/* * ***** BEGIN GPL LICENSE BLOCK ***** * * This program is free software; you can redistribute it and/or * modify it under the terms of the GNU General Public License * as published by the Free Software Foundation; either version 2 * of the License, or (at your option) any later version. * * This program 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 General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software Foundation, * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. * * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. * All rights reserved. * * The Original Code is: some of this file. * * ***** END GPL LICENSE BLOCK ***** * */ /** \file blender/blenlib/intern/math_geom.c * \ingroup bli */ #include "MEM_guardedalloc.h" #include "BLI_math.h" #include "BLI_math_bits.h" #include "BLI_utildefines.h" #include "BLI_strict_flags.h" /********************************** Polygons *********************************/ void cent_tri_v3(float cent[3], const float v1[3], const float v2[3], const float v3[3]) { cent[0] = (v1[0] + v2[0] + v3[0]) / 3.0f; cent[1] = (v1[1] + v2[1] + v3[1]) / 3.0f; cent[2] = (v1[2] + v2[2] + v3[2]) / 3.0f; } void cent_quad_v3(float cent[3], const float v1[3], const float v2[3], const float v3[3], const float v4[3]) { cent[0] = 0.25f * (v1[0] + v2[0] + v3[0] + v4[0]); cent[1] = 0.25f * (v1[1] + v2[1] + v3[1] + v4[1]); cent[2] = 0.25f * (v1[2] + v2[2] + v3[2] + v4[2]); } void cross_tri_v3(float n[3], const float v1[3], const float v2[3], const float v3[3]) { float n1[3], n2[3]; n1[0] = v1[0] - v2[0]; n2[0] = v2[0] - v3[0]; n1[1] = v1[1] - v2[1]; n2[1] = v2[1] - v3[1]; n1[2] = v1[2] - v2[2]; n2[2] = v2[2] - v3[2]; n[0] = n1[1] * n2[2] - n1[2] * n2[1]; n[1] = n1[2] * n2[0] - n1[0] * n2[2]; n[2] = n1[0] * n2[1] - n1[1] * n2[0]; } float normal_tri_v3(float n[3], const float v1[3], const float v2[3], const float v3[3]) { float n1[3], n2[3]; n1[0] = v1[0] - v2[0]; n2[0] = v2[0] - v3[0]; n1[1] = v1[1] - v2[1]; n2[1] = v2[1] - v3[1]; n1[2] = v1[2] - v2[2]; n2[2] = v2[2] - v3[2]; n[0] = n1[1] * n2[2] - n1[2] * n2[1]; n[1] = n1[2] * n2[0] - n1[0] * n2[2]; n[2] = n1[0] * n2[1] - n1[1] * n2[0]; return normalize_v3(n); } float normal_quad_v3(float n[3], const float v1[3], const float v2[3], const float v3[3], const float v4[3]) { /* real cross! */ float n1[3], n2[3]; n1[0] = v1[0] - v3[0]; n1[1] = v1[1] - v3[1]; n1[2] = v1[2] - v3[2]; n2[0] = v2[0] - v4[0]; n2[1] = v2[1] - v4[1]; n2[2] = v2[2] - v4[2]; n[0] = n1[1] * n2[2] - n1[2] * n2[1]; n[1] = n1[2] * n2[0] - n1[0] * n2[2]; n[2] = n1[0] * n2[1] - n1[1] * n2[0]; return normalize_v3(n); } /** * Computes the normal of a planar * polygon See Graphics Gems for * computing newell normal. */ float normal_poly_v3(float n[3], const float verts[][3], unsigned int nr) { cross_poly_v3(n, verts, nr); return normalize_v3(n); } float area_quad_v3(const float v1[3], const float v2[3], const float v3[3], const float v4[3]) { const float verts[4][3] = {{UNPACK3(v1)}, {UNPACK3(v2)}, {UNPACK3(v3)}, {UNPACK3(v4)}}; return area_poly_v3(verts, 4); } float area_squared_quad_v3(const float v1[3], const float v2[3], const float v3[3], const float v4[3]) { const float verts[4][3] = {{UNPACK3(v1)}, {UNPACK3(v2)}, {UNPACK3(v3)}, {UNPACK3(v4)}}; return area_squared_poly_v3(verts, 4); } /* Triangles */ float area_tri_v3(const float v1[3], const float v2[3], const float v3[3]) { float n[3]; cross_tri_v3(n, v1, v2, v3); return len_v3(n) * 0.5f; } float area_squared_tri_v3(const float v1[3], const float v2[3], const float v3[3]) { float n[3]; cross_tri_v3(n, v1, v2, v3); mul_v3_fl(n, 0.5f); return len_squared_v3(n); } float area_tri_signed_v3(const float v1[3], const float v2[3], const float v3[3], const float normal[3]) { float area, n[3]; cross_tri_v3(n, v1, v2, v3); area = len_v3(n) * 0.5f; /* negate area for flipped triangles */ if (dot_v3v3(n, normal) < 0.0f) area = -area; return area; } float area_poly_v3(const float verts[][3], unsigned int nr) { float n[3]; cross_poly_v3(n, verts, nr); return len_v3(n) * 0.5f; } float area_squared_poly_v3(const float verts[][3], unsigned int nr) { float n[3]; cross_poly_v3(n, verts, nr); mul_v3_fl(n, 0.5f); return len_squared_v3(n); } /** * Scalar cross product of a 2d polygon. * * - equivalent to ``area * 2`` * - useful for checking polygon winding (a positive value is clockwise). */ float cross_poly_v2(const float verts[][2], unsigned int nr) { unsigned int a; float cross; const float *co_curr, *co_prev; /* The Trapezium Area Rule */ co_prev = verts[nr - 1]; co_curr = verts[0]; cross = 0.0f; for (a = 0; a < nr; a++) { cross += (co_curr[0] - co_prev[0]) * (co_curr[1] + co_prev[1]); co_prev = co_curr; co_curr += 2; } return cross; } void cross_poly_v3(float n[3], const float verts[][3], unsigned int nr) { const float *v_prev = verts[nr - 1]; const float *v_curr = verts[0]; unsigned int i; zero_v3(n); /* Newell's Method */ for (i = 0; i < nr; v_prev = v_curr, v_curr = verts[++i]) { add_newell_cross_v3_v3v3(n, v_prev, v_curr); } } float area_poly_v2(const float verts[][2], unsigned int nr) { return fabsf(0.5f * cross_poly_v2(verts, nr)); } float area_poly_signed_v2(const float verts[][2], unsigned int nr) { return (0.5f * cross_poly_v2(verts, nr)); } float area_squared_poly_v2(const float verts[][2], unsigned int nr) { float area = area_poly_signed_v2(verts, nr); return area * area; } float cotangent_tri_weight_v3(const float v1[3], const float v2[3], const float v3[3]) { float a[3], b[3], c[3], c_len; sub_v3_v3v3(a, v2, v1); sub_v3_v3v3(b, v3, v1); cross_v3_v3v3(c, a, b); c_len = len_v3(c); if (c_len > FLT_EPSILON) { return dot_v3v3(a, b) / c_len; } else { return 0.0f; } } /********************************* Planes **********************************/ /** * Calculate a plane from a point and a direction, * \note \a point_no isn't required to be normalized. */ void plane_from_point_normal_v3(float r_plane[4], const float plane_co[3], const float plane_no[3]) { copy_v3_v3(r_plane, plane_no); r_plane[3] = -dot_v3v3(r_plane, plane_co); } /** * Get a point and a direction from a plane. */ void plane_to_point_vector_v3(const float plane[4], float r_plane_co[3], float r_plane_no[3]) { mul_v3_v3fl(r_plane_co, plane, (-plane[3] / len_squared_v3(plane))); copy_v3_v3(r_plane_no, plane); } /** * version of #plane_to_point_vector_v3 that gets a unit length vector. */ void plane_to_point_vector_v3_normalized(const float plane[4], float r_plane_co[3], float r_plane_no[3]) { const float length = normalize_v3_v3(r_plane_no, plane); mul_v3_v3fl(r_plane_co, r_plane_no, (-plane[3] / length)); } /********************************* Volume **********************************/ /** * The volume from a tetrahedron, points can be in any order */ float volume_tetrahedron_v3(const float v1[3], const float v2[3], const float v3[3], const float v4[3]) { float m[3][3]; sub_v3_v3v3(m[0], v1, v2); sub_v3_v3v3(m[1], v2, v3); sub_v3_v3v3(m[2], v3, v4); return fabsf(determinant_m3_array(m)) / 6.0f; } /** * The volume from a tetrahedron, normal pointing inside gives negative volume */ float volume_tetrahedron_signed_v3(const float v1[3], const float v2[3], const float v3[3], const float v4[3]) { float m[3][3]; sub_v3_v3v3(m[0], v1, v2); sub_v3_v3v3(m[1], v2, v3); sub_v3_v3v3(m[2], v3, v4); return determinant_m3_array(m) / 6.0f; } /********************************* Distance **********************************/ /* distance p to line v1-v2 * using Hesse formula, NO LINE PIECE! */ float dist_squared_to_line_v2(const float p[2], const float l1[2], const float l2[2]) { float closest[2]; closest_to_line_v2(closest, p, l1, l2); return len_squared_v2v2(closest, p); } float dist_to_line_v2(const float p[2], const float l1[2], const float l2[2]) { return sqrtf(dist_squared_to_line_v2(p, l1, l2)); } /* distance p to line-piece v1-v2 */ float dist_squared_to_line_segment_v2(const float p[2], const float l1[2], const float l2[2]) { float closest[2]; closest_to_line_segment_v2(closest, p, l1, l2); return len_squared_v2v2(closest, p); } float dist_to_line_segment_v2(const float p[2], const float l1[2], const float l2[2]) { return sqrtf(dist_squared_to_line_segment_v2(p, l1, l2)); } /* point closest to v1 on line v2-v3 in 2D */ void closest_to_line_segment_v2(float r_close[2], const float p[2], const float l1[2], const float l2[2]) { float lambda, cp[2]; lambda = closest_to_line_v2(cp, p, l1, l2); /* flip checks for !finite case (when segment is a point) */ if (!(lambda > 0.0f)) { copy_v2_v2(r_close, l1); } else if (!(lambda < 1.0f)) { copy_v2_v2(r_close, l2); } else { copy_v2_v2(r_close, cp); } } /* point closest to v1 on line v2-v3 in 3D */ void closest_to_line_segment_v3(float r_close[3], const float p[3], const float l1[3], const float l2[3]) { float lambda, cp[3]; lambda = closest_to_line_v3(cp, p, l1, l2); /* flip checks for !finite case (when segment is a point) */ if (!(lambda > 0.0f)) { copy_v3_v3(r_close, l1); } else if (!(lambda < 1.0f)) { copy_v3_v3(r_close, l2); } else { copy_v3_v3(r_close, cp); } } /** * Find the closest point on a plane. * * \param r_close Return coordinate * \param plane The plane to test against. * \param pt The point to find the nearest of * * \note non-unit-length planes are supported. */ void closest_to_plane_v3(float r_close[3], const float plane[4], const float pt[3]) { const float len_sq = len_squared_v3(plane); const float side = plane_point_side_v3(plane, pt); madd_v3_v3v3fl(r_close, pt, plane, -side / len_sq); } void closest_to_plane_normalized_v3(float r_close[3], const float plane[4], const float pt[3]) { const float side = plane_point_side_v3(plane, pt); BLI_ASSERT_UNIT_V3(plane); madd_v3_v3v3fl(r_close, pt, plane, -side); } void closest_to_plane3_v3(float r_close[3], const float plane[3], const float pt[3]) { const float len_sq = len_squared_v3(plane); const float side = dot_v3v3(plane, pt); madd_v3_v3v3fl(r_close, pt, plane, -side / len_sq); } void closest_to_plane3_normalized_v3(float r_close[3], const float plane[3], const float pt[3]) { const float side = dot_v3v3(plane, pt); BLI_ASSERT_UNIT_V3(plane); madd_v3_v3v3fl(r_close, pt, plane, -side); } float dist_signed_squared_to_plane_v3(const float pt[3], const float plane[4]) { const float len_sq = len_squared_v3(plane); const float side = plane_point_side_v3(plane, pt); const float fac = side / len_sq; return copysignf(len_sq * (fac * fac), side); } float dist_squared_to_plane_v3(const float pt[3], const float plane[4]) { const float len_sq = len_squared_v3(plane); const float side = plane_point_side_v3(plane, pt); const float fac = side / len_sq; /* only difference to code above - no 'copysignf' */ return len_sq * (fac * fac); } float dist_signed_squared_to_plane3_v3(const float pt[3], const float plane[3]) { const float len_sq = len_squared_v3(plane); const float side = dot_v3v3(plane, pt); /* only difference with 'plane[4]' version */ const float fac = side / len_sq; return copysignf(len_sq * (fac * fac), side); } float dist_squared_to_plane3_v3(const float pt[3], const float plane[3]) { const float len_sq = len_squared_v3(plane); const float side = dot_v3v3(plane, pt); /* only difference with 