mirror of
https://github.com/bulletphysics/bullet3
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1186 lines
26 KiB
C++
1186 lines
26 KiB
C++
#ifndef CD_VECTOR_H
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#define CD_VECTOR_H
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/*----------------------------------------------------------------------
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Copyright (c) 2004 Open Dynamics Framework Group
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www.physicstools.org
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All rights reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided
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that the following conditions are met:
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Redistributions of source code must retain the above copyright notice, this list of conditions
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and the following disclaimer.
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Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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Neither the name of the Open Dynamics Framework Group nor the names of its contributors may
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be used to endorse or promote products derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 'AS IS' AND ANY EXPRESS OR IMPLIED WARRANTIES,
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INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE INTEL OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
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IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
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THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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-----------------------------------------------------------------------*/
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// http://codesuppository.blogspot.com
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//
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// mailto: jratcliff@infiniplex.net
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//
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// http://www.amillionpixels.us
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//
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#pragma warning(disable:4786)
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#include <math.h>
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#include <float.h>
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#include <vector>
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namespace ConvexDecomposition
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{
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const float DEG_TO_RAD = ((2.0f * 3.14152654f) / 360.0f);
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const float RAD_TO_DEG = (360.0f / (2.0f * 3.141592654f));
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class Vector3d
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{
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public:
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Vector3d(void) { }; // null constructor, does not inialize point.
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Vector3d(const Vector3d &a) // constructor copies existing vector.
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{
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x = a.x;
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y = a.y;
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z = a.z;
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};
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Vector3d(float a,float b,float c) // construct with initial point.
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{
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x = a;
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y = b;
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z = c;
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};
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Vector3d(const float *t)
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{
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x = t[0];
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y = t[1];
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z = t[2];
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};
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Vector3d(const int *t)
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{
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x = t[0];
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y = t[1];
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z = t[2];
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};
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bool operator==(const Vector3d &a) const
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{
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return( a.x == x && a.y == y && a.z == z );
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};
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bool operator!=(const Vector3d &a) const
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{
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return( a.x != x || a.y != y || a.z != z );
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};
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// Operators
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Vector3d& operator = (const Vector3d& A) // ASSIGNMENT (=)
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{ x=A.x; y=A.y; z=A.z;
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return(*this); };
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Vector3d operator + (const Vector3d& A) const // ADDITION (+)
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{ Vector3d Sum(x+A.x, y+A.y, z+A.z);
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return(Sum); };
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Vector3d operator - (const Vector3d& A) const // SUBTRACTION (-)
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{ Vector3d Diff(x-A.x, y-A.y, z-A.z);
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return(Diff); };
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Vector3d operator * (const float s) const // MULTIPLY BY SCALAR (*)
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{ Vector3d Scaled(x*s, y*s, z*s);
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return(Scaled); };
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Vector3d operator + (const float s) const // ADD CONSTANT TO ALL 3 COMPONENTS (*)
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{ Vector3d Scaled(x+s, y+s, z+s);
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return(Scaled); };
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Vector3d operator / (const float s) const // DIVIDE BY SCALAR (/)
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{
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float r = 1.0f / s;
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Vector3d Scaled(x*r, y*r, z*r);
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return(Scaled);
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};
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void operator /= (float A) // ACCUMULATED VECTOR ADDITION (/=)
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{ x/=A; y/=A; z/=A; };
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void operator += (const Vector3d A) // ACCUMULATED VECTOR ADDITION (+=)
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{ x+=A.x; y+=A.y; z+=A.z; };
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void operator -= (const Vector3d A) // ACCUMULATED VECTOR SUBTRACTION (+=)
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{ x-=A.x; y-=A.y; z-=A.z; };
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void operator *= (const float s) // ACCUMULATED SCALAR MULTIPLICATION (*=) (bpc 4/24/2000)
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{x*=s; y*=s; z*=s;}
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void operator += (const float A) // ACCUMULATED VECTOR ADDITION (+=)
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{ x+=A; y+=A; z+=A; };
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Vector3d operator - (void) const // NEGATION (-)
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{ Vector3d Negated(-x, -y, -z);
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return(Negated); };
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float operator [] (const int i) const // ALLOWS VECTOR ACCESS AS AN ARRAY.
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{ return( (i==0)?x:((i==1)?y:z) ); };
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float & operator [] (const int i)
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{ return( (i==0)?x:((i==1)?y:z) ); };
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//
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// accessor methods.
