#include "gim_linear_math.h"

Macros
#define	PLANEDIREPSILON 0.0000001f

#define	PARALELENORMALS 0.000001f

#define	TRIANGLE_NORMAL(v1, v2, v3, n)

#define	TRIANGLE_NORMAL_FAST(v1, v2, v3, n)

#define	TRIANGLE_PLANE(v1, v2, v3, plane)
	plane is a vec4f

#define	TRIANGLE_PLANE_FAST(v1, v2, v3, plane)
	plane is a vec4f

#define	EDGE_PLANE(e1, e2, n, plane)
	Calc a plane from an edge an a normal. plane is a vec4f.

#define	DISTANCE_PLANE_POINT(plane, point) (VEC_DOT(plane, point) - plane[3])

#define	PROJECT_POINT_PLANE(point, plane, projected)

#define	PLANE_MINOR_AXES(plane, i0, i1) VEC_MINOR_AXES(plane, i0, i1)
	Finds the 2 smallest cartesian coordinates of a plane normal.

Enumerations
enum	ePLANE_INTERSECTION_TYPE { G_BACK_PLANE = 0 , G_COLLIDE_PLANE , G_FRONT_PLANE }

enum	eLINE_PLANE_INTERSECTION_TYPE { G_FRONT_PLANE_S1 = 0 , G_FRONT_PLANE_S2 , G_BACK_PLANE_S1 , G_BACK_PLANE_S2 , G_COLLIDE_PLANE_S1 , G_COLLIDE_PLANE_S2 }

Functions
template<typename CLASS_POINT , typename CLASS_PLANE >
SIMD_FORCE_INLINE bool	POINT_IN_HULL (const CLASS_POINT &point, const CLASS_PLANE *planes, GUINT plane_count)
	Verifies if a point is in the plane hull.

template<typename CLASS_POINT , typename CLASS_PLANE >
SIMD_FORCE_INLINE void	PLANE_CLIP_SEGMENT (const CLASS_POINT &s1, const CLASS_POINT &s2, const CLASS_PLANE &plane, CLASS_POINT &clipped)

template<typename CLASS_POINT , typename CLASS_PLANE >
SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE	PLANE_CLIP_SEGMENT2 (const CLASS_POINT &s1, const CLASS_POINT &s2, const CLASS_PLANE &plane, CLASS_POINT &clipped)
	Confirms if the plane intersect the edge or nor.

template<typename CLASS_POINT , typename CLASS_PLANE >
SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE	PLANE_CLIP_SEGMENT_CLOSEST (const CLASS_POINT &s1, const CLASS_POINT &s2, const CLASS_PLANE &plane, CLASS_POINT &clipped1, CLASS_POINT &clipped2)
	Confirms if the plane intersect the edge or not.

template<typename T , typename CLASS_POINT , typename CLASS_PLANE >
SIMD_FORCE_INLINE bool	RAY_PLANE_COLLISION (const CLASS_PLANE &plane, const CLASS_POINT &vDir, const CLASS_POINT &vPoint, CLASS_POINT &pout, T &tparam)
	Ray plane collision in one way.

template<typename T , typename CLASS_POINT , typename CLASS_PLANE >
SIMD_FORCE_INLINE GUINT	LINE_PLANE_COLLISION (const CLASS_PLANE &plane, const CLASS_POINT &vDir, const CLASS_POINT &vPoint, CLASS_POINT &pout, T &tparam, T tmin, T tmax)
	line collision

template<typename CLASS_POINT , typename CLASS_PLANE >
SIMD_FORCE_INLINE bool	INTERSECT_PLANES (const CLASS_PLANE &p1, const CLASS_PLANE &p2, CLASS_POINT &p, CLASS_POINT &d)
	Returns the Ray on which 2 planes intersect if they do. Written by Rodrigo Hernandez on ODE convex collision.

template<typename CLASS_POINT >
SIMD_FORCE_INLINE void	CLOSEST_POINT_ON_SEGMENT (CLASS_POINT &cp, const CLASS_POINT &v, const CLASS_POINT &e1, const CLASS_POINT &e2)

template<typename T , typename CLASS_POINT >
SIMD_FORCE_INLINE bool	LINE_INTERSECTION_PARAMS (const CLASS_POINT &dir1, CLASS_POINT &point1, const CLASS_POINT &dir2, CLASS_POINT &point2, T &t1, T &t2)
	Finds the line params where these lines intersect.

