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draw_triangles_intersections.cpp
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379 lines (313 loc) · 14.4 KB
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#include <array>
#include <sm/vec>
#include <sm/vvec>
#include <sm/algo>
#include <mplot/Visual.h>
#include <mplot/VisualModel.h>
#include <mplot/SphereVisual.h>
#include <mplot/VectorVisual.h>
using namespace mplot;
//! This class creates the vertices for a single triangle. It also draws some spheres and arrows
//! for coordinates and normal vectors, for illustration.
template<int glver = mplot::gl::version_4_1>
class trivis : public VisualModel<glver>
{
public:
trivis (const sm::vec<float> _offset = {0,0,0}) : mplot::VisualModel<glver>::VisualModel (_offset) {}
static constexpr bool switch_tri_indices_order = false;
//! Compute a triangle from 3 coordinates
void computeTriangle()
{
// v is the face normal
sm::vec<float> u1 = coords[0] - coords[1];
sm::vec<float> u2 = coords[1] - coords[2];
this->normal = u1.cross(u2);
this->normal.renormalize();
// Push corner vertices, colours and normals
for (unsigned int i = 0; i < 3U; ++i) {
this->vertex_push (this->coords[i], this->vertexPositions);
this->vertex_push (this->colours[i], this->vertexColors);
this->vertex_push (this->normal, this->vertexNormals);
}
// This is just index 0, 1, 2
this->indices.push_back (this->idx);
if constexpr (switch_tri_indices_order) { // for demo/debug
this->indices.push_back (this->idx + 2);
this->indices.push_back (this->idx + 1);
} else {
this->indices.push_back (this->idx + 1);
this->indices.push_back (this->idx + 2);
}
this->idx += 3; // Move the index counter on for the next drawing
}
//! Initialize vertex buffer objects and vertex array object.
void initializeVertices() {
// Compute the triangle
this->computeTriangle();
// Show indices/coords JUST from the triangle
sm::vvec<unsigned int> indvv;
indvv.set_from (this->indices);
this->addLabel (std::string("Index draw order: ") + indvv.str(), {0.0f, -0.6f, 0.0f}, mplot::TextFeatures(0.16f));
this->addLabel (std::string("Vtx 0 ") + coords[0].str(), coords[0] + sm::vec<float>{-0.3f, -0.2f, 0.0f}, mplot::TextFeatures(0.1f));
if constexpr (switch_tri_indices_order) { // for demo/debug
this->addLabel (std::string("Vtx 2 ") + coords[1].str(), coords[1] + sm::vec<float>{-0.3f, -0.2f, 0.0f}, mplot::TextFeatures(0.1f));
this->addLabel (std::string("Vtx 1 ") + coords[2].str(), coords[2] + sm::vec<float>{-0.3f, 0.2f, 0.0f}, mplot::TextFeatures(0.1f));
} else {
this->addLabel (std::string("Vtx 1 ") + coords[1].str(), coords[1] + sm::vec<float>{-0.3f, -0.2f, 0.0f}, mplot::TextFeatures(0.1f));
this->addLabel (std::string("Vtx 2 ") + coords[2].str(), coords[2] + sm::vec<float>{-0.3f, 0.2f, 0.0f}, mplot::TextFeatures(0.1f));
}
this->addLabel ("Vertex normals: " + this->normal.str(), {0, -0.9, 0}, mplot::TextFeatures(0.16));
// Add illustrative stuff
for (unsigned int i = 0; i < 3U; ++i) {
this->computeSphereGeo (this->coords[i], this->colours[i], 0.05f, 2);
this->computeArrow (this->coords[i], this->coords[i] + this->normal, this->colours[i], 0.015f);
}
}
//! The positions of the vertices of the triangle
std::array<sm::vec<float>, 3> coords = {
sm::vec<float>{0.0f, 0.0f, 0.0f},
sm::vec<float>{2.0f, 0.0f, 0.0f},
sm::vec<float>{0.0f, 2.0f, 0.0f}
};
std::array<std::array<float, 3>, 3> colours = { mplot::colour::firebrick, mplot::colour::orchid1, mplot::colour::navy };
sm::vec<float, 3> normal = {0.0f};
};
//! Like trivis, but with one extra vertex and drawing two triangles.
