raytri.cpp
Go to the documentation of this file.
00001 #include <stdio.h>
00002 #include <stdlib.h>
00003 #include <string.h>
00004 #include <assert.h>
00005 #include <math.h>
00006 
00063 #include "raytri.h"
00064 
00065 namespace ConvexDecomposition
00066 {
00067 
00068 
00069 /* a = b - c */
00070 #define vector(a,b,c) \
00071         (a)[0] = (b)[0] - (c)[0];       \
00072         (a)[1] = (b)[1] - (c)[1];       \
00073         (a)[2] = (b)[2] - (c)[2];
00074 
00075 
00076 
00077 #define innerProduct(v,q) \
00078                 ((v)[0] * (q)[0] + \
00079                 (v)[1] * (q)[1] + \
00080                 (v)[2] * (q)[2])
00081 
00082 #define crossProduct(a,b,c) \
00083         (a)[0] = (b)[1] * (c)[2] - (c)[1] * (b)[2]; \
00084         (a)[1] = (b)[2] * (c)[0] - (c)[2] * (b)[0]; \
00085         (a)[2] = (b)[0] * (c)[1] - (c)[0] * (b)[1];
00086 
00087 bool rayIntersectsTriangle(const double *p,const double *d,const double *v0,const double *v1,const double *v2,double &t)
00088 {
00089 
00090         double e1[3],e2[3],h[3],s[3],q[3];
00091         double a,f,u,v;
00092 
00093         vector(e1,v1,v0);
00094         vector(e2,v2,v0);
00095         crossProduct(h,d,e2);
00096         a = innerProduct(e1,h);
00097 
00098         if (a > -0.00001 && a < 0.00001)
00099                 return(false);
00100 
00101         f = 1/a;
00102         vector(s,p,v0);
00103         u = f * (innerProduct(s,h));
00104 
00105         if (u < 0.0 || u > 1.0)
00106                 return(false);
00107 
00108         crossProduct(q,s,e1);
00109         v = f * innerProduct(d,q);
00110         if (v < 0.0 || u + v > 1.0)
00111                 return(false);
00112         // at this stage we can compute t to find out where
00113         // the intersection point is on the line
00114         t = f * innerProduct(e2,q);
00115         if (t > 0) // ray intersection
00116                 return(true);
00117         else // this means that there is a line intersection
00118                  // but not a ray intersection
00119                  return (false);
00120 }
00121 
00122 
00123 bool lineIntersectsTriangle(const double *rayStart,const double *rayEnd,const double *p1,const double *p2,const double *p3,double *sect)
00124 {
00125         double dir[3];
00126 
00127   dir[0] = rayEnd[0] - rayStart[0];
00128   dir[1] = rayEnd[1] - rayStart[1];
00129   dir[2] = rayEnd[2] - rayStart[2];
00130 
00131   double d = sqrt(dir[0]*dir[0] + dir[1]*dir[1] + dir[2]*dir[2]);
00132   double r = 1.0f / d;
00133 
00134   dir[0]*=r;
00135   dir[1]*=r;
00136   dir[2]*=r;
00137 
00138 
00139   double t;
00140 
00141         bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, t );
00142 
00143         if ( ret )
00144         {
00145                 if ( t > d )
00146                 {
00147                         sect[0] = rayStart[0] + dir[0]*t;
00148                         sect[1] = rayStart[1] + dir[1]*t;
00149                         sect[2] = rayStart[2] + dir[2]*t;
00150                 }
00151                 else
00152                 {
00153                         ret = false;
00154                 }
00155         }
00156 
00157   return ret;
00158 }
00159 
00160 }; // end of namespace
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines


convex_decomposition
Author(s): John Ratcliff
autogenerated on Mon Aug 19 2013 11:02:33