'plane[4]' version */ const float fac = side / len_sq; /* only difference to code above - no 'copysignf' */ return len_sq * (fac * fac); } /** * Return the signed distance from the point to the plane. */ float dist_signed_to_plane_v3(const float pt[3], const float plane[4]) { const float len_sq = len_squared_v3(plane); const float side = plane_point_side_v3(plane, pt); const float fac = side / len_sq; return sqrtf(len_sq) * fac; } float dist_to_plane_v3(const float pt[3], const float plane[4]) { return fabsf(dist_signed_to_plane_v3(pt, plane)); } float dist_signed_to_plane3_v3(const float pt[3], const float plane[3]) { const float len_sq = len_squared_v3(plane); const float side = dot_v3v3(plane, pt); /* only difference with 'plane[4]' version */ const float fac = side / len_sq; return sqrtf(len_sq) * fac; } float dist_to_plane3_v3(const float pt[3], const float plane[3]) { return fabsf(dist_signed_to_plane3_v3(pt, plane)); } /* distance v1 to line-piece l1-l2 in 3D */ float dist_squared_to_line_segment_v3(const float p[3], const float l1[3], const float l2[3]) { float closest[3]; closest_to_line_segment_v3(closest, p, l1, l2); return len_squared_v3v3(closest, p); } float dist_to_line_segment_v3(const float p[3], const float l1[3], const float l2[3]) { return sqrtf(dist_squared_to_line_segment_v3(p, l1, l2)); } float dist_squared_to_line_v3(const float p[3], const float l1[3], const float l2[3]) { float closest[3]; closest_to_line_v3(closest, p, l1, l2); return len_squared_v3v3(closest, p); } float dist_to_line_v3(const float p[3], const float l1[3], const float l2[3]) { return sqrtf(dist_squared_to_line_v3(p, l1, l2)); } /** * Check if \a p is inside the 2x planes defined by ``(v1, v2, v3)`` * where the 3x points define 2x planes. * * \param axis_ref used when v1,v2,v3 form a line and to check if the corner is concave/convex. * * \note the distance from \a v1 & \a v3 to \a v2 doesnt matter * (it just defines the planes). * * \return the lowest squared distance to either of the planes. * where ``(return < 0.0)`` is outside. * *
* v1 * + * / * x - out / x - inside * / * +----+ * v2 v3 * x - also outside **/ float dist_signed_squared_to_corner_v3v3v3( const float p[3], const float v1[3], const float v2[3], const float v3[3], const float axis_ref[3]) { float dir_a[3], dir_b[3]; float plane_a[3], plane_b[3]; float dist_a, dist_b; float axis[3]; float s_p_v2[3]; bool flip = false; sub_v3_v3v3(dir_a, v1, v2); sub_v3_v3v3(dir_b, v3, v2); cross_v3_v3v3(axis, dir_a, dir_b); if ((len_squared_v3(axis) < FLT_EPSILON)) { copy_v3_v3(axis, axis_ref); } else if (dot_v3v3(axis, axis_ref) < 0.0f) { /* concave */ flip = true; negate_v3(axis); } cross_v3_v3v3(plane_a, dir_a, axis); cross_v3_v3v3(plane_b, axis, dir_b); #if 0 plane_from_point_normal_v3(plane_a, v2, plane_a); plane_from_point_normal_v3(plane_b, v2, plane_b); dist_a = dist_signed_squared_to_plane_v3(p, plane_a); dist_b = dist_signed_squared_to_plane_v3(p, plane_b); #else /* calculate without the planes 4th component to avoid float precision issues */ sub_v3_v3v3(s_p_v2, p, v2); dist_a = dist_signed_squared_to_plane3_v3(s_p_v2, plane_a); dist_b = dist_signed_squared_to_plane3_v3(s_p_v2, plane_b); #endif if (flip) { return min_ff(dist_a, dist_b); } else { return max_ff(dist_a, dist_b); } } /* Adapted from "Real-Time Collision Detection" by Christer Ericson, * published by Morgan Kaufmann Publishers, copyright 2005 Elsevier Inc. * * Set 'r' to the point in triangle (a, b, c) closest to point 'p' */ void closest_on_tri_to_point_v3(float r[3], const float p[3], const float a[3], const float b[3], const float c[3]) { float ab[3], ac[3], ap[3], d1, d2; float bp[3], d3, d4, vc, cp[3], d5, d6, vb, va; float denom, v, w; /* Check if P in vertex region outside A */ sub_v3_v3v3(ab, b, a); sub_v3_v3v3(ac, c, a); sub_v3_v3v3(ap, p, a); d1 = dot_v3v3(ab, ap); d2 = dot_v3v3(ac, ap); if (d1 <= 0.0f && d2 <= 0.0f) { /* barycentric coordinates (1,0,0) */ copy_v3_v3(r, a); return; } /* Check if P in vertex region outside B */ sub_v3_v3v3(bp, p, b); d3 = dot_v3v3(ab, bp); d4 = dot_v3v3(ac, bp); if (d3 >= 0.0f && d4 <= d3) { /* barycentric coordinates (0,1,0) */ copy_v3_v3(r, b); return; } /* Check if P in edge region of AB, if so return projection of P onto AB */ vc = d1 * d4 - d3 * d2; if (vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f) { v = d1 / (d1 - d3); /* barycentric coordinates (1-v,v,0) */ madd_v3_v3v3fl(r, a, ab, v); return; } /* Check if P in vertex region outside C */ sub_v3_v3v3(cp, p, c); d5 = dot_v3v3(ab, cp); d6 = dot_v3v3(ac, cp); if (d6 >= 0.0f && d5 <= d6) { /* barycentric coordinates (0,0,1) */ copy_v3_v3(r, c); return; } /* Check if P in edge region of AC, if so return projection of P onto AC */ vb = d5 * d2 - d1 * d6; if (vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f) { w = d2 / (d2 - d6); /* barycentric coordinates (1-w,0,w) */ madd_v3_v3v3fl(r, a, ac, w); return; } /* Check if P in edge region of BC, if so return projection of P onto BC */ va = d3 * d6 - d5 * d4; if (va <= 0.0f && (d4 - d3) >= 0.0f && (d5 - d6) >= 0.0f) { w = (d4 - d3) / ((d4 - d3) + (d5 - d6)); /* barycentric coordinates (0,1-w,w) */ sub_v3_v3v3(r, c, b); mul_v3_fl(r, w); add_v3_v3(r, b); return; } /* P inside face region. Compute Q through its barycentric coordinates (u,v,w) */ denom = 1.0f / (va + vb + vc); v = vb * denom; w = vc * denom; /* = u*a + v*b + w*c, u = va * denom = 1.0f - v - w */ /* ac * w */ mul_v3_fl(ac, w); /* a + ab * v */ madd_v3_v3v3fl(r, a, ab, v); /* a + ab * v + ac * w */ add_v3_v3(r, ac); } /******************************* Intersection ********************************/ /* intersect Line-Line, shorts */ int isect_seg_seg_v2_int(const int v1[2], const int v2[2], const int v3[2], const int v4[2]) { float div, lambda, mu; div = (float)((v2[0] - v1[0]) * (v4[1] - v3[1]) - (v2[1] - v1[1]) * (v4[0] - v3[0])); if (div == 0.0f) return ISECT_LINE_LINE_COLINEAR; lambda = (float)((v1[1] - v3[1]) * (v4[0] - v3[0]) - (v1[0] - v3[0]) * (v4[1] - v3[1])) / div; mu = (float)((v1[1] - v3[1]) * (v2[0] - v1[0]) - (v1[0] - v3[0]) * (v2[1] - v1[1])) / div; if (lambda >= 0.0f && lambda <= 1.0f && mu >= 0.0f && mu <= 1.0f) { if (lambda == 0.0f || lambda == 1.0f || mu == 0.0f || mu == 1.0f) return ISECT_LINE_LINE_EXACT; return ISECT_LINE_LINE_CROSS; } return ISECT_LINE_LINE_NONE; } /* intersect Line-Line, floats - gives intersection point */ int isect_line_line_v2_point(const float v0[2], const float v1[2], const float v2[2], const float v3[2], float r_vi[2]) { float s10[2], s32[2]; float div; sub_v2_v2v2(s10, v1, v0); sub_v2_v2v2(s32, v3, v2); div = cross_v2v2(s10, s32); if (div != 0.0f) { const float u = cross_v2v2(v1, v0); const float v = cross_v2v2(v3, v2); r_vi[0] = ((s32[0] * u) - (s10[0] * v)) / div; r_vi[1] = ((s32[1] * u) - (s10[1] * v)) / div; return ISECT_LINE_LINE_CROSS; } else { return ISECT_LINE_LINE_COLINEAR; } } /* intersect Line-Line, floats */ int isect_seg_seg_v2(const float v1[2], const float v2[2], const float v3[2], const float v4[2]) { float div, lambda, mu; div = (v2[0] - v1[0]) * (v4[1] - v3[1]) - (v2[1] - v1[1]) * (v4[0] - v3[0]); if (div == 0.0f) return ISECT_LINE_LINE_COLINEAR; lambda = ((float)(v1[1] - v3[1]) * (v4[0] - v3[0]) - (v1[0] - v3[0]) * (v4[1] - v3[1])) / div; mu = ((float)(v1[1] - v3[1]) * (v2[0] - v1[0]) - (v1[0] - v3[0]) * (v2[1] - v1[1])) / div; if (lambda >= 0.0f && lambda <= 1.0f && mu >= 0.0f && mu <= 1.0f) { if (lambda == 0.0f || lambda == 1.0f || mu == 0.0f || mu == 1.0f) return ISECT_LINE_LINE_EXACT; return ISECT_LINE_LINE_CROSS; } return ISECT_LINE_LINE_NONE; } /* get intersection point of two 2D segments and return intersection type: * -1: collinear * 1: intersection */ int isect_seg_seg_v2_point( const float v0[2], const float v1[2], const float v2[2], const float v3[2], float r_vi[2]) { float s10[2], s32[2], s30[2], d; const float eps = 1e-6f; const float eps_sq = eps * eps; sub_v2_v2v2(s10, v1, v0); sub_v2_v2v2(s32, v3, v2); sub_v2_v2v2(s30, v3, v0); d = cross_v2v2(s10, s32); if (d != 0) { float u, v; u = cross_v2v2(s30, s32) / d; v = cross_v2v2(s10, s30) / d; if ((u >= -eps && u <= 1.0f + eps) && (v >= -eps && v <= 1.0f + eps)) { /* intersection */ float vi_test[2]; float s_vi_v2[2]; madd_v2_v2v2fl(vi_test, v0, s10, u); /* When 'd' approaches zero, float precision lets non-overlapping co-linear segments * detect as an intersection. So re-calculate 'v' to ensure the point overlaps both. * see T45123 */ /* inline since we have most vars already */ #if 0 v = line_point_factor_v2(ix_test, v2, v3); #else sub_v2_v2v2(s_vi_v2, vi_test, v2); v = (dot_v2v2(s32, s_vi_v2) / dot_v2v2(s32, s32)); #endif if (v >= -eps && v <= 1.0f + eps) { copy_v2_v2(r_vi, vi_test); return 1; } } /* out of segment intersection */ return -1; } else { if ((cross_v2v2(s10, s30) == 0.0f) && (cross_v2v2(s32, s30) == 0.0f)) { /* equal lines */ float s20[2]; float u_a, u_b; if (equals_v2v2(v0, v1)) { if (len_squared_v2v2(v2, v3) > eps_sq) { /* use non-point segment as basis */ SWAP(const float *, v0, v2); SWAP(const float *, v1, v3); sub_v2_v2v2(s10, v1, v0); sub_v2_v2v2(s30, v3, v0); } else { /* both of segments are points */ if (equals_v2v2(v0, v2)) { /* points are equal */ copy_v2_v2(r_vi, v0); return 1; } /* two different points */ return -1; } } sub_v2_v2v2(s20, v2, v0); u_a = dot_v2v2(s20, s10) / dot_v2v2(s10, s10); u_b = dot_v2v2(s30, s10) / dot_v2v2(s10, s10); if (u_a > u_b) SWAP(float, u_a, u_b); if (u_a > 1.0f + eps || u_b < -eps) { /* non-overlapping segments */ return -1; } else if (max_ff(0.0f, u_a) == min_ff(1.0f, u_b)) { /* one common point: can return result */ madd_v2_v2v2fl(r_vi, v0, s10, max_ff(0, u_a)); return 1; } } /* lines are collinear */ return -1; } } bool isect_seg_seg_v2_simple(const float v1[2], const float v2[2], const float v3[2], const float v4[2]) { #define CCW(A, B, C) \ ((C[1] - A[1]) * (B[0] - A[0]) > \ (B[1] - A[1]) * (C[0] - A[0])) return CCW(v1, v3, v4) != CCW(v2, v3, v4) && CCW(v1, v2, v3) != CCW(v1, v2, v4); #undef CCW } /** * \param l1, l2: Coordinates (point of line). * \param sp, r: Coordinate and radius (sphere). * \return r_p1, r_p2: Intersection coordinates. * * \note The order of assignment for intersection points (\a r_p1, \a r_p2) is predictable, * based on the direction defined by ``l2 - l1``, * this direction compared with the normal of each point on the sphere: * \a r_p1 always has a >= 0.0 dot product. * \a r_p2 always has a <= 0.0 dot product. * For example, when \a l1 is inside the sphere and \a l2 is outside, * \a r_p1 will always be between \a l1 and \a l2. */ int isect_line_sphere_v3(const float l1[3], const float l2[3], const float sp[3], const float r, float r_p1[3], float r_p2[3]) { /* adapted for use in blender by Campbell Barton - 2011 * * atelier iebele abel - 2001 * atelier@iebele.nl * http://www.iebele.nl * * sphere_line_intersection function adapted from: * http://astronomy.swin.edu.au/pbourke/geometry/sphereline * Paul Bourke pbourke@swin.edu.au */ const float ldir[3] = { l2[0] - l1[0], l2[1] - l1[1], l2[2] - l1[2] }; const float a = len_squared_v3(ldir); const float b = 2.0f * (ldir[0] * (l1[0] - sp[0]) + ldir[1] * (l1[1] - sp[1]) + ldir[2] * (l1[2] - sp[2])); const float c = len_squared_v3(sp) + len_squared_v3(l1) - (2.0f * dot_v3v3(sp, l1)) - (r * r); const float i = b * b - 4.0f * a * c; float mu; if (i < 0.0f) { /* no intersections */ return 0; } else if (i == 0.0f) { /* one intersection */ mu = -b / (2.0f * a); madd_v3_v3v3fl(r_p1, l1, ldir, mu); return 1; } else if (i > 0.0f) { const float i_sqrt = sqrtf(i); /* avoid calc twice */ /* first intersection */ mu = (-b + i_sqrt) / (2.0f * a); madd_v3_v3v3fl(r_p1, l1, ldir, mu); /* second intersection */ mu = (-b - i_sqrt) / (2.0f * a); madd_v3_v3v3fl(r_p2, l1, ldir, mu); return 2; } else { /* math domain error - nan */ return -1; } } /* keep in sync with isect_line_sphere_v3 */ int isect_line_sphere_v2(const float l1[2], const float l2[2], const float sp[2], const float r, float r_p1[2], float r_p2[2]) { const float ldir[2] = {l2[0] - l1[0], l2[1] - l1[1]}; const float a = dot_v2v2(ldir, ldir); const float b = 2.0f * (ldir[0] * (l1[0] - sp[0]) + ldir[1] * (l1[1] - sp[1])); const float c = dot_v2v2(sp, sp) + dot_v2v2(l1, l1) - (2.0f * dot_v2v2(sp, l1)) - (r * r); const float i = b * b - 4.0f * a * c; float mu; if (i < 0.0f) { /* no intersections */ return 0; } else if (i == 0.0f) { /* one intersection */ mu = -b / (2.0f * a); madd_v2_v2v2fl(r_p1, l1, ldir, mu); return 1; } else if (i > 0.0f) { const float i_sqrt = sqrtf(i); /* avoid calc twice */ /* first intersection */ mu = (-b + i_sqrt) / (2.0f * a); madd_v2_v2v2fl(r_p1, l1, ldir, mu); /* second intersection */ mu = (-b - i_sqrt) / (2.0f * a); madd_v2_v2v2fl(r_p2, l1, ldir, mu); return 2; } else { /* math domain error - nan */ return -1; } } /* point in polygon (keep float and int versions in sync) */ #if 0 bool isect_point_poly_v2(const float pt[2], const float verts[][2], const unsigned int nr, const bool use_holes) { /* we do the angle rule, define that all added angles should be about zero or (2 * PI) */ float angletot = 0.0; float fp1[2], fp2[2]; unsigned int i; const float *p1, *p2; p1 = verts[nr - 1]; /* first vector */ fp1[0] = (float)(p1[0] - pt[0]); fp1[1] = (float)(p1[1] - pt[1]); for (i = 0; i < nr; i++) { p2 = verts[i]; /* second vector */ fp2[0] = (float)(p2[0] - pt[0]); fp2[1] = (float)(p2[1] - pt[1]); /* dot and angle and cross */ angletot += angle_signed_v2v2(fp1, fp2); /* circulate */ copy_v2_v2(fp1, fp2); p1 = p2; } angletot = fabsf(angletot); if (use_holes) { const float nested = floorf((angletot / (float)(M_PI * 2.0)) + 0.00001f); angletot -= nested * (float)(M_PI * 2.0); return (angletot > 4.0f) != ((int)nested % 2); } else { return (angletot > 4.0f); } } bool isect_point_poly_v2_int(const int pt[2], const int verts[][2], const unsigned int nr, const bool use_holes) { /* we do the angle rule, define that all added angles should be about zero or (2 * PI) */ float angletot = 0.0; float fp1[2], fp2[2]; unsigned int i; const int *p1, *p2; p1 = verts[nr - 1]; /* first vector */ fp1[0] = (float)(p1[0] - pt[0]); fp1[1] = (float)(p1[1] - pt[1]); for (i = 0; i < nr; i++) { p2 = verts[i]; /* second vector */ fp2[0] = (float)(p2[0] - pt[0]); fp2[1] = (float)(p2[1] - pt[1]); /* dot and angle and cross */ angletot += angle_signed_v2v2(fp1, fp2); /* circulate */ copy_v2_v2(fp1, fp2); p1 = p2; } angletot = fabsf(angletot); if (use_holes) { const float nested = floorf((angletot / (float)(M_PI * 2.0)) + 0.00001f); angletot -= nested * (float)(M_PI * 2.0); return (angletot > 4.0f) != ((int)nested % 2); } else { return (angletot > 4.0f); } } #else bool isect_point_poly_v2(const float pt[2], const float verts[][2], const unsigned int nr, const bool UNUSED(use_holes)) { unsigned int i, j; bool isect = false; for (i = 0, j = nr - 1; i < nr; j = i++) { if (((verts[i][1] > pt[1]) != (verts[j][1] > pt[1])) && (pt[0] < (verts[j][0] - verts[i][0]) * (pt[1] - verts[i][1]) / (verts[j][1] - verts[i][1]) + verts[i][0])) { isect = !isect; } } return isect; } bool isect_point_poly_v2_int(const int pt[2], const int verts[][2], const unsigned int nr, const bool UNUSED(use_holes)) { unsigned int i, j; bool isect = false; for (i = 0, j = nr - 1; i < nr; j = i++) { if (((verts[i][1] > pt[1]) != (verts[j][1] > pt[1])) && (pt[0] < (verts[j][0] - verts[i][0]) * (pt[1] - verts[i][1]) / (verts[j][1] - verts[i][1]) + verts[i][0])) { isect = !isect; } } return isect; } #endif /* point in tri */ /* only single direction */ bool isect_point_tri_v2_cw(const float pt[2], const float v1[2], const float v2[2], const float v3[2]) { if (line_point_side_v2(v1, v2, pt) >= 0.0f) { if (line_point_side_v2(v2, v3, pt) >= 0.0f) { if (line_point_side_v2(v3, v1, pt) >= 0.0f) { return true; } } } return false; } int isect_point_tri_v2(const float pt[2], const float v1[2], const float v2[2], const float v3[2]) { if (line_point_side_v2(v1, v2, pt) >= 0.0f) { if (line_point_side_v2(v2, v3, pt) >= 0.0f) { if (line_point_side_v2(v3, v1, pt) >= 0.0f) { return 1; } } } else { if (!(line_point_side_v2(v2, v3, pt) >= 0.0f)) { if (!(line_point_side_v2(v3, v1, pt) >= 0.0f)) { return -1; } } } return 0; } /* point in quad - only convex quads */ int isect_point_quad_v2(const float pt[2], const float v1[2], const float v2[2], const float v3[2], const float v4[2]) { if (line_point_side_v2(v1, v2, pt) >= 0.0f) { if (line_point_side_v2(v2, v3, pt) >= 0.0f) { if (line_point_side_v2(v3, v4, pt) >= 0.0f) { if (line_point_side_v2(v4, v1, pt) >= 0.0f) { return 1; } } } } else { if (!(line_point_side_v2(v2, v3, pt) >= 0.0f)) { if (!(line_point_side_v2(v3, v4, pt) >= 0.0f)) { if (!(line_point_side_v2(v4, v1, pt) >= 0.0f)) { return -1; } } } } return 0; } /* moved from effect.c * test if the line starting at p1 ending at p2 intersects the triangle v0..v2 * return non zero if it does */ bool isect_line_segment_tri_v3( const float p1[3], const float p2[3], const float v0[3], const float v1[3], const float v2[3], float *r_lambda, float r_uv[2]) { float p[3], s[3], d[3], e1[3], e2[3], q[3]; float a, f, u, v; sub_v3_v3v3(e1, v1, v0); sub_v3_v3v3(e2, v2, v0); sub_v3_v3v3(d, p2, p1); cross_v3_v3v3(p, d, e2); a = dot_v3v3(e1, p); if (a == 0.0f) return false; f = 1.0f / a; sub_v3_v3v3(s, p1, v0); u = f * dot_v3v3(s, p); if ((u < 0.0f) || (u > 1.0f)) return false; cross_v3_v3v3(q, s, e1); v = f * dot_v3v3(d, q); if ((v < 0.0f) || ((u + v) > 1.0f)) return false; *r_lambda = f * dot_v3v3(e2, q); if ((*r_lambda < 0.0f) || (*r_lambda > 1.0f)) return false; if (r_uv) { r_uv[0] = u; r_uv[1] = v; } return true; } /* like isect_line_segment_tri_v3, but allows epsilon tolerance around triangle */ bool isect_line_segment_tri_epsilon_v3( const float p1[3], const float p2[3], const float v0[3], const float v1[3], const float v2[3], float *r_lambda, float r_uv[2], const float epsilon) { float p[3], s[3], d[3], e1[3], e2[3], q[3]; float a, f, u, v; sub_v3_v3v3(e1, v1, v0); sub_v3_v3v3(e2, v2, v0); sub_v3_v3v3(d, p2, p1); cross_v3_v3v3(p, d, e2); a = dot_v3v3(e1, p); if (a == 0.0f) return false; f = 1.0f / a; sub_v3_v3v3(s, p1, v0); u = f * dot_v3v3(s, p); if ((u < -epsilon) || (u > 1.0f + epsilon)) return false; cross_v3_v3v3(q, s, e1); v = f * dot_v3v3(d, q); if ((v < -epsilon) || ((u + v) > 1.0f + epsilon)) return false; *r_lambda = f * dot_v3v3(e2, q); if ((*r_lambda < 0.0f) || (*r_lambda > 1.0f)) return false; if (r_uv) { r_uv[0] = u; r_uv[1] = v; } return true; } /* moved from effect.c * test if the ray starting at p1 going in d direction intersects the triangle v0..v2 * return non zero if it does */ bool isect_ray_tri_v3( const float ray_origin[3], const float ray_direction[3], const float v0[3], const float v1[3], const float v2[3], float *r_lambda, float r_uv[2]) { /* note: these values were 0.000001 in 2.4x but for projection snapping on * a human head (1BU == 1m), subsurf level 2, this gave many errors - campbell */ const float epsilon = 0.00000001f; float p[3], s[3], e1[3], e2[3], q[3]; float a, f, u, v; sub_v3_v3v3(e1, v1, v0); sub_v3_v3v3(e2, v2, v0); cross_v3_v3v3(p, ray_direction, e2); a = dot_v3v3(e1, p); if ((a > -epsilon) && (a < epsilon)) return false; f = 1.0f / a; sub_v3_v3v3(s, ray_origin, v0); u = f * dot_v3v3(s, p); if ((u < 0.0f) || (u > 1.0f)) return false; cross_v3_v3v3(q, s, e1); v = f * dot_v3v3(ray_direction, q); if ((v < 0.0f) || ((u + v) > 1.0f)) return false; *r_lambda = f * dot_v3v3(e2, q); if ((*r_lambda < 0.0f)) return false; if (r_uv) { r_uv[0] = u; r_uv[1] = v; } return true; } /** * if clip is nonzero, will only return true if lambda is >= 0.0 * (i.e. intersection point is along positive \a ray_direction) * * \note #line_plane_factor_v3() shares logic. */ bool isect_ray_plane_v3( const float ray_origin[3], const float ray_direction[3], const float plane[4], float *r_lambda, const bool clip) { float h[3], plane_co[3]; float dot; dot = dot_v3v3(plane, ray_direction); if (dot == 0.0f) { return false; } mul_v3_v3fl(plane_co, plane, (-plane[3] / len_squared_v3(plane))); sub_v3_v3v3(h, ray_origin, plane_co); *r_lambda = -dot_v3v3(plane, h) / dot; if (clip && (*r_lambda < 0.0f)) { return false; } return true; } bool isect_ray_tri_epsilon_v3( const float ray_origin[3], const float ray_direction[3], const float v0[3], const float v1[3], const float v2[3], float *r_lambda, float r_uv[2], const float epsilon) { float p[3], s[3], e1[3], e2[3], q[3]; float a, f, u, v; sub_v3_v3v3(e1, v1, v0); sub_v3_v3v3(e2, v2, v0); cross_v3_v3v3(p, ray_direction, e2); a = dot_v3v3(e1, p); if (a == 0.0f) return false; f = 1.0f / a; sub_v3_v3v3(s, ray_origin, v0); u = f * dot_v3v3(s, p); if ((u < -epsilon) || (u > 1.0f + epsilon)) return false; cross_v3_v3v3(q, s, e1); v = f * dot_v3v3(ray_direction, q); if ((v < -epsilon) || ((u + v) > 1.0f + epsilon)) return false; *r_lambda = f * dot_v3v3(e2, q); if ((*r_lambda < 0.0f)) return false; if (r_uv) { r_uv[0] = u; r_uv[1] = v; } return true; } void isect_ray_tri_watertight_v3_precalc(struct IsectRayPrecalc *isect_precalc, const float ray_direction[3]) { float inv_dir_z; /* Calculate dimension where the ray direction is maximal. */ int kz = axis_dominant_v3_single(ray_direction); int kx = (kz != 2) ? (kz + 1) : 0; int ky = (kx != 2) ? (kx + 1) : 0; /* Swap kx and ky dimensions to preserve winding direction of triangles. */ if (ray_direction[kz] < 0.0f) { SWAP(int, kx, ky); } /* Calculate the shear constants. */ inv_dir_z = 1.0f / ray_direction[kz]; isect_precalc->sx = ray_direction[kx] * inv_dir_z; isect_precalc->sy = ray_direction[ky] * inv_dir_z; isect_precalc->sz = inv_dir_z; /* Store the dimensions. */ isect_precalc->kx = kx; isect_precalc->ky = ky; isect_precalc->kz = kz; } bool isect_ray_tri_watertight_v3( const float ray_origin[3], const struct IsectRayPrecalc *isect_precalc, const float v0[3], const float v1[3], const float v2[3], float *r_lambda, float r_uv[2]) { const int kx = isect_precalc->kx; const int ky = isect_precalc->ky; const int kz = isect_precalc->kz; const float sx = isect_precalc->sx; const float sy = isect_precalc->sy; const float sz = isect_precalc->sz; /* Calculate vertices relative to ray origin. */ const float a[3] = {v0[0] - ray_origin[0], v0[1] - ray_origin[1], v0[2] - ray_origin[2]}; const float