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path: root/extern/solid/src/convex/DT_Convex.cpp
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-rw-r--r--extern/solid/src/convex/DT_Convex.cpp426
1 files changed, 0 insertions, 426 deletions
diff --git a/extern/solid/src/convex/DT_Convex.cpp b/extern/solid/src/convex/DT_Convex.cpp
deleted file mode 100644
index 3be47f6ed02..00000000000
--- a/extern/solid/src/convex/DT_Convex.cpp
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@@ -1,426 +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 "DT_Convex.h"
-#include "GEN_MinMax.h"
-
-//#define DEBUG
-#define SAFE_EXIT
-
-#include "DT_GJK.h"
-#include "DT_PenDepth.h"
-
-#include <algorithm>
-#include <new>
-
-#include "MT_BBox.h"
-#include "DT_Sphere.h"
-#include "DT_Minkowski.h"
-
-#include "DT_Accuracy.h"
-
-#ifdef STATISTICS
-int num_iterations = 0;
-int num_irregularities = 0;
-#endif
-
-MT_BBox DT_Convex::bbox() const
-{
- MT_Point3 min(-supportH(MT_Vector3(-1.0f, 0.0f, 0.0f)),
- -supportH(MT_Vector3(0.0f, -1.0f, 0.0f)),
- -supportH(MT_Vector3(0.0f, 0.0f, -1.0f)));
- MT_Point3 max( supportH(MT_Vector3(1.0f, 0.0f, 0.0f)),
- supportH(MT_Vector3(0.0f, 1.0f, 0.0f)),
- supportH(MT_Vector3(0.0f, 0.0f, 1.0f)));
-
-
- return MT_BBox(min, max);
-}
-
-MT_BBox DT_Convex::bbox(const MT_Matrix3x3& basis) const
-{
- MT_Point3 min(-supportH(-basis[0]),
- -supportH(-basis[1]),
- -supportH(-basis[2]));
- MT_Point3 max( supportH( basis[0]),
- supportH( basis[1]),
- supportH( basis[2]));
- return MT_BBox(min, max);
-}
-
-MT_BBox DT_Convex::bbox(const MT_Transform& t, MT_Scalar margin) const
-{
- MT_Point3 min(t.getOrigin()[0] - supportH(-t.getBasis()[0]) - margin,
- t.getOrigin()[1] - supportH(-t.getBasis()[1]) - margin,
- t.getOrigin()[2] - supportH(-t.getBasis()[2]) - margin);
- MT_Point3 max(t.getOrigin()[0] + supportH( t.getBasis()[0]) + margin,
- t.getOrigin()[1] + supportH( t.getBasis()[1]) + margin,
- t.getOrigin()[2] + supportH( t.getBasis()[2]) + margin);
- return MT_BBox(min, max);
-}
-
-bool DT_Convex::ray_cast(const MT_Point3& source, const MT_Point3& target, MT_Scalar& lambda, MT_Vector3& normal) const
-{
- // Still working on this one...