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float GetX(void) const { return x; };
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float GetY(void) const { return y; };
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float GetZ(void) const { return z; };
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float X(void) const { return x; };
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float Y(void) const { return y; };
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float Z(void) const { return z; };
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void SetX(float t) { x = t; };
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void SetY(float t) { y = t; };
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void SetZ(float t) { z = t; };
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bool IsSame(const Vector3d &v,float epsilon) const
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{
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float dx = fabsf( x - v.x );
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if ( dx > epsilon ) return false;
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float dy = fabsf( y - v.y );
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if ( dy > epsilon ) return false;
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float dz = fabsf( z - v.z );
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if ( dz > epsilon ) return false;
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return true;
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}
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float ComputeNormal(const Vector3d &A,
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const Vector3d &B,
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const Vector3d &C)
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{
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float vx,vy,vz,wx,wy,wz,vw_x,vw_y,vw_z,mag;
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vx = (B.x - C.x);
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vy = (B.y - C.y);
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vz = (B.z - C.z);
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wx = (A.x - B.x);
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wy = (A.y - B.y);
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wz = (A.z - B.z);
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vw_x = vy * wz - vz * wy;
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vw_y = vz * wx - vx * wz;
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vw_z = vx * wy - vy * wx;
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mag = sqrtf((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z));
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if ( mag < 0.000001f )
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{
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mag = 0;
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}
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else
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{
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mag = 1.0f/mag;
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}
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x = vw_x * mag;
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y = vw_y * mag;
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z = vw_z * mag;
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return mag;
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}
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void ScaleSumScale(float c0,float c1,const Vector3d &pos)
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{
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x = (x*c0) + (pos.x*c1);
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y = (y*c0) + (pos.y*c1);
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z = (z*c0) + (pos.z*c1);
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}
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void SwapYZ(void)
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{
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float t = y;
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y = z;
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z = t;
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};
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void Get(float *v) const
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{
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v[0] = x;
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v[1] = y;
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v[2] = z;
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};
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void Set(const int *p)
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{
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x = (float) p[0];
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y = (float) p[1];
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z = (float) p[2];
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}
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void Set(const float *p)
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{
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x = (float) p[0];
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y = (float) p[1];
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z = (float) p[2];
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}
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void Set(float a,float b,float c)
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{
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x = a;
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y = b;
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z = c;
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};
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void Zero(void)
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{
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x = y = z = 0;
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};
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const float* Ptr() const { return &x; }
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float* Ptr() { return &x; }
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// return -(*this).
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Vector3d negative(void) const
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{
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Vector3d result;
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result.x = -x;
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result.y = -y;
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result.z = -z;
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return result;
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}
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float Magnitude(void) const
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{
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return float(sqrt(x * x + y * y + z * z));
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};
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float FastMagnitude(void) const
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{
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return float(sqrtf(x * x + y * y + z * z));
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};
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float FasterMagnitude(void) const
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{
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return float(sqrtf(x * x + y * y + z * z));
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};
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void Lerp(const Vector3d& from,const Vector3d& to,float slerp)
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{
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x = ((to.x - from.x) * slerp) + from.x;
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y = ((to.y - from.y) * slerp) + from.y;
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z = ((to.z - from.z) * slerp) + from.z;
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};
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// Highly specialized interpolate routine. Will compute the interpolated position
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// shifted forward or backwards along the ray defined between (from) and (to).
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// Reason for existance is so that when a bullet collides with a wall, for
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// example, you can generate a graphic effect slightly *before* it hit the
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// wall so that the effect doesn't sort into the wall itself.
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void Interpolate(const Vector3d &from,const Vector3d &to,float offset)
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{
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x = to.x-from.x;
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y = to.y-from.y;
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z = to.z-from.z;
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float d = sqrtf( x*x + y*y + z*z );
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float recip = 1.0f / d;
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x*=recip;
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y*=recip;
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z*=recip; // normalize vector
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d+=offset; // shift along ray
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x = x*d + from.x;
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y = y*d + from.y;
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z = z*d + from.z;
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};
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bool BinaryEqual(const Vector3d &p) const
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{
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const int *source = (const int *) &x;
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const int *dest = (const int *) &p.x;
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if ( source[0] == dest[0] &&
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source[1] == dest[1] &&
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source[2] == dest[2] ) return true;
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return false;
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};
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/*bool BinaryEqual(const Vector3d<int> &p) const
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{
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if ( x == p.x && y == p.y && z == p.z ) return true;
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return false;
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}
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*/
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/** Computes the reflection vector between two vectors.*/
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void Reflection(const Vector3d &a,const Vector3d &b)// compute reflection vector.
