tri_tri_intersection_test.hpp File Reference

#include <cmath>

Go to the source code of this file.

Namespaces
namespace	dart
namespace	dart::collision

Macros
#define	DART_CROSS(dest, v1, v2)
#define	DART_DOT(v1, v2)   (v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2])
#define	DART_SUB(dest, v1, v2)
#define	DART_ADD(dest, v1, v2)
#define	DART_MULT(dest, v, factor)
#define	DART_DIV(dest, v1, v2)
#define	DART_SET(dest, src)
#define	DART_SORT(a, b)
#define	DART_SWAP(a, b)
#define	DART_ISECT(VV0, VV1, VV2, D0, D1, D2, isect0, isect1)
#define	DART_COMPUTE_INTERVALS( VV0, VV1, VV2, D0, D1, D2, D0D1, D0D2, isect0, isect1)

Functions
float	dart::collision::FABS (float x)
void	dart::collision::edge_tri_intersect (float V0[3], float V1[3], float DV0, float DV1, float V[3])
int	dart::collision::tri_tri_intersect (float V0[3], float V1[3], float V2[3], float U0[3], float U1[3], float U2[3], float res1[3], float res2[3])

Variables
constexpr bool	dart::collision::USE_EPSILON_TEST = true
constexpr double	dart::collision::EPSILON = 1e-6
constexpr int	dart::collision::NO_CONTACT = 0
constexpr int	dart::collision::COPLANAR_CONTACT = -1
constexpr int	dart::collision::INTERIAL_CONTACT = 1

Macro Definition Documentation

DART_ADD

#define DART_ADD	(		dest,
			v1,
			v2
	)

Value:

  dest[0] = v1[0] + v2[0];                                                     \
  dest[1] = v1[1] + v2[1];                                                     \
  dest[2] = v1[2] + v2[2];

DART_COMPUTE_INTERVALS

#define DART_COMPUTE_INTERVALS	(		VV0,
			VV1,
			VV2,
			D0,
			D1,
			D2,
			D0D1,
			D0D2,
			isect0,
			isect1
	)

Value:

  if (D0D1 > 0.0f)                                                             \
  {                                                                            \
    /* here we know that D0D2<=0.0 */                                          \
    /* that is D0, D1 are on the same side, D2 on the other or on the plane */ \
    DART_ISECT(VV2, VV0, VV1, D2, D0, D1, isect0, isect1);                     \
  }                                                                            \
  else if (D0D2 > 0.0f)                                                        \
  {                                                                            \
    /* here we know that d0d1<=0.0 */                                          \
    DART_ISECT(VV1, VV0, VV2, D1, D0, D2, isect0, isect1);                     \
  }                                                                            \
  else if (D1 * D2 > 0.0f || D0 != 0.0f)                                       \
  {                                                                            \
    /* here we know that d0d1<=0.0 or that D0!=0.0 */                          \
    DART_ISECT(VV0, VV1, VV2, D0, D1, D2, isect0, isect1);                     \
  }                                                                            \
  else if (D1 != 0.0f)                                                         \
  {                                                                            \
    DART_ISECT(VV1, VV0, VV2, D1, D0, D2, isect0, isect1);                     \
  }                                                                            \
  else if (D2 != 0.0f)                                                         \
  {                                                                            \
    DART_ISECT(VV2, VV0, VV1, D2, D0, D1, isect0, isect1);                     \
  }                                                                            \
  else                                                                         \
  {                                                                            \
    /* triangles are coplanar */                                               \
    return COPLANAR_CONTACT;                                                   \
  }

DART_CROSS

#define DART_CROSS	(		dest,
			v1,
			v2
	)

Value:

  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];

DART_DIV

#define DART_DIV	(		dest,
			v1,
			v2
	)

Value:

  dest[0] = v1[0] / v2[0];                                                     \
  dest[1] = v1[1] / 2 [1];                                                     \
  dest[2] = v1[2] / v2[2];

DART_DOT

#define DART_DOT	(		v1,
			v2
	)		(v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2])

DART_ISECT

#define DART_ISECT	(		VV0,
			VV1,
			VV2,
			D0,
			D1,
			D2,
			isect0,
			isect1
	)

Value:

  isect0 = VV0 + (VV1 - VV0) * D0 / (D0 - D1);                                 \
  isect1 = VV0 + (VV2 - VV0) * D0 / (D0 - D2);

DART_MULT

#define DART_MULT	(		dest,
			v,
			factor
	)

Value:

  dest[0] = factor * v[0];                                                     \
  dest[1] = factor * v[1];                                                     \
  dest[2] = factor * v[2];

DART_SET

#define DART_SET	(		dest,
			src
	)

Value:

  dest[0] = src[0];                                                            \
  dest[1] = src[1];                                                            \
  dest[2] = src[2];

DART_SORT

#define DART_SORT	(		a,
			b
	)

Value:

  if (a > b)                                                                   \
  {                                                                            \
    float c;                                                                   \
    c = a;                                                                     \
    a = b;                                                                     \
    b = c;                                                                     \
  }

DART_SUB

#define DART_SUB	(		dest,
			v1,
			v2
	)

Value:

  dest[0] = v1[0] - v2[0];                                                     \
  dest[1] = v1[1] - v2[1];                                                     \
  dest[2] = v1[2] - v2[2];

DART_SWAP

#define DART_SWAP	(		a,
			b
	)

Value:

  {                                                                            \
    float c;                                                                   \
    c = a;                                                                     \
    a = b;                                                                     \
    b = c;                                                                     \
  }