diff options
Diffstat (limited to 'Opcode/OPC_LSSTriOverlap.h')
| -rw-r--r-- | Opcode/OPC_LSSTriOverlap.h | 679 |
1 files changed, 679 insertions, 0 deletions
diff --git a/Opcode/OPC_LSSTriOverlap.h b/Opcode/OPC_LSSTriOverlap.h new file mode 100644 index 0000000..b60ab88 --- /dev/null +++ b/Opcode/OPC_LSSTriOverlap.h @@ -0,0 +1,679 @@ +// Following code from Magic-Software (http://www.magic-software.com/)
+// A bit modified for Opcode
+
+static const float gs_fTolerance = 1e-05f;
+
+static float OPC_PointTriangleSqrDist(const IcePoint& Point, const IcePoint& p0, const IcePoint& p1, const IcePoint& p2)
+{
+ // Hook
+ IcePoint TriEdge0 = p1 - p0;
+ IcePoint TriEdge1 = p2 - p0;
+
+ IcePoint kDiff = p0 - Point;
+ float fA00 = TriEdge0.SquareMagnitude();
+ float fA01 = TriEdge0 | TriEdge1;
+ float fA11 = TriEdge1.SquareMagnitude();
+ float fB0 = kDiff | TriEdge0;
+ float fB1 = kDiff | TriEdge1;
+ float fC = kDiff.SquareMagnitude();
+ float fDet = fabsf(fA00*fA11 - fA01*fA01);
+ float fS = fA01*fB1-fA11*fB0;
+ float fT = fA01*fB0-fA00*fB1;
+ float fSqrDist;
+
+ if(fS + fT <= fDet)
+ {
+ if(fS < 0.0f)
+ {
+ if(fT < 0.0f) // region 4
+ {
+ if(fB0 < 0.0f)
+ {
+ if(-fB0 >= fA00) fSqrDist = fA00+2.0f*fB0+fC;
+ else fSqrDist = fB0*(-fB0/fA00)+fC;
+ }
+ else
+ {
+ if(fB1 >= 0.0f) fSqrDist = fC;
+ else if(-fB1 >= fA11) fSqrDist = fA11+2.0f*fB1+fC;
+ else fSqrDist = fB1*(-fB1/fA11)+fC;
+ }
+ }
+ else // region 3
+ {
+ if(fB1 >= 0.0f) fSqrDist = fC;
+ else if(-fB1 >= fA11) fSqrDist = fA11+2.0f*fB1+fC;
+ else fSqrDist = fB1*(-fB1/fA11)+fC;
+ }
+ }
+ else if(fT < 0.0f) // region 5
+ {
+ if(fB0 >= 0.0f) fSqrDist = fC;
+ else if(-fB0 >= fA00) fSqrDist = fA00+2.0f*fB0+fC;
+ else fSqrDist = fB0*(-fB0/fA00)+fC;
+ }
+ else // region 0
+ {
+ // minimum at interior IcePoint
+ if(fDet==0.0f)
+ {
+ fSqrDist = MAX_FLOAT;
+ }
+ else
+ {
+ float fInvDet = 1.0f/fDet;
+ fS *= fInvDet;
+ fT *= fInvDet;
+ fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC;
+ }
+ }
+ }
+ else
+ {
+ float fTmp0, fTmp1, fNumer, fDenom;
+
+ if(fS < 0.0f) // region 2
+ {
+ fTmp0 = fA01 + fB0;
+ fTmp1 = fA11 + fB1;
+ if(fTmp1 > fTmp0)
+ {
+ fNumer = fTmp1 - fTmp0;
+ fDenom = fA00-2.0f*fA01+fA11;
+ if(fNumer >= fDenom)
+ {
+ fSqrDist = fA00+2.0f*fB0+fC;
+ }
+ else
+ {
+ fS = fNumer/fDenom;
+ fT = 1.0f - fS;
+ fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC;
+ }
+ }
+ else
+ {
+ if(fTmp1 <= 0.0f) fSqrDist = fA11+2.0f*fB1+fC;
+ else if(fB1 >= 0.0f) fSqrDist = fC;
+ else fSqrDist = fB1*(-fB1/fA11)+fC;
+ }
+ }
+ else if(fT < 0.0f) // region 6
+ {
+ fTmp0 = fA01 + fB1;
