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pal4: Support raycasting to detect floor height
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,6 +1,7 @@ | ||
| pub mod act_drop; | ||
| pub mod free_view; | ||
| pub mod interp_value; | ||
| pub mod ray_casting; | ||
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| use std::io::{Read, Seek}; | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,178 @@ | ||
| use crate::math::Vec3; | ||
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| use super::AARayDirection; | ||
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| struct Triangle { | ||
| indices: [u32; 3], | ||
| aabb_min: Vec3, | ||
| aabb_max: Vec3, | ||
| } | ||
|
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| impl Triangle { | ||
| pub fn new(indices: [u32; 3], vertices: &Vec<Vec3>) -> Self { | ||
| let a = vertices[indices[0] as usize]; | ||
| let b = vertices[indices[1] as usize]; | ||
| let c = vertices[indices[2] as usize]; | ||
| let aabb_min = Vec3::new( | ||
| a.x.min(b.x).min(c.x), | ||
| a.y.min(b.y).min(c.y), | ||
| a.z.min(b.z).min(c.z), | ||
| ); | ||
| let aabb_max = Vec3::new( | ||
| a.x.max(b.x).max(c.x), | ||
| a.y.max(b.y).max(c.y), | ||
| a.z.max(b.z).max(c.z), | ||
| ); | ||
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| Self { | ||
| indices, | ||
| aabb_min, | ||
| aabb_max, | ||
| } | ||
| } | ||
|
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| pub fn cast_aaray( | ||
| &self, | ||
| ray_origin: Vec3, | ||
| aaray: AARayDirection, | ||
| vertices: &Vec<Vec3>, | ||
| ) -> Option<f32> { | ||
| let aabb_min = self.aabb_min; | ||
| let aabb_max = self.aabb_max; | ||
| let ray_direction = aaray.get_direction(); | ||
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| if ray_direction.x != 0. { | ||
| if ray_origin.y < aabb_min.y | ||
| || ray_origin.y > aabb_max.y | ||
| || ray_origin.z < aabb_min.z | ||
| || ray_origin.z > aabb_max.z | ||
| { | ||
| return None; | ||
| } | ||
| } else if ray_direction.y != 0. { | ||
| if ray_origin.x < aabb_min.x | ||
| || ray_origin.x > aabb_max.x | ||
| || ray_origin.z < aabb_min.z | ||
| || ray_origin.z > aabb_max.z | ||
| { | ||
| return None; | ||
| } | ||
| } else if ray_direction.z != 0. { | ||
| if ray_origin.x < aabb_min.x | ||
| || ray_origin.x > aabb_max.x | ||
| || ray_origin.y < aabb_min.y | ||
| || ray_origin.y > aabb_max.y | ||
| { | ||
| return None; | ||
| } | ||
| } | ||
|
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| self.cast_ray(ray_origin, ray_direction, vertices) | ||
| } | ||
|
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| pub fn cast_ray( | ||
| &self, | ||
| ray_origin: Vec3, | ||
| ray_direction: Vec3, | ||
| vertices: &Vec<Vec3>, | ||
| ) -> Option<f32> { | ||
| const EPSILON: f32 = 0.00001; | ||
| let edge1 = Vec3::sub( | ||
| &vertices[self.indices[1] as usize], | ||
| &vertices[self.indices[0] as usize], | ||
| ); | ||
| let edge2 = Vec3::sub( | ||
| &vertices[self.indices[2] as usize], | ||
| &vertices[self.indices[0] as usize], | ||
| ); | ||
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| let h = Vec3::cross(&ray_direction, &edge2); | ||
| let a = Vec3::dot(&edge1, &h); | ||
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| if a > -EPSILON && a < EPSILON { | ||
| // println!("none1"); | ||
| return None; | ||
| } | ||
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| let f = 1.0 / a; | ||
| let s = Vec3::sub(&ray_origin, &vertices[self.indices[0] as usize]); | ||
| let u = f * Vec3::dot(&s, &h); | ||
| if u < 0.0 || u > 1.0 { | ||
| // println!("none2"); | ||
| return None; | ||
| } | ||
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| let q = Vec3::cross(&s, &edge1); | ||
| let v = f * Vec3::dot(&ray_direction, &q); | ||
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| if v < 0.0 || u + v > 1.0 { | ||
| // println!("none3"); | ||
| return None; | ||
| } | ||
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| let t = f * Vec3::dot(&edge2, &q); | ||
|
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| if t > EPSILON { | ||
| Some(t) | ||
| } else { | ||
| // println!("none4 t: {}", t); | ||
| None | ||
| } | ||
| } | ||
| } | ||
|
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| pub(crate) struct Mesh { | ||
| vertices: Vec<Vec3>, | ||
| triangles: Vec<Triangle>, | ||
| } | ||
|
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| impl Mesh { | ||
| pub fn new(vertices: Vec<Vec3>, indices: Vec<u32>) -> Self { | ||
| let mut triangles = Vec::new(); | ||
| for i in (0..indices.len()).step_by(3) { | ||
| triangles.push(Triangle::new( | ||
| [indices[i], indices[i + 1], indices[i + 2]], | ||
| &vertices, | ||
| )); | ||
| } | ||
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| Self { | ||
| vertices, | ||
| triangles, | ||
| } | ||
| } | ||
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| pub fn cast_aaray(&self, ray_origin: Vec3, aaray: AARayDirection) -> Option<f32> { | ||
| let mut min_distance = None; | ||
| for triangle in &self.triangles { | ||
| if let Some(distance) = triangle.cast_aaray(ray_origin, aaray, &self.vertices) { | ||
| if let Some(md) = min_distance { | ||
| if distance < md { | ||
| min_distance = Some(distance); | ||
| } | ||
| } else { | ||
| min_distance = Some(distance); | ||
| } | ||
| } | ||
| } | ||
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| min_distance | ||
| } | ||
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| pub fn cast_ray(&self, ray_origin: Vec3, ray_direction: Vec3) -> Option<f32> { | ||
| let mut min_distance = None; | ||
| for triangle in &self.triangles { | ||
| if let Some(distance) = triangle.cast_ray(ray_origin, ray_direction, &self.vertices) { | ||
| if let Some(md) = min_distance { | ||
| if distance < md { | ||
| min_distance = Some(distance); | ||
| } | ||
| } else { | ||
| min_distance = Some(distance); | ||
| } | ||
| } | ||
| } | ||
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| min_distance | ||
| } | ||
| } |
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