From f9158592e1478b2013afc7041d9ed041cf2d2f4a Mon Sep 17 00:00:00 2001 From: David Walter Seikel Date: Mon, 13 Jan 2014 19:47:58 +1000 Subject: Update Irrlicht to 1.8.1. Include actual change markers this time. lol --- libraries/irrlicht-1.8.1/include/triangle3d.h | 279 ++++++++++++++++++++++++++ 1 file changed, 279 insertions(+) create mode 100644 libraries/irrlicht-1.8.1/include/triangle3d.h (limited to 'libraries/irrlicht-1.8.1/include/triangle3d.h') diff --git a/libraries/irrlicht-1.8.1/include/triangle3d.h b/libraries/irrlicht-1.8.1/include/triangle3d.h new file mode 100644 index 0000000..2f5a36c --- /dev/null +++ b/libraries/irrlicht-1.8.1/include/triangle3d.h @@ -0,0 +1,279 @@ +// Copyright (C) 2002-2012 Nikolaus Gebhardt +// This file is part of the "Irrlicht Engine". +// For conditions of distribution and use, see copyright notice in irrlicht.h + +#ifndef __IRR_TRIANGLE_3D_H_INCLUDED__ +#define __IRR_TRIANGLE_3D_H_INCLUDED__ + +#include "vector3d.h" +#include "line3d.h" +#include "plane3d.h" +#include "aabbox3d.h" + +namespace irr +{ +namespace core +{ + + //! 3d triangle template class for doing collision detection and other things. + template + class triangle3d + { + public: + + //! Constructor for an all 0 triangle + triangle3d() {} + //! Constructor for triangle with given three vertices + triangle3d(vector3d v1, vector3d v2, vector3d v3) : pointA(v1), pointB(v2), pointC(v3) {} + + //! Equality operator + bool operator==(const triangle3d& other) const + { + return other.pointA==pointA && other.pointB==pointB && other.pointC==pointC; + } + + //! Inequality operator + bool operator!=(const triangle3d& other) const + { + return !(*this==other); + } + + //! Determines if the triangle is totally inside a bounding box. + /** \param box Box to check. + \return True if triangle is within the box, otherwise false. */ + bool isTotalInsideBox(const aabbox3d& box) const + { + return (box.isPointInside(pointA) && + box.isPointInside(pointB) && + box.isPointInside(pointC)); + } + + //! Determines if the triangle is totally outside a bounding box. + /** \param box Box to check. + \return True if triangle is outside the box, otherwise false. */ + bool isTotalOutsideBox(const aabbox3d& box) const + { + return ((pointA.X > box.MaxEdge.X && pointB.X > box.MaxEdge.X && pointC.X > box.MaxEdge.X) || + + (pointA.Y > box.MaxEdge.Y && pointB.Y > box.MaxEdge.Y && pointC.Y > box.MaxEdge.Y) || + (pointA.Z > box.MaxEdge.Z && pointB.Z > box.MaxEdge.Z && pointC.Z > box.MaxEdge.Z) || + (pointA.X < box.MinEdge.X && pointB.X < box.MinEdge.X && pointC.X < box.MinEdge.X) || + (pointA.Y < box.MinEdge.Y && pointB.Y < box.MinEdge.Y && pointC.Y < box.MinEdge.Y) || + (pointA.Z < box.MinEdge.Z && pointB.Z < box.MinEdge.Z && pointC.Z < box.MinEdge.Z)); + } + + //! Get the closest point on a triangle to a point on the same plane. + /** \param p Point which must be on the same plane as the triangle. + \return The closest point of the triangle */ + core::vector3d closestPointOnTriangle(const core::vector3d& p) const + { + const core::vector3d rab = line3d(pointA, pointB).getClosestPoint(p); + const core::vector3d rbc = line3d(pointB, pointC).getClosestPoint(p); + const core::vector3d rca = line3d(pointC, pointA).getClosestPoint(p); + + const T d1 = rab.getDistanceFrom(p); + const T d2 = rbc.getDistanceFrom(p); + const T d3 = rca.getDistanceFrom(p); + + if (d1 < d2) + return d1 < d3 ? rab : rca; + + return d2 < d3 ? rbc : rca; + } + + //! Check if a point is inside the triangle (border-points