[167] | 1 | #include "Ray.h"
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[162] | 2 | #include "Mesh.h"
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[170] | 3 | #include "MeshKdTree.h"
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[191] | 4 | #include "Triangle3.h"
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[162] | 5 |
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[339] | 6 | int Intersectable::sMailId = 21843194198;
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[382] | 7 | int Intersectable::sReservedMailboxes = 1;
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[162] | 8 |
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| 9 | void
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| 10 | Mesh::Preprocess()
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| 11 | {
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[340] | 12 | Cleanup();
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| 13 |
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| 14 | mBox.Initialize();
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[162] | 15 | VertexContainer::const_iterator vi = mVertices.begin();
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| 16 | for (; vi != mVertices.end(); vi++) {
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[176] | 17 | mBox.Include(*vi);
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[162] | 18 | }
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| 19 |
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[176] | 20 | /** true if it is a watertight convex mesh */
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[162] | 21 | mIsConvex = false;
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[176] | 22 |
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| 23 | if (mFaces.size() > MeshKdTree::mTermMinCost) {
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[170] | 24 | mKdTree = new MeshKdTree(this);
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| 25 | MeshKdLeaf *root = (MeshKdLeaf *)mKdTree->GetRoot();
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| 26 | for (int i = 0; i < mFaces.size(); i++)
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| 27 | root->mFaces.push_back(i);
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| 28 | cout<<"KD";
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| 29 | mKdTree->Construct();
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[176] | 30 |
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| 31 | if (mKdTree->GetRoot()->IsLeaf()) {
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| 32 | cout<<"d";
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| 33 | delete mKdTree;
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[258] | 34 | mKdTree = NULL;
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[176] | 35 | }
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[170] | 36 | }
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[162] | 37 | }
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| 38 |
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[170] | 39 | AxisAlignedBox3
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| 40 | Mesh::GetFaceBox(const int faceIndex)
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| 41 | {
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| 42 | Face *face = mFaces[faceIndex];
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| 43 | AxisAlignedBox3 box;
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| 44 | box.SetMin( mVertices[face->mVertexIndices[0]] );
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| 45 | box.SetMax(box.Min());
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| 46 | for (int i = 1; i < face->mVertexIndices.size(); i++) {
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| 47 | box.Include(mVertices[face->mVertexIndices[i]]);
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| 48 | }
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| 49 | return box;
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| 50 | }
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[162] | 51 |
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| 52 | int
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[170] | 53 | Mesh::CastRayToFace(
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[333] | 54 | const int faceIndex,
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| 55 | Ray &ray,
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| 56 | float &nearestT,
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| 57 | int &nearestFace,
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| 58 | Intersectable *instance
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| 59 | )
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[170] | 60 | {
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| 61 | float t;
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| 62 | int hit = 0;
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| 63 | if (RayFaceIntersection(faceIndex, ray, t, nearestT) == Ray::INTERSECTION) {
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| 64 | switch (ray.GetType()) {
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| 65 | case Ray::GLOBAL_RAY:
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[191] | 66 | ray.intersections.push_back(Ray::Intersection(t, instance, faceIndex));
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[170] | 67 | hit++;
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| 68 | break;
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| 69 | case Ray::LOCAL_RAY:
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| 70 | nearestT = t;
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| 71 | nearestFace = faceIndex;
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| 72 | hit++;
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| 73 | break;
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[245] | 74 | case Ray::LINE_SEGMENT:
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| 75 | if (t <= 1.0f) {
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[333] | 76 | ray.intersections.push_back(Ray::Intersection(t, instance, faceIndex));
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| 77 | hit++;
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[245] | 78 | }
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| 79 | break;
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[170] | 80 | }
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| 81 | }
