// a set of routines that let you do common 3d math // operations without any vector, matrix, or quaternion // classes or templates. // // a vector (or point) is a 'float *' to 3 floating point numbers. // a matrix is a 'float *' to an array of 16 floating point numbers representing a 4x4 transformation matrix compatible with D3D or OGL // a quaternion is a 'float *' to 4 floats representing a quaternion x,y,z,w // namespace FLOAT_MATH { void fm_inverseRT(const REAL matrix[16],const REAL pos[3],REAL t[3]) // inverse rotate translate the point. { REAL _x = pos[0] - matrix[3*4+0]; REAL _y = pos[1] - matrix[3*4+1]; REAL _z = pos[2] - matrix[3*4+2]; // Multiply inverse-translated source vector by inverted rotation transform t[0] = (matrix[0*4+0] * _x) + (matrix[0*4+1] * _y) + (matrix[0*4+2] * _z); t[1] = (matrix[1*4+0] * _x) + (matrix[1*4+1] * _y) + (matrix[1*4+2] * _z); t[2] = (matrix[2*4+0] * _x) + (matrix[2*4+1] * _y) + (matrix[2*4+2] * _z); } REAL fm_getDeterminant(const REAL matrix[16]) { REAL tempv[3]; REAL p0[3]; REAL p1[3]; REAL p2[3]; p0[0] = matrix[0*4+0]; p0[1] = matrix[0*4+1]; p0[2] = matrix[0*4+2]; p1[0] = matrix[1*4+0]; p1[1] = matrix[1*4+1]; p1[2] = matrix[1*4+2]; p2[0] = matrix[2*4+0]; p2[1] = matrix[2*4+1]; p2[2] = matrix[2*4+2]; fm_cross(tempv,p1,p2); return fm_dot(p0,tempv); } REAL fm_squared(REAL x) { return x*x; }; void fm_decomposeTransform(const REAL local_transform[16],REAL trans[3],REAL rot[4],REAL scale[3]) { trans[0] = local_transform[12]; trans[1] = local_transform[13]; trans[2] = local_transform[14]; scale[0] = (REAL)sqrt(fm_squared(local_transform[0*4+0]) + fm_squared(local_transform[0*4+1]) + fm_squared(local_transform[0*4+2])); scale[1] = (REAL)sqrt(fm_squared(local_transform[1*4+0]) + fm_squared(local_transform[1*4+1]) + fm_squared(local_transform[1*4+2])); scale[2] = (REAL)sqrt(fm_squared(local_transform[2*4+0]) + fm_squared(local_transform[2*4+1]) + fm_squared(local_transform[2*4+2])); REAL m[16]; memcpy(m,local_transform,sizeof(REAL)*16); REAL sx = 1.0f / scale[0]; REAL sy = 1.0f / scale[1]; REAL sz = 1.0f / scale[2]; m[0*4+0]*=sx; m[0*4+1]*=sx; m[0*4+2]*=sx; m[1*4+0]*=sy; m[1*4+1]*=sy; m[1*4+2]*=sy; m[2*4+0]*=sz; m[2*4+1]*=sz; m[2*4+2]*=sz; fm_matrixToQuat(m,rot); } void fm_getSubMatrix(int32_t ki,int32_t kj,REAL pDst[16],const REAL matrix[16]) { int32_t row, col; int32_t dstCol = 0, dstRow = 0; for ( col = 0; col < 4; col++ ) { if ( col == kj ) { continue; } for ( dstRow = 0, row = 0; row < 4; row++ ) { if ( row == ki ) { continue; } pDst[dstCol*4+dstRow] = matrix[col*4+row]; dstRow++; } dstCol++; } } void fm_inverseTransform(const REAL matrix[16],REAL inverse_matrix[16]) { REAL determinant = fm_getDeterminant(matrix); determinant = 1.0f / determinant; for (int32_t i = 0; i < 4; i++ ) { for (int32_t j = 0; j < 4; j++ ) { int32_t sign = 1 - ( ( i + j ) % 2 ) * 2; REAL subMat[16]; fm_identity(subMat); fm_getSubMatrix( i, j, subMat, matrix ); REAL subDeterminant = fm_getDeterminant(subMat); inverse_matrix[i*4+j] = ( subDeterminant * sign ) * determinant; } } } void fm_identity(REAL matrix[16]) // set 4x4 matrix to identity. { matrix[0*4+0] = 1; matrix[1*4+1] = 1; matrix[2*4+2] = 1; matrix[3*4+3] = 1; matrix[1*4+0] = 0; matrix[2*4+0] = 0; matrix[3*4+0] = 0; matrix[0*4+1] = 0; matrix[2*4+1] = 0; matrix[3*4+1] = 0; matrix[0*4+2] = 0; matrix[1*4+2] = 0; matrix[3*4+2] = 0; matrix[0*4+3] = 0; matrix[1*4+3] = 0; matrix[2*4+3] = 0; } void fm_quatToEuler(const REAL quat[4],REAL &ax,REAL &ay,REAL &az) { REAL x = quat[0]; REAL y = quat[1]; REAL z = quat[2]; REAL w = quat[3]; REAL sint = (2.0f * w * y) - (2.0f * x * z); REAL cost_temp = 1.0f - (sint * sint); REAL cost = 0; if ( (REAL)fabs(cost_temp) > 0.001f ) { cost = (REAL)sqrt( cost_temp ); } REAL sinv, cosv, sinf, cosf; if ( (REAL)fabs(cost) > 0.001f ) { cost = 1.0f / cost; sinv = ((2.0f * y * z) + (2.0f * w * x)) * cost; cosv = (1.0f - (2.0f * x * x) - (2.0f * y * y)) * cost; sinf = ((2.0f * x * y) + (2.0f * w * z)) * cost; cosf = (1.0f - (2.0f * y * y) - (2.0f * z * z)) * cost; } else { sinv = (2.0f * w * x) - (2.0f * y * z); cosv = 1.0f - (2.0f * x * x) - (2.0f * z * z); sinf = 0; cosf = 1.0f; } // compute output rotations ax = (REAL)atan2( sinv, cosv ); ay = (REAL)atan2( sint, cost ); az = (REAL)atan2( sinf, cosf ); } void fm_eulerToMatrix(REAL ax,REAL ay,REAL az,REAL *matrix) // convert euler (in radians) to a dest 4x4 matrix (translation set to zero) { REAL quat[4]; fm_eulerToQuat(ax,ay,az,quat); fm_quatToMatrix(quat,matrix); } void fm_getAABB(uint32_t vcount,const REAL *points,uint32_t pstride,REAL *bmin,REAL *bmax) { const uint8_t *source = (const uint8_t *) points; bmin[0] = points[0]; bmin[1] = points[1]; bmin[2] = points[2]; bmax[0] = points[0]; bmax[1] = points[1]; bmax[2] = points[2]; for (uint32_t i=1; i bmax[0] ) bmax[0] = p[0]; if ( p[1] > bmax[1] ) bmax[1] = p[1]; if ( p[2] > bmax[2] ) bmax[2] = p[2]; } } void fm_eulerToQuat(const REAL *euler,REAL *quat) // convert euler angles to quaternion. { fm_eulerToQuat(euler[0],euler[1],euler[2],quat); } void fm_eulerToQuat(REAL roll,REAL pitch,REAL yaw,REAL *quat) // convert euler angles to quaternion. { roll *= 0.5f; pitch *= 0.5f; yaw *= 0.5f; REAL cr = (REAL)cos(roll); REAL cp = (REAL)cos(pitch); REAL cy = (REAL)cos(yaw); REAL sr = (REAL)sin(roll); REAL sp = (REAL)sin(pitch); REAL sy = (REAL)sin(yaw); REAL cpcy = cp * cy; REAL spsy = sp * sy; REAL spcy = sp * cy; REAL cpsy = cp * sy; quat[0] = ( sr * cpcy - cr * spsy); quat[1] = ( cr * spcy + sr * cpsy); quat[2] = ( cr * cpsy - sr * spcy); quat[3] = cr * cpcy + sr * spsy; } void fm_quatToMatrix(const REAL *quat,REAL *matrix) // convert quaterinion rotation to matrix, zeros out the translation component. { REAL xx = quat[0]*quat[0]; REAL yy = quat[1]*quat[1]; REAL zz = quat[2]*quat[2]; REAL xy = quat[0]*quat[1]; REAL xz = quat[0]*quat[2]; REAL yz = quat[1]*quat[2]; REAL wx = quat[3]*quat[0]; REAL wy = quat[3]*quat[1]; REAL wz = quat[3]*quat[2]; matrix[0*4+0] = 1 - 2 * ( yy + zz ); matrix[1*4+0] = 2 * ( xy - wz ); matrix[2*4+0] = 2 * ( xz + wy ); matrix[0*4+1] = 2 * ( xy + wz ); matrix[1*4+1] = 1 - 2 * ( xx + zz ); matrix[2*4+1] = 2 * ( yz - wx ); matrix[0*4+2] = 2 * ( xz - wy ); matrix[1*4+2] = 2 * ( yz + wx ); matrix[2*4+2] = 1 - 2 * ( xx + yy ); matrix[3*4+0] = matrix[3*4+1] = matrix[3*4+2] = (REAL) 0.0f; matrix[0*4+3] = matrix[1*4+3] = matrix[2*4+3] = (REAL) 0.0f; matrix[3*4+3] =(REAL) 1.0f; } void fm_quatRotate(const REAL *quat,const REAL *v,REAL *r) // rotate a vector directly by a quaternion. { REAL left[4]; left[0] = quat[3]*v[0] + quat[1]*v[2] - v[1]*quat[2]; left[1] = quat[3]*v[1] + quat[2]*v[0] - v[2]*quat[0]; left[2] = quat[3]*v[2] + quat[0]*v[1] - v[0]*quat[1]; left[3] = - quat[0]*v[0] - quat[1]*v[1] - quat[2]*v[2]; r[0] = (left[3]*-quat[0]) + (quat[3]*left[0]) + (left[1]*-quat[2]) - (-quat[1]*left[2]); r[1] = (left[3]*-quat[1]) + (quat[3]*left[1]) + (left[2]*-quat[0]) - (-quat[2]*left[0]); r[2] = (left[3]*-quat[2]) + (quat[3]*left[2]) + (left[0]*-quat[1]) - (-quat[0]*left[1]); } void fm_getTranslation(const REAL *matrix,REAL *t) { t[0] = matrix[3*4+0]; t[1] = matrix[3*4+1]; t[2] = matrix[3*4+2]; } void fm_matrixToQuat(const REAL *matrix,REAL *quat) // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w { REAL tr = matrix[0*4+0] + matrix[1*4+1] + matrix[2*4+2]; // check the diagonal if (tr > 0.0f ) { REAL s = (REAL) sqrt ( (double) (tr + 1.0f) ); quat[3] = s * 0.5f; s = 0.5f / s; quat[0] = (matrix[1*4+2] - matrix[2*4+1]) * s; quat[1] = (matrix[2*4+0] - matrix[0*4+2]) * s; quat[2] = (matrix[0*4+1] - matrix[1*4+0]) * s; } else { // diagonal is negative int32_t nxt[3] = {1, 2, 0}; REAL qa[4]; int32_t i = 0; if (matrix[1*4+1] > matrix[0*4+0]) i = 1; if (matrix[2*4+2] > matrix[i*4+i]) i = 2; int32_t j = nxt[i]; int32_t k = nxt[j]; REAL s = (REAL)sqrt ( ((matrix[i*4+i] - (matrix[j*4+j] + matrix[k*4+k])) + 1.0f) ); qa[i] = s * 0.5f; if (s != 0.0f ) s = 0.5f / s; qa[3] = (matrix[j*4+k] - matrix[k*4+j]) * s; qa[j] = (matrix[i*4+j] + matrix[j*4+i]) * s; qa[k] = (matrix[i*4+k] + matrix[k*4+i]) * s; quat[0] = qa[0]; quat[1] = qa[1]; quat[2] = qa[2]; quat[3] = qa[3]; } // fm_normalizeQuat(quat); } REAL fm_sphereVolume(REAL radius) // return's the volume of a sphere of this radius (4/3 PI * R cubed ) { return (4.0f / 3.0f ) * FM_PI * radius * radius * radius; } REAL fm_cylinderVolume(REAL radius,REAL h) { return FM_PI * radius * radius *h; } REAL fm_capsuleVolume(REAL radius,REAL h) { REAL volume = fm_sphereVolume(radius); // volume of the sphere portion. REAL ch = h-radius*2; // this is the cylinder length if ( ch > 0 ) { volume+=fm_cylinderVolume(radius,ch); } return volume; } void fm_transform(const REAL matrix[16],const REAL v[3],REAL t[3]) // rotate and translate this point { if ( matrix ) { REAL tx = (matrix[0*4+0] * v[0]) + (matrix[1*4+0] * v[1]) + (matrix[2*4+0] * v[2]) + matrix[3*4+0]; REAL ty = (matrix[0*4+1] * v[0]) + (matrix[1*4+1] * v[1]) + (matrix[2*4+1] * v[2]) + matrix[3*4+1]; REAL tz = (matrix[0*4+2] * v[0]) + (matrix[1*4+2] * v[1]) + (matrix[2*4+2] * v[2]) + matrix[3*4+2]; t[0] = tx; t[1] = ty; t[2] = tz; } else { t[0] = v[0]; t[1] = v[1]; t[2] = v[2]; } } void fm_rotate(const REAL matrix[16],const REAL v[3],REAL t[3]) // rotate and translate this point { if ( matrix ) { REAL tx = (matrix[0*4+0] * v[0]) + (matrix[1*4+0] * v[1]) + (matrix[2*4+0] * v[2]); REAL ty = (matrix[0*4+1] * v[0]) + (matrix[1*4+1] * v[1]) + (matrix[2*4+1] * v[2]); REAL tz = (matrix[0*4+2] * v[0]) + (matrix[1*4+2] * v[1]) + (matrix[2*4+2] * v[2]); t[0] = tx; t[1] = ty; t[2] = tz; } else { t[0] = v[0]; t[1] = v[1]; t[2] = v[2]; } } REAL fm_distance(const REAL *p1,const REAL *p2) { REAL dx = p1[0] - p2[0]; REAL dy = p1[1] - p2[1]; REAL dz = p1[2] - p2[2]; return (REAL)sqrt( dx*dx + dy*dy + dz *dz ); } REAL fm_distanceSquared(const REAL *p1,const REAL *p2) { REAL dx = p1[0] - p2[0]; REAL dy = p1[1] - p2[1]; REAL dz = p1[2] - p2[2]; return dx*dx + dy*dy + dz *dz; } REAL fm_distanceSquaredXZ(const REAL *p1,const REAL *p2) { REAL dx = p1[0] - p2[0]; REAL dz = p1[2] - p2[2]; return dx*dx + dz *dz; } REAL fm_computePlane(const REAL *A,const REAL *B,const REAL *C,REAL *n) // returns D { REAL vx = (B[0] - C[0]); REAL vy = (B[1] - C[1]); REAL vz = (B[2] - C[2]); REAL wx = (A[0] - B[0]); REAL wy = (A[1] - B[1]); REAL wz = (A[2] - B[2]); REAL vw_x = vy * wz - vz * wy; REAL vw_y = vz * wx - vx * wz; REAL vw_z = vx * wy - vy * wx; REAL mag = (REAL)sqrt((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z)); if ( mag < 0.000001f ) { mag = 0; } else { mag = 1.0f/mag; } REAL x = vw_x * mag; REAL y = vw_y * mag; REAL z = vw_z * mag; REAL D = 0.0f - ((x*A[0])+(y*A[1])+(z*A[2])); n[0] = x; n[1] = y; n[2] = z; return D; } REAL fm_distToPlane(const REAL *plane,const REAL *p) // computes