From afa8bb92264c2928ea40420267714c83c3d3b723 Mon Sep 17 00:00:00 2001 From: Michael Pollind Date: Sat, 9 Oct 2021 21:10:08 -0700 Subject: [PATCH 1/5] chore: update intersect and improve documentation Signed-off-by: Michael Pollind --- .../AzCore/AzCore/Math/IntersectSegment.cpp | 33 +- .../AzCore/AzCore/Math/IntersectSegment.h | 648 ++++++++++-------- .../AzCore/AzCore/Math/IntersectSegment.inl | 102 +++ .../AzCore/AzCore/azcore_files.cmake | 1 + 4 files changed, 485 insertions(+), 299 deletions(-) create mode 100644 Code/Framework/AzCore/AzCore/Math/IntersectSegment.inl diff --git a/Code/Framework/AzCore/AzCore/Math/IntersectSegment.cpp b/Code/Framework/AzCore/AzCore/Math/IntersectSegment.cpp index a7a0d5197e..2a00412689 100644 --- a/Code/Framework/AzCore/AzCore/Math/IntersectSegment.cpp +++ b/Code/Framework/AzCore/AzCore/Math/IntersectSegment.cpp @@ -157,7 +157,7 @@ Intersect::IntersectSegmentTriangle( // TestSegmentAABBOrigin // [10/21/2009] //========================================================================= -int +bool AZ::Intersect::TestSegmentAABBOrigin(const Vector3& midPoint, const Vector3& halfVector, const Vector3& aabbExtends) { const Vector3 EPSILON(0.001f); // \todo this is slow load move to a const @@ -168,7 +168,7 @@ AZ::Intersect::TestSegmentAABBOrigin(const Vector3& midPoint, const Vector3& hal // Try world coordinate axes as separating axes if (!absMidpoint.IsLessEqualThan(absHalfMidpoint)) { - return 0; + return false; } // Add in an epsilon term to counteract arithmetic errors when segment is @@ -188,11 +188,11 @@ AZ::Intersect::TestSegmentAABBOrigin(const Vector3& midPoint, const Vector3& hal Vector3 ead(ey * adz + ez * ady, ex * adz + ez * adx, ex * ady + ey * adx); if (!absMDCross.IsLessEqualThan(ead)) { - return 0; + return false; } // No separating axis found; segment must be overlapping AABB - return 1; + return true; } @@ -200,7 +200,7 @@ AZ::Intersect::TestSegmentAABBOrigin(const Vector3& midPoint, const Vector3& hal // IntersectRayAABB // [10/21/2009] //========================================================================= -int +RayAABBIsectTypes AZ::Intersect::IntersectRayAABB( const Vector3& rayStart, const Vector3& dir, const Vector3& dirRCP, const Aabb& aabb, float& tStart, float& tEnd, Vector3& startNormal /*, Vector3& inter*/) @@ -352,11 +352,14 @@ AZ::Intersect::IntersectRayAABB( return ISECT_RAY_AABB_ISECT; } + + + //========================================================================= // IntersectRayAABB2 // [2/18/2011] //========================================================================= -int +RayAABBIsectTypes AZ::Intersect::IntersectRayAABB2(const Vector3& rayStart, const Vector3& dirRCP, const Aabb& aabb, float& start, float& end) { float tmin, tmax, tymin, tymax, tzmin, tzmax; @@ -1166,7 +1169,7 @@ int AZ::Intersect::IntersectRayObb(const Vector3& rayOrigin, const Vector3& rayD // IntersectSegmentCylinder // [10/21/2009] //========================================================================= -int +CylinderIsectTypes AZ::Intersect::IntersectSegmentCylinder( const Vector3& sa, const Vector3& dir, const Vector3& p, const Vector3& q, const float r, float& t) { @@ -1225,7 +1228,7 @@ AZ::Intersect::IntersectSegmentCylinder( return RR_ISECT_RAY_CYL_NONE; // No real roots; no intersection } t = (-b - Sqrt(discr)) / a; - int result = RR_ISECT_RAY_CYL_PQ; // default along the PQ segment + CylinderIsectTypes result = RR_ISECT_RAY_CYL_PQ; // default along the PQ segment if (md + t * nd < 0.0f) { @@ -1294,7 +1297,7 @@ AZ::Intersect::IntersectSegmentCylinder( // IntersectSegmentCapsule // [10/21/2009] //========================================================================= -int +CapsuleIsectTypes AZ::Intersect::IntersectSegmentCapsule(const Vector3& sa, const Vector3& dir, const Vector3& p, const Vector3& q, const float r, float& t) { int result = IntersectSegmentCylinder(sa, dir, p, q, r, t); @@ -1361,7 +1364,7 @@ AZ::Intersect::IntersectSegmentCapsule(const Vector3& sa, const Vector3& dir, co // IntersectSegmentPolyhedron // [10/21/2009] //========================================================================= -int +bool AZ::Intersect::IntersectSegmentPolyhedron( const Vector3& sa, const Vector3& sBA, const Plane p[], int numPlanes, float& tfirst, float& tlast, int& iFirstPlane, int& iLastPlane) @@ -1388,7 +1391,7 @@ AZ::Intersect::IntersectSegmentPolyhedron( // If so, return "no intersection" if segment lies outside plane if (dist < 0.0f) { - return 0; + return false; } } else @@ -1417,7 +1420,7 @@ AZ::Intersect::IntersectSegmentPolyhedron( // Exit with "no intersection" if intersection becomes empty if (tfirst > tlast) { - return 0; + return false; } } } @@ -1425,11 +1428,11 @@ AZ::Intersect::IntersectSegmentPolyhedron( //DBG_Assert(iFirstPlane!=-1&&iLastPlane!=-1,("We have some bad border case to have only one plane, fix this function!")); if (iFirstPlane == -1 && iLastPlane == -1) { - return 0; + return false; } // A nonzero logical intersection, so the segment intersects the polyhedron - return 1; + return true; } //========================================================================= @@ -1442,7 +1445,7 @@ AZ::Intersect::ClosestSegmentSegment( const Vector3& segment2Start, const Vector3& segment2End, float& segment1Proportion, float& segment2Proportion, Vector3& closestPointSegment1, Vector3& closestPointSegment2, - float epsilon /*= 1e-4f*/ ) + float epsilon) { const Vector3 segment1 = segment1End - segment1Start; const Vector3 segment2 = segment2End - segment2Start; diff --git a/Code/Framework/AzCore/AzCore/Math/IntersectSegment.h b/Code/Framework/AzCore/AzCore/Math/IntersectSegment.h index df3d5e10fb..7be35c5ae6 100644 --- a/Code/Framework/AzCore/AzCore/Math/IntersectSegment.h +++ b/Code/Framework/AzCore/AzCore/Math/IntersectSegment.h @@ -5,257 +5,262 @@ * SPDX-License-Identifier: Apache-2.0 OR MIT * */ -#ifndef AZCORE_MATH_SEGMENT_INTERSECTION_H -#define AZCORE_MATH_SEGMENT_INTERSECTION_H +#pragma once -#include #include #include #include - -/// \file isect_segment.h +#include namespace AZ { namespace Intersect { - //! LineToPointDistanceTime computes the time of the shortest distance from point 'p' to segment (s1,s2). - //! To calculate the point of intersection: - //! P = s1 + u (s2 - s1) - //! @param s1 segment start point - //! @param s2 segment end point - //! @param p point to find the closest time to. - //! @return time (on the segment) for the shortest distance from 'p' to (s1,s2) [0.0f (s1),1.0f (s2)] - inline float LineToPointDistanceTime(const Vector3& s1, const Vector3& s21, const Vector3& p) - { - // so u = (p.x - s1.x)*(s2.x - s1.x) + (p.y - s1.y)*(s2.y - s1.y) + (p.z-s1.z)*(s2.z-s1.z) / |s2-s1|^2 - return s21.Dot(p - s1) / s21.Dot(s21); - } + /** + * LineToPointDistanceTime computes the time of the shortest distance from point 'p' to segment (s1,s2). + * To calculate the point of intersection: + * P = s1 + u (s2 - s1) + * @param s1 segment start point + * @param s2 segment end point + * @param p point to find the closest time to. + * @return time (on the segment) for the shortest distance from 'p' to (s1,s2) [0.0f (s1),1.0f (s2)] + */ + float LineToPointDistanceTime(const Vector3& s1, const Vector3& s21, const Vector3& p); - //! LineToPointDistance computes the closest point to 'p' from a segment (s1,s2). - //! @param s1 segment start point - //! @param s2 segment end point - //! @param p point to find the closest time to. - //! @param u time (on the segment) for the shortest distance from 'p' to (s1,s2) [0.0f (s1),1.0f (s2)] - //! @return the closest point - inline Vector3 LineToPointDistance(const Vector3& s1, const Vector3& s2, const Vector3& p, float& u) - { - const Vector3 s21 = s2 - s1; - // we assume seg1 and seg2 are NOT coincident - AZ_MATH_ASSERT(!s21.IsClose(Vector3(0.0f), 1e-4f), "OK we agreed that we will pass valid segments! (s1 != s2)"); + /** + * LineToPointDistance computes the closest point to 'p' from a segment (s1,s2). + * @param s1 segment start point + * @param s2 segment end point + * @param p point to find the closest time to. + * @param u time (on the segment) for the shortest distance from 'p' to (s1,s2) [0.0f (s1),1.0f (s2)] + * @return the closest point + */ + Vector3 LineToPointDistance(const Vector3& s1, const Vector3& s2, const Vector3& p, float& u); - u = LineToPointDistanceTime(s1, s21, p); - - return s1 + u * s21; - } - - //! Given segment pq and triangle abc (CCW), returns whether segment intersects - //! triangle and if so, also returns the barycentric coordinates (u,v,w) - //! of the intersection point. - //! @param p segment start point - //! @param q segment end point - //! @param a triangle point 1 - //! @param b triangle point 2 - //! @param c triangle point 3 - //! @param normal at the intersection point. - //! @param t time of intersection along the segment [0.0 (p), 1.0 (q)] - //! @return 1 if the segment intersects the triangle otherwise 0 + /** + * Given segment pq and triangle abc (CCW), returns whether segment intersects + * triangle and if so, also returns the barycentric coordinates (u,v,w) + * of the intersection point. + * + * @param p segment start point + * @param q segment end point + * @param a triangle point 1 + * @param b triangle point 2 + * @param c triangle point 3 + * @param normal at the intersection point. + * @param t time of intersection along the segment [0.0 (p), 1.0 (q)] + * @return true if the segments intersects the triangle otherwise false + */ int IntersectSegmentTriangleCCW( - const Vector3& p, const Vector3& q, const Vector3& a, const Vector3& b, const Vector3& c, - /*float &u, float &v, float &w,*/ Vector3& normal, float& t); + const Vector3& p, const Vector3& q, const Vector3& a, const Vector3& b, const Vector3& c, Vector3& normal, float& t); - //! Same as \ref IntersectSegmentTriangleCCW without respecting the triangle (a,b,c) vertex order (double sided). + /** + * Same as \ref IntersectSegmentTriangleCCW without respecting the triangle (a,b,c) vertex order (double sided). + * + * @param p segment start point + * @param q segment end point + * @param a triangle point 1 + * @param b triangle point 2 + * @param c triangle point 3 + * @param normal at the intersection point; + * @param t time of intersection along the segment [0.0 (p), 1.0 (q)] + * @return true if the segments intersects the triangle otherwise false + */ int IntersectSegmentTriangle( - const Vector3& p, const Vector3& q, const Vector3& a, const Vector3& b, const Vector3& c, - /*float &u, float &v, float &w,*/ Vector3& normal, float& t); + const Vector3& p, const Vector3& q, const Vector3& a, const Vector3& b, const Vector3& c, Vector3& normal, float& t); //! Ray aabb intersection result types. - enum RayAABBIsectTypes + enum RayAABBIsectTypes : AZ::s32 { - ISECT_RAY_AABB_NONE = 0, ///< no intersection - ISECT_RAY_AABB_SA_INSIDE, ///< the ray starts inside the aabb - ISECT_RAY_AABB_ISECT, ///< intersects along the PQ segment + ISECT_RAY_AABB_NONE = 0, ///< no intersection + ISECT_RAY_AABB_SA_INSIDE, ///< the ray starts inside the aabb + ISECT_RAY_AABB_ISECT, ///< intersects along the PQ segment }; - //! Intersect ray R(t) = rayStart + t*d against AABB a. When intersecting, - //! return intersection distance tmin and point q of intersection. - //! @param rayStart ray starting point - //! @param dir ray direction and length (dir = rayEnd - rayStart) - //! @param dirRCP 1/dir (reciprocal direction - we cache this result very often so we don't need to compute it multiple times, otherwise just use dir.GetReciprocal()) - //! @param aabb Axis aligned bounding box to intersect against - //! @param tStart time on ray of the first intersection [0,1] or 0 if the ray starts inside the aabb - check the return value - //! @param tEnd time of the of the second intersection [0,1] (it can be > 1 if intersects after the rayEnd) - //! @param startNormal normal at the start point. - //! @return \ref RayAABBIsectTypes - int IntersectRayAABB( - const Vector3& rayStart, const Vector3& dir, const Vector3& dirRCP, const Aabb& aabb, - float& tStart, float& tEnd, Vector3& startNormal /*, Vector3& inter*/); + /** + * Intersect ray R(t) = rayStart + t*d against AABB a. When intersecting, + * return intersection distance tmin and point q of intersection. + * @param rayStart ray starting point + * @param dir ray direction and length (dir = rayEnd - rayStart) + * @param dirRCP 1/dir (reciprocal direction - we cache this result very often so we don't need to compute it multiple times, + * otherwise just use dir.GetReciprocal()) + * @param aabb Axis aligned bounding box to intersect against + * @param tStart time on ray of the first intersection [0,1] or 0 if the ray starts inside the aabb - check the return value + * @param tEnd time of the of the second intersection [0,1] (it can be > 1 if intersects after the rayEnd) + * @param startNormal normal at the start point. + * @return \ref RayAABBIsectTypes + */ + RayAABBIsectTypes IntersectRayAABB( + const Vector3& rayStart, + const Vector3& dir, + const Vector3& dirRCP, + const Aabb& aabb, + float& tStart, + float& tEnd, + Vector3& startNormal /*, Vector3& inter*/); - //! Intersect ray against AABB. - //! @param rayStart ray starting point. - //! @param dir ray reciprocal direction. - //! @param aabb Axis aligned bounding box to intersect against. - //! @param start length on ray of the first intersection. - //! @param end length of the of the second intersection. - //! @return \ref RayAABBIsectTypes In this faster version than IntersectRayAABB we return only ISECT_RAY_AABB_NONE and ISECT_RAY_AABB_ISECT. - //! You can check yourself for that case. - int IntersectRayAABB2( - const Vector3& rayStart, const Vector3& dirRCP, const Aabb& aabb, - float& start, float& end); + /** + * Intersect ray against AABB. + * + * @param rayStart ray starting point. + * @param dir ray reciprocal direction. + * @param aabb Axis aligned bounding box to intersect against. + * @param start length on ray of the first intersection. + * @param end length of the of the second intersection. + * @return \ref RayAABBIsectTypes In this faster version than IntersectRayAABB we return only ISECT_RAY_AABB_NONE and ISECT_RAY_AABB_ISECT. You can check yourself for that case. + */ + RayAABBIsectTypes IntersectRayAABB2(const Vector3& rayStart, const Vector3& dirRCP, const Aabb& aabb, float& start, float& end); - //! Clip a ray to an aabb. return true if ray was clipped. The ray - //! can be inside so don't use the result if the ray intersect the box. - inline int ClipRayWithAabb( - const Aabb& aabb, Vector3& rayStart, Vector3& rayEnd, float& tClipStart, float& tClipEnd) - { - Vector3 startNormal; - float tStart, tEnd; - Vector3 dirLen = rayEnd - rayStart; - if (IntersectRayAABB(rayStart, dirLen, dirLen.GetReciprocal(), aabb, tStart, tEnd, startNormal) != ISECT_RAY_AABB_NONE) - { - // clip the ray with the box - if (tStart > 0.0f) - { - rayStart = rayStart + tStart * dirLen; - tClipStart = tStart; - } - if (tEnd < 1.0f) - { - rayEnd = rayStart + tEnd * dirLen; - tClipEnd = tEnd; - } + /** + * Clip a ray to an aabb. return true if ray was clipped. The ray + * can be inside so don't use the result if the ray intersect the box. + * + * @param aabb bounds + * @param rayStart the start of the ray + * @param rayEnd the end of the ray + * @param tClipStart[out] The proportion where the ray enterts the aabb + * @param tClipEnd[out] The proportion where the ray exits the aabb + * @return