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-rw-r--r--Opcode/OPC_SphereTriOverlap.h374
1 files changed, 187 insertions, 187 deletions
diff --git a/Opcode/OPC_SphereTriOverlap.h b/Opcode/OPC_SphereTriOverlap.h
index 900c2dd..012d9ea 100644
--- a/Opcode/OPC_SphereTriOverlap.h
+++ b/Opcode/OPC_SphereTriOverlap.h
@@ -1,187 +1,187 @@
-
-// This is collision detection. If you do another distance test for collision *response*,
-// if might be useful to simply *skip* the test below completely, and report a collision.
-// - if sphere-triangle overlap, result is ok
-// - if they don't, we'll discard them during collision response with a similar test anyway
-// Overall this approach should run faster.
-
-// Original code by David Eberly in Magic.
-BOOL SphereCollider::SphereTriOverlap(const IcePoint& vert0, const IcePoint& vert1, const IcePoint& vert2)
-{
- // Stats
- mNbVolumePrimTests++;
-
- // Early exit if one of the vertices is inside the sphere
- IcePoint kDiff = vert2 - mCenter;
- float fC = kDiff.SquareMagnitude();
- if(fC <= mRadius2) return TRUE;
-
- kDiff = vert1 - mCenter;
- fC = kDiff.SquareMagnitude();
- if(fC <= mRadius2) return TRUE;
-
- kDiff = vert0 - mCenter;
- fC = kDiff.SquareMagnitude();
- if(fC <= mRadius2) return TRUE;
-
- // Else do the full distance test
- IcePoint TriEdge0 = vert1 - vert0;
- IcePoint TriEdge1 = vert2 - vert0;
-
-//IcePoint kDiff = vert0 - mCenter;
- 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 u = fA01*fB1-fA11*fB0;
- float v = fA01*fB0-fA00*fB1;
- float SqrDist;
-
- if(u + v <= fDet)
- {
- if(u < 0.0f)
- {
- if(v < 0.0f) // region 4
- {
- if(fB0 < 0.0f)
- {
-// v = 0.0f;
- if(-fB0>=fA00) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; }
- else { u = -fB0/fA00; SqrDist = fB0*u+fC; }
- }
- else
- {
-// u = 0.0f;
- if(fB1>=0.0f) { /*v = 0.0f;*/ SqrDist = fC; }
- else if(-fB1>=fA11) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; }
- else { v = -fB1/fA11; SqrDist = fB1*v+fC; }
- }
- }
- else // region 3
- {
-// u = 0.0f;
- if(fB1>=0.0f) { /*v = 0.0f;*/ SqrDist = fC; }
- else if(-fB1>=fA11) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; }
- else { v = -fB1/fA11; SqrDist = fB1*v+fC; }
- }
- }
- else if(v < 0.0f) // region 5
- {
-// v = 0.0f;
- if(fB0>=0.0f) { /*u = 0.0f;*/ SqrDist = fC; }
- else if(-fB0>=fA00) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; }
- else { u = -fB0/fA00; SqrDist = fB0*u+fC; }
- }
- else // region 0
- {
- // minimum at interior IcePoint
- if(fDet==0.0f)
- {
-// u = 0.0f;
-// v = 0.0f;
- SqrDist = MAX_FLOAT;
- }
- else
- {
- float fInvDet = 1.0f/fDet;
- u *= fInvDet;
- v *= fInvDet;
- SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC;
- }
- }
- }
- else
- {
- float fTmp0, fTmp1, fNumer, fDenom;
-
- if(u < 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)
- {
-// u = 1.0f;
-// v = 0.0f;
- SqrDist = fA00+2.0f*fB0+fC;
- }
- else
- {
- u = fNumer/fDenom;
- v = 1.0f - u;
- SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC;
- }
- }
- else
- {
-// u = 0.0f;
- if(fTmp1 <= 0.0f) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; }
- else if(fB1 >= 0.0f) { /*v = 0.0f;*/ SqrDist = fC; }
- else { v = -fB1/fA11; SqrDist = fB1*v+fC; }
- }
- }
- else if(v < 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)
- {
-// v = 1.0f;
-// u = 0.0f;
- SqrDist = fA11+2.0f*fB1+fC;
- }
- else
- {
- v = fNumer/fDenom;
- u = 1.0f - v;
- SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC;
- }
- }
- else
- {
-// v = 0.0f;
- if(fTmp1 <= 0.0f) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; }
- else if(fB0 >= 0.0f) { /*u = 0.0f;*/ SqrDist = fC; }
- else { u = -fB0/fA00; SqrDist = fB0*u+fC; }
- }
- }
- else // region 1
- {
- fNumer = fA11 + fB1 - fA01 - fB0;
- if(fNumer <= 0.0f)
- {
-// u = 0.0f;
-// v = 1.0f;
- SqrDist = fA11+2.0f*fB1+fC;
- }
- else
- {
- fDenom = fA00-2.0f*fA01+fA11;
- if(fNumer >= fDenom)
- {
-// u = 1.0f;
-// v = 0.0f;
- SqrDist = fA00+2.0f*fB0+fC;
- }
- else
- {
- u = fNumer/fDenom;
- v = 1.0f - u;
- SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC;
- }
- }
- }
- }
-
- return fabsf(SqrDist) < mRadius2;
-}
+
+// This is collision detection. If you do another distance test for collision *response*,
+// if might be useful to simply *skip* the test below completely, and report a collision.
