83 lines
3.6 KiB
C++
83 lines
3.6 KiB
C++
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#include "GuIntersectionEdgeEdge.h"
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#include "GuInternal.h"
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using namespace physx;
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bool Gu::intersectEdgeEdge(const PxVec3& p1, const PxVec3& p2, const PxVec3& dir, const PxVec3& p3, const PxVec3& p4, PxReal& dist, PxVec3& ip)
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{
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const PxVec3 v1 = p2 - p1;
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// Build plane P based on edge (p1, p2) and direction (dir)
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PxPlane plane;
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plane.n = v1.cross(dir);
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plane.d = -(plane.n.dot(p1));
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// if colliding edge (p3,p4) does not cross plane return no collision
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// same as if p3 and p4 on same side of plane return 0
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//
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// Derivation:
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// d3 = d(p3, P) = (p3 | plane.n) - plane.d; Reversed sign compared to Plane::Distance() because plane.d is negated.
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// d4 = d(p4, P) = (p4 | plane.n) - plane.d; Reversed sign compared to Plane::Distance() because plane.d is negated.
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// if d3 and d4 have the same sign, they're on the same side of the plane => no collision
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// We test both sides at the same time by only testing Sign(d3 * d4).
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// ### put that in the Plane class
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// ### also check that code in the triangle class that might be similar
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const PxReal d3 = plane.distance(p3);
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PxReal temp = d3 * plane.distance(p4);
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if(temp>0.0f) return false;
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// if colliding edge (p3,p4) and plane are parallel return no collision
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PxVec3 v2 = p4 - p3;
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temp = plane.n.dot(v2);
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if(temp==0.0f) return false; // ### epsilon would be better
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// compute intersection point of plane and colliding edge (p3,p4)
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ip = p3-v2*(d3/temp);
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// find largest 2D plane projection
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PxU32 i,j;
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closestAxis(plane.n, i, j);
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// compute distance of intersection from line (ip, -dir) to line (p1,p2)
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dist = (v1[i]*(ip[j]-p1[j])-v1[j]*(ip[i]-p1[i]))/(v1[i]*dir[j]-v1[j]*dir[i]);
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if(dist<0.0f) return false;
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// compute intersection point on edge (p1,p2) line
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ip -= dist*dir;
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// check if intersection point (ip) is between edge (p1,p2) vertices
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temp = (p1.x-ip.x)*(p2.x-ip.x)+(p1.y-ip.y)*(p2.y-ip.y)+(p1.z-ip.z)*(p2.z-ip.z);
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if(temp<1e-3f) return true; // collision found
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return false; // no collision
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}
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