三角形跟射线求交

/*! V0，V1，V2三角形三顶点 I为交点 返回值 -1：没有交点 0： 交点在三角形外 1：交点在三角形内部 */ int intersect_RayTriangle( const gtl::Rayf& R, const gtl::Vec3f& V0, const gtl::Vec3f& V1, const gtl::Vec3f& V2, gtl::Vec3f& I ) { gtl::Vec3f u, v, n; // triangle vectors gtl::Vec3f dir, w0, w; // ray vectors float r, a, b; // params to calc ray-plane intersect // get triangle edge vectors and plane normal u = V1 - V0; v = V2 - V0; n = u.cross(v); if (n == gtl::Vec3f(0.0f, 0.0f, 0.0f)) // triangle is degenerate return -1; // do not deal with this case dir = R.getDirection(); // ray direction vector w0 = R.getOrigin() - V0; a = -( n.dot(w0) ); // a = -dot(n,w0); b = n.dot(dir); //b = dot(n,dir); if (fabs(b) < SMALL_NUM) { // ray is parallel to triangle plane if (a == 0) // ray lies in triangle plane return 2; else return 0; // ray disjoint from plane } // get intersect point of ray with triangle plane r = a / b; if (r < 0.0) // ray goes away from triangle return 0; // => no intersect // for a segment, also test if (r > 1.0) => no intersect I = R.getOrigin() + r * dir; // intersect point of ray and plane is I inside T? float uu, uv, vv, wu, wv, D; uu = u.dot(u); uv = u.dot(v); vv = v.dot(v); w = I - V0; wu = w.dot(u); wv = w.dot(v); D = uv * uv - uu * vv; // get and test parametric coords float s, t; s = (uv * wv - vv * wu) / D; if (s < 0.0 || s > 1.0) // I is outside T return 0; t = (uv * wu - uu * wv) / D; if (t < 0.0 || (s + t) > 1.0) // I is outside T return 0; return 1; // I is in T }