From 2995e20b3c221a88e625c60b1be0bfce7d8682bf Mon Sep 17 00:00:00 2001 From: Cry dsch Date: Tue, 1 Jun 2021 19:35:31 +0200 Subject: [PATCH] Applied raysan's refactor Improved GetRayCollisionBox --- examples/models/models_mesh_picking.c | 47 +++++++--------- src/models.c | 81 ++++++++++++++++----------- src/raylib.h | 18 +++--- 3 files changed, 79 insertions(+), 67 deletions(-) diff --git a/examples/models/models_mesh_picking.c b/examples/models/models_mesh_picking.c index 58371f634..8103a5cf1 100644 --- a/examples/models/models_mesh_picking.c +++ b/examples/models/models_mesh_picking.c @@ -65,7 +65,7 @@ int main(void) UpdateCamera(&camera); // Update camera // Display information about closest hit - RayCollisionInfo nearestHit = { 0 }; + RayCollision nearestHit = { 0 }; char *hitObjectName = "None"; nearestHit.distance = FLT_MAX; nearestHit.hit = false; @@ -75,7 +75,7 @@ int main(void) ray = GetMouseRay(GetMousePosition(), camera); // Check ray collision against ground plane - /*RayCollisionInfo groundHitInfo = GetCollisionRayQuad(ray, 0.0f); + /*RayCollision groundHitInfo = GetCollisionRayQuad(ray, 0.0f); if ((groundHitInfo.hit) && (groundHitInfo.distance < nearestHit.distance)) { @@ -85,7 +85,7 @@ int main(void) }*/ // Check ray collision against test triangle - RayCollisionInfo triHitInfo = GetCollisionRayTriangle(ray, ta, tb, tc); + RayCollision triHitInfo = GetRayCollisionTriangle(ray, ta, tb, tc); if ((triHitInfo.hit) && (triHitInfo.distance < nearestHit.distance)) { @@ -93,11 +93,11 @@ int main(void) cursorColor = ORANGE; hitObjectName = "Triangle"; - bary = Vector3Barycenter(nearestHit.position, ta, tb, tc); + bary = Vector3Barycenter(nearestHit.point, ta, tb, tc); } // Check ray collision against test sphere - RayCollisionInfo sphHitInfo = GetCollisionRaySphere(ray, sp, sr); + RayCollision sphHitInfo = GetRayCollisionSphere(ray, sp, sr); if ((sphHitInfo.hit) && (sphHitInfo.distance < nearestHit.distance)) { nearestHit = sphHitInfo; @@ -106,18 +106,17 @@ int main(void) } // Check ray collision against bounding box first, before trying the full ray-mesh test - // Note: distance becomes negative if ray.position is inside the box! - RayCollisionInfo boxHitInfo = GetCollisionRayBox(ray, towerBBox); + RayCollision boxHitInfo = GetRayCollisionBox(ray, towerBBox); if ((boxHitInfo.hit) && (boxHitInfo.distance < nearestHit.distance)) { nearestHit = boxHitInfo; - cursorColor = PURPLE; + cursorColor = ORANGE; hitObjectName = "Box"; // Check ray collision against model // NOTE: It considers model.transform matrix! - RayCollisionInfo meshHitInfo = GetCollisionRayModel(ray, tower); + RayCollision meshHitInfo = GetRayCollisionModel(ray, tower); if (meshHitInfo.hit) { @@ -155,22 +154,18 @@ int main(void) // If we hit something, draw the cursor at the hit point if (nearestHit.hit) { - DrawCube(nearestHit.position, 0.3f, 0.3f, 0.3f, cursorColor); - DrawCubeWires(nearestHit.position, 0.3f, 0.3f, 0.3f, RED); + DrawCube(nearestHit.point, 0.3f, 0.3f, 0.3f, cursorColor); + DrawCubeWires(nearestHit.point, 0.3f, 0.3f, 0.3f, RED); Vector3 normalEnd; - normalEnd.x = nearestHit.position.x + nearestHit.normal.x; - normalEnd.y = nearestHit.position.y + nearestHit.normal.y; - normalEnd.z = nearestHit.position.z + nearestHit.normal.z; + normalEnd.x = nearestHit.point.x + nearestHit.normal.x; + normalEnd.y = nearestHit.point.y + nearestHit.normal.y; + normalEnd.z = nearestHit.point.z + nearestHit.normal.z; - DrawLine3D(nearestHit.position, normalEnd, RED); + DrawLine3D(nearestHit.point, normalEnd, RED); } - float scale = 10000; - DrawLine3D(Vector3Add(ray.position, Vector3Scale(ray.direction, 10)), Vector3Add(ray.position, Vector3Scale(ray.direction, scale)), RED); - Vector3 p1 = { 0, 0, 0 }; - Vector3 