def hit(self, ray: vector.Ray, t_min: float, t_max: float):
oc = ray.origin - self.center
a = ray.direction.length_squared()
half_b = vector.dot(oc, ray.direction)
c = oc.length_squared() - self.radius * self.radius
discriminant = half_b * half_b - a * c
if discriminant > 0:
root = math.sqrt(discriminant)
temp = (-half_b - root) / a
if t_min < temp < t_max:
hit_rec = HitRecord(None, None, None, None)
hit_rec.t = temp
hit_rec.position = ray.at(hit_rec.t)
hit_rec.material = self.m
outward_normal = (hit_rec.position - self.center).divide(
self.radius)
hit_rec.set_face_normal(ray, outward_normal)
return True, hit_rec
temp = (-half_b + root) / a
if t_min < temp < t_max:
hit_rec = HitRecord(None, None, None, None)
hit_rec.t = temp
hit_rec.position = ray.at(hit_rec.t)
hit_rec.material = self.m
outward_normal = (hit_rec.position - self.center).divide(
self.radius)
hit_rec.set_face_normal(ray, outward_normal)
return True, hit_rec
return False, None
def test_intersect5(self): r = Ray(point(0, 0, 5), vector(0, 0, 1)) s = Sphere() i = s.intersect(r) self.assertEqual(2, len(i)) self.assertEqual(-6.0, i[0].t) self.assertEqual(-4.0, i[1].t)
def scatter(self, ray_in: Ray, collision: HitRecord) -> MaterialRecord:
color = Color(1, 1, 1)
if collision.resultant_outward:
incoming_index, outgoing_index = 1.0, self.index_of_refraction
else:
incoming_index, outgoing_index = self.index_of_refraction, 1.0
index_ratio = incoming_index / outgoing_index
direction = ray_in.direction.unit()
normal = collision.resultant.direction
cos_theta = -direction @ normal
sin_theta = sqrt(max(1 - cos_theta**2, 0))
# Use the Schlick approximation to calculate reflectance
r_0 = ((1 - index_ratio) / (1 + index_ratio))**2
reflectance = r_0 + (1 - r_0) * (1 - cos_theta)**5
snell_solvable = sin_theta * index_ratio <= 1.0
schlick_within_range = reflectance <= random()
can_refract = snell_solvable and schlick_within_range
if can_refract:
outgoing_direction = refract_across(direction, normal, index_ratio)
else:
outgoing_direction = reflect_across(direction, normal)
outgoing_ray = Ray(collision.resultant.base, outgoing_direction)
return MaterialRecord(color=color, outgoing_ray=outgoing_ray)
def loop_simulation(dt):
global slave_error
if (run_auto):
if (slave_device_pos_tween.done() and slave_device_rot_tween.done()):
scene_vectormanager.clear()
update_slave_sensor()
slave_device.pos = slave_device_pos_tween.step(dt * 10)
slave_device.rot = slave_device_rot_tween.step(dt * 10)
scene_vectormanager.clear(15)
for r in view_rays:
scene_vectormanager.addRay(r, color=(0, 0, 1, 1), group=15)
if print_timer.tick():
scene_vectormanager.clear(10)
target_rays = lighthouse.getRays(target_device)
delta_vecs = []
for ray, sp in zip(target_rays, [
slave_device.pos + rsp.rotate(slave_device.rot)
for rsp in slave_device.sensorpos
]):
np = ray.nearest(sp)
if np:
delta_vecs.append(np - sp)
scene_vectormanager.addRay(Ray(sp, np - sp),
color=(1, 1, 1, 1),
group=10)
slave_error = sum([vec.magnitude() for vec in delta_vecs])
print "E:", slave_error, "FS:", face_sums
