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Recast: ignore winding order in intersectSegmentTriangle

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We don't care if we hit the backface, always register. This allows for doing just 1 raycast and significantly saving on build times.
This commit is contained in:
Kawe Mazidjatari 2024-11-02 19:59:32 +01:00
parent a218cef231
commit 7eebab51a4
1 changed files with 25 additions and 12 deletions
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37
src/naveditor/InputGeom.cpp
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@ -31,7 +31,6 @@ static inline bool intersectSegmentTriangle(const float* sp, const float* sq,
const float* a, const float* b, const float* c,
float &t, const bool delayedDiv)
{
float v, w;
float ab[3], ac[3], qp[3], ap[3], norm[3], e[3];
rdVsub(ab, b, a);
rdVsub(ac, c, a);
@ -41,26 +40,40 @@ static inline bool intersectSegmentTriangle(const float* sp, const float* sq,
// intersecting multiple segments against the same triangle
rdVcross(norm, ab, ac);
// Compute denominator d. If d <= 0, segment is parallel to or points
// Compute denominator d. If abs(d) < EPS, segment is parallel to or points
// away from triangle, so exit early
float d = rdVdot(qp, norm);
if (d <= 0.0f) return false;
const float d = rdVdot(qp, norm);
if (rdMathFabsf(d) < RD_EPS) return false;
// Compute intersection t value of pq with plane of triangle. A ray
// intersects if 0 <= t. Segment intersects if 0 <= t <= 1. Delay
// dividing by d until intersection has been found to pierce triangle
rdVsub(ap, sp, a);
t = rdVdot(ap, norm);
if (t < 0.0f) return false;
if (t > d) return false; // For segment; exclude this code line for a ray test
const bool frontFace = (d > 0.0f);
// For segment; exclude the 't > d' and 't < d' code line for a ray test
if (rdLikely(frontFace))
{ if (t < 0.0f || t > d) return false; }
else
{ if (t > 0.0f || t < d) return false; }
// Compute barycentric coordinate components and test if within bounds
rdVcross(e, qp, ap);
v = rdVdot(ac, e);
if (v < 0.0f || v > d) return false;
w = -rdVdot(ab, e);
if (w < 0.0f || v + w > d) return false;
const float v = rdVdot(ac, e);
if (rdLikely(frontFace))
{ if (v < 0.0f || v > d) return false; }
else
{ if (v > 0.0f || v < d) return false; }
const float w = -rdVdot(ab, e);
if (rdLikely(frontFace))
{ if (w < 0.0f || v + w > d) return false; }
else
{ if (w > 0.0f || v + w < d) return false; }
if (delayedDiv)
{
// Segment/ray intersects triangle. Perform delayed division