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-rw-r--r--src/classes/share/javax/media/j3d/Utils.java370
1 files changed, 210 insertions, 160 deletions
diff --git a/src/classes/share/javax/media/j3d/Utils.java b/src/classes/share/javax/media/j3d/Utils.java
index 81a3391..dda1dca 100644
--- a/src/classes/share/javax/media/j3d/Utils.java
+++ b/src/classes/share/javax/media/j3d/Utils.java
@@ -111,166 +111,216 @@ private static final double ZERO_TOL = 1e-5d;
static public double rayToSegment(Point3d rayorig, Vector3d raydir,
Point3d segstart, Point3d segend,
Point3d rayint, Point3d segint, double[] param) {
-// Vector3<Real> diff = mRay->Origin- mSegment->Center;
-// Real a01 = -mRay->Direction.Dot(mSegment->Direction);
-// Real b0 = diff.Dot(mRay->Direction);
-// Real b1 = -diff.Dot(mSegment->Direction);
-// Real c = diff.SquaredLength();
-// Real det = Math<Real>::FAbs((Real)1 - a01*a01);
-// Real s0, s1, sqrDist, extDet;
-//
-// if (det >= Math<Real>::ZERO_TOLERANCE)
-// {
-// // The ray and segment are not parallel.
-// s0 = a01*b1 - b0;
-// s1 = a01*b0 - b1;
-// extDet = mSegment->Extent*det;
-//
-// if (s0 >= (Real)0)
-// {
-// if (s1 >= -extDet)
-// {
-// if (s1 <= extDet) // region 0
-// {
-// // Minimum at interior points of ray and segment.
-// Real invDet = ((Real)1)/det;
-// s0 *= invDet;
-// s1 *= invDet;
-// sqrDist = s0*(s0 + a01*s1 + ((Real)2)*b0) +
-// s1*(a01*s0 + s1 + ((Real)2)*b1) + c;
-// }
-// else // region 1
-// {
-// s1 = mSegment->Extent;
-// s0 = -(a01*s1 + b0);
-// if (s0 > (Real)0)
-// {
-// sqrDist = -s0*s0 + s1*(s1 + ((Real)2)*b1) + c;
-// }
-// else
-// {
-// s0 = (Real)0;
-// sqrDist = s1*(s1 + ((Real)2)*b1) + c;
-// }
-// }
-// }
-// else // region 5
-// {
-// s1 = -mSegment->Extent;
-// s0 = -(a01*s1 + b0);
-// if (s0 > (Real)0)
-// {
-// sqrDist = -s0*s0 + s1*(s1 + ((Real)2)*b1) + c;
-// }
-// else
-// {
-// s0 = (Real)0;
-// sqrDist = s1*(s1 + ((Real)2)*b1) + c;
-// }
-// }
-// }
-// else
-// {
-// if (s1 <= -extDet) // region 4
-// {
-// s0 = -(-a01*mSegment->Extent + b0);
-// if (s0 > (Real)0)
-// {
-// s1 = -mSegment->Extent;
-// sqrDist = -s0*s0 + s1*(s1 + ((Real)2)*b1) + c;
-// }
-// else
-// {
-// s0 = (Real)0;
-// s1 = -b1;
-// if (s1 < -mSegment->Extent)
-// {
-// s1 = -mSegment->Extent;
-// }
-// else if (s1 > mSegment->Extent)
-// {
-// s1 = mSegment->Extent;
-// }
-// sqrDist = s1*(s1 + ((Real)2)*b1) + c;
-// }
-// }
-// else if (s1 <= extDet) // region 3
-// {
-// s0 = (Real)0;
-// s1 = -b1;
-// if (s1 < -mSegment->Extent)
-// {
-// s1 = -mSegment->Extent;
-// }
-// else if (s1 > mSegment->Extent)
-// {
-// s1 = mSegment->Extent;
-// }
-// sqrDist = s1*(s1 + ((Real)2)*b1) + c;
-// }
-// else // region 2
-// {
-// s0 = -(a01*mSegment->Extent + b0);
-// if (s0 > (Real)0)
-// {
-// s1 = mSegment->Extent;
-// sqrDist = -s0*s0 + s1*(s1 + ((Real)2)*b1) + c;
-// }
-// else
-// {
-// s0 = (Real)0;
-// s1 = -b1;
-// if (s1 < -mSegment->Extent)
-// {
-// s1 = -mSegment->Extent;
-// }
-// else if (s1 > mSegment->Extent)
-// {
-// s1 = mSegment->Extent;
-// }
-// sqrDist = s1*(s1 + ((Real)2)*b1) + c;
-// }
-// }
-// }
-// }
-// else
-// {
-// // Ray and segment are parallel.
