Corrected a wrong usage of IntersectionSegmentTriangle (could not compile...)
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adfa6dde12
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vcg/space
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@ -8,7 +8,7 @@
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* \ *
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* All rights reserved. *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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@ -40,7 +40,7 @@
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namespace vcg {
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/** \addtogroup space */
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/*@{*/
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/**
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/**
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Function computing the intersection between couple of geometric primitives in
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3 dimension
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*/
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@ -48,7 +48,7 @@ namespace vcg {
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template<class T>
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inline bool IntersectionLineSphere( const Sphere3<T> & sp, const Line3<T> & li, Point3<T> & p0,Point3<T> & p1 ){
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// Per prima cosa si sposta il sistema di riferimento
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// Per prima cosa si sposta il sistema di riferimento
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// fino a portare il centro della sfera nell'origine
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Point3<T> neworig=li.Origin()-sp.Center();
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// poi si risolve il sistema di secondo grado (con maple...)
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@ -64,8 +64,8 @@ namespace vcg {
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T t21 = neworig.X()*neworig.X();
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T t28 = T(2.0*t7*t6+2.0*t6*t8+2.0*t7*t8+t1*t15-t1*t17-t1*t19-t2*t21+t2*t15-t2*t17-t3*t21+t3*t15-t3*t19);
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if(t28<0) return false;
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T t29 = sqrt(t28);
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T val0 = 1/(t1+t2+t3)*(-t6-t7-t8+t29);
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T t29 = sqrt(t28);
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T val0 = 1/(t1+t2+t3)*(-t6-t7-t8+t29);
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T val1 = 1/(t1+t2+t3)*(-t6-t7-t8-t29);
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p0=li.P(val0);
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@ -73,149 +73,149 @@ namespace vcg {
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return true;
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}
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/*
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* Function computing the intersection between a sphere and a segment.
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* @param[in] sphere the sphere
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* @param[in] segment the segment
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* @param[out] intersection the intersection point, meaningful only if the segment intersects the sphere
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* \return (0, 1 or 2) the number of intersections between the segment and the sphere.
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* t1 is a valid intersection only if the returned value is at least 1;
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* similarly t2 is valid iff the returned value is 2.
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*/
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template < class SCALAR_TYPE >
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inline int IntersectionSegmentSphere(const Sphere3<SCALAR_TYPE>& sphere, const Segment3<SCALAR_TYPE>& segment, Point3<SCALAR_TYPE> & t0, Point3<SCALAR_TYPE> & t1)
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{
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typedef SCALAR_TYPE ScalarType;
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typedef typename vcg::Point3< ScalarType > Point3t;
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/*
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* Function computing the intersection between a sphere and a segment.
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* @param[in] sphere the sphere
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* @param[in] segment the segment
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* @param[out] intersection the intersection point, meaningful only if the segment intersects the sphere
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* \return (0, 1 or 2) the number of intersections between the segment and the sphere.
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* t1 is a valid intersection only if the returned value is at least 1;
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* similarly t2 is valid iff the returned value is 2.
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*/
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template < class SCALAR_TYPE >
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inline int IntersectionSegmentSphere(const Sphere3<SCALAR_TYPE>& sphere, const Segment3<SCALAR_TYPE>& segment, Point3<SCALAR_TYPE> & t0, Point3<SCALAR_TYPE> & t1)
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{
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typedef SCALAR_TYPE ScalarType;
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typedef typename vcg::Point3< ScalarType > Point3t;
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Point3t s = segment.P0() - sphere.Center();
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Point3t r = segment.P1() - segment.P0();
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Point3t s = segment.P0() - sphere.Center();
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Point3t r = segment.P1() - segment.P0();
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ScalarType rho2 = sphere.Radius()*sphere.Radius();
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ScalarType rho2 = sphere.Radius()*sphere.Radius();
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ScalarType sr = s*r;
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ScalarType r_squared_norm = r.SquaredNorm();
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ScalarType s_squared_norm = s.SquaredNorm();
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ScalarType sigma = sr*sr - r_squared_norm*(s_squared_norm-rho2);
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ScalarType sr = s*r;
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ScalarType r_squared_norm = r.SquaredNorm();
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ScalarType s_squared_norm = s.SquaredNorm();
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ScalarType sigma = sr*sr - r_squared_norm*(s_squared_norm-rho2);
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if (sigma<ScalarType(0.0)) // the line containing the edge doesn't intersect the sphere
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return 0;
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if (sigma<ScalarType(0.0)) // the line containing the edge doesn't intersect the sphere
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return 0;
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ScalarType sqrt_sigma = ScalarType(sqrt( ScalarType(sigma) ));
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ScalarType lambda1 = (-sr - sqrt_sigma)/r_squared_norm;
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ScalarType lambda2 = (-sr + sqrt_sigma)/r_squared_norm;
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ScalarType sqrt_sigma = ScalarType(sqrt( ScalarType(sigma) ));
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ScalarType lambda1 = (-sr - sqrt_sigma)/r_squared_norm;
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ScalarType lambda2 = (-sr + sqrt_sigma)/r_squared_norm;
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int solution_count = 0;
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if (ScalarType(0.0)<=lambda1 && lambda1<=ScalarType(1.0))
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{
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int solution_count = 0;
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if (ScalarType(0.0)<=lambda1 && lambda1<=ScalarType(1.0))
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{
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ScalarType t_enter = std::max< ScalarType >(lambda1, ScalarType(0.0));
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t0 = segment.P0() + r*t_enter;
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solution_count++;
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}
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t0 = segment.P0() + r*t_enter;
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solution_count++;
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}
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if (ScalarType(0.0)<=lambda2 && lambda2<=ScalarType(1.0))
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{
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Point3t *pt = (solution_count>0) ? &t1 : &t0;
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if (ScalarType(0.0)<=lambda2 && lambda2<=ScalarType(1.0))
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{
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Point3t *pt = (solution_count>0) ? &t1 : &t0;
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ScalarType t_exit = std::min< ScalarType >(lambda2, ScalarType(1.0));
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*pt = segment.P0() + r*t_exit;
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solution_count++;
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}
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return solution_count;
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}; // end of IntersectionSegmentSphere
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*pt = segment.P0() + r*t_exit;
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solution_count++;
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}
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return solution_count;
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}; // end of IntersectionSegmentSphere
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/*!
