/usr/include/sofa/component/collision/ContinuousTriangleIntersection.h is in libsofa1-dev 1.0~beta4-6.
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* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_COMPONENT_COLLISION_CONTINUOUSTRIANGLEINTERSECTION_H
#define SOFA_COMPONENT_COLLISION_CONTINUOUSTRIANGLEINTERSECTION_H
#include <sofa/component/collision/Triangle.h>
#include <sofa/core/componentmodel/collision/DetectionOutput.h>
#include <math.h>
#define cbrt(x) ((x) > (SReal)0.0 ? pow((SReal)(x), (SReal)1.0/(SReal)3.0) : \
((x) < (SReal)0.0 ? -pow((SReal)-(x), (SReal)1.0/(SReal)3.0) : (SReal)0.0))
#define EPSILON 0.000001
#define EQN_EPS 1e-9
#define IsZero(x) ((x) > -EQN_EPS && (x) < EQN_EPS)
namespace sofa
{
namespace component
{
namespace collision
{
using namespace collision;
class SOFA_COMPONENT_COLLISION_API ContinuousTriangleIntersection
{
private:
Triangle &tr1, &tr2;
SReal m_tolerance, m_tolmin, m_tolmax;
int intersectPointTriangle (SReal& t, SReal& u, SReal& v,
const Vector3& p0, const Vector3& v0,
const Vector3& p1, const Vector3& v1,
const Vector3& p2, const Vector3& v2,
const Vector3& p3, const Vector3& v3,
double dt);
int intersectEdgeEdge(SReal& t, SReal& u, SReal& v,
const Vector3& p1, const Vector3& p2,
const Vector3& v1, const Vector3& v2,
const Vector3& p3, const Vector3& p4,
const Vector3& v3, const Vector3& v4,
double dt);
int solveCubic(Vector3& s, SReal c[4]);
int solveQuadratic (SReal& t1, SReal& t2,
const SReal& a,
const SReal& b,
const SReal& c);
bool checkValidRoots (SReal& validRoot,
const int& numRoots,
const Vector3& roots,
const SReal& rootMin,
const SReal& rootMax);
//////////////////////////////////////////////////////////////////////////////////////////////////
/// returns true of value lies within the range
bool checkRange (const SReal& val,
const SReal& min,
const SReal& max)
{
return ((val >= min) && (val <= max));
};
//////////////////////////////////////////////////////////////////////////////////////////////////
/// returns the smallest of the two values
inline SReal getMinVal (const SReal& val0, const SReal& val1)
{
return (val0 < val1) ? val0 : val1;
};
//////////////////////////////////////////////////////////////////////////////////////////////////
/// returns the smallest of the three values
SReal getMinVal(const SReal &val0,
const SReal &val1,
const SReal &val2)
{
if (val0 < val1)
{
return (val0 < val2) ? val0 : val2;
}
else
{
return (val1 < val2) ? val1 : val2;
}
};
//////////////////////////////////////////////////////////////////////////////////////////////////
/// sets tolerance for boundary check [-tol, 1+tol]
void setTolerance(const SReal &tol)
{
m_tolerance = tol;
m_tolmin = -m_tolerance;
m_tolmax = (SReal)1.0 + m_tolerance;
};
public:
ContinuousTriangleIntersection (Triangle& t1, Triangle& t2);
~ContinuousTriangleIntersection(void);
core::componentmodel::collision::DetectionOutput* computeDetectionOutput (void);
bool isCollision(void);
};
} // namespace collision
} // namespace component
} // namespace sofa
#endif /* _CONTINUOUSTRIANGLEINTERSECTION_H_ */
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