Bullet Collision Detection & Physics Library
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gim_basic_geometry_operations.h File Reference
#include "gim_linear_math.h"
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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 More...
 
#define TRIANGLE_PLANE_FAST(v1, v2, v3, plane)
 plane is a vec4f More...
 
#define EDGE_PLANE(e1, e2, n, plane)
 Calc a plane from an edge an a normal. plane is a vec4f. More...
 
#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. More...
 

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 >
bool POINT_IN_HULL (const CLASS_POINT &point, const CLASS_PLANE *planes, GUINT plane_count)
 Verifies if a point is in the plane hull. More...
 
template<typename CLASS_POINT , typename CLASS_PLANE >
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 >
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. More...
 
template<typename CLASS_POINT , typename CLASS_PLANE >
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. More...
 
template<typename T , typename CLASS_POINT , typename CLASS_PLANE >
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. More...
 
template<typename T , typename CLASS_POINT , typename CLASS_PLANE >
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 More...
 
template<typename CLASS_POINT , typename CLASS_PLANE >
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. More...
 
template<typename CLASS_POINT >
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 >
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. More...
 
template<typename CLASS_POINT >
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. More...
 
template<typename T >
bool BOX_AXIS_INTERSECT (T pos, T dir, T bmin, T bmax, T &tfirst, T &tlast)
 Line box intersection in one dimension. More...
 
template<typename T >
void SORT_3_INDICES (const T *values, GUINT *order_indices)
 Sorts 3 componets. More...
 

Detailed Description

Author
Francisco Leon Najera type independant geometry routines

Definition in file gim_basic_geometry_operations.h.

Macro Definition Documentation

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

Definition at line 89 of file gim_basic_geometry_operations.h.

#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);\
}\
VEC_DOT
#define VEC_DOT(a, b)
Vector dot product.
Definition: gim_linear_math.h:212
VEC_DIFF
#define VEC_DIFF(v21, v2, v1)
Vector difference.
Definition: gim_linear_math.h:108
vec3f
GREAL vec3f[3]
Float vector 3D.
Definition: gim_geom_types.h:72
VEC_CROSS
#define VEC_CROSS(c, a, b)
Vector cross.
Definition: gim_linear_math.h:320
VEC_NORMALIZE
#define VEC_NORMALIZE(a)
Vector length.
Definition: gim_linear_math.h:295

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

Definition at line 81 of file gim_basic_geometry_operations.h.

#define PARALELENORMALS   0.000001f

Definition at line 49 of file gim_basic_geometry_operations.h.

#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.

#define PLANEDIREPSILON   0.0000001f

Definition at line 45 of file gim_basic_geometry_operations.h.

#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); \
}\
GREAL
#define GREAL
Definition: gim_math.h:39
VEC_SCALE
#define VEC_SCALE(c, a, b)
scalar times vector
Definition: gim_linear_math.h:162
VEC_SUM
#define VEC_SUM(v21, v2, v1)
Vector sum.
Definition: gim_linear_math.h:135
DISTANCE_PLANE_POINT
#define DISTANCE_PLANE_POINT(plane, point)
Definition: gim_basic_geometry_operations.h:89

Definition at line 91 of file gim_basic_geometry_operations.h.

#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);\
}\
VEC_DIFF
#define VEC_DIFF(v21, v2, v1)
Vector difference.
Definition: gim_linear_math.h:108
vec3f
GREAL vec3f[3]
Float vector 3D.
Definition: gim_geom_types.h:72
VEC_CROSS
#define VEC_CROSS(c, a, b)
Vector cross.
Definition: gim_linear_math.h:320
VEC_NORMALIZE
#define VEC_NORMALIZE(a)
Vector length.
Definition: gim_linear_math.h:295

Definition at line 52 of file gim_basic_geometry_operations.h.

#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); \
}\
VEC_DIFF
#define VEC_DIFF(v21, v2, v1)
Vector difference.
Definition: gim_linear_math.h:108
vec3f
GREAL vec3f[3]
Float vector 3D.
Definition: gim_geom_types.h:72
VEC_CROSS
#define VEC_CROSS(c, a, b)
Vector cross.
Definition: gim_linear_math.h:320

Definition at line 61 of file gim_basic_geometry_operations.h.

#define TRIANGLE_PLANE (   v1,
  v2,
  v3,
  plane 
)
Value:
{\
TRIANGLE_NORMAL(v1,v2,v3,plane);\
plane[3] = VEC_DOT(v1,plane);\
}\
VEC_DOT
#define VEC_DOT(a, b)
Vector dot product.
Definition: gim_linear_math.h:212
TRIANGLE_NORMAL
#define TRIANGLE_NORMAL(v1, v2, v3, n)
Definition: gim_basic_geometry_operations.h:52

plane is a vec4f

Definition at line 69 of file gim_basic_geometry_operations.h.

