c++ - 使用 `gluUnProject` 在 opengl 中进行鼠标拾取

Question

我有一个场景，我正在用 openGL 在其中渲染几个立方体(程序结构没有使用 GLUT，它在 win32 程序结构中，但我只是用 glutSolidCube 绘制立方体) 现在我想通过鼠标选择这些立方体。这就是我正在做的: 首先，当用户在场景上单击鼠标按钮时，我得到鼠标位置并尝试在场景坐标中找到它的坐标(templateSkeletons 是我用立方体创建的骨架，仅此而已):

if (mouse.buttonPressed(Mouse::BUTTON_LEFT))
        {
            mouse.update();
            templateSkeletons[0].selectionMode = true;
            Vector3* points;
            points = GetOGLPos();
            templateSkeletons[0].setIntersectionPoints(points[0],points[1]);
        }else
            templateSkeletons[0].selectionMode = false;

这是我在场景中检索坐标的 GerOGLPos 函数(注意我有自己的 camrea 和它自己的投影矩阵，但我只是通过调用在这个函数中获取投影矩阵glGetDoublev (GL_PROJECTION_MATRIX, projmatrix); 这是错误的吗，我应该得到我自己的 camrea 投影矩阵？):

Vector3* GetOGLPos()
  {Vector3 pointsOnLine[2];
double mvmatrix[16];
double projmatrix[16];
int viewport[4];
double dX, dY, dZ, dClickY,zz;  
glGetIntegerv(GL_VIEWPORT, viewport);   
glGetDoublev (GL_MODELVIEW_MATRIX, mvmatrix);
glGetDoublev (GL_PROJECTION_MATRIX, projmatrix);
dClickY = double (viewport[3] - mouse.yPos()); 
// OpenGL renders with (0,0) on bottom, mouse reports with (0,0) on top
//glReadPixels( mouse.xPos(), int(dClickY), 1, 1, GL_DEPTH_COMPONENT, GL_FLOAT, &zz );
gluUnProject ((double) mouse.xPos(), dClickY, 0.0, mvmatrix, projmatrix, viewport, &dX, &dY, &dZ);
pointsOnLine[0] = Vector3( (float) dX, (float) dY, (float) dZ );
gluUnProject ((double) mouse.xPos(), dClickY, 1.0, mvmatrix, projmatrix, viewport, &dX, &dY, &dZ);
pointsOnLine[1]  = Vector3( (float) dX, (float) dY, (float) dZ );

    return pointsOnLine;
       }

现在我想我有两个点指示场景中的拾取光线。现在，当我渲染立方体时，我尝试计算光线和立方体创建的线的距离，如果它小于某个值，我更改立方体的颜色以知道我选择了它(jointsOfSkeleton 指示每个立方体仅创建骨架，在这里我只测试数组中的第 6 个立方体):

 if(selectionMode)
        {

            distToLine  = Vector3::PointToLineDistance3D(rayPoints[0],rayPoints[1],Vector3::Vector3(jointsOfSkeleton[6].x,
                jointsOfSkeleton[6].y,jointsOfSkeleton[6].z));
            //distToLine = sqrt(distToLine);
            if(distToLine < 0.5)
                glColor3f(1.0,0.0,0.0);

            else 
                glColor3f(1.0,1.0,1.0);
        }

当我点击窗口上不相关的位置时，我看到立方体的颜色发生了变化，它无法正常工作，我正在观察调试器上的距离，但距离看起来不正确。这是我用来查找线点距离的函数:

static float PointToLineDistance3D(Vector3 a, Vector3 b, Vector3 point)
{   

    Vector3 lineDirection = b - a;
    float t = (Vector3::dot(point,lineDirection) - Vector3::dot(lineDirection,a))/(Vector3::dot(lineDirection,lineDirection));
    Vector3 direction;
    direction.x = a.x + (lineDirection.x *t) - point.x;
    direction.y = a.y + (lineDirection.y *t) - point.y;
    direction.z = a.z + (lineDirection.z *t) - point.z;

    float ShortestDistance = sqrtf((direction.x*direction.x)+(direction.y*direction.y)+(direction.z*direction.z));

    return ShortestDistance;

}

Answer 1

我会这样写 PointToLineDistance3D :

static float PointToLineDistance3D(const Vector3 &a, const Vector3 &b, const Vector3 &point){   
    Vector3 lineDirection = Vector3::normalize(b - a), pointDirection = point - a;
    float t = Vector3::dot(pointDirection,lineDirection);
    Vector3 projection = a + (lineDirection * t);

   float ShortestDistance = (projection - point).length();
   return ShortestDistance;
}

我假设:

• Vector3类有一个 length方法，意义明显，
• 有一个*缩放 vector 的运算符，
• 有一个normalize函数也返回...一个归一化 vector (这也可以成为一种避免构造额外对象的方法)。

想法是计算 point 的投影在射线上，然后计算 projection 之间的距离和 point .如您所见，该算法与您的实现略有不同，最显着的是计算t。 .也许这就是您的问题所在。

为了测试我上面提供的代码，我用它编写了一个小程序，它在 XY 平面上构建了一个 3x3 的立方体墙，墙的中心是 <0,0,0> .我设法让它正常工作，即使在移动相机时也是如此。唯一的问题是关于从上到下的鼠标坐标系(即 t_Y 鼠标坐标向下增加_)，它与自然 OpenGL Y 轴相反。它需要 SDL 库才能编译和运行。