the distance of this point from the plane. { return p[0]*plane[0]+p[1]*plane[1]+p[2]*plane[2]+plane[3]; } REAL fm_dot(const REAL *p1,const REAL *p2) { return p1[0]*p2[0]+p1[1]*p2[1]+p1[2]*p2[2]; } void fm_cross(REAL *cross,const REAL *a,const REAL *b) { cross[0] = a[1]*b[2] - a[2]*b[1]; cross[1] = a[2]*b[0] - a[0]*b[2]; cross[2] = a[0]*b[1] - a[1]*b[0]; } REAL fm_computeNormalVector(REAL *n,const REAL *p1,const REAL *p2) { n[0] = p2[0] - p1[0]; n[1] = p2[1] - p1[1]; n[2] = p2[2] - p1[2]; return fm_normalize(n); } bool fm_computeWindingOrder(const REAL *p1,const REAL *p2,const REAL *p3) // returns true if the triangle is clockwise. { bool ret = false; REAL v1[3]; REAL v2[3]; fm_computeNormalVector(v1,p1,p2); // p2-p1 (as vector) and then normalized fm_computeNormalVector(v2,p1,p3); // p3-p1 (as vector) and then normalized REAL cross[3]; fm_cross(cross, v1, v2 ); REAL ref[3] = { 1, 0, 0 }; REAL d = fm_dot( cross, ref ); if ( d <= 0 ) ret = false; else ret = true; return ret; } REAL fm_normalize(REAL *n) // normalize this vector { REAL dist = (REAL)sqrt(n[0]*n[0] + n[1]*n[1] + n[2]*n[2]); if ( dist > 0.0000001f ) { REAL mag = 1.0f / dist; n[0]*=mag; n[1]*=mag; n[2]*=mag; } else { n[0] = 1; n[1] = 0; n[2] = 0; } return dist; } void fm_matrixMultiply(const REAL *pA,const REAL *pB,REAL *pM) { #if 1 REAL a = pA[0*4+0] * pB[0*4+0] + pA[0*4+1] * pB[1*4+0] + pA[0*4+2] * pB[2*4+0] + pA[0*4+3] * pB[3*4+0]; REAL b = pA[0*4+0] * pB[0*4+1] + pA[0*4+1] * pB[1*4+1] + pA[0*4+2] * pB[2*4+1] + pA[0*4+3] * pB[3*4+1]; REAL c = pA[0*4+0] * pB[0*4+2] + pA[0*4+1] * pB[1*4+2] + pA[0*4+2] * pB[2*4+2] + pA[0*4+3] * pB[3*4+2]; REAL d = pA[0*4+0] * pB[0*4+3] + pA[0*4+1] * pB[1*4+3] + pA[0*4+2] * pB[2*4+3] + pA[0*4+3] * pB[3*4+3]; REAL e = pA[1*4+0] * pB[0*4+0] + pA[1*4+1] * pB[1*4+0] + pA[1*4+2] * pB[2*4+0] + pA[1*4+3] * pB[3*4+0]; REAL f = pA[1*4+0] * pB[0*4+1] + pA[1*4+1] * pB[1*4+1] + pA[1*4+2] * pB[2*4+1] + pA[1*4+3] * pB[3*4+1]; REAL g = pA[1*4+0] * pB[0*4+2] + pA[1*4+1] * pB[1*4+2] + pA[1*4+2] * pB[2*4+2] + pA[1*4+3] * pB[3*4+2]; REAL h = pA[1*4+0] * pB[0*4+3] + pA[1*4+1] * pB[1*4+3] + pA[1*4+2] * pB[2*4+3] + pA[1*4+3] * pB[3*4+3]; REAL i = pA[2*4+0] * pB[0*4+0] + pA[2*4+1] * pB[1*4+0] + pA[2*4+2] * pB[2*4+0] + pA[2*4+3] * pB[3*4+0]; REAL j = pA[2*4+0] * pB[0*4+1] + pA[2*4+1] * pB[1*4+1] + pA[2*4+2] * pB[2*4+1] + pA[2*4+3] * pB[3*4+1]; REAL k = pA[2*4+0] * pB[0*4+2] + pA[2*4+1] * pB[1*4+2] + pA[2*4+2] * pB[2*4+2] + pA[2*4+3] * pB[3*4+2]; REAL l = pA[2*4+0] * pB[0*4+3] + pA[2*4+1] * pB[1*4+3] + pA[2*4+2] * pB[2*4+3] + pA[2*4+3] * pB[3*4+3]; REAL m = pA[3*4+0] * pB[0*4+0] + pA[3*4+1] * pB[1*4+0] + pA[3*4+2] * pB[2*4+0] + pA[3*4+3] * pB[3*4+0]; REAL n = pA[3*4+0] * pB[0*4+1] + pA[3*4+1] * pB[1*4+1] + pA[3*4+2] * pB[2*4+1] + pA[3*4+3] * pB[3*4+1]; REAL o = pA[3*4+0] * pB[0*4+2] + pA[3*4+1] * pB[1*4+2] + pA[3*4+2] * pB[2*4+2] + pA[3*4+3] * pB[3*4+2]; REAL p = pA[3*4+0] * pB[0*4+3] + pA[3*4+1] * pB[1*4+3] + pA[3*4+2] * pB[2*4+3] + pA[3*4+3] * pB[3*4+3]; pM[0] = a; pM[1] = b; pM[2] = c; pM[3] = d; pM[4] = e; pM[5] = f; pM[6] = g; pM[7] = h; pM[8] = i; pM[9] = j; pM[10] = k; pM[11] = l; pM[12] = m; pM[13] = n; pM[14] = o; pM[15] = p; #else memset(pM, 0, sizeof(REAL)*16); for(int32_t i=0; i<4; i++ ) for(int32_t j=0; j<4; j++ ) for(int32_t k=0; k<4; k++ ) pM[4*i+j] += pA[4*i+k] * pB[4*k+j]; #endif } void fm_eulerToQuatDX(REAL x,REAL y,REAL z,REAL *quat) // convert euler angles to quaternion using the fucked up DirectX method { REAL matrix[16]; fm_eulerToMatrix(x,y,z,matrix); fm_matrixToQuat(matrix,quat); } // implementation copied from: http://blogs.msdn.com/mikepelton/archive/2004/10/29/249501.aspx void fm_eulerToMatrixDX(REAL x,REAL y,REAL z,REAL *matrix) // convert euler angles to quaternion using the fucked up DirectX method. { fm_identity(matrix); matrix[0*4+0] = (REAL)(cos(z)*cos(y) + sin(z)*sin(x)*sin(y)); matrix[0*4+1] = (REAL)(sin(z)*cos(x)); matrix[0*4+2] = (REAL)(cos(z)*-sin(y) + sin(z)*sin(x)*cos(y)); matrix[1*4+0] = (REAL)(-sin(z)*cos(y)+cos(z)*sin(x)*sin(y)); matrix[1*4+1] = (REAL)(cos(z)*cos(x)); matrix[1*4+2] = (REAL)(sin(z)*sin(y) +cos(z)*sin(x)*cos(y)); matrix[2*4+0] = (REAL)(cos(x)*sin(y)); matrix[2*4+1] = (REAL)(-sin(x)); matrix[2*4+2] = (REAL)(cos(x)*cos(y)); } void fm_scale(REAL x,REAL y,REAL z,REAL *fscale) // apply scale to the matrix. { fscale[0*4+0] = x; fscale[1*4+1] = y; fscale[2*4+2] = z; } void fm_composeTransform(const REAL *position,const REAL *quat,const REAL *scale,REAL *matrix) { fm_identity(matrix); fm_quatToMatrix(quat,matrix); if ( scale && ( scale[0] != 1 || scale[1] != 1 || scale[2] != 1 ) ) { REAL work[16]; memcpy(work,matrix,sizeof(REAL)*16); REAL mscale[16]; fm_identity(mscale); fm_scale(scale[0],scale[1],scale[2],mscale); fm_matrixMultiply(work,mscale,matrix); } matrix[12] = position[0]; matrix[13] = position[1]; matrix[14] = position[2]; } void fm_setTranslation(const REAL *translation,REAL *matrix) { matrix[12] = translation[0]; matrix[13] = translation[1]; matrix[14] = translation[2]; } static REAL enorm0_3d ( REAL x0, REAL y0, REAL z0, REAL x1, REAL y1, REAL z1 ) /**********************************************************************/ /* Purpose: ENORM0_3D computes the Euclidean norm of (P1-P0) in 3D. Modified: 18 April 1999 Author: John Burkardt Parameters: Input, REAL X0, Y0, Z0, X1, Y1, Z1, the coordinates of the points P0 and P1. Output, REAL ENORM0_3D, the Euclidean norm of (P1-P0). */ { REAL value; value = (REAL)sqrt ( ( x1 - x0 ) * ( x1 - x0 ) + ( y1 - y0 ) * ( y1 - y0 ) + ( z1 - z0 ) * ( z1 - z0 ) ); return value; } static REAL triangle_area_3d ( REAL x1, REAL y1, REAL z1, REAL x2,REAL y2, REAL z2, REAL x3, REAL y3, REAL z3 ) /**********************************************************************/ /* Purpose: TRIANGLE_AREA_3D computes the area of a triangle in 3D. Modified: 22 April 1999 Author: John Burkardt Parameters: Input, REAL X1, Y1, Z1, X2, Y2, Z2, X3, Y3, Z3, the (X,Y,Z) coordinates of the corners of the triangle. Output, REAL TRIANGLE_AREA_3D, the area of the triangle. */ { REAL a; REAL alpha; REAL area; REAL b; REAL base; REAL c; REAL dot; REAL height; /* Find the projection of (P3-P1) onto (P2-P1). */ dot = ( x2 - x1 ) * ( x3 - x1 ) + ( y2 - y1 ) * ( y3 - y1 ) + ( z2 - z1 ) * ( z3 - z1 ); base = enorm0_3d ( x1, y1, z1, x2, y2, z2 ); /* The height of the triangle is the length of (P3-P1) after its projection onto (P2-P1) has been subtracted. */ if ( base == 0.0 ) { height = 0.0; } else { alpha = dot / ( base * base ); a = x3 - x1 - alpha * ( x2 - x1 ); b = y3 - y1 - alpha * ( y2 - y1 ); c = z3 - z1 - alpha * ( z2 - z1 ); height = (REAL)sqrt ( a * a + b * b + c * c ); } area = 0.5f * base * height; return area; } REAL fm_computeArea(const REAL *p1,const REAL *p2,const REAL *p3) { REAL ret = 0; ret = triangle_area_3d(p1[0],p1[1],p1[2],p2[0],p2[1],p2[2],p3[0],p3[1],p3[2]); return ret; } void fm_lerp(const REAL *p1,const REAL *p2,REAL *dest,REAL lerpValue) { dest[0] = ((p2[0] - p1[0])*lerpValue) + p1[0]; dest[1] = ((p2[1] - p1[1])*lerpValue) + p1[1]; dest[2] = ((p2[2] - p1[2])*lerpValue) + p1[2]; } bool fm_pointTestXZ(const REAL *p,const REAL *i,const REAL *j) { bool ret = false; if (((( i[2] <= p[2] ) && ( p[2] < j[2] )) || (( j[2] <= p[2] ) && ( p[2] < i[2] ))) && ( p[0] < (j[0] - i[0]) * (p[2] - i[2]) / (j[2] - i[2]) + i[0])) ret = true; return ret; }; bool fm_insideTriangleXZ(const REAL *p,const REAL *p1,const REAL *p2,const REAL *p3) { bool ret = false; int32_t c = 0; if ( fm_pointTestXZ(p,p1,p2) ) c = !c; if ( fm_pointTestXZ(p,p2,p3) ) c = !c; if ( fm_pointTestXZ(p,p3,p1) ) c = !c; if ( c ) ret = true; return ret; } bool fm_insideAABB(const REAL *pos,const REAL *bmin,const REAL *bmax) { bool ret = false; if ( pos[0] >= bmin[0] && pos[0] <= bmax[0] && pos[1] >= bmin[1] && pos[1] <= bmax[1] && pos[2] >= bmin[2] && pos[2] <= bmax[2] ) ret = true; return ret; } uint32_t fm_clipTestPoint(const REAL *bmin,const REAL *bmax,const REAL *pos) { uint32_t ret = 0; if ( pos[0] < bmin[0] ) ret|=FMCS_XMIN; else if ( pos[0] > bmax[0] ) ret|=FMCS_XMAX; if ( pos[1] < bmin[1] ) ret|=FMCS_YMIN; else if ( pos[1] > bmax[1] ) ret|=FMCS_YMAX; if ( pos[2] < bmin[2] ) ret|=FMCS_ZMIN; else if ( pos[2] > bmax[2] ) ret|=FMCS_ZMAX; return ret; } uint32_t fm_clipTestPointXZ(const REAL *bmin,const REAL *bmax,const REAL *pos) // only tests X and Z, not Y { uint32_t ret = 0; if ( pos[0] < bmin[0] ) ret|=FMCS_XMIN; else if ( pos[0] > bmax[0] ) ret|=FMCS_XMAX; if ( pos[2] < bmin[2] ) ret|=FMCS_ZMIN; else if ( pos[2] > bmax[2] ) ret|=FMCS_ZMAX; return ret; } uint32_t fm_clipTestAABB(const REAL *bmin,const REAL *bmax,const REAL *p1,const REAL *p2,const REAL *p3,uint32_t &andCode) { uint32_t orCode = 0; andCode = FMCS_XMIN | FMCS_XMAX | FMCS_YMIN | FMCS_YMAX | FMCS_ZMIN | FMCS_ZMAX; uint32_t c = fm_clipTestPoint(bmin,bmax,p1); orCode|=c; andCode&=c; c = fm_clipTestPoint(bmin,bmax,p2); orCode|=c; andCode&=c; c = fm_clipTestPoint(bmin,bmax,p3); orCode|=c; andCode&=c; return orCode; } bool intersect(const REAL *si,const REAL *ei,const REAL *bmin,const REAL *bmax,REAL *time) { REAL st,et,fst = 0,fet = 1; for (int32_t i = 0; i < 3; i++) { if (*si < *ei) { if (*si > *bmax || *ei < *bmin) return false; REAL di = *ei - *si; st = (*si < *bmin)? (*bmin - *si) / di: 0; et = (*ei > *bmax)? (*bmax - *si) / di: 1; } else { if (*ei > *bmax || *si < *bmin) return false; REAL di = *ei - *si; st = (*si > *bmax)? (*bmax - *si) / di: 0; et = (*ei < *bmin)? (*bmin - *si) / di: 1; } if (st > fst) fst = st; if (et < fet) fet = et; if (fet < fst) return false; bmin++; bmax++; si++; ei++; } *time = fst; return true; } bool fm_lineTestAABB(const REAL *p1,const REAL *p2,const REAL *bmin,const REAL *bmax,REAL &time) { bool sect = intersect(p1,p2,bmin,bmax,&time); return sect; } bool fm_lineTestAABBXZ(const REAL *p1,const REAL *p2,const REAL *bmin,const REAL *bmax,REAL &time) { REAL _bmin[3]; REAL _bmax[3]; _bmin[0] = bmin[0]; _bmin[1] = -1e9; _bmin[2] = bmin[2]; _bmax[0] = bmax[0]; _bmax[1] = 1e9; _bmax[2] = bmax[2]; bool sect = intersect(p1,p2,_bmin,_bmax,&time); return sect; } void fm_minmax(const REAL *p,REAL *bmin,REAL *bmax) // accmulate to a min-max value { if ( p[0] < bmin[0] ) bmin[0] = p[0]; if ( p[1] < bmin[1] ) bmin[1] = p[1]; if ( p[2] < bmin[2] ) bmin[2] = p[2]; if ( p[0] > bmax[0] ) bmax[0] = p[0]; if ( p[1] > bmax[1] ) bmax[1] = p[1]; if ( p[2] > bmax[2] ) bmax[2] = p[2]; } REAL fm_solveX(const REAL *plane,REAL y,REAL z) // solve for X given this plane equation and the other two components. { REAL x = (y*plane[1]+z*plane[2]+plane[3]) / -plane[0]; return x; } REAL fm_solveY(const REAL *plane,REAL x,REAL z) // solve for Y given this plane equation and the other two components. { REAL y = (x*plane[0]+z*plane[2]+plane[3]) / -plane[1]; return y; } REAL fm_solveZ(const