raycast impl

(not finished normals and intersection point returning)

src/maths/rays.h

@@ -0,0 +1,81 @@
+#ifndef MATHS_RAYS_H_
+#define MATHS_RAYS_H_
+
+// #include "../typedefs.h"
+#include "aabb.h"
+#include "glm/glm.hpp"
+
+#include <unordered_map>
+
+typedef glm::highp_dvec3 rayvec3;
+typedef glm::highp_dvec2 rayvec2;
+
+enum class RayRelation{
+    Embed=2, Intersect=1, Parallel=0, None=0
+};
+enum class AAFaceKind : unsigned char{
+	Xperp=0, Yperp=1, Zperp=2 //perpendicular faces to corresponding axis
+};
+
+const unsigned char AABBFACES_COUNT = 6;
+
+class AABBFaces{
+public:
+	std::array<std::pair<rayvec3, rayvec2>, AABBFACES_COUNT> faces; // every face is min-point and opposite corner point
+
+	AABBFaces(){};
+	AABBFaces(const rayvec3& parentBoxPos, const AABB& parentBox);
+
+};
+
+template<>
+struct std::hash<rayvec3>{
+	std::size_t operator()(const rayvec3& r) const noexcept{
+		return std::hash<double>{}(r.x) ^ (std::hash<double>{}(r.y) << 1) ^ (std::hash<double>{}(r.z) << 2);
+	}
+};
+
+class Rays{
+protected:
+	static const bool IS_RAYS_BOX_CACHE_ON = false;
+	static std::unordered_map<rayvec3, AABBFaces> raysBoxCache_; //[boxPos]: faces array 
+
+public:
+
+template <AAFaceKind faceKind>
+static RayRelation rayIntersectAAFace(
+	               const rayvec3& rayOrigin, 
+				   const rayvec3& rayDir,
+				   const rayvec3& faceMin,
+				   const rayvec2& faceOppositeCorner,
+				   rayvec3& intersectPoint_ret
+				   );
+
+//optimized, not returns intersectPoint coordinates 
+template <AAFaceKind faceKind>
+static RayRelation isRayIntersectsAAFace(
+				   const rayvec3& rayOrigin, 
+				   const rayvec3& rayDir,
+				   const rayvec3& faceMin,
+				   const rayvec2& faceOppositeCorner
+				);
+
+static RayRelation rayIntersectAABB(
+	               const rayvec3& rayOrigin, 
+				   const rayvec3& rayDir,
+                   const rayvec3& boxPos,
+				   const AABB& box,
+				   rayvec3& pointIn_ret,
+				   rayvec3& pointOut_ret,
+                   glm::ivec3& normal_ret);
+
+static RayRelation rayIntersectAABBFaces(
+                   const rayvec3& rayOrigin, 
+				   const rayvec3& rayDir,
+                   const AABBFaces& boxFaces,
+				   rayvec3& pointIn_ret,
+				   rayvec3& pointOut_ret,
+                   glm::ivec3& normal_ret);
+};
+
+#endif // SRC_VOXNATHS_H_