X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fmath%2Fgeometry.cpp;h=3afa944f479b0fc41905d5de6364ee6ca8068e5b;hb=3989da924c4e33c52f500aead5ae62bb40294781;hp=aa0389dac3df5b54d7783440c19f261e2feb1fac;hpb=f5fc0c2bd1c0d1e2737d2b4ed49c3de16aa67c67;p=blobs.git

diff --git a/src/math/geometry.cpp b/src/math/geometry.cpp
index aa0389d..3afa944 100644
--- a/src/math/geometry.cpp
+++ b/src/math/geometry.cpp
@@ -41,15 +41,15 @@ bool Intersect(
 		glm::dvec3(b_m[0]),
 		glm::dvec3(b_m[1]),
 		glm::dvec3(b_m[2]),
-		normalize(cross(glm::dvec3(a_m[0]), glm::dvec3(b_m[0]))),
-		normalize(cross(glm::dvec3(a_m[0]), glm::dvec3(b_m[1]))),
-		normalize(cross(glm::dvec3(a_m[0]), glm::dvec3(b_m[2]))),
-		normalize(cross(glm::dvec3(a_m[1]), glm::dvec3(b_m[0]))),
-		normalize(cross(glm::dvec3(a_m[1]), glm::dvec3(b_m[1]))),
-		normalize(cross(glm::dvec3(a_m[1]), glm::dvec3(b_m[2]))),
-		normalize(cross(glm::dvec3(a_m[2]), glm::dvec3(b_m[0]))),
-		normalize(cross(glm::dvec3(a_m[2]), glm::dvec3(b_m[1]))),
-		normalize(cross(glm::dvec3(a_m[2]), glm::dvec3(b_m[2]))),
+		glm::normalize(glm::cross(glm::dvec3(a_m[0]), glm::dvec3(b_m[0]))),
+		glm::normalize(glm::cross(glm::dvec3(a_m[0]), glm::dvec3(b_m[1]))),
+		glm::normalize(glm::cross(glm::dvec3(a_m[0]), glm::dvec3(b_m[2]))),
+		glm::normalize(glm::cross(glm::dvec3(a_m[1]), glm::dvec3(b_m[0]))),
+		glm::normalize(glm::cross(glm::dvec3(a_m[1]), glm::dvec3(b_m[1]))),
+		glm::normalize(glm::cross(glm::dvec3(a_m[1]), glm::dvec3(b_m[2]))),
+		glm::normalize(glm::cross(glm::dvec3(a_m[2]), glm::dvec3(b_m[0]))),
+		glm::normalize(glm::cross(glm::dvec3(a_m[2]), glm::dvec3(b_m[1]))),
+		glm::normalize(glm::cross(glm::dvec3(a_m[2]), glm::dvec3(b_m[2]))),
 	};
 
 	depth = std::numeric_limits<double>::infinity();
@@ -57,7 +57,7 @@ bool Intersect(
 
 	int cur_axis = 0;
 	for (const glm::dvec3 &axis : axes) {
-		if (any(isnan(axis))) {
+		if (glm::any(glm::isnan(axis))) {
 			// can result from the cross products if A and B have parallel axes
 			++cur_axis;
 			continue;
@@ -65,7 +65,7 @@ bool Intersect(
 		double a_min = std::numeric_limits<double>::infinity();
 		double a_max = -std::numeric_limits<double>::infinity();
 		for (const glm::dvec3 &corner : a_corners) {
-			double val = dot(corner, axis);
+			double val = glm::dot(corner, axis);
 			a_min = std::min(a_min, val);
 			a_max = std::max(a_max, val);
 		}
@@ -73,7 +73,7 @@ bool Intersect(
 		double b_min = std::numeric_limits<double>::infinity();
 		double b_max = -std::numeric_limits<double>::infinity();
 		for (const glm::dvec3 &corner : b_corners) {
-			double val = dot(corner, axis);
+			double val = glm::dot(corner, axis);
 			b_min = std::min(b_min, val);
 			b_max = std::max(b_max, val);
 		}
@@ -94,5 +94,91 @@ bool Intersect(
 }
 