def test_intersect_sphere1(self): s = Sphere() r = Ray(point(0, 0, -5), vector(0, 0, 1)) s.set_transform(xf_scale(2, 2, 2)) i = s.intersect(r) self.assertEqual(2, len(i)) self.assertEqual(i[0].t, 3.0) self.assertEqual(i[1].t, 7.0)
def get_ray(self, horizontal_component, vertical_component):
offset = self._get_offset()
base = self.look_from + offset
direction = self.lower_left +\
(horizontal_component * self.horizontal) +\
(vertical_component * self.vertical) -\
base
return Ray(base, direction)
def scatter(self, ray_in: Ray, collision: HitRecord) -> MaterialRecord:
base = collision.resultant.base
direction = collision.resultant.direction.unit()
reflected_direction = direction + random_in_hemisphere(direction)
if reflected_direction.near_zero():
reflected_direction = direction
reflected_ray = Ray(base, reflected_direction)
color = self.albedo
return MaterialRecord(outgoing_ray=reflected_ray, color=color)
def scatter(self, ray_in: Ray, collision: HitRecord) -> MaterialRecord:
base = collision.resultant.base
incoming_direction = ray_in.direction.unit()
normal = collision.resultant.direction.unit()
fuzz = random_in_sphere() * self.fuzziness
reflected_direction = reflect_across(incoming_direction, normal) + fuzz
if reflected_direction.near_zero():
reflected_direction = direction
reflected_ray = Ray(base, reflected_direction)
color = self.albedo
absorbed = (reflected_direction @ normal) < 0
return MaterialRecord(outgoing_ray=reflected_ray,
color=color,
absorbed=absorbed)
def hit(self, ray: Ray, t_min=0, t_max=INF) -> HitRecord:
base_to_center = ray.base - self.center
a = ray.direction @ ray.direction
b = ray.direction @ base_to_center
c = base_to_center @ base_to_center - self.radsquared
discriminant = b**2 - a * c
# Not hit
if discriminant <= 0:
return HitRecord()
sqrt_discriminant = np.sqrt(discriminant)
def roots():
yield from [(-b - sqrt_discriminant) / a,
(-b + sqrt_discriminant) / a]
for sphere_hit_coordinate in roots():
in_bounds = t_min < sphere_hit_coordinate < t_max
if not in_bounds:
continue
sphere_boundary = ray(sphere_hit_coordinate)
outward_normal = (sphere_boundary - self.center) / self.radius
normal = Ray(sphere_boundary, outward_normal)
record = HitRecord(resultant=normal,
t=sphere_hit_coordinate,
material=self.material)
record.orient(ray, outward_normal)
return record
return HitRecord()
def test_translate_ray2(self): r = Ray(point(1, 2, 3), vector(0, 1, 0)) m = xf_scale(2, 3, 4) r2 = r.transform(m) self.assertEqual(r2.origin, point(2, 6, 12)) self.assertEqual(r2.direction, vector(0, 3, 0))
def test_translate_ray1(self): r = Ray(point(1, 2, 3), vector(0, 1, 0)) m = xf_translate(3, 4, 5) r2 = r.transform(m) self.assertEqual(r2.origin, point(4, 6, 8)) self.assertEqual(r2.direction, vector(0, 1, 0))
def test_intersect3(self): r = Ray(point(0, 2, -5), vector(0, 0, 1)) s = Sphere() i = s.intersect(r) self.assertEqual(0, len(i))
def test_ray_postion1(self): r = Ray(point(2, 3, 4), vector(1, 0, 0)) self.assertEqual(r.position(0), point(2, 3, 4)) self.assertEqual(r.position(1), point(3, 3, 4)) self.assertEqual(r.position(-1), point(1, 3, 4)) self.assertEqual(r.position(2.5), point(4.5, 3, 4))
def update_slave_sensor():
global slave_state
global slave_rays
