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Diffstat (limited to 'tests/bullet/Extras/ConvexDecomposition/raytri.cpp')
| -rw-r--r-- | tests/bullet/Extras/ConvexDecomposition/raytri.cpp | 134 |
1 files changed, 134 insertions, 0 deletions
diff --git a/tests/bullet/Extras/ConvexDecomposition/raytri.cpp b/tests/bullet/Extras/ConvexDecomposition/raytri.cpp new file mode 100644 index 00000000..83b076a2 --- /dev/null +++ b/tests/bullet/Extras/ConvexDecomposition/raytri.cpp @@ -0,0 +1,134 @@ +#include "float_math.h" +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <assert.h> +#include <math.h> + +#include "raytri.h" + +/*---------------------------------------------------------------------- + Copyright (c) 2004 Open Dynamics Framework Group + www.physicstools.org + All rights reserved. + + Redistribution and use in source and binary forms, with or without modification, are permitted provided + that the following conditions are met: + + Redistributions of source code must retain the above copyright notice, this list of conditions + and the following disclaimer. + + Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + + Neither the name of the Open Dynamics Framework Group nor the names of its contributors may + be used to endorse or promote products derived from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 'AS IS' AND ANY EXPRESS OR IMPLIED WARRANTIES, + INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE INTEL OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER + IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF + THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +-----------------------------------------------------------------------*/ + +// http://codesuppository.blogspot.com +// +// mailto: jratcliff@infiniplex.net +// +// http://www.amillionpixels.us +// + + +/* a = b - c */ +#define vector(a,b,c) \ + (a)[0] = (b)[0] - (c)[0]; \ + (a)[1] = (b)[1] - (c)[1]; \ + (a)[2] = (b)[2] - (c)[2]; + + + +#define innerProduct(v,q) \ + ((v)[0] * (q)[0] + \ + (v)[1] * (q)[1] + \ + (v)[2] * (q)[2]) + +#define crossProduct(a,b,c) \ + (a)[0] = (b)[1] * (c)[2] - (c)[1] * (b)[2]; \ + (a)[1] = (b)[2] * (c)[0] - (c)[2] * (b)[0]; \ + (a)[2] = (b)[0] * (c)[1] - (c)[0] * (b)[1]; + +bool rayIntersectsTriangle(const float *p,const float *d,const float *v0,const float *v1,const float *v2,float &t) +{ + + float e1[3],e2[3],h[3],s[3],q[3]; + float a,f,u,v; + + vector(e1,v1,v0); + vector(e2,v2,v0); + crossProduct(h,d,e2); + a = innerProduct(e1,h); + + if (a > -0.00001 && a < 0.00001) + return(false); + + f = 1/a; + vector(s,p,v0); + u = f * (innerProduct(s,h)); + + if (u < 0.0 || u > 1.0) + return(false); + + crossProduct(q,s,e1); + v = f * innerProduct(d,q); + if (v < 0.0 || u + v > 1.0) + return(false); + // at this stage we can compute t to find out where + // the intersection point is on the line + t = f * innerProduct(e2,q); + if (t > 0) // ray intersection + return(true); + else // this means that there is a line intersection + // but not a ray intersection + return (false); +} + + +bool lineIntersectsTriangle(const float *rayStart,const float *rayEnd,const float *p1,const float *p2,const float *p3,float *sect) +{ + float dir[3]; + + dir[0] = rayEnd[0] - rayStart[0]; + dir[1] = rayEnd[1] - rayStart[1]; + dir[2] = rayEnd[2] - rayStart[2]; + + float d = sqrtf(dir[0]*dir[0] + dir[1]*dir[1] + dir[2]*dir[2]); + float r = 1.0f / d; + + dir[0]*=r; + dir[1]*=r; + dir[2]*=r; + + + float t; + + bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, t ); + + if ( ret ) + { + if ( t > d ) + { + sect[0] = rayStart[0] + dir[0]*t; + sect[1] = rayStart[1] + dir[1]*t; + sect[2] = rayStart[2] + dir[2]*t; + } + else + { + ret = false; + } + } + + return ret; +} |