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9dd8af261f
- implemented Select3D_SensitiveCylinder class performing an analytical intersection with an untriangulated cone/cylinder - added tests
920 lines
40 KiB
C++
920 lines
40 KiB
C++
// Created on: 2014-05-22
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// Created by: Varvara POSKONINA
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// Copyright (c) 2005-2014 OPEN CASCADE SAS
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//
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// This file is part of Open CASCADE Technology software library.
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//
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// This library is free software; you can redistribute it and/or modify it under
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// the terms of the GNU Lesser General Public License version 2.1 as published
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// by the Free Software Foundation, with special exception defined in the file
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// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
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// distribution for complete text of the license and disclaimer of any warranty.
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//
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// Alternatively, this file may be used under the terms of Open CASCADE
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// commercial license or contractual agreement.
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#include <SelectMgr_RectangularFrustum.hxx>
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#include <BVH_Tools.hxx>
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#include <gp_Pln.hxx>
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#include <NCollection_Vector.hxx>
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#include <Poly_Array1OfTriangle.hxx>
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#include <SelectMgr_FrustumBuilder.hxx>
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#include <SelectMgr_ViewClipRange.hxx>
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// =======================================================================
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// function : Constructor
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// purpose :
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// =======================================================================
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SelectMgr_RectangularFrustum::SelectMgr_RectangularFrustum()
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: myScale(1.0)
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{
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}
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// =======================================================================
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// function : segmentSegmentDistance
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// purpose :
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// =======================================================================
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void SelectMgr_RectangularFrustum::segmentSegmentDistance (const gp_Pnt& theSegPnt1,
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const gp_Pnt& theSegPnt2,
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SelectBasics_PickResult& thePickResult) const
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{
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gp_XYZ anU = theSegPnt2.XYZ() - theSegPnt1.XYZ();
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gp_XYZ aV = myFarPickedPnt.XYZ() - myNearPickedPnt.XYZ(); // use unnormalized vector instead of myViewRayDir to clip solutions behind Far plane
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gp_XYZ aW = theSegPnt1.XYZ() - myNearPickedPnt.XYZ();
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Standard_Real anA = anU.Dot (anU);
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Standard_Real aB = anU.Dot (aV);
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Standard_Real aC = aV.Dot (aV);
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Standard_Real aD = anU.Dot (aW);
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Standard_Real anE = aV.Dot (aW);
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Standard_Real aCoef = anA * aC - aB * aB;
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Standard_Real aSn = aCoef;
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Standard_Real aTc, aTn, aTd = aCoef;
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if (aCoef < gp::Resolution())
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{
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aTn = anE;
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aTd = aC;
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}
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else
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{
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aSn = (aB * anE - aC * aD);
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aTn = (anA * anE - aB * aD);
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if (aSn < 0.0)
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{
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aTn = anE;
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aTd = aC;
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}
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else if (aSn > aCoef)
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{
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aTn = anE + aB;
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aTd = aC;
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}
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}
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if (aTn < 0.0)
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{
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aTn = 0.0;
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}
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else if (aTn > aTd)
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{
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aTn = aTd;
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}
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aTc = (Abs (aTd) < gp::Resolution() ? 0.0 : aTn / aTd);
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const gp_Pnt aClosestPnt = myNearPickedPnt.XYZ() + aV * aTc;
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thePickResult.SetDepth (myNearPickedPnt.Distance (aClosestPnt) * myScale);
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const gp_Vec aPickedVec = aClosestPnt.XYZ() - theSegPnt1.XYZ();
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const gp_Vec aFigureVec = theSegPnt2.XYZ() - theSegPnt1.XYZ();
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const Standard_Real aPickedVecMod = aPickedVec.Magnitude();
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const Standard_Real aFigureVecMod = aFigureVec.Magnitude();
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if (aPickedVecMod <= gp::Resolution()
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|| aFigureVecMod <= gp::Resolution())