true ray was clipped else false + */ + bool ClipRayWithAabb(const Aabb& aabb, Vector3& rayStart, Vector3& rayEnd, float& tClipStart, float& tClipEnd); - return 1; - } + /** + * Test segment and aabb where the segment is defined by midpoint + * midPoint = (p1-p0) * 0.5f and half vector halfVector = p1 - midPoint. + * the aabb is at the origin and defined by half extents only. + * + * @param midPoint midpoint of a line segment + * @param halfVector half vector of an aabb + * @param aabbExtends the extends of a bounded box + * @return 1 if the intersect, otherwise 0. + */ + bool TestSegmentAABBOrigin(const Vector3& midPoint, const Vector3& halfVector, const Vector3& aabbExtends); - return 0; - } - - //! Test segment and aabb where the segment is defined by midpoint - //! midPoint = (p1-p0) * 0.5f and half vector halfVector = p1 - midPoint. - //! the aabb is at the origin and defined by half extents only. - //! @return 1 if the intersect, otherwise 0. - int TestSegmentAABBOrigin(const Vector3& midPoint, const Vector3& halfVector, const Vector3& aabbExtends); - - //! Test if segment specified by points p0 and p1 intersects AABB. \ref TestSegmentAABBOrigin - //! @return 1 if the segment and AABB intersect, otherwise 0. - inline int TestSegmentAABB(const Vector3& p0, const Vector3& p1, const Aabb& aabb) - { - Vector3 e = aabb.GetExtents(); - Vector3 d = p1 - p0; - Vector3 m = p0 + p1 - aabb.GetMin() - aabb.GetMax(); - - return TestSegmentAABBOrigin(m, d, e); - } + /** + * Test if segment specified by points p0 and p1 intersects AABB. \ref TestSegmentAABBOrigin + * + * @param p0 point 1 + * @param p1 point 2 + * @param aabb bounded box + * @return true if the segment and AABB intersect, otherwise false. + */ + bool TestSegmentAABB(const Vector3& p0, const Vector3& p1, const Aabb& aabb); //! Ray sphere intersection result types. - enum SphereIsectTypes + enum SphereIsectTypes : AZ::s32 { ISECT_RAY_SPHERE_SA_INSIDE = -1, // the ray starts inside the cylinder - ISECT_RAY_SPHERE_NONE, // no intersection - ISECT_RAY_SPHERE_ISECT, // along the PQ segment + ISECT_RAY_SPHERE_NONE, // no intersection + ISECT_RAY_SPHERE_ISECT, // along the PQ segment }; - //! IntersectRaySphereOrigin - //! return time t>=0 but not limited, so if you check a segment make sure - //! t <= segmentLen - //! @param rayStart ray start point - //! @param rayDirNormalized ray direction normalized. - //! @param shereRadius sphere radius - //! @param time of closest intersection [0,+INF] in relation to the normalized direction. - //! @return \ref SphereIsectTypes - AZ_INLINE int IntersectRaySphereOrigin( - const Vector3& rayStart, const Vector3& rayDirNormalized, - const float sphereRadius, float& t) - { - Vector3 m = rayStart; - float b = m.Dot(rayDirNormalized); - float c = m.Dot(m) - sphereRadius * sphereRadius; + /** + * IntersectRaySphereOrigin + * return time t>=0 but not limited, so if you check a segment make sure + * t <= segmentLen + * @param rayStart ray start point + * @param rayDirNormalized ray direction normalized. + * @param shereRadius sphere radius + * @param time of closest intersection [0,+INF] in relation to the normalized direction. + * @return \ref SphereIsectTypes + **/ + SphereIsectTypes IntersectRaySphereOrigin( + const Vector3& rayStart, const Vector3& rayDirNormalized, const float sphereRadius, float& t); - // Exit if r's origin outside s (c > 0)and r pointing away from s (b > 0) - if (c > 0.0f && b > 0.0f) - { - return ISECT_RAY_SPHERE_NONE; - } - float discr = b * b - c; - // A negative discriminant corresponds to ray missing sphere - if (discr < 0.0f) - { - return ISECT_RAY_SPHERE_NONE; - } + /** + * Intersect ray (rayStart,rayDirNormalized) and sphere (sphereCenter,sphereRadius) \ref IntersectRaySphereOrigin + * + * @param rayStart + * @param rayDirNormalized + * @param sphereCenter + * @param sphereRadius + * @param t + * @return int + */ + SphereIsectTypes IntersectRaySphere( + const Vector3& rayStart, const Vector3& rayDirNormalized, const Vector3& sphereCenter, const float sphereRadius, float& t); - // Ray now found to intersect sphere, compute smallest t value of intersection - t = -b - Sqrt(discr); - - // If t is negative, ray started inside sphere so clamp t to zero - if (t < 0.0f) - { - // t = 0.0f; - return ISECT_RAY_SPHERE_SA_INSIDE; // no hit if inside - } - //q = p + t * d; - return ISECT_RAY_SPHERE_ISECT; - } - - //! Intersect ray (rayStart,rayDirNormalized) and sphere (sphereCenter,sphereRadius) \ref IntersectRaySphereOrigin - inline int IntersectRaySphere( - const Vector3& rayStart, const Vector3& rayDirNormalized, const Vector3& sphereCenter, const float sphereRadius, float& t) - { - return IntersectRaySphereOrigin(rayStart - sphereCenter, rayDirNormalized, sphereRadius, t); - } - - //! @param rayOrigin The origin of the ray to test. - //! @param rayDir The direction of the ray to test. It has to be unit length. - //! @param diskCenter Center point of the disk - //! @param diskRadius Radius of the disk - //! @param diskNormal A normal perpendicular to the disk - //! @param[out] t If returning 1 (indicating a hit), this contains distance from rayOrigin along the normalized rayDir that the hit occured at. - //! @return The number of intersecting points. + /** + * @param rayOrigin The origin of the ray to test. + * @param rayDir The direction of the ray to test. It has to be unit length. + * @param diskCenter Center point of the disk + * @param diskRadius Radius of the disk + * @param diskNormal A normal perpendicular to the disk + * @param[out] t If returning 1 (indicating a hit), this contains distance from rayOrigin along the normalized rayDir + * that the hit occured at. + * @return The number of intersecting points. + **/ int IntersectRayDisk( - const Vector3& rayOrigin, const Vector3& rayDir, const Vector3& diskCenter, const float diskRadius, const AZ::Vector3& diskNormal, float& t); + const Vector3& rayOrigin, + const Vector3& rayDir, + const Vector3& diskCenter, + const float diskRadius, + const AZ::Vector3& diskNormal, + float& t); - //! If there is only one intersecting point, the coefficient is stored in \ref t1. - //! @param rayOrigin The origin of the ray to test. - //! @param rayDir The direction of the ray to test. It has to be unit length. - //! @param cylinderEnd1 The center of the circle on one end of the cylinder. - //! @param cylinderDir The direction pointing from \ref cylinderEnd1 to the other end of the cylinder. It has to be unit length. - //! @param cylinderHeight The distance between two centers of the circles on two ends of the cylinder respectively. - //! @param[out] t1 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated as "rayOrigin + t1 * rayDir". - //! @param[out] t2 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated as "rayOrigin + t2 * rayDir". - //! @return The number of intersecting points. + /** + * If there is only one intersecting point, the coefficient is stored in \ref t1. + * @param rayOrigin The origin of the ray to test. + * @param rayDir The direction of the ray to test. It has to be unit length. + * @param cylinderEnd1 The center of the circle on one end of the cylinder. + * @param cylinderDir The direction pointing from \ref cylinderEnd1 to the other end of the cylinder. It has to be unit + * length. + * @param cylinderHeight The distance between two centers of the circles on two ends of the cylinder respectively. + * @param[out] t1 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated + * as "rayOrigin + t1 * rayDir". + * @param[out] t2 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated + * as "rayOrigin + t2 * rayDir". + * @return The number of intersecting points. + **/ int IntersectRayCappedCylinder( - const Vector3& rayOrigin, const Vector3& rayDir, - const Vector3& cylinderEnd1, const Vector3& cylinderDir, float cylinderHeight, float cylinderRadius, - float& t1, float& t2); + const Vector3& rayOrigin, + const Vector3& rayDir, + const Vector3& cylinderEnd1, + const Vector3& cylinderDir, + float cylinderHeight, + float cylinderRadius, + float& t1, + float& t2); - //! If there is only one intersecting point, the coefficient is stored in \ref t1. - //! @param rayOrigin The origin of the ray to test. - //! @param rayDir The direction of the ray to test. It has to be unit length. - //! @param coneApex The apex of the cone. - //! @param coneDir The unit-length direction from the apex to the base. - //! @param coneHeight The height of the cone, from the apex to the base. - //! @param coneBaseRadius The radius of the cone base circle. - //! @param[out] t1 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated as "rayOrigin + t1 * rayDir". - //! @param[out] t2 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated as "rayOrigin + t2 * rayDir". - //! @return The number of intersecting points. + /** + * If there is only one intersecting point, the coefficient is stored in \ref t1. + * @param rayOrigin The origin of the ray to test. + * @param rayDir The direction of the ray to test. It has to be unit length. + * @param coneApex The apex of the cone. + * @param coneDir The unit-length direction from the apex to the base. + * @param coneHeight The height of the cone, from the apex to the base. + * @param coneBaseRadius The radius of the cone base circle. + * @param[out] t1 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated + * as "rayOrigin + t1 * rayDir". + * @param[out] t2 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated + * as "rayOrigin + t2 * rayDir". + * @return The number of intersecting points. + **/ int IntersectRayCone( - const Vector3& rayOrigin, const Vector3& rayDir, - const Vector3& coneApex, const Vector3& coneDir, float coneHeight, float coneBaseRadius, - float& t1, float& t2); + const Vector3& rayOrigin, + const Vector3& rayDir, + const Vector3& coneApex, + const Vector3& coneDir, + float coneHeight, + float coneBaseRadius, + float& t1, + float& t2); - //! Test intersection between a ray and a plane in 3D. - //! @param rayOrigin The origin of the ray to test intersection with. - //! @param rayDir The direction of the ray to test intersection with. - //! @param planePos A point on the plane to test intersection with. - //! @param planeNormal The normal of the plane to test intersection with. - //! @param t[out] The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * rayDirection". - //! @return The number of intersection point. + /** + * Test intersection between a ray and a plane in 3D. + * @param rayOrigin The origin of the ray to test intersection with. + * @param rayDir The direction of the ray to test intersection with. + * @param planePos A point on the plane to test intersection with. + * @param planeNormal The normal of the plane to test intersection with. + * @param t[out] The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + *+ t * rayDirection". + * @return The number of intersection point. + **/ int IntersectRayPlane( - const Vector3& rayOrigin, const Vector3& rayDir, const Vector3& planePos, - const Vector3& planeNormal, float& t); + const Vector3& rayOrigin, const Vector3& rayDir, const Vector3& planePos, const Vector3& planeNormal, float& t); //! Test intersection between a ray and a two-sided quadrilateral defined by four points in 3D. - //! The four points that define the quadrilateral could be passed in with either counter clock-wise + //! The four points that define the quadrilateral could be passed in with either counter clock-wise //! winding or clock-wise winding. //! @param rayOrigin The origin of the ray to test intersection with. //! @param rayDir The direction of the ray to test intersection with. @@ -263,105 +268,180 @@ namespace AZ //! @param vertexB One of the four points that define the quadrilateral. //! @param vertexC One of the four points that define the quadrilateral. //! @param vertexD One of the four points that define the quadrilateral. - //! @param t[out] The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * rayDirection". + //! @param t[out] The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + + //! t * rayDirection". //! @return The number of intersection point. int IntersectRayQuad( - const Vector3& rayOrigin, const Vector3& rayDir, const Vector3& vertexA, - const Vector3& vertexB, const Vector3& vertexC, const Vector3& vertexD, float& t); - - //! Test intersection between a ray and an oriented box in 3D. - //! @param rayOrigin The origin of the ray to test intersection with. - //! @param rayDir The direction of the ray to test intersection with. - //! @param boxCenter The position of the center of the box. - //! @param boxAxis1 An axis along one dimension of the oriented box. - //! @param boxAxis2 An axis along one dimension of the oriented box. - //! @param boxAxis3 An axis along one dimension of the oriented box. - //! @param boxHalfExtent1 The half extent of the box on the dimension of \ref boxAxis1. - //! @param boxHalfExtent2 The half extent of the box on the dimension of \ref boxAxis2. - //! @param boxHalfExtent3 The half extent of the box on the dimension of \ref boxAxis3. - //! @param t[out] The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * rayDirection". - //! @return 1 if there is an intersection, 0 otherwise. - int IntersectRayBox( - const Vector3& rayOrigin, const Vector3& rayDir, const Vector3& boxCenter, const Vector3& boxAxis1, - const Vector3& boxAxis2, const Vector3& boxAxis3, float boxHalfExtent1, float boxHalfExtent2, float boxHalfExtent3, + const Vector3& rayOrigin, + const Vector3& rayDir, + const Vector3& vertexA, + const Vector3& vertexB, + const Vector3& vertexC, + const Vector3& vertexD, float& t); - //! Test intersection between a ray and an OBB. - //! @param rayOrigin The origin of the ray to test intersection with. - //! @param rayDir The direction of the ray to test intersection with. - //! @param obb The OBB to test for intersection with the ray. - //! @param t[out] The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * rayDirection". - //! @return 1 if there is an intersection, 0 otherwise. + /** Test intersection between a ray and an oriented box in 3D. + * @param rayOrigin The origin of the ray to test intersection with. + * @param rayDir The direction of the ray to test intersection with. + * @param boxCenter The position of the center of the box. + * @param boxAxis1 An axis along one dimension of the oriented box. + * @param boxAxis2 An axis along one dimension of the oriented box. + * @param boxAxis3 An axis along one dimension of the oriented box. + * @param boxHalfExtent1 The half extent of the box on the dimension of \ref boxAxis1. + * @param boxHalfExtent2 The half extent of the box on the dimension of \ref boxAxis2. + * @param boxHalfExtent3 The half extent of the box on the dimension of \ref boxAxis3. + * @param t[out] The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + + * t * rayDirection". + * @return 1 if there is an intersection, 0 otherwise. + **/ + int IntersectRayBox( + const Vector3& rayOrigin, + const Vector3& rayDir, + const Vector3& boxCenter, + const Vector3& boxAxis1, + const Vector3& boxAxis2, + const Vector3& boxAxis3, + float boxHalfExtent1, + float boxHalfExtent2, + float boxHalfExtent3, + float& t); + + /** + * Test intersection between a ray and an OBB. + * @param rayOrigin The origin of the ray to test intersection with. + * @param rayDir The direction of the ray to test intersection with. + * @param obb The OBB to test for intersection with the