MATH: Add ray triangle intersection and tests
This commit is contained in:
Matthew Duggan
Eugene Sandulenko
parent
066dd8e155
commit
eba2fb9b5f
4 changed files with 262 additions and 1 deletions
39
math/ray.cpp
39
math/ray.cpp
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@ -45,6 +45,11 @@ void Ray::rotate(const Quaternion &rot) {
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_direction.normalize();
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}
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void Ray::rotateDirection(const Quaternion &rot) {
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rot.transform(_direction);
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_direction.normalize();
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}
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void Ray::translate(const Vector3d &v) {
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_origin += v;
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}
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@ -78,4 +83,38 @@ bool Ray::intersectAABB(const AABB &aabb) const {
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return true;
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}
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// Algorithm adapted from https://www.lighthouse3d.com/tutorials/maths/ray-triangle-intersection/
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bool Ray::intersectTriangle(const Vector3d &v0, const Vector3d &v1,
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const Vector3d &v2, Vector3d &vout, float &fout) const {
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const Vector3d e1 = v1 - v0;
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const Vector3d e2 = v2 - v0;
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const Vector3d h = Vector3d::crossProduct(_direction, e2);
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float a = e1.dotProduct(h);
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if (fabs(a) < 1e-6f)
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return false;
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float f = 1.0f / a;
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const Vector3d s = _origin - v0;
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float u = f * s.dotProduct(h);
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if (u < 0.0f || u > 1.0f)
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return false;
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const Vector3d q = Vector3d::crossProduct(s, e1);
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float v = f * _direction.dotProduct(q);
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if (v < 0.0f || u + v > 1.0f)
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return false;
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float t = f * e2.dotProduct(q);
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if (t < 1e-6f)
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return false;
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fout = t;
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vout = _origin + t * _direction;
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return true;
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}
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}
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18
math/ray.h
18
math/ray.h
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@ -48,10 +48,15 @@ public:
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void transform(const Matrix4 &matrix);
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/**
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* Rotate the ray using a quaternion
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* Rotate the ray using a quaternion - rotates both origin and direction
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*/
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void rotate(const Quaternion &rot);
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/**
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* Rotate the ray direction only using a quaternion - origin stays fixed
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*/
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void rotateDirection(const Quaternion &rot);
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/**
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* Translate the ray by a vector
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*/
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@ -62,6 +67,17 @@ public:
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*/
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bool intersectAABB(const AABB &aabb) const;
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/**
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* Test and return the intersection of the ray with a triangle defned by 3 verticies
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*
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* @param v0 first triangle vertex
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* @param v1 second triangle vertex
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* @param v2 third triangle vertex
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* @param loc If return is true, set to the intersection point
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* @param dist If return is true, set to distance along the ray (relative to direction)
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*/
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bool intersectTriangle(const Vector3d &v0, const Vector3d &v1, const Vector3d &v2, Vector3d &loc, float &dist) const;
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private:
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Vector3d _origin;
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Vector3d _direction;
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62
test/math/ray.h
Normal file
62
test/math/ray.h
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@ -0,0 +1,62 @@
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#include <cxxtest/TestSuite.h>
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#include "math/ray.h"
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class RayTestSuite : public CxxTest::TestSuite {
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public:
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// Test Constructors
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void test_Ray() {
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Math::Ray r;
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TS_ASSERT(r.getOrigin() == Math::Vector3d());
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TS_ASSERT(r.getDirection() == Math::Vector3d());
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Math::Vector3d o(3, 2, 1);
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Math::Vector3d d(0, 1, 2);
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Math::Ray r2(o, d);
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TS_ASSERT(r2.getOrigin() == o);
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TS_ASSERT(r2.getDirection() == d);
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}
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void test_translate() {
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Math::Vector3d o(3, 2, 1);
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Math::Vector3d d(0, 1, 2);
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Math::Ray r(o, d);
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r.translate(Math::Vector3d(0.5, 0.2, 0.1));
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TS_ASSERT(r.getDirection() == d);
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Math::Vector3d o2 = r.getOrigin();
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TS_ASSERT_DELTA(o2.x(), 3.5, 0.0001);
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TS_ASSERT_DELTA(o2.y(), 2.2, 0.0001);
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TS_ASSERT_DELTA(o2.z(), 1.1, 0.0001);
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}
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// TODO: Add tests for transform, rotate, rotateDirection, intersectAABB
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void test_intersectTriangle() {
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// A triangle that covers around the origin on the y plane.