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| 82 | return hit;
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| 83 | }
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| 84 |
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| 85 | int
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[162] | 86 | Mesh::CastRay(
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[444] | 87 | Ray &ray,
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| 88 | MeshInstance *instance
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| 89 | )
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[162] | 90 | {
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[170] | 91 | if (mKdTree) {
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| 92 | return mKdTree->CastRay(ray, instance);
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| 93 | }
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| 94 |
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[162] | 95 | int faceIndex = 0;
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| 96 | int hits = 0;
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| 97 | float nearestT = MAX_FLOAT;
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[170] | 98 | int nearestFace = -1;
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| 99 |
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[162] | 100 | if (ray.GetType() == Ray::LOCAL_RAY && ray.intersections.size())
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| 101 | nearestT = ray.intersections[0].mT;
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| 102 |
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[376] | 103 |
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[162] | 104 | for ( ;
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[333] | 105 | faceIndex < mFaces.size();
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| 106 | faceIndex++) {
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[170] | 107 | hits += CastRayToFace(faceIndex, ray, nearestT, nearestFace, instance);
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| 108 | if (mIsConvex && nearestFace != -1)
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| 109 | break;
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[162] | 110 | }
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| 111 |
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| 112 | if ( hits && ray.GetType() == Ray::LOCAL_RAY ) {
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| 113 | if (ray.intersections.size())
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[191] | 114 | ray.intersections[0] = Ray::Intersection(nearestT, instance, nearestFace);
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[162] | 115 | else
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[191] | 116 | ray.intersections.push_back(Ray::Intersection(nearestT, instance, nearestFace));
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[162] | 117 | }
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| 118 |
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| 119 | return hits;
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| 120 | }
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| 121 |
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[170] | 122 | int
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| 123 | Mesh::CastRayToSelectedFaces(
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[333] | 124 | Ray &ray,
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| 125 | const vector<int> &faces,
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| 126 | Intersectable *instance
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| 127 | )
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[170] | 128 | {
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| 129 | vector<int>::const_iterator fi;
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| 130 | int faceIndex = 0;
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| 131 | int hits = 0;
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| 132 | float nearestT = MAX_FLOAT;
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| 133 | int nearestFace = -1;
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[162] | 134 |
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[170] | 135 | if (ray.GetType() == Ray::LOCAL_RAY && ray.intersections.size())
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| 136 | nearestT = ray.intersections[0].mT;
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| 137 |
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| 138 | for ( fi = faces.begin();
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[333] | 139 | fi != faces.end();
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| 140 | fi++) {
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[170] | 141 | hits += CastRayToFace(*fi, ray, nearestT, nearestFace, instance);
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| 142 | if (mIsConvex && nearestFace != -1)
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| 143 | break;
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| 144 | }
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| 145 |
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| 146 | if ( hits && ray.GetType() == Ray::LOCAL_RAY ) {
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| 147 | if (ray.intersections.size())
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[191] | 148 | ray.intersections[0] = Ray::Intersection(nearestT, instance, nearestFace);
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[170] | 149 | else
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[191] | 150 | ray.intersections.push_back(Ray::Intersection(nearestT, instance, nearestFace));
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[170] | 151 | }
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| 152 |
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| 153 | return hits;
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| 154 | }
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| 155 |
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| 156 |
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[162] | 157 | // int_lineseg returns 1 if the given line segment intersects a 2D
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| 158 | // ray travelling in the positive X direction. This is used in the
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| 159 | // Jordan curve computation for polygon intersection.
