Beispiel #1
0
  public final int intersectBrute(
      Ray r,
      Matrix4f worldMatrix,
      BIHTree tree,
      float sceneMin,
      float sceneMax,
      CollisionResults results) {
    float tHit = Float.POSITIVE_INFINITY;

    TempVars vars = TempVars.get();

    Vector3f v1 = vars.vect1, v2 = vars.vect2, v3 = vars.vect3;

    int cols = 0;

    ArrayList<BIHStackData> stack = vars.bihStack;
    stack.clear();
    // stack.add(new BIHStackData(this, 0, 0));
    vars.addStackData(this, 0f, 0f);
    stackloop:
    while (stack.size() > 0) {

      BIHStackData data = stack.remove(stack.size() - 1);
      BIHNode node = data.node;

      leafloop:
      while (node.axis != 3) { // while node is not a leaf
        BIHNode nearNode, farNode;
        nearNode = node.left;
        farNode = node.right;

        // stack.add(new BIHStackData(farNode, 0, 0));
        vars.addStackData(farNode, 0f, 0f);
        node = nearNode;
      }

      // a leaf
      for (int i = node.leftIndex; i <= node.rightIndex; i++) {
        tree.getTriangle(i, v1, v2, v3);

        if (worldMatrix != null) {
          worldMatrix.mult(v1, v1);
          worldMatrix.mult(v2, v2);
          worldMatrix.mult(v3, v3);
        }

        float t = r.intersects(v1, v2, v3);
        if (t < tHit) {
          tHit = t;
          vars.vect4.set(r.direction).multLocal(tHit).addLocal(r.origin);
          CollisionResult cr =
              results.addReusedCollision(vars.vect4.x, vars.vect4.y, vars.vect4.z, tHit);
          cr.setTriangleIndex(tree.getTriangleIndex(i));
          results.addCollision(cr);
          cols++;
        }
      }
    }
    vars.release();
    return cols;
  }
Beispiel #2
0
  public final int intersectWhere(
      Ray r,
      Matrix4f worldMatrix,
      BIHTree tree,
      float sceneMin,
      float sceneMax,
      CollisionResults results) {

    TempVars vars = TempVars.get();
    ArrayList<BIHStackData> stack = vars.bihStack;
    stack.clear();

    //        float tHit = Float.POSITIVE_INFINITY;

    Vector3f o = vars.vect1.set(r.getOrigin());
    Vector3f d = vars.vect2.set(r.getDirection());

    Matrix4f inv = vars.tempMat4.set(worldMatrix).invertLocal();

    inv.mult(r.getOrigin(), r.getOrigin());

    // Fixes rotation collision bug
    inv.multNormal(r.getDirection(), r.getDirection());
    //        inv.multNormalAcross(r.getDirection(), r.getDirection());

    // this is a no-no: allocating float arrays for immediate use? blarny!
    /*float[] origins = {r.getOrigin().x,
        r.getOrigin().y,
        r.getOrigin().z};

    float[] invDirections = {1f / r.getDirection().x,
        1f / r.getDirection().y,
        1f / r.getDirection().z};*/

    r.getDirection().normalizeLocal();

    Vector3f v1 = vars.vect3, v2 = vars.vect4, v3 = vars.vect5;
    int cols = 0;

    // stack.add(new BIHStackData(this, sceneMin, sceneMax));
    vars.addStackData(this, sceneMin, sceneMax);
    stackloop:
    while (stack.size() > 0) {

      BIHStackData data = stack.remove(stack.size() - 1);
      BIHNode node = data.node;
      float tMin = data.min, tMax = data.max;

      if (tMax < tMin) {
        continue;
      }

      leafloop:
      while (node.axis != 3) { // while node is not a leaf
        int a = node.axis;

        // find the origin and direction value for the given axis
        float origin, invDirection;
        switch (a) {
          default:
          case 0: // x
            origin = r.getOrigin().x;
            invDirection = 1f / r.getDirection().x;
            break;
          case 1: // y
            origin = r.getOrigin().y;
            invDirection = 1f / r.getDirection().y;
            break;
          case 2: // z
            origin = r.getOrigin().z;
            invDirection = 1f / r.getDirection().z;
            break;
        }
        // float origin = origins[a];
        // float invDirection = invDirections[a];

        float tNearSplit, tFarSplit;
        BIHNode nearNode, farNode;

        tNearSplit = (node.leftPlane - origin) * invDirection;
        tFarSplit = (node.rightPlane - origin) * invDirection;
        nearNode = node.left;
        farNode = node.right;

        if (invDirection < 0) {
          float tmpSplit = tNearSplit;
          tNearSplit = tFarSplit;
          tFarSplit = tmpSplit;

