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tgCollission.cpp

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#include <blort/TomGine/tgCollission.h>
#include <stdexcept>

using namespace TomGine;

vec3 tgCollission::GetNormal(const vec3& v1, const vec3& v2, const vec3& v3)
{
        vec3 n, e1, e2;
        
        e1 = v2 - v1;
        e2 = v3 - v1;
        
        n.cross(e1, e2);
        n.normalize();
        
        return n;
}

bool tgCollission::IntersectRayTriangle(vec3& p, vec3& n, double& z, const tgRay& ray, const vec3& t1, const vec3& t2, const vec3& t3)
{
        // p = ray.start + ray.dir * z (1)
        // p*n + d = 0   ; point p must be on plane (with normal vector n and distance d) (2)
        
        n = GetNormal(t1, t2, t3); // plane normal
        
        double d = - t1 * n;    // distance of plane form origin 
        
        // from (1) and (2)
        z = -( ray.start * n + d ) / (ray.dir * n);

        p = ray.start + ray.dir * (float)z;
        
        // test if point lies in triangle or not
        return PointInTriangle(p, t1, t2, t3);
}

bool tgCollission::IntersectRayModel(std::vector<vec3> &pl, std::vector<vec3> &nl, std::vector<double> &zl, const tgRay& ray, const tgModel& model)
{
        bool hit = false;
        pl.clear();
        zl.clear();
        
        for(unsigned int i=0; i<model.m_faces.size(); i++)
        {
                vec3 p;
                vec3 n;
                double z;
                
                if(model.m_faces[i].v.size()<3)
                        throw std::runtime_error("[tgCollission::IntersectRayModel] Error number of vertices to low (<3) for a face");
                
                vec3 t1 = model.m_vertices[model.m_faces[i].v[0]].pos;
                vec3 t2 = model.m_vertices[model.m_faces[i].v[1]].pos;
                vec3 t3 = model.m_vertices[model.m_faces[i].v[2]].pos;
                
                if(IntersectRayTriangle(p, n, z, ray, t1, t2, t3))
                {
                        pl.push_back(p);
                        nl.push_back(n);
                        zl.push_back(z);
                        hit = true;
                }
                
                if(model.m_faces[i].v.size()==4)
                {
                        t1 = model.m_vertices[model.m_faces[i].v[2]].pos;
                        t2 = model.m_vertices[model.m_faces[i].v[3]].pos;
                        t3 = model.m_vertices[model.m_faces[i].v[0]].pos;
                        
                        if(IntersectRayTriangle(p, n, z, ray, t1, t2, t3))
                        {
                                pl.push_back(p);
                                nl.push_back(n);
                                zl.push_back(z);
                                hit = true;
                        }
                }
                
                if(model.m_faces[i].v.size()>4)
                        throw std::runtime_error("[tgCollission::IntersectRayModel] Error number of vertices to low (<3) for a face");
                
        }
        return hit;
}

bool tgCollission::IntersectModels(const tgModel &m1, const tgModel &m2, const tgPose &p1, const tgPose& p2)
{
        vec3 t1, t2;
        mat3 R1, R2;
        
        p1.GetPose(R1, t1);
        p2.GetPose(R2, t2);
  
        vec3 center1 = t1 + R1 * m1.m_bs.center;
        vec3 center2 = t2 + R2 * m2.m_bs.center;
        
        float d = (center1 - center2).length();
        
//      printf("tgCollission::IntersectModels: %f %f\n", d, (m1.m_bs.radius+m2.m_bs.radius));
        
        if(d >= (m1.m_bs.radius+m2.m_bs.radius))
                return false;
        
        // further tests
        return true;
}

bool tgCollission::IntersectModels(const tgRenderModel &m1, const tgRenderModel &m2)
{
        vec3 t1, t2;
        mat3 R1, R2;
        
        m1.m_pose.GetPose(R1, t1);
        m2.m_pose.GetPose(R2, t2);
  
        vec3 center1 = t1 + R1 * m1.m_bs.center;
        vec3 center2 = t2 + R2 * m2.m_bs.center;
        
        float d = (center1 - center2).length();
        
//      printf("tgCollission::IntersectModels: %f %f\n", d, (m1.m_bs.radius+m2.m_bs.radius));
        
        if(d >= (m1.m_bs.radius+m2.m_bs.radius))
                return false;
        
        // further tests
        return true;
}


bool tgCollission::PointOnSameSide(const vec3& p1, const vec3& p2, const vec3& a, const vec3& b)
{
        vec3 cp1, cp2;
        cp1.cross(b-a, p1-a);
        cp2.cross(b-a, p2-a);
                
        return ((cp1*cp2) >= 0.0);
}

bool tgCollission::PointInTriangle(const vec3& p, const vec3& t1, const vec3& t2, const vec3& t3)
{

return( PointOnSameSide( p, t1, t2, t3 ) &&
                                PointOnSameSide( p, t2, t3, t1 ) &&
                                PointOnSameSide( p, t3, t1, t2 ));
}

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blort
Author(s): Michael Zillich, Thomas Mörwald, Johann Prankl, Andreas Richtsfeld, Bence Magyar (ROS version)
autogenerated on Fri Mar 1 16:57:15 2013