|
@@ -0,0 +1,264 @@
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+#ifndef IGL_RAY_TRI_C
|
|
|
+#define IGL_RAY_TRI_C
|
|
|
+
|
|
|
+#include <math.h>
|
|
|
+
|
|
|
+#define IGL_RAY_TRI_EPSILON 0.000001
|
|
|
+#define IGL_RAY_TRI_CROSS(dest,v1,v2) \
|
|
|
+ dest[0]=v1[1]*v2[2]-v1[2]*v2[1]; \
|
|
|
+ dest[1]=v1[2]*v2[0]-v1[0]*v2[2]; \
|
|
|
+ dest[2]=v1[0]*v2[1]-v1[1]*v2[0];
|
|
|
+#define IGL_RAY_TRI_DOT(v1,v2) (v1[0]*v2[0]+v1[1]*v2[1]+v1[2]*v2[2])
|
|
|
+#define IGL_RAY_TRI_SUB(dest,v1,v2) \
|
|
|
+ dest[0]=v1[0]-v2[0]; \
|
|
|
+ dest[1]=v1[1]-v2[1]; \
|
|
|
+ dest[2]=v1[2]-v2[2];
|
|
|
+
|
|
|
+
|
|
|
+inline int intersect_triangle(double orig[3], double dir[3],
|
|
|
+ double vert0[3], double vert1[3], double vert2[3],
|
|
|
+ double *t, double *u, double *v)
|
|
|
+{
|
|
|
+ double edge1[3], edge2[3], tvec[3], pvec[3], qvec[3];
|
|
|
+ double det,inv_det;
|
|
|
+
|
|
|
+
|
|
|
+ IGL_RAY_TRI_SUB(edge1, vert1, vert0);
|
|
|
+ IGL_RAY_TRI_SUB(edge2, vert2, vert0);
|
|
|
+
|
|
|
+
|
|
|
+ IGL_RAY_TRI_CROSS(pvec, dir, edge2);
|
|
|
+
|
|
|
+
|
|
|
+ det = IGL_RAY_TRI_DOT(edge1, pvec);
|
|
|
+
|
|
|
+ if (det > -IGL_RAY_TRI_EPSILON && det < IGL_RAY_TRI_EPSILON)
|
|
|
+ return 0;
|
|
|
+ inv_det = 1.0 / det;
|
|
|
+
|
|
|
+
|
|
|
+ IGL_RAY_TRI_SUB(tvec, orig, vert0);
|
|
|
+
|
|
|
+
|
|
|
+ *u = IGL_RAY_TRI_DOT(tvec, pvec) * inv_det;
|
|
|
+ if (*u < 0.0 || *u > 1.0)
|
|
|
+ return 0;
|
|
|
+
|
|
|
+
|
|
|
+ IGL_RAY_TRI_CROSS(qvec, tvec, edge1);
|
|
|
+
|
|
|
+
|
|
|
+ *v = IGL_RAY_TRI_DOT(dir, qvec) * inv_det;
|
|
|
+ if (*v < 0.0 || *u + *v > 1.0)
|
|
|
+ return 0;
|
|
|
+
|
|
|
+
|
|
|
+ *t = IGL_RAY_TRI_DOT(edge2, qvec) * inv_det;
|
|
|
+
|
|
|
+ return 1;
|
|
|
+}
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+inline int intersect_triangle1(double orig[3], double dir[3],
|
|
|
+ double vert0[3], double vert1[3], double vert2[3],
|
|
|
+ double *t, double *u, double *v)
|
|
|
+{
|
|
|
+ double edge1[3], edge2[3], tvec[3], pvec[3], qvec[3];
|
|
|
+ double det,inv_det;
|
|
|
+
|
|
|
+
|
|
|
+ IGL_RAY_TRI_SUB(edge1, vert1, vert0);
|