p2 = { 10, 10, 10 }; - DrawLine3D(ray.position, p1, RED); - DrawRay(ray, MAROON); // TODO + + DrawRay(ray, MAROON); DrawGrid(10, 10.0f); @@ -184,19 +179,19 @@ int main(void) int ypos = 70; DrawText(TextFormat("Distance: %3.2f", nearestHit.distance), 10, ypos, 10, BLACK); - if (nearestHit.distance < 0) DrawText("(Inside Box)", 100, ypos, 10, BLACK); DrawText(TextFormat("Hit Pos: %3.2f %3.2f %3.2f", - nearestHit.position.x, - nearestHit.position.y, - nearestHit.position.z), 10, ypos + 15, 10, BLACK); + nearestHit.point.x, + nearestHit.point.y, + nearestHit.point.z), 10, ypos + 15, 10, BLACK); DrawText(TextFormat("Hit Norm: %3.2f %3.2f %3.2f", nearestHit.normal.x, nearestHit.normal.y, nearestHit.normal.z), 10, ypos + 30, 10, BLACK); - if (triHitInfo.hit) DrawText(TextFormat("Barycenter: %3.2f %3.2f %3.2f", bary.x, bary.y, bary.z), 10, ypos + 45, 10, BLACK); + if (triHitInfo.hit && strcmp(hitObjectName, "Triangle") == 0) + DrawText(TextFormat("Barycenter: %3.2f %3.2f %3.2f", bary.x, bary.y, bary.z), 10, ypos + 45, 10, BLACK); } DrawText("Use Mouse to Move Camera", 10, 430, 10, GRAY); diff --git a/src/models.c b/src/models.c index c992095f8..acf30ebac 100644 --- a/src/models.c +++ b/src/models.c @@ -2979,10 +2979,10 @@ bool CheckCollisionBoxSphere(BoundingBox box, Vector3 center, float radius) return collision; } -// Detect collision between ray and sphere -RayCollisionInfo GetCollisionRaySphere(Ray ray, Vector3 center, float radius) +// Get collision info between ray and sphere +RayCollision GetRayCollisionSphere(Ray ray, Vector3 center, float radius) { - RayCollisionInfo result = { 0 }; + RayCollision result = { 0 }; Vector3 raySpherePos = Vector3Subtract(center, ray.position); float vector = Vector3DotProduct(raySpherePos, ray.direction); @@ -2996,28 +2996,37 @@ RayCollisionInfo GetCollisionRaySphere(Ray ray, Vector3 center, float radius) result.distance = vector + sqrtf(d); // Calculate collision point - result.position = Vector3Add(ray.position, Vector3Scale(ray.direction, result.distance)); + result.point = Vector3Add(ray.position, Vector3Scale(ray.direction, result.distance)); // Calculate collision normal (pointing outwards) - result.normal = Vector3Negate(Vector3Normalize(Vector3Subtract(result.position, center))); + result.normal = Vector3Negate(Vector3Normalize(Vector3Subtract(result.point, center))); } else { // outside result.distance = vector - sqrtf(d); // Calculate collision point - result.position = Vector3Add(ray.position, Vector3Scale(ray.direction, result.distance)); + result.point = Vector3Add(ray.position, Vector3Scale(ray.direction, result.distance)); // Calculate collision normal (pointing inwards) - result.normal = Vector3Normalize(Vector3Subtract(result.position, center)); + result.normal = Vector3Normalize(Vector3Subtract(result.point, center)); } return result; } -// Detect collision between ray and bounding box -// Note: Returns a negative distance if ray.position is inside the box! -RayCollisionInfo GetCollisionRayBox(Ray ray, BoundingBox box) +// Get collision info between ray and bounding box +RayCollision GetRayCollisionBox(Ray ray, BoundingBox box) { - RayCollisionInfo result = { 0 }; + RayCollision result = { 0 }; + + // Note: If ray.position is inside the box, the distance is negative (as if the ray was reversed) + // Reversing ray.direction before will give use the correct result. + bool insideBox = + ray.position.x > box.min.x && ray.position.x < box.max.x && + ray.position.y > box.min.y && ray.position.y < box.max.y && + ray.position.z > box.min.z && ray.position.z < box.max.z; + if (insideBox) { + ray.direction = Vector3Negate(ray.direction); + } float t[11] = { 0 }; @@ -3034,20 +3043,20 @@ RayCollisionInfo GetCollisionRayBox(Ray ray, BoundingBox box) t[6] = (float)fmax(fmax(fmin(t[0], t[1]), fmin(t[2], t[3])), fmin(t[4], t[5])); t[7] = (float)fmin(fmin(fmax(t[0], t[1]), fmax(t[2], t[3])), fmax(t[4], t[5])); - result.distance = t[6]; result.hit = !