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Fixed? Normal calculation on 3D AABB

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This commit is contained in:
Dominic Masters
2023-02-24 23:52:58 -08:00
parent 2b51fa7035
commit 26abbb2bda
1 changed files with 23 additions and 19 deletions
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42
src/dawn/physics/3d/Ray3D.cpp
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@ -70,7 +70,7 @@ bool_t Dawn::raytestTriangle(
glm::vec3 n0 = glm::cross(edge0, c0); glm::vec3 n0 = glm::cross(edge0, c0);
glm::vec3 n1 = glm::cross(edge1, c1); glm::vec3 n1 = glm::cross(edge1, c1);
glm::vec3 n2 = glm::cross(edge2, c2); glm::vec3 n2 = glm::cross(edge2, c2);
if (glm::dot(n0, normal) >= 0 && glm::dot(n1, normal) >= 0 && glm::dot(n2, normal) >= 0) { if(glm::dot(n0, normal) >= 0 && glm::dot(n1, normal) >= 0 && glm::dot(n2, normal) >= 0) {
// If the intersection point is inside the triangle, set the hit point, normal and distance // If the intersection point is inside the triangle, set the hit point, normal and distance
*hitPoint = intersectionPoint; *hitPoint = intersectionPoint;
*hitNormal = normal; *hitNormal = normal;
@ -89,6 +89,10 @@ bool_t Dawn::raytestAABB(
glm::vec3 *normal, glm::vec3 *normal,
float_t *distance float_t *distance
) { ) {
assertNotNull(point);
assertNotNull(normal);
assertNotNull(distance);
// Compute the inverse direction of the ray, for numerical stability // Compute the inverse direction of the ray, for numerical stability
glm::vec3 invDir(1.0f / ray.direction.x, 1.0f / ray.direction.y, 1.0f / ray.direction.z); glm::vec3 invDir(1.0f / ray.direction.x, 1.0f / ray.direction.y, 1.0f / ray.direction.z);
@ -103,7 +107,7 @@ bool_t Dawn::raytestAABB(
float tFar = glm::compMin(t2); float tFar = glm::compMin(t2);
// If tNear is greater than or equal to tFar, there is no intersection // If tNear is greater than or equal to tFar, there is no intersection
if (tNear >= tFar) return false; if(tNear >= tFar) return false;
// If tFar is negative, the ray is pointing away from the box // If tFar is negative, the ray is pointing away from the box
if(tFar < 0.0f) return false; if(tFar < 0.0f) return false;
@ -111,25 +115,25 @@ bool_t Dawn::raytestAABB(
// Compute the hit point and normal // Compute the hit point and normal
glm::vec3 hitPoint = ray.origin + tNear * ray.direction; glm::vec3 hitPoint = ray.origin + tNear * ray.direction;
if(point != nullptr) *point = hitPoint; *point = hitPoint;
if(distance != nullptr) *distance = tNear; *distance = tNear;
if(normal != nullptr) {
if (hitPoint.x == box.min.x) { // Small value to account for floating point imprecision
*normal = glm::vec3(-1, 0, 0); const float epsilon = 0.001f;
} else if (hitPoint.x == box.max.x) { if(std::abs(hitPoint.x - box.min.x) < epsilon) {
*normal = glm::vec3(1, 0, 0); *normal = glm::vec3(-1, 0, 0);
} else if (hitPoint.y == box.min.y) { } else if(std::abs(hitPoint.x - box.max.x) < epsilon) {
*normal = glm::vec3(0, -1, 0); *normal = glm::vec3(1, 0, 0);
} else if (hitPoint.y == box.max.y) { } else if(std::abs(hitPoint.y - box.min.y) < epsilon) {
*normal = glm::vec3(0, 1, 0); *normal = glm::vec3(0, -1, 0);
} else if (hitPoint.z == box.min.z) { } else if(std::abs(hitPoint.y - box.max.y) < epsilon) {
*normal = glm::vec3(0, 0, -1); *normal = glm::vec3(0, 1, 0);
} else if (hitPoint.z == box.max.z) { } else if(std::abs(hitPoint.z - box.min.z) < epsilon) {
*normal = glm::vec3(0, 0, 1); *normal = glm::vec3(0, 0, -1);
} } else if(std::abs(hitPoint.z - box.max.z) < epsilon) {
*normal = glm::vec3(0, 0, 1);
} }
// The ray intersects the box
return true; return true;
} }