1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
|
/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
*
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
*
* 3. This notice may not be removed or altered from any source distribution.
*/
#ifndef __dgIntersections__
#define __dgIntersections__
#include "dgTypes.h"
#include "dgVector.h"
class dgPlane;
class dgObject;
class dgPolyhedra;
class dgFastRayTest
{
public:
dgFastRayTest(const dgVector& l0, const dgVector& l1);
int32_t BoxTest (const dgVector& minBox, const dgVector& maxBox) const;
float PolygonIntersect (const dgVector& normal, const float* const polygon, int32_t strideInBytes, const int32_t* const indexArray, int32_t indexCount) const;
void Reset (float t)
{
m_dpInv = m_dpBaseInv.Scale (float (1.0f) / t);
}
dgVector m_p0;
dgVector m_p1;
dgVector m_diff;
dgVector m_dpInv;
dgVector m_dpBaseInv;
dgVector m_minT;
dgVector m_maxT;
dgVector m_tolerance;
dgVector m_zero;
int32_t m_isParallel[4];
float m_dirError;
};
enum dgIntersectStatus
{
t_StopSearh,
t_ContinueSearh
};
typedef dgIntersectStatus (*dgAABBIntersectCallback) (void *context,
const float* const polygon, int32_t strideInBytes,
const int32_t* const indexArray, int32_t indexCount);
typedef float (*dgRayIntersectCallback) (void *context,
const float* const polygon, int32_t strideInBytes,
const int32_t* const indexArray, int32_t indexCount);
class dgBeamHitStruct
{
public:
dgVector m_Origin;
dgVector m_NormalOut;
dgObject* m_HitObjectOut;
float m_ParametricIntersctionOut;
};
bool dgRayBoxClip(dgVector& ray_p0, dgVector& ray_p1, const dgVector& boxP0, const dgVector& boxP1);
dgVector dgPointToRayDistance(const dgVector& point, const dgVector& ray_p0, const dgVector& ray_p1);
void dgRayToRayDistance (const dgVector& ray_p0,
const dgVector& ray_p1,
const dgVector& ray_q0,
const dgVector& ray_q1,
dgVector& p0Out,
dgVector& p1Out);
dgVector dgPointToTriangleDistance (const dgVector& point, const dgVector& p0, const dgVector& p1, const dgVector& p2);
dgBigVector dgPointToTriangleDistance (const dgBigVector& point, const dgBigVector& p0, const dgBigVector& p1, const dgBigVector& p2);
bool dgPointToPolygonDistance (const dgVector& point, const float* const polygon, int32_t strideInInBytes,
const int32_t* const indexArray, int32_t indexCount, float bailOutDistance, dgVector& pointOut);
/*
int32_t dgConvexPolyhedraToPlaneIntersection (
const dgPolyhedra& convexPolyhedra,
const float polyhedraVertexArray[],
int polyhedraVertexStrideInBytes,
const dgPlane& plane,
dgVector* intersectionOut,
int32_t maxSize);
int32_t ConvecxPolygonToConvexPolygonIntersection (
int32_t polygonIndexCount_1,
const int32_t polygonIndexArray_1[],
int32_t convexPolygonStrideInBytes_1,
const float convexPolygonVertex_1[],
int32_t polygonIndexCount_2,
const int32_t polygonIndexArray_2[],
int32_t convexPolygonStrideInBytes_2,
const float convexPolygonVertex_2[],
dgVector* intersectionOut,
int32_t maxSize);
int32_t dgConvexIntersection (const dgVector convexPolyA[], int32_t countA,
const dgVector convexPolyB[], int32_t countB,
dgVector output[]);
*/
HACD_FORCE_INLINE int32_t dgOverlapTest (const dgVector& p0, const dgVector& p1, const dgVector& q0, const dgVector& q1)
{
return ((p0.m_x < q1.m_x) && (p1.m_x > q0.m_x) && (p0.m_z < q1.m_z) && (p1.m_z > q0.m_z) && (p0.m_y < q1.m_y) && (p1.m_y > q0.m_y));
}
HACD_FORCE_INLINE int32_t dgBoxInclusionTest (const dgVector& p0, const dgVector& p1, const dgVector& q0, const dgVector& q1)
{
return (p0.m_x >= q0.m_x) && (p0.m_y >= q0.m_y) && (p0.m_z >= q0.m_z) && (p1.m_x <= q1.m_x) && (p1.m_y <= q1.m_y) && (p1.m_z <= q1.m_z);
}
HACD_FORCE_INLINE int32_t dgCompareBox (const dgVector& p0, const dgVector& p1, const dgVector& q0, const dgVector& q1)
{
return (p0.m_x != q0.m_x) || (p0.m_y != q0.m_y) || (p0.m_z != q0.m_z) || (p1.m_x != q1.m_x) || (p1.m_y != q1.m_y) || (p1.m_z != q1.m_z);
}
dgBigVector LineTriangleIntersection (const dgBigVector& l0, const dgBigVector& l1, const dgBigVector& A, const dgBigVector& B, const dgBigVector& C);
#endif
|