ぬの部屋(仮)
nu-no-he-ya
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  • レイキャストを実装してみる(5) 複数のオブジェクト

    オブジェクトをobject_3dから継承させ、intersectをoverrideする。それ以外はほぼ変わらない

    raycast.hpp

    #pragma once
    
    #include "Grid.hpp"
    
    #include <array>
    #include <vector>
    #include <memory>
    
    //////////////////////////////////////////////
    //////////////////////////////////////////////
    // 三次元オブジェクトのスーパークラス
    class object_3d {
    protected:
      glm::vec3 _color;
    public:
    
      object_3d(const glm::vec3& color_) :_color(color_) {}
      object_3d() {}
    
      virtual bool intersect(
        glm::vec3* pos_,
        glm::vec3* color_,
        glm::vec3* normal_,
        float* distance_,
        const std::array<glm::vec3, 2>& ray_)const = 0;
    
      const glm::vec3& color()const { return _color; }
      glm::vec3& color() { return _color; }
    
    };
    
          
    // 球オブジェクト
    class object_sphere:public object_3d {
      glm::vec3 _center;
      float _r;
    public:
      object_sphere(glm::vec3 center_, glm::vec3 color_,float radius_) :
        _center(center_),_r(radius_), object_3d(color_) {}
      object_sphere() {}
    
      virtual bool intersect(
        glm::vec3* pos_, 
        glm::vec3* color_,
        glm::vec3* normal_,
        float* distance_,
        const std::array<glm::vec3, 2>& ray_)const override;
    
    };
    
          

    // 三角形オブジェクト class object_triangle :public object_3d { std::array<glm::vec3,3> _points; public: object_triangle( std::array<glm::vec3, 3> points_, glm::vec3 color_) : _points(points_), object_3d(color_){} object_triangle() {} bool intersect( glm::vec3* pos_, glm::vec3* color_, glm::vec3* normal_, float* distance_, const std::array<glm::vec3, 2>& ray_)const override; };
    //////////////////////////////////////////////
    //////////////////////////////////////////////
    // ポイントライト
    class light_point {
      glm::vec3 _position;
      glm::vec3 _diffuse_color;
      glm::vec3 _ambient_color;
      glm::vec3 _specular_color;
    public:
    
      light_point(
        const glm::vec3& position_, 
        const glm::vec3& diffuse_color_,
        const glm::vec3& ambient_color_,
        const glm::vec3& specular_color_
      ) :
        _position(position_), 
        _diffuse_color(diffuse_color_),
        _ambient_color(ambient_color_),
        _specular_color(specular_color_)
      {}
      light_point() {}
    
      glm::vec3 calc_vector_point_to_light(const glm::vec3& point_)const {
        // from -> _position
        return glm::normalize(_position - point_);
      }
    
      const glm::vec3& position()const {return _position;}
      glm::vec3& position() { return _position; }
    
      const glm::vec3& diffuse_color()const {return _diffuse_color;}
      glm::vec3& diffuse_color() { return _diffuse_color; }
    
      const glm::vec3& ambient_color()const { return _ambient_color; }
      glm::vec3& ambient_color() { return _ambient_color; }
    
      const glm::vec3& specular_color()const { return _specular_color; }
      glm::vec3& specular_color() { return _specular_color; }
    
    };
    
    struct hit_pixel_t {
      glm::vec3 _position;
      glm::vec3 _color;
      hit_pixel_t(const glm::vec3& position_, const glm::vec3& color_) :
        _position(position_), _color(color_) {}
    
    };
    
    
    // レイキャスト用のクラス
    class my_raycast {
      grid g[2];
      float _startZ;
      float _endZ;
      int _pxwidth;
      int _pxheight;
    public:
    
      glm::vec3 get_eye_position()const {
        float a = g[0].ywidth() / 2.0;
        float b = g[1].ywidth() / 2.0;
        float d = glm::length(g[1].center() - g[0].center());
        float c = a * d / (b - a);
    