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* Compute the intersection between a sphere and a triangle.
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* \param[in] sphere the input sphere
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* \param[in] triangle the input triangle
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* \param[out] witness it is the point on the triangle nearest to the center of the sphere (even when there isn't intersection)
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* \param[out] res if not null, in the first item is stored the minimum distance between the triangle and the sphere,
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* while in the second item is stored the penetration depth
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* \return true iff there is an intersection between the sphere and the triangle
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*/
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template < class SCALAR_TYPE, class TRIANGLETYPE >
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bool IntersectionSphereTriangle(const vcg::Sphere3 < SCALAR_TYPE > & sphere ,
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TRIANGLETYPE triangle,
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vcg::Point3 < SCALAR_TYPE > & witness ,
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std::pair< SCALAR_TYPE, SCALAR_TYPE > * res=NULL)
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{
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typedef SCALAR_TYPE ScalarType;
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typedef typename vcg::Point3< ScalarType > Point3t;
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typedef TRIANGLETYPE Triangle3t;
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bool penetration_detected = false;
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/*!
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* Compute the intersection between a sphere and a triangle.
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* \param[in] sphere the input sphere
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* \param[in] triangle the input triangle
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* \param[out] witness it is the point on the triangle nearest to the center of the sphere (even when there isn't intersection)
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* \param[out] res if not null, in the first item is stored the minimum distance between the triangle and the sphere,
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* while in the second item is stored the penetration depth
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* \return true iff there is an intersection between the sphere and the triangle
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*/
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template < class SCALAR_TYPE, class TRIANGLETYPE >
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bool IntersectionSphereTriangle(const vcg::Sphere3 < SCALAR_TYPE > & sphere ,
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TRIANGLETYPE triangle,
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vcg::Point3 < SCALAR_TYPE > & witness ,
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std::pair< SCALAR_TYPE, SCALAR_TYPE > * res=NULL)
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{
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typedef SCALAR_TYPE ScalarType;
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typedef typename vcg::Point3< ScalarType > Point3t;
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typedef TRIANGLETYPE Triangle3t;
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ScalarType radius = sphere.Radius();
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Point3t center = sphere.Center();
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Point3t p0 = triangle.P(0)-center;
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Point3t p1 = triangle.P(1)-center;
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Point3t p2 = triangle.P(2)-center;
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bool penetration_detected = false;
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Point3t p10 = p1-p0;
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Point3t p21 = p2-p1;
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Point3t p20 = p2-p0;
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ScalarType radius = sphere.Radius();
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Point3t center = sphere.Center();
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Point3t p0 = triangle.P(0)-center;
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Point3t p1 = triangle.P(1)-center;
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Point3t p2 = triangle.P(2)-center;
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ScalarType delta0_p01 = p10.dot(p1);
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ScalarType delta1_p01 = -p10.dot(p0);
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ScalarType delta0_p02 = p20.dot(p2);
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ScalarType delta2_p02 = -p20.dot(p0);
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ScalarType delta1_p12 = p21.dot(p2);
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ScalarType delta2_p12 = -p21.dot(p1);
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Point3t p10 = p1-p0;
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Point3t p21 = p2-p1;
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Point3t p20 = p2-p0;
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// the closest point can be one of the vertices of the triangle
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if (delta1_p01<=ScalarType(0.0) && delta2_p02<=ScalarType(0.0)) { witness = p0; }
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else if (delta0_p01<=ScalarType(0.0) && delta2_p12<=ScalarType(0.0)) { witness = p1; }
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else if (delta0_p02<=ScalarType(0.0) && delta1_p12<=ScalarType(0.0)) { witness = p2; }
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else
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{
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ScalarType temp = p10.dot(p2);
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ScalarType delta0_p012 = delta0_p01*delta1_p12 + delta2_p12*temp;
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ScalarType delta1_p012 = delta1_p01*delta0_p02 - delta2_p02*temp;
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ScalarType delta2_p012 = delta2_p02*delta0_p01 - delta1_p01*(p20.dot(p1));
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ScalarType delta0_p01 = p10.dot(p1);
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ScalarType delta1_p01 = -p10.dot(p0);
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ScalarType delta0_p02 = p20.dot(p2);
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ScalarType delta2_p02 = -p20.dot(p0);
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ScalarType delta1_p12 = p21.dot(p2);
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ScalarType delta2_p12 = -p21.dot(p1);
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// otherwise, can be a point lying on same edge of the triangle
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if (delta0_p012<=ScalarType(0.0))
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{
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ScalarType denominator = delta1_p12+delta2_p12;
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ScalarType mu1 = delta1_p12/denominator;
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ScalarType mu2 = delta2_p12/denominator;
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witness = (p1*mu1 + p2*mu2);
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}
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else if (delta1_p012<=ScalarType(0.0))
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{
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ScalarType denominator = delta0_p02+delta2_p02;
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ScalarType mu0 = delta0_p02/denominator;
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ScalarType mu2 = delta2_p02/denominator;
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witness = (p0*mu0 + p2*mu2);
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}
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else if (delta2_p012<=ScalarType(0.0))
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{
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ScalarType denominator = delta0_p01+delta1_p01;
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ScalarType mu0 = delta0_p01/denominator;
