def test_intersectsRay(self):
box = AxisAlignedBox(minimum=Vector(-5,-5,-5), maximum=Vector(5.0, 5.0, 5.0))
ray = Ray(Vector(-10.0, 0.0, 0.0), Vector(1.0, 0.0, 0.0))
result = box.intersectsRay(ray)
self.assertNotEqual(False, result)
self.assertEqual(5.0, result[0])
self.assertEqual(15.0, result[1])
ray = Ray(Vector(10.0, 0.0, 0.0), Vector(-1.0, 0.0, 0.0))
result = box.intersectsRay(ray)
self.assertNotEqual(False, result)
self.assertEqual(5.0, result[0])
self.assertEqual(15.0, result[1])
ray = Ray(Vector(0.0, -10.0, 0.0), Vector(0.0, 1.0, 0.0))
result = box.intersectsRay(ray)
self.assertNotEqual(False, result)
self.assertEqual(5.0, result[0])
self.assertEqual(15.0, result[1])
ray = Ray(Vector(0.0, 10.0, 0.0), Vector(0.0, -1.0, 0.0))
result = box.intersectsRay(ray)
self.assertNotEqual(False, result)
self.assertEqual(5.0, result[0])
self.assertEqual(15.0, result[1])
ray = Ray(Vector(0.0, 0.0, -10.0), Vector(0.0, 0.0, 1.0))
result = box.intersectsRay(ray)
self.assertNotEqual(False, result)
self.assertEqual(5.0, result[0])
self.assertEqual(15.0, result[1])
ray = Ray(Vector(0.0, 0.0, 10.0), Vector(0.0, 0.0, -1.0))
result = box.intersectsRay(ray)
self.assertNotEqual(False, result)
self.assertEqual(5.0, result[0])
self.assertEqual(15.0, result[1])
ray = Ray(Vector(15.0, 0.0, 0.0), Vector(0.0, 1.0, 0.0))
result = box.intersectsRay(ray)
self.assertEqual(False, result)
ray = Ray(Vector(15.0, 15.0, 0.0), Vector(-1.0, -1.0, 0.0))
result = box.intersectsRay(ray)
self.assertNotEqual(False, result)
self.assertEqual(10.0, result[0])
self.assertEqual(20.0, result[1])
ray = Ray(Vector(10.0, -15.0, 0.0), Vector(-1.0, 1.0, 0.0))
result = box.intersectsRay(ray)
self.assertNotEqual(False, result)
self.assertEqual(10.0, result[0])
self.assertEqual(15.0, result[1])
def getRay(self, x: float, y: float) -> Ray:
window_x = ((x + 1) / 2) * self._window_width
window_y = ((y + 1) / 2) * self._window_height
view_x = (window_x / self._viewport_width) * 2 - 1
view_y = (window_y / self._viewport_height) * 2 - 1
inverted_projection = numpy.linalg.inv(
self._projection_matrix.getData().copy())
transformation = self.getWorldTransformation().getData()
near = numpy.array([view_x, -view_y, -1.0, 1.0], dtype=numpy.float32)
near = numpy.dot(inverted_projection, near)
near = numpy.dot(transformation, near)
near = near[0:3] / near[3]
far = numpy.array([view_x, -view_y, 1.0, 1.0], dtype=numpy.float32)
far = numpy.dot(inverted_projection, far)
far = numpy.dot(transformation, far)
far = far[0:3] / far[3]
direction = far - near
direction /= numpy.linalg.norm(direction)
return Ray(self.getWorldPosition(),
Vector(-direction[0], -direction[1], -direction[2]))
def test_intersects(self):
p = Plane(Vector.Unit_Y, 0.0)
r = Ray(Vector(0, 10, 0), -Vector.Unit_Y)
result = p.intersectsRay(r)
self.assertNotEqual(False, result)
self.assertEqual(10.0, result)
r = Ray(Vector(0, -10, 0), Vector.Unit_Y)
result = p.intersectsRay(r)
self.assertNotEqual(False, result)
self.assertEqual(10.0, result)
r = Ray(Vector(0, 10, 0), Vector.Unit_Y)
self.assertEqual(False, p.intersectsRay(r))
r = Ray(Vector(0, 0, 0), Vector.Unit_X)
self.assertEqual(False, p.intersectsRay(r))
def getRay(self, x: float, y: float) -> Ray:
"""Get a ray from the camera into the world.
