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-rw-r--r--extern/solid/src/DT_Object.cpp276
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diff --git a/extern/solid/src/DT_Object.cpp b/extern/solid/src/DT_Object.cpp
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--- a/extern/solid/src/DT_Object.cpp
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-/*
- * SOLID - Software Library for Interference Detection
- *
- * Copyright (C) 2001-2003 Dtecta. All rights reserved.
- *
- * This library may be distributed under the terms of the Q Public License
- * (QPL) as defined by Trolltech AS of Norway and appearing in the file
- * LICENSE.QPL included in the packaging of this file.
- *
- * This library may be distributed and/or modified under the terms of the
- * GNU General Public License (GPL) version 2 as published by the Free Software
- * Foundation and appearing in the file LICENSE.GPL included in the
- * packaging of this file.
- *
- * This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
- * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
- * Commercial use or any other use of this library not covered by either
- * the QPL or the GPL requires an additional license from Dtecta.
- * Please contact info@dtecta.com for enquiries about the terms of commercial
- * use of this library.
- */
-
-#include "DT_Object.h"
-#include "DT_AlgoTable.h"
-#include "DT_Convex.h"
-#include "DT_Complex.h"
-#include "DT_LineSegment.h"
-#include "DT_Transform.h"
-#include "DT_Minkowski.h"
-#include "DT_Sphere.h"
-
-void DT_Object::setBBox()
-{
- m_bbox = m_shape.bbox(m_xform, m_margin);
- DT_Vector3 min, max;
- m_bbox.getMin().getValue(min);
- m_bbox.getMax().getValue(max);
-
- T_ProxyList::const_iterator it;
- for (it = m_proxies.begin(); it != m_proxies.end(); ++it)
- {
- BP_SetBBox(*it, min, max);
- }
-}
-
-bool DT_Object::ray_cast(const MT_Point3& source, const MT_Point3& target,
- MT_Scalar& lambda, MT_Vector3& normal) const
-{
- MT_Transform inv_xform = m_xform.inverse();
- MT_Point3 local_source = inv_xform(source);
- MT_Point3 local_target = inv_xform(target);
- MT_Vector3 local_normal;
-
- bool result = m_shape.ray_cast(local_source, local_target, lambda, local_normal);
-
- if (result)
- {
- normal = local_normal * inv_xform.getBasis();
- MT_Scalar len = normal.length();
- if (len > MT_Scalar(0.0))
- {
- normal /= len;
- }
- }
-
- return result;
-}
-
-
-typedef AlgoTable<Intersect> IntersectTable;
-typedef AlgoTable<Common_point> Common_pointTable;
-typedef AlgoTable<Penetration_depth> Penetration_depthTable;
-typedef AlgoTable<Closest_points> Closest_pointsTable;
-
-
-bool intersectConvexConvex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
- const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
- MT_Vector3& v)
-{
- DT_Transform ta(a2w, (const DT_Convex&)a);
- DT_Transform tb(b2w, (const DT_Convex&)b);
- return intersect((a_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(ta, DT_Sphere(a_margin))) : static_cast<const DT_Convex&>(ta)),
- (b_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(tb, DT_Sphere(b_margin))) : static_cast<const DT_Convex&>(tb)), v);
-}
-
-bool intersectComplexConvex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
- const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
- MT_Vector3& v)
-{
- if (a.getType() == COMPLEX)
- {
- DT_Transform tb(b2w, (const DT_Convex&)b);
- return intersect((const DT_Complex&)a, a2w, a_margin,
- (b_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(tb, DT_Sphere(b_margin))) : static_cast<const DT_Convex&>(tb)), v);
- }
-
- bool r = intersectComplexConvex(b, b2w, b_margin, a, a2w, a_margin, v);
- v *= -1.;
- return r;
-}
-
-bool intersectComplexComplex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
- const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
- MT_Vector3& v)
-{
- return intersect((const DT_Complex&)a, a2w, a_margin,
- (const DT_Complex&)b, b2w, b_margin, v);
-}
-
-IntersectTable *intersectInitialize()
-{
- IntersectTable *p = new IntersectTable;
- p->addEntry(COMPLEX, COMPLEX, intersectComplexComplex);
- p->addEntry(COMPLEX, CONVEX, intersectComplexConvex);
- p->addEntry(CONVEX, CONVEX, intersectConvexConvex);
- return p;
-}
-
-bool intersect(const DT_Object& a, const DT_Object& b, MT_Vector3& v)
-{
- static IntersectTable *intersectTable = intersectInitialize();
- Intersect intersect = intersectTable->lookup(a.getType(), b.getType());
- return intersect(a.m_shape, a.m_xform, a.m_margin,
- b.m_shape, b.m_xform, b.m_margin, v);
-}
-
-bool common_pointConvexConvex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
- const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
- MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
-{
- DT_Transform ta(a2w, (const DT_Convex&)a);
- DT_Transform tb(b2w, (const DT_Convex&)b);
- return common_point((a_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(ta, DT_Sphere(a_margin))) : static_cast<const DT_Convex&>(ta)),
- (b_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(tb, DT_Sphere(b_margin))) : static_cast<const DT_Convex&>(tb)), v, pa, pb);
-}
-
-bool common_pointComplexConvex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
- const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
- MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
-{
- if (a.getType() == COMPLEX)
- {
- DT_Transform tb(b2w, (const DT_Convex&)b);
