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Made uniform the naming of the intersection functions, added some comment and improved a bit the robustness of the triangle triangle intersection test in a mesh

This commit is contained in:
Paolo Cignoni 2010-04-20 00:41:45 +00:00
parent 84a6e15c84
commit 3291bb2889
3 changed files with 90 additions and 65 deletions
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2
vcg/complex/intersection.h
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@ -99,7 +99,7 @@ bool Intersect( GridType & grid,Plane3<ScalarType> plane, std::vector<typename
seg.P1()[axis0] = grid.bbox.min[axis0]+ (i+0.01) * grid.voxel[axis0];
seg.P0()[axis1] = grid.bbox.min[axis1]+ (j+0.01) * grid.voxel[axis1];
seg.P1()[axis1] = grid.bbox.min[axis1]+ (j+0.01) * grid.voxel[axis1];
if ( Intersection(pl,seg,p))
if ( IntersectionPlaneSegmentEpsilon(pl,seg,p))
{
pi[axis] = std::min(std::max(0,(int)floor((p[axis ]-grid.bbox.min[axis])/grid.voxel[axis])),grid.siz[axis]);
pi[axis0] = i;

144
vcg/space/intersection3.h
View File

@ -56,17 +56,17 @@ Revision 1.24 2006/06/01 08:38:02 pietroni
Added functions:
- Intersection_Segment_Triangle
- Intersection_Plane_Box
- IntersectionPlaneBox
- Intersection_Triangle_Box
Revision 1.23 2006/03/29 07:53:36 cignoni
Missing ';' (thx Maarten)
Revision 1.22 2006/03/20 14:42:49 pietroni
IntersectionSegmentPlane and Intersection_Segment_Box functions Added
IntersectionSegmentPlane and IntersectionSegmentBox functions Added
Revision 1.21 2006/01/20 16:35:51 pietroni
added Intersection_Segment_Box function
added IntersectionSegmentBox function
Revision 1.20 2005/10/03 16:07:50 ponchio
Changed order of functions intersection_line_box and
@ -349,7 +349,7 @@ namespace vcg {
/// intersection between segment and plane
template<class T>
inline bool IntersectionSegmentPlane( const Plane3<T> & pl, const Segment3<T> & s, Point3<T> & p0){
inline bool IntersectionPlaneSegment( const Plane3<T> & pl, const Segment3<T> & s, Point3<T> & p0){
T p1_proj = s.P1()*pl.Direction()-pl.Offset();
T p0_proj = s.P0()*pl.Direction()-pl.Offset();
if ( (p1_proj>0)-(p0_proj<0)) return false;
@ -358,13 +358,13 @@ namespace vcg {
}
/// intersection between segment and plane
template<typename SEGMENTTYPE>
inline bool Intersection( const Plane3<typename SEGMENTTYPE::ScalarType> & pl,
const SEGMENTTYPE & sg,
Point3<typename SEGMENTTYPE::ScalarType> & po){
typedef typename SEGMENTTYPE::ScalarType T;
const T epsilon = T(1e-8);
template<class ScalarType>
inline bool IntersectionPlaneSegmentEpsilon(const Plane3<ScalarType> & pl,
const Segment3<ScalarType> & sg,
Point3<ScalarType> & po,
const ScalarType epsilon = ScalarType(1e-8)){
typedef ScalarType T;
T k = pl.Direction().dot((sg.P1()-sg.P0()));
if( (k > -epsilon) && (k < epsilon))
return false;
@ -380,36 +380,38 @@ namespace vcg {
template<typename TRIANGLETYPE>
inline bool IntersectionPlaneTriangle( const Plane3<typename TRIANGLETYPE::ScalarType> & pl,
const TRIANGLETYPE & tr,
Segment3<typename TRIANGLETYPE::ScalarType> & sg){
typedef typename TRIANGLETYPE::ScalarType T;
if(Intersection(pl,Segment3<T>(tr.P(0),tr.P(1)),sg.P0())){
if(Intersection(pl,Segment3<T>(tr.P(0),tr.P(2)),sg.P1()))
return true;
else
{
Intersection(pl,Segment3<T>(tr.P(1),tr.P(2)),sg.P1());
return true;
}
}else
{
if(Intersection(pl,Segment3<T>(tr.P(1),tr.P(2)),sg.P0()))
{