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ScalarType mu1 = delta1_p01/denominator;
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witness = (p0*mu0 + p1*mu1);
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}
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else
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{
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// or else can be an point internal to the triangle
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ScalarType denominator = delta0_p012 + delta1_p012 + delta2_p012;
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ScalarType lambda0 = delta0_p012/denominator;
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ScalarType lambda1 = delta1_p012/denominator;
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ScalarType lambda2 = delta2_p012/denominator;
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witness = p0*lambda0 + p1*lambda1 + p2*lambda2;
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}
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}
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// the closest point can be one of the vertices of the triangle
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if (delta1_p01<=ScalarType(0.0) && delta2_p02<=ScalarType(0.0)) { witness = p0; }
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else if (delta0_p01<=ScalarType(0.0) && delta2_p12<=ScalarType(0.0)) { witness = p1; }
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else if (delta0_p02<=ScalarType(0.0) && delta1_p12<=ScalarType(0.0)) { witness = p2; }
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else
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{
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ScalarType temp = p10.dot(p2);
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ScalarType delta0_p012 = delta0_p01*delta1_p12 + delta2_p12*temp;
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ScalarType delta1_p012 = delta1_p01*delta0_p02 - delta2_p02*temp;
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ScalarType delta2_p012 = delta2_p02*delta0_p01 - delta1_p01*(p20.dot(p1));
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if (res!=NULL)
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{
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ScalarType witness_norm = witness.Norm();
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// otherwise, can be a point lying on same edge of the triangle
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if (delta0_p012<=ScalarType(0.0))
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{
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ScalarType denominator = delta1_p12+delta2_p12;
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ScalarType mu1 = delta1_p12/denominator;
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ScalarType mu2 = delta2_p12/denominator;
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witness = (p1*mu1 + p2*mu2);
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}
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else if (delta1_p012<=ScalarType(0.0))
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{
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ScalarType denominator = delta0_p02+delta2_p02;
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ScalarType mu0 = delta0_p02/denominator;
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ScalarType mu2 = delta2_p02/denominator;
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witness = (p0*mu0 + p2*mu2);
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}
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else if (delta2_p012<=ScalarType(0.0))
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{
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ScalarType denominator = delta0_p01+delta1_p01;
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ScalarType mu0 = delta0_p01/denominator;
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ScalarType mu1 = delta1_p01/denominator;
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witness = (p0*mu0 + p1*mu1);
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}
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else
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{
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// or else can be an point internal to the triangle
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ScalarType denominator = delta0_p012 + delta1_p012 + delta2_p012;
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ScalarType lambda0 = delta0_p012/denominator;
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ScalarType lambda1 = delta1_p012/denominator;
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ScalarType lambda2 = delta2_p012/denominator;
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witness = p0*lambda0 + p1*lambda1 + p2*lambda2;
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}
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}
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if (res!=NULL)
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{
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ScalarType witness_norm = witness.Norm();
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res->first = std::max< ScalarType >( witness_norm-radius, ScalarType(0.0) );
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res->second = std::max< ScalarType >( radius-witness_norm, ScalarType(0.0) );
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}
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penetration_detected = (witness.SquaredNorm() <= (radius*radius));
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witness += center;
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return penetration_detected;
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}; //end of IntersectionSphereTriangle
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}
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penetration_detected = (witness.SquaredNorm() <= (radius*radius));
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witness += center;
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return penetration_detected;
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}; //end of IntersectionSphereTriangle
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/// intersection between line and plane
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template<class T>
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@ -239,8 +239,8 @@ namespace vcg {
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/// intersection between segment and plane
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template<class T>
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inline bool IntersectionPlaneSegment( const Plane3<T> & pl, const Segment3<T> & s, Point3<T> & p0){
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T p1_proj = s.P1()*pl.Direction()-pl.Offset();
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T p0_proj = s.P0()*pl.Direction()-pl.Offset();
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T p1_proj = s.P1()*pl.Direction()-pl.Offset();
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T p0_proj = s.P0()*pl.Direction()-pl.Offset();
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if ( (p1_proj>0)-(p0_proj<0)) return false;
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if(p0_proj == p1_proj) return false;
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@ -251,7 +251,7 @@ namespace vcg {
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if(p0_proj > p1_proj)
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p0 = s.P1() + (s.P0()-s.P1()) * fabs(p1_proj/(p0_proj-p1_proj));
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return true;
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return true;
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}
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/// intersection between segment and plane
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@ -272,13 +272,13 @@ namespace vcg {
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return true;
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}
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/// intersection between plane and triangle
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/// intersection between plane and triangle
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// not optimal: uses plane-segment intersection (and the fact the two or none edges can be intersected)
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// its use is rather dangerous because it can return inconsistent stuff on degenerate cases.
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// added assert to underline this danger.
