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path: root/extern/solid/src/complex/DT_Complex.cpp
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-rw-r--r--extern/solid/src/complex/DT_Complex.cpp327
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diff --git a/extern/solid/src/complex/DT_Complex.cpp b/extern/solid/src/complex/DT_Complex.cpp
deleted file mode 100644
index 023383a8427..00000000000
--- a/extern/solid/src/complex/DT_Complex.cpp
+++ /dev/null
@@ -1,327 +0,0 @@
-/*
- * 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 <new>
-#include <fstream>
-
-#include "DT_Complex.h"
-#include "DT_Minkowski.h"
-#include "DT_Sphere.h"
-#include "DT_Transform.h"
-
-DT_Complex::DT_Complex(const DT_VertexBase *base)
- : m_base(base),
- m_count(0),
- m_leaves(0),
- m_nodes(0)
-{
- assert(base);
- base->addComplex(this);
-}
-
-
-DT_Complex::~DT_Complex()
-{
- DT_Index i;
- for (i = 0; i != m_count; ++i)
- {
- delete m_leaves[i];
- }
- delete [] m_leaves;
- delete [] m_nodes;
-
- m_base->removeComplex(this);
- if (m_base->isOwner())
- {
- delete m_base;
- }
-}
-
-void DT_Complex::finish(DT_Count n, const DT_Convex *p[])
-{
- m_count = n;
-
-
- assert(n >= 1);
-
- m_leaves = new const DT_Convex *[n];
- assert(m_leaves);
-
- DT_CBox *boxes = new DT_CBox[n];
- DT_Index *indices = new DT_Index[n];
- assert(boxes);
-
- DT_Index i;
- for (i = 0; i != n; ++i)
- {
- m_leaves[i] = p[i];
- boxes[i].set(p[i]->bbox());
- indices[i] = i;
- }
-
- m_cbox = boxes[0];
- for (i = 1; i != n; ++i)
- {
- m_cbox = m_cbox.hull(boxes[i]);
- }
-
- if (n == 1)
- {
- m_nodes = 0;
- m_type = DT_BBoxTree::LEAF;
- }
- else
- {
- m_nodes = new DT_BBoxNode[n - 1];
- assert(m_nodes);
-
- int num_nodes = 0;
- new(&m_nodes[num_nodes++]) DT_BBoxNode(0, n, num_nodes, m_nodes, boxes, indices, m_cbox);
-
- assert(num_nodes == n - 1);
-
- m_type = DT_BBoxTree::INTERNAL;
- }
-
- delete [] boxes;
-}
-
-
-MT_BBox DT_Complex::bbox(const MT_Transform& t, MT_Scalar margin) const
-{
- MT_Matrix3x3 abs_b = t.getBasis().absolute();
- MT_Point3 center = t(m_cbox.getCenter());
- MT_Vector3 extent(margin + abs_b[0].dot(m_cbox.getExtent()),
- margin + abs_b[1].dot(m_cbox.getExtent()),
- margin + abs_b[2].dot(m_cbox.getExtent()));
-
- return MT_BBox(center - extent, center + extent);
-}
-
-inline DT_CBox computeCBox(const DT_Convex *p)
-{
- return DT_CBox(p->bbox());
-}
-
-inline DT_CBox computeCBox(MT_Scalar margin, const MT_Transform& xform)
-{
- const MT_Matrix3x3& basis = xform.getBasis();
- return DT_CBox(MT_Point3(MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(0.0)),
- MT_Vector3(basis[0].length() * margin,
- basis[1].length() * margin,
- basis[2].length() * margin));
-}
-
-void DT_Complex::refit()
-{
- DT_RootData<const DT_Convex *> rd(m_nodes, m_leaves);
- DT_Index i = m_count - 1;
- while (i--)
- {
- ::refit(m_nodes[i], rd);
- }
- m_cbox = m_type == DT_BBoxTree::LEAF ? computeCBox(m_leaves[0]) : m_nodes[0].hull();
-}
-
-inline bool ray_cast(const DT_RootData<const DT_Convex *>& rd, DT_Index index, const MT_Point3& source, const MT_Point3& target,
- MT_Scalar& lambda, MT_Vector3& normal)
-{
- return rd.m_leaves[index]->ray_cast(source, target, lambda, normal);
-}
-
-bool DT_Complex::ray_cast(const MT_Point3& source, const MT_Point3& target,
- MT_Scalar& lambda, MT_Vector3& normal) const
-{
- DT_RootData<const DT_Convex *> rd(m_nodes, m_leaves);
-
- return ::ray_cast(DT_BBoxTree(m_cbox, 0, m_type), rd, source, target, lambda, normal);
-}
-
-inline bool intersect(const DT_Pack<const DT_Convex *, MT_Scalar>& pack, DT_Index a_index, MT_Vector3& v)
