Rocon/include/triangle.h File Reference

#include <cmath>
#include "NVec.h"

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Macros
#define	EPSILON   1e-24
#define	CROSS(dest, v1, v2)
#define	DOT(v1, v2)   (v1[0]*v2[0]+v1[1]*v2[1]+v1[2]*v2[2])
#define	SUB(dest, v1, v2)

Functions
int	intersect_ray_triangle (const Vec3D &RP0, const Vec3D &dir, Vec3D &TV0, Vec3D &TV1, Vec3D &TV2, Vec3D &I)
int	intersect_triangle (double orig[3], double dir[3], double vert0[3], double vert1[3], double vert2[3], double *t, double *u, double *v)
int	intersect_triangle1 (double orig[3], double dir[3], double vert0[3], double vert1[3], double vert2[3], double *t, double *u, double *v)
int	intersect_triangle2 (double orig[3], double dir[3], double vert0[3], double vert1[3], double vert2[3], double *t, double *u, double *v)
int	intersect_triangle3 (double orig[3], double dir[3], double vert0[3], double vert1[3], double vert2[3], double *t, double *u, double *v)
bool	rayIntersectsTriangle (double *p, double *d, double *v0, double *v1, double *v2, Vec3D &I)

Macro Definition Documentation

#define CROSS	(		dest,
			v1,
			v2
	)

Value:

dest[0]=v1[1]*v2[2]-v1[2]*v2[1]; \
          dest[1]=v1[2]*v2[0]-v1[0]*v2[2]; \
          dest[2]=v1[0]*v2[1]-v1[1]*v2[0];

Definition at line 16 of file Rocon/include/triangle.h.

#define DOT	(		v1,
			v2
	)		(v1[0]*v2[0]+v1[1]*v2[1]+v1[2]*v2[2])

Definition at line 20 of file Rocon/include/triangle.h.

#define EPSILON   1e-24

Definition at line 14 of file Rocon/include/triangle.h.

#define SUB	(		dest,
			v1,
			v2
	)

Value:

dest[0]=v1[0]-v2[0]; \
          dest[1]=v1[1]-v2[1]; \
          dest[2]=v1[2]-v2[2];

Definition at line 21 of file Rocon/include/triangle.h.

Function Documentation

int intersect_ray_triangle	(	const Vec3D &	RP0,
		const Vec3D &	dir,
		Vec3D &	TV0,
		Vec3D &	TV1,
		Vec3D &	TV2,
		Vec3D &	I
	)

Definition at line 283 of file Rocon/src/ray-triangle.C.

{
    Vec3D    u, v, n;             // triangle vectors
    Vec3D     w0, w;          // ray vectors
    double    r, a, b;             // params to calc ray-plane intersect

    // get triangle edge vectors and plane normal
    u = TV1 - TV0;
    v = TV2 - TV0;
    n = cross(u,v);             // cross product
    if (n == Vec3D(0,0,0))            // triangle is degenerate
        return 0;                 // do not deal with this case

    //dir = RP1 - RP0;             // ray direction vector
    w0 = RP0 - TV0;
    a = -1.0*(n*w0);
    b = n*dir;
    if (fabs(b) < SMALL_NUM) {     // ray is parallel to triangle plane
      if (a != 0)                // ray lies in triangle plane
                //return 1;
      //else 
                return 0;             // ray disjoint from plane
    }

    // get intersect point of ray with triangle plane
    r = a / b;
    if (r < 0.0)                   // ray goes away from triangle
      return 0;                  // => no intersect
    if (r > 1.0)                   // ray goes away from triangle
      return 0;                                 //change by prateek, 0 instead of 3
    // for a segment, also test if (r > 1.0) => no intersect

    I = RP0 + (r * dir);           // intersect point of ray and plane

    // is I inside T?
    double    uu, uv, vv, wu, wv, D;
    uu = (u*u);
    uv = (u*v);
    vv = (v*v);
    w =  I - TV0;
    wu = w*u;
    wv = w*v;
    D = (uv * uv) -( uu * vv);

    // get and test parametric coords
    double s, t;
    s = (uv * wv - vv * wu) / D;
    if (s < 0.0 || s > 1.0)        // I is outside T
        return 0;
    t = (uv * wu - uu * wv) / D;
    if (t < 0.0 || (s + t) > 1.0)  // I is outside T
        return 0;

    return 1;                      // I is in T
}

int intersect_triangle	(	double	orig[3],
		double	dir[3],
		double	vert0[3],
		double	vert1[3],
		double	vert2[3],
		double *	t,
		double *	u,
		double *	v
	)

Definition at line 344 of file Rocon/src/ray-triangle.C.

