raycast.js

/*
  <p>
  In this demo, it is shown how to implement 3D object picking in regl.
  If you click on an object, an outline is drawn around it.
  </p>
 */

const canvas = document.body.appendChild(document.createElement('canvas'))
const fit = require('canvas-fit')
const regl = require('../regl')({canvas: canvas})
const mat4 = require('gl-mat4')
const vec3 = require('gl-vec3')
window.addEventListener('resize', fit(canvas), false)
const bunny = require('bunny')
const normals = require('angle-normals')
var mp = require('mouse-position')(canvas)
var mb = require('mouse-pressed')(canvas)

var viewMatrix = new Float32Array([1, -0, 0, 0, 0, 0.876966655254364, 0.48055124282836914, 0, -0, -0.48055124282836914, 0.876966655254364, 0, 0, 0, -11.622776985168457, 1])
var projectionMatrix = new Float32Array(16)

// Below is a slightly modified version of this code:
// https://github.com/substack/ray-triangle-intersection
// It does intersection between ray and triangle.
// With the original version, we had no way of accessing 't'
// But we really needed that value.
function intersectTriangle (out, pt, dir, tri) {
  var EPSILON = 0.000001
  var edge1 = [0, 0, 0]
  var edge2 = [0, 0, 0]
  var tvec = [0, 0, 0]
  var pvec = [0, 0, 0]
  var qvec = [0, 0, 0]

  vec3.subtract(edge1, tri[1], tri[0])
  vec3.subtract(edge2, tri[2], tri[0])

  vec3.cross(pvec, dir, edge2)
  var det = vec3.dot(edge1, pvec)

  if (det < EPSILON) return null
  vec3.subtract(tvec, pt, tri[0])
  var u = vec3.dot(tvec, pvec)
  if (u < 0 || u > det) return null
  vec3.cross(qvec, tvec, edge1)
  var v = vec3.dot(dir, qvec)
  if (v < 0 || u + v > det) return null

  var t = vec3.dot(edge2, qvec) / det
  out[0] = pt[0] + t * dir[0]
  out[1] = pt[1] + t * dir[1]
  out[2] = pt[2] + t * dir[2]
  return t
}

//
// Create plane geometry
//

const planeElements = []
var planePosition = []
var planeNormal = []

planePosition.push([-0.5, 0.0, -0.5])
planePosition.push([+0.5, 0.0, -0.5])
planePosition.push([-0.5, 0.0, +0.5])
planePosition.push([+0.5, 0.0, +0.5])

planeNormal.push([0.0, 1.0, 0.0])
planeNormal.push([0.0, 1.0, 0.0])
planeNormal.push([0.0, 1.0, 0.0])
planeNormal.push([0.0, 1.0, 0.0])

planeElements.push([3, 1, 0])
planeElements.push([0, 2, 3])

//
// Create box geometry.
//

var boxPosition = [
  // side faces
  [-0.5, +0.5, +0.5], [+0.5, +0.5, +0.5], [+0.5, -0.5, +0.5], [-0.5, -0.5, +0.5], // positive z face.
  [+0.5, +0.5, +0.5], [+0.5, +0.5, -0.5], [+0.5, -0.5, -0.5], [+0.5, -0.5, +0.5], // positive x face
  [+0.5, +0.5, -0.5], [-0.5, +0.5, -0.5], [-0.5, -0.5, -0.5], [+0.5, -0.5, -0.5], // negative z face
  [-0.5, +0.5, -0.5], [-0.5, +0.5, +0.5], [-0.5, -0.5, +0.5], [-0.5, -0.5, -0.5], // negative x face.
  [-0.5, +0.5, -0.5], [+0.5, +0.5, -0.5], [+0.5, +0.5, +0.5], [-0.5, +0.5, +0.5],  // top face
  [-0.5, -0.5, -0.5], [+0.5, -0.5, -0.5], [+0.5, -0.5, +0.5], [-0.5, -0.5, +0.5]  // bottom face
]

const boxElements = [
  [2, 1, 0], [2, 0, 3],
  [6, 5, 4], [6, 4, 7],
  [10, 9, 8], [10, 8, 11],
  [14, 13, 12], [14, 12, 15],
  [18, 17, 16], [18, 16, 19],
  [20, 21, 22], [23, 20, 22]
]