Intersection(pl,Segment3<T>(tr.P(0),tr.P(2)),sg.P1());
return true;
}
Segment3<typename TRIANGLETYPE::ScalarType> & sg)
{
typedef typename TRIANGLETYPE::ScalarType T;
if(IntersectionPlaneSegment(pl,Segment3<T>(tr.P(0),tr.P(1)),sg.P0())){
if(IntersectionPlaneSegment(pl,Segment3<T>(tr.P(0),tr.P(2)),sg.P1()))
return true;
else
{
IntersectionPlaneSegment(pl,Segment3<T>(tr.P(1),tr.P(2)),sg.P1());
return true;
}
}
return false;
}
else
{
if(IntersectionPlaneSegment(pl,Segment3<T>(tr.P(1),tr.P(2)),sg.P0()))
{
IntersectionPlaneSegment(pl,Segment3<T>(tr.P(0),tr.P(2)),sg.P1());
return true;
}
}
return false;
}
/// intersection between two triangles
template<typename TRIANGLETYPE>
inline bool Intersection(const TRIANGLETYPE & t0,const TRIANGLETYPE & t1){
inline bool IntersectionTriangleTriangle(const TRIANGLETYPE & t0,const TRIANGLETYPE & t1){
return NoDivTriTriIsect(t0.P0(0),t0.P0(1),t0.P0(2),
t1.P0(0),t1.P0(1),t1.P0(2));
}
template<class T>
inline bool Intersection(Point3<T> V0,Point3<T> V1,Point3<T> V2,
inline bool IntersectionTriangleTriangle(Point3<T> V0,Point3<T> V1,Point3<T> V2,
Point3<T> U0,Point3<T> U1,Point3<T> U2){
return NoDivTriTriIsect(V0,V1,V2,U0,U1,U2);
}
@ -525,7 +527,7 @@ bool IntersectionRayTriangle( const Ray3<T> & ray, const Point3<T> & vert0,
// line-box
template<class T>
bool Intersection_Line_Box( const Box3<T> & box, const Line3<T> & r, Point3<T> & coord )
bool IntersectionLineBox( const Box3<T> & box, const Line3<T> & r, Point3<T> & coord )
{
const int NUMDIM = 3;
const int RIGHT = 0;
@ -599,17 +601,17 @@ bool Intersection_Line_Box( const Box3<T> & box, const Line3<T> & r, Point3<T> &
// ray-box
template<class T>
bool Intersection_Ray_Box( const Box3<T> & box, const Ray3<T> & r, Point3<T> & coord )
bool IntersectionRayBox( const Box3<T> & box, const Ray3<T> & r, Point3<T> & coord )
{
Line3<T> l;
l.SetOrigin(r.Origin());
l.SetDirection(r.Direction());
return(Intersection_Line_Box<T>(box,l,coord));
return(IntersectionLineBox<T>(box,l,coord));
}
// segment-box return fist intersection found from p0 to p1
template<class ScalarType>
bool Intersection_Segment_Box( const Box3<ScalarType> & box,
bool IntersectionSegmentBox( const Box3<ScalarType> & box,
const Segment3<ScalarType> & s,
Point3<ScalarType> & coord )
{
@ -626,7 +628,7 @@ bool Intersection_Segment_Box( const Box3<ScalarType> & box,
dir.Normalize();
l.SetOrigin(s.P0());
l.SetDirection(dir);
if(Intersection_Line_Box<ScalarType>(box,l,coord))
if(IntersectionLineBox<ScalarType>(box,l,coord))
return (test.IsIn(coord));
return false;
}
@ -634,29 +636,37 @@ bool Intersection_Segment_Box( const Box3<ScalarType> & box,
// segment-box intersection , return number of intersections and intersection points
template<class ScalarType>
int Intersection_Segment_Box( const Box3<ScalarType> & box,
int IntersectionSegmentBox( const Box3<ScalarType> & box,
const Segment3<ScalarType> & s,
Point3<ScalarType> & coord0,
Point3<ScalarType> & coord1 )
{
int num=0;
Segment3<ScalarType> test= s;
if (Intersection_Segment_Box(box,test,coord0 ))
if (IntersectionSegmentBox(box,test,coord0 ))
{
num++;
Point3<ScalarType> swap=test.P0();
test.P0()=test.P1();
test.P1()=swap;
if (Intersection_Segment_Box(box,test,coord1 ))
if (IntersectionSegmentBox(box,test,coord1 ))
num++;
}
return num;
}
// segment-triangle intersection
/**
* Compute the intersection between a segment and a triangle.