Referenced by rayIntersectsTriangle().

{
   double edge1[3], edge2[3], tvec[3], pvec[3], qvec[3];
   double det,inv_det;

   /* find vectors for two edges sharing vert0 */
   SUB(edge1, vert1, vert0);
   SUB(edge2, vert2, vert0);

   /* begin calculating determinant - also used to calculate U parameter */
   CROSS(pvec, dir, edge2);

   /* if determinant is near zero, ray lies in plane of triangle */
   det = DOT(edge1, pvec);

   if (det > -EPSILON && det < EPSILON)
     return 0;
   inv_det = 1.0 / det;

   /* calculate distance from vert0 to ray origin */
   SUB(tvec, orig, vert0);

   /* calculate U parameter and test bounds */
   *u = DOT(tvec, pvec) * inv_det;
   if (*u < 0.0 || *u > 1.0)
     return 0;

   /* prepare to test V parameter */
   CROSS(qvec, tvec, edge1);

   /* calculate V parameter and test bounds */
   *v = DOT(dir, qvec) * inv_det;
   if (*v < 0.0 || *u + *v > 1.0)
     return 0;

   /* calculate t, ray intersects triangle */
   *t = DOT(edge2, qvec) * inv_det;
   
   if(*t<0 || *t>1)
     return 0; //enforce that ray is line segment

   return 1;
}

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int intersect_triangle1	(	double	orig[3],
		double	dir[3],
		double	vert0[3],
		double	vert1[3],
		double	vert2[3],
		double *	t,
		double *	u,
		double *	v
	)

Definition at line 393 of file Rocon/src/ray-triangle.C.

{
   double edge1[3], edge2[3], tvec[3], pvec[3], qvec[3];
   double det,inv_det;

   /* find vectors for two edges sharing vert0 */
   SUB(edge1, vert1, vert0);
   SUB(edge2, vert2, vert0);

   /* begin calculating determinant - also used to calculate U parameter */
   CROSS(pvec, dir, edge2);

   /* if determinant is near zero, ray lies in plane of triangle */
   det = DOT(edge1, pvec);

   if (det > EPSILON)
   {
      /* calculate distance from vert0 to ray origin */
      SUB(tvec, orig, vert0);
      
      /* calculate U parameter and test bounds */
      *u = DOT(tvec, pvec);
      if (*u < 0.0 || *u > det)
         return 0;
      
      /* prepare to test V parameter */
      CROSS(qvec, tvec, edge1);
      
      /* calculate V parameter and test bounds */
      *v = DOT(dir, qvec);
      if (*v < 0.0 || *u + *v > det)
         return 0;
      
   }
   else if(det < -EPSILON)
   {
      /* calculate distance from vert0 to ray origin */
      SUB(tvec, orig, vert0);
      
      /* calculate U parameter and test bounds */
      *u = DOT(tvec, pvec);
/*      printf("*u=%f\n",(double)*u); */
/*      printf("det=%f\n",det); */
      if (*u > 0.0 || *u < det)
         return 0;
      
      /* prepare to test V parameter */
      CROSS(qvec, tvec, edge1);
      
      /* calculate V parameter and test bounds */
      *v = DOT(dir, qvec) ;
      if (*v > 0.0 || *u + *v < det)
         return 0;
   }
   else return 0;  /* ray is parallell to the plane of the triangle */


   inv_det = 1.0 / det;

   /* calculate t, ray intersects triangle */
   *t = DOT(edge2, qvec) * inv_det;
   (*u) *= inv_det;
   (*v) *= inv_det;

   return 1;
}

int intersect_triangle2	(	double	orig[3],
		double	dir[3],
		double	vert0[3],
		double	vert1[3],
		double	vert2[3],
		double *	t,
		double *	u,
		double *	v
	)

Definition at line 464 of file Rocon/src/ray-triangle.C.

{
   double edge1[3], edge2[3], tvec[3], pvec[3], qvec[3];
   double det,inv_det;

   /* find vectors for two edges sharing vert0 */
   SUB(edge1, vert1, vert0);
   SUB(edge2, vert2, vert0);

   /* begin calculating determinant - also used to calculate U parameter */
   CROSS(pvec, dir, edge2);

   /* if determinant is near zero, ray lies in plane of triangle */
   det = DOT(edge1, pvec);

   /* calculate distance from vert0 to ray origin */
   SUB(tvec, orig, vert0);
   inv_det = 1.0 / det;
   
   if (det > EPSILON)
   {
      /* calculate U parameter and test bounds */
      *u = DOT(tvec, pvec);
      if (*u < 0.0 || *u > det)
         return 0;
      
      /* prepare to test V parameter */
      CROSS(qvec, tvec, edge1);
      
