/**************************************************************************\ * * This file is part of the Coin 3D visualization library. * Copyright (C) 1998-2007 by Systems in Motion. All rights reserved. * * This library is free software; you can redistribute it and/or * modify it under the terms of the GNU General Public License * ("GPL") version 2 as published by the Free Software Foundation. * See the file LICENSE.GPL at the root directory of this source * distribution for additional information about the GNU GPL. * * For using Coin with software that can not be combined with the GNU * GPL, and for taking advantage of the additional benefits of our * support services, please contact Systems in Motion about acquiring * a Coin Professional Edition License. * * See http://www.coin3d.org/ for more information. * * Systems in Motion, Postboks 1283, Pirsenteret, 7462 Trondheim, NORWAY. * http://www.sim.no/ sales@sim.no coin-support@coin3d.org * \**************************************************************************/ /*! \class SoRayPickAction SoRayPickAction.h Inventor/actions/SoRayPickAction.h \brief The SoRayPickAction class does ray intersection with scene graphs. \ingroup actions For interaction with the scene graph geometry, it is necessary to be able to do intersection testing for rays. This functionality is provided by the SoRayPickAction class. SoRayPickAction can be used to pass arbitrary rays through the scene for intersection detections, by using the setRay() method. Because a very common operation is to check for intersections along the ray from the mousecursor upon mouseclicks, it also contains convenience methods for setting up a ray from the near plane to the far plane from the 2D mousecursor coordinates. See the setPoint() and setNormalizedPoint() methods. A simple usage example for this case is presented below. Note that one common mistake when using a raypick action to intersect from a point under the mousecursor after a mouseclick is that one tries to apply it to a scenegraph that does not contain a camera \e explicitly set up by the application programmer. Without a camera as part of the traversal, the raypick action does not know which view volume to send the ray through. In this regard, be aware that the getSceneGraph() call in the So*-libraries' viewer classes will return the root of the user-supplied scenegraph, not the "real" internal scenegraph root used by the viewer (which should always contain a camera node). So raypicks done from the application code will fail when doing this: \code // initializing viewer scenegraph SoSeparator * root = new SoSeparator; root->ref(); SoEventCallback * ecb = new SoEventCallback; ecb->addEventCallback(SoMouseButtonEvent::getClassTypeId(), event_cb, viewer); root->addChild(ecb); root->addChild(new SoCone); viewer->setSceneGraph( root ); // -- [snip] ------------------------- // attempting raypick in the event_cb() callback method SoRayPickAction rp( viewer->getViewportRegion() ); rp.setPoint(mouseevent->getPosition()); rp.apply(viewer->getSceneGraph()); // BUG: results will not be what you expected, as no camera was // part of the "user's scenegraph" \endcode While this is the correct way to do it: \code // initializing viewer scenegraph SoSeparator * root = new SoSeparator; root->ref(); // Need to set up our own camera in the "user scenegraph", or else // the raypick action will fail because the camera is hidden in the // viewer-specific root of the scenegraph. SoPerspectiveCamera * pcam = new SoPerspectiveCamera; root->addChild(pcam); SoEventCallback * ecb = new SoEventCallback; ecb->addEventCallback(SoMouseButtonEvent::getClassTypeId(), event_cb, viewer); root->addChild(ecb); root->addChild(new SoCone); viewer->setSceneGraph( root ); pcam->viewAll( root, viewer->getViewportRegion() ); // -- [snip] ------------------------- // attempting raypick in the event_cb() callback method SoRayPickAction rp( viewer->getViewportRegion() ); rp.setPoint(mouseevent->getPosition()); rp.apply(viewer->getSceneGraph()); \endcode Or if you do want the convenience of having the viewer set up a camera for you implicitly, you can get hold of the root-node of the "complete" scenegraph by simply calling: \code SoNode * realroot = viewer->getSceneManager()->getSceneGraph(); \endcode */ // FIXME: in the class doc, also mention how one can use // SoRayPickAction from within an SoHandleEventAction callback with // the getNodeAppliedTo() method etc. Include a usage example code // snippet. 20010920 mortene. #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #if COIN_DEBUG #include #endif // COIN_DEBUG // ************************************************************************* // The private data for the SoRayPickAction. class SoRayPickActionP { public: SoRayPickActionP(SoRayPickAction * o) { this->owner = o; } // Hidden private methods. SbBool isBetweenPlanesWS(const SbVec3d & intersection, const SoClipPlaneElement * planes) const; void cleanupPickedPoints(void); void setFlag(const unsigned int flag); void clearFlag(const unsigned int flag); SbBool isFlagSet(const unsigned int flag) const; void calcObjectSpaceData(SoState * ownerstate); void calcMatrices(SoState * ownerstate); // Hidden private variables. SbViewVolume osvolume; SbViewVolume wsvolume; SbLine osline_sp; // use double precision types to increase picking precision SbDPLine osline; SbDPPlane nearplane; SbVec2s vppoint; SbVec2f normvppoint; SbVec3d raystart; SbVec3d raydirection; double rayradiusstart; double rayradiusdelta; double raynear; double rayfar; float radiusinpixels; SbDPLine wsline; SbDPMatrix obj2world; SbDPMatrix world2obj; SbDPMatrix extramatrix; SoPickedPointList pickedpointlist; SbList ppdistance; unsigned int flags; SbBool objectspacevalid; enum { WS_RAY_SET = 0x0001, // ray set by setRay() WS_RAY_COMPUTED = 0x0002, // ray computed in computeWorldSpaceRay() PICK_ALL = 0x0004, // return all picked objects, or just closest NORM_POINT = 0x0008, // is normalized vppoint calculated CLIP_NEAR = 0x0010, // clip ray at near plane? CLIP_FAR = 0x0020, // clip ray at far plane? EXTRA_MATRIX = 0x0040, // is extra matrix supplied in setObjectSpace() PPLIST_IS_SORTED = 0x0080, // did we sort pickedpointslist ? OSVOLUME_DIRTY = 0x0100 // did we calculate osvolume? }; private: SoRayPickAction * owner; }; #undef PRIVATE #define PRIVATE(obj) ((obj)->pimpl) // ************************************************************************* SO_ACTION_SOURCE(SoRayPickAction); // Override from parent class. void SoRayPickAction::initClass(void) { SO_ACTION_INTERNAL_INIT_CLASS(SoRayPickAction, SoPickAction); SO_ENABLE(SoRayPickAction, SoPickRayElement); SO_ENABLE(SoRayPickAction, SoViewportRegionElement); SO_ENABLE(SoRayPickAction, SoOverrideElement); SO_ENABLE(SoRayPickAction, SoTextureOverrideElement); } /*! Constructor. Some node types need a \a viewportregion to know exactly how they are positioned within the scene. For an in-depth explanation of why the \a viewportregion argument is needed, see the documentation of SoGetBoundingBox::SoGetBoundingBox(const SbViewportRegion &). */ SoRayPickAction::SoRayPickAction(const SbViewportRegion & viewportregion) : inherited(viewportregion) { PRIVATE(this) = new SoRayPickActionP(this); PRIVATE(this)->radiusinpixels = 5.0f; PRIVATE(this)->flags = 0; PRIVATE(this)->objectspacevalid = TRUE; SO_ACTION_CONSTRUCTOR(SoRayPickAction); } /*! Destructor, free temporary resources used by action. */ SoRayPickAction::~SoRayPickAction(void) { PRIVATE(this)->cleanupPickedPoints(); delete