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Optimize dtClosestHeightPointTriangle (#364)

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云风 2018-11-09 21:52:00 +08:00 committed by Jakob Botsch Nielsen
parent 3087e805b0
commit 7ccb72b383
1 changed files with 16 additions and 17 deletions
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33
Detour/Source/DetourCommon.cpp
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@ -204,32 +204,31 @@ void dtCalcPolyCenter(float* tc, const unsigned short* idx, int nidx, const floa
bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b, const float* c, float& h)
{
float v0[3], v1[3], v2[3];
dtVsub(v0, c,a);
dtVsub(v1, b,a);
dtVsub(v2, p,a);
const float dot00 = dtVdot2D(v0, v0);
const float dot01 = dtVdot2D(v0, v1);
const float dot02 = dtVdot2D(v0, v2);
const float dot11 = dtVdot2D(v1, v1);
const float dot12 = dtVdot2D(v1, v2);
// Compute barycentric coordinates
const float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01);
const float u = (dot11 * dot02 - dot01 * dot12) * invDenom;
const float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
// Compute scaled barycentric coordinates
float denom = v0[0] * v1[2] - v0[2] * v1[0];
float u = v1[2] * v2[0] - v1[0] * v2[2];
float v = v0[0] * v2[2] - v0[2] * v2[0];
if (denom < 0) {
denom = -denom;
u = -u;
v = -v;
}
// The (sloppy) epsilon is needed to allow to get height of points which
// are interpolated along the edges of the triangles.
static const float EPS = 1e-4f;
float epsilon = - 1e-4f * denom;
// If point lies inside the triangle, return interpolated ycoord.
if (u >= -EPS && v >= -EPS && (u+v) <= 1+EPS)
{
h = a[1] + v0[1]*u + v1[1]*v;
if (u >= epsilon && v >= epsilon && (u+v) <= denom - epsilon) {
h = a[1] + (v0[1]*u + v1[1]*v) / denom;
return true;
}
return false;
}