|
|
+ IGL_RAY_TRI_SUB(edge2, vert2, vert0);
|
|
|
+
|
|
|
+
|
|
|
+ IGL_RAY_TRI_CROSS(pvec, dir, edge2);
|
|
|
+
|
|
|
+
|
|
|
+ det = IGL_RAY_TRI_DOT(edge1, pvec);
|
|
|
+
|
|
|
+ if (det > IGL_RAY_TRI_EPSILON)
|
|
|
+ {
|
|
|
+
|
|
|
+ IGL_RAY_TRI_SUB(tvec, orig, vert0);
|
|
|
+
|
|
|
+
|
|
|
+ *u = IGL_RAY_TRI_DOT(tvec, pvec);
|
|
|
+ if (*u < 0.0 || *u > det)
|
|
|
+ return 0;
|
|
|
+
|
|
|
+
|
|
|
+ IGL_RAY_TRI_CROSS(qvec, tvec, edge1);
|
|
|
+
|
|
|
+
|
|
|
+ *v = IGL_RAY_TRI_DOT(dir, qvec);
|
|
|
+ if (*v < 0.0 || *u + *v > det)
|
|
|
+ return 0;
|
|
|
+
|
|
|
+ }
|
|
|
+ else if(det < -IGL_RAY_TRI_EPSILON)
|
|
|
+ {
|
|
|
+
|
|
|
+ IGL_RAY_TRI_SUB(tvec, orig, vert0);
|
|
|
+
|
|
|
+
|
|
|
+ *u = IGL_RAY_TRI_DOT(tvec, pvec);
|
|
|
+
|
|
|
+
|
|
|
+ if (*u > 0.0 || *u < det)
|
|
|
+ return 0;
|
|
|
+
|
|
|
+
|
|
|
+ IGL_RAY_TRI_CROSS(qvec, tvec, edge1);
|
|
|
+
|
|
|
+
|
|
|
+ *v = IGL_RAY_TRI_DOT(dir, qvec) ;
|
|
|
+ if (*v > 0.0 || *u + *v < det)
|
|
|
+ return 0;
|
|
|
+ }
|
|
|
+ else return 0;
|
|
|
+
|
|
|
+
|
|
|
+ inv_det = 1.0 / det;
|
|
|
+
|
|
|
+
|
|
|
+ *t = IGL_RAY_TRI_DOT(edge2, qvec) * inv_det;
|
|
|
+ (*u) *= inv_det;
|
|
|
+ (*v) *= inv_det;
|
|
|
+
|
|
|
+ return 1;
|
|
|
+}
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+inline int intersect_triangle2(double orig[3], double dir[3],
|
|
|
+ double vert0[3], double vert1[3], double vert2[3],
|
|
|
+ double *t, double *u, double *v)
|
|
|
+{
|
|
|
+ double edge1[3], edge2[3], tvec[3], pvec[3], qvec[3];
|
|
|
+ double det,inv_det;
|
|
|
+
|
|
|
+
|
|
|
+ IGL_RAY_TRI_SUB(edge1, vert1, vert0);
|
|
|
+ IGL_RAY_TRI_SUB(edge2, vert2, vert0);
|
|
|
+
|
|
|
+
|
|
|
+ IGL_RAY_TRI_CROSS(pvec, dir, edge2);
|
|
|
+
|
|
|
+
|
|
|
+ det = IGL_RAY_TRI_DOT(edge1, pvec);
|
|
|
+
|
|
|
+
|
|
|
+ IGL_RAY_TRI_SUB(tvec, orig, vert0);
|
|
|
+ inv_det = 1.0 / det;
|
|
|
+
|
|
|
+ if (det > IGL_RAY_TRI_EPSILON)
|
|
|
+ {
|
|
|
+
|
|
|
+ *u = IGL_RAY_TRI_DOT(tvec, pvec);
|
|
|
+ if (*u < 0.0 || *u > det)
|
|
|
+ return 0;
|
|
|
+
|
|
|
+
|
|
|
+ IGL_RAY_TRI_CROSS(qvec, tvec, edge1);
|
|
|
