diff options
Diffstat (limited to 'third-party/Opcode/OPC_LSSTriOverlap.h')
| -rw-r--r-- | third-party/Opcode/OPC_LSSTriOverlap.h | 679 |
1 files changed, 679 insertions, 0 deletions
diff --git a/third-party/Opcode/OPC_LSSTriOverlap.h b/third-party/Opcode/OPC_LSSTriOverlap.h new file mode 100644 index 0000000..9957534 --- /dev/null +++ b/third-party/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 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; +} |