+Unity Runtime codeHEADmaster

1 files changed, 719 insertions, 0 deletions

diff --git a/Runtime/Geometry/TriTriIntersect.cpp b/Runtime/Geometry/TriTriIntersect.cpp
new file mode 100644
index 0000000..03dfdc4
--- /dev/null
+++ b/Runtime/Geometry/TriTriIntersect.cpp
@@ -0,0 +1,719 @@
+#include "UnityPrefix.h"
+/* Triangle/triangle intersection test routine,
+ * by Tomas Moller, 1997.
+ * See article "A Fast Triangle-Triangle Intersection Test",
+ * Journal of Graphics Tools, 2(2), 1997
+ * updated: 2001-06-20 (added line of intersection)
+ *
+ * int tri_tri_intersect(float V0[3],float V1[3],float V2[3],
+ *                       float U0[3],float U1[3],float U2[3])
+ *
+ * parameters: vertices of triangle 1: V0,V1,V2
+ *             vertices of triangle 2: U0,U1,U2
+ * result    : returns 1 if the triangles intersect, otherwise 0
+ *
+ * Here is a version withouts divisions (a little faster)
+ * int NoDivTriTriIsect(float V0[3],float V1[3],float V2[3],
+ *                      float U0[3],float U1[3],float U2[3]);
+ * 
+ * This version computes the line of intersection as well (if they are not coplanar):
+ * int tri_tri_intersect_with_isectline(float V0[3],float V1[3],float V2[3], 
+ *				        float U0[3],float U1[3],float U2[3],int *coplanar,
+ *				        float isectpt1[3],float isectpt2[3]);
+ * coplanar returns whether the tris are coplanar
+ * isectpt1, isectpt2 are the endpoints of the line of intersection
+ */
+
+#include <math.h>
+static int coplanar_tri_tri(float N[3],float V0[3],float V1[3],float V2[3],
+                     float U0[3],float U1[3],float U2[3]);
+static int tri_tri_intersect(float V0[3],float V1[3],float V2[3],
+                      float U0[3],float U1[3],float U2[3]);
+static int NoDivTriTriIsect(float V0[3],float V1[3],float V2[3],
+                     float U0[3],float U1[3],float U2[3]);
+int tri_tri_intersect_with_isectline(float V0[3],float V1[3],float V2[3],
+				     float U0[3],float U1[3],float U2[3],int *coplanar,
+				     float isectpt1[3],float isectpt2[3]);
+
+#define FABS(x) ((float)fabs(x))        /* implement as is fastest on your machine */
+
+/* if USE_EPSILON_TEST is true then we do a check: 
+         if |dv|<EPSILON then dv=0.0;
+   else no check is done (which is less robust)
+*/
+#ifndef TRUE
+#define TRUE 1
+#endif
+
+#define USE_EPSILON_TEST TRUE  
+#define EPSILON 0.000001
+
+
+/* some macros */
+#define CROSS(dest,v1,v2)                      \
+              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];
+
+#define DOT(v1,v2) (v1[0]*v2[0]+v1[1]*v2[1]+v1[2]*v2[2])
+
+#define SUB(dest,v1,v2) dest[0]=v1[0]-v2[0]; dest[1]=v1[1]-v2[1]; dest[2]=v1[2]-v2[2]; 
+
+#define ADD(dest,v1,v2) dest[0]=v1[0]+v2[0]; dest[1]=v1[1]+v2[1]; dest[2]=v1[2]+v2[2]; 
+
+#define MULT(dest,v,factor) dest[0]=factor*v[0]; dest[1]=factor*v[1]; dest[2]=factor*v[2];
+
+#define SET(dest,src) dest[0]=src[0]; dest[1]=src[1]; dest[2]=src[2]; 
+
+/* sort so that a<=b */
+#define SORT(a,b)       \
+             if(a>b)    \
+             {          \
+               float c; \
+               c=a;     \
+               a=b;     \