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{
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Vector3d c;
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Vector3d d;
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float dot = a.Dot(b) * 2.0f;
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c = b * dot;
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d = c - a;
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x = -d.x;
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y = -d.y;
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z = -d.z;
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};
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void AngleAxis(float angle,const Vector3d& axis)
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{
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x = axis.x*angle;
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y = axis.y*angle;
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z = axis.z*angle;
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};
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float Length(void) const // length of vector.
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{
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return float(sqrt( x*x + y*y + z*z ));
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};
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float ComputePlane(const Vector3d &A,
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const Vector3d &B,
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const Vector3d &C)
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{
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float vx,vy,vz,wx,wy,wz,vw_x,vw_y,vw_z,mag;
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vx = (B.x - C.x);
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vy = (B.y - C.y);
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vz = (B.z - C.z);
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wx = (A.x - B.x);
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wy = (A.y - B.y);
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wz = (A.z - B.z);
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vw_x = vy * wz - vz * wy;
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vw_y = vz * wx - vx * wz;
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vw_z = vx * wy - vy * wx;
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mag = sqrtf((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z));
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if ( mag < 0.000001f )
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{
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mag = 0;
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}
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else
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{
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mag = 1.0f/mag;
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}
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x = vw_x * mag;
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y = vw_y * mag;
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z = vw_z * mag;
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float D = 0.0f - ((x*A.x)+(y*A.y)+(z*A.z));
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return D;
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}
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float FastLength(void) const // length of vector.
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{
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return float(sqrtf( x*x + y*y + z*z ));
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};
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float FasterLength(void) const // length of vector.
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{
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return float(sqrtf( x*x + y*y + z*z ));
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};
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float Length2(void) const // squared distance, prior to square root.
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{
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float l2 = x*x+y*y+z*z;
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return l2;
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};
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float Distance(const Vector3d &a) const // distance between two points.
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{
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Vector3d d(a.x-x,a.y-y,a.z-z);
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return d.Length();
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}
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float FastDistance(const Vector3d &a) const // distance between two points.
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{
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Vector3d d(a.x-x,a.y-y,a.z-z);
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return d.FastLength();
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}
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float FasterDistance(const Vector3d &a) const // distance between two points.
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{
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Vector3d d(a.x-x,a.y-y,a.z-z);
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return d.FasterLength();
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}
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float DistanceXY(const Vector3d &a) const
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{
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float dx = a.x - x;
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float dy = a.y - y;
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float dist = dx*dx + dy*dy;
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return dist;
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}
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float Distance2(const Vector3d &a) const // squared distance.
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{
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float dx = a.x - x;
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float dy = a.y - y;
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float dz = a.z - z;
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return dx*dx + dy*dy + dz*dz;
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};
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float Partial(const Vector3d &p) const
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{
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return (x*p.y) - (p.x*y);
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}
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float Area(const Vector3d &p1,const Vector3d &p2) const
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{
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float A = Partial(p1);
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A+= p1.Partial(p2);
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A+= p2.Partial(*this);
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return A*0.5f;
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}
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inline float Normalize(void) // normalize to a unit vector, returns distance.
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{
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float d = sqrtf( static_cast< float >( x*x + y*y + z*z ) );
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if ( d > 0 )
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{
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float r = 1.0f / d;
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x *= r;
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y *= r;
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z *= r;
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}
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else
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{
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x = y = z = 1;
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}
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return d;
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};
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inline float FastNormalize(void) // normalize to a unit vector, returns distance.
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{
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float d = sqrt( static_cast< float >( x*x + y*y + z*z ) );
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if ( d > 0 )
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{
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float r = 1.0f / d;
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x *= r;
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y *= r;
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z *= r;
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}
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else
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{
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x = y = z = 1;
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}
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return d;
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};
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inline float FasterNormalize(void) // normalize to a unit vector, returns distance.
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{
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float d = sqrtf( static_cast< float >( x*x + y*y + z*z ) );
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if ( d > 0 )
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{
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float r = 1.0f / d;
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x *= r;
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y *= r;
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z *= r;
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}
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else
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{
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x = y = z = 1;
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}
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return d;
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};
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float Dot(const Vector3d &a) const // computes dot product.
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{
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return (x * a.x + y * a.y + z * a.z );
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};
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Vector3d Cross( const Vector3d& other ) const
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{
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Vector3d result( y*other.z - z*other.y, z*other.x - x*other.z, x*other.y - y*other.x );
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return result;
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}
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void Cross(const Vector3d &a,const Vector3d &b) // cross two vectors result in this one.
