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Diffstat (limited to 'PhysX_3.4/Source/GeomUtils/src/intersection/GuIntersectionRaySphere.cpp')
| -rw-r--r-- | PhysX_3.4/Source/GeomUtils/src/intersection/GuIntersectionRaySphere.cpp | 105 |
1 files changed, 105 insertions, 0 deletions
diff --git a/PhysX_3.4/Source/GeomUtils/src/intersection/GuIntersectionRaySphere.cpp b/PhysX_3.4/Source/GeomUtils/src/intersection/GuIntersectionRaySphere.cpp new file mode 100644 index 00000000..66b1f08f --- /dev/null +++ b/PhysX_3.4/Source/GeomUtils/src/intersection/GuIntersectionRaySphere.cpp @@ -0,0 +1,105 @@ +// This code contains NVIDIA Confidential Information and is disclosed to you +// under a form of NVIDIA software license agreement provided separately to you. +// +// Notice +// NVIDIA Corporation and its licensors retain all intellectual property and +// proprietary rights in and to this software and related documentation and +// any modifications thereto. Any use, reproduction, disclosure, or +// distribution of this software and related documentation without an express +// license agreement from NVIDIA Corporation is strictly prohibited. +// +// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES +// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO +// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT, +// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE. +// +// Information and code furnished is believed to be accurate and reliable. +// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such +// information or for any infringement of patents or other rights of third parties that may +// result from its use. No license is granted by implication or otherwise under any patent +// or patent rights of NVIDIA Corporation. Details are subject to change without notice. +// This code supersedes and replaces all information previously supplied. +// NVIDIA Corporation products are not authorized for use as critical +// components in life support devices or systems without express written approval of +// NVIDIA Corporation. +// +// Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved. +// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. +// Copyright (c) 2001-2004 NovodeX AG. All rights reserved. + +#include "foundation/PxVec3.h" +#include "GuIntersectionRaySphere.h" +#include "GuIntersectionRay.h" + +using namespace physx; + +// Based on GD Mag code, but now works correctly when origin is inside the sphere. +// This version has limited accuracy. +bool Gu::intersectRaySphereBasic(const PxVec3& origin, const PxVec3& dir, PxReal length, const PxVec3& center, PxReal radius, PxReal& dist, PxVec3* hit_pos) +{ + // get the offset vector + const PxVec3 offset = center - origin; + + // get the distance along the ray to the center point of the sphere + const PxReal ray_dist = dir.dot(offset); + + // get the squared distances + const PxReal off2 = offset.dot(offset); + const PxReal rad_2 = radius * radius; + if(off2 <= rad_2) + { + // we're in the sphere + if(hit_pos) + *hit_pos = origin; + dist = 0.0f; + return true; + } + + if(ray_dist <= 0 || (ray_dist - length) > radius) + { + // moving away from object or too far away + return false; + } + + // find hit distance squared + const PxReal d = rad_2 - (off2 - ray_dist * ray_dist); + if(d<0.0f) + { + // ray passes by sphere without hitting + return false; + } + + // get the distance along the ray + dist = ray_dist - PxSqrt(d); + if(dist > length) + { + // hit point beyond length + return false; + } + + // sort out the details + if(hit_pos) + *hit_pos = origin + dir * dist; + return true; +} + +// PT: modified version calls the previous function, but moves the ray origin closer to the sphere. The test accuracy is +// greatly improved as a result. This is an idea proposed on the GD-Algorithms list by Eddie Edwards. +// See: http://www.codercorner.com/blog/?p=321 +bool Gu::intersectRaySphere(const PxVec3& origin, const PxVec3& dir, PxReal length, const PxVec3& center, PxReal radius, PxReal& dist, PxVec3* hit_pos) +{ + const PxVec3 x = origin - center; + PxReal l = PxSqrt(x.dot(x)) - radius - GU_RAY_SURFACE_OFFSET; + +// if(l<0.0f) +// l=0.0f; + l = physx::intrinsics::selectMax(l, 0.0f); + + bool status = intersectRaySphereBasic(origin + l*dir, dir, length - l, center, radius, dist, hit_pos); + if(status) + { +// dist += l/length; + dist += l; + } + return status; +} |