+ fTmp1 = fA00 + fB0;
+ if(fTmp1 > fTmp0)
+ {
+ fNumer = fTmp1 - fTmp0;
+ fDenom = fA00-2.0f*fA01+fA11;
+ if(fNumer >= fDenom)
+ {
+ fSqrDist = fA11+2.0f*fB1+fC;
+ }
+ else
+ {
+ fT = fNumer/fDenom;
+ fS = 1.0f - fT;
+ fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC;
+ }
+ }
+ else
+ {
+ if(fTmp1 <= 0.0f) fSqrDist = fA00+2.0f*fB0+fC;
+ else if(fB0 >= 0.0f) fSqrDist = fC;
+ else fSqrDist = fB0*(-fB0/fA00)+fC;
+ }
+ }
+ else // region 1
+ {
+ fNumer = fA11 + fB1 - fA01 - fB0;
+ if(fNumer <= 0.0f)
+ {
+ fSqrDist = fA11+2.0f*fB1+fC;
+ }
+ else
+ {
+ fDenom = fA00-2.0f*fA01+fA11;
+ if(fNumer >= fDenom)
+ {
+ fSqrDist = fA00+2.0f*fB0+fC;
+ }
+ else
+ {
+ fS = fNumer/fDenom;
+ fT = 1.0f - fS;
+ fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC;
+ }
+ }
+ }
+ }
+ return fabsf(fSqrDist);
+}
+
+static float OPC_SegmentSegmentSqrDist(const Segment& rkSeg0, const Segment& rkSeg1)
+{
+ // Hook
+ IcePoint rkSeg0Direction = rkSeg0.ComputeDirection();
+ IcePoint rkSeg1Direction = rkSeg1.ComputeDirection();
+
+ IcePoint kDiff = rkSeg0.mP0 - rkSeg1.mP0;
+ float fA00 = rkSeg0Direction.SquareMagnitude();
+ float fA01 = -rkSeg0Direction.Dot(rkSeg1Direction);
+ float fA11 = rkSeg1Direction.SquareMagnitude();
+ float fB0 = kDiff.Dot(rkSeg0Direction);
+ float fC = kDiff.SquareMagnitude();
+ float fDet = fabsf(fA00*fA11-fA01*fA01);
+
+ float fB1, fS, fT, fSqrDist, fTmp;
+
+ if(fDet>=gs_fTolerance)
+ {
+ // line segments are not parallel
+ fB1 = -kDiff.Dot(rkSeg1Direction);
+ fS = fA01*fB1-fA11*fB0;
+ fT = fA01*fB0-fA00*fB1;
+
+ if(fS >= 0.0f)
+ {
+ if(fS <= fDet)
+ {
+ if(fT >= 0.0f)
+ {
+ if(fT <= fDet) // region 0 (interior)
+ {
+ // minimum at two interior points of 3D lines
+ float fInvDet = 1.0f/fDet;
+ fS *= fInvDet;
+ fT *= fInvDet;
+ fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC;
+ }
+ else // region 3 (side)
+ {
+ fTmp = fA01+fB0;
+ if(fTmp>=0.0f) fSqrDist = fA11+2.0f*fB1+fC;
+ else if(-fTmp>=fA00) fSqrDist = fA00+fA11+fC+2.0f*(fB1+fTmp);
+ else fSqrDist = fTmp*(-fTmp/fA00)+fA11+2.0f*fB1+fC;
+ }
+ }
+ else // region 7 (side)
+ {
+ if(fB0>=0.0f) fSqrDist = fC;
+ else if(-fB0>=fA00) fSqrDist = fA00+2.0f*fB0+fC;
+ else fSqrDist = fB0*(-fB0/fA00)+fC;
+ }
+ }
+ else
+ {
+ if ( fT >= 0.0 )
+ {
+ if ( fT <= fDet ) // region 1 (side)
+ {
+ fTmp = fA01+fB1;
+ if(fTmp>=0.0f) fSqrDist = fA00+2.0f*fB0+fC;
+ else if(-fTmp>=fA11) fSqrDist = fA00+fA11+fC+2.0f*(fB0+fTmp);
+ else fSqrDist = fTmp*(-fTmp/fA11)+fA00+2.0f*fB0+fC;
+ }
+ else // region 2 (corner)
+ {
+ fTmp = fA01+fB0;
+ if ( -fTmp <= fA00 )
+ {
+ if(fTmp>=0.0f) fSqrDist = fA11+2.0f*fB1+fC;