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| 160 | inline int
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| 161 | int_lineseg(float px,
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[333] | 162 | float py,
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| 163 | float u1,
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| 164 | float v1,
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| 165 | float u2,
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| 166 | float v2)
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[162] | 167 | {
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| 168 | float t;
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| 169 | float ydiff;
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| 170 |
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| 171 | u1 -= px; u2 -= px; // translate line
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| 172 | v1 -= py; v2 -= py;
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| 173 |
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| 174 | if ((v1 > 0 && v2 > 0) ||
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| 175 | (v1 < 0 && v2 < 0) ||
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| 176 | (u1 < 0 && u2 < 0))
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| 177 | return 0;
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| 178 |
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| 179 | if (u1 > 0 && u2 > 0)
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| 180 | return 1;
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| 181 |
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| 182 | ydiff = v2 - v1;
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| 183 | if (fabs(ydiff) < Limits::Small) { // denominator near 0
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| 184 | if (((fabs(v1) > Limits::Small) ||
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[333] | 185 | (u1 > 0) || (u2 > 0)))
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[162] | 186 | return 0;
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| 187 | return 1;
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| 188 | }
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| 189 |
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| 190 | t = -v1 / ydiff; // Compute parameter
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| 191 |
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| 192 | return (u1 + t * (u2 - u1)) > 0;
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| 193 | }
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| 194 |
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| 195 |
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| 196 |
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| 197 | // intersection with the polygonal face of the mesh
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| 198 | int
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| 199 | Mesh::RayFaceIntersection(const int faceIndex,
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[333] | 200 | const Ray &ray,
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| 201 | float &t,
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| 202 | const float nearestT
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| 203 | )
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[162] | 204 | {
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| 205 | Face *face = mFaces[faceIndex];
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| 206 |
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| 207 | Plane3 plane = GetFacePlane(faceIndex);
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| 208 | float dot = DotProd(plane.mNormal, ray.GetDir());
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| 209 |
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| 210 | // Watch for near-zero denominator
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| 211 | // ONLY single sided polygons!!!!!
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| 212 | if (dot > -Limits::Small)
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| 213 | // if (fabs(dot) < Limits::Small)
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| 214 | return Ray::NO_INTERSECTION;
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| 215 |
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| 216 | t = (-plane.mD - DotProd(plane.mNormal, ray.GetLoc())) / dot;
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| 217 |
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| 218 | if (t <= Limits::Small)
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| 219 | return Ray::INTERSECTION_OUT_OF_LIMITS;
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| 220 |
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| 221 | if (t >= nearestT) {
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| 222 | return Ray::INTERSECTION_OUT_OF_LIMITS; // no intersection was found
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| 223 | }
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| 224 |
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| 225 | int count = 0;
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| 226 | float u, v, u1, v1, u2, v2;
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| 227 | int i;
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| 228 |
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| 229 | int paxis = plane.mNormal.DrivingAxis();
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| 230 |
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| 231 | // Project the intersection point onto the coordinate plane
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| 232 | // specified by which.
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| 233 | ray.Extrap(t).ExtractVerts(&u, &v, paxis);
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| 234 |
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| 235 |
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[170] | 236 | int size = face->mVertexIndices.size();
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| 237 |
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| 238 | mVertices[face->mVertexIndices[size - 1]].
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[162] | 239 | ExtractVerts(&u1, &v1, paxis );
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[170] | 240 |
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| 241 | if (0 && size <= 4) {
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[162] | 242 | // assume a convex face
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[170] | 243 | for (i = 0; i < size; i++) {
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[162] | 244 | mVertices[face->mVertexIndices[i]].ExtractVerts(&u2, &v2, paxis);
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| 245 | // line u1, v1, u2, v2
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| 246 | if ((v2 - v1)*(u1 - u) > (u2 - u1)*(v1 - v))
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[333] | 247 | return Ray::NO_INTERSECTION;
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[162] | 248 | u1 = u2;
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| 249 | v1 = v2;
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| 250 | }
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| 251 |
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| 252 | return Ray::INTERSECTION;
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| 253 | }
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| 254 |
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| 255 | // We're stuck with the Jordan curve computation. Count number
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| 256 | // of intersections between the line segments the polygon comprises
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| 257 | // with a ray originating at the point of intersection and
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| 258 | // travelling in the positive X direction.
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[170] | 259 | for (i = 0; i < size; i++) {
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[162] | 260 | mVertices[face->mVertexIndices[i]].ExtractVerts(&u2, &v2, paxis);
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| 261 | count += (int_lineseg(u, v, u1, v1, u2, v2) != 0);
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| 262 | u1 = u2;
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| 263 | v1 = v2;
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| 264 | }
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| 265 |
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| 266 | // We hit polygon if number of intersections is odd.
