3fd0610925
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@419 92aac97c-a6ce-11dd-a772-7fcde58d38e6
114 lines
4.4 KiB
C++
114 lines
4.4 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2011 Daniel Chappuis *
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*********************************************************************************
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* *
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* Permission is hereby granted, free of charge, to any person obtaining a copy *
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* of this software and associated documentation files (the "Software"), to deal *
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* in the Software without restriction, including without limitation the rights *
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
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* copies of the Software, and to permit persons to whom the Software is *
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* furnished to do so, subject to the following conditions: *
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* *
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* The above copyright notice and this permission notice shall be included in *
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* all copies or substantial portions of the Software. *
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* *
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, *
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
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* THE SOFTWARE. *
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********************************************************************************/
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// Libraries
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#include "TriangleEPA.h"
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#include "EdgeEPA.h"
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#include "TrianglesStore.h"
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// We use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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// Constructor
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TriangleEPA::TriangleEPA() {
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}
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// Constructor
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TriangleEPA::TriangleEPA(uint indexVertex1, uint indexVertex2, uint indexVertex3)
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: isObsolete(false) {
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indicesVertices[0] = indexVertex1;
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indicesVertices[1] = indexVertex2;
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indicesVertices[2] = indexVertex3;
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}
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// Destructor
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TriangleEPA::~TriangleEPA() {
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}
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// Compute the point v closest to the origin of this triangle
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bool TriangleEPA::computeClosestPoint(const Vector3D* vertices) {
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const Vector3D& p0 = vertices[indicesVertices[0]];
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Vector3D v1 = vertices[indicesVertices[1]] - p0;
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Vector3D v2 = vertices[indicesVertices[2]] - p0;
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double v1Dotv1 = v1.dot(v1);
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double v1Dotv2 = v1.dot(v2);
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double v2Dotv2 = v2.dot(v2);
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double p0Dotv1 = p0.dot(v1);
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double p0Dotv2 = p0.dot(v2);
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// Compute determinant
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det = v1Dotv1 * v2Dotv2 - v1Dotv2 * v1Dotv2;
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// Compute lambda values
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lambda1 = p0Dotv2 * v1Dotv2 - p0Dotv1 * v2Dotv2;
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lambda2 = p0Dotv1 * v1Dotv2 - p0Dotv2 * v1Dotv1;
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// If the determinant is positive
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if (det > 0.0) {
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// Compute the closest point v
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closestPoint = p0 + 1.0 / det * (lambda1 * v1 + lambda2 * v2);
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// Compute the square distance of closest point to the origin
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distSquare = closestPoint.dot(closestPoint);
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return true;
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}
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return false;
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}
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// Compute recursive silhouette algorithm for that triangle
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bool TriangleEPA::computeSilhouette(const Vector3D* vertices, uint index, TrianglesStore& triangleStore) {
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uint first = triangleStore.getNbTriangles();
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// Mark the current triangle as obsolete
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setIsObsolete(true);
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// Execute recursively the silhouette algorithm for the ajdacent edges of neighbouring
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// triangles of the current triangle
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bool result = adjacentEdges[0].computeSilhouette(vertices, index, triangleStore) &&
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adjacentEdges[1].computeSilhouette(vertices, index, triangleStore) &&
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adjacentEdges[2].computeSilhouette(vertices, index, triangleStore);
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if (result) {
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int i,j;
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for (i=first, j=triangleStore.getNbTriangles()-1; i != triangleStore.getNbTriangles(); j = i++) {
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TriangleEPA* triangle = &triangleStore[i];
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triangle->getAdjacentEdge(1).halfLink(EdgeEPA(triangle, 1));
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if (!EdgeEPA(triangle, 0).link(EdgeEPA(&triangleStore[j], 2))) {
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return false;
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}
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}
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}
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return result;
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}
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