ray. + * @param t[out] The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * + * rayDirection". + * @return 1 if there is an intersection, 0 otherwise. + */ int IntersectRayObb(const Vector3& rayOrigin, const Vector3& rayDir, const Obb& obb, float& t); //! Ray cylinder intersection types. - enum CylinderIsectTypes + enum CylinderIsectTypes : AZ::s32 { RR_ISECT_RAY_CYL_SA_INSIDE = -1, // the ray starts inside the cylinder - RR_ISECT_RAY_CYL_NONE, // no intersection - RR_ISECT_RAY_CYL_PQ, // along the PQ segment - RR_ISECT_RAY_CYL_P_SIDE, // on the P side - RR_ISECT_RAY_CYL_Q_SIDE, // on the Q side + RR_ISECT_RAY_CYL_NONE, // no intersection + RR_ISECT_RAY_CYL_PQ, // along the PQ segment + RR_ISECT_RAY_CYL_P_SIDE, // on the P side + RR_ISECT_RAY_CYL_Q_SIDE, // on the Q side }; - //! Intersect segment S(t)=sa+t(dir), 0<=t<=1 against cylinder specified by p, q and r. - int IntersectSegmentCylinder( - const Vector3& sa, const Vector3& dir, const Vector3& p, const Vector3& q, - const float r, float& t); + /** + * Reference: Real-Time Collision Detection - 5.3.7 Intersecting Ray or Segment Against Cylinder + * Intersect segment S(t)=sa+t(dir), 0<=t<=1 against cylinder specified by p, q and r. + * + * @param sa point + * @param dir magnitude along sa + * @param p center point of side 1 cylinder + * @param q center point of side 2 cylinder + * @param r radius of cylinder + * @param t[out] proporition along line semgnet + * @return CylinderIsectTypes + */ + CylinderIsectTypes IntersectSegmentCylinder( + const Vector3& sa, const Vector3& dir, const Vector3& p, const Vector3& q, const float r, float& t); //! Capsule ray intersect types. enum CapsuleIsectTypes { ISECT_RAY_CAPSULE_SA_INSIDE = -1, // the ray starts inside the cylinder ISECT_RAY_CAPSULE_NONE, // no intersection - ISECT_RAY_CAPSULE_PQ, // along the PQ segment - ISECT_RAY_CAPSULE_P_SIDE, // on the P side - ISECT_RAY_CAPSULE_Q_SIDE, // on the Q side + ISECT_RAY_CAPSULE_PQ, // along the PQ segment + ISECT_RAY_CAPSULE_P_SIDE, // on the P side + ISECT_RAY_CAPSULE_Q_SIDE, // on the Q side }; - //! This is a quick implementation of segment capsule based on segment cylinder \ref IntersectSegmentCylinder - //! segment sphere intersection. We can optimize it a lot once we fix the ray - //! cylinder intersection. - int IntersectSegmentCapsule( - const Vector3& sa, const Vector3& dir, const Vector3& p, - const Vector3& q, const float r, float& t); + /** + * This is a quick implementation of segment capsule based on segment cylinder \ref IntersectSegmentCylinder + * segment sphere intersection. We can optimize it a lot once we fix the ray + * cylinder intersection. + */ + CapsuleIsectTypes IntersectSegmentCapsule( + const Vector3& sa, const Vector3& dir, const Vector3& p, const Vector3& q, const float r, float& t); - //! Intersect segment S(t)=A+t(B-A), 0<=t<=1 against convex polyhedron specified - //! by the n halfspaces defined by the planes p[]. On exit tfirst and tlast - //! define the intersection, if any. - int IntersectSegmentPolyhedron( - const Vector3& sa, const Vector3& sBA, const Plane p[], int numPlanes, - float& tfirst, float& tlast, int& iFirstPlane, int& iLastPlane); + /** + * Intersect segment S(t)=A+t(B-A), 0<=t<=1 against convex polyhedron specified + * by the n halfspaces defined by the planes p[]. On exit tfirst and tlast + * define the intersection, if any. + */ + bool IntersectSegmentPolyhedron( + const Vector3& sa, + const Vector3& sBA, + const Plane p[], + int numPlanes, + float& tfirst, + float& tlast, + int& iFirstPlane, + int& iLastPlane); - //! Calculate the line segment closestPointSegment1<->closestPointSegment2 that is the shortest route between - //! two segments segment1Start<->segment1End and segment2Start<->segment2End. Also calculate the values of segment1Proportion and segment2Proportion where - //! closestPointSegment1 = segment1Start + (segment1Proportion * (segment1End - segment1Start)) - //! closestPointSegment2 = segment2Start + (segment2Proportion * (segment2End - segment2Start)) - //! If segments are parallel returns a solution. + /** + * Calculate the line segment closestPointSegment1<->closestPointSegment2 that is the shortest route between + * two segments segment1Start<->segment1End and segment2Start<->segment2End. Also calculate the values of segment1Proportion and + * segment2Proportion where closestPointSegment1 = segment1Start + (segment1Proportion * (segment1End - segment1Start)) + * closestPointSegment2 = segment2Start + (segment2Proportion * (segment2End - segment2Start)) + * If segments are parallel returns a solution. + * @param segment1Start start of segment 1. + * @param segment1End end of segment 1. + * @param segment2Start start of segment 2. + * @param segment2End end of segment 2. + * @param segment1Proportion[out] the proporition along segment 1 [0..1] + * @param segment2Proportion[out] the proporition along segment 2 [0..1] + * @param closestPointSegment1[out] closest point on segment 1. + * @param closestPointSegment2[out] closest point on segment 2. + * @param epsilon the minimum square distance where a line segment can be treated as a single point. + */ void ClosestSegmentSegment( - const Vector3& segment1Start, const Vector3& segment1End, - const Vector3& segment2Start, const Vector3& segment2End, - float& segment1Proportion, float& segment2Proportion, - Vector3& closestPointSegment1, Vector3& closestPointSegment2, + const Vector3& segment1Start, + const Vector3& segment1End, + const Vector3& segment2Start, + const Vector3& segment2End, + float& segment1Proportion, + float& segment2Proportion, + Vector3& closestPointSegment1, + Vector3& closestPointSegment2, float epsilon = 1e-4f); - //! Calculate the line segment closestPointSegment1<->closestPointSegment2 that is the shortest route between - //! two segments segment1Start<->segment1End and segment2Start<->segment2End. - //! If segments are parallel returns a solution. + /** + * Calculate the line segment closestPointSegment1<->closestPointSegment2 that is the shortest route between + * two segments segment1Start<->segment1End and segment2Start<->segment2End. + * If segments are parallel returns a solution. + * + * @param segment1Start start of segment 1. + * @param segment1End end of segment 1. + * @param segment2Start start of segment 2. + * @param segment2End end of segment 2. + * @param closestPointSegment1[out] closest point on segment 1. + * @param closestPointSegment2[out] closest point on segment 2. + * @param epsilon the minimum square distance where a line segment can be treated as a single point. + */ void ClosestSegmentSegment( - const Vector3& segment1Start, const Vector3& segment1End, - const Vector3& segment2Start, const Vector3& segment2End, - Vector3& closestPointSegment1, Vector3& closestPointSegment2, + const Vector3& segment1Start, + const Vector3& segment1End, + const Vector3& segment2Start, + const Vector3& segment2End, + Vector3& closestPointSegment1, + Vector3& closestPointSegment2, float epsilon = 1e-4f); - //! Calculate the point (closestPointOnSegment) that is the closest point on - //! segment segmentStart/segmentEnd to point. Also calculate the value of proportion where - //! closestPointOnSegment = segmentStart + (proportion * (segmentEnd - segmentStart)) + /** + * Calculate the point (closestPointOnSegment) that is the closest point on + * segment segmentStart/segmentEnd to point. Also calculate the value of proportion where + * closestPointOnSegment = segmentStart + (proportion * (segmentEnd - segmentStart)) + * + * @param point the point to test + * @param segmentStart the start of the segment + * @param segmentEnd the end of the segment + * @param proportion[out] the proportion of the segment L(t) = (end - start) * t + * @param closestPointOnSegment[out] the point along the line segment + */ void ClosestPointSegment( - const Vector3& point, const Vector3& segmentStart, const Vector3& segmentEnd, - float& proportion, Vector3& closestPointOnSegment); - } -} + const Vector3& point, + const Vector3& segmentStart, + const Vector3& segmentEnd, + float& proportion, + Vector3& closestPointOnSegment); + } // namespace Intersect +} // namespace AZ -#endif // AZCORE_MATH_SEGMENT_INTERSECTION_H -#pragma once +#include diff --git a/Code/Framework/AzCore/AzCore/Math/IntersectSegment.inl b/Code/Framework/AzCore/AzCore/Math/IntersectSegment.inl new file mode 100644 index 0000000000..b9f5139923 --- /dev/null +++ b/Code/Framework/AzCore/AzCore/Math/IntersectSegment.inl @@ -0,0 +1,102 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +namespace AZ +{ + namespace Intersect + { + AZ_MATH_INLINE bool ClipRayWithAabb(const Aabb& aabb, Vector3& rayStart, Vector3& rayEnd, float& tClipStart, float& tClipEnd) + { + Vector3 startNormal; + float tStart, tEnd; + Vector3 dirLen = rayEnd - rayStart; + if (IntersectRayAABB(rayStart, dirLen, dirLen.GetReciprocal(), aabb, tStart, tEnd, startNormal) != ISECT_RAY_AABB_NONE) + { + // clip the ray with the box + if (tStart > 0.0f) + { + rayStart = rayStart + tStart * dirLen; + tClipStart = tStart; + } + if (tEnd < 1.0f) + { + rayEnd = rayStart + tEnd * dirLen; + tClipEnd = tEnd; + } + + return true; + } + + return false; + } + + AZ_MATH_INLINE SphereIsectTypes + IntersectRaySphereOrigin(const Vector3& rayStart, const Vector3& rayDirNormalized, const float sphereRadius, float& t) + { + Vector3 m = rayStart; + float b = m.Dot(rayDirNormalized); + float c = m.Dot(m) - sphereRadius * sphereRadius; + + // Exit if r's origin outside s (c > 0)and r pointing away from s (b > 0) + if (c > 0.0f && b > 0.0f) + { + return ISECT_RAY_SPHERE_NONE; + } + float discr = b * b - c; + // A negative discriminant corresponds to ray missing sphere + if (discr < 0.0f) + { + return ISECT_RAY_SPHERE_NONE; + } + + // Ray now found to intersect sphere, compute smallest t value of intersection + t = -b - Sqrt(discr); + + // If t is negative, ray started inside sphere so clamp t to zero + if (t < 0.0f) + { + // t = 0.0f; + return ISECT_RAY_SPHERE_SA_INSIDE; // no hit if inside + } + // q = p + t * d; + return ISECT_RAY_SPHERE_ISECT; + } + + AZ_MATH_INLINE SphereIsectTypes IntersectRaySphere(const Vector3& rayStart, const Vector3& rayDirNormalized, const Vector3& sphereCenter, const float sphereRadius, float& t) + { + return IntersectRaySphereOrigin(rayStart - sphereCenter, rayDirNormalized, sphereRadius, t); + } + + AZ_MATH_INLINE Vector3 LineToPointDistance(const Vector3& s1, const Vector3& s2, const Vector3& p, float& u) + { + const Vector3 s21 = s2 - s1; + // we assume seg1 and seg2 are NOT coincident + AZ_MATH_ASSERT(!s21.IsClose(Vector3(0.0f), 1e-4f), "OK we agreed that we will pass valid segments! (s1 != s2)"); + + u = LineToPointDistanceTime(s1, s21, p); + + return s1 + u * s21; + } + + AZ_MATH_INLINE float LineToPointDistanceTime(const Vector3& s1, const Vector3& s21, const Vector3& p) + { + // so u = (p.x - s1.x)*(s2.x - s1.x) + (p.y - s1.y)*(s2.y - s1.y) + (p.z-s1.z)*(s2.z-s1.z) / |s2-s1|^2 + return s21.Dot(p - s1) / s21.Dot(s21); + } + + AZ_MATH_INLINE bool TestSegmentAABB(const Vector3& p0, const Vector3& p1, const Aabb& aabb) + { + Vector3 e = aabb.GetExtents(); + Vector3 d = p1 - p0; + Vector3 m = p0 + p1 - aabb.GetMin() - aabb.GetMax(); + + return TestSegmentAABBOrigin(m, d, e); + } + } // namespace Intersect +} // namespace AZ diff --git a/Code/Framework/AzCore/AzCore/azcore_files.cmake b/Code/Framework/AzCore/AzCore/azcore_files.cmake index 6675958247..4d95ddf098 100644 --- a/Code/Framework/AzCore/AzCore/azcore_files.cmake +++ b/Code/Framework/AzCore/AzCore/azcore_files.cmake @@ -282,6 +282,7 @@ set(FILES Math/Internal/VertexContainer.inl Math/InterpolationSample.h Math/IntersectPoint.h + Math/IntersectSegment.inl Math/IntersectSegment.cpp Math/IntersectSegment.h Math/MathIntrinsics.h From 1c3b293cd36da71dd5c34fc71521d9a81446b885 Mon Sep 17 00:00:00 2001 From: Michael Pollind Date: Mon, 11 Oct 2021 07:28:34 -0700 Subject: [PATCH 2/5] fix comments replace /** with //! Signed-off-by: Michael Pollind --- .../AzCore/AzCore/Math/IntersectSegment.h | 454 ++++++++---------- .../AzCore/AzCore/Math/IntersectSegment.inl | 1 - 2 files changed, 204 insertions(+), 251 deletions(-) diff --git a/Code/Framework/AzCore/AzCore/Math/IntersectSegment.h b/Code/Framework/AzCore/AzCore/Math/IntersectSegment.h index 7be35c5ae6..ecb0d7acc9 100644 --- a/Code/Framework/AzCore/AzCore/Math/IntersectSegment.h +++ b/Code/Framework/AzCore/AzCore/Math/IntersectSegment.h @@ -16,56 +16,47 @@ namespace AZ { namespace Intersect { - /** - * LineToPointDistanceTime computes the time of the shortest distance from point 'p' to segment (s1,s2). - * To calculate the point of intersection: - * P = s1 + u (s2 - s1) - * @param s1 segment start point - * @param s2 segment end point - * @param p point to find the closest time to. - * @return time (on the segment) for the shortest distance from 'p' to (s1,s2) [0.0f (s1),1.0f (s2)] - */ + //! LineToPointDistanceTime computes the time of the shortest distance from point 'p' to segment (s1,s2). + //! To calculate the point of intersection: + //! P = s1 + u (s2 - s1) + //! @param s1 segment start point + //! @param s2 segment end point + //! @param p point to find the closest time to. + //! @return time (on the segment) for the shortest distance from 'p' to (s1,s2) [0.0f (s1),1.0f (s2)] float LineToPointDistanceTime(const Vector3& s1, const Vector3& s21, const Vector3& p); - /** - * LineToPointDistance computes the closest point to 'p' from a segment (s1,s2). - * @param s1 segment start point - * @param s2 segment end point - * @param p point to find the closest time to. - * @param u time (on the segment) for the shortest distance from 'p' to (s1,s2) [0.0f (s1),1.0f (s2)] - * @return the closest point - */ + //! LineToPointDistance computes the closest point to 'p' from a segment (s1,s2). + //! @param s1 segment start point + //! @param s2 segment end point + //! @param p point to find the closest time to. + //! @param u time (on the segment) for the shortest distance from 'p' to (s1,s2) [0.0f (s1),1.0f (s2)] + //! @return the closest point Vector3 LineToPointDistance(const Vector3& s1, const Vector3& s2, const Vector3& p, float& u); - /** - * Given segment pq and triangle abc (CCW), returns whether segment intersects - * triangle and if so, also returns the barycentric coordinates (u,v,w) - * of the intersection point. - * - * @param p segment start point - * @param q segment end point - * @param a triangle point 1 - * @param b triangle point 2 - * @param c triangle point 3 - * @param normal at the intersection point. - * @param t time of intersection along the segment [0.0 (p), 1.0 (q)] - * @return true if the segments intersects the triangle otherwise false - */ + //! Given segment pq and triangle abc (CCW), returns whether segment intersects + //! triangle and if so, also returns the barycentric coordinates (u,v,w) + //! of the intersection point. + //! + //! @param p segment start point + //! @param q segment end point + //! @param a triangle point 1 + //! @param b triangle point 2 + //! @param c triangle point 3 + //! @param normal at the intersection point. + //! @param t time of intersection along the segment [0.0 (p), 1.0 (q)] + //! @return true if the segments intersects the triangle otherwise false int IntersectSegmentTriangleCCW( const Vector3& p, const Vector3& q, const Vector3& a, const Vector3& b, const Vector3& c, Vector3& normal, float& t); - /** - * Same as \ref