ray.h

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//
// Copyright 2016 Pixar
//
// Licensed under the Apache License, Version 2.0 (the "Apache License")
// with the following modification; you may not use this file except in
// compliance with the Apache License and the following modification to it:
// Section 6. Trademarks. is deleted and replaced with:
//
// 6. Trademarks. This License does not grant permission to use the trade
//    names, trademarks, service marks, or product names of the Licensor
//    and its affiliates, except as required to comply with Section 4(c) of
//    the License and to reproduce the content of the NOTICE file.
//
// You may obtain a copy of the Apache License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
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// distributed under the Apache License with the above modification is
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#ifndef PXR_BASE_GF_RAY_H
#define PXR_BASE_GF_RAY_H

/// \file gf/ray.h
/// \ingroup group_gf_BasicGeometry

#include "pxr/pxr.h"
#include "pxr/base/gf/matrix4d.h"
#include "pxr/base/gf/api.h"

#include <float.h>
#include <limits>
#include <iosfwd>

PXR_NAMESPACE_OPEN_SCOPE

class GfBBox3d;
class GfLine;
class GfLineSeg;
class GfPlane;
class GfRange3d;

/// \class GfRay
/// \ingroup group_gf_BasicGeometry
///
/// Basic type: Ray used for intersection testing
///
/// This class represents a three-dimensional ray in space, typically
/// used for intersection testing. It consists of an origin and a
/// direction.
///
/// Note that by default a \c GfRay does not normalize its direction
/// vector to unit length.
///
/// Note for ray intersections, the start point is included in the computations, 
/// i.e., a distance of zero is defined to be intersecting.
///
class GfRay {

  public:

    /// The default constructor leaves the ray parameters undefined.
    GfRay() {
    }

    /// This constructor takes a starting point and a direction.
    GfRay(const GfVec3d &startPoint, const GfVec3d &direction) {
        SetPointAndDirection(startPoint, direction);
    }

    /// Sets the ray by specifying a starting point and a direction.
    GF_API
    void        SetPointAndDirection(const GfVec3d &startPoint,
                                     const GfVec3d &direction);

    /// Sets the ray by specifying a starting point and an ending point.
    GF_API
    void        SetEnds(const GfVec3d &startPoint, const GfVec3d &endPoint);

    /// Returns the starting point of the segment.
    const GfVec3d &     GetStartPoint() const {
        return _startPoint;
    }

    /// Returns the direction vector of the segment. This is not guaranteed to
    /// be unit length.
    const GfVec3d &     GetDirection() const {
        return _direction;
    }

    /// Returns the point that is \p distance units from the starting point
    /// along the direction vector, expressed in parametic distance.
    GfVec3d             GetPoint(double distance) const {
        return _startPoint + distance * _direction;
    }

    /// Transforms the ray by the given matrix.
    GF_API
    GfRay &     Transform(const GfMatrix4d &matrix);

    /// Returns the point on the ray that is closest to \p point. If \p
    /// rayDistance is not \c NULL, it will be set to the parametric distance
    /// along the ray of the closest point.
    GF_API
    GfVec3d             FindClosestPoint(const GfVec3d &point,
                                         double *rayDistance = NULL) const;

    /// Component-wise equality test. The starting points, directions, and
    /// lengths must match exactly for rays to be considered equal.
    bool                operator ==(const GfRay &r) const {
        return (_startPoint == r._startPoint &&
                _direction  == r._direction);
    }

    /// Component-wise inequality test. The starting points, directions, and
    /// lengths must match exactly for rays to be considered equal.
    bool                operator !=(const GfRay &r) const {
        return ! (*this == r);
    }

    /// \name Intersection methods.
    ///
    /// The methods in this group intersect the ray with a geometric entity.
    ///
    ///@{

    /// Intersects the ray with the triangle formed by points \p p0, \p p1,
    /// and \p p2, returning \c true if it hits. If there is an intersection,
    /// it also returns the parametric distance to the intersection point in
    /// \p distance, the barycentric coordinates of the intersection point in
    /// \p barycentricCoords and the front-facing flag in \p frontFacing. The
    /// barycentric coordinates are defined with respect to the three vertices
    /// taken in order.  The front-facing flag is \c true if the intersection
    /// hit the side of the triangle that is formed when the vertices are
    /// ordered counter-clockwise (right-hand rule). If any of the return
    /// pointers are \c NULL, the corresponding values are not returned.
    ///
    /// If the distance to the intersection is greater than \p maxDist, then
    /// the method will return false.
    ///
    /// Barycentric coordinates are defined to sum to 1 and satisfy this
    /// relationsip:
    /// \code
    ///     intersectionPoint = (barycentricCoords[0] * p0 +
    ///                          barycentricCoords[1] * p1 +
    ///                          barycentricCoords[2] * p2);
    /// \endcode
    GF_API
    bool    Intersect(const GfVec3d &p0,
                      const GfVec3d &p1,
                      const GfVec3d &p2,
                      double *distance = NULL,
                      GfVec3d *barycentricCoords = NULL,
                      bool *frontFacing = NULL,
                      double maxDist = std::numeric_limits<double>::infinity())
                      const;

