点与三角形的碰撞检测

算法描述，参考链接：
[https://blackpawn.com/texts/pointinpoly/default.html]

代码实现，C++：

// Is the point within the face?
// Adapted from http://www.blackpawn.com/texts/pointinpoly/default.html
bool is_inside(const Vec2& point, const Face* f) {
    Vec3 bary = get_barycentric_coords(point, f);
    //printf("UV: %f, %f\n", u, v);
    // Check if point is in triangle
    // 10*epsilon: want to be robust for borders
    return ((bary[0] >= -10*EPSILON) && (bary[1] >= -10*EPSILON) && (bary[2] >= -100*EPSILON));
}

Vec3 get_barycentric_coords(const Vec2& point, const Face* f) {
    // Compute vectors        
    Vec2 v0 = f->v[0]->u - f->v[2]->u;
    Vec2 v1 = f->v[1]->u - f->v[2]->u;
    Vec2 v2 = point - f->v[2]->u;
    // Compute dot products
    double dot00 = dot(v0, v0);
    double dot01 = dot(v0, v1);
    double dot02 = dot(v0, v2);
    double dot11 = dot(v1, v1);
    double dot12 = dot(v1, v2);
    // Compute barycentric coordinates
    double invDenom = 1.f / (dot00 * dot11 - dot01 * dot01);
    double u = (dot11 * dot02 - dot01 * dot12) * invDenom;
    double v = (dot00 * dot12 - dot01 * dot02) * invDenom;
    return Vec3(u,v,1-u-v);
}

什么是重心坐标，参考：
重心坐标（Barycentric coordinates）