template<int glver = mplot::gl::version_4_1>
class doubletrivis : public VisualModel<glver>
{
public:
doubletrivis (const sm::vec<float, 3> _offset = {0.0f}) : mplot::VisualModel<glver>::VisualModel (_offset) {}
//! Compute two triangles from 4 corners
void computeTriangles()
{
// v is the face normal
sm::vec<float> u1 = coords[0] - coords[1];
sm::vec<float> u2 = coords[1] - coords[2];
this->normal = u1.cross(u2);
this->normal.renormalize();
// Push corner vertices, colours and normals
for (unsigned int i = 0; i < 4U; ++i) {
this->vertex_push (this->coords[i], this->vertexPositions);
this->vertex_push (this->colours[i], this->vertexColors);
this->vertex_push (this->normal, this->vertexNormals);
}
// First triangle 0, 1, 2
this->indices.push_back (this->idx);
this->indices.push_back (this->idx + 1);
this->indices.push_back (this->idx + 2);
// Second triangle 1, 3, 2
this->indices.push_back (this->idx + 1);
this->indices.push_back (this->idx + 3);
this->indices.push_back (this->idx + 2);
this->idx += 4; // Increase by the *number of vertices that we added*
}
//! Initialize vertex buffer objects and vertex array object.
void initializeVertices() {
// Compute the triangle
this->computeTriangles();
// Show indices/coords JUST from the triangble
sm::vvec<unsigned int> indvv;
indvv.set_from (this->indices);
this->addLabel (std::string("Index draw order: ") + indvv.str(), {0, -0.6, 0}, mplot::TextFeatures(0.16));
this->addLabel (std::string("Vtx 0 ") + coords[0].str(), coords[0] + sm::vec<float>{-0.3f, -0.2f, 0.0f}, mplot::TextFeatures(0.1));
this->addLabel (std::string("Vtx 1 ") + coords[1].str(), coords[1] + sm::vec<float>{-0.3f, -0.2f, 0.0f}, mplot::TextFeatures(0.1));
this->addLabel (std::string("Vtx 2 ") + coords[2].str(), coords[2] + sm::vec<float>{-0.3f, 0.2f, 0.0f}, mplot::TextFeatures(0.1));
this->addLabel (std::string("Vtx 3 ") + coords[3].str(), coords[3] + sm::vec<float>{-0.3f, 0.2f, 0.0f}, mplot::TextFeatures(0.1));
// Add illustrative stuff
for (unsigned int i = 0; i < 4U; ++i) {
this->computeSphereGeo (this->coords[i], this->colours[i], 0.05f, 2);
this->computeArrow (this->coords[i], this->coords[i] + this->normal, this->colours[i], 0.015f);
}
}
//! The positions of the vertices of the triangle
std::array<sm::vec<float>, 4> coords = {
sm::vec<float>{0, 0, 0},
sm::vec<float>{2, 0, 0},
sm::vec<float>{0, 2, 0},
sm::vec<float>{2, 2, 0}
};
std::array<std::array<float, 3>, 4> colours = {
mplot::colour::firebrick,
mplot::colour::orchid1,
mplot::colour::navy,
mplot::colour::lightblue2
};
sm::vec<float> normal = {0.0f};
};
//! This class creates the vertices for two triangles where you can see the colour difference -
//! this has to be made with 6 vertices, four of which share two locations.
template<int glver = mplot::gl::version_4_1>
class twocolourtri : public VisualModel<glver>
{
public:
twocolourtri (const sm::vec<float> _offset = {0,0,0}) : mplot::VisualModel<glver>::VisualModel (_offset) {}
//! Compute a triangle from 3 arbitrary corners
void computeTriangles()
{
// v is the face normal
sm::vec<float> u1 = coords[0] - coords[1];
sm::vec<float> u2 = coords[1] - coords[2];
this->normals[0] = u1.cross(u2);
this->normals[0].renormalize();
u1 = coords[3] - coords[4];
u2 = coords[4] - coords[5];
this->normals[1] = u1.cross(u2);
this->normals[1].renormalize();
// Push corner vertices, colours and normals
for (unsigned int i = 0; i < 6U; ++i) {
this->vertex_push (this->coords[i], this->vertexPositions);
this->vertex_push (this->colours[i], this->vertexColors);
this->vertex_push (this->normals[i<3?0:1], this->vertexNormals);
}
// First triangle 0, 1, 2
this->indices.push_back (this->idx);
this->indices.push_back (this->idx + 1);
this->indices.push_back (this->idx + 2);
// Second triangle 1, 3, 2
this->indices.push_back (this->idx + 3);
this->indices.push_back (this->idx + 4);
this->indices.push_back (this->idx + 5);
this->idx += 6; // Increase by the *number of vertices that we added*
}
//! Initialize vertex buffer objects and vertex array object.
