* Implements Oriented Bounding Box raytracing.
* It's not perfect, but it's good enough. (rarely erroneously returns a backface collision) * After updating to this revision, rez a prim on another prim and watch it appear where you'd expect it to appear.0.6.0-stable
Teravus Ovares
parent
5deca3f0c5
commit
dc850df50a
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@ -1067,32 +1067,44 @@ namespace OpenSim.Region.Environment.Scenes
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if (RayTargetID != LLUUID.Zero)
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{
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SceneObjectPart target = GetSceneObjectPart(RayTargetID);
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LLVector3 direction = LLVector3.Norm(RayEnd - RayStart);
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Vector3 AXOrigin = new Vector3(RayStart.X, RayStart.Y, RayStart.Z);
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Vector3 AXdirection = new Vector3(direction.X, direction.Y, direction.Z);
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if (target != null)
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{
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pos = target.AbsolutePosition;
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//m_log.Info("[OBJECT_REZ]: TargetPos: " + pos.ToString() + ", RayStart: " + RayStart.ToString() + ", RayEnd: " + RayEnd.ToString() + ", Volume: " + Util.GetDistanceTo(RayStart,RayEnd).ToString() + ", mag1: " + Util.GetMagnitude(RayStart).ToString() + ", mag2: " + Util.GetMagnitude(RayEnd).ToString());
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//target.Scale.X
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if (Math.Abs(target.Scale.X - target.Scale.Y) > 4.5f
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|| Math.Abs(target.Scale.Y - target.Scale.Z) > 4.5f
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|| Math.Abs(target.Scale.Z - target.Scale.X) > 4.5f)
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// TODO: Raytrace better here
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//EntityIntersection ei = m_innerScene.GetClosestIntersectingPrim(new Ray(AXOrigin, AXdirection));
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Ray NewRay = new Ray(AXOrigin, AXdirection);
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// Ray Trace against target here
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EntityIntersection ei = target.TestIntersectionOBB(NewRay, new Quaternion(1,0,0,0));
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// Un-comment out the following line to Get Raytrace results printed to the console.
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//m_log.Info("[RAYTRACERESULTS]: Hit:" + ei.HitTF.ToString() + " Point: " + ei.ipoint.ToString() + " Normal: " + ei.normal.ToString());
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// If we hit something
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if (ei.HitTF)
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{
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// for now lets use the old method here as the new method works by using the largest scale vector
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// component as the radius of a sphere and produces wide results if there's a huge difference
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// between the x/y/z vector components
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// If one scale component is less then .21m, it's likely being used as a thin block and therefore
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// the raytracing would produce a wide result.
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// Set the position to the intersection point
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pos = new LLVector3(ei.ipoint.x, ei.ipoint.y, ei.ipoint.z);
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}
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return pos;
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}
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else
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{
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// TODO: Raytrace better here
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LLVector3 direction = LLVector3.Norm(RayEnd - RayStart);
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Vector3 AXOrigin = new Vector3(RayStart.X, RayStart.Y, RayStart.Z);
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Vector3 AXdirection = new Vector3(direction.X, direction.Y, direction.Z);
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// We don't have a target here, so we're going to raytrace all the objects in the scene.
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EntityIntersection ei = m_innerScene.GetClosestIntersectingPrim(new Ray(AXOrigin, AXdirection));
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// Un-comment the following line to print the raytrace results to the console.
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//m_log.Info("[RAYTRACERESULTS]: Hit:" + ei.HitTF.ToString() + " Point: " + ei.ipoint.ToString() + " Normal: " + ei.normal.ToString());
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if (ei.HitTF)
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@ -1100,13 +1112,6 @@ namespace OpenSim.Region.Environment.Scenes
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pos = new LLVector3(ei.ipoint.x, ei.ipoint.y, ei.ipoint.z);
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}
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}
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return pos;
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}
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else
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{
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// fall back to our stupid functionality
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pos = RayEnd;
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return pos;
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}
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}
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@ -402,7 +402,9 @@ namespace OpenSim.Region.Environment.Scenes
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new Quaternion(GroupRotation.W, GroupRotation.X, GroupRotation.Y, GroupRotation.Z);
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// Telling the prim to raytrace.
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EntityIntersection inter = part.TestIntersection(hRay, parentrotation);
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//EntityIntersection inter = part.TestIntersection(hRay, parentrotation);
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EntityIntersection inter = part.TestIntersectionOBB(hRay, parentrotation);
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// This may need to be updated to the maximum draw distance possible..