PRIVATE(this); } /*! Sets the viewport-space point. This point is calculated into a line from the near clipping plane to the far clipping plane, and the intersection ray follows the line. This is a convenient way to detect object intersection below the cursor. */ void SoRayPickAction::setPoint(const SbVec2s & viewportpoint) { PRIVATE(this)->vppoint = viewportpoint; PRIVATE(this)->clearFlag(SoRayPickActionP::NORM_POINT | SoRayPickActionP::WS_RAY_SET | SoRayPickActionP::WS_RAY_COMPUTED); PRIVATE(this)->setFlag(SoRayPickActionP::CLIP_NEAR | SoRayPickActionP::CLIP_FAR); } /*! Sets the viewport-space point which the ray is sent through. The coordinate is normalized, ranging from (0, 0) to (1, 1). \sa setPoint() */ void SoRayPickAction::setNormalizedPoint(const SbVec2f & normpoint) { PRIVATE(this)->normvppoint = normpoint; PRIVATE(this)->clearFlag(SoRayPickActionP::WS_RAY_SET | SoRayPickActionP::WS_RAY_COMPUTED); PRIVATE(this)->setFlag(SoRayPickActionP::NORM_POINT | SoRayPickActionP::CLIP_NEAR | SoRayPickActionP::CLIP_FAR); } /*! Sets the radius of the picking ray, in screen pixels. Default value is 5.0. The radius of the intersection ray will only influence the pick operation's behavior versus lines and points, and has no effect on picking of shapes / polygons. */ void SoRayPickAction::setRadius(const float radiusinpixels) { PRIVATE(this)->radiusinpixels = radiusinpixels; } /*! Sets the intersection ray in world-space coordinates. Use this method if you want to send any ray through the scene to detect intersections, independently of mouse cursor position upon clicks and scene graph camera settings. */ void SoRayPickAction::setRay(const SbVec3f & start, const SbVec3f & direction, float neardistance, float fardistance) { #if COIN_DEBUG if (direction == SbVec3f(0.0f, 0.0f, 0.0f)) { SoDebugError::postWarning("SoRayPickAction::setRay", "Ray has no direction"); } #endif // COIN_DEBUG if (neardistance >= 0.0f) PRIVATE(this)->setFlag(SoRayPickActionP::CLIP_NEAR); else { PRIVATE(this)->clearFlag(SoRayPickActionP::CLIP_NEAR); neardistance = 1.0f; // make sure neardistance is smaller than fardistance if (fardistance > 0.0f && neardistance >= fardistance) { neardistance = fardistance * 0.01f; } } if (fardistance >= 0.0f) PRIVATE(this)->setFlag(SoRayPickActionP::CLIP_FAR); else { PRIVATE(this)->clearFlag(SoRayPickActionP::CLIP_FAR); // just set to some value bigger than neardistance. fardistance = neardistance + 10.0f; } // set these to some values. They will be set to better values // in computeWorldSpaceRay() (when we know the view volume). PRIVATE(this)->rayradiusstart = 0.01; PRIVATE(this)->rayradiusdelta = 0.0; PRIVATE(this)->raystart.setValue(start); PRIVATE(this)->raydirection.setValue(direction); (void) PRIVATE(this)->raydirection.normalize(); PRIVATE(this)->raynear = neardistance; PRIVATE(this)->rayfar = fardistance; PRIVATE(this)->wsline = SbDPLine(PRIVATE(this)->raystart, PRIVATE(this)->raystart + PRIVATE(this)->raydirection); // D = shortest distance from origin to plane const double D = PRIVATE(this)->raydirection.dot(PRIVATE(this)->raystart); PRIVATE(this)->nearplane = SbDPPlane(PRIVATE(this)->raydirection, D + PRIVATE(this)->raynear); PRIVATE(this)->setFlag(SoRayPickActionP::WS_RAY_SET); // We use a real cone for picking, but keep pick view volume in sync to be // compatible with OIV PRIVATE(this)->wsvolume.perspective(0.0, 1.0, neardistance, fardistance); PRIVATE(this)->wsvolume.translateCamera(start); PRIVATE(this)->wsvolume.rotateCamera(SbRotation(SbVec3f(0.0f, 0.0f, -1.0f), direction)); PRIVATE(this)->setFlag(SoRayPickActionP::OSVOLUME_DIRTY); } /*! Lets you decide whether or not all the objects the ray intersects with should be picked. If not, only