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{
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x = a.y*b.z - a.z*b.y;
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y = a.z*b.x - a.x*b.z;
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z = a.x*b.y - a.y*b.x;
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};
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/******************************************/
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// Check if next edge (b to c) turns inward
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//
|
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// Edge from a to b is already in face
|
|
// Edge from b to c is being considered for addition to face
|
|
/******************************************/
|
|
bool Concave(const Vector3d& a,const Vector3d& b)
|
|
{
|
|
float vx,vy,vz,wx,wy,wz,vw_x,vw_y,vw_z,mag,nx,ny,nz,mag_a,mag_b;
|
|
|
|
wx = b.x - a.x;
|
|
wy = b.y - a.y;
|
|
wz = b.z - a.z;
|
|
|
|
mag_a = (float) sqrtf((wx * wx) + (wy * wy) + (wz * wz));
|
|
|
|
vx = x - b.x;
|
|
vy = y - b.y;
|
|
vz = z - b.z;
|
|
|
|
mag_b = (float) sqrtf((vx * vx) + (vy * vy) + (vz * vz));
|
|
|
|
vw_x = (vy * wz) - (vz * wy);
|
|
vw_y = (vz * wx) - (vx * wz);
|
|
vw_z = (vx * wy) - (vy * wx);
|
|
|
|
mag = (float) sqrtf((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z));
|
|
|
|
// Check magnitude of cross product, which is a sine function
|
|
// i.e., mag (a x b) = mag (a) * mag (b) * sin (theta);
|
|
// If sin (theta) small, then angle between edges is very close to
|
|
// 180, which we may want to call a concavity. Setting the
|
|
// CONCAVITY_TOLERANCE value greater than about 0.01 MAY cause
|
|
// face consolidation to get stuck on particular face. Most meshes
|
|
// convert properly with a value of 0.0
|
|
|
|
if (mag/(mag_a*mag_b) <= 0.0f ) return true;
|
|
|
|
mag = 1.0f / mag;
|
|
|
|
nx = vw_x * mag;
|
|
ny = vw_y * mag;
|
|
nz = vw_z * mag;
|
|
|
|
// Dot product of tri normal with cross product result will
|
|
// yield positive number if edges are convex (+1.0 if two tris
|
|
// are coplanar), negative number if edges are concave (-1.0 if
|
|
// two tris are coplanar.)
|
|
|
|
mag = ( x * nx) + ( y * ny) + ( z * nz);
|
|
|
|
if (mag > 0.0f ) return false;
|
|
|
|
return(true);
|
|
};
|
|
|
|
bool PointTestXY(const Vector3d &i,const Vector3d &j) const
|
|
{
|
|
if (((( i.y <= y ) && ( y < j.y )) ||
|
|
(( j.y <= y ) && ( y < i.y ))) &&
|
|
( x < (j.x - i.x) * (y - i.y) / (j.y - i.y) + i.x)) return true;
|
|
return false;
|
|
}
|
|
|
|
// test to see if this point is inside the triangle specified by
|
|
// these three points on the X/Y plane.
|
|
bool PointInTriXY(const Vector3d &p1,
|
|
const Vector3d &p2,
|
|
const Vector3d &p3) const
|
|
{
|
|
float ax = p3.x - p2.x;
|
|
float ay = p3.y - p2.y;
|
|
float bx = p1.x - p3.x;
|
|
float by = p1.y - p3.y;
|
|
float cx = p2.x - p1.x;
|
|
float cy = p2.y - p1.y;
|
|
float apx = x - p1.x;
|
|
float apy = y - p1.y;
|
|
float bpx = x - p2.x;
|
|
float bpy = y - p2.y;
|
|
float cpx = x - p3.x;
|
|
float cpy = y - p3.y;
|
|
|
|
float aCROSSbp = ax*bpy - ay*bpx;
|
|
float cCROSSap = cx*apy - cy*apx;
|
|
float bCROSScp = bx*cpy - by*cpx;
|
|
|
|
return ((aCROSSbp >= 0.0f) && (bCROSScp >= 0.0f) && (cCROSSap >= 0.0f));
|
|
};
|
|
|
|
// test to see if this point is inside the triangle specified by
|
|
// these three points on the X/Y plane.