// all the normals of a single block.
var boxNormal = [
  // side faces
  [0.0, 0.0, +1.0], [0.0, 0.0, +1.0], [0.0, 0.0, +1.0], [0.0, 0.0, +1.0],
  [+1.0, 0.0, 0.0], [+1.0, 0.0, 0.0], [+1.0, 0.0, 0.0], [+1.0, 0.0, 0.0],
  [0.0, 0.0, -1.0], [0.0, 0.0, -1.0], [0.0, 0.0, -1.0], [0.0, 0.0, -1.0],
  [-1.0, 0.0, 0.0], [-1.0, 0.0, 0.0], [-1.0, 0.0, 0.0], [-1.0, 0.0, 0.0],
  // top
  [0.0, +1.0, 0.0], [0.0, +1.0, 0.0], [0.0, +1.0, 0.0], [0.0, +1.0, 0.0],
  // bottom
  [0.0, -1.0, 0.0], [0.0, -1.0, 0.0], [0.0, -1.0, 0.0], [0.0, -1.0, 0.0]
]

// keeps track of all global state.
const globalScope = regl({
  uniforms: {
    lightDir: [0.39, 0.87, 0.29],
    view: () => viewMatrix,
    projection: ({viewportWidth, viewportHeight}) =>
      mat4.perspective(projectionMatrix,
                       Math.PI / 4,
                       viewportWidth / viewportHeight,
                       0.01,
                       1000)
  }
})

// render object with phong shading.
const drawNormal = regl({
  frag: `
  precision mediump float;

  varying vec3 vNormal;
  varying vec3 vPosition;

  uniform float ambientLightAmount;
  uniform float diffuseLightAmount;
  uniform vec3 color;
  uniform vec3 lightDir;

  void main () {
    vec3 ambient = ambientLightAmount * color;
    float cosTheta = dot(vNormal, lightDir);
    vec3 diffuse = diffuseLightAmount * color * clamp(cosTheta , 0.0, 1.0 );

    gl_FragColor = vec4((ambient + diffuse), 1.0);
  }`,
  vert: `
  precision mediump float;

  attribute vec3 position;
  attribute vec3 normal;

  varying vec3 vPosition;
  varying vec3 vNormal;

  uniform mat4 projection, view, model;

  void main() {
    vec4 worldSpacePosition = model * vec4(position, 1);

    vPosition = worldSpacePosition.xyz;
    vNormal = normal;

    gl_Position = projection * view * worldSpacePosition;
  }`
})

// render the object slightly bigger than it should be.  this is used
// to draw the outline.  but we don't write to the depth buffer.  this
// allows us to draw the object(that we wish to draw the outline for)
// onto the slightly bigger object, thus forming the outine.
const drawOutline = regl({
  frag: `
  precision mediump float;

  void main () {
    gl_FragColor = vec4(vec3(0.7, 0.6, 0.0), 1.0);
  }`,
  vert: `
  precision mediump float;

  attribute vec3 position;
  attribute vec3 normal;

  uniform mat4 projection, view, model;
  uniform bool isRound;

  void main() {
    float s = 0.1;
    vec4 worldSpacePosition = model * vec4(
      // for objects with lots of jagged edges, the ususal approach doesn't work.
      // We use an alternative way of enlarging the object for such objects.
      isRound ? (position + normal * s) : (position * (0.5*s+1.0)),
      1);
    gl_Position = projection * view * worldSpacePosition;
  }`,

  depth: {
    enable: true,
    mask: false // DONT write to depth buffer!
  }
})

function Mesh (elements, position, normal) {
  this.elements = elements
  this.position = position
  this.normal = normal
}

function createModelMatrix (props) {
  var m = mat4.identity([])

  mat4.translate(m, m, props.translate)

  var s = props.scale
  mat4.scale(m, m, [s, s, s])