IntersectSegmentTriangleCCW without respecting the triangle (a,b,c) vertex order (double sided). - * - * @param p segment start point - * @param q segment end point - * @param a triangle point 1 - * @param b triangle point 2 - * @param c triangle point 3 - * @param normal at the intersection point; - * @param t time of intersection along the segment [0.0 (p), 1.0 (q)] - * @return true if the segments intersects the triangle otherwise false - */ + //! Same as \ref IntersectSegmentTriangleCCW without respecting the triangle (a,b,c) vertex order (double sided). + //! //! @param p segment start point + //! @param q segment end point + //! @param a triangle point 1 + //! @param b triangle point 2 + //! @param c triangle point 3 + //! @param normal at the intersection point; + //! @param t time of intersection along the segment [0.0 (p), 1.0 (q)] + //! @return true if the segments intersects the triangle otherwise false int IntersectSegmentTriangle( const Vector3& p, const Vector3& q, const Vector3& a, const Vector3& b, const Vector3& c, Vector3& normal, float& t); @@ -77,19 +68,17 @@ namespace AZ ISECT_RAY_AABB_ISECT, ///< intersects along the PQ segment }; - /** - * Intersect ray R(t) = rayStart + t*d against AABB a. When intersecting, - * return intersection distance tmin and point q of intersection. - * @param rayStart ray starting point - * @param dir ray direction and length (dir = rayEnd - rayStart) - * @param dirRCP 1/dir (reciprocal direction - we cache this result very often so we don't need to compute it multiple times, - * otherwise just use dir.GetReciprocal()) - * @param aabb Axis aligned bounding box to intersect against - * @param tStart time on ray of the first intersection [0,1] or 0 if the ray starts inside the aabb - check the return value - * @param tEnd time of the of the second intersection [0,1] (it can be > 1 if intersects after the rayEnd) - * @param startNormal normal at the start point. - * @return \ref RayAABBIsectTypes - */ + //! Intersect ray R(t) = rayStart + t*d against AABB a. When intersecting, + //! return intersection distance tmin and point q of intersection. + //! @param rayStart ray starting point + //! @param dir ray direction and length (dir = rayEnd - rayStart) + //! @param dirRCP 1/dir (reciprocal direction - we cache this result very often so we don't need to compute it multiple times, + //! otherwise just use dir.GetReciprocal()) + //! @param aabb Axis aligned bounding box to intersect against + //! @param tStart time on ray of the first intersection [0,1] or 0 if the ray starts inside the aabb - check the return value + //! @param tEnd time of the of the second intersection [0,1] (it can be > 1 if intersects after the rayEnd) + //! @param startNormal normal at the start point. + //! @return \ref RayAABBIsectTypes RayAABBIsectTypes IntersectRayAABB( const Vector3& rayStart, const Vector3& dir, @@ -99,51 +88,43 @@ namespace AZ float& tEnd, Vector3& startNormal /*, Vector3& inter*/); - /** - * Intersect ray against AABB. - * - * @param rayStart ray starting point. - * @param dir ray reciprocal direction. - * @param aabb Axis aligned bounding box to intersect against. - * @param start length on ray of the first intersection. - * @param end length of the of the second intersection. - * @return \ref RayAABBIsectTypes In this faster version than IntersectRayAABB we return only ISECT_RAY_AABB_NONE and ISECT_RAY_AABB_ISECT. You can check yourself for that case. - */ + //! Intersect ray against AABB. + //! + //! @param rayStart ray starting point. + //! @param dir ray reciprocal direction. + //! @param aabb Axis aligned bounding box to intersect against. + //! @param start length on ray of the first intersection. + //! @param end length of the of the second intersection. + //! @return \ref RayAABBIsectTypes In this faster version than IntersectRayAABB we return only ISECT_RAY_AABB_NONE and ISECT_RAY_AABB_ISECT. You can check yourself for that case. RayAABBIsectTypes IntersectRayAABB2(const Vector3& rayStart, const Vector3& dirRCP, const Aabb& aabb, float& start, float& end); - /** - * Clip a ray to an aabb. return true if ray was clipped. The ray - * can be inside so don't use the result if the ray intersect the box. - * - * @param aabb bounds - * @param rayStart the start of the ray - * @param rayEnd the end of the ray - * @param tClipStart[out] The proportion where the ray enterts the aabb - * @param tClipEnd[out] The proportion where the ray exits the aabb - * @return true ray was clipped else false - */ + //! Clip a ray to an aabb. return true if ray was clipped. The ray + //! can be inside so don't use the result if the ray intersect the box. + //! + //! @param aabb bounds + //! @param rayStart the start of the ray + //! @param rayEnd the end of the ray + //! @param tClipStart[out] The proportion where the ray enterts the aabb + //! @param tClipEnd[out] The proportion where the ray exits the aabb + //! @return true ray was clipped else false bool ClipRayWithAabb(const Aabb& aabb, Vector3& rayStart, Vector3& rayEnd, float& tClipStart, float& tClipEnd); - /** - * Test segment and aabb where the segment is defined by midpoint - * midPoint = (p1-p0) * 0.5f and half vector halfVector = p1 - midPoint. - * the aabb is at the origin and defined by half extents only. - * - * @param midPoint midpoint of a line segment - * @param halfVector half vector of an aabb - * @param aabbExtends the extends of a bounded box - * @return 1 if the intersect, otherwise 0. - */ + //! Test segment and aabb where the segment is defined by midpoint + //! midPoint = (p1-p0) * 0.5f and half vector halfVector = p1 - midPoint. + //! the aabb is at the origin and defined by half extents only. + //! + //! @param midPoint midpoint of a line segment + //! @param halfVector half vector of an aabb + //! @param aabbExtends the extends of a bounded box + //! @return 1 if the intersect, otherwise 0. bool TestSegmentAABBOrigin(const Vector3& midPoint, const Vector3& halfVector, const Vector3& aabbExtends); - /** - * Test if segment specified by points p0 and p1 intersects AABB. \ref TestSegmentAABBOrigin - * - * @param p0 point 1 - * @param p1 point 2 - * @param aabb bounded box - * @return true if the segment and AABB intersect, otherwise false. - */ + //! Test if segment specified by points p0 and p1 intersects AABB. \ref TestSegmentAABBOrigin + //! + //! @param p0 point 1 + //! @param p1 point 2 + //! @param aabb bounded box + //! @return true if the segment and AABB intersect, otherwise false. bool TestSegmentAABB(const Vector3& p0, const Vector3& p1, const Aabb& aabb); //! Ray sphere intersection result types. @@ -154,42 +135,36 @@ namespace AZ ISECT_RAY_SPHERE_ISECT, // along the PQ segment }; - /** - * IntersectRaySphereOrigin - * return time t>=0 but not limited, so if you check a segment make sure - * t <= segmentLen - * @param rayStart ray start point - * @param rayDirNormalized ray direction normalized. - * @param shereRadius sphere radius - * @param time of closest intersection [0,+INF] in relation to the normalized direction. - * @return \ref SphereIsectTypes - **/ + //! IntersectRaySphereOrigin + //! return time t>=0 but not limited, so if you check a segment make sure + //! t <= segmentLen + //! @param rayStart ray start point + //! @param rayDirNormalized ray direction normalized. + //! @param shereRadius sphere radius + //! @param time of closest intersection [0,+INF] in relation to the normalized direction. + //! @return \ref SphereIsectTypes SphereIsectTypes IntersectRaySphereOrigin( const Vector3& rayStart, const Vector3& rayDirNormalized, const float sphereRadius, float& t); - /** - * Intersect ray (rayStart,rayDirNormalized) and sphere (sphereCenter,sphereRadius) \ref IntersectRaySphereOrigin - * - * @param rayStart - * @param rayDirNormalized - * @param sphereCenter - * @param sphereRadius - * @param t - * @return int - */ + //! Intersect ray (rayStart,rayDirNormalized) and sphere (sphereCenter,sphereRadius) \ref IntersectRaySphereOrigin + //! + //! @param rayStart + //! @param rayDirNormalized + //! @param sphereCenter + //! @param sphereRadius + //! @param t + //! @return SphereIsectTypes SphereIsectTypes IntersectRaySphere( const Vector3& rayStart, const Vector3& rayDirNormalized, const Vector3& sphereCenter, const float sphereRadius, float& t); - /** - * @param rayOrigin The origin of the ray to test. - * @param rayDir The direction of the ray to test. It has to be unit length. - * @param diskCenter Center point of the disk - * @param diskRadius Radius of the disk - * @param diskNormal A normal perpendicular to the disk - * @param[out] t If returning 1 (indicating a hit), this contains distance from rayOrigin along the normalized rayDir - * that the hit occured at. - * @return The number of intersecting points. - **/ + //! @param rayOrigin The origin of the ray to test. + //! @param rayDir The direction of the ray to test. It has to be unit length. + //! @param diskCenter Center point of the disk + //! @param diskRadius Radius of the disk + //! @param diskNormal A normal perpendicular to the disk + //! @param[out] t If returning 1 (indicating a hit), this contains distance from rayOrigin along the normalized rayDir + //! that the hit occured at. + //! @return The number of intersecting points. int IntersectRayDisk( const Vector3& rayOrigin, const Vector3& rayDir, @@ -198,20 +173,18 @@ namespace AZ const AZ::Vector3& diskNormal, float& t); - /** - * If there is only one intersecting point, the coefficient is stored in \ref t1. - * @param rayOrigin The origin of the ray to test. - * @param rayDir The direction of the ray to test. It has to be unit length. - * @param cylinderEnd1 The center of the circle on one end of the cylinder. - * @param cylinderDir The direction pointing from \ref cylinderEnd1 to the other end of the cylinder. It has to be unit - * length. - * @param cylinderHeight The distance between two centers of the circles on two ends of the cylinder respectively. - * @param[out] t1 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated - * as "rayOrigin + t1 * rayDir". - * @param[out] t2 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated - * as "rayOrigin + t2 * rayDir". - * @return The number of intersecting points. - **/ + //! If there is only one intersecting point, the coefficient is stored in \ref t1. + //! @param rayOrigin The origin of the ray to test. + //! @param rayDir The direction of the ray to test. It has to be unit length. + //! @param cylinderEnd1 The center of the circle on one end of the cylinder. + //! @param cylinderDir The direction pointing from \ref cylinderEnd1 to the other end of the cylinder. It has to be unit + //! length. + //! @param cylinderHeight The distance between two centers of the circles on two ends of the cylinder respectively. + //! @param[out] t1 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated + //! as "rayOrigin + t1 * rayDir". + //! @param[out] t2 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated + //! as "rayOrigin + t2 * rayDir". + //! @return The number of intersecting points. int IntersectRayCappedCylinder( const Vector3& rayOrigin, const Vector3& rayDir, @@ -222,20 +195,18 @@ namespace AZ float& t1, float& t2); - /** - * If there is only one intersecting point, the coefficient is stored in \ref t1. - * @param rayOrigin The origin of the ray to test. - * @param rayDir The direction of the ray to test. It has to be unit length. - * @param coneApex The apex of the cone. - * @param coneDir The unit-length direction from the apex to the base. - * @param coneHeight The height of the cone, from the apex to the base. - * @param coneBaseRadius The radius of the cone base circle. - * @param[out] t1 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated - * as "rayOrigin + t1 * rayDir". - * @param[out] t2 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated - * as "rayOrigin + t2 * rayDir". - * @return The number of intersecting points. - **/ + //! If there is only one intersecting point, the coefficient is stored in \ref t1. + //! @param rayOrigin The origin of the ray to test. + //! @param rayDir The direction of the ray to test. It has to be unit length. + //! @param coneApex The apex of the cone. + //! @param coneDir The unit-length direction from the apex to the base. + //! @param coneHeight The height of the cone, from the apex to the base. + //! @param coneBaseRadius The radius of the cone base circle. + //! @param[out] t1 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated + //! as "rayOrigin + t1 * rayDir". + //! @param[out] t2 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated + //! as "rayOrigin + t2 * rayDir". + //! @return The number of intersecting points. int IntersectRayCone( const Vector3& rayOrigin, const Vector3& rayDir, @@ -246,16 +217,13 @@ namespace AZ float& t1, float& t2); - /** - * Test intersection between a ray and a plane in 3D. - * @param rayOrigin The origin of the ray to test intersection with. - * @param rayDir The direction of the ray to test intersection with. - * @param planePos A point on the plane to test intersection with. - * @param planeNormal The normal of the plane to test intersection with. - * @param t[out] The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin - *+ t * rayDirection". - * @return The number of intersection point. - **/ + //! Test intersection between a ray and a plane in 3D. + //! @param rayOrigin The origin of the ray to test intersection with. + //! @param rayDir The direction of the ray to test intersection with. + //! @param planePos A point on the plane to test intersection with. + //! @param planeNormal The normal of the plane to test intersection with. + //! @param t[out] The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * rayDirection". + //! @return The number of intersection point. int IntersectRayPlane( const Vector3& rayOrigin, const Vector3& rayDir, const Vector3& planePos, const Vector3& planeNormal, float& t); @@ -268,8 +236,7 @@ namespace AZ //! @param vertexB One of the four points that define the quadrilateral. //! @param vertexC One of the four points that define the quadrilateral. //! @param vertexD One of the four points that define the quadrilateral. - //! @param t[out] The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + - //! t * rayDirection". + //! @param t[out] The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * rayDirection". //! @return The number of intersection point. int IntersectRayQuad( const Vector3& rayOrigin, @@ -280,20 +247,19 @@ namespace AZ const Vector3& vertexD, float& t); - /** Test intersection between a ray and an oriented box in 3D. - * @param rayOrigin The origin of the ray to test intersection with. - * @param rayDir The direction of the ray to test intersection with. - * @param boxCenter The position of the center of the box. - * @param boxAxis1 An axis along one dimension of the oriented box. - * @param boxAxis2 An axis along one dimension of the oriented box. - * @param boxAxis3 An axis along one dimension of the oriented box. - * @param boxHalfExtent1 The half extent of the box on the dimension of \ref boxAxis1. - * @param boxHalfExtent2 The half extent of the box on the dimension of \ref boxAxis2. - * @param boxHalfExtent3 The half extent of the box on the dimension of \ref boxAxis3. - * @param t[out] The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + - * t * rayDirection". - * @return 1 if there is an intersection, 0 otherwise. - **/ + //! Test