37 #ifndef OPENVDB_MATH_RAY_HAS_BEEN_INCLUDED 38 #define OPENVDB_MATH_RAY_HAS_BEEN_INCLUDED 52 template<
typename RealT =
double>
56 static_assert(std::is_floating_point<RealT>::value,
57 "math::Ray requires a floating-point value type");
68 TimeSpan(RealT _t0, RealT _t1) : t0(_t0), t1(_t1) {}
70 inline void set(RealT _t0, RealT _t1) { t0=_t0; t1=_t1; }
72 inline void get(RealT& _t0, RealT& _t1)
const { _t0=t0; _t1=t1; }
76 inline RealT
mid()
const {
return 0.5*(t0 + t1); }
78 inline void scale(RealT s) {assert(s>0); t0*=s; t1*=s; }
80 inline bool test(RealT t)
const {
return (t>=t0 && t<=t1); }
87 : mEye(eye), mDir(direction), mInvDir(1/mDir), mTimeSpan(t0, t1)
99 inline void setMinTime(RealT t0) { assert(t0>0); mTimeSpan.t0 = t0; }
101 inline void setMaxTime(RealT t1) { assert(t1>0); mTimeSpan.t1 = t1; }
107 assert(t0>0 && t1>0);
108 mTimeSpan.set(t0, t1);
120 this->setDir(direction);
121 this->setTimes(t0, t1);
130 inline RealT
t0()
const {
return mTimeSpan.t0;}
132 inline RealT
t1()
const {
return mTimeSpan.t1;}
141 inline Vec3R end()
const {
return (*
this)(mTimeSpan.t1); }
144 inline Vec3R mid()
const {
return (*
this)(mTimeSpan.mid()); }
150 inline bool test(RealT time)
const {
return mTimeSpan.test(time); }
158 template<
typename MapType>
161 assert(map.isLinear());
164 const Vec3T eye = map.applyMap(mEye);
165 const Vec3T dir = map.applyJacobian(mDir);
166 const RealT length = dir.
length();
167 return Ray(eye, dir/length, length*mTimeSpan.t0, length*mTimeSpan.t1);
176 template<
typename MapType>
179 assert(map.isLinear());
181 const Vec3T eye = map.applyInverseMap(mEye);
182 const Vec3T dir = map.applyInverseJacobian(mDir);
183 const RealT length = dir.
length();
184 return Ray(eye, dir/length, length*mTimeSpan.t0, length*mTimeSpan.t1);
189 template<
typename Gr
idType>
192 return this->applyMap(*(grid.transform().baseMap()));
197 template<
typename Gr
idType>
200 return this->applyInverseMap(*(grid.transform().baseMap()));
212 const Vec3T origin = mEye - center;
214 const RealT B = 2 * mDir.dot(origin);
215 const RealT C = origin.
lengthSqr() - radius * radius;
216 const RealT D = B * B - 4 * A * C;
218 if (D < 0)
return false;
220 const RealT Q = RealT(-0.5)*(B<0 ? (B +
Sqrt(D)) : (B -
Sqrt(D)));
225 if (t0 > t1) std::swap(t0, t1);
226 if (t0 < mTimeSpan.t0) t0 = mTimeSpan.t0;
227 if (t1 > mTimeSpan.t1) t1 = mTimeSpan.t1;
237 return this->intersects(center, radius, t0, t1)>0;
247 const bool hit = this->intersects(center, radius, t0, t1);
248 if (hit) mTimeSpan.set(t0, t1);
259 template<
typename BBoxT>
260 inline bool intersects(
const BBoxT& bbox, RealT& t0, RealT& t1)
const 262 mTimeSpan.get(t0, t1);
263 for (
int i = 0; i < 3; ++i) {
264 RealT a = (bbox.min()[i] - mEye[i]) * mInvDir[i];
265 RealT b = (bbox.max()[i] - mEye[i]) * mInvDir[i];
266 if (a > b) std::swap(a, b);
269 if (t0 > t1)
return false;
276 template<
typename BBoxT>
280 return this->intersects(bbox, t0, t1);
286 template<
typename BBoxT>
287 inline bool clip(
const BBoxT& bbox)
290 const bool hit = this->intersects(bbox, t0, t1);
291 if (hit) mTimeSpan.set(t0, t1);
302 const RealT cosAngle = mDir.dot(normal);
304 t = (distance - mEye.dot(normal))/cosAngle;
305 return this->test(t);
315 return this->intersects(normal, point.
dot(normal), t);
319 Vec3T mEye, mDir, mInvDir;
326 template<
typename RealT>
329 os <<
"eye=" << r.
eye() <<
" dir=" << r.
dir() <<
" 1/dir="<<r.
invDir()
330 <<
" t0=" << r.
t0() <<
" t1=" << r.
t1();
338 #endif // OPENVDB_MATH_RAY_HAS_BEEN_INCLUDED const Vec3T & eye() const
Definition: Ray.h:124
bool test(RealT time) const
Return true if time is within t0 and t1, both inclusive.
Definition: Ray.h:150
T dot(const Vec3< T > &v) const
Dot product.
Definition: Vec3.h:216
RealT t0() const
Definition: Ray.h:130
Ray(const Vec3Type &eye=Vec3Type(0, 0, 0), const Vec3Type &direction=Vec3Type(1, 0, 0), RealT t0=math::Delta< RealT >::value(), RealT t1=std::numeric_limits< RealT >::max())
Definition: Ray.h:83
Delta for small floating-point offsets.