- return false;
-}
-
-bool intersect(const DT_Convex& a, const DT_Convex& b, MT_Vector3& v)
-{
- DT_GJK gjk;
-
-#ifdef STATISTICS
- num_iterations = 0;
-#endif
- MT_Scalar dist2 = MT_INFINITY;
-
- do
- {
- MT_Point3 p = a.support(-v);
- MT_Point3 q = b.support(v);
- MT_Vector3 w = p - q;
-
- if (v.dot(w) > MT_Scalar(0.0))
- {
- return false;
- }
-
- gjk.addVertex(w);
-
-#ifdef STATISTICS
- ++num_iterations;
-#endif
- if (!gjk.closest(v))
- {
-#ifdef STATISTICS
- ++num_irregularities;
-#endif
- return false;
- }
-
-#ifdef SAFE_EXIT
- MT_Scalar prev_dist2 = dist2;
-#endif
-
- dist2 = v.length2();
-
-#ifdef SAFE_EXIT
- if (prev_dist2 - dist2 <= MT_EPSILON * prev_dist2)
- {
- return false;
- }
-#endif
- }
- while (!gjk.fullSimplex() && dist2 > DT_Accuracy::tol_error * gjk.maxVertex());
-
- v.setValue(MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(0.0));
-
- return true;
-}
-
-
-
-
-bool common_point(const DT_Convex& a, const DT_Convex& b,
- MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
-{
- DT_GJK gjk;
-
-#ifdef STATISTICS
- num_iterations = 0;
-#endif
-
- MT_Scalar dist2 = MT_INFINITY;
-
- do
- {
- MT_Point3 p = a.support(-v);
- MT_Point3 q = b.support(v);
- MT_Vector3 w = p - q;
-
- if (v.dot(w) > MT_Scalar(0.0))
- {
- return false;
- }
-
- gjk.addVertex(w, p, q);
-
-#ifdef STATISTICS
- ++num_iterations;
-#endif
- if (!gjk.closest(v))
- {
-#ifdef STATISTICS
- ++num_irregularities;
-#endif
- return false;
- }
-
-#ifdef SAFE_EXIT
- MT_Scalar prev_dist2 = dist2;
-#endif
-
- dist2 = v.length2();
-
-#ifdef SAFE_EXIT
- if (prev_dist2 - dist2 <= MT_EPSILON * prev_dist2)
- {
- return false;
- }
-#endif
- }
- while (!gjk.fullSimplex() && dist2 > DT_Accuracy::tol_error * gjk.maxVertex());
-
- gjk.compute_points(pa, pb);
-
- v.setValue(MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(0.0));
-
- return true;
-}
-
-
-
-
-
-
-
-bool penetration_depth(const DT_Convex& a, const DT_Convex& b,
- MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
-{
- DT_GJK gjk;
-
-#ifdef STATISTICS
- num_iterations = 0;
-#endif
-
- MT_Scalar dist2 = MT_INFINITY;
-
- do
- {
- MT_Point3 p = a.support(-v);
- MT_Point3 q = b.support(v);
- MT_Vector3 w = p - q;
-
- if (v.dot(w) > MT_Scalar(0.0))
- {
- return false;
- }
-
- gjk.addVertex(w, p, q);
-
-#ifdef STATISTICS
- ++num_iterations;
-#endif
- if (!gjk.closest(v))
- {
-#ifdef STATISTICS
- ++num_irregularities;
-#endif
- return false;
- }
-
-#ifdef SAFE_EXIT
- MT_Scalar prev_dist2 = dist2;
-#endif
-
- dist2 = v.length2();
-
-#ifdef SAFE_EXIT
- if (prev_dist2 - dist2 <= MT_EPSILON * prev_dist2)
- {
- return false;
- }
-#endif
- }
- while (!gjk.fullSimplex() && dist2 > DT_Accuracy::tol_error * gjk.maxVertex());
-
-
- return penDepth(gjk, a, b, v, pa, pb);
-
-}
-
-bool hybrid_penetration_depth(const DT_Convex& a, MT_Scalar a_margin,
- const DT_Convex& b, MT_Scalar b_margin,
- MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
-{
- MT_Scalar margin = a_margin + b_margin;
- if (margin > MT_Scalar(0.0))
- {
- MT_Scalar margin2 = margin * margin;
-
- DT_GJK gjk;
-
-#ifdef STATISTICS
- num_iterations = 0;