|
|
bool PointInTriYZ(const Vector3d &p1,
|
|
const Vector3d &p2,
|
|
const Vector3d &p3) const
|
|
{
|
|
float ay = p3.y - p2.y;
|
|
float az = p3.z - p2.z;
|
|
float by = p1.y - p3.y;
|
|
float bz = p1.z - p3.z;
|
|
float cy = p2.y - p1.y;
|
|
float cz = p2.z - p1.z;
|
|
float apy = y - p1.y;
|
|
float apz = z - p1.z;
|
|
float bpy = y - p2.y;
|
|
float bpz = z - p2.z;
|
|
float cpy = y - p3.y;
|
|
float cpz = z - p3.z;
|
|
|
|
float aCROSSbp = ay*bpz - az*bpy;
|
|
float cCROSSap = cy*apz - cz*apy;
|
|
float bCROSScp = by*cpz - bz*cpy;
|
|
|
|
return ((aCROSSbp >= 0.0f) && (bCROSScp >= 0.0f) && (cCROSSap >= 0.0f));
|
|
};
|
|
|
|
|
|
// test to see if this point is inside the triangle specified by
|
|
// these three points on the X/Y plane.
|
|
bool PointInTriXZ(const Vector3d &p1,
|
|
const Vector3d &p2,
|
|
const Vector3d &p3) const
|
|
{
|
|
float az = p3.z - p2.z;
|
|
float ax = p3.x - p2.x;
|
|
float bz = p1.z - p3.z;
|
|
float bx = p1.x - p3.x;
|
|
float cz = p2.z - p1.z;
|
|
float cx = p2.x - p1.x;
|
|
float apz = z - p1.z;
|
|
float apx = x - p1.x;
|
|
float bpz = z - p2.z;
|
|
float bpx = x - p2.x;
|
|
float cpz = z - p3.z;
|
|
float cpx = x - p3.x;
|
|
|
|
float aCROSSbp = az*bpx - ax*bpz;
|
|
float cCROSSap = cz*apx - cx*apz;
|
|
float bCROSScp = bz*cpx - bx*cpz;
|
|
|
|
return ((aCROSSbp >= 0.0f) && (bCROSScp >= 0.0f) && (cCROSSap >= 0.0f));
|
|
};
|
|
|
|
// Given a point and a line (defined by two points), compute the closest point
|
|
// in the line. (The line is treated as infinitely long.)
|
|
void NearestPointInLine(const Vector3d &point,
|
|
const Vector3d &line0,
|
|
const Vector3d &line1)
|
|
{
|
|
Vector3d &nearestPoint = *this;
|
|
Vector3d lineDelta = line1 - line0;
|
|
|
|
// Handle degenerate lines
|
|
if ( lineDelta == Vector3d(0, 0, 0) )
|
|
{
|
|
nearestPoint = line0;
|
|
}
|
|
else
|
|
{
|
|
float delta = (point-line0).Dot(lineDelta) / (lineDelta).Dot(lineDelta);
|
|
nearestPoint = line0 + lineDelta*delta;
|
|
}
|
|
}
|
|
|
|
// Given a point and a line segment (defined by two points), compute the closest point
|
|
// in the line. Cap the point at the endpoints of the line segment.
|
|
void NearestPointInLineSegment(const Vector3d &point,
|
|
const Vector3d &line0,
|
|
const Vector3d &line1)
|
|
{
|
|
Vector3d &nearestPoint = *this;
|
|
Vector3d lineDelta = line1 - line0;
|
|
|
|
// Handle degenerate lines
|
|
if ( lineDelta == Vector3d(0, 0, 0) )
|
|
{
|
|
nearestPoint = line0;
|
|
}
|
|
else
|
|
{
|
|
float delta = (point-line0).Dot(lineDelta) / (lineDelta).Dot(lineDelta);
|
|
|
|
// Clamp the point to conform to the segment's endpoints
|
|
if ( delta < 0 )
|
|
delta = 0;
|
|
else if ( delta > 1 )
|
|
delta = 1;
|
|
|
|
nearestPoint = line0 + lineDelta*delta;
|
|
}
|
|
}
|
|
|
|
// Given a point and a plane (defined by three points), compute the closest point
|
|
// in the plane. (The plane is unbounded.)
|
|
void NearestPointInPlane(const Vector3d &point,
|
|
const Vector3d &triangle0,
|
|
const Vector3d &triangle1,
|
|
const Vector3d &triangle2)
|
|
{
|
|
Vector3d &nearestPoint = *this;
|
|
Vector3d lineDelta0 = triangle1 - triangle0;
|
|
Vector3d lineDelta1 = triangle2 - triangle0;
|
|
Vector3d pointDelta = point - triangle0;
|
|
Vector3d normal;
|
|
|
|
// Get the normal of the polygon (doesn't have to be a unit vector)
|
|
normal.Cross(lineDelta0, lineDelta1);
|
|
|
|
float delta = normal.Dot(pointDelta) / normal.Dot(normal);
|
|
nearestPoint = point - normal*delta;
|
|
}
|
|
|
|
// Given a point and a plane (defined by a coplanar point and a normal), compute the closest point
|
|
// in the plane. (The plane is unbounded.)
