// punt if outside bouding cube
if ( point[0] < (xmin = SG_MIN3 (tri[0][0], tri[1][0], tri[2][0])) ) {
return false;
- } else if ( point[0] > (xmax = SG_MAX3 (tri[0][0], tri[1][0], tri[2][0])) ) {
+ } else if ( point[0] > (xmax = SG_MAX3 (tri[0][0], tri[1][0], tri[2][0])) )
+ {
return false;
- } else if ( point[1] < (ymin = SG_MIN3 (tri[0][1], tri[1][1], tri[2][1])) ) {
+ } else if ( point[1] < (ymin = SG_MIN3 (tri[0][1], tri[1][1], tri[2][1])) )
+ {
return false;
- } else if ( point[1] > (ymax = SG_MAX3 (tri[0][1], tri[1][1], tri[2][1])) ) {
+ } else if ( point[1] > (ymax = SG_MAX3 (tri[0][1], tri[1][1], tri[2][1])) )
+ {
return false;
- } else if ( point[2] < (zmin = SG_MIN3 (tri[0][2], tri[1][2], tri[2][2])) ) {
+ } else if ( point[2] < (zmin = SG_MIN3 (tri[0][2], tri[1][2], tri[2][2])) )
+ {
return false;
- } else if ( point[2] > (zmax = SG_MAX3 (tri[0][2], tri[1][2], tri[2][2])) ) {
+ } else if ( point[2] > (zmax = SG_MAX3 (tri[0][2], tri[1][2], tri[2][2])) )
+ {
return false;
}
return FALSE ;
sgdScaleVec3 ( dst, l_vec, -( sgdScalarProductVec3 ( l_org, plane )
- + plane[3] ) / tmp ) ;
+ + plane[3] ) / tmp ) ;
sgdAddVec3 ( dst, l_org ) ;
return TRUE ;
*/
bool sgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
{
- sgdVec3 dif;
-
- int i;
- for( i=0; i<3; i++ ) {
- SGDfloat min, max;
- SG_MIN_MAX3 ( min, max, tri[0][i], tri[1][i], tri[2][i] );
- // punt if outside bouding cube
- if( (point[i] < min) || (point[i] > max) )
- return false;
- dif[i] = max - min;
- }
+ sgdVec3 dif;
- // drop the smallest dimension so we only have to work in 2d.
- SGDfloat min_dim = SG_MIN3 (dif[0], dif[1], dif[2]);
- SGDfloat x1, y1, x2, y2, x3, y3, rx, ry;
- if ( fabs(min_dim-dif[0]) <= DBL_EPSILON ) {
- // x is the smallest dimension
- x1 = point[1];
- y1 = point[2];
- x2 = tri[0][1];
- y2 = tri[0][2];
- x3 = tri[1][1];
- y3 = tri[1][2];
- rx = tri[2][1];
- ry = tri[2][2];
- } else if ( fabs(min_dim-dif[1]) <= DBL_EPSILON ) {
- // y is the smallest dimension
- x1 = point[0];
- y1 = point[2];
- x2 = tri[0][0];
- y2 = tri[0][2];
- x3 = tri[1][0];
- y3 = tri[1][2];
- rx = tri[2][0];
- ry = tri[2][2];
- } else if ( fabs(min_dim-dif[2]) <= DBL_EPSILON ) {
- // z is the smallest dimension
- x1 = point[0];
- y1 = point[1];
- x2 = tri[0][0];
- y2 = tri[0][1];
- x3 = tri[1][0];
- y3 = tri[1][1];
- rx = tri[2][0];
- ry = tri[2][1];
- } else {
- // all dimensions are really small so lets call it close
- // enough and return a successful match
- return true;
- }
+ SGDfloat min, max;
+ // punt if outside bouding cube
+ SG_MIN_MAX3 ( min, max, tri[0][0], tri[1][0], tri[2][0] );
+ if( (point[0] < min) || (point[0] > max) )
+ return false;
+ dif[0] = max - min;
- // check if intersection point is on the same side of p1 <-> p2 as p3
- SGDfloat tmp = (y2 - y3) / (x2 - x3);
- int side1 = SG_SIGN (tmp * (rx - x3) + y3 - ry);
- int side2 = SG_SIGN (tmp * (x1 - x3) + y3 - y1);
- if ( side1 != side2 ) {
- // printf("failed side 1 check\n");
- return false;
- }
+ SG_MIN_MAX3 ( min, max, tri[0][1], tri[1][1], tri[2][1] );
+ if( (point[1] < min) || (point[1] > max) )
+ return false;
+ dif[1] = max - min;
- // check if intersection point is on correct side of p2 <-> p3 as p1
- tmp = (y3 - ry) / (x3 - rx);
- side1 = SG_SIGN (tmp * (x2 - rx) + ry - y2);
- side2 = SG_SIGN (tmp * (x1 - rx) + ry - y1);
- if ( side1 != side2 ) {
- // printf("failed side 2 check\n");
- return false;
- }
+ SG_MIN_MAX3 ( min, max, tri[0][2], tri[1][2], tri[2][2] );
+ if( (point[2] < min) || (point[2] > max) )
+ return false;
+ dif[2] = max - min;
+
+ // drop the smallest dimension so we only have to work in 2d.