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// We might (and probably will) be checking for prim creation from other sims
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@ -933,29 +933,60 @@ namespace OpenSim.Region.Environment.Scenes
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return returnresult;
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}
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public EntityIntersection TestIntersectionOABB(Ray iray, Quaternion parentrot)
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public double GetDistanceTo(Vector3 a, Vector3 b)
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{
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float dx = a.x - b.x;
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float dy = a.y - b.y;
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float dz = a.z - b.z;
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return Math.Sqrt(dx * dx + dy * dy + dz * dz);
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}
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public EntityIntersection TestIntersectionOBB(Ray iray, Quaternion parentrot)
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{
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// In this case we're using a rectangular prism, which has 6 faces and therefore 6 planes
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// This breaks down into the ray---> plane equation.
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// TODO: Change to take shape into account
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Vector3[] vertexes = new Vector3[8];
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Vector3[] FaceA = new Vector3[6];
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Vector3[] FaceB = new Vector3[6];
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Vector3[] FaceC = new Vector3[6];
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Vector3[] FaceD = new Vector3[6];
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float[] distance = new float[6];
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Vector3[] FaceA = new Vector3[6]; // vertex A for Facei
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Vector3[] FaceB = new Vector3[6]; // vertex B for Facei
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Vector3[] FaceC = new Vector3[6]; // vertex C for Facei
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Vector3[] FaceD = new Vector3[6]; // vertex D for Facei
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Vector3[] normals = new Vector3[6];
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Vector3[] normals = new Vector3[6]; // Normal for Facei
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Vector3 AmBa = new Vector3(0, 0, 0);
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Vector3 AmBb = new Vector3(0, 0, 0);
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Vector3 AmBa = new Vector3(0, 0, 0); // Vertex A - Vertex B
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Vector3 AmBb = new Vector3(0, 0, 0); // Vertex B - Vertex C
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Vector3 cross = new Vector3();
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LLVector3 pos = GetWorldPosition();
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LLQuaternion rot = GetWorldRotation();
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Quaternion AXrot = new Quaternion(rot.W,rot.X,rot.Y,rot.Z);
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// Variables prefixed with AX are Axiom.Math copies of the LL variety.
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Quaternion AXrot = new Quaternion(rot.W,rot.X,rot.Y,rot.Z);
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AXrot.Normalize();
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Vector3 AXpos = new Vector3(pos.X, pos.Y, pos.Z);
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// tScale is the offset to derive the vertex based on the scale.
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// it's different for each vertex because we've got to rotate it
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// to get the world position of the vertex to produce the Oriented Bounding Box
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Vector3 tScale = new Vector3();
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Vector3 AXscale = new Vector3(m_shape.Scale.X * 0.5f, m_shape.Scale.Y * 0.5f, m_shape.Scale.Z * 0.5f);
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//Vector3 pScale = (AXscale) - (AXrot.Inverse() * (AXscale));
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//Vector3 nScale = (AXscale * -1) - (AXrot.Inverse() * (AXscale * -1));
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// rScale is the rotated offset to find a vertex based on the scale and the world rotation.