+               b=c;     \
+             }
+
+#define ISECT(VV0,VV1,VV2,D0,D1,D2,isect0,isect1) \
+              isect0=VV0+(VV1-VV0)*D0/(D0-D1);    \
+              isect1=VV0+(VV2-VV0)*D0/(D0-D2);
+
+
+#define COMPUTE_INTERVALS(VV0,VV1,VV2,D0,D1,D2,D0D1,D0D2,isect0,isect1) \
+  if(D0D1>0.0f)                                         \
+  {                                                     \
+    /* here we know that D0D2<=0.0 */                   \
+    /* that is D0, D1 are on the same side, D2 on the other or on the plane */ \
+    ISECT(VV2,VV0,VV1,D2,D0,D1,isect0,isect1);          \
+  }                                                     \
+  else if(D0D2>0.0f)                                    \
+  {                                                     \
+    /* here we know that d0d1<=0.0 */                   \
+    ISECT(VV1,VV0,VV2,D1,D0,D2,isect0,isect1);          \
+  }                                                     \
+  else if(D1*D2>0.0f || D0!=0.0f)                       \
+  {                                                     \
+    /* here we know that d0d1<=0.0 or that D0!=0.0 */   \
+    ISECT(VV0,VV1,VV2,D0,D1,D2,isect0,isect1);          \
+  }                                                     \
+  else if(D1!=0.0f)                                     \
+  {                                                     \
+    ISECT(VV1,VV0,VV2,D1,D0,D2,isect0,isect1);          \
+  }                                                     \
+  else if(D2!=0.0f)                                     \
+  {                                                     \
+    ISECT(VV2,VV0,VV1,D2,D0,D1,isect0,isect1);          \
+  }                                                     \
+  else                                                  \
+  {                                                     \
+    /* triangles are coplanar */                        \
+    return coplanar_tri_tri(N1,V0,V1,V2,U0,U1,U2);      \
+  }
+
+
+
+/* this edge to edge test is based on Franlin Antonio's gem:
+   "Faster Line Segment Intersection", in Graphics Gems III,
+   pp. 199-202 */ 
+#define EDGE_EDGE_TEST(V0,U0,U1)                      \
+  Bx=U0[i0]-U1[i0];                                   \
+  By=U0[i1]-U1[i1];                                   \
+  Cx=V0[i0]-U0[i0];                                   \
+  Cy=V0[i1]-U0[i1];                                   \
+  f=Ay*Bx-Ax*By;                                      \
+  d=By*Cx-Bx*Cy;                                      \
+  if((f>0 && d>=0 && d<=f) || (f<0 && d<=0 && d>=f))  \
+  {                                                   \
+    e=Ax*Cy-Ay*Cx;                                    \
+    if(f>0)                                           \
+    {                                                 \
+      if(e>=0 && e<=f) return 1;                      \
+    }                                                 \
+    else                                              \
+    {                                                 \
+      if(e<=0 && e>=f) return 1;                      \
+    }                                                 \