-{
- DT_Transform ta = DT_Transform(pack.m_a.m_xform, *pack.m_a.m_leaves[a_index]);
- MT_Scalar a_margin = pack.m_a.m_plus;
- 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)),
- pack.m_b, v);
-}
-
-bool intersect(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
- const DT_Convex& b, MT_Vector3& v)
-{
- DT_Pack<const DT_Convex *, MT_Scalar> pack(DT_ObjectData<const DT_Convex *, MT_Scalar>(a.m_nodes, a.m_leaves, a2w, a_margin), b);
-
- return intersect(DT_BBoxTree(a.m_cbox + pack.m_a.m_added, 0, a.m_type), pack, v);
-}
-
-inline bool intersect(const DT_DuoPack<const DT_Convex *, MT_Scalar>& pack, DT_Index a_index, DT_Index b_index, MT_Vector3& v)
-{
- DT_Transform ta = DT_Transform(pack.m_a.m_xform, *pack.m_a.m_leaves[a_index]);
- MT_Scalar a_margin = pack.m_a.m_plus;
- DT_Transform tb = DT_Transform(pack.m_b.m_xform, *pack.m_b.m_leaves[b_index]);
- MT_Scalar b_margin = pack.m_b.m_plus;
- 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 intersect(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
- const DT_Complex& b, const MT_Transform& b2w, MT_Scalar b_margin, MT_Vector3& v)
-{
- DT_DuoPack<const DT_Convex *, MT_Scalar> pack(DT_ObjectData<const DT_Convex *, MT_Scalar>(a.m_nodes, a.m_leaves, a2w, a_margin),
- DT_ObjectData<const DT_Convex *, MT_Scalar>(b.m_nodes, b.m_leaves, b2w, b_margin));
-
-
- return intersect(DT_BBoxTree(a.m_cbox + pack.m_a.m_added, 0, a.m_type),
- DT_BBoxTree(b.m_cbox + pack.m_b.m_added, 0, b.m_type), pack, v);
-}
-
-inline bool common_point(const DT_Pack<const DT_Convex *, MT_Scalar>& pack, DT_Index a_index, MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
-{
- DT_Transform ta = DT_Transform(pack.m_a.m_xform, *pack.m_a.m_leaves[a_index]);
- MT_Scalar a_margin = pack.m_a.m_plus;
- 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)),
- pack.m_b, v, pa, pb);
-}
-
-bool common_point(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
- const DT_Convex& b, MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
-{
- DT_Pack<const DT_Convex *, MT_Scalar> pack(DT_ObjectData<const DT_Convex *, MT_Scalar>(a.m_nodes, a.m_leaves, a2w, a_margin), b);
-
- return common_point(DT_BBoxTree(a.m_cbox + pack.m_a.m_added, 0, a.m_type), pack, v, pb, pa);
-}
-
-inline bool common_point(const DT_DuoPack<const DT_Convex *, MT_Scalar>& pack, DT_Index a_index, DT_Index b_index, MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
-{
- DT_Transform ta = DT_Transform(pack.m_a.m_xform, *pack.m_a.m_leaves[a_index]);
- MT_Scalar a_margin = pack.m_a.m_plus;
- DT_Transform tb = DT_Transform(pack.m_b.m_xform, *pack.m_b.m_leaves[b_index]);
- MT_Scalar b_margin = pack.m_b.m_plus;
- 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_point(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
- const DT_Complex& b, const MT_Transform& b2w, MT_Scalar b_margin,
- MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
-{
- DT_DuoPack<const DT_Convex *, MT_Scalar> pack(DT_ObjectData<const DT_Convex *, MT_Scalar>(a.m_nodes, a.m_leaves, a2w, a_margin),
- DT_ObjectData<const DT_Convex *, MT_Scalar>(b.m_nodes, b.m_leaves, b2w, b_margin));
-
- return common_point(DT_BBoxTree(a.m_cbox + pack.m_a.m_added, 0, a.m_type),
- DT_BBoxTree(b.m_cbox + pack.m_b.m_added, 0, b.m_type), pack, v, pa, pb);
-}
-
-inline bool penetration_depth(const DT_HybridPack<const DT_Convex *, MT_Scalar>& pack, DT_Index a_index, MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
-{
- DT_Transform ta = DT_Transform(pack.m_a.m_xform, *pack.m_a.m_leaves[a_index]);
