin.y) / m_dir.y;
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float tymax = (bMax.y - m_origin.y) / m_dir.y;
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if (tymin > tymax)
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{
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std::swap(tymin, tymax);
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}
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if ((tmin > tymax) || (tymin > tmax))
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{
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return 0;
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}
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if (tymin > tmin)
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{
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tmin = tymin;
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}
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if (tymax < tmax)
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{
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tmax = tymax;
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}
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float tzmin = (bMin.z - m_origin.z) / m_dir.z;
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float tzmax = (bMax.z - m_origin.z) / m_dir.z;
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if (tzmin > tzmax)
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{
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std::swap(tzmin, tzmax);
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}
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if ((tmin > tzmax) || (tzmin > tmax))
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{
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return 0;
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}
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if (tzmin > tmin)
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{
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tmin = tzmin;
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}
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if (tzmax < tmax)
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{
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tmax = tzmax;
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}
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int intersections = 2;
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if (tmin < 0)
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{
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if (tmax < 0)
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{
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return 0;
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}
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intersections--;
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tmin = tmax;
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}
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p1.point = m_origin + tmin * m_dir;
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p2.point = m_origin + tmax * m_dir;
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p1.distance = distance(m_origin, p1.point);
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p2.distance = distance(m_origin, p2.point);
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p1.normal = p2.normal = Math::Vector3f(0);
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return intersections;
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}
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std::optional<RayHit> Ray::IntersectPlane(const Math::Vector3f& pOrigin, const Math::Vector3f& pNorm) const
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{
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RayHit hit;
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Math::Vector3f norm = normalize(pNorm);
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if (intersectRayPlane(m_origin, m_dir, pOrigin, pNorm, hit.distance))
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{
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hit.point = m_origin + m_dir * hit.distance;
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hit.normal = norm;
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return hit;
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}
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return {};
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}
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int Ray::IntersectSphere(const Math::Vector3f& center, float radius, RayHit& p1, RayHit& p2) const
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{
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const Math::Vector3f L = m_origin - center;
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const float a = dot(m_dir, m_dir); // equals to length^2
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const float b = 2 * dot(m_dir, L);
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const float c = dot(L, L) - radius * radius;
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float x1, x2;
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int roots = ::SolveQuadraticEquation(a, b, c, x1, x2);
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if (roots == 0)
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{
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return 0;
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}
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if (x1 > x2)
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{
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std::swap(x1, x2);
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}
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if (roots == 1)
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{
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// ray intersects sphere behind the origin
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if (x1 < 0)
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{
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return 0;
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}
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p1.point = m_origin + x1 * m_dir;
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p1.distance = distance(m_origin, p1.point);
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p1.normal = normalize(p1.point - center);
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p2 = p1;
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}
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else if (roots == 2)
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{
