Add a new implementation for cone/ray intersect to simplify code and fix issue with current implementation (#3902)
* add a new implementation for cone/ray intersect to simplify and fix existing issue Signed-off-by: hultonha <hultonha@amazon.co.uk> * move new ray/cone intersection function to AzToolsFramework - repond to PR comments Signed-off-by: hultonha <hultonha@amazon.co.uk> * updates following PR feedback Signed-off-by: hultonha <hultonha@amazon.co.uk> * add additional comment to give more context to the intersection function Signed-off-by: hultonha <hultonha@amazon.co.uk> * update google test expect usage Signed-off-by: hultonha <hultonha@amazon.co.uk>
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hultonha
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@@ -628,7 +628,7 @@ int AZ::Intersect::IntersectRayCappedCylinder(
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int AZ::Intersect::IntersectRayCone(
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const Vector3& rayOrigin, const Vector3& rayDir,
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const Vector3& coneApex, const Vector3& coneDir, float coneHeight,
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float coneBaseRaidus, float& t1, float& t2)
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float coneBaseRadius, float& t1, float& t2)
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{
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// Q = rayOrgin, A = coneApex
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Vector3 AQ = rayOrigin - coneApex;
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@@ -646,7 +646,7 @@ int AZ::Intersect::IntersectRayCone(
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return 0;
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}
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float r2 = coneBaseRaidus * coneBaseRaidus;
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float r2 = coneBaseRadius * coneBaseRadius;
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float h2 = coneHeight * coneHeight;
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float m2 = m * m;
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@@ -240,7 +240,7 @@ namespace AZ
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//! @return The number of intersecting points.
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int IntersectRayCone(
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const Vector3& rayOrigin, const Vector3& rayDir,
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const Vector3& coneApex, const Vector3& coneDir, float coneHeight, float coneBaseRaidus,
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const Vector3& coneApex, const Vector3& coneDir, float coneHeight, float coneBaseRadius,
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float& t1, float& t2);
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//! Test intersection between a ray and a plane in 3D.
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@@ -609,6 +609,21 @@ namespace UnitTest
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EXPECT_EQ(hits, 0);
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}
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// replicates a scenario in the Editor using a cone and a pick ray which should have failed but passed
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// note: To replicate this, select an entity so the default translation manipulator appears, move very close to the
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// entity, hover the mouse over one of the manipulator linear manipulator arrows (cone part) and move the mouse away
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// notice the manipulator will remain highlighted as a successful intersection is still reported
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TEST(MATH_IntersectRayConeTestEditor, DISABLED_RayConeEditorScenarioTest)
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{
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auto rayOrigin = Vector3(0.0f, -0.808944702f, 0.0f);
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auto rayDir = Vector3(0.301363617f, 0.939044654f, 0.165454566f);
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float t1 = 0.0f;
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float t2 = 0.0f;
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int hits = Intersect::IntersectRayCone(
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rayOrigin, rayDir, AZ::Vector3(0.0f, 0.0f, 0.161788940f), AZ::Vector3(0.0f, 0.0f, -1.0f), 0.0453009047, 0.0113252262, t1, t2);
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EXPECT_EQ(hits, 0);
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}
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class MATH_IntersectRayQuadTest
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: public AllocatorsFixture
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{
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+76
-4
@@ -16,6 +16,79 @@ namespace AzToolsFramework
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{
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namespace Picking
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{
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// this intersection algorithm is adapted from 'Capped Cone' by Inigo Quilez
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// ref: https://www.iquilezles.org/www/articles/intersectors/intersectors.htm and https://www.shadertoy.com/view/llcfRf
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// all algorithms/code snippets are kindly made available under the MIT License - https://www.iquilezles.org/www/index.htm
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bool IntersectRayCone(
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const AZ::Vector3& rayOrigin,
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const AZ::Vector3& rayDirection,
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const AZ::Vector3& coneApex,
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const AZ::Vector3& coneAxis,
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float coneHeight,
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float coneBaseRadius,
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float& t)
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{
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const AZ::Vector3& pa = coneApex;
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const AZ::Vector3& pb = coneApex + coneHeight * coneAxis;
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const AZ::Vector3& ro = rayOrigin;
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const AZ::Vector3& rd = rayDirection;
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float rb = coneBaseRadius;
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AZ::Vector3 ba = pb - pa;
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AZ::Vector3 oa = ro - pa;
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AZ::Vector3 ob = ro - pb;
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float m0 = ba.Dot(ba);
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float m1 = oa.Dot(ba);
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float m2 = ob.Dot(ba);
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float m3 = rd.Dot(ba);
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auto dot2 = [](const AZ::Vector3& v)
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{
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return v.Dot(v);
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};
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// cap
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if (m2 > 0.0f)
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{
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if (dot2(ob * m3 - rd * m2) < (rb * rb * m3 * m3))
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{
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t = -m2 / m3;
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return true;
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}
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}
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// body
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float m4 = rd.Dot(oa);
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float m5 = oa.Dot(oa);
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float hy = m0 + rb * rb;
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float k2 = m0 * m0 - m3 * m3 * hy;
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float k1 = m0 * m0 * m4 - m1 * m3 * hy;
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float k0 = m0 * m0 * m5 - m1 * m1 * hy;
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// note: solving for simultaneously being on the sloping surface of the cone and being on the ray boils down
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// to a quadratic equation - the discriminant of the quadratic determines if there are 1, 2 or no solutions
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//
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// if the discriminant is less than 0 the ray is not intersecting the cone, if it is equal to 0 then the ray
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// is intersecting the cone once and if it is greater than 0 the ray is intersecting the cone twice
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float discriminant = k1 * k1 - k2 * k0;
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if (discriminant < 0.0f)
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{
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return false;
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}
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float tt = (-k1 - AZ::Sqrt(discriminant)) / k2;
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float y = m1 + tt * m3;
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if (y >= 0.0f && y < m0)
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{
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t = tt;
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return true;
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}
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return false;
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}
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bool ManipulatorBoundSphere::IntersectRay(
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const AZ::Vector3& rayOrigin, const AZ::Vector3& rayDirection, float& rayIntersectionDistance)
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{
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@@ -86,11 +159,10 @@ namespace AzToolsFramework
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bool ManipulatorBoundCone::IntersectRay(
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const AZ::Vector3& rayOrigin, const AZ::Vector3& rayDirection, float& rayIntersectionDistance)
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{
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float t1 = std::numeric_limits<float>::max();
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float t2 = std::numeric_limits<float>::max();
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if (AZ::Intersect::IntersectRayCone(rayOrigin, rayDirection, m_apexPosition, m_dir, m_height, m_radius, t1, t2) > 0)
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float t = std::numeric_limits<float>::max();
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if (IntersectRayCone(rayOrigin, rayDirection, m_apexPosition, m_dir, m_height, m_radius, t))
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{
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rayIntersectionDistance = AZStd::GetMin(t1, t2);
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rayIntersectionDistance = t;
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return true;
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}
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+20
@@ -23,6 +23,26 @@ namespace AzToolsFramework
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{
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namespace Picking
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{
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//! Custom ray/cone intersect function for manipulator bounds to workaround a bug in the current AZ::Intersect implementation.
