basic/geometry/geo_rangesensor/raytrace.h File Reference

#include <math.h>

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Defines

#define raytrace_h__INCLUDED_
#define EPSILON   0.000001
#define CROSS(dest, v1, v2)
#define DOT(v1, v2)   (v1[0]*v2[0]+v1[1]*v2[1]+v1[2]*v2[2])
#define SUB(dest, v1, v2)

Functions

int intersect_triangle (double orig[3], double dir[3], double vert0[3], double vert1[3], double vert2[3], double edge1[3], double edge2[3], double *t, double *u, double *v)
int intersect_triangle_backup (double orig[3], double dir[3], double vert0[3], double vert1[3], double vert2[3], double *t, double *u, double *v)
int intersect_4pt (double orig[3], double dir[3], double vert0[3], double vert1[3], double vert2[3], double vert3[3], double *t, double *u, double *v)
int intersect_quad (double orig[3], double dir[3], double vert0[3], double vert1[3], double vert2[3], double vert3[3], double *t, double *u, double *v)
int intersect_sphere (double loc[3], double dir[3], double center[3], double radius, double &t, double maxt)
void normalize (double &a, double &b, double &c)

Define Documentation

#define CROSS (  dest,
v1,
v2   ) 
 

Value:

dest[0]=v1[1]*v2[2]-v1[2]*v2[1]; \
  dest[1]=v1[2]*v2[0]-v1[0]*v2[2]; \
dest[2]=v1[0]*v2[1]-v1[1]*v2[0];

Definition at line 13 of file raytrace.h.

Referenced by intersect_4pt(), intersect_quad(), intersect_triangle(), and intersect_triangle_backup().

#define DOT (  v1,
v2   )     (v1[0]*v2[0]+v1[1]*v2[1]+v1[2]*v2[2])
 

Definition at line 17 of file raytrace.h.

Referenced by intersect_4pt(), intersect_quad(), intersect_sphere(), intersect_triangle(), and intersect_triangle_backup().

#define EPSILON   0.000001
 

Definition at line 12 of file raytrace.h.

Referenced by intersect_4pt(), intersect_quad(), intersect_sphere(), intersect_triangle(), and intersect_triangle_backup().

#define raytrace_h__INCLUDED_
 

Definition at line 2 of file raytrace.h.

#define SUB (  dest,
v1,
v2   ) 
 

Value:

dest[0]=v1[0]-v2[0]; \
  dest[1]=v1[1]-v2[1]; \
dest[2]=v1[2]-v2[2];

Definition at line 18 of file raytrace.h.

Referenced by intersect_4pt(), intersect_quad(), intersect_triangle(), and intersect_triangle_backup().

Function Documentation

int intersect_4pt (  double  orig[3],
double  dir[3],
double  vert0[3],
double  vert1[3],
double  vert2[3],
double  vert3[3],
double *  t,
double *  u,
double *  v
)  [inline]
 

Definition at line 161 of file raytrace.h.

References CROSS, DOT, EPSILON, and SUB.

int intersect_quad (  double  orig[3],
double  dir[3],
double  vert0[3],
double  vert1[3],
double  vert2[3],
double  vert3[3],
double *  t,
double *  u,
double *  v
)  [inline]
 

Definition at line 239 of file raytrace.h.

References CROSS, DOT, EPSILON, and SUB.

int intersect_sphere (  double  loc[3],
double  dir[3],
double  center[3],
double  radius,
double &  t,
double  maxt
)  [inline]
 

Definition at line 317 of file raytrace.h.

References DOT, and EPSILON.

Referenced by Range_Sensor::AddSphereToDepthMap().

int intersect_triangle (  double  orig[3],
double  dir[3],
double  vert0[3],
double  vert1[3],
double  vert2[3],
double  edge1[3],
double  edge2[3],
double *  t,
double *  u,
double *  v
)  [inline]
 

Definition at line 25 of file raytrace.h.

References CROSS, DOT, EPSILON, and SUB.

int intersect_triangle_backup (  double  orig[3],
double  dir[3],
double  vert0[3],
double  vert1[3],
double  vert2[3],
double *  t,
double *  u,
double *  v
)  [inline]
 

Definition at line 87 of file raytrace.h.

References CROSS, DOT, EPSILON, and SUB.

void normalize (  double &  a,
double &  b,
double &  c
)  [inline]
 

Definition at line 366 of file raytrace.h.

Referenced by Range_Sensor::AddCylinderToDepthMap().

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