Functions
bool	raySphereIntersection (const Eigen::Vector3f &ray_direction, const Eigen::Vector3f &ray_origin, const Eigen::Vector3f &sphere_center, float sphere_radius, Eigen::Vector3f &intersection)
	Computes the intersection point between a ray and a sphere. More...

bool	rayPlaneIntersection (const Eigen::Vector3f &ray_direction, const Eigen::Vector3f &ray_origin, const Eigen::Vector3f &plane_point, const Eigen::Vector3f &plane_normal, Eigen::Vector3f &intersection)
	Computes the intersection between a ray and a plane. More...

bool	rayRingIntersection (const Eigen::Vector3f &ray_direction, const Eigen::Vector3f &ray_origin, const Eigen::Vector3f &plane_point, const Eigen::Vector3f &plane_normal, float inner_radius, float outer_radius, Eigen::Vector3f &intersection)
	Computes the intersection between a ray and a ring in 3D space. More...

Eigen::Vector3f	rayDirection (const Eigen::Vector2f &pixel, const Eigen::Vector2i &viewport_size, const Eigen::Matrix4f &projection_matrix, const Eigen::Affine3f &view_matrix)
	Computes the ray direction given a pixel position and camera matrices. More...

Function Documentation

Eigen::Vector3f Tucano::Math::rayDirection	(	const Eigen::Vector2f &	pixel,
		const Eigen::Vector2i &	viewport_size,
		const Eigen::Matrix4f &	projection_matrix,
		const Eigen::Affine3f &	view_matrix
	)

inline

Computes the ray direction given a pixel position and camera matrices.

Parameters

pixel	Screen coordinates in pixels
viewport	Size of viewport
projection_matrix	Camera's projection matrix
view_matrix	Camera's view matrix

Returns: 3D ray direction

bool Tucano::Math::rayPlaneIntersection	(	const Eigen::Vector3f &	ray_direction,
		const Eigen::Vector3f &	ray_origin,
		const Eigen::Vector3f &	plane_point,
		const Eigen::Vector3f &	plane_normal,
		Eigen::Vector3f &	intersection
	)

inline

Computes the intersection between a ray and a plane.

Parameters

ray_direction	Ray direction vector normalized
ray_origin	Origin of the ray
plane_point	A point on the planed
plane_normal	The normalized normal vector of the plane
interection	Intersection point if any

Returns: True if found an intersection, false otherwise

bool Tucano::Math::rayRingIntersection	(	const Eigen::Vector3f &	ray_direction,
		const Eigen::Vector3f &	ray_origin,
		const Eigen::Vector3f &	plane_point,
		const Eigen::Vector3f &	plane_normal,
		float	inner_radius,
		float	outer_radius,
		Eigen::Vector3f &	intersection
	)

inline

Computes the intersection between a ray and a ring in 3D space.

The ring is defined by the space between two concentric circles (with different radii) on a plane The ray intersects the plane with distance d from the center of the cicle if inner_radius >= d >= outer_radius

Parameters

ray_direction	Ray direction vector normalized
ray_origin	Origin of the ray
plane_point	A point on the planed
plane_normal	The normalized normal vector of the plane
inner_radius	Radius of smaller circle
outer_radius	Radius of larger circle
intersection	Intersection point between ray and ring

Returns: True if ray intersects ring, false otherwise

bool Tucano::Math::raySphereIntersection	(	const Eigen::Vector3f &	ray_direction,
		const Eigen::Vector3f &	ray_origin,
		const Eigen::Vector3f &	sphere_center,
		float	sphere_radius,
		Eigen::Vector3f &	intersection
	)

inline

Computes the intersection point between a ray and a sphere.

Parameters

ray_direction	Ray direction vector normalized
ray_origin	Origin of the ray
sphere_center	Center of the sphere in same space as ray origin
sphere_radius	Radius of the sphere
interection	Intersection point if any

Returns: True if found an intersection, false otherwise

Functions

Function Documentation