+  }                                
+
+#define EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2) \
+{                                              \
+  float Ax,Ay,Bx,By,Cx,Cy,e,d,f;               \
+  Ax=V1[i0]-V0[i0];                            \
+  Ay=V1[i1]-V0[i1];                            \
+  /* test edge U0,U1 against V0,V1 */          \
+  EDGE_EDGE_TEST(V0,U0,U1);                    \
+  /* test edge U1,U2 against V0,V1 */          \
+  EDGE_EDGE_TEST(V0,U1,U2);                    \
+  /* test edge U2,U1 against V0,V1 */          \
+  EDGE_EDGE_TEST(V0,U2,U0);                    \
+}
+
+#define POINT_IN_TRI(V0,U0,U1,U2)           \
+{                                           \
+  float a,b,c,d0,d1,d2;                     \
+  /* is T1 completly inside T2? */          \
+  /* check if V0 is inside tri(U0,U1,U2) */ \
+  a=U1[i1]-U0[i1];                          \
+  b=-(U1[i0]-U0[i0]);                       \
+  c=-a*U0[i0]-b*U0[i1];                     \
+  d0=a*V0[i0]+b*V0[i1]+c;                   \
+                                            \
+  a=U2[i1]-U1[i1];                          \
+  b=-(U2[i0]-U1[i0]);                       \
+  c=-a*U1[i0]-b*U1[i1];                     \
+  d1=a*V0[i0]+b*V0[i1]+c;                   \
+                                            \
+  a=U0[i1]-U2[i1];                          \
+  b=-(U0[i0]-U2[i0]);                       \
+  c=-a*U2[i0]-b*U2[i1];                     \
+  d2=a*V0[i0]+b*V0[i1]+c;                   \
+  if(d0*d1>0.0)                             \
+  {                                         \
+    if(d0*d2>0.0) return 1;                 \
+  }                                         \
+}
+
+static int coplanar_tri_tri(float N[3],float V0[3],float V1[3],float V2[3],
+                     float U0[3],float U1[3],float U2[3])
+{
+   float A[3];
+   short i0,i1;
+   /* first project onto an axis-aligned plane, that maximizes the area */
+   /* of the triangles, compute indices: i0,i1. */
+   A[0]=fabs(N[0]);
+   A[1]=fabs(N[1]);
+   A[2]=fabs(N[2]);
+   if(A[0]>A[1])
+   {
+      if(A[0]>A[2])  
+      {
+          i0=1;      /* A[0] is greatest */
+          i1=2;
+      }
+      else
+      {
+          i0=0;      /* A[2] is greatest */
+          i1=1;
+      }
+   }
+   else   /* A[0]<=A[1] */
+   {
+      if(A[2]>A[1])
+      {
+          i0=0;      /* A[2] is greatest */
+          i1=1;                                           
+      }
+      else
+      {
+          i0=0;      /* A[1] is greatest */
+          i1=2;
+      }
+    }               
+                
+    /* test all edges of triangle 1 against the edges of triangle 2 */
+    EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2);
+    EDGE_AGAINST_TRI_EDGES(V1,V2,U0,U1,U2);
+    EDGE_AGAINST_TRI_EDGES(V2,V0,U0,U1,U2);
+                
+    /* finally, test if tri1 is totally contained in tri2 or vice versa */
+    POINT_IN_TRI(V0,U0,U1,U2);
+    POINT_IN_TRI(U0,V0,V1,V2);
+
+    return 0;
+}
+
+
+static int tri_tri_intersect(float V0[3],float V1[3],float V2[3],
+                      float U0[3],float U1[3],float U2[3])
