147 lines
4.9 KiB
C++
147 lines
4.9 KiB
C++
// SPDX-License-Identifier: LGPL-2.1-or-later
|
|
|
|
// Wild Magic Source Code
|
|
// David Eberly
|
|
// http://www.geometrictools.com
|
|
// Copyright (c) 1998-2007
|
|
//
|
|
// This library is free software; you can redistribute it and/or modify it
|
|
// under the terms of 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 license is available for reading at
|
|
// either of the locations:
|
|
// http://www.gnu.org/copyleft/lgpl.html
|
|
// http://www.geometrictools.com/License/WildMagicLicense.pdf
|
|
// The license applies to versions 0 through 4 of Wild Magic.
|
|
//
|
|
// Version: 4.0.1 (2006/07/25)
|
|
|
|
#ifndef WM4INTRTRIANGLE3TRIANGLE3_H
|
|
#define WM4INTRTRIANGLE3TRIANGLE3_H
|
|
|
|
#include "Wm4FoundationLIB.h"
|
|
#include "Wm4Intersector.h"
|
|
#include "Wm4Triangle3.h"
|
|
#include "Wm4Line3.h"
|
|
#include "Wm4Plane3.h"
|
|
|
|
namespace Wm4
|
|
{
|
|
|
|
template <class Real>
|
|
class WM4_FOUNDATION_ITEM IntrTriangle3Triangle3
|
|
: public Intersector<Real,Vector3<Real> >
|
|
{
|
|
public:
|
|
IntrTriangle3Triangle3 (const Triangle3<Real>& rkTriangle0,
|
|
const Triangle3<Real>& rkTriangle1);
|
|
|
|
// object access
|
|
const Triangle3<Real>& GetTriangle0 () const;
|
|
const Triangle3<Real>& GetTriangle1 () const;
|
|
|
|
bool ReportCoplanarIntersections; // default 'true'
|
|
|
|
// static queries
|
|
virtual bool Test ();
|
|
virtual bool Find ();
|
|
|
|
// dynamic queries
|
|
virtual bool Test (Real fTMax, const Vector3<Real>& rkVelocity0,
|
|
const Vector3<Real>& rkVelocity1);
|
|
virtual bool Find (Real fTMax, const Vector3<Real>& rkVelocity0,
|
|
const Vector3<Real>& rkVelocity1);
|
|
|
|
// information about the intersection set
|
|
int GetQuantity () const;
|
|
const Vector3<Real>& GetPoint (int i) const;
|
|
|
|
private:
|
|
using Intersector<Real,Vector3<Real> >::m_fContactTime;
|
|
|
|
static void ProjectOntoAxis (const Triangle3<Real>& rkTri,
|
|
const Vector3<Real>& rkAxis, Real& rfMin, Real& rfMax);
|
|
|
|
static void TrianglePlaneRelations (const Triangle3<Real>& rkTriangle,
|
|
const Plane3<Real>& rkPlane, Real afDistance[3], int aiSign[3],
|
|
int& riPositive, int& riNegative, int& riZero);
|
|
|
|
static void GetInterval (const Triangle3<Real>& rkTriangle,
|
|
const Line3<Real>& rkLine, const Real afDistance[3],
|
|
const int aiSign[3], Real afParam[2]);
|
|
|
|
bool ContainsPoint (const Triangle3<Real>& rkTriangle,
|
|
const Plane3<Real>& rkPlane, const Vector3<Real>& rkPoint);
|
|
|
|
bool IntersectsSegment (const Triangle3<Real>& rkTriangle,
|
|
const Vector3<Real>& rkEnd0, const Vector3<Real>& rkEnd1);
|
|
|
|
bool GetCoplanarIntersection (const Plane3<Real>& rkPlane,
|
|
const Triangle3<Real>& rkTri0, const Triangle3<Real>& rkTri1);
|
|
|
|
static bool TestOverlap (const Vector3<Real>& rkAxis, Real fTMax,
|
|
Real fSpeed, Real fUMin, Real fUMax, Real fVMin, Real fVMax,
|
|
Real& rfTFirst, Real& rfTLast);
|
|
|
|
bool TestOverlap (const Vector3<Real>& rkAxis, Real fTMax,
|
|
const Vector3<Real>& rkVelocity, Real& rfTFirst, Real& rfTLast);
|
|
|
|
enum ProjectionMap
|
|
{
|
|
M2, M11, // lines
|
|
M3, M21, M12, M111, // triangles
|
|
M44, M2_2, M1_1 // boxes
|
|
};
|
|
|
|
enum ContactSide
|
|
{
|
|
CS_LEFT,
|
|
CS_RIGHT,
|
|
CS_NONE
|
|
};
|
|
|
|
class WM4_FOUNDATION_ITEM Configuration
|
|
{
|
|
public:
|
|
ProjectionMap Map; // how vertices map to the projection interval
|
|
int Index[8]; // the sorted indices of the vertices
|
|
Real Min, Max; // the interval is [min,max]
|
|
};
|
|
|
|
static void ProjectOntoAxis (const Triangle3<Real>& rkTri,
|
|
const Vector3<Real>& rkAxis, Configuration& rkCfg);
|
|
|
|
bool FindOverlap (const Vector3<Real>& rkAxis, Real fTMax, Real fSpeed,
|
|
const Configuration& rkUC, const Configuration& rkVC,
|
|
ContactSide& reSide, Configuration& rkTUC, Configuration& rkTVC,
|
|
Real& rfTFirst, Real& rfTLast);
|
|
|
|
bool FindOverlap (const Vector3<Real>& rkAxis, Real fTMax,
|
|
const Vector3<Real>& rkVelocity, ContactSide& reSide,
|
|
Configuration& rkTCfg0, Configuration& rkTCfg1, Real& rfTFirst,
|
|
Real& rfTLast);
|
|
|
|
void FindContactSet (const Triangle3<Real>& rkTri0,
|
|
const Triangle3<Real>& rkTri1, ContactSide& reSide,
|
|
Configuration& rkCfg0, Configuration& rkCfg1);
|
|
|
|
void GetEdgeEdgeIntersection (const Vector3<Real>& rkU0,
|
|
const Vector3<Real>& rkU1, const Vector3<Real>& rkV0,
|
|
const Vector3<Real>& rkV1);
|
|
|
|
// the objects to intersect
|
|
const Triangle3<Real>& m_rkTriangle0;
|
|
const Triangle3<Real>& m_rkTriangle1;
|
|
|
|
// information about the intersection set
|
|
int m_iQuantity;
|
|
Vector3<Real> m_akPoint[6];
|
|
};
|
|
|
|
typedef IntrTriangle3Triangle3<float> IntrTriangle3Triangle3f;
|
|
typedef IntrTriangle3Triangle3<double> IntrTriangle3Triangle3d;
|
|
|
|
}
|
|
|
|
#endif
|