Merge pull request #212 from joeld42/jbd_picking

Raycast Picking Utilities

examples/Makefile

@@ -203,6 +203,7 @@ EXAMPLES = \
     core_gestures_detection \
     core_3d_mode \
     core_3d_picking \
+    core_3d_raypick \
     core_3d_camera_free \
     core_3d_camera_first_person \
     core_2d_camera \
@@ -320,6 +321,11 @@ core_3d_mode: core_3d_mode.c
 core_3d_picking: core_3d_picking.c
 	$(CC) -o $@$(EXT) $< $(CFLAGS) $(INCLUDES) $(LFLAGS) $(LIBS) -D$(PLATFORM) $(WINFLAGS)
 
+# compile [core] example - 3d ray picking
+core_3d_raypick: core_3d_raypick.c
+	$(CC) -o $@$(EXT) $< $(CFLAGS) $(INCLUDES) $(LFLAGS) $(LIBS) -D$(PLATFORM) $(WINFLAGS)
+
+
 # compile [core] example - 3d camera free
 core_3d_camera_free: core_3d_camera_free.c
 	$(CC) -o $@$(EXT) $< $(CFLAGS) $(INCLUDES) $(LFLAGS) $(LIBS) -D$(PLATFORM) $(WINFLAGS)

examples/core_3d_raypick.c

@@ -0,0 +1,195 @@
+/*******************************************************************************************
+*
+*   raylib [core] example - Ray-Picking in 3d mode, ground plane, triangle, mesh
+*
+*   This example has been created using raylib 1.3 (www.raylib.com)
+*   raylib is licensed under an unmodified zlib/libpng license (View raylib.h for details)
+*
+*   Copyright (c) 2015 Ramon Santamaria (@raysan5)
+*   Example contributed by Joel Davis (@joeld42)
+*
+********************************************************************************************/
+
+#include "raylib.h"
+#include "raymath.h"
+
+#include <stdio.h>
+#include <float.h>
+
+
+int main()
+{
+    // Initialization
+    //--------------------------------------------------------------------------------------
+    int screenWidth = 800;
+    int screenHeight = 450;
+
+    InitWindow(screenWidth, screenHeight, "raylib [core] example - 3d ray picking");
+
+    // Define the camera to look into our 3d world
+    Camera camera;
+    camera.position = (Vector3){ 10.0f, 8.0f, 10.0f }; // Camera position
+    camera.target = (Vector3){ 0.0f, 2.3f, 0.0f };      // Camera looking at point
+    camera.up = (Vector3){ 0.0f, 1.6f, 0.0f };          // Camera up vector (rotation towards target)
+    camera.fovy = 45.0f;                                // Camera field-of-view Y
+
+    Vector3 cubePosition = { 0.0f, 1.0f, 0.0f };
+    Vector3 cubeSize = { 2.0f, 2.0f, 2.0f };
+    
+    Ray ray;        // Picking line ray
+    
+    Model tower = LoadModel("resources/model/lowpoly-tower.obj");           // Load OBJ model
+    Texture2D texture = LoadTexture("resources/model/lowpoly-tower.png");   // Load model texture
+    tower.material.texDiffuse = texture;                                    // Set model diffuse texture
+    Vector3 towerPos = { 0.0f, 0.0f, 0.0f };                                // Set model position
+    BoundingBox towerBBox = CalculateBoundingBox( tower.mesh );    
+    bool hitMeshBBox;
+    bool hitTriangle;
+
+    // Test triangle
+    Vector3 ta = (Vector3){ -25.0, 0.5, 0.0 };    
+    Vector3 tb = (Vector3){ -4.0, 2.5, 1.0 };
+    Vector3 tc = (Vector3){ -8.0, 6.5, 0.0 };
+
+    Vector3 bary = {0};
+
+    SetCameraMode(camera, CAMERA_FREE); // Set a free camera mode
+
+    SetTargetFPS(60);                   // Set our game to run at 60 frames-per-second
+
+    //--------------------------------------------------------------------------------------
+    // Main game loop
+    while (!WindowShouldClose())        // Detect window close button or ESC key
+    {
+        // Update
+        //----------------------------------------------------------------------------------
+        UpdateCamera(&camera);          // Update camera
+        
+
+        // Display information about closest hit
+        RayHitInfo nearestHit;
+        char *hitObjectName = "None";
+        nearestHit.distance = FLT_MAX;
+        nearestHit.hit = false;
+        Color cursorColor = WHITE;
+
+        // Get ray and test against ground, triangle, and mesh
+        ray = GetMouseRay(GetMousePosition(), camera);
+        
+        RayHitInfo groundHitInfo = RaycastGroundPlane( ray, 0.0 );
+        if ((groundHitInfo.hit) && (groundHitInfo.distance < nearestHit.distance)) {
+            nearestHit = groundHitInfo;
+            cursorColor = GREEN;
+            hitObjectName = "Ground";
+        }
+
+        RayHitInfo triHitInfo = RaycastTriangle( ray, ta, tb, tc );
+        if ((triHitInfo.hit) && (triHitInfo.distance < nearestHit.distance)) {
