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Merged branch 'dev_native' into lm_sla_supports_auto

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Added igl library files
This commit is contained in:
Lukas Matena 2018-10-26 15:45:52 +02:00
commit 7681d00ee5
2865 changed files with 142806 additions and 22325 deletions
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src/igl/ray_sphere_intersect.cpp Normal file
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// This file is part of libigl, a simple c++ geometry processing library.
//
// Copyright (C) 2014 Alec Jacobson <alecjacobson@gmail.com>
//
// This Source Code Form is subject to the terms of the Mozilla Public License
// v. 2.0. If a copy of the MPL was not distributed with this file, You can
// obtain one at http://mozilla.org/MPL/2.0/.
#include "ray_sphere_intersect.h"
template <
typename Derivedo,
typename Derivedd,
typename Derivedc,
typename r_type,
typename t_type>
IGL_INLINE int igl::ray_sphere_intersect(
const Eigen::PlainObjectBase<Derivedo> & ao,
const Eigen::PlainObjectBase<Derivedd> & d,
const Eigen::PlainObjectBase<Derivedc> & ac,
r_type r,
t_type & t0,
t_type & t1)
{
Eigen::Vector3d o = ao-ac;
// http://wiki.cgsociety.org/index.php/Ray_Sphere_Intersection
//Compute A, B and C coefficients
double a = d.dot(d);
double b = 2 * d.dot(o);
double c = o.dot(o) - (r * r);
//Find discriminant
double disc = b * b - 4 * a * c;
// if discriminant is negative there are no real roots, so return
// false as ray misses sphere
if (disc < 0)
{
return 0;
}
// compute q as described above
double distSqrt = sqrt(disc);
double q;
if (b < 0)
{
q = (-b - distSqrt)/2.0;
} else
{
q = (-b + distSqrt)/2.0;
}
// compute t0 and t1
t0 = q / a;
double _t1 = c/q;
if(_t1 == t0)
{
return 1;
}
t1 = _t1;
// make sure t0 is smaller than t1
if (t0 > t1)
{
// if t0 is bigger than t1 swap them around
double temp = t0;
t0 = t1;
t1 = temp;
}
return 2;
}
#ifdef IGL_STATIC_LIBRARY
// Explicit template instantiation
template int igl::ray_sphere_intersect<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, double, double>(Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> > const&, Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> > const&, Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> > const&, double, double&, double&);
#endif