b[3] = {v1[0] - ray_origin[0], v1[1] - ray_origin[1], v1[2] - ray_origin[2]}; const float c[3] = {v2[0] - ray_origin[0], v2[1] - ray_origin[1], v2[2] - ray_origin[2]}; const float a_kx = a[kx], a_ky = a[ky], a_kz = a[kz]; const float b_kx = b[kx], b_ky = b[ky], b_kz = b[kz]; const float c_kx = c[kx], c_ky = c[ky], c_kz = c[kz]; /* Perform shear and scale of vertices. */ const float ax = a_kx - sx * a_kz; const float ay = a_ky - sy * a_kz; const float bx = b_kx - sx * b_kz; const float by = b_ky - sy * b_kz; const float cx = c_kx - sx * c_kz; const float cy = c_ky - sy * c_kz; /* Calculate scaled barycentric coordinates. */ const float u = cx * by - cy * bx; const float v = ax * cy - ay * cx; const float w = bx * ay - by * ax; float det; if ((u < 0.0f || v < 0.0f || w < 0.0f) && (u > 0.0f || v > 0.0f || w > 0.0f)) { return false; } /* Calculate determinant. */ det = u + v + w; if (UNLIKELY(det == 0.0f)) { return false; } else { /* Calculate scaled z-coordinates of vertices and use them to calculate * the hit distance. */ const int sign_det = (float_as_int(det) & (int)0x80000000); const float t = (u * a_kz + v * b_kz + w * c_kz) * sz; const float sign_t = xor_fl(t, sign_det); if ((sign_t < 0.0f) /* differ from Cycles, don't read r_lambda's original value * otherwise we won't match any of the other intersect functions here... * which would be confusing */ #if 0 || (sign_T > *r_lambda * xor_signmask(det, sign_mask)) #endif ) { return false; } else { /* Normalize u, v and t. */ const float inv_det = 1.0f / det; if (r_uv) { r_uv[0] = u * inv_det; r_uv[1] = v * inv_det; } *r_lambda = t * inv_det; return true; } } } bool isect_ray_tri_watertight_v3_simple( const float ray_origin[3], const float ray_direction[3], const float v0[3], const float v1[3], const float v2[3], float *r_lambda, float r_uv[2]) { struct IsectRayPrecalc isect_precalc; isect_ray_tri_watertight_v3_precalc(&isect_precalc, ray_direction); return isect_ray_tri_watertight_v3(ray_origin, &isect_precalc, v0, v1, v2, r_lambda, r_uv); } #if 0 /* UNUSED */ /** * A version of #isect_ray_tri_v3 which takes a threshold argument * so rays slightly outside the triangle to be considered as intersecting. */ bool isect_ray_tri_threshold_v3( const float ray_origin[3], const float ray_direction[3], const float v0[3], const float v1[3], const float v2[3], float *r_lambda, float r_uv[2], const float threshold) { const float epsilon = 0.00000001f; float p[3], s[3], e1[3], e2[3], q[3]; float a, f, u, v; float du, dv; sub_v3_v3v3(e1, v1, v0); sub_v3_v3v3(e2, v2, v0); cross_v3_v3v3(p, ray_direction, e2); a = dot_v3v3(e1, p); if ((a > -epsilon) && (a < epsilon)) return false; f = 1.0f / a; sub_v3_v3v3(s, ray_origin, v0); cross_v3_v3v3(q, s, e1); *r_lambda = f * dot_v3v3(e2, q); if ((*r_lambda < 0.0f)) return false; u = f * dot_v3v3(s, p); v = f * dot_v3v3(ray_direction, q); if (u > 0 && v > 0 && u + v > 1) { float t = (u + v - 1) / 2; du = u - t; dv = v - t; } else { if (u < 0) du = u; else if (u > 1) du = u - 1; else du = 0.0f; if (v < 0) dv = v; else if (v > 1) dv = v - 1; else dv = 0.0f; } mul_v3_fl(e1, du); mul_v3_fl(e2, dv); if (len_squared_v3(e1) + len_squared_v3(e2) > threshold * threshold) { return false; } if (r_uv) { r_uv[0] = u; r_uv[1] = v; } return true; } #endif bool isect_ray_seg_v2( const float ray_origin[2], const float ray_direction[2], const float v0[2], const float v1[2], float *r_lambda, float *r_u) { float v0_local[2], v1_local[2]; sub_v2_v2v2(v0_local, v0, ray_origin); sub_v2_v2v2(v1_local, v1, ray_origin); float s10[2]; float det; sub_v2_v2v2(s10, v1_local, v0_local); det = cross_v2v2(ray_direction, s10); if (det != 0.0f) { const float v = cross_v2v2(v0_local, v1_local); float p[2] = {(ray_direction[0] * v) / det, (ray_direction[1] * v) / det}; const float t = (dot_v2v2(p, ray_direction) / dot_v2v2(ray_direction, ray_direction)); if ((t >= 0.0f) == 0) { return false; } float h[2]; sub_v2_v2v2(h, v1_local, p); const float u = (dot_v2v2(s10, h) / dot_v2v2(s10, s10)); if ((u >= 0.0f && u <= 1.0f) == 0) { return false; } if (r_lambda) { *r_lambda = t; } if (r_u) { *r_u = u; } return true; } return false; } /** * Check if a point is behind all planes. */ bool isect_point_planes_v3(float (*planes)[4], int totplane, const float p[3]) { int i; for (i = 0; i < totplane; i++) { if (plane_point_side_v3(planes[i], p) > 0.0f) { return false; } } return true; } /** * Intersect line/plane. * * \param r_isect_co The intersection point. * \param l1 The first point of the line. * \param l2 The second point of the line. * \param plane_co A point on the plane to intersect with. * \param plane_no The direction of the plane (does not need to be normalized). * * \note #line_plane_factor_v3() shares logic. */ bool isect_line_plane_v3( float r_isect_co[3], const float l1[3], const float l2[3], const float plane_co[3], const float plane_no[3]) { float u[3], h[3]; float dot; sub_v3_v3v3(u, l2, l1); sub_v3_v3v3(h, l1, plane_co); dot = dot_v3v3(plane_no, u); if (fabsf(dot) > FLT_EPSILON) { float lambda = -dot_v3v3(plane_no, h) / dot; madd_v3_v3v3fl(r_isect_co, l1, u, lambda); return true; } else { /* The segment is parallel to plane */ return false; } } /** * Intersect three planes, return the point where all 3 meet. * See Graphics Gems 1 pg 305 * * \param plane_a, plane_b, plane_c: Planes. * \param r_isect_co: The resulting intersection point. */ bool isect_plane_plane_plane_v3( const float plane_a[4], const float plane_b[4], const float plane_c[4], float r_isect_co[3]) { float det; det = determinant_m3(UNPACK3(plane_a), UNPACK3(plane_b), UNPACK3(plane_c)); if (det != 0.0f) { float tmp[3]; /* (plane_b.xyz.cross(plane_c.xyz) * -plane_a[3] + * plane_c.xyz.cross(plane_a.xyz) * -plane_b[3] + * plane_a.xyz.cross(plane_b.xyz) * -plane_c[3]) / det; */ cross_v3_v3v3(tmp, plane_c, plane_b); mul_v3_v3fl(r_isect_co, tmp, plane_a[3]); cross_v3_v3v3(tmp, plane_a, plane_c); madd_v3_v3fl(r_isect_co, tmp, plane_b[3]); cross_v3_v3v3(tmp, plane_b, plane_a); madd_v3_v3fl(r_isect_co, tmp, plane_c[3]); mul_v3_fl(r_isect_co, 1.0f / det); return true; } else { return false; } } /** * Intersect two planes, return a point on the intersection and a vector * that runs on the direction of the intersection. * * * \note this is a slightly reduced version of #isect_plane_plane_plane_v3 * * \param plane_a, plane_b: Planes. * \param r_isect_co: The resulting intersection point. * \param r_isect_no: The resulting vector of the intersection. * * \note \a r_isect_no isn't unit length. */ bool isect_plane_plane_v3( const float plane_a[4], const float plane_b[4], float r_isect_co[3], float r_isect_no[3]) { float det, plane_c[3]; /* direction is simply the cross product */ cross_v3_v3v3(plane_c, plane_a, plane_b); /* in this case we don't need to use 'determinant_m3' */ det = len_squared_v3(plane_c); if (det != 0.0f) { float tmp[3]; /* (plane_b.xyz.cross(plane_c.xyz) * -plane_a[3] + * plane_c.xyz.cross(plane_a.xyz) * -plane_b[3]) / det; */ cross_v3_v3v3(tmp, plane_c, plane_b); mul_v3_v3fl(r_isect_co, tmp, plane_a[3]); cross_v3_v3v3(tmp, plane_a, plane_c); madd_v3_v3fl(r_isect_co, tmp, plane_b[3]); mul_v3_fl(r_isect_co, 1.0f / det); copy_v3_v3(r_isect_no, plane_c); return true; } else { return false; } } /** * Intersect two triangles. * * \param r_i1, r_i2: Optional arguments to retrieve the overlapping edge between the 2 triangles. * \return true when the triangles intersect. * * \note intersections between coplanar triangles are currently undetected. */ bool isect_tri_tri_epsilon_v3( const float t_a0[3], const float t_a1[3], const float t_a2[3], const float t_b0[3], const float t_b1[3], const float t_b2[3], float r_i1[3], float r_i2[3], const float epsilon) { const float *tri_pair[2][3] = {{t_a0, t_a1, t_a2}, {t_b0, t_b1, t_b2}}; float plane_a[4], plane_b[4]; float plane_co[3], plane_no[3]; BLI_assert((r_i1 != NULL) == (r_i2 != NULL)); /* normalizing is needed for small triangles T46007 */ normal_tri_v3(plane_a, UNPACK3(tri_pair[0])); normal_tri_v3(plane_b, UNPACK3(tri_pair[1])); plane_a[3] = -dot_v3v3(plane_a, t_a0); plane_b[3] = -dot_v3v3(plane_b, t_b0); if (isect_plane_plane_v3(plane_a, plane_b, plane_co, plane_no) && (normalize_v3(plane_no) > epsilon)) { /** * Implementation note: its simpler to project the triangles onto the intersection plane * before intersecting their edges with the ray, defined by 'isect_plane_plane_v3'. * This way we can use 'line_point_factor_v3_ex' to see if an edge crosses 'co_proj', * then use the factor to calculate the world-space point. */ struct { float min, max; } range[2] = {{FLT_MAX, -FLT_MAX}, {FLT_MAX, -FLT_MAX}}; int t; float co_proj[3]; closest_to_plane3_normalized_v3(co_proj, plane_no, plane_co); /* For both triangles, find the overlap with the line defined by the ray [co_proj, plane_no]. * When the ranges overlap we know the triangles do too. */ for (t = 0; t < 2; t++) { int j, j_prev; float tri_proj[3][3]; closest_to_plane3_normalized_v3(tri_proj[0], plane_no, tri_pair[t][0]); closest_to_plane3_normalized_v3(tri_proj[1], plane_no, tri_pair[t][1]); closest_to_plane3_normalized_v3(tri_proj[2], plane_no, tri_pair[t][2]); for (j = 0, j_prev = 2; j < 3; j_prev = j++) { /* note that its important to have a very small nonzero epsilon here * otherwise this fails for very small faces. * However if its too small, large adjacent faces will count as intersecting */ const float edge_fac = line_point_factor_v3_ex(co_proj, tri_proj[j_prev], tri_proj[j], 1e-10f, -1.0f); /* ignore collinear lines, they are either an edge shared between 2 tri's * (which runs along [co_proj, plane_no], but can be safely ignored). * * or a collinear edge placed away from the ray - which we don't intersect with & can ignore. */ if (UNLIKELY(edge_fac == -1.0f)) { /* pass */ } else if (edge_fac > 0.0f && edge_fac < 1.0f) { float ix_tri[3]; float span_fac; interp_v3_v3v3(ix_tri, tri_pair[t][j_prev], tri_pair[t][j], edge_fac); /* the actual distance, since 'plane_no' is normalized */ span_fac = dot_v3v3(plane_no, ix_tri); range[t].min = min_ff(range[t].min, span_fac); range[t].max = max_ff(range[t].max, span_fac); } } if (range[t].min == FLT_MAX) { return false; } } if (((range[0].min > range[1].max) || (range[0].max < range[1].min)) == 0) { if (r_i1 && r_i2) { project_plane_v3_v3v3(plane_co, plane_co, plane_no); madd_v3_v3v3fl(r_i1, plane_co, plane_no, max_ff(range[0].min, range[1].min)); madd_v3_v3v3fl(r_i2, plane_co, plane_no, min_ff(range[0].max, range[1].max)); } return true; } } return false; } /* Adapted from the paper by Kasper Fauerby */ /* "Improved Collision detection and Response" */ static bool getLowestRoot(const float a, const float b, const float c, const float maxR, float *root) { /* Check if a solution exists */ const float determinant = b * b - 4.0f * a * c; /* If determinant is negative it means no solutions. */ if (determinant >= 0.0f) { /* calculate the two roots: (if determinant == 0 then * x1==x2 but lets disregard that slight optimization) */ const float sqrtD = sqrtf(determinant); float r1 = (-b - sqrtD) / (2.0f * a); float r2 = (-b + sqrtD) / (2.0f * a); /* Sort so x1 <= x2 */ if (r1 > r2) SWAP(float, r1, r2); /* Get lowest