count also as inside) + /* + \param p Point to test. Assumes that this point is already + on the plane of the triangle. + \return True if the point is inside the triangle, otherwise false. */ + bool isPointInside(const vector3d& p) const + { + vector3d af64((f64)pointA.X, (f64)pointA.Y, (f64)pointA.Z); + vector3d bf64((f64)pointB.X, (f64)pointB.Y, (f64)pointB.Z); + vector3d cf64((f64)pointC.X, (f64)pointC.Y, (f64)pointC.Z); + vector3d pf64((f64)p.X, (f64)p.Y, (f64)p.Z); + return (isOnSameSide(pf64, af64, bf64, cf64) && + isOnSameSide(pf64, bf64, af64, cf64) && + isOnSameSide(pf64, cf64, af64, bf64)); + } + + //! Check if a point is inside the triangle (border-points count also as inside) + /** This method uses a barycentric coordinate system. + It is faster than isPointInside but is more susceptible to floating point rounding + errors. This will especially be noticable when the FPU is in single precision mode + (which is for example set on default by Direct3D). + \param p Point to test. Assumes that this point is already + on the plane of the triangle. + \return True if point is inside the triangle, otherwise false. */ + bool isPointInsideFast(const vector3d& p) const + { + const vector3d a = pointC - pointA; + const vector3d b = pointB - pointA; + const vector3d c = p - pointA; + + const f64 dotAA = a.dotProduct( a); + const f64 dotAB = a.dotProduct( b); + const f64 dotAC = a.dotProduct( c); + const f64 dotBB = b.dotProduct( b); + const f64 dotBC = b.dotProduct( c); + + // get coordinates in barycentric coordinate system + const f64 invDenom = 1/(dotAA * dotBB - dotAB * dotAB); + const f64 u = (dotBB * dotAC - dotAB * dotBC) * invDenom; + const f64 v = (dotAA * dotBC - dotAB * dotAC ) * invDenom; + + // We count border-points as inside to keep downward compatibility. + // Rounding-error also needed for some test-cases. + return (u > -ROUNDING_ERROR_f32) && (v >= 0) && (u + v < 1+ROUNDING_ERROR_f32); + + } + + + //! Get an intersection with a 3d line. + /** \param line Line to intersect with. + \param outIntersection Place to store the intersection point, if there is one. + \return True if there was an intersection, false if not. */ + bool getIntersectionWithLimitedLine(const line3d& line, + vector3d& outIntersection) const + { + return getIntersectionWithLine(line.start, + line.getVector(), outIntersection) && + outIntersection.isBetweenPoints(line.start, line.end); + } + + + //! Get an intersection with a 3d line. + /** Please note that also points are returned as intersection which + are on the line, but not between the start and end point of the line. + If you want the returned point be between start and end + use getIntersectionWithLimitedLine(). + \param linePoint Point of the line to intersect with. + \param lineVect Vector of the line to intersect with. + \param outIntersection Place to store the intersection point, if there is one. + \return True if there was an intersection, false if there was not. */ + bool getIntersectionWithLine(const vector3d& linePoint, + const vector3d& lineVect, vector3d& outIntersection) const + { + if (getIntersectionOfPlaneWithLine(linePoint, lineVect, outIntersection)) + return isPointInside(outIntersection); + + return false; + } + + + //! Calculates the intersection between a 3d line and the plane the triangle is on. + /** \param lineVect Vector of the line to intersect with. + \param linePoint Point of the line to intersect with. + \param outIntersection Place to store the intersection point, if there is