diff --git a/examples/Makefile b/examples/Makefile index 676529c7..80437590 100644 --- a/examples/Makefile +++ b/examples/Makefile @@ -203,7 +203,6 @@ EXAMPLES = \ core_gestures_detection \ core_3d_mode \ core_3d_picking \ - core_3d_raypick \ core_3d_camera_free \ core_3d_camera_first_person \ core_2d_camera \ @@ -237,6 +236,7 @@ EXAMPLES = \ models_obj_loading \ models_heightmap \ models_cubicmap \ + models_ray_picking \ shaders_model_shader \ shaders_shapes_textures \ shaders_custom_uniform \ @@ -321,11 +321,6 @@ core_3d_mode: core_3d_mode.c core_3d_picking: core_3d_picking.c $(CC) -o $@$(EXT) $< $(CFLAGS) $(INCLUDES) $(LFLAGS) $(LIBS) -D$(PLATFORM) $(WINFLAGS) -# compile [core] example - 3d ray picking -core_3d_raypick: core_3d_raypick.c - $(CC) -o $@$(EXT) $< $(CFLAGS) $(INCLUDES) $(LFLAGS) $(LIBS) -D$(PLATFORM) $(WINFLAGS) - - # compile [core] example - 3d camera free core_3d_camera_free: core_3d_camera_free.c $(CC) -o $@$(EXT) $< $(CFLAGS) $(INCLUDES) $(LFLAGS) $(LIBS) -D$(PLATFORM) $(WINFLAGS) @@ -462,6 +457,10 @@ models_heightmap: models_heightmap.c models_cubicmap: models_cubicmap.c $(CC) -o $@$(EXT) $< $(CFLAGS) $(INCLUDES) $(LFLAGS) $(LIBS) -D$(PLATFORM) $(WINFLAGS) +# compile [models] example - model ray picking +models_ray_picking: models_ray_picking.c + $(CC) -o $@$(EXT) $< $(CFLAGS) $(INCLUDES) $(LFLAGS) $(LIBS) -D$(PLATFORM) $(WINFLAGS) + # compile [shaders] example - model shader shaders_model_shader: shaders_model_shader.c $(CC) -o $@$(EXT) $< $(CFLAGS) $(INCLUDES) $(LFLAGS) $(LIBS) -D$(PLATFORM) $(WINFLAGS) diff --git a/examples/core_3d_raypick.c b/examples/models_ray_picking.c similarity index 61% rename from examples/core_3d_raypick.c rename to examples/models_ray_picking.c index cf56b277..c578a185 100644 --- a/examples/core_3d_raypick.c +++ b/examples/models_ray_picking.c @@ -1,8 +1,8 @@ /******************************************************************************************* * -* raylib [core] example - Ray-Picking in 3d mode, ground plane, triangle, mesh +* raylib [models] example - Ray picking in 3d mode, ground plane, triangle, mesh * -* This example has been created using raylib 1.3 (www.raylib.com) +* This example has been created using raylib 1.7 (www.raylib.com) * raylib is licensed under an unmodified zlib/libpng license (View raylib.h for details) * * Copyright (c) 2015 Ramon Santamaria (@raysan5) @@ -11,7 +11,7 @@ ********************************************************************************************/ #include "raylib.h" -#include "raymath.h" +#include "../src/raymath.h" #include #include @@ -24,7 +24,7 @@ int main() int screenWidth = 800; int screenHeight = 450; - InitWindow(screenWidth, screenHeight, "raylib [core] example - 3d ray picking"); + InitWindow(screenWidth, screenHeight, "raylib [models] example - 3d ray picking"); // Define the camera to look into our 3d world Camera camera; @@ -41,22 +41,22 @@ int main() Model tower = LoadModel("resources/model/lowpoly-tower.obj"); // Load OBJ model Texture2D texture = LoadTexture("resources/model/lowpoly-tower.png"); // Load model texture tower.material.texDiffuse = texture; // Set model diffuse texture + Vector3 towerPos = { 0.0f, 0.0f, 0.0f }; // Set model position BoundingBox towerBBox = CalculateBoundingBox( tower.mesh ); - bool hitMeshBBox; - bool hitTriangle; + bool hitMeshBBox = false; + bool hitTriangle = false; // Test triangle Vector3 