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#ifndef MINISDF_H
#define MINISDF_H
#include "LinearMath/btVector3.h"
#include "LinearMath/btAabbUtil2.h"
#include "LinearMath/btAlignedObjectArray.h"
struct btMultiIndex
{
unsigned int ijk[3];
};
struct btAlignedBox3d
{
btVector3 m_min;
btVector3 m_max;
const btVector3& min() const
{
return m_min;
}
const btVector3& max() const
{
return m_max;
}
bool contains(const btVector3& x) const
{
return TestPointAgainstAabb2(m_min, m_max, x);
}
btAlignedBox3d(const btVector3& mn, const btVector3& mx)
: m_min(mn),
m_max(mx)
{
}
btAlignedBox3d()
{
}
};
struct btShapeMatrix
{
double m_vec[32];
inline double& operator[](int i)
{
return m_vec[i];
}
inline const double& operator[](int i) const
{
return m_vec[i];
}
};
struct btShapeGradients
{
btVector3 m_vec[32];
void topRowsDivide(int row, double denom)
{
for (int i = 0; i < row; i++)
{
m_vec[i] /= denom;
}
}
void bottomRowsMul(int row, double val)
{
for (int i = 32 - row; i < 32; i++)
{
m_vec[i] *= val;
}
}
inline btScalar& operator()(int i, int j)
{
return m_vec[i][j];
}
};
struct btCell32
{
unsigned int m_cells[32];
};
struct btMiniSDF
{
btAlignedBox3d m_domain;
unsigned int m_resolution[3];
btVector3 m_cell_size;
btVector3 m_inv_cell_size;
std::size_t m_n_cells;
std::size_t m_n_fields;
bool m_isValid;
btAlignedObjectArray<btAlignedObjectArray<double> > m_nodes;
btAlignedObjectArray<btAlignedObjectArray<btCell32> > m_cells;
btAlignedObjectArray<btAlignedObjectArray<unsigned int> > m_cell_map;
btMiniSDF()
: m_isValid(false)
{
}
bool load(const char* data, int size);
bool isValid() const
{
return m_isValid;
}
unsigned int multiToSingleIndex(btMultiIndex const& ijk) const;
btAlignedBox3d subdomain(btMultiIndex const& ijk) const;
btMultiIndex singleToMultiIndex(unsigned int l) const;
btAlignedBox3d subdomain(unsigned int l) const;
btShapeMatrix
shape_function_(btVector3 const& xi, btShapeGradients* gradient = 0) const;
bool interpolate(unsigned int field_id, double& dist, btVector3 const& x, btVector3* gradient) const;
};
#endif //MINISDF_H
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