+            nearestHit = triHitInfo;
+            cursorColor = PURPLE;
+            hitObjectName = "Triangle";
+
+            bary = Barycentric( nearestHit.hitPosition, ta, tb, tc );
+            hitTriangle = true;
+        } else {
+            hitTriangle = false;
+        }
+
+        RayHitInfo meshHitInfo;
+
+        // check the bounding box first, before trying the full ray/mesh test
+        if (CheckCollisionRayBox( ray, towerBBox )) {
+            hitMeshBBox = true;
+            meshHitInfo = RaycastMesh( ray, &tower.mesh );    
+            if ((meshHitInfo.hit) && (meshHitInfo.distance < nearestHit.distance)) {
+                nearestHit = meshHitInfo;
+                cursorColor = ORANGE;
+                hitObjectName = "Mesh";
+            }
+        } else {
+            hitMeshBBox = false;
+        }    
+
+        //----------------------------------------------------------------------------------
+        // Draw
+        //----------------------------------------------------------------------------------
+        BeginDrawing();
+
+            ClearBackground(RAYWHITE);
+
+            Begin3dMode(camera);
+
+                // Draw the tower
+                DrawModel( tower, towerPos, 1.0, WHITE );
+                
+                // Draw the test triangle
+                DrawLine3D( ta, tb, PURPLE );
+                DrawLine3D( tb, tc, PURPLE );
+                DrawLine3D( tc, ta, PURPLE );
+
+                // Draw the mesh bbox if we hit it
+                if (hitMeshBBox) {
+                    DrawBoundingBox( towerBBox, LIME );
+                }
+
+                // If we hit something, draw the cursor at the hit point
+                if (nearestHit.hit) {
+                    DrawCube( nearestHit.hitPosition, 0.5, 0.5, 0.5, cursorColor );
+                    DrawCubeWires( nearestHit.hitPosition, 0.5, 0.5, 0.5, YELLOW );
+
+                    Vector3 normalEnd;
+                    normalEnd.x = nearestHit.hitPosition.x + nearestHit.hitNormal.x;
+                    normalEnd.y = nearestHit.hitPosition.y + nearestHit.hitNormal.y;
+                    normalEnd.z = nearestHit.hitPosition.z + nearestHit.hitNormal.z;
+                    DrawLine3D( nearestHit.hitPosition, normalEnd, YELLOW );
+                }
+
+                DrawRay(ray, MAROON);
+                
+                DrawGrid(10, 1.0f);
+
+            End3dMode();
+            
+            // Show some debug text
+            char line[1024];
+            sprintf( line, "Hit Object: %s\n", hitObjectName );
+            DrawText( line, 10, 30, 15, BLACK );
+
+            if (nearestHit.hit) {
+                int ypos = 45;
+                sprintf( line, "Distance: %3.2f", nearestHit.distance );
+                DrawText( line, 10, ypos, 15, BLACK );
+                ypos += 15;
+
+                sprintf( line, "Hit Pos: %3.2f %3.2f %3.2f", 
+                    nearestHit.hitPosition.x, nearestHit.hitPosition.y, nearestHit.hitPosition.z );
+                DrawText( line, 10, ypos, 15, BLACK );
+                ypos += 15;
+
+                sprintf( line, "Hit Norm: %3.2f %3.2f %3.2f", 
+                    nearestHit.hitNormal.x, nearestHit.hitNormal.y, nearestHit.hitNormal.z );
+                DrawText( line, 10, ypos, 15, BLACK );
+                ypos += 15;
+
+                if (hitTriangle) {
+                    sprintf( line, "Barycentric: %3.2f %3.2f %3.2f", 
+                        bary.x, bary.y, bary.z );
+                    DrawText( line, 10, ypos, 15, BLACK );
+                }
+            }
+
+            DrawText( "Use Mouse to Move Camera", 10, 420, 15, LIGHTGRAY );
+
+            DrawFPS(10, 10);
+
+        EndDrawing();
+        //----------------------------------------------------------------------------------
+    }
+
+    // De-Initialization
+    //--------------------------------------------------------------------------------------
+    CloseWindow();        // Close window and OpenGL context
+    //--------------------------------------------------------------------------------------
+
+    return 0;
+}

examples/resources/model/lowpoly-tower.obj

@@ -0,0 +1,456 @@
+# Blender v2.78 (sub 0) OBJ File: 'lowpoly-tower.blend'
+# www.blender.org
+o Grid
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src/models.c

