I'm trying to implement raycasting with DirectX in C++ but have run into problems. I've tried two approaches, using XMVector3Unproject and following the instructions provided here on stackoverflow a while ago.
Unproject Approach:
//p is mouse location vector
//Don't know if I need to normalize mouse input
//p.x = (2.0f * p.x) / g_nScreenWidth - 1.0f;
//p.y = 1.0f - (2.0f * p.y) / g_nScreenHeight;
Vector3 orig = XMVector3Unproject(Vector3(p.x, p.y, 0),
0,
0,
g_nScreenWidth,
g_nScreenHeight,
0,
1,
GameRenderer.m_matProj,
GameRenderer.m_matView,
GameRenderer.m_matWorld);
Vector3 dest = XMVector3Unproject(Vector3(p.x, p.y, 1),
0,
0,
g_nScreenWidth,
g_nScreenHeight,
0,
1,
GameRenderer.m_matProj,
GameRenderer.m_matView,
GameRenderer.m_matWorld);
Vector3 direction = dest - orig;
direction.Normalize();
//shoot a bullet to visualize the ray for testing
g_cObjectManager.createObject(BUL_OBJ, "bullet", orig, direction*100);
Matrix Inversion Approach:
//Normalized device coordinates
p.x = (2.0f * p.x) / g_nScreenWidth - 1.0f;
p.y = 1.0f - (2.0f * p.y) / g_nScreenHeight;
XMVECTOR det; //Determinant, needed for matrix inverse function call
Vector3 origin = Vector3(p.x, p.y, 0);
Vector3 faraway = Vector3(p.x, p.y, 1);
XMMATRIX invViewProj = XMMatrixInverse(&det, GameRenderer.m_matView * GameRenderer.m_matProj);
Vector3 rayorigin = XMVector3Transform(origin, invViewProj);
Vector3 rayend = XMVector3Transform(faraway, invViewProj);
Vector3 raydirection = rayend - rayorigin;
raydirection.Normalize();
g_cObjectManager.createObject(BUL_OBJ, "bullet", rayorigin, raydirection * 5);
I assume at least the matrix inversion approach from stackoverflow should work, but for some reason my attempt doesn't. Do I need the world matrix as well, or is there some step I'm missing?
This is my first stackoverflow post, so if anything is unclear or more information is needed please let me know.
In the end I realized my problem originated with switching from perspective to orthographic view to draw the HUD and never resetting the view matrix. I was able to use the XMVector3Unproject() function with the identity matrix in place of the world matrix and everything works flawlessly now.
Thanks Nico Schertler for the information and reassurance!
Related
I'm currently working on a STL file viewer. This one use an Arcball camera :
To provide more features on this viewer (which can handle more than one object) I would like to implement a click select. To achieve it, I have used picking(Pseudo code I have used)
At this time, my code to check for a any object 3D between 2 points works. However the conversion of mouse position to a correct set of vector is far away from working:
glm::vec3 range = transform.GetPosition() + ( transform.GetFront() * 1000.0f);
// x and y are cursor position on the screen
glm::vec3 start = UnProject(x,y, transform.GetPosition().z);
glm::vec3 end = UnProject(x,y,range.z);
/*
The code which iterate over all objects in the scene and checks for collision
between my start / end and the object hitbox
*/
As you can see I have tried (maybe it is stupid) to set a the z distance between my start and my end to 100 * theFront vector of my camera. But it's not working the set of vectors I get are incoherents.
By example, placing the camera at 0 0 0 with a front of 0 0 -1 give me this set of Vectors :
Start : 0.0000~ , 0.0000~ , 0.0000~
End : 0.0000~ , 0.0000~ , 0.0000~
which is (by my logic) incoherent, I would have expected something more like (Start : 0, 0, 0) ( End : 0, 0, -1000)
I think there's an issue with my UnProject function :
glm::vec3 UnProject(float winX, float winY, float winZ)
{
// Compute (projection x modelView) ^ -1:
glm::mat4 modelView = GetViewMatrix() * glm::mat4(1.0f);
glm::mat4 projection = GetProjectionMatrix(ScreenSize);
const glm::mat4 m = glm::inverse(projection * modelView);
// Need to invert Y since screen Y-origin point down,
// while 3D Y-origin points up (this is an OpenGL only requirement):
winY = ScreenSize.cy - winY;
// Transformation of normalized coordinates between -1 and 1:
glm::vec4 in;
in.x = winX / ScreenSize.cx * 2.0 - 1.0;
in.y = winY / ScreenSize.cy * 2.0 - 1.0;
in.z = 2.0 * winZ - 1.0;
in.w = 1.0;
// To world coordinates:
glm::vec4 out(m * in);
if (out.w == 0.0) // Avoid a division by zero
{
return glm::vec3(0.0f);
}
out.w = 1.0 / out.w;
return glm::vec3(out.x * out.w, out.y * out.w,out.z * out.w);
}
Since this function is basic rewrite of the pseudo code (from here) and I'm far from behind good at mathematics I don't really see what could go wrong...
