三维空间判断线与三角形相交-CSDN博客

原文：https://members.loria.fr/SLazard/ARC-Visi3D/Pant-project/files/Line_Triangle.html

给出直线上两点坐标以及三角形三个顶点坐标（v0,v1,v2）

可能的情况为：相交或共面，相交中分为：穿过三角形，穿过三角形边缘，穿过三角形顶点

解决这个问题之前先理解两个定义：Plucker坐标， Side Operator

Plucker坐标用来表示由a =（px，py，pz）和b =（qx，qy，qz）组成的直线

L =（L [0]，L [1]，L [2]，L [3]，L [4]，L [5])

l0 = a[0] * b[1] - b[0] * a[1]
l1 = a[0] * b[2] - b[0] * a[2]
l2 = a[0] - b[0]
l3 = a[1] * b[2] - b[1] * a[2]
l4 = a[2] - b[2]
l5 = b[1] - a[1]

Side Operator是一个对Plucker坐标和的运算：（a,b都是Plucker坐标）

side(a,b) = a[0]*b[4] + a[1]*b[5] + a[2]*b[3] + a[3]*b[2] + a[4]*b[0] + a[5]*b[1]

举一个Python的例子

 1 def plucker(a, b):
 2     l0 = a[0] * b[1] - b[0] * a[1]
 3     l1 = a[0] * b[2] - b[0] * a[2]
 4     l2 = a[0] - b[0]
 5     l3 = a[1] * b[2] - b[1] * a[2]
 6     l4 = a[2] - b[2]
 7     l5 = b[1] - a[1]
 8     return [l0, l1, l2, l3, l4, l5]
 9 
10 def sideOp(a, b):
11     res = a[0] * b[4] + a[1] * b[5] + a[2] * b[3] + a[3] * b[2] + a[4 ] * b[0] + a[5] * b[1]
12     return res
13 #定义点
14 a = (0, 0, 0)
15 b = (1, 1, 1)
16 
17 v0 = (0,0,1)
18 v1 = (0,1,0)
19 v2 = (1,0,0)
20 
21 #计算
22 e1 = plucker(v1, v0)
23 e2 = plucker(v2, v1)
24 e3 = plucker(v0, v2)
25 L = plucker(a, b)
26 
27 s1 = sideOp(L, e1)
28 s2 = sideOp(L, e2)
29 s3 = sideOp(L, e3)
30 
31 if s1 == 0 and s2 == 0 and s3 == 0:
32     print("线和三角形共面")
33 elif (s1>0 and s2>0 and s3>0) or (s1<0 and s2<0 and s3<0):
34     print("线穿过三角形")
35 elif (s1 == 0 and s2*s3>0) or (s2 == 0 and s1*s3>0) or (s3 == 0 and s1*s2>0):
36     print("线穿过三角形边缘")
37 elif (s1 == 0 and (s2 == 0)) or (s1 == 0 and (s3 == 0)) or (s2 == 0 and (s3 == 0)):
38     print("线穿过三角形顶点")