161 lines
4.7 KiB
C++
161 lines
4.7 KiB
C++
#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <assert.h>
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#include <math.h>
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/*!
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**
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** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net
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**
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** Portions of this source has been released with the PhysXViewer application, as well as
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** Rocket, CreateDynamics, ODF, and as a number of sample code snippets.
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**
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** If you find this code useful or you are feeling particularily generous I would
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** ask that you please go to http://www.amillionpixels.us and make a donation
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** to Troy DeMolay.
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**
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** DeMolay is a youth group for young men between the ages of 12 and 21.
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** It teaches strong moral principles, as well as leadership skills and
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** public speaking. The donations page uses the 'pay for pixels' paradigm
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** where, in this case, a pixel is only a single penny. Donations can be
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** made for as small as $4 or as high as a $100 block. Each person who donates
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** will get a link to their own site as well as acknowledgement on the
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** donations blog located here http://www.amillionpixels.blogspot.com/
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**
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** If you wish to contact me you can use the following methods:
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**
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** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches)
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** Skype ID: jratcliff63367
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** Yahoo: jratcliff63367
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** AOL: jratcliff1961
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** email: jratcliff@infiniplex.net
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** Personal website: http://jratcliffscarab.blogspot.com
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** Coding Website: http://codesuppository.blogspot.com
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** FundRaising Blog: http://amillionpixels.blogspot.com
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** Fundraising site: http://www.amillionpixels.us
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** New Temple Site: http://newtemple.blogspot.com
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**
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**
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** The MIT license:
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**
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** Permission is hereby granted, free of charge, to any person obtaining a copy
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** of this software and associated documentation files (the "Software"), to deal
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** in the Software without restriction, including without limitation the rights
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** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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** copies of the Software, and to permit persons to whom the Software is furnished
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** to do so, subject to the following conditions:
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**
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** The above copyright notice and this permission notice shall be included in all
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** copies or substantial portions of the Software.
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** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include "raytri.h"
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namespace ConvexDecomposition
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{
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/* a = b - c */
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#define vector(a,b,c) \
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(a)[0] = (b)[0] - (c)[0]; \
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(a)[1] = (b)[1] - (c)[1]; \
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(a)[2] = (b)[2] - (c)[2];
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#define innerProduct(v,q) \
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((v)[0] * (q)[0] + \
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(v)[1] * (q)[1] + \
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(v)[2] * (q)[2])
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#define crossProduct(a,b,c) \
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(a)[0] = (b)[1] * (c)[2] - (c)[1] * (b)[2]; \
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(a)[1] = (b)[2] * (c)[0] - (c)[2] * (b)[0]; \
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(a)[2] = (b)[0] * (c)[1] - (c)[0] * (b)[1];
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bool rayIntersectsTriangle(const double *p,const double *d,const double *v0,const double *v1,const double *v2,double &t)
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{
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double e1[3],e2[3],h[3],s[3],q[3];
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double a,f,u,v;
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vector(e1,v1,v0);
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vector(e2,v2,v0);
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crossProduct(h,d,e2);
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a = innerProduct(e1,h);
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if (a > -0.00001 && a < 0.00001)
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return(false);
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f = 1/a;
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vector(s,p,v0);
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u = f * (innerProduct(s,h));
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if (u < 0.0 || u > 1.0)
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return(false);
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crossProduct(q,s,e1);
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v = f * innerProduct(d,q);
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if (v < 0.0 || u + v > 1.0)
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return(false);
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// at this stage we can compute t to find out where
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// the intersection point is on the line
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t = f * innerProduct(e2,q);
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if (t > 0) // ray intersection
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return(true);
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else // this means that there is a line intersection
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// but not a ray intersection
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return (false);
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}
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bool lineIntersectsTriangle(const double *rayStart,const double *rayEnd,const double *p1,const double *p2,const double *p3,double *sect)
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{
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double dir[3];
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dir[0] = rayEnd[0] - rayStart[0];
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dir[1] = rayEnd[1] - rayStart[1];
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dir[2] = rayEnd[2] - rayStart[2];
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double d = sqrt(dir[0]*dir[0] + dir[1]*dir[1] + dir[2]*dir[2]);
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double r = 1.0f / d;
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dir[0]*=r;
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dir[1]*=r;
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dir[2]*=r;
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double t;
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bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, t );
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if ( ret )
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{
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if ( t > d )
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{
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sect[0] = rayStart[0] + dir[0]*t;
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sect[1] = rayStart[1] + dir[1]*t;
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sect[2] = rayStart[2] + dir[2]*t;
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}
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else
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{
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ret = false;
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}
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}
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return ret;
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}
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}; // end of namespace
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