From 73f59b89ccce4709376beb9cc5273f68afc71178 Mon Sep 17 00:00:00 2001 From: William Moberg Date: Thu, 11 Feb 2016 00:11:37 +0100 Subject: [PATCH] Added method EntityFirstHitByRay, takes an Octree or a vector of sorted entities and outputs the frist entity hit by a ray. --- include/Engine/Collision/Collision.h | 23 +++++++-- include/Engine/Core/Octree.h | 75 ++++++++++++++++++++++++++++ src/Engine/Collision/Collision.cpp | 66 ++++++++++++++++++------ src/Engine/Core/Octree.cpp | 25 +++------- 4 files changed, 151 insertions(+), 38 deletions(-) diff --git a/include/Engine/Collision/Collision.h b/include/Engine/Collision/Collision.h index c3759393..5b4150d8 100644 --- a/include/Engine/Collision/Collision.h +++ b/include/Engine/Collision/Collision.h @@ -20,6 +20,9 @@ class World; struct ComponentWrapper; +template +class Octree; + namespace Collision { //Return true if the ray hits the box. @@ -44,21 +47,24 @@ bool RayVsTriangle(const Ray& ray, float& outVCoord, bool trueOnNegativeDistance = false); //Return true if the ray hits any of the triangles in the model. Stops checking when a hit is detected. -bool RayVsModel(const Ray& ray, - const std::vector& modelVertices, - const std::vector& modelIndices); +bool RayVsModel(const Ray& ray, + const RawModel::Vertex* modelVertices, + const std::vector& modelIndices, + const glm::mat4& modelMatrix); //Return true if the ray hits any of the triangles in the model. //Also returns the position of the intersection point. Will loop through all the whole model indices. bool RayVsModel(const Ray& ray, - const std::vector& modelVertices, + const RawModel::Vertex* modelVertices, const std::vector& modelIndices, + const glm::mat4& modelMatrix, glm::vec3& outHitPosition); //Return true if the ray hits any of the triangles in the model. //Also returns the distance from the ray origin to the closest //intersection point, and the barycentric u,v-coordinates. Will loop through all the whole model indices. bool RayVsModel(const Ray& ray, - const std::vector& modelVertices, + const RawModel::Vertex* modelVertices, const std::vector& modelIndices, + const glm::mat4& modelMatrix, float& outDistance, float& outUCoord, float& outVCoord); @@ -81,6 +87,13 @@ bool AABBVsAABB(const AABB& a, const AABB& b, glm::vec3& minimumTranslation); // Calculates an absolute AABB from an entity AABB component boost::optional EntityAbsoluteAABB(EntityWrapper& entity, bool takeModelBox = false); boost::optional AbsoluteAABBExplosionEffect(EntityWrapper& entity); +//Returns the first entity hit by the input ray. entitiesPotentiallyHitSorted needs to be sorted +//by their distance to the ray, e.g. result from Octree::ObjectsPossiblyHitByRay. +//Returns boost::none if none was hit. outDistance will be the distance to the intersection point if the ray intersects. +boost::optional EntityFirstHitByRay(const Ray& ray, std::vector entitiesPotentiallyHitSorted, float outDistance, glm::vec3& outIntersectPos); +//Returns the first entity hit by the input ray that exists in the octree. +//outDistance will be the distance to the intersection point if the ray intersects. +boost::optional EntityFirstHitByRay(const Ray& ray, Octree* octree, float outDistance, glm::vec3& outIntersectPos); } diff --git a/include/Engine/Core/Octree.h b/include/Engine/Core/Octree.h index 6bdea4d3..be0cac95 100644 --- a/include/Engine/Core/Octree.h +++ b/include/Engine/Core/Octree.h @@ -43,6 +43,8 @@ public: void ObjectsInSameRegion(const Box& box, std::vector& outObjects); //Get the objects that are inside the frustum, the objects are put in outObjects. void ObjectsInFrustum(const Frustum& frustum, std::vector& outObjects); + //Get objects, which AABB the input ray intersects, the objects are put in outObjects. + void ObjectsPossiblyHitByRay(const Ray& ray, std::vector& outObjects); //Empty the tree of all objects, static and dynamic. void ClearObjects(); //Empty the tree of all dynamic objects. Static objects remain in the tree. @@ -102,6 +104,8 @@ struct Child void ObjectsInSameRegion(const Box& box, std::vector& outObjects) const; template void ObjectsInFrustum(const Frustum& frustum, std::vector& outObjects, bool takeAllDontTest) const; + template + void ObjectsPossiblyHitByRay(const Ray& ray, std::vector& outObjects) const; void ClearObjects(); void ClearDynamicObjects(); bool RayCollides(const Ray& ray, Output& data) const; @@ -121,6 +125,15 @@ struct Child std::vector childIndicesContainingBox(const AABB& box) const; }; +//To be able to sort child