    
        // 始点 → 終点
        glm::vec3 veceye = g[1].center() - g[0].center();
        veceye = glm::normalize(veceye);
        return g[0].center()  - veceye * c;
      }
    
      my_raycast() {}
    
      int width()const { return _pxwidth; }
      int height()const { return _pxheight; }
    
      // レイの開始点となるグリッド、終点となるグリッドを作成する
      void set(const float startZ_, const float endZ_, const int pxwidth_, const int pxheight_);
    
      //グリッド取得
      const grid& get_grid(const size_t index)const {
        return g[index];
      }
    
      //グリッドから作成するレイの数を取得
      int ray_count() {
        return g[0].cellCount();
      }
    
      //グリッドから作成するレイを取得
      std::array<glm::vec3, 2> get_ray(const size_t index)const;
    
      //始点グリッド、終点グリッドの中間の位置を取得(表示用)
      float lookatZ()const {
        return (_startZ + _endZ) / 2.f;
      }
    
    
      //////////////////////////////////////////////
      //////////////////////////////////////////////
    
    private:
    
      // オブジェクト一覧
      std::vector< std::shared_ptr<object_3d> > _objlist;
    
    
      std::vector< hit_pixel_t > _hits;
    public:
      void raycast();
      std::vector< hit_pixel_t >& get_intersects() {return _hits;}
      
      void set_object(const object_sphere& obj_);
      void set_object(const object_triangle& obj_);
      
      //////////////////////////////
    private:
      light_point _light;
    public:
      void set_light(const light_point& light_);
    
      const light_point& get_light()const { return _light; }
    };
    
    // objectNormal 面法線
    // lightDirection そのポイント→光源へのベクトル
    // lightColor ライトの色
    inline glm::vec3 calc_diffuse(
      const glm::vec3& lightDiffuse, 
      const glm::vec3& MaterialDiffuse, 
      const glm::vec3& lightIncidence,
      const glm::vec3& objectNormal) 
    {
      // 拡散反射は「そのポイント→光源」と面法線の内積を取る
    
      float sDotN = glm::max(glm::dot(-lightIncidence, objectNormal), 0.f);
    
      return lightDiffuse * MaterialDiffuse *sDotN;
    }
    
    inline glm::vec3 calc_ambient(
      const glm::vec3& LightAmbient, 
      const glm::vec3& MaterialAmbient) 
    {
      return LightAmbient * MaterialAmbient;
    }
    
    // https://araramistudio.jimdo.com/2017/10/02/%E3%83%97%E3%83%AD%E3%82%B0%E3%83%A9%E3%83%9F%E3%83%B3%E3%82%B0-directx-11%E3%81%A7%E9%8F%A1%E9%9D%A2%E5%8F%8D%E5%B0%84-specular-reflection/
    // https://amengol.github.io/game_physics/using-glm-reflect-to-react/
    // https://learnopengl.com/Lighting/Basic-Lighting
    
    inline glm::vec3 calc_specular(
      const glm::vec3& eyePosition,
      const glm::vec3& lightSpecularColor,
      const glm::vec3& materialSpecularColor,
      const glm::vec3& lightIncidence, // 入射
      const float materialShininess,
      const glm::vec3& objectNormal,
      const glm::vec3& objectPosition
    )
    {
    
      glm::vec3 VertexToEye = glm::normalize(eyePosition - objectPosition);
    
    
      glm::vec3 LightReflect = glm::normalize(glm::reflect(lightIncidence, objectNormal));
    
      float SpecularFactor = glm::pow(glm::max(glm::dot(VertexToEye, LightReflect),0.f), materialShininess);
    
      glm::vec3 SpecularColor(0, 0, 0);
      SpecularColor = SpecularFactor * lightSpecularColor * materialSpecularColor;
    
      return SpecularColor;
    
    }
    

    raycast.cpp

    #include "raycast.hpp"
    