#define TRIANGLE_PLANE_FAST (   v1,
  v2,
  v3,
  plane 
)
Value:
{\
TRIANGLE_NORMAL_FAST(v1,v2,v3,plane);\
plane[3] = VEC_DOT(v1,plane);\
}\
TRIANGLE_NORMAL_FAST
#define TRIANGLE_NORMAL_FAST(v1, v2, v3, n)
Definition: gim_basic_geometry_operations.h:61
VEC_DOT
#define VEC_DOT(a, b)
Vector dot product.
Definition: gim_linear_math.h:212

plane is a vec4f

Definition at line 75 of file gim_basic_geometry_operations.h.

Enumeration Type Documentation

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 132 of file gim_basic_geometry_operations.h.

enum ePLANE_INTERSECTION_TYPE
Enumerator
G_BACK_PLANE 
G_COLLIDE_PLANE 
G_FRONT_PLANE 

Definition at line 125 of file gim_basic_geometry_operations.h.

Function Documentation

template<typename T >
bool BOX_AXIS_INTERSECT ( T  pos,
T  dir,
T  bmin,
T  bmax,
T &  tfirst,
T &  tlast 
)
inline

Line box intersection in one dimension.

Parameters
posPosition of the ray
dirProjection of the Direction of the ray
bminMinimum bound of the box
bmaxMaximum bound of the box
tfirstthe minimum projection. Assign to 0 at first.
tlastthe maximum projection. Assign to INFINITY at first.
Returns
true if there is an intersection.

Definition at line 501 of file gim_basic_geometry_operations.h.

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

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

Definition at line 341 of file gim_basic_geometry_operations.h.

template<typename CLASS_POINT , typename CLASS_PLANE >
bool INTERSECT_PLANES ( const CLASS_PLANE &  p1,
const CLASS_PLANE &  p2,
CLASS_POINT &  p,
CLASS_POINT &  d 
)
inline

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

Parameters
p1Plane 1
p2Plane 2
pContains the origin of the ray upon returning if planes intersect
dContains 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.

template<typename T , typename CLASS_POINT >
bool LINE_INTERSECTION_PARAMS ( const CLASS_POINT &  dir1,
CLASS_POINT &  point1,
const CLASS_POINT &  dir2,
CLASS_POINT &  point2,
T &  t1,
T &  t2 
)
inline

Finds the line params where these lines intersect.

Parameters
dir1Direction of line 1
point1Point of line 1
dir2Direction of line 2
point2Point of line 2
t1Result Parameter for line 1
t2Result Parameter for line 2
dointersect0 if the lines won't intersect, else 1

Definition at line 378 of file gim_basic_geometry_operations.h.

template<typename T , typename CLASS_POINT , typename CLASS_PLANE >
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 
)
inline

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.

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

Definition at line 113 of file gim_basic_geometry_operations.h.

template<typename CLASS_POINT , typename CLASS_PLANE >
eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT2 ( const CLASS_POINT &  s1,
const CLASS_POINT &  s2,
const CLASS_PLANE &  plane,
CLASS_POINT &  clipped 
)
inline

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 156 of file gim_basic_geometry_operations.h.

template<typename CLASS_POINT , typename CLASS_PLANE >
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 
)
inline

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 198 of file gim_basic_geometry_operations.h.

template<typename CLASS_POINT , typename CLASS_PLANE >
bool POINT_IN_HULL ( const CLASS_POINT &  point,
const CLASS_PLANE *  planes,
GUINT  plane_count 
)
inline

Verifies if a point is in the plane hull.

Definition at line 100 of file gim_basic_geometry_operations.h.

template<typename T , typename CLASS_POINT , typename CLASS_PLANE >
bool RAY_PLANE_COLLISION ( const CLASS_PLANE &  plane,
const CLASS_POINT &  vDir,
const CLASS_POINT &  vPoint,
CLASS_POINT &  pout,
T &  tparam 
)
inline

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.

template<typename CLASS_POINT >
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 
)
inline

Find closest points on segments.

Definition at line 402 of file gim_basic_geometry_operations.h.

template<typename T >
void SORT_3_INDICES ( const T *  values,
GUINT *  order_indices 
)
inline

Sorts 3 componets.

Definition at line 519 of file gim_basic_geometry_operations.h.

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