ta = (Vector3){ -25.0, 0.5, 0.0 }; Vector3 tb = (Vector3){ -4.0, 2.5, 1.0 }; Vector3 tc = (Vector3){ -8.0, 6.5, 0.0 }; - Vector3 bary = {0}; + Vector3 bary = { 0.0f, 0.0f, 0.0f }; SetCameraMode(camera, CAMERA_FREE); // Set a free camera mode SetTargetFPS(60); // Set our game to run at 60 frames-per-second - //-------------------------------------------------------------------------------------- // Main game loop while (!WindowShouldClose()) // Detect window close button or ESC key @@ -65,7 +65,6 @@ int main() //---------------------------------------------------------------------------------- UpdateCamera(&camera); // Update camera - // Display information about closest hit RayHitInfo nearestHit; char *hitObjectName = "None"; @@ -76,41 +75,50 @@ int main() // Get ray and test against ground, triangle, and mesh ray = GetMouseRay(GetMousePosition(), camera); - RayHitInfo groundHitInfo = RaycastGroundPlane( ray, 0.0 ); - if ((groundHitInfo.hit) && (groundHitInfo.distance < nearestHit.distance)) { + // Check ray collision aginst ground plane + RayHitInfo groundHitInfo = GetCollisionRayGround(ray, 0.0f); + + if ((groundHitInfo.hit) && (groundHitInfo.distance < nearestHit.distance)) + { nearestHit = groundHitInfo; cursorColor = GREEN; hitObjectName = "Ground"; } - RayHitInfo triHitInfo = RaycastTriangle( ray, ta, tb, tc ); - if ((triHitInfo.hit) && (triHitInfo.distance < nearestHit.distance)) { + // Check ray collision against test triangle + RayHitInfo triHitInfo = GetCollisionRayTriangle(ray, ta, tb, tc); + + if ((triHitInfo.hit) && (triHitInfo.distance < nearestHit.distance)) + { nearestHit = triHitInfo; cursorColor = PURPLE; hitObjectName = "Triangle"; - bary = Barycentric( nearestHit.hitPosition, ta, tb, tc ); + bary = Barycenter(nearestHit.hitPosition, ta, tb, tc); hitTriangle = true; - } else { - hitTriangle = false; - } + } + else hitTriangle = false; RayHitInfo meshHitInfo; - // check the bounding box first, before trying the full ray/mesh test - if (CheckCollisionRayBox( ray, towerBBox )) { + // Check ray collision against bounding box first, before trying the full ray-mesh test + if (CheckCollisionRayBox(ray, towerBBox)) + { hitMeshBBox = true; - meshHitInfo = RaycastMesh( ray, &tower.mesh ); - if ((meshHitInfo.hit) && (meshHitInfo.distance < nearestHit.distance)) { + + // Check ray collision against mesh + meshHitInfo = GetCollisionRayMesh(ray, &tower.mesh); + + if ((meshHitInfo.hit) && (meshHitInfo.distance < nearestHit.distance)) + { nearestHit = meshHitInfo; cursorColor = ORANGE; hitObjectName = "Mesh"; } - } else { - hitMeshBBox = false; - } - + + } hitMeshBBox = false; //---------------------------------------------------------------------------------- + // Draw //---------------------------------------------------------------------------------- BeginDrawing(); @@ -120,65 +128,59 @@ int main() Begin3dMode(camera); // Draw the tower - DrawModel( tower, towerPos, 1.0, WHITE ); + DrawModel(tower, towerPos, 1.0, WHITE); // Draw the test triangle - DrawLine3D( ta, tb, PURPLE ); - DrawLine3D( tb, tc, PURPLE ); - DrawLine3D( tc, ta, PURPLE ); + DrawLine3D(ta, tb, PURPLE); + DrawLine3D(tb, tc, PURPLE); + DrawLine3D(tc, ta, PURPLE); // Draw the mesh bbox if we hit it - if (hitMeshBBox) { - DrawBoundingBox( towerBBox, LIME ); - } + if (hitMeshBBox) DrawBoundingBox(towerBBox, LIME); // If we hit something, draw the cursor at the