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template<typename TRIANGLETYPE>
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inline bool IntersectionPlaneTriangle( const Plane3<typename TRIANGLETYPE::ScalarType> & pl,
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const TRIANGLETYPE & tr,
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template<typename TRIANGLETYPE>
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inline bool IntersectionPlaneTriangle( const Plane3<typename TRIANGLETYPE::ScalarType> & pl,
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const TRIANGLETYPE & tr,
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Segment3<typename TRIANGLETYPE::ScalarType> & sg)
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{
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typedef typename TRIANGLETYPE::ScalarType T;
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@ -315,56 +315,56 @@ namespace vcg {
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template<class T>
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inline bool IntersectionTriangleTriangle(Point3<T> V0,Point3<T> V1,Point3<T> V2,
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Point3<T> U0,Point3<T> U1,Point3<T> U2){
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Point3<T> U0,Point3<T> U1,Point3<T> U2){
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return NoDivTriTriIsect(V0,V1,V2,U0,U1,U2);
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}
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#if 0
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template<class T>
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inline bool Intersection(Point3<T> V0,Point3<T> V1,Point3<T> V2,
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Point3<T> U0,Point3<T> U1,Point3<T> U2,int *coplanar,
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Point3<T> &isectpt1,Point3<T> &isectpt2){
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Point3<T> U0,Point3<T> U1,Point3<T> U2,int *coplanar,
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Point3<T> &isectpt1,Point3<T> &isectpt2){
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return tri_tri_intersect_with_isectline(V0,V1,V2,U0,U1,U2,
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coplanar,isectpt1,isectpt2);
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coplanar,isectpt1,isectpt2);
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}
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template<typename TRIANGLETYPE,typename SEGMENTTYPE >
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inline bool Intersection(const TRIANGLETYPE & t0,const TRIANGLETYPE & t1,bool &coplanar,
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SEGMENTTYPE & sg){
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Point3<typename SEGMENTTYPE::PointType> ip0,ip1;
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SEGMENTTYPE & sg){
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Point3<typename SEGMENTTYPE::PointType> ip0,ip1;
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||||
return tri_tri_intersect_with_isectline(t0.P0(0),t0.P0(1),t0.P0(2),
|
||||
t1.P0(0),t1.P0(1),t1.P0(2),
|
||||
coplanar,sg.P0(),sg.P1()
|
||||
);
|
||||
t1.P0(0),t1.P0(1),t1.P0(2),
|
||||
coplanar,sg.P0(),sg.P1()
|
||||
);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Function computing the intersection between a line and a triangle.
|
||||
* from:
|
||||
* Tomas Moller and Ben Trumbore,
|
||||
* ``Fast, Minimum Storage Ray-Triangle Intersection'',
|
||||
* journal of graphics tools, vol. 2, no. 1, pp. 21-28, 1997
|
||||
* @param[in] line
|
||||
* @param[in] triangle vertices
|
||||
* @param[out]=(t,u,v) the intersection point, meaningful only if the line intersects the triangle
|
||||
* t is the line parameter and
|
||||
* (u,v) are the baricentric coords of the intersection point
|
||||
*
|
||||
* Line.Orig + t * Line.Dir = (1-u-v) * Vert0 + u * Vert1 +v * Vert2
|
||||
*
|
||||
*/
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Function computing the intersection between a line and a triangle.
|
||||
* from:
|
||||
* Tomas Moller and Ben Trumbore,
|
||||
* ``Fast, Minimum Storage Ray-Triangle Intersection'',
|
||||
* journal of graphics tools, vol. 2, no. 1, pp. 21-28, 1997
|
||||
* @param[in] line
|
||||
* @param[in] triangle vertices
|
||||
* @param[out]=(t,u,v) the intersection point, meaningful only if the line intersects the triangle
|
||||
* t is the line parameter and
|
||||
* (u,v) are the baricentric coords of the intersection point
|
||||
*
|
||||
* Line.Orig + t * Line.Dir = (1-u-v) * Vert0 + u * Vert1 +v * Vert2
|
||||
*
|
||||
*/
|
||||
|
||||
template<class T>
|
||||
