void Semaphore::signal(const TCHAR *name, const TCHAR *file, int line) {
addDebugLine(_T("Thread %08d %s(%p).signal() in %s line %d\n")
,GetCurrentThreadId(), name, m_sem, file, line);
signal();
}
bool AABB::intersectsTri( const PrecomputedTriangle& tri, Vector3f &penetration ) const
{
// the algorith on pg 168 of rtcd is:
// do SAT test on:
// 1. tri normal
// 2. 3 face normals from aabb
// 3. 9 axes given by cross products of COMBINATIONS OF EDGES from both the tri and aabb.
// - The aabb has 3 unique edge directions (principle axes), and the tri has 3 unique edges.
float minOverlap = HUGE ;
Vector3f axisOfMinOverlap ; // value b/c the crossed axes are temporary
// 1. tri normal
float meMin, meMax, oMin, oMax, lowerLim, upperLim ;
SATtest( tri.plane.normal, corners, meMin, meMax ) ;
SATtest( tri.plane.normal, tri.a, oMin, oMax ) ; //Only need to test 1 pt from tri, since all 3 will collapse to same pt.
// Because the tri is going to appear as a POINT in the test,
// we have to use `maxOverlaps`. See the comments in `maxOverlaps`
// for how it detects overlaps differently than plain `overlaps`
if( !maxOverlaps( meMin, meMax, oMin, oMax, lowerLim, upperLim ) ) {
addDebugLine( tri.plane.normal*meMin, tri.plane.normal*meMax, Red ) ;
addDebugPoint( tri.plane.normal*oMin, Blue ) ;
return 0 ;
}
// These by default are the maxes then
minOverlap = upperLim-lowerLim ;
axisOfMinOverlap = tri.plane.normal ;
// 2. 3 face normals from aabb.
for( int axis = 0 ; axis < 3 ; axis++ )
{
// because we're projecting points in 3 space TO THE PRINCIPAL AXES,
// the span of the projection of all the vertices is just going to be
// the min/max in each priniciple axis direction.
// Does this look like I ripped this off the convex hull intersection code, cuz i did.
meMin=HUGE,meMax=-HUGE ; // init these here
for( int j = 0 ; j < corners.size() ; j++ )
{
if( corners[j].elts[axis] < meMin ) meMin=corners[j].elts[axis];
if( corners[j].elts[axis] > meMax ) meMax=corners[j].elts[axis];
}
// we "cheat" here and just pick out the correct index for the aabb.
// its axis aligned!
oMin=min.elts[axis] ;
oMax=max.elts[axis] ;
if( !overlaps( meMin, meMax, oMin, oMax, lowerLim, upperLim ) )
return 0 ;
// Overlaps. See if this was the smallest overlap yet
float overlap=upperLim-lowerLim ;
if( overlap < minOverlap ) {
axisOfMinOverlap = axis ;
minOverlap = overlap ;
}
}
// See how inaccurate it is w/o cross products
//penetration = axisOfMinOverlap*minOverlap ;
//return 1 ;
// 3 cross products.
for( int aabbAxis = 0 ; aabbAxis < 3 ; aabbAxis++ )
{
for( int triEdge=0 ; triEdge < 3 ; triEdge++ )
{
Vector3f axis = SATAxes[aabbAxis].cross( tri.edges[triEdge] ) ;
if( axis.allzero() ) skip ; // this happens often
axis.normalize() ;
SATtest( axis, corners, meMin, meMax ) ;
SATtest( axis, &tri.a, 3, oMin, oMax ) ; // use all 3 tri verts.
if( !overlaps( meMin, meMax, oMin, oMax, lowerLim, upperLim ) ) {
//addDebugLine( transformedNormals[i]*meMin, transformedNormals[i]*meMax, Red ) ;
//addDebugLine( transformedNormals[i]*oMin, transformedNormals[i]*oMax, Blue ) ;
return 0 ;
}
// Overlaps. See if this was the smallest overlap yet
float overlap=upperLim-lowerLim ;
if( overlap < minOverlap ) {
axisOfMinOverlap = axis ;
minOverlap = overlap ;
}
}
}
penetration = axisOfMinOverlap*minOverlap ;
return 1 ;
}
