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327 lines
8.2 KiB
C++
327 lines
8.2 KiB
C++
/**
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@file Ray.h
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Ray class
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@maintainer Morgan McGuire, matrix@graphics3d.com
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@created 2002-07-12
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@edited 2006-02-21
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*/
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#ifndef G3D_RAY_H
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#define G3D_RAY_H
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#include "G3D/platform.h"
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#include "G3D/Vector3.h"
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#include "G3D/Triangle.h"
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namespace G3D {
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/**
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A 3D Ray.
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*/
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class Ray {
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private:
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Ray(const Vector3& origin, const Vector3& direction) {
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this->origin = origin;
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this->direction = direction;
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}
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public:
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Vector3 origin;
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/**
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Not unit length
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*/
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Vector3 direction;
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Ray() : origin(Vector3::zero()), direction(Vector3::zero()) {}
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virtual ~Ray() {}
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/**
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Creates a Ray from a origin and a (nonzero) direction.
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*/
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static Ray fromOriginAndDirection(const Vector3& point, const Vector3& direction) {
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return Ray(point, direction);
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}
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Ray unit() const {
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return Ray(origin, direction.unit());
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}
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/**
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Returns the closest point on the Ray to point.
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*/
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Vector3 closestPoint(const Vector3& point) const {
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float t = direction.dot(point - this->origin);
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if (t < 0) {
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return this->origin;
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} else {
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return this->origin + direction * t;
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}
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}
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/**
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Returns the closest distance between point and the Ray
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*/
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float distance(const Vector3& point) const {
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return (closestPoint(point) - point).magnitude();
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}
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/**
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Returns the point where the Ray and plane intersect. If there
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is no intersection, returns a point at infinity.
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Planes are considered one-sided, so the ray will not intersect
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a plane where the normal faces in the traveling direction.
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*/
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Vector3 intersection(const class Plane& plane) const;
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/**
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Returns the distance until intersection with the (solid) sphere.
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Will be 0 if inside the sphere, inf if there is no intersection.
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The ray direction is <B>not</B> normalized. If the ray direction
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has unit length, the distance from the origin to intersection
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is equal to the time. If the direction does not have unit length,
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the distance = time * direction.length().
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See also the G3D::CollisionDetection "movingPoint" methods,
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which give more information about the intersection.
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*/
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float intersectionTime(const class Sphere& sphere) const;
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float intersectionTime(const class Plane& plane) const;
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float intersectionTime(const class Box& box) const;
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float intersectionTime(const class AABox& box) const;
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/**
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The three extra arguments are the weights of vertices 0, 1, and 2
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at the intersection point; they are useful for texture mapping
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and interpolated normals.
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*/
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float intersectionTime(
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const Vector3& v0, const Vector3& v1, const Vector3& v2,
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const Vector3& edge01, const Vector3& edge02,
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double& w0, double& w1, double& w2) const;
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/**
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Ray-triangle intersection for a 1-sided triangle. Fastest version.
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@cite http://www.acm.org/jgt/papers/MollerTrumbore97/
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http://www.graphics.cornell.edu/pubs/1997/MT97.html
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*/
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inline float intersectionTime(
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const Vector3& vert0,
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const Vector3& vert1,
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const Vector3& vert2,
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const Vector3& edge01,
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const Vector3& edge02) const;
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inline float intersectionTime(
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const Vector3& vert0,
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const Vector3& vert1,
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const Vector3& vert2) const {
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return intersectionTime(vert0, vert1, vert2, vert1 - vert0, vert2 - vert0);
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}
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inline float intersectionTime(
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const Vector3& vert0,
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const Vector3& vert1,
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const Vector3& vert2,
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double& w0,
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double& w1,
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double& w2) const {
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return intersectionTime(vert0, vert1, vert2, vert1 - vert0, vert2 - vert0, w0, w1, w2);
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}
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/* One-sided triangle
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*/
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inline float intersectionTime(const Triangle& triangle) const {
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return intersectionTime(
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triangle.vertex(0), triangle.vertex(1), triangle.vertex(2),
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triangle.edge01, triangle.edge02);
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}
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inline float intersectionTime(
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const Triangle& triangle,
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double& w0,
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double& w1,
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double& w2) const {
