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Diffstat (limited to 'libs/ode-0.16.1/GIMPACT/src/gim_tri_tri_overlap.cpp')
| -rw-r--r-- | libs/ode-0.16.1/GIMPACT/src/gim_tri_tri_overlap.cpp | 251 |
1 files changed, 251 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_tri_tri_overlap.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_tri_tri_overlap.cpp new file mode 100644 index 0000000..5b4e08d --- /dev/null +++ b/libs/ode-0.16.1/GIMPACT/src/gim_tri_tri_overlap.cpp @@ -0,0 +1,251 @@ +
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+ (1) The GNU Lesser General Public License as published by the Free
+ Software Foundation; either version 2.1 of the License, or (at
+ your option) any later version. The text of the GNU Lesser
+ General Public License is included with this library in the
+ file GIMPACT-LICENSE-LGPL.TXT.
+ (2) The BSD-style license that is included with this library in
+ the file GIMPACT-LICENSE-BSD.TXT.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+#include "GIMPACT/gim_trimesh.h"
+
+
+#define FABS(x) (float(fabs(x))) /* implement as is fastest on your machine */
+
+/* some macros */
+
+#define CLASSIFY_TRIPOINTS_BY_FACE(v1,v2,v3,faceplane,out_of_face)\
+{ \
+ _distances[0] = DISTANCE_PLANE_POINT(faceplane,v1);\
+ _distances[1] = _distances[0] * DISTANCE_PLANE_POINT(faceplane,v2);\
+ _distances[2] = _distances[0] * DISTANCE_PLANE_POINT(faceplane,v3); \
+ if(_distances[1]>0.0f && _distances[2]>0.0f)\
+ {\
+ out_of_face = 1;\
+ }\
+ else\
+ {\
+ out_of_face = 0;\
+ }\
+}\
+
+/* sort so that a<=b */
+#define SORT(a,b) \
+ if(a>b) \
+ { \
+ float c; \
+ c=a; \
+ a=b; \
+ b=c; \
+ }
+
+
+/* this edge to edge test is based on Franlin Antonio's gem:
+ "Faster Line Segment Intersection", in Graphics Gems III,
+ pp. 199-202 */
+#define EDGE_EDGE_TEST(V0,U0,U1) \
+ Bx=U0[i0]-U1[i0]; \
+ By=U0[i1]-U1[i1]; \
+ Cx=V0[i0]-U0[i0]; \
+ Cy=V0[i1]-U0[i1]; \
+ f=Ay*Bx-Ax*By; \
+ d=By*Cx-Bx*Cy; \
+ if((f>0 && d>=0 && d<=f) || (f<0 && d<=0 && d>=f)) \
+ { \
+ e=Ax*Cy-Ay*Cx; \
+ if(f>0) \
+ { \
+ if(e>=0 && e<=f) return 1; \
+ } \
+ else \
+ { \
+ if(e<=0 && e>=f) return 1; \
+ } \
+ }
+
+#define EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2) \
+{ \
+ float Ax,Ay,Bx,By,Cx,Cy,e,d,f; \
+ Ax=V1[i0]-V0[i0]; \
+ Ay=V1[i1]-V0[i1]; \
+ /* test edge U0,U1 against V0,V1 */ \
+ EDGE_EDGE_TEST(V0,U0,U1); \
+ /* test edge U1,U2 against V0,V1 */ \
+ EDGE_EDGE_TEST(V0,U1,U2); \
+ /* test edge U2,U1 against V0,V1 */ \
+ EDGE_EDGE_TEST(V0,U2,U0); \
+}
+
+#define POINT_IN_TRI(V0,U0,U1,U2) \
+{ \
+ float a,b,c,d0,d1,d2; \
+ /* is T1 completly inside T2? */ \
+ /* check if V0 is inside tri(U0,U1,U2) */ \
+ a=U1[i1]-U0[i1]; \
+ b=-(U1[i0]-U0[i0]); \
+ c=-a*U0[i0]-b*U0[i1]; \
+ d0=a*V0[i0]+b*V0[i1]+c; \
+ \
+ a=U2[i1]-U1[i1]; \
+ b=-(U2[i0]-U1[i0]); \
+ c=-a*U1[i0]-b*U1[i1]; \
+ d1=a*V0[i0]+b*V0[i1]+c; \
+ \
+ a=U0[i1]-U2[i1]; \
+ b=-(U0[i0]-U2[i0]); \
+ c=-a*U2[i0]-b*U2[i1]; \
+ d2=a*V0[i0]+b*V0[i1]+c; \
+ if(d0*d1>0.0) \
+ { \
+ if(d0*d2>0.0) return 1; \
+ } \
+}
+
+int coplanar_tri_tri(GIM_TRIANGLE_DATA *tri1,
+ GIM_TRIANGLE_DATA *tri2)
+{
+ short i0,i1;
+ /* first project onto an axis-aligned plane, that maximizes the area */
+ /* of the triangles, compute indices: i0,i1. */
+ PLANE_MINOR_AXES(tri1->m_planes.m_planes[0], i0, i1);
+
+ /* test all edges of triangle 1 against the edges of triangle 2 */
+ EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[0],tri1->m_vertices[1],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]);
+ EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]);
+ EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[2],tri1->m_vertices[0],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]);
+
+ /* finally, test if tri1 is totally contained in tri2 or vice versa */
+ POINT_IN_HULL(tri1->m_vertices[0],(&tri2->m_planes.m_planes[1]),3,i0);
+ if(i0==0) return 1;
+
+ POINT_IN_HULL(tri2->m_vertices[0],(&tri1->m_planes.m_planes[1]),3,i0);
+ if(i0==0) return 1;
+
+ return 0;
+}
+
+
+
+#define NEWCOMPUTE_INTERVALS(VV0,VV1,VV2,D0,D1,D2,D0D1,D0D2,A,B,C,X0,X1) \
+{ \
+ if(D0D1>0.0f) \
+ { \
+ /* here we know that D0D2<=0.0 */ \
+ /* that is D0, D1 are on the same side, D2 on the other or on the plane */ \
+ A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \
+ } \
+ else if(D0D2>0.0f)\
+ { \
+ /* here we know that d0d1<=0.0 */ \
+ A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \
+ } \
+ else if(D1*D2>0.0f || D0!=0.0f) \
+ { \
+ /* here we know that d0d1<=0.0 or that D0!=0.0 */ \
+ A=VV0; B=(VV1-VV0)*D0; C=(VV2-VV0)*D0; X0=D0-D1; X1=D0-D2; \
+ } \
+ else if(D1!=0.0f) \
+ { \
+ A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \
+ } \
+ else if(D2!=0.0f) \
+ { \
+ A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \
+ } \
+ else \
+ { \
+ /* triangles are coplanar */ \
+ return coplanar_tri_tri(tri1,tri2); \
+ } \
+}\
+
+
+
+int gim_triangle_triangle_overlap(
+ GIM_TRIANGLE_DATA *tri1,
+ GIM_TRIANGLE_DATA *tri2)
+{
+ vec3f _distances;
+ char out_of_face;
+ CLASSIFY_TRIPOINTS_BY_FACE(tri1->m_vertices[0],tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_planes.m_planes[0],out_of_face);
+ if(out_of_face==1) return 0;
+
+ CLASSIFY_TRIPOINTS_BY_FACE(tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2],tri1->m_planes.m_planes[0],out_of_face);
+ if(out_of_face==1) return 0;
+
+
+ float du0=0,du1=0,du2=0,dv0=0,dv1=0,dv2=0;
+ float D[3];
+ float isect1[2], isect2[2];
+ float du0du1=0,du0du2=0,dv0dv1=0,dv0dv2=0;
+ short index;
+ float vp0,vp1,vp2;
+ float up0,up1,up2;
+ float bb,cc,max;
+
+ /* compute direction of intersection line */
+ VEC_CROSS(D,tri1->m_planes.m_planes[0],tri2->m_planes.m_planes[0]);
+
+ /* compute and index to the largest component of D */
+ max=(float)FABS(D[0]);
+ index=0;
+ bb=(float)FABS(D[1]);
+ cc=(float)FABS(D[2]);
+ if(bb>max) max=bb,index=1;
+ if(cc>max) max=cc,index=2;
+
+ /* this is the simplified projection onto L*/
+ vp0= tri1->m_vertices[0][index];
+ vp1= tri1->m_vertices[1][index];
+ vp2= tri1->m_vertices[2][index];
+
+ up0= tri2->m_vertices[0][index];
+ up1= tri2->m_vertices[1][index];
+ up2= tri2->m_vertices[2][index];
+
+ /* compute interval for triangle 1 */
+ float a,b,c,x0,x1;
+ NEWCOMPUTE_INTERVALS(vp0,vp1,vp2,dv0,dv1,dv2,dv0dv1,dv0dv2,a,b,c,x0,x1);
+
+ /* compute interval for triangle 2 */
+ float d,e,f,y0,y1;
+ NEWCOMPUTE_INTERVALS(up0,up1,up2,du0,du1,du2,du0du1,du0du2,d,e,f,y0,y1);
+
+ float xx,yy,xxyy,tmp;
+ xx=x0*x1;
+ yy=y0*y1;
+ xxyy=xx*yy;
+
+ tmp=a*xxyy;
+ isect1[0]=tmp+b*x1*yy;
+ isect1[1]=tmp+c*x0*yy;
+
+ tmp=d*xxyy;
+ isect2[0]=tmp+e*xx*y1;
+ isect2[1]=tmp+f*xx*y0;
+
+ SORT(isect1[0],isect1[1]);
+ SORT(isect2[0],isect2[1]);
+
+ if(isect1[1]<isect2[0] || isect2[1]<isect1[0]) return 0;
+ return 1;
+}
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