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// ray intersects sphere behind the origin
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if (x1 < 0 && x2 < 0)
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{
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return 0;
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}
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if (x1 >= 0 && x2 >= 0)
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{
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p1.point = m_origin + x1 * m_dir;
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p1.distance = distance(m_origin, p1.point);
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p1.normal = normalize(p1.point - center);
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p2.point = m_origin + x2 * m_dir;
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p2.distance = distance(m_origin, p2.point);
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p2.normal = normalize(p2.point - center);
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}
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else
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{
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--roots;
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if (x1 < 0)
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{
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x1 = x2;
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}
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p1.point = m_origin + x1 * m_dir;
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p1.distance = distance(m_origin, p1.point);
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p1.normal = normalize(p1.point - center);
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p2 = p1;
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}
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}
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return roots;
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}
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}
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55
openVulkanoCpp/Scene/Ray.hpp
Normal file
55
openVulkanoCpp/Scene/Ray.hpp
Normal file
@@ -0,0 +1,55 @@
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/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at https://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include "Math/Math.hpp"
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#include "Math/AABB.hpp"
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#include <optional>
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namespace OpenVulkano::Scene
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{
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struct RayHit
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{
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Math::Vector3f point;
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Math::Vector3f normal;
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float distance;
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bool operator==(const RayHit& other) const
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{
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return point == other.point && normal == other.normal && distance == other.distance;
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}
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bool operator!=(const RayHit& other) const { return !((*this) == other); }
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};
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class Ray
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{
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public:
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Ray() : m_origin(0), m_dir(0) {}
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Ray(const Math::Vector3f& origin, const Math::Vector3f& dir)
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: m_origin(origin), m_dir(Math::Utils::normalize(dir))
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{
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}
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void SetPosition(const Math::Vector3f& origin) { m_origin = origin; }
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void SetDir(const Math::Vector3f& dir) { m_dir = dir; }
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std::optional<RayHit> IntersectSphere(const Math::Vector3f& center, float radius) const;
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int IntersectSphere(const Math::Vector3f& center, float radius, RayHit& p1, RayHit& p2) const;
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std::optional<RayHit> IntersectTriangle(const Math::Vector3f& v0, const Math::Vector3f& v1,
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const Math::Vector3f& v2) const;
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std::optional<RayHit> IntersectQuad(const Math::Vector3f& v0, const Math::Vector3f& v1,
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const Math::Vector3f& v2, const Math::Vector3f& v3) const;
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std::optional<RayHit> IntersectAABB(const Math::AABB& bbox) const;
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int IntersectAABB(const Math::AABB& bbox, RayHit& p1, RayHit& p2) const;
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std::optional<RayHit> IntersectPlane(const Math::Vector3f& pOrigin, const Math::Vector3f& pNorm) const;
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[[nodiscard]] Math::Vector3f& GetOrigin() { return m_origin; }
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[[nodiscard]] Math::Vector3f& GetDir() { return m_dir; }
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[[nodiscard]] const Math::Vector3f& GetOrigin() const { return m_origin; }
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[[nodiscard]] const Math::Vector3f& GetDir() const { return m_dir; }
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private:
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Math::Vector3f m_origin;
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Math::Vector3f m_dir;
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};
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}
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216
tests/RayTests.cpp
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216
tests/RayTests.cpp
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@@ -0,0 +1,216 @@
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/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at https://mozilla.org/MPL/2.0/.
