[#21] Ray-casting moved from simple shape intersection.

Arion/CMakeLists.txt

@@ -43,6 +43,7 @@ set(ARION_HEADERS
     include/Arion/SimpleShapeIntersection.hpp
     include/Arion/SimpleShapeIntersectionDetector.hpp
     include/Arion/BoundingVolumes.hpp
+    include/Arion/RayCasting.hpp
 )
 set(ARION_SOURCES
     sources/DebugImplementation.cpp
@@ -52,6 +53,7 @@ set(ARION_SOURCES
     sources/GilbertJohnsonKeerthi.cpp
     sources/SimpleShapeIntersectionDetector.cpp
     sources/BoundingVolumes.cpp
+    sources/RayCasting.cpp
 )
 
 if (MSVC)

Arion/include/Arion/RayCasting.hpp

@@ -0,0 +1,129 @@
+/*
+* Copyright (C) 2018 by Godlike
+* This code is licensed under the MIT license (MIT)
+* (http://opensource.org/licenses/MIT)
+*/
+#ifndef ARION_RAY_CASTING_HPP
+#define ARION_RAY_CASTING_HPP
+
+#include <Arion/Shape.hpp>
+#include <Arion/Intersection.hpp>
+
+namespace arion
+{
+namespace intersection
+{
+
+struct CacheRayRay
+{
+    double denominator;
+    glm::dvec3 aClosestApproach;
+    glm::dvec3 bClosestApproach;
+};
+
+struct CacheRayPlane
+{
+    glm::dvec3 contact;
+};
+
+struct CacheRaySphere
+{
+    glm::dvec3 inPoint;
+    glm::dvec3 outPoint;
+    bool intersection;
+};
+
+struct CacheRayBox
+{
+    glm::dvec3 rayDirectionBoxSpace;
+    glm::dvec3 rayOriginBoxSpace;
+    glm::dmat3 boxModelMatrix;
+    glm::dvec3 aabbMaxPoint;
+    glm::dvec3 aabbMinPoint;
+    glm::dvec3 inPoint;
+    glm::dvec3 outPoint;
+    glm::dvec3 boxContactNormal;
+};
+
+/** Ray, Ray CalculateIntersection specialization */
+inline bool CalculateIntersection(Ray const& aRay, Ray const& bRay, CacheRayRay& cache);
+
+/** Ray, Ray CalculateContactPoints specialization */
+inline ContactPoints CalculateContactPoints(Ray const& aRay, Ray const& bRay, CacheRayRay& cache);
+
+/** Ray, Plane CalculateIntersection specialization */
+inline bool CalculateIntersection(Ray const& ray, Plane const& plane, CacheRayPlane& cache);
+
+/** Ray, Plane CalculateContactNormal specialization */
+inline glm::dvec3 CalculateContactNormal(Ray const& ray, Plane const& plane, CacheRayPlane& cache);
+
+/** Ray, Plane CalculateContactPoints specialization */
+inline ContactPoints CalculateContactPoints(Ray const& ray, Plane const& plane, CacheRayPlane& cache);
+
+/** Ray, Plane CalculatePenetration specialization */
+inline double CalculatePenetration(Ray const& ray, Plane const& plane, CacheRayPlane& cacheBase);
+
+/** Ray, Sphere CalculateIntersection specialization */
+inline bool CalculateIntersection(Ray const& ray, Sphere const& sphere, CacheRaySphere& cache);
+
+/** Ray, Sphere CalculateContactNormal specialization */
+inline glm::dvec3 CalculateContactNormal(Ray const& ray, Sphere const& sphere, CacheRaySphere& cache);
+
+/** Ray, Sphere CalculateContactPoints specialization */
+inline ContactPoints CalculateContactPoints(Ray const& ray, Sphere const& sphere, CacheRaySphere& cache);
+
+/** Ray, Sphere CalculatePenetration specialization */
+inline double CalculatePenetration(Ray const& ray, Sphere const& sphere, CacheRaySphere& cache);
+
+/** Ray, Box CalculateIntersection specialization */
+inline bool CalculateIntersection(Ray const& ray, Box const& box, CacheRayBox& cache);
+
+/** Ray, Box CalculateContactNormal specialization */
+inline glm::dvec3 CalculateContactNormal(Ray const& ray, Box const& box, CacheRayBox& cache);
+
+/** Ray, Box CalculateContactPoints specialization */
+inline ContactPoints CalculateContactPoints(Ray const& ray, Box const& box, CacheRayBox& cache);
+
+/** Ray, Box CalculatePenetration specialization */
+inline double CalculatePenetration(Ray const& ray, Box const& box, CacheRayBox& cache);
+
+/** Plane, Ray CalculateIntersection specialization */
+inline bool CalculateIntersection(Plane const& plane, Ray const& ray, CacheRayPlane& cache);
+
+/** Plane, Ray CalculateContactNormal specialization */
+inline glm::dvec3 CalculateContactNormal(Plane const& plane, Ray const& ray, CacheRayPlane& cache);
+
+/** Plane, Ray CalculateContactPoints specialization */
+inline ContactPoints CalculateContactPoints(Plane const& plane, Ray const& ray, CacheRayPlane& cache);
+
+/** Plane, Ray CalculatePenetration specialization */
+inline double CalculatePenetration(Plane const& plane, Ray const& ray, CacheRayPlane& cache);
+
+/** Sphere, Ray CalculateIntersection specialization */
+inline bool CalculateIntersection(Sphere const& sphere, Ray const& ray, CacheRaySphere& cache);
+
+/** Sphere, Ray CalculateContactNormal specialization */
+inline glm::dvec3 CalculateContactNormal(Sphere const& sphere, Ray const& ray, CacheRaySphere& cache);
+
+/** Sphere, Ray CalculateContactPoints specialization */
+inline ContactPoints CalculateContactPoints(Sphere const& sphere, Ray const& ray, CacheRaySphere& cache);
+
+/** Sphere, Ray CalculatePenetration specialization */
+inline double CalculatePenetration(Sphere const& sphere, Ray const& ray, CacheRaySphere& cache);
+
+/** Box, Ray CalculateIntersection specialization */
+inline bool CalculateIntersection(Box const& box, Ray const& ray, CacheRayBox& cache);
+
+/** Box, Ray CalculateContactNormal specialization */
+inline glm::dvec3 CalculateContactNormal(Box const& box, Ray const& ray, CacheRayBox& cache);
+
+/** Box, Ray CalculateContactPoints specialization */
+inline ContactPoints CalculateContactPoints(Box const& box, Ray const& ray, CacheRayBox& cache);
+
+/** Box, Ray CalculatePenetration specialization */
+inline double CalculatePenetration(Box const& box, Ray const& ray, CacheRayBox& cache);
+
+} // namespace intersection
+} // namepsace arion
+
+#endif // ARION_RAY_CASTING_HPP