AnotherFoxGuy/bounce
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

remove unecessary gjk duplication

Browse Source
This commit is contained in:
Irlan
2017-03-26 13:27:02 -03:00
parent 153abfb2fe
commit a683052e4c
13 changed files with 327 additions and 444 deletions
Download Patch File Download Diff File Expand all files Collapse all files

115
include/bounce/common/geometry.h
View File

@@ -75,74 +75,6 @@ inline float32 b3Distance(const b3Vec3& P, const b3Plane& plane)
return b3Dot(plane.normal, P) - plane.offset;
}
// Compute barycentric coordinates (u, v) for point Q to segment AB.
// The last output value is the divisor.
inline void b3Barycentric(float32 out[3],
const b3Vec3& A, const b3Vec3& B,
const b3Vec3& Q)
{
b3Vec3 AB = B - A;
b3Vec3 QA = A - Q;
b3Vec3 QB = B - Q;
//float32 divisor = b3Dot(AB, AB);
out[0] = b3Dot(QB, AB);
out[1] = -b3Dot(QA, AB);
out[2] = out[0] + out[1];
}
// Compute barycentric coordinates (u, v, w) for point Q to triangle ABC.
// The last output value is the divisor.
inline void b3Barycentric(float32 out[4],
const b3Vec3& A, const b3Vec3& B, const b3Vec3& C,
const b3Vec3& Q)
{
// RTCD, 140.
b3Vec3 AB = B - A;
b3Vec3 AC = C - A;
b3Vec3 QA = A - Q;
b3Vec3 QB = B - Q;
b3Vec3 QC = C - Q;
b3Vec3 QB_x_QC = b3Cross(QB, QC);
b3Vec3 QC_x_QA = b3Cross(QC, QA);
b3Vec3 QA_x_QB = b3Cross(QA, QB);
b3Vec3 AB_x_AC = b3Cross(AB, AC);
//float32 divisor = b3Dot(AB_x_AC, AB_x_AC);
out[0] = b3Dot(QB_x_QC, AB_x_AC);
out[1] = b3Dot(QC_x_QA, AB_x_AC);
out[2] = b3Dot(QA_x_QB, AB_x_AC);
out[3] = out[0] + out[1] + out[2];
}
// Compute barycentric coordinates (u, v, w, x) for point Q to tetrahedron ABCD.
// The last output value is the (positive) divisor.
inline void b3Barycentric(float32 out[5],
const b3Vec3& A, const b3Vec3& B, const b3Vec3& C, const b3Vec3& D,
const b3Vec3& Q)
{
// RTCD, 48, 49.
b3Vec3 AB = B - A;
b3Vec3 AC = C - A;
b3Vec3 AD = D - A;
b3Vec3 QA = A - Q;
b3Vec3 QB = B - Q;
b3Vec3 QC = C - Q;
b3Vec3 QD = D - Q;
float32 divisor = b3Det(AB, AC, AD);
float32 sign = b3Sign(divisor);
out[0] = sign * b3Det(QB, QC, QD);
out[1] = sign * b3Det(QA, QD, QC);
out[2] = sign * b3Det(QA, QB, QD);
out[3] = sign * b3Det(QA, QC, QB);
out[4] = sign * divisor;
}
// Project a point onto a normal plane.
inline b3Vec3 b3ClosestPointOnPlane(const b3Vec3& P, const b3Plane& plane)
{
@@ -150,11 +82,56 @@ inline b3Vec3 b3ClosestPointOnPlane(const b3Vec3& P, const b3Plane& plane)
return P - fraction * plane.normal;
}
// Convert a point Q from euclidean coordinates to barycentric coordinates (u, v)
// with respect to a segment AB.
// The last output value is the divisor.
inline void b3BarycentricCoordinates(float32 out[3],
const b3Vec3& A, const b3Vec3& B,
const b3Vec3& Q)
{
b3Vec3 AB = B - A;
b3Vec3 QA = A - Q;
b3Vec3 QB = B - Q;
float32 divisor = b3Dot(AB, AB);
out[0] = b3Dot(QB, AB);
out[1] = -b3Dot(QA, AB);
out[2] = divisor;
}
// Convert a point Q from euclidean coordinates to barycentric coordinates (u, v, w)
// with respect to a triangle ABC.
// The last output value is the divisor.
inline void b3BarycentricCoordinates(float32 out[4],
const b3Vec3& A, const b3Vec3& B, const b3Vec3& C,
const b3Vec3& Q)
{
b3Vec3 AB = B - A;
b3Vec3 AC = C - A;
b3Vec3 QA = A - Q;
b3Vec3 QB = B - Q;
b3Vec3 QC = C - Q;
b3Vec3 QB_x_QC = b3Cross(QB, QC);
b3Vec3 QC_x_QA = b3Cross(QC, QA);
b3Vec3 QA_x_QB = b3Cross(QA, QB);
b3Vec3 AB_x_AC = b3Cross(AB, AC);
float32 divisor = b3Dot(AB_x_AC, AB_x_AC);
out[0] = b3Dot(QB_x_QC, AB_x_AC);
out[1] = b3Dot(QC_x_QA, AB_x_AC);
out[2] = b3Dot(QA_x_QB, AB_x_AC);
out[3] = divisor;
}
// Project a point onto a segment AB.
inline b3Vec3 b3ClosestPointOnSegment(const b3Vec3& P, const b3Vec3& A, const b3Vec3& B)
{
float32 wAB[3];
b3Barycentric(wAB, A, B, P);
b3BarycentricCoordinates(wAB, A, B, P);
if (wAB[1] <= 0.0f)
{