+
|
|
|
+
|
|
|
+ *v = IGL_RAY_TRI_DOT(dir, qvec);
|
|
|
+ if (*v < 0.0 || *u + *v > det)
|
|
|
+ return 0;
|
|
|
+
|
|
|
+ }
|
|
|
+ else if(det < -IGL_RAY_TRI_EPSILON)
|
|
|
+ {
|
|
|
+
|
|
|
+ *u = IGL_RAY_TRI_DOT(tvec, pvec);
|
|
|
+ if (*u > 0.0 || *u < det)
|
|
|
+ return 0;
|
|
|
+
|
|
|
+
|
|
|
+ IGL_RAY_TRI_CROSS(qvec, tvec, edge1);
|
|
|
+
|
|
|
+
|
|
|
+ *v = IGL_RAY_TRI_DOT(dir, qvec) ;
|
|
|
+ if (*v > 0.0 || *u + *v < det)
|
|
|
+ return 0;
|
|
|
+ }
|
|
|
+ else return 0;
|
|
|
+
|
|
|
+
|
|
|
+ *t = IGL_RAY_TRI_DOT(edge2, qvec) * inv_det;
|
|
|
+ (*u) *= inv_det;
|
|
|
+ (*v) *= inv_det;
|
|
|
+
|
|
|
+ return 1;
|
|
|
+}
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+inline int intersect_triangle3(double orig[3], double dir[3],
|
|
|
+ double vert0[3], double vert1[3], double vert2[3],
|
|
|
+ double *t, double *u, double *v)
|
|
|
+{
|
|
|
+ double edge1[3], edge2[3], tvec[3], pvec[3], qvec[3];
|
|
|
+ double det,inv_det;
|
|
|
+
|
|
|
+
|
|
|
+ IGL_RAY_TRI_SUB(edge1, vert1, vert0);
|
|
|
+ IGL_RAY_TRI_SUB(edge2, vert2, vert0);
|
|
|
+
|
|
|
+
|
|
|
+ IGL_RAY_TRI_CROSS(pvec, dir, edge2);
|
|
|
+
|
|
|
+
|
|
|
+ det = IGL_RAY_TRI_DOT(edge1, pvec);
|
|
|
+
|
|
|
+
|
|
|
+ IGL_RAY_TRI_SUB(tvec, orig, vert0);
|
|
|
+ inv_det = 1.0 / det;
|
|
|
+
|
|
|
+ IGL_RAY_TRI_CROSS(qvec, tvec, edge1);
|
|
|
+
|
|
|
+ if (det > IGL_RAY_TRI_EPSILON)
|
|
|
+ {
|
|
|
+ *u = IGL_RAY_TRI_DOT(tvec, pvec);
|
|
|
+ if (*u < 0.0 || *u > det)
|
|
|
+ return 0;
|
|
|
+
|
|
|
+
|
|
|
+ *v = IGL_RAY_TRI_DOT(dir, qvec);
|
|
|
+ if (*v < 0.0 || *u + *v > det)
|
|
|
+ return 0;
|
|
|
+
|
|
|
+ }
|
|
|
+ else if(det < -IGL_RAY_TRI_EPSILON)
|
|
|
+ {
|
|
|
+
|
|
|
+ *u = IGL_RAY_TRI_DOT(tvec, pvec);
|
|
|
+ if (*u > 0.0 || *u < det)
|
|
|
+ return 0;
|
|
|
+
|
|
|
+
|
|
|
+ *v = IGL_RAY_TRI_DOT(dir, qvec) ;
|
|
|
+ if (*v > 0.0 || *u + *v < det)
|
|
|
+ return 0;
|
|
|
+ }
|
|
|
+ else return 0;
|
|
|
+
|
|
|
+ *t = IGL_RAY_TRI_DOT(edge2, qvec) * inv_det;
|
|
|
+ (*u) *= inv_det;
|
|
|
+ (*v) *= inv_det;
|
|
|
+
|
|
|
+ return 1;
|
|
|
+}
|
|
|
+#endif
|