@@ -1918,3 +1918,41 @@ static Material LoadMTL(const char *fileName)
 
     return material;
 }
+
+RayHitInfo RaycastMesh( Ray ray, Mesh *mesh )
+{
+    RayHitInfo result = {0};
+
+    // If mesh doesn't have vertex data on CPU, can't test it.
+    if (!mesh->vertices) {
+        return result;
+    }
+
+    // mesh->triangleCount may not be set, vertexCount is more reliable
+    int triangleCount = mesh->vertexCount / 3;
+
+    // Test against all triangles in mesh
+    for (int i=0; i < triangleCount; i++) {
+        Vector3 a, b, c;
+        Vector3 *vertdata = (Vector3*)mesh->vertices;
+        if (mesh->indices) {
+            a = vertdata[ mesh->indices[i*3+0] ];
+            b = vertdata[ mesh->indices[i*3+1] ];
+            c = vertdata[ mesh->indices[i*3+2] ];            
+        } else {            
+            a = vertdata[i*3+0];
+            b = vertdata[i*3+1];
+            c = vertdata[i*3+2];
+        }
+
+        RayHitInfo triHitInfo = RaycastTriangle( ray, a, b, c );
+        if (triHitInfo.hit) {
+            // Save the closest hit triangle
+            if ((!result.hit)||(result.distance > triHitInfo.distance)) {
+                result = triHitInfo;
+            }
+        }
+    }
+
+    return result; 
+}

src/raylib.h

@@ -97,6 +97,9 @@
 #define DEG2RAD (PI/180.0f)
 #define RAD2DEG (180.0f/PI)
 
+// A small number
+#define EPSILON 0.000001
+
 // raylib Config Flags
 #define FLAG_FULLSCREEN_MODE    1
 #define FLAG_RESIZABLE_WINDOW   2
@@ -491,6 +494,14 @@ typedef struct Ray {
     Vector3 direction;      // Ray direction
 } Ray;
 
+// Information returned from a raycast
+typedef struct RayHitInfo {
+    bool hit;             // Did the ray hit something?
+    float distance;       // Distance to nearest hit
+    Vector3 hitPosition;  // Position of nearest hit
+    Vector3 hitNormal;    // Surface normal of hit
+} RayHitInfo;
+
 // Wave type, defines audio wave data
 typedef struct Wave {
     unsigned int sampleCount;   // Number of samples
@@ -910,6 +921,13 @@ RLAPI bool CheckCollisionRaySphereEx(Ray ray, Vector3 spherePosition, float sphe
                                      Vector3 *collisionPoint);                                          // Detect collision between ray and sphere, returns collision point
 RLAPI bool CheckCollisionRayBox(Ray ray, BoundingBox box);                                              // Detect collision between ray and box
 
+//------------------------------------------------------------------------------------
+// Ray Casts
+//------------------------------------------------------------------------------------
+RLAPI RayHitInfo RaycastGroundPlane( Ray ray, float groundHeight );
+RLAPI RayHitInfo RaycastTriangle( Ray ray, Vector3 a, Vector3 b, Vector3 c );
+RLAPI RayHitInfo RaycastMesh( Ray ray, Mesh *mesh );
+
 //------------------------------------------------------------------------------------
 // Shaders System Functions (Module: rlgl)
 // NOTE: This functions are useless when using OpenGL 1.1

src/raymath.h

@@ -130,6 +130,7 @@ RMDEF void VectorTransform(Vector3 *v, Matrix mat);           // Transforms a Ve
 RMDEF Vector3 VectorZero(void);                               // Return a Vector3 init to zero
 RMDEF Vector3 VectorMin(Vector3 vec1, Vector3 vec2);          // Return min value for each pair of components
 RMDEF Vector3 VectorMax(Vector3 vec1, Vector3 vec2);          // Return max value for each pair of components
+RMDEF Vector3 Barycentric(Vector3 p, Vector3 a, Vector3 b, Vector3 c); // Barycentric coords for p in triangle abc
 
