/**************************************************************************** ** ** Copyright (C) 2015 Klaralvdalens Datakonsult AB (KDAB). ** Contact: https://www.qt.io/licensing/ ** ** This file is part of the Qt3D module of the Qt Toolkit. ** ** $QT_BEGIN_LICENSE:LGPL$ ** Commercial License Usage ** Licensees holding valid commercial Qt licenses may use this file in ** accordance with the commercial license agreement provided with the ** Software or, alternatively, in accordance with the terms contained in ** a written agreement between you and The Qt Company. For licensing terms ** and conditions see https://www.qt.io/terms-conditions. For further ** information use the contact form at https://www.qt.io/contact-us. ** ** GNU Lesser General Public License Usage ** Alternatively, this file may be used under the terms of the GNU Lesser ** General Public License version 3 as published by the Free Software ** Foundation and appearing in the file LICENSE.LGPL3 included in the ** packaging of this file. Please review the following information to ** ensure the GNU Lesser General Public License version 3 requirements ** will be met: https://www.gnu.org/licenses/lgpl-3.0.html. ** ** GNU General Public License Usage ** Alternatively, this file may be used under the terms of the GNU ** General Public License version 2.0 or (at your option) the GNU General ** Public license version 3 or any later version approved by the KDE Free ** Qt Foundation. The licenses are as published by the Free Software ** Foundation and appearing in the file LICENSE.GPL2 and LICENSE.GPL3 ** included in the packaging of this file. Please review the following ** information to ensure the GNU General Public License requirements will ** be met: https://www.gnu.org/licenses/gpl-2.0.html and ** https://www.gnu.org/licenses/gpl-3.0.html. ** ** $QT_END_LICENSE$ ** ****************************************************************************/ #include "triangleboundingvolume_p.h" #include QT_BEGIN_NAMESPACE namespace Qt3DRender { namespace Render { // Note: a, b, c in clockwise order // RealTime Collision Detection page 192 bool intersectsSegmentTriangle(const QRay3D &ray, const QVector3D &a, const QVector3D &b, const QVector3D &c, QVector3D &uvw, float &t) { const QVector3D ab = b - a; const QVector3D ac = c - a; const QVector3D qp = (ray.origin() - ray.point(ray.distance())); const QVector3D n = QVector3D::crossProduct(ab, ac); const float d = QVector3D::dotProduct(qp, n); if (d <= 0.0f) return false; const QVector3D ap = ray.origin() - a; t = QVector3D::dotProduct(ap, n); if (t < 0.0f || t > d) return false; const QVector3D e = QVector3D::crossProduct(qp, ap); uvw.setY(QVector3D::dotProduct(ac, e)); if (uvw.y() < 0.0f || uvw.y() > d) return false; uvw.setZ(-QVector3D::dotProduct(ab, e)); if (uvw.z() < 0.0f || uvw.y() + uvw.z() > d) return false; const float ood = 1.0f / d; t *= ood; uvw.setY(uvw.y() * ood); uvw.setZ(uvw.z() * ood); uvw.setX(1.0f - uvw.y() - uvw.z()); return true; } TriangleBoundingVolume::TriangleBoundingVolume() : QBoundingVolume() { } /*! The vertices a, b, c are assumed to be in counter clockwise order. */ TriangleBoundingVolume::TriangleBoundingVolume(Qt3DCore::QNodeId id, const QVector3D &a, const QVector3D &b, const QVector3D &c) : QBoundingVolume() , m_id(id) , m_a(a) , m_b(b) , m_c(c) {} Qt3DCore::QNodeId TriangleBoundingVolume::id() const { return m_id; } bool TriangleBoundingVolume::intersects(const QRay3D &ray, QVector3D *q) const { float t = 0.0f; QVector3D uvw; const float intersected = intersectsSegmentTriangle(ray, m_c, m_b, m_a, uvw, t); if (intersected && q != Q_NULLPTR) *q = ray.origin() + t * ray.direction(); return intersected; } QBoundingVolume::Type TriangleBoundingVolume::type() const { return QBoundingVolume::Triangle; } QVector3D TriangleBoundingVolume::a() const { return m_a; } QVector3D TriangleBoundingVolume::b() const { return m_b; } QVector3D TriangleBoundingVolume::c() const { return m_c; } void TriangleBoundingVolume::setA(const QVector3D &a) { m_a = a; } void TriangleBoundingVolume::setB(const QVector3D &b) { m_b = b; } void TriangleBoundingVolume::setC(const QVector3D &c) { m_c = c; } TriangleBoundingVolume TriangleBoundingVolume::transformed(const QMatrix4x4 &mat) const { const QVector3D tA = mat * m_a; const QVector3D tB = mat * m_b; const QVector3D tC = mat * m_c; return TriangleBoundingVolume(id(), tA, tB, tC); } } // namespace Render } // namespace Qt3DRender QT_END_NAMESPACE