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{
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thePickResult.SetPickedPoint (aClosestPnt);
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return;
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}
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const Standard_Real aCosOfAngle = aFigureVec.Dot (aPickedVec) / (aPickedVecMod * aFigureVecMod);
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const Standard_Real aSegPntShift = Min(aFigureVecMod, Max(0.0, aCosOfAngle * aPickedVecMod));
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thePickResult.SetPickedPoint (theSegPnt1.XYZ() + aFigureVec.XYZ() * (aSegPntShift / aFigureVecMod));
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}
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// =======================================================================
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// function : segmentPlaneIntersection
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// purpose :
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// =======================================================================
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bool SelectMgr_RectangularFrustum::segmentPlaneIntersection (const gp_Vec& thePlane,
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const gp_Pnt& thePntOnPlane,
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SelectBasics_PickResult& thePickResult) const
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{
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gp_XYZ anU = myFarPickedPnt.XYZ() - myNearPickedPnt.XYZ(); // use unnormalized vector instead of myViewRayDir to clip solutions behind Far plane by > 1.0 check
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gp_XYZ aW = myNearPickedPnt.XYZ() - thePntOnPlane.XYZ();
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Standard_Real aD = thePlane.Dot (anU);
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Standard_Real aN = -thePlane.Dot (aW);
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if (Abs (aD) < Precision::Confusion())
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{
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if (Abs (aN) < Precision::Angular())
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{
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thePickResult.Invalidate();
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return false;
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}
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else
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{
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thePickResult.Invalidate();
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return false;
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}
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}
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Standard_Real aParam = aN / aD;
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if (aParam < 0.0 || aParam > 1.0) // > 1.0 check could be removed for an infinite ray and anU=myViewRayDir
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{
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thePickResult.Invalidate();
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return false;
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}
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gp_Pnt aClosestPnt = myNearPickedPnt.XYZ() + anU * aParam;
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thePickResult.SetDepth (myNearPickedPnt.Distance (aClosestPnt) * myScale);
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return true;
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}
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namespace
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{
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// =======================================================================
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// function : computeFrustum
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// purpose : Computes base frustum data: its vertices and edge directions
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// =======================================================================
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void computeFrustum (const gp_Pnt2d theMinPnt, const gp_Pnt2d& theMaxPnt,
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const Handle(SelectMgr_FrustumBuilder)& theBuilder,
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gp_Pnt* theVertices, gp_Vec* theEdges)
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{
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// LeftTopNear
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theVertices[0] = theBuilder->ProjectPntOnViewPlane (theMinPnt.X(),
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theMaxPnt.Y(),
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0.0);
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// LeftTopFar
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theVertices[1] = theBuilder->ProjectPntOnViewPlane (theMinPnt.X(),
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theMaxPnt.Y(),
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1.0);
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// LeftBottomNear
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theVertices[2] = theBuilder->ProjectPntOnViewPlane (theMinPnt.X(),
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theMinPnt.Y(),
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0.0);
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// LeftBottomFar
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theVertices[3] = theBuilder->ProjectPntOnViewPlane (theMinPnt.X(),
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theMinPnt.Y(),
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1.0);
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// RightTopNear
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theVertices[4] = theBuilder->ProjectPntOnViewPlane (theMaxPnt.X(),
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theMaxPnt.Y(),
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0.0);
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// RightTopFar
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theVertices[5] = theBuilder->ProjectPntOnViewPlane (theMaxPnt.X(),
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theMaxPnt.Y(),
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1.0);
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// RightBottomNear
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theVertices[6] = theBuilder->ProjectPntOnViewPlane (theMaxPnt.X(),
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theMinPnt.Y(),
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0.0);
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// RightBottomFar
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theVertices[7] = theBuilder->ProjectPntOnViewPlane (theMaxPnt.X(),
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theMinPnt.Y(),
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1.0);
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// Horizontal
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theEdges[0] = theVertices[4].XYZ() - theVertices[0].XYZ();
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// Vertical