bool IntersectionLineTriangle( const Line3<T> & line, const Point3<T> & vert0,
|
||||
const Point3<T> & vert1, const Point3<T> & vert2,
|
||||
T & t ,T & u, T & v)
|
||||
bool IntersectionLineTriangle( const Line3<T> & line, const Point3<T> & vert0,
|
||||
const Point3<T> & vert1, const Point3<T> & vert2,
|
||||
T & t ,T & u, T & v)
|
||||
{
|
||||
#define EPSIL 0.000001
|
||||
#define EPSIL 0.000001
|
||||
|
||||
vcg::Point3<T> edge1, edge2, tvec, pvec, qvec;
|
||||
T det,inv_det;
|
||||
vcg::Point3<T> edge1, edge2, tvec, pvec, qvec;
|
||||
T det,inv_det;
|
||||
|
||||
/* find vectors for two edges sharing vert0 */
|
||||
edge1 = vert1 - vert0;
|
||||
|
|
@ -379,32 +379,32 @@ bool IntersectionLineTriangle( const Line3<T> & line, const Point3<T> & vert0,
|
|||
/* calculate distance from vert0 to line origin */
|
||||
tvec = line.Origin() - vert0;
|
||||
inv_det = 1.0 / det;
|
||||
|
||||
|
||||
qvec = tvec ^ edge1;
|
||||
|
||||
|
||||
if (det > EPSIL)
|
||||
{
|
||||
u = tvec * pvec ;
|
||||
if ( u < 0.0 || u > det)
|
||||
return 0;
|
||||
|
||||
return 0;
|
||||
|
||||
/* calculate V parameter and test bounds */
|
||||
v = line.Direction() * qvec;
|
||||
if ( v < 0.0 || u + v > det)
|
||||
return 0;
|
||||
|
||||
return 0;
|
||||
|
||||
}
|
||||
else if(det < -EPSIL)
|
||||
{
|
||||
/* calculate U parameter and test bounds */
|
||||
u = tvec * pvec ;
|
||||
if ( u > 0.0 || u < det)
|
||||
return 0;
|
||||
|
||||
return 0;
|
||||
|
||||
/* calculate V parameter and test bounds */
|
||||
v = line.Direction() * qvec ;
|
||||
if ( v > 0.0 || u + v < det)
|
||||
return 0;
|
||||
return 0;
|
||||
}
|
||||
else return 0; /* line is parallell to the plane of the triangle */
|
||||
|
||||
|
|
@ -416,147 +416,147 @@ bool IntersectionLineTriangle( const Line3<T> & line, const Point3<T> & vert0,
|
|||
}
|
||||
|
||||
template<class T>
|
||||
bool IntersectionRayTriangle( const Ray3<T> & ray, const Point3<T> & vert0,
|
||||
const Point3<T> & vert1, const Point3<T> & vert2,
|
||||
T & t ,T & u, T & v)
|
||||
bool IntersectionRayTriangle( const Ray3<T> & ray, const Point3<T> & vert0,
|
||||
const Point3<T> & vert1, const Point3<T> & vert2,
|
||||
T & t ,T & u, T & v)
|
||||
{
|
||||
Line3<T> line(ray.Origin(), ray.Direction());
|
||||
if (IntersectionLineTriangle(line, vert0, vert1, vert2, t, u, v))
|
||||
{
|
||||
if (t < 0) return 0;
|
||||
else return 1;
|
||||
}else return 0;
|
||||
Line3<T> line(ray.Origin(), ray.Direction());
|
||||
if (IntersectionLineTriangle(line, vert0, vert1, vert2, t, u, v))
|
||||
{
|
||||
if (t < 0) return 0;
|
||||
else return 1;
|
||||
}else return 0;
|
||||
}
|
||||
|
||||
// line-box
|
||||
template<class T>
|
||||
bool IntersectionLineBox( const Box3<T> & box, const Line3<T> & r, Point3<T> & coord )
|
||||
{
|
||||
const int NUMDIM = 3;
|
||||
const int RIGHT = 0;
|
||||
const int LEFT = 1;
|
||||
const int MIDDLE = 2;
|
||||
const int NUMDIM = 3;
|
||||
const int RIGHT = 0;
|
||||
const int LEFT = 1;
|
||||
const int MIDDLE = 2;
|
||||
|
||||
int inside = 1;
|
||||
char quadrant[NUMDIM];
|
||||
int inside = 1;
|
||||
char quadrant[NUMDIM];
|
||||
int i;
|
||||
int whichPlane;
|
||||
Point3<T> maxT,candidatePlane;
|
||||
|
||||
// Find candidate planes; this loop can be avoided if
|
||||
// rays cast all from the eye(assume perpsective view)
|
||||
|
||||
// Find candidate planes; this loop can be avoided if
|
||||
// rays cast all from the eye(assume perpsective view)
|
||||
for (i=0; i<NUMDIM; i++)
|
||||
{
|
||||
if(r.Origin()[i] < box.min[i])
|
||||
{
|
||||
quadrant[i] = LEFT;
|
||||
candidatePlane[i] = box.min[i];
|
||||
inside = 0;
|
||||
}
|
||||
else if (r.Origin()[i] > box.max[i])
|
||||
{
|
||||
quadrant[i] = RIGHT;
|
||||
candidatePlane[i] = box.max[i];
|
||||
inside = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
quadrant[i] = MIDDLE;
|
||||
}
|
||||
{
|
||||
quadrant[i] = LEFT;
|
||||
candidatePlane[i] = box.min[i];
|
||||
inside = 0;
|
||||
}
|
||||
else if (r.Origin()[i] > box.max[i])
|
||||
{
|
||||
quadrant[i] = RIGHT;
|
||||
candidatePlane[i] = box.max[i];
|
||||
inside = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
quadrant[i] = MIDDLE;
|
||||
}
|
||||
}
|
||||
|
||||
// Ray origin inside bounding box
|
||||
if(inside){
|
||||
coord = r.Origin();
|
||||
return true;
|
||||
}
|
||||
// Ray origin inside bounding box
|
||||
if(inside){
|
||||
coord = r.Origin();
|
||||
return true;
|
||||
}
|
||||
|
||||
// Calculate T distances to candidate planes
|
||||
// Calculate T distances to candidate planes
|
||||
for (i = 0; i < NUMDIM; i++)
|
||||
{
|
||||
if (quadrant[i] != MIDDLE && r.Direction()[i] !=0.)
|
||||
maxT[i] = (candidatePlane[i]-r.Origin()[i]) / r.Direction()[i];
|
||||
else
|
||||
maxT[i] = -1.;
|
||||
if (quadrant[i] != MIDDLE && r.Direction()[i] !=0.)