  return m
}

Mesh.prototype.draw = regl({
  uniforms: {
    model: (_, props, batchId) => {
      return createModelMatrix(props)
    },
    ambientLightAmount: 0.3,
    diffuseLightAmount: 0.7,
    color: regl.prop('color'),
    isRound: regl.prop('isRound')
  },
  attributes: {
    position: regl.this('position'),
    normal: regl.this('normal')
  },
  elements: regl.this('elements'),
  cull: {
    enable: true
  }
})

var bunnyMesh = new Mesh(bunny.cells, bunny.positions, normals(bunny.cells, bunny.positions))
var boxMesh = new Mesh(boxElements, boxPosition, boxNormal)
var planeMesh = new Mesh(planeElements, planePosition, planeNormal)

var meshes = [
  {scale: 80.0, translate: [0.0, 0.0, 0.0], color: [0.5, 0.5, 0.5], mesh: planeMesh},

  {scale: 0.2, translate: [0.0, 0.0, 0.0], color: [0.6, 0.0, 0.0], mesh: bunnyMesh},
  {scale: 0.3, translate: [-6.0, 0.0, -3.0], color: [0.6, 0.6, 0.0], mesh: bunnyMesh},
  {scale: 0.12, translate: [6.0, 0.0, 3.0], color: [0.2, 0.5, 0.6], mesh: bunnyMesh},

  {scale: 2.0, translate: [4.0, 1.0, 0.0], color: [0.6, 0.0, 0.0], mesh: boxMesh},
  {scale: 1.3, translate: [-3.0, 0.6, -4.0], color: [0.0, 0.6, 0.0], mesh: boxMesh},
  {scale: 0.7, translate: [-3.0, 0.5, 4.0], color: [0.0, 0.0, 0.8], mesh: boxMesh}
]

var iSelectedMesh = -1

// on click ,we raycast.
mb.on('down', function () {
  var vp = mat4.multiply([], projectionMatrix, viewMatrix)
  var invVp = mat4.invert([], vp)

  // get a single point on the camera ray.
  var rayPoint = vec3.transformMat4([], [2.0 * mp.x / canvas.width - 1.0, -2.0 * mp.y / canvas.height + 1.0, 0.0], invVp)

  // get the position of the camera.
  var rayOrigin = vec3.transformMat4([], [0, 0, 0], mat4.invert([], viewMatrix))

  var rayDir = vec3.normalize([], vec3.subtract([], rayPoint, rayOrigin))

  // now we iterate through all meshes, and find the closest mesh that intersects the camera ray.
  var minT = 10000000.0
  for (var i = 0; i < meshes.length; i++) {
    var m = meshes[i]

    var modelMatrix = createModelMatrix(m)

    // we must check all triangles of the mesh.
    for (var j = 0; j < m.mesh.elements.length; j++) {
      if (m.mesh === planeMesh) {
        continue // we don't allow clicking the plane mesh.
      }
      var f = m.mesh.elements[j]
      // apply model matrix on the triangle.
      var tri =
          [vec3.transformMat4([], m.mesh.position[f[0]], modelMatrix),
           vec3.transformMat4([], m.mesh.position[f[1]], modelMatrix),
           vec3.transformMat4([], m.mesh.position[f[2]], modelMatrix)
      ]
      var res = []
      var t = intersectTriangle(res, rayPoint, rayDir, tri)
      if (t !== null) {
        if (t < minT) {
          // mesh was closer than any object thus far.
          // for the time being, make it the selected object.
          minT = t
          iSelectedMesh = i
          break
        }
      }
    }
  }
})

regl.frame(({tick, viewportWidth}) => {
  regl.clear({
    color: [0, 0, 0, 255],
    depth: 1
  })

  globalScope(() => {
    for (var i = 0; i < meshes.length; i++) {
      var m = meshes[i]

      // draw outline of selected object.
      if (i === iSelectedMesh) {
        drawOutline(() => {
          m.isRound = (m.mesh !== boxMesh)
          m.mesh.draw(m)
        })
      }

      // then draw object normally.
      drawNormal(() => {
        m.mesh.draw(m)
      })
    }
  })
})