hit point - if (nearestHit.hit) { - DrawCube( nearestHit.hitPosition, 0.5, 0.5, 0.5, cursorColor ); - DrawCubeWires( nearestHit.hitPosition, 0.5, 0.5, 0.5, YELLOW ); + if (nearestHit.hit) + { + DrawCube(nearestHit.hitPosition, 0.5, 0.5, 0.5, cursorColor); + DrawCubeWires(nearestHit.hitPosition, 0.5, 0.5, 0.5, YELLOW); Vector3 normalEnd; normalEnd.x = nearestHit.hitPosition.x + nearestHit.hitNormal.x; normalEnd.y = nearestHit.hitPosition.y + nearestHit.hitNormal.y; normalEnd.z = nearestHit.hitPosition.z + nearestHit.hitNormal.z; - DrawLine3D( nearestHit.hitPosition, normalEnd, YELLOW ); + + DrawLine3D(nearestHit.hitPosition, normalEnd, YELLOW); } DrawRay(ray, MAROON); - DrawGrid(10, 1.0f); + DrawGrid(100, 1.0f); End3dMode(); - // Show some debug text - char line[1024]; - sprintf( line, "Hit Object: %s\n", hitObjectName ); - DrawText( line, 10, 30, 15, BLACK ); + // Draw some debug GUI text + DrawText(FormatText("Hit Object: %s", hitObjectName), 10, 50, 10, BLACK); - if (nearestHit.hit) { - int ypos = 45; - sprintf( line, "Distance: %3.2f", nearestHit.distance ); - DrawText( line, 10, ypos, 15, BLACK ); - ypos += 15; + if (nearestHit.hit) + { + int ypos = 70; - sprintf( line, "Hit Pos: %3.2f %3.2f %3.2f", - nearestHit.hitPosition.x, nearestHit.hitPosition.y, nearestHit.hitPosition.z ); - DrawText( line, 10, ypos, 15, BLACK ); - ypos += 15; + DrawText(FormatText("Distance: %3.2f", nearestHit.distance), 10, ypos, 10, BLACK); + + DrawText(FormatText("Hit Pos: %3.2f %3.2f %3.2f", + nearestHit.hitPosition.x, + nearestHit.hitPosition.y, + nearestHit.hitPosition.z), 10, ypos + 15, 10, BLACK); + + DrawText(FormatText("Hit Norm: %3.2f %3.2f %3.2f", + nearestHit.hitNormal.x, + nearestHit.hitNormal.y, + nearestHit.hitNormal.z), 10, ypos + 30, 10, BLACK); - sprintf( line, "Hit Norm: %3.2f %3.2f %3.2f", - nearestHit.hitNormal.x, nearestHit.hitNormal.y, nearestHit.hitNormal.z ); - DrawText( line, 10, ypos, 15, BLACK ); - ypos += 15; - - if (hitTriangle) { - sprintf( line, "Barycentric: %3.2f %3.2f %3.2f", - bary.x, bary.y, bary.z ); - DrawText( line, 10, ypos, 15, BLACK ); - } + if (hitTriangle) DrawText(FormatText("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, 420, 15, LIGHTGRAY ); + DrawText("Use Mouse to Move Camera", 10, 430, 10, GRAY); DrawFPS(10, 10); diff --git a/src/models.c b/src/models.c index 41e527dc..0673874b 100644 --- a/src/models.c +++ b/src/models.c @@ -1474,6 +1474,135 @@ bool CheckCollisionRayBox(Ray ray, BoundingBox box) return collision; } +// Get collision info between ray and mesh +RayHitInfo GetCollisionRayMesh(Ray ray, Mesh *mesh) +{ + RayHitInfo result = { 0 }; + + // If mesh doesn't have vertex data on CPU, can't test it. + if (!mesh->vertices) return result; + + // mesh->triangleCount may not be set, vertexCount is more reliable + int triangleCount = mesh->vertexCount/3; + + // Test against all triangles in mesh + for (int i = 0; i < triangleCount; i++) + { + Vector3 a, b, c; + Vector3 *vertdata = (Vector3 *)mesh->vertices; + + if (mesh->indices) + { + a = vertdata[mesh->indices[i*3 + 0]]; + b = vertdata[mesh->indices[i*3 + 1]]; + c = vertdata[mesh->indices[i*3 + 2]]; + } + else + { + a = vertdata[i*3 + 0]; + b = vertdata[i*3 + 1]; + c = vertdata[i*3 + 2]; + } + + RayHitInfo triHitInfo = GetCollisionRayTriangle(ray, a, b, c); + + if (triHitInfo.hit) + { + // Save the closest hit triangle + if ((!result.hit) || (result.distance > triHitInfo.distance)) result = triHitInfo; + } + } + + return result; +} + +// Get collision info between ray and triangle +// NOTE: Based on https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm +RayHitInfo GetCollisionRayTriangle(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; + RayHitInfo result = {0}; + + // Find vectors for two edges sharing V1 + edge1 = VectorSubtract(p2, p1); + edge2 = VectorSubtract(p3, p1); + + // Begin calculating determinant - also used to calculate u parameter + p = VectorCrossProduct(ray.direction, edge2); + + // If determinant is near zero, ray lies in plane of triangle or ray is parallel to plane of triangle + det = VectorDotProduct(edge1, p); + + // Avoid culling! + if ((det > -EPSILON) && (det < EPSILON)) return result; + + invDet = 1.0f/det; + + // Calculate distance from V1 to ray origin + tv = VectorSubtract(ray.position, p1); + + // Calculate u parameter and test bound + u = VectorDotProduct(tv, p)*invDet; + + // The intersection lies outside of the triangle + if ((u < 0.0f) || (u > 1.0f)) return result; + + // Prepare to test v parameter + q = VectorCrossProduct(tv, edge1); + + // Calculate V parameter and test bound + v = VectorDotProduct(ray.direction, q)*invDet; + + // The intersection lies outside of the triangle + if ((v < 0.0f) || ((u + v) > 1.0f)) return result; + + t = VectorDotProduct(edge2, q)*invDet; + + if (t > EPSILON) + { + // Ray hit, get hit point and normal + result.hit = true; + result.distance = t; + result.hit = true; + result.hitNormal = VectorCrossProduct(edge1, edge2); + VectorNormalize(&result.hitNormal); + Vector3 rayDir = ray.direction; + VectorScale(&rayDir, t); + result.hitPosition = VectorAdd(ray.position, rayDir); + } + + return result; +} + +// Get collision info between ray and ground plane (Y-normal plane) +RayHitInfo GetCollisionRayGround(Ray ray, float groundHeight) +{ + #define EPSILON 0.000001 // A small number + + RayHitInfo result = { 0 }; + + if (fabsf(ray.direction.y) > EPSILON) + { + float t = (ray.position.y - groundHeight)/-ray.direction.y; + + if (t >= 0.0) + { + Vector3 rayDir = ray.direction; + VectorScale(&rayDir, t); + result.hit = true; + result.distance = t; + result.hitNormal = (Vector3){ 0.0, 1.0, 0.0 }; + result.hitPosition = VectorAdd(ray.position, rayDir); + } + } + + return result; +} + // Calculate mesh bounding box limits // NOTE: minVertex and maxVertex should be transformed by model transform matrix (position, scale, rotate) BoundingBox CalculateBoundingBox(Mesh mesh) @@ -1918,41 +2047,3 @@ static Material LoadMTL(const char *fileName) return material; } - -RayHitInfo RaycastMesh( Ray ray, Mesh *mesh ) -{ - RayHitInfo result = {0}; - - // If mesh doesn't have vertex data on CPU, can't test it. - if (!mesh->vertices) { - return result; - } - - // mesh->triangleCount may not be set, vertexCount is more reliable - int triangleCount = mesh->vertexCount / 3; - - // Test against all triangles in mesh - for (int i=0; i < triangleCount; i++) { - Vector3 a, b, c; - Vector3 *vertdata = (Vector3*)mesh->vertices; - if (mesh->indices) { - a = vertdata[ mesh->indices[i*3+0] ]; - b = vertdata[ mesh->indices[i*3+1] ]; - c = vertdata[ mesh->indices[i*3+2] ]; - } else { - a = vertdata[i*3+0]; - b = vertdata[i*3+1]; - c = vertdata[i*3+2]; - } - - RayHitInfo triHitInfo = RaycastTriangle( ray, a, b, c ); - if (triHitInfo.hit) { - // Save