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Vector3 rScale = new Vector3();
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// Get Vertexes for Faces Stick them into ABCD for each Face
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// Form: Face<vertex>[face] that corresponds to the below diagram
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#region ABCD Face Vertex Map Comment Diagram
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// A _________ B
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// | |
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@ -987,64 +1018,222 @@ namespace OpenSim.Region.Environment.Scenes
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// |_________|
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// A B
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#endregion
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vertexes[0] = (AXrot * new Vector3((pos.X - m_shape.Scale.X),(pos.Y - m_shape.Scale.Y),(pos.Z + m_shape.Scale.Z)));
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#region Plane Decomposition of Oriented Bounding Box
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tScale = new Vector3(AXscale.x, -AXscale.y, AXscale.z);
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rScale = ((AXrot * tScale));
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vertexes[0] = (new Vector3((pos.X + rScale.x), (pos.Y + rScale.y), (pos.Z + rScale.z)));
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// vertexes[0].x = pos.X + vertexes[0].x;
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//vertexes[0].y = pos.Y + vertexes[0].y;
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//vertexes[0].z = pos.Z + vertexes[0].z;
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FaceA[0] = vertexes[0];
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FaceA[3] = vertexes[0];
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FaceA[4] = vertexes[0];
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vertexes[1] = (AXrot * new Vector3((pos.X - m_shape.Scale.X), (pos.Y + m_shape.Scale.Y), (pos.Z + m_shape.Scale.Z)));
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tScale = AXscale;
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rScale = ((AXrot * tScale));
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vertexes[1] = (new Vector3((pos.X + rScale.x), (pos.Y + rScale.y), (pos.Z + rScale.z)));
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// vertexes[1].x = pos.X + vertexes[1].x;
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// vertexes[1].y = pos.Y + vertexes[1].y;
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//vertexes[1].z = pos.Z + vertexes[1].z;
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FaceB[0] = vertexes[1];
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FaceA[1] = vertexes[1];
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FaceC[4] = vertexes[1];
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vertexes[2] = (AXrot * new Vector3((pos.X - m_shape.Scale.X), (pos.Y - m_shape.Scale.Y), (pos.Z - m_shape.Scale.Z)));
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tScale = new Vector3(AXscale.x, -AXscale.y, -AXscale.z);
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rScale = ((AXrot * tScale));
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vertexes[2] = (new Vector3((pos.X + rScale.x), (pos.Y + rScale.y), (pos.Z + rScale.z)));
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//vertexes[2].x = pos.X + vertexes[2].x;
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//vertexes[2].y = pos.Y + vertexes[2].y;
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//vertexes[2].z = pos.Z + vertexes[2].z;
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FaceC[0] = vertexes[2];
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FaceC[3] = vertexes[2];
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FaceC[5] = vertexes[2];
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vertexes[3] = (AXrot * new Vector3((pos.X - m_shape.Scale.X), (pos.Y + m_shape.Scale.Y), (pos.Z - m_shape.Scale.Z)));
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tScale = new Vector3(AXscale.x, AXscale.y, -AXscale.z);
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rScale = ((AXrot * tScale));
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vertexes[3] = (new Vector3((pos.X + rScale.x), (pos.Y + rScale.y), (pos.Z + rScale.z)));
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//vertexes[3].x = pos.X + vertexes[3].x;
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// vertexes[3].y = pos.Y + vertexes[3].y;
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// vertexes[3].z = pos.Z + vertexes[3].z;
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FaceD[0] = vertexes[3];
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FaceC[1] = vertexes[3];
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FaceA[5] = vertexes[3];
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vertexes[4] = (AXrot * new Vector3((pos.X + m_shape.Scale.X), (pos.Y + m_shape.Scale.Y), (pos.Z + m_shape.Scale.Z)));
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tScale = new Vector3(-AXscale.x, AXscale.y, AXscale.z);
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rScale = ((AXrot * tScale));
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vertexes[4] = (new Vector3((pos.X + rScale.x), (pos.Y + rScale.y), (pos.Z + rScale.z)));
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// vertexes[4].x = pos.X + vertexes[4].x;
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// vertexes[4].y = pos.Y + vertexes[4].y;
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// vertexes[4].z = pos.Z + vertexes[4].z;
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FaceB[1] = vertexes[4];
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FaceA[2] = vertexes[4];
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FaceD[4] = vertexes[4];
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vertexes[5] = (AXrot * new Vector3((pos.X + m_shape.Scale.X), (pos.Y + m_shape.Scale.Y), (pos.Z - m_shape.Scale.Z)));
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tScale = new Vector3(-AXscale.x, AXscale.y, -AXscale.z);
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rScale = ((AXrot * tScale));
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vertexes[5] = (new Vector3((pos.X + rScale.x), (pos.Y + rScale.y), (pos.Z + rScale.z)));
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// vertexes[5].x = pos.X + vertexes[5].x;
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// vertexes[5].y = pos.Y + vertexes[5].y;
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// vertexes[5].z = pos.Z + vertexes[5].z;
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FaceD[1] = vertexes[5];
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FaceC[2] = vertexes[5];
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FaceB[5] = vertexes[5];
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vertexes[6] = (AXrot * new Vector3((pos.X + m_shape.Scale.X), (pos.Y - m_shape.Scale.Y), (pos.Z + m_shape.Scale.Z)));
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tScale = new Vector3(-AXscale.x, -AXscale.y, AXscale.z);
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rScale = ((AXrot * tScale));
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vertexes[6] = (new Vector3((pos.X + rScale.x), (pos.Y + rScale.y), (pos.Z + rScale.z)));
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// vertexes[6].x = pos.X + vertexes[6].x;
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// vertexes[6].y = pos.Y + vertexes[6].y;
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// vertexes[6].z = pos.Z + vertexes[6].z;
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FaceB[2] = vertexes[6];
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FaceB[3] = vertexes[6];
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FaceB[4] = vertexes[6];
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vertexes[7] = (AXrot * new Vector3((pos.X + m_shape.Scale.X), (pos.Y - m_shape.Scale.Y), (pos.Z - m_shape.Scale.Z)));
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tScale = new Vector3(-AXscale.x, -AXscale.y, -AXscale.z);
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rScale = ((AXrot * tScale));