REAL *plane,REAL x,REAL y) // solve for Y given this plane equation and the other two components. { REAL z = (x*plane[0]+y*plane[1]+plane[3]) / -plane[2]; return z; } void fm_getAABBCenter(const REAL *bmin,const REAL *bmax,REAL *center) { center[0] = (bmax[0]-bmin[0])*0.5f+bmin[0]; center[1] = (bmax[1]-bmin[1])*0.5f+bmin[1]; center[2] = (bmax[2]-bmin[2])*0.5f+bmin[2]; } FM_Axis fm_getDominantAxis(const REAL normal[3]) { FM_Axis ret = FM_XAXIS; REAL x = (REAL)fabs(normal[0]); REAL y = (REAL)fabs(normal[1]); REAL z = (REAL)fabs(normal[2]); if ( y > x && y > z ) ret = FM_YAXIS; else if ( z > x && z > y ) ret = FM_ZAXIS; return ret; } bool fm_lineSphereIntersect(const REAL *center,REAL radius,const REAL *p1,const REAL *p2,REAL *intersect) { bool ret = false; REAL dir[3]; dir[0] = p2[0]-p1[0]; dir[1] = p2[1]-p1[1]; dir[2] = p2[2]-p1[2]; REAL distance = (REAL)sqrt( dir[0]*dir[0]+dir[1]*dir[1]+dir[2]*dir[2]); if ( distance > 0 ) { REAL recip = 1.0f / distance; dir[0]*=recip; dir[1]*=recip; dir[2]*=recip; ret = fm_raySphereIntersect(center,radius,p1,dir,distance,intersect); } else { dir[0] = center[0]-p1[0]; dir[1] = center[1]-p1[1]; dir[2] = center[2]-p1[2]; REAL d2 = dir[0]*dir[0]+dir[1]*dir[1]+dir[2]*dir[2]; REAL r2 = radius*radius; if ( d2 < r2 ) { ret = true; if ( intersect ) { intersect[0] = p1[0]; intersect[1] = p1[1]; intersect[2] = p1[2]; } } } return ret; } #define DOT(p1,p2) (p1[0]*p2[0]+p1[1]*p2[1]+p1[2]*p2[2]) bool fm_raySphereIntersect(const REAL *center,REAL radius,const REAL *pos,const REAL *dir,REAL distance,REAL *intersect) { bool ret = false; REAL E0[3]; E0[0] = center[0] - pos[0]; E0[1] = center[1] - pos[1]; E0[2] = center[2] - pos[2]; REAL V[3]; V[0] = dir[0]; V[1] = dir[1]; V[2] = dir[2]; REAL dist2 = E0[0]*E0[0] + E0[1]*E0[1] + E0[2] * E0[2]; REAL radius2 = radius*radius; // radius squared.. // Bug Fix For Gem, if origin is *inside* the sphere, invert the // direction vector so that we get a valid intersection location. if ( dist2 < radius2 ) { V[0]*=-1; V[1]*=-1; V[2]*=-1; } REAL v = DOT(E0,V); REAL disc = radius2 - (dist2 - v*v); if (disc > 0.0f) { if ( intersect ) { REAL d = (REAL)sqrt(disc); REAL diff = v-d; if ( diff < distance ) { intersect[0] = pos[0]+V[0]*diff; intersect[1] = pos[1]+V[1]*diff; intersect[2] = pos[2]+V[2]*diff; ret = true; } } } return ret; } void fm_catmullRom(REAL *out_vector,const REAL *p1,const REAL *p2,const REAL *p3,const REAL *p4, const REAL s) { REAL s_squared = s * s; REAL s_cubed = s_squared * s; REAL coefficient_p1 = -s_cubed + 2*s_squared - s; REAL coefficient_p2 = 3 * s_cubed - 5 * s_squared + 2; REAL coefficient_p3 = -3 * s_cubed +4 * s_squared + s; REAL coefficient_p4 = s_cubed - s_squared; out_vector[0] = (coefficient_p1 * p1[0] + coefficient_p2 * p2[0] + coefficient_p3 * p3[0] + coefficient_p4 * p4[0])*0.5f; out_vector[1] = (coefficient_p1 * p1[1] + coefficient_p2 * p2[1] + coefficient_p3 * p3[1] + coefficient_p4 * p4[1])*0.5f; out_vector[2] = (coefficient_p1 * p1[2] + coefficient_p2 * p2[2] + coefficient_p3 * p3[2] + coefficient_p4 * p4[2])*0.5f; } bool fm_intersectAABB(const REAL *bmin1,const REAL *bmax1,const REAL *bmin2,const REAL *bmax2) { if ((bmin1[0] > bmax2[0]) || (bmin2[0] > bmax1[0])) return false; if ((bmin1[1] > bmax2[1]) || (bmin2[1] > bmax1[1])) return false; if ((bmin1[2] > bmax2[2]) || (bmin2[2] > bmax1[2])) return false; return true; } bool fm_insideAABB(const REAL *obmin,const REAL *obmax,const REAL *tbmin,const REAL *tbmax) // test if bounding box tbmin/tmbax is fully inside obmin/obmax { bool ret = false; if ( tbmax[0] <= obmax[0] && tbmax[1] <= obmax[1] && tbmax[2] <= obmax[2] && tbmin[0] >= obmin[0] && tbmin[1] >= obmin[1] && tbmin[2] >= obmin[2] ) ret = true; return ret; } // Reference, from Stan Melax in Game Gems I // Quaternion q; // vector3 c = CrossProduct(v0,v1); // REAL d = DotProduct(v0,v1); // REAL s = (REAL)sqrt((1+d)*2); // q.x = c.x / s; // q.y = c.y / s; // q.z = c.z / s; // q.w = s /2.0f; // return q; void fm_rotationArc(const REAL *v0,const REAL *v1,REAL *quat) { REAL cross[3]; fm_cross(cross,v0,v1); REAL d = fm_dot(v0,v1); if( d<= -0.99999f ) // 180 about x axis { if ( fabsf((float)v0[0]) < 0.1f ) { quat[0] = 0; quat[1] = v0[2]; quat[2] = -v0[1]; quat[3] = 0; } else { quat[0] = v0[1]; quat[1] = -v0[0]; quat[2] = 0; quat[3] = 0; } REAL magnitudeSquared = quat[0]*quat[0] + quat[1]*quat[1] + quat[2]*quat[2] + quat[3]*quat[3]; REAL magnitude = sqrtf((float)magnitudeSquared); REAL recip = 1.0f / magnitude; quat[0]*=recip; quat[1]*=recip; quat[2]*=recip; quat[3]*=recip; } else { REAL s = (REAL)sqrt((1+d)*2); REAL recip = 1.0f / s; quat[0] = cross[0] * recip; quat[1] = cross[1] * recip; quat[2] = cross[2] * recip; quat[3] = s * 0.5f; } } REAL fm_distancePointLineSegment(const REAL *Point,const REAL *LineStart,const REAL *LineEnd,REAL *intersection,LineSegmentType &type,REAL epsilon) { REAL ret; REAL LineMag = fm_distance( LineEnd, LineStart ); if ( LineMag > 0 ) { REAL U = ( ( ( Point[0] - LineStart[0] ) * ( LineEnd[0] - LineStart[0] ) ) + ( ( Point[1] - LineStart[1] ) * ( LineEnd[1] - LineStart[1] ) ) + ( ( Point[2] - LineStart[2] ) * ( LineEnd[2] - LineStart[2] ) ) ) / ( LineMag * LineMag ); if( U < 0.0f || U > 1.0f ) { REAL d1 = fm_distanceSquared(Point,LineStart); REAL d2 = fm_distanceSquared(Point,LineEnd); if ( d1 <= d2 ) { ret = (REAL)sqrt(d1); intersection[0] = LineStart[0]; intersection[1] = LineStart[1]; intersection[2] = LineStart[2]; type = LS_START; } else { ret = (REAL)sqrt(d2); intersection[0] = LineEnd[0]; intersection[1] = LineEnd[1]; intersection[2] = LineEnd[2]; type = LS_END; } } else { intersection[0] = LineStart[0] + U * ( LineEnd[0] - LineStart[0] ); intersection[1] = LineStart[1] + U * ( LineEnd[1] - LineStart[1] ); intersection[2] = LineStart[2] + U * ( LineEnd[2] - LineStart[2] ); ret = fm_distance(Point,intersection); REAL d1 = fm_distanceSquared(intersection,LineStart); REAL d2 = fm_distanceSquared(intersection,LineEnd); REAL mag = (epsilon*2)*(epsilon*2); if ( d1 < mag ) // if less than 1/100th the total distance, treat is as the 'start' { type = LS_START; } else if ( d2 < mag ) { type = LS_END; } else { type = LS_MIDDLE; } } } else { ret = LineMag; intersection[0] = LineEnd[0]; intersection[1] = LineEnd[1]; intersection[2] = LineEnd[2]; type = LS_END; } return ret; } #ifndef BEST_FIT_PLANE_H #define BEST_FIT_PLANE_H template class Eigen { public: void DecrSortEigenStuff(void) { Tridiagonal(); //diagonalize the matrix. QLAlgorithm(); // DecreasingSort(); GuaranteeRotation(); } void Tridiagonal(void) { Type fM00 = mElement[0][0]; Type fM01 = mElement[0][1]; Type fM02 = mElement[0][2]; Type fM11 = mElement[1][1]; Type fM12 = mElement[1][2]; Type fM22 = mElement[2][2]; m_afDiag[0] = fM00; m_afSubd[2] = 0; if (fM02 != (Type)0.0) { Type fLength = (REAL)sqrt(fM01*fM01+fM02*fM02); Type fInvLength = ((Type)1.0)/fLength; fM01 *= fInvLength; fM02 *= fInvLength; Type fQ = ((Type)2.0)*fM01*fM12+fM02*(fM22-fM11); m_afDiag[1] = fM11+fM02*fQ; m_afDiag[2] = fM22-fM02*fQ; m_afSubd[0] = fLength; m_afSubd[1] = fM12-fM01*fQ; mElement[0][0] = (Type)1.0; mElement[0][1] = (Type)0.0; mElement[0][2] = (Type)0.0; mElement[1][0] = (Type)0.0; mElement[1][1] = fM01; mElement[1][2] = fM02; mElement[2][0] = (Type)0.0; mElement[2][1] = fM02; mElement[2][2] = -fM01; m_bIsRotation = false; } else { m_afDiag[1] = fM11; m_afDiag[2] = fM22; m_afSubd[0] = fM01; m_afSubd[1] = fM12; mElement[0][0] = (Type)1.0; mElement[0][1] = (Type)0.0; mElement[0][2] = (Type)0.0; mElement[1][0] = (Type)0.0; mElement[1][1] = (Type)1.0; mElement[1][2] = (Type)0.0; mElement[2][0] = (Type)0.0; mElement[2][1] = (Type)0.0; mElement[2][2] = (Type)1.0; m_bIsRotation = true; } } bool QLAlgorithm(void) { const int32_t iMaxIter = 32; for (int32_t i0 = 0; i0 <3; i0++) { int32_t i1; for (i1 = 0; i1 < iMaxIter; i1++) { int32_t i2; for (i2 = i0; i2 <= (3-2); i2++) { Type fTmp = fabs(m_afDiag[i2]) + fabs(m_afDiag[i2+1]); if ( fabs(m_afSubd[i2]) + fTmp == fTmp ) break; } if (i2 == i0) { break; } Type fG = (m_afDiag[i0+1] - m_afDiag[i0])/(((Type)2.0) * m_afSubd[i0]); Type fR = (REAL)sqrt(fG*fG+(Type)1.0); if (fG < (Type)0.0) { fG = m_afDiag[i2]-m_afDiag[i0]+m_afSubd[i0]/(fG-fR); } else { fG = m_afDiag[i2]-m_afDiag[i0]+m_afSubd[i0]/(fG+fR); } Type fSin = (Type)1.0, fCos = (Type)1.0, fP = (Type)0.0; for (int32_t i3 = i2-1; i3 >= i0; i3--) { Type fF = fSin*m_afSubd[i3]; Type fB = fCos*m_afSubd[i3]; if (fabs(fF) >= fabs(fG)) { fCos = fG/fF; fR = (REAL)sqrt(fCos*fCos+(Type)1.0); m_afSubd[i3+1] = fF*fR; fSin = ((Type)1.0)/fR; fCos *= fSin; } else { fSin = fF/fG; fR = (REAL)sqrt(fSin*fSin+(Type)1.0); m_afSubd[i3+1] = fG*fR; fCos = ((Type)1.0)/fR; fSin *= fCos; } fG = m_afDiag[i3+1]-fP; fR = (m_afDiag[i3]-fG)*fSin+((Type)2.0)*fB*fCos; fP = fSin*fR; m_afDiag[i3+1] = fG+fP; fG = fCos*fR-fB; for (int32_t i4 = 0; i4 < 3; i4++) { fF = mElement[i4][i3+1]; mElement[i4][i3+1] = fSin*mElement[i4][i3]+fCos*fF; mElement[i4][i3] = fCos*mElement[i4][i3]-fSin*fF; } } m_afDiag[i0] -= fP; m_afSubd[i0] = fG; m_afSubd[i2] = (Type)0.0; } if (i1 == iMaxIter) { return false; } } return true; } void DecreasingSort(void) { //sort eigenvalues in decreasing order, e[0] >= ... >= e[iSize-1] for (int32_t i0 = 0, i1; i0 <= 3-2; i0++) { // locate maximum eigenvalue i1 = i0; Type fMax = m_afDiag[i1]; int32_t i2; for (i2 = i0+1; i2 < 3; i2++) { if (m_afDiag[i2] > fMax) { i1 = i2; fMax = m_afDiag[i1]; } } if (i1 != i0) { // swap eigenvalues m_afDiag[i1] = m_afDiag[i0]; m_afDiag[i0] = fMax; // swap eigenvectors for (i2 = 0; i2 < 3; i2++) { Type fTmp = mElement[i2][i0]; mElement[i2][i0] = mElement[i2][i1]; mElement[i2][i1] = fTmp; m_bIsRotation = !m_bIsRotation; } } } } void GuaranteeRotation(void) { if (!m_bIsRotation) { // change sign on the first column for (int32_t iRow = 0; iRow <3; iRow++) { mElement[iRow][0] = -mElement[iRow][0]; } } } Type mElement[3][3]; Type m_afDiag[3]; Type m_afSubd[3]; bool m_bIsRotation; }; #endif bool fm_computeBestFitPlane(uint32_t vcount, const REAL *points, uint32_t vstride, const REAL *weights, uint32_t wstride, REAL *plane, REAL *center) { bool ret = false; REAL kOrigin[3] = { 0, 0, 0 }; REAL wtotal = 0; { const char *source = (const char *) points; const char *wsource = (const char *) weights; for (uint32_t i=0; i kES; kES.mElement[0][0] = fSumXX; kES.mElement[0][1] = fSumXY; kES.mElement[0][2] = fSumXZ; kES.mElement[1][0] = fSumXY; kES.mElement[1][1] = fSumYY; kES.mElement[1][2] = fSumYZ; kES.mElement[2][0] = fSumXZ; kES.mElement[2][1] = fSumYZ; kES.mElement[2][2] = fSumZZ; // compute eigenstuff, smallest eigenvalue is in last position kES.DecrSortEigenStuff(); REAL kNormal[3]; kNormal[0] = kES.mElement[0][2]; kNormal[1] = kES.mElement[1][2]; kNormal[2] = kES.mElement[2][2]; // the minimum energy