    #include <glm/gtx/intersect.hpp>
    #include <glm/gtx/normal.hpp >
    
    #include <memory>
    
    bool object_sphere::intersect(
      glm::vec3* pos_, 
      glm::vec3* color_,
      glm::vec3* normal_,
      float* distance_,
      const std::array<glm::vec3, 2>& ray_) const{
    
      glm::vec3 nray = glm::normalize(ray_[1] - ray_[0]);
    
      float distance;
    
      bool valid = glm::intersectRaySphere(ray_[0], nray, _center, _r*_r, distance);
    
      //レイが衝突した点の座標
      *pos_ = ray_[0] + nray * distance;
    
      //色の設定
      *color_ = _color;
    
    
      //面法線
      // 球中心 → 衝突点
      *normal_ = glm::normalize(*pos_ - _center);
    
      *distance_ = distance;
    
      return valid;
    }
    
    
    bool object_triangle::intersect(
      glm::vec3* pos_,
      glm::vec3* color_,
      glm::vec3* normal_,
      float* distance_,
      const std::array<glm::vec3, 2>& ray_)const {
    
      glm::vec3 nray = glm::normalize(ray_[1] - ray_[0]);
    
      float distance;
    
      glm::vec2 bary;
      
      bool valid = glm::intersectRayTriangle(
        ray_[0],
        nray,
        _points[0],
        _points[1],
        _points[2],
        bary,
        distance
      );
    
      //レイが衝突した点の座標
      *pos_ = ray_[0] + nray * distance;
    
    
      //色の設定
      *color_ = _color;
    
      //面法線
      *normal_ = glm::triangleNormal(
        _points[0],
        _points[1],
        _points[2]
        ); // normalize済
    
    
      *distance_ = distance;
      return valid;
    
    }
    
    
    
    void my_raycast::set(const float startZ_, const float endZ_, const int pxwidth_, const int pxheight_) {
      _startZ = startZ_;
      _endZ = endZ_;
    
      _pxwidth = pxwidth_;
      _pxheight = pxheight_;
    
      glm::vec3 vecx(1, 0, 0);
      glm::vec3 vecy(0, 1, 0);
    
      g[0] = grid(
        vecx,
        vecy,
        glm::vec3(0, 0, _startZ),
        1.f, 1.f,
        pxwidth_, pxheight_
      );
      g[1] = grid(
        vecx,
        vecy,
        glm::vec3(0, 0, _endZ),
        2.f, 2.f,
        pxwidth_, pxheight_
      );
    
    }
    
    
    std::array<glm::vec3, 2> my_raycast::get_ray(const size_t index)const {
      return
        std::array<glm::vec3, 2>{
        g[0][index].center(),
          g[1][index].center()
      };
    
    }
    
    void my_raycast::set_object(const object_sphere& obj_) {
      _objlist.push_back(std::make_shared<object_sphere>(obj_));
    }
    void my_raycast::set_object(const object_triangle& obj_) {
      _objlist.push_back(std::make_shared<object_triangle>(obj_));
    }
    
    void my_raycast::set_light(const light_point& light_) {
      _light = light_;
    }
    
    void my_raycast::raycast() {
    
      // 結果の初期化
      float inf = std::numeric_limits<float>::infinity();
      _hits.clear();
      _hits.resize(_pxwidth * _pxheight,
        hit_pixel_t(
          glm::vec3(inf, inf, inf),
          glm::vec3(0, 0, 0)
        )
      );
    
      for (size_t i = 0; i < _pxwidth * _pxheight; i++) {
    
        auto ray = get_ray(i);
    
        glm::vec3 p; // レイがヒットした座標
        glm::vec3 c; // レイがヒットした位置の色
        glm::vec3 n; // レイがヒットした位置の法線
    
        float distance = (std::numeric_limits<float>::max)();
        bool hit = false;
        for (auto _obj : _objlist) {
          float _tmpdist;
          glm::vec3 tmp_p;
          glm::vec3 tmp_c;
          glm::vec3 tmp_n;
    
    
          if (_obj->intersect(&tmp_p, &tmp_c, &tmp_n, &_tmpdist, ray) == true) {
            if (_tmpdist < distance) {
              p = tmp_p;
              c = tmp_c;
              n = tmp_n;
            }
            hit = true;
          };
          
          
          if (hit) {
            _hits[i]._position = p;
    