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theEdges[1] = theVertices[2].XYZ() - theVertices[0].XYZ();
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// LeftLower
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theEdges[2] = theVertices[2].XYZ() - theVertices[3].XYZ();
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// RightLower
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theEdges[3] = theVertices[6].XYZ() - theVertices[7].XYZ();
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// LeftUpper
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theEdges[4] = theVertices[0].XYZ() - theVertices[1].XYZ();
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// RightUpper
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theEdges[5] = theVertices[4].XYZ() - theVertices[5].XYZ();
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}
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// =======================================================================
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// function : computeNormals
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// purpose : Computes normals to frustum faces
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// =======================================================================
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void computeNormals (const gp_Vec* theEdges, gp_Vec* theNormals)
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{
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// Top
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theNormals[0] = theEdges[0].Crossed (theEdges[4]);
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// Bottom
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theNormals[1] = theEdges[2].Crossed (theEdges[0]);
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// Left
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theNormals[2] = theEdges[4].Crossed (theEdges[1]);
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// Right
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theNormals[3] = theEdges[1].Crossed (theEdges[5]);
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// Near
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theNormals[4] = theEdges[0].Crossed (theEdges[1]);
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// Far
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theNormals[5] = -theNormals[4];
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}
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}
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// =======================================================================
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// function : cacheVertexProjections
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// purpose : Caches projection of frustum's vertices onto its plane directions
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// and {i, j, k}
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// =======================================================================
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void SelectMgr_RectangularFrustum::cacheVertexProjections (SelectMgr_RectangularFrustum* theFrustum) const
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{
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if (theFrustum->Camera()->IsOrthographic())
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{
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// project vertices onto frustum normals
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// Since orthographic view volume's faces are always a pairwise translation of
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// one another, only 2 vertices that belong to opposite faces can be projected
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// to simplify calculations.
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Standard_Integer aVertIdxs[6] = { LeftTopNear, LeftBottomNear, // opposite planes in height direction
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LeftBottomNear, RightBottomNear, // opposite planes in width direcion
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LeftBottomFar, RightBottomNear }; // opposite planes in depth direction
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for (Standard_Integer aPlaneIdx = 0; aPlaneIdx < 5; aPlaneIdx += 2)
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{
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Standard_Real aProj1 = theFrustum->myPlanes[aPlaneIdx].XYZ().Dot (theFrustum->myVertices[aVertIdxs[aPlaneIdx]].XYZ());
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Standard_Real aProj2 = theFrustum->myPlanes[aPlaneIdx].XYZ().Dot (theFrustum->myVertices[aVertIdxs[aPlaneIdx + 1]].XYZ());
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theFrustum->myMinVertsProjections[aPlaneIdx] = Min (aProj1, aProj2);
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theFrustum->myMaxVertsProjections[aPlaneIdx] = Max (aProj1, aProj2);
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}
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}
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else
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{
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// project all vertices onto frustum normals
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for (Standard_Integer aPlaneIdx = 0; aPlaneIdx < 6; ++aPlaneIdx)
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{
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Standard_Real aMax = -DBL_MAX;
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Standard_Real aMin = DBL_MAX;
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const gp_XYZ& aPlane = theFrustum->myPlanes[aPlaneIdx].XYZ();
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for (Standard_Integer aVertIdx = 0; aVertIdx < 8; ++aVertIdx)
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{
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Standard_Real aProjection = aPlane.Dot (theFrustum->myVertices[aVertIdx].XYZ());
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aMin = Min (aMin, aProjection);
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aMax = Max (aMax, aProjection);
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}
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theFrustum->myMinVertsProjections[aPlaneIdx] = aMin;
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theFrustum->myMaxVertsProjections[aPlaneIdx] = aMax;
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}
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}
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// project vertices onto {i, j, k}
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for (Standard_Integer aDim = 0; aDim < 3; ++aDim)
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{
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Standard_Real aMax = -DBL_MAX;
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Standard_Real aMin = DBL_MAX;
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for (Standard_Integer aVertIdx = 0; aVertIdx < 8; ++aVertIdx)
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{
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const gp_XYZ& aVert = theFrustum->myVertices[aVertIdx].XYZ();
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aMax = Max (aVert.GetData()[aDim], aMax);
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aMin = Min (aVert.GetData()[aDim], aMin);