|
|
void NearestPointInPlane(const Vector3d &point,
|
|
const Vector3d &planePoint,
|
|
const Vector3d &planeNormal)
|
|
{
|
|
Vector3d &nearestPoint = *this;
|
|
Vector3d pointDelta = point - planePoint;
|
|
|
|
float delta = planeNormal.Dot(pointDelta) / planeNormal.Dot(planeNormal);
|
|
nearestPoint = point - planeNormal*delta;
|
|
}
|
|
|
|
// Given a point and a triangle (defined by three points), compute the closest point
|
|
// in the triangle. Clamp the point so it's confined to the area of the triangle.
|
|
void NearestPointInTriangle(const Vector3d &point,
|
|
const Vector3d &triangle0,
|
|
const Vector3d &triangle1,
|
|
const Vector3d &triangle2)
|
|
{
|
|
static const Vector3d zeroVector(0, 0, 0);
|
|
|
|
Vector3d &nearestPoint = *this;
|
|
|
|
Vector3d lineDelta0 = triangle1 - triangle0;
|
|
Vector3d lineDelta1 = triangle2 - triangle0;
|
|
|
|
// Handle degenerate triangles
|
|
if ( (lineDelta0 == zeroVector) || (lineDelta1 == zeroVector) )
|
|
{
|
|
nearestPoint.NearestPointInLineSegment(point, triangle1, triangle2);
|
|
}
|
|
else if ( lineDelta0 == lineDelta1 )
|
|
{
|
|
nearestPoint.NearestPointInLineSegment(point, triangle0, triangle1);
|
|
}
|
|
|
|
else
|
|
{
|
|
Vector3d axis[3];
|
|
axis[0].NearestPointInLine(triangle0, triangle1, triangle2);
|
|
axis[1].NearestPointInLine(triangle1, triangle0, triangle2);
|
|
axis[2].NearestPointInLine(triangle2, triangle0, triangle1);
|
|
|
|
float axisDot[3];
|
|
axisDot[0] = (triangle0-axis[0]).Dot(point-axis[0]);
|
|
axisDot[1] = (triangle1-axis[1]).Dot(point-axis[1]);
|
|
axisDot[2] = (triangle2-axis[2]).Dot(point-axis[2]);
|
|
|
|
bool bForce = true;
|
|
float bestMagnitude2 = 0;
|
|
float closeMagnitude2;
|
|
Vector3d closePoint;
|
|
|
|
if ( axisDot[0] < 0 )
|
|
{
|
|
closePoint.NearestPointInLineSegment(point, triangle1, triangle2);
|
|
closeMagnitude2 = point.Distance2(closePoint);
|
|
if ( bForce || (bestMagnitude2 > closeMagnitude2) )
|
|
{
|
|
bForce = false;
|
|
bestMagnitude2 = closeMagnitude2;
|
|
nearestPoint = closePoint;
|
|
}
|
|
}
|
|
if ( axisDot[1] < 0 )
|
|
{
|
|
closePoint.NearestPointInLineSegment(point, triangle0, triangle2);
|
|
closeMagnitude2 = point.Distance2(closePoint);
|
|
if ( bForce || (bestMagnitude2 > closeMagnitude2) )
|
|
{
|
|
bForce = false;
|
|
bestMagnitude2 = closeMagnitude2;
|
|
nearestPoint = closePoint;
|
|
}
|
|
}
|
|
if ( axisDot[2] < 0 )
|
|
{
|
|
closePoint.NearestPointInLineSegment(point, triangle0, triangle1);
|
|
closeMagnitude2 = point.Distance2(closePoint);
|
|
if ( bForce || (bestMagnitude2 > closeMagnitude2) )
|
|
{
|
|
bForce = false;
|
|
bestMagnitude2 = closeMagnitude2;
|
|
nearestPoint = closePoint;
|
|
}
|
|
}
|
|
|
|
// If bForce is true at this point, it means the nearest point lies
|
|
// inside the triangle; use the nearest-point-on-a-plane equation
|
|
if ( bForce )
|
|
{
|
|
Vector3d normal;
|
|
|
|
// Get the normal of the polygon (doesn't have to be a unit vector)
|
|
normal.Cross(lineDelta0, lineDelta1);
|
|
|
|
Vector3d pointDelta = point - triangle0;
|
|
float delta = normal.Dot(pointDelta) / normal.Dot(normal);
|
|
|
|
nearestPoint = point - normal*delta;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
//private:
|
|
|
|
float x;
|
|
float y;
|
|
float z;
|
|
};
|
|
|
|
|
|
class Vector2d
|
|
{
|
|
public:
|
|
Vector2d(void) { }; // null constructor, does not inialize point.