template<typename CLASS_POINT >
SIMD_FORCE_INLINE void	SEGMENT_COLLISION (const CLASS_POINT &vA1, const CLASS_POINT &vA2, const CLASS_POINT &vB1, const CLASS_POINT &vB2, CLASS_POINT &vPointA, CLASS_POINT &vPointB)
	Find closest points on segments.

template<typename T >
SIMD_FORCE_INLINE bool	BOX_AXIS_INTERSECT (T pos, T dir, T bmin, T bmax, T &tfirst, T &tlast)
	Line box intersection in one dimension.

template<typename T >
SIMD_FORCE_INLINE void	SORT_3_INDICES (const T values, GUINT order_indices)
	Sorts 3 componets.

Detailed Description

Author: Francisco Leon Najera type independant geometry routines

Definition in file gim_basic_geometry_operations.h.

Macro Definition Documentation

◆ DISTANCE_PLANE_POINT

#define DISTANCE_PLANE_POINT	(		plane,
			point ) (VEC_DOT(plane, point) - plane[3])

Definition at line 89 of file gim_basic_geometry_operations.h.

Referenced by GIM_TRIANGLE::is_point_inside(), LINE_PLANE_COLLISION(), DISTANCE_PLANE_3D_FUNC::operator()(), PLANE_CLIP_SEGMENT(), PLANE_CLIP_SEGMENT2(), POINT_IN_HULL(), RAY_PLANE_COLLISION(), and GIM_TRIANGLE_CALCULATION_CACHE::triangle_collision().

◆ EDGE_PLANE

#define EDGE_PLANE	(	e1,
		e2,
		n,
		plane )

Value:

    {                                  \
        vec3f _dif;                    \
        VEC_DIFF(_dif, e2, e1);        \
        VEC_CROSS(plane, _dif, n);     \
        VEC_NORMALIZE(plane);          \
        plane[3] = VEC_DOT(e1, plane); \
    }

Calc a plane from an edge an a normal. plane is a vec4f.

Definition at line 80 of file gim_basic_geometry_operations.h.

Referenced by GIM_TRIANGLE_CALCULATION_CACHE::clip_triangle(), and GIM_TRIANGLE::get_edge_plane().

◆ PARALELENORMALS

#define PARALELENORMALS 0.000001f

Definition at line 45 of file gim_basic_geometry_operations.h.

◆ PLANE_MINOR_AXES

#define PLANE_MINOR_AXES	(	plane,
		i0,
		i1 ) VEC_MINOR_AXES(plane, i0, i1)

Finds the 2 smallest cartesian coordinates of a plane normal.

Definition at line 235 of file gim_basic_geometry_operations.h.

◆ PLANEDIREPSILON

#define PLANEDIREPSILON 0.0000001f

Definition at line 41 of file gim_basic_geometry_operations.h.

Referenced by LINE_PLANE_COLLISION(), and RAY_PLANE_COLLISION().

◆ PROJECT_POINT_PLANE

#define PROJECT_POINT_PLANE	(	point,
		plane,
		projected )

Value:

    {                                                \
        GREAL _dis;                                  \
        _dis = DISTANCE_PLANE_POINT(plane, point);   \
        VEC_SCALE(projected, -_dis, plane);          \
        VEC_SUM(projected, projected, point);        \
    }

Definition at line 91 of file gim_basic_geometry_operations.h.

◆ TRIANGLE_NORMAL

#define TRIANGLE_NORMAL	(	v1,
		v2,
		v3,
		n )

Value:

    {                                  \
        vec3f _dif1, _dif2;            \
        VEC_DIFF(_dif1, v2, v1);       \
        VEC_DIFF(_dif2, v3, v1);       \
        VEC_CROSS(n, _dif1, _dif2);    \
        VEC_NORMALIZE(n);              \
    }

Definition at line 48 of file gim_basic_geometry_operations.h.

Referenced by GIM_TRIANGLE::get_normal().

