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- #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
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