|
|
|
|
Vector2d(const Vector2d &a) // constructor copies existing vector.
|
|
{
|
|
x = a.x;
|
|
y = a.y;
|
|
};
|
|
|
|
Vector2d(const float *t)
|
|
{
|
|
x = t[0];
|
|
y = t[1];
|
|
};
|
|
|
|
|
|
Vector2d(float a,float b) // construct with initial point.
|
|
{
|
|
x = a;
|
|
y = b;
|
|
};
|
|
|
|
const float* Ptr() const { return &x; }
|
|
float* Ptr() { return &x; }
|
|
|
|
Vector2d & operator+=(const Vector2d &a) // += operator.
|
|
{
|
|
x+=a.x;
|
|
y+=a.y;
|
|
return *this;
|
|
};
|
|
|
|
Vector2d & operator-=(const Vector2d &a)
|
|
{
|
|
x-=a.x;
|
|
y-=a.y;
|
|
return *this;
|
|
};
|
|
|
|
Vector2d & operator*=(const Vector2d &a)
|
|
{
|
|
x*=a.x;
|
|
y*=a.y;
|
|
return *this;
|
|
};
|
|
|
|
Vector2d & operator/=(const Vector2d &a)
|
|
{
|
|
x/=a.x;
|
|
y/=a.y;
|
|
return *this;
|
|
};
|
|
|
|
bool operator==(const Vector2d &a) const
|
|
{
|
|
if ( a.x == x && a.y == y ) return true;
|
|
return false;
|
|
};
|
|
|
|
bool operator!=(const Vector2d &a) const
|
|
{
|
|
if ( a.x != x || a.y != y ) return true;
|
|
return false;
|
|
};
|
|
|
|
Vector2d operator+(Vector2d a) const
|
|
{
|
|
a.x+=x;
|
|
a.y+=y;
|
|
return a;
|
|
};
|
|
|
|
Vector2d operator-(Vector2d a) const
|
|
{
|
|
a.x = x-a.x;
|
|
a.y = y-a.y;
|
|
return a;
|
|
};
|
|
|
|
Vector2d operator - (void) const
|
|
{
|
|
return negative();
|
|
};
|
|
|
|
Vector2d operator*(Vector2d a) const
|
|
{
|
|
a.x*=x;
|
|
a.y*=y;
|
|
return a;
|
|
};
|
|
|
|
Vector2d operator*(float c) const
|
|
{
|
|
Vector2d a;
|
|
|
|
a.x = x * c;
|
|
a.y = y * c;
|
|
|
|
return a;
|
|
};
|
|
|
|
Vector2d operator/(Vector2d a) const
|
|
{
|
|
a.x = x/a.x;
|
|
a.y = y/a.y;
|
|
return a;
|
|
};
|
|
|
|
|
|
float Dot(const Vector2d &a) const // computes dot product.
|
|
{
|
|
return (x * a.x + y * a.y );
|
|
};
|
|
|
|
float GetX(void) const { return x; };
|
|
float GetY(void) const { return y; };
|
|
|
|
void SetX(float t) { x = t; };
|
|
void SetY(float t) { y = t; };
|
|
|
|
void Set(float a,float b)
|
|
{
|
|
x = a;
|
|
y = b;
|
|
};
|
|
|
|
void Zero(void)
|
|
{
|
|
x = y = 0;
|
|
};
|
|
|
|
Vector2d negative(void) const
|
|
{
|
|
Vector2d result;
|
|
result.x = -x;
|
|
result.y = -y;
|
|
return result;
|
|
}
|
|
|
|
float magnitude(void) const
|
|
{
|
|
return (float) sqrtf(x * x + y * y );
|
|
}
|
|
|
|
float fastmagnitude(void) const
|
|
{
|
|
return (float) sqrtf(x * x + y * y );
|
|
}
|
|
|
|
float fastermagnitude(void) const
|
|
{
|
|
return (float) sqrtf( x * x + y * y );
|
|
}
|
|
|
|
void Reflection(Vector2d &a,Vector2d &b); // compute reflection vector.
