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| ** Copyright (C) 2015 Klaralvdalens Datakonsult AB (KDAB). |
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| |
| #include "triangleboundingvolume_p.h" |
| #include <Qt3DRender/private/qray3d_p.h> |
| |
| QT_BEGIN_NAMESPACE |
| |
| namespace Qt3DRender { |
| |
| namespace Render { |
| |
| // Note: a, b, c in clockwise order |
| // RealTime Collision Detection page 192 |
| bool intersectsSegmentTriangle(const RayCasting::QRay3D &ray, |
| const Vector3D &a, |
| const Vector3D &b, |
| const Vector3D &c, |
| Vector3D &uvw, |
| float &t) |
| { |
| const Vector3D ab = b - a; |
| const Vector3D ac = c - a; |
| const Vector3D qp = (ray.origin() - ray.point(ray.distance())); |
| |
| const Vector3D n = Vector3D::crossProduct(ab, ac); |
| const float d = Vector3D::dotProduct(qp, n); |
| |
| if (d <= 0.0f) |
| return false; |
| |
| const Vector3D ap = ray.origin() - a; |
| t = Vector3D::dotProduct(ap, n); |
| |
| if (t < 0.0f || t > d) |
| return false; |
| |
| const Vector3D e = Vector3D::crossProduct(qp, ap); |
| uvw.setY(Vector3D::dotProduct(ac, e)); |
| |
| if (uvw.y() < 0.0f || uvw.y() > d) |
| return false; |
| |
| uvw.setZ(-Vector3D::dotProduct(ab, e)); |
| |
| if (uvw.z() < 0.0f || uvw.y() + uvw.z() > d) |
| return false; |
| |
| const float ood = 1.0f / d; |
| t *= ood; |
| uvw.setY(uvw.y() * ood); |
| uvw.setZ(uvw.z() * ood); |
| uvw.setX(1.0f - uvw.y() - uvw.z()); |
| |
| return true; |
| } |
| |
| TriangleBoundingVolume::TriangleBoundingVolume() |
| : QBoundingVolume() |
| { |
| } |
| |
| /* |
| The vertices a, b, c are assumed to be in counter clockwise order. |
| */ |
| TriangleBoundingVolume::TriangleBoundingVolume(Qt3DCore::QNodeId id, const Vector3D &a, const Vector3D &b, const Vector3D &c) |
| : QBoundingVolume() |
| , m_id(id) |
| , m_a(a) |
| , m_b(b) |
| , m_c(c) |
| {} |
| |
| Qt3DCore::QNodeId TriangleBoundingVolume::id() const |
| { |
| return m_id; |
| } |
| |
| bool TriangleBoundingVolume::intersects(const RayCasting::QRay3D &ray, Vector3D *q, Vector3D *uvw) const |
| { |
| float t = 0.0f; |
| Vector3D uvwr; |
| const float intersected = intersectsSegmentTriangle(ray, m_c, m_b, m_a, uvwr, t); |
| |
| if (intersected) { |
| if (q != nullptr) |
| *q = ray.point(t); |
| if (uvw != nullptr) |
| *uvw = uvwr; |
| } |
| return intersected; |
| } |
| |
| TriangleBoundingVolume::Type TriangleBoundingVolume::type() const |
| { |
| return RayCasting::QBoundingVolume::Triangle; |
| } |
| |
| Vector3D TriangleBoundingVolume::a() const |
| { |
| return m_a; |
| } |
| |
| Vector3D TriangleBoundingVolume::b() const |
| { |
| return m_b; |
| } |
| |
| Vector3D TriangleBoundingVolume::c() const |
| { |
| return m_c; |
| } |
| |
| void TriangleBoundingVolume::setA(const Vector3D &a) |
| { |
| m_a = a; |
| } |
| |
| void TriangleBoundingVolume::setB(const Vector3D &b) |
| { |
| m_b = b; |
| } |
| |
| void TriangleBoundingVolume::setC(const Vector3D &c) |
| { |
| m_c = c; |
| } |
| |
| TriangleBoundingVolume TriangleBoundingVolume::transformed(const Matrix4x4 &mat) const |
| { |
| const Vector3D tA = mat * m_a; |
| const Vector3D tB = mat * m_b; |
| const Vector3D tC = mat * m_c; |
| return TriangleBoundingVolume(id(), tA, tB, tC); |
| } |
| |
| } // namespace Render |
| |
| } // namespace Qt3DRender |
| |
| QT_END_NAMESPACE |