intersection between a ray and an oriented box in 3D. + //! + //! @param rayOrigin The origin of the ray to test intersection with. + //! @param rayDir The direction of the ray to test intersection with. + //! @param boxCenter The position of the center of the box. + //! @param boxAxis1 An axis along one dimension of the oriented box. + //! @param boxAxis2 An axis along one dimension of the oriented box. + //! @param boxAxis3 An axis along one dimension of the oriented box. + //! @param boxHalfExtent1 The half extent of the box on the dimension of \ref boxAxis1. + //! @param boxHalfExtent2 The half extent of the box on the dimension of \ref boxAxis2. + //! @param boxHalfExtent3 The half extent of the box on the dimension of \ref boxAxis3. + //! @param t[out] The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * rayDirection". + //! @return 1 if there is an intersection, 0 otherwise. int IntersectRayBox( const Vector3& rayOrigin, const Vector3& rayDir, @@ -306,15 +272,14 @@ namespace AZ float boxHalfExtent3, float& t); - /** - * Test intersection between a ray and an OBB. - * @param rayOrigin The origin of the ray to test intersection with. - * @param rayDir The direction of the ray to test intersection with. - * @param obb The OBB to test for intersection with the ray. - * @param t[out] The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * - * rayDirection". - * @return 1 if there is an intersection, 0 otherwise. - */ + //! Test intersection between a ray and an OBB. + //! + //! @param rayOrigin The origin of the ray to test intersection with. + //! @param rayDir The direction of the ray to test intersection with. + //! @param obb The OBB to test for intersection with the ray. + //! @param t[out] The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * + //! rayDirection". + //! @return 1 if there is an intersection, 0 otherwise. int IntersectRayObb(const Vector3& rayOrigin, const Vector3& rayDir, const Obb& obb, float& t); //! Ray cylinder intersection types. @@ -327,18 +292,16 @@ namespace AZ RR_ISECT_RAY_CYL_Q_SIDE, // on the Q side }; - /** - * Reference: Real-Time Collision Detection - 5.3.7 Intersecting Ray or Segment Against Cylinder - * Intersect segment S(t)=sa+t(dir), 0<=t<=1 against cylinder specified by p, q and r. - * - * @param sa point - * @param dir magnitude along sa - * @param p center point of side 1 cylinder - * @param q center point of side 2 cylinder - * @param r radius of cylinder - * @param t[out] proporition along line semgnet - * @return CylinderIsectTypes - */ + //! Reference: Real-Time Collision Detection - 5.3.7 Intersecting Ray or Segment Against Cylinder + //! Intersect segment S(t)=sa+t(dir), 0<=t<=1 against cylinder specified by p, q and r. + //! + //! @param sa point + //! @param dir magnitude along sa + //! @param p center point of side 1 cylinder + //! @param q center point of side 2 cylinder + //! @param r radius of cylinder + //! @param t[out] proporition along line semgnet + //! @return CylinderIsectTypes CylinderIsectTypes IntersectSegmentCylinder( const Vector3& sa, const Vector3& dir, const Vector3& p, const Vector3& q, const float r, float& t); @@ -352,19 +315,16 @@ namespace AZ ISECT_RAY_CAPSULE_Q_SIDE, // on the Q side }; - /** - * This is a quick implementation of segment capsule based on segment cylinder \ref IntersectSegmentCylinder - * segment sphere intersection. We can optimize it a lot once we fix the ray - * cylinder intersection. - */ + //! This is a quick implementation of segment capsule based on segment cylinder \ref IntersectSegmentCylinder + //! segment sphere intersection. We can optimize it a lot once we fix the ray + //! cylinder intersection. + //! CapsuleIsectTypes IntersectSegmentCapsule( const Vector3& sa, const Vector3& dir, const Vector3& p, const Vector3& q, const float r, float& t); - /** - * Intersect segment S(t)=A+t(B-A), 0<=t<=1 against convex polyhedron specified - * by the n halfspaces defined by the planes p[]. On exit tfirst and tlast - * define the intersection, if any. - */ + //! Intersect segment S(t)=A+t(B-A), 0<=t<=1 against convex polyhedron specified + //! by the n halfspaces defined by the planes p[]. On exit tfirst and tlast + //! define the intersection, if any. bool IntersectSegmentPolyhedron( const Vector3& sa, const Vector3& sBA, @@ -375,22 +335,20 @@ namespace AZ int& iFirstPlane, int& iLastPlane); - /** - * Calculate the line segment closestPointSegment1<->closestPointSegment2 that is the shortest route between - * two segments segment1Start<->segment1End and segment2Start<->segment2End. Also calculate the values of segment1Proportion and - * segment2Proportion where closestPointSegment1 = segment1Start + (segment1Proportion * (segment1End - segment1Start)) - * closestPointSegment2 = segment2Start + (segment2Proportion * (segment2End - segment2Start)) - * If segments are parallel returns a solution. - * @param segment1Start start of segment 1. - * @param segment1End end of segment 1. - * @param segment2Start start of segment 2. - * @param segment2End end of segment 2. - * @param segment1Proportion[out] the proporition along segment 1 [0..1] - * @param segment2Proportion[out] the proporition along segment 2 [0..1] - * @param closestPointSegment1[out] closest point on segment 1. - * @param closestPointSegment2[out] closest point on segment 2. - * @param epsilon the minimum square distance where a line segment can be treated as a single point. - */ + //! Calculate the line segment closestPointSegment1<->closestPointSegment2 that is the shortest route between + //! two segments segment1Start<->segment1End and segment2Start<->segment2End. Also calculate the values of segment1Proportion and + //! segment2Proportion where closestPointSegment1 = segment1Start + (segment1Proportion * (segment1End - segment1Start)) + //! closestPointSegment2 = segment2Start + (segment2Proportion * (segment2End - segment2Start)) + //! If segments are parallel returns a solution. + //! @param segment1Start start of segment 1. + //! @param segment1End end of segment 1. + //! @param segment2Start start of segment 2. + //! @param segment2End end of segment 2. + //! @param segment1Proportion[out] the proporition along segment 1 [0..1] + //! @param segment2Proportion[out] the proporition along segment 2 [0..1] + //! @param closestPointSegment1[out] closest point on segment 1. + //! @param closestPointSegment2[out] closest point on segment 2. + //! @param epsilon the minimum square distance where a line segment can be treated as a single point. void ClosestSegmentSegment( const Vector3& segment1Start, const Vector3& segment1End, @@ -402,19 +360,17 @@ namespace AZ Vector3& closestPointSegment2, float epsilon = 1e-4f); - /** - * Calculate the line segment closestPointSegment1<->closestPointSegment2 that is the shortest route between - * two segments segment1Start<->segment1End and segment2Start<->segment2End. - * If segments are parallel returns a solution. - * - * @param segment1Start start of segment 1. - * @param segment1End end of segment 1. - * @param segment2Start start of segment 2. - * @param segment2End end of segment 2. - * @param closestPointSegment1[out] closest point on segment 1. - * @param closestPointSegment2[out] closest point on segment 2. - * @param epsilon the minimum square distance where a line segment can be treated as a single point. - */ + //! Calculate the line segment closestPointSegment1<->closestPointSegment2 that is the shortest route between + //! two segments segment1Start<->segment1End and segment2Start<->segment2End. + //! If segments are parallel returns a solution. + //! + //! @param segment1Start start of segment 1. + //! @param segment1End end of segment 1. + //! @param segment2Start start of segment 2. + //! @param segment2End end of segment 2. + //! @param closestPointSegment1[out] closest point on segment 1. + //! @param closestPointSegment2[out] closest point on segment 2. + //! @param epsilon the minimum square distance where a line segment can be treated as a single point. void ClosestSegmentSegment( const Vector3& segment1Start, const Vector3& segment1End, @@ -424,17 +380,15 @@ namespace AZ Vector3& closestPointSegment2, float epsilon = 1e-4f); - /** - * Calculate the point (closestPointOnSegment) that is the closest point on - * segment segmentStart/segmentEnd to point. Also calculate the value of proportion where - * closestPointOnSegment = segmentStart + (proportion * (segmentEnd - segmentStart)) - * - * @param point the point to test - * @param segmentStart the start of the segment - * @param segmentEnd the end of the segment - * @param proportion[out] the proportion of the segment L(t) = (end - start) * t - * @param closestPointOnSegment[out] the point along the line segment - */ + //! Calculate the point (closestPointOnSegment) that is the closest point on + //! segment segmentStart/segmentEnd to point. Also calculate the value of proportion where + //! closestPointOnSegment = segmentStart + (proportion * (segmentEnd - segmentStart)) + //! + //! @param point the point to test + //! @param segmentStart the start of the segment + //! @param segmentEnd the end of the segment + //! @param proportion[out] the proportion of the segment L(t) = (end - start) * t + //! @param closestPointOnSegment[out] the point along the line segment void ClosestPointSegment( const Vector3& point, const Vector3& segmentStart, diff --git a/Code/Framework/AzCore/AzCore/Math/IntersectSegment.inl b/Code/Framework/AzCore/AzCore/Math/IntersectSegment.inl index b9f5139923..b570b6a182 100644 --- a/Code/Framework/AzCore/AzCore/Math/IntersectSegment.inl +++ b/Code/Framework/AzCore/AzCore/Math/IntersectSegment.inl @@ -5,7 +5,6 @@ * SPDX-License-Identifier: Apache-2.0 OR MIT * */ -#pragma once namespace AZ { From 02d8596d875614316a720820e12db38e02661cfe Mon Sep 17 00:00:00 2001 From: Michael Pollind Date: Mon, 11 Oct 2021 20:24:41 -0700 Subject: [PATCH 3/5] chore: improject documentation for IntersectSegment - change return of IntersectRayDisk to bool - change return of IntersectRayBox to bool - move [out] after @param Signed-off-by: Michael Pollind --- .../AzCore/AzCore/Math/IntersectSegment.cpp | 31 ++- .../AzCore/AzCore/Math/IntersectSegment.h | 217 +++++++++--------- 2 files changed, 124 insertions(+), 124 deletions(-) diff --git a/Code/Framework/AzCore/AzCore/Math/IntersectSegment.cpp b/Code/Framework/AzCore/AzCore/Math/IntersectSegment.cpp index 2a00412689..1bf1e41cb7 100644 --- a/Code/Framework/AzCore/AzCore/Math/IntersectSegment.cpp +++ b/Code/Framework/AzCore/AzCore/Math/IntersectSegment.cpp @@ -352,9 +352,6 @@ AZ::Intersect::IntersectRayAABB( return ISECT_RAY_AABB_ISECT; } - - - //========================================================================= // IntersectRayAABB2 // [2/18/2011] @@ -411,7 +408,7 @@ AZ::Intersect::IntersectRayAABB2(const Vector3& rayStart, const Vector3& dirRCP, return ISECT_RAY_AABB_ISECT; } -int AZ::Intersect::IntersectRayDisk( +bool AZ::Intersect::IntersectRayDisk( const Vector3& rayOrigin, const Vector3& rayDir, const Vector3& diskCenter, const float diskRadius, const Vector3& diskNormal, float& t) { // First intersect with the plane of the disk @@ -424,10 +421,10 @@ int AZ::Intersect::IntersectRayDisk( if (pointOnPlane.GetDistance(diskCenter) < diskRadius) { t = planeIntersectionDistance; - return 1; + return true; } } - return 0; + return false; } // Reference: Real-Time Collision Detection - 5.3.7 Intersecting Ray or Segment Against Cylinder, and the book's errata. @@ -1015,7 +1012,7 @@ int AZ::Intersect::IntersectRayQuad( } // reference: Real-Time Collision Detection, 5.3.3 Intersecting Ray or Segment Against Box -int AZ::Intersect::IntersectRayBox( +bool AZ::Intersect::IntersectRayBox( const Vector3& rayOrigin, const Vector3& rayDir, const Vector3& boxCenter, const Vector3& boxAxis1, const Vector3& boxAxis2, const Vector3& boxAxis3, float boxHalfExtent1, float boxHalfExtent2, float boxHalfExtent3, float& t) { @@ -1047,7 +1044,7 @@ int AZ::Intersect::IntersectRayBox( // If the ray is parallel to the slab and the ray origin is outside, return no intersection. if (tp < 0.0f || tn < 0.0f) { - return 0; + return false; } } else @@ -1068,7 +1065,7 @@ int AZ::Intersect::IntersectRayBox( tmax = AZ::GetMin(tmax, t2); if (tmin > tmax) { - return 0; + return false; } } @@ -1088,7 +1085,7 @@ int AZ::Intersect::IntersectRayBox( // If the ray is parallel to the slab and the ray origin is outside, return no intersection. if (tp < 0.0f || tn < 0.0f) { - return 0; + return false; } } else @@ -1109,7 +1106,7 @@ int AZ::Intersect::IntersectRayBox( tmax = AZ::GetMin(tmax, t2); if (tmin > tmax) { - return 0; + return false; } } @@ -1129,7 +1126,7 @@ int AZ::Intersect::IntersectRayBox( // If the ray is parallel to the slab and the ray origin is outside, return no intersection. if (tp < 0.0f || tn < 0.0f) { - return 0; + return false; } } else @@ -1150,15 +1147,15 @@ int AZ::Intersect::IntersectRayBox( tmax = AZ::GetMin(tmax, t2); if (tmin > tmax) { - return 0; + return false; } } t = (isRayOriginInsideBox ? tmax : tmin); - return 1; + return true; } -int AZ::Intersect::IntersectRayObb(const Vector3& rayOrigin, const Vector3& rayDir, const Obb& obb, float& t) +bool AZ::Intersect::IntersectRayObb(const Vector3& rayOrigin, const Vector3& rayDir, const Obb& obb, float& t) { return AZ::Intersect::IntersectRayBox(rayOrigin, rayDir, obb.GetPosition(), obb.GetAxisX(), obb.GetAxisY(), obb.GetAxisZ(), @@ -1366,11 +1363,11 @@ AZ::Intersect::IntersectSegmentCapsule(const Vector3& sa, const Vector3& dir, co //========================================================================= bool AZ::Intersect::IntersectSegmentPolyhedron( - const Vector3& sa, const Vector3& sBA, const Plane p[], int numPlanes, + const Vector3& sa, const Vector3& dir, const Plane p[], int numPlanes, float& tfirst, float& tlast, int& iFirstPlane, int& iLastPlane) { // Compute direction vector for the segment - Vector3 d = /*b - a*/ sBA; + Vector3 d = /*b - a*/ dir; // Set initial interval to being the whole segment. For a ray, tlast should be // set to +RR_FLT_MAX. For a line, additionally tfirst should be set to -RR_FLT_MAX tfirst = 0.0f; diff --git a/Code/Framework/AzCore/AzCore/Math/IntersectSegment.h b/Code/Framework/AzCore/AzCore/Math/IntersectSegment.h index ecb0d7acc9..71c39fb53d 100644 --- a/Code/Framework/AzCore/AzCore/Math/IntersectSegment.h +++ b/Code/Framework/AzCore/AzCore/Math/IntersectSegment.h @@ -28,15 +28,14 @@ namespace AZ //! LineToPointDistance computes the closest point to 'p' from a segment (s1,s2). //! @param s1 segment start point //! @param s2 segment end point - //! @param p point to find the closest time to. - //! @param u time (on the segment) for the shortest distance from 'p' to (s1,s2) [0.0f (s1),1.0f (s2)] + //! @param p point to find the closest time to. + //! @param u time (on the segment) for the shortest distance from 'p' to (s1,s2) [0.0f (s1),1.0f (s2)] //! @return the closest point Vector3 LineToPointDistance(const Vector3& s1, const Vector3& s2, const Vector3& p, float& u); //! Given segment pq and triangle abc (CCW), returns whether segment intersects //! triangle and if so, also returns the barycentric coordinates (u,v,w) //! of the intersection point. - //! //! @param p segment start point //! @param q segment end point //! @param a triangle point 1 @@ -49,7 +48,7 @@ namespace AZ const Vector3& p, const Vector3& q, const Vector3& a, const Vector3& b, const