(t[7] < 0 || t[6] > t[7]); - result.position = Vector3Add(ray.position, Vector3Scale(ray.direction, result.distance)); + result.distance = t[6]; + result.point = Vector3Add(ray.position, Vector3Scale(ray.direction, result.distance)); - // get box center point + // Get box center point result.normal = Vector3Lerp(box.min, box.max, 0.5f); - // get vector center point->hit point - result.normal = Vector3Subtract(result.position, result.normal); - // scale vector to unit cube + // Get vector center point->hit point + result.normal = Vector3Subtract(result.point, result.normal); + // Scale vector to unit cube // we use an additional .01 to fix numerical errors result.normal = Vector3Scale(result.normal, 2.01f); result.normal = Vector3Divide(result.normal, Vector3Subtract(box.max, box.min)); - // the relevant elemets of the vector are now slightly larger than 1f (or smaller than -1f) - // and the others are somewhere between -1 and 1. + // the relevant elemets of the vector are now slightly larger than 1.0f (or smaller than -1.0f) + // and the others are somewhere between -1.0 and 1.0 // casting to int is exactly our wanted normal! result.normal.x = (int)result.normal.x; result.normal.y = (int)result.normal.y; @@ -3055,13 +3064,21 @@ RayCollisionInfo GetCollisionRayBox(Ray ray, BoundingBox box) result.normal = Vector3Normalize(result.normal); + if (insideBox) { + // Reset ray.direction + ray.direction = Vector3Negate(ray.direction); + // Fix result + result.distance *= -1.0f; + result.normal = Vector3Negate(result.normal); + } + return result; } // Get collision info between ray and mesh -RayCollisionInfo GetCollisionRayMesh(Ray ray, Mesh mesh, Matrix transform) +RayCollision GetRayCollisionMesh(Ray ray, Mesh mesh, Matrix transform) { - RayCollisionInfo result = { 0 }; + RayCollision result = { 0 }; // Check if mesh vertex data on CPU for testing if (mesh.vertices != NULL) @@ -3091,7 +3108,7 @@ RayCollisionInfo GetCollisionRayMesh(Ray ray, Mesh mesh, Matrix transform) b = Vector3Transform(b, transform); c = Vector3Transform(c, transform); - RayCollisionInfo triHitInfo = GetCollisionRayTriangle(ray, a, b, c); + RayCollision triHitInfo = GetRayCollisionTriangle(ray, a, b, c); if (triHitInfo.hit) { @@ -3104,13 +3121,13 @@ RayCollisionInfo GetCollisionRayMesh(Ray ray, Mesh mesh, Matrix transform) } // Get collision info between ray and model -RayCollisionInfo GetCollisionRayModel(Ray ray, Model model) +RayCollision GetRayCollisionModel(Ray ray, Model model) { - RayCollisionInfo result = { 0 }; + RayCollision result = { 0 }; for (int m = 0; m < model.meshCount; m++) { - RayCollisionInfo meshHitInfo = GetCollisionRayMesh(ray, model.meshes[m], model.transform); + RayCollision meshHitInfo = GetRayCollisionMesh(ray, model.meshes[m], model.transform); if (meshHitInfo.hit) { @@ -3124,14 +3141,14 @@ RayCollisionInfo GetCollisionRayModel(Ray ray, Model model) // Get collision info between ray and triangle // NOTE: Based on https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm -RayCollisionInfo GetCollisionRayTriangle(Ray ray, Vector3 p1, Vector3 p2, Vector3 p3) +RayCollision GetRayCollisionTriangle(Ray ray, Vector3 p1, Vector3 p2, Vector3 p3) { #define EPSILON 0.000001 // A small number Vector3 edge1, edge2; Vector3 p, q, tv; float det, invDet, u, v, t; - RayCollisionInfo result = {0}; + RayCollision result = {0}; // Find vectors for two edges sharing V1 edge1 = Vector3Subtract(p2, p1); @@ -3174,18 +3191,18 @@ RayCollisionInfo GetCollisionRayTriangle(Ray ray, Vector3 p1, Vector3 p2, Vector