Intersection TestingChapter 13.ppt

Intersection TestingChapter 13 Tomas Akenine-M?ller Department of Computer Engineering Chalmers University of Technology What for? A tool needed for the graphics people all the time… Very important components: Need to make them fast! Finding if (and where) a ray hits an object Picking Ray tracing and global illumination For speed-up techniques Collision detection (treated in a later lecture) Some basic geometrical primitives Ray: Sphere: Box Axis-aligned (AABB) Oriented (OBB) k-DOP Four different techniques Analytical Geometrical Separating axis theorem (SAT) Dynamic tests Given these, one can derive many tests quite easily However, often tricks are needed to make them fast Analytical:Ray/sphere test Sphere center: c, and radius r Ray: r(t)=o+td Sphere formula: ||p-c||=r Replace p by r(t), and square it: Analytical, continued Be a little smart… Geometrical:Ray/Box Intersection Boxes and spheres often used as bounding volumes A slab is the volume between two parallell planes: Geometrical:Ray/Box Intersection (2) Intersect the 2 planes of each slab with the ray Separating Axis Theorem (SAT)Page 563 in book Two convex polyhedrons, A and B, are disjoint if any of the following axes separate the objects: An axis orthogonal to a face of A An axis orthogonal to a face of B An axis formed from the cross product of one edge from each of A and B SAT example:Triangle/Box Box is axis-aligned 1) test the axes that are orthogonal to the faces of the box That is, x,y, and z Triangle/Box with SAT (2) Assume that they overlapped on x,y,z Must continue testing 2) Axis orthogonal to face of triangle Triangle/Box with SAT (3) If still no separating axis has been found… 3) Test axis: t=ebox x etriangle Example: x-axis from box: ebox=(1,0,0) etriangle=v1-v0 Test all such combinations If there is at least one separating axis, then the objects do not collide Else they do overlap Rules of Thumb forIntersection Testing Acceptance and rejection test Try them early on to make a fas