|
||||
maxT[i] = (candidatePlane[i]-r.Origin()[i]) / r.Direction()[i];
|
||||
else
|
||||
maxT[i] = -1.;
|
||||
}
|
||||
|
||||
// Get largest of the maxT's for final choice of intersection
|
||||
// Get largest of the maxT's for final choice of intersection
|
||||
whichPlane = 0;
|
||||
for (i = 1; i < NUMDIM; i++)
|
||||
if (maxT[whichPlane] < maxT[i])
|
||||
whichPlane = i;
|
||||
if (maxT[whichPlane] < maxT[i])
|
||||
whichPlane = i;
|
||||
|
||||
// Check final candidate actually inside box
|
||||
// Check final candidate actually inside box
|
||||
if (maxT[whichPlane] < 0.) return false;
|
||||
for (i = 0; i < NUMDIM; i++)
|
||||
if (whichPlane != i)
|
||||
{
|
||||
coord[i] = r.Origin()[i] + maxT[whichPlane] *r.Direction()[i];
|
||||
if (coord[i] < box.min[i] || coord[i] > box.max[i])
|
||||
return false;
|
||||
}
|
||||
else
|
||||
{
|
||||
coord[i] = candidatePlane[i];
|
||||
}
|
||||
if (whichPlane != i)
|
||||
{
|
||||
coord[i] = r.Origin()[i] + maxT[whichPlane] *r.Direction()[i];
|
||||
if (coord[i] < box.min[i] || coord[i] > box.max[i])
|
||||
return false;
|
||||
}
|
||||
else
|
||||
{
|
||||
coord[i] = candidatePlane[i];
|
||||
}
|
||||
return true; // ray hits box
|
||||
}
|
||||
}
|
||||
|
||||
// ray-box
|
||||
template<class T>
|
||||
bool IntersectionRayBox( const Box3<T> & box, const Ray3<T> & r, Point3<T> & coord )
|
||||
{
|
||||
Line3<T> l;
|
||||
l.SetOrigin(r.Origin());
|
||||
l.SetDirection(r.Direction());
|
||||
Line3<T> l;
|
||||
l.SetOrigin(r.Origin());
|
||||
l.SetDirection(r.Direction());
|
||||
return(IntersectionLineBox<T>(box,l,coord));
|
||||
}
|
||||
}
|
||||
|
||||
// segment-box return fist intersection found from p0 to p1
|
||||
template<class ScalarType>
|
||||
bool IntersectionSegmentBox( const Box3<ScalarType> & box,
|
||||
const Segment3<ScalarType> & s,
|
||||
Point3<ScalarType> & coord )
|
||||
const Segment3<ScalarType> & s,
|
||||
Point3<ScalarType> & coord )
|
||||
{
|
||||
//as first perform box-box intersection
|
||||
Box3<ScalarType> test;
|
||||
test.Add(s.P0());
|
||||
test.Add(s.P1());
|
||||
if (!test.Collide(box))
|
||||
return false;
|
||||
else
|
||||
{
|
||||
Line3<ScalarType> l;
|
||||
Point3<ScalarType> dir=s.P1()-s.P0();
|
||||
dir.Normalize();
|
||||
l.SetOrigin(s.P0());
|
||||
l.SetDirection(dir);
|
||||
//as first perform box-box intersection
|
||||
Box3<ScalarType> test;
|
||||
test.Add(s.P0());
|
||||
test.Add(s.P1());
|
||||
if (!test.Collide(box))
|
||||
return false;
|
||||
else
|
||||
{
|
||||
Line3<ScalarType> l;
|
||||
Point3<ScalarType> dir=s.P1()-s.P0();
|
||||
dir.Normalize();
|
||||
l.SetOrigin(s.P0());
|
||||
l.SetDirection(dir);
|
||||
if(IntersectionLineBox<ScalarType>(box,l,coord))
|
||||
return (test.IsIn(coord));
|
||||
return false;
|
||||
}
|
||||
return (test.IsIn(coord));
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
// segment-box intersection , return number of intersections and intersection points
|
||||
template<class ScalarType>
|
||||
int IntersectionSegmentBox( const Box3<ScalarType> & box,
|
||||
const Segment3<ScalarType> & s,
|
||||
Point3<ScalarType> & coord0,
|
||||
Point3<ScalarType> & coord1 )
|
||||
const Segment3<ScalarType> & s,
|
||||
Point3<ScalarType> & coord0,
|
||||
Point3<ScalarType> & coord1 )
|
||||
{
|
||||
int num=0;
|
||||
Segment3<ScalarType> test= s;
|
||||
int num=0;
|
||||
Segment3<ScalarType> test= s;
|
||||
if (IntersectionSegmentBox(box,test,coord0 ))
|
||||
{
|
||||
num++;
|
||||
Point3<ScalarType> swap=test.P0();
|
||||
test.P0()=test.P1();
|
||||
test.P1()=swap;
|
||||
{
|
||||
num++;
|
||||
Point3<ScalarType> swap=test.P0();
|
||||
test.P0()=test.P1();
|
||||
test.P1()=swap;
|
||||
if (IntersectionSegmentBox(box,test,coord1 ))
|
||||
num++;
|
||||
}
|
||||
return num;
|
||||
}
|
||||
num++;
|
||||
}
|
||||
return num;
|
||||
}
|
||||
|
||||
/**
|
||||
* Compute the intersection between a segment and a triangle.
