| //##################################################################### |
| // Copyright 2002-2004, Robert Bridson, Ronald Fedkiw, Sergey Koltakov, Andrew Selle, Joseph Teran. |
| // This file is part of PhysBAM whose distribution is governed by the license contained in the accompanying file PHYSBAM_COPYRIGHT.txt. |
| //##################################################################### |
| // Class SEGMENT_3D |
| //##################################################################### |
| #ifndef __SEGMENT_3D__ |
| #define __SEGMENT_3D__ |
| |
| #include "../Matrices_And_Vectors/VECTOR_3D.h" |
| #include "../Matrices_And_Vectors/VECTOR_2D.h" |
| namespace PhysBAM |
| { |
| |
| template<class T> |
| class SEGMENT_3D |
| { |
| public: |
| VECTOR_3D<T> x1, x2; |
| |
| SEGMENT_3D() |
| : x1 (0, 0, 0), x2 (1, 0, 0) |
| {} |
| |
| SEGMENT_3D (const VECTOR_3D<T>& x1_input, const VECTOR_3D<T>& x2_input) |
| : x1 (x1_input), x2 (x2_input) |
| {} |
| |
| T Length() const |
| { |
| return (x2 - x1).Magnitude(); |
| } |
| |
| static VECTOR_3D<T> Clockwise_Normal (VECTOR_3D<T> x1, VECTOR_3D<T> x2, VECTOR_3D<T> x3) |
| { |
| VECTOR_3D<T> v = x2 - x1, face_normal = VECTOR_3D<T>::Cross_Product (v, x3 - x1); |
| return VECTOR_3D<T>::Cross_Product (face_normal, v).Normalized(); |
| } // rotate by 90 degrees clockwise |
| |
| static VECTOR_3D<T> Robust_Clockwise_Normal (VECTOR_3D<T> x1, VECTOR_3D<T> x2, VECTOR_3D<T> x3, const T tolerance = 1e-8) |
| { |
| VECTOR_3D<T> v = x2 - x1, face_normal = VECTOR_3D<T>::Cross_Product (v, x3 - x1); |
| return VECTOR_3D<T>::Cross_Product (face_normal, v).Robust_Normalized (tolerance); |
| } // rotate by 90 degrees clockwise |
| |
| static VECTOR_3D<T> Clockwise_Normal_Direction (VECTOR_3D<T> x1, VECTOR_3D<T> x2, VECTOR_3D<T> x3) |
| { |
| VECTOR_3D<T> v = x2 - x1, face_normal = VECTOR_3D<T>::Cross_Product (v, x3 - x1); |
| return VECTOR_3D<T>::Cross_Product (face_normal, v); |
| } // can have any magnitude |
| |
| //##################################################################### |
| VECTOR_3D<T> Closest_Point_On_Segment (const VECTOR_3D<T>& point) const; |
| T Distance_From_Point_To_Segment (const VECTOR_3D<T>& point) const; |
| VECTOR_3D<T> Closest_Point_On_Line (const VECTOR_3D<T>& point) const; |
| T Distance_From_Point_To_Line (const VECTOR_3D<T>& point) const; |
| VECTOR_3D<T> Shortest_Vector_Between_Segments (const SEGMENT_3D<T>& segment, VECTOR_2D<T>& weights) const; |
| bool Segment_Segment_Interaction (const SEGMENT_3D<T>& segment, const T interaction_distance, T& distance, VECTOR_3D<T>& normal, VECTOR_2D<T>& weights) const; |
| void Segment_Segment_Interaction_Data (const SEGMENT_3D<T>& segment, const VECTOR_3D<T>& v1, const VECTOR_3D<T>& v2, const VECTOR_3D<T>& v3, const VECTOR_3D<T>& v4, |
| T& distance, VECTOR_3D<T>& normal, const VECTOR_2D<T>& weights, const T small_number = 0, const bool verbose = true) const; |
| bool Segment_Segment_Interaction (const SEGMENT_3D<T>& segment, const VECTOR_3D<T>& v1, const VECTOR_3D<T>& v2, const VECTOR_3D<T>& v3, const VECTOR_3D<T>& v4, |
| const T interaction_distance, T& distance, VECTOR_3D<T>& normal, VECTOR_2D<T>& weights, T& relative_speed, const T small_number = 0, const bool exit_early = false, const bool verbose = true) const; |
| bool Segment_Segment_Collision (const SEGMENT_3D<T>& segment, const VECTOR_3D<T>& v1, const VECTOR_3D<T>& v2, const VECTOR_3D<T>& v3, const VECTOR_3D<T>& v4, const T dt, |
| const T collision_thickness, T& collision_time, VECTOR_3D<T>& normal, VECTOR_2D<T>& weights, T& relative_speed, const T small_number = 0, const bool exit_early = false) const; |
| static VECTOR_2D<T> Barycentric_Coordinates (const VECTOR_3D<T>& location, const VECTOR_3D<T>& x1, const VECTOR_3D<T>& x2); |
| //##################################################################### |
| }; |
| } |
| #endif |