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| 267 | return (count & 1) ? Ray::INTERSECTION : Ray::NO_INTERSECTION;
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| 268 | }
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| 269 |
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[349] | 270 | int
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[176] | 271 | Mesh::GetRandomSurfacePoint(Vector3 &point, Vector3 &normal)
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| 272 | {
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| 273 | int faceIndex = RandomValue(0, mFaces.size()-1);
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| 274 |
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| 275 | // assume the face is convex and generate a convex combination
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| 276 | //
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| 277 | Face *face = mFaces[faceIndex];
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| 278 | point = Vector3(0,0,0);
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| 279 | float sum = 0.0f;
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| 280 | for (int i = 0; i < face->mVertexIndices.size(); i++) {
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| 281 | float r = RandomValue(0,1);
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| 282 | sum += r;
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| 283 | point += mVertices[face->mVertexIndices[i]]*r;
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| 284 | }
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| 285 | point *= 1.0f/sum;
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[340] | 286 |
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| 287 | normal = GetFacePlane(faceIndex).mNormal;
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[349] | 288 |
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| 289 | return faceIndex;
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[176] | 290 | }
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| 291 |
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[162] | 292 | int
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[354] | 293 | Mesh::GetRandomVisibleSurfacePoint(Vector3 &point,
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| 294 | Vector3 &normal,
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| 295 | const Vector3 &viewpoint,
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| 296 | const int maxTries
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| 297 | )
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| 298 | {
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[359] | 299 | Plane3 plane;
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| 300 | int faceIndex = RandomValue(0, mFaces.size()-1);
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| 301 | int tries;
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| 302 | for (tries = 0; tries < maxTries; tries++) {
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| 303 | Face *face = mFaces[faceIndex];
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| 304 | plane = GetFacePlane(faceIndex);
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| 305 |
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| 306 | if (plane.Side(viewpoint) > 0) {
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| 307 | point = Vector3(0,0,0);
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| 308 | float sum = 0.0f;
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| 309 | // pickup a point inside this triangle
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| 310 | for (int i = 0; i < face->mVertexIndices.size(); i++) {
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[354] | 311 | float r = RandomValue(0,1);
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| 312 | sum += r;
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| 313 | point += mVertices[face->mVertexIndices[i]]*r;
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[359] | 314 | }
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| 315 | point *= 1.0f/sum;
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| 316 | break;
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| 317 | }
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| 318 | }
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| 319 |
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| 320 | normal = plane.mNormal;
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| 321 | return (tries < maxTries) ? faceIndex + 1 : 0;
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[354] | 322 | }
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| 323 |
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| 324 |
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| 325 | int
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[162] | 326 | MeshInstance::CastRay(
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[444] | 327 | Ray &ray
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| 328 | )
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[162] | 329 | {
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| 330 | int res = mMesh->CastRay(ray, this);
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| 331 | return res;
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| 332 | }
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| 333 |
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[170] | 334 | int
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| 335 | MeshInstance::CastRay(
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[444] | 336 | Ray &ray,
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| 337 | const vector<int> &faces
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| 338 | )
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[170] | 339 | {
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| 340 | return mMesh->CastRayToSelectedFaces(ray, faces, this);
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| 341 | }
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[162] | 342 |
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[170] | 343 |
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[176] | 344 |
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[349] | 345 | int
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[176] | 346 | MeshInstance::GetRandomSurfacePoint(Vector3 &point, Vector3 &normal)
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| 347 | {
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[349] | 348 | return mMesh->GetRandomSurfacePoint(point, normal);
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[176] | 349 | }
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| 350 |
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[349] | 351 | int
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[354] | 352 | MeshInstance::GetRandomVisibleSurfacePoint(Vector3 &point,
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| 353 | Vector3 &normal,
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| 354 | const Vector3 &viewpoint,
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| 355 | const int maxTries
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| 356 | )
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| 357 | {
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| 358 | return mMesh->GetRandomVisibleSurfacePoint(point, normal, viewpoint, maxTries);