            // ライトの入射ベクトル
            glm::vec3 lightIncidence = -_light.calc_vector_point_to_light(p);
    
            glm::vec3 diffuse = calc_diffuse(_light.diffuse_color(), c, lightIncidence, n);
    
            glm::vec3 specular = calc_specular(
              get_eye_position(),
              _light.specular_color(),
              c,
              lightIncidence,
              80, n, p);
    
            glm::vec3 ambient = calc_ambient(
              _light.ambient_color(), c
            );
    
            _hits[i]._color = ambient + diffuse + specular;
          }
        }
      }
    }
    

    main.cpp

    #include <iostream>
    #include <array>
    
    #include<GL/freeglut.h>
    #include<gl/GL.h>
    
    #include "raycast.hpp"
    
    #include<glm/gtc/type_ptr.hpp>
    
    #include<glm/gtc/matrix_transform.hpp>
    
    my_raycast mydata;
    
    
    //! @brief グリッドを表示
    //! @param [in] g グリッドオブジェクト
    //! @param [in] dispcenter セルの中央を表示するか
    void drawGrid(const grid& g, const bool dispcenter) {
    
      glLineWidth(1);
      glColor3d(1, 1, 1);
      for (size_t i = 0; i < g.cellCount(); i++) {
        glBegin(GL_LINE_LOOP);
        glVertex3fv(glm::value_ptr(g.p0(i)));
        glVertex3fv(glm::value_ptr(g.p1(i)));
        glVertex3fv(glm::value_ptr(g.p2(i)));
        glVertex3fv(glm::value_ptr(g.p3(i)));
    
        glEnd();
      }
    
      if (dispcenter) {
        glPointSize(1);
        glColor3d(1, 1, 1);
        glBegin(GL_POINTS);
        for (size_t i = 0; i < g.cellCount(); i++) {
          glVertex3fv(
            glm::value_ptr(g[i].center()));
        }
        glEnd();
      }
    }
    
    
    
    void drawXYZ() {
      glLineWidth(3);
      glBegin(GL_LINES);
      glColor3f(1, 0, 0);
      glVertex3f(0, 0, 0);
      glVertex3f(1, 0, 0);
    
      glColor3f(0, 1, 0);
      glVertex3f(0, 0, 0);
      glVertex3f(0, 1, 0);
    
      glColor3f(0, 0, 1);
      glVertex3f(0, 0, 0);
      glVertex3f(0, 0, 1);
      glEnd();
      glLineWidth(1);
    }
    
    void drawRays() {
      glBegin(GL_LINES);
      for (size_t i = 0; i < mydata.ray_count(); i++) {
        auto ray = mydata.get_ray(i);
        glColor3f(1.0, 1.0, 1.0);
        glVertex3fv(glm::value_ptr(ray[0]));
        glColor3f(0.0, 0.0, 1.0);
        glVertex3fv(glm::value_ptr(ray[1]));
      }
      glEnd();
    }
    
    
    
    //ウィンドウの幅と高さ
    int width, height;
    
    //描画関数
    void disp(void) {
    
      glViewport(0, 0, width, height);
    
      glClearColor(0.2, 0.2, 0.2, 1);
      glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
    
      glMatrixMode(GL_PROJECTION);
      glLoadIdentity();
      glm::mat4 proj = glm::perspectiveFov(glm::radians(45.f), (float)width, (float)height, 0.1f, 50.f);
      glLoadMatrixf(glm::value_ptr(proj));
    
      glMatrixMode(GL_MODELVIEW);
      glLoadIdentity();
    