+{
+  float E1[3],E2[3];
+  float N1[3],N2[3],d1,d2;
+  float du0,du1,du2,dv0,dv1,dv2;
+  float D[3];
+  float isect1[2], isect2[2];
+  float du0du1,du0du2,dv0dv1,dv0dv2;
+  short index;
+  float vp0,vp1,vp2;
+  float up0,up1,up2;
+  float b,c,max;
+
+  /* compute plane equation of triangle(V0,V1,V2) */
+  SUB(E1,V1,V0);
+  SUB(E2,V2,V0);
+  CROSS(N1,E1,E2);
+  d1=-DOT(N1,V0);
+  /* plane equation 1: N1.X+d1=0 */
+
+  /* put U0,U1,U2 into plane equation 1 to compute signed distances to the plane*/
+  du0=DOT(N1,U0)+d1;
+  du1=DOT(N1,U1)+d1;
+  du2=DOT(N1,U2)+d1;
+
+  /* coplanarity robustness check */
+#if USE_EPSILON_TEST==TRUE
+  if(fabs(du0)<EPSILON) du0=0.0;
+  if(fabs(du1)<EPSILON) du1=0.0;
+  if(fabs(du2)<EPSILON) du2=0.0;
+#endif
+  du0du1=du0*du1;
+  du0du2=du0*du2;
+
+  if(du0du1>0.0f && du0du2>0.0f) /* same sign on all of them + not equal 0 ? */
+    return 0;                    /* no intersection occurs */
+
+  /* compute plane of triangle (U0,U1,U2) */
+  SUB(E1,U1,U0);
+  SUB(E2,U2,U0);
+  CROSS(N2,E1,E2);
+  d2=-DOT(N2,U0);
+  /* plane equation 2: N2.X+d2=0 */
+
+  /* put V0,V1,V2 into plane equation 2 */
+  dv0=DOT(N2,V0)+d2;
+  dv1=DOT(N2,V1)+d2;
+  dv2=DOT(N2,V2)+d2;
+
+#if USE_EPSILON_TEST==TRUE
+  if(fabs(dv0)<EPSILON) dv0=0.0;
+  if(fabs(dv1)<EPSILON) dv1=0.0;
+  if(fabs(dv2)<EPSILON) dv2=0.0;
+#endif
+
+  dv0dv1=dv0*dv1;
+  dv0dv2=dv0*dv2;
+        
+  if(dv0dv1>0.0f && dv0dv2>0.0f) /* same sign on all of them + not equal 0 ? */
+    return 0;                    /* no intersection occurs */
+
+  /* compute direction of intersection line */
+  CROSS(D,N1,N2);
+
+  /* compute and index to the largest component of D */
+  max=fabs(D[0]);
+  index=0;
+  b=fabs(D[1]);
+  c=fabs(D[2]);
+  if(b>max) max=b,index=1;
+  if(c>max) max=c,index=2;
+
+  /* this is the simplified projection onto L*/
+  vp0=V0[index];
+  vp1=V1[index];
+  vp2=V2[index];
+  
+  up0=U0[index];
+  up1=U1[index];
+  up2=U2[index];
+
+  /* compute interval for triangle 1 */
+  COMPUTE_INTERVALS(vp0,vp1,vp2,dv0,dv1,dv2,dv0dv1,dv0dv2,isect1[0],isect1[1]);
+
+  /* compute interval for triangle 2 */
+  COMPUTE_INTERVALS(up0,up1,up2,du0,du1,du2,du0du1,du0du2,isect2[0],isect2[1]);
+
+  SORT(isect1[0],isect1[1]);
+  SORT(isect2[0],isect2[1]);
+
+  if(isect1[1]<isect2[0] || isect2[1]<isect1[0]) return 0;
+  return 1;
+}
+
+
+#define NEWCOMPUTE_INTERVALS(VV0,VV1,VV2,D0,D1,D2,D0D1,D0D2,A,B,C,X0,X1) \
+{ \
+        if(D0D1>0.0f) \
+        { \
+                /* here we know that D0D2<=0.0 */ \
+            /* that is D0, D1 are on the same side, D2 on the other or on the plane */ \
+                A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \
+        } \
+        else if(D0D2>0.0f)\
+        { \
+                /* here we know that d0d1<=0.0 */ \
+            A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \
+        } \
+        else if(D1*D2>0.0f || D0!=0.0f) \
+        { \
+                /* here we know that d0d1<=0.0 or that D0!=0.0 */ \
+                A=VV0; B=(VV1-VV0)*D0; C=(VV2-VV0)*D0; X0=D0-D1; X1=D0-D2; \
+        } \
+        else if(D1!=0.0f) \