PS: my view matrix (provided by GetViewMatrix()) is correct (since I use it to show my scene)
my projection matrix is also correct
the ScreenSize object carry my viewport size
I have found what's wrong, the return vec3 should be made by dividing each component by the perspective instead of being multiply by it. Here is the new UnProject function :
glm::vec3 UnProject2(float winX, float winY,float winZ){
glm::mat4 View = GetViewMatrix() * glm::mat4(1.0f);
glm::mat4 projection = GetProjectionMatrix(ScreenSize);
glm::mat4 viewProjInv = glm::inverse(projection * View);
winY = ScreenSize.cy - winY;
glm::vec4 clickedPointOnSreen;
clickedPointOnSreen.x = ((winX - 0.0f) / (ScreenSize.cx)) *2.0f -1.0f;
clickedPointOnSreen.y = ((winY - 0.0f) / (ScreenSize.cy)) * 2.0f -1.0f;
clickedPointOnSreen.z = 2.0f*winZ-1.0f;
clickedPointOnSreen.w = 1.0f;
glm::vec4 clickedPointOrigin = viewProjInv * clickedPointOnSreen;
return glm::vec3(clickedPointOrigin.x / clickedPointOrigin.w,clickedPointOrigin.y / clickedPointOrigin.w,clickedPointOrigin.z / clickedPointOrigin.w);
}
I also changed the way start and end are calculated :
glm::vec3 start = UnProject2(x,y,0.0f);
glm::vec3 end = UnProject2(x,y,1.0f);
I try to use what many people seem to find a good way, I call gluUnproject 2 times with different z-values and then try to calculate the direction vector for the ray from these 2 vectors.
I read this question and tried to use the structure there for my own code:
glGetFloat(GL_MODELVIEW_MATRIX, modelBuffer);
glGetFloat(GL_PROJECTION_MATRIX, projBuffer);
glGetInteger(GL_VIEWPORT, viewBuffer);
gluUnProject(mouseX, mouseY, 0.0f, modelBuffer, projBuffer, viewBuffer, startBuffer);
gluUnProject(mouseX, mouseY, 1.0f, modelBuffer, projBuffer, viewBuffer, endBuffer);
start = vecmath.vector(startBuffer.get(0), startBuffer.get(1), startBuffer.get(2));
end = vecmath.vector(endBuffer.get(0), endBuffer.get(1), endBuffer.get(2));
direction = vecmath.vector(end.x()-start.x(), end.y()-start.y(), end.z()-start.z());
But this only returns the Homogeneous Clip Coordinates (I believe), since they only range from -1 to 1 on every axis.
How to actually get coordinates from which I can create a ray?
EDIT: This is how I construct the matrices:
Matrix projectionMatrix = vecmath.perspectiveMatrix(60f, aspect, 0.1f,
100f);
//The matrix of the camera = viewMatrix
setTransformation(vecmath.lookatMatrix(eye, center, up));
//And every object sets a ModelMatrix in it's display method
Matrix modelMatrix = parentMatrix.mult(vecmath
.translationMatrix(translation));
modelMatrix = modelMatrix.mult(vecmath.rotationMatrix(1, 0, 1, angle));
EDIT 2:
This is how the function looks right now:
private void calcMouseInWorldPosition(float mouseX, float mouseY, Matrix proj, Matrix view) {
Vector start = vecmath.vector(0, 0, 0);
Vector end = vecmath.vector(0, 0, 0);
FloatBuffer modelBuffer = BufferUtils.createFloatBuffer(16);
modelBuffer.put(view.asArray());
modelBuffer.rewind();
FloatBuffer projBuffer = BufferUtils.createFloatBuffer(16);
projBuffer.put(proj.asArray());
projBuffer.rewind();
FloatBuffer startBuffer = BufferUtils.createFloatBuffer(16);
FloatBuffer endBuffer = BufferUtils.createFloatBuffer(16);
IntBuffer viewBuffer = BufferUtils.createIntBuffer(16);
//The two calls for projection and modelView matrix are disabled here,
as I use my own matrices in this case
// glGetFloat(GL_MODELVIEW_MATRIX, modelBuffer);
// glGetFloat(GL_PROJECTION_MATRIX, projBuffer);
glGetInteger(GL_VIEWPORT, viewBuffer);
//I know this is really ugly and bad, but I know that the height and width is always 600
// and this is just for testing purposes
mouseY = 600 - mouseY;
gluUnProject(mouseX, mouseY, 0.0f, modelBuffer, projBuffer, viewBuffer, startBuffer);
gluUnProject(mouseX, mouseY, 1.0f, modelBuffer, projBuffer, viewBuffer, endBuffer);
start = vecmath.vector(startBuffer.get(0), startBuffer.get(1), startBuffer.get(2));
end = vecmath.vector(endBuffer.get(0), endBuffer.get(1), endBuffer.get(2));
direction = vecmath.vector(end.x()-start.x(), end.y()-start.y(), end.z()-start.z());
}
I'm trying to use my own projection and view matrix, but this only seems to give weirder results.