- return ::hybrid_penetration_depth(ta, pack.m_a.m_plus, pack.m_b, pack.m_margin, v, pa, pb);
-}
-
-bool penetration_depth(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
- const DT_Convex& b, MT_Scalar b_margin, MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
-{
- DT_HybridPack<const DT_Convex *, MT_Scalar> pack(DT_ObjectData<const DT_Convex *, MT_Scalar>(a.m_nodes, a.m_leaves, a2w, a_margin), b, b_margin);
-
- MT_Scalar max_pen_len = MT_Scalar(0.0);
- return penetration_depth(DT_BBoxTree(a.m_cbox + pack.m_a.m_added, 0, a.m_type), pack, v, pa, pb, max_pen_len);
-}
-
-inline bool penetration_depth(const DT_DuoPack<const DT_Convex *, MT_Scalar>& pack, DT_Index a_index, DT_Index b_index, MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
-{
- DT_Transform ta = DT_Transform(pack.m_a.m_xform, *pack.m_a.m_leaves[a_index]);
- DT_Transform tb = DT_Transform(pack.m_b.m_xform, *pack.m_b.m_leaves[b_index]);
- return ::hybrid_penetration_depth(ta, pack.m_a.m_plus, tb, pack.m_a.m_plus, v, pa, pb);
-}
-
-bool penetration_depth(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
- const DT_Complex& b, const MT_Transform& b2w, MT_Scalar b_margin,
- MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
-{
- DT_DuoPack<const DT_Convex *, MT_Scalar> pack(DT_ObjectData<const DT_Convex *, MT_Scalar>(a.m_nodes, a.m_leaves, a2w, a_margin),
- DT_ObjectData<const DT_Convex *, MT_Scalar>(b.m_nodes, b.m_leaves, b2w, b_margin));
-
- MT_Scalar max_pen_len = MT_Scalar(0.0);
- return penetration_depth(DT_BBoxTree(a.m_cbox + pack.m_a.m_added, 0, a.m_type),
- DT_BBoxTree(b.m_cbox + pack.m_b.m_added, 0, b.m_type), pack, v, pa, pb, max_pen_len);
-}
-
-
-
-inline MT_Scalar closest_points(const DT_Pack<const DT_Convex *, MT_Scalar>& pack, DT_Index a_index, MT_Scalar max_dist2, MT_Point3& pa, MT_Point3& pb)
-{
- DT_Transform ta = DT_Transform(pack.m_a.m_xform, *pack.m_a.m_leaves[a_index]);
- MT_Scalar a_margin = pack.m_a.m_plus;
- 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)),
- pack.m_b, max_dist2, pa, pb);
-}
-
-MT_Scalar closest_points(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
- const DT_Convex& b, MT_Point3& pa, MT_Point3& pb)
-{
- DT_Pack<const DT_Convex *, MT_Scalar> pack(DT_ObjectData<const DT_Convex *, MT_Scalar>(a.m_nodes, a.m_leaves, a2w, a_margin), b);
-
- return closest_points(DT_BBoxTree(a.m_cbox + pack.m_a.m_added, 0, a.m_type), pack, MT_INFINITY, pa, pb);
-}
-
-inline MT_Scalar closest_points(const DT_DuoPack<const DT_Convex *, MT_Scalar>& pack, DT_Index a_index, DT_Index b_index, MT_Scalar max_dist2, MT_Point3& pa, MT_Point3& pb)
-{
- DT_Transform ta = DT_Transform(pack.m_a.m_xform, *pack.m_a.m_leaves[a_index]);
- MT_Scalar a_margin = pack.m_a.m_plus;
- DT_Transform tb = DT_Transform(pack.m_b.m_xform, *pack.m_b.m_leaves[b_index]);
- MT_Scalar b_margin = pack.m_b.m_plus;
- 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)), max_dist2, pa, pb);
-}
-
-MT_Scalar closest_points(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
- const DT_Complex& b, const MT_Transform& b2w, MT_Scalar b_margin,
- MT_Point3& pa, MT_Point3& pb)
-{
- DT_DuoPack<const DT_Convex *, MT_Scalar> pack(DT_ObjectData<const DT_Convex *, MT_Scalar>(a.m_nodes, a.m_leaves, a2w, a_margin),
- DT_ObjectData<const DT_Convex *, MT_Scalar>(b.m_nodes, b.m_leaves, b2w, b_margin));
-
- return closest_points(DT_BBoxTree(a.m_cbox + pack.m_a.m_added, 0, a.m_type),
- DT_BBoxTree(b.m_cbox + pack.m_b.m_added, 0, b.m_type), pack, MT_INFINITY, pa, pb);
-}
-
-
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