- return common_point((const DT_Complex&)a, a2w, a_margin,
- (b_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(tb, DT_Sphere(b_margin))) : static_cast<const DT_Convex&>(tb)), v, pa, pb);
- }
-
- bool r = common_pointComplexConvex(b, b2w, b_margin, a, a2w, a_margin, v, pb, pa);
- v *= -1.;
- return r;
-}
-
-bool common_pointComplexComplex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
- const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
- MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
-{
- return common_point((const DT_Complex&)a, a2w, a_margin,
- (const DT_Complex&)b, b2w, b_margin, v, pa, pb);
-}
-
-Common_pointTable *common_pointInitialize()
-{
- Common_pointTable *p = new Common_pointTable;
- p->addEntry(COMPLEX, COMPLEX, common_pointComplexComplex);
- p->addEntry(COMPLEX, CONVEX, common_pointComplexConvex);
- p->addEntry(CONVEX, CONVEX, common_pointConvexConvex);
- return p;
-}
-
-bool common_point(const DT_Object& a, const DT_Object& b, MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
-{
- static Common_pointTable *common_pointTable = common_pointInitialize();
- Common_point common_point = common_pointTable->lookup(a.getType(), b.getType());
- return common_point(a.m_shape, a.m_xform, a.m_margin,
- b.m_shape, b.m_xform, b.m_margin, v, pa, pb);
-}
-
-
-
-bool penetration_depthConvexConvex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
- const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
- MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
-{
- return hybrid_penetration_depth(DT_Transform(a2w, (const DT_Convex&)a), a_margin,
- DT_Transform(b2w, (const DT_Convex&)b), b_margin, v, pa, pb);
-}
-
-bool penetration_depthComplexConvex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
- const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
- MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
-{
- if (a.getType() == COMPLEX)
- return penetration_depth((const DT_Complex&)a, a2w, a_margin,
- DT_Transform(b2w, (const DT_Convex&)b), b_margin, v, pa, pb);
-
- bool r = penetration_depthComplexConvex(b, b2w, b_margin, a, a2w, a_margin, v, pb, pa);
- v *= -1.;
- return r;
-}
-
-bool penetration_depthComplexComplex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
- const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
- MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
-{
- return penetration_depth((const DT_Complex&)a, a2w, a_margin, (const DT_Complex&)b, b2w, b_margin, v, pa, pb);
-}
-
-Penetration_depthTable *penetration_depthInitialize()
-{
- Penetration_depthTable *p = new Penetration_depthTable;
- p->addEntry(COMPLEX, COMPLEX, penetration_depthComplexComplex);
- p->addEntry(COMPLEX, CONVEX, penetration_depthComplexConvex);
- p->addEntry(CONVEX, CONVEX, penetration_depthConvexConvex);
- return p;
-}
-
-bool penetration_depth(const DT_Object& a, const DT_Object& b, MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
-{
- static Penetration_depthTable *penetration_depthTable = penetration_depthInitialize();
- Penetration_depth penetration_depth = penetration_depthTable->lookup(a.getType(), b.getType());
- return penetration_depth(a.m_shape, a.m_xform, a.m_margin,
- b.m_shape, b.m_xform, b.m_margin, v, pa, pb);
-}
-
-
-MT_Scalar closest_pointsConvexConvex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
- const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
- MT_Point3& pa, MT_Point3& pb)
-{
- DT_Transform ta(a2w, (const DT_Convex&)a);
- DT_Transform tb(b2w, (const DT_Convex&)b);
- return closest_points((a_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(ta, DT_Sphere(a_margin))) : static_cast<const DT_Convex&>(ta)),
- (b_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(tb, DT_Sphere(b_margin))) : static_cast<const DT_Convex&>(tb)), MT_INFINITY, pa, pb);
-}
-
-MT_Scalar closest_pointsComplexConvex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
- const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
- MT_Point3& pa, MT_Point3& pb)
-{
- if (a.getType() == COMPLEX)
- {
- DT_Transform tb(b2w, (const DT_Convex&)b);
- return closest_points((const DT_Complex&)a, a2w, a_margin,
- (b_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(tb, DT_Sphere(b_margin))) : static_cast<const DT_Convex&>(tb)), pa, pb);
- }
-
- return closest_pointsComplexConvex(b, b2w, b_margin, a, a2w, a_margin, pb, pa);
-}
-
-MT_Scalar closest_pointsComplexComplex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
- const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
- MT_Point3& pa, MT_Point3& pb)
-{
- return closest_points((const DT_Complex&)a, a2w, a_margin,
- (const DT_Complex&)b, b2w, b_margin, pa, pb);
-}
-
-Closest_pointsTable *closest_pointsInitialize()
-{
- Closest_pointsTable *p = new Closest_pointsTable;
- p->addEntry(COMPLEX, COMPLEX, closest_pointsComplexComplex);
- p->addEntry(COMPLEX, CONVEX, closest_pointsComplexConvex);
- p->addEntry(CONVEX, CONVEX, closest_pointsConvexConvex);
- return p;
-}
-
-MT_Scalar closest_points(const DT_Object& a, const DT_Object& b,
- MT_Point3& pa, MT_Point3& pb)
-{
- static Closest_pointsTable *closest_pointsTable = closest_pointsInitialize();
- Closest_points closest_points = closest_pointsTable->lookup(a.getType(), b.getType());
- return closest_points(a.m_shape, a.m_xform, a.m_margin,
- b.m_shape, b.m_xform, b.m_margin, pa, pb);
-}
-
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