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const Math::Vector3d v1(0, 0, -20);
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const Math::Vector3d v2(0, -10, 20);
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const Math::Vector3d v3(0, 10, 20);
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// A ray that points along the x axis, should hit the triangle at the origin
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Math::Ray r(Math::Vector3d(-9.5, 0, 0.7), Math::Vector3d(1, 0, 0));
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Math::Vector3d loc(7, 8, 9); // add values to ensure it's changed
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float dist = 99.0f;
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bool result = r.intersectTriangle(v1, v2, v3, loc, dist);
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// Should hit at the origin
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TS_ASSERT(result);
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TS_ASSERT_DELTA(dist, 9.5f, 0.0001);
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TS_ASSERT_DELTA(loc.x(), 0.0f, 0.0001);
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TS_ASSERT_DELTA(loc.y(), 0.0f, 0.0001);
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TS_ASSERT_DELTA(loc.z(), 0.7f, 0.0001);
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// A ray that points along the x axis in the opposite direction, should never hit the triangle
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Math::Ray r2(Math::Vector3d(-1, 0, 0), Math::Vector3d(-1, 0, 0));
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result = r2.intersectTriangle(v1, v2, v3, loc, dist);
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TS_ASSERT(!result);
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}
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};
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144
test/math/vector3d.h
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144
test/math/vector3d.h
Normal file
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@ -0,0 +1,144 @@
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#include <cxxtest/TestSuite.h>
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#include "math/vector3d.h"
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class Vector3dTestSuite : public CxxTest::TestSuite {
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public:
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// Test Constructors
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void test_Vector3d() {
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Math::Vector3d v;
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TS_ASSERT(v.x() == 0.0f);
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TS_ASSERT(v.y() == 0.0f);
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TS_ASSERT(v.z() == 0.0f);
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Math::Vector3d v2(3, 2.2, 1);
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TS_ASSERT(v2.x() == 3.0f);
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TS_ASSERT(v2.y() == 2.2f);
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TS_ASSERT(v2.z() == 1.0f);
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Math::Vector3d v3(v2);
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TS_ASSERT(v3.x() == 3.0f);
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TS_ASSERT(v3.y() == 2.2f);
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TS_ASSERT(v3.z() == 1.0f);
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}
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void test_set() {
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Math::Vector3d v(2, 4, 6);
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v.set(1, 2, 3);
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TS_ASSERT(v.x() == 1.0f);
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TS_ASSERT(v.y() == 2.0f);
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TS_ASSERT(v.z() == 3.0f);
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}
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void test_crossProduct() {
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Math::Vector3d v1(1, 0, 0);
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Math::Vector3d v2(0, 1, 0);
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Math::Vector3d c12 = Math::Vector3d::crossProduct(v1, v2);
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Math::Vector3d c21 = Math::Vector3d::crossProduct(v2, v1);
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TS_ASSERT(c12 == Math::Vector3d(0, 0, 1));
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TS_ASSERT(c21 == Math::Vector3d(0, 0, -1));
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}
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void test_length() {
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Math::Vector3d v(1, 0, 1);
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TS_ASSERT_DELTA(v.length(), sqrt(2), 0.0001);
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Math::Vector3d v2(2, 2, 2);
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TS_ASSERT_DELTA(v2.length(), sqrt(12), 0.0001);
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// check static version too
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TS_ASSERT_DELTA(Math::Vector3d::length(v2), v2.length(), 0.0001);
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}
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void test_interpolate() {
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Math::Vector3d v1(1, 0, 2);
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Math::Vector3d v2(0, 5, 3);
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Math::Vector3d int1 = Math::Vector3d::interpolate(v1, v2, 0.1);
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TS_ASSERT_DELTA(int1.x(), 0.9, 0.0001);
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TS_ASSERT_DELTA(int1.y(), 0.5, 0.0001);
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TS_ASSERT_DELTA(int1.z(), 2.1, 0.0001);
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}
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/* all the below tests are for functions in Math::Vector, but add tests
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* here as we can't directly instantiate that */
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void test_setValue() {
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Math::Vector3d v(3, 7, 9);
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v.setValue(0, 1);
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TS_ASSERT(v.x() == 1.0f);
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TS_ASSERT(v.y() == 7.0f);
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TS_ASSERT(v.z() == 9.0f);
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v.setValue(1, 3);
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v.setValue(2, 2);
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TS_ASSERT(v.x() == 1.0f);
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TS_ASSERT(v.y() == 3.0f);
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TS_ASSERT(v.z() == 2.0f);
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}
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void test_getValue() {
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Math::Vector3d v(5, 6, 7);
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TS_ASSERT(v.getValue(0) == 5.0f);
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TS_ASSERT(v.getValue(1) == 6.0f);
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TS_ASSERT(v.getValue(2) == 7.0f);
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}
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void test_dotProduct() {
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Math::Vector3d v1(1, 2, 3);
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Math::Vector3d v2(6, 5, 4);
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float result = v2.dotProduct(v1);
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TS_ASSERT_DELTA(result, 28.0f, 0.0001f);
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}
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void test_dotProductOrthogonal() {
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Math::Vector3d v1(6, 0, 0);
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Math::Vector3d v2(0, 9, 0);
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float result = v2.dotProduct(v1);
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TS_ASSERT_EQUALS(result, 0.0f);
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}
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void test_normalizeTrivial() {
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Math::Vector3d v(0, 1, 0);
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Math::Vector3d vn = v.getNormalized();
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v.normalize();
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TS_ASSERT_EQUALS(vn, v);
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TS_ASSERT(v.x() == 0);
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TS_ASSERT(v.y() == 1);
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TS_ASSERT(v.z() == 0);
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}
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void test_normalize() {
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Math::Vector3d v(2, 4, 6);
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Math::Vector3d vn = v.getNormalized();
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v.normalize();
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TS_ASSERT_EQUALS(vn, v);
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TS_ASSERT_DELTA(v.x(), 2 / sqrt(56), 0.0001);
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TS_ASSERT_DELTA(v.y(), 4 / sqrt(56), 0.0001);
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TS_ASSERT_DELTA(v.z(), 6 / sqrt(56), 0.0001);
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}
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void test_magnitude() {
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Math::Vector3d v(3, 2.5, 1);
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TS_ASSERT_DELTA(v.getMagnitude(), sqrt(16.25), 0.0001);
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}
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};
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