result.hit = true; result.distance = t; result.normal = Vector3Normalize(Vector3CrossProduct(edge1, edge2)); - result.position = Vector3Add(ray.position, Vector3Scale(ray.direction, t)); + result.point = Vector3Add(ray.position, Vector3Scale(ray.direction, t)); } return result; } // Get collision info between ray and ground plane (Y-normal plane) -RayCollisionInfo GetCollisionRayGround(Ray ray, float groundHeight) +RayCollision GetRayCollisionGround(Ray ray, float groundHeight) { #define EPSILON 0.000001 // A small number - RayCollisionInfo result = { 0 }; + RayCollision result = { 0 }; if (fabsf(ray.direction.y) > EPSILON) { @@ -3196,8 +3213,8 @@ RayCollisionInfo GetCollisionRayGround(Ray ray, float groundHeight) result.hit = true; result.distance = distance; result.normal = (Vector3){ 0.0, 1.0, 0.0 }; - result.position = Vector3Add(ray.position, Vector3Scale(ray.direction, distance)); - result.position.y = groundHeight; + result.point = Vector3Add(ray.position, Vector3Scale(ray.direction, distance)); + result.point.y = groundHeight; } } diff --git a/src/raylib.h b/src/raylib.h index 755a581d5..11dead424 100644 --- a/src/raylib.h +++ b/src/raylib.h @@ -403,12 +403,12 @@ typedef struct Ray { } Ray; // Raycast hit information -typedef struct RayCollisionInfo { +typedef struct RayCollision { bool hit; // Did the ray hit something? float distance; // Distance to nearest hit - Vector3 position; // Position of nearest hit + Vector3 point; // Point of nearest hit Vector3 normal; // Surface normal of hit -} RayCollisionInfo; +} RayCollision; // Bounding box type typedef struct BoundingBox { @@ -1451,12 +1451,12 @@ RLAPI void DrawBillboardPro(Camera camera, Texture2D texture, Rectangle source, RLAPI bool CheckCollisionSpheres(Vector3 center1, float radius1, Vector3 center2, float radius2); // Detect collision between two spheres RLAPI bool CheckCollisionBoxes(BoundingBox box1, BoundingBox box2); // Detect collision between two bounding boxes RLAPI bool CheckCollisionBoxSphere(BoundingBox box, Vector3 center, float radius); // Detect collision between box and sphere -RLAPI RayCollisionInfo GetCollisionRaySphere(Ray ray, Vector3 center, float radius); // Get collision info between ray and sphere -RLAPI RayCollisionInfo GetCollisionRayBox(Ray ray, BoundingBox box); // Get collision info between ray and box -RLAPI RayCollisionInfo GetCollisionRayModel(Ray ray, Model model); // Get collision info between ray and model -RLAPI RayCollisionInfo GetCollisionRayMesh(Ray ray, Mesh mesh, Matrix transform); // Get collision info between ray and mesh -RLAPI RayCollisionInfo GetCollisionRayTriangle(Ray ray, Vector3 p1, Vector3 p2, Vector3 p3); // Get collision info between ray and triangle -RLAPI RayCollisionInfo GetCollisionRayQuad(Ray ray, Vector3 p1, Vector3 p2, Vector3 p3, Vector3 p4); // Get collision info between ray and quad +RLAPI RayCollision GetRayCollisionSphere(Ray ray, Vector3 center, float radius); // Get collision info between ray and sphere +RLAPI RayCollision GetRayCollisionBox(Ray ray, BoundingBox box); // Get collision info between ray and box +RLAPI RayCollision GetRayCollisionModel(Ray ray, Model model); // Get collision info between ray and model +RLAPI RayCollision GetRayCollisionMesh(Ray ray, Mesh mesh, Matrix transform); // Get collision info between ray and mesh +RLAPI RayCollision GetRayCollisionTriangle(Ray ray, Vector3 p1, Vector3 p2, Vector3 p3); // Get collision info between ray and triangle +RLAPI RayCollision GetRayCollisionQuad(Ray ray, Vector3 p1, Vector3 p2, Vector3 p3, Vector3 p4); // Get collision info between ray and quad //------------------------------------------------------------------------------------ // Audio Loading and Playing Functions (Module: audio)