|
||||
|
|
@ -570,32 +570,32 @@ int IntersectionSegmentBox( const Box3<ScalarType> & box,
|
|||
*/
|
||||
template<class ScalarType>
|
||||
bool IntersectionSegmentTriangle( const vcg::Segment3<ScalarType> & seg,
|
||||
const Point3<ScalarType> & vert0,
|
||||
const Point3<ScalarType> & vert1, const
|
||||
Point3<ScalarType> & vert2,
|
||||
ScalarType & a ,ScalarType & b)
|
||||
const Point3<ScalarType> & vert0,
|
||||
const Point3<ScalarType> & vert1, const
|
||||
Point3<ScalarType> & vert2,
|
||||
ScalarType & a ,ScalarType & b)
|
||||
{
|
||||
//control intersection of bounding boxes
|
||||
vcg::Box3<ScalarType> bb0,bb1;
|
||||
bb0.Add(seg.P0());
|
||||
bb0.Add(seg.P1());
|
||||
bb1.Add(vert0);
|
||||
bb1.Add(vert1);
|
||||
bb1.Add(vert2);
|
||||
Point3<ScalarType> inter;
|
||||
if (!bb0.Collide(bb1))
|
||||
return false;
|
||||
//control intersection of bounding boxes
|
||||
vcg::Box3<ScalarType> bb0,bb1;
|
||||
bb0.Add(seg.P0());
|
||||
bb0.Add(seg.P1());
|
||||
bb1.Add(vert0);
|
||||
bb1.Add(vert1);
|
||||
bb1.Add(vert2);
|
||||
Point3<ScalarType> inter;
|
||||
if (!bb0.Collide(bb1))
|
||||
return false;
|
||||
if (!vcg::IntersectionSegmentBox(bb1,seg,inter))
|
||||
return false;
|
||||
return false;
|
||||
|
||||
//first set both directions of ray
|
||||
//first set both directions of ray
|
||||
vcg::Line3<ScalarType> line;
|
||||
vcg::Point3<ScalarType> dir;
|
||||
ScalarType length=seg.Length();
|
||||
dir=(seg.P1()-seg.P0());
|
||||
dir.Normalize();
|
||||
vcg::Point3<ScalarType> dir;
|
||||
ScalarType length=seg.Length();
|
||||
dir=(seg.P1()-seg.P0());
|
||||
dir.Normalize();
|
||||
line.Set(seg.P0(),dir);
|
||||
ScalarType orig_dist;
|
||||
ScalarType orig_dist;
|
||||
if(IntersectionLineTriangle<ScalarType>(line,vert0,vert1,vert2,orig_dist,a,b))
|
||||
return (orig_dist>=0 && orig_dist<=length);
|
||||
return false;
|
||||
|
|
@ -614,65 +614,65 @@ bool IntersectionSegmentTriangle( const vcg::Segment3<typename TriangleType::Sca
|
|||
|
||||
template<class ScalarType>
|
||||
bool IntersectionPlaneBox(const vcg::Plane3<ScalarType> &pl,
|
||||
vcg::Box3<ScalarType> &bbox)
|
||||
vcg::Box3<ScalarType> &bbox)
|
||||
{
|
||||
ScalarType dist,dist1;
|
||||
if(bbox.IsNull()) return false; // intersection with a null bbox is empty
|
||||
dist = SignedDistancePlanePoint(pl,bbox.P(0)) ;
|
||||
for (int i=1;i<8;i++) if( SignedDistancePlanePoint(pl,bbox.P(i))*dist<0) return true;
|
||||
return true;
|
||||
ScalarType dist,dist1;
|
||||
if(bbox.IsNull()) return false; // intersection with a null bbox is empty
|
||||
dist = SignedDistancePlanePoint(pl,bbox.P(0)) ;
|
||||
for (int i=1;i<8;i++) if( SignedDistancePlanePoint(pl,bbox.P(i))*dist<0) return true;
|
||||
return true;
|
||||
}
|
||||
|
||||
template<class ScalarType>
|
||||
bool IntersectionTriangleBox(const vcg::Box3<ScalarType> &bbox,
|
||||
const vcg::Point3<ScalarType> &p0,
|
||||
const vcg::Point3<ScalarType> &p1,
|
||||
const vcg::Point3<ScalarType> &p2)
|
||||
const vcg::Point3<ScalarType> &p0,
|
||||
const vcg::Point3<ScalarType> &p1,
|
||||
const vcg::Point3<ScalarType> &p2)
|
||||
{
|
||||
typedef typename vcg::Point3<ScalarType> CoordType;
|
||||
CoordType intersection;
|
||||
/// control bounding box collision
|
||||
vcg::Box3<ScalarType> test;
|
||||
test.SetNull();
|
||||
test.Add(p0);
|
||||
test.Add(p1);
|
||||
test.Add(p2);
|
||||
if (!test.Collide(bbox))
|
||||
return false;
|
||||
/// control if each point is inside the bouding box
|
||||
if ((bbox.IsIn(p0))||(bbox.IsIn(p1))||(bbox.IsIn(p2)))
|
||||
return true;
|
||||
typedef typename vcg::Point3<ScalarType> CoordType;
|
||||
CoordType intersection;
|
||||
/// control bounding box collision
|
||||
vcg::Box3<ScalarType> test;
|
||||
test.SetNull();
|
||||
test.Add(p0);
|
||||
test.Add(p1);
|
||||
test.Add(p2);
|
||||
if (!test.Collide(bbox))
|
||||
return false;
|
||||
/// control if each point is inside the bouding box
|
||||
if ((bbox.IsIn(p0))||(bbox.IsIn(p1))||(bbox.IsIn(p2)))
|
||||
return true;
|
||||
|
||||
/////control plane of the triangle with bbox
|
||||