+ else fSqrDist = fTmp*(-fTmp/fA00)+fA11+2.0f*fB1+fC;
+ }
+ else
+ {
+ fTmp = fA01+fB1;
+ if(fTmp>=0.0f) fSqrDist = fA00+2.0f*fB0+fC;
+ else if(-fTmp>=fA11) fSqrDist = fA00+fA11+fC+2.0f*(fB0+fTmp);
+ else fSqrDist = fTmp*(-fTmp/fA11)+fA00+2.0f*fB0+fC;
+ }
+ }
+ }
+ else // region 8 (corner)
+ {
+ if ( -fB0 < fA00 )
+ {
+ if(fB0>=0.0f) fSqrDist = fC;
+ else fSqrDist = fB0*(-fB0/fA00)+fC;
+ }
+ else
+ {
+ fTmp = fA01+fB1;
+ if(fTmp>=0.0f) fSqrDist = fA00+2.0f*fB0+fC;
+ else if(-fTmp>=fA11) fSqrDist = fA00+fA11+fC+2.0f*(fB0+fTmp);
+ else fSqrDist = fTmp*(-fTmp/fA11)+fA00+2.0f*fB0+fC;
+ }
+ }
+ }
+ }
+ else
+ {
+ if ( fT >= 0.0f )
+ {
+ if ( fT <= fDet ) // region 5 (side)
+ {
+ if(fB1>=0.0f) fSqrDist = fC;
+ else if(-fB1>=fA11) fSqrDist = fA11+2.0f*fB1+fC;
+ else fSqrDist = fB1*(-fB1/fA11)+fC;
+ }
+ else // region 4 (corner)
+ {
+ fTmp = fA01+fB0;
+ if ( fTmp < 0.0f )
+ {
+ if(-fTmp>=fA00) fSqrDist = fA00+fA11+fC+2.0f*(fB1+fTmp);
+ else fSqrDist = fTmp*(-fTmp/fA00)+fA11+2.0f*fB1+fC;
+ }
+ else
+ {
+ if(fB1>=0.0f) fSqrDist = fC;
+ else if(-fB1>=fA11) fSqrDist = fA11+2.0f*fB1+fC;
+ else fSqrDist = fB1*(-fB1/fA11)+fC;
+ }
+ }
+ }
+ else // region 6 (corner)
+ {
+ if ( fB0 < 0.0f )
+ {
+ if(-fB0>=fA00) fSqrDist = fA00+2.0f*fB0+fC;
+ else fSqrDist = fB0*(-fB0/fA00)+fC;
+ }
+ else
+ {
+ if(fB1>=0.0f) fSqrDist = fC;
+ else if(-fB1>=fA11) fSqrDist = fA11+2.0f*fB1+fC;
+ else fSqrDist = fB1*(-fB1/fA11)+fC;
+ }
+ }
+ }
+ }
+ else
+ {
+ // line segments are parallel
+ if ( fA01 > 0.0f )
+ {
+ // direction vectors form an obtuse angle
+ if ( fB0 >= 0.0f )
+ {
+ fSqrDist = fC;
+ }
+ else if ( -fB0 <= fA00 )
+ {
+ fSqrDist = fB0*(-fB0/fA00)+fC;
+ }
+ else
+ {
+ fB1 = -kDiff.Dot(rkSeg1Direction);
+ fTmp = fA00+fB0;
+ if ( -fTmp >= fA01 )
+ {
+ fSqrDist = fA00+fA11+fC+2.0f*(fA01+fB0+fB1);
+ }
+ else
+ {
+ fT = -fTmp/fA01;
+ fSqrDist = fA00+2.0f*fB0+fC+fT*(fA11*fT+2.0f*(fA01+fB1));
+ }
+ }
+ }
+ else
+ {
+ // direction vectors form an acute angle
+ if ( -fB0 >= fA00 )
+ {
+ fSqrDist = fA00+2.0f*fB0+fC;
+ }
+ else if ( fB0 <= 0.0f )
+ {
+ fSqrDist = fB0*(-fB0/fA00)+fC;
+ }
+ else
+ {
+ fB1 = -kDiff.Dot(rkSeg1Direction);
+ if ( fB0 >= -fA01 )
+ {
+ fSqrDist = fA11+2.0f*fB1+fC;
+ }
+ else
+ {
+ fT = -fB0/fA01;
+ fSqrDist = fC+fT*(2.0f*fB1+fA11*fT);
+ }
+ }
+ }
+ }
+ return fabsf(fSqrDist);
+}
+
+inline_ float OPC_SegmentRaySqrDist(const Segment& rkSeg0, const Ray& rkSeg1)
+{
+ return OPC_SegmentSegmentSqrDist(rkSeg0, Segment(rkSeg1.mOrig, rkSeg1.mOrig + rkSeg1.mDir));
+}
+