          BIHNode tmpNode = nearNode;
          nearNode = farNode;
          farNode = tmpNode;
        }

        if (tMin > tNearSplit && tMax < tFarSplit) {
          continue stackloop;
        }

        if (tMin > tNearSplit) {
          tMin = max(tMin, tFarSplit);
          node = farNode;
        } else if (tMax < tFarSplit) {
          tMax = min(tMax, tNearSplit);
          node = nearNode;
        } else {
          // stack.add(new BIHStackData(farNode, max(tMin, tFarSplit), tMax));
          vars.addStackData(farNode, max(tMin, tFarSplit), tMax);
          tMax = min(tMax, tNearSplit);
          node = nearNode;
        }
      }

      //            if ( (node.rightIndex - node.leftIndex) > minTrisPerNode){
      //                // on demand subdivision
      //                node.subdivide();
      //                stack.add(new BIHStackData(node, tMin, tMax));
      //                continue stackloop;
      //            }

      // a leaf
      for (int i = node.leftIndex; i <= node.rightIndex; i++) {
        tree.getTriangle(i, v1, v2, v3);

        float t = r.intersects(v1, v2, v3);
        if (!Float.isInfinite(t)) {
          if (worldMatrix != null) {
            worldMatrix.mult(v1, v1);
            worldMatrix.mult(v2, v2);
            worldMatrix.mult(v3, v3);
            vars.ray.setOrigin(o);
            vars.ray.setDirection(d);
            float t_world = vars.ray.intersects(v1, v2, v3);
            t = t_world;
          }

          Vector3f contactPoint = vars.vect4.set(d).multLocal(t).addLocal(o);
          float worldSpaceDist = o.distance(contactPoint);

          // don't add the collision if it is longer than the ray length
          if (worldSpaceDist <= r.limit) {
            CollisionResult cr =
                results.addReusedCollision(
                    contactPoint.x, contactPoint.y, contactPoint.z, worldSpaceDist);
            if (cr.getContactNormal() == null) {
              cr.setContactNormal(Triangle.computeTriangleNormal(v1, v2, v3, null));
            } else {
              Triangle.computeTriangleNormal(v1, v2, v3, cr.getContactNormal());
            }
            cr.setTriangleIndex(tree.getTriangleIndex(i));
            cols++;
          }
        }
      }
    }
    vars.release();
    r.setOrigin(o);
    r.setDirection(d);

    return cols;
  }
Beispiel #3
0
  public final int intersectWhere(
      Collidable col,
      BoundingBox box,
      Matrix4f worldMatrix,
      BIHTree tree,
      CollisionResults results) {

    TempVars vars = TempVars.get();
    ArrayList<BIHStackData> stack = vars.bihStack;
    stack.clear();

    float[] minExts = {
      box.getCenter().x - box.getXExtent(),
      box.getCenter().y - box.getYExtent(),
      box.getCenter().z - box.getZExtent()
    };

    float[] maxExts = {
      box.getCenter().x + box.getXExtent(),
      box.getCenter().y + box.getYExtent(),
      box.getCenter().z + box.getZExtent()
    };

    // stack.add(new BIHStackData(this, 0, 0));
    vars.addStackData(this, 0f, 0f);

    Triangle t = new Triangle();
    int cols = 0;

    stackloop:
    while (stack.size() > 0) {
      BIHNode node = stack.remove(stack.size() - 1).node;

      while (node.axis != 3) {
        int a = node.axis;

        float maxExt = maxExts[a];
        float minExt = minExts[a];

        if (node.leftPlane < node.rightPlane) {
          // means there's a gap in the middle
          // if the box is in that gap, we stop there
          if (minExt > node.leftPlane && maxExt < node.rightPlane) {
            continue stackloop;
          }
        }

        if (maxExt < node.rightPlane) {
          node = node.left;
        } else if (minExt > node.leftPlane) {
          node = node.right;
        } else {
          // stack.add(new BIHStackData(node.right, 0, 0));
          vars.addStackData(node.right, 0f, 0f);
          node = node.left;
        }
        //                if (maxExt < node.leftPlane
        //                 && maxExt < node.rightPlane){
        //                    node = node.left;
        //                }else if (minExt > node.leftPlane
        //                       && minExt > node.rightPlane){
        //                    node = node.right;
        //                }else{

        //                }
      }

      for (int i = node.leftIndex; i <= node.rightIndex; i++) {
        tree.getTriangle(i, t.get1(), t.get2(), t.get3());
        if (worldMatrix != null) {
          worldMatrix.mult(t.get1(), t.get1());
          worldMatrix.mult(t.get2(), t.get2());
          worldMatrix.mult(t.get3(), t.get3());
        }

        int added = col.collideWith(t, results);

        if (added > 0) {
          int index = tree.getTriangleIndex(i);
          int start = results.size() - added;

          for (int j = start; j < results.size(); j++) {
            CollisionResult cr = results.getCollisionDirect(j);
            cr.setTriangleIndex(index);
          }

          cols += added;
        }
      }
    }
    vars.release();
    return cols;
  }