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#include <cmath>
#include "Quaternions.h"
void CrossProduct(XYZ P, XYZ Q, XYZ *V){
V->x = P.y * Q.z - P.z * Q.y;
V->y = P.z * Q.x - P.x * Q.z;
V->z = P.x * Q.y - P.y * Q.x;
}
void Normalise(XYZ *vectory) {
float d = sqrt(vectory->x*vectory->x+vectory->y*vectory->y+vectory->z*vectory->z);
if(d==0){return;}
vectory->x /= d;
vectory->y /= d;
vectory->z /= d;
}
extern float u0, u1, u2;
extern float v0, v1, v2;
extern float a, b;
extern int i, j;
extern bool bInter;
extern float pointv[3];
extern float p1v[3];
extern float p2v[3];
extern float p3v[3];
extern float normalv[3];
bool PointInTriangle(XYZ *p, XYZ normal, XYZ *p1, XYZ *p2, XYZ *p3)
{
bInter=0;
pointv[0]=p->x;
pointv[1]=p->y;
pointv[2]=p->z;
p1v[0]=p1->x;
p1v[1]=p1->y;
p1v[2]=p1->z;
p2v[0]=p2->x;
p2v[1]=p2->y;
p2v[2]=p2->z;
p3v[0]=p3->x;
p3v[1]=p3->y;
p3v[2]=p3->z;
normalv[0]=normal.x;
normalv[1]=normal.y;
normalv[2]=normal.z;
#define ABS(X) (((X)<0.f)?-(X):(X) )
#define MAX(A, B) (((A)<(B))?(B):(A))
float max = MAX(MAX(ABS(normalv[0]), ABS(normalv[1])), ABS(normalv[2]));
#undef MAX
if (max == ABS(normalv[0])) {i = 1; j = 2;} // y, z
if (max == ABS(normalv[1])) {i = 0; j = 2;} // x, z
if (max == ABS(normalv[2])) {i = 0; j = 1;} // x, y
#undef ABS
u0 = pointv[i] - p1v[i];
v0 = pointv[j] - p1v[j];
u1 = p2v[i] - p1v[i];
v1 = p2v[j] - p1v[j];
u2 = p3v[i] - p1v[i];
v2 = p3v[j] - p1v[j];
if (u1 > -1.0e-05f && u1 < 1.0e-05f)// == 0.0f)
{
b = u0 / u2;
if (0.0f <= b && b <= 1.0f)
{
a = (v0 - b * v2) / v1;
if ((a >= 0.0f) && (( a + b ) <= 1.0f))
bInter = 1;
}
}
else
{
b = (v0 * u1 - u0 * v1) / (v2 * u1 - u2 * v1);
if (0.0f <= b && b <= 1.0f)
{
a = (u0 - b * u2) / u1;
if ((a >= 0.0f) && (( a + b ) <= 1.0f ))
bInter = 1;
}
}
return bInter;
}
extern float d;
extern float a1,a2,a3;
extern float total,denom,mu;
extern XYZ pa1,pa2,pa3,n;
float LineFacetd(XYZ p1,XYZ p2,XYZ pa,XYZ pb,XYZ pc, XYZ n, XYZ *p)
{
//Calculate the parameters for the plane
d = - n.x * pa.x - n.y * pa.y - n.z * pa.z;
//Calculate the position on the line that intersects the plane
denom = n.x * (p2.x - p1.x) + n.y * (p2.y - p1.y) + n.z * (p2.z - p1.z);
if (abs(denom) < 0.0000001) // Line and plane don't intersect
return 0;
mu = - (d + n.x * p1.x + n.y * p1.y + n.z * p1.z) / denom;
p->x = p1.x + mu * (p2.x - p1.x);
p->y = p1.y + mu * (p2.y - p1.y);
p->z = p1.z + mu * (p2.z - p1.z);
if (mu < 0 || mu > 1) // Intersection not along line segment
return 0;
if(!PointInTriangle( p, n, &pa, &pb, &pc)){return 0;}
return 1;
}
void ReflectVector(XYZ *vel, XYZ *n)
{
XYZ vn;
XYZ vt;
float dotprod;