root: */ if (r1 > 0.0f && r1 < maxR) { *root = r1; return true; } /* It is possible that we want x2 - this can happen */ /* if x1 < 0 */ if (r2 > 0.0f && r2 < maxR) { *root = r2; return true; } } /* No (valid) solutions */ return false; } bool isect_sweeping_sphere_tri_v3(const float p1[3], const float p2[3], const float radius, const float v0[3], const float v1[3], const float v2[3], float *r_lambda, float ipoint[3]) { float e1[3], e2[3], e3[3], point[3], vel[3], /*dist[3],*/ nor[3], temp[3], bv[3]; float a, b, c, d, e, x, y, z, radius2 = radius * radius; float elen2, edotv, edotbv, nordotv; float newLambda; bool found_by_sweep = false; sub_v3_v3v3(e1, v1, v0); sub_v3_v3v3(e2, v2, v0); sub_v3_v3v3(vel, p2, p1); /*---test plane of tri---*/ cross_v3_v3v3(nor, e1, e2); normalize_v3(nor); /* flip normal */ if (dot_v3v3(nor, vel) > 0.0f) negate_v3(nor); a = dot_v3v3(p1, nor) - dot_v3v3(v0, nor); nordotv = dot_v3v3(nor, vel); if (fabsf(nordotv) < 0.000001f) { if (fabsf(a) >= radius) { return false; } } else { float t0 = (-a + radius) / nordotv; float t1 = (-a - radius) / nordotv; if (t0 > t1) SWAP(float, t0, t1); if (t0 > 1.0f || t1 < 0.0f) return false; /* clamp to [0, 1] */ CLAMP(t0, 0.0f, 1.0f); CLAMP(t1, 0.0f, 1.0f); /*---test inside of tri---*/ /* plane intersection point */ point[0] = p1[0] + vel[0] * t0 - nor[0] * radius; point[1] = p1[1] + vel[1] * t0 - nor[1] * radius; point[2] = p1[2] + vel[2] * t0 - nor[2] * radius; /* is the point in the tri? */ a = dot_v3v3(e1, e1); b = dot_v3v3(e1, e2); c = dot_v3v3(e2, e2); sub_v3_v3v3(temp, point, v0); d = dot_v3v3(temp, e1); e = dot_v3v3(temp, e2); x = d * c - e * b; y = e * a - d * b; z = x + y - (a * c - b * b); if (z <= 0.0f && (x >= 0.0f && y >= 0.0f)) { //(((unsigned int)z)& ~(((unsigned int)x)|((unsigned int)y))) & 0x80000000) { *r_lambda = t0; copy_v3_v3(ipoint, point); return true; } } *r_lambda = 1.0f; /*---test points---*/ a = dot_v3v3(vel, vel); /*v0*/ sub_v3_v3v3(temp, p1, v0); b = 2.0f * dot_v3v3(vel, temp); c = dot_v3v3(temp, temp) - radius2; if (getLowestRoot(a, b, c, *r_lambda, r_lambda)) { copy_v3_v3(ipoint, v0); found_by_sweep = true; } /*v1*/ sub_v3_v3v3(temp, p1, v1); b = 2.0f * dot_v3v3(vel, temp); c = dot_v3v3(temp, temp) - radius2; if (getLowestRoot(a, b, c, *r_lambda, r_lambda)) { copy_v3_v3(ipoint, v1); found_by_sweep = true; } /*v2*/ sub_v3_v3v3(temp, p1, v2); b = 2.0f * dot_v3v3(vel, temp); c = dot_v3v3(temp, temp) - radius2; if (getLowestRoot(a, b, c, *r_lambda, r_lambda)) { copy_v3_v3(ipoint, v2); found_by_sweep = true; } /*---test edges---*/ sub_v3_v3v3(e3, v2, v1); /* wasnt yet calculated */ /*e1*/ sub_v3_v3v3(bv, v0, p1); elen2 = dot_v3v3(e1, e1); edotv = dot_v3v3(e1, vel); edotbv = dot_v3v3(e1, bv); a = elen2 * (-dot_v3v3(vel, vel)) + edotv * edotv; b = 2.0f * (elen2 * dot_v3v3(vel, bv) - edotv * edotbv); c = elen2 * (radius2 - dot_v3v3(bv, bv)) + edotbv * edotbv; if (getLowestRoot(a, b, c, *r_lambda, &newLambda)) { e = (edotv * newLambda - edotbv) / elen2; if (e >= 0.0f && e <= 1.0f) { *r_lambda = newLambda; copy_v3_v3(ipoint, e1); mul_v3_fl(ipoint, e); add_v3_v3(ipoint, v0); found_by_sweep = true; } } /*e2*/ /*bv is same*/ elen2 = dot_v3v3(e2, e2); edotv = dot_v3v3(e2, vel); edotbv = dot_v3v3(e2, bv); a = elen2 * (-dot_v3v3(vel, vel)) + edotv * edotv; b = 2.0f * (elen2 * dot_v3v3(vel, bv) - edotv * edotbv); c = elen2 * (radius2 - dot_v3v3(bv, bv)) + edotbv * edotbv; if (getLowestRoot(a, b, c, *r_lambda, &newLambda)) { e = (edotv * newLambda - edotbv) / elen2; if (e >= 0.0f && e <= 1.0f) { *r_lambda = newLambda; copy_v3_v3(ipoint, e2); mul_v3_fl(ipoint, e); add_v3_v3(ipoint, v0); found_by_sweep = true; } } /*e3*/ /* sub_v3_v3v3(bv, v0, p1); */ /* UNUSED */ /* elen2 = dot_v3v3(e1, e1); */ /* UNUSED */ /* edotv = dot_v3v3(e1, vel); */ /* UNUSED */ /* edotbv = dot_v3v3(e1, bv); */ /* UNUSED */ sub_v3_v3v3(bv, v1, p1); elen2 = dot_v3v3(e3, e3); edotv = dot_v3v3(e3, vel); edotbv = dot_v3v3(e3, bv); a = elen2 * (-dot_v3v3(vel, vel)) + edotv * edotv; b = 2.0f * (elen2 * dot_v3v3(vel, bv) - edotv * edotbv); c = elen2 * (radius2 - dot_v3v3(bv, bv)) + edotbv * edotbv; if (getLowestRoot(a, b, c, *r_lambda, &newLambda)) { e = (edotv * newLambda - edotbv) / elen2; if (e >= 0.0f && e <= 1.0f) { *r_lambda = newLambda; copy_v3_v3(ipoint, e3); mul_v3_fl(ipoint, e); add_v3_v3(ipoint, v1); found_by_sweep = true; } } return found_by_sweep; } bool isect_axial_line_segment_tri_v3( const int axis, const float p1[3], const float p2[3], const float v0[3], const float v1[3], const float v2[3], float *r_lambda) { const float epsilon = 0.000001f; float p[3], e1[3], e2[3]; float u, v, f; int a0 = axis, a1 = (axis + 1) % 3, a2 = (axis + 2) % 3; #if 0 return isect_line_segment_tri_v3(p1, p2, v0, v1, v2, lambda); /* first a simple bounding box test */ if (min_fff(v0[a1], v1[a1], v2[a1]) > p1[a1]) return false; if (min_fff(v0[a2], v1[a2], v2[a2]) > p1[a2]) return false; if (max_fff(v0[a1], v1[a1], v2[a1]) < p1[a1]) return false; if (max_fff(v0[a2], v1[a2], v2[a2]) < p1[a2]) return false; /* then a full intersection test */ #endif sub_v3_v3v3(e1, v1, v0); sub_v3_v3v3(e2, v2, v0); sub_v3_v3v3(p, v0, p1); f = (e2[a1] * e1[a2] - e2[a2] * e1[a1]); if ((f > -epsilon) && (f < epsilon)) return false; v = (p[a2] * e1[a1] - p[a1] * e1[a2]) / f; if ((v < 0.0f) || (v > 1.0f)) return false; f = e1[a1]; if ((f > -epsilon) && (f < epsilon)) { f = e1[a2]; if ((f > -epsilon) && (f < epsilon)) return false; u = (-p[a2] - v * e2[a2]) / f; } else u = (-p[a1] - v * e2[a1]) / f; if ((u < 0.0f) || ((u + v) > 1.0f)) return false; *r_lambda = (p[a0] + u * e1[a0] + v * e2[a0]) / (p2[a0] - p1[a0]); if ((*r_lambda < 0.0f) || (*r_lambda > 1.0f)) return false; return true; } /** * \return The number of point of interests * 0 - lines are collinear * 1 - lines are coplanar, i1 is set to intersection * 2 - i1 and i2 are the nearest points on line 1 (v1, v2) and line 2 (v3, v4) respectively */ int isect_line_line_epsilon_v3( const float v1[3], const float v2[3], const float v3[3], const float v4[3], float r_i1[3], float r_i2[3], const float epsilon) { float a[3], b[3], c[3], ab[3], cb[3]; float d, div; sub_v3_v3v3(c, v3, v1); sub_v3_v3v3(a, v2, v1); sub_v3_v3v3(b, v4, v3); cross_v3_v3v3(ab, a, b); d = dot_v3v3(c, ab); div = dot_v3v3(ab, ab); /* important not to use an epsilon here, see: T45919 */ /* test zero length line */ if (UNLIKELY(div == 0.0f)) { return 0; } /* test if the two lines are coplanar */ else if (UNLIKELY(fabsf(d) <= epsilon)) { cross_v3_v3v3(cb, c, b); mul_v3_fl(a, dot_v3v3(cb, ab) / div); add_v3_v3v3(r_i1, v1, a); copy_v3_v3(r_i2, r_i1); return 1; /* one intersection only */ } /* if not */ else { float n[3], t[3]; float v3t[3], v4t[3]; sub_v3_v3v3(t, v1, v3); /* offset between both plane where the lines lies */ cross_v3_v3v3(n, a, b); project_v3_v3v3(t, t, n); /* for the first line, offset the second line until it is coplanar */ add_v3_v3v3(v3t, v3, t); add_v3_v3v3(v4t, v4, t); sub_v3_v3v3(c, v3t, v1); sub_v3_v3v3(a, v2, v1); sub_v3_v3v3(b, v4t, v3t); cross_v3_v3v3(ab, a, b); cross_v3_v3v3(cb, c, b); mul_v3_fl(a, dot_v3v3(cb, ab) / dot_v3v3(ab, ab)); add_v3_v3v3(r_i1, v1, a); /* for the second line, just substract the offset from the first intersection point */ sub_v3_v3v3(r_i2, r_i1, t); return 2; /* two nearest points */ } } int isect_line_line_v3( const float v1[3], const float v2[3], const float v3[3], const float v4[3], float r_i1[3], float r_i2[3]) { const float epsilon = 0.000001f; return isect_line_line_epsilon_v3(v1, v2, v3, v4, r_i1, r_i2, epsilon); } /** Intersection point strictly between the two lines * \return false when no intersection is found */ bool isect_line_line_strict_v3(const float v1[3], const float v2[3], const float v3[3], const float v4[3], float vi[3], float *r_lambda) { const float epsilon = 0.000001f; float a[3], b[3], c[3], ab[3], cb[3], ca[3]; float d, div; sub_v3_v3v3(c, v3, v1); sub_v3_v3v3(a, v2, v1); sub_v3_v3v3(b, v4, v3); cross_v3_v3v3(ab, a, b); d = dot_v3v3(c, ab); div = dot_v3v3(ab, ab); /* important not to use an epsilon here, see: T45919 */ /* test zero length line */ if (UNLIKELY(div == 0.0f)) { return false; } /* test if the two lines are coplanar */ else if (UNLIKELY(fabsf(d) < epsilon)) { return false; } else { float f1, f2; cross_v3_v3v3(cb, c, b); cross_v3_v3v3(ca, c, a); f1 = dot_v3v3(cb, ab) / div; f2 = dot_v3v3(ca, ab) / div; if (f1 >= 0 && f1 <= 1 && f2 >= 0 && f2 <= 1) { mul_v3_fl(a, f1); add_v3_v3v3(vi, v1, a); if (r_lambda) *r_lambda = f1; return true; /* intersection found */ } else { return false; } } } bool isect_aabb_aabb_v3(const float min1[3], const float max1[3], const float min2[3], const float max2[3]) { return (min1[0] < max2[0] && min1[1] < max2[1] && min1[2] < max2[2] && min2[0] < max1[0] && min2[1] < max1[1] && min2[2] < max1[2]); } void isect_ray_aabb_v3_precalc( struct IsectRayAABB_Precalc *data, const float ray_origin[3], const float ray_direction[3]) { copy_v3_v3(data->ray_origin, ray_origin); data->ray_inv_dir[0] = 1.0f / ray_direction[0]; data->ray_inv_dir[1] = 1.0f / ray_direction[1]; data->ray_inv_dir[2] = 1.0f / ray_direction[2]; data->sign[0] = data->ray_inv_dir[0] < 0.0f; data->sign[1] = data->ray_inv_dir[1] < 0.0f; data->sign[2] = data->ray_inv_dir[2] < 0.0f; } /* Adapted from http://www.gamedev.net/community/forums/topic.asp?topic_id=459973 */ bool isect_ray_aabb_v3( const struct IsectRayAABB_Precalc *data, const float bb_min[3], const float bb_max[3], float *tmin_out) { float bbox[2][3]; copy_v3_v3(bbox[0], bb_min); copy_v3_v3(bbox[1], bb_max); float tmin = (bbox[data->sign[0]][0] - data->ray_origin[0]) * data->ray_inv_dir[0]; float tmax = (bbox[1 - data->sign[0]][0] - data->ray_origin[0]) * data->ray_inv_dir[0]; const float tymin = (bbox[data->sign[1]][1] - data->ray_origin[1]) * data->ray_inv_dir[1]; const float tymax = (bbox[1 - data->sign[1]][1] - data->ray_origin[1]) * data->ray_inv_dir[1]; if ((tmin > tymax) || (tymin > tmax)) return false; if (tymin > tmin) tmin = tymin; if (tymax < tmax) tmax = tymax; const float tzmin = (bbox[data->sign[2]][2] - data->ray_origin[2]) * data->ray_inv_dir[2]; const float tzmax = (bbox[1 - data->sign[2]][2] - data->ray_origin[2]) * data->ray_inv_dir[2]; if ((tmin > tzmax) || (tzmin > tmax)) return false; if (tzmin > tmin) tmin = tzmin; /* Note: tmax does not need to be updated since we don't use it * keeping this here for future reference - jwilkins */ //if (tzmax < tmax) tmax = tzmax; if (tmin_out) (*tmin_out) = tmin; return true; } void dist_squared_ray_to_aabb_v3_precalc( struct NearestRayToAABB_Precalc *data, const float ray_origin[3], const float ray_direction[3]) { float dir_sq[3]; for (int i = 0; i < 3; i++) { data->ray_origin[i] = ray_origin[i]; data->ray_direction[i] = ray_direction[i]; data->ray_inv_dir[i] = (data->ray_direction[i] != 0.0f) ? (1.0f / data->ray_direction[i]) : FLT_MAX; /* It has to be a function of `ray_inv_dir`, * since the division of 1 by 0.0f, can be -inf or +inf */ data->sign[i] = (data->ray_inv_dir[i] < 0.0f); dir_sq[i] = SQUARE(data->ray_direction[i]); } /* `diag_sq` Length square of each face diagonal */ float