//vcg::Plane3<ScalarType> plTri=vcg::Plane3<ScalarType>();
|
||||
//plTri.Init(p0,p1,p2);
|
||||
/////control plane of the triangle with bbox
|
||||
//vcg::Plane3<ScalarType> plTri=vcg::Plane3<ScalarType>();
|
||||
//plTri.Init(p0,p1,p2);
|
||||
//if (!IntersectionPlaneBox<ScalarType>(plTri,bbox))
|
||||
// return false;
|
||||
// return false;
|
||||
|
||||
///then control intersection of segments with box
|
||||
///then control intersection of segments with box
|
||||
if (IntersectionSegmentBox<ScalarType>(bbox,vcg::Segment3<ScalarType>(p0,p1),intersection)||
|
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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
|
||||
return true;
|
||||
///control intersection of diagonal of the cube with triangle
|
||||
|
||||
Segment3<ScalarType> diag[4];
|
||||
Segment3<ScalarType> diag[4];
|
||||
|
||||
diag[0]=Segment3<ScalarType>(bbox.P(0),bbox.P(7));
|
||||
diag[1]=Segment3<ScalarType>(bbox.P(1),bbox.P(6));
|
||||
diag[2]=Segment3<ScalarType>(bbox.P(2),bbox.P(5));
|
||||
diag[3]=Segment3<ScalarType>(bbox.P(3),bbox.P(4));
|
||||
ScalarType a,b,dist;
|
||||
for (int i=0;i<3;i++)
|
||||
if (IntersectionSegmentTriangle<ScalarType>(diag[i],p0,p1,p2,a,b,dist))
|
||||
return true;
|
||||
diag[0]=Segment3<ScalarType>(bbox.P(0),bbox.P(7));
|
||||
diag[1]=Segment3<ScalarType>(bbox.P(1),bbox.P(6));
|
||||
diag[2]=Segment3<ScalarType>(bbox.P(2),bbox.P(5));
|
||||
diag[3]=Segment3<ScalarType>(bbox.P(3),bbox.P(4));
|
||||
ScalarType a,b,dist;
|
||||
for (int i=0;i<3;i++)
|
||||
if (IntersectionSegmentTriangle<ScalarType>(diag[i],p0,p1,p2,a,b))
|
||||
return true;
|
||||
|
||||
return false;
|
||||
return false;
|
||||
}
|
||||
|
||||
template <class SphereType>
|
||||
bool IntersectionSphereSphere( const SphereType & s0,const SphereType & s1){
|
||||
return (s0.Center()-s1.Center()).SquaredNorm() < (s0.Radius()+s1.Radius())*(s0.Radius()+s1.Radius());
|
||||
return (s0.Center()-s1.Center()).SquaredNorm() < (s0.Radius()+s1.Radius())*(s0.Radius()+s1.Radius());
|
||||
}
|
||||
|
||||
template<class T>
|
||||
|
|
@ -704,7 +704,7 @@ bool IntersectionPlanePlane (const Plane3<T> & plane0, const Plane3<T> & plane1,
|
|||
T det = n00*n11-n01*n01;
|
||||
|
||||
const T tolerance = (T)(1e-06f);
|
||||
if ( math::Abs(det) < tolerance )
|
||||
if ( math::Abs(det) < tolerance )
|
||||
return false;
|
||||
|
||||
T invDet = 1.0f/det;
|
||||
|
|
@ -722,22 +722,22 @@ bool IntersectionPlanePlane (const Plane3<T> & plane0, const Plane3<T> & plane1,
|
|||
template <bool BACKFACETEST = true>
|
||||
class RayTriangleIntersectionFunctor {
|
||||
public:
|
||||
template <class TRIANGLETYPE, class SCALARTYPE>
|
||||
inline bool operator () (const TRIANGLETYPE & f, const Ray3<SCALARTYPE> & ray, SCALARTYPE & t) {
|
||||
typedef SCALARTYPE ScalarType;
|
||||
ScalarType u;
|
||||
ScalarType v;
|
||||
template <class TRIANGLETYPE, class SCALARTYPE>
|
||||
inline bool operator () (const TRIANGLETYPE & f, const Ray3<SCALARTYPE> & ray, SCALARTYPE & t) {
|
||||
typedef SCALARTYPE ScalarType;
|
||||
ScalarType u;
|
||||
ScalarType v;
|
||||
|
||||
bool bret = IntersectionRayTriangle(ray, Point3<SCALARTYPE>::Construct(f.cP(0)), Point3<SCALARTYPE>::Construct(f.cP(1)), Point3<SCALARTYPE>::Construct(f.cP(2)), t, u, v);
|
||||
if (BACKFACETEST) {
|
||||
if (!bret) {
|
||||
bret = IntersectionRayTriangle(ray, Point3<SCALARTYPE>::Construct(f.cP(0)), Point3<SCALARTYPE>::Construct(f.cP(2)), Point3<SCALARTYPE>::Construct(f.cP(1)), t, u, v);
|
||||
}
|
||||
}
|
||||
return (bret);
|
||||
}
|
||||
bool bret = IntersectionRayTriangle(ray, Point3<SCALARTYPE>::Construct(f.cP(0)), Point3<SCALARTYPE>::Construct(f.cP(1)), Point3<SCALARTYPE>::Construct(f.cP(2)), t, u, v);
|
||||
if (BACKFACETEST) {
|
||||
if (!bret) {
|
||||
bret = IntersectionRayTriangle(ray, Point3<SCALARTYPE>::Construct(f.cP(0)), Point3<SCALARTYPE>::Construct(f.cP(2)), Point3<SCALARTYPE>::Construct(f.cP(1)), t, u, v);
|
||||
}
|
||||
}
|
||||
return (bret);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
/*@}*/
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue