diff --git a/vcg/space/intersection3.h b/vcg/space/intersection3.h index edf8d6fa..bc90c8a1 100644 --- a/vcg/space/intersection3.h +++ b/vcg/space/intersection3.h @@ -8,7 +8,7 @@ * \ * * All rights reserved. * * * - * This program is free software; you can redistribute it and/or modify * + * This program is free software; you can redistribute it and/or modify * * it under the terms of the GNU General Public License as published by * * the Free Software Foundation; either version 2 of the License, or * * (at your option) any later version. * @@ -40,7 +40,7 @@ namespace vcg { /** \addtogroup space */ /*@{*/ -/** +/** Function computing the intersection between couple of geometric primitives in 3 dimension */ @@ -48,7 +48,7 @@ namespace vcg { template inline bool IntersectionLineSphere( const Sphere3 & sp, const Line3 & li, Point3 & p0,Point3 & p1 ){ - // Per prima cosa si sposta il sistema di riferimento + // Per prima cosa si sposta il sistema di riferimento // fino a portare il centro della sfera nell'origine Point3 neworig=li.Origin()-sp.Center(); // poi si risolve il sistema di secondo grado (con maple...) @@ -64,8 +64,8 @@ namespace vcg { T t21 = neworig.X()*neworig.X(); 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); if(t28<0) return false; - T t29 = sqrt(t28); - T val0 = 1/(t1+t2+t3)*(-t6-t7-t8+t29); + T t29 = sqrt(t28); + T val0 = 1/(t1+t2+t3)*(-t6-t7-t8+t29); T val1 = 1/(t1+t2+t3)*(-t6-t7-t8-t29); p0=li.P(val0); @@ -73,149 +73,149 @@ namespace vcg { return true; } - /* - * Function computing the intersection between a sphere and a segment. - * @param[in] sphere the sphere - * @param[in] segment the segment - * @param[out] intersection the intersection point, meaningful only if the segment intersects the sphere - * \return (0, 1 or 2) the number of intersections between the segment and the sphere. - * t1 is a valid intersection only if the returned value is at least 1; - * similarly t2 is valid iff the returned value is 2. - */ - template < class SCALAR_TYPE > - inline int IntersectionSegmentSphere(const Sphere3& sphere, const Segment3& segment, Point3 & t0, Point3 & t1) - { - typedef SCALAR_TYPE ScalarType; - typedef typename vcg::Point3< ScalarType > Point3t; + /* + * Function computing the intersection between a sphere and a segment. + * @param[in] sphere the sphere + * @param[in] segment the segment + * @param[out] intersection the intersection point, meaningful only if the segment intersects the sphere + * \return (0, 1 or 2) the number of intersections between the segment and the sphere. + * t1 is a valid intersection only if the returned value is at least 1; + * similarly t2 is valid iff the returned value is 2. + */ + template < class SCALAR_TYPE > + inline int IntersectionSegmentSphere(const Sphere3& sphere, const Segment3& segment, Point3 & t0, Point3 & t1) + { + typedef SCALAR_TYPE ScalarType; + typedef typename vcg::Point3< ScalarType > Point3t; - Point3t s = segment.P0() - sphere.Center(); - Point3t r = segment.P1() - segment.P0(); + Point3t s = segment.P0() - sphere.Center(); + Point3t r = segment.P1() - segment.P0(); - ScalarType rho2 = sphere.Radius()*sphere.Radius(); + ScalarType rho2 = sphere.Radius()*sphere.Radius(); - ScalarType sr = s*r; - ScalarType r_squared_norm = r.SquaredNorm(); - ScalarType s_squared_norm = s.SquaredNorm(); - ScalarType sigma = sr*sr - r_squared_norm*(s_squared_norm-rho2); + ScalarType sr = s*r; + ScalarType r_squared_norm = r.SquaredNorm(); + ScalarType s_squared_norm = s.SquaredNorm(); + ScalarType sigma = sr*sr - r_squared_norm*(s_squared_norm-rho2); - if (sigma(lambda1, ScalarType(0.0)); - t0 = segment.P0() + r*t_enter; - solution_count++; - } + t0 = segment.P0() + r*t_enter; + solution_count++; + } - if (ScalarType(0.0)<=lambda2 && lambda2<=ScalarType(1.0)) - { - Point3t *pt = (solution_count>0) ? &t1 : &t0; + if (ScalarType(0.0)<=lambda2 && lambda2<=ScalarType(1.0)) + { + Point3t *pt = (solution_count>0) ? &t1 : &t0; ScalarType t_exit = std::min< ScalarType >(lambda2, ScalarType(1.0)); - *pt = segment.P0() + r*t_exit; - solution_count++; - } - return solution_count; - }; // end of IntersectionSegmentSphere + *pt = segment.P0() + r*t_exit; + solution_count++; + } + return solution_count; + }; // end of IntersectionSegmentSphere - - /*! - * Compute the intersection between a sphere and a triangle. - * \param[in] sphere the input sphere - * \param[in] triangle the input triangle - * \param[out] witness it is the point on the triangle nearest to the center of the sphere (even when there isn't intersection) - * \param[out] res if not null, in the first item is stored the minimum distance between the triangle and the sphere, - * while in the second item is stored the penetration depth - * \return true iff there is an intersection between the sphere and the triangle - */ - template < class SCALAR_TYPE, class TRIANGLETYPE > - bool IntersectionSphereTriangle(const vcg::Sphere3 < SCALAR_TYPE > & sphere , - TRIANGLETYPE triangle, - vcg::Point3 < SCALAR_TYPE > & witness , - std::pair< SCALAR_TYPE, SCALAR_TYPE > * res=NULL) - { - typedef SCALAR_TYPE ScalarType; - typedef typename vcg::Point3< ScalarType > Point3t; - typedef TRIANGLETYPE Triangle3t; - bool penetration_detected = false; + /*! + * Compute the intersection between a sphere and a triangle. + * \param[in] sphere the input sphere + * \param[in] triangle the input triangle + * \param[out] witness it is the point on the triangle nearest to the center of the sphere (even when there isn't intersection) + * \param[out] res if not null, in the first item is stored the minimum distance between the triangle and the sphere, + * while in the second item is stored the penetration depth + * \return true iff there is an intersection between the sphere and the triangle + */ + template < class SCALAR_TYPE, class TRIANGLETYPE > + bool IntersectionSphereTriangle(const vcg::Sphere3 < SCALAR_TYPE > & sphere , + TRIANGLETYPE triangle, + vcg::Point3 < SCALAR_TYPE > & witness , + std::pair< SCALAR_TYPE, SCALAR_TYPE > * res=NULL) + { + typedef SCALAR_TYPE ScalarType; + typedef typename vcg::Point3< ScalarType > Point3t; + typedef TRIANGLETYPE Triangle3t; - ScalarType radius = sphere.Radius(); - Point3t center = sphere.Center(); - Point3t p0 = triangle.P(0)-center; - Point3t p1 = triangle.P(1)-center; - Point3t p2 = triangle.P(2)-center; + bool penetration_detected = false; - Point3t p10 = p1-p0; - Point3t p21 = p2-p1; - Point3t p20 = p2-p0; + ScalarType radius = sphere.Radius(); + Point3t center = sphere.Center(); + Point3t p0 = triangle.P(0)-center; + Point3t p1 = triangle.P(1)-center; + Point3t p2 = triangle.P(2)-center; - ScalarType delta0_p01 = p10.dot(p1); - ScalarType delta1_p01 = -p10.dot(p0); - ScalarType delta0_p02 = p20.dot(p2); - ScalarType delta2_p02 = -p20.dot(p0); - ScalarType delta1_p12 = p21.dot(p2); - ScalarType delta2_p12 = -p21.dot(p1); + Point3t p10 = p1-p0; + Point3t p21 = p2-p1; + Point3t p20 = p2-p0; - // the closest point can be one of the vertices of the triangle - if (delta1_p01<=ScalarType(0.0) && delta2_p02<=ScalarType(0.0)) { witness = p0; } - else if (delta0_p01<=ScalarType(0.0) && delta2_p12<=ScalarType(0.0)) { witness = p1; } - else if (delta0_p02<=ScalarType(0.0) && delta1_p12<=ScalarType(0.0)) { witness = p2; } - else - { - ScalarType temp = p10.dot(p2); - ScalarType delta0_p012 = delta0_p01*delta1_p12 + delta2_p12*temp; - ScalarType delta1_p012 = delta1_p01*delta0_p02 - delta2_p02*temp; - ScalarType delta2_p012 = delta2_p02*delta0_p01 - delta1_p01*(p20.dot(p1)); + ScalarType delta0_p01 = p10.dot(p1); + ScalarType delta1_p01 = -p10.dot(p0); + ScalarType delta0_p02 = p20.dot(p2); + ScalarType delta2_p02 = -p20.dot(p0); + ScalarType delta1_p12 = p21.dot(p2); + ScalarType delta2_p12 = -p21.dot(p1); - // otherwise, can be a point lying on same edge of the triangle - if (delta0_p012<=ScalarType(0.0)) - { - ScalarType denominator = delta1_p12+delta2_p12; - ScalarType mu1 = delta1_p12/denominator; - ScalarType mu2 = delta2_p12/denominator; - witness = (p1*mu1 + p2*mu2); - } - else if (delta1_p012<=ScalarType(0.0)) - { - ScalarType denominator = delta0_p02+delta2_p02; - ScalarType mu0 = delta0_p02/denominator; - ScalarType mu2 = delta2_p02/denominator; - witness = (p0*mu0 + p2*mu2); - } - else if (delta2_p012<=ScalarType(0.0)) - { - ScalarType denominator = delta0_p01+delta1_p01; - ScalarType mu0 = delta0_p01/denominator; - ScalarType mu1 = delta1_p01/denominator; - witness = (p0*mu0 + p1*mu1); - } - else - { - // or else can be an point internal to the triangle - ScalarType denominator = delta0_p012 + delta1_p012 + delta2_p012; - ScalarType lambda0 = delta0_p012/denominator; - ScalarType lambda1 = delta1_p012/denominator; - ScalarType lambda2 = delta2_p012/denominator; - witness = p0*lambda0 + p1*lambda1 + p2*lambda2; - } - } + // the closest point can be one of the vertices of the triangle + if (delta1_p01<=ScalarType(0.0) && delta2_p02<=ScalarType(0.0)) { witness = p0; } + else if (delta0_p01<=ScalarType(0.0) && delta2_p12<=ScalarType(0.0)) { witness = p1; } + else if (delta0_p02<=ScalarType(0.0) && delta1_p12<=ScalarType(0.0)) { witness = p2; } + else + { + ScalarType temp = p10.dot(p2); + ScalarType delta0_p012 = delta0_p01*delta1_p12 + delta2_p12*temp; + ScalarType delta1_p012 = delta1_p01*delta0_p02 - delta2_p02*temp; + ScalarType delta2_p012 = delta2_p02*delta0_p01 - delta1_p01*(p20.dot(p1)); - if (res!=NULL) - { - ScalarType witness_norm = witness.Norm(); + // otherwise, can be a point lying on same edge of the triangle + if (delta0_p012<=ScalarType(0.0)) + { + ScalarType denominator = delta1_p12+delta2_p12; + ScalarType mu1 = delta1_p12/denominator; + ScalarType mu2 = delta2_p12/denominator; + witness = (p1*mu1 + p2*mu2); + } + else if (delta1_p012<=ScalarType(0.0)) + { + ScalarType denominator = delta0_p02+delta2_p02; + ScalarType mu0 = delta0_p02/denominator; + ScalarType mu2 = delta2_p02/denominator; + witness = (p0*mu0 + p2*mu2); + } + else if (delta2_p012<=ScalarType(0.0)) + { + ScalarType denominator = delta0_p01+delta1_p01; + ScalarType mu0 = delta0_p01/denominator; + ScalarType mu1 = delta1_p01/denominator; + witness = (p0*mu0 + p1*mu1); + } + else + { + // or else can be an point internal to the triangle + ScalarType denominator = delta0_p012 + delta1_p012 + delta2_p012; + ScalarType lambda0 = delta0_p012/denominator; + ScalarType lambda1 = delta1_p012/denominator; + ScalarType lambda2 = delta2_p012/denominator; + witness = p0*lambda0 + p1*lambda1 + p2*lambda2; + } + } + + if (res!=NULL) + { + ScalarType witness_norm = witness.Norm(); res->first = std::max< ScalarType >( witness_norm-radius, ScalarType(0.0) ); res->second = std::max< ScalarType >( radius-witness_norm, ScalarType(0.0) ); - } - penetration_detected = (witness.SquaredNorm() <= (radius*radius)); - witness += center; - return penetration_detected; - }; //end of IntersectionSphereTriangle + } + penetration_detected = (witness.SquaredNorm() <= (radius*radius)); + witness += center; + return penetration_detected; + }; //end of IntersectionSphereTriangle /// intersection between line and plane template @@ -239,8 +239,8 @@ namespace vcg { /// intersection between segment and plane template inline bool IntersectionPlaneSegment( const Plane3 & pl, const Segment3 & s, Point3 & p0){ - T p1_proj = s.P1()*pl.Direction()-pl.Offset(); - T p0_proj = s.P0()*pl.Direction()-pl.Offset(); + 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; if(p0_proj == p1_proj) return false; @@ -251,7 +251,7 @@ namespace vcg { if(p0_proj > p1_proj) p0 = s.P1() + (s.P0()-s.P1()) * fabs(p1_proj/(p0_proj-p1_proj)); - return true; + return true; } /// intersection between segment and plane @@ -272,13 +272,13 @@ namespace vcg { return true; } - /// intersection between plane and triangle + /// intersection between plane and triangle // not optimal: uses plane-segment intersection (and the fact the two or none edges can be intersected) // its use is rather dangerous because it can return inconsistent stuff on degenerate cases. // added assert to underline this danger. - template - inline bool IntersectionPlaneTriangle( const Plane3 & pl, - const TRIANGLETYPE & tr, + template + inline bool IntersectionPlaneTriangle( const Plane3 & pl, + const TRIANGLETYPE & tr, Segment3 & sg) { typedef typename TRIANGLETYPE::ScalarType T; @@ -315,56 +315,56 @@ namespace vcg { template inline bool IntersectionTriangleTriangle(Point3 V0,Point3 V1,Point3 V2, - Point3 U0,Point3 U1,Point3 U2){ + Point3 U0,Point3 U1,Point3 U2){ return NoDivTriTriIsect(V0,V1,V2,U0,U1,U2); } #if 0 template inline bool Intersection(Point3 V0,Point3 V1,Point3 V2, - Point3 U0,Point3 U1,Point3 U2,int *coplanar, - Point3 &isectpt1,Point3 &isectpt2){ + Point3 U0,Point3 U1,Point3 U2,int *coplanar, + Point3 &isectpt1,Point3 &isectpt2){ return tri_tri_intersect_with_isectline(V0,V1,V2,U0,U1,U2, - coplanar,isectpt1,isectpt2); + coplanar,isectpt1,isectpt2); } template inline bool Intersection(const TRIANGLETYPE & t0,const TRIANGLETYPE & t1,bool &coplanar, - SEGMENTTYPE & sg){ - Point3 ip0,ip1; + SEGMENTTYPE & sg){ + Point3 ip0,ip1; 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 -bool IntersectionLineTriangle( const Line3 & line, const Point3 & vert0, - const Point3 & vert1, const Point3 & vert2, - T & t ,T & u, T & v) +bool IntersectionLineTriangle( const Line3 & line, const Point3 & vert0, + const Point3 & vert1, const Point3 & vert2, + T & t ,T & u, T & v) { - #define EPSIL 0.000001 + #define EPSIL 0.000001 - vcg::Point3 edge1, edge2, tvec, pvec, qvec; - T det,inv_det; + vcg::Point3 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 & line, const Point3 & 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 & line, const Point3 & vert0, } template -bool IntersectionRayTriangle( const Ray3 & ray, const Point3 & vert0, - const Point3 & vert1, const Point3 & vert2, - T & t ,T & u, T & v) +bool IntersectionRayTriangle( const Ray3 & ray, const Point3 & vert0, + const Point3 & vert1, const Point3 & vert2, + T & t ,T & u, T & v) { - Line3 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 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 bool IntersectionLineBox( const Box3 & box, const Line3 & r, Point3 & 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 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 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 bool IntersectionRayBox( const Box3 & box, const Ray3 & r, Point3 & coord ) { - Line3 l; - l.SetOrigin(r.Origin()); - l.SetDirection(r.Direction()); + Line3 l; + l.SetOrigin(r.Origin()); + l.SetDirection(r.Direction()); return(IntersectionLineBox(box,l,coord)); -} +} // segment-box return fist intersection found from p0 to p1 template bool IntersectionSegmentBox( const Box3 & box, - const Segment3 & s, - Point3 & coord ) + const Segment3 & s, + Point3 & coord ) { - //as first perform box-box intersection - Box3 test; - test.Add(s.P0()); - test.Add(s.P1()); - if (!test.Collide(box)) - return false; - else - { - Line3 l; - Point3 dir=s.P1()-s.P0(); - dir.Normalize(); - l.SetOrigin(s.P0()); - l.SetDirection(dir); + //as first perform box-box intersection + Box3 test; + test.Add(s.P0()); + test.Add(s.P1()); + if (!test.Collide(box)) + return false; + else + { + Line3 l; + Point3 dir=s.P1()-s.P0(); + dir.Normalize(); + l.SetOrigin(s.P0()); + l.SetDirection(dir); if(IntersectionLineBox(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 int IntersectionSegmentBox( const Box3 & box, - const Segment3 & s, - Point3 & coord0, - Point3 & coord1 ) + const Segment3 & s, + Point3 & coord0, + Point3 & coord1 ) { - int num=0; - Segment3 test= s; + int num=0; + Segment3 test= s; if (IntersectionSegmentBox(box,test,coord0 )) - { - num++; - Point3 swap=test.P0(); - test.P0()=test.P1(); - test.P1()=swap; + { + num++; + Point3 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 & box, */ template bool IntersectionSegmentTriangle( const vcg::Segment3 & seg, - const Point3 & vert0, - const Point3 & vert1, const - Point3 & vert2, - ScalarType & a ,ScalarType & b) + const Point3 & vert0, + const Point3 & vert1, const + Point3 & vert2, + ScalarType & a ,ScalarType & b) { - //control intersection of bounding boxes - vcg::Box3 bb0,bb1; - bb0.Add(seg.P0()); - bb0.Add(seg.P1()); - bb1.Add(vert0); - bb1.Add(vert1); - bb1.Add(vert2); - Point3 inter; - if (!bb0.Collide(bb1)) - return false; + //control intersection of bounding boxes + vcg::Box3 bb0,bb1; + bb0.Add(seg.P0()); + bb0.Add(seg.P1()); + bb1.Add(vert0); + bb1.Add(vert1); + bb1.Add(vert2); + Point3 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 line; - vcg::Point3 dir; - ScalarType length=seg.Length(); - dir=(seg.P1()-seg.P0()); - dir.Normalize(); + vcg::Point3 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(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 bool IntersectionPlaneBox(const vcg::Plane3 &pl, - vcg::Box3 &bbox) + vcg::Box3 &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 bool IntersectionTriangleBox(const vcg::Box3 &bbox, - const vcg::Point3 &p0, - const vcg::Point3 &p1, - const vcg::Point3 &p2) + const vcg::Point3 &p0, + const vcg::Point3 &p1, + const vcg::Point3 &p2) { - typedef typename vcg::Point3 CoordType; - CoordType intersection; - /// control bounding box collision - vcg::Box3 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 CoordType; + CoordType intersection; + /// control bounding box collision + vcg::Box3 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 plTri=vcg::Plane3(); - //plTri.Init(p0,p1,p2); + /////control plane of the triangle with bbox + //vcg::Plane3 plTri=vcg::Plane3(); + //plTri.Init(p0,p1,p2); //if (!IntersectionPlaneBox(plTri,bbox)) - // return false; + // return false; - ///then control intersection of segments with box + ///then control intersection of segments with box if (IntersectionSegmentBox(bbox,vcg::Segment3(p0,p1),intersection)|| IntersectionSegmentBox(bbox,vcg::Segment3(p1,p2),intersection)|| IntersectionSegmentBox(bbox,vcg::Segment3(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 diag[4]; + Segment3 diag[4]; - diag[0]=Segment3(bbox.P(0),bbox.P(7)); - diag[1]=Segment3(bbox.P(1),bbox.P(6)); - diag[2]=Segment3(bbox.P(2),bbox.P(5)); - diag[3]=Segment3(bbox.P(3),bbox.P(4)); - ScalarType a,b,dist; - for (int i=0;i<3;i++) - if (IntersectionSegmentTriangle(diag[i],p0,p1,p2,a,b,dist)) - return true; + diag[0]=Segment3(bbox.P(0),bbox.P(7)); + diag[1]=Segment3(bbox.P(1),bbox.P(6)); + diag[2]=Segment3(bbox.P(2),bbox.P(5)); + diag[3]=Segment3(bbox.P(3),bbox.P(4)); + ScalarType a,b,dist; + for (int i=0;i<3;i++) + if (IntersectionSegmentTriangle(diag[i],p0,p1,p2,a,b)) + return true; - return false; + return false; } template 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 @@ -704,7 +704,7 @@ bool IntersectionPlanePlane (const Plane3 & plane0, const Plane3 & 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 & plane0, const Plane3 & plane1, template class RayTriangleIntersectionFunctor { public: - template - inline bool operator () (const TRIANGLETYPE & f, const Ray3 & ray, SCALARTYPE & t) { - typedef SCALARTYPE ScalarType; - ScalarType u; - ScalarType v; + template + inline bool operator () (const TRIANGLETYPE & f, const Ray3 & ray, SCALARTYPE & t) { + typedef SCALARTYPE ScalarType; + ScalarType u; + ScalarType v; - bool bret = IntersectionRayTriangle(ray, Point3::Construct(f.cP(0)), Point3::Construct(f.cP(1)), Point3::Construct(f.cP(2)), t, u, v); - if (BACKFACETEST) { - if (!bret) { - bret = IntersectionRayTriangle(ray, Point3::Construct(f.cP(0)), Point3::Construct(f.cP(2)), Point3::Construct(f.cP(1)), t, u, v); - } - } - return (bret); - } + bool bret = IntersectionRayTriangle(ray, Point3::Construct(f.cP(0)), Point3::Construct(f.cP(1)), Point3::Construct(f.cP(2)), t, u, v); + if (BACKFACETEST) { + if (!bret) { + bret = IntersectionRayTriangle(ray, Point3::Construct(f.cP(0)), Point3::Construct(f.cP(2)), Point3::Construct(f.cP(1)), t, u, v); + } + } + return (bret); + } }; - + /*@}*/