 //------------------------------------------------------------------------------------
 // Functions Declaration to work with Matrix
@@ -382,6 +383,31 @@ RMDEF Vector3 VectorMax(Vector3 vec1, Vector3 vec2)
     return result;
 }
 
+// Compute barycentric coordinates (u, v, w) for
+// point p with respect to triangle (a, b, c)
+// Assumes P is on the plane of the triangle
+RMDEF Vector3 Barycentric(Vector3 p, Vector3 a, Vector3 b, Vector3 c)
+{
+
+    //Vector v0 = b - a, v1 = c - a, v2 = p - a;
+    Vector3 v0 = VectorSubtract( b, a );
+    Vector3 v1 = VectorSubtract( c, a );
+    Vector3 v2 = VectorSubtract( p, a );
+    float d00 = VectorDotProduct(v0, v0);
+    float d01 = VectorDotProduct(v0, v1);
+    float d11 = VectorDotProduct(v1, v1);
+    float d20 = VectorDotProduct(v2, v0);
+    float d21 = VectorDotProduct(v2, v1);
+    float denom = d00 * d11 - d01 * d01;
+    
+    Vector3 result;
+    result.y = (d11 * d20 - d01 * d21) / denom;
+    result.z = (d00 * d21 - d01 * d20) / denom;
+    result.x = 1.0f - (result.z + result.y);
+    
+    return result;
+}
+
 //----------------------------------------------------------------------------------
 // Module Functions Definition - Matrix math
 //----------------------------------------------------------------------------------

src/shapes.c

@@ -533,4 +533,85 @@ Rectangle GetCollisionRec(Rectangle rec1, Rectangle rec2)
     }
 
     return retRec;
-}
+}
+
+
+RayHitInfo RaycastGroundPlane( Ray ray, float groundHeight )
+{
+    RayHitInfo result = {0};
+
+    if (fabs(ray.direction.y) > EPSILON)
+    {
+        float t = (ray.position.y - groundHeight) / -ray.direction.y;
+        if (t >= 0.0) {
+            Vector3 rayDir = ray.direction;
+            VectorScale( &rayDir, t );
+            result.hit = true;
+            result.distance = t;
+            result.hitNormal = (Vector3){ 0.0, 1.0, 0.0};
+            result.hitPosition = VectorAdd( ray.position, rayDir );
+        }
+    }
+    return result;
+}
+// Adapted from: 
+// https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm
+RayHitInfo RaycastTriangle( Ray ray, Vector3 a, Vector3 b, Vector3 c )
+{
+    Vector3 e1, e2;  //Edge1, Edge2
+    Vector3 p, q, tv;
+    float det, inv_det, u, v;
+    float t;
+    RayHitInfo result = {0};
+    
+    //Find vectors for two edges sharing V1
+    e1 = VectorSubtract( b, a);
+    e2 = VectorSubtract( c, a);
+    
+    //Begin calculating determinant - also used to calculate u parameter
+    p = VectorCrossProduct( ray.direction, e2);
+    
+    //if determinant is near zero, ray lies in plane of triangle or ray is parallel to plane of triangle
+    det = VectorDotProduct(e1, p);
+    
+    //NOT CULLING
+    if(det > -EPSILON && det < EPSILON) return result;
+    inv_det = 1.f / det;
+    
+    //calculate distance from V1 to ray origin
+    tv = VectorSubtract( ray.position, a );
+    
+    //Calculate u parameter and test bound
+    u = VectorDotProduct(tv, p) * inv_det;
+    
+    //The intersection lies outside of the triangle
+    if(u < 0.f || u > 1.f) return result;
+    
+    //Prepare to test v parameter
+    q = VectorCrossProduct( tv, e1 );
+    
+    //Calculate V parameter and test bound
+    v = VectorDotProduct( ray.direction, q) * inv_det;
+    
+    //The intersection lies outside of the triangle
+    if(v < 0.f || (u + v)  > 1.f) return result;
+    
+    t = VectorDotProduct(e2, q) * inv_det;
+    
+    
+    if(t > EPSILON) { 
+        // ray hit, get hit point and normal
+        result.hit = true;
+        result.distance = t;
+
+        result.hit = true;
+        result.hitNormal = VectorCrossProduct( e1, e2 );
+        VectorNormalize( &result.hitNormal );
+        Vector3 rayDir = ray.direction;
+        VectorScale( &rayDir, t );        
+        result.hitPosition = VectorAdd( ray.position, rayDir );
+    }
+    
+    return result;
+}
+