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}
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theFrustum->myMaxOrthoVertsProjections[aDim] = aMax;
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theFrustum->myMinOrthoVertsProjections[aDim] = aMin;
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}
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}
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// =======================================================================
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// function : Init
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// purpose :
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// =======================================================================
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void SelectMgr_RectangularFrustum::Init (const gp_Pnt2d &thePoint)
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{
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mySelectionType = SelectMgr_SelectionType_Point;
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mySelRectangle.SetMousePos (thePoint);
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}
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// =======================================================================
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// function : Init
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// purpose :
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// =======================================================================
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void SelectMgr_RectangularFrustum::Init (const gp_Pnt2d& theMinPnt,
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const gp_Pnt2d& theMaxPnt)
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{
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mySelectionType = SelectMgr_SelectionType_Box;
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mySelRectangle.SetMinPnt (theMinPnt);
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mySelRectangle.SetMaxPnt (theMaxPnt);
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}
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// =======================================================================
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// function : Build
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// purpose :
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// =======================================================================
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void SelectMgr_RectangularFrustum::Build()
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{
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Standard_ASSERT_RAISE (mySelectionType == SelectMgr_SelectionType_Point || mySelectionType == SelectMgr_SelectionType_Box,
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"Error! SelectMgr_RectangularFrustum::Build() should be called after selection frustum initialization");
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gp_Pnt2d aMinPnt, aMaxPnt;
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if (mySelectionType == SelectMgr_SelectionType_Point)
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{
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const gp_Pnt2d& aMousePos = mySelRectangle.MousePos();
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myNearPickedPnt = myBuilder->ProjectPntOnViewPlane (aMousePos.X(), aMousePos.Y(), 0.0);
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myFarPickedPnt = myBuilder->ProjectPntOnViewPlane (aMousePos.X(), aMousePos.Y(), 1.0);
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aMinPnt.SetCoord (aMousePos.X() - myPixelTolerance * 0.5,
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aMousePos.Y() - myPixelTolerance * 0.5);
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aMaxPnt.SetCoord (aMousePos.X() + myPixelTolerance * 0.5,
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aMousePos.Y() + myPixelTolerance * 0.5);
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}
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else
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{
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aMinPnt = mySelRectangle.MinPnt();
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aMaxPnt = mySelRectangle.MaxPnt();
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myNearPickedPnt = myBuilder->ProjectPntOnViewPlane ((aMinPnt.X() + aMaxPnt.X()) * 0.5,
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(aMinPnt.Y() + aMaxPnt.Y()) * 0.5,
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0.0);
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myFarPickedPnt = myBuilder->ProjectPntOnViewPlane ((aMinPnt.X() + aMaxPnt.X()) * 0.5,
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(aMinPnt.Y() + aMaxPnt.Y()) * 0.5,
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1.0);
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}
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myViewRayDir = myFarPickedPnt.XYZ() - myNearPickedPnt.XYZ();
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// calculate base frustum characteristics: vertices and edge directions
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computeFrustum (aMinPnt, aMaxPnt, myBuilder, myVertices, myEdgeDirs);
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// compute frustum normals
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computeNormals (myEdgeDirs, myPlanes);
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// compute vertices projections onto frustum normals and
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// {i, j, k} vectors and store them to corresponding class fields
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cacheVertexProjections (this);
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myScale = 1.0;
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}
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// =======================================================================
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// function : ScaleAndTransform
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// purpose : IMPORTANT: Scaling makes sense only for frustum built on a single point!
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// Note that this method does not perform any checks on type of the frustum.
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// Returns a copy of the frustum resized according to the scale factor given
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// and transforms it using the matrix given.
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// There are no default parameters, but in case if:
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// - transformation only is needed: @theScaleFactor must be initialized
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// as any negative value;
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// - scale only is needed: @theTrsf must be set to gp_Identity.
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// =======================================================================
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Handle(SelectMgr_BaseIntersector) SelectMgr_RectangularFrustum::ScaleAndTransform (const Standard_Integer theScaleFactor,
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const gp_GTrsf& theTrsf,