◆ TRIANGLE_NORMAL_FAST

#define TRIANGLE_NORMAL_FAST	(	v1,
		v2,
		v3,
		n )

Value:

    {                                       \
        vec3f _dif1, _dif2;                 \
        VEC_DIFF(_dif1, v2, v1);            \
        VEC_DIFF(_dif2, v3, v1);            \
        VEC_CROSS(n, _dif1, _dif2);         \
    }

Definition at line 57 of file gim_basic_geometry_operations.h.

◆ TRIANGLE_PLANE

#define TRIANGLE_PLANE	(	v1,
		v2,
		v3,
		plane )

Value:

    {                                       \
        TRIANGLE_NORMAL(v1, v2, v3, plane); \
        plane[3] = VEC_DOT(v1, plane);      \
    }

plane is a vec4f

Definition at line 66 of file gim_basic_geometry_operations.h.

Referenced by GIM_TRIANGLE::get_plane(), and GIM_TRIANGLE_CALCULATION_CACHE::triangle_collision().

◆ TRIANGLE_PLANE_FAST

#define TRIANGLE_PLANE_FAST	(	v1,
		v2,
		v3,
		plane )

Value:

    {                                            \
        TRIANGLE_NORMAL_FAST(v1, v2, v3, plane); \
        plane[3] = VEC_DOT(v1, plane);           \
    }

plane is a vec4f

Definition at line 73 of file gim_basic_geometry_operations.h.

Enumeration Type Documentation

◆ eLINE_PLANE_INTERSECTION_TYPE

enum eLINE_PLANE_INTERSECTION_TYPE

Enumerator
G_FRONT_PLANE_S1
G_FRONT_PLANE_S2
G_BACK_PLANE_S1
G_BACK_PLANE_S2
G_COLLIDE_PLANE_S1
G_COLLIDE_PLANE_S2

Definition at line 133 of file gim_basic_geometry_operations.h.

◆ ePLANE_INTERSECTION_TYPE

enum ePLANE_INTERSECTION_TYPE

Enumerator
G_BACK_PLANE
G_COLLIDE_PLANE
G_FRONT_PLANE

Definition at line 126 of file gim_basic_geometry_operations.h.

Function Documentation

◆ BOX_AXIS_INTERSECT()

template<typename T >

SIMD_FORCE_INLINE bool BOX_AXIS_INTERSECT	(	T	pos,
		T	dir,
		T	bmin,
		T	bmax,
		T &	tfirst,
		T &	tlast )

Line box intersection in one dimension.

Parameters

pos	Position of the ray
dir	Projection of the Direction of the ray
bmin	Minimum bound of the box
bmax	Maximum bound of the box
tfirst	the minimum projection. Assign to 0 at first.
tlast	the maximum projection. Assign to INFINITY at first.

Returns: true if there is an intersection.

Definition at line 496 of file gim_basic_geometry_operations.h.

References GIM_IS_ZERO, GIM_MAX, GIM_MIN, GIM_SWAP_NUMBERS, GREAL, and pos.

◆ CLOSEST_POINT_ON_SEGMENT()

template<typename CLASS_POINT >

SIMD_FORCE_INLINE void CLOSEST_POINT_ON_SEGMENT	(	CLASS_POINT &	cp,
		const CLASS_POINT &	v,
		const CLASS_POINT &	e1,
		const CLASS_POINT &	e2 )

Finds the closest point(cp) to (v) on a segment (e1,e2)

Definition at line 341 of file gim_basic_geometry_operations.h.

References GREAL, v, VEC_COPY, VEC_DIFF, VEC_DOT, VEC_SCALE, and VEC_SUM.

Referenced by SEGMENT_COLLISION().

◆ INTERSECT_PLANES()

template<typename CLASS_POINT , typename CLASS_PLANE >

SIMD_FORCE_INLINE bool INTERSECT_PLANES	(	const CLASS_PLANE &	p1,
		const CLASS_PLANE &	p2,
		CLASS_POINT &	p,
		CLASS_POINT &	d )

Returns the Ray on which 2 planes intersect if they do. Written by Rodrigo Hernandez on ODE convex collision.

Parameters

p1	Plane 1
p2	Plane 2
p	Contains the origin of the ray upon returning if planes intersect
d	Contains the direction of the ray upon returning if planes intersect

Returns: true if the planes intersect, 0 if paralell.