+static float OPC_SegmentTriangleSqrDist(const Segment& segment, const IcePoint& p0, const IcePoint& p1, const IcePoint& p2)
+{
+ // Hook
+ const IcePoint TriEdge0 = p1 - p0;
+ const IcePoint TriEdge1 = p2 - p0;
+
+ const IcePoint& rkSegOrigin = segment.GetOrigin();
+ IcePoint rkSegDirection = segment.ComputeDirection();
+
+ IcePoint kDiff = p0 - rkSegOrigin;
+ float fA00 = rkSegDirection.SquareMagnitude();
+ float fA01 = -rkSegDirection.Dot(TriEdge0);
+ float fA02 = -rkSegDirection.Dot(TriEdge1);
+ float fA11 = TriEdge0.SquareMagnitude();
+ float fA12 = TriEdge0.Dot(TriEdge1);
+ float fA22 = TriEdge1.Dot(TriEdge1);
+ float fB0 = -kDiff.Dot(rkSegDirection);
+ float fB1 = kDiff.Dot(TriEdge0);
+ float fB2 = kDiff.Dot(TriEdge1);
+ float fCof00 = fA11*fA22-fA12*fA12;
+ float fCof01 = fA02*fA12-fA01*fA22;
+ float fCof02 = fA01*fA12-fA02*fA11;
+ float fDet = fA00*fCof00+fA01*fCof01+fA02*fCof02;
+
+ Ray kTriSeg;
+ IcePoint kPt;
+ float fSqrDist, fSqrDist0;
+
+ if(fabsf(fDet)>=gs_fTolerance)
+ {
+ float fCof11 = fA00*fA22-fA02*fA02;
+ float fCof12 = fA02*fA01-fA00*fA12;
+ float fCof22 = fA00*fA11-fA01*fA01;
+ float fInvDet = 1.0f/fDet;
+ float fRhs0 = -fB0*fInvDet;
+ float fRhs1 = -fB1*fInvDet;
+ float fRhs2 = -fB2*fInvDet;
+
+ float fR = fCof00*fRhs0+fCof01*fRhs1+fCof02*fRhs2;
+ float fS = fCof01*fRhs0+fCof11*fRhs1+fCof12*fRhs2;
+ float fT = fCof02*fRhs0+fCof12*fRhs1+fCof22*fRhs2;
+
+ if ( fR < 0.0f )
+ {
+ if ( fS+fT <= 1.0f )
+ {
+ if ( fS < 0.0f )
+ {
+ if ( fT < 0.0f ) // region 4m
+ {
+ // min on face s=0 or t=0 or r=0
+ kTriSeg.mOrig = p0;
+ kTriSeg.mDir = TriEdge1;
+ fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ kTriSeg.mOrig = p0;
+ kTriSeg.mDir = TriEdge0;
+ fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ }
+ else // region 3m
+ {
+ // min on face s=0 or r=0
+ kTriSeg.mOrig = p0;
+ kTriSeg.mDir = TriEdge1;
+ fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ }
+ }
+ else if ( fT < 0.0f ) // region 5m
+ {
+ // min on face t=0 or r=0
+ kTriSeg.mOrig = p0;
+ kTriSeg.mDir = TriEdge0;
+ fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ }
+ else // region 0m
+ {
+ // min on face r=0
+ fSqrDist = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2);
+ }
+ }
+ else
+ {
+ if ( fS < 0.0f ) // region 2m
+ {
+ // min on face s=0 or s+t=1 or r=0
+ kTriSeg.mOrig = p0;
+ kTriSeg.mDir = TriEdge1;
+ fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ kTriSeg.mOrig = p1;
+ kTriSeg.mDir = TriEdge1-TriEdge0;
+ fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ }
+ else if ( fT < 0.0f ) // region 6m
+ {
+ // min on face t=0 or s+t=1 or r=0
+ kTriSeg.mOrig = p0;