+ SGDfloat min_dim = SG_MIN3 (dif[0], dif[1], dif[2]);
+ SGDfloat x1, y1, x2, y2, x3, y3, rx, ry;
+ if ( fabs(min_dim-dif[0]) <= DBL_EPSILON ) {
+ // x is the smallest dimension
+ x1 = point[1];
+ y1 = point[2];
+ x2 = tri[0][1];
+ y2 = tri[0][2];
+ x3 = tri[1][1];
+ y3 = tri[1][2];
+ rx = tri[2][1];
+ ry = tri[2][2];
+ } else if ( fabs(min_dim-dif[1]) <= DBL_EPSILON ) {
+ // y is the smallest dimension
+ x1 = point[0];
+ y1 = point[2];
+ x2 = tri[0][0];
+ y2 = tri[0][2];
+ x3 = tri[1][0];
+ y3 = tri[1][2];
+ rx = tri[2][0];
+ ry = tri[2][2];
+ } else if ( fabs(min_dim-dif[2]) <= DBL_EPSILON ) {
+ // z is the smallest dimension
+ x1 = point[0];
+ y1 = point[1];
+ x2 = tri[0][0];
+ y2 = tri[0][1];
+ x3 = tri[1][0];
+ y3 = tri[1][1];
+ rx = tri[2][0];
+ ry = tri[2][1];
+ } else {
+ // all dimensions are really small so lets call it close
+ // enough and return a successful match
+ return true;
+ }
- // check if intersection point is on correct side of p1 <-> p3 as p2
- tmp = (y2 - ry) / (x2 - rx);
- side1 = SG_SIGN (tmp * (x3 - rx) + ry - y3);
- side2 = SG_SIGN (tmp * (x1 - rx) + ry - y1);
- if ( side1 != side2 ) {
- // printf("failed side 3 check\n");
- return false;
- }
+ // check if intersection point is on the same side of p1 <-> p2 as p3
+ SGDfloat tmp = (y2 - y3) / (x2 - x3);
+ int side1 = SG_SIGN (tmp * (rx - x3) + y3 - ry);
+ int side2 = SG_SIGN (tmp * (x1 - x3) + y3 - y1);
+ if ( side1 != side2 ) {
+ // printf("failed side 1 check\n");
+ return false;
+ }
+
+ // check if intersection point is on correct side of p2 <-> p3 as p1
+ tmp = (y3 - ry) / (x3 - rx);
+ side1 = SG_SIGN (tmp * (x2 - rx) + ry - y2);
+ side2 = SG_SIGN (tmp * (x1 - rx) + ry - y1);
+ if ( side1 != side2 ) {
+ // printf("failed side 2 check\n");
+ return false;
+ }
+
+ // check if intersection point is on correct side of p1 <-> p3 as p2
+ tmp = (y2 - ry) / (x2 - rx);
+ side1 = SG_SIGN (tmp * (x3 - rx) + ry - y3);
+ side2 = SG_SIGN (tmp * (x1 - rx) + ry - y1);
+ if ( side1 != side2 ) {
+ // printf("failed side 3 check\n");
+ return false;
+ }
- return true;
+ return true;
}
sgdMakePlane( plane, tri[0], tri[1], tri[2] );
sgdVec3 point;
- if( sgdIsectInfLinePlane( point, orig, dir, plane ) ) {
-#if 0
- if( pointInTriangle( point, tri ) ) {
- add(leaf,i,point,plane);
- num_hits++;
- }
+
+ //inlined IsectInfLinePlane( point dst, orig, dir, plane )
+ SGDfloat tmp = sgdScalarProductVec3 ( dir, plane ) ;
+
+ /* Is line parallel to plane? */
+ if ( sgdAbs ( tmp ) < DBL_EPSILON )
+ continue ;
+
+ sgdScaleVec3 ( point, dir,
+ -( sgdScalarProductVec3 ( orig, plane ) + plane[3] )
+ / tmp ) ;
+
+ sgdAddVec3 ( point, orig ) ;
+ // end of inlined intersection
+#if 0
+ if( pointInTriangle( point, tri ) ) {
+ add(leaf,i,point,plane);
+ num_hits++;
+ }
#endif // 0
- if( sgdPointInTriangle( point, tri ) ) {
- // transform point into passed into desired coordinate frame
- sgdXformPnt3( point, point, m );
- add(leaf,i,point,plane);
- num_hits++;
- }
