87 lines
3.7 KiB
C++
87 lines
3.7 KiB
C++
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// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2016 Alec Jacobson <alecjacobson@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla Public License
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// v. 2.0. If a copy of the MPL was not distributed with this file, You can
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// obtain one at http://mozilla.org/MPL/2.0/.
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#include "ray_mesh_intersect.h"
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extern "C"
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{
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#include "raytri.c"
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}
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template <
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typename Derivedsource,
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typename Deriveddir,
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typename DerivedV,
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typename DerivedF>
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IGL_INLINE bool igl::ray_mesh_intersect(
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const Eigen::MatrixBase<Derivedsource> & s,
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const Eigen::MatrixBase<Deriveddir> & dir,
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const Eigen::MatrixBase<DerivedV> & V,
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const Eigen::MatrixBase<DerivedF> & F,
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std::vector<igl::Hit> & hits)
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{
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using namespace Eigen;
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using namespace std;
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// Should be but can't be const
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Vector3d s_d = s.template cast<double>();
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Vector3d dir_d = dir.template cast<double>();
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hits.clear();
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// loop over all triangles
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for(int f = 0;f<F.rows();f++)
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{
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// Should be but can't be const
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RowVector3d v0 = V.row(F(f,0)).template cast<double>();
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RowVector3d v1 = V.row(F(f,1)).template cast<double>();
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RowVector3d v2 = V.row(F(f,2)).template cast<double>();
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// shoot ray, record hit
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double t,u,v;
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if(intersect_triangle1(
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s_d.data(), dir_d.data(), v0.data(), v1.data(), v2.data(), &t, &u, &v) &&
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t>0)
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{
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hits.push_back({(int)f,(int)-1,(float)u,(float)v,(float)t});
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}
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}
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// Sort hits based on distance
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std::sort(
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hits.begin(),
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hits.end(),
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[](const Hit & a, const Hit & b)->bool{ return a.t < b.t;});
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return hits.size() > 0;
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}
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template <
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typename Derivedsource,
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typename Deriveddir,
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typename DerivedV,
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typename DerivedF>
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IGL_INLINE bool igl::ray_mesh_intersect(
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const Eigen::MatrixBase<Derivedsource> & source,
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const Eigen::MatrixBase<Deriveddir> & dir,
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const Eigen::MatrixBase<DerivedV> & V,
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const Eigen::MatrixBase<DerivedF> & F,
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igl::Hit & hit)
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{
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std::vector<igl::Hit> hits;
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ray_mesh_intersect(source,dir,V,F,hits);
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if(hits.size() > 0)
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{
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hit = hits.front();
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return true;
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}else
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{
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return false;
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}
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}
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#ifdef IGL_STATIC_LIBRARY
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// Explicit template instantiation
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template bool igl::ray_mesh_intersect<Eigen::Matrix<float, 3, 1, 0, 3, 1>, Eigen::Matrix<float, 3, 1, 0, 3, 1>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<int, -1, -1, 0, -1, -1> >(Eigen::MatrixBase<Eigen::Matrix<float, 3, 1, 0, 3, 1> > const&, Eigen::MatrixBase<Eigen::Matrix<float, 3, 1, 0, 3, 1> > const&, Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::MatrixBase<Eigen::Matrix<int, -1, -1, 0, -1, -1> > const&, std::vector<igl::Hit, std::allocator<igl::Hit> >&);
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template bool igl::ray_mesh_intersect<Eigen::Matrix<float, 3, 1, 0, 3, 1>, Eigen::Matrix<float, 3, 1, 0, 3, 1>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<int, -1, -1, 0, -1, -1> >(Eigen::MatrixBase<Eigen::Matrix<float, 3, 1, 0, 3, 1> > const&, Eigen::MatrixBase<Eigen::Matrix<float, 3, 1, 0, 3, 1> > const&, Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::MatrixBase<Eigen::Matrix<int, -1, -1, 0, -1, -1> > const&, igl::Hit&);
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template bool igl::ray_mesh_intersect<Eigen::Matrix<double, 1, 3, 1, 1, 3>, Eigen::Matrix<double, 1, 3, 1, 1, 3>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Block<Eigen::Matrix<int, -1, -1, 0, -1, -1> const, 1, -1, false> >(Eigen::MatrixBase<Eigen::Matrix<double, 1, 3, 1, 1, 3> > const&, Eigen::MatrixBase<Eigen::Matrix<double, 1, 3, 1, 1, 3> > const&, Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<int, -1, -1, 0, -1, -1> const, 1, -1, false> > const&, igl::Hit&);
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#endif
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