Definition at line 316 of file gim_basic_geometry_operations.h.

References GIM_IS_ZERO, GREAL, VEC_CROSS, and VEC_DOT.

◆ LINE_INTERSECTION_PARAMS()

template<typename T , typename CLASS_POINT >

SIMD_FORCE_INLINE bool LINE_INTERSECTION_PARAMS	(	const CLASS_POINT &	dir1,
		CLASS_POINT &	point1,
		const CLASS_POINT &	dir2,
		CLASS_POINT &	point2,
		T &	t1,
		T &	t2 )

Finds the line params where these lines intersect.

Parameters

dir1	Direction of line 1
point1	Point of line 1
dir2	Direction of line 2
point2	Point of line 2
t1	Result Parameter for line 1
t2	Result Parameter for line 2
dointersect	0 if the lines won't intersect, else 1

Definition at line 377 of file gim_basic_geometry_operations.h.

References GIM_IS_ZERO, GREAL, VEC_DIFF, and VEC_DOT.

◆ LINE_PLANE_COLLISION()

template<typename T , typename CLASS_POINT , typename CLASS_PLANE >

SIMD_FORCE_INLINE GUINT LINE_PLANE_COLLISION	(	const CLASS_PLANE &	plane,
		const CLASS_POINT &	vDir,
		const CLASS_POINT &	vPoint,
		CLASS_POINT &	pout,
		T &	tparam,
		T	tmin,
		T	tmax )

line collision

Returns: -0 if the ray never intersects -1 if the ray collides in front -2 if the ray collides in back

Definition at line 270 of file gim_basic_geometry_operations.h.

References btFabs(), DISTANCE_PLANE_POINT, GREAL, PLANEDIREPSILON, VEC_DOT, VEC_SCALE, and VEC_SUM.

Referenced by GIM_TRIANGLE::ray_collision(), GIM_TRIANGLE::ray_collision_front_side(), and SEGMENT_COLLISION().

◆ PLANE_CLIP_SEGMENT()

template<typename CLASS_POINT , typename CLASS_PLANE >

SIMD_FORCE_INLINE void PLANE_CLIP_SEGMENT	(	const CLASS_POINT &	s1,
		const CLASS_POINT &	s2,
		const CLASS_PLANE &	plane,
		CLASS_POINT &	clipped )

Definition at line 114 of file gim_basic_geometry_operations.h.

References DISTANCE_PLANE_POINT, GREAL, VEC_DIFF, VEC_DOT, VEC_SCALE, and VEC_SUM.

◆ PLANE_CLIP_SEGMENT2()

template<typename CLASS_POINT , typename CLASS_PLANE >

SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT2	(	const CLASS_POINT &	s1,
		const CLASS_POINT &	s2,
		const CLASS_PLANE &	plane,
		CLASS_POINT &	clipped )

Confirms if the plane intersect the edge or nor.

intersection type must have the following values

0 : Segment in front of plane, s1 closest
1 : Segment in front of plane, s2 closest
2 : Segment in back of plane, s1 closest
3 : Segment in back of plane, s2 closest
4 : Segment collides plane, s1 in back
5 : Segment collides plane, s2 in back

Definition at line 157 of file gim_basic_geometry_operations.h.

References DISTANCE_PLANE_POINT, G_BACK_PLANE_S1, G_BACK_PLANE_S2, G_COLLIDE_PLANE_S1, G_COLLIDE_PLANE_S2, G_EPSILON, G_FRONT_PLANE_S1, G_FRONT_PLANE_S2, GREAL, VEC_DIFF, VEC_DOT, VEC_SCALE, and VEC_SUM.

Referenced by PLANE_CLIP_SEGMENT_CLOSEST().

◆ PLANE_CLIP_SEGMENT_CLOSEST()

template<typename CLASS_POINT , typename CLASS_PLANE >

SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT_CLOSEST	(	const CLASS_POINT &	s1,
		const CLASS_POINT &	s2,
		const CLASS_PLANE &	plane,
		CLASS_POINT &	clipped1,
		CLASS_POINT &	clipped2 )

Confirms if the plane intersect the edge or not.

clipped1 and clipped2 are the vertices behind the plane. clipped1 is the closest

intersection_type must have the following values

0 : Segment in front of plane, s1 closest
1 : Segment in front of plane, s2 closest
2 : Segment in back of plane, s1 closest
3 : Segment in back of plane, s2 closest
4 : Segment collides plane, s1 in back
5 : Segment collides plane, s2 in back

Definition at line 199 of file gim_basic_geometry_operations.h.