Vector3& c, Vector3& normal, float& t); //! Same as \ref IntersectSegmentTriangleCCW without respecting the triangle (a,b,c) vertex order (double sided). - //! //! @param p segment start point + //! @param p segment start point //! @param q segment end point //! @param a triangle point 1 //! @param b triangle point 2 @@ -86,41 +85,38 @@ namespace AZ const Aabb& aabb, float& tStart, float& tEnd, - Vector3& startNormal /*, Vector3& inter*/); + Vector3& startNormal); //! Intersect ray against AABB. - //! //! @param rayStart ray starting point. //! @param dir ray reciprocal direction. //! @param aabb Axis aligned bounding box to intersect against. //! @param start length on ray of the first intersection. //! @param end length of the of the second intersection. - //! @return \ref RayAABBIsectTypes In this faster version than IntersectRayAABB we return only ISECT_RAY_AABB_NONE and ISECT_RAY_AABB_ISECT. You can check yourself for that case. + //! @return \ref RayAABBIsectTypes In this faster version than IntersectRayAABB we return only ISECT_RAY_AABB_NONE and + //! ISECT_RAY_AABB_ISECT. You can check yourself for that case. RayAABBIsectTypes IntersectRayAABB2(const Vector3& rayStart, const Vector3& dirRCP, const Aabb& aabb, float& start, float& end); //! Clip a ray to an aabb. return true if ray was clipped. The ray //! can be inside so don't use the result if the ray intersect the box. - //! //! @param aabb bounds //! @param rayStart the start of the ray //! @param rayEnd the end of the ray - //! @param tClipStart[out] The proportion where the ray enterts the aabb - //! @param tClipEnd[out] The proportion where the ray exits the aabb + //! @param[out] tClipStart The proportion where the ray enterts the aabb + //! @param[out] tClipEnd The proportion where the ray exits the aabb //! @return true ray was clipped else false bool ClipRayWithAabb(const Aabb& aabb, Vector3& rayStart, Vector3& rayEnd, float& tClipStart, float& tClipEnd); //! Test segment and aabb where the segment is defined by midpoint //! midPoint = (p1-p0) * 0.5f and half vector halfVector = p1 - midPoint. //! the aabb is at the origin and defined by half extents only. - //! //! @param midPoint midpoint of a line segment //! @param halfVector half vector of an aabb //! @param aabbExtends the extends of a bounded box - //! @return 1 if the intersect, otherwise 0. + //! @return true if the intersect, otherwise false. bool TestSegmentAABBOrigin(const Vector3& midPoint, const Vector3& halfVector, const Vector3& aabbExtends); //! Test if segment specified by points p0 and p1 intersects AABB. \ref TestSegmentAABBOrigin - //! //! @param p0 point 1 //! @param p1 point 2 //! @param aabb bounded box @@ -130,9 +126,9 @@ namespace AZ //! Ray sphere intersection result types. enum SphereIsectTypes : AZ::s32 { - ISECT_RAY_SPHERE_SA_INSIDE = -1, // the ray starts inside the cylinder - ISECT_RAY_SPHERE_NONE, // no intersection - ISECT_RAY_SPHERE_ISECT, // along the PQ segment + ISECT_RAY_SPHERE_SA_INSIDE = -1, //!< the ray starts inside the cylinder + ISECT_RAY_SPHERE_NONE, //!< no intersection + ISECT_RAY_SPHERE_ISECT, //!< along the PQ segment }; //! IntersectRaySphereOrigin @@ -147,25 +143,26 @@ namespace AZ const Vector3& rayStart, const Vector3& rayDirNormalized, const float sphereRadius, float& t); //! Intersect ray (rayStart,rayDirNormalized) and sphere (sphereCenter,sphereRadius) \ref IntersectRaySphereOrigin - //! - //! @param rayStart - //! @param rayDirNormalized - //! @param sphereCenter - //! @param sphereRadius - //! @param t - //! @return SphereIsectTypes + //! @param rayStart the start of the ray + //! @param rayDirNormalized the direction of the ray normalized + //! @param sphereCenter the center of the sphere + //! @param sphereRadius radius of the sphere + //! @param[out] t coefficient in the ray's explicit equation from which an + //! intersecting point is calculated as "rayOrigin + t1 * rayDir". + //! @return SphereIsectTypes SphereIsectTypes IntersectRaySphere( const Vector3& rayStart, const Vector3& rayDirNormalized, const Vector3& sphereCenter, const float sphereRadius, float& t); - //! @param rayOrigin The origin of the ray to test. - //! @param rayDir The direction of the ray to test. It has to be unit length. - //! @param diskCenter Center point of the disk - //! @param diskRadius Radius of the disk - //! @param diskNormal A normal perpendicular to the disk - //! @param[out] t If returning 1 (indicating a hit), this contains distance from rayOrigin along the normalized rayDir + //! Intersect ray (rayStarty, rayDirNormalized) and disk (center, radius, normal) + //! @param rayOrigin The origin of the ray to test. + //! @param rayDir The direction of the ray to test. It has to be unit length. + //! @param diskCenter Center point of the disk + //! @param diskRadius Radius of the disk + //! @param diskNormal A normal perpendicular to the disk + //! @param[out] t If returning 1 (indicating a hit), this contains distance from rayOrigin along the normalized rayDir //! that the hit occured at. - //! @return The number of intersecting points. - int IntersectRayDisk( + //! @return false if not interesecting and true if intersecting + bool IntersectRayDisk( const Vector3& rayOrigin, const Vector3& rayDir, const Vector3& diskCenter, @@ -174,17 +171,14 @@ namespace AZ float& t); //! If there is only one intersecting point, the coefficient is stored in \ref t1. - //! @param rayOrigin The origin of the ray to test. - //! @param rayDir The direction of the ray to test. It has to be unit length. - //! @param cylinderEnd1 The center of the circle on one end of the cylinder. - //! @param cylinderDir The direction pointing from \ref cylinderEnd1 to the other end of the cylinder. It has to be unit - //! length. - //! @param cylinderHeight The distance between two centers of the circles on two ends of the cylinder respectively. - //! @param[out] t1 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated - //! as "rayOrigin + t1 * rayDir". - //! @param[out] t2 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated - //! as "rayOrigin + t2 * rayDir". - //! @return The number of intersecting points. + //! @param rayOrigin The origin of the ray to test. + //! @param rayDir The direction of the ray to test. It has to be unit length. + //! @param cylinderEnd1 The center of the circle on one end of the cylinder. + //! @param cylinderDir The direction pointing from \ref cylinderEnd1 to the other end of the cylinder. It has to be unit length. + //! @param cylinderHeight The distance between two centers of the circles on two ends of the cylinder respectively. + //! @param[out] t1 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated as "rayOrigin + t1 * rayDir". + //! @param[out] t2 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated as "rayOrigin + t2 * rayDir". + //! @return The number of intersecting points. int IntersectRayCappedCylinder( const Vector3& rayOrigin, const Vector3& rayDir, @@ -196,17 +190,15 @@ namespace AZ float& t2); //! If there is only one intersecting point, the coefficient is stored in \ref t1. - //! @param rayOrigin The origin of the ray to test. - //! @param rayDir The direction of the ray to test. It has to be unit length. - //! @param coneApex The apex of the cone. - //! @param coneDir The unit-length direction from the apex to the base. - //! @param coneHeight The height of the cone, from the apex to the base. - //! @param coneBaseRadius The radius of the cone base circle. - //! @param[out] t1 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated - //! as "rayOrigin + t1 * rayDir". - //! @param[out] t2 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated - //! as "rayOrigin + t2 * rayDir". - //! @return The number of intersecting points. + //! @param rayOrigin The origin of the ray to test. + //! @param rayDir The direction of the ray to test. It has to be unit length. + //! @param coneApex The apex of the cone. + //! @param coneDir The unit-length direction from the apex to the base. + //! @param coneHeight The height of the cone, from the apex to the base. + //! @param coneBaseRadius The radius of the cone base circle. + //! @param[out] t1 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated as "rayOrigin + t1 * rayDir". + //! @param[out] t2 A possible coefficient in the ray's explicit equation from which an intersecting point is calculated as "rayOrigin + t2 * rayDir". + //! @return The number of intersecting points. int IntersectRayCone( const Vector3& rayOrigin, const Vector3& rayDir, @@ -218,11 +210,11 @@ namespace AZ float& t2); //! Test intersection between a ray and a plane in 3D. - //! @param rayOrigin The origin of the ray to test intersection with. - //! @param rayDir The direction of the ray to test intersection with. - //! @param planePos A point on the plane to test intersection with. - //! @param planeNormal The normal of the plane to test intersection with. - //! @param t[out] The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * rayDirection". + //! @param rayOrigin The origin of the ray to test intersection with. + //! @param rayDir The direction of the ray to test intersection with. + //! @param planePos A point on the plane to test intersection with. + //! @param planeNormal The normal of the plane to test intersection with. + //! @param[out] t The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * rayDirection". //! @return The number of intersection point. int IntersectRayPlane( const Vector3& rayOrigin, const Vector3& rayDir, const Vector3& planePos, const Vector3& planeNormal, float& t); @@ -230,13 +222,14 @@ namespace AZ //! Test intersection between a ray and a two-sided quadrilateral defined by four points in 3D. //! The four points that define the quadrilateral could be passed in with either counter clock-wise //! winding or clock-wise winding. - //! @param rayOrigin The origin of the ray to test intersection with. - //! @param rayDir The direction of the ray to test intersection with. - //! @param vertexA One of the four points that define the quadrilateral. - //! @param vertexB One of the four points that define the quadrilateral. - //! @param vertexC One of the four points that define the quadrilateral. - //! @param vertexD One of the four points that define the quadrilateral. - //! @param t[out] The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * rayDirection". + //! @param rayOrigin The origin of the ray to test intersection with. + //! @param rayDir The direction of the ray to test intersection with. + //! @param vertexA One of the four points that define the quadrilateral. + //! @param vertexB One of the four points that define the quadrilateral. + //! @param vertexC One of the four points that define the quadrilateral. + //! @param vertexD One of the four points that define the quadrilateral. + //! @param[out] t The coefficient in the ray's explicit equation from which the + //! intersecting point is calculated as "rayOrigin + t * rayDirection". //! @return The number of intersection point. int IntersectRayQuad( const Vector3& rayOrigin, @@ -248,19 +241,18 @@ namespace AZ float& t); //! Test intersection between a ray and an oriented box in 3D. - //! - //! @param rayOrigin The origin of the ray to test intersection with. - //! @param rayDir The direction of the ray to test intersection with. - //! @param boxCenter The position of the center of the box. - //! @param boxAxis1 An axis along one dimension of the oriented box. - //! @param boxAxis2 An axis along one dimension of the oriented box. - //! @param boxAxis3 An axis along one dimension of the oriented box. - //! @param boxHalfExtent1 The half extent of the box on the dimension of \ref boxAxis1. - //! @param boxHalfExtent2 The half extent of the box on the dimension of \ref boxAxis2. - //! @param boxHalfExtent3 The half extent of the box on the dimension of \ref boxAxis3. - //! @param t[out] The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * rayDirection". - //! @return 1 if there is an intersection, 0 otherwise. - int IntersectRayBox( + //! @param rayOrigin The origin of the ray to test intersection with. + //! @param rayDir The direction of the ray to test intersection with. + //! @param boxCenter The position of the center of the box. + //! @param boxAxis1 An axis along one dimension of the oriented box. + //! @param boxAxis2 An axis along one dimension of the oriented box. + //! @param boxAxis3 An axis along one dimension of the oriented box. + //! @param boxHalfExtent1 The half extent of the box on the dimension of \ref boxAxis1. + //! @param boxHalfExtent2 The half extent of the box on the dimension of \ref boxAxis2. + //! @param boxHalfExtent3 The half extent of the box on the dimension of \ref boxAxis3. + //! @param[out] t The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * rayDirection". + //! @return true if there is an intersection, false otherwise. + bool IntersectRayBox( const Vector3& rayOrigin, const Vector3& rayDir, const Vector3& boxCenter, @@ -273,23 +265,21 @@ namespace AZ float& t); //! Test intersection between a ray and an OBB. - //! //! @param rayOrigin The origin of the ray to test intersection with. //! @param rayDir The direction of the ray to test intersection with. //! @param obb The OBB to test for intersection with the ray. - //! @param t[out] The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * - //! rayDirection". - //! @return 1 if there is an intersection, 0 otherwise. - int IntersectRayObb(const Vector3& rayOrigin, const Vector3& rayDir, const Obb& obb, float& t); + //! @param[out] t The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * rayDirection". + //! @return true if there is an intersection, false otherwise. + bool IntersectRayObb(const Vector3& rayOrigin, const Vector3& rayDir, const Obb& obb, float& t); //! Ray cylinder intersection types. enum CylinderIsectTypes : AZ::s32 { - RR_ISECT_RAY_CYL_SA_INSIDE = -1, // the ray starts inside the cylinder - RR_ISECT_RAY_CYL_NONE, // no intersection - RR_ISECT_RAY_CYL_PQ, // along the PQ segment - RR_ISECT_RAY_CYL_P_SIDE, // on the P side - RR_ISECT_RAY_CYL_Q_SIDE, // on the Q side + RR_ISECT_RAY_CYL_SA_INSIDE = -1, //!< the ray starts inside the cylinder + RR_ISECT_RAY_CYL_NONE, //!< no intersection + RR_ISECT_RAY_CYL_PQ, //!< along the PQ segment + RR_ISECT_RAY_CYL_P_SIDE, //!< on the P side + RR_ISECT_RAY_CYL_Q_SIDE, //!< on the Q side }; //! Reference: Real-Time Collision Detection - 5.3.7 Intersecting Ray or Segment Against Cylinder @@ -300,7 +290,7 @@ namespace AZ //! @param p center point of side 1 cylinder //! @param q center point of side 2 cylinder //! @param r radius of cylinder - //! @param t[out] proporition along line semgnet + //! @param[out] t proporition along line segment //! @return CylinderIsectTypes CylinderIsectTypes IntersectSegmentCylinder( const Vector3& sa, const Vector3& dir, const Vector3& p, const Vector3& q, const float r, float& t); @@ -308,26 +298,41 @@ namespace AZ //! Capsule ray intersect types. enum CapsuleIsectTypes { - ISECT_RAY_CAPSULE_SA_INSIDE = -1, // the ray starts inside the cylinder - ISECT_RAY_CAPSULE_NONE, // no intersection - ISECT_RAY_CAPSULE_PQ, // along the PQ segment - ISECT_RAY_CAPSULE_P_SIDE, // on the P side - ISECT_RAY_CAPSULE_Q_SIDE, // on the Q side + ISECT_RAY_CAPSULE_SA_INSIDE = -1, //!< the ray starts inside the cylinder + ISECT_RAY_CAPSULE_NONE, //!< no intersection + ISECT_RAY_CAPSULE_PQ, //!< along the PQ segment + ISECT_RAY_CAPSULE_P_SIDE, //!