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| 359 | }
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| 360 |
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| 361 |
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| 362 | int
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[176] | 363 | TransformedMeshInstance::GetRandomSurfacePoint(Vector3 &point, Vector3 &normal)
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| 364 | {
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[349] | 365 | int index = mMesh->GetRandomSurfacePoint(point, normal);
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[176] | 366 | point = mWorldTransform*point;
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| 367 | normal = TransformNormal(mWorldTransform, normal);
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[349] | 368 | return index;
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[176] | 369 | }
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| 370 |
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[162] | 371 | Plane3
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| 372 | Mesh::GetFacePlane(const int faceIndex)
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| 373 | {
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| 374 | Face *face = mFaces[faceIndex];
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[340] | 375 | return Plane3(mVertices[face->mVertexIndices[0]],
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[333] | 376 | mVertices[face->mVertexIndices[1]],
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| 377 | mVertices[face->mVertexIndices[2]]);
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[162] | 378 | }
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| 379 |
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[340] | 380 | bool
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| 381 | Mesh::ValidateFace(const int i)
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| 382 | {
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| 383 | Face *face = mFaces[i];
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| 384 |
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| 385 | Plane3 plane = Plane3(mVertices[face->mVertexIndices[0]],
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| 386 | mVertices[face->mVertexIndices[1]],
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| 387 | mVertices[face->mVertexIndices[2]]);
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| 388 |
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| 389 | if (!eq(Magnitude(plane.mNormal), 1.0f))
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| 390 | return false;
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[350] | 391 |
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| 392 | return true;
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[340] | 393 | }
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| 394 |
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| 395 | void
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| 396 | Mesh::Cleanup()
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| 397 | {
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| 398 | int toRemove = 0;
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| 399 | FaceContainer newFaces;
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| 400 | for (int i=0; i < mFaces.size(); i++)
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| 401 | if (ValidateFace(i)) {
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| 402 | newFaces.push_back(mFaces[i]);
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| 403 | } else {
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| 404 | cout<<"d";
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| 405 | delete mFaces[i];
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| 406 | toRemove++;
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| 407 | }
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| 408 |
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| 409 | if (toRemove) {
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| 410 | mFaces = newFaces;
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| 411 | }
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| 412 |
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| 413 | // cleanup vertices??
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| 414 | }
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| 415 |
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[162] | 416 | int
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[176] | 417 | TransformedMeshInstance::CastRay(
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[333] | 418 | Ray &ray
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| 419 | )
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[162] | 420 | {
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| 421 | ray.ApplyTransform(Invert(mWorldTransform));
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| 422 | int res = mMesh->CastRay(ray, this);
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| 423 | ray.ApplyTransform(mWorldTransform);
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| 424 |
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| 425 | return res;
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| 426 | }
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[170] | 427 |
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[209] | 428 |
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[191] | 429 | void
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| 430 | Mesh::AddTriangle(const Triangle3 &triangle)
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| 431 | {
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| 432 | int index = mVertices.size();
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| 433 |
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| 434 | for (int i=0; i < 3; i++) {
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| 435 | mVertices.push_back(triangle.mVertices[i]);
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| 436 | }
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| 437 |
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| 438 | AddFace(new Face(index + 0, index + 1, index + 2) );
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| 439 | }
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[209] | 440 |
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| 441 | void
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| 442 | Mesh::AddRectangle(const Rectangle3 &rect)
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| 443 | {
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| 444 | int index = mVertices.size();
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| 445 |
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| 446 | for (int i=0; i < 4; i++) {
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| 447 | mVertices.push_back(rect.mVertices[i]);
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| 448 | }
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| 449 |
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| 450 | AddFace(new Face(index + 0, index + 1, index + 2, index + 3) );
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| 451 | }
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