With the GlGet... stuff I get this for a click in the upper right corner:
start: (0.97333336, -0.98, -1.0)
end: (0.97333336, -0.98, 1.0)
When I use my own stuff I get this for the same position:
start: (-2.4399707, -0.55425626, -14.202201)
end: (-2.4399707, -0.55425626, -16.198204)
Now I actually need a modelView matrix instead of just the view matrix, but I don't know how I am supposed to get it, since it is altered and created anew in every display call of every object.
But is this really the problem? In this tutorial he says "Normally, to get into clip space from eye space we multiply the vector by a projection matrix. We can go backwards by multiplying by the inverse of this matrix." and in the next step he multiplies again by the inverse of the view matrix, so I thought this is what I should actually do?
EDIT 3:
Here I tried what user42813 suggested:
Matrix view = cam.getTransformation();
view = view.invertRigid();
mouseY = height - mouseY - 1;
//Here I only these values, because the Z and W values would be 0
//following your suggestion, so no use adding them here
float tempX = view.get(0, 0) * mouseX + view.get(1, 0) * mouseY;
float tempY = view.get(0, 1) * mouseX + view.get(1, 1) * mouseY;
float tempZ = view.get(0, 2) * mouseX + view.get(1, 2) * mouseY;
origin = vecmath.vector(tempX, tempY, tempZ);
direction = cam.getDirection();
But now the direction and origin values are always the same:
origin: (-0.04557252, -0.0020000197, -0.9989586)
direction: (-0.04557252, -0.0020000197, -0.9989586)
Ok I finally managed to work this out, maybe this will help someone.
I found some formula for this and did this with the coordinates that I was getting, which ranged from -1 to 1:
float tempX = (float) (start.x() * 0.1f * Math.tan(Math.PI * 60f / 360));
float tempY = (float) (start.y() * 0.1f * Math.tan(Math.PI * 60f / 360) * height / width);
float tempZ = -0.1f;
direction = vecmath.vector(tempX, tempY, tempZ); //create new vector with these x,y,z
direction = view.transformDirection(direction);
//multiply this new vector with the INVERSED viewMatrix
origin = view.getPosition(); //set the origin to the position values of the matrix (the right column)
I dont really use deprecated opengl but i would share my thought,
First it would be helpfull if you show us how you build your View matrix,
Second the View matrix you have is in the local space of the camera,
now typically you would multiply your mouseX and (ScreenHeight - mouseY - 1) by the View matrix (i think the inverse of that matrix sorry, not sure!) then you will have the mouse coordinates in camera space, then you will add the Forward vector to that vector created by the mouse, then you will have it, it would look something like that:
float mouseCoord[] = { mouseX, screen_heihgt - mouseY - 1, 0, 0 }; /* 0, 0 because we multipling by a matrix 4.*/
mouseCoord = multiply( ViewMatrix /*Or: inverse(ViewMatrix)*/, mouseCoord );
float ray[] = add( mouseCoord, forwardVector );
This function is supposed to give me the exact size of my near clipping plane.
public Vector2 NearplaneSize
{
get
{
float w = 2 * Mathf.Tan(Mathf.Deg2Rad(Fov) / 2) * ZNear;
return new Vector2(w, w / AspectRatio);
}
}
I'm creating a plane like this:
Vector2 s = cam.NearplaneSize;
Mesh = PrimitiveFactory.CreatePlane(s.X / -2, s.Y / -2, -(cam.ZNear + 0.1f), s.X, s.Y, 1, 1, Quaternion.FromAxisAngle(Vector3.UnitX, Mathf.Deg2Rad(90)));
in front of the camera, but its slightly larger than half the screen. So obviously the calculation is wrong. I can't seem to find a better formula though.