void initializeVertices() {
// Compute the triangle
this->computeTriangles();
// Show indices/coords JUST from the triangble
sm::vvec<unsigned int> indvv;
indvv.set_from (this->indices);
this->addLabel (std::string("Index draw order: ") + indvv.str(), {0, -0.6, 0}, mplot::TextFeatures(0.16));
this->addLabel (std::string("Vtx 0 ") + coords[0].str(), coords[0] + sm::vec<float>{-0.3, -0.2, 0}, mplot::TextFeatures(0.1));
this->addLabel (std::string("Vtx 1 & 3 ") + coords[1].str(), coords[1] + sm::vec<float>{-0.3, -0.2, 0}, mplot::TextFeatures(0.1));
this->addLabel (std::string("Vtx 2 & 5") + coords[2].str(), coords[2] + sm::vec<float>{-0.3, 0.2, 0}, mplot::TextFeatures(0.1));
this->addLabel (std::string("Vtx 4 ") + coords[4].str(), coords[4] + sm::vec<float>{-0.3, 0.2, 0}, mplot::TextFeatures(0.1));
// Add illustrative stuff
for (unsigned int i = 0; i < 6U; ++i) {
this->computeSphereGeo (this->coords[i], this->colours[i], 0.05f, 2);
this->computeArrow (this->coords[i], this->coords[i] + this->normals[i<3?0:1], this->colours[i], 0.015f);
}
}
//! The positions of the vertices of the triangle
std::array<sm::vec<float>, 6> coords = {
sm::vec<float>{0, 0, -0.2},
sm::vec<float>{2, 0, 0},
sm::vec<float>{0, 2, 0},
sm::vec<float>{2, 0, 0},
sm::vec<float>{2, 2, -0.2},
sm::vec<float>{0, 2, 0}
};
std::array<std::array<float, 3>, 6> colours = {
mplot::colour::orchid1,
mplot::colour::firebrick,
mplot::colour::firebrick,
mplot::colour::navy,
mplot::colour::orchid1,
mplot::colour::navy
};
std::array<sm::vec<float>, 2> normals = { sm::vec<float>{0.0f}, sm::vec<float>{0.0f} };
};
int main()
{
mplot::Visual v(1024, 768, "Drawing with triangles");
v.lightingEffects();
auto tv = std::make_unique<trivis<>>(sm::vec<float>{0.0f});
v.bindmodel (tv);
tv->finalize();
[[maybe_unused]] auto tvp = v.addVisualModel (tv);
// A coord from which we instantiate a ray
sm::vec<> start = { 2, 0, 5 };
sm::vec<> dirn = { 0, 0, -10 };
sm::vec<> start_fr2 = { 1, .9, 5 };
sm::vec<> dirn_fr2 = { 0.5, -0.7, -10 };
sm::vec<> start_bh = { 0, 0, -5 };
sm::vec<> dirn_bh = { 1.5, 1.5, 10 };
auto sv = std::make_unique<mplot::SphereVisual<>>(start, 0.1, mplot::colour::goldenrod3);
v.bindmodel (sv);
sv->finalize();
v.addVisualModel (sv);
sv = std::make_unique<mplot::SphereVisual<>>(start_bh, 0.1, mplot::colour::goldenrod3);
v.bindmodel (sv);
sv->finalize();
v.addVisualModel (sv);
sv = std::make_unique<mplot::SphereVisual<>>(start_fr2, 0.1, mplot::colour::goldenrod3);
v.bindmodel (sv);
sv->finalize();
v.addVisualModel (sv);
auto vvm = std::make_unique<mplot::VectorVisual<float, 3>>(start);
v.bindmodel (vvm);
vvm->thevec = dirn;
vvm->vgoes = VectorGoes::FromOrigin;
vvm->thickness = 0.02f;
vvm->arrowhead_prop = 0.1f;
vvm->fixed_colour = true;