the intersection point of the object closest to the camera will be picked. Default value of the "pick all" flag is \c FALSE. */ void SoRayPickAction::setPickAll(const SbBool flag) { if (flag) PRIVATE(this)->setFlag(SoRayPickActionP::PICK_ALL); else PRIVATE(this)->clearFlag(SoRayPickActionP::PICK_ALL); } /*! Returns whether only the closest object or all the objects the ray intersects with is picked. \sa setPickAll() */ SbBool SoRayPickAction::isPickAll(void) const { return PRIVATE(this)->isFlagSet(SoRayPickActionP::PICK_ALL); } /*! Returns a list of the picked points. */ const SoPickedPointList & SoRayPickAction::getPickedPointList(void) const { int n = PRIVATE(this)->pickedpointlist.getLength(); if (!PRIVATE(this)->isFlagSet(SoRayPickActionP::PPLIST_IS_SORTED) && n > 1) { SoPickedPoint ** pparray = (SoPickedPoint**) PRIVATE(this)->pickedpointlist.getArrayPtr(); double * darray = (double*) PRIVATE(this)->ppdistance.getArrayPtr(); int i, j, distance; SoPickedPoint * pptmp; double dtmp; // shell sort algorithm (O(nlog(n)) for (distance = 1; distance <= n/9; distance = 3*distance + 1); for (; distance > 0; distance /= 3) { for (i = distance; i < n; i++) { dtmp = darray[i]; pptmp = pparray[i]; j = i; while (j >= distance && darray[j-distance] > dtmp) { darray[j] = darray[j-distance]; pparray[j] = pparray[j-distance]; j -= distance; } darray[j] = dtmp; pparray[j] = pptmp; } } PRIVATE(this)->setFlag(SoRayPickActionP::PPLIST_IS_SORTED); } return PRIVATE(this)->pickedpointlist; } /*! Returns the picked point with \a index in the list of picked points. Returns \c NULL if less than \a index + 1 points where picked during the last raypick action. */ SoPickedPoint * SoRayPickAction::getPickedPoint(const int index) const { assert(index >= 0); if (index < PRIVATE(this)->pickedpointlist.getLength()) { return this->getPickedPointList()[index]; } return NULL; } /*! \COININTERNAL */ void SoRayPickAction::computeWorldSpaceRay(void) { if (PRIVATE(this)->isFlagSet(SoRayPickActionP::WS_RAY_SET)) { // set the ray radius to some very small value, since // the user set the ray manually using setRay(). // // FIXME: Wouldn't it be a nice new feature to be able to // set the radius of the ray in setRay()? pederb, 2001-01-05 const SbViewVolume & vv = SoViewVolumeElement::get(this->state); PRIVATE(this)->rayradiusstart = SbMin(vv.getWidth(), vv.getHeight()) * FLT_EPSILON; PRIVATE(this)->rayradiusdelta = 0.0f; } else { const SbViewVolume & vv = SoViewVolumeElement::get(this->state); const SbViewportRegion & vp = SoViewportRegionElement::get(this->state); if (!PRIVATE(this)->isFlagSet(SoRayPickActionP::NORM_POINT)) { SbVec2s pt = PRIVATE(this)->vppoint - vp.getViewportOriginPixels(); SbVec2s size = vp.getViewportSizePixels(); PRIVATE(this)->normvppoint.setValue(float(pt[0]) / float(size[0]), float(pt[1]) / float(size[1])); } #if COIN_DEBUG if (vv.getDepth() == 0.0f || vv.getWidth() == 0.0f || vv.getHeight() == 0.0f) { SoDebugError::postWarning("SoRayPickAction::computeWorldSpaceRay", "invalid frustum: <%f, %f, %f>", vv.getWidth(), vv.getHeight(), vv.getDepth()); return; } #endif // COIN_DEBUG SbLine templine; vv.projectPointToLine(PRIVATE(this)->normvppoint, templine); PRIVATE(this)->raystart.setValue(templine.getPosition()); PRIVATE(this)->raydirection.setValue(templine.getDirection()); PRIVATE(this)->raynear = 0.0; PRIVATE(this)->rayfar = vv.getDepth(); SbVec2s vpsize = vp.getViewportSizePixels(); PRIVATE(this)->rayradiusstart = (double(vv.getHeight()) / double(vpsize[1]))* double(PRIVATE(this)->radiusinpixels); PRIVATE(this)->rayradiusdelta = 0.0; if (vv.getProjectionType() == SbViewVolume::PERSPECTIVE) { SbVec3d dir(0.0f, vv.getHeight()*0.5f, vv.getNearDist()); // no need to test here, we know vv isn't empty (void) dir.normalize(); SbVec3d upperfar = dir * double(vv.getNearDist()+vv.getDepth()) / dir.dot(SbVec3d(0.0, 0.0, 1.0)); double farheight = double(upperfar[1])*2.0; double farsize = (farheight / double(vpsize[1])) * double(PRIVATE(this)->radiusinpixels); PRIVATE(this)->rayradiusdelta = (farsize - PRIVATE(this)->rayradiusstart) / double(vv.getDepth()); } PRIVATE(this)->wsline = SbDPLine(PRIVATE(this)->raystart, PRIVATE(this)->raystart + PRIVATE(this)->raydirection); SbVec3d tmp; tmp.setValue(vv.getProjectionDirection()); PRIVATE(this)->nearplane = SbDPPlane(tmp, PRIVATE(this)->raystart); PRIVATE(this)->setFlag(SoRayPickActionP::WS_RAY_COMPUTED); // we pick on a real cone, but keep pick view volume in sync to be // compatible with OIV. double normradius = double(PRIVATE(this)->radiusinpixels) / double(SbMin(vp.getViewportSizePixels()[0], vp.getViewportSizePixels()[1])); PRIVATE(this)->wsvolume = vv.narrow(float(PRIVATE(this)->normvppoint[0] - normradius), float(PRIVATE(this)->normvppoint[1] - normradius), float(PRIVATE(this)->normvppoint[0] + normradius), float(PRIVATE(this)->normvppoint[1] + normradius)); SoPickRayElement::set(state, PRIVATE(this)->wsvolume); PRIVATE(this)->setFlag(SoRayPickActionP::OSVOLUME_DIRTY); } } /*! \COININTERNAL */ SbBool SoRayPickAction::hasWorldSpaceRay(void) const { return PRIVATE(this)->isFlagSet(SoRayPickActionP::WS_RAY_SET|SoRayPickActionP::WS_RAY_COMPUTED); } /*! \COININTERNAL */ void SoRayPickAction::setObjectSpace(void) { PRIVATE(this)->clearFlag(SoRayPickActionP::EXTRA_MATRIX); PRIVATE(this)->calcObjectSpaceData(this->state); } /*! \COININTERNAL */ void SoRayPickAction::setObjectSpace(const SbMatrix & matrix) { PRIVATE(this)->setFlag(SoRayPickActionP::EXTRA_MATRIX); PRIVATE(this)->extramatrix = SbDPMatrix(matrix); PRIVATE(this)->calcObjectSpaceData(this->state); } /*! \COININTERNAL */ SbBool SoRayPickAction::intersect(const SbVec3f & v0_in, const SbVec3f & v1_in, const SbVec3f & v2_in, SbVec3f & intersection, SbVec3f & barycentric, SbBool & front) const { // Calculating intersections when we have a degenerate transform // makes no sense. We could do the intersection calculations in // world space, but it is impossible to calculate the object space // intersection point, so we just return FALSE. if (!PRIVATE(this)->objectspacevalid) return FALSE; SbVec3d v0,v1,v2; v0.setValue(v0_in); v1.setValue(v1_in); v2.setValue(v2_in); const SbVec3d & orig = PRIVATE(this)->osline.getPosition(); const SbVec3d & dir = PRIVATE(this)->osline.getDirection(); SbVec3d edge1 = v1 - v0; SbVec3d edge2 = v2 - v0; SbVec3d pvec = dir.cross(edge2); // if determinant is near zero, ray lies in plane of triangle double det = edge1.dot(pvec); if (fabs(det) < DBL_EPSILON) return FALSE; // does ray hit front or back of triangle if (det > 0.0) front = TRUE; else front = FALSE; // create some more intuitive barycentric coordinate names double u, v, w; double inv_det = 1.0 / det; // calculate distance from v0 to ray origin SbVec3d tvec = orig - v0; // calculate U parameter and test bounds u = tvec.dot(pvec) * inv_det; if (u < 0.0 || u > 1.0) return FALSE; // prepare to test V parameter SbVec3d qvec = tvec.cross(edge1); // calculate V parameter and test bounds v = dir.dot(qvec) * inv_det; if (v < 0.0 || u + v > 1.0) return FALSE; // third barycentric coordinate w = 1.0 - u - v; // calculate t and intersection point double t = edge2.dot(qvec) * inv_det; SbVec3d itmp = orig + t * dir; intersection.setValue(itmp); // set the barycentric coordinates before returning barycentric[0] = (float) w; barycentric[1] = (float) u; barycentric[2] = (float) v; return TRUE; } /*! \COININTERNAL */ SbBool SoRayPickAction::intersect(const SbVec3f & v0_in, const SbVec3f & v1_in, SbVec3f & intersection) const { // Calculating intersections when we have a degenerate transform // makes no sense. We could do the intersection calculations in // world space, but it is impossible to calculate the object space // intersection point, so we just return FALSE. if (!PRIVATE(this)->objectspacevalid) return FALSE; SbVec3d v0, v1; v0.setValue(v0_in); v1.setValue(v1_in); // test if we have a valid line, and do point intersection testing // if we don't if (v0 == v1) { intersection = v0_in; // this might return TRUE or FALSE. We already set the // intersection point. return this->intersect(v0_in); } SbDPLine line(v0, v1); SbVec3d op0, op1; // object space SbVec3d p0, p1; // world space if (!PRIVATE(this)->osline.getClosestPoints(line, op0, op1)) return FALSE; // clamp op1 between v0 and v1 if ((op1-v0).dot(line.getDirection()) < 0.0) op1 = v0; else if ((v1-op1).dot(line.getDirection()) < 0.0) op1 = v1; PRIVATE(this)->obj2world.multVecMatrix(op0, p0); PRIVATE(this)->obj2world.multVecMatrix(op1, p1); // distance between points double distance = (p1-p0).length(); double raypos = PRIVATE(this)->nearplane.getDistance(p0); double radius = (float) (PRIVATE(this)->rayradiusstart + PRIVATE(this)->rayradiusdelta * raypos); if (radius >= distance) { intersection.setValue(op1); return TRUE; } return FALSE; } /*! \COININTERNAL */ SbBool SoRayPickAction::intersect(const SbVec3f & point_in) const { // Calculating intersections when we have a degenerate transform // makes no sense. We could do the intersection calculations in // world space, but it is impossible to calculate the object space // intersection point, so we just return FALSE. if (!PRIVATE(this)->objectspacevalid) return FALSE; SbVec3d point; point.setValue(point_in); SbVec3d wpoint; PRIVATE(this)->obj2world.multVecMatrix(point, wpoint); SbVec3d ptonline = PRIVATE(this)->wsline.getClosestPoint(wpoint); // distance between points double distance = (wpoint-ptonline).length(); double raypos = PRIVATE(this)->nearplane.getDistance(ptonline); double radius = (double) (PRIVATE(this)->rayradiusstart + PRIVATE(this)->rayradiusdelta * raypos); return (radius >= distance); } // calculates the square distance (smallest possible) from a 2D point // to a 2D rectangle static double dist_to_quad(const double xmin, const double ymin, const double xmax, const double ymax, const double x, const double y, double & cx, double & cy) { if (x < xmin) { if (y < ymin) { cx = xmin; cy = ymin; return (x-xmin)*(x-xmin) + (y-ymin)*(y-ymin); } else if (y > ymax) { cx = xmin; cy = xmax; return (x-xmin)*(x-xmin) + (y-ymax)*(y-ymax); } else { cx = xmin; cy = y; return (x-xmin)*(x-xmin); } } else if (x > xmax) { if (y < ymin) { cx = xmax; cy = ymin; return (x-xmax)*(x-xmax) + (y-ymin) * (y-ymin); } else if (y > ymax) { cx = xmax; cy = ymax; return (x-xmax)*(x-xmax) + (y-ymax)*(y-ymax); } else { cx = xmax; cy = y; return (x-xmax)*(x-xmax); } } else { if (y < ymin) { cx = x; cy = ymin; return (y-ymin)*(y-ymin); } else if (y > ymax) { cx = x; cy = ymax; return (y-ymax)*(y-ymax); } else { // inside rectangle cx = x; cy = y; return -1.0; } } } /*! \COININTERNAL */ SbBool SoRayPickAction::intersect(const SbBox3f & box, SbVec3f & intersection, const SbBool usefullviewvolume) { // Calculating intersections when we have a degenerate transform // makes no sense. We could do the intersection calculations in // world space, but it is impossible to calculate the object space // intersection point, so we just return FALSE. if (!PRIVATE(this)->objectspacevalid) return FALSE; const SbDPLine & line = PRIVATE(this)->osline; SbVec3d bounds[2]; bounds[0].setValue(box.getMin()); bounds[1].setValue(box.getMax()); SbVec3d ptonray, ptonbox; double sqrmindist = DBL_MAX; SbBool conepick = usefullviewvolume && !PRIVATE(this)->isFlagSet(SoRayPickActionP::WS_RAY_SET); int i; if (PRIVATE(this)->isFlagSet(SoRayPickActionP::CLIP_NEAR|SoRayPickActionP::CLIP_FAR)) { // check if all points are in front of the near or behind the far // clipping plane int numnear = 0; int numfar = 0; for (i = 0; i < 8; i++) { SbVec3d bp(i&1 ? bounds[0][0] : bounds[1][0], i&2 ? bounds[0][1] : bounds[1][1], i&4 ? bounds[0][2] : bounds[1][2]); PRIVATE(this)->obj2world.multVecMatrix(bp, bp); double dist = PRIVATE(this)->nearplane.getDistance(bp); if (PRIVATE(this)->isFlagSet(SoRayPickActionP::CLIP_NEAR)) { if (dist < 0.0) numnear++; } if (PRIVATE(this)->isFlagSet(SoRayPickActionP::CLIP_FAR)) { if (dist > (PRIVATE(this)->rayfar - PRIVATE(this)->raynear)) numfar++; } if ((numnear < i) && (numfar < i)) break; } if (numnear == 8 || numfar == 8) return FALSE; } for (int j = 0; j < 2; j++) { for (i = 0; i < 3; i++) { SbVec3d norm(0.0f, 0.0f, 0.0f); norm[i] = 1.0f; SbVec3d isect; SbDPPlane plane(norm, bounds[j][i]); if (plane.intersect(line, isect)) { int i1 = (i+1) % 3; int i2 = (i+2) % 3; double x, y; double d = dist_to_quad(bounds[0][i1], bounds[0][i2], bounds[1][i1], bounds[1][i2], isect[i1], isect[i2], x, y); if (d <= 0.0f) { // center of ray hit box directly intersection.setValue(isect); return TRUE; } else if (d < sqrmindist) { sqrmindist = d; ptonray = ptonbox = isect; ptonbox[i1] = x; ptonbox[i2] = y; } } } } if (sqrmindist != DBL_MAX && conepick) { // transform ptonray and ptonbox to world space to test on ray cone SbVec3d wptonray, wptonbox; PRIVATE(this)->obj2world.multVecMatrix(ptonbox, wptonbox); PRIVATE(this)->obj2world.multVecMatrix(ptonray, wptonray); double raypos = PRIVATE(this)->nearplane.getDistance(wptonray); double distance = (wptonray-wptonbox).length(); // find ray radius at wptonray double radius = (float) (PRIVATE(this)->rayradiusstart + PRIVATE(this)->rayradiusdelta * raypos); // test for cone intersection if (radius >= distance) { intersection.setValue(ptonbox); // set intersection to the point on box closest to ray return TRUE; } } return FALSE; } /*! \COININTERNAL */ SbBool SoRayPickAction::intersect(const SbBox3f & box, const SbBool usefullviewvolume) { SbVec3f dummy; return this->intersect(box, dummy, usefullviewvolume); } /*! \COININTERNAL */ const SbViewVolume & SoRayPickAction::getViewVolume(void) { if (PRIVATE(this)->objectspacevalid && PRIVATE(this)->isFlagSet(SoRayPickActionP::OSVOLUME_DIRTY)) { // we pick on a real cone, but calculate pick view volume // to be compatible with OIV. PRIVATE(this)->osvolume = SoPickRayElement::get(this->getState()); if (PRIVATE(this)->isFlagSet(SoRayPickActionP::EXTRA_MATRIX)) { SbDPMatrix m = PRIVATE(this)->world2obj * PRIVATE(this)->extramatrix; SbMatrix tmp((float) m[0][0], (float) m[0][1], (float) m[0][2], (float) m[0][3], (float) m[1][0], (float) m[1][1], (float) m[1][2], (float) m[1][3], (float) m[2][0], (float) m[2][1], (float) m[2][2], (float) m[2][3], (float) m[2][0], (float) m[3][1], (float) m[3][2], (float) m[3][3]); PRIVATE(this)->osvolume.transform(tmp); } else { const SbDPMatrix & m = PRIVATE(this)->world2obj; SbMatrix tmp((float) m[0][0], (float) m[0][1], (float) m[0][2], (float) m[0][3], (float) m[1][0], (float) m[1][1], (float) m[1][2], (float) m[1][3], (float) m[2][0], (float) m[2][1], (float) m[2][2], (float) m[2][3], (float) m[2][0], (float) m[3][1], (float) m[3][2], (float) m[3][3]); PRIVATE(this)->osvolume.transform(tmp); } PRIVATE(this)->clearFlag(SoRayPickActionP::OSVOLUME_DIRTY); } return PRIVATE(this)->osvolume; } /*! \COININTERNAL */ const SbLine & SoRayPickAction::getLine(void) { return PRIVATE(this)->osline_sp; } /*! \COININTERNAL */ SbBool SoRayPickAction::isBetweenPlanes(const SbVec3f & intersection_in) const { SbVec3d