References G_BACK_PLANE_S1, G_BACK_PLANE_S2, G_COLLIDE_PLANE_S1, G_COLLIDE_PLANE_S2, G_FRONT_PLANE_S1, G_FRONT_PLANE_S2, PLANE_CLIP_SEGMENT2(), and VEC_COPY.

◆ POINT_IN_HULL()

template<typename CLASS_POINT , typename CLASS_PLANE >

SIMD_FORCE_INLINE bool POINT_IN_HULL	(	const CLASS_POINT &	point,
		const CLASS_PLANE *	planes,
		GUINT	plane_count )

Verifies if a point is in the plane hull.

Definition at line 101 of file gim_basic_geometry_operations.h.

References DISTANCE_PLANE_POINT, GREAL, and GUINT.

◆ RAY_PLANE_COLLISION()

template<typename T , typename CLASS_POINT , typename CLASS_PLANE >

SIMD_FORCE_INLINE bool RAY_PLANE_COLLISION	(	const CLASS_PLANE &	plane,
		const CLASS_POINT &	vDir,
		const CLASS_POINT &	vPoint,
		CLASS_POINT &	pout,
		T &	tparam )

Ray plane collision in one way.

Intersects plane in one way only. The ray must face the plane (normals must be in opossite directions).
It uses the PLANEDIREPSILON constant.

Definition at line 243 of file gim_basic_geometry_operations.h.

References DISTANCE_PLANE_POINT, GREAL, PLANEDIREPSILON, VEC_DOT, VEC_SCALE, and VEC_SUM.

◆ SEGMENT_COLLISION()

template<typename CLASS_POINT >

SIMD_FORCE_INLINE void SEGMENT_COLLISION	(	const CLASS_POINT &	vA1,
		const CLASS_POINT &	vA2,
		const CLASS_POINT &	vB1,
		const CLASS_POINT &	vB2,
		CLASS_POINT &	vPointA,
		CLASS_POINT &	vPointB )

Find closest points on segments.

Definition at line 401 of file gim_basic_geometry_operations.h.

References CLOSEST_POINT_ON_SEGMENT(), G_EPSILON, GIM_CLAMP, GIM_SWAP_NUMBERS, GREAL, LINE_PLANE_COLLISION(), VEC_CROSS, VEC_DIFF, VEC_DOT, VEC_SCALE, and VEC_SUM.

Referenced by GIM_TRIANGLE_CALCULATION_CACHE::cross_line_intersection_test().

◆ SORT_3_INDICES()

template<typename T >

SIMD_FORCE_INLINE void SORT_3_INDICES	(	const T *	values,
		GUINT *	order_indices )

Sorts 3 componets.

Definition at line 513 of file gim_basic_geometry_operations.h.

References GUINT.

Macros

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ DISTANCE_PLANE_POINT

◆ EDGE_PLANE

◆ PARALELENORMALS

◆ PLANE_MINOR_AXES

◆ PLANEDIREPSILON

◆ PROJECT_POINT_PLANE

◆ TRIANGLE_NORMAL

◆ TRIANGLE_NORMAL_FAST

◆ TRIANGLE_PLANE

◆ TRIANGLE_PLANE_FAST

Enumeration Type Documentation

◆ eLINE_PLANE_INTERSECTION_TYPE

◆ ePLANE_INTERSECTION_TYPE

Function Documentation

◆ BOX_AXIS_INTERSECT()

◆ CLOSEST_POINT_ON_SEGMENT()

◆ INTERSECT_PLANES()

◆ LINE_INTERSECTION_PARAMS()

◆ LINE_PLANE_COLLISION()

◆ PLANE_CLIP_SEGMENT()

◆ PLANE_CLIP_SEGMENT2()

◆ PLANE_CLIP_SEGMENT_CLOSEST()

◆ POINT_IN_HULL()

◆ RAY_PLANE_COLLISION()

◆ SEGMENT_COLLISION()

◆ SORT_3_INDICES()