      //////////////////////////////////////////
      //////////////////////////////////////////
      // カメラの設定
      float z = mydata.lookatZ();
      glm::mat4 look = glm::lookAt(
        glm::vec3(5, 4, z-5 ),// eye
        glm::vec3(0, 0, z ), // lookat
        glm::vec3(0,1, 0)   // up
      );
      glLoadMatrixf(glm::value_ptr(look));
      //////////////////////////////////////////
      // グリッドを表示
      drawGrid(mydata.get_grid(0), false);//from
      drawGrid(mydata.get_grid(1), false);//to
      //////////////////////////////////////////
      // 作成したレイを表示
      //drawRays();
      //////////////////////////////////////////
      glPointSize(3);
      glBegin(GL_POINTS);
      for (size_t i = 0; i < mydata.get_intersects().size(); i++) {
    
        glColor3fv(
          glm::value_ptr(
            mydata.get_intersects()[i]._color
          )
        );
    
        glVertex3fv(
          glm::value_ptr(mydata.get_intersects()[i]._position)
        );
      }
      glEnd();
      glPointSize(1);
    
      drawXYZ();
    
      glPointSize(3);
      glBegin(GL_POINTS);
      for (size_t i = 0; i < mydata.get_intersects().size(); i++) {
        if (isinf(mydata.get_intersects()[i]._position.x) == false) {
          glColor3fv(
            glm::value_ptr(
              mydata.get_intersects()[i]._color
            )
          );
          glVertex3fv(
            glm::value_ptr(
              mydata.get_grid(0)[i].center()
            )
          );
        }
      }
      glEnd();
      glPointSize(1);
    
      glColor3d(1, 1, 0);
      glPointSize(10);
      glBegin(GL_POINTS);
      glVertex3fv(glm::value_ptr(mydata.get_light().position()));
      glEnd();
      glPointSize(1);
      glColor3d(1, 0, 0);
    
    
      glColor3d(0, 0, 1);
      glPointSize(35);
      glBegin(GL_POINTS);
      glm::vec3 eyepos = mydata.get_eye_position();
      glVertex3fv(glm::value_ptr(eyepos));
      glEnd();
      glPointSize(1);
    
    
    
      glFlush();
    }
    
    //ウィンドウサイズの変化時に呼び出される
    void reshape(int w, int h) {
      width = w; height = h;
    
      disp();
    }
    
    //エントリポイント
    int main(int argc, char** argv)
    {
      glutInit(&argc, argv);
      glutInitWindowPosition(100, 50);
      glutInitWindowSize(500, 500);
      glutInitDisplayMode(GLUT_SINGLE | GLUT_RGBA);
    
    
      mydata.set(0.f, 3.f,100,100);
      ///////////////////////////////////
      mydata.set_object( // 球の登録
        object_sphere(
          glm::vec3(0.0, 0.0, 2), // 球の中心
          glm::vec3(1.0, 0, 0),   // 球の色
          0.5
        )
      );
    
      mydata.set_object( // 三角形の登録
        object_triangle(
          std::array< glm::vec3, 3>{
            glm::vec3(0.916876, -0.840909, 1.58713),
              glm::vec3(-0.633301, -0.922765, 0.585358),
              glm::vec3(-0.513684, 0.453145, 1.330333)
          },
          glm::vec3(1, 1, 0)
          )
      );
      mydata.set_light(
        light_point(
          glm::vec3(1.0, 1.0, 0.5), // ライトの位置
          glm::vec3(0.5, 0.5, 0.5), // diffuse色
          glm::vec3(0.2, 0.2, 0.2), // ambient色
          glm::vec3(1.0, 1.0, 1.0)  // specular色
        )
      );
      mydata.raycast();
    
    
      glutCreateWindow("sample");
      glutDisplayFunc(disp);
      glutReshapeFunc(reshape);
      glutMainLoop();
    
      return 0;
    }