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*/
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#include <catch2/catch_all.hpp>
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#include <catch2/matchers/catch_matchers_floating_point.hpp>
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#include "Math/Math.hpp"
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#include "Scene/Ray.hpp"
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#include "Scene/GeometryFactory.hpp"
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using namespace OpenVulkano::Math;
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using namespace OpenVulkano::Math::Utils;
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using namespace OpenVulkano::Scene;
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namespace
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{
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void CompareVec3Approx(const Vector3f& f, const Vector3f& s)
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{
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REQUIRE_THAT(f.x, Catch::Matchers::WithinRel(s.x));
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REQUIRE_THAT(f.x, Catch::Matchers::WithinRel(s.x));
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REQUIRE_THAT(f.x, Catch::Matchers::WithinRel(s.x));
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}
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};
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TEST_CASE("RaySphereIntersection")
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{
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auto sphere = GeometryFactory::MakeSphere(1, 32, 16);
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RayHit h1, h2;
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// 2 intersections
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{
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Ray ray(Vector3f(0, 0, -5), Vector3f(0, 0, 1));
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REQUIRE(ray.IntersectSphere(Vector3f(0), 1, h1, h2) == 2);
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REQUIRE((h1.point == Vector3f(0, 0, -1) && h2.point == Vector3f(0, 0, 1)));
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REQUIRE((h1.normal == Vector3f(0, 0, -1) && h2.normal == Vector3f(0, 0, 1)));
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REQUIRE(h1.distance < h2.distance);
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REQUIRE((h1.distance == distance(ray.GetOrigin(), h1.point) && h2.distance == distance(ray.GetOrigin(), h2.point)));
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// this returns just closest point
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if (auto opt = ray.IntersectSphere(Vector3f(0), 1))
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{
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REQUIRE(opt.value() == h1);
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}
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}
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// 1 intersection
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{
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Ray ray(Vector3f(1, 0, -1), Vector3f(0, 0, 1));
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REQUIRE(ray.IntersectSphere(Vector3f(0), 1, h1, h2) == 1);
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REQUIRE(h1 == h2);
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REQUIRE(h1.point == Vector3f(1, 0, 0));
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REQUIRE(ray.IntersectSphere(Vector3f(0), 1).value() == h1);
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}
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// 0 intersections
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{
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Ray ray(Vector3f(2, 0, -1), Vector3f(0, 0, 1));
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REQUIRE(ray.IntersectSphere(Vector3f(0), 1, h1, h2) == 0);
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REQUIRE(!ray.IntersectSphere(Vector3f(0), 1).has_value());
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}
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// ray is inside sphere
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{
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Ray ray(Vector3f(0, 0, 0), Vector3f(0.5, 0.5, 1));
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REQUIRE(ray.IntersectSphere(Vector3f(0), 1, h1, h2) == 1);
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REQUIRE(h1 == h2);
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::CompareVec3Approx(h1.normal, h1.point);
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const auto& value = ray.IntersectSphere(Vector3f(0), 1).value();
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REQUIRE(value.distance == h1.distance);
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::CompareVec3Approx(value.normal, h1.normal);
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::CompareVec3Approx(value.point, h1.point);
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}
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// ray intersects sphere behind the origin
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{
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Ray ray(Vector3f(0, 0, 3), Vector3f(0, 0, 1));
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REQUIRE(ray.IntersectSphere(Vector3f(0), 1, h1, h2) == 0);
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REQUIRE(!ray.IntersectSphere(Vector3f(0), 1).has_value());
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}
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}
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TEST_CASE("RayTriangleIntersection")
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{
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auto tri = GeometryFactory::MakeTriangle(Vector3f(0), Vector3f(3, 0, 0), Vector3f(1.5, 2, 0));
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std::optional<RayHit> hit;
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// intersects
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{
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Ray ray(Vector3f(1.5, 2, -5), Vector3f(0, 0, 1));
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hit = ray.IntersectTriangle(tri.vertices[0].position, tri.vertices[1].position, tri.vertices[2].position);
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REQUIRE(hit.has_value());
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REQUIRE(hit->distance == distance(ray.GetOrigin(), hit->point));
