Dario Sassi
50f653750b
- aggiunte funzioni per verifica di collisione tra Tronco di Cono e Triangolo e tra Tronco di Piramide Generalizzato e Triangolo - migliorate funzioni per verifica di collisione tra Tronco di Cono e Zmap e tra Tronco di Piramide Generalizzato e Zmap.
138 lines
7.0 KiB
C++
138 lines
7.0 KiB
C++
//----------------------------------------------------------------------------
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// EgalTech 2020-2020
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//----------------------------------------------------------------------------
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// File : CDePyramidTria.cpp Data : 29.10.20 Versione : 2.2k1
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// Contenuto : Implementazione della verifica di collisione tra
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// Pyramid e Triangle3d.
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//
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//
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// Modifiche : 29.10.20 LM Creazione modulo.
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//
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//
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//----------------------------------------------------------------------------
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//--------------------------- Include ----------------------------------------
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#include "stdafx.h"
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#include "EgtDev/Include/EGkCDePyramidTria.h"
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#include "EgtDev/Include/EGkIntersTriaTria.h"
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//----------------------------------------------------------------------------
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// Il sistema di riferimento deve avere l'origine nel centro della base Base, asse X lungo
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// un segmento della stessa e asse Z ortogonale alle basi e diretta verso la base Top.
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bool
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CDePyramidTria( const Frame3d& frPyrFrame, double dLenghtBaseX, double dLenghtBaseY, double dLenghtTopX, double dLenghtTopY, double dHeight,
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double dSafeDist, const Triangle3d& trTria)
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{
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// Se il tronco di piramide o il triangolo non sono ben definiti non procedo
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if ( dLenghtBaseX < EPS_SMALL || dLenghtBaseY < EPS_SMALL ||
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dLenghtTopX < EPS_SMALL || dLenghtTopY < EPS_SMALL ||
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dHeight < EPS_SMALL || ! trTria.IsValid())
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return false ;
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Frame3d frMyFrame = frPyrFrame ;
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// Se la distanza di sicurezza è maggiore di epsilon aumento le dimensioni del tronco di piramide.
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if ( dSafeDist > EPS_SMALL) {
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dLenghtBaseX += dSafeDist ;
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dLenghtBaseY += dSafeDist ;
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dLenghtTopX += dSafeDist ;
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dLenghtTopY += dSafeDist ;
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dHeight += ( 2 * dSafeDist) ;
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frMyFrame.Translate( - dSafeDist * frMyFrame.VersZ()) ;
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}
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// Porto il triangolo nel sistema di riferimento del tronco di cono
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Triangle3d trMyTria = trTria ;
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trMyTria.ToLoc( frMyFrame) ;
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// Se almeno un vertice collide ho finito
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for ( int nV = 0 ; nV < 3 ; ++ nV) {
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Point3d ptVert = trMyTria.GetP( nV) ;
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if ( ptVert.z > - EPS_SMALL && ptVert.z < dHeight + EPS_SMALL &&
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( ptVert.x + dLenghtBaseX + EPS_SMALL) * dHeight > ( dLenghtBaseX - dLenghtTopX) * ptVert.z &&
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( ptVert.x - dLenghtBaseX - EPS_SMALL) * dHeight < ( dLenghtTopX - dLenghtBaseX) * ptVert.z &&
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( ptVert.y + dLenghtBaseY + EPS_SMALL) * dHeight > ( dLenghtBaseY - dLenghtTopY) * ptVert.z &&
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( ptVert.y - dLenghtBaseY - EPS_SMALL) * dHeight < ( dLenghtTopY - dLenghtBaseY) * ptVert.z)
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return true ;
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}
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// Se c'è collisione con almeno un triangolo delle facce ho finito
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double dHalfBaseX = 0.5 * dLenghtBaseX ;
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double dHalfBaseY = 0.5 * dLenghtBaseY ;
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double dHalfTopX = 0.5 * dLenghtTopX ;
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double dHalfTopY = 0.5 * dLenghtTopY ;
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Triangle3d trFaceTria1, trFaceTria2 ;
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// Faccia base
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trFaceTria1.Set( Point3d( - dHalfBaseX, - dHalfBaseY, 0.),
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Point3d( - dHalfBaseX, dHalfBaseY, 0.),
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Point3d( dHalfBaseX, dHalfBaseY, 0.)) ;
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trFaceTria1.Validate() ;
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trFaceTria2.Set( Point3d( - dHalfBaseX, - dHalfBaseY, 0.),
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Point3d( dHalfBaseX, dHalfBaseY, 0.),
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Point3d( dHalfBaseX, - dHalfBaseY, 0.)) ;