plane[0] = kNormal[0]; plane[1] = kNormal[1]; plane[2] = kNormal[2]; plane[3] = 0 - fm_dot(kNormal,kOrigin); ret = true; return ret; } bool fm_colinear(const REAL a1[3],const REAL a2[3],const REAL b1[3],const REAL b2[3],REAL epsilon) // true if these two line segments are co-linear. { bool ret = false; REAL dir1[3]; REAL dir2[3]; dir1[0] = (a2[0] - a1[0]); dir1[1] = (a2[1] - a1[1]); dir1[2] = (a2[2] - a1[2]); dir2[0] = (b2[0]-a1[0]) - (b1[0]-a1[0]); dir2[1] = (b2[1]-a1[1]) - (b1[1]-a1[1]); dir2[2] = (b2[2]-a2[2]) - (b1[2]-a2[2]); fm_normalize(dir1); fm_normalize(dir2); REAL dot = fm_dot(dir1,dir2); if ( dot >= epsilon ) { ret = true; } return ret; } bool fm_colinear(const REAL *p1,const REAL *p2,const REAL *p3,REAL epsilon) { bool ret = false; REAL dir1[3]; REAL dir2[3]; dir1[0] = p2[0] - p1[0]; dir1[1] = p2[1] - p1[1]; dir1[2] = p2[2] - p1[2]; dir2[0] = p3[0] - p2[0]; dir2[1] = p3[1] - p2[1]; dir2[2] = p3[2] - p2[2]; fm_normalize(dir1); fm_normalize(dir2); REAL dot = fm_dot(dir1,dir2); if ( dot >= epsilon ) { ret = true; } return ret; } void fm_initMinMax(const REAL *p,REAL *bmin,REAL *bmax) { bmax[0] = bmin[0] = p[0]; bmax[1] = bmin[1] = p[1]; bmax[2] = bmin[2] = p[2]; } IntersectResult fm_intersectLineSegments2d(const REAL *a1,const REAL *a2,const REAL *b1,const REAL *b2,REAL *intersection) { IntersectResult ret; REAL denom = ((b2[1] - b1[1])*(a2[0] - a1[0])) - ((b2[0] - b1[0])*(a2[1] - a1[1])); REAL nume_a = ((b2[0] - b1[0])*(a1[1] - b1[1])) - ((b2[1] - b1[1])*(a1[0] - b1[0])); REAL nume_b = ((a2[0] - a1[0])*(a1[1] - b1[1])) - ((a2[1] - a1[1])*(a1[0] - b1[0])); if (denom == 0 ) { if(nume_a == 0 && nume_b == 0) { ret = IR_COINCIDENT; } else { ret = IR_PARALLEL; } } else { REAL recip = 1 / denom; REAL ua = nume_a * recip; REAL ub = nume_b * recip; if(ua >= 0 && ua <= 1 && ub >= 0 && ub <= 1 ) { // Get the intersection point. intersection[0] = a1[0] + ua*(a2[0] - a1[0]); intersection[1] = a1[1] + ua*(a2[1] - a1[1]); ret = IR_DO_INTERSECT; } else { ret = IR_DONT_INTERSECT; } } return ret; } IntersectResult fm_intersectLineSegments2dTime(const REAL *a1,const REAL *a2,const REAL *b1,const REAL *b2,REAL &t1,REAL &t2) { IntersectResult ret; REAL denom = ((b2[1] - b1[1])*(a2[0] - a1[0])) - ((b2[0] - b1[0])*(a2[1] - a1[1])); REAL nume_a = ((b2[0] - b1[0])*(a1[1] - b1[1])) - ((b2[1] - b1[1])*(a1[0] - b1[0])); REAL nume_b = ((a2[0] - a1[0])*(a1[1] - b1[1])) - ((a2[1] - a1[1])*(a1[0] - b1[0])); if (denom == 0 ) { if(nume_a == 0 && nume_b == 0) { ret = IR_COINCIDENT; } else { ret = IR_PARALLEL; } } else { REAL recip = 1 / denom; REAL ua = nume_a * recip; REAL ub = nume_b * recip; if(ua >= 0 && ua <= 1 && ub >= 0 && ub <= 1 ) { t1 = ua; t2 = ub; ret = IR_DO_INTERSECT; } else { ret = IR_DONT_INTERSECT; } } return ret; } //**** Plane Triangle Intersection // assumes that the points are on opposite sides of the plane! bool fm_intersectPointPlane(const REAL *p1,const REAL *p2,REAL *split,const REAL *plane) { REAL dp1 = fm_distToPlane(plane,p1); REAL dp2 = fm_distToPlane(plane, p2); if (dp1 <= 0 && dp2 <= 0) { return false; } if (dp1 >= 0 && dp2 >= 0) { return false; } REAL dir[3]; dir[0] = p2[0] - p1[0]; dir[1] = p2[1] - p1[1]; dir[2] = p2[2] - p1[2]; REAL dot1 = dir[0]*plane[0] + dir[1]*plane[1] + dir[2]*plane[2]; REAL dot2 = dp1 - plane[3]; REAL t = -(plane[3] + dot2 ) / dot1; split[0] = (dir[0]*t)+p1[0]; split[1] = (dir[1]*t)+p1[1]; split[2] = (dir[2]*t)+p1[2]; return true; } PlaneTriResult fm_getSidePlane(const REAL *p,const REAL *plane,REAL epsilon) { PlaneTriResult ret = PTR_ON_PLANE; REAL d = fm_distToPlane(plane,p); if ( d < -epsilon || d > epsilon ) { if ( d > 0 ) ret = PTR_FRONT; // it is 'in front' within the provided epsilon value. else ret = PTR_BACK; } return ret; } #ifndef PLANE_TRIANGLE_INTERSECTION_H #define PLANE_TRIANGLE_INTERSECTION_H #define MAXPTS 256 template class point { public: void set(const Type *p) { x = p[0]; y = p[1]; z = p[2]; } Type x; Type y; Type z; }; template class plane { public: plane(const Type *p) { normal.x = p[0]; normal.y = p[1]; normal.z = p[2]; D = p[3]; } Type Classify_Point(const point &p) { return p.x*normal.x + p.y*normal.y + p.z*normal.z + D; } point normal; Type D; }; template class polygon { public: polygon(void) { mVcount = 0; } polygon(const Type *p1,const Type *p2,const Type *p3) { mVcount = 3; mVertices[0].set(p1); mVertices[1].set(p2); mVertices[2].set(p3); } int32_t NumVertices(void) const { return mVcount; }; const point& Vertex(int32_t index) { if ( index < 0 ) index+=mVcount; return mVertices[index]; }; void set(const point *pts,int32_t count) { for (int32_t i=0; i *poly,plane *part, polygon &front, polygon &back) { int32_t count = poly->NumVertices (); int32_t out_c = 0, in_c = 0; point ptA, ptB,outpts[MAXPTS],inpts[MAXPTS]; Type sideA, sideB; ptA = poly->Vertex (count - 1); sideA = part->Classify_Point (ptA); for (int32_t i = -1; ++i < count;) { ptB = poly->Vertex(i); sideB = part->Classify_Point(ptB); if (sideB > 0) { if (sideA < 0) { point v; fm_intersectPointPlane(&ptB.x, &ptA.x, &v.x, &part->normal.x ); outpts[out_c++] = inpts[in_c++] = v; } outpts[out_c++] = ptB; } else if (sideB < 0) { if (sideA > 0) { point v; fm_intersectPointPlane(&ptB.x, &ptA.x, &v.x, &part->normal.x ); outpts[out_c++] = inpts[in_c++] = v; } inpts[in_c++] = ptB; } else outpts[out_c++] = inpts[in_c++] = ptB; ptA = ptB; sideA = sideB; } front.set(&outpts[0], out_c); back.set(&inpts[0], in_c); } int32_t mVcount; point mVertices[MAXPTS]; }; #endif static inline void add(const REAL *p,REAL *dest,uint32_t tstride,uint32_t &pcount) { char *d = (char *) dest; d = d + pcount*tstride; dest = (REAL *) d; dest[0] = p[0]; dest[1] = p[1]; dest[2] = p[2]; pcount++; assert( pcount <= 4 ); } PlaneTriResult fm_planeTriIntersection(const REAL *_plane, // the plane equation in Ax+By+Cz+D format const REAL *triangle, // the source triangle. uint32_t tstride, // stride in bytes of the input and output *vertices* REAL epsilon, // the co-planar epsilon value. REAL *front, // the triangle in front of the uint32_t &fcount, // number of vertices in the 'front' triangle REAL *back, // the triangle in back of the plane uint32_t &bcount) // the number of vertices in the 'back' triangle. { fcount = 0; bcount = 0; const char *tsource = (const char *) triangle; // get the three vertices of the triangle. const REAL *p1 = (const REAL *) (tsource); const REAL *p2 = (const REAL *) (tsource+tstride); const REAL *p3 = (const REAL *) (tsource+tstride*2); PlaneTriResult r1 = fm_getSidePlane(p1,_plane,epsilon); // compute the side of the plane each vertex is on PlaneTriResult r2 = fm_getSidePlane(p2,_plane,epsilon); PlaneTriResult r3 = fm_getSidePlane(p3,_plane,epsilon); // If any of the points lay right *on* the plane.... if ( r1 == PTR_ON_PLANE || r2 == PTR_ON_PLANE || r3 == PTR_ON_PLANE ) { // If the triangle is completely co-planar, then just treat it as 'front' and return! if ( r1 == PTR_ON_PLANE && r2 == PTR_ON_PLANE && r3 == PTR_ON_PLANE ) { add(p1,front,tstride,fcount); add(p2,front,tstride,fcount); add(p3,front,tstride,fcount); return PTR_FRONT; } // Decide to place the co-planar points on the same side as the co-planar point. PlaneTriResult r= PTR_ON_PLANE; if ( r1 != PTR_ON_PLANE ) r = r1; else if ( r2 != PTR_ON_PLANE ) r = r2; else if ( r3 != PTR_ON_PLANE ) r = r3; if ( r1 == PTR_ON_PLANE ) r1 = r; if ( r2 == PTR_ON_PLANE ) r2 = r; if ( r3 == PTR_ON_PLANE ) r3 = r; } if ( r1 == r2 && r1 == r3 ) // if all three vertices are on the same side of the plane. { if ( r1 == PTR_FRONT ) // if all three are in front of the plane, then copy to the 'front' output triangle. { add(p1,front,tstride,fcount); add(p2,front,tstride,fcount); add(p3,front,tstride,fcount); } else { add(p1,back,tstride,bcount); // if all three are in 'back' then copy to the 'back' output triangle. add(p2,back,tstride,bcount); add(p3,back,tstride,bcount); } return r1; // if all three points are on the same side of the plane return result } polygon pi(p1,p2,p3); polygon pfront,pback; plane part(_plane); pi.Split_Polygon(&pi,&part,pfront,pback); for (int32_t i=0; i bmax[0] ) bmax[0] = t[0]; if ( t[1] > bmax[1] ) bmax[1] = t[1]; if ( t[2] > bmax[2] ) bmax[2] = t[2]; src+=pstride; } REAL center[3]; sides[0] = bmax[0]-bmin[0]; sides[1] = bmax[1]-bmin[1]; sides[2] = bmax[2]-bmin[2]; center[0] = sides[0]*0.5f+bmin[0]; center[1] = sides[1]*0.5f+bmin[1]; center[2] = sides[2]*0.5f+bmin[2]; REAL ocenter[3]; fm_rotate(matrix,center,ocenter); matrix[12]+=ocenter[0]; matrix[13]+=ocenter[1]; matrix[14]+=ocenter[2]; } void fm_computeBestFitOBB(uint32_t vcount,const REAL *points,uint32_t pstride,REAL *sides,REAL *matrix,bool bruteForce) { REAL plane[4]; REAL center[3]; fm_computeBestFitPlane(vcount,points,pstride,0,0,plane,center); fm_planeToMatrix(plane,matrix); computeOBB( vcount, points, pstride, sides, matrix ); REAL refmatrix[16]; memcpy(refmatrix,matrix,16*sizeof(REAL)); REAL volume = sides[0]*sides[1]*sides[2]; if ( bruteForce ) { for (REAL a=10; a<180; a+=10) { REAL quat[4]; fm_eulerToQuat(0,a*FM_DEG_TO_RAD,0,quat); REAL temp[16]; REAL pmatrix[16]; fm_quatToMatrix(quat,temp); fm_matrixMultiply(temp,refmatrix,pmatrix); REAL psides[3]; computeOBB( vcount, points, pstride, psides, pmatrix ); REAL v = psides[0]*psides[1]*psides[2]; if ( v < volume ) { volume = v; memcpy(matrix,pmatrix,sizeof(REAL)*16); sides[0] = psides[0]; sides[1] = psides[1]; sides[2] = psides[2]; } } } } void fm_computeBestFitOBB(uint32_t vcount,const REAL *points,uint32_t pstride,REAL *sides,REAL *pos,REAL *quat,bool bruteForce) { REAL matrix[16]; fm_computeBestFitOBB(vcount,points,pstride,sides,matrix,bruteForce); fm_getTranslation(matrix,pos); fm_matrixToQuat(matrix,quat); } void fm_computeBestFitABB(uint32_t vcount,const REAL *points,uint32_t pstride,REAL *sides,REAL *pos) { REAL bmin[3]; REAL bmax[3]; bmin[0] = points[0]; bmin[1] = points[1]; bmin[2] = points[2]; bmax[0] = points[0]; bmax[1] = points[1]; bmax[2] = points[2]; const char *cp = (const char *) points; for (uint32_t i=0; i bmax[0] ) bmax[0] = p[0]; if ( p[1] > bmax[1] ) bmax[1] = p[1]; if ( p[2] > bmax[2] ) bmax[2] = p[2]; cp+=pstride; } sides[0] = bmax[0] - bmin[0]; sides[1] = bmax[1] - bmin[1]; sides[2] = bmax[2] - bmin[2]; pos[0] = bmin[0]+sides[0]*0.5f; pos[1] = bmin[1]+sides[1]*0.5f; pos[2] = bmin[2]+sides[2]*0.5f; } void fm_planeToMatrix(const REAL *plane,REAL *matrix) // convert a plane equation to a 4x4 rotation matrix { REAL ref[3] = { 0, 1, 0 }; REAL quat[4]; fm_rotationArc(ref,plane,quat); fm_quatToMatrix(quat,matrix); REAL origin[3] = { 0, -plane[3], 0 }; REAL center[3]; fm_transform(matrix,origin,center); fm_setTranslation(center,matrix); } void fm_planeToQuat(const REAL *plane,REAL *quat,REAL *pos) // convert a plane equation to a quaternion and