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REQUIRE(hit->point == Vector3f(1.5, 2, 0));
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}
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{
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Ray ray(Vector3f(1.5, 1, -1), Vector3f(0, 0, 1));
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hit = ray.IntersectTriangle(tri.vertices[0].position, tri.vertices[1].position, tri.vertices[2].position);
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REQUIRE(hit.has_value());
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REQUIRE(hit->distance == distance(ray.GetOrigin(), hit->point));
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REQUIRE(hit->point == Vector3f(1.5, 1, 0));
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}
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// no intersections
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{
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Ray ray(Vector3f(5, 0, 0), Vector3f(0, 0, 1));
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hit = ray.IntersectTriangle(tri.vertices[0].position, tri.vertices[1].position, tri.vertices[2].position);
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REQUIRE(!hit.has_value());
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}
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{
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Ray ray(Vector3f(1.5, 1, 0.5), Vector3f(0, 0, 1));
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hit = ray.IntersectTriangle(tri.vertices[0].position, tri.vertices[1].position, tri.vertices[2].position);
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REQUIRE(!hit.has_value());
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}
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}
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TEST_CASE("RayQuadIntersection")
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{
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auto cube = GeometryFactory::MakeCube();
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std::optional<RayHit> hit;
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// intersects
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{
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Ray ray(Vector3f(0), Vector3f(0, 0, 1));
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// front face
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hit = ray.IntersectQuad(cube.vertices[0].position, cube.vertices[1].position, cube.vertices[2].position,
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cube.vertices[3].position);
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REQUIRE(hit.has_value());
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REQUIRE(hit->point == Vector3f(0, 0, 0.5));
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}
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// no intersections
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{
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Ray ray(Vector3f(0), Vector3f(0, 0, -1));
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hit = ray.IntersectQuad(cube.vertices[0].position, cube.vertices[1].position, cube.vertices[2].position,
|
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cube.vertices[3].position);
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REQUIRE(!hit.has_value());
|
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}
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{
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Ray ray(Vector3f(1, 1, 0), Vector3f(0, 0, 1));
|
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hit = ray.IntersectQuad(cube.vertices[0].position, cube.vertices[1].position, cube.vertices[2].position,
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cube.vertices[3].position);
|
||||
REQUIRE(!hit.has_value());
|
||||
}
|
||||
}
|
||||
|
||||
TEST_CASE("RayAABBIntersection")
|
||||
{
|
||||
auto sphere = GeometryFactory::MakeSphere(1, 32, 16);
|
||||
sphere.CalculateAABB();
|
||||
std::optional<RayHit> hit;
|
||||
RayHit h1, h2;
|
||||
// intersects
|
||||
{
|
||||
Ray ray(Vector3f(0, 0, -2), Vector3f(0, 0, 1));
|
||||
REQUIRE(ray.IntersectAABB(sphere.aabb, h1, h2) == 2);
|
||||
REQUIRE(h1.distance < h2.distance);
|
||||
REQUIRE(h1.point == Vector3f(0, 0, -1));
|
||||
REQUIRE(h2.point == Vector3f(0, 0, 1));
|
||||
auto p = ray.IntersectAABB(sphere.aabb);
|
||||
REQUIRE(p->point == h1.point);
|
||||
REQUIRE(p->distance == h1.distance);
|
||||
}
|
||||
{
|
||||
Ray ray(Vector3f(0, 0, 1), Vector3f(0, 0, 1));
|
||||
REQUIRE(ray.IntersectAABB(sphere.aabb, h1, h2) == 1);
|
||||
REQUIRE(h1.distance == h2.distance);
|
||||
CompareVec3Approx(h1.point, h2.point);
|
||||
REQUIRE(h1.point == Vector3f(0, 0, 1));
|
||||
REQUIRE(ray.IntersectAABB(sphere.aabb)->distance == h1.distance);
|
||||
}
|
||||
{
|
||||
// inside sphere
|
||||
Ray ray(Vector3f(0), Vector3f(0.3));
|
||||
REQUIRE(ray.IntersectAABB(sphere.aabb, h1, h2) == 1);
|
||||
REQUIRE(h1 == h2);
|
||||
auto val = ray.IntersectAABB(sphere.aabb);
|
||||
REQUIRE(val.has_value());
|
||||
REQUIRE_THAT(val->distance, Catch::Matchers::WithinRel(h1.distance));
|
||||
CompareVec3Approx(val->point, h1.point);
|
||||
}
|
||||
{
|
||||
Ray ray(Vector3f(2, -0.5, 1.5), Vector3f(-2, 0.5, -1.5));
|
||||
REQUIRE(ray.IntersectAABB(sphere.aabb, h1, h2) == 2);
|
||||
REQUIRE(h1.distance < h2.distance);
|
||||
auto val = ray.IntersectAABB(sphere.aabb);
|
||||
REQUIRE(val.has_value());
|
||||
REQUIRE(val->distance == h1.distance);
|
||||
CompareVec3Approx(val->point, h1.point);
|
||||
}
|
||||
// no intersections
|
||||
{
|
||||
Ray ray(Vector3f(3, 0, 1), Vector3f(0, 0, 1));
|
||||
REQUIRE(ray.IntersectAABB(sphere.aabb, h1, h2) == 0);
|
||||
REQUIRE(!ray.IntersectAABB(sphere.aabb).has_value());
|
||||
}
|
||||
{
|
||||
Ray ray(Vector3f(0, 0, 1.1), Vector3f(0, 0, 1));
|
||||
REQUIRE(ray.IntersectAABB(sphere.aabb, h1, h2) == 0);
|
||||
REQUIRE(!ray.IntersectAABB(sphere.aabb).has_value());
|
||||
}
|
||||
}
|
||||
|
||||
TEST_CASE("RayPlaneIntersection")
|
||||
{
|
||||
Vector3f pOrigin = Vector3f(0);
|
||||
Vector3f pNorm = Vector3f(0, 1, 0);
|
||||
{
|
||||
Ray ray(Vector3f(2, -2, 2), Vector3f(0, 1, 0));
|
||||
auto hit = ray.IntersectPlane(pOrigin, pNorm);
|
||||
REQUIRE(hit.has_value());
|
||||
REQUIRE(hit->normal == pNorm);
|
||||
REQUIRE(hit->distance == 2.f);
|
||||
REQUIRE(hit->point == Vector3f(2, 0, 2));
|
||||
}
|
||||
{
|
||||
Ray ray(Vector3f(2, -2, 2), Vector3f(1, 0, 0));
|
||||
REQUIRE(!ray.IntersectPlane(pOrigin, pNorm));
|
||||
}
|
||||
{
|
||||
Ray ray(Vector3f(0), Vector3f(1, 0, 0));
|
||||
REQUIRE(!ray.IntersectPlane(pOrigin, pNorm));
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user