< on the P side + ISECT_RAY_CAPSULE_Q_SIDE, //!< on the Q side }; //! This is a quick implementation of segment capsule based on segment cylinder \ref IntersectSegmentCylinder //! segment sphere intersection. We can optimize it a lot once we fix the ray //! cylinder intersection. - //! + //! @param sa the beginning of the line segment + //! @param dir the direction and length of the segment + //! @param p center point of side 1 capsule + //! @param q center point of side 1 capsule + //! @param r the radius of the capsule + //! @param[out] t proporition along line segment + //! @return CapsuleIsectTypes CapsuleIsectTypes IntersectSegmentCapsule( const Vector3& sa, const Vector3& dir, const Vector3& p, const Vector3& q, const float r, float& t); //! Intersect segment S(t)=A+t(B-A), 0<=t<=1 against convex polyhedron specified //! by the n halfspaces defined by the planes p[]. On exit tfirst and tlast //! define the intersection, if any. + //! @param sa the beggining of the line segment + //! @param dir the direction and length of the segment + //! @param p planes that compose a convex ponvex polyhedron + //! @param numPlanes number of planes + //! @param[out] tfirst proportion along the line segment where the line enters + //! @param[out] tlast proportion along the line segment where the line exits + //! @param[out] iFirstPlane the plane where the line enters + //! @param[out] iLastPlane the plane where the line exits + //! @return true if intersects else false bool IntersectSegmentPolyhedron( const Vector3& sa, - const Vector3& sBA, + const Vector3& dir, const Plane p[], int numPlanes, float& tfirst, @@ -335,7 +340,7 @@ namespace AZ int& iFirstPlane, int& iLastPlane); - //! Calculate the line segment closestPointSegment1<->closestPointSegment2 that is the shortest route between + //! Calculate the line segment closestPointSegment1<->closestPointSegment2 that is the shortest route between //! two segments segment1Start<->segment1End and segment2Start<->segment2End. Also calculate the values of segment1Proportion and //! segment2Proportion where closestPointSegment1 = segment1Start + (segment1Proportion * (segment1End - segment1Start)) //! closestPointSegment2 = segment2Start + (segment2Proportion * (segment2End - segment2Start)) @@ -344,10 +349,10 @@ namespace AZ //! @param segment1End end of segment 1. //! @param segment2Start start of segment 2. //! @param segment2End end of segment 2. - //! @param segment1Proportion[out] the proporition along segment 1 [0..1] - //! @param segment2Proportion[out] the proporition along segment 2 [0..1] - //! @param closestPointSegment1[out] closest point on segment 1. - //! @param closestPointSegment2[out] closest point on segment 2. + //! @param[out] segment1Proportion the proporition along segment 1 [0..1] + //! @param[out] segment2Proportion the proporition along segment 2 [0..1] + //! @param[out] closestPointSegment1 closest point on segment 1. + //! @param[out] closestPointSegment2 closest point on segment 2. //! @param epsilon the minimum square distance where a line segment can be treated as a single point. void ClosestSegmentSegment( const Vector3& segment1Start, @@ -363,13 +368,12 @@ namespace AZ //! Calculate the line segment closestPointSegment1<->closestPointSegment2 that is the shortest route between //! two segments segment1Start<->segment1End and segment2Start<->segment2End. //! If segments are parallel returns a solution. - //! //! @param segment1Start start of segment 1. //! @param segment1End end of segment 1. //! @param segment2Start start of segment 2. //! @param segment2End end of segment 2. - //! @param closestPointSegment1[out] closest point on segment 1. - //! @param closestPointSegment2[out] closest point on segment 2. + //! @param[out] closestPointSegment1 closest point on segment 1. + //! @param[out] closestPointSegment2 closest point on segment 2. //! @param epsilon the minimum square distance where a line segment can be treated as a single point. void ClosestSegmentSegment( const Vector3& segment1Start, @@ -383,12 +387,11 @@ namespace AZ //! Calculate the point (closestPointOnSegment) that is the closest point on //! segment segmentStart/segmentEnd to point. Also calculate the value of proportion where //! closestPointOnSegment = segmentStart + (proportion * (segmentEnd - segmentStart)) - //! //! @param point the point to test //! @param segmentStart the start of the segment //! @param segmentEnd the end of the segment - //! @param proportion[out] the proportion of the segment L(t) = (end - start) * t - //! @param closestPointOnSegment[out] the point along the line segment + //! @param[out] proportion the proportion of the segment L(t) = (end - start) * t + //! @param[out] closestPointOnSegment the point along the line segment void ClosestPointSegment( const Vector3& point, const Vector3& segmentStart, From 63da5847c105092ebe23d73aefbbfd4b4d1ea086 Mon Sep 17 00:00:00 2001 From: Michael Pollind Date: Tue, 12 Oct 2021 20:15:29 -0700 Subject: [PATCH 4/5] chore: correct documentation and correct method return. - change return for IntersectSegmentTriangleCCW to bool - change return for IntersectSegmentTriangle to bool Signed-off-by: Michael Pollind --- .../AzCore/AzCore/Math/IntersectSegment.cpp | 24 +- .../AzCore/AzCore/Math/IntersectSegment.h | 238 +++++++++--------- 2 files changed, 130 insertions(+), 132 deletions(-) diff --git a/Code/Framework/AzCore/AzCore/Math/IntersectSegment.cpp b/Code/Framework/AzCore/AzCore/Math/IntersectSegment.cpp index 1bf1e41cb7..5d13acc34c 100644 --- a/Code/Framework/AzCore/AzCore/Math/IntersectSegment.cpp +++ b/Code/Framework/AzCore/AzCore/Math/IntersectSegment.cpp @@ -15,7 +15,7 @@ using namespace Intersect; // IntersectSegmentTriangleCCW // [10/21/2009] //========================================================================= -int Intersect::IntersectSegmentTriangleCCW( +bool Intersect::IntersectSegmentTriangleCCW( const Vector3& p, const Vector3& q, const Vector3& a, const Vector3& b, const Vector3& c, /*float &u, float &v, float &w,*/ Vector3& normal, float& t) { @@ -34,7 +34,7 @@ int Intersect::IntersectSegmentTriangleCCW( float d = qp.Dot(normal); if (d <= 0.0f) { - return 0; + return false; } // Compute intersection t value of pq with plane of triangle. A ray @@ -46,7 +46,7 @@ int Intersect::IntersectSegmentTriangleCCW( // range segment check t[0,1] (it this case [0,d]) if (t < 0.0f || t > d) { - return 0; + return false; } // Compute barycentric coordinate components and test if within bounds @@ -54,12 +54,12 @@ int Intersect::IntersectSegmentTriangleCCW( v = ac.Dot(e); if (v < 0.0f || v > d) { - return 0; + return false; } w = -ab.Dot(e); if (w < 0.0f || v + w > d) { - return 0; + return false; } // Segment/ray intersects triangle. Perform delayed division and @@ -72,14 +72,14 @@ int Intersect::IntersectSegmentTriangleCCW( normal.Normalize(); - return 1; + return true; } //========================================================================= // IntersectSegmentTriangle // [10/21/2009] //========================================================================= -int +bool Intersect::IntersectSegmentTriangle( const Vector3& p, const Vector3& q, const Vector3& a, const Vector3& b, const Vector3& c, /*float &u, float &v, float &w,*/ Vector3& normal, float& t) @@ -111,7 +111,7 @@ Intersect::IntersectSegmentTriangle( // so either have a parallel ray or our normal is flipped if (d >= -Constants::FloatEpsilon) { - return 0; // parallel + return false; // parallel } d = -d; e = ap.Cross(qp); @@ -125,19 +125,19 @@ Intersect::IntersectSegmentTriangle( // range segment check t[0,1] (it this case [0,d]) if (t < 0.0f || t > d) { - return 0; + return false; } // Compute barycentric coordinate components and test if within bounds v = ac.Dot(e); if (v < 0.0f || v > d) { - return 0; + return false; } w = -ab.Dot(e); if (w < 0.0f || v + w > d) { - return 0; + return false; } // Segment/ray intersects the triangle. Perform delayed division and @@ -150,7 +150,7 @@ Intersect::IntersectSegmentTriangle( normal.Normalize(); - return 1; + return true; } //========================================================================= diff --git a/Code/Framework/AzCore/AzCore/Math/IntersectSegment.h b/Code/Framework/AzCore/AzCore/Math/IntersectSegment.h index 71c39fb53d..523069987f 100644 --- a/Code/Framework/AzCore/AzCore/Math/IntersectSegment.h +++ b/Code/Framework/AzCore/AzCore/Math/IntersectSegment.h @@ -17,46 +17,45 @@ namespace AZ namespace Intersect { //! LineToPointDistanceTime computes the time of the shortest distance from point 'p' to segment (s1,s2). - //! To calculate the point of intersection: - //! P = s1 + u (s2 - s1) - //! @param s1 segment start point - //! @param s2 segment end point - //! @param p point to find the closest time to. - //! @return time (on the segment) for the shortest distance from 'p' to (s1,s2) [0.0f (s1),1.0f (s2)] + //! To calculate the point of intersection: P = s1 + u (s2 - s1) + //! @param s1 Segment start point. + //! @param s2 Segment end point. + //! @param p Point to find the closest time to. + //! @return Time (on the segment) for the shortest distance from 'p' to (s1,s2) [0.0f (s1),1.0f (s2)] float LineToPointDistanceTime(const Vector3& s1, const Vector3& s21, const Vector3& p); //! LineToPointDistance computes the closest point to 'p' from a segment (s1,s2). - //! @param s1 segment start point - //! @param s2 segment end point - //! @param p point to find the closest time to. - //! @param u time (on the segment) for the shortest distance from 'p' to (s1,s2) [0.0f (s1),1.0f (s2)] - //! @return the closest point + //! @param s1 Segment start point + //! @param s2 Segment end point + //! @param p Point to find the closest time to. + //! @param u Time (on the segment) for the shortest distance from 'p' to (s1,s2) [0.0f (s1),1.0f (s2)] + //! @return The closest point Vector3 LineToPointDistance(const Vector3& s1, const Vector3& s2, const Vector3& p, float& u); //! Given segment pq and triangle abc (CCW), returns whether segment intersects //! triangle and if so, also returns the barycentric coordinates (u,v,w) //! of the intersection point. - //! @param p segment start point - //! @param q segment end point - //! @param a triangle point 1 - //! @param b triangle point 2 - //! @param c triangle point 3 - //! @param normal at the intersection point. - //! @param t time of intersection along the segment [0.0 (p), 1.0 (q)] - //! @return true if the segments intersects the triangle otherwise false - int IntersectSegmentTriangleCCW( + //! @param p Segment start point. + //! @param q Segment end point. + //! @param a Triangle point 1. + //! @param b Triangle point 2. + //! @param c Triangle point 3. + //! @param normal At the intersection point. + //! @param t Time of intersection along the segment [0.0 (p), 1.0 (q)]. + //! @return true if the segments intersects the triangle otherwise false. + bool IntersectSegmentTriangleCCW( const Vector3& p, const Vector3& q, const Vector3& a, const Vector3& b, const Vector3& c, Vector3& normal, float& t); //! Same as \ref IntersectSegmentTriangleCCW without respecting the triangle (a,b,c) vertex order (double sided). - //! @param p segment start point - //! @param q segment end point - //! @param a triangle point 1 - //! @param b triangle point 2 - //! @param c triangle point 3 - //! @param normal at the intersection point; - //! @param t time of intersection along the segment [0.0 (p), 1.0 (q)] - //! @return true if the segments intersects the triangle otherwise false - int IntersectSegmentTriangle( + //! @param p Segment start point. + //! @param q Segment end point. + //! @param a Triangle point 1. + //! @param b Triangle point 2. + //! @param c Triangle point 3. + //! @param normal At the intersection point. + //! @param t Time of intersection along the segment [0.0 (p), 1.0 (q)]. + //! @return True if the segments intersects the triangle otherwise false. + bool IntersectSegmentTriangle( const Vector3& p, const Vector3& q, const Vector3& a, const Vector3& b, const Vector3& c, Vector3& normal, float& t); //! Ray aabb intersection result types. @@ -69,14 +68,14 @@ namespace AZ //! Intersect ray R(t) = rayStart + t*d against AABB a. When intersecting, //! return intersection distance tmin and point q of intersection. - //! @param rayStart ray starting point - //! @param dir ray direction and length (dir = rayEnd - rayStart) + //! @param rayStart Ray starting point + //! @param dir Ray direction and length (dir = rayEnd - rayStart) //! @param dirRCP 1/dir (reciprocal direction - we cache this result very often so we don't need to compute it multiple times, //! otherwise just use dir.GetReciprocal()) //! @param aabb Axis aligned bounding box to intersect against - //! @param tStart time on ray of the first intersection [0,1] or 0 if the ray starts inside the aabb - check the return value - //! @param tEnd time of the of the second intersection [0,1] (it can be > 1 if intersects after the rayEnd) - //! @param startNormal normal at the start point. + //! @param tStart Time on ray of the first intersection [0,1] or 0 if the ray starts inside the aabb - check the return value + //! @param tEnd Time of the of the second intersection [0,1] (it can be > 1 if intersects after the rayEnd) + //! @param startNormal Normal at the start point. //! @return \ref RayAABBIsectTypes RayAABBIsectTypes IntersectRayAABB( const Vector3& rayStart, @@ -88,66 +87,66 @@ namespace AZ Vector3& startNormal); //! Intersect ray against AABB. - //! @param rayStart ray starting point. - //! @param dir ray reciprocal direction. + //! @param rayStart Ray starting point. + //! @param dir Ray reciprocal direction. //! @param aabb Axis aligned bounding box to intersect against. - //! @param start length on ray of the first intersection. - //! @param end length of the of the second intersection. + //! @param start Length on ray of the first intersection. + //! @param end Length of the of the second intersection. //! @return \ref RayAABBIsectTypes In this faster version than IntersectRayAABB we return only ISECT_RAY_AABB_NONE and //! ISECT_RAY_AABB_ISECT. You can check yourself for that case. RayAABBIsectTypes IntersectRayAABB2(const Vector3& rayStart, const Vector3& dirRCP, const Aabb& aabb, float& start, float& end); //! Clip a ray to an aabb. return true if ray was clipped. The ray //! can be inside so don't use the result if the ray intersect the box. - //! @param aabb bounds - //! @param rayStart the start of the ray - //! @param rayEnd the end of the ray - //! @param[out] tClipStart The proportion where the ray enterts the aabb - //! @param[out] tClipEnd The proportion where the ray exits the aabb - //! @return true ray was clipped else false + //! @param aabb Bounds to test against. + //! @param rayStart The start of the ray. + //! @param rayEnd The end of the ray. + //! @param[out] tClipStart The proportion where the ray enters the \ref Aabb. + //! @param[out] tClipEnd The proportion where the ray exits the \ref Aabb. + //! @return True if the ray was clipped, otherwise false. bool ClipRayWithAabb(const Aabb& aabb, Vector3& rayStart, Vector3& rayEnd, float& tClipStart, float& tClipEnd); //! Test segment and aabb where the segment is defined by midpoint //! midPoint = (p1-p0) * 0.5f and half vector halfVector = p1 - midPoint. //! the aabb is at the origin and defined by half extents only. - //! @param midPoint midpoint of a line segment - //! @param halfVector half vector of an aabb - //! @param aabbExtends the extends of a bounded box - //! @return true if the intersect, otherwise false. + //! @param midPoint Midpoint of a line segment. + //! @param halfVector Half vector of an aabb. + //! @param aabbExtends The extends of a bounded box. + //! @return True if the segment and AABB intersect, otherwise false bool TestSegmentAABBOrigin(const Vector3& midPoint, const Vector3& halfVector, const Vector3& aabbExtends); - //! Test if segment specified by points p0 and p1 intersects AABB. \ref TestSegmentAABBOrigin - //! @param p0 point 1 - //! @param p1 point 2 - //! @param aabb bounded box - //! @return true if the segment and AABB intersect, otherwise false. + //! Test if segment specified by points p0 and p1 intersects AABB. \ref TestSegmentAABBOrigin. + //! @param p0 Segment start point. + //! @param p1 Segment end point. + //! @param aabb Bounded box to test against. + //! @return True if the segment and AABB intersect, otherwise false. bool TestSegmentAABB(const Vector3& p0, const Vector3& p1, const Aabb& aabb); //! Ray sphere intersection result types. enum SphereIsectTypes : AZ::s32 { - ISECT_RAY_SPHERE_SA_INSIDE = -1, //!