Definition: Math.h:124
General-purpose arithmetic and comparison routines, most of which accept arbitrary value types (or at...
const Vec3T & invDir() const
Definition: Ray.h:128
bool isApproxZero(const Type &x)
Return true if x is equal to zero to within the default floating-point comparison tolerance.
Definition: Math.h:320
float Sqrt(float x)
Return the square root of a floating-point value.
Definition: Math.h:715
void scaleTimes(RealT scale)
Definition: Ray.h:111
const Vec3T & dir() const
Definition: Ray.h:126
void setMinTime(RealT t0)
Definition: Ray.h:99
RealT t1
Definition: Ray.h:64
void setEye(const Vec3Type &eye)
Definition: Ray.h:91
bool isRelOrApproxEqual(const Type &a, const Type &b, const Type &absTol, const Type &relTol)
Definition: Math.h:405
bool intersects(const BBoxT &bbox, RealT &t0, RealT &t1) const
Return true if the Ray intersects the specified axisaligned bounding box.
Definition: Ray.h:260
bool test(RealT t) const
Return true if time is inclusive.
Definition: Ray.h:80
void setDir(const Vec3Type &dir)
Definition: Ray.h:93
bool valid(RealT eps=math::Delta< RealT >::value()) const
Return true if t1 is larger than t0 by at least eps.
Definition: Ray.h:74
void set(RealT _t0, RealT _t1)
Set both times.
Definition: Ray.h:70
double RealType
Definition: Ray.h:59
Vec3R start() const
Return the starting point of the ray.
Definition: Ray.h:138
RealT t1() const
Definition: Ray.h:132
#define OPENVDB_VERSION_NAME
The version namespace name for this library version.
Definition: version.h:136
T lengthSqr() const
Definition: Vec3.h:236
void scale(RealT s)
Multiplies both times.
Definition: Ray.h:78
std::ostream & operator<<(std::ostream &os, const Ray< RealT > &r)
Output streaming of the Ray class.
Definition: Ray.h:327
Ray applyInverseMap(const MapType &map) const
Return a new Ray that is transformed with the inverse of the specified map.
Definition: Ray.h:177
void setMaxTime(RealT t1)
Definition: Ray.h:101
bool intersects(const Vec3T &normal, const Vec3T &point, RealT &t) const
Return true if the Ray intersects the plane specified by a normal and point.
Definition: Ray.h:313
Definition: Exceptions.h:40
bool intersects(const BBoxT &bbox) const
Return true if this ray intersects the specified bounding box.
Definition: Ray.h:277
bool valid(RealT eps=math::Delta< float >::value()) const
Return true if t1 is larger than t0 by at least eps.
Definition: Ray.h:147
Tolerance for floating-point comparison.
Definition: Math.h:117
bool intersects(const Vec3T &normal, RealT distance, RealT &t) const
Return true if the Ray intersects the plane specified by a normal and distance from the origin.
Definition: Ray.h:300
MatType scale(const Vec3< typename MatType::value_type > &s)
Return a matrix that scales by s.
Definition: Mat.h:647
Vec3R mid() const
Return the midpoint of the ray.
Definition: Ray.h:144
T length() const
Length of the vector.
Definition: Vec3.h:225
void get(RealT &_t0, RealT &_t1) const
Get both times.
Definition: Ray.h:72
Ray worldToIndex(const GridType &grid) const
Return a new ray in the index space of the specified grid, assuming the existing ray is represented i...
Definition: Ray.h:198
Vec3R operator()(RealT time) const
Return the position along the ray at the specified time.
Definition: Ray.h:135
bool clip(const Vec3T ¢er, RealT radius)
Return true if this ray intersects the specified sphere.
Definition: Ray.h:244
void setTimes(RealT t0=math::Delta< RealT >::value(), RealT t1=std::numeric_limits< RealT >::max())
Definition: Ray.h:103
Ray indexToWorld(const GridType &grid) const
Return a new ray in world space, assuming the existing ray is represented in the index space of the s...
Definition: Ray.h:190
TimeSpan()
Default constructor.
Definition: Ray.h:66
bool clip(const BBoxT &bbox)
Return true if this ray intersects the specified bounding box.
Definition: Ray.h:287
bool intersects(const Vec3T ¢er, RealT radius, RealT &t0, RealT &t1) const
Return true if this ray intersects the specified sphere.
Definition: Ray.h:210
void reset(const Vec3Type &eye, const Vec3Type &direction, RealT t0=math::Delta< RealT >::value(), RealT t1=std::numeric_limits< RealT >::max())
Definition: Ray.h:113
TimeSpan(RealT _t0, RealT _t1)
Constructor.
Definition: Ray.h:68
RealT mid() const
Return the midpoint of the ray.
Definition: Ray.h:76
#define OPENVDB_USE_VERSION_NAMESPACE
Definition: version.h:188
Vec3R end() const
Return the endpoint of the ray.
Definition: Ray.h:141
bool intersects(const Vec3T ¢er, RealT radius) const
Return true if this ray intersects the specified sphere.
Definition: Ray.h:234
Ray applyMap(const MapType &map) const
Return a new Ray that is transformed with the specified map.
Definition: Ray.h:159