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const Handle(SelectMgr_FrustumBuilder)& theBuilder) const
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{
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Standard_ASSERT_RAISE (mySelectionType == SelectMgr_SelectionType_Point || mySelectionType == SelectMgr_SelectionType_Box,
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"Error! SelectMgr_RectangularFrustum::ScaleAndTransform() should be called after selection frustum initialization");
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Standard_ASSERT_RAISE (theScaleFactor >= 0,
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"Error! Pixel tolerance for selection should not be negative");
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Handle(SelectMgr_RectangularFrustum) aRes = new SelectMgr_RectangularFrustum();
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const Standard_Boolean isToScale = theScaleFactor != 1;
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const Standard_Boolean isToTrsf = theTrsf.Form() != gp_Identity;
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if (!isToScale && !isToTrsf)
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{
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aRes->SetBuilder (theBuilder);
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return aRes;
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}
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aRes->SetCamera (myCamera);
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const SelectMgr_RectangularFrustum* aRef = this;
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if (isToScale)
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{
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aRes->myNearPickedPnt = myNearPickedPnt;
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aRes->myFarPickedPnt = myFarPickedPnt;
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aRes->myViewRayDir = myViewRayDir;
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const gp_Pnt2d& aMousePos = mySelRectangle.MousePos();
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const gp_Pnt2d aMinPnt (aMousePos.X() - theScaleFactor * 0.5,
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aMousePos.Y() - theScaleFactor * 0.5);
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const gp_Pnt2d aMaxPnt (aMousePos.X() + theScaleFactor * 0.5,
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aMousePos.Y() + theScaleFactor * 0.5);
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// recompute base frustum characteristics from scratch
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computeFrustum (aMinPnt, aMaxPnt, myBuilder, aRes->myVertices, aRes->myEdgeDirs);
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aRef = aRes.get();
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}
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if (isToTrsf)
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{
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const Standard_Real aRefScale = aRef->myFarPickedPnt.SquareDistance (aRef->myNearPickedPnt);
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gp_Pnt aPoint = aRef->myNearPickedPnt;
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theTrsf.Transforms (aPoint.ChangeCoord());
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aRes->myNearPickedPnt = aPoint;
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aPoint.SetXYZ (aRef->myFarPickedPnt.XYZ());
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theTrsf.Transforms (aPoint.ChangeCoord());
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aRes->myFarPickedPnt = aPoint;
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aRes->myViewRayDir = aRes->myFarPickedPnt.XYZ() - aRes->myNearPickedPnt.XYZ();
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for (Standard_Integer anIt = 0; anIt < 8; anIt++)
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{
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aPoint = aRef->myVertices[anIt];
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theTrsf.Transforms (aPoint.ChangeCoord());
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aRes->myVertices[anIt] = aPoint;
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}
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// Horizontal
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aRes->myEdgeDirs[0] = aRes->myVertices[4].XYZ() - aRes->myVertices[0].XYZ();
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// Vertical
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aRes->myEdgeDirs[1] = aRes->myVertices[2].XYZ() - aRes->myVertices[0].XYZ();
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// LeftLower
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aRes->myEdgeDirs[2] = aRes->myVertices[2].XYZ() - aRes->myVertices[3].XYZ();
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// RightLower
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aRes->myEdgeDirs[3] = aRes->myVertices[6].XYZ() - aRes->myVertices[7].XYZ();
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// LeftUpper
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aRes->myEdgeDirs[4] = aRes->myVertices[0].XYZ() - aRes->myVertices[1].XYZ();
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// RightUpper
|
|
aRes->myEdgeDirs[5] = aRes->myVertices[4].XYZ() - aRes->myVertices[5].XYZ();
|
|
|
|
// Compute scale to transform depth from local coordinate system to world coordinate system
|
|
aRes->myScale = Sqrt (aRefScale / aRes->myFarPickedPnt.SquareDistance (aRes->myNearPickedPnt));
|
|
}
|
|
|
|
aRes->SetBuilder (theBuilder);
|
|
|
|
// compute frustum normals
|
|
computeNormals (aRes->myEdgeDirs, aRes->myPlanes);
|
|
|
|
cacheVertexProjections (aRes.get());
|
|
|
|
aRes->mySelectionType = mySelectionType;
|
|
aRes->mySelRectangle = mySelRectangle;
|
|
return aRes;
|
|
}
|
|
|
|
// =======================================================================
|
|
// function : IsScalable
|
|
// purpose :
|
|
// =======================================================================
|
|
Standard_Boolean SelectMgr_RectangularFrustum::IsScalable() const
|
|
{
|
|
return mySelectionType == SelectMgr_SelectionType_Point;
|
|
}
|
|
|
|
// =======================================================================
|
|
// function : OverlapsBox
|
|
// purpose : Returns true if selecting volume is overlapped by
|
|
// axis-aligned bounding box with minimum corner at point
|
|
// theMinPnt and maximum at point theMaxPnt
|
|
// =======================================================================
|
|
Standard_Boolean SelectMgr_RectangularFrustum::OverlapsBox (const SelectMgr_Vec3& theBoxMin,
|
|
const SelectMgr_Vec3& theBoxMax,
|
|
Standard_Boolean* theInside) const
|
|
{
|
|
Standard_ASSERT_RAISE(mySelectionType == SelectMgr_SelectionType_Point || mySelectionType == SelectMgr_SelectionType_Box,
|
|
"Error! SelectMgr_RectangularFrustum::Overlaps() should be called after selection frustum initialization");
|
|
|
|
return hasBoxOverlap (theBoxMin, theBoxMax, theInside);
|
|
}
|
|
|
|
// =======================================================================
|
|
// function : OverlapsBox
|
|
// purpose : SAT intersection test between defined volume and
|
|
// given axis-aligned box
|
|
// =======================================================================
|
|
Standard_Boolean SelectMgr_RectangularFrustum::OverlapsBox (const SelectMgr_Vec3& theBoxMin,
|
|
const SelectMgr_Vec3& theBoxMax,
