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// Geometric Tools, LLC
// Copyright (c) 1998-2014
// Distributed under the Boost Software License, Version 1.0.
// http://www.boost.org/LICENSE_1_0.txt
// http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
//
// File Version: 5.0.1 (2010/10/01)
#include "Wm5MathematicsPCH.h"
#include "Wm5IntrHalfspace3Triangle3.h"
#include "Wm5IntrUtility3.h"
namespace Wm5
{
//----------------------------------------------------------------------------
template <typename Real>
IntrHalfspace3Triangle3<Real>::IntrHalfspace3Triangle3 (
const Plane3<Real>& halfspace, const Triangle3<Real>& triangle)
:
mHalfspace(&halfspace),
mTriangle(&triangle)
{
mQuantity = 0;
}
//----------------------------------------------------------------------------
template <typename Real>
const Plane3<Real>& IntrHalfspace3Triangle3<Real>::GetHalfspace () const
{
return *mHalfspace;
}
//----------------------------------------------------------------------------
template <typename Real>
const Triangle3<Real>& IntrHalfspace3Triangle3<Real>::GetTriangle () const
{
return *mTriangle;
}
//----------------------------------------------------------------------------
template <typename Real>
bool IntrHalfspace3Triangle3<Real>::Test ()
{
Real fmin, fmax;
IntrAxis<Real>::GetProjection(mHalfspace->Normal, *mTriangle,
fmin, fmax);
return fmin <= mHalfspace->Constant;
}
//----------------------------------------------------------------------------
template <typename Real>
bool IntrHalfspace3Triangle3<Real>::Find ()
{
// Start with the triangle and then clip it against the plane.
mQuantity = 3;
for (int i = 0; i < 3; ++i)
{
mPoint[i] = mTriangle->V[i];
}
ClipConvexPolygonAgainstPlane<Real>(-mHalfspace->Normal,
-mHalfspace->Constant, mQuantity, mPoint);
return mQuantity > 0;
}
//----------------------------------------------------------------------------
template <typename Real>
bool IntrHalfspace3Triangle3<Real>::Test (Real tmax,
const Vector3<Real>& velocity0, const Vector3<Real>& velocity1)
{
mContactTime = (Real)0;
Real tlast = Math<Real>::MAX_REAL;
Vector3<Real> relVelocity = velocity1 - velocity0;
Real fmin, fmax;
IntrAxis<Real>::GetProjection(mHalfspace->Normal, *mTriangle,
fmin, fmax);
return IntrAxis<Real>::Test(mHalfspace->Normal, relVelocity,
-Math<Real>::MAX_REAL, mHalfspace->Constant, fmin, fmax, tmax,
mContactTime, tlast);
}
//----------------------------------------------------------------------------
template <typename Real>
bool IntrHalfspace3Triangle3<Real>::Find (Real tmax,
const Vector3<Real>& velocity0, const Vector3<Real>& velocity1)
{
mContactTime = (Real)0;
Real tlast = Math<Real>::MAX_REAL;
Vector3<Real> relVelocity = velocity1 - velocity0;
IntrConfiguration<Real> cfg;
IntrAxis<Real>::GetConfiguration(mHalfspace->Normal, *mTriangle, cfg);
if (!IntrAxis<Real>::Test(mHalfspace->Normal, relVelocity,
-Math<Real>::MAX_REAL, mHalfspace->Constant, cfg.mMin, cfg.mMax,
tmax, mContactTime, tlast))
{
// Never intersecting.
return false;
}
if (mContactTime == (Real)0)
{
// Intersecting now.
return false;
}
// Tri on positive side (right).
if (cfg.mMap == IntrConfiguration<Real>::m12
|| cfg.mMap == IntrConfiguration<Real>::m111)
{
// Point intersection.
mQuantity = 1;
mPoint[0] = mTriangle->V[cfg.mIndex[0]];
}
else if (cfg.mMap == IntrConfiguration<Real>::m21)
{
// Segment intersection.
mQuantity = 2;
mPoint[0] = mTriangle->V[cfg.mIndex[0]];
mPoint[1] = mTriangle->V[cfg.mIndex[1]];
}
else
{
// Face intersection.
mQuantity = 3;
for (int i = 0; i < 3; ++i)
{
mPoint[i] = mTriangle->V[i];
}
}
// Adjust points to the correct place in time, as well.
Vector3<Real> diff = mContactTime*velocity1;
for (int i = 0; i < mQuantity; ++i)
{
mPoint[i] += diff;
}
return true;
}
//----------------------------------------------------------------------------
template <typename Real>
int IntrHalfspace3Triangle3<Real>::GetQuantity () const
{
return mQuantity;
}
//----------------------------------------------------------------------------
template <typename Real>
const Vector3<Real>& IntrHalfspace3Triangle3<Real>::GetPoint (int i) const
{
return mPoint[i];
}
//----------------------------------------------------------------------------
//----------------------------------------------------------------------------
// Explicit instantiation.
//----------------------------------------------------------------------------
template WM5_MATHEMATICS_ITEM
class IntrHalfspace3Triangle3<float>;
template WM5_MATHEMATICS_ITEM
class IntrHalfspace3Triangle3<double>;
//----------------------------------------------------------------------------
}
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