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improvement

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Orange
2026-02-05 23:27:31 +03:00
parent 63b4327c91
commit 32e0f9e636
8 changed files with 92 additions and 93 deletions
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53
source/collision/line_tracer.cpp
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@@ -5,57 +5,4 @@
namespace omath::collision
{
bool LineTracer::can_trace_line(const Ray& ray, const Triangle<Vector3<float>>& triangle) noexcept
{
return get_ray_hit_point(ray, triangle) == ray.end;
}
Vector3<float> Ray::direction_vector() const noexcept
{
return end - start;
}
Vector3<float> Ray::direction_vector_normalized() const noexcept
{
return direction_vector().normalized();
}
Vector3<float> LineTracer::get_ray_hit_point(const Ray& ray, const Triangle<Vector3<float>>& triangle) noexcept
{
constexpr float k_epsilon = std::numeric_limits<float>::epsilon();
const auto side_a = triangle.side_a_vector();
const auto side_b = triangle.side_b_vector();
const auto ray_dir = ray.direction_vector();
const auto p = ray_dir.cross(side_b);
const auto det = side_a.dot(p);
if (std::abs(det) < k_epsilon)
return ray.end;
const auto inv_det = 1.0f / det;
const auto t = ray.start - triangle.m_vertex2;
const auto u = t.dot(p) * inv_det;
if ((u < 0 && std::abs(u) > k_epsilon) || (u > 1 && std::abs(u - 1) > k_epsilon))
return ray.end;
const auto q = t.cross(side_a);
// ReSharper disable once CppTooWideScopeInitStatement
const auto v = ray_dir.dot(q) * inv_det;
if ((v < 0 && std::abs(v) > k_epsilon) || (u + v > 1 && std::abs(u + v - 1) > k_epsilon))
return ray.end;
const auto t_hit = side_b.dot(q) * inv_det;
if (ray.infinite_length && t_hit <= k_epsilon)
return ray.end;
if (t_hit <= k_epsilon || t_hit > 1.0f - k_epsilon)
return ray.end;
return ray.start + ray_dir * t_hit;
}
} // namespace omath::collision