global slave_pos_delta
global slave_rot_delta
global slave_device_pos_tween
global slave_device_rot_tween
global target_index
global slave_error
global face_sums
slave_device.pos = slave_device_pos_tween.finish()
slave_device.rot = slave_device_rot_tween.finish()
_slave_rays = lighthouse.getRays(slave_device)
scene_vectormanager.clear(4)
for ray in _slave_rays:
scene_vectormanager.addRay(ray, color=(1, 0.5, 0.5, 1), group=4)
if slave_state == SS_CAST_RAYS:
slave_rays = lighthouse.getRays(target_device)
for ray in slave_rays:
scene_vectormanager.addRay(ray, color=(1, 1, 0, 1), group=1)
slave_state = SS_COMPUTE_POS_DELTA
elif slave_state == SS_COMPUTE_POS_DELTA:
translation_rays = []
face_sums = []
slave_sensorpos = slave_device.getWorldSensorPos()
target_sensorpos = []
for ray, sp, rsp in zip(
slave_rays, slave_sensorpos,
[sp.rotate(slave_device.rot) for sp in slave_device.sensorpos]):
np = ray.nearest(sp)
if np:
target_sensorpos.append(np)
translation_ray = Ray(sp, np - sp)
translation_rays.append(translation_ray)
scene_vectormanager.addRay(translation_ray,
color=(1, 0, 0, 1),
group=2)
face_sums.append(math.copysign(1.0, (np - sp).dot(rsp)))
slave_aabb = Vector3.enclosingAABB(slave_sensorpos)
target_aabb = Vector3.enclosingAABB(target_sensorpos)
target_pos = Vector3.average(target_sensorpos)
lighthouse_vector = target_pos - lighthouse.pos
target_aabb_size = (target_aabb[0] - target_aabb[1]).magnitude()
if (target_aabb_size > 0):
lighthouse_vector = (lighthouse_vector *
((slave_aabb[0] - slave_aabb[1]).magnitude() /
target_aabb_size - 1.0))
else:
lighthouse_vector = Vector3.zero
average_vec = Vector3.average([tr.vec for tr in translation_rays])
#if(face_sum < 0):
# average_vec *= abs(face_sum)
scene_vectormanager.addVector(slave_device.pos,
average_vec,
color=(1, 1, 1, 1),
group=2)
scene_vectormanager.addVector(slave_device.pos + average_vec,
lighthouse_vector,
color=(1, 1, 1, 1),
group=2)
slave_pos_delta = average_vec + lighthouse_vector
slave_state = SS_APPLY_POS_DELTA
elif slave_state == SS_APPLY_POS_DELTA:
scene_vectormanager.clear(2)
slave_device_pos_tween.__init__(slave_device.pos,
slave_device.pos + slave_pos_delta,
10.0)
slave_state = SS_COMPUTE_ROT_DELTA
elif slave_state == SS_COMPUTE_ROT_DELTA:
rotation_rays = []
rotation_quats = []
options = zip(
slave_rays, slave_device.getWorldSensorPos(),
[sp.rotate(slave_device.rot) for sp in slave_device.sensorpos])
for ray, sp, rsp in options:
np = ray.nearest(sp)
if np:
rotation_ray = Ray(sp, np - sp)
rnp = np - slave_device.pos
rotation_rays.append(rotation_ray)
scene_vectormanager.addRay(rotation_ray,
color=(0, 1, 0, 1),
group=3)
rotation_quats.append(Quaternion.rotationBetween(rsp, rnp))
average_rot = Quaternion.average(rotation_quats)
average_rotation = average_rot
scene_vectormanager.addVector(slave_device.pos,
average_rotation.toAxisAngle()[0],
color=(1, 1, 1, 1),
group=3)
slave_rot_delta = average_rotation
slave_state = SS_APPLY_ROT_DELTA
elif slave_state == SS_APPLY_ROT_DELTA:
scene_vectormanager.clear(3)
slave_device_rot_tween.__init__(slave_device.rot,
slave_rot_delta * slave_device.rot,
10.0)
slave_state = SS_COMPUTE_POS_DELTA