translation { REAL ref[3] = { 0, 1, 0 }; REAL matrix[16]; fm_rotationArc(ref,plane,quat); fm_quatToMatrix(quat,matrix); REAL origin[3] = { 0, plane[3], 0 }; fm_transform(matrix,origin,pos); } void fm_eulerMatrix(REAL ax,REAL ay,REAL az,REAL *matrix) // convert euler (in radians) to a dest 4x4 matrix (translation set to zero) { REAL quat[4]; fm_eulerToQuat(ax,ay,az,quat); fm_quatToMatrix(quat,matrix); } //********************************************************** //********************************************************** //**** Vertex Welding //********************************************************** //********************************************************** #ifndef VERTEX_INDEX_H #define VERTEX_INDEX_H namespace VERTEX_INDEX { class KdTreeNode; typedef std::vector< KdTreeNode * > KdTreeNodeVector; enum Axes { X_AXIS = 0, Y_AXIS = 1, Z_AXIS = 2 }; class KdTreeFindNode { public: KdTreeFindNode(void) { mNode = 0; mDistance = 0; } KdTreeNode *mNode; double mDistance; }; class KdTreeInterface { public: virtual const double * getPositionDouble(uint32_t index) const = 0; virtual const float * getPositionFloat(uint32_t index) const = 0; }; class KdTreeNode { public: KdTreeNode(void) { mIndex = 0; mLeft = 0; mRight = 0; } KdTreeNode(uint32_t index) { mIndex = index; mLeft = 0; mRight = 0; }; ~KdTreeNode(void) { } void addDouble(KdTreeNode *node,Axes dim,const KdTreeInterface *iface) { const double *nodePosition = iface->getPositionDouble( node->mIndex ); const double *position = iface->getPositionDouble( mIndex ); switch ( dim ) { case X_AXIS: if ( nodePosition[0] <= position[0] ) { if ( mLeft ) mLeft->addDouble(node,Y_AXIS,iface); else mLeft = node; } else { if ( mRight ) mRight->addDouble(node,Y_AXIS,iface); else mRight = node; } break; case Y_AXIS: if ( nodePosition[1] <= position[1] ) { if ( mLeft ) mLeft->addDouble(node,Z_AXIS,iface); else mLeft = node; } else { if ( mRight ) mRight->addDouble(node,Z_AXIS,iface); else mRight = node; } break; case Z_AXIS: if ( nodePosition[2] <= position[2] ) { if ( mLeft ) mLeft->addDouble(node,X_AXIS,iface); else mLeft = node; } else { if ( mRight ) mRight->addDouble(node,X_AXIS,iface); else mRight = node; } break; } } void addFloat(KdTreeNode *node,Axes dim,const KdTreeInterface *iface) { const float *nodePosition = iface->getPositionFloat( node->mIndex ); const float *position = iface->getPositionFloat( mIndex ); switch ( dim ) { case X_AXIS: if ( nodePosition[0] <= position[0] ) { if ( mLeft ) mLeft->addFloat(node,Y_AXIS,iface); else mLeft = node; } else { if ( mRight ) mRight->addFloat(node,Y_AXIS,iface); else mRight = node; } break; case Y_AXIS: if ( nodePosition[1] <= position[1] ) { if ( mLeft ) mLeft->addFloat(node,Z_AXIS,iface); else mLeft = node; } else { if ( mRight ) mRight->addFloat(node,Z_AXIS,iface); else mRight = node; } break; case Z_AXIS: if ( nodePosition[2] <= position[2] ) { if ( mLeft ) mLeft->addFloat(node,X_AXIS,iface); else mLeft = node; } else { if ( mRight ) mRight->addFloat(node,X_AXIS,iface); else mRight = node; } break; } } uint32_t getIndex(void) const { return mIndex; }; void search(Axes axis,const double *pos,double radius,uint32_t &count,uint32_t maxObjects,KdTreeFindNode *found,const KdTreeInterface *iface) { const double *position = iface->getPositionDouble(mIndex); double dx = pos[0] - position[0]; double dy = pos[1] - position[1]; double dz = pos[2] - position[2]; KdTreeNode *search1 = 0; KdTreeNode *search2 = 0; switch ( axis ) { case X_AXIS: if ( dx <= 0 ) // JWR if we are to the left { search1 = mLeft; // JWR then search to the left if ( -dx < radius ) // JWR if distance to the right is less than our search radius, continue on the right as well. search2 = mRight; } else { search1 = mRight; // JWR ok, we go down the left tree if ( dx < radius ) // JWR if the distance from the right is less than our search radius search2 = mLeft; } axis = Y_AXIS; break; case Y_AXIS: if ( dy <= 0 ) { search1 = mLeft; if ( -dy < radius ) search2 = mRight; } else { search1 = mRight; if ( dy < radius ) search2 = mLeft; } axis = Z_AXIS; break; case Z_AXIS: if ( dz <= 0 ) { search1 = mLeft; if ( -dz < radius ) search2 = mRight; } else { search1 = mRight; if ( dz < radius ) search2 = mLeft; } axis = X_AXIS; break; } double r2 = radius*radius; double m = dx*dx+dy*dy+dz*dz; if ( m < r2 ) { switch ( count ) { case 0: found[count].mNode = this; found[count].mDistance = m; break; case 1: if ( m < found[0].mDistance ) { if ( maxObjects == 1 ) { found[0].mNode = this; found[0].mDistance = m; } else { found[1] = found[0]; found[0].mNode = this; found[0].mDistance = m; } } else if ( maxObjects > 1) { found[1].mNode = this; found[1].mDistance = m; } break; default: { bool inserted = false; for (uint32_t i=0; i= maxObjects ) scan=maxObjects-1; for (uint32_t j=scan; j>i; j--) { found[j] = found[j-1]; } found[i].mNode = this; found[i].mDistance = m; inserted = true; break; } } if ( !inserted && count < maxObjects ) { found[count].mNode = this; found[count].mDistance = m; } } break; } count++; if ( count > maxObjects ) { count = maxObjects; } } if ( search1 ) search1->search( axis, pos,radius, count, maxObjects, found, iface); if ( search2 ) search2->search( axis, pos,radius, count, maxObjects, found, iface); } void search(Axes axis,const float *pos,float radius,uint32_t &count,uint32_t maxObjects,KdTreeFindNode *found,const KdTreeInterface *iface) { const float *position = iface->getPositionFloat(mIndex); float dx = pos[0] - position[0]; float dy = pos[1] - position[1]; float dz = pos[2] - position[2]; KdTreeNode *search1 = 0; KdTreeNode *search2 = 0; switch ( axis ) { case X_AXIS: if ( dx <= 0 ) // JWR if we are to the left { search1 = mLeft; // JWR then search to the left if ( -dx < radius ) // JWR if distance to the right is less than our search radius, continue on the right as well. search2 = mRight; } else { search1 = mRight; // JWR ok, we go down the left tree if ( dx < radius ) // JWR if the distance from the right is less than our search radius search2 = mLeft; } axis = Y_AXIS; break; case Y_AXIS: if ( dy <= 0 ) { search1 = mLeft; if ( -dy < radius ) search2 = mRight; } else { search1 = mRight; if ( dy < radius ) search2 = mLeft; } axis = Z_AXIS; break; case Z_AXIS: if ( dz <= 0 ) { search1 = mLeft; if ( -dz < radius ) search2 = mRight; } else { search1 = mRight; if ( dz < radius ) search2 = mLeft; } axis = X_AXIS; break; } float r2 = radius*radius; float m = dx*dx+dy*dy+dz*dz; if ( m < r2 ) { switch ( count ) { case 0: found[count].mNode = this; found[count].mDistance = m; break; case 1: if ( m < found[0].mDistance ) { if ( maxObjects == 1 ) { found[0].mNode = this; found[0].mDistance = m; } else { found[1] = found[0]; found[0].mNode = this; found[0].mDistance = m; } } else if ( maxObjects > 1) { found[1].mNode = this; found[1].mDistance = m; } break; default: { bool inserted = false; for (uint32_t i=0; i= maxObjects ) scan=maxObjects-1; for (uint32_t j=scan; j>i; j--) { found[j] = found[j-1]; } found[i].mNode = this; found[i].mDistance = m; inserted = true; break; } } if ( !inserted && count < maxObjects ) { found[count].mNode = this; found[count].mDistance = m; } } break; } count++; if ( count > maxObjects ) { count = maxObjects; } } if ( search1 ) search1->search( axis, pos,radius, count, maxObjects, found, iface); if ( search2 ) search2->search( axis, pos,radius, count, maxObjects, found, iface); } private: void setLeft(KdTreeNode *left) { mLeft = left; }; void setRight(KdTreeNode *right) { mRight = right; }; KdTreeNode *getLeft(void) { return mLeft; } KdTreeNode *getRight(void) { return mRight; } uint32_t mIndex; KdTreeNode *mLeft; KdTreeNode *mRight; }; #define MAX_BUNDLE_SIZE 1024 // 1024 nodes at a time, to minimize memory allocation and guarantee that pointers are persistent. class KdTreeNodeBundle { public: KdTreeNodeBundle(void) { mNext = 0; mIndex = 0; } bool isFull(void) const { return (bool)( mIndex == MAX_BUNDLE_SIZE ); } KdTreeNode * getNextNode(void) { assert(mIndex DoubleVector; typedef std::vector< float > FloatVector; class KdTree : public KdTreeInterface { public: KdTree(void) { mRoot = 0; mBundle = 0; mVcount = 0; mUseDouble = false; } virtual ~KdTree(void) { reset(); } const double * getPositionDouble(uint32_t index) const { assert( mUseDouble ); assert ( index < mVcount ); return &mVerticesDouble[index*3]; } const float * getPositionFloat(uint32_t index) const { assert( !mUseDouble ); assert ( index < mVcount ); return &mVerticesFloat[index*3]; } uint32_t search(const double *pos,double radius,uint32_t maxObjects,KdTreeFindNode *found) const { assert( mUseDouble ); if ( !mRoot ) return 0; uint32_t count = 0; mRoot->search(X_AXIS,pos,radius,count,maxObjects,found,this); return count; } uint32_t search(const float *pos,float radius,uint32_t maxObjects,KdTreeFindNode *found) const { assert( !mUseDouble ); if ( !mRoot ) return 0; uint32_t count = 0; mRoot->search(X_AXIS,pos,radius,count,maxObjects,found,this); return count; } void reset(void) { mRoot = 0; mVerticesDouble.clear(); mVerticesFloat.clear(); KdTreeNodeBundle *bundle = mBundle; while ( bundle ) { KdTreeNodeBundle *next = bundle->mNext; delete bundle; bundle = next; } mBundle = 0; mVcount = 0; } uint32_t add(double x,double y,double z) { assert(mUseDouble); uint32_t ret = mVcount; mVerticesDouble.push_back(x); mVerticesDouble.push_back(y); mVerticesDouble.push_back(z); mVcount++; KdTreeNode *node = getNewNode(ret); if ( mRoot ) { mRoot->addDouble(node,X_AXIS,this); } else { mRoot = node; } return ret; } uint32_t add(float x,float y,float z) { assert(!mUseDouble); uint32_t ret = mVcount; mVerticesFloat.push_back(x); mVerticesFloat.push_back(y); mVerticesFloat.push_back(z); mVcount++; KdTreeNode *node = getNewNode(ret); if ( mRoot ) { mRoot->addFloat(node,X_AXIS,this); } else { mRoot = node; } return ret; } KdTreeNode * getNewNode(uint32_t index) { if ( mBundle == 0 ) { mBundle = new KdTreeNodeBundle; } if ( mBundle->isFull() ) { KdTreeNodeBundle *bundle = new KdTreeNodeBundle; mBundle->mNext = bundle; mBundle = bundle; } KdTreeNode *node = mBundle->getNextNode(); new ( node ) KdTreeNode(index); return node; } uint32_t getNearest(const double *pos,double radius,bool &_found) const // returns the nearest possible neighbor's index. { assert( mUseDouble ); uint32_t ret = 0; _found = false; KdTreeFindNode found[1]; uint32_t count = search(pos,radius,1,found); if ( count ) { KdTreeNode *node = found[0].mNode; ret = node->getIndex(); _found = true; } return ret; } uint32_t getNearest(const float *pos,float radius,bool &_found) const // returns the nearest possible neighbor's index. { assert( !mUseDouble ); uint32_t ret = 0; _found = false; KdTreeFindNode found[1]; uint32_t count = search(pos,radius,1,found); if ( count ) { KdTreeNode *node = found[0].mNode; ret = node->getIndex(); _found = true; } return ret; } const double * getVerticesDouble(void) const { assert( mUseDouble ); const double *ret = 0; if ( !mVerticesDouble.empty() ) { ret = &mVerticesDouble[0]; } return ret; } const float * getVerticesFloat(void) const { assert( !mUseDouble ); const float * ret = 0; if ( !mVerticesFloat.empty() ) { ret = &mVerticesFloat[0]; } return ret; } uint32_t getVcount(void) const { return mVcount; }; void setUseDouble(bool useDouble) { mUseDouble = useDouble; } private: bool mUseDouble; KdTreeNode *mRoot; KdTreeNodeBundle *mBundle; uint32_t mVcount; DoubleVector mVerticesDouble; FloatVector mVerticesFloat; }; }; // end of namespace VERTEX_INDEX class MyVertexIndex : public fm_VertexIndex { public: MyVertexIndex(double granularity,bool snapToGrid) { mDoubleGranularity = granularity; mFloatGranularity = (float)granularity; mSnapToGrid = snapToGrid; mUseDouble = true; mKdTree.setUseDouble(true); } MyVertexIndex(float granularity,bool snapToGrid) { mDoubleGranularity = granularity; mFloatGranularity = (float)granularity; mSnapToGrid = snapToGrid; mUseDouble = false; mKdTree.setUseDouble(false); } virtual ~MyVertexIndex(void) { } double snapToGrid(double p) { double m = fmod(p,mDoubleGranularity); p-=m; return p; } float snapToGrid(float p) { float m = fmodf(p,mFloatGranularity); p-=m; return p; } uint32_t getIndex(const float *_p,bool &newPos) // get index for a vector float { uint32_t ret; if ( mUseDouble ) { double p[3]; p[0] = _p[0]; p[1] = _p[1]; p[2] = _p[2]; return getIndex(p,newPos); } newPos = false; float p[3]; if ( mSnapToGrid ) { p[0] = snapToGrid(_p[0]); p[1] = snapToGrid(_p[1]); p[2] = snapToGrid(_p[2]); } else { p[0] = _p[0]; p[1] = _p[1]; p[2] = _p[2]; } bool found; ret = mKdTree.getNearest(p,mFloatGranularity,found); if ( !found ) { newPos = true; ret = mKdTree.add(p[0],p[1],p[2]); } return ret; } uint32_t getIndex(const double *_p,bool &newPos) // get index for a vector double { uint32_t ret; if ( !mUseDouble ) { float p[3]; p[0] = (float)_p[0]; p[1] = (float)_p[1]; p[2] = (float)_p[2]; return getIndex(p,newPos); } newPos = false; double p[3]; if ( mSnapToGrid ) { p[0] = snapToGrid(_p[0]); p[1] = snapToGrid(_p[1]); p[2] = snapToGrid(_p[2]); } else { p[0] = _p[0]; p[1] = _p[1]; p[2] = _p[2]; } bool found; ret = mKdTree.getNearest(p,mDoubleGranularity,found); if ( !found ) { newPos = true; ret = mKdTree.add(p[0],p[1],p[2]); } return ret; } const float * getVerticesFloat(void) const { const float * ret = 0; assert( !mUseDouble ); ret = mKdTree.getVerticesFloat(); return ret; } const double * getVerticesDouble(void) const { const double * ret = 0; assert( mUseDouble ); ret = mKdTree.getVerticesDouble(); return ret; } const float * getVertexFloat(uint32_t index) const { const float * ret = 0; assert( !mUseDouble ); #ifdef _DEBUG uint32_t vcount = mKdTree.getVcount(); assert( index < vcount ); #endif ret = mKdTree.getVerticesFloat(); ret = &ret[index*3]; return ret; } const double * getVertexDouble(uint32_t index) const { const double * ret = 0; assert( mUseDouble ); #ifdef _DEBUG uint32_t vcount = mKdTree.getVcount(); assert( index < vcount ); #endif ret = mKdTree.getVerticesDouble(); ret = &ret[index*3]; return ret; } uint32_t getVcount(void) const { return mKdTree.getVcount(); } bool isDouble(void) const { return mUseDouble; } bool saveAsObj(const char *fname,uint32_t tcount,uint32_t *indices) { bool ret = false; FILE *fph = fopen(fname,"wb"); if ( fph ) { ret = true; uint32_t vcount = getVcount(); if ( mUseDouble ) { const double *v = getVerticesDouble(); for (uint32_t i=0; i(ret); } fm_VertexIndex * fm_createVertexIndex(float granularity,bool snapToGrid) // create an indexed vertext system for floats { MyVertexIndex *ret = new MyVertexIndex(granularity,snapToGrid); return static_cast< fm_VertexIndex *>(ret); } void fm_releaseVertexIndex(fm_VertexIndex *vindex) { MyVertexIndex *m = static_cast< MyVertexIndex *>(vindex); delete m; } #endif // END OF VERTEX WELDING CODE REAL fm_computeBestFitAABB(uint32_t vcount,const REAL *points,uint32_t pstride,REAL *bmin,REAL *bmax) // returns the diagonal distance { const uint8_t *source = (const uint8_t *) points; bmin[0] = points[0]; bmin[1] = points[1]; bmin[2] = points[2]; bmax[0] = points[0]; bmax[1] = points[1]; bmax[2] = points[2]; for (uint32_t i=1; i bmax[0] ) bmax[0] = p[0]; if ( p[1] > bmax[1] ) bmax[1] = p[1]; if ( p[2] > bmax[2] ) bmax[2] = p[2]; } REAL dx = bmax[0] - bmin[0]; REAL dy = bmax[1] - bmin[1]; REAL dz = bmax[2] - bmin[2]; return (REAL) sqrt( dx*dx + dy*dy + dz*dz ); } /* a = b - c */ #define vector(a,b,c) \ (a)[0] = (b)[0] - (c)[0]; \ (a)[1] = (b)[1] - (c)[1]; \ (a)[2] = (b)[2] - (c)[2]; #define innerProduct(v,q) \ ((v)[0] * (q)[0] + \ (v)[1] * (q)[1] + \ (v)[2] * (q)[2]) #define crossProduct(a,b,c) \ (a)[0] = (b)[1] * (c)[2] - (c)[1] * (b)[2]; \ (a)[1] = (b)[2] * (c)[0] - (c)[2] * (b)[0]; \ (a)[2] = (b)[0] * (c)[1] - (c)[0] * (b)[1]; bool fm_lineIntersectsTriangle(const REAL *rayStart,const REAL *rayEnd,const REAL *p1,const REAL *p2,const REAL *p3,REAL *sect) { REAL dir[3]; dir[0] = rayEnd[0] - rayStart[0]; dir[1] = rayEnd[1] - rayStart[1]; dir[2] = rayEnd[2] - rayStart[2]; REAL d = (REAL)sqrt(dir[0]*dir[0] + dir[1]*dir[1] + dir[2]*dir[2]); REAL r = 1.0f / d; dir[0]*=r; dir[1]*=r; dir[2]*=r; REAL t; bool ret = fm_rayIntersectsTriangle(rayStart, dir, p1, p2, p3, t ); if ( ret ) { if ( t > d ) { sect[0] = rayStart[0] + dir[0]*t; sect[1] = rayStart[1] + dir[1]*t; sect[2] = rayStart[2] + dir[2]*t; } else { ret = false; } } return ret; } bool fm_rayIntersectsTriangle(const REAL *p,const REAL *d,const REAL *v0,const REAL *v1,const REAL *v2,REAL &t) { REAL e1[3],e2[3],h[3],s[3],q[3]; REAL a,f,u,v; vector(e1,v1,v0); vector(e2,v2,v0); crossProduct(h,d,e2); a = innerProduct(e1,h); if (a > -0.00001 && a < 0.00001) return(false); f = 1/a; vector(s,p,v0); u = f * (innerProduct(s,h)); if (u < 0.0 || u > 1.0) return(false); crossProduct(q,s,e1); v = f * innerProduct(d,q); if (v < 0.0 || u + v > 1.0) return(false); // at this stage we can compute t to find out where // the intersection point is on the line t = f * innerProduct(e2,q); if (t > 0) // ray intersection return(true); else // this means that there is a line intersection // but not a ray intersection return (false); } inline REAL det(const REAL *p1,const REAL *p2,const REAL *p3) { return p1[0]*p2[1]*p3[2] + p2[0]*p3[1]*p1[2] + p3[0]*p1[1]*p2[2] -p1[0]*p3[1]*p2[2] - p2[0]*p1[1]*p3[2] - p3[0]*p2[1]*p1[2]; } REAL fm_computeMeshVolume(const REAL *vertices,uint32_t tcount,const uint32_t *indices) { REAL volume = 0; for (uint32_t i=0; i= 0.0f) && (bCROSScp >= 0.0f) && (cCROSSap >= 0.0f)); } REAL fm_areaPolygon2d(uint32_t pcount,const REAL *points,uint32_t pstride) { int32_t n = (int32_t)pcount; REAL A=0.0f; for(int32_t p=n-1,q=0; q= y) || (y2 < y && y1 >= y) ) { if (x1+(y-y1)/(y2-y1)*(x2-x1)= 3 ) { const REAL *prev = fm_getPoint(points,pstride,pcount-1); const REAL *current = points; const REAL *next = fm_getPoint(points,pstride,1); REAL *dest = _dest; for (uint32_t i=0; i class Rect3d { public: Rect3d(void) { }; Rect3d(const T *bmin,const T *bmax) { mMin[0] = bmin[0]; mMin[1] = bmin[1]; mMin[2] = bmin[2]; mMax[0] = bmax[0]; mMax[1] = bmax[1]; mMax[2] = bmax[2]; } void SetMin(const T *bmin) { mMin[0] = bmin[0]; mMin[1] = bmin[1]; mMin[2] = bmin[2]; } void SetMax(const T *bmax) { mMax[0] = bmax[0]; mMax[1] = bmax[1]; mMax[2] = bmax[2]; } void SetMin(T x,T y,T z) { mMin[0] = x; mMin[1] = y; mMin[2] = z; } void SetMax(T x,T y,T z) { mMax[0] = x; mMax[1] = y; mMax[2] = z; } T mMin[3]; T mMax[3]; }; #endif void splitRect(uint32_t axis, const Rect3d &source, Rect3d &b1, Rect3d &b2, const REAL *midpoint) { switch ( axis ) { case 0: b1.SetMin(source.mMin); b1.SetMax( midpoint[0], source.mMax[1], source.mMax[2] ); b2.SetMin( midpoint[0], source.mMin[1], source.mMin[2] ); b2.SetMax(source.mMax); break; case 1: b1.SetMin(source.mMin); b1.SetMax( source.mMax[0], midpoint[1], source.mMax[2] ); b2.SetMin( source.mMin[0], midpoint[1], source.mMin[2] ); b2.SetMax(source.mMax); break; case 2: b1.SetMin(source.mMin); b1.SetMax( source.mMax[0], source.mMax[1], midpoint[2] ); b2.SetMin( source.mMin[0], source.mMin[1], midpoint[2] ); b2.SetMax(source.mMax); break; } } bool fm_computeSplitPlane(uint32_t vcount, const REAL *vertices, uint32_t /* tcount */, const uint32_t * /* indices */, REAL *plane) { REAL sides[3]; REAL matrix[16]; fm_computeBestFitOBB( vcount, vertices, sizeof(REAL)*3, sides, matrix ); REAL bmax[3]; REAL bmin[3]; bmax[0] = sides[0]*0.5f; bmax[1] = sides[1]*0.5f; bmax[2] = sides[2]*0.5f; bmin[0] = -bmax[0]; bmin[1] = -bmax[1]; bmin[2] = -bmax[2]; REAL dx = sides[0]; REAL dy = sides[1]; REAL dz = sides[2]; uint32_t axis = 0; if ( dy > dx ) { axis = 1; } if ( dz > dx && dz > dy ) { axis = 2; } REAL p1[3]; REAL p2[3]; REAL p3[3]; p3[0] = p2[0] = p1[0] = bmin[0] + dx*0.5f; p3[1] = p2[1] = p1[1] = bmin[1] + dy*0.5f; p3[2] = p2[2] = p1[2] = bmin[2] + dz*0.5f; Rect3d b(bmin,bmax); Rect3d b1,b2; splitRect(axis,b,b1,b2,p1); switch ( axis ) { case 0: p2[1] = bmin[1]; p2[2] = bmin[2]; if ( dz > dy ) { p3[1] = bmax[1]; p3[2] = bmin[2]; } else { p3[1] = bmin[1]; p3[2] = bmax[2]; } break; case 1: p2[0] = bmin[0]; p2[2] = bmin[2]; if ( dx > dz ) { p3[0] = bmax[0]; p3[2] = bmin[2]; } else { p3[0] = bmin[0]; p3[2] = bmax[2]; } break; case 2: p2[0] = bmin[0]; p2[1] = bmin[1]; if ( dx > dy ) { p3[0] = bmax[0]; p3[1] = bmin[1]; } else { p3[0] = bmin[0]; p3[1] = bmax[1]; } break; } REAL tp1[3]; REAL tp2[3]; REAL tp3[3]; fm_transform(matrix,p1,tp1); fm_transform(matrix,p2,tp2); fm_transform(matrix,p3,tp3); plane[3] = fm_computePlane(tp1,tp2,tp3,plane); return true; } #pragma warning(disable:4100) void fm_nearestPointInTriangle(const REAL * /*nearestPoint*/,const REAL * /*p1*/,const REAL * /*p2*/,const REAL * /*p3*/,REAL * /*nearest*/) { } static REAL Partial(const REAL *a,const REAL *p) { return (a[0]*p[1]) - (p[0]*a[1]); } REAL fm_areaTriangle(const REAL *p0,const REAL *p1,const REAL *p2) { REAL A = Partial(p0,p1); A+= Partial(p1,p2); A+= Partial(p2,p0); return A*0.5f; } void fm_subtract(const REAL *A,const REAL *B,REAL *diff) // compute A-B and store the result in 'diff' { diff[0] = A[0]-B[0]; diff[1] = A[1]-B[1]; diff[2] = A[2]-B[2]; } void fm_multiplyTransform(const REAL *pA,const REAL *pB,REAL *pM) { REAL a = pA[0*4+0] * pB[0*4+0] + pA[0*4+1] * pB[1*4+0] + pA[0*4+2] * pB[2*4+0] + pA[0*4+3] * pB[3*4+0]; REAL b = pA[0*4+0] * pB[0*4+1] + pA[0*4+1] * pB[1*4+1] + pA[0*4+2] * pB[2*4+1] + pA[0*4+3] * pB[3*4+1]; REAL c = pA[0*4+0] * pB[0*4+2] + pA[0*4+1] * pB[1*4+2] + pA[0*4+2] * pB[2*4+2] + pA[0*4+3] * pB[3*4+2]; REAL d = pA[0*4+0] * pB[0*4+3] + pA[0*4+1] * pB[1*4+3] + pA[0*4+2] * pB[2*4+3] + pA[0*4+3] * pB[3*4+3]; REAL