splitplane.cpp
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00001 #include <stdio.h>
00002 #include <stdlib.h>
00003 #include <string.h>
00004 #include <assert.h>
00005 #include <float.h>
00006 #include <math.h>
00007 
00064 #include "splitplane.h"
00065 #include "ConvexDecomposition.h"
00066 #include "cd_vector.h"
00067 #include "cd_hull.h"
00068 #include "cd_wavefront.h"
00069 #include "bestfit.h"
00070 #include "planetri.h"
00071 #include "vlookup.h"
00072 #include "meshvolume.h"
00073 #include "bestfitobb.h"
00074 #include "float_math.h"
00075 
00076 namespace ConvexDecomposition
00077 {
00078 
00079 static void computePlane(const double *A,const double *B,const double *C,double *plane)
00080 {
00081 
00082         double vx = (B[0] - C[0]);
00083         double vy = (B[1] - C[1]);
00084         double vz = (B[2] - C[2]);
00085 
00086         double wx = (A[0] - B[0]);
00087         double wy = (A[1] - B[1]);
00088         double wz = (A[2] - B[2]);
00089 
00090         double vw_x = vy * wz - vz * wy;
00091         double vw_y = vz * wx - vx * wz;
00092         double vw_z = vx * wy - vy * wx;
00093 
00094         double mag = sqrt((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z));
00095 
00096         if ( mag < 0.000001f )
00097         {
00098                 mag = 0;
00099         }
00100         else
00101         {
00102                 mag = 1.0f/mag;
00103         }
00104 
00105         double x = vw_x * mag;
00106         double y = vw_y * mag;
00107         double z = vw_z * mag;
00108 
00109 
00110         double D = 0.0f - ((x*A[0])+(y*A[1])+(z*A[2]));
00111 
00112   plane[0] = x;
00113   plane[1] = y;
00114   plane[2] = z;
00115   plane[3] = D;
00116 
00117 }
00118 
00119 class Rect3d
00120 {
00121 public:
00122   Rect3d(void) { };
00123 
00124   Rect3d(const double *bmin,const double *bmax)
00125   {
00126 
00127     mMin[0] = bmin[0];
00128     mMin[1] = bmin[1];
00129     mMin[2] = bmin[2];
00130 
00131     mMax[0] = bmax[0];
00132     mMax[1] = bmax[1];
00133     mMax[2] = bmax[2];
00134 
00135   }
00136 
00137   void SetMin(const double *bmin)
00138   {
00139     mMin[0] = bmin[0];
00140     mMin[1] = bmin[1];
00141     mMin[2] = bmin[2];
00142   }
00143 
00144   void SetMax(const double *bmax)
00145   {
00146     mMax[0] = bmax[0];
00147     mMax[1] = bmax[1];
00148     mMax[2] = bmax[2];
00149   }
00150 
00151         void SetMin(double x,double y,double z)
00152         {
00153                 mMin[0] = x;
00154                 mMin[1] = y;
00155                 mMin[2] = z;
00156         }
00157 
00158         void SetMax(double x,double y,double z)
00159         {
00160                 mMax[0] = x;
00161                 mMax[1] = y;
00162                 mMax[2] = z;
00163         }
00164 
00165   double mMin[3];
00166   double mMax[3];
00167 };
00168 
00169 void splitRect(unsigned int axis,
00170                                                    const Rect3d &source,
00171                                                          Rect3d &b1,
00172                                                          Rect3d &b2,
00173                                                          const double *midpoint)
00174 {
00175         switch ( axis )
00176         {
00177                 case 0:
00178                         b1.SetMin(source.mMin);
00179                         b1.SetMax( midpoint[0], source.mMax[1], source.mMax[2] );
00180 
00181                         b2.SetMin( midpoint[0], source.mMin[1], source.mMin[2] );
00182                         b2.SetMax(source.mMax);
00183 
00184                         break;
00185                 case 1:
00186                         b1.SetMin(source.mMin);
00187                         b1.SetMax( source.mMax[0], midpoint[1], source.mMax[2] );
00188 
