RayTriangleIntersection.cpp

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/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
*                (c) 2006-2008 MGH, INRIA, USTL, UJF, CNRS                    *
*                                                                             *
* This library is free software; you can redistribute it and/or modify it     *
* under the terms of the GNU Lesser General Public License as published by    *
* the Free Software Foundation; either version 2.1 of the License, or (at     *
* your option) any later version.                                             *
*                                                                             *
* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details.                                                           *
*                                                                             *
* You should have received a copy of the GNU Lesser General Public License    *
* along with this library; if not, write to the Free Software Foundation,     *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA.          *
*******************************************************************************
*                               SOFA :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#include "RayTriangleIntersection.h"
#include <sofa/helper/LCPSolver.inl>

namespace sofa
{

namespace component
{

namespace collision
{

RayTriangleIntersection::RayTriangleIntersection(){
}
RayTriangleIntersection::~RayTriangleIntersection(){
}
bool
RayTriangleIntersection::NewComputation(Triangle *triP, const Vector3 &origin, const Vector3 &direction,   double &t,  double &u, double &v)

        {
            t = 0; u = 0; v = 0;

            Vector3 edge1 = triP->p2() - triP->p1();
            Vector3 edge2 = triP->p3() - triP->p1();

            Vector3 tvec, pvec, qvec;
            double det, inv_det;

            pvec = direction.cross(edge2);

            det = dot(edge1, pvec);
    if(det==0.0){
        
        return false;
        
}
//      if (fabs(triP->n()*direction) < 0.0000)
//                 return false;

            inv_det = 1.0 / det;

            tvec = origin - triP->p1();

            u = dot(tvec, pvec) * inv_det;
            if (u < 0.000001||u >0.999999900000)
                return false;

            qvec = tvec.cross(edge1);

            v = dot(direction, qvec) * inv_det;
            if (v < 0.00001|| (u +v) > 0.999999900000)
                return false;

            t = dot(edge2, qvec) * inv_det;

            if (t <=0.000001||t!=t||v!=v||u!=u)
                return false;   
        
            return true;
        }

}
}
}