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vertexes[7] = (new Vector3((pos.X + rScale.x), (pos.Y + rScale.y), (pos.Z + rScale.z)));
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// vertexes[7].x = pos.X + vertexes[7].x;
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// vertexes[7].y = pos.Y + vertexes[7].y;
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// vertexes[7].z = pos.Z + vertexes[7].z;
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FaceD[2] = vertexes[7];
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FaceD[3] = vertexes[7];
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FaceD[5] = vertexes[7];
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#endregion
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// Get our plane normals
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for (int i = 0; i < 6; i++)
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{
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AmBa = FaceB[i] - FaceA[i];
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AmBb = FaceC[i] - FaceA[i];
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normals[i] = AmBa.Cross(AmBb);
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//m_log.Info("[FACECALCULATION]: FaceA[" + i + "]=" + FaceA[i] + " FaceB[" + i + "]=" + FaceB[i] + " FaceC[" + i + "]=" + FaceC[i] + " FaceD[" + i + "]=" + FaceD[i]);
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// Our Plane direction
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AmBa = FaceA[i] - FaceB[i];
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AmBb = FaceB[i] - FaceC[i];
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cross = AmBb.Cross(AmBa);
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// normalize the cross product to get the normal.
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normals[i] = cross / cross.Length;
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//m_log.Info("[NORMALS]: normals[ " + i + "]" + normals[i].ToString());
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//distance[i] = (normals[i].x * AmBa.x + normals[i].y * AmBa.y + normals[i].z * AmBa.z) * -1;
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}
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EntityIntersection returnresult = new EntityIntersection();
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returnresult.distance = 1024;
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float c = 0;
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float a = 0;
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float d = 0;
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Vector3 q = new Vector3();
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#region OBB Version 2 Experiment
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//float fmin = 999999;
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//float fmax = -999999;
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//float s = 0;
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//for (int i=0;i<6;i++)
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//{
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//s = iray.Direction.Dot(normals[i]);
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//d = normals[i].Dot(FaceB[i]);
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//if (s == 0)
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//{
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//if (iray.Origin.Dot(normals[i]) > d)
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//{
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//return returnresult;
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//}
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// else
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//{
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//continue;
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//}
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//}
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//a = (d - iray.Origin.Dot(normals[i])) / s;
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//if ( iray.Direction.Dot(normals[i]) < 0)
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//{
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//if (a > fmax)
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//{
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//if (a > fmin)
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//{
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//return returnresult;
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//}
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//fmax = a;
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//}
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//}
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//else
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//{
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//if (a < fmin)
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//{
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//if (a < 0 || a < fmax)
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//{
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//return returnresult;
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//}
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//fmin = a;
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//}
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//}
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//}
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//if (fmax > 0)
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// a= fmax;
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//else
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// a=fmin;
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//q = iray.Origin + a * iray.Direction;
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#endregion
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// Loop over faces (6 of them)
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for (int i = 0; i < 6; i++)
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{
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AmBa = FaceA[i] - FaceB[i];
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AmBb = FaceB[i] - FaceC[i];
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d = normals[i].Dot(FaceB[i]);
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c = iray.Direction.Dot(normals[i]);
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if (c == 0)
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continue;
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a = (d - iray.Origin.Dot(normals[i])) / c;
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if (a < 0)
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continue;
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// If the normal is pointing outside the object
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if (iray.Direction.Dot(normals[i]) < 0)
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{
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q = iray.Origin + a * iray.Direction;
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// Is this the closest hit to the object's origin?
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//float distance2 = (float)GetDistanceTo(q, iray.Origin);
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float distance2 = (float)GetDistanceTo(q, AXpos);
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if (distance2 < returnresult.distance)
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{
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returnresult.distance = distance2;
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returnresult.HitTF = true;
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returnresult.ipoint = q;
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//m_log.Info("[POINT]: " + q.ToString());
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returnresult.normal = 1;
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}
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}
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}
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return returnresult;
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}
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