-// if (a01 > (Real)0)
-// {
-// // Opposite direction vectors.
-// s1 = -mSegment->Extent;
-// }
-// else
-// {
-// // Same direction vectors.
-// s1 = mSegment->Extent;
-// }
-//
-// s0 = -(a01*s1 + b0);
-// if (s0 > (Real)0)
-// {
-// sqrDist = -s0*s0 + s1*(s1 + ((Real)2)*b1) + c;
-// }
-// else
-// {
-// s0 = (Real)0;
-// sqrDist = s1*(s1 + ((Real)2)*b1) + c;
-// }
-// }
-//
-// mClosestPoint0 = mRay->Origin + s0*mRay->Direction;
-// mClosestPoint1 = mSegment->Center + s1*mSegment->Direction;
-// mRayParameter = s0;
-// mSegmentParameter = s1;
-//
-// // Account for numerical round-off errors.
-// if (sqrDist < (Real)0)
-// {
-// sqrDist = (Real)0;
-// }
-// return sqrDist;
- return 0.0d;
+ double s, t;
+
+ Vector3d diff = new Vector3d();
+ diff.sub(rayorig, segstart);
+ Vector3d segdir = new Vector3d();
+ segdir.sub(segend, segstart);
+
+ double A = raydir.dot(raydir);// Dot(ray.m,ray.m);
+ double B = -raydir.dot(segdir);// -Dot(ray.m,seg.m);
+ double C = segdir.dot(segdir);// Dot(seg.m,seg.m);
+ double D = raydir.dot(diff);// Dot(ray.m,diff);
+ double E; // -Dot(seg.m,diff), defer until needed
+ double F = diff.dot(diff);// Dot(diff,diff);
+ double det = Math.abs(A * C - B * B); // A*C-B*B = |Cross(M0,M1)|^2 >= 0
+
+ double tmp;
+
+ if (det >= ZERO_TOL) {
+ // ray and segment are not parallel
+ E = -segdir.dot(diff);// -Dot(seg.m,diff);
+ s = B * E - C * D;
+ t = B * D - A * E;
+
+ if (s >= 0) {
+ if (t >= 0) {
+ if (t <= det) { // region 0
+ // minimum at interior points of ray and segment
+ double invDet = 1.0f / det;
+ s *= invDet;
+ t *= invDet;
+ if (rayint != null) rayint.scaleAdd(s, raydir, rayorig);
+ if (segint != null) segint.scaleAdd(t, segdir, segstart);
+ if (param != null) { param[0] = s; param[1] = t; }
+ return Math.abs(s * (A * s + B * t + 2 * D) + t
+ * (B * s + C * t + 2 * E) + F);
+ }
+ else { // region 1
+
+ t = 1;
+ if (D >= 0) {
+ s = 0;
+ if (rayint != null) rayint.set(rayorig);
+ if (segint != null) segint.set(segend);
+ if (param != null) { param[0] = s; param[1] = t; }
+ return Math.abs(C + 2 * E + F);
+ }
+ else {
+ s = -D / A;
+ if (rayint != null) rayint.scaleAdd(s, raydir, rayorig);
+ if (segint != null) segint.set(segend);
+ if (param != null) { param[0] = s; param[1] = t; }
+ return Math.abs((D + 2 * B) * s + C + 2 * E + F);
+ }
+ }
+ }
+ else { // region 5
+ t = 0;
+ if (D >= 0) {
+ s = 0;
+ if (rayint != null) rayint.set(rayorig);
+ if (segint != null) segint.set(segstart);
+ if (param != null) { param[0] = s; param[1] = t; }
+ return Math.abs(F);
+ }
+ else {
+ s = -D / A;
+ if (rayint != null) rayint.scaleAdd(s, raydir, rayorig);
+ if (segint != null) segint.set(segstart);
+ if (param != null) { param[0] = s; param[1] = t; }
+ return Math.abs(D * s + F);
+ }
+ }
+ }
+ else {
+ if (t <= 0) { // region 4
+ if (D < 0) {
+ s = -D / A;
+ t = 0;
+ if (rayint != null) rayint.scaleAdd(s, raydir, rayorig);
+ if (segint != null) segint.set(segstart);
+ if (param != null) { param[0] = s; param[1] = t; }
+ return Math.abs(D * s + F);
+ }
+ else {
+ s = 0;
+ if (E >= 0) {
+ t = 0;
+ if (rayint != null) rayint.set(rayorig);
+ if (segint != null) segint.set(segstart);