Any ideas? Thanks
I don't know OpenTK, but due to old gluPerspective call, "Fov" is generally understood as fov y, not fovx.
So I assume that
float h = 2 * Mathf.Tan(Mathf.Deg2Rad(Fov) / 2) * ZNear;
return new Vector2(h * AspectRatio, h);
should do the trick.
I have 3 transformations in the following order and with the following variables:
glTranslate(dirX, dirY, dirZ);
glRotate(angleX, 1, 0, 0);
glRotate(angleY, 0, 1, 0);
With these, I'm able to transform my ModelView in 3D achieving several effects (translate object around space, rotate object around its center, zoom in and out from origin) .
With the same variables, and using gluLookAt(), I want to achieve the last 2 (rotate around center of object, zoom from origin)
target = object_position
pos.x = zoom * sin(phi) * cos(theta);
pos.y = zoom * cos(phi);
pos.z = zoom * sin(phi) * sin(theta);
pos += target;
gluLookAt(pos, target, vec3(0, 1, 0)); // up vector is fixed...
The code above creates a 'camera' that is looking at the object centre and can rotate around (using spherical coords).
http://mathworld.wolfram.com/SphericalCoordinates.html
I'm new to c++ 3D, so I may just be missing something obvious, but how do I convert from 3D to 2D and (for a given z location) from 2D to 3D?
You map 3D to 2D via projection. You map 2D to 3D by inserting the appropriate value in the Z element of the vector.
It is a matter of casting a ray from the screen onto a plane which is parallel to x-y and is at the required z location. You then need to find out where on the plane the ray is colliding.
Here's one example, considering that screen_x and screen_y ranges from [0, 1], where 0 is the left-most or top-most coordinate and 1 is right-most or bottom-most, respectively:
Vector3 point_of_contact(-1.0f, -1.0f, -1.0f);
Matrix4 view_matrix = camera->getViewMatrix();
Matrix4 proj_matrix = camera->getProjectionMatrix();
Matrix4 inv_view_proj_matrix = (proj_matrix * view_matrix).inverse();
float nx = (2.0f * screen_x) - 1.0f;
float ny = 1.0f - (2.0f * screen_y);
Vector3 near_point(nx, ny, -1.0f);
Vector3 mid_point(nx, ny, 0.0f);
// Get ray origin and ray target on near plane in world space
Vector3 ray_origin, ray_target;
ray_origin = inv_view_proj_matrix * near_point;
ray_target = inv_view_proj_matrix * mid_point;
Vector3 ray_direction = ray_target - ray_origin;
ray_direction.normalise();
// Check for collision with the plane
Vector3 plane_normal(0.0f, 0.0f, 1.0f);
float denominator = plane_normal.dotProduct(ray_direction);
if (fabs(denom) >= std::numeric_limits<float>::epsilon())
{
float num = plane_normal.dotProduct(ray.getOrigin()) + Vector3(0, 0, z_pos);
float distance = -(num/denom);
if (distance > 0)
{
point_of_contact = ray_origin + (ray_direction * distance);
}
}
return point_of_contact
Disclaimer Notice: This solution was taken from bits and pieces of Ogre3D graphics library.
The simplest way is to do a divide by z. Therefore ...
screenX = projectionX / projectionZ;
screenY = projectionY / projectionZ;
That does perspective projection based on distance. Thing is it is often better to use homgeneous coordinates as this simplifies matrix transformation (everything becomes a multiply). Equally this is what D3D and OpenGL use. Understanding how to use non-homogeneous coordinates (ie an (x,y,z) coordinate triple) will be very helpful for things like shader optimisations however.
One lame solution:
^ y
|
|
| /z
| /
+/--------->x
Angle is the angle between the Ox and Oz axes (
#include <cmath>
typedef struct {
double x,y,z;
} Point3D;
typedef struct {
double x,y;
} Point2D
const double angle = M_PI/4; //can be changed
Point2D* projection(Point3D& point) {
Point2D* p = new Point2D();
p->x = point.x + point.z * sin(angle);
p->y = point.y + point.z * cos(angle);
return p;
}
However there are lots of tutorials on this on the net... Have you googled for it?