+ kTriSeg.mDir = TriEdge0;
+ fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ kTriSeg.mOrig = p1;
+ kTriSeg.mDir = TriEdge1-TriEdge0;
+ fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ }
+ else // region 1m
+ {
+ // min on face s+t=1 or r=0
+ kTriSeg.mOrig = p1;
+ kTriSeg.mDir = TriEdge1-TriEdge0;
+ fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ }
+ }
+ }
+ else if ( fR <= 1.0f )
+ {
+ if ( fS+fT <= 1.0f )
+ {
+ if ( fS < 0.0f )
+ {
+ if ( fT < 0.0f ) // region 4
+ {
+ // min on face s=0 or t=0
+ kTriSeg.mOrig = p0;
+ kTriSeg.mDir = TriEdge1;
+ fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ kTriSeg.mOrig = p0;
+ kTriSeg.mDir = TriEdge0;
+ fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ }
+ else // region 3
+ {
+ // min on face s=0
+ kTriSeg.mOrig = p0;
+ kTriSeg.mDir = TriEdge1;
+ fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ }
+ }
+ else if ( fT < 0.0f ) // region 5
+ {
+ // min on face t=0
+ kTriSeg.mOrig = p0;
+ kTriSeg.mDir = TriEdge0;
+ fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ }
+ else // region 0
+ {
+ // global minimum is interior, done
+ fSqrDist = fR*(fA00*fR+fA01*fS+fA02*fT+2.0f*fB0)
+ +fS*(fA01*fR+fA11*fS+fA12*fT+2.0f*fB1)
+ +fT*(fA02*fR+fA12*fS+fA22*fT+2.0f*fB2)
+ +kDiff.SquareMagnitude();
+ }
+ }
+ else
+ {
+ if ( fS < 0.0f ) // region 2
+ {
+ // min on face s=0 or s+t=1
+ kTriSeg.mOrig = p0;
+ kTriSeg.mDir = TriEdge1;
+ fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ kTriSeg.mOrig = p1;
+ kTriSeg.mDir = TriEdge1-TriEdge0;
+ fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ }
+ else if ( fT < 0.0f ) // region 6
+ {
+ // min on face t=0 or s+t=1
+ kTriSeg.mOrig = p0;
+ kTriSeg.mDir = TriEdge0;
+ fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ kTriSeg.mOrig = p1;
+ kTriSeg.mDir = TriEdge1-TriEdge0;
+ fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ }
+ else // region 1
+ {
+ // min on face s+t=1
+ kTriSeg.mOrig = p1;
+ kTriSeg.mDir = TriEdge1-TriEdge0;
+ fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ }
+ }
+ }
+ else // fR > 1
+ {
+ if ( fS+fT <= 1.0f )
+ {
+ if ( fS < 0.0f )
+ {
+ if ( fT < 0.0f ) // region 4p
+ {
+ // min on face s=0 or t=0 or r=1
+ kTriSeg.mOrig = p0;
+ kTriSeg.mDir = TriEdge1;
+ fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ kTriSeg.mOrig = p0;
+ kTriSeg.mDir = TriEdge0;
+ fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ kPt = rkSegOrigin+rkSegDirection;
+ fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ }
+ else // region 3p
+ {
+ // min on face s=0 or r=1
+ kTriSeg.mOrig = p0;