+// - if sphere-triangle overlap, result is ok
+// - if they don't, we'll discard them during collision response with a similar test anyway
+// Overall this approach should run faster.
+
+// Original code by David Eberly in Magic.
+BOOL SphereCollider::SphereTriOverlap(const IcePoint& vert0, const IcePoint& vert1, const IcePoint& vert2)
+{
+ // Stats
+ mNbVolumePrimTests++;
+
+ // Early exit if one of the vertices is inside the sphere
+ IcePoint kDiff = vert2 - mCenter;
+ float fC = kDiff.SquareMagnitude();
+ if(fC <= mRadius2) return TRUE;
+
+ kDiff = vert1 - mCenter;
+ fC = kDiff.SquareMagnitude();
+ if(fC <= mRadius2) return TRUE;
+
+ kDiff = vert0 - mCenter;
+ fC = kDiff.SquareMagnitude();
+ if(fC <= mRadius2) return TRUE;
+
+ // Else do the full distance test
+ IcePoint TriEdge0 = vert1 - vert0;
+ IcePoint TriEdge1 = vert2 - vert0;
+
+//IcePoint kDiff = vert0 - mCenter;
+ 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 u = fA01*fB1-fA11*fB0;
+ float v = fA01*fB0-fA00*fB1;
+ float SqrDist;
+
+ if(u + v <= fDet)
+ {
+ if(u < 0.0f)
+ {
+ if(v < 0.0f) // region 4
+ {
+ if(fB0 < 0.0f)
+ {
+// v = 0.0f;
+ if(-fB0>=fA00) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; }
+ else { u = -fB0/fA00; SqrDist = fB0*u+fC; }
+ }
+ else
+ {
+// u = 0.0f;
+ if(fB1>=0.0f) { /*v = 0.0f;*/ SqrDist = fC; }
+ else if(-fB1>=fA11) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; }
+ else { v = -fB1/fA11; SqrDist = fB1*v+fC; }
+ }
+ }
+ else // region 3
+ {
+// u = 0.0f;
+ if(fB1>=0.0f) { /*v = 0.0f;*/ SqrDist = fC; }
+ else if(-fB1>=fA11) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; }
+ else { v = -fB1/fA11; SqrDist = fB1*v+fC; }
+ }
+ }
+ else if(v < 0.0f) // region 5
+ {
+// v = 0.0f;
+ if(fB0>=0.0f) { /*u = 0.0f;*/ SqrDist = fC; }
+ else if(-fB0>=fA00) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; }
+ else { u = -fB0/fA00; SqrDist = fB0*u+fC; }
+ }
+ else // region 0
+ {
+ // minimum at interior IcePoint
+ if(fDet==0.0f)
+ {
+// u = 0.0f;
+// v = 0.0f;
+ SqrDist = MAX_FLOAT;
+ }
+ else
+ {
+ float fInvDet = 1.0f/fDet;
+ u *= fInvDet;
+ v *= fInvDet;
+ SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC;
+ }
+ }
+ }
+ else
+ {
+ float fTmp0, fTmp1, fNumer, fDenom;
+
+ if(u < 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)
+ {
+// u = 1.0f;
+// v = 0.0f;
+ SqrDist = fA00+2.0f*fB0+fC;
+ }
+ else
+ {
+ u = fNumer/fDenom;
+ v = 1.0f - u;
+ SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC;
+ }
+ }
+ else
+ {
+// u = 0.0f;
+ if(fTmp1 <= 0.0f) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; }
+ else if(fB1 >= 0.0f) { /*v = 0.0f;*/ SqrDist = fC; }
+ else { v = -fB1/fA11; SqrDist = fB1*v+fC; }
+ }
+ }
+ else if(v < 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)
+ {
+// v = 1.0f;
+// u = 0.0f;
+ SqrDist = fA11+2.0f*fB1+fC;
+ }
+ else
+ {
+ v = fNumer/fDenom;
+ u = 1.0f - v;
+ SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC;
+ }
+ }
+ else
+ {
+// v = 0.0f;
+ if(fTmp1 <= 0.0f) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; }
+ else if(fB0 >= 0.0f) { /*u = 0.0f;*/ SqrDist = fC; }
+ else { u = -fB0/fA00; SqrDist = fB0*u+fC; }
+ }
+ }
+ else // region 1
+ {
+ fNumer = fA11 + fB1 - fA01 - fB0;
+ if(fNumer <= 0.0f)
+ {
+// u = 0.0f;
+// v = 1.0f;
+ SqrDist = fA11+2.0f*fB1+fC;
+ }
+ else
+ {
+ fDenom = fA00-2.0f*fA01+fA11;
+ if(fNumer >= fDenom)
+ {
+// u = 1.0f;
+// v = 0.0f;
+ SqrDist = fA00+2.0f*fB0+fC;
+ }
+ else
+ {
+ u = fNumer/fDenom;
+ v = 1.0f - u;
+ SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC;
+ }
+ }
+ }
+ }
+
+ return fabsf(SqrDist) < mRadius2;
+}
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