e = pA[1*4+0] * pB[0*4+0] + pA[1*4+1] * pB[1*4+0] + pA[1*4+2] * pB[2*4+0] + pA[1*4+3] * pB[3*4+0]; REAL f = pA[1*4+0] * pB[0*4+1] + pA[1*4+1] * pB[1*4+1] + pA[1*4+2] * pB[2*4+1] + pA[1*4+3] * pB[3*4+1]; REAL g = pA[1*4+0] * pB[0*4+2] + pA[1*4+1] * pB[1*4+2] + pA[1*4+2] * pB[2*4+2] + pA[1*4+3] * pB[3*4+2]; REAL h = pA[1*4+0] * pB[0*4+3] + pA[1*4+1] * pB[1*4+3] + pA[1*4+2] * pB[2*4+3] + pA[1*4+3] * pB[3*4+3]; REAL i = pA[2*4+0] * pB[0*4+0] + pA[2*4+1] * pB[1*4+0] + pA[2*4+2] * pB[2*4+0] + pA[2*4+3] * pB[3*4+0]; REAL j = pA[2*4+0] * pB[0*4+1] + pA[2*4+1] * pB[1*4+1] + pA[2*4+2] * pB[2*4+1] + pA[2*4+3] * pB[3*4+1]; REAL k = pA[2*4+0] * pB[0*4+2] + pA[2*4+1] * pB[1*4+2] + pA[2*4+2] * pB[2*4+2] + pA[2*4+3] * pB[3*4+2]; REAL l = pA[2*4+0] * pB[0*4+3] + pA[2*4+1] * pB[1*4+3] + pA[2*4+2] * pB[2*4+3] + pA[2*4+3] * pB[3*4+3]; REAL m = pA[3*4+0] * pB[0*4+0] + pA[3*4+1] * pB[1*4+0] + pA[3*4+2] * pB[2*4+0] + pA[3*4+3] * pB[3*4+0]; REAL n = pA[3*4+0] * pB[0*4+1] + pA[3*4+1] * pB[1*4+1] + pA[3*4+2] * pB[2*4+1] + pA[3*4+3] * pB[3*4+1]; REAL o = pA[3*4+0] * pB[0*4+2] + pA[3*4+1] * pB[1*4+2] + pA[3*4+2] * pB[2*4+2] + pA[3*4+3] * pB[3*4+2]; REAL p = pA[3*4+0] * pB[0*4+3] + pA[3*4+1] * pB[1*4+3] + pA[3*4+2] * pB[2*4+3] + pA[3*4+3] * pB[3*4+3]; pM[0] = a; pM[1] = b; pM[2] = c; pM[3] = d; pM[4] = e; pM[5] = f; pM[6] = g; pM[7] = h; pM[8] = i; pM[9] = j; pM[10] = k; pM[11] = l; pM[12] = m; pM[13] = n; pM[14] = o; pM[15] = p; } void fm_multiply(REAL *A,REAL scaler) { A[0]*=scaler; A[1]*=scaler; A[2]*=scaler; } void fm_add(const REAL *A,const REAL *B,REAL *sum) { sum[0] = A[0]+B[0]; sum[1] = A[1]+B[1]; sum[2] = A[2]+B[2]; } void fm_copy3(const REAL *source,REAL *dest) { dest[0] = source[0]; dest[1] = source[1]; dest[2] = source[2]; } uint32_t fm_copyUniqueVertices(uint32_t vcount,const REAL *input_vertices,REAL *output_vertices,uint32_t tcount,const uint32_t *input_indices,uint32_t *output_indices) { uint32_t ret = 0; REAL *vertices = (REAL *)malloc(sizeof(REAL)*vcount*3); memcpy(vertices,input_vertices,sizeof(REAL)*vcount*3); REAL *dest = output_vertices; uint32_t *reindex = (uint32_t *)malloc(sizeof(uint32_t)*vcount); memset(reindex,0xFF,sizeof(uint32_t)*vcount); uint32_t icount = tcount*3; for (uint32_t i=0; i 0 ) { uint32_t i1 = indices[0]; uint32_t i2 = indices[1]; uint32_t i3 = indices[2]; const REAL *p1 = &vertices[i1*3]; const REAL *p2 = &vertices[i2*3]; const REAL *p3 = &vertices[i3*3]; REAL plane[4]; plane[3] = fm_computePlane(p1,p2,p3,plane); const uint32_t *scan = &indices[3]; for (uint32_t i=1; i= dmin && dot <= dmax ) { ret = true; // then the plane equation is for practical purposes identical. } } #endif return ret; } void fm_initMinMax(REAL bmin[3],REAL bmax[3]) { bmin[0] = FLT_MAX; bmin[1] = FLT_MAX; bmin[2] = FLT_MAX; bmax[0] = -FLT_MAX; bmax[1] = -FLT_MAX; bmax[2] = -FLT_MAX; } void fm_inflateMinMax(REAL bmin[3], REAL bmax[3], REAL ratio) { REAL inflate = fm_distance(bmin, bmax)*0.5f*ratio; bmin[0] -= inflate; bmin[1] -= inflate; bmin[2] -= inflate; bmax[0] += inflate; bmax[1] += inflate; bmax[2] += inflate; } #ifndef TESSELATE_H #define TESSELATE_H typedef std::vector< uint32_t > UintVector; class Myfm_Tesselate : public fm_Tesselate { public: virtual ~Myfm_Tesselate(void) { } const uint32_t * tesselate(fm_VertexIndex *vindex,uint32_t tcount,const uint32_t *indices,float longEdge,uint32_t maxDepth,uint32_t &outcount) { const uint32_t *ret = 0; mMaxDepth = maxDepth; mLongEdge = longEdge*longEdge; mLongEdgeD = mLongEdge; mVertices = vindex; if ( mVertices->isDouble() ) { uint32_t vcount = mVertices->getVcount(); double *vertices = (double *)malloc(sizeof(double)*vcount*3); memcpy(vertices,mVertices->getVerticesDouble(),sizeof(double)*vcount*3); for (uint32_t i=0; igetVcount(); float *vertices = (float *)malloc(sizeof(float)*vcount*3); memcpy(vertices,mVertices->getVerticesFloat(),sizeof(float)*vcount*3); for (uint32_t i=0; i mLongEdge || l2 > mLongEdge || l3 > mLongEdge ) split = true; } if ( split ) { uint32_t edge; if ( l1 >= l2 && l1 >= l3 ) edge = 0; else if ( l2 >= l1 && l2 >= l3 ) edge = 1; else edge = 2; float splits[3]; switch ( edge ) { case 0: { fm_lerp(p1,p2,splits,0.5f); tesselate(p1,splits,p3, recurse+1 ); tesselate(splits,p2,p3, recurse+1 ); } break; case 1: { fm_lerp(p2,p3,splits,0.5f); tesselate(p1,p2,splits, recurse+1 ); tesselate(p1,splits,p3, recurse+1 ); } break; case 2: { fm_lerp(p3,p1,splits,0.5f); tesselate(p1,p2,splits, recurse+1 ); tesselate(splits,p2,p3, recurse+1 ); } break; } } else { bool newp; uint32_t i1 = mVertices->getIndex(p1,newp); uint32_t i2 = mVertices->getIndex(p2,newp); uint32_t i3 = mVertices->getIndex(p3,newp); mIndices.push_back(i1); mIndices.push_back(i2); mIndices.push_back(i3); } } void tesselate(const double *p1,const double *p2,const double *p3,uint32_t recurse) { bool split = false; double l1,l2,l3; l1 = l2 = l3 = 0; if ( recurse < mMaxDepth ) { l1 = fm_distanceSquared(p1,p2); l2 = fm_distanceSquared(p2,p3); l3 = fm_distanceSquared(p3,p1); if ( l1 > mLongEdgeD || l2 > mLongEdgeD || l3 > mLongEdgeD ) split = true; } if ( split ) { uint32_t edge; if ( l1 >= l2 && l1 >= l3 ) edge = 0; else if ( l2 >= l1 && l2 >= l3 ) edge = 1; else edge = 2; double splits[3]; switch ( edge ) { case 0: { fm_lerp(p1,p2,splits,0.5); tesselate(p1,splits,p3, recurse+1 ); tesselate(splits,p2,p3, recurse+1 ); } break; case 1: { fm_lerp(p2,p3,splits,0.5); tesselate(p1,p2,splits, recurse+1 ); tesselate(p1,splits,p3, recurse+1 ); } break; case 2: { fm_lerp(p3,p1,splits,0.5); tesselate(p1,p2,splits, recurse+1 ); tesselate(splits,p2,p3, recurse+1 ); } break; } } else { bool newp; uint32_t i1 = mVertices->getIndex(p1,newp); uint32_t i2 = mVertices->getIndex(p2,newp); uint32_t i3 = mVertices->getIndex(p3,newp); mIndices.push_back(i1); mIndices.push_back(i2); mIndices.push_back(i3); } } private: float mLongEdge; double mLongEdgeD; fm_VertexIndex *mVertices; UintVector mIndices; uint32_t mMaxDepth; }; fm_Tesselate * fm_createTesselate(void) { Myfm_Tesselate *m = new Myfm_Tesselate; return static_cast< fm_Tesselate * >(m); } void fm_releaseTesselate(fm_Tesselate *t) { Myfm_Tesselate *m = static_cast< Myfm_Tesselate *>(t); delete m; } #endif #ifndef RAY_ABB_INTERSECT #define RAY_ABB_INTERSECT //! Integer representation of a floating-point value. #define IR(x) ((uint32_t&)x) /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * A method to compute a ray-AABB intersection. * Original code by Andrew Woo, from "Graphics Gems", Academic Press, 1990 * Optimized code by Pierre Terdiman, 2000 (~20-30% faster on my Celeron 500) * Epsilon value added by Klaus Hartmann. (discarding it saves a few cycles only) * * Hence this version is faster as well as more robust than the original one. * * Should work provided: * 1) the integer representation of 0.0f is 0x00000000 * 2) the sign bit of the float is the most significant one * * Report bugs: p.terdiman@codercorner.com * * \param aabb [in] the axis-aligned bounding box * \param origin [in] ray origin * \param dir [in] ray direction * \param coord [out] impact coordinates * \return true if ray intersects AABB */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// #define RAYAABB_EPSILON 0.00001f bool fm_intersectRayAABB(const float MinB[3],const float MaxB[3],const float origin[3],const float dir[3],float coord[3]) { bool Inside = true; float MaxT[3]; MaxT[0]=MaxT[1]=MaxT[2]=-1.0f; // Find candidate planes. for(uint32_t i=0;i<3;i++) { if(origin[i] < MinB[i]) { coord[i] = MinB[i]; Inside = false; // Calculate T distances to candidate planes if(IR(dir[i])) MaxT[i] = (MinB[i] - origin[i]) / dir[i]; } else if(origin[i] > MaxB[i]) { coord[i] = MaxB[i]; Inside = false; // Calculate T distances to candidate planes if(IR(dir[i])) MaxT[i] = (MaxB[i] - origin[i]) / dir[i]; } } // Ray origin inside bounding box if(Inside) { coord[0] = origin[0]; coord[1] = origin[1]; coord[2] = origin[2]; return true; } // Get largest of the maxT's for final choice of intersection uint32_t WhichPlane = 0; if(MaxT[1] > MaxT[WhichPlane]) WhichPlane = 1; if(MaxT[2] > MaxT[WhichPlane]) WhichPlane = 2; // Check final candidate actually inside box if(IR(MaxT[WhichPlane])&0x80000000) return false; for(uint32_t i=0;i<3;i++) { if(i!=WhichPlane) { coord[i] = origin[i] + MaxT[WhichPlane] * dir[i]; #ifdef RAYAABB_EPSILON if(coord[i] < MinB[i] - RAYAABB_EPSILON || coord[i] > MaxB[i] + RAYAABB_EPSILON) return false; #else if(coord[i] < MinB[i] || coord[i] > MaxB[i]) return false; #endif } } return true; // ray hits box } bool fm_intersectLineSegmentAABB(const float bmin[3],const float bmax[3],const float p1[3],const float p2[3],float intersect[3]) { bool ret = false; float dir[3]; dir[0] = p2[0] - p1[0]; dir[1] = p2[1] - p1[1]; dir[2] = p2[2] - p1[2]; float dist = fm_normalize(dir); if ( dist > RAYAABB_EPSILON ) { ret = fm_intersectRayAABB(bmin,bmax,p1,dir,intersect); if ( ret ) { float d = fm_distanceSquared(p1,intersect); if ( d > (dist*dist) ) { ret = false; } } } return ret; } #endif #ifndef OBB_TO_AABB #define OBB_TO_AABB #pragma warning(disable:4100) void fm_OBBtoAABB(const float /*obmin*/[3],const float /*obmax*/[3],const float /*matrix*/[16],float /*abmin*/[3],float /*abmax*/[3]) { assert(0); // not yet implemented. } const REAL * computePos(uint32_t index,const REAL *vertices,uint32_t vstride) { const char *tmp = (const char *)vertices; tmp+=(index*vstride); return (const REAL*)tmp; } void computeNormal(uint32_t index,REAL *normals,uint32_t nstride,const REAL *normal) { char *tmp = (char *)normals; tmp+=(index*nstride); REAL *dest = (REAL *)tmp; dest[0]+=normal[0]; dest[1]+=normal[1]; dest[2]+=normal[2]; } void fm_computeMeanNormals(uint32_t vcount, // the number of vertices const REAL *vertices, // the base address of the vertex position data. uint32_t vstride, // the stride between position data. REAL *normals, // the base address of the destination for mean vector normals uint32_t nstride, // the stride between normals uint32_t tcount, // the number of triangles const uint32_t *indices) // the triangle indices { // Step #1 : Zero out the vertex normals char *dest = (char *)normals; for (uint32_t i=0; ixmax[0]) Copy(xmax,caller_p); if (caller_p[1]ymax[1]) Copy(ymax,caller_p); if (caller_p[2]zmax[2]) Copy(zmax,caller_p); scan+=pstride; } } /* Set xspan = distance between the 2 points xmin & xmax (squared) */ REAL dx = xmax[0] - xmin[0]; REAL dy = xmax[1] - xmin[1]; REAL dz = xmax[2] - xmin[2]; REAL xspan = dx*dx + dy*dy + dz*dz; /* Same for y & z spans */ dx = ymax[0] - ymin[0]; dy = ymax[1] - ymin[1]; dz = ymax[2] - ymin[2]; REAL yspan = dx*dx + dy*dy + dz*dz; dx = zmax[0] - zmin[0]; dy = zmax[1] - zmin[1]; dz = zmax[2] - zmin[2]; REAL zspan = dx*dx + dy*dy + dz*dz; /* Set points dia1 & dia2 