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/***
* libccd
* ---------------------------------
* Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
*
*
* This file is part of libccd.
*
* Distributed under the OSI-approved BSD License (the "License");
* see accompanying file BDS-LICENSE for details or see
* <http://www.opensource.org/licenses/bsd-license.php>.
*
* This software is distributed WITHOUT ANY WARRANTY; without even the
* implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the License for more information.
*/
#ifndef __CCD_POLYTOPE_H__
#define __CCD_POLYTOPE_H__
#include <stdlib.h>
#include <stdio.h>
#include <ccd/support.h>
#include <ccd/list.h>
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
#define CCD_PT_VERTEX 1
#define CCD_PT_EDGE 2
#define CCD_PT_FACE 3
#define __CCD_PT_EL \
int type; /*! type of element */ \
ccd_real_t dist; /*! distance from origin */ \
ccd_vec3_t witness; /*! witness point of projection of origin */ \
ccd_list_t list; /*! list of elements of same type */
/**
* General polytope element.
* Could be vertex, edge or triangle.
*/
struct _ccd_pt_el_t {
__CCD_PT_EL
};
typedef struct _ccd_pt_el_t ccd_pt_el_t;
struct _ccd_pt_edge_t;
struct _ccd_pt_face_t;
/**
* Polytope's vertex.
*/
struct _ccd_pt_vertex_t {
__CCD_PT_EL
int id;
ccd_support_t v;
ccd_list_t edges; //!< List of edges
};
typedef struct _ccd_pt_vertex_t ccd_pt_vertex_t;
/**
* Polytope's edge.
*/
struct _ccd_pt_edge_t {
__CCD_PT_EL
ccd_pt_vertex_t *vertex[2]; //!< Reference to vertices
struct _ccd_pt_face_t *faces[2]; //!< Reference to faces
ccd_list_t vertex_list[2]; //!< List items in vertices' lists
};
typedef struct _ccd_pt_edge_t ccd_pt_edge_t;
/**
* Polytope's triangle faces.
*/
struct _ccd_pt_face_t {
__CCD_PT_EL
ccd_pt_edge_t *edge[3]; //!< Reference to surrounding edges
};
typedef struct _ccd_pt_face_t ccd_pt_face_t;
/**
* Struct containing polytope.
*/
struct _ccd_pt_t {
ccd_list_t vertices; //!< List of vertices
ccd_list_t edges; //!< List of edges
ccd_list_t faces; //!< List of faces
ccd_pt_el_t *nearest;
ccd_real_t nearest_dist;
int nearest_type;
};
typedef struct _ccd_pt_t ccd_pt_t;
void ccdPtInit(ccd_pt_t *pt);
void ccdPtDestroy(ccd_pt_t *pt);
/**
* Returns vertices surrounding given triangle face.
*/
_ccd_inline void ccdPtFaceVec3(const ccd_pt_face_t *face,
ccd_vec3_t **a,
ccd_vec3_t **b,
ccd_vec3_t **c);
_ccd_inline void ccdPtFaceVertices(const ccd_pt_face_t *face,
ccd_pt_vertex_t **a,
ccd_pt_vertex_t **b,
ccd_pt_vertex_t **c);
_ccd_inline void ccdPtFaceEdges(const ccd_pt_face_t *f,
ccd_pt_edge_t **a,
ccd_pt_edge_t **b,
ccd_pt_edge_t **c);
_ccd_inline void ccdPtEdgeVec3(const ccd_pt_edge_t *e,
ccd_vec3_t **a,
ccd_vec3_t **b);
_ccd_inline void ccdPtEdgeVertices(const ccd_pt_edge_t *e,
ccd_pt_vertex_t **a,
ccd_pt_vertex_t **b);
_ccd_inline void ccdPtEdgeFaces(const ccd_pt_edge_t *e,
ccd_pt_face_t **f1,
ccd_pt_face_t **f2);
/**
* Adds vertex to polytope and returns pointer to newly created vertex.
*/
ccd_pt_vertex_t *ccdPtAddVertex(ccd_pt_t *pt, const ccd_support_t *v);
_ccd_inline ccd_pt_vertex_t *ccdPtAddVertexCoords(ccd_pt_t *pt,
ccd_real_t x, ccd_real_t y, ccd_real_t z);
/**
* Adds edge to polytope.
*/
ccd_pt_edge_t *ccdPtAddEdge(ccd_pt_t *pt, ccd_pt_vertex_t *v1,
ccd_pt_vertex_t *v2);
/**
* Adds face to polytope.
*/
ccd_pt_face_t *ccdPtAddFace(ccd_pt_t *pt, ccd_pt_edge_t *e1,
ccd_pt_edge_t *e2,
ccd_pt_edge_t *e3);
/**
* Deletes vertex from polytope.
* Returns 0 on success, -1 otherwise.