* It relies on the lineTriangle Intersection
* @param[in] segment
* @param[in] triangle vertices
* @param[out]=(t,u,v) the intersection point, meaningful only if the line of segment intersects the triangle
* t is the baricentric coord of the point on the segment
* (u,v) are the baricentric coords of the intersection point in the segment
*
*/
template<class ScalarType>
bool Intersection_Segment_Triangle( const vcg::Segment3<ScalarType> & seg,
bool IntersectionSegmentTriangle( const vcg::Segment3<ScalarType> & seg,
const Point3<ScalarType> & vert0,
const Point3<ScalarType> & vert1, const
Point3<ScalarType> & vert2,
@ -672,29 +682,35 @@ bool Intersection_Segment_Triangle( const vcg::Segment3<ScalarType> & seg,
Point3<ScalarType> inter;
if (!bb0.Collide(bb1))
return false;
if (!vcg::Intersection_Segment_Box(bb1,seg,inter))
if (!vcg::IntersectionSegmentBox(bb1,seg,inter))
return false;
//first set both directions of ray
vcg::Ray3<ScalarType> ray;
vcg::Line3<ScalarType> line;
vcg::Point3<ScalarType> dir;
dir=(seg.P1()-seg.P0());
dir.Normalize();
ray.Set(seg.P0(),dir);
//then control for each direction the intersection with triangle
if ((IntersectionRayTriangle<ScalarType>(ray,vert0,vert1,vert2,dist,a,b))
||(IntersectionRayTriangle<ScalarType>(ray,vert1,vert0,vert2,dist,b,a)))
return (dist<(seg.P1()-seg.P0()).Norm());
else
return(false);
line.Set(seg.P0(),dir);
if(IntersectionLineTriangle<ScalarType>(line,vert0,vert1,vert2,dist,a,b))
return (dist>=0 && dist<=1.0);
return false;
}
/**
* Compute the intersection between a segment and a triangle.
