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-rw-r--r--contrib/Opcode/OPC_LSSTriOverlap.h679
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diff --git a/contrib/Opcode/OPC_LSSTriOverlap.h b/contrib/Opcode/OPC_LSSTriOverlap.h
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--- a/contrib/Opcode/OPC_LSSTriOverlap.h
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@@ -1,679 +0,0 @@
-// 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 IceSegment& rkSeg0, const IceSegment& 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 IceSegment& rkSeg0, const Ray& rkSeg1)
-{
- return OPC_SegmentSegmentSqrDist(rkSeg0, IceSegment(rkSeg1.mOrig, rkSeg1.mOrig + rkSeg1.mDir));
-}
-
-static float OPC_SegmentTriangleSqrDist(const IceSegment& 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;
-}
generated by cgit v1.1 at 2024-11-16 19:20:43 +0000