      /* calculate V parameter and test bounds */
      *v = DOT(dir, qvec);
      if (*v < 0.0 || *u + *v > det)
         return 0;
      
   }
   else if(det < -EPSILON)
   {
      /* calculate U parameter and test bounds */
      *u = DOT(tvec, pvec);
      if (*u > 0.0 || *u < det)
         return 0;
      
      /* prepare to test V parameter */
      CROSS(qvec, tvec, edge1);
      
      /* calculate V parameter and test bounds */
      *v = DOT(dir, qvec) ;
      if (*v > 0.0 || *u + *v < det)
         return 0;
   }
   else return 0;  /* ray is parallell to the plane of the triangle */

   /* calculate t, ray intersects triangle */
   *t = DOT(edge2, qvec) * inv_det;
   (*u) *= inv_det;
   (*v) *= inv_det;

   return 1;
}

int intersect_triangle3	(	double	orig[3],
		double	dir[3],
		double	vert0[3],
		double	vert1[3],
		double	vert2[3],
		double *	t,
		double *	u,
		double *	v
	)

Definition at line 529 of file Rocon/src/ray-triangle.C.

{
   double edge1[3], edge2[3], tvec[3], pvec[3], qvec[3];
   double det,inv_det;

   /* find vectors for two edges sharing vert0 */
   SUB(edge1, vert1, vert0);
   SUB(edge2, vert2, vert0);

   /* begin calculating determinant - also used to calculate U parameter */
   CROSS(pvec, dir, edge2);

   /* if determinant is near zero, ray lies in plane of triangle */
   det = DOT(edge1, pvec);

   /* calculate distance from vert0 to ray origin */
   SUB(tvec, orig, vert0);
   inv_det = 1.0 / det;
   
   CROSS(qvec, tvec, edge1);
      
   if (det > EPSILON)
   {
      *u = DOT(tvec, pvec);
      if (*u < 0.0 || *u > det)
         return 0;
            
      /* calculate V parameter and test bounds */
      *v = DOT(dir, qvec);
      if (*v < 0.0 || *u + *v > det)
         return 0;
      
   }
   else if(det < -EPSILON)
   {
      /* calculate U parameter and test bounds */
      *u = DOT(tvec, pvec);
      if (*u > 0.0 || *u < det)
         return 0;
      
      /* calculate V parameter and test bounds */
      *v = DOT(dir, qvec) ;
      if (*v > 0.0 || *u + *v < det)
         return 0;
   }
   else return 0;  /* ray is parallell to the plane of the triangle */

   *t = DOT(edge2, qvec) * inv_det;
   (*u) *= inv_det;
   (*v) *= inv_det;

   return 1;
}

bool rayIntersectsTriangle	(	double *	p,
		double *	d,
		double *	v0,
		double *	v1,
		double *	v2,
		Vec3D &	I
	)

Definition at line 586 of file Rocon/src/ray-triangle.C.

Referenced by MeshBndSurf::intersection().

{
        /*Vec3D org(p[0],p[1],p[2]);
        Vec3D dir(d[0],d[1],d[2]);
        Vec3D ver0(v0[0],v0[1],v0[2]);
        Vec3D ver1(v1[0],v1[1],v1[2]);
        Vec3D ver2(v2[0],v2[1],v2[2]);
        int result = intersect_ray_triangle(org,dir,ver0,ver1,ver2,I);*/
        
        /*RAYTRI * input = new RAYTRI;
        for(int i =0;i<3;++i)
        {
                input->org[i] = p[i];
                input->dir[i] = d[i];
                input->v0[i] = v0[i];
                input->v1[i] = v1[i];
                input->v2[i] = v2[i];
                input->end[i] = p[i]+d[i];
        }
        int result = c2005(input);*/
        
        /*double *t,*u,*v;
        t = new double;
        u = new double;
        v = new double;
        *t = *u = *v = 0;
        int result = intersect_triangle(p,d,v0,v1,v2,t,u,v);
        for(int j=0;j<3;j++)
        {
          I[j]=p[j]+ (*t)*d[j];//I[j]=v0[j]+ (*u)*v1[j] + (*v)*v2[j];
        }*/
        
        int result = P_triRay(p,d,v0,v1,v2,I);
        
        if(result)
        {       double *t,*u,*v;
                t = new double;
                u = new double;
                v = new double;
                *t = *u = *v = 0;
                result = intersect_triangle(p,d,v0,v1,v2,t,u,v);
                for(int j=0;j<3;j++)
                {
                  I[j]=p[j]+ (*t)*d[j];
                }
                delete t;
                delete u;
                delete v;
        }
        return result;
}

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