dotprod=dotproduct(*n,*vel);
vn.x=n->x*dotprod;
vn.y=n->y*dotprod;
vn.z=n->z*dotprod;
vt.x=vel->x-vn.x;
vt.y=vel->y-vn.y;
vt.z=vel->z-vn.z;
vel->x = vt.x - vn.x;
vel->y = vt.y - vn.y;
vel->z = vt.z - vn.z;
}
float dotproduct(XYZ point1, XYZ point2){
return point1.x * point2.x + point1.y * point2.y + point1.z * point2.z;
}
float findDistance(XYZ point1, XYZ point2){
return sqrt((point1.x-point2.x)*(point1.x-point2.x)+(point1.y-point2.y)*(point1.y-point2.y)+(point1.z-point2.z)*(point1.z-point2.z));
}
float findLengthfast(XYZ point1){
return((point1.x)*(point1.x)+(point1.y)*(point1.y)+(point1.z)*(point1.z));
}
float findDistancefast(XYZ point1, XYZ point2){
return((point1.x-point2.x)*(point1.x-point2.x)+(point1.y-point2.y)*(point1.y-point2.y)+(point1.z-point2.z)*(point1.z-point2.z));
}
XYZ DoRotation(XYZ thePoint, float xang, float yang, float zang){
XYZ newpoint;
if(xang){
xang*=6.283185;
xang/=360;
}
if(yang){
yang*=6.283185;
yang/=360;
}
if(zang){
zang*=6.283185;
zang/=360;
}
if(yang){
newpoint.z=thePoint.z*cos(yang)-thePoint.x*sin(yang);
newpoint.x=thePoint.z*sin(yang)+thePoint.x*cos(yang);
thePoint.z=newpoint.z;
thePoint.x=newpoint.x;
}
if(zang){
newpoint.x=thePoint.x*cos(zang)-thePoint.y*sin(zang);
newpoint.y=thePoint.y*cos(zang)+thePoint.x*sin(zang);
thePoint.x=newpoint.x;
thePoint.y=newpoint.y;
}
if(xang){
newpoint.y=thePoint.y*cos(xang)-thePoint.z*sin(xang);
newpoint.z=thePoint.y*sin(xang)+thePoint.z*cos(xang);
thePoint.z=newpoint.z;
thePoint.y=newpoint.y;
}
return thePoint;
}
float square( float f ) { return (f*f) ;}
bool sphere_line_intersection(float x1, float y1, float z1,
float x2, float y2, float z2, float x3, float y3, float z3, float r)
{
// x1,y1,z1 P1 coordinates (point of line)
// x2,y2,z2 P2 coordinates (point of line)
// x3,y3,z3, r P3 coordinates and radius (sphere)
// x,y,z intersection coordinates
//
// This function returns a pointer array which first index indicates
// the number of intersection point, followed by coordinate pairs.
float a, b, c, i;
if(x1>x3+r&&x2>x3+r)return(0);
if(x1<x3-r&&x2<x3-r)return(0);
if(y1>y3+r&&y2>y3+r)return(0);
if(y1<y3-r&&y2<y3-r)return(0);
if(z1>z3+r&&z2>z3+r)return(0);
if(z1<z3-r&&z2<z3-r)return(0);
a = square(x2 - x1) + square(y2 - y1) + square(z2 - z1);
b = 2* ( (x2 - x1)*(x1 - x3)
+ (y2 - y1)*(y1 - y3)
+ (z2 - z1)*(z1 - z3) ) ;
c = square(x3) + square(y3) +
square(z3) + square(x1) +
square(y1) + square(z1) -
2* ( x3*x1 + y3*y1 + z3*z1 ) - square(r) ;
i = b * b - 4 * a * c ;
if ( i < 0.0 )
{
// no intersection
return(0);
}
return(1);
}
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