#include <iostream>

#include <GL/gl.h>
#include <GL/glu.h>
#include <SDL/SDL.h>
#include <unistd.h>

#include <Vector3.h>

#define WIDTH 800
#define HEIGHT 600

GLuint box;
int highlight[2]; // position of the cube in the wall
const float cube_width = 5.0; 

Vector3 position(0,0,-25); // camera position

// build the cube display list
void setup_cube(){

  const float w = cube_width;

  float w0 = -w, h0 = -w, w1 = w, h1 = w;

  box = glGenLists(1);
  glNewList(box, GL_COMPILE);
    glBegin(GL_QUAD_STRIP);
      glVertex3f(w0, h1, w0);
      glVertex3f(w0, h0, w0 );
      glVertex3f(w1, h1, w0 );
      glVertex3f(w1, h0, w0 );
      glVertex3f(w1, h1, w1 );
      glVertex3f(w1, h0, w1 );
      glVertex3f(w0, h1, w1 );
      glVertex3f(w0, h0, w1 );
    glEnd();
    glBegin(GL_QUAD_STRIP);
      glVertex3f(w1, h1, w0 );
      glVertex3f(w1, h1, w1 );
      glVertex3f(w0, h1, w0 );
      glVertex3f(w0, h1, w1 );
      glVertex3f(w0, h0, w0 );
      glVertex3f(w0, h0, w1 );
      glVertex3f(w1, h0, w0 );
      glVertex3f(w1, h0, w1 );
    glEnd();
  glEndList();
}

void setup_scene(){

  float r = WIDTH / HEIGHT;

  glMatrixMode(GL_PROJECTION);
  glLoadIdentity();
  glFrustum( -r, r, -1, 1, 1, 1024);

  glMatrixMode(GL_MODELVIEW);
  glLoadIdentity();

  glTranslatef(position[0],position[1],position[2]);

  glEnable(GL_CULL_FACE);
  glEnable(GL_DEPTH_TEST);
}

void draw_scene(){

  const float w = cube_width;
  int i = 0, j = 0;

  for (int i = -1; i < 2; i++) {
    for (int j = -1; j < 2; j++) {
      float x = w * 2 * i,  y = w * 2 * j;

      if (highlight[0] == i && highlight[1] == j)
         glColor3f(0.0, 1.0, 0.0);
      else 
         glColor3f(1.0, 0.0, 0.0);

      glPushMatrix ();
         glTranslatef(x,y,0);
         glCallList(box);
      glPopMatrix ();
    }
  }
}

void aim(float xm, float ym_){

  const float w = cube_width;
  float ym = HEIGHT - ym_;

  GLdouble model[16];
  GLdouble proj[16];
  GLint view[16];

  glGetDoublev(GL_MODELVIEW_MATRIX, model);
  glGetDoublev(GL_PROJECTION_MATRIX, proj);
  glGetIntegerv(GL_VIEWPORT, view);
  highlight[0] = -5;
  highlight[1] = -5;

  for (int i = -1; i < 2; i++) {
    for (int j = -1; j < 2; j++) {
      float x = w * 2 * i, y = w * 2 * j;
      double ox, oy, oz;
      Vector3 centre(x,y,0);
      gluUnProject(xm, ym, 0, model, proj, view, &ox, &oy, &oz);
      Vector3 p0(ox,oy,oz);
      gluUnProject(xm, ym, 1, model, proj, view, &ox, &oy, &oz);
      Vector3 p1(ox,oy,oz);
      float d = PointToLineDistance(p0,p1,centre);
      if (d < w) {
        highlight[0] = i;
        highlight[1] = j;
        return;
      }
    }
  }
}

int main(){

  SDL_Surface *screen;

  SDL_Init(SDL_INIT_VIDEO);

  SDL_GL_SetAttribute( SDL_GL_RED_SIZE, 5 );
  SDL_GL_SetAttribute( SDL_GL_GREEN_SIZE, 5 );
  SDL_GL_SetAttribute( SDL_GL_BLUE_SIZE, 5 );
  SDL_GL_SetAttribute( SDL_GL_DEPTH_SIZE, 16 );
  SDL_GL_SetAttribute( SDL_GL_DOUBLEBUFFER, 1 );

  if ( (screen=SDL_SetVideoMode( WIDTH, HEIGHT, 32, SDL_OPENGL )) == NULL ) {
    SDL_Quit();
    return -1;
  }

  setup_cube();

  while (1) {
    SDL_Event event;
    setup_scene();

    while(SDL_PollEvent(&event)){
      switch(event.type){
      case SDL_MOUSEMOTION:
        aim(event.motion.x, event.motion.y);
        break;
      case SDL_KEYDOWN: 
        {
          switch (event.key.keysym.sym){
          case SDLK_ESCAPE:
            SDL_Quit();
            exit(1);
          case SDLK_LEFT:
            position.add(Vector3(1,0,0));
            break;
          case SDLK_RIGHT:
            position.sub(Vector3(1,0,0));
            break;
          case SDLK_UP:
            position.add(Vector3(0,0,1));
            break;
          case SDLK_DOWN:
            position.sub(Vector3(0,0,1));
            break;
          case SDLK_PAGEDOWN:
            position.add(Vector3(0,1,0));
            break;
          case SDLK_PAGEUP:
            position.sub(Vector3(0,1,0));
            break;
          }
        }
      default:
        break;
      }
    }
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
    draw_scene();
    SDL_GL_SwapBuffers();
    usleep(10);
  }

  return 0;
}

上面列出的来源正确显示了鼠标指针瞄准的立方体。可以使用箭头和向上/向下翻页键四处移动。