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return intersectionTime(triangle.vertex(0), triangle.vertex(1), triangle.vertex(2),
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triangle.edge01, triangle.edge02, w0, w1, w2);
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}
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/** Refracts about the normal
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using G3D::Vector3::refractionDirection
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and bumps the ray slightly from the newOrigin. */
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Ray refract(
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const Vector3& newOrigin,
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const Vector3& normal,
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float iInside,
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float iOutside) const;
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/** Reflects about the normal
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using G3D::Vector3::reflectionDirection
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and bumps the ray slightly from
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the newOrigin. */
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Ray reflect(
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const Vector3& newOrigin,
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const Vector3& normal) const;
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};
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#define EPSILON 0.000001
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#define CROSS(dest,v1,v2) \
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dest[0]=v1[1]*v2[2]-v1[2]*v2[1]; \
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dest[1]=v1[2]*v2[0]-v1[0]*v2[2]; \
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dest[2]=v1[0]*v2[1]-v1[1]*v2[0];
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#define DOT(v1,v2) (v1[0]*v2[0]+v1[1]*v2[1]+v1[2]*v2[2])
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#define SUB(dest,v1,v2) \
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dest[0]=v1[0]-v2[0]; \
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dest[1]=v1[1]-v2[1]; \
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dest[2]=v1[2]-v2[2];
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inline float Ray::intersectionTime(
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const Vector3& vert0,
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const Vector3& vert1,
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const Vector3& vert2,
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const Vector3& edge1,
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const Vector3& edge2) const {
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(void)vert1;
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(void)vert2;
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// Barycenteric coords
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float u, v;
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float tvec[3], pvec[3], qvec[3];
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// begin calculating determinant - also used to calculate U parameter
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CROSS(pvec, direction, edge2);
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// if determinant is near zero, ray lies in plane of triangle
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const float det = DOT(edge1, pvec);
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if (det < EPSILON) {
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return (float)inf();
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}
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// calculate distance from vert0 to ray origin
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SUB(tvec, origin, vert0);
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// calculate U parameter and test bounds
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u = DOT(tvec, pvec);
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if ((u < 0.0f) || (u > det)) {
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// Hit the plane outside the triangle
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return (float)inf();
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}
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// prepare to test V parameter
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CROSS(qvec, tvec, edge1);
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// calculate V parameter and test bounds
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v = DOT(direction, qvec);
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if ((v < 0.0f) || (u + v > det)) {
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// Hit the plane outside the triangle
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return (float)inf();
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}
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// Case where we don't need correct (u, v):
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const float t = DOT(edge2, qvec);
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if (t >= 0.0f) {
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// Note that det must be positive
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return t / det;
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} else {
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// We had to travel backwards in time to intersect
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return (float)inf();
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}
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}
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inline float Ray::intersectionTime(
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const Vector3& vert0,
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const Vector3& vert1,
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const Vector3& vert2,
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const Vector3& edge1,
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const Vector3& edge2,
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double& w0,
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double& w1,
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double& w2) const {
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(void)vert1;
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(void)vert2;
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// Barycenteric coords
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float u, v;
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float tvec[3], pvec[3], qvec[3];
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// begin calculating determinant - also used to calculate U parameter
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CROSS(pvec, direction, edge2);
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// if determinant is near zero, ray lies in plane of triangle
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const float det = DOT(edge1, pvec);
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if (det < EPSILON) {
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return (float)inf();
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}
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// calculate distance from vert0 to ray origin
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SUB(tvec, origin, vert0);
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// calculate U parameter and test bounds
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u = DOT(tvec, pvec);
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if ((u < 0.0f) || (u > det)) {
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// Hit the plane outside the triangle
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return (float)inf();
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}
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// prepare to test V parameter
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CROSS(qvec, tvec, edge1);
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// calculate V parameter and test bounds
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v = DOT(direction, qvec);
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if ((v < 0.0f) || (u + v > det)) {
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// Hit the plane outside the triangle
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return (float)inf();
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}
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float t = DOT(edge2, qvec);
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if (t >= 0) {
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const float inv_det = 1.0f / det;
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t *= inv_det;
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u *= inv_det;
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v *= inv_det;
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w0 = (1.0f - u - v);
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w1 = u;
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w2 = v;
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return t;
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} else {
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// We had to travel backwards in time to intersect
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return (float)inf();
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}
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}
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#undef EPSILON
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#undef CROSS
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#undef DOT
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#undef SUB
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}// namespace
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#endif
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