+ kTriSeg.mDir = TriEdge1;
+ fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ kPt = rkSegOrigin+rkSegDirection;
+ fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ }
+ }
+ else if ( fT < 0.0f ) // region 5p
+ {
+ // min on face t=0 or r=1
+ kTriSeg.mOrig = p0;
+ kTriSeg.mDir = TriEdge0;
+ fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ kPt = rkSegOrigin+rkSegDirection;
+ fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ }
+ else // region 0p
+ {
+ // min face on r=1
+ kPt = rkSegOrigin+rkSegDirection;
+ fSqrDist = OPC_PointTriangleSqrDist(kPt, p0, p1, p2);
+ }
+ }
+ else
+ {
+ if ( fS < 0.0f ) // region 2p
+ {
+ // min on face s=0 or s+t=1 or r=1
+ kTriSeg.mOrig = p0;
+ kTriSeg.mDir = TriEdge1;
+ fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ kTriSeg.mOrig = p1;
+ kTriSeg.mDir = TriEdge1-TriEdge0;
+ fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ kPt = rkSegOrigin+rkSegDirection;
+ fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ }
+ else if ( fT < 0.0f ) // region 6p
+ {
+ // min on face t=0 or s+t=1 or r=1
+ kTriSeg.mOrig = p0;
+ kTriSeg.mDir = TriEdge0;
+ fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ kTriSeg.mOrig = p1;
+ kTriSeg.mDir = TriEdge1-TriEdge0;
+ fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ kPt = rkSegOrigin+rkSegDirection;
+ fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ }
+ else // region 1p
+ {
+ // min on face s+t=1 or r=1
+ kTriSeg.mOrig = p1;
+ kTriSeg.mDir = TriEdge1-TriEdge0;
+ fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ kPt = rkSegOrigin+rkSegDirection;
+ fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ }
+ }
+ }
+ }
+ else
+ {
+ // segment and triangle are parallel
+ kTriSeg.mOrig = p0;
+ kTriSeg.mDir = TriEdge0;
+ fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
+
+ kTriSeg.mDir = TriEdge1;
+ fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+
+ kTriSeg.mOrig = p1;
+ kTriSeg.mDir = TriEdge1 - TriEdge0;
+ fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+
+ fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+
+ kPt = rkSegOrigin+rkSegDirection;
+ fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2);
+ if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
+ }
+ return fabsf(fSqrDist);
+}
+
+inline_ BOOL LSSCollider::LSSTriOverlap(const IcePoint& vert0, const IcePoint& vert1, const IcePoint& vert2)
+{
+ // Stats
+ mNbVolumePrimTests++;
+
+ float s2 = OPC_SegmentTriangleSqrDist(mSeg, vert0, vert1, vert2);
+ if(s2<mRadius2) return TRUE;
+ return FALSE;
+}
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