+        { \
+                A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \
+        } \
+        else if(D2!=0.0f) \
+        { \
+                A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \
+        } \
+        else \
+        { \
+                /* triangles are coplanar */ \
+                return coplanar_tri_tri(N1,V0,V1,V2,U0,U1,U2); \
+        } \
+}
+
+
+
+static int NoDivTriTriIsect(float V0[3],float V1[3],float V2[3],
+                     float U0[3],float U1[3],float U2[3])
+{
+  float E1[3],E2[3];
+  float N1[3],N2[3],d1,d2;
+  float du0,du1,du2,dv0,dv1,dv2;
+  float D[3];
+  float isect1[2], isect2[2];
+  float du0du1,du0du2,dv0dv1,dv0dv2;
+  short index;
+  float vp0,vp1,vp2;
+  float up0,up1,up2;
+  float bb,cc,max;
+  float a,b,c,x0,x1;
+  float d,e,f,y0,y1;
+  float xx,yy,xxyy,tmp;
+
+  /* compute plane equation of triangle(V0,V1,V2) */
+  SUB(E1,V1,V0);
+  SUB(E2,V2,V0);
+  CROSS(N1,E1,E2);
+  d1=-DOT(N1,V0);
+  /* plane equation 1: N1.X+d1=0 */
+
+  /* put U0,U1,U2 into plane equation 1 to compute signed distances to the plane*/
+  du0=DOT(N1,U0)+d1;
+  du1=DOT(N1,U1)+d1;
+  du2=DOT(N1,U2)+d1;
+
+  /* coplanarity robustness check */
+#if USE_EPSILON_TEST==TRUE
+  if(FABS(du0)<EPSILON) du0=0.0;
+  if(FABS(du1)<EPSILON) du1=0.0;
+  if(FABS(du2)<EPSILON) du2=0.0;
+#endif
+  du0du1=du0*du1;
+  du0du2=du0*du2;
+
+  if(du0du1>0.0f && du0du2>0.0f) /* same sign on all of them + not equal 0 ? */
+    return 0;                    /* no intersection occurs */
+
+  /* compute plane of triangle (U0,U1,U2) */
+  SUB(E1,U1,U0);
+  SUB(E2,U2,U0);
+  CROSS(N2,E1,E2);
+  d2=-DOT(N2,U0);
+  /* plane equation 2: N2.X+d2=0 */
+
+  /* put V0,V1,V2 into plane equation 2 */
+  dv0=DOT(N2,V0)+d2;
+  dv1=DOT(N2,V1)+d2;
+  dv2=DOT(N2,V2)+d2;
+
+#if USE_EPSILON_TEST==TRUE
+  if(FABS(dv0)<EPSILON) dv0=0.0;
+  if(FABS(dv1)<EPSILON) dv1=0.0;
+  if(FABS(dv2)<EPSILON) dv2=0.0;
+#endif
+
+  dv0dv1=dv0*dv1;
+  dv0dv2=dv0*dv2;
+
+  if(dv0dv1>0.0f && dv0dv2>0.0f) /* same sign on all of them + not equal 0 ? */
+    return 0;                    /* no intersection occurs */
+
+  /* compute direction of intersection line */
+  CROSS(D,N1,N2);
+
+  /* compute and index to the largest component of D */
+  max=(float)FABS(D[0]);
+  index=0;
+  bb=(float)FABS(D[1]);
+  cc=(float)FABS(D[2]);
+  if(bb>max) max=bb,index=1;
+  if(cc>max) max=cc,index=2;
+
+  /* this is the simplified projection onto L*/
+  vp0=V0[index];
+  vp1=V1[index];
+  vp2=V2[index];
+
+  up0=U0[index];
+  up1=U1[index];
+  up2=U2[index];
+
+  /* compute interval for triangle 1 */
+  NEWCOMPUTE_INTERVALS(vp0,vp1,vp2,dv0,dv1,dv2,dv0dv1,dv0dv2,a,b,c,x0,x1);
+
+  /* compute interval for triangle 2 */
+  NEWCOMPUTE_INTERVALS(up0,up1,up2,du0,du1,du2,du0du1,du0du2,d,e,f,y0,y1);
+
+  xx=x0*x1;
+  yy=y0*y1;
+  xxyy=xx*yy;
+
+  tmp=a*xxyy;
+  isect1[0]=tmp+b*x1*yy;
+  isect1[1]=tmp+c*x0*yy;
+
+  tmp=d*xxyy;
+  isect2[0]=tmp+e*xx*y1;
+  isect2[1]=tmp+f*xx*y0;
+
+  SORT(isect1[0],isect1[1]);
+  SORT(isect2[0],isect2[1]);
+
+  if(isect1[1]<isect2[0] || isect2[1]<isect1[0]) return 0;
+  return 1;
+}
+