|
|
const SelectMgr_ViewClipRange& theClipRange,
|
|
SelectBasics_PickResult& thePickResult) const
|
|
{
|
|
Standard_ASSERT_RAISE(mySelectionType == SelectMgr_SelectionType_Point || mySelectionType == SelectMgr_SelectionType_Box,
|
|
"Error! SelectMgr_RectangularFrustum::Overlaps() should be called after selection frustum initialization");
|
|
|
|
if (!hasBoxOverlap (theBoxMin, theBoxMax))
|
|
return Standard_False;
|
|
|
|
Standard_Real aDepth = 0.0;
|
|
BVH_Ray<Standard_Real, 3> aRay(SelectMgr_Vec3(myNearPickedPnt.X(), myNearPickedPnt.Y(), myNearPickedPnt.Z()),
|
|
SelectMgr_Vec3(myViewRayDir.X(), myViewRayDir.Y(), myViewRayDir.Z()));
|
|
Standard_Real aTimeEnter, aTimeLeave;
|
|
if (!BVH_Tools<Standard_Real, 3>::RayBoxIntersection (aRay, theBoxMin, theBoxMax, aTimeEnter, aTimeLeave))
|
|
{
|
|
gp_Pnt aNearestPnt (RealLast(), RealLast(), RealLast());
|
|
aNearestPnt.SetX (Max (Min (myNearPickedPnt.X(), theBoxMax.x()), theBoxMin.x()));
|
|
aNearestPnt.SetY (Max (Min (myNearPickedPnt.Y(), theBoxMax.y()), theBoxMin.y()));
|
|
aNearestPnt.SetZ (Max (Min (myNearPickedPnt.Z(), theBoxMax.z()), theBoxMin.z()));
|
|
|
|
aDepth = aNearestPnt.Distance (myNearPickedPnt);
|
|
thePickResult.SetDepth (aDepth);
|
|
return !theClipRange.IsClipped (thePickResult.Depth());
|
|
}
|
|
|
|
Bnd_Range aRange(Max (aTimeEnter, 0.0), aTimeLeave);
|
|
aRange.GetMin (aDepth);
|
|
|
|
if (!theClipRange.GetNearestDepth (aRange, aDepth))
|
|
{
|
|
return Standard_False;
|
|
}
|
|
|
|
thePickResult.SetDepth (aDepth);
|
|
|
|
return Standard_True;
|
|
}
|
|
|
|
// =======================================================================
|
|
// function : OverlapsPoint
|
|
// purpose : Intersection test between defined volume and given point
|
|
// =======================================================================
|
|
Standard_Boolean SelectMgr_RectangularFrustum::OverlapsPoint (const gp_Pnt& thePnt,
|
|
const SelectMgr_ViewClipRange& theClipRange,
|
|
SelectBasics_PickResult& thePickResult) const
|
|
{
|
|
Standard_ASSERT_RAISE(mySelectionType == SelectMgr_SelectionType_Point || mySelectionType == SelectMgr_SelectionType_Box,
|
|
"Error! SelectMgr_RectangularFrustum::Overlaps() should be called after selection frustum initialization");
|
|
|
|
if (!hasPointOverlap (thePnt))
|
|
return Standard_False;
|
|
|
|
gp_XYZ aV = thePnt.XYZ() - myNearPickedPnt.XYZ();
|
|
const Standard_Real aDepth = aV.Dot (myViewRayDir.XYZ());
|
|
|
|
thePickResult.SetDepth (Abs (aDepth) * myScale);
|
|
thePickResult.SetPickedPoint (thePnt);
|
|
|
|
return !theClipRange.IsClipped (thePickResult.Depth());
|
|
}
|
|
|
|
// =======================================================================
|
|
// function : OverlapsPoint
|
|
// purpose : Intersection test between defined volume and given point
|
|
// =======================================================================
|
|
Standard_Boolean SelectMgr_RectangularFrustum::OverlapsPoint (const gp_Pnt& thePnt) const
|
|
{
|
|
Standard_ASSERT_RAISE(mySelectionType == SelectMgr_SelectionType_Point || mySelectionType == SelectMgr_SelectionType_Box,
|
|
"Error! SelectMgr_RectangularFrustum::Overlaps() should be called after selection frustum initialization");
|
|
|
|
return hasPointOverlap (thePnt);
|
|
}
|
|
|
|
// =======================================================================
|
|
// function : OverlapsSegment
|
|
// purpose : Checks if line segment overlaps selecting frustum
|
|
// =======================================================================
|
|
Standard_Boolean SelectMgr_RectangularFrustum::OverlapsSegment (const gp_Pnt& thePnt1,
|
|
const gp_Pnt& thePnt2,
|
|
const SelectMgr_ViewClipRange& theClipRange,
|
|
SelectBasics_PickResult& thePickResult) const
|
|
{
|
|
Standard_ASSERT_RAISE(mySelectionType == SelectMgr_SelectionType_Point || mySelectionType == SelectMgr_SelectionType_Box,
|
|
"Error! SelectMgr_RectangularFrustum::Overlaps() should be called after selection frustum initialization");
|
|
|
|
if (!hasSegmentOverlap (thePnt1, thePnt2))
|
|
return Standard_False;
|
|
|
|
segmentSegmentDistance (thePnt1, thePnt2, thePickResult);
|
|
|
|
return !theClipRange.IsClipped (thePickResult.Depth());
|
|
}
|
|
|
|
// =======================================================================
|
|
// function : OverlapsPolygon
|
|
// purpose : SAT intersection test between defined volume and given
|
|
// ordered set of points, representing line segments. The test
|
|
// may be considered of interior part or boundary line defined
|
|
// by segments depending on given sensitivity type
|
|
// =======================================================================
|
|
Standard_Boolean SelectMgr_RectangularFrustum::OverlapsPolygon (const TColgp_Array1OfPnt& theArrayOfPnts,
|
|
Select3D_TypeOfSensitivity theSensType,
|
|
const SelectMgr_ViewClipRange& theClipRange,
|
|
SelectBasics_PickResult& thePickResult) const
|
|
{
|
|
Standard_ASSERT_RAISE(mySelectionType == SelectMgr_SelectionType_Point || mySelectionType == SelectMgr_SelectionType_Box,
|
|
"Error! SelectMgr_RectangularFrustum::Overlaps() should be called after selection frustum initialization");
|
|
|
|
if (theSensType == Select3D_TOS_BOUNDARY)
|
|
{
|
|
Standard_Integer aMatchingSegmentsNb = -1;
|
|
SelectBasics_PickResult aPickResult;
|
|
thePickResult.Invalidate();
|
|
const Standard_Integer aLower = theArrayOfPnts.Lower();
|
|
const Standard_Integer anUpper = theArrayOfPnts.Upper();
|
|
for (Standard_Integer aPntIter = aLower; aPntIter <= anUpper; ++aPntIter)
|
|
{
|
|
const gp_Pnt& aStartPnt = theArrayOfPnts.Value (aPntIter);
|
|
const gp_Pnt& aEndPnt = theArrayOfPnts.Value (aPntIter == anUpper ? aLower : (aPntIter + 1));
|
|
if (hasSegmentOverlap (aStartPnt, aEndPnt))
|
|
{
|
|
aMatchingSegmentsNb++;
|
|
segmentSegmentDistance (aStartPnt, aEndPnt, aPickResult);
|
|
thePickResult = SelectBasics_PickResult::Min (thePickResult, aPickResult);
|
|
}
|
|
}
|
|
|
|
if (aMatchingSegmentsNb == -1)
|
|
return Standard_False;
|
|
}
|
|
else if (theSensType == Select3D_TOS_INTERIOR)
|
|
{
|
|
gp_Vec aPolyNorm (gp_XYZ (RealLast(), RealLast(), RealLast()));
|
|
if (!hasPolygonOverlap (theArrayOfPnts, aPolyNorm))
|
|
{
|
|
return Standard_False;
|
|
}
|
|
|
|
if (aPolyNorm.Magnitude() <= Precision::Confusion())
|
|
{
|
|
// treat degenerated polygon as point
|
|
return OverlapsPoint (theArrayOfPnts.First(), theClipRange, thePickResult);
|
|
}
|
|
else if (!segmentPlaneIntersection (aPolyNorm, theArrayOfPnts.First(), thePickResult))
|
|
{
|
|
return Standard_False;
|
|
}
|
|
}
|
|
|
|
return !theClipRange.IsClipped (thePickResult.Depth());
|
|
}
|
|
|
|
// =======================================================================
|
|
// function : OverlapsTriangle
|
|
// purpose : SAT intersection test between defined volume and given
|
|
// triangle. The test may be considered of interior part or
|
|
// boundary line defined by triangle vertices depending on
|
|
// given sensitivity type
|
|
// =======================================================================
|
|
Standard_Boolean SelectMgr_RectangularFrustum::OverlapsTriangle (const gp_Pnt& thePnt1,
|
|
const gp_Pnt& thePnt2,
|
|
const gp_Pnt& thePnt3,
|
|
Select3D_TypeOfSensitivity theSensType,
|
|
const SelectMgr_ViewClipRange& theClipRange,
|
|
SelectBasics_PickResult& thePickResult) const
|
|
{
|
|
Standard_ASSERT_RAISE(mySelectionType == SelectMgr_SelectionType_Point || mySelectionType == SelectMgr_SelectionType_Box,
|
|
"Error! SelectMgr_RectangularFrustum::Overlaps() should be called after selection frustum initialization");