00189                         b2.SetMin( source.mMin[0], midpoint[1], source.mMin[2] );
00190                         b2.SetMax(source.mMax);
00191 
00192                         break;
00193                 case 2:
00194                         b1.SetMin(source.mMin);
00195                         b1.SetMax( source.mMax[0], source.mMax[1], midpoint[2] );
00196 
00197                         b2.SetMin( source.mMin[0], source.mMin[1], midpoint[2] );
00198                         b2.SetMax(source.mMax);
00199 
00200                         break;
00201         }
00202 }
00203 
00204 bool computeSplitPlane(unsigned int vcount,
00205                        const double *vertices,
00206                        unsigned int tcount,
00207                        const unsigned int *indices,
00208                        ConvexDecompInterface *callback,
00209                        double *plane)
00210 {
00211   bool cret = false;
00212 
00213 
00214   double sides[3];
00215   double matrix[16];
00216 
00217   computeBestFitOBB( vcount, vertices, sizeof(double)*3, sides, matrix );
00218 
00219   double bmax[3];
00220   double bmin[3];
00221 
00222   bmax[0] = sides[0]*0.5f;
00223   bmax[1] = sides[1]*0.5f;
00224   bmax[2] = sides[2]*0.5f;
00225 
00226   bmin[0] = -bmax[0];
00227   bmin[1] = -bmax[1];
00228   bmin[2] = -bmax[2];
00229 
00230 
00231   double dx = sides[0];
00232   double dy = sides[1];
00233   double dz = sides[2];
00234 
00235 
00236         double laxis = dx;
00237 
00238         unsigned int axis = 0;
00239 
00240         if ( dy > dx )
00241         {
00242                 axis = 1;
00243                 laxis = dy;
00244         }
00245 
00246         if ( dz > dx && dz > dy )
00247         {
00248                 axis = 2;
00249                 laxis = dz;
00250         }
00251 
00252   double p1[3];
00253   double p2[3];
00254   double p3[3];
00255 
00256   p3[0] = p2[0] = p1[0] = bmin[0] + dx*0.5f;
00257   p3[1] = p2[1] = p1[1] = bmin[1] + dy*0.5f;
00258   p3[2] = p2[2] = p1[2] = bmin[2] + dz*0.5f;
00259 
00260   Rect3d b(bmin,bmax);
00261 
00262   Rect3d b1,b2;
00263 
00264   splitRect(axis,b,b1,b2,p1);
00265 
00266 
00267 //  callback->ConvexDebugBound(b1.mMin,b1.mMax,0x00FF00);
00268 //  callback->ConvexDebugBound(b2.mMin,b2.mMax,0xFFFF00);
00269 
00270   switch ( axis )
00271   {
00272     case 0:
00273       p2[1] = bmin[1];
00274       p2[2] = bmin[2];
00275 
00276       if ( dz > dy )
00277       {
00278         p3[1] = bmax[1];
00279         p3[2] = bmin[2];
00280       }
00281       else
00282       {
00283         p3[1] = bmin[1];
00284         p3[2] = bmax[2];
00285       }
00286 
00287       break;
00288     case 1:
00289       p2[0] = bmin[0];
00290       p2[2] = bmin[2];
00291 
00292       if ( dx > dz )
00293       {
00294         p3[0] = bmax[0];
00295         p3[2] = bmin[2];
00296       }
00297       else
00298       {
00299         p3[0] = bmin[0];
00300         p3[2] = bmax[2];
00301       }
00302 
00303       break;
00304     case 2:
00305       p2[0] = bmin[0];
00306       p2[1] = bmin[1];
00307 
00308       if ( dx > dy )
00309       {
00310         p3[0] = bmax[0];
00311         p3[1] = bmin[1];
00312       }
00313       else
00314       {
00315         p3[0] = bmin[0];
00316         p3[1] = bmax[1];
00317       }
00318 
00319       break;
00320   }
00321 
00322   double tp1[3];
00323   double tp2[3];
00324   double tp3[3];
00325 
00326   fm_transform(matrix,p1,tp1);
00327   fm_transform(matrix,p2,tp2);
00328   fm_transform(matrix,p3,tp3);
00329 
00330 //  callback->ConvexDebugTri(p1,p2,p3,0xFF0000);
00331 
00332         computePlane(tp1,tp2,tp3,plane);
00333 
00334   return true;
00335 
00336 }
00337 
00338 
00339 };
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convex_decomposition
Author(s): John Ratcliff
autogenerated on Mon Aug 19 2013 11:02:33