1 // 2 // Copyright (c) 2008-2017 the Urho3D project. 3 // 4 // Permission is hereby granted, free of charge, to any person obtaining a copy 5 // of this software and associated documentation files (the "Software"), to deal 6 // in the Software without restriction, including without limitation the rights 7 // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 8 // copies of the Software, and to permit persons to whom the Software is 9 // furnished to do so, subject to the following conditions: 10 // 11 // The above copyright notice and this permission notice shall be included in 12 // all copies or substantial portions of the Software. 13 // 14 // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 15 // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 16 // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 17 // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 18 // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 19 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 20 // THE SOFTWARE. 21 // 22 23 #pragma once 24 25 #include "../Math/Vector3.h" 26 #include "../Math/Matrix3x4.h" 27 28 namespace Urho3D 29 { 30 31 class BoundingBox; 32 class Frustum; 33 class Plane; 34 class Sphere; 35 36 /// Infinite straight line in three-dimensional space. 37 class URHO3D_API Ray 38 { 39 public: 40 /// Construct a degenerate ray with zero origin and direction. Ray()41 Ray() 42 { 43 } 44 45 /// Construct from origin and direction. The direction will be normalized. Ray(const Vector3 & origin,const Vector3 & direction)46 Ray(const Vector3& origin, const Vector3& direction) 47 { 48 Define(origin, direction); 49 } 50 51 /// Copy-construct from another ray. Ray(const Ray & ray)52 Ray(const Ray& ray) : 53 origin_(ray.origin_), 54 direction_(ray.direction_) 55 { 56 } 57 58 /// Assign from another ray. 59 Ray& operator =(const Ray& rhs) 60 { 61 origin_ = rhs.origin_; 62 direction_ = rhs.direction_; 63 return *this; 64 } 65 66 /// Check for equality with another ray. 67 bool operator ==(const Ray& rhs) const { return origin_ == rhs.origin_ && direction_ == rhs.direction_; } 68 69 /// Check for inequality with another ray. 70 bool operator !=(const Ray& rhs) const { return origin_ != rhs.origin_ || direction_ != rhs.direction_; } 71 72 /// Define from origin and direction. The direction will be normalized. Define(const Vector3 & origin,const Vector3 & direction)73 void Define(const Vector3& origin, const Vector3& direction) 74 { 75 origin_ = origin; 76 direction_ = direction.Normalized(); 77 } 78 79 /// Project a point on the ray. Project(const Vector3 & point)80 Vector3 Project(const Vector3& point) const 81 { 82 Vector3 offset = point - origin_; 83 return origin_ + offset.DotProduct(direction_) * direction_; 84 } 85 86 /// Return distance of a point from the ray. Distance(const Vector3 & point)87 float Distance(const Vector3& point) const 88 { 89 Vector3 projected = Project(point); 90 return (point - projected).Length(); 91 } 92 93 /// Return closest point to another ray. 94 Vector3 ClosestPoint(const Ray& ray) const; 95 /// Return hit distance to a plane, or infinity if no hit. 96 float HitDistance(const Plane& plane) const; 97 /// Return hit distance to a bounding box, or infinity if no hit. 98 float HitDistance(const BoundingBox& box) const; 99 /// Return hit distance to a frustum, or infinity if no hit. If solidInside parameter is true (default) rays originating from inside return zero distance, otherwise the distance to the closest plane. 100 float HitDistance(const Frustum& frustum, bool solidInside = true) const; 101 /// Return hit distance to a sphere, or infinity if no hit. 102 float HitDistance(const Sphere& sphere) const; 103 /// Return hit distance to a triangle, or infinity if no hit. Optionally return hit normal and hit barycentric coordinate at intersect point. 104 float HitDistance(const Vector3& v0, const Vector3& v1, const Vector3& v2, Vector3* outNormal = 0, Vector3* outBary = 0) const; 105 /// Return hit distance to non-indexed geometry data, or infinity if no hit. Optionally return hit normal and hit uv coordinates at intersect point. 106 float HitDistance 107 (const void* vertexData, unsigned vertexStride, unsigned vertexStart, unsigned vertexCount, Vector3* outNormal = 0, 108 Vector2* outUV = 0, unsigned uvOffset = 0) const; 109 /// Return hit distance to indexed geometry data, or infinity if no hit. Optionally return hit normal and hit uv coordinates at intersect point. 110 float HitDistance(const void* vertexData, unsigned vertexStride, const void* indexData, unsigned indexSize, unsigned indexStart, 111 unsigned indexCount, Vector3* outNormal = 0, Vector2* outUV = 0, unsigned uvOffset = 0) const; 112 /// Return whether ray is inside non-indexed geometry. 113 bool InsideGeometry(const void* vertexData, unsigned vertexSize, unsigned vertexStart, unsigned vertexCount) const; 114 /// Return whether ray is inside indexed geometry. 115 bool InsideGeometry(const void* vertexData, unsigned vertexSize, const void* indexData, unsigned indexSize, unsigned indexStart, 116 unsigned indexCount) const; 117 /// Return transformed by a 3x4 matrix. This may result in a non-normalized direction. 118 Ray Transformed(const Matrix3x4& transform) const; 119 120 /// Ray origin. 121 Vector3 origin_; 122 /// Ray direction. 123 Vector3 direction_; 124 }; 125 126 } 127