one.empty3.library.TRICollide.cpp Maven / Gradle / Ivy
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3D rendering engine. Plus modeling. Expected glsl textures 3d and 2d rendering
/*
In this file is the code of the algorithm described in:
"A fast triangle to triangle intersection test for collision detection"
Oren Tropp, Ayellet Tal, Ilan Shimshoni
Computer Animation and Virtual Worlds 17(5) 2006, pp 527-535.
You are free to use the code but cite the paper.
The following code tests for 3D triangle triangle intersection.
Main procedures:
int tr_tri_intersect3D (double *C1, double *P1, double *P2,
double *D1, double *Q1, double *Q2);
int coplanar_tri_tri(double N[3],double V0[3],double V1[3],double V2[3],
double U0[3],double U1[3],double U2[3]);
tr_tri_intersect3D - C1 is a vertex of triangle A. P1,P2 are the two edges originating from this vertex.
D1 is a vertex of triangle B. P1,P2 are the two edges originating from this vertex.
Returns zero for disjoint triangles and non-zero for intersection.
coplanar_tri_tri - This procedure for testing coplanar triangles for intersection is
taken from Tomas Moller's algorithm.
See article "A Fast Triangle-Triangle Intersection Test",
Journal of Graphics Tools, 2(2), 1997
V1,V2,V3 are vertices of one triangle with normal N. U1,U2,U3 are vertices of the other
triangle.
*/
#include
#include
#include
#include
#include
#include
#ifndef UNIX
#define drand48() (rand()*1.0/RAND_MAX)
#endif
int coplanar_tri_tri(double N[3],double V0[3],double V1[3],double V2[3],
double U0[3],double U1[3],double U2[3]);
// some vector macros
#define CROSS(dest,v1,v2) \
dest[0]=v1[1]*v2[2]-v1[2]*v2[1]; \
dest[1]=v1[2]*v2[0]-v1[0]*v2[2]; \
dest[2]=v1[0]*v2[1]-v1[1]*v2[0];
#define sVpsV_2( Vr, s1, V1,s2, V2);\
{\
Vr[0] = s1*V1[0] + s2*V2[0];\
Vr[1] = s1*V1[1] + s2*V2[1];\
}\
#define myVpV(g,v2,v1);\
{\
g[0] = v2[0]+v1[0];\
g[1] = v2[1]+v1[1];\
g[2] = v2[2]+v1[2];\
}\
#define myVmV(g,v2,v1);\
{\
g[0] = v2[0]-v1[0];\
g[1] = v2[1]-v1[1];\
g[2] = v2[2]-v1[2];\
}\
// 2D intersection of segment and triangle.
#define seg_collide3( q, r)\
{\
p1[0]=SF*P1[0];\
p1[1]=SF*P1[1];\
p2[0]=SF*P2[0];\
p2[1]=SF*P2[1];\
det1 = p1[0]*q[1]-q[0]*p1[1];\
gama1 = (p1[0]*r[1]-r[0]*p1[1])*det1;\
alpha1 = (r[0]*q[1] - q[0]*r[1])*det1;\
alpha1_legal = (alpha1>=0) && (alpha1<=(det1*det1) && (det1!=0));\
det2 = p2[0]*q[1] - q[0]*p2[1];\
alpha2 = (r[0]*q[1] - q[0]*r[1]) *det2;\
gama2 = (p2[0]*r[1] - r[0]*p2[1]) * det2;\
alpha2_legal = (alpha2>=0) && (alpha2<=(det2*det2) && (det2 !=0));\
det3=det2-det1;\
gama3=((p2[0]-p1[0])*(r[1]-p1[1]) - (r[0]-p1[0])*(p2[1]-p1[1]))*det3;\
if (alpha1_legal)\
{\
if (alpha2_legal)\
{\
if ( ((gama1<=0) && (gama1>=-(det1*det1))) || ((gama2<=0) && (gama2>=-(det2*det2))) || (gama1*gama2<0)) return 12;\
}\
else\
{\