+/* sort so that a<=b */
+#define SORT2(a,b,smallest)       \
+             if(a>b)       \
+             {             \
+               float c;    \
+               c=a;        \
+               a=b;        \
+               b=c;        \
+               smallest=1; \
+             }             \
+             else smallest=0;
+
+
+inline void isect2(float VTX0[3],float VTX1[3],float VTX2[3],float VV0,float VV1,float VV2,
+	    float D0,float D1,float D2,float *isect0,float *isect1,float isectpoint0[3],float isectpoint1[3]) 
+{
+  float tmp=D0/(D0-D1);          
+  float diff[3];
+  *isect0=VV0+(VV1-VV0)*tmp;         
+  SUB(diff,VTX1,VTX0);              
+  MULT(diff,diff,tmp);               
+  ADD(isectpoint0,diff,VTX0);        
+  tmp=D0/(D0-D2);                    
+  *isect1=VV0+(VV2-VV0)*tmp;          
+  SUB(diff,VTX2,VTX0);                   
+  MULT(diff,diff,tmp);                 
+  ADD(isectpoint1,VTX0,diff);          
+}
+
+
+#if 0
+#define ISECT2(VTX0,VTX1,VTX2,VV0,VV1,VV2,D0,D1,D2,isect0,isect1,isectpoint0,isectpoint1) \
+              tmp=D0/(D0-D1);                    \
+              isect0=VV0+(VV1-VV0)*tmp;          \
+	      SUB(diff,VTX1,VTX0);               \
+	      MULT(diff,diff,tmp);               \
+              ADD(isectpoint0,diff,VTX0);        \
+				  tmp=D0/(D0-D2);                    
+/*              isect1=VV0+(VV2-VV0)*tmp;          \ */
+/*              SUB(diff,VTX2,VTX0);               \     */
+/*              MULT(diff,diff,tmp);               \   */
+/*              ADD(isectpoint1,VTX0,diff);           */
+#endif
+
+inline int compute_intervals_isectline(float VERT0[3],float VERT1[3],float VERT2[3],
+				       float VV0,float VV1,float VV2,float D0,float D1,float D2,
+				       float D0D1,float D0D2,float *isect0,float *isect1,
+				       float isectpoint0[3],float isectpoint1[3])
+{
+  if(D0D1>0.0f)                                        
+  {                                                    
+    /* here we know that D0D2<=0.0 */                  
+    /* that is D0, D1 are on the same side, D2 on the other or on the plane */
+    isect2(VERT2,VERT0,VERT1,VV2,VV0,VV1,D2,D0,D1,isect0,isect1,isectpoint0,isectpoint1);
+  } 
+  else if(D0D2>0.0f)                                   
+    {                                                   
+    /* here we know that d0d1<=0.0 */             
+    isect2(VERT1,VERT0,VERT2,VV1,VV0,VV2,D1,D0,D2,isect0,isect1,isectpoint0,isectpoint1);
+  }                                                  
+  else if(D1*D2>0.0f || D0!=0.0f)   
+  {                                   
+    /* here we know that d0d1<=0.0 or that D0!=0.0 */
+    isect2(VERT0,VERT1,VERT2,VV0,VV1,VV2,D0,D1,D2,isect0,isect1,isectpoint0,isectpoint1);   
+  }                                                  
+  else if(D1!=0.0f)                                  
+  {                                               
+    isect2(VERT1,VERT0,VERT2,VV1,VV0,VV2,D1,D0,D2,isect0,isect1,isectpoint0,isectpoint1); 
+  }                                         
+  else if(D2!=0.0f)                                  