*/
_ccd_inline int ccdPtDelVertex(ccd_pt_t *pt, ccd_pt_vertex_t *);
_ccd_inline int ccdPtDelEdge(ccd_pt_t *pt, ccd_pt_edge_t *);
_ccd_inline int ccdPtDelFace(ccd_pt_t *pt, ccd_pt_face_t *);
/**
* Recompute distances from origin for all elements in pt.
*/
void ccdPtRecomputeDistances(ccd_pt_t *pt);
/**
* Returns nearest element to origin.
*/
ccd_pt_el_t *ccdPtNearest(ccd_pt_t *pt);
void ccdPtDumpSVT(ccd_pt_t *pt, const char *fn);
void ccdPtDumpSVT2(ccd_pt_t *pt, FILE *);
/**** INLINES ****/
_ccd_inline ccd_pt_vertex_t *ccdPtAddVertexCoords(ccd_pt_t *pt,
ccd_real_t x, ccd_real_t y, ccd_real_t z)
{
ccd_support_t s;
ccdVec3Set(&s.v, x, y, z);
return ccdPtAddVertex(pt, &s);
}
_ccd_inline int ccdPtDelVertex(ccd_pt_t *pt, ccd_pt_vertex_t *v)
{
// test if any edge is connected to this vertex
if (!ccdListEmpty(&v->edges))
return -1;
// delete vertex from main list
ccdListDel(&v->list);
if ((void *)pt->nearest == (void *)v){
pt->nearest = NULL;
}
free(v);
return 0;
}
_ccd_inline int ccdPtDelEdge(ccd_pt_t *pt, ccd_pt_edge_t *e)
{
// text if any face is connected to this edge (faces[] is always
// aligned to lower indices)
if (e->faces[0] != NULL)
return -1;
// disconnect edge from lists of edges in vertex struct
ccdListDel(&e->vertex_list[0]);
ccdListDel(&e->vertex_list[1]);
// disconnect edge from main list
ccdListDel(&e->list);
if ((void *)pt->nearest == (void *)e){
pt->nearest = NULL;
}
free(e);
return 0;
}
_ccd_inline int ccdPtDelFace(ccd_pt_t *pt, ccd_pt_face_t *f)
{
ccd_pt_edge_t *e;
size_t i;
// remove face from edges' recerence lists
for (i = 0; i < 3; i++){
e = f->edge[i];
if (e->faces[0] == f){
e->faces[0] = e->faces[1];
}
e->faces[1] = NULL;
}
// remove face from list of all faces
ccdListDel(&f->list);
if ((void *)pt->nearest == (void *)f){
pt->nearest = NULL;
}
free(f);
return 0;
}
_ccd_inline void ccdPtFaceVec3(const ccd_pt_face_t *face,
ccd_vec3_t **a,
ccd_vec3_t **b,
ccd_vec3_t **c)
{
*a = &face->edge[0]->vertex[0]->v.v;
*b = &face->edge[0]->vertex[1]->v.v;
if (face->edge[1]->vertex[0] != face->edge[0]->vertex[0]
&& face->edge[1]->vertex[0] != face->edge[0]->vertex[1]){
*c = &face->edge[1]->vertex[0]->v.v;
}else{
*c = &face->edge[1]->vertex[1]->v.v;
}
}
_ccd_inline void ccdPtFaceVertices(const ccd_pt_face_t *face,
ccd_pt_vertex_t **a,
ccd_pt_vertex_t **b,
ccd_pt_vertex_t **c)
{
*a = face->edge[0]->vertex[0];
*b = face->edge[0]->vertex[1];
if (face->edge[1]->vertex[0] != face->edge[0]->vertex[0]
&& face->edge[1]->vertex[0] != face->edge[0]->vertex[1]){
*c = face->edge[1]->vertex[0];
}else{
*c = face->edge[1]->vertex[1];
}
}
_ccd_inline void ccdPtFaceEdges(const ccd_pt_face_t *f,
ccd_pt_edge_t **a,
ccd_pt_edge_t **b,
ccd_pt_edge_t **c)
{
*a = f->edge[0];
*b = f->edge[1];
*c = f->edge[2];
}
_ccd_inline void ccdPtEdgeVec3(const ccd_pt_edge_t *e,
ccd_vec3_t **a,
ccd_vec3_t **b)
{
*a = &e->vertex[0]->v.v;
*b = &e->vertex[1]->v.v;
}
_ccd_inline void ccdPtEdgeVertices(const ccd_pt_edge_t *e,
ccd_pt_vertex_t **a,
ccd_pt_vertex_t **b)
{
*a = e->vertex[0];
*b = e->vertex[1];
}
_ccd_inline void ccdPtEdgeFaces(const ccd_pt_edge_t *e,
ccd_pt_face_t **f1,
ccd_pt_face_t **f2)
{
*f1 = e->faces[0];
*f2 = e->faces[1];
}
#ifdef __cplusplus
} /* extern "C" */
#endif /* __cplusplus */
#endif /* __CCD_POLYTOPE_H__ */
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