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///////////////////////////////////////////////////////////////////////////////////////////////////
// OpenGL Mathematics Copyright (c) 2005 - 2011 G-Truc Creation (www.g-truc.net)
///////////////////////////////////////////////////////////////////////////////////////////////////
// Created : 2007-04-03
// Updated : 2009-01-20
// Licence : This source is under MIT licence
// File : glm/gtx/intersect.inl
///////////////////////////////////////////////////////////////////////////////////////////////////
#include <cfloat>
#include <limits>
namespace glm{
namespace gtx{
namespace intersect{
template <typename genType>
GLM_FUNC_QUALIFIER bool intersectRayTriangle
(
genType const & orig, genType const & dir,
genType const & v0, genType const & v1, genType const & v2,
genType & baryPosition
)
{
genType e1 = v1 - v0;
genType e2 = v2 - v0;
genType p = glm::cross(dir, e2);
typename genType::value_type a = glm::dot(e1, p);
typename genType::value_type Epsilon = std::numeric_limits<typename genType::value_type>::epsilon();
if(a < Epsilon)
return false;
typename genType::value_type f = typename genType::value_type(1.0f) / a;
genType s = orig - v0;
baryPosition.x = f * glm::dot(s, p);
if(baryPosition.x < typename genType::value_type(0.0f))
return false;
if(baryPosition.x > typename genType::value_type(1.0f))
return false;
genType q = glm::cross(s, e1);
baryPosition.y = f * glm::dot(dir, q);
if(baryPosition.y < typename genType::value_type(0.0f))
return false;
if(baryPosition.y + baryPosition.x > typename genType::value_type(1.0f))
return false;
baryPosition.z = f * glm::dot(e2, q);
return baryPosition.z >= typename genType::value_type(0.0f);
}
//template <typename genType>
//GLM_FUNC_QUALIFIER bool intersectRayTriangle
//(
// genType const & orig, genType const & dir,
// genType const & vert0, genType const & vert1, genType const & vert2,
// genType & position
//)
//{
// typename genType::value_type Epsilon = std::numeric_limits<typename genType::value_type>::epsilon();
//
// genType edge1 = vert1 - vert0;
// genType edge2 = vert2 - vert0;
//
// genType pvec = cross(dir, edge2);
//
// float det = dot(edge1, pvec);
// if(det < Epsilon)
// return false;
//
// genType tvec = orig - vert0;
//
// position.y = dot(tvec, pvec);
// if (position.y < typename genType::value_type(0) || position.y > det)
// return typename genType::value_type(0);
//
// genType qvec = cross(tvec, edge1);
//
// position.z = dot(dir, qvec);
// if (position.z < typename genType::value_type(0) || position.y + position.z > det)
// return typename genType::value_type(0);
//
// position.x = dot(edge2, qvec);
// position *= typename genType::value_type(1) / det;
//
// return typename genType::value_type(1);
//}
template <typename genType>
GLM_FUNC_QUALIFIER bool intersectLineTriangle
(
genType const & orig, genType const & dir,
genType const & vert0, genType const & vert1, genType const & vert2,
genType & position
)
{
typename genType::value_type Epsilon = std::numeric_limits<typename genType::value_type>::epsilon();
genType edge1 = vert1 - vert0;
genType edge2 = vert2 - vert0;
genType pvec = cross(dir, edge2);
float det = dot(edge1, pvec);
if (det > -Epsilon && det < Epsilon)
return false;
float inv_det = typename genType::value_type(1) / det;
genType tvec = orig - vert0;
position.y = dot(tvec, pvec) * inv_det;
if (position.y < typename genType::value_type(0) || position.y > typename genType::value_type(1))
return false;
genType qvec = cross(tvec, edge1);
position.z = dot(dir, qvec) * inv_det;
if (position.z < typename genType::value_type(0) || position.y + position.z > typename genType::value_type(1))
return false;
position.x = dot(edge2, qvec) * inv_det;
return true;
}
template <typename genType>
GLM_FUNC_QUALIFIER bool intersectRaySphere
(
genType const & rayStarting, genType const & rayDirection,
genType const & sphereCenter, typename genType::value_type sphereRadius,
genType & position, genType & normal
)
{
typename genType::value_type Epsilon = std::numeric_limits<typename genType::value_type>::epsilon();
typename genType::value_type a = dot(rayDirection, rayDirection);
typename genType::value_type b = typename genType::value_type(2) * dot(rayStarting, rayDirection);
typename genType::value_type c = dot(rayStarting, rayStarting) - sphereRadius * sphereRadius;
typename genType::value_type d = b * b - typename genType::value_type(4) * a * c;
typename genType::value_type e = sqrt(d);
typename genType::value_type x1 = (-b - e) / (typename genType::value_type(2) * a);
typename genType::value_type x2 = (-b + e) / (typename genType::value_type(2) * a);
if(x1 > Epsilon)
{
position = rayStarting + rayDirection * sphereRadius;
normal = (position - sphereCenter) / sphereRadius;
return true;
}
else if(x2 > Epsilon)
{
position = rayStarting + rayDirection * sphereRadius;
normal = (position - sphereCenter) / sphereRadius;
return true;
}
return false;
}
template <typename genType>
GLM_FUNC_QUALIFIER bool intersectLineSphere
(
genType const & point0, genType const & point1,
genType const & center, typename genType::value_type radius,
genType & position, genType & normal
)
{
typename genType::value_type Epsilon = std::numeric_limits<typename genType::value_type>::epsilon();
genType dir = point1 - point0;
typename genType::value_type a = dot(dir, dir);
typename genType::value_type b = typename genType::value_type(2) * dot(center, dir);
typename genType::value_type c = dot(center, center) - radius * radius;
typename genType::value_type d = b * b - typename genType::value_type(4) * a * c;
typename genType::value_type e = sqrt(d);
typename genType::value_type x1 = (-b - e) / (typename genType::value_type(2) * a);
typename genType::value_type x2 = (-b + e) / (typename genType::value_type(2) * a);
if(x1 > Epsilon)
{
position = center + dir * radius;
normal = (position - center) / radius;
return true;
}
else if(x2 > Epsilon)
{
position = center + dir * radius;
normal = (position - center) / radius;
return true;
}
return false;
}
}//namespace intersect
}//namespace gtx
}//namespace glm
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