one. + \return True if there was an intersection, else false. */ + bool getIntersectionOfPlaneWithLine(const vector3d& linePoint, + const vector3d& lineVect, vector3d& outIntersection) const + { + // Work with f64 to get more precise results (makes enough difference to be worth the casts). + const vector3d linePointf64(linePoint.X, linePoint.Y, linePoint.Z); + const vector3d lineVectf64(lineVect.X, lineVect.Y, lineVect.Z); + vector3d outIntersectionf64; + + core::triangle3d trianglef64(vector3d((f64)pointA.X, (f64)pointA.Y, (f64)pointA.Z) + ,vector3d((f64)pointB.X, (f64)pointB.Y, (f64)pointB.Z) + , vector3d((f64)pointC.X, (f64)pointC.Y, (f64)pointC.Z)); + const vector3d normalf64 = trianglef64.getNormal().normalize(); + f64 t2; + + if ( core::iszero ( t2 = normalf64.dotProduct(lineVectf64) ) ) + return false; + + f64 d = trianglef64.pointA.dotProduct(normalf64); + f64 t = -(normalf64.dotProduct(linePointf64) - d) / t2; + outIntersectionf64 = linePointf64 + (lineVectf64 * t); + + outIntersection.X = (T)outIntersectionf64.X; + outIntersection.Y = (T)outIntersectionf64.Y; + outIntersection.Z = (T)outIntersectionf64.Z; + return true; + } + + + //! Get the normal of the triangle. + /** Please note: The normal is not always normalized. */ + vector3d getNormal() const + { + return (pointB - pointA).crossProduct(pointC - pointA); + } + + //! Test if the triangle would be front or backfacing from any point. + /** Thus, this method assumes a camera position from which the + triangle is definitely visible when looking at the given direction. + Do not use this method with points as it will give wrong results! + \param lookDirection Look direction. + \return True if the plane is front facing and false if it is backfacing. */ + bool isFrontFacing(const vector3d& lookDirection) const + { + const vector3d n = getNormal().normalize(); + const f32 d = (f32)n.dotProduct(lookDirection); + return F32_LOWER_EQUAL_0(d); + } + + //! Get the plane of this triangle. + plane3d getPlane() const + { + return plane3d(pointA, pointB, pointC); + } + + //! Get the area of the triangle + T getArea() const + { + return (pointB - pointA).crossProduct(pointC - pointA).getLength() * 0.5f; + + } + + //! sets the triangle's points + void set(const core::vector3d& a, const core::vector3d& b, const core::vector3d& c) + { + pointA = a; + pointB = b; + pointC = c; + } + + //! the three points of the triangle + vector3d pointA; + vector3d pointB; + vector3d pointC; + + private: + // Using f64 instead of to avoid integer overflows when T=int (maybe also less floating point troubles). + bool isOnSameSide(const vector3d& p1, const vector3d& p2, + const vector3d& a, const vector3d& b) const + { + vector3d bminusa = b - a; + vector3d cp1 = bminusa.crossProduct(p1 - a); + vector3d cp2 = bminusa.crossProduct(p2 - a); + f64 res = cp1.dotProduct(cp2); + if ( res < 0 ) + { + // This catches some floating point troubles. + // Unfortunately slightly expensive and we don't really know the best epsilon for iszero. + vector3d cp1 = bminusa.normalize().crossProduct((p1 - a).normalize()); + if ( core::iszero(cp1.X, (f64)ROUNDING_ERROR_f32) + && core::iszero(cp1.Y, (f64)ROUNDING_ERROR_f32) + && core::iszero(cp1.Z, (f64)ROUNDING_ERROR_f32) ) + { + res = 0.f; + } + } + return (res >= 0.0f); + } + }; + + + //! Typedef for a f32 3d triangle. + typedef triangle3d triangle3df; + + //! Typedef for an integer 3d triangle. + typedef triangle3d triangle3di; + +} // end namespace core +} // end namespace irr + +#endif + -- cgit v1.1