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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* 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. *
* *
* 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 GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#include "RayTriangleIntersection.h"
#include <sofa/helper/LCPSolver.inl>
namespace sofa
{
namespace component
{
namespace collision
{
RayTriangleIntersection::RayTriangleIntersection(){
}
RayTriangleIntersection::~RayTriangleIntersection(){
}
bool RayTriangleIntersection::NewComputation(const sofa::defaulttype::Vector3 &p1, const sofa::defaulttype::Vector3 &p2, const sofa::defaulttype::Vector3 &p3, const Vector3 &origin, const Vector3 &direction, double &t, double &u, double &v)
{
t = 0; u = 0; v = 0;
Vector3 edge1 = p2 - p1;
Vector3 edge2 = p3 - p1;
Vector3 tvec, pvec, qvec;
double det, inv_det;
pvec = direction.cross(edge2);
det = dot(edge1, pvec);
if(det<=1.0e-20 && det >=-1.0e-20) {
return false;
}
inv_det = 1.0 / det;
tvec = origin - p1;
u = dot(tvec, pvec) * inv_det;
if (u < -0.0000001 || u > 1.0000001)
return false;
qvec = tvec.cross(edge1);
v = dot(direction, qvec) * inv_det;
if (v < -0.0000001 || (u + v) > 1.0000001)
return false;
t = dot(edge2, qvec) * inv_det;
if (t < 0.0000001 || t!=t || v!=v || u!=u)
return false;
return true;
}
} // namespace collision
} // namespace component
} // namespace sofa
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