|
|
|
|
if (theSensType == Select3D_TOS_BOUNDARY)
|
|
{
|
|
const gp_Pnt aPntsArrayBuf[4] = { thePnt1, thePnt2, thePnt3, thePnt1 };
|
|
const TColgp_Array1OfPnt aPntsArray (aPntsArrayBuf[0], 1, 4);
|
|
return OverlapsPolygon (aPntsArray, Select3D_TOS_BOUNDARY, theClipRange, thePickResult);
|
|
}
|
|
else if (theSensType == Select3D_TOS_INTERIOR)
|
|
{
|
|
gp_Vec aTriangleNormal (gp_XYZ (RealLast(), RealLast(), RealLast()));
|
|
if (!hasTriangleOverlap (thePnt1, thePnt2, thePnt3, aTriangleNormal))
|
|
{
|
|
return Standard_False;
|
|
}
|
|
|
|
const gp_XYZ aTrEdges[3] = { thePnt2.XYZ() - thePnt1.XYZ(),
|
|
thePnt3.XYZ() - thePnt2.XYZ(),
|
|
thePnt1.XYZ() - thePnt3.XYZ() };
|
|
if (aTriangleNormal.SquareMagnitude() < gp::Resolution())
|
|
{
|
|
// consider degenerated triangle as point or segment
|
|
return aTrEdges[0].SquareModulus() > gp::Resolution()
|
|
? OverlapsSegment (thePnt1, thePnt2, theClipRange, thePickResult)
|
|
: (aTrEdges[1].SquareModulus() > gp::Resolution()
|
|
? OverlapsSegment (thePnt2, thePnt3, theClipRange, thePickResult)
|
|
: OverlapsPoint (thePnt1, theClipRange, thePickResult));
|
|
}
|
|
|
|
const gp_Pnt aPnts[3] = {thePnt1, thePnt2, thePnt3};
|
|
const Standard_Real anAlpha = aTriangleNormal.XYZ().Dot (myViewRayDir.XYZ());
|
|
if (Abs (anAlpha) < gp::Resolution())
|
|
{
|
|
// handle the case when triangle normal and selecting frustum direction are orthogonal
|
|
SelectBasics_PickResult aPickResult;
|
|
thePickResult.Invalidate();
|
|
for (Standard_Integer anEdgeIter = 0; anEdgeIter < 3; ++anEdgeIter)
|
|
{
|
|
const gp_Pnt& aStartPnt = aPnts[anEdgeIter];
|
|
const gp_Pnt& anEndPnt = aPnts[anEdgeIter < 2 ? anEdgeIter + 1 : 0];
|
|
segmentSegmentDistance (aStartPnt, anEndPnt, aPickResult);
|
|
thePickResult = SelectBasics_PickResult::Min (thePickResult, aPickResult);
|
|
}
|
|
thePickResult.SetSurfaceNormal (aTriangleNormal);
|
|
return !theClipRange.IsClipped (thePickResult.Depth());
|
|
}
|
|
|
|
// check if intersection point belongs to triangle's interior part
|
|
const gp_XYZ anEdge = (thePnt1.XYZ() - myNearPickedPnt.XYZ()) * (1.0 / anAlpha);
|
|
|
|
const Standard_Real aTime = aTriangleNormal.Dot (anEdge);
|
|
const gp_XYZ aVec = myViewRayDir.XYZ().Crossed (anEdge);
|
|
const Standard_Real anU = aVec.Dot (aTrEdges[2]);
|
|
const Standard_Real aV = aVec.Dot (aTrEdges[0]);
|
|
|
|
const Standard_Boolean isInterior = (aTime >= 0.0) && (anU >= 0.0) && (aV >= 0.0) && (anU + aV <= 1.0);
|
|
const gp_Pnt aPtOnPlane = myNearPickedPnt.XYZ() + myViewRayDir.XYZ() * aTime;
|
|
if (isInterior)
|
|
{
|
|
thePickResult.SetDepth (myNearPickedPnt.Distance (aPtOnPlane) * myScale);
|
|
thePickResult.SetPickedPoint (aPtOnPlane);
|
|
thePickResult.SetSurfaceNormal (aTriangleNormal);
|
|
return !theClipRange.IsClipped (thePickResult.Depth());
|
|
}
|
|
|
|
Standard_Real aMinDist = RealLast();
|
|
Standard_Integer aNearestEdgeIdx1 = -1;
|
|
for (Standard_Integer anEdgeIdx = 0; anEdgeIdx < 3; ++anEdgeIdx)
|
|
{
|
|
gp_XYZ aW = aPtOnPlane.XYZ() - aPnts[anEdgeIdx].XYZ();
|
|
Standard_Real aCoef = aTrEdges[anEdgeIdx].Dot (aW) / aTrEdges[anEdgeIdx].Dot (aTrEdges[anEdgeIdx]);
|
|
Standard_Real aDist = aPtOnPlane.Distance (aPnts[anEdgeIdx].XYZ() + aCoef * aTrEdges[anEdgeIdx]);
|
|
if (aDist < aMinDist)
|
|
{
|
|
aMinDist = aDist;
|
|
aNearestEdgeIdx1 = anEdgeIdx;
|
|
}
|
|
}
|
|
Standard_Integer aNearestEdgeIdx2 = (aNearestEdgeIdx1 + 1) % 3;
|
|
const gp_Vec aVec12 (aPnts[aNearestEdgeIdx1], aPnts[aNearestEdgeIdx2]);
|
|
if (aVec12.SquareMagnitude() > gp::Resolution()
|
|
&& myViewRayDir.IsParallel (aVec12, Precision::Angular()))
|
|
{
|
|
aNearestEdgeIdx2 = aNearestEdgeIdx1 == 0 ? 2 : aNearestEdgeIdx1 - 1;
|
|
}
|
|
segmentSegmentDistance (aPnts[aNearestEdgeIdx1], aPnts[aNearestEdgeIdx2], thePickResult);
|
|
thePickResult.SetSurfaceNormal (aTriangleNormal);
|
|
}
|
|
|
|
return !theClipRange.IsClipped (thePickResult.Depth());
|
|
}
|
|
|
|
//=======================================================================
|
|
// function : OverlapsCylinder
|
|
// purpose :
|
|
//=======================================================================
|
|
Standard_Boolean SelectMgr_RectangularFrustum::OverlapsCylinder (const Standard_Real theBottomRad,
|
|
const Standard_Real theTopRad,
|
|
const Standard_Real theHeight,
|
|
const gp_Trsf& theTrsf,
|
|
const SelectMgr_ViewClipRange& theClipRange,
|
|
SelectBasics_PickResult& thePickResult) const
|
|
{
|
|
Standard_ASSERT_RAISE (mySelectionType == SelectMgr_SelectionType_Point || mySelectionType == SelectMgr_SelectionType_Box,
|
|
"Error! SelectMgr_RectangularFrustum::Overlaps() should be called after selection frustum initialization");
|
|
Standard_Real aTimeEnter = 0.0, aTimeLeave = 0.0;
|
|
const gp_Trsf aTrsfInv = theTrsf.Inverted();
|
|
const gp_Pnt aLoc = myNearPickedPnt.Transformed (aTrsfInv);
|
|
const gp_Dir aRayDir = myViewRayDir .Transformed (aTrsfInv);
|
|
if (!RayCylinderIntersection (theBottomRad, theTopRad, theHeight, aLoc, aRayDir, aTimeEnter, aTimeLeave))
|
|
{
|
|
return Standard_False;
|
|
}
|
|
thePickResult.SetDepth (aTimeEnter * myScale);
|
|
if (theClipRange.IsClipped (thePickResult.Depth()))
|
|
{
|
|
thePickResult.SetDepth (aTimeLeave * myScale);
|
|
}
|
|
const gp_Pnt aPntOnCylinder (aLoc.XYZ() + aRayDir.XYZ() * thePickResult.Depth());
|
|
if (Abs (aPntOnCylinder.Z()) < Precision::Confusion())
|
|
{
|
|
thePickResult.SetSurfaceNormal (-gp::DZ().Transformed (theTrsf));
|
|
}
|
|
else if (Abs (aPntOnCylinder.Z() - theHeight) < Precision::Confusion())
|
|
{
|
|
thePickResult.SetSurfaceNormal (gp::DZ().Transformed (theTrsf));
|
|
}
|
|
else
|
|
{
|
|
thePickResult.SetSurfaceNormal (gp_Vec (aPntOnCylinder.X(), aPntOnCylinder.Y(), 0.0).Transformed (theTrsf));
|
|
}
|
|
thePickResult.SetPickedPoint (aPntOnCylinder);
|
|
return !theClipRange.IsClipped (thePickResult.Depth());
|
|
}
|
|
|
|
//=======================================================================
|
|
// function : OverlapsCylinder
|
|
// purpose :
|
|
//=======================================================================
|
|
Standard_Boolean SelectMgr_RectangularFrustum::OverlapsCylinder (const Standard_Real theBottomRad,
|
|
const Standard_Real theTopRad,
|
|
const Standard_Real theHeight,
|
|
const gp_Trsf& theTrsf,
|
|
Standard_Boolean* theInside) const
|
|
{
|
|
Standard_ASSERT_RAISE (mySelectionType == SelectMgr_SelectionType_Point || mySelectionType == SelectMgr_SelectionType_Box,
|
|
"Error! SelectMgr_RectangularFrustum::Overlaps() should be called after selection frustum initialization");
|
|
|
|
return hasCylinderOverlap (theBottomRad, theTopRad, theHeight, theTrsf, theInside);
|
|
}
|
|
|
|
// =======================================================================
|
|
// function : GetMousePosition
|
|
// purpose :
|
|
// =======================================================================
|
|
const gp_Pnt2d& SelectMgr_RectangularFrustum::GetMousePosition() const
|
|
{
|
|
if (mySelectionType == SelectMgr_SelectionType_Point)
|
|
{
|
|
return mySelRectangle.MousePos();
|
|
}
|
|
return base_type::GetMousePosition();
|
|
}
|
|
|
|
// =======================================================================
|
|
// function : OverlapsSphere
|
|
// purpose :
|
|
// =======================================================================
|
|
Standard_Boolean SelectMgr_RectangularFrustum::OverlapsSphere (const gp_Pnt& theCenter,
|
|
const Standard_Real theRadius,
|
|
const SelectMgr_ViewClipRange& theClipRange,
|
|
SelectBasics_PickResult& thePickResult) const
|
|
{
|
