rigidmodel.inl

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/*
    Sheep - A Rigid Body Dynamics Engine
    Copyright (C) 2001-2004 Francois Beaune
    Contact: http://toxicengine.sourceforge.net/

    This file is part of Sheep.

    Sheep is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    Sheep is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with Sheep; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

inline
Vector3 RigidModel::ComputeVertexNormal(FeatureId id) const {
    //!\todo Implement.
    //!\todo Precompute.
}

inline
Vector3 RigidModel::ComputeFaceNormal(FeatureId id) const {
    //!\todo Precompute.

    Face f = m_faces[id];

    Vector3 v0 = m_vertices[f.m_v0];
    Vector3 v1 = m_vertices[f.m_v1];
    Vector3 v2 = m_vertices[f.m_v2];

    return ((v1 - v0) ^ (v2 - v0)).Normalized();
}

inline
bool RigidModel::ArePointsSameSide(const Vector3 &p1, const Vector3 &p2,
                                   const Vector3 &v0, const Vector3 &v1)
{
    return ((v1 - v0) ^ (p1 - v0)) * ((v1 - v0) ^ (p2 - v0)) >= 0;
}

inline
bool RigidModel::IsPointInTriangle(const Vector3 &p, const Vector3 &v0,
                                   const Vector3 &v1, const Vector3 &v2)
{
    return
        ArePointsSameSide(p, v0, v1, v2) &&
        ArePointsSameSide(p, v1, v0, v2) &&
        ArePointsSameSide(p, v2, v0, v1);
}

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