nodes and contained objects based on distance to ray origin. +struct RaySorterInfo +{ + int Index; + float Distance; +}; + +bool isFirstLower(const RaySorterInfo& first, const RaySorterInfo& second); + } template @@ -166,6 +179,13 @@ void Octree::ObjectsInFrustum(const Frustum& frustum, std::vector& outObje m_Root->ObjectsInFrustum(frustum, outObjects, false); } +template +void Octree::ObjectsPossiblyHitByRay(const Ray& ray, std::vector& outObjects) +{ + falsifyObjectChecks(); + m_Root->ObjectsPossiblyHitByRay(ray, outObjects); +} + template void Octree::ClearObjects() { @@ -284,4 +304,59 @@ void OctSpace::Child::ObjectsInFrustum(const Frustum& frustum, std::vector& o } } +template +void OctSpace::Child::ObjectsPossiblyHitByRay(const Ray& ray, std::vector& outObjects) const +{ + //If the node AABB is missed, everything it contains is missed. + if (Collision::RayAABBIntr(ray, m_Box)) { + //If the ray shoots the tree, and it is a parent. + if (hasChildren()) { + //Sort children according to their distance from the ray origin. + std::vector childInfos; + childInfos.resize(8); + for (int i = 0; i < 8; ++i) { + childInfos[i] = { i, glm::distance(ray.Origin(), m_Children[i]->m_Box.Origin()) }; + } + std::sort(childInfos.begin(), childInfos.end(), isFirstLower); + //Loop through the children, starting with the one closest to the ray origin. I.e the first to be hit. + for (const RaySorterInfo& info : childInfos) { + m_Children[info.Index]->ObjectsPossiblyHitByRay(ray, outObjects); + } + } else { + //Check against boxes in the node. + bool intersected = false; + float dist; + //Sort all contained objects according to the distance from the ray origin to + //the intersection, if they are intersecting. + std::vector objectHitInfos; + objectHitInfos.reserve(m_StaticObjIndices.size() + m_DynamicObjIndices.size()); + for (int i : m_StaticObjIndices) { + //If we haven't tested against this object before, and the ray hits. + if (!m_StaticObjectsRef[i].Checked && + Collision::RayVsAABB(ray, *m_StaticObjectsRef[i].Box, dist)) { + objectHitInfos.push_back({ i, dist }); + } + m_StaticObjectsRef[i].Checked = true; + } + for (int i : m_DynamicObjIndices) { + //If we haven't tested against this object before, and the ray hits. + if (!m_DynamicObjectsRef[i].Checked && + Collision::RayVsAABB(ray, *m_DynamicObjectsRef[i].Box, dist)) { + objectHitInfos.push_back({ i + (int)m_StaticObjIndices.size(), dist }); + } + m_DynamicObjectsRef[i].Checked = true; + } + std::sort(objectHitInfos.begin(), objectHitInfos.end(), isFirstLower); + int startSize = (int)outObjects.size(); + outObjects.resize(startSize + objectHitInfos.size()); + for (int i = 0; i < objectHitInfos.size(); ++i) { + outObjects[startSize + i] = (objectHitInfos[i].Index < m_StaticObjIndices.size()) ? + *static_cast(m_StaticObjectsRef[objectHitInfos[i].Index].Box.get()) : + *static_cast(m_DynamicObjectsRef[objectHitInfos[i].Index - m_StaticObjIndices.size()].Box.get()); + } + } + } +} + + #endif \ No newline at end of file diff --git a/src/Engine/Collision/Collision.cpp b/src/Engine/Collision/Collision.cpp index b7b21969..7b182de1 100644 --- a/src/Engine/Collision/Collision.cpp +++ b/src/Engine/Collision/Collision.cpp @@ -6,6 +6,7 @@ #include "Core/World.h" #include "Rendering/Model.h" #include "imgui/imgui.h" +#include "Core/Octree.h" namespace Collision { @@ -145,13 +146,14 @@ bool RayVsTriangle(const Ray& ray, } bool RayVsModel(const Ray& ray, - const std::vector& modelVertices, - const std::vector& modelIndices) + const RawModel::Vertex* modelVertices, + const std::vector& modelIndices, + const glm::mat4& modelMatrix) { - for (int i = 0; i < modelIndices.size(); ++i) { - glm::vec3 v0 = modelVertices[modelIndices[i]].Position; - glm::vec3 v1 = modelVertices[modelIndices[++i]].Position; - glm::vec3 v2 = modelVertices[modelIndices[++i]].Position; + for (int i = 0; i < modelIndices.size();) { + glm::vec3 v0 = Transform::TransformPoint(modelVertices[modelIndices[i++]].Position, modelMatrix); + glm::vec3 v1 = Transform::TransformPoint(modelVertices[modelIndices[i++]].Position, modelMatrix); + glm::vec3 v2 = Transform::TransformPoint(modelVertices[modelIndices[i++]].Position, modelMatrix); if (RayVsTriangle(ray, v0, v1, v2)) { return true; } @@ -192,19 +194,20 @@ bool RayVsTriangle(const Ray& ray, } bool RayVsModel(const Ray& ray, - const std::vector& modelVertices, + const RawModel::Vertex* modelVertices, const std::vector& modelIndices, + const