the closest hit triangle - if ((!result.hit)||(result.distance > triHitInfo.distance)) { - result = triHitInfo; - } - } - } - - return result; -} diff --git a/src/raylib.h b/src/raylib.h index 7252ba4e..fa4f44e6 100644 --- a/src/raylib.h +++ b/src/raylib.h @@ -97,9 +97,6 @@ #define DEG2RAD (PI/180.0f) #define RAD2DEG (180.0f/PI) -// A small number -#define EPSILON 0.000001 - // raylib Config Flags #define FLAG_FULLSCREEN_MODE 1 #define FLAG_RESIZABLE_WINDOW 2 @@ -496,10 +493,10 @@ typedef struct Ray { // Information returned from a raycast typedef struct RayHitInfo { - bool hit; // Did the ray hit something? - float distance; // Distance to nearest hit - Vector3 hitPosition; // Position of nearest hit - Vector3 hitNormal; // Surface normal of hit + bool hit; // Did the ray hit something? + float distance; // Distance to nearest hit + Vector3 hitPosition; // Position of nearest hit + Vector3 hitNormal; // Surface normal of hit } RayHitInfo; // Wave type, defines audio wave data @@ -920,13 +917,9 @@ RLAPI bool CheckCollisionRaySphere(Ray ray, Vector3 spherePosition, float sphere RLAPI bool CheckCollisionRaySphereEx(Ray ray, Vector3 spherePosition, float sphereRadius, Vector3 *collisionPoint); // Detect collision between ray and sphere, returns collision point RLAPI bool CheckCollisionRayBox(Ray ray, BoundingBox box); // Detect collision between ray and box - -//------------------------------------------------------------------------------------ -// Ray Casts -//------------------------------------------------------------------------------------ -RLAPI RayHitInfo RaycastGroundPlane( Ray ray, float groundHeight ); -RLAPI RayHitInfo RaycastTriangle( Ray ray, Vector3 a, Vector3 b, Vector3 c ); -RLAPI RayHitInfo RaycastMesh( Ray ray, Mesh *mesh ); +RLAPI RayHitInfo GetCollisionRayMesh(Ray ray, Mesh *mesh); // Get collision info between ray and mesh +RLAPI RayHitInfo GetCollisionRayTriangle(Ray ray, Vector3 p1, Vector3 p2, Vector3 p3); // Get collision info between ray and triangle +RLAPI RayHitInfo GetCollisionRayGround(Ray ray, float groundHeight); // Get collision info between ray and ground plane (Y-normal plane) //------------------------------------------------------------------------------------ // Shaders System Functions (Module: rlgl) diff --git a/src/raymath.h b/src/raymath.h index 5871e350..c073b72d 100644 --- a/src/raymath.h +++ b/src/raymath.h @@ -130,7 +130,7 @@ RMDEF void VectorTransform(Vector3 *v, Matrix mat); // Transforms a Ve RMDEF Vector3 VectorZero(void); // Return a Vector3 init to zero RMDEF Vector3 VectorMin(Vector3 vec1, Vector3 vec2); // Return min value for each pair of components RMDEF Vector3 VectorMax(Vector3 vec1, Vector3 vec2); // Return max value for each pair of components -RMDEF Vector3 Barycentric(Vector3 p, Vector3 a, Vector3 b, Vector3 c); // Barycentric coords for p in triangle abc +RMDEF Vector3 Barycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c); // Barycenter coords for p in triangle abc //------------------------------------------------------------------------------------ // Functions Declaration to work with Matrix @@ -383,26 +383,27 @@ RMDEF Vector3 VectorMax(Vector3 vec1, Vector3 vec2) return result; } -// Compute barycentric coordinates (u, v, w) for -// point p with respect to triangle (a, b, c) -// Assumes P is on the plane of the triangle -RMDEF Vector3 Barycentric(Vector3 