+ if( sgdPointInTriangle( point, tri ) ) {
+ // transform point into passed into desired coordinate frame
+ sgdXformPnt3( point, point, m );
+ add(leaf,i,point,plane);
+ num_hits++;
}
}
return num_hits;
}
+
void FGHitList::IntersectBranch( ssgBranch *branch, sgdMat4 m,
sgdVec3 orig, sgdVec3 dir )
{
sgSphere *bsphere;
- // lookat vector in branch's coordinate frame
+ /* the lookat vector and matrix in branch's coordinate frame
+ * but we won't determine these unless needed to,
+ * This 'lazy evaluation' is a result of profiling data */
sgdVec3 _orig, _dir;
sgdMat4 _m;
- sgdTransposeNegateMat4( _m, m);
- sgdXformPnt3( _orig, orig, _m );
- sgdXformPnt3( _dir, dir, _m );
+
+ // 'lazy evaluation' flag
+ int first_time = 1;
for ( ssgEntity *kid = branch->getKid( 0 );
kid != NULL;
{
if ( kid->getTraversalMask() & SSGTRAV_HOT ) {
bsphere = kid->getBSphere();
- sgVec3 fcenter;
- sgCopyVec3( fcenter, bsphere->getCenter() );
- sgdVec3 center;
- sgdSetVec3( center, fcenter );
- sgdXformPnt3( center, m ) ;
- // watch out for overflow
- if ( sgdClosestPointToLineDistSquared( center, orig, dir ) <
- double(bsphere->getRadius() * bsphere->getRadius()) )
- {
- // possible intersections
- if ( kid->isAKindOf ( ssgTypeBranch() ) ) {
- sgdMat4 m_new;
- sgdCopyMat4(m_new, m);
- if ( kid->isA( ssgTypeTransform() ) ) {
+ sgdVec3 center;
+ sgdSetVec3( center,
+ bsphere->getCenter()[0],
+ bsphere->getCenter()[1],
+ bsphere->getCenter()[2] );
+ sgdXformPnt3( center, m ) ;
+
+ // sgdClosestPointToLineDistSquared( center, orig, dir )
+ // inlined here because because of profiling results
+ sgdVec3 u, u1, v;
+ sgdSubVec3(u, center, orig);
+ sgdScaleVec3( u1, dir, sgdScalarProductVec3(u,dir)
+ / sgdScalarProductVec3(dir,dir) );
+ sgdSubVec3(v, u, u1);
+
+ // doubles because of possible overflow
+#define SQUARE(x) (x*x)
+ if( sgdScalarProductVec3(v, v)
+ < SQUARE( double(bsphere->getRadius()) ) )
+ {
+ // possible intersections
+ if ( kid->isAKindOf ( ssgTypeBranch() ) ) {
+ sgdMat4 m_new;
+ sgdCopyMat4(m_new, m);
+ if ( kid->isA( ssgTypeTransform() ) ) {
sgMat4 fxform;
((ssgTransform *)kid)->getTransform( fxform );
sgdMat4 xform;
sgdSetMat4( xform, fxform );
sgdPreMultMat4( m_new, xform );
- }
- IntersectBranch( (ssgBranch *)kid, m_new, orig, dir );
- } else if ( kid->isAKindOf( ssgTypeLeaf() ) ) {
- IntersectLeaf( (ssgLeaf *)kid, m, _orig, _dir );
- }
- } else {
- // end of the line for this branch
- }
- } else {
- // branch requested not to be traversed
- }
+ }
+ IntersectBranch( (ssgBranch *)kid, m_new, orig, dir );
+ } else if ( kid->isAKindOf( ssgTypeLeaf() ) ) {
+ if( first_time) {
+ // OK we need these
+ sgdTransposeNegateMat4( _m, m);
+ sgdXformPnt3( _orig, orig, _m );
+ sgdXformPnt3( _dir, dir, _m );
+ first_time = 0;
+ }
+ IntersectLeaf( (ssgLeaf *)kid, m, _orig, _dir );
+ }
+ } else {
+ // end of the line for this branch
+ }
+ } else {
+ // branch requested not to be traversed
+ }
}
}
projects / flightgear.git / commitdiff