-#endif
- MT_Scalar dist2 = MT_INFINITY;
-
- do
- {
- MT_Point3 p = a.support(-v);
- MT_Point3 q = b.support(v);
-
- MT_Vector3 w = p - q;
-
- MT_Scalar delta = v.dot(w);
-
- if (delta > MT_Scalar(0.0) && delta * delta > dist2 * margin2)
- {
- return false;
- }
-
- if (gjk.inSimplex(w) || dist2 - delta <= dist2 * DT_Accuracy::rel_error2)
- {
- gjk.compute_points(pa, pb);
- MT_Scalar s = MT_sqrt(dist2);
- assert(s > MT_Scalar(0.0));
- pa -= v * (a_margin / s);
- pb += v * (b_margin / s);
- return true;
- }
-
- gjk.addVertex(w, p, q);
-
-#ifdef STATISTICS
- ++num_iterations;
-#endif
- if (!gjk.closest(v))
- {
-#ifdef STATISTICS
- ++num_irregularities;
-#endif
- gjk.compute_points(pa, pb);
- MT_Scalar s = MT_sqrt(dist2);
- assert(s > MT_Scalar(0.0));
- pa -= v * (a_margin / s);
- pb += v * (b_margin / s);
- return true;
- }
-
-#ifdef SAFE_EXIT
- MT_Scalar prev_dist2 = dist2;
-#endif
-
- dist2 = v.length2();
-
-#ifdef SAFE_EXIT
- if (prev_dist2 - dist2 <= MT_EPSILON * prev_dist2)
- {
- gjk.backup_closest(v);
- dist2 = v.length2();
- gjk.compute_points(pa, pb);
- MT_Scalar s = MT_sqrt(dist2);
- assert(s > MT_Scalar(0.0));
- pa -= v * (a_margin / s);
- pb += v * (b_margin / s);
- return true;
- }
-#endif
- }
- while (!gjk.fullSimplex() && dist2 > DT_Accuracy::tol_error * gjk.maxVertex());
-
- }
- // Second GJK phase. compute points on the boundary of the offset object
-
- return penetration_depth((a_margin > MT_Scalar(0.0) ?
- static_cast<const DT_Convex&>(DT_Minkowski(a, DT_Sphere(a_margin))) :
- static_cast<const DT_Convex&>(a)),
- (b_margin > MT_Scalar(0.0) ?
- static_cast<const DT_Convex&>(DT_Minkowski(b, DT_Sphere(b_margin))) :
- static_cast<const DT_Convex&>(b)), v, pa, pb);
-}
-
-
-MT_Scalar closest_points(const DT_Convex& a, const DT_Convex& b, MT_Scalar max_dist2,
- MT_Point3& pa, MT_Point3& pb)
-{
- MT_Vector3 v(MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(0.0));
-
- DT_GJK gjk;
-
-#ifdef STATISTICS
- num_iterations = 0;
-#endif
-
- MT_Scalar dist2 = MT_INFINITY;
-
- do
- {
- MT_Point3 p = a.support(-v);
- MT_Point3 q = b.support(v);
- MT_Vector3 w = p - q;
-
- MT_Scalar delta = v.dot(w);
- if (delta > MT_Scalar(0.0) && delta * delta > dist2 * max_dist2)
- {
- return MT_INFINITY;
- }
-
- if (gjk.inSimplex(w) || dist2 - delta <= dist2 * DT_Accuracy::rel_error2)
- {
- break;
- }
-
- gjk.addVertex(w, p, q);
-
-#ifdef STATISTICS
- ++num_iterations;
- if (num_iterations > 1000)
- {
- std::cout << "v: " << v << " w: " << w << std::endl;
- }
-#endif
- if (!gjk.closest(v))
- {
-#ifdef STATISTICS
- ++num_irregularities;
-#endif
- break;
- }
-
-#ifdef SAFE_EXIT
- MT_Scalar prev_dist2 = dist2;
-#endif
-
- dist2 = v.length2();
-
-#ifdef SAFE_EXIT
- if (prev_dist2 - dist2 <= MT_EPSILON * prev_dist2)
- {
- gjk.backup_closest(v);
- dist2 = v.length2();
- break;
- }
-#endif
- }
- while (!gjk.fullSimplex() && dist2 > DT_Accuracy::tol_error * gjk.maxVertex());
-
- assert(!gjk.emptySimplex());
-
- if (dist2 <= max_dist2)
- {
- gjk.compute_points(pa, pb);
- }
-
- return dist2;
-}
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