glm::mat4& modelMatrix, float& outDistance, float& outUCoord, float& outVCoord) { outDistance = INFINITY; bool hit = false; - for (int i = 0; i < modelIndices.size(); ++i) { - glm::vec3 v0 = modelVertices[modelIndices[i]].Position; - glm::vec3 v1 = modelVertices[modelIndices[++i]].Position; - glm::vec3 v2 = modelVertices[modelIndices[++i]].Position; - float dist; + for (int i = 0; i < modelIndices.size();) { + glm::vec3 v0 = Transform::TransformPoint(modelVertices[modelIndices[i++]].Position, modelMatrix); + glm::vec3 v1 = Transform::TransformPoint(modelVertices[modelIndices[i++]].Position, modelMatrix); + glm::vec3 v2 = Transform::TransformPoint(modelVertices[modelIndices[i++]].Position, modelMatrix); + float dist = INFINITY; float u; float v; if (RayVsTriangle(ray, v0, v1, v2, dist, u, v)) { @@ -218,14 +221,15 @@ bool RayVsModel(const Ray& ray, } bool RayVsModel(const Ray& ray, - const std::vector& modelVertices, + const RawModel::Vertex* modelVertices, const std::vector& modelIndices, + const glm::mat4& modelMatrix, glm::vec3& outHitPosition) { float u; float v; float dist; - bool hit = RayVsModel(ray, modelVertices, modelIndices, dist, u, v); + bool hit = RayVsModel(ray, modelVertices, modelIndices, modelMatrix, dist, u, v); outHitPosition = ray.Origin() + dist * ray.Direction(); return hit; } @@ -572,11 +576,11 @@ boost::optional EntityAbsoluteAABB(EntityWrapper& entity, bool takeM ComponentWrapper& cAABB = entity["AABB"]; modelSpaceBox = EntityAABB::FromOriginSize((glm::vec3)cAABB["Origin"], (glm::vec3)cAABB["Size"]); } else if (entity.HasComponent("Model")) { - Model* model; std::string res = entity["Model"]["Resource"]; if (res.empty()) { return boost::none; } + Model* model; try { model = ResourceManager::Load<::Model, true>(res); } catch (const Resource::StillLoadingException&) { @@ -638,4 +642,36 @@ boost::optional AbsoluteAABBExplosionEffect(EntityWrapper& entity) return aabb; } +boost::optional EntityFirstHitByRay(const Ray& ray, std::vector entitiesPotentiallyHitSorted, float outDistance, glm::vec3& outIntersectPos) +{ + for (EntityAABB& entityBox : entitiesPotentiallyHitSorted) { + if (!entityBox.Entity.HasComponent("Model")) { + continue; + } + std::string res = entityBox.Entity["Model"]["Resource"]; + if (res.empty()) { + continue; + } + Model* model; + try { + model = ResourceManager::Load<::Model, true>(res); + } catch (const std::exception&) { + continue; + } + float u, v; + if (RayVsModel(ray, model->Vertices(), model->m_RawModel->m_Indices, Transform::ModelMatrix(entityBox.Entity), outDistance, u, v)) { + outIntersectPos = ray.Origin() + outDistance * ray.Direction(); + return entityBox; + } + } + return boost::none; +} + +boost::optional EntityFirstHitByRay(const Ray& ray, Octree* octree, float outDistance, glm::vec3& outIntersectPos) +{ + std::vector outObjects; + octree->ObjectsPossiblyHitByRay(ray, outObjects); + return Collision::EntityFirstHitByRay(ray, outObjects, outDistance, outIntersectPos); +} + } \ No newline at end of file diff --git a/src/Engine/Core/Octree.cpp b/src/Engine/Core/Octree.cpp index 7eee1f81..dca06c6f 100644 --- a/src/Engine/Core/Octree.cpp +++ b/src/Engine/Core/Octree.cpp @@ -5,22 +5,6 @@ #include "Core/Octree.h" #include "Collision/Collision.h" -namespace -{ -//To be able to sort nodes based on distance to ray origin. -struct ChildInfo -{ - int Index; - float Distance; -}; - -bool isFirstLower(const ChildInfo& first, const ChildInfo& second) -{ - return first.Distance < second.Distance; -} - -} - namespace OctSpace { @@ -123,14 +107,14 @@ bool Child::RayCollides(const Ray& ray, OctSpace::Output& data) const //If the ray shoots the tree, and it is a parent to 8 children :o if (hasChildren()) { //Sort children according to their distance from the ray origin. - std::vector childInfos; + std::vector childInfos; childInfos.reserve(8); for (int i = 0; i < 8; ++i) { childInfos.push_back({ i, glm::distance(ray.Origin(), m_Children[i]->m_Box.Origin()) }); } std::sort(childInfos.begin(), childInfos.end(), isFirstLower); //Loop through the children, starting with the one closest to the ray origin. I.e the first to be hit. - for (const ChildInfo& info : childInfos) { + for (const RaySorterInfo& info : childInfos) { if (m_Children[info.Index]->RayCollides(ray, data)) { return true; } @@ -275,4 +259,9 @@ std::vector Child::childIndicesContainingBox(const AABB& box) const } } +bool isFirstLower(const RaySorterInfo& first, const RaySorterInfo& second) +{ + return first.Distance < second.Distance; +} + } \ No newline at end of file