vvm->single_colour = mplot::colour::crimson;
vvm->addLabel ("Ray", {-0.8, -0.5, 0}, mplot::TextFeatures(0.1f));
vvm->finalize();
[[maybe_unused]] auto vvmp = v.addVisualModel (vvm);
vvm = std::make_unique<mplot::VectorVisual<float, 3>>(start_bh);
v.bindmodel (vvm);
vvm->thevec = dirn_bh;
vvm->vgoes = VectorGoes::FromOrigin;
vvm->thickness = 0.02f;
vvm->arrowhead_prop = 0.1f;
vvm->fixed_colour = true;
vvm->single_colour = mplot::colour::crimson;
vvm->addLabel ("Ray from behind", {-0.8, -0.5, 0}, mplot::TextFeatures(0.1f));
vvm->finalize();
[[maybe_unused]] auto vvmp2 = v.addVisualModel (vvm);
vvm = std::make_unique<mplot::VectorVisual<float, 3>>(start_fr2);
v.bindmodel (vvm);
vvm->thevec = dirn_fr2;
vvm->vgoes = VectorGoes::FromOrigin;
vvm->thickness = 0.02f;
vvm->arrowhead_prop = 0.1f;
vvm->fixed_colour = true;
vvm->single_colour = mplot::colour::crimson;
vvm->addLabel ("Ray from front through middle", {-0.8, -0.5, 0}, mplot::TextFeatures(0.1f));
vvm->finalize();
[[maybe_unused]] auto vvmp3 = v.addVisualModel (vvm);
tvp->make_navmesh();
auto vm = tvp->getViewMatrix();
auto vmi = vm.inverse();
auto start_wr = (vmi * start).less_one_dim(); // wr to tvp
std::cout << "start_wr = " << start_wr << std::endl;
auto [hit, ti] = tvp->navmesh->find_triangle_crossing (start_wr, dirn, vm);
if (ti == std::numeric_limits<uint32_t>::max()) {
std::cout << "NO HIT\n";
} else {
std::cout << "Indices: " << ti << std::endl;
std::cout << "Contains hit " << hit << std::endl;
sv = std::make_unique<mplot::SphereVisual<>>(hit, 0.07, mplot::colour::springgreen2);
v.bindmodel (sv);
sv->finalize();
v.addVisualModel (sv);
}
auto start_wr_fr2 = (vmi * start_fr2).less_one_dim(); // wr to tvp
auto [hit_fr2, ti_fr2] = tvp->navmesh->find_triangle_crossing (start_wr_fr2, dirn_fr2, vm);
if (ti_fr2 == std::numeric_limits<uint32_t>::max()) {
std::cout << "NO HIT\n";
} else {
std::cout << "Indices: " << ti_fr2 << std::endl;
std::cout << "Contains hit " << hit_fr2 << std::endl;
sv = std::make_unique<mplot::SphereVisual<>>(hit_fr2, 0.07, mplot::colour::springgreen2);
v.bindmodel (sv);
sv->finalize();
v.addVisualModel (sv);
}
auto start_wr_bh = (vmi * start_bh).less_one_dim(); // wr to tvp
std::cout << "start_wr = " << start_wr << std::endl;
auto [hit_bh, ti_bh] = tvp->navmesh->find_triangle_crossing (start_wr_bh, dirn_bh, vm);
if (ti_bh == std::numeric_limits<uint32_t>::max()) {
std::cout << "NO HIT\n";
} else {
std::cout << "Indices: " << ti_bh << std::endl;
std::cout << "Contains hit " << hit_bh << std::endl;
sv = std::make_unique<mplot::SphereVisual<>>(hit_bh, 0.07, mplot::colour::springgreen2);
v.bindmodel (sv);
sv->finalize();
v.addVisualModel (sv);
}
v.keepOpen();
return 0;
}
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