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Diffstat (limited to 'extern/solid/src/convex/DT_Sphere.cpp')
| -rwxr-xr-x | extern/solid/src/convex/DT_Sphere.cpp | 90 |
1 files changed, 90 insertions, 0 deletions
diff --git a/extern/solid/src/convex/DT_Sphere.cpp b/extern/solid/src/convex/DT_Sphere.cpp new file mode 100755 index 00000000000..3f2443dcf53 --- /dev/null +++ b/extern/solid/src/convex/DT_Sphere.cpp @@ -0,0 +1,90 @@ +/* + * SOLID - Software Library for Interference Detection + * + * Copyright (C) 2001-2003 Dtecta. All rights reserved. + * + * This library may be distributed under the terms of the Q Public License + * (QPL) as defined by Trolltech AS of Norway and appearing in the file + * LICENSE.QPL included in the packaging of this file. + * + * This library may be distributed and/or modified under the terms of the + * GNU General Public License (GPL) version 2 as published by the Free Software + * Foundation and appearing in the file LICENSE.GPL included in the + * packaging of this file. + * + * This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE + * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. + * + * Commercial use or any other use of this library not covered by either + * the QPL or the GPL requires an additional license from Dtecta. + * Please contact info@dtecta.com for enquiries about the terms of commercial + * use of this library. + */ + +#include "DT_Sphere.h" +#include "GEN_MinMax.h" + +MT_Scalar DT_Sphere::supportH(const MT_Vector3& v) const +{ + return m_radius * v.length(); +} + +MT_Point3 DT_Sphere::support(const MT_Vector3& v) const +{ + MT_Scalar s = v.length(); + + if (s > MT_Scalar(0.0)) + { + s = m_radius / s; + return MT_Point3(v[0] * s, v[1] * s, v[2] * s); + } + else + { + return MT_Point3(m_radius, MT_Scalar(0.0), MT_Scalar(0.0)); + } +} + +bool DT_Sphere::ray_cast(const MT_Point3& source, const MT_Point3& target, + MT_Scalar& param, MT_Vector3& normal) const +{ + MT_Vector3 r = target - source; + MT_Scalar delta = -source.dot(r); + MT_Scalar r_length2 = r.length2(); + MT_Scalar sigma = delta * delta - r_length2 * (source.length2() - m_radius * m_radius); + + if (sigma >= MT_Scalar(0.0)) + // The line trough source and target intersects the sphere. + { + MT_Scalar sqrt_sigma = MT_sqrt(sigma); + // We need only the sign of lambda2, so the division by the positive + // r_length2 can be left out. + MT_Scalar lambda2 = (delta + sqrt_sigma) /* / r_length2 */ ; + if (lambda2 >= MT_Scalar(0.0)) + // The ray points at the sphere + { + MT_Scalar lambda1 = (delta - sqrt_sigma) / r_length2; + if (lambda1 <= param) + // The ray hits the sphere, since + // [lambda1, lambda2] overlaps [0, param]. + { + if (lambda1 > MT_Scalar(0.0)) + { + param = lambda1; + normal = (source + r * lambda1) / m_radius; + // NB: division by m_radius to normalize the normal. + } + else + { + param = MT_Scalar(0.0); + normal.setValue(MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(0.0)); + } + + return true; + } + } + } + + return false; +} + + |