+  {                                                   
+    isect2(VERT2,VERT0,VERT1,VV2,VV0,VV1,D2,D0,D1,isect0,isect1,isectpoint0,isectpoint1);     
+  }                                                 
+  else                                               
+  {                                                   
+    /* triangles are coplanar */    
+    return 1;
+  }
+  return 0;
+}
+
+#define COMPUTE_INTERVALS_ISECTLINE(VERT0,VERT1,VERT2,VV0,VV1,VV2,D0,D1,D2,D0D1,D0D2,isect0,isect1,isectpoint0,isectpoint1) \
+  if(D0D1>0.0f)                                         \
+  {                                                     \
+    /* here we know that D0D2<=0.0 */                   \
+    /* that is D0, D1 are on the same side, D2 on the other or on the plane */ \
+    isect2(VERT2,VERT0,VERT1,VV2,VV0,VV1,D2,D0,D1,&isect0,&isect1,isectpoint0,isectpoint1);          \
+  }                                                     
+#if 0
+  else if(D0D2>0.0f)                                    \
+  {                                                     \
+    /* here we know that d0d1<=0.0 */                   \
+    isect2(VERT1,VERT0,VERT2,VV1,VV0,VV2,D1,D0,D2,&isect0,&isect1,isectpoint0,isectpoint1);          \
+  }                                                     \
+  else if(D1*D2>0.0f || D0!=0.0f)                       \
+  {                                                     \
+    /* here we know that d0d1<=0.0 or that D0!=0.0 */   \
+    isect2(VERT0,VERT1,VERT2,VV0,VV1,VV2,D0,D1,D2,&isect0,&isect1,isectpoint0,isectpoint1);          \
+  }                                                     \
+  else if(D1!=0.0f)                                     \
+  {                                                     \
+    isect2(VERT1,VERT0,VERT2,VV1,VV0,VV2,D1,D0,D2,&isect0,&isect1,isectpoint0,isectpoint1);          \
+  }                                                     \
+  else if(D2!=0.0f)                                     \
+  {                                                     \
+    isect2(VERT2,VERT0,VERT1,VV2,VV0,VV1,D2,D0,D1,&isect0,&isect1,isectpoint0,isectpoint1);          \
+  }                                                     \
+  else                                                  \
+  {                                                     \
+    /* triangles are coplanar */                        \
+    coplanar=1;                                         \
+    return coplanar_tri_tri(N1,V0,V1,V2,U0,U1,U2);      \
+  }
+#endif
+
+int tri_tri_intersect_with_isectline(float V0[3],float V1[3],float V2[3],
+				     float U0[3],float U1[3],float U2[3],int *coplanar,
+				     float isectpt1[3],float isectpt2[3])
+{
+  float E1[3],E2[3];
+  float N1[3],N2[3],d1,d2;
+  float du0,du1,du2,dv0,dv1,dv2;
+  float D[3];
+  float isect1[2], isect2[2] = {.0f, .0f};
+  float isectpointA1[3],isectpointA2[3];
+  float isectpointB1[3] = {.0f, .0f, .0f},isectpointB2[3] = {.0f, .0f, .0f};
+  float du0du1,du0du2,dv0dv1,dv0dv2;
+  short index;
+  float vp0,vp1,vp2;
+  float up0,up1,up2;
+  float b,c,max;
+  int smallest1,smallest2;
+  
+  /* compute plane equation of triangle(V0,V1,V2) */