    /// Intersects the ray with a plane, returning \c true if the ray is not
    /// parallel to the plane and the intersection is within the ray bounds.
    /// If there is an intersection, it also returns the parametric distance
    /// to the intersection point in \p distance and the front-facing flag in
    /// \p frontFacing, if they are not \c NULL. The front-facing flag is \c
    /// true if the intersection is on the side of the plane in which its
    /// normal points.
    GF_API
    bool        Intersect(const GfPlane &plane, double *distance = NULL,
                          bool *frontFacing = NULL) const;

    /// Intersects the ray with an axis-aligned box, returning \c true if the
    /// ray intersects it at all within bounds. If there is an intersection,
    /// this also returns the parametric distances to the two intersection
    /// points in \p enterDistance and \p exitDistance.
    GF_API
    bool        Intersect(const GfRange3d &box,
                          double *enterDistance = NULL,
                          double *exitDistance = NULL) const;

    /// Intersects the ray with an oriented box, returning \c true if the
    /// ray intersects it at all within bounds. If there is an intersection,
    /// this also returns the parametric distances to the two intersection
    /// points in \p enterDistance and \p exitDistance.
    GF_API
    bool        Intersect(const GfBBox3d &box,
                          double *enterDistance = NULL,
                          double *exitDistance = NULL) const;

    /// Intersects the ray with a sphere, returning \c true if the ray
    /// intersects it at all within bounds.  If there is an intersection,
    /// returns the parametric distance to the two intersection points in \p
    /// enterDistance and \p exitDistance.
    GF_API
    bool        Intersect(const GfVec3d &center, double radius,
                          double *enterDistance = NULL,
                          double *exitDistance = NULL ) const;
    
    /// Intersects the ray with an infinite cylinder, with axis \p axis,
    /// centered at the \p origin, with radius \p radius.
    ///
    /// Returns \c true if the ray intersects it at all within bounds. If
    /// there is an intersection, returns the parametric distance to the two
    /// intersection points in \p enterDistance and \p exitDistance.
    ///
    /// Note this method does not validate whether the radius is valid.
    GF_API
    bool Intersect(const GfVec3d &origin,
                   const GfVec3d &axis,
                   const double  radius,
                   double        *enterDistance = NULL,
                   double        *exitDistance = NULL) const;
    
    /// Intersects the ray with an infinite non-double cone, centered at \p
    /// origin, with axis \p axis, radius \p radius and apex at \p height.
    ///
    /// Returns \c true if the ray intersects it at all within bounds. If
    /// there is an intersection, returns the parametric distance to the two
    /// intersection points in \p enterDistance and \p exitDistance.
    ///
    /// Note this method does not validate whether the radius are height are
    /// valid.
    GF_API
    bool Intersect(const GfVec3d &origin,
                   const GfVec3d &axis,
                   const double  radius,
                   const double  height,
                   double        *enterDistance = NULL,
                   double        *exitDistance = NULL) const;
    ///@}

  private:
    GF_API
    friend bool GfFindClosestPoints( const GfRay &, const GfLine &,
                                     GfVec3d *, GfVec3d *,
                                     double *, double * );
    GF_API
    friend bool GfFindClosestPoints( const GfRay &, const GfLineSeg &,
                                     GfVec3d *, GfVec3d *,
                                     double *, double * );
  
    /// Solves the quadratic equation returning the solutions, if defined, in
    /// \p enterDistance and \p exitDistance, where \p enterDistance is less
    /// than or equal to \p exitDistance.
    bool _SolveQuadratic(const double a,
                         const double b,
                         const double c,
                         double       *enterDistance = NULL,
                         double       *exitDistance = NULL) const;
  
    /// The starting point of the ray.
    GfVec3d             _startPoint;
    /// The direction vector.
    GfVec3d             _direction;
};

/// Computes the closest points between a ray and a line. The two points are
/// returned in \p rayPoint and \p linePoint.  The parametric distance of each
/// point on the lines is returned in \p rayDistance and \p lineDistance.
///
/// This returns \c false if the lines were close enough to parallel that no
/// points could be computed; in this case, the other return values are
/// undefined.
GF_API
bool GfFindClosestPoints( const GfRay &ray, const GfLine &line,
                          GfVec3d *rayPoint = nullptr,
                          GfVec3d *linePoint = nullptr,
                          double *rayDistance = nullptr,
                          double *lineDistance = nullptr );

/// Computes the closest points between a ray and a line segment. The two
/// points are returned in \p rayPoint and \p segPoint.  The parametric
/// distance of each point is returned in \p rayDistance and \p segDistance.
///
/// This returns \c false if the lines were close enough to parallel that no
/// points could be computed; in this case, the other return values are
/// undefined.
GF_API
bool GfFindClosestPoints( const GfRay &ray, const GfLineSeg &seg,
                          GfVec3d *rayPoint = nullptr,
                          GfVec3d *segPoint = nullptr,
                          double *rayDistance = nullptr,
                          double *segDistance = nullptr );

/// Output a GfRay using the format [(x y z) >> (x y z)].
/// \ingroup group_gf_DebuggingOutput
GF_API std::ostream& operator<<(std::ostream&, const GfRay&);

PXR_NAMESPACE_CLOSE_SCOPE

#endif // PXR_BASE_GF_RAY_H