urho3d/Source/Urho3D/Math/Ray.h

//
// Copyright (c) 2008-2020 the Urho3D project.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// THE SOFTWARE.
//

#pragma once

#include "../Math/Vector3.h"
#include "../Math/Matrix3x4.h"

namespace Urho3D
{

class BoundingBox;
class Frustum;
class Plane;
class Sphere;

/// Infinite straight line in three-dimensional space.
/// @allfloats
class URHO3D_API Ray
{
public:
    /// Construct a degenerate ray with zero origin and direction.
    Ray() noexcept = default;

    /// Construct from origin and direction. The direction will be normalized.
    Ray(const Vector3& origin, const Vector3& direction) noexcept
    {
        Define(origin, direction);
    }

    /// Copy-construct from another ray.
    Ray(const Ray& ray) noexcept = default;

    /// Assign from another ray.
    Ray& operator =(const Ray& rhs) noexcept = default;

    /// Check for equality with another ray.
    bool operator ==(const Ray& rhs) const { return origin_ == rhs.origin_ && direction_ == rhs.direction_; }

    /// Check for inequality with another ray.
    bool operator !=(const Ray& rhs) const { return origin_ != rhs.origin_ || direction_ != rhs.direction_; }

    /// Define from origin and direction. The direction will be normalized.
    void Define(const Vector3& origin, const Vector3& direction)
    {
        origin_ = origin;
        direction_ = direction.Normalized();
    }

    /// Project a point on the ray.
    Vector3 Project(const Vector3& point) const
    {
        Vector3 offset = point - origin_;
        return origin_ + offset.DotProduct(direction_) * direction_;
    }

    /// Return distance of a point from the ray.
    float Distance(const Vector3& point) const
    {
        Vector3 projected = Project(point);
        return (point - projected).Length();
    }

    /// Return closest point to another ray.
    Vector3 ClosestPoint(const Ray& ray) const;
    /// Return hit distance to a plane, or infinity if no hit.
    float HitDistance(const Plane& plane) const;
    /// Return hit distance to a bounding box, or infinity if no hit.
    float HitDistance(const BoundingBox& box) const;
    /// 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.
    float HitDistance(const Frustum& frustum, bool solidInside = true) const;
    /// Return hit distance to a sphere, or infinity if no hit.
    float HitDistance(const Sphere& sphere) const;
    /// Return hit distance to a triangle, or infinity if no hit. Optionally return hit normal and hit barycentric coordinate at intersect point.
    float HitDistance(const Vector3& v0, const Vector3& v1, const Vector3& v2, Vector3* outNormal = nullptr, Vector3* outBary = nullptr) const;
    /// Return hit distance to non-indexed geometry data, or infinity if no hit. Optionally return hit normal and hit uv coordinates at intersect point.
    float HitDistance
        (const void* vertexData, unsigned vertexStride, unsigned vertexStart, unsigned vertexCount, Vector3* outNormal = nullptr,
            Vector2* outUV = nullptr, unsigned uvOffset = 0) const;
    /// Return hit distance to indexed geometry data, or infinity if no hit. Optionally return hit normal and hit uv coordinates at intersect point.
    float HitDistance(const void* vertexData, unsigned vertexStride, const void* indexData, unsigned indexSize, unsigned indexStart,
        unsigned indexCount, Vector3* outNormal = nullptr, Vector2* outUV = nullptr, unsigned uvOffset = 0) const;
    /// Return whether ray is inside non-indexed geometry.
    bool InsideGeometry(const void* vertexData, unsigned vertexSize, unsigned vertexStart, unsigned vertexCount) const;
    /// Return whether ray is inside indexed geometry.
    bool InsideGeometry(const void* vertexData, unsigned vertexSize, const void* indexData, unsigned indexSize, unsigned indexStart,
        unsigned indexCount) const;
    /// Return transformed by a 3x4 matrix. This may result in a non-normalized direction.
    Ray Transformed(const Matrix3x4& transform) const;

    /// Ray origin.
    Vector3 origin_;
    /// Ray direction.
    Vector3 direction_;
};

}