 
+bool Intersect(
+	const Ray &ray,
+	const AABB &aabb,
+	const glm::dmat4 &M,
+	glm::dvec3 &normal,
+	double &dist
+) noexcept {
+	double t_min = 0.0;
+	double t_max = std::numeric_limits<double>::infinity();
+	const glm::dvec3 aabb_pos(M[3].x, M[3].y, M[3].z);
+	const glm::dvec3 delta = aabb_pos - ray.Origin();
+
+	glm::dvec3 t1(t_min, t_min, t_min), t2(t_max, t_max, t_max);
+
+	for (int i = 0; i < 3; ++i) {
+		const glm::dvec3 axis(M[i].x, M[i].y, M[i].z);
+		const double e = glm::dot(axis, delta);
+		const double f = glm::dot(axis, ray.Direction());
+
+		if (std::abs(f) > std::numeric_limits<double>::epsilon()) {
+			t1[i] = (e + aabb.min[i]) / f;
+			t2[i] = (e + aabb.max[i]) / f;
+
+			t_min = std::max(t_min, std::min(t1[i], t2[i]));
+			t_max = std::min(t_max, std::max(t1[i], t2[i]));
+
+			if (t_max < t_min) {
+				return false;
+			}
+		} else {
+			if (aabb.min[i] - e > 0.0 || aabb.max[i] - e < 0.0) {
+				return false;
+			}
+		}
+	}
+
+	dist = t_min;
+
+	glm::dvec3 min_all(glm::min(t1, t2));
+	if (min_all.x > min_all.y) {
+		if (min_all.x > min_all.z) {
+			normal = glm::dvec3(t2.x < t1.x ? 1 : -1, 0, 0);
+		} else {
+			normal = glm::dvec3(0, 0, t2.z < t1.z ? 1 : -1);
+		}
+	} else if (min_all.y > min_all.z) {
+		normal = glm::dvec3(0, t2.y < t1.y ? 1 : -1, 0);
+	} else {
+		normal = glm::dvec3(0, 0, t2.z < t1.z ? 1 : -1);
+	}
+
+	return true;
+}
+
+bool Intersect(
+	const Ray &r,
+	const Sphere &s,
+	glm::dvec3 &normal,
+	double &dist
+) noexcept {
+	const glm::dvec3 diff(s.origin - r.Origin());
+	if (glm::dot(diff, r.Direction()) < 0.0) {
+		if (glm::length2(diff) > s.radius * s.radius) return false;
+		if (std::abs(glm::length2(diff) - s.radius * s.radius) < std::numeric_limits<double>::epsilon() * s.radius) {
+			normal = glm::normalize(-diff);
+			dist = 0.0;
+			return true;
+		}
+		const glm::dvec3 pc(r.Direction() * glm::dot(r.Direction(), diff) + r.Origin());
+		double idist = std::sqrt(s.radius * s.radius - glm::length2(pc - s.origin));
+		dist = idist - glm::length(pc - r.Origin());
+		normal = glm::normalize((r.Origin() + (r.Direction() * dist)) - s.origin);
+		return true;
+	}
+	const glm::dvec3 pc(r.Direction() * glm::dot(r.Direction(), diff) + r.Origin());
+	if (glm::length2(s.origin - pc) > s.radius * s.radius) return false;
+	double idist = std::sqrt(s.radius * s.radius - glm::length2(pc - s.origin));
+	if (glm::length2(diff) > s.radius * s.radius) {
+		dist = glm::length(pc - r.Origin()) - idist;
+	} else {
+		dist = glm::length(pc - r.Origin()) + idist;
+	}
+	normal = glm::normalize((r.Origin() + (r.Direction() * dist)) - s.origin);
+	return true;
+}
+
 }
 }