if ( ((gama1<=0) && (gama1>=-(det1*det1))) || ((gama3<=0) && (gama3>=-(det3*det3))) || (gama1*gama3<0)) return 13;\
}\
}\
else\
if (alpha2_legal)\
{\
if ( ((gama2<=0) && (gama2>=-(det2*det2))) || ((gama3<=0) && (gama3>=-(det3*det3))) || (gama2*gama3<0)) return 23;\
}\
return 0;\
}
//main procedure
int tr_tri_intersect3D (double *C1, double *P1, double *P2,
double *D1, double *Q1, double *Q2)
{
double t[3],p1[3], p2[3],r[3],r4[3];
double beta1, beta2, beta3;
double gama1, gama2, gama3;
double det1, det2, det3;
double dp0, dp1, dp2;
double dq1,dq2,dq3,dr, dr3;
double alpha1, alpha2;
bool alpha1_legal, alpha2_legal;
double SF;
bool beta1_legal, beta2_legal;
myVmV(r,D1,C1);
// determinant computation
dp0 = P1[1]*P2[2]-P2[1]*P1[2];
dp1 = P1[0]*P2[2]-P2[0]*P1[2];
dp2 = P1[0]*P2[1]-P2[0]*P1[1];
dq1 = Q1[0]*dp0 - Q1[1]*dp1 + Q1[2]*dp2;
dq2 = Q2[0]*dp0 - Q2[1]*dp1 + Q2[2]*dp2;
dr = -r[0]*dp0 + r[1]*dp1 - r[2]*dp2;
beta1 = dr*dq2; // beta1, beta2 are scaled so that beta_i=beta_i*dq1*dq2
beta2 = dr*dq1;
beta1_legal = (beta2>=0) && (beta2 <=dq1*dq1) && (dq1 != 0);
beta2_legal = (beta1>=0) && (beta1 <=dq2*dq2) && (dq2 != 0);
dq3=dq2-dq1;
dr3=+dr-dq1; // actually this is -dr3
if ((dq1 == 0) && (dq2 == 0))
{
if (dr!=0) return 0; // triangles are on parallel planes
else
{ // triangles are on the same plane
double C2[3],C3[3],D2[3],D3[3], N1[3];
// We use the coplanar test of Moller which takes the 6 vertices and 2 normals
//as input.
myVpV(C2,C1,P1);
myVpV(C3,C1,P2);
myVpV(D2,D1,Q1);
myVpV(D3,D1,Q2);
CROSS(N1,P1,P2);
return coplanar_tri_tri(N1,C1, C2,C3,D1,D2,D3);
}
}
else if (!beta2_legal && !beta1_legal) return 0;// fast reject-all vertices are on
// the same side of the triangle plane
else if (beta2_legal && beta1_legal) //beta1, beta2
{
SF = dq1*dq2;
sVpsV_2(t,beta2,Q2, (-beta1),Q1);
}
else if (beta1_legal && !beta2_legal) //beta1, beta3
{
SF = dq1*dq3;
beta1 =beta1-beta2; // all betas are multiplied by a positive SF
beta3 =dr3*dq1;
sVpsV_2(t,(SF-beta3-beta1),Q1,beta3,Q2);
}
else if (beta2_legal && !beta1_legal) //beta2, beta3
{
SF = dq2*dq3;
beta2 =beta1-beta2; // all betas are multiplied by a positive SF
beta3 =dr3*dq2;
sVpsV_2(t,(SF-beta3),Q1,(beta3-beta2),Q2);
Q1=Q2;
beta1=beta2;
}
sVpsV_2(r4,SF,r,beta1,Q1);
seg_collide3(t,r4); // calculates the 2D intersection
return 0;
}
/* this edge to edge test is based on Franlin Antonio's gem:
"Faster Line Segment Intersection", in Graphics Gems III,
pp. 199-202 */
#define FABS(x) (x>=0?x:-x) /* implement as is fastest on your machine */
#define EDGE_EDGE_TEST(V0,U0,U1) \
Bx=U0[i0]-U1[i0]; \
By=U0[i1]-U1[i1]; \
Cx=V0[i0]-U0[i0]; \
Cy=V0[i1]-U0[i1]; \
f=Ay*Bx-Ax*By; \
d=By*Cx-Bx*Cy; \
if((f>0 && d>=0 && d<=f) || (f<0 && d<=0 && d>=f)) \
{ \
e=Ax*Cy-Ay*Cx; \
if(f>0) \
{ \
if(e>=0 && e<=f) return 1; \
} \
else \
{ \
if(e<=0 && e>=f) return 1; \
} \