+ if (param != null) { param[0] = s; param[1] = t; }
+ return Math.abs(F);
+ }
+ else if (-E >= C) {
+ t = 1;
+ if (rayint != null) rayint.set(rayorig);
+ if (segint != null) segint.set(segend);
+ if (param != null) { param[0] = s; param[1] = t; }
+ return Math.abs(C + 2 * E + F);
+ }
+ else {
+ t = -E / C;
+ if (rayint != null) rayint.set(rayorig);
+ if (segint != null) segint.scaleAdd(t, segdir, segstart);
+ if (param != null) { param[0] = s; param[1] = t; }
+ return Math.abs(E * t + F);
+ }
+ }
+ }
+ else if (t <= det) { // region 3
+ s = 0;
+ if (E >= 0) {
+ t = 0;
+ if (rayint != null) rayint.set(rayorig);
+ if (segint != null) segint.set(segstart);
+ if (param != null) { param[0] = s; param[1] = t; }
+ return Math.abs(F);
+ }
+ else if (-E >= C) {
+ t = 1;
+ if (rayint != null) rayint.set(rayorig);
+ if (segint != null) segint.set(segend);
+ if (param != null) { param[0] = s; param[1] = t; }
+ return Math.abs(C + 2 * E + F);
+ }
+ else {
+ t = -E / C;
+ if (rayint != null) rayint.set(rayorig);
+ if (segint != null) segint.scaleAdd(t, segdir, segstart);
+ if (param != null) { param[0] = s; param[1] = t; }
+ return Math.abs(E * t + F);
+ }
+ }
+ else { // region 2
+ tmp = B + D;
+ if (tmp < 0) {
+ s = -tmp / A;
+ t = 1;
+ if (rayint != null) rayint.scaleAdd(s, raydir, rayorig);
+ if (segint != null) segint.set(segend);
+ if (param != null) { param[0] = s; param[1] = t; }
+ return Math.abs(tmp * s + C + 2 * E + F);
+ }
+ else {
+ s = 0;
+ if (E >= 0) {
+ t = 0;
+ if (rayint != null) rayint.set(rayorig);
+ if (segint != null) segint.set(segstart);
+ if (param != null) { param[0] = s; param[1] = t; }
+ return Math.abs(F);
+ }
+ else if (-E >= C) {
+ t = 1;
+ if (rayint != null) rayint.set(rayorig);
+ if (segint != null) segint.set(segend);
+ if (param != null) { param[0] = s; param[1] = t; }
+ return Math.abs(C + 2 * E + F);
+ }
+ else {
+ t = -E / C;
+ if (rayint != null) rayint.set(rayorig);
+ if (segint != null) segint.scaleAdd(t, segdir, segstart);
+ if (param != null) { param[0] = s; param[1] = t; }
+ return Math.abs(E * t + F);
+ }
+ }
+ }
+ }
+ }
+ else {
+ // ray and segment are parallel
+ if (B > 0) {
+ // opposite direction vectors
+ t = 0;
+ if (D >= 0) {
+ s = 0;
+ if (rayint != null) rayint.set(rayorig);
+ if (segint != null) segint.set(segstart);
+ if (param != null) { param[0] = s; param[1] = t; }
+ return Math.abs(F);
+ }
+ else {
+ s = -D / A;
+ if (rayint != null) rayint.scaleAdd(s, raydir, rayorig);
+ if (segint != null) segint.set(segstart);
+ if (param != null) { param[0] = s; param[1] = t; }
+ return Math.abs(D * s + F);
+ }
+ }
+ else {
+ // same direction vectors
+ E = segdir.dot(diff);// -Dot(seg.m,diff);
+ t = 1;
+ tmp = B + D;
+ if (tmp >= 0) {
+ s = 0;
+ if (rayint != null) rayint.set(rayorig);
+ if (segint != null) segint.set(segend);
+ if (param != null) { param[0] = s; param[1] = t; }
+ return Math.abs(C + 2 * E + F);
+ }
+ else {
+ s = -tmp / A;
+ if (rayint != null) rayint.scaleAdd(s, raydir, rayorig);
+ if (segint != null) segint.set(segend);
+ if (param != null) { param[0] = s; param[1] = t; }
+ return Math.abs(tmp * s + C + 2 * E + F);
+ }
+ }
+ }
}
/**
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