Revision control
++ // 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