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DavidWyand-GG 2012-09-19 11:15:01 -04:00
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//-----------------------------------------------------------------------------
// Copyright (c) 2012 GarageGames, LLC
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
// Ray to triangle intersection test code originally by Tomas Akenine-Möller
// and Ben Trumbore.
// http://www.cs.lth.se/home/Tomas_Akenine_Moller/code/
// Ported to TGE by DAW, 2005-7-15
//-----------------------------------------------------------------------------
#include "util/triRayCheck.h"
#include "math/mPlane.h"
#define EPSILON 0.000001
#define 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 DOT(v1,v2) (v1[0]*v2[0]+v1[1]*v2[1]+v1[2]*v2[2])
#define SUB(dest,v1,v2) \
dest[0]=v1[0]-v2[0]; \
dest[1]=v1[1]-v2[1]; \
dest[2]=v1[2]-v2[2];
bool intersect_triangle(Point3F orig, Point3F dir,
Point3F vert0, Point3F vert1, Point3F vert2,
F32& t, F32& u, F32& v)
{
Point3F edge1, edge2, tvec, pvec, qvec;
F32 det,inv_det;
/* find vectors for two edges sharing vert0 */
edge1.x = vert1.x - vert0.x;
edge1.y = vert1.y - vert0.y;
edge1.z = vert1.z - vert0.z;
edge2.x = vert2.x - vert0.x;
edge2.y = vert2.y - vert0.y;
edge2.z = vert2.z - vert0.z;
/* begin calculating determinant - also used to calculate U parameter */
//CROSS(pvec, dir, edge2);
mCross(dir, edge2, &pvec);
/* if determinant is near zero, ray lies in plane of triangle */
//det = DOT(edge1, pvec);
det = mDot(edge1, pvec);
#ifdef TEST_CULL /* define TEST_CULL if culling is desired */
if (det < EPSILON)
return 0;
/* calculate distance from vert0 to ray origin */
SUB(tvec, orig, vert0);
/* calculate U parameter and test bounds */
*u = DOT(tvec, pvec);
if (*u < 0.0 || *u > det)
return 0;
/* prepare to test V parameter */
CROSS(qvec, tvec, edge1);
/* calculate V parameter and test bounds */
*v = DOT(dir, qvec);
if (*v < 0.0 || *u + *v > det)
return 0;
/* calculate t, scale parameters, ray intersects triangle */
*t = DOT(edge2, qvec);
inv_det = 1.0 / det;
*t *= inv_det;
*u *= inv_det;
*v *= inv_det;
#else /* the non-culling branch */
if (det > -EPSILON && det < EPSILON)
return false;
inv_det = 1.0 / det;
/* calculate distance from vert0 to ray origin */
//SUB(tvec, orig, vert0);
tvec.x = orig.x - vert0.x;
tvec.y = orig.y - vert0.y;
tvec.z = orig.z - vert0.z;
/* calculate U parameter and test bounds */
// *u = DOT(tvec, pvec) * inv_det;
u = mDot(tvec, pvec) * inv_det;
if (u < 0.0 || u > 1.0)
return false;
/* prepare to test V parameter */
//CROSS(qvec, tvec, edge1);
mCross(tvec, edge1, &qvec);
/* calculate V parameter and test bounds */
// *v = DOT(dir, qvec) * inv_det;
v = mDot(dir, qvec) * inv_det;
if (v < 0.0 || u + v > 1.0)
return false;
/* calculate t, ray intersects triangle */
// *t = DOT(edge2, qvec) * inv_det;
t = mDot(edge2, qvec) * inv_det;
#endif
return true;
}
//*** Taken from TSE, and based on the above
bool castRayTriangle(Point3F orig, Point3F dir,
Point3F vert0, Point3F vert1, Point3F vert2,
F32 &t, Point2F &bary)
{
Point3F tvec, qvec;
// Find vectors for two edges sharing vert0
const Point3F edge1 = vert1 - vert0;
const Point3F edge2 = vert2 - vert0;
// Begin calculating determinant - also used to calculate U parameter.
const Point3F pvec = mCross(dir, edge2);
// If determinant is near zero, ray lies in plane of triangle.
const F32 det = mDot(edge1, pvec);
if (det > 0.00001)
{
// calculate distance from vert0 to ray origin
tvec = orig - vert0;
// calculate U parameter and test bounds
bary.x = mDot(tvec, pvec); // bary.x is really bary.u...
if (bary.x < 0.0 || bary.x > det)
return false;
// prepare to test V parameter
qvec = mCross(tvec, edge1);
// calculate V parameter and test bounds
bary.y = mDot(dir, qvec); // bary.y is really bary.v
if (bary.y < 0.0 || (bary.x + bary.y) > det)
return false;
}
else if(det < -0.00001)
{
// calculate distance from vert0 to ray origin
tvec = orig - vert0;
// calculate U parameter and test bounds
bary.x = mDot(tvec, pvec);
if (bary.x > 0.0 || bary.x < det)
return false;
// prepare to test V parameter
qvec = mCross(tvec, edge1);
// calculate V parameter and test bounds
bary.y = mDot(dir, qvec);
if (bary.y > 0.0 || (bary.x + bary.y) < det)
return false;
}
else
return false; // ray is parallel to the plane of the triangle.
const F32 inv_det = 1.0 / det;
// calculate t, ray intersects triangle
t = mDot(edge2, qvec) * inv_det;
bary *= inv_det;
//AssertFatal((t >= 0.f && t <=1.f), "AtlasGeomTracer::castRayTriangle - invalid t!");
// Hack, check the math here!
return (t >= 0.f && t <=1.f);
}
bool castRayTriangle(const Point3D &orig, const Point3D &dir,
const Point3D &vert0, const Point3D &vert1, const Point3D &vert2)
{
F64 t;
Point2D bary;
Point3D tvec, qvec;
// Find vectors for two edges sharing vert0
const Point3D edge1 = vert1 - vert0;
const Point3D edge2 = vert2 - vert0;
// Begin calculating determinant - also used to calculate U parameter.
Point3D pvec;
mCross(dir, edge2, &pvec);
// If determinant is near zero, ray lies in plane of triangle.
const F64 det = mDot(edge1, pvec);
if (det > 0.00001)
{
// calculate distance from vert0 to ray origin
tvec = orig - vert0;
// calculate U parameter and test bounds
bary.x = mDot(tvec, pvec); // bary.x is really bary.u...
if (bary.x < 0.0 || bary.x > det)
return false;
// prepare to test V parameter
mCross(tvec, edge1, &qvec);
// calculate V parameter and test bounds
bary.y = mDot(dir, qvec); // bary.y is really bary.v
if (bary.y < 0.0 || (bary.x + bary.y) > det)
return false;
}
else if(det < -0.00001)
{
// calculate distance from vert0 to ray origin
tvec = orig - vert0;
// calculate U parameter and test bounds
bary.x = mDot(tvec, pvec);
if (bary.x > 0.0 || bary.x < det)
return false;
// prepare to test V parameter
mCross(tvec, edge1, &qvec);
// calculate V parameter and test bounds
bary.y = mDot(dir, qvec);
if (bary.y > 0.0 || (bary.x + bary.y) < det)
return false;
}
else
return false; // ray is parallel to the plane of the triangle.
const F32 inv_det = 1.0 / det;
// calculate t, ray intersects triangle
t = mDot(edge2, qvec) * inv_det;
bary *= inv_det;
//AssertFatal((t >= 0.f && t <=1.f), "AtlasGeomTracer::castRayTriangle - invalid t!");
// Hack, check the math here!
return (t >= 0.f && t <=1.f);
}