* Wrapper of the above function
*/
template<class TriangleType>
bool IntersectionSegmentTriangle( const vcg::Segment3<typename TriangleType::ScalarType> & seg,
const TriangleType &t,
typename TriangleType::ScalarType & a ,typename TriangleType::ScalarType & b, typename TriangleType::ScalarType & dist)
{
return IntersectionSegmentTriangle(seg,t.P(0),t.P(1),t.P(2),a,b,dist);
}
template <class ScalarType>
bool Intersection_Plane_Box(const vcg::Plane3<ScalarType> &pl,
template<class ScalarType>
bool IntersectionPlaneBox(const vcg::Plane3<ScalarType> &pl,
vcg::Box3<ScalarType> &bbox)
{
typedef typename vcg::Segment3<ScalarType> SegmentType;
typedef typename vcg::Point3<ScalarType> CoordType;
SegmentType diag[4];
@ -708,7 +724,7 @@ bool Intersection_Plane_Box(const vcg::Plane3<ScalarType> &pl,
ScalarType a,b,dist;
for (int i=0;i<3;i++)
//call intersection of segment and plane
if (vcg::Intersection<SegmentType>(pl,diag[i],intersection))
if (vcg::IntersectionPlaneSegment(pl,diag[i],intersection))
return true;
return false;
}
@ -717,7 +733,7 @@ bool Intersection_Plane_Box(const vcg::Plane3<ScalarType> &pl,
///that is the intersectionk between the sphere and
//the plane
template <class ScalarType>
bool Intersection_Plane_Sphere(const Plane3<ScalarType> &pl,
bool IntersectionPlaneSphere(const Plane3<ScalarType> &pl,
const Sphere3<ScalarType> &sphere,
Point3<ScalarType> &center,
ScalarType &radius)
@ -756,7 +772,7 @@ bool Intersection_Plane_Sphere(const Plane3<ScalarType> &pl,
template<class ScalarType>
bool Intersection_Triangle_Box(const vcg::Box3<ScalarType> &bbox,
bool IntersectionTriangleBox(const vcg::Box3<ScalarType> &bbox,
const vcg::Point3<ScalarType> &p0,
const vcg::Point3<ScalarType> &p1,
const vcg::Point3<ScalarType> &p2)
@ -779,13 +795,13 @@ bool Intersection_Triangle_Box(const vcg::Box3<ScalarType> &bbox,
/////control plane of the triangle with bbox
//vcg::Plane3<ScalarType> plTri=vcg::Plane3<ScalarType>();
//plTri.Init(p0,p1,p2);
//if (!Intersection_Plane_Box<ScalarType>(plTri,bbox))
//if (!IntersectionPlaneBox<ScalarType>(plTri,bbox))
// return false;
///then control intersection of segments with box
if (Intersection_Segment_Box<ScalarType>(bbox,vcg::Segment3<ScalarType>(p0,p1),intersection)||
Intersection_Segment_Box<ScalarType>(bbox,vcg::Segment3<ScalarType>(p1,p2),intersection)||
Intersection_Segment_Box<ScalarType>(bbox,vcg::Segment3<ScalarType>(p2,p0),intersection))
if (IntersectionSegmentBox<ScalarType>(bbox,vcg::Segment3<ScalarType>(p0,p1),intersection)||
IntersectionSegmentBox<ScalarType>(bbox,vcg::Segment3<ScalarType>(p1,p2),intersection)||
IntersectionSegmentBox<ScalarType>(bbox,vcg::Segment3<ScalarType>(p2,p0),intersection))
return true;
///control intersection of diagonal of the cube with triangle
@ -797,14 +813,14 @@ bool Intersection_Triangle_Box(const vcg::Box3<ScalarType> &bbox,
diag[3]=Segment3<ScalarType>(bbox.P(3),bbox.P(4));
ScalarType a,b,dist;
for (int i=0;i<3;i++)
if (Intersection_Segment_Triangle<ScalarType>(diag[i],p0,p1,p2,a,b,dist))
if (IntersectionSegmentTriangle<ScalarType>(diag[i],p0,p1,p2,a,b,dist))
return true;
return false;
}
template <class SphereType>
bool Intersection_Sphere_Sphere( const SphereType & s0,const SphereType & s1){
bool IntersectionSphereSphere( const SphereType & s0,const SphereType & s1){
return (s0.Center()-s1.Center()).SquaredNorm() < (s0.Radius()+s1.Radius())*(s0.Radius()+s1.Radius());
}

9
vcg/space/triangle3.h
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@ -460,6 +460,15 @@ Point3<typename TriangleType::ScalarType> Circumcenter(const TriangleType &t)
return c;
}
/**
* @brief Computes the distance between a triangle and a point.
*
* @param t reference to the triangle
* @param q point location
* @param dist distance from p to t
* @param closest perpendicular projection of p onto t
*/
template<class TriangleType>
void TrianglePointDistance(const TriangleType &t,
const typename TriangleType::CoordType & q,