}
#define EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2) \
{ \
double Ax,Ay,Bx,By,Cx,Cy,e,d,f; \
Ax=V1[i0]-V0[i0]; \
Ay=V1[i1]-V0[i1]; \
/* test edge U0,U1 against V0,V1 */ \
EDGE_EDGE_TEST(V0,U0,U1); \
/* test edge U1,U2 against V0,V1 */ \
EDGE_EDGE_TEST(V0,U1,U2); \
/* test edge U2,U1 against V0,V1 */ \
EDGE_EDGE_TEST(V0,U2,U0); \
}
#define POINT_IN_TRI(V0,U0,U1,U2) \
{ \
double a,b,c,d0,d1,d2; \
/* is T1 completly inside T2? */ \
/* check if V0 is inside tri(U0,U1,U2) */ \
a=U1[i1]-U0[i1]; \
b=-(U1[i0]-U0[i0]); \
c=-a*U0[i0]-b*U0[i1]; \
d0=a*V0[i0]+b*V0[i1]+c; \
\
a=U2[i1]-U1[i1]; \
b=-(U2[i0]-U1[i0]); \
c=-a*U1[i0]-b*U1[i1]; \
d1=a*V0[i0]+b*V0[i1]+c; \
\
a=U0[i1]-U2[i1]; \
b=-(U0[i0]-U2[i0]); \
c=-a*U2[i0]-b*U2[i1]; \
d2=a*V0[i0]+b*V0[i1]+c; \
if(d0*d1>0.0) \
{ \
if(d0*d2>0.0) return 1; \
} \
}
//This procedure testing for intersection between coplanar triangles is taken
// from Tomas Moller's
//"A Fast Triangle-Triangle Intersection Test",Journal of Graphics Tools, 2(2), 1997
int coplanar_tri_tri(double N[3],double V0[3],double V1[3],double V2[3],
double U0[3],double U1[3],double U2[3])
{
double A[3];
short i0,i1;
/* first project onto an axis-aligned plane, that maximizes the area */
/* of the triangles, compute indices: i0,i1. */
A[0]=FABS(N[0]);
A[1]=FABS(N[1]);
A[2]=FABS(N[2]);
if(A[0]>A[1])
{
if(A[0]>A[2])
{
i0=1; /* A[0] is greatest */
i1=2;
}
else
{
i0=0; /* A[2] is greatest */
i1=1;
}
}
else /* A[0]<=A[1] */
{
if(A[2]>A[1])
{
i0=0; /* A[2] is greatest */
i1=1;
}
else
{
i0=0; /* A[1] is greatest */
i1=2;
}
}
/* test all edges of triangle 1 against the edges of triangle 2 */
EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2);
EDGE_AGAINST_TRI_EDGES(V1,V2,U0,U1,U2);
EDGE_AGAINST_TRI_EDGES(V2,V0,U0,U1,U2);
/* finally, test if tri1 is totally contained in tri2 or vice versa */
POINT_IN_TRI(V0,U0,U1,U2);
POINT_IN_TRI(U0,V0,V1,V2);
return 0;
}
/*
This is a simple test engine which runs the triangle to triangle test
*/
#define TEST
#ifdef TEST
double PS[10000][3][3];
double QS[10000][3][3];
double EPS[10000][2][3];
double EQS[10000][2][3];
void main()
{
int i;
int j;
int k;
int t_1 = clock();
srand(t_1);
for(i=0; i<10000; i++){
for(j=0; j<3; j++){
for(k=0; k<3; k++){
PS[i][j][k] = drand48();
QS[i][j][k] = drand48();
}
}
for(j=0; j<2; j++){
for(k=0; k<3; k++){
EPS[i][j][k] = PS[i][j+1][k] - PS[i][0][k];
EQS[i][j][k] = QS[i][j+1][k] - PS[i][0][k];
}
}
}
double sum=0;
int t0 = clock();
int sums[100]={0};
for(j=0; j<1000; j++)
for(i=0; i<10000; i++){
int res = tr_tri_intersect3D(PS[i][0],EPS[i][0],EPS[i][1],
QS[j][0],EQS[j][0],EQS[j][1]);
sums[res]++;
}
int t1 = clock();
printf(" time %d %d\n",t0-t_1,t1-t0);
for(i=0; i<100; i++)
if(sums[i]!=0)printf("%d %d\n",i,sums[i]);
}
#endif TEST © 2015 - 2025 Weber Informatics LLC | Privacy Policy