diag_sq[3] = { dir_sq[1] + dir_sq[2], dir_sq[0] + dir_sq[2], dir_sq[0] + dir_sq[1], }; data->idiag_sq[0] = (diag_sq[0] > FLT_EPSILON) ? (1.0f / diag_sq[0]) : FLT_MAX; data->idiag_sq[1] = (diag_sq[1] > FLT_EPSILON) ? (1.0f / diag_sq[1]) : FLT_MAX; data->idiag_sq[2] = (diag_sq[2] > FLT_EPSILON) ? (1.0f / diag_sq[2]) : FLT_MAX; data->cdot_axis[0] = data->ray_direction[0] * data->idiag_sq[0]; data->cdot_axis[1] = data->ray_direction[1] * data->idiag_sq[1]; data->cdot_axis[2] = data->ray_direction[2] * data->idiag_sq[2]; } /** * Returns the squared distance from a ray to a bound-box `AABB`. * It is based on `fast_ray_nearest_hit` solution to obtain * the coordinates of the nearest edge of Bound Box to the ray */ float dist_squared_ray_to_aabb_v3( const struct NearestRayToAABB_Precalc *data, const float bb_min[3], const float bb_max[3], bool r_axis_closest[3]) { /* `tmin` is a vector that has the smaller distances to each of the * infinite planes of the `AABB` faces (hit in nearest face X plane, * nearest face Y plane and nearest face Z plane) */ float local_bvmin[3], local_bvmax[3]; if (data->sign[0] == 0) { local_bvmin[0] = bb_min[0] - data->ray_origin[0]; local_bvmax[0] = bb_max[0] - data->ray_origin[0]; } else { local_bvmin[0] = bb_max[0] - data->ray_origin[0]; local_bvmax[0] = bb_min[0] - data->ray_origin[0]; } if (data->sign[1] == 0) { local_bvmin[1] = bb_min[1] - data->ray_origin[1]; local_bvmax[1] = bb_max[1] - data->ray_origin[1]; } else { local_bvmin[1] = bb_max[1] - data->ray_origin[1]; local_bvmax[1] = bb_min[1] - data->ray_origin[1]; } if (data->sign[2] == 0) { local_bvmin[2] = bb_min[2] - data->ray_origin[2]; local_bvmax[2] = bb_max[2] - data->ray_origin[2]; } else { local_bvmin[2] = bb_max[2] - data->ray_origin[2]; local_bvmax[2] = bb_min[2] - data->ray_origin[2]; } const float tmin[3] = { local_bvmin[0] * data->ray_inv_dir[0], local_bvmin[1] * data->ray_inv_dir[1], local_bvmin[2] * data->ray_inv_dir[2], }; /* `tmax` is a vector that has the longer distances to each of the * infinite planes of the `AABB` faces (hit in farthest face X plane, * farthest face Y plane and farthest face Z plane) */ const float tmax[3] = { local_bvmax[0] * data->ray_inv_dir[0], local_bvmax[1] * data->ray_inv_dir[1], local_bvmax[2] * data->ray_inv_dir[2], }; /* `v1` and `v3` is be the coordinates of the nearest `AABB` edge to the ray*/ float v1[3], v2[3]; /* `rtmin` is the highest value of the smaller distances. == max_axis_v3(tmin) * `rtmax` is the lowest value of longer distances. == min_axis_v3(tmax)*/ float rtmin, rtmax, mul, rdist; /* `main_axis` is the axis equivalent to edge close to the ray */ int main_axis; r_axis_closest[0] = false; r_axis_closest[1] = false; r_axis_closest[2] = false; /* *** min_axis_v3(tmax) *** */ if ((tmax[0] <= tmax[1]) && (tmax[0] <= tmax[2])) { // printf("# Hit in X %s\n", data->sign[0] ? "min", "max"); rtmax = tmax[0]; v1[0] = v2[0] = local_bvmax[0]; mul = local_bvmax[0] * data->ray_direction[0]; main_axis = 3; r_axis_closest[0] = data->sign[0]; } else if ((tmax[1] <= tmax[0]) && (tmax[1] <= tmax[2])) { // printf("# Hit in Y %s\n", data->sign[1] ? "min", "max"); rtmax = tmax[1]; v1[1] = v2[1] = local_bvmax[1]; mul = local_bvmax[1] * data->ray_direction[1]; main_axis = 2; r_axis_closest[1] = data->sign[1]; } else { // printf("# Hit in Z %s\n", data->sign[2] ? "min", "max"); rtmax = tmax[2]; v1[2] = v2[2] = local_bvmax[2]; mul = local_bvmax[2] * data->ray_direction[2]; main_axis = 1; r_axis_closest[2] = data->sign[2]; } /* *** max_axis_v3(tmin) *** */ if ((tmin[0] >= tmin[1]) && (tmin[0] >= tmin[2])) { // printf("# To X %s\n", data->sign[0] ? "max", "min"); rtmin = tmin[0]; v1[0] = v2[0] = local_bvmin[0]; mul += local_bvmin[0] * data->ray_direction[0]; main_axis -= 3; r_axis_closest[0] = !data->sign[0]; } else if ((tmin[1] >= tmin[0]) && (tmin[1] >= tmin[2])) { // printf("# To Y %s\n", data->sign[1] ? "max", "min"); rtmin = tmin[1]; v1[1] = v2[1] = local_bvmin[1]; mul += local_bvmin[1] * data->ray_direction[1]; main_axis -= 1; r_axis_closest[1] = !data->sign[1]; } else { // printf("# To Z %s\n", data->sign[2] ? "max", "min"); rtmin = tmin[2]; v1[2] = v2[2] = local_bvmin[2]; mul += local_bvmin[2] * data->ray_direction[2]; main_axis -= 2; r_axis_closest[2] = !data->sign[2]; } /* *** end min/max axis *** */ /* `if rtmax < 0`, the whole `AABB` is behing us */ if ((rtmax < 0.0f) && (rtmin < 0.0f)) { return FLT_MAX; } if (main_axis < 0) { main_axis += 3; } if (data->sign[main_axis] == 0) { v1[main_axis] = local_bvmin[main_axis]; v2[main_axis] = local_bvmax[main_axis]; } else { v1[main_axis] = local_bvmax[main_axis]; v2[main_axis] = local_bvmin[main_axis]; } /* if rtmin < rtmax, ray intersect `AABB` */ if (rtmin <= rtmax) { const float proj = rtmin * data->ray_direction[main_axis]; rdist = 0.0f; r_axis_closest[main_axis] = (proj - v1[main_axis]) < (v2[main_axis] - proj); } else { /* `proj` equals to nearest point on the ray closest to the edge `v1 v2` of the `AABB`. */ const float proj = mul * data->cdot_axis[main_axis]; float depth; if (v1[main_axis] > proj) { /* the nearest point to the ray is the point v1 */ /* `depth` is equivalent the distance from the origin to the point v1, * Here's a faster way to calculate the dot product of v1 and ray * (depth = dot_v3v3(v1, data->ray.direction))*/ depth = mul + data->ray_direction[main_axis] * v1[main_axis]; rdist = len_squared_v3(v1) - SQUARE(depth); r_axis_closest[main_axis] = true; } else if (v2[main_axis] < proj) { /* the nearest point of the ray is the point v2 */ depth = mul + data->ray_direction[main_axis] * v2[main_axis]; rdist = len_squared_v3(v2) - SQUARE(depth); r_axis_closest[main_axis] = false; } else { /* the nearest point of the ray is on the edge of the `AABB`. */ float v[2]; mul *= data->idiag_sq[main_axis]; if (main_axis == 0) { v[0] = (mul * data->ray_direction[1]) - v1[1]; v[1] = (mul * data->ray_direction[2]) - v1[2]; } else if (main_axis == 1) { v[0] = (mul * data->ray_direction[0]) - v1[0]; v[1] = (mul * data->ray_direction[2]) - v1[2]; } else { v[0] = (mul * data->ray_direction[0]) - v1[0]; v[1] = (mul * data->ray_direction[1]) - v1[1]; } rdist = len_squared_v2(v); r_axis_closest[main_axis] = (proj - v1[main_axis]) < (v2[main_axis] - proj); } } return rdist; } /* find closest point to p on line through (l1, l2) and return lambda, * where (0 <= lambda <= 1) when cp is in the line segment (l1, l2) */ float closest_to_line_v3(float r_close[3], const float p[3], const float l1[3], const float l2[3]) { float h[3], u[3], lambda; sub_v3_v3v3(u, l2, l1); sub_v3_v3v3(h, p, l1); lambda = dot_v3v3(u, h) / dot_v3v3(u, u); r_close[0] = l1[0] + u[0] * lambda; r_close[1] = l1[1] + u[1] * lambda; r_close[2] = l1[2] + u[2] * lambda; return lambda; } float closest_to_line_v2(float r_close[2], const float p[2], const float l1[2], const float l2[2]) { float h[2], u[2], lambda; sub_v2_v2v2(u, l2, l1); sub_v2_v2v2(h, p, l1); lambda = dot_v2v2(u, h) / dot_v2v2(u, u); r_close[0] = l1[0] + u[0] * lambda; r_close[1] = l1[1] + u[1] * lambda; return lambda; } float ray_point_factor_v3_ex( const float p[3], const float ray_origin[3], const float ray_direction[3], const float epsilon, const float fallback) { float p_relative[3]; sub_v3_v3v3(p_relative, p, ray_origin); const float dot = len_squared_v3(ray_direction); return (dot > epsilon) ? (dot_v3v3(ray_direction, p_relative) / dot) : fallback; } float ray_point_factor_v3( const float p[3], const float ray_origin[3], const float ray_direction[3]) { return ray_point_factor_v3_ex(p, ray_origin, ray_direction, 0.0f, 0.0f); } /** * A simplified version of #closest_to_line_v3 * we only need to return the ``lambda`` * * \param epsilon: avoid approaching divide-by-zero. * Passing a zero will just check for nonzero division. */ float line_point_factor_v3_ex( const float p[3], const float l1[3], const float l2[3], const float epsilon, const float fallback) { float h[3], u[3]; float dot; sub_v3_v3v3(u, l2, l1); sub_v3_v3v3(h, p, l1); #if 0 return (dot_v3v3(u, h) / dot_v3v3(u, u)); #else /* better check for zero */ dot = len_squared_v3(u); return (dot > epsilon) ? (dot_v3v3(u, h) / dot) : fallback; #endif } float line_point_factor_v3( const float p[3], const float l1[3], const float l2[3]) { return line_point_factor_v3_ex(p, l1, l2, 0.0f, 0.0f); } float line_point_factor_v2_ex( const float p[2], const float l1[2], const float l2[2], const float epsilon, const float fallback) { float h[2], u[2]; float dot; sub_v2_v2v2(u, l2, l1); sub_v2_v2v2(h, p, l1); #if 0 return (dot_v2v2(u, h) / dot_v2v2(u, u)); #else /* better check for zero */ dot = len_squared_v2(u); return (dot > epsilon) ? (dot_v2v2(u, h) / dot) : fallback; #endif } float line_point_factor_v2(const float p[2], const float l1[2], const float l2[2]) { return line_point_factor_v2_ex(p, l1, l2, 0.0f, 0.0f); } /** * \note #isect_line_plane_v3() shares logic */ float line_plane_factor_v3(const float plane_co[3], const float plane_no[3], const float l1[3], const float l2[3]) { float u[3], h[3]; float dot; sub_v3_v3v3(u, l2, l1); sub_v3_v3v3(h, l1, plane_co); dot = dot_v3v3(plane_no, u); return (dot != 0.0f) ? -dot_v3v3(plane_no, h) / dot : 0.0f; } /** Ensure the distance between these points is no greater than 'dist'. * If it is, scale then both into the center. */ void limit_dist_v3(float v1[3], float v2[3], const float dist) { const float dist_old = len_v3v3(v1, v2); if (dist_old > dist) { float v1_old[3]; float v2_old[3]; float fac = (dist / dist_old) * 0.5f; copy_v3_v3(v1_old, v1); copy_v3_v3(v2_old, v2); interp_v3_v3v3(v1, v1_old, v2_old, 0.5f - fac); interp_v3_v3v3(v2, v1_old, v2_old, 0.5f + fac); } } /* * x1,y2 * | \ * | \ .