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Diffstat (limited to 'contrib/Opcode/OPC_SphereTriOverlap.h')
| -rw-r--r-- | contrib/Opcode/OPC_SphereTriOverlap.h | 187 |
1 files changed, 0 insertions, 187 deletions
diff --git a/contrib/Opcode/OPC_SphereTriOverlap.h b/contrib/Opcode/OPC_SphereTriOverlap.h deleted file mode 100644 index 012d9ea..0000000 --- a/contrib/Opcode/OPC_SphereTriOverlap.h +++ /dev/null @@ -1,187 +0,0 @@ - -// 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; -} |