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++ // Copyright (C) 2015 Klaralvdalens Datakonsult AB (KDAB).
++ // SPDX-License-Identifier: LicenseRef-Qt-Commercial OR LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
++
++ #include "qraycastingservice_p.h"
++
++ #include <Qt3DRender/private/qray3d_p.h>
++ #include <Qt3DRender/private/sphere_p.h>
++ #include <Qt3DRender/private/qboundingvolumeprovider_p.h>
++
++ #include <QtConcurrent>
++
++ #include "math.h"
++
++ QT_BEGIN_NAMESPACE
++
++ using namespace Qt3DCore;
++
++ namespace Qt3DRender {
++ namespace RayCasting {
++
++ namespace {
++
++ struct Hit
++ {
++ Hit()
++ : intersects(false)
++ , distance(-1.0f)
++ {}
++
++ bool intersects;
++ float distance;
++ Qt3DCore::QNodeId id;
++ Vector3D intersection;
++ Vector3D uvw;
++ };
++
++ bool compareHitsDistance(const Hit &a, const Hit &b)
++ {
++ return a.distance < b.distance;
++ }
++
++ Hit volumeRayIntersection(const QBoundingVolume *volume, const QRay3D &ray)
++ {
++ Hit hit;
++ if ((hit.intersects = volume->intersects(ray, &hit.intersection, &hit.uvw))) {
++ hit.distance = ray.projectedDistance(hit.intersection);
++ hit.id = volume->id();
++ }
++ return hit;
++ }
++
++ Hit reduceToFirstHit(Hit &result, const Hit &intermediate)
++ {
++ if (intermediate.intersects) {
++ if (result.distance == -1.0f ||
++ (intermediate.distance >= 0.0f &&
++ intermediate.distance < result.distance))
++ result = intermediate;
++ }
++ return result;
++ }
++
++ // Unordered
++ QList<Hit> reduceToAllHits(QList<Hit> &results, const Hit &intermediate)
++ {
++ if (intermediate.intersects)
++ results.push_back(intermediate);
++ return results;
++ }
++
++ struct CollisionGathererFunctor
++ {
++ QRay3D ray;
++
++ typedef Hit result_type;
++
++ Hit operator ()(const QBoundingVolume *volume) const
++ {
++ return volumeRayIntersection(volume, ray);
++ }
++ };
++
++ } // anonymous
++
++
++ QCollisionQueryResult QRayCastingServicePrivate::collides(const QRay3D &ray, QBoundingVolumeProvider *provider,
++ QAbstractCollisionQueryService::QueryMode mode, const QQueryHandle &handle)
++ {
++ Q_Q(QRayCastingService);
++
++ const QList<QBoundingVolume *> volumes(provider->boundingVolumes());
++ QCollisionQueryResult result;
++ q->setResultHandle(result, handle);
++
++ CollisionGathererFunctor gathererFunctor;
++ gathererFunctor.ray = ray;
++
++ if (mode == QAbstractCollisionQueryService::FirstHit) {
++ #if QT_CONFIG(concurrent)
++ Hit firstHit = QtConcurrent::blockingMappedReduced<Hit>(volumes, gathererFunctor, reduceToFirstHit);
++ #else
++ Hit firstHit;
++ for (const QBoundingVolume *volume : volumes)
++ firstHit = reduceToFirstHit(firstHit, gathererFunctor(volume));
++ #endif
++ if (firstHit.intersects)
++ q->addEntityHit(result, firstHit.id, firstHit.intersection, firstHit.distance, firstHit.uvw);
++ } else {
++ #if QT_CONFIG(concurrent)
++ QList<Hit> hits = QtConcurrent::blockingMappedReduced<QList<Hit>>(volumes, gathererFunctor, reduceToAllHits);
++ #else
++ QList<Hit> hits;
++ for (const QBoundingVolume *volume : volumes)
++ hits = reduceToAllHits(hits, gathererFunctor(volume));
++ #endif
++ std::sort(hits.begin(), hits.end(), compareHitsDistance);
++ for (const Hit &hit : std::as_const(hits))
++ q->addEntityHit(result, hit.id, hit.intersection, hit.distance, hit.uvw);
++ }
++
++ return result;
++ }
++
++ QCollisionQueryResult::Hit QRayCastingServicePrivate::collides(const QRay3D &ray, const QBoundingVolume *volume)
++ {
++ QCollisionQueryResult::Hit result;
++ Hit hit = volumeRayIntersection(volume, ray);
++ if (hit.intersects)
++ {
++ result.m_distance = hit.distance;
++ result.m_entityId = hit.id;
++ result.m_intersection = hit.intersection;
++ result.m_uvw = hit.uvw;
++ }
++ return result;
++ }
++
++ QRayCastingServicePrivate::QRayCastingServicePrivate(const QString &description)
++ : QAbstractCollisionQueryServicePrivate(description)
++ , m_handlesCount(0)
++ {
++ }
++
++ QRayCastingService::QRayCastingService()
++ : QAbstractCollisionQueryService(*new QRayCastingServicePrivate(QStringLiteral("Collision detection service using Ray Casting")))
++ {
++ }
++
++ QQueryHandle QRayCastingService::query(const QRay3D &ray,
++ QAbstractCollisionQueryService::QueryMode mode,
++ QBoundingVolumeProvider *provider)
++ {
++ Q_D(QRayCastingService);
++
++ QQueryHandle handle = d->m_handlesCount.fetchAndStoreOrdered(1);
++
++
++ // Blocking mapReduce
++
++ #if QT_CONFIG(concurrent)
++ FutureQueryResult future = QtConcurrent::run([d, ray, provider, mode, handle]{
++ return d->collides(ray, provider, mode, handle);
++ });
++ d->m_results.insert(handle, future);
++ #else
++ d->m_results.insert(handle, d->collides(ray, provider, mode, handle));
++ #endif
++
++ return handle;
++ }
++
++ QCollisionQueryResult::Hit QRayCastingService::query(const QRay3D &ray, const QBoundingVolume *volume)
++ {
++ Q_D(QRayCastingService);
++
++ return d->collides(ray, volume);
++ }
++
++ QCollisionQueryResult QRayCastingService::fetchResult(const QQueryHandle &handle)
++ {
++ Q_D(QRayCastingService);
++
++ #if QT_CONFIG(concurrent)
++ return d->m_results.value(handle).result();
++ #else
++ return d->m_results.value(handle);
++ #endif
++ }
++
++ QList<QCollisionQueryResult> QRayCastingService::fetchAllResults() const
++ {
++ Q_D(const QRayCastingService);
++
++ QList<QCollisionQueryResult> results;
++ results.reserve(d->m_results.size());
++
++ #if QT_CONFIG(concurrent)
++ for (const FutureQueryResult &future : d->m_results)
++ results.append(future.result());
++ #else
++ for (const QCollisionQueryResult &result : d->m_results)
++ results.append(result);
++ #endif
++
++ return results;
++ }
++
++ } // namespace RayCasting
++ } // namespace Qt3DRender
++
++ QT_END_NAMESPACE