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Recast: move triangle intersection code to shared

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Light cleanup and reusability.
This commit is contained in:
Kawe Mazidjatari 2024-11-06 21:37:07 +01:00
parent ce0fa2028f
commit ff33a19b85
3 changed files with 51 additions and 48 deletions
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52
src/naveditor/InputGeom.cpp
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@ -27,50 +27,6 @@
#include "NavEditor/Include/Editor.h"
#include <naveditor/include/GameUtils.h>
// note(amos): based on the Möller–Trumbore algorithm, see:
// https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm
static inline bool intersectSegmentTriangle(const float* sp, const float* sq,
const float* a, const float* b, const float* c, float& t)
{
float ab[3], ac[3], qp[3];
rdVsub(ab, b, a);
rdVsub(ac, c, a);
rdVsub(qp, sq, sp);
float h[3];
rdVcross(h, qp, ac);
const float d = rdVdot(ab, h);
if (d > -RD_EPS && d < RD_EPS)
return false; // Ray is parallel to the triangle plane
float s[3];
rdVsub(s, sp, a);
const float id = 1.0f/d;
const float u = rdVdot(s, h)*id;
if (u < 0.0f || u > 1.0f)
return false;
float q[3];
rdVcross(q, s, ab);
const float v = rdVdot(qp, q)*id;
if (v < 0.0f || u+v > 1.0f)
return false;
t = rdVdot(ac, q)*id;
if (t < 0.0f || t > 1.0f)
return false;
// Segment/ray intersects triangle
return true;
}
static char* parseRow(char* buf, char* bufEnd, char* row, int len)
{
bool start = true;
@ -598,10 +554,10 @@ bool InputGeom::raycastMesh(const float* src, const float* dst, const unsigned i
for (int j = 0; j < ntris*3; j += 3)
{
float t = 1;
if (intersectSegmentTriangle(src, dst,
&verts[tris[j]*3],
&verts[tris[j+1]*3],
&verts[tris[j+2]*3], t))
if (rdIntersectSegmentTriangle(src, dst,
&verts[tris[j]*3],
&verts[tris[j+1]*3],
&verts[tris[j+2]*3], t))
{
// Caller isn't interested in finding the closest intersection; return out.
if (!tmin)

3
src/thirdparty/recast/Shared/Include/SharedCommon.h vendored
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@ -473,6 +473,9 @@ void rdClosestPtPointTriangle(float* closest, const float* p,
/// @param[out] h The resulting height.
bool rdClosestHeightPointTriangle(const float* p, const float* a, const float* b, const float* c, float& h);
bool rdIntersectSegmentTriangle(const float* sp, const float* sq,
const float* a, const float* b, const float* c, float& t);
bool rdIntersectSegmentPoly2D(const float* p0, const float* p1,
const float* verts, int nverts,
float& tmin, float& tmax,

44
src/thirdparty/recast/Shared/Source/SharedCommon.cpp vendored
View File

@ -120,6 +120,50 @@ void rdClosestPtPointTriangle(float* closest, const float* p,
closest[2] = a[2] + ab[2] * v + ac[2] * w;
}
// note(amos): based on the Möller–Trumbore algorithm, see:
// https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm
bool rdIntersectSegmentTriangle(const float* sp, const float* sq,
const float* a, const float* b, const float* c, float& t)
{
float ab[3], ac[3], qp[3];
rdVsub(ab, b, a);
rdVsub(ac, c, a);
rdVsub(qp, sq, sp);
float h[3];
rdVcross(h, qp, ac);
const float d = rdVdot(ab, h);
if (d > -RD_EPS && d < RD_EPS)
return false; // Ray is parallel to the triangle plane
float s[3];
rdVsub(s, sp, a);
const float id = 1.0f / d;
const float u = rdVdot(s, h) * id;
if (u < 0.0f || u > 1.0f)
return false;
float q[3];
rdVcross(q, s, ab);
const float v = rdVdot(qp, q) * id;
if (v < 0.0f || u+v > 1.0f)
return false;
t = rdVdot(ac, q)*id;
if (t < 0.0f || t > 1.0f)
return false;
// Segment/ray intersects triangle
return true;
}
bool rdIntersectSegmentPoly2D(const float* p0, const float* p1,
const float* verts, int nverts,
float& tmin, float& tmax,