to the maximally separated pair */ Copy(dia1,xmin); Copy(dia2,xmax); /* assume xspan biggest */ REAL maxspan = xspan; if (yspan>maxspan) { maxspan = yspan; Copy(dia1,ymin); Copy(dia2,ymax); } if (zspan>maxspan) { maxspan = zspan; Copy(dia1,zmin); Copy(dia2,zmax); } /* dia1,dia2 is a diameter of initial sphere */ /* calc initial center */ center[0] = (dia1[0]+dia2[0])*0.5f; center[1] = (dia1[1]+dia2[1])*0.5f; center[2] = (dia1[2]+dia2[2])*0.5f; /* calculate initial radius**2 and radius */ dx = dia2[0]-center[0]; /* x component of radius vector */ dy = dia2[1]-center[1]; /* y component of radius vector */ dz = dia2[2]-center[2]; /* z component of radius vector */ radius2 = dx*dx + dy*dy + dz*dz; radius = REAL(sqrt(radius2)); /* SECOND PASS: increment current sphere */ { const char *scan = (const char *)points; for (uint32_t i=0; i radius2) /* do r**2 test first */ { /* this point is outside of current sphere */ REAL old_to_p = REAL(sqrt(old_to_p_sq)); /* calc radius of new sphere */ radius = (radius + old_to_p) * 0.5f; radius2 = radius*radius; /* for next r**2 compare */ REAL old_to_new = old_to_p - radius; /* calc center of new sphere */ REAL recip = 1.0f /old_to_p; REAL cx = (radius*center[0] + old_to_new*caller_p[0]) * recip; REAL cy = (radius*center[1] + old_to_new*caller_p[1]) * recip; REAL cz = (radius*center[2] + old_to_new*caller_p[2]) * recip; Set(center,cx,cy,cz); scan+=pstride; } } } return radius; } void fm_computeBestFitCapsule(uint32_t vcount,const REAL *points,uint32_t pstride,REAL &radius,REAL &height,REAL matrix[16],bool bruteForce) { REAL sides[3]; REAL omatrix[16]; fm_computeBestFitOBB(vcount,points,pstride,sides,omatrix,bruteForce); int32_t axis = 0; if ( sides[0] > sides[1] && sides[0] > sides[2] ) axis = 0; else if ( sides[1] > sides[0] && sides[1] > sides[2] ) axis = 1; else axis = 2; REAL localTransform[16]; REAL maxDist = 0; REAL maxLen = 0; switch ( axis ) { case 0: { fm_eulerMatrix(0,0,FM_PI/2,localTransform); fm_matrixMultiply(localTransform,omatrix,matrix); const uint8_t *scan = (const uint8_t *)points; for (uint32_t i=0; i maxDist ) { maxDist = dist; } REAL l = (REAL) fabs(t[0]); if ( l > maxLen ) { maxLen = l; } scan+=pstride; } } height = sides[0]; break; case 1: { fm_eulerMatrix(0,FM_PI/2,0,localTransform); fm_matrixMultiply(localTransform,omatrix,matrix); const uint8_t *scan = (const uint8_t *)points; for (uint32_t i=0; i maxDist ) { maxDist = dist; } REAL l = (REAL) fabs(t[1]); if ( l > maxLen ) { maxLen = l; } scan+=pstride; } } height = sides[1]; break; case 2: { fm_eulerMatrix(FM_PI/2,0,0,localTransform); fm_matrixMultiply(localTransform,omatrix,matrix); const uint8_t *scan = (const uint8_t *)points; for (uint32_t i=0; i maxDist ) { maxDist = dist; } REAL l = (REAL) fabs(t[2]); if ( l > maxLen ) { maxLen = l; } scan+=pstride; } } height = sides[2]; break; } radius = (REAL)sqrt(maxDist); height = (maxLen*2)-(radius*2); } //************* Triangulation #ifndef TRIANGULATE_H #define TRIANGULATE_H typedef uint32_t TU32; class TVec { public: TVec(double _x,double _y,double _z) { x = _x; y = _y; z = _z; }; TVec(void) { }; double x; double y; double z; }; typedef std::vector< TVec > TVecVector; typedef std::vector< TU32 > TU32Vector; class CTriangulator { public: /// Default constructor CTriangulator(); /// Default destructor virtual ~CTriangulator(); /// Triangulates the contour void triangulate(TU32Vector &indices); /// Returns the given point in the triangulator array inline TVec get(const TU32 id) { return mPoints[id]; } virtual void reset(void) { mInputPoints.clear(); mPoints.clear(); mIndices.clear(); } virtual void addPoint(double x,double y,double z) { TVec v(x,y,z); // update bounding box... if ( mInputPoints.empty() ) { mMin = v; mMax = v; } else { if ( x < mMin.x ) mMin.x = x; if ( y < mMin.y ) mMin.y = y; if ( z < mMin.z ) mMin.z = z; if ( x > mMax.x ) mMax.x = x; if ( y > mMax.y ) mMax.y = y; if ( z > mMax.z ) mMax.z = z; } mInputPoints.push_back(v); } // Triangulation happens in 2d. We could inverse transform the polygon around the normal direction, or we just use the two most signficant axes // Here we find the two longest axes and use them to triangulate. Inverse transforming them would introduce more doubleing point error and isn't worth it. virtual uint32_t * triangulate(uint32_t &tcount,double epsilon) { uint32_t *ret = 0; tcount = 0; mEpsilon = epsilon; if ( !mInputPoints.empty() ) { mPoints.clear(); double dx = mMax.x - mMin.x; // locate the first, second and third longest edges and store them in i1, i2, i3 double dy = mMax.y - mMin.y; double dz = mMax.z - mMin.z; uint32_t i1,i2,i3; if ( dx > dy && dx > dz ) { i1 = 0; if ( dy > dz ) { i2 = 1; i3 = 2; } else { i2 = 2; i3 = 1; } } else if ( dy > dx && dy > dz ) { i1 = 1; if ( dx > dz ) { i2 = 0; i3 = 2; } else { i2 = 2; i3 = 0; } } else { i1 = 2; if ( dx > dy ) { i2 = 0; i3 = 1; } else { i2 = 1; i3 = 0; } } uint32_t pcount = (uint32_t)mInputPoints.size(); const double *points = &mInputPoints[0].x; for (uint32_t i=0; i 2;) { if (0 >= (count--)) return; int32_t u = v; if (nv <= u) u = 0; v = u + 1; if (nv <= v) v = 0; int32_t w = v + 1; if (nv <= w) w = 0; if (_snip(u, v, w, nv, V)) { int32_t a, b, c, s, t; a = V[u]; b = V[v]; c = V[w]; if ( flipped ) { indices.push_back(a); indices.push_back(b); indices.push_back(c); } else { indices.push_back(c); indices.push_back(b); indices.push_back(a); } m++; for (s = v, t = v + 1; t < nv; s++, t++) V[s] = V[t]; nv--; count = 2 * nv; } } free(V); } /// Returns the area of the contour double CTriangulator::_area() { int32_t n = (uint32_t)mPoints.size(); double A = 0.0f; for (int32_t p = n - 1, q = 0; q < n; p = q++) { const TVec &pval = mPoints[p]; const TVec &qval = mPoints[q]; A += pval.x * qval.y - qval.x * pval.y; } A*=0.5f; return A; } bool CTriangulator::_snip(int32_t u, int32_t v, int32_t w, int32_t n, int32_t *V) { int32_t p; const TVec &A = mPoints[ V[u] ]; const TVec &B = mPoints[ V[v] ]; const TVec &C = mPoints[ V[w] ]; if (mEpsilon > (((B.x - A.x) * (C.y - A.y)) - ((B.y - A.y) * (C.x - A.x))) ) return false; for (p = 0; p < n; p++) { if ((p == u) || (p == v) || (p == w)) continue; const TVec &P = mPoints[ V[p] ]; if (_insideTriangle(A, B, C, P)) return false; } return true; } /// Tests if a point is inside the given triangle bool CTriangulator::_insideTriangle(const TVec& A, const TVec& B, const TVec& C,const TVec& P) { double ax, ay, bx, by, cx, cy, apx, apy, bpx, bpy, cpx, cpy; double cCROSSap, bCROSScp, aCROSSbp; ax = C.x - B.x; ay = C.y - B.y; bx = A.x - C.x; by = A.y - C.y; cx = B.x - A.x; cy = B.y - A.y; apx = P.x - A.x; apy = P.y - A.y; bpx = P.x - B.x; bpy = P.y - B.y; cpx = P.x - C.x; cpy = P.y - C.y; aCROSSbp = ax * bpy - ay * bpx; cCROSSap = cx * apy - cy * apx; bCROSScp = bx * cpy - by * cpx; return ((aCROSSbp >= 0.0f) && (bCROSScp >= 0.0f) && (cCROSSap >= 0.0f)); } class Triangulate : public fm_Triangulate { public: Triangulate(void) { mPointsFloat = 0; mPointsDouble = 0; } virtual ~Triangulate(void) { reset(); } void reset(void) { free(mPointsFloat); free(mPointsDouble); mPointsFloat = 0; mPointsDouble = 0; } virtual const double * triangulate3d(uint32_t pcount, const double *_points, uint32_t vstride, uint32_t &tcount, bool consolidate, double epsilon) { reset(); double *points = (double *)malloc(sizeof(double)*pcount*3); if ( consolidate ) { pcount = fm_consolidatePolygon(pcount,_points,vstride,points,1-epsilon); } else { double *dest = points; for (uint32_t i=0; i= 3 ) { CTriangulator ct; for (uint32_t i=0; i(t); } void fm_releaseTriangulate(fm_Triangulate *t) { Triangulate *tt = static_cast< Triangulate *>(t); delete tt; } #endif bool validDistance(const REAL *p1,const REAL *p2,REAL epsilon) { bool ret = true; REAL dx = p1[0] - p2[0]; REAL dy = p1[1] - p2[1]; REAL dz = p1[2] - p2[2]; REAL dist = dx*dx+dy*dy+dz*dz; if ( dist < (epsilon*epsilon) ) { ret = false; } return ret; } bool fm_isValidTriangle(const REAL *p1,const REAL *p2,const REAL *p3,REAL epsilon) { bool ret = false; if ( validDistance(p1,p2,epsilon) && validDistance(p1,p3,epsilon) && validDistance(p2,p3,epsilon) ) { REAL area = fm_computeArea(p1,p2,p3); if ( area > epsilon ) { REAL _vertices[3*3],vertices[64*3]; _vertices[0] = p1[0]; _vertices[1] = p1[1]; _vertices[2] = p1[2]; _vertices[3] = p2[0]; _vertices[4] = p2[1]; _vertices[5] = p2[2]; _vertices[6] = p3[0]; _vertices[7] = p3[1]; _vertices[8] = p3[2]; uint32_t pcount = fm_consolidatePolygon(3,_vertices,sizeof(REAL)*3,vertices,1-epsilon); if ( pcount == 3 ) { ret = true; } } } return ret; } void fm_multiplyQuat(const REAL *left,const REAL *right,REAL *quat) { REAL a,b,c,d; a = left[3]*right[3] - left[0]*right[0] - left[1]*right[1] - left[2]*right[2]; b = left[3]*right[0] + right[3]*left[0] + left[1]*right[2] - right[1]*left[2]; c = left[3]*right[1] + right[3]*left[1] + left[2]*right[0] - right[2]*left[0]; d = left[3]*right[2] + right[3]*left[2] + left[0]*right[1] - right[0]*left[1]; quat[3] = a; quat[0] = b; quat[1] = c; quat[2] = d; } bool fm_computeCentroid(uint32_t vcount, // number of input data points const REAL *points, // starting address of points array. REAL *center) { bool ret = false; if ( vcount ) { center[0] = 0; center[1] = 0; center[2] = 0; const REAL *p = points; for (uint32_t i=0; i class Vec3 { public: Vec3(void) { } Vec3(Type _x,Type _y,Type _z) { x = _x; y = _y; z = _z; } Type x; Type y; Type z; }; #endif void fm_transformAABB(const REAL bmin[3],const REAL bmax[3],const REAL matrix[16],REAL tbmin[3],REAL tbmax[3]) { Vec3 box[8]; box[0] = Vec3< REAL >( bmin[0], bmin[1], bmin[2] ); box[1] = Vec3< REAL >( bmax[0], bmin[1], bmin[2] ); box[2] = Vec3< REAL >( bmax[0], bmax[1], bmin[2] ); box[3] = Vec3< REAL >( bmin[0], bmax[1], bmin[2] ); box[4] = Vec3< REAL >( bmin[0], bmin[1], bmax[2] ); box[5] = Vec3< REAL >( bmax[0], bmin[1], bmax[2] ); box[6] = Vec3< REAL >( bmax[0], bmax[1], bmax[2] ); box[7] = Vec3< REAL >( bmin[0], bmax[1], bmax[2] ); // transform all 8 corners of the box and then recompute a new AABB for (unsigned int i=0; i<8; i++) { Vec3< REAL > &p = box[i]; fm_transform(matrix,&p.x,&p.x); if ( i == 0 ) { tbmin[0] = tbmax[0] = p.x; tbmin[1] = tbmax[1] = p.y; tbmin[2] = tbmax[2] = p.z; } else { if ( p.x < tbmin[0] ) tbmin[0] = p.x; if ( p.y < tbmin[1] ) tbmin[1] = p.y; if ( p.z < tbmin[2] ) tbmin[2] = p.z; if ( p.x > tbmax[0] ) tbmax[0] = p.x; if ( p.y > tbmax[1] ) tbmax[1] = p.y; if ( p.z > tbmax[2] ) tbmax[2] = p.z; } } } REAL fm_normalizeQuat(REAL n[4]) // normalize this quat { REAL dx = n[0]*n[0]; REAL dy = n[1]*n[1]; REAL dz = n[2]*n[2]; REAL dw = n[3]*n[3]; REAL dist = dx*dx+dy*dy+dz*dz+dw*dw; dist = (REAL)sqrt(dist); REAL recip = 1.0f / dist; n[0]*=recip; n[1]*=recip; n[2]*=recip; n[3]*=recip; return dist; } }; // end of namespace