|
Standard_ASSERT_RAISE (mySelectionType == SelectMgr_SelectionType_Point || mySelectionType == SelectMgr_SelectionType_Box,
|
|
"Error! SelectMgr_RectangularFrustum::Overlaps() should be called after selection frustum initialization");
|
|
Standard_Real aTimeEnter = 0.0, aTimeLeave = 0.0;
|
|
if (!RaySphereIntersection (theCenter, theRadius, myNearPickedPnt, myViewRayDir, aTimeEnter, aTimeLeave))
|
|
{
|
|
return Standard_False;
|
|
}
|
|
|
|
thePickResult.SetDepth (aTimeEnter * myScale);
|
|
if (theClipRange.IsClipped (thePickResult.Depth()))
|
|
{
|
|
thePickResult.SetDepth (aTimeLeave * myScale);
|
|
}
|
|
gp_Pnt aPntOnSphere (myNearPickedPnt.XYZ() + myViewRayDir.XYZ() * thePickResult.Depth() / myScale);
|
|
gp_Vec aNormal (aPntOnSphere.XYZ() - theCenter.XYZ());
|
|
thePickResult.SetPickedPoint (aPntOnSphere);
|
|
thePickResult.SetSurfaceNormal (aNormal);
|
|
return !theClipRange.IsClipped (thePickResult.Depth());
|
|
}
|
|
|
|
// =======================================================================
|
|
// function : OverlapsSphere
|
|
// purpose :
|
|
// =======================================================================
|
|
Standard_Boolean SelectMgr_RectangularFrustum::OverlapsSphere (const gp_Pnt& theCenter,
|
|
const Standard_Real theRadius,
|
|
Standard_Boolean* theInside) const
|
|
{
|
|
Standard_ASSERT_RAISE (mySelectionType == SelectMgr_SelectionType_Point || mySelectionType == SelectMgr_SelectionType_Box,
|
|
"Error! SelectMgr_RectangularFrustum::Overlaps() should be called after selection frustum initialization");
|
|
return hasSphereOverlap (theCenter, theRadius, theInside);
|
|
}
|
|
|
|
// =======================================================================
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// function : DistToGeometryCenter
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// purpose : Measures distance between 3d projection of user-picked
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// screen point and given point theCOG
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// =======================================================================
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Standard_Real SelectMgr_RectangularFrustum::DistToGeometryCenter (const gp_Pnt& theCOG) const
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{
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Standard_ASSERT_RAISE(mySelectionType == SelectMgr_SelectionType_Point || mySelectionType == SelectMgr_SelectionType_Box,
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"Error! SelectMgr_RectangularFrustum::DistToGeometryCenter() should be called after selection frustum initialization");
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return theCOG.Distance (myNearPickedPnt) * myScale;
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}
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// =======================================================================
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// function : DetectedPoint
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// purpose : Calculates the point on a view ray that was detected during
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// the run of selection algo by given depth
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// =======================================================================
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gp_Pnt SelectMgr_RectangularFrustum::DetectedPoint (const Standard_Real theDepth) const
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{
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Standard_ASSERT_RAISE (mySelectionType == SelectMgr_SelectionType_Point,
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"SelectMgr_RectangularFrustum::DetectedPoint() should be called only for Point selection type");
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return myNearPickedPnt.XYZ() + myViewRayDir.XYZ() * theDepth / myScale;
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}
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// =======================================================================
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// function : GetPlanes
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// purpose :
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// =======================================================================
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void SelectMgr_RectangularFrustum::GetPlanes (NCollection_Vector<SelectMgr_Vec4>& thePlaneEquations) const
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{
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thePlaneEquations.Clear();
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SelectMgr_Vec4 anEquation;
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for (Standard_Integer aPlaneIdx = 0; aPlaneIdx < 6; ++aPlaneIdx)
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{
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const gp_Vec& aPlaneNorm = Camera()->IsOrthographic() && aPlaneIdx % 2 == 1 ?
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myPlanes[aPlaneIdx - 1].Reversed() : myPlanes[aPlaneIdx];
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anEquation.x() = aPlaneNorm.X();
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anEquation.y() = aPlaneNorm.Y();
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anEquation.z() = aPlaneNorm.Z();
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anEquation.w() = - (aPlaneNorm.XYZ().Dot (myVertices[aPlaneIdx % 2 == 0 ? aPlaneIdx : aPlaneIdx + 2].XYZ()));
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thePlaneEquations.Append (anEquation);
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}
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}
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//=======================================================================
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//function : DumpJson
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//purpose :
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//=======================================================================
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void SelectMgr_RectangularFrustum::DumpJson (Standard_OStream& theOStream, Standard_Integer theDepth) const
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{
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OCCT_DUMP_CLASS_BEGIN (theOStream, SelectMgr_RectangularFrustum)
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OCCT_DUMP_BASE_CLASS (theOStream, theDepth, SelectMgr_Frustum)
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OCCT_DUMP_FIELD_VALUES_DUMPED (theOStream, theDepth, &myNearPickedPnt)
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OCCT_DUMP_FIELD_VALUES_DUMPED (theOStream, theDepth, &myFarPickedPnt)
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OCCT_DUMP_FIELD_VALUES_DUMPED (theOStream, theDepth, &myViewRayDir)
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OCCT_DUMP_FIELD_VALUES_DUMPED (theOStream, theDepth, &mySelRectangle.MinPnt())
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OCCT_DUMP_FIELD_VALUES_DUMPED (theOStream, theDepth, &mySelRectangle.MaxPnt())
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OCCT_DUMP_FIELD_VALUE_NUMERICAL (theOStream, myScale)
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}
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