+  SUB(E1,V1,V0);
+  SUB(E2,V2,V0);
+  CROSS(N1,E1,E2);
+  d1=-DOT(N1,V0);
+  /* plane equation 1: N1.X+d1=0 */
+
+  /* put U0,U1,U2 into plane equation 1 to compute signed distances to the plane*/
+  du0=DOT(N1,U0)+d1;
+  du1=DOT(N1,U1)+d1;
+  du2=DOT(N1,U2)+d1;
+
+  /* coplanarity robustness check */
+#if USE_EPSILON_TEST==TRUE
+  if(fabs(du0)<EPSILON) du0=0.0;
+  if(fabs(du1)<EPSILON) du1=0.0;
+  if(fabs(du2)<EPSILON) du2=0.0;
+#endif
+  du0du1=du0*du1;
+  du0du2=du0*du2;
+
+  if(du0du1>0.0f && du0du2>0.0f) /* same sign on all of them + not equal 0 ? */
+    return 0;                    /* no intersection occurs */
+
+  /* compute plane of triangle (U0,U1,U2) */
+  SUB(E1,U1,U0);
+  SUB(E2,U2,U0);
+  CROSS(N2,E1,E2);
+  d2=-DOT(N2,U0);
+  /* plane equation 2: N2.X+d2=0 */
+
+  /* put V0,V1,V2 into plane equation 2 */
+  dv0=DOT(N2,V0)+d2;
+  dv1=DOT(N2,V1)+d2;
+  dv2=DOT(N2,V2)+d2;
+
+#if USE_EPSILON_TEST==TRUE
+  if(fabs(dv0)<EPSILON) dv0=0.0;
+  if(fabs(dv1)<EPSILON) dv1=0.0;
+  if(fabs(dv2)<EPSILON) dv2=0.0;
+#endif
+
+  dv0dv1=dv0*dv1;
+  dv0dv2=dv0*dv2;
+        
+  if(dv0dv1>0.0f && dv0dv2>0.0f) /* same sign on all of them + not equal 0 ? */
+    return 0;                    /* no intersection occurs */
+
+  /* compute direction of intersection line */
+  CROSS(D,N1,N2);
+
+  /* compute and index to the largest component of D */
+  max=fabs(D[0]);
+  index=0;
+  b=fabs(D[1]);
+  c=fabs(D[2]);
+  if(b>max) max=b,index=1;
+  if(c>max) max=c,index=2;
+
+  /* this is the simplified projection onto L*/
+  vp0=V0[index];
+  vp1=V1[index];
+  vp2=V2[index];
+  
+  up0=U0[index];
+  up1=U1[index];
+  up2=U2[index];
+
+  /* compute interval for triangle 1 */
+  *coplanar=compute_intervals_isectline(V0,V1,V2,vp0,vp1,vp2,dv0,dv1,dv2,
+				       dv0dv1,dv0dv2,&isect1[0],&isect1[1],isectpointA1,isectpointA2);
+  if(*coplanar) return coplanar_tri_tri(N1,V0,V1,V2,U0,U1,U2);     
+
+
+  /* compute interval for triangle 2 */
+  compute_intervals_isectline(U0,U1,U2,up0,up1,up2,du0,du1,du2,
+			      du0du1,du0du2,&isect2[0],&isect2[1],isectpointB1,isectpointB2);
+
+  SORT2(isect1[0],isect1[1],smallest1);
+  SORT2(isect2[0],isect2[1],smallest2);
+
+  if(isect1[1]<isect2[0] || isect2[1]<isect1[0]) return 0;
+
+  /* at this point, we know that the triangles intersect */
+
+  if(isect2[0]<isect1[0])
+  {
+    if(smallest1==0) { SET(isectpt1,isectpointA1); }
+    else { SET(isectpt1,isectpointA2); }
+
+    if(isect2[1]<isect1[1])
+    {
+      if(smallest2==0) { SET(isectpt2,isectpointB2); }
+      else { SET(isectpt2,isectpointB1); }
+    }
+    else
+    {
+      if(smallest1==0) { SET(isectpt2,isectpointA2); }
+      else { SET(isectpt2,isectpointA1); }
+    }
+  }
+  else
+  {
+    if(smallest2==0) { SET(isectpt1,isectpointB1); }
+    else { SET(isectpt1,isectpointB2); }
+
+    if(isect2[1]>isect1[1])
+    {
+      if(smallest1==0) { SET(isectpt2,isectpointA2); }
+      else { SET(isectpt2,isectpointA1); }      
+    }
+    else
+    {
+      if(smallest2==0) { SET(isectpt2,isectpointB2); }
+      else { SET(isectpt2,isectpointB1); } 
+    }
+  }
+  return 1;
+}