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//! @note Does not give reliable results if the ray origin is inside the cone.
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//! @param rayOrigin The origin of the ray to test.
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//! @param rayDirection The direction of the ray to test, it must be unit length.
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//! @param coneApex The apex of the cone.
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//! @param coneAxis The unit-length axis (direction) from the apex to the base.
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//! @param coneHeight The height of the cone, from the apex to the base.
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//! @param coneBaseRadius The radius of the cone base.
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//! @param[out] t A possible coefficient in the ray's explicit equation from which an intersecting point is calculated
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//! as "rayOrigin + t * rayDirection". 't' is the closest intersecting point to the ray origin.
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//! @return true for intersecting, false for not intersecting.
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bool IntersectRayCone(
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const AZ::Vector3& rayOrigin,
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const AZ::Vector3& rayDirection,
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const AZ::Vector3& coneApex,
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const AZ::Vector3& coneAxis,
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float coneHeight,
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float coneBaseRadius,
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float& t);
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class ManipulatorBoundSphere : public BoundShapeInterface
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{
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public:
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@@ -187,4 +187,51 @@ namespace UnitTest
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EXPECT_NEAR(intersectionDistance, 10.0f, g_epsilon);
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EXPECT_TRUE(intersection);
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}
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// replicates a scenario in the Editor using a cone and a pick ray which should have failed but passed with Intersect::IntersectRayCone
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TEST(ManipulatorIntersectRayConeTest, RayConeEditorScenarioTest)
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{
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auto rayOrigin = AZ::Vector3(0.0f, -0.808944702f, 0.0f);
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auto rayDir = AZ::Vector3(0.301363617f, 0.939044654f, 0.165454566f);
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float t = 0.0f;
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bool hit = AzToolsFramework::Picking::IntersectRayCone(
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rayOrigin, rayDir, AZ::Vector3(0.0f, 0.0f, 0.161788940f), AZ::Vector3(0.0f, 0.0f, -1.0f), 0.0453009047, 0.0113252262, t);
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EXPECT_FALSE(hit);
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}
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// cone lying flat, ray going towards base of cone
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TEST(ManipulatorIntersectRayConeTest, RayIntersectsConeBase)
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{
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auto rayOrigin = AZ::Vector3::CreateZero();
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auto rayDir = AZ::Vector3::CreateAxisY();
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float t = 0.0f;
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bool hit = AzToolsFramework::Picking::IntersectRayCone(
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rayOrigin, rayDir, AZ::Vector3::CreateAxisY(10.0f), AZ::Vector3::CreateAxisY(-1.0f), 5.0f, 1.0f, t);
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EXPECT_TRUE(hit);
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EXPECT_THAT(t, ::testing::FloatNear(5.0f, 0.0001f));
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}
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// cone standing up, ray going towards mid side of cone
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TEST(ManipulatorIntersectRayConeTest, RayIntersectsConeSide)
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{
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auto rayOrigin = AZ::Vector3::CreateZero();
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auto rayDir = AZ::Vector3::CreateAxisY();
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float t = 0.0f;
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bool hit = AzToolsFramework::Picking::IntersectRayCone(
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rayOrigin, rayDir, AZ::Vector3(0.0f, 10.0f, 5.0f), AZ::Vector3::CreateAxisZ(-1.0f), 10.0f, 5.0f, t);
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EXPECT_TRUE(hit);
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EXPECT_THAT(t, ::testing::FloatNear(7.5f, 0.0001f));
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}
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// cone standing up, ray going towards mid side of cone
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TEST(ManipulatorIntersectRayConeTest, RayIntersectsConeApex)
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{
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auto rayOrigin = AZ::Vector3::CreateZero();
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auto rayDir = AZ::Vector3::CreateAxisY();
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float t = 0.0f;
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bool hit = AzToolsFramework::Picking::IntersectRayCone(
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rayOrigin, rayDir, AZ::Vector3::CreateAxisY(2.5f), AZ::Vector3::CreateAxisY(1.0f), 5.0f, 1.0f, t);
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EXPECT_TRUE(hit);
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EXPECT_THAT(t, ::testing::FloatNear(2.5f, 0.0001f));
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}
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} // namespace UnitTest
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