< the ray starts inside the cylinder - ISECT_RAY_SPHERE_NONE, //!< no intersection - ISECT_RAY_SPHERE_ISECT, //!< along the PQ segment + ISECT_RAY_SPHERE_SA_INSIDE = -1, //!< The ray starts inside the cylinder + ISECT_RAY_SPHERE_NONE, //!< No intersection + ISECT_RAY_SPHERE_ISECT, //!< Along the PQ segment }; //! IntersectRaySphereOrigin //! return time t>=0 but not limited, so if you check a segment make sure - //! t <= segmentLen - //! @param rayStart ray start point + //! t <= segmentLen. + //! @param rayStart ray start point. //! @param rayDirNormalized ray direction normalized. - //! @param shereRadius sphere radius + //! @param shereRadius Radius of sphere at origin. //! @param time of closest intersection [0,+INF] in relation to the normalized direction. - //! @return \ref SphereIsectTypes + //! @return \ref SphereIsectTypes. SphereIsectTypes IntersectRaySphereOrigin( const Vector3& rayStart, const Vector3& rayDirNormalized, const float sphereRadius, float& t); //! Intersect ray (rayStart,rayDirNormalized) and sphere (sphereCenter,sphereRadius) \ref IntersectRaySphereOrigin - //! @param rayStart the start of the ray - //! @param rayDirNormalized the direction of the ray normalized - //! @param sphereCenter the center of the sphere - //! @param sphereRadius radius of the sphere - //! @param[out] t coefficient in the ray's explicit equation from which an + //! @param rayStart The start of the ray. + //! @param rayDirNormalized The direction of the ray normalized. + //! @param sphereCenter The center of the sphere. + //! @param sphereRadius Radius of the sphere. + //! @param[out] t Coefficient in the ray's explicit equation from which an //! intersecting point is calculated as "rayOrigin + t1 * rayDir". //! @return SphereIsectTypes SphereIsectTypes IntersectRaySphere( @@ -156,12 +155,12 @@ namespace AZ //! Intersect ray (rayStarty, rayDirNormalized) and disk (center, radius, normal) //! @param rayOrigin The origin of the ray to test. //! @param rayDir The direction of the ray to test. It has to be unit length. - //! @param diskCenter Center point of the disk - //! @param diskRadius Radius of the disk - //! @param diskNormal A normal perpendicular to the disk + //! @param diskCenter Center point of the disk. + //! @param diskRadius Radius of the disk. + //! @param diskNormal A normal perpendicular to the disk. //! @param[out] t If returning 1 (indicating a hit), this contains distance from rayOrigin along the normalized rayDir //! that the hit occured at. - //! @return false if not interesecting and true if intersecting + //! @return False if not interesecting and true if intersecting bool IntersectRayDisk( const Vector3& rayOrigin, const Vector3& rayDir, @@ -215,7 +214,7 @@ namespace AZ //! @param planePos A point on the plane to test intersection with. //! @param planeNormal The normal of the plane to test intersection with. //! @param[out] t The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * rayDirection". - //! @return The number of intersection point. + //! @return The number of intersection point. int IntersectRayPlane( const Vector3& rayOrigin, const Vector3& rayDir, const Vector3& planePos, const Vector3& planeNormal, float& t); @@ -230,7 +229,7 @@ namespace AZ //! @param vertexD One of the four points that define the quadrilateral. //! @param[out] t The coefficient in the ray's explicit equation from which the //! intersecting point is calculated as "rayOrigin + t * rayDirection". - //! @return The number of intersection point. + //! @return The number of intersection point. int IntersectRayQuad( const Vector3& rayOrigin, const Vector3& rayDir, @@ -269,7 +268,7 @@ namespace AZ //! @param rayDir The direction of the ray to test intersection with. //! @param obb The OBB to test for intersection with the ray. //! @param[out] t The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * rayDirection". - //! @return true if there is an intersection, false otherwise. + //! @return True if there is an intersection, false otherwise. bool IntersectRayObb(const Vector3& rayOrigin, const Vector3& rayDir, const Obb& obb, float& t); //! Ray cylinder intersection types. @@ -284,13 +283,12 @@ namespace AZ //! Reference: Real-Time Collision Detection - 5.3.7 Intersecting Ray or Segment Against Cylinder //! Intersect segment S(t)=sa+t(dir), 0<=t<=1 against cylinder specified by p, q and r. - //! - //! @param sa point - //! @param dir magnitude along sa - //! @param p center point of side 1 cylinder - //! @param q center point of side 2 cylinder - //! @param r radius of cylinder - //! @param[out] t proporition along line segment + //! @param sa The initial point. + //! @param dir Magnitude and direction for sa. + //! @param p Center point of side 1 cylinder. + //! @param q Center point of side 2 cylinder. + //! @param r Radius of cylinder. + //! @param[out] t Proporition along line segment. //! @return CylinderIsectTypes CylinderIsectTypes IntersectSegmentCylinder( const Vector3& sa, const Vector3& dir, const Vector3& p, const Vector3& q, const float r, float& t); @@ -298,22 +296,22 @@ namespace AZ //! Capsule ray intersect types. enum CapsuleIsectTypes { - ISECT_RAY_CAPSULE_SA_INSIDE = -1, //!< the ray starts inside the cylinder - ISECT_RAY_CAPSULE_NONE, //!< no intersection - ISECT_RAY_CAPSULE_PQ, //!< along the PQ segment - ISECT_RAY_CAPSULE_P_SIDE, //!< on the P side - ISECT_RAY_CAPSULE_Q_SIDE, //!< on the Q side + ISECT_RAY_CAPSULE_SA_INSIDE = -1, //!< The ray starts inside the cylinder + ISECT_RAY_CAPSULE_NONE, //!< No intersection + ISECT_RAY_CAPSULE_PQ, //!< Along the PQ segment + ISECT_RAY_CAPSULE_P_SIDE, //!< On the P side + ISECT_RAY_CAPSULE_Q_SIDE, //!< On the Q side }; //! This is a quick implementation of segment capsule based on segment cylinder \ref IntersectSegmentCylinder //! segment sphere intersection. We can optimize it a lot once we fix the ray //! cylinder intersection. - //! @param sa the beginning of the line segment - //! @param dir the direction and length of the segment - //! @param p center point of side 1 capsule - //! @param q center point of side 1 capsule - //! @param r the radius of the capsule - //! @param[out] t proporition along line segment + //! @param sa The beginning of the line segment. + //! @param dir The direction and length of the segment. + //! @param p Center point of side 1 capsule. + //! @param q Center point of side 1 capsule. + //! @param r The radius of the capsule. + //! @param[out] t Proporition along line segment. //! @return CapsuleIsectTypes CapsuleIsectTypes IntersectSegmentCapsule( const Vector3& sa, const Vector3& dir, const Vector3& p, const Vector3& q, const float r, float& t); @@ -321,15 +319,15 @@ namespace AZ //! Intersect segment S(t)=A+t(B-A), 0<=t<=1 against convex polyhedron specified //! by the n halfspaces defined by the planes p[]. On exit tfirst and tlast //! define the intersection, if any. - //! @param sa the beggining of the line segment - //! @param dir the direction and length of the segment - //! @param p planes that compose a convex ponvex polyhedron - //! @param numPlanes number of planes - //! @param[out] tfirst proportion along the line segment where the line enters - //! @param[out] tlast proportion along the line segment where the line exits - //! @param[out] iFirstPlane the plane where the line enters - //! @param[out] iLastPlane the plane where the line exits - //! @return true if intersects else false + //! @param sa The beggining of the line segment. + //! @param dir The direction and length of the segment. + //! @param p Planes that compose a convex ponvex polyhedron. + //! @param numPlanes number of planes. + //! @param[out] tfirst Proportion along the line segment where the line enters. + //! @param[out] tlast Proportion along the line segment where the line exits. + //! @param[out] iFirstPlane The plane where the line enters. + //! @param[out] iLastPlane The plane where the line exits. + //! @return True if intersects else false. bool IntersectSegmentPolyhedron( const Vector3& sa, const Vector3& dir, @@ -345,15 +343,15 @@ namespace AZ //! segment2Proportion where closestPointSegment1 = segment1Start + (segment1Proportion * (segment1End - segment1Start)) //! closestPointSegment2 = segment2Start + (segment2Proportion * (segment2End - segment2Start)) //! If segments are parallel returns a solution. - //! @param segment1Start start of segment 1. - //! @param segment1End end of segment 1. - //! @param segment2Start start of segment 2. - //! @param segment2End end of segment 2. - //! @param[out] segment1Proportion the proporition along segment 1 [0..1] - //! @param[out] segment2Proportion the proporition along segment 2 [0..1] - //! @param[out] closestPointSegment1 closest point on segment 1. - //! @param[out] closestPointSegment2 closest point on segment 2. - //! @param epsilon the minimum square distance where a line segment can be treated as a single point. + //! @param segment1Start Start of segment 1. + //! @param segment1End End of segment 1. + //! @param segment2Start Start of segment 2. + //! @param segment2End End of segment 2. + //! @param[out] segment1Proportion The proporition along segment 1 [0..1] + //! @param[out] segment2Proportion The proporition along segment 2 [0..1] + //! @param[out] closestPointSegment1 Closest point on segment 1. + //! @param[out] closestPointSegment2 Closest point on segment 2. + //! @param epsilon The minimum square distance where a line segment can be treated as a single point. void ClosestSegmentSegment( const Vector3& segment1Start, const Vector3& segment1End, @@ -368,13 +366,13 @@ namespace AZ //! Calculate the line segment closestPointSegment1<->closestPointSegment2 that is the shortest route between //! two segments segment1Start<->segment1End and segment2Start<->segment2End. //! If segments are parallel returns a solution. - //! @param segment1Start start of segment 1. - //! @param segment1End end of segment 1. - //! @param segment2Start start of segment 2. - //! @param segment2End end of segment 2. - //! @param[out] closestPointSegment1 closest point on segment 1. - //! @param[out] closestPointSegment2 closest point on segment 2. - //! @param epsilon the minimum square distance where a line segment can be treated as a single point. + //! @param segment1Start Start of segment 1. + //! @param segment1End End of segment 1. + //! @param segment2Start Start of segment 2. + //! @param segment2End End of segment 2. + //! @param[out] closestPointSegment1 Closest point on segment 1. + //! @param[out] closestPointSegment2 Closest point on segment 2. + //! @param epsilon The minimum square distance where a line segment can be treated as a single point. void ClosestSegmentSegment( const Vector3& segment1Start, const Vector3& segment1End, @@ -387,11 +385,11 @@ namespace AZ //! Calculate the point (closestPointOnSegment) that is the closest point on //! segment segmentStart/segmentEnd to point. Also calculate the value of proportion where //! closestPointOnSegment = segmentStart + (proportion * (segmentEnd - segmentStart)) - //! @param point the point to test - //! @param segmentStart the start of the segment - //! @param segmentEnd the end of the segment - //! @param[out] proportion the proportion of the segment L(t) = (end - start) * t - //! @param[out] closestPointOnSegment the point along the line segment + //! @param point The point to test + //! @param segmentStart The start of the segment + //! @param segmentEnd The end of the segment + //! @param[out] proportion The proportion of the segment L(t) = (end - start) * t + //! @param[out] closestPointOnSegment The point along the line segment void ClosestPointSegment( const Vector3& point, const Vector3& segmentStart, From 5a204dc80b65c322be7fb038cd9c5783cadf4533 Mon Sep 17 00:00:00 2001 From: Michael Pollind Date: Wed, 13 Oct 2021 21:26:03 -0700 Subject: [PATCH 5/5] chore: remove equality from boolean expression Signed-off-by: Michael Pollind --- .../AzToolsFramework/Picking/Manipulators/ManipulatorBounds.cpp | 2 +- Gems/LmbrCentral/Code/Source/Shape/BoxShape.cpp | 2 +- Gems/LmbrCentral/Code/Source/Shape/DiskShape.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/Code/Framework/AzToolsFramework/AzToolsFramework/Picking/Manipulators/ManipulatorBounds.cpp b/Code/Framework/AzToolsFramework/AzToolsFramework/Picking/Manipulators/ManipulatorBounds.cpp index 3a7fffb3be..4c7afa2275 100644 --- a/Code/Framework/AzToolsFramework/AzToolsFramework/Picking/Manipulators/ManipulatorBounds.cpp +++ b/Code/Framework/AzToolsFramework/AzToolsFramework/Picking/Manipulators/ManipulatorBounds.cpp @@ -116,7 +116,7 @@ namespace AzToolsFramework { return AZ::Intersect::IntersectRayBox( rayOrigin, rayDirection, m_center, m_axis1, m_axis2, m_axis3, m_halfExtents.GetX(), m_halfExtents.GetY(), - m_halfExtents.GetZ(), rayIntersectionDistance) > 0; + m_halfExtents.GetZ(), rayIntersectionDistance); } void ManipulatorBoundBox::SetShapeData(const BoundRequestShapeBase& shapeData) diff --git a/Gems/LmbrCentral/Code/Source/Shape/BoxShape.cpp b/Gems/LmbrCentral/Code/Source/Shape/BoxShape.cpp index a776a01ccc..4f6089ba16 100644 --- a/Gems/LmbrCentral/Code/Source/Shape/BoxShape.cpp +++ b/Gems/LmbrCentral/Code/Source/Shape/BoxShape.cpp @@ -166,7 +166,7 @@ namespace LmbrCentral return intersection; } - const bool intersection = AZ::Intersect::IntersectRayObb(src, dir, m_intersectionDataCache.m_obb, distance) > 0; + const bool intersection = AZ::Intersect::IntersectRayObb(src, dir, m_intersectionDataCache.m_obb, distance); return intersection; } diff --git a/Gems/LmbrCentral/Code/Source/Shape/DiskShape.cpp b/Gems/LmbrCentral/Code/Source/Shape/DiskShape.cpp index 8eaf03457f..1c4a94ced3 100644 --- a/Gems/LmbrCentral/Code/Source/Shape/DiskShape.cpp +++ b/Gems/LmbrCentral/Code/Source/Shape/DiskShape.cpp @@ -153,7 +153,7 @@ namespace LmbrCentral m_intersectionDataCache.UpdateIntersectionParams(m_currentTransform, m_diskShapeConfig); return AZ::Intersect::IntersectRayDisk( - src, dir, m_intersectionDataCache.m_position, m_intersectionDataCache.m_radius, m_intersectionDataCache.m_normal, distance) > 0; + src, dir, m_intersectionDataCache.m_position, m_intersectionDataCache.m_radius, m_intersectionDataCache.m_normal, distance); } void DiskShape::DiskIntersectionDataCache::UpdateIntersectionParamsImpl(