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trFaceTria2.Validate() ;
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if ( IntersTriaTria( trMyTria, trFaceTria1, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO ||
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IntersTriaTria( trMyTria, trFaceTria2, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO)
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return true ;
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// Faccia top
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trFaceTria1.Set( Point3d( - dHalfTopX, - dHalfTopY, dHeight),
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Point3d( dHalfTopX, dHalfTopY, dHeight),
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Point3d( - dHalfTopX, dHalfTopY, dHeight)) ;
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trFaceTria1.Validate() ;
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trFaceTria2.Set( Point3d( - dHalfTopX, - dHalfTopY, dHeight),
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Point3d( dHalfTopX, - dHalfTopY, dHeight),
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Point3d( dHalfTopX, dHalfTopY, dHeight)) ;
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trFaceTria2.Validate() ;
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if ( IntersTriaTria( trMyTria, trFaceTria1, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO ||
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IntersTriaTria( trMyTria, trFaceTria2, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO)
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return true ;
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// Faccia laterale 1
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trFaceTria1.Set( Point3d( - dHalfBaseX, - dHalfBaseY, 0.),
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Point3d( dHalfTopX , - dHalfTopY , dHeight),
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Point3d( - dHalfTopX , - dHalfTopY , dHeight)) ;
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trFaceTria1.Validate() ;
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trFaceTria2.Set( Point3d( - dHalfBaseX, - dHalfBaseY, 0.),
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Point3d( dHalfBaseX, - dHalfBaseY, 0.),
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Point3d( dHalfTopX, - dHalfTopY , dHeight)) ;
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trFaceTria2.Validate() ;
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if ( IntersTriaTria( trMyTria, trFaceTria1, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO ||
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IntersTriaTria( trMyTria, trFaceTria2, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO)
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return true ;
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// Faccia laterale 2
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trFaceTria1.Set( Point3d( dHalfBaseX, - dHalfBaseY, 0.),
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Point3d( dHalfTopX , dHalfTopY , dHeight),
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Point3d( dHalfTopX , - dHalfTopY , dHeight)) ;
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trFaceTria1.Validate() ;
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trFaceTria2.Set( Point3d( dHalfBaseX, - dHalfBaseY, 0.),
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Point3d( dHalfBaseX, dHalfBaseY, 0.),
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Point3d( dHalfTopX , dHalfTopY , dHeight)) ;
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trFaceTria2.Validate() ;
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if ( IntersTriaTria(trMyTria, trFaceTria1, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO ||
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IntersTriaTria(trMyTria, trFaceTria2, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO)
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return true ;
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// Faccia laterale 3
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trFaceTria1.Set( Point3d( dHalfBaseX, dHalfBaseY, 0.),
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Point3d( - dHalfTopX , dHalfTopY , dHeight),
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Point3d( dHalfTopX , dHalfTopY , dHeight)) ;
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trFaceTria1.Validate() ;
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trFaceTria2.Set( Point3d( dHalfBaseX, dHalfBaseY, 0.),
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Point3d( - dHalfBaseX, dHalfBaseY, 0.),
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Point3d( - dHalfTopX , dHalfTopY , dHeight)) ;
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trFaceTria2.Validate() ;
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if ( IntersTriaTria( trMyTria, trFaceTria1, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO ||
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IntersTriaTria( trMyTria, trFaceTria2, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO)
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return true ;
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// Faccia laterale 4
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trFaceTria1.Set( Point3d( - dHalfBaseX, dHalfBaseY, 0.),
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Point3d( - dHalfTopX , - dHalfTopY , dHeight),
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Point3d( - dHalfTopX , dHalfTopY , dHeight)) ;
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trFaceTria1.Validate() ;
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trFaceTria2.Set( Point3d( - dHalfBaseX, dHalfBaseY, 0.),
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Point3d( - dHalfBaseX, - dHalfBaseY, 0.),
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Point3d( - dHalfTopX , - dHalfTopY , dHeight)) ;
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trFaceTria2.Validate() ;
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if ( IntersTriaTria( trMyTria, trFaceTria1, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO ||
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IntersTriaTria( trMyTria, trFaceTria2, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO)
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return true ;
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return false ;
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}
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