intersection; intersection.setValue(intersection_in); SbVec3d worldpoint; PRIVATE(this)->obj2world.multVecMatrix(intersection, worldpoint); return PRIVATE(this)->isBetweenPlanesWS(worldpoint, SoClipPlaneElement::getInstance(this->state)); } /*! \COININTERNAL */ SoPickedPoint * SoRayPickAction::addIntersection(const SbVec3f & objectspacepoint_in) { SbVec3d objectspacepoint; objectspacepoint.setValue(objectspacepoint_in); SbVec3d worldpoint; PRIVATE(this)->obj2world.multVecMatrix(objectspacepoint, worldpoint); double dist = PRIVATE(this)->nearplane.getDistance(worldpoint); if (!PRIVATE(this)->isFlagSet(SoRayPickActionP::PICK_ALL) && PRIVATE(this)->pickedpointlist.getLength()) { // got to test if new candidate is closer than old one if (dist >= PRIVATE(this)->ppdistance[0]) return NULL; // farther // remove old point PRIVATE(this)->pickedpointlist.truncate(0); PRIVATE(this)->ppdistance.truncate(0); } // create the new picked point SoPickedPoint * pp = new SoPickedPoint(this->getCurPath(), this->state, objectspacepoint_in); PRIVATE(this)->pickedpointlist.append(pp); PRIVATE(this)->ppdistance.append(dist); PRIVATE(this)->clearFlag(SoRayPickActionP::PPLIST_IS_SORTED); return pp; } /*! Truncates the internal picked points list. \since Coin 2.2 */ void SoRayPickAction::reset(void) { PRIVATE(this)->cleanupPickedPoints(); } // Documented in superclass. void SoRayPickAction::beginTraversal(SoNode * node) { PRIVATE(this)->cleanupPickedPoints(); this->getState()->push(); SoViewportRegionElement::set(this->getState(), this->vpRegion); if (PRIVATE(this)->isFlagSet(SoRayPickActionP::WS_RAY_SET)) { SoPickRayElement::set(state, PRIVATE(this)->wsvolume); } inherited::beginTraversal(node); this->getState()->pop(); } //////// Hidden private methods for ////////////////////////////////////// //////// SoRayPickActionP (pimpl) //////////////////////////////////////// SbBool SoRayPickActionP::isBetweenPlanesWS(const SbVec3d & intersection, const SoClipPlaneElement * planes) const { SbVec3f isect_f; isect_f.setValue(intersection); double dist = this->nearplane.getDistance(intersection); if (this->isFlagSet(CLIP_NEAR)) { if (dist < 0) return FALSE; } if (this->isFlagSet(CLIP_FAR)) { if (dist > (this->rayfar - this->raynear)) return FALSE; } int n = planes->getNum(); for (int i = 0; i < n; i++) { if (!planes->get(i).isInHalfSpace(isect_f)) return FALSE; } return TRUE; } void SoRayPickActionP::cleanupPickedPoints(void) { this->pickedpointlist.truncate(0); // this will delete all SoPickedPoint instances in the list this->ppdistance.truncate(0); this->clearFlag(PPLIST_IS_SORTED); } void SoRayPickActionP::setFlag(const unsigned int flag) { this->flags |= flag; } void SoRayPickActionP::clearFlag(const unsigned int flag) { this->flags &= ~flag; } SbBool SoRayPickActionP::isFlagSet(const unsigned int flag) const { return (this->flags & flag) != 0; } void SoRayPickActionP::calcObjectSpaceData(SoState * ownerstate) { this->calcMatrices(ownerstate); SbVec3d start, dir; if (this->objectspacevalid) { this->world2obj.multVecMatrix(this->raystart, start); this->world2obj.multDirMatrix(this->raydirection, dir); this->osline = SbDPLine(start, start + dir); SbVec3f tmp1, tmp2; tmp1.setValue(start); tmp2.setValue(dir); this->osline_sp = SbLine(tmp1, tmp1 + tmp2); } } void SoRayPickActionP::calcMatrices(SoState * state) { const double VALID_LIMIT = 1.0e-12; // FIXME: why not FLT_EPSILON? 20010916 mortene. const SbMatrix & tmp = SoModelMatrixElement::get(state); this->obj2world = SbDPMatrix(tmp); if (this->isFlagSet(EXTRA_MATRIX)) { this->obj2world.multLeft(this->extramatrix); } this->objectspacevalid = FALSE; double det = this->obj2world.det4(); if (SbAbs(det) > VALID_LIMIT) { this->world2obj = this->obj2world.inverse(); this->objectspacevalid = TRUE; } }