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// Copyright (C) 2015 Klaralvdalens Datakonsult AB (KDAB).
// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
#include "triangleboundingvolume_p.h"
#include <Qt3DRender/private/qray3d_p.h>
QT_BEGIN_NAMESPACE
namespace Qt3DRender {
namespace Render {
// Note: a, b, c in clockwise order
// RealTime Collision Detection page 192
bool intersectsSegmentTriangle(const RayCasting::QRay3D &ray,
const Vector3D &a,
const Vector3D &b,
const Vector3D &c,
Vector3D &uvw,
float &t)
{
const Vector3D ab = b - a;
const Vector3D ac = c - a;
const Vector3D qp = (ray.origin() - ray.point(ray.distance()));
const Vector3D n = Vector3D::crossProduct(ab, ac);
const float d = Vector3D::dotProduct(qp, n);
if (d <= 0.0f)
return false;
const Vector3D ap = ray.origin() - a;
t = Vector3D::dotProduct(ap, n);
if (t < 0.0f || t > d)
return false;
const Vector3D e = Vector3D::crossProduct(qp, ap);
uvw.setY(Vector3D::dotProduct(ac, e));
if (uvw.y() < 0.0f || uvw.y() > d)
return false;
uvw.setZ(-Vector3D::dotProduct(ab, e));
if (uvw.z() < 0.0f || uvw.y() + uvw.z() > d)
return false;
const float ood = 1.0f / d;
t *= ood;
uvw.setY(uvw.y() * ood);
uvw.setZ(uvw.z() * ood);
uvw.setX(1.0f - uvw.y() - uvw.z());
return true;
}
TriangleBoundingVolume::TriangleBoundingVolume()
: QBoundingVolume()
{
}
/*
The vertices a, b, c are assumed to be in counter clockwise order.
*/
TriangleBoundingVolume::TriangleBoundingVolume(Qt3DCore::QNodeId id, const Vector3D &a, const Vector3D &b, const Vector3D &c)
: QBoundingVolume()
, m_id(id)
, m_a(a)
, m_b(b)
, m_c(c)
{}
Qt3DCore::QNodeId TriangleBoundingVolume::id() const
{
return m_id;
}
bool TriangleBoundingVolume::intersects(const RayCasting::QRay3D &ray, Vector3D *q, Vector3D *uvw) const
{
float t = 0.0f;
Vector3D uvwr;
const bool intersected = intersectsSegmentTriangle(ray, m_c, m_b, m_a, uvwr, t);
if (intersected) {
if (q != nullptr)
*q = ray.point(t);
if (uvw != nullptr)
*uvw = uvwr;
}
return intersected;
}
TriangleBoundingVolume::Type TriangleBoundingVolume::type() const
{
return RayCasting::QBoundingVolume::Triangle;
}
Vector3D TriangleBoundingVolume::a() const
{
return m_a;
}
Vector3D TriangleBoundingVolume::b() const
{
return m_b;
}
Vector3D TriangleBoundingVolume::c() const
{
return m_c;
}
void TriangleBoundingVolume::setA(const Vector3D &a)
{
m_a = a;
}
void TriangleBoundingVolume::setB(const Vector3D &b)
{
m_b = b;
}
void TriangleBoundingVolume::setC(const Vector3D &c)
{
m_c = c;
}
TriangleBoundingVolume TriangleBoundingVolume::transformed(const Matrix4x4 &mat) const
{
const Vector3D tA = mat.map(m_a);
const Vector3D tB = mat.map(m_b);
const Vector3D tC = mat.map(m_c);
return TriangleBoundingVolume(id(), tA, tB, tC);
}
} // namespace Render
} // namespace Qt3DRender
QT_END_NAMESPACE
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