mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-01-20 04:34:48 +00:00
11398bb04e
A lot of instances where some function args are not actually modified in any way, meaning that it is better for performance to convert them into const references. This prevents an additional copy, which can help performance.
266 lines
8.1 KiB
C++
266 lines
8.1 KiB
C++
//-----------------------------------------------------------------------------
|
|
// 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(const Point3F& orig, const Point3F& dir,
|
|
const Point3F& vert0, const Point3F& vert1, const 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);
|
|
}
|
|
|