BrlCadInterface::HitType BrlCadInterface::shootRay(vec3_t x, vec3_t v, vec3_t &x_hit, vec3_t &n_hit, double &r)
{
HitType hit_type = Miss;
v.normalise();
vec3_t x_in, x_out, n_in, n_out;
double r_in, r_out;
if (brlCadShootRay(x, v, x_in, x_out, n_in, n_out, r_in, r_out)) {
double d_in = (x_in - x)*v;
if (d_in > 0) {
x_hit = x_in;
n_hit = n_in;
r = r_in;
hit_type = HitIn;
}
double d_out = (x_out - x)*v;
if (d_out > 0) {
if (hit_type == Miss || d_out < d_in) {
x_hit = x_out;
n_hit = n_out;
hit_type = HitOut;
r = r_out;
}
}
}
return hit_type;
}
vec3_t rotate(vec3_t v, vec3_t axis, double theta)
{
axis.normalise();
// transposed base of rotate system
mat3_t g_t;
// compute projection of v in axis direction
vec3_t v_axis = (axis*v)*axis;
// compute first orthogonal vector (first base vector)
g_t[0] = v-v_axis;
//In case of points on the rotation axis, do nothing
if(g_t[0].abs()==0) return v;
g_t[0].normalise();
// second base vector is the normalised axis
g_t[1] = axis;
// compute second orthogonal vector (third base vector)
g_t[2] = g_t[0].cross(g_t[1]);
// base of rotate system
mat3_t g = g_t.transp();
// matrix for rotation around g_t[1];
mat3_t rot = mat3_t::identity();
rot[0][0] = cos(theta);
rot[0][2] = sin(theta);
rot[2][0] = -sin(theta);
rot[2][2] = cos(theta);
// transfer v to rotate system
vec3_t v_r = g_t*v;
// rotate the vector and transfer it back
v_r = rot*v_r;
v = g*v_r;
return v;
}
bool CreateCadTesselation::shootRay(vec3_t x, vec3_t v, vec3_t &x_in, vec3_t &x_out, vec3_t &n_in, vec3_t &n_out)
{
v.normalise();
double r_hit;
vec3_t x_hit, n_hit;
CadInterface::HitType hit_type = m_CadInterface->shootRay(x, v, x_hit, n_hit, r_hit);
if (hit_type == CadInterface::Miss || hit_type == CadInterface::HitOut) {
return false;
}
x_in = x_hit;
n_in = n_hit;
x = x_in;
do {
x += 1e-10*v;
hit_type = m_CadInterface->shootRay(x, v, x_hit, n_hit, r_hit);
if (hit_type == CadInterface::HitOut) {
x_out = x_hit;
n_out = n_hit;
}
x = x_hit;
} while (hit_type == CadInterface::HitIn);
return true;
}
vec3_t intersectionOnPlane(vec3_t v, vec3_t A, vec3_t nA, vec3_t B, vec3_t nB)
{
vec3_t u = B-A;
// u.normalise();
v.normalise();
v = u.abs()*v;
//cout<<"u="<<u<<" v="<<v<<endl;
vec2_t p_A(0,0);
vec2_t p_B(1,0);
vec2_t p_nA = projectVectorOnPlane(nA,u,v);
vec2_t p_nB = projectVectorOnPlane(nB,u,v);
vec2_t p_tA = turnRight(p_nA);
vec2_t p_tB = turnRight(p_nB);
double k1, k2;
vec2_t p_K;
if(!intersection(k1, k2, p_A, p_tA, p_B, p_tB)) {
//qDebug()<<"WARNING: No intersection found!!!";
p_K = 0.5*(p_A + p_B);
}
else {
p_K = p_A + k1*p_tA;
}
//cout<<"nA="<<nA<<endl;
//cout<<"p_nA="<<p_nA<<endl;
//cout<<"p_tA="<<p_tA<<endl;
//cout<<"p_K="<<p_K<<endl;
if(p_K[0]<0) p_K[0] = 0;
if(p_K[0]>1) p_K[0] = 1;
vec3_t K = A + p_K[0]*u + p_K[1]*v;
//cout<<"K="<<K<<endl;
return K;
}
foreach (vec3_t nf, m_Faces) {
nf.normalise();
double h = nf*n0;
hf = min(h, hf);
}