(a,b) * | \ * x1,y1-- x2,y1 */ int isect_point_tri_v2_int(const int x1, const int y1, const int x2, const int y2, const int a, const int b) { float v1[2], v2[2], v3[2], p[2]; v1[0] = (float)x1; v1[1] = (float)y1; v2[0] = (float)x1; v2[1] = (float)y2; v3[0] = (float)x2; v3[1] = (float)y1; p[0] = (float)a; p[1] = (float)b; return isect_point_tri_v2(p, v1, v2, v3); } static bool point_in_slice(const float p[3], const float v1[3], const float l1[3], const float l2[3]) { /* * what is a slice ? * some maths: * a line including (l1, l2) and a point not on the line * define a subset of R3 delimited by planes parallel to the line and orthogonal * to the (point --> line) distance vector, one plane on the line one on the point, * the room inside usually is rather small compared to R3 though still infinite * useful for restricting (speeding up) searches * e.g. all points of triangular prism are within the intersection of 3 'slices' * another trivial case : cube * but see a 'spat' which is a deformed cube with paired parallel planes needs only 3 slices too */ float h, rp[3], cp[3], q[3]; closest_to_line_v3(cp, v1, l1, l2); sub_v3_v3v3(q, cp, v1); sub_v3_v3v3(rp, p, v1); h = dot_v3v3(q, rp) / dot_v3v3(q, q); /* note: when 'h' is nan/-nan, this check returns false * without explicit check - covering the degenerate case */ return (h >= 0.0f && h <= 1.0f); } #if 0 /* adult sister defining the slice planes by the origin and the normal * NOTE |normal| may not be 1 but defining the thickness of the slice */ static int point_in_slice_as(float p[3], float origin[3], float normal[3]) { float h, rp[3]; sub_v3_v3v3(rp, p, origin); h = dot_v3v3(normal, rp) / dot_v3v3(normal, normal); if (h < 0.0f || h > 1.0f) return 0; return 1; } /*mama (knowing the squared length of the normal) */ static int point_in_slice_m(float p[3], float origin[3], float normal[3], float lns) { float h, rp[3]; sub_v3_v3v3(rp, p, origin); h = dot_v3v3(normal, rp) / lns; if (h < 0.0f || h > 1.0f) return 0; return 1; } #endif bool isect_point_tri_prism_v3(const float p[3], const float v1[3], const float v2[3], const float v3[3]) { if (!point_in_slice(p, v1, v2, v3)) return false; if (!point_in_slice(p, v2, v3, v1)) return false; if (!point_in_slice(p, v3, v1, v2)) return false; return true; } /** * \param r_isect_co: The point \a p projected onto the triangle. * \return True when \a p is inside the triangle. * \note Its up to the caller to check the distance between \a p and \a r_vi against an error margin. */ bool isect_point_tri_v3( const float p[3], const float v1[3], const float v2[3], const float v3[3], float r_isect_co[3]) { if (isect_point_tri_prism_v3(p, v1, v2, v3)) { float plane[4]; float no[3]; /* Could use normal_tri_v3, but doesn't have to be unit-length */ cross_tri_v3(no, v1, v2, v3); BLI_assert(len_squared_v3(no) != 0.0f); plane_from_point_normal_v3(plane, v1, no); closest_to_plane_v3(r_isect_co, plane, p); return true; } else { return false; } } bool clip_segment_v3_plane( const float p1[3], const float p2[3], const float plane[4], float r_p1[3], float r_p2[3]) { float dp[3], div; sub_v3_v3v3(dp, p2, p1); div = dot_v3v3(dp, plane); if (div == 0.0f) /* parallel */ return true; float t = -plane_point_side_v3(plane, p1); if (div > 0.0f) { /* behind plane, completely clipped */ if (t >= div) { return false; } else if (t > 0.0f) { const float p1_copy[3] = {UNPACK3(p1)}; copy_v3_v3(r_p2, p2); madd_v3_v3v3fl(r_p1, p1_copy, dp, t / div); return true; } } else { /* behind plane, completely clipped */ if (t >= 0.0f) { return false; } else if (t > div) { const float p1_copy[3] = {UNPACK3(p1)}; copy_v3_v3(r_p1, p1); madd_v3_v3v3fl(r_p2, p1_copy, dp, t / div); return true; } } /* incase input/output values match (above also) */ const float p1_copy[3] = {UNPACK3(p1)}; copy_v3_v3(r_p2, p2); copy_v3_v3(r_p1, p1_copy); return true; } bool clip_segment_v3_plane_n( const float p1[3], const float p2[3], const float plane_array[][4], const int plane_tot, float r_p1[3], float r_p2[3]) { /* intersect from both directions */ float p1_fac = 0.0f, p2_fac = 1.0f; float dp[3]; sub_v3_v3v3(dp, p2, p1); for (int i = 0; i < plane_tot; i++) { const float *plane = plane_array[i]; const float div = dot_v3v3(dp, plane); if (div != 0.0f) { float t = -plane_point_side_v3(plane, p1); if (div > 0.0f) { /* clip p1 lower bounds */ if (t >= div) { return false; } else if (t > 0.0f) { t /= div; if (t > p1_fac) { p1_fac = t; if (p1_fac > p2_fac) { return false; } } } } else if (div < 0.0f) { /* clip p2 upper bounds */ if (t >= 0.0f) { return false; } else if (t > div) { t /= div; if (t < p2_fac) { p2_fac = t; if (p1_fac > p2_fac) { return false; } } } } } } /* incase input/output values match */ const float p1_copy[3] = {UNPACK3(p1)}; madd_v3_v3v3fl(r_p1, p1_copy, dp, p1_fac); madd_v3_v3v3fl(r_p2, p1_copy, dp, p2_fac); return true; } void plot_line_v2v2i(const int p1[2], const int p2[2], bool (*callback)(int, int, void *), void *userData) { int x1 = p1[0]; int y1 = p1[1]; int x2 = p2[0]; int y2 = p2[1]; signed char ix; signed char iy; /* if x1 == x2 or y1 == y2, then it does not matter what we set here */ int delta_x = (x2 > x1 ? ((void)(ix = 1), x2 - x1) : ((void)(ix = -1), x1 - x2)) << 1; int delta_y = (y2 > y1 ? ((void)(iy = 1), y2 - y1) : ((void)(iy = -1), y1 - y2)) << 1; if (callback(x1, y1, userData) == 0) { return; } if (delta_x >= delta_y) { /* error may go below zero */ int error = delta_y - (delta_x >> 1); while (x1 != x2) { if (error >= 0) { if (error || (ix > 0)) { y1 += iy; error -= delta_x; } /* else do nothing */ } /* else do nothing */ x1 += ix; error += delta_y; if (callback(x1, y1, userData) == 0) { return; } } } else { /* error may go below zero */ int error = delta_x - (delta_y >> 1); while (y1 != y2) { if (error >= 0) { if (error || (iy > 0)) { x1 += ix; error -= delta_y; } /* else do nothing */ } /* else do nothing */ y1 += iy; error += delta_x; if (callback(x1, y1, userData) == 0) { return; } } } } /** * \param callback: Takes the x, y coords and x-span (\a x_end is not inclusive), * note that \a x_end will always be greater than \a x, so we can use: * * \code{.c} * do { * func(x, y); * } while (++x != x_end); * \endcode */ void fill_poly_v2i_n( const int xmin, const int ymin, const int xmax, const int ymax, const int verts[][2], const int nr, void (*callback)(int x, int x_end, int y, void *), void *userData) { /* originally by Darel Rex Finley, 2007 */ int nodes, pixel_y, i, j, swap; int *node_x = MEM_mallocN(sizeof(*node_x) * (size_t)(nr + 1), __func__); /* Loop through the rows of the image. */ for (pixel_y = ymin; pixel_y < ymax; pixel_y++) { /* Build a list of nodes. */ nodes = 0; j = nr - 1; for (i = 0; i < nr; i++) { if ((verts[i][1] < pixel_y && verts[j][1] >= pixel_y) || (verts[j][1] < pixel_y && verts[i][1] >= pixel_y)) { node_x[nodes++] = (int)(verts[i][0] + ((double)(pixel_y - verts[i][1]) / (verts[j][1] - verts[i][1])) * (verts[j][0] - verts[i][0])); } j = i; } /* Sort the nodes, via a simple "Bubble" sort. */ i = 0; while (i < nodes - 1) { if (node_x[i] > node_x[i + 1]) { SWAP_TVAL(swap, node_x[i], node_x[i + 1]); if (i) i--; } else { i++; } } /* Fill the pixels between node pairs. */ for (i = 0; i < nodes; i += 2) { if (node_x[i] >= xmax) break; if (node_x[i + 1] > xmin) { if (node_x[i ] < xmin) node_x[i ] = xmin; if (node_x[i + 1] > xmax) node_x[i + 1] = xmax; #if 0 /* for many x/y calls */ for (j = node_x[i]; j < node_x[i + 1]; j++) { callback(j - xmin, pixel_y - ymin, userData); } #else /* for single call per x-span */ if (node_x[i] < node_x[i + 1]) { callback(node_x[i] - xmin, node_x[i + 1] - xmin, pixel_y - ymin, userData); } #endif } } } MEM_freeN(node_x); } /****************************** Axis Utils ********************************/ /** * \brief Normal to x,y matrix * * Creates a 3x3 matrix from a normal. * This matrix can be applied to vectors so their 'z' axis runs along \a normal. * In practice it means you can use x,y as 2d coords. \see * * \param r_mat The matrix to return. * \param normal A unit length vector. */ void axis_dominant_v3_to_m3(float r_mat[3][3], const float normal[3]) { BLI_ASSERT_UNIT_V3(normal); copy_v3_v3(r_mat[2], normal); ortho_basis_v3v3_v3(r_mat[0], r_mat[1], r_mat[2]); BLI_ASSERT_UNIT_V3(r_mat[0]); BLI_ASSERT_UNIT_V3(r_mat[1]); transpose_m3(r_mat); BLI_assert(!is_negative_m3(r_mat)); BLI_assert((fabsf(dot_m3_v3_row_z(r_mat, normal) - 1.0f) < BLI_ASSERT_UNIT_EPSILON) || is_zero_v3(normal)); } /** * Same as axis_dominant_v3_to_m3, but flips the normal */ void axis_dominant_v3_to_m3_negate(float r_mat[3][3], const float normal[3]) { BLI_ASSERT_UNIT_V3(normal); negate_v3_v3(r_mat[2], normal); ortho_basis_v3v3_v3(r_mat[0], r_mat[1], r_mat[2]); BLI_ASSERT_UNIT_V3(r_mat[0]); BLI_ASSERT_UNIT_V3(r_mat[1]); transpose_m3(r_mat); BLI_assert(!is_negative_m3(r_mat)); BLI_assert((dot_m3_v3_row_z(r_mat, normal) < BLI_ASSERT_UNIT_EPSILON) || is_zero_v3(normal)); } /****************************** Interpolation ********************************/ static float tri_signed_area(const float v1[3], const float v2[3], const float v3[3], const int i, const int j) { return 0.5f * ((v1[i] - v2[i]) * (v2[j] - v3[j]) + (v1[j] - v2[j]) * (v3[i] - v2[i])); } /* return 1 when degenerate */ static bool barycentric_weights(const float v1[3], const float v2[3], const float v3[3], const float co[3], const float n[3], float w[3]) { float wtot; int i, j; axis_dominant_v3(&i, &j, n); w[0] = tri_signed_area(v2, v3, co, i, j); w[1] = tri_signed_area(v3, v1, co, i, j); w[2] = tri_signed_area(v1, v2, co, i, j); wtot = w[0] + w[1] + w[2]; if (fabsf(wtot) > FLT_EPSILON) { mul_v3_fl(w, 1.0f / wtot); return false; } else { /* zero area triangle */ copy_v3_fl(w, 1.0f / 3.0f); return true; } } void interp_weights_face_v3(float w[4], const float v1[3], const float v2[3], const float v3[3], const float v4[3], const float co[3]) { float w2[3]; w[0] = w[1] = w[2] = w[3] = 0.0f; /* first check for exact match */ if (equals_v3v3(co, v1)) w[0] = 1.0f; else if (equals_v3v3(co, v2)) w[1] = 1.0f; else if (equals_v3v3(co, v3)) w[2] = 1.0f; else if (v4 && equals_v3v3(co, v4)) w[3] = 1.0f; else { /* otherwise compute barycentric interpolation weights */ float n1[3], n2[3], n[3]; bool degenerate; sub_v3_v3v3(n1, v1, v3); if (v4) { sub_v3_v3v3(n2, v2, v4); } else { sub_v3_v3v3(n2, v2, v3); } cross_v3_v3v3(n, n1, n2); /* OpenGL seems to split this way, so we do too */ if (v4) { degenerate = barycentric_weights(v1, v2, v4, co, n, w); SWAP(float, w[2], w[3]); if (degenerate || (w[0] < 0.0f)) { /* if w[1] is negative, co is on the other side of the v1-v3 edge, * so we interpolate using the other triangle */ degenerate = barycentric_weights(v2, v3, v4, co, n, w2); if (!degenerate) { w[0] = 0.0f; w[1] = w2[0]; w[2] = w2[1]; w[3] = w2[2]; } } } else { barycentric_weights(v1, v2, v3, co, n, w); } } } /* return 1 of point is inside triangle, 2 if it's on the edge, 0 if point is outside of triangle */ int barycentric_inside_triangle_v2(const float w[3]) { if (IN_RANGE(w[0], 0.0f, 1.0f) && IN_RANGE(w[1], 0.0f, 1.0f) && IN_RANGE(w[2], 0.0f, 1.0f)) { return 1; } else if (IN_RANGE_INCL(w[0], 0.0f, 1.0f) && IN_RANGE_INCL(w[1], 0.0f, 1.0f) && IN_RANGE_INCL(w[2], 0.0f, 1.0f)) { return 2; } return 0; } /* returns 0 for degenerated triangles */ bool barycentric_coords_v2(const float v1[2], const float v2[2], const float v3[2], const float co[2], float w[3]) { const float x = co[0], y = co[1]; const float x1 = v1[0], y1 = v1[1]; const float x2 = v2[0], y2 = v2[1]; const float x3 = v3[0], y3 = v3[1]; const float det = (y2 - y3) * (x1 - x3) + (x3 - x2) * (y1 - y3); if (fabsf(det) > FLT_EPSILON) { w[0] = ((y2 - y3) * (x - x3) + (x3 - x2) * (y - y3)) / det; w[1] = ((y3 - y1) * (x - x3) + (x1 - x3) * (y - y3)) / det; w[2] = 1.0f - w[0] - w[1]; return true; } return false; } /** * \note: using #cross_tri_v2 means locations outside the triangle are correctly weighted */ void barycentric_weights_v2(const float v1[2], const float v2[2], const float v3[2], const float co[2], float w[3]) { float wtot; w[0] = cross_tri_v2(v2, v3, co); w[1] = cross_tri_v2(v3, v1, co); w[2] = cross_tri_v2(v1, v2, co); wtot = w[0] + w[1] + w[2]; if (wtot != 0.0f) { mul_v3_fl(w, 1.0f / wtot); } else { /* dummy values for zero area face */ copy_v3_fl(w, 1.0f / 3.0f); } } /** * still use 2D X,Y space but this works for verts transformed by a perspective matrix, * using their 4th component as a weight */ void barycentric_weights_v2_persp(const float v1[4], const float v2[4], const float v3[4], const float co[2], float w[3]) { float wtot; w[0] = cross_tri_v2(v2, v3, co) / v1[3]; w[1] = cross_tri_v2(v3, v1, co) / v2[3]; w[2] = cross_tri_v2(v1, v2, co) / v3[3]; wtot = w[0] + w[1] + w[2]; if (wtot != 0.0f) { mul_v3_fl(w, 1.0f / wtot); } else { /* dummy values for zero area face */ w[0] = w[1] = w[2] = 1.0f / 3.0f; } } /* same as #barycentric_weights_v2 but works with a quad, * note: untested for values outside the quad's bounds * this is #interp_weights_poly_v2 expanded for quads only */ void barycentric_weights_v2_quad(const float v1[2], const float v2[2], const float v3[2], const float v4[2], const float co[2], float w[4]) { /* note: fabsf() here is not needed for convex quads (and not used in interp_weights_poly_v2). * but in the case of concave/bow-tie quads for the mask rasterizer it gives unreliable results * without adding absf(). If this becomes an issue for more general usage we could have * this optional or use a different function - Campbell */ #define MEAN_VALUE_HALF_TAN_V2(_area, i1, i2) \ ((_area = cross_v2v2(dirs[i1], dirs[i2])) != 0.0f ? \ fabsf(((lens[i1] * lens[i2]) - dot_v2v2(dirs[i1], dirs[i2])) / _area) : 0.0f) const float dirs[4][2] = { {v1[0] - co[0], v1[1] - co[1]}, {v2[0] - co[0], v2[1] - co[1]}, {v3[0] - co[0], v3[1] - co[1]}, {v4[0] - co[0], v4[1] - co[1]}, }; const float lens[4] = { len_v2(dirs[0]), len_v2(dirs[1]), len_v2(dirs[2]), len_v2(dirs[3]), }; /* avoid divide by zero */ if (UNLIKELY(lens[0] < FLT_EPSILON)) { w[0] = 1.0f; w[1] = w[2] = w[3] = 0.0f; } else if (UNLIKELY(lens[1] < FLT_EPSILON)) { w[1] = 1.0f; w[0] = w[2] = w[3] = 0.0f; } else if (UNLIKELY(lens[2] < FLT_EPSILON)) { w[2] = 1.0f; w[0] = w[1] = w[3] = 0.0f; } else if (UNLIKELY(lens[3] < FLT_EPSILON)) { w[3] = 1.0f; w[0] = w[1] = w[2] = 0.0f; } else { float wtot, area; /* variable 'area' is just for storage, * the order its initialized doesn't matter */ #ifdef __clang__ # pragma clang diagnostic push # pragma clang diagnostic ignored "-Wunsequenced" #endif /* inline mean_value_half_tan four times here */ const float t[4] = { MEAN_VALUE_HALF_TAN_V2(area, 0, 1), MEAN_VALUE_HALF_TAN_V2(area, 1, 2), MEAN_VALUE_HALF_TAN_V2(area, 2, 3), MEAN_VALUE_HALF_TAN_V2(area, 3, 0), }; #ifdef __clang__ # pragma clang diagnostic pop #endif #undef MEAN_VALUE_HALF_TAN_V2 w[0] = (t[3] + t[0]) / lens[0]; w[1] = (t[0] + t[1]) / lens[1]; w[2] = (t[1] + t[2]) / lens[2]; w[3] = (t[2] + t[3]) / lens[3]; wtot = w[0] + w[1] + w[2] + w[3]; if (wtot != 0.0f) { mul_v4_fl(w, 1.0f / wtot); } else { /* dummy values for zero area face */ copy_v4_fl(w, 1.0f / 4.0f); } } } /* given 2 triangles in 3D space, and a point in relation to the first triangle. * calculate the location of a point in relation to the second triangle. * Useful for finding relative positions with geometry */ void transform_point_by_tri_v3( float pt_tar[3], float const pt_src[3], const float tri_tar_p1[3], const float tri_tar_p2[3], const float tri_tar_p3[3], const float tri_src_p1[3], const float tri_src_p2[3], const float tri_src_p3[3]) { /* this works by moving the source triangle so its normal is pointing on the Z * axis where its barycentric weights can be calculated in 2D and its Z offset can * be re-applied. The weights are applied directly to the targets 3D points and the * z-depth is used to scale the targets normal as an offset. * This saves transforming the target into its Z-Up orientation and back (which could also work) */ float no_tar[3], no_src[3]; float mat_src[3][3]; float pt_src_xy[3]; float tri_xy_src[3][3]; float w_src[3]; float area_tar, area_src; float z_ofs_src; normal_tri_v3(no_tar, tri_tar_p1, tri_tar_p2, tri_tar_p3); normal_tri_v3(no_src, tri_src_p1, tri_src_p2, tri_src_p3); axis_dominant_v3_to_m3(mat_src, no_src); /* make the source tri xy space */ mul_v3_m3v3(pt_src_xy, mat_src, pt_src); mul_v3_m3v3(tri_xy_src[0], mat_src, tri_src_p1); mul_v3_m3v3(tri_xy_src[1], mat_src, tri_src_p2); mul_v3_m3v3(tri_xy_src[2], mat_src, tri_src_p3); barycentric_weights_v2(tri_xy_src[0], tri_xy_src[1], tri_xy_src[2], pt_src_xy, w_src); interp_v3_v3v3v3(pt_tar, tri_tar_p1, tri_tar_p2, tri_tar_p3, w_src); area_tar = sqrtf(area_tri_v3(tri_tar_p1, tri_tar_p2, tri_tar_p3)); area_src = sqrtf(area_tri_v2(tri_xy_src[0], tri_xy_src[1], tri_xy_src[2])); z_ofs_src = pt_src_xy[2] - tri_xy_src[0][2]; madd_v3_v3v3fl(pt_tar, pt_tar, no_tar, (z_ofs_src / area_src) * area_tar); } /** * Simply re-interpolates, * assumes p_src is between \a l_src_p1-l_src_p2 */ void transform_point_by_seg_v3( float p_dst[3], const float p_src[3], const float l_dst_p1[3], const float l_dst_p2[3], const float l_src_p1[3], const float l_src_p2[3]) { float t = line_point_factor_v3(p_src, l_src_p1, l_src_p2); interp_v3_v3v3(p_dst, l_dst_p1, l_dst_p2, t); } /* given an array with some invalid values this function interpolates valid values * replacing the invalid ones */ int interp_sparse_array(float *array, const int list_size, const float skipval) { int found_invalid = 0; int found_valid = 0; int i; for (i = 0; i < list_size; i++) { if (array[i] == skipval) found_invalid = 1; else found_valid = 1; } if (found_valid == 0) { return -1; } else if (found_invalid == 0) { return 0; } else { /* found invalid depths, interpolate */ float valid_last = skipval; int valid_ofs = 0; float *array_up = MEM_callocN(sizeof(float) * (size_t)list_size, "interp_sparse_array up"); float *array_down = MEM_callocN(sizeof(float) * (size_t)list_size, "interp_sparse_array up"); int *ofs_tot_up = MEM_callocN(sizeof(int) * (size_t)list_size, "interp_sparse_array tup"); int *ofs_tot_down = MEM_callocN(sizeof(int) * (size_t)list_size, "interp_sparse_array tdown"); for (i = 0; i < list_size; i++) { if (array[i] == skipval) { array_up[i] = valid_last; ofs_tot_up[i] = ++valid_ofs; } else { valid_last = array[i]; valid_ofs = 0; } } valid_last = skipval; valid_ofs = 0; for (i = list_size - 1; i >= 0; i--) { if (array[i] == skipval) { array_down[i] = valid_last; ofs_tot_down[i] = ++valid_ofs; } else { valid_last = array[i]; valid_ofs = 0; } } /* now blend */ for (i = 0; i < list_size; i++) { if (array[i] == skipval) { if (array_up[i] != skipval && array_down[i] != skipval) { array[i] = ((array_up[i] * (float)ofs_tot_down[i]) + (array_down[i] * (float)ofs_tot_up[i])) / (float)(ofs_tot_down[i] + ofs_tot_up[i]); } else if (array_up[i] != skipval) { array[i] = array_up[i]; } else if (array_down[i] != skipval) { array[i] = array_down[i]; } } } MEM_freeN(array_up); MEM_freeN(array_down); MEM_freeN(ofs_tot_up); MEM_freeN(ofs_tot_down); } return 1; } /** \name interp_weights_poly_v2, v3 * \{ */ #define IS_POINT_IX (1 << 0) #define IS_SEGMENT_IX (1 << 1) #define DIR_V3_SET(d_len, va, vb) { \ sub_v3_v3v3((d_len)->dir, va, vb); \ (d_len)->len = len_v3((d_len)->dir); \ } (void)0 #define DIR_V2_SET(d_len, va, vb) { \ sub_v2_v2v2((d_len)->dir, va, vb); \ (d_len)->len = len_v2((d_len)->dir); \ } (void)0 struct Float3_Len { float dir[3], len; }; struct Float2_Len { float dir[2], len; }; /* Mean value weights - smooth interpolation weights for polygons with * more than 3 vertices */ static float mean_value_half_tan_v3(const struct Float3_Len *d_curr, const struct Float3_Len *d_next) { float cross[3], area; cross_v3_v3v3(cross, d_curr->dir, d_next->dir); area = len_v3(cross); if (LIKELY(fabsf(area) > FLT_EPSILON)) { const float dot = dot_v3v3(d_curr->dir, d_next->dir); const float len = d_curr->len * d_next->len; return (len - dot) / area; } else { return 0.0f; } } static float mean_value_half_tan_v2(const struct Float2_Len *d_curr, const struct Float2_Len *d_next) { float area; /* different from the 3d version but still correct */ area = cross_v2v2(d_curr->dir, d_next->dir); if (LIKELY(fabsf(area) > FLT_EPSILON)) { const float dot = dot_v2v2(d_curr->dir, d_next->dir); const float len = d_curr->len * d_next->len; return (len - dot) / area; } else { return 0.0f; } } void interp_weights_poly_v3(float *w, float v[][3], const int n, const float co[3]) { const float eps = 1e-5f; /* take care, low values cause [#36105] */ const float eps_sq = eps * eps; const float *v_curr, *v_next; float ht_prev, ht; /* half tangents */ float totweight = 0.0f; int i_curr, i_next; char ix_flag = 0; struct Float3_Len d_curr, d_next; /* loop over 'i_next' */ i_curr = n - 1; i_next = 0; v_curr = v[i_curr]; v_next = v[i_next]; DIR_V3_SET(&d_curr, v_curr - 3 /* v[n - 2] */, co); DIR_V3_SET(&d_next, v_curr /* v[n - 1] */, co); ht_prev = mean_value_half_tan_v3(&d_curr, &d_next); while (i_next < n) { /* Mark Mayer et al algorithm that is used here does not operate well if vertex is close * to borders of face. In that case, do simple linear interpolation between the two edge vertices */ /* 'd_next.len' is infact 'd_curr.len', just avoid copy to begin with */ if (UNLIKELY(d_next.len < eps)) { ix_flag = IS_POINT_IX; break; } else if (UNLIKELY(dist_squared_to_line_segment_v3(co, v_curr, v_next) < eps_sq)) { ix_flag = IS_SEGMENT_IX; break; } d_curr = d_next; DIR_V3_SET(&d_next, v_next, co); ht = mean_value_half_tan_v3(&d_curr, &d_next); w[i_curr] = (ht_prev + ht) / d_curr.len; totweight += w[i_curr]; /* step */ i_curr = i_next++; v_curr = v_next; v_next = v[i_next]; ht_prev = ht; } if (ix_flag) { memset(w, 0, sizeof(*w) * (size_t)n); if (ix_flag & IS_POINT_IX) { w[i_curr] = 1.0f; } else { float fac = line_point_factor_v3(co, v_curr, v_next); CLAMP(fac, 0.0f, 1.0f); w[i_curr] = 1.0f - fac; w[i_next] = fac; } } else { if (totweight != 0.0f) { for (i_curr = 0; i_curr < n; i_curr++) { w[i_curr] /= totweight; } } } } void interp_weights_poly_v2(float *w, float v[][2], const int n, const float co[2]) { const float eps = 1e-5f; /* take care, low values cause [#36105] */ const float eps_sq = eps * eps; const float *v_curr, *v_next; float ht_prev, ht; /* half tangents */ float totweight = 0.0f; int i_curr, i_next; char ix_flag = 0; struct Float2_Len d_curr, d_next; /* loop over 'i_next' */ i_curr = n - 1; i_next = 0; v_curr = v[i_curr]; v_next = v[i_next]; DIR_V2_SET(&d_curr, v_curr - 2 /* v[n - 2] */, co); DIR_V2_SET(&d_next, v_curr /* v[n - 1] */, co); ht_prev = mean_value_half_tan_v2(&d_curr, &d_next); while (i_next < n) { /* Mark Mayer et al algorithm that is used here does not operate well if vertex is close * to borders of face. In that case, do simple linear interpolation between the two edge vertices */ /* 'd_next.len' is infact 'd_curr.len', just avoid copy to begin with */ if (UNLIKELY(d_next.len < eps)) { ix_flag = IS_POINT_IX; break; } else if (UNLIKELY(dist_squared_to_line_segment_v2(co, v_curr, v_next) < eps_sq)) { ix_flag = IS_SEGMENT_IX; break; } d_curr = d_next; DIR_V2_SET(&d_next, v_next, co); ht = mean_value_half_tan_v2(&d_curr, &d_next); w[i_curr] = (ht_prev + ht) / d_curr.len; totweight += w[i_curr]; /* step */ i_curr = i_next++; v_curr = v_next; v_next = v[i_next]; ht_prev = ht; } if (ix_flag) { memset(w, 0, sizeof(*w) * (size_t)n); if (ix_flag & IS_POINT_IX) { w[i_curr] = 1.0f; } else { float fac = line_point_factor_v2(co, v_curr, v_next); CLAMP(fac, 0.0f, 1.0f); w[i_curr] = 1.0f - fac; w[i_next] = fac; } } else { if (totweight != 0.0f) { for (i_curr = 0; i_curr < n; i_curr++) { w[i_curr] /= totweight; } } } } #undef IS_POINT_IX #undef IS_SEGMENT_IX #undef DIR_V3_SET #undef DIR_V2_SET /** \} */ /* (x1, v1)(t1=0)------(x2, v2)(t2=1), 0