CDTestFramework, OPCODE, ICE redistributed under the ZLib License, with permission of Pierre Terdiman

Added Bullet SAP/MultiSAP support by Erwin Coumans (BulletSAPCompleteBoxPruningTest.*) AABB tree broadphase by Nathanael Presson (btDbvt.*, DbvtTest.*)
2008-04-02 18:05:36 +00:00
parent 285163b31a
commit 1ef4c721a0
250 changed files with 58757 additions and 0 deletions
--- a/Extras/CDTestFramework/Opcode/OPC_RayTriOverlap.h
+++ b/Extras/CDTestFramework/Opcode/OPC_RayTriOverlap.h
@@ -0,0 +1,106 @@
+/*
+ *	OPCODE - Optimized Collision Detection
+ * http://www.codercorner.com/Opcode.htm
+ * 
+ * Copyright (c) 2001-2008 Pierre Terdiman,  pierre@codercorner.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#define LOCAL_EPSILON 0.000001f
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Computes a ray-triangle intersection test.
+ *	Original code from Tomas M<>ller's "Fast Minimum Storage Ray-Triangle Intersection".
+ *	It's been optimized a bit with integer code, and modified to return a non-intersection if distance from
+ *	ray origin to triangle is negative.
+ *
+ *	\param		vert0	[in] triangle vertex
+ *	\param		vert1	[in] triangle vertex
+ *	\param		vert2	[in] triangle vertex
+ *	\return		true on overlap. mStabbedFace is filled with relevant info.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+inline_ BOOL RayCollider::RayTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2)
+{
+	// Stats
+	mNbRayPrimTests++;
+
+	// Find vectors for two edges sharing vert0
+	Point edge1 = vert1 - vert0;
+	Point edge2 = vert2 - vert0;
+
+	// Begin calculating determinant - also used to calculate U parameter
+	Point pvec = mDir^edge2;
+
+	// If determinant is near zero, ray lies in plane of triangle
+	float det = edge1|pvec;
+
+	if(mCulling)
+	{
+		if(det<LOCAL_EPSILON)														return FALSE;
+		// From here, det is > 0. So we can use integer cmp.
+
+		// Calculate distance from vert0 to ray origin
+		Point tvec = mOrigin - vert0;
+
+		// Calculate U parameter and test bounds
+		mStabbedFace.mU = tvec|pvec;
+//		if(IR(u)&0x80000000 || u>det)					return FALSE;
+		if(IS_NEGATIVE_FLOAT(mStabbedFace.mU) || IR(mStabbedFace.mU)>IR(det))		return FALSE;
+
+		// Prepare to test V parameter
+		Point qvec = tvec^edge1;
+
+		// Calculate V parameter and test bounds
+		mStabbedFace.mV = mDir|qvec;
+		if(IS_NEGATIVE_FLOAT(mStabbedFace.mV) || mStabbedFace.mU+mStabbedFace.mV>det)	return FALSE;
+
+		// Calculate t, scale parameters, ray intersects triangle
+		mStabbedFace.mDistance = edge2|qvec;
+		// Det > 0 so we can early exit here
+		// Intersection point is valid if distance is positive (else it can just be a face behind the orig point)
+		if(IS_NEGATIVE_FLOAT(mStabbedFace.mDistance))								return FALSE;
+		// Else go on
+		float OneOverDet = 1.0f / det;
+		mStabbedFace.mDistance *= OneOverDet;
+		mStabbedFace.mU *= OneOverDet;
+		mStabbedFace.mV *= OneOverDet;
+	}
+	else
+	{
+		// the non-culling branch
+		if(det>-LOCAL_EPSILON && det<LOCAL_EPSILON)									return FALSE;
+		float OneOverDet = 1.0f / det;
+
+		// Calculate distance from vert0 to ray origin
+		Point tvec = mOrigin - vert0;
+
+		// Calculate U parameter and test bounds
+		mStabbedFace.mU = (tvec|pvec) * OneOverDet;
+//		if(IR(u)&0x80000000 || u>1.0f)					return FALSE;
+		if(IS_NEGATIVE_FLOAT(mStabbedFace.mU) || IR(mStabbedFace.mU)>IEEE_1_0)		return FALSE;
+
+		// prepare to test V parameter
+		Point qvec = tvec^edge1;
+
+		// Calculate V parameter and test bounds
+		mStabbedFace.mV = (mDir|qvec) * OneOverDet;
+		if(IS_NEGATIVE_FLOAT(mStabbedFace.mV) || mStabbedFace.mU+mStabbedFace.mV>1.0f)	return FALSE;
+
+		// Calculate t, ray intersects triangle
+		mStabbedFace.mDistance = (edge2|qvec) * OneOverDet;
+		// Intersection point is valid if distance is positive (else it can just be a face behind the orig point)
+		if(IS_NEGATIVE_FLOAT(mStabbedFace.mDistance))								return FALSE;
+	}
+	return TRUE;
+}