|
|
|
|
float Length(void) const // length of vector.
|
|
{
|
|
return float(sqrtf( x*x + y*y ));
|
|
};
|
|
|
|
float FastLength(void) const // length of vector.
|
|
{
|
|
return float(sqrtf( x*x + y*y ));
|
|
};
|
|
|
|
float FasterLength(void) const // length of vector.
|
|
{
|
|
return float(sqrtf( x*x + y*y ));
|
|
};
|
|
|
|
float Length2(void) // squared distance, prior to square root.
|
|
{
|
|
return x*x+y*y;
|
|
}
|
|
|
|
float Distance(const Vector2d &a) const // distance between two points.
|
|
{
|
|
float dx = a.x - x;
|
|
float dy = a.y - y;
|
|
float d = dx*dx+dy*dy;
|
|
return sqrtf(d);
|
|
};
|
|
|
|
float FastDistance(const Vector2d &a) const // distance between two points.
|
|
{
|
|
float dx = a.x - x;
|
|
float dy = a.y - y;
|
|
float d = dx*dx+dy*dy;
|
|
return sqrtf(d);
|
|
};
|
|
|
|
float FasterDistance(const Vector2d &a) const // distance between two points.
|
|
{
|
|
float dx = a.x - x;
|
|
float dy = a.y - y;
|
|
float d = dx*dx+dy*dy;
|
|
return sqrtf(d);
|
|
};
|
|
|
|
float Distance2(Vector2d &a) // squared distance.
|
|
{
|
|
float dx = a.x - x;
|
|
float dy = a.y - y;
|
|
return dx*dx + dy *dy;
|
|
};
|
|
|
|
void Lerp(const Vector2d& from,const Vector2d& to,float slerp)
|
|
{
|
|
x = ((to.x - from.x)*slerp) + from.x;
|
|
y = ((to.y - from.y)*slerp) + from.y;
|
|
};
|
|
|
|
|
|
void Cross(const Vector2d &a,const Vector2d &b) // cross two vectors result in this one.
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|
{
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|
x = a.y*b.x - a.x*b.y;
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y = a.x*b.x - a.x*b.x;
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|
};
|
|
|
|
float Normalize(void) // normalize to a unit vector, returns distance.
|
|
{
|
|
float l = Length();
|
|
if ( l != 0 )
|
|
{
|
|
l = float( 1 ) / l;
|
|
x*=l;
|
|
y*=l;
|
|
}
|
|
else
|
|
{
|
|
x = y = 0;
|
|
}
|
|
return l;
|
|
};
|
|
|
|
float FastNormalize(void) // normalize to a unit vector, returns distance.
|
|
{
|
|
float l = FastLength();
|
|
if ( l != 0 )
|
|
{
|
|
l = float( 1 ) / l;
|
|
x*=l;
|
|
y*=l;
|
|
}
|
|
else
|
|
{
|
|
x = y = 0;
|
|
}
|
|
return l;
|
|
};
|
|
|
|
float FasterNormalize(void) // normalize to a unit vector, returns distance.
|
|
{
|
|
float l = FasterLength();
|
|
if ( l != 0 )
|
|
{
|
|
l = float( 1 ) / l;
|
|
x*=l;
|
|
y*=l;
|
|
}
|
|
else
|
|
{
|
|
x = y = 0;
|
|
}
|
|
return l;
|
|
};
|
|
|
|
|
|
float x;
|
|
float y;
|
|
};
|
|
|
|
class Line
|
|
{
|
|
public:
|
|
Line(const Vector3d &from,const Vector3d &to)
|
|
{
|
|
mP1 = from;
|
|
mP2 = to;
|
|
};
|
|
// JWR Test for the intersection of two lines.
|
|
|
|
bool Intersect(const Line& src,Vector3d §);
|
|
private:
|
|
Vector3d mP1;
|
|
Vector3d mP2;
|
|
|
|
};
|
|
|
|
|
|
typedef std::vector< Vector3d > Vector3dVector;
|
|
typedef std::vector< Vector2d > Vector2dVector;
|
|
|
|
inline Vector3d operator * (float s, const Vector3d &v )
|
|
{
|
|
Vector3d Scaled(v.x*s, v.y*s, v.z*s);
|
|
return(Scaled);
|
|
}
|
|
|
|
inline Vector2d operator * (float s, const Vector2d &v )
|
|
{
|
|
Vector2d Scaled(v.x*s, v.y*s);
|
|
return(Scaled);
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|