This will create a ray from the camera's origin, passing through (x, y)
on the near plane and continuing based on the projection matrix.
:param x: The X coordinate on the near plane this ray should pass through.
:param y: The Y coordinate on the near plane this ray should pass through.
:return: A Ray object representing a ray from the camera origin through X, Y.
:note The near-plane coordinates should be in normalized form, that is within (-1, 1).
"""
window_x = ((x + 1) / 2) * self._window_width
window_y = ((y + 1) / 2) * self._window_height
view_x = (window_x / self._viewport_width) * 2 - 1
view_y = (window_y / self._viewport_height) * 2 - 1
inverted_projection = numpy.linalg.inv(
self._projection_matrix.getData().copy())
transformation = self.getWorldTransformation().getData()
near = numpy.array([view_x, -view_y, -1.0, 1.0], dtype=numpy.float32)
near = numpy.dot(inverted_projection, near)
near = numpy.dot(transformation, near)
near = near[0:3] / near[3]
far = numpy.array([view_x, -view_y, 1.0, 1.0], dtype=numpy.float32)
far = numpy.dot(inverted_projection, far)
far = numpy.dot(transformation, far)
far = far[0:3] / far[3]
direction = far - near
direction /= numpy.linalg.norm(direction)
if self.isPerspective():
origin = self.getWorldPosition()
direction = -direction
else:
# In orthographic mode, the origin is the click position on the plane where the camera resides, and that
# plane is parallel to the near and the far planes.
projection = numpy.array([view_x, -view_y, 0.0, 1.0],
dtype=numpy.float32)
projection = numpy.dot(inverted_projection, projection)
projection = numpy.dot(transformation, projection)
projection = projection[0:3] / projection[3]
origin = Vector(data=projection)
return Ray(origin, Vector(direction[0], direction[1], direction[2]))
def getRay(self, x: float, y: float) -> Ray:
window_x = ((x + 1) / 2) * self._window_width
window_y = ((y + 1) / 2) * self._window_height
view_x = (window_x / self._viewport_width) * 2 - 1
view_y = (window_y / self._viewport_height) * 2 - 1
inverted_projection = numpy.linalg.inv(
self._projection_matrix.getData().copy())
transformation = self.getWorldTransformation().getData()
near = numpy.array([view_x, -view_y, -1.0, 1.0], dtype=numpy.float32)
near = numpy.dot(inverted_projection, near)
near = numpy.dot(transformation, near)
near = near[0:3] / near[3]
far = numpy.array([view_x, -view_y, 1.0, 1.0], dtype=numpy.float32)
far = numpy.dot(inverted_projection, far)
far = numpy.dot(transformation, far)
far = far[0:3] / far[3]
direction = far - near
direction /= numpy.linalg.norm(direction)
if self.isPerspective():
origin = self.getWorldPosition()
direction = -direction
else:
# In orthographic mode, the origin is the click position on the plane where the camera resides, and that
# plane is parallel to the near and the far planes.
projection = numpy.array([view_x, -view_y, 0.0, 1.0],
dtype=numpy.float32)
projection = numpy.dot(inverted_projection, projection)
projection = numpy.dot(transformation, projection)
projection = projection[0:3] / projection[3]
origin = Vector(data=projection)
return Ray(origin, Vector(direction[0], direction[1], direction[2]))
# Copyright (c) 2015 Ultimaker B.V.
# Uranium is released under the terms of the AGPLv3 or higher.
from UM.Math.AxisAlignedBox import AxisAlignedBox
from UM.Math.Ray import Ray
from UM.Math.Vector import Vector
@profile
def intersects(box, ray):
return box.intersectsRay(ray)
ray = Ray(Vector(10, 10, 10), Vector(-1, -1, -1))
box = AxisAlignedBox(10, 10, 10)
for i in range(100000):
intersects(box, ray)