p, Vector3 a, Vector3 b, Vector3 c) +// Compute barycenter coordinates (u, v, w) for point p with respect to triangle (a, b, c) +// NOTE: Assumes P is on the plane of the triangle +RMDEF Vector3 Barycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c) { - //Vector v0 = b - a, v1 = c - a, v2 = p - a; - Vector3 v0 = VectorSubtract( b, a ); - Vector3 v1 = VectorSubtract( c, a ); - Vector3 v2 = VectorSubtract( p, a ); + + Vector3 v0 = VectorSubtract(b, a); + Vector3 v1 = VectorSubtract(c, a); + Vector3 v2 = VectorSubtract(p, a); float d00 = VectorDotProduct(v0, v0); float d01 = VectorDotProduct(v0, v1); float d11 = VectorDotProduct(v1, v1); float d20 = VectorDotProduct(v2, v0); float d21 = VectorDotProduct(v2, v1); - float denom = d00 * d11 - d01 * d01; + + float denom = d00*d11 - d01*d01; Vector3 result; - result.y = (d11 * d20 - d01 * d21) / denom; - result.z = (d00 * d21 - d01 * d20) / denom; + + result.y = (d11*d20 - d01*d21)/denom; + result.z = (d00*d21 - d01*d20)/denom; result.x = 1.0f - (result.z + result.y); return result; diff --git a/src/shapes.c b/src/shapes.c index 74480c83..8c6c4be0 100644 --- a/src/shapes.c +++ b/src/shapes.c @@ -534,84 +534,3 @@ Rectangle GetCollisionRec(Rectangle rec1, Rectangle rec2) return retRec; } - - -RayHitInfo RaycastGroundPlane( Ray ray, float groundHeight ) -{ - RayHitInfo result = {0}; - - if (fabs(ray.direction.y) > EPSILON) - { - float t = (ray.position.y - groundHeight) / -ray.direction.y; - if (t >= 0.0) { - Vector3 rayDir = ray.direction; - VectorScale( &rayDir, t ); - result.hit = true; - result.distance = t; - result.hitNormal = (Vector3){ 0.0, 1.0, 0.0}; - result.hitPosition = VectorAdd( ray.position, rayDir ); - } - } - return result; -} -// Adapted from: -// https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm -RayHitInfo RaycastTriangle( Ray ray, Vector3 a, Vector3 b, Vector3 c ) -{ - Vector3 e1, e2; //Edge1, Edge2 - Vector3 p, q, tv; - float det, inv_det, u, v; - float t; - RayHitInfo result = {0}; - - //Find vectors for two edges sharing V1 - e1 = VectorSubtract( b, a); - e2 = VectorSubtract( c, a); - - //Begin calculating determinant - also used to calculate u parameter - p = VectorCrossProduct( ray.direction, e2); - - //if determinant is near zero, ray lies in plane of triangle or ray is parallel to plane of triangle - det = VectorDotProduct(e1, p); - - //NOT CULLING - if(det > -EPSILON && det < EPSILON) return result; - inv_det = 1.f / det; - - //calculate distance from V1 to ray origin - tv = VectorSubtract( ray.position, a ); - - //Calculate u parameter and test bound - u = VectorDotProduct(tv, p) * inv_det; - - //The intersection lies outside of the triangle - if(u < 0.f || u > 1.f) return result; - - //Prepare to test v parameter - q = VectorCrossProduct( tv, e1 ); - - //Calculate V parameter and test bound - v = VectorDotProduct( ray.direction, q) * inv_det; - - //The intersection lies outside of the triangle - if(v < 0.f || (u + v) > 1.f) return result; - - t = VectorDotProduct(e2, q) * inv_det; - - - if(t > EPSILON) { - // ray hit, get hit point and normal - result.hit = true; - result.distance = t; - - result.hit = true; - result.hitNormal = VectorCrossProduct( e1, e2 ); - VectorNormalize( &result.hitNormal ); - Vector3 rayDir = ray.direction; - VectorScale( &rayDir, t ); - result.hitPosition = VectorAdd( ray.position, rayDir ); - } - - return result; -} -