Go to the documentation of this file.00001 #include <stdio.h>
00002 #include <stdlib.h>
00003 #include <string.h>
00004 #include <assert.h>
00005
00006 #pragma warning(disable:4786)
00007
00008 #include <vector>
00009 #include <map>
00010 #include <set>
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00133 #include "vlookup.h"
00134
00135 namespace ConvexDecomposition
00136 {
00137
00138 class VertexPosition
00139 {
00140 public:
00141 VertexPosition(void) { };
00142 VertexPosition(const double *p)
00143 {
00144 mPos[0] = p[0];
00145 mPos[1] = p[1];
00146 mPos[2] = p[2];
00147 };
00148
00149 void Set(int index,const double *pos)
00150 {
00151 const double * p = &pos[index*3];
00152
00153 mPos[0] = p[0];
00154 mPos[1] = p[1];
00155 mPos[2] = p[2];
00156
00157 };
00158
00159 double GetX(void) const { return mPos[0]; };
00160 double GetY(void) const { return mPos[1]; };
00161 double GetZ(void) const { return mPos[2]; };
00162
00163 double mPos[3];
00164 };
00165
00166
00167 template <typename Type> class VertexLess
00168 {
00169 public:
00170 typedef std::vector< Type > VertexVector;
00171
00172 bool operator()(int v1,int v2) const;
00173
00174 static void SetSearch(const Type& match,VertexVector *list)
00175 {
00176 mFind = match;
00177 mList = list;
00178 };
00179
00180 private:
00181 const Type& Get(int index) const
00182 {
00183 if ( index == -1 ) return mFind;
00184 VertexVector &vlist = *mList;
00185 return vlist[index];
00186 }
00187 static Type mFind;
00188 static VertexVector *mList;
00189 };
00190
00191 template <typename Type> class VertexPool
00192 {
00193 public:
00194 typedef std::set<int, VertexLess<Type> > VertexSet;
00195 typedef std::vector< Type > VertexVector;
00196
00197 int GetVertex(const Type& vtx)
00198 {
00199 VertexLess<Type>::SetSearch(vtx,&mVtxs);
00200 typename VertexSet::iterator found;
00201 found = mVertSet.find( -1 );
00202 if ( found != mVertSet.end() )
00203 {
00204 return *found;
00205 }
00206 int idx = (int)mVtxs.size();
00207 mVtxs.push_back( vtx );
00208 mVertSet.insert( idx );
00209 return idx;
00210 };
00211
00212 const double * GetPos(int idx) const
00213 {
00214 return mVtxs[idx].mPos;
00215 }
00216
00217 const Type& Get(int idx) const
00218 {
00219 return mVtxs[idx];
00220 };
00221
00222 unsigned int GetSize(void) const
00223 {
00224 return mVtxs.size();
00225 };
00226
00227 void Clear(int reservesize)
00228 {
00229 mVertSet.clear();
00230 mVtxs.clear();
00231 mVtxs.reserve(reservesize);
00232 };
00233
00234 const VertexVector& GetVertexList(void) const { return mVtxs; };
00235
00236 void Set(const Type& vtx)
00237 {
00238 mVtxs.push_back(vtx);
00239 }
00240
00241 unsigned int GetVertexCount(void) const
00242 {
00243 return mVtxs.size();
00244 };
00245
00246
00247 Type * GetBuffer(void)
00248 {
00249 return &mVtxs[0];
00250 };
00251
00252 private:
00253 VertexSet mVertSet;
00254 VertexVector mVtxs;
00255 };
00256
00257 double tmpp[3] = {0,0,0};
00258 template<> VertexPosition VertexLess<VertexPosition>::mFind = tmpp;
00259 template<> std::vector<VertexPosition > *VertexLess<VertexPosition>::mList =0;
00260
00261 enum RDIFF
00262 {
00263 RD_EQUAL,
00264 RD_LESS,
00265 RD_GREATER
00266 };
00267
00268 static RDIFF relativeDiff(const double *a,const double *b,double magnitude)
00269 {
00270 RDIFF ret = RD_EQUAL;
00271
00272 double m2 = magnitude*magnitude;
00273 double dx = a[0]-b[0];
00274 double dy = a[1]-b[1];
00275 double dz = a[2]-b[2];
00276 double d2 = (dx*dx)+(dy*dy)+(dz*dz);
00277
00278 if ( d2 > m2 )
00279 {
00280 if ( a[0] < b[0] ) ret = RD_LESS;
00281 else if ( a[0] > b[0] ) ret = RD_GREATER;
00282 else if ( a[1] < b[1] ) ret = RD_LESS;
00283 else if ( a[1] > b[1] ) ret = RD_GREATER;
00284 else if ( a[2] < b[2] ) ret = RD_LESS;
00285 else if ( a[2] > b[2] ) ret = RD_GREATER;
00286 }
00287 return ret;
00288 }
00289
00290
00291 template<>
00292 bool VertexLess<VertexPosition>::operator()(int v1,int v2) const
00293 {
00294 bool ret = false;
00295
00296 const VertexPosition& a = Get(v1);
00297 const VertexPosition& b = Get(v2);
00298
00299 RDIFF d = relativeDiff(a.mPos,b.mPos,0.0001f);
00300 if ( d == RD_LESS ) ret = true;
00301
00302 return ret;
00303
00304 };
00305
00306
00307
00308 VertexLookup Vl_createVertexLookup(void)
00309 {
00310 VertexLookup ret = new VertexPool< VertexPosition >;
00311 return ret;
00312 }
00313
00314 void Vl_releaseVertexLookup(VertexLookup vlook)
00315 {
00316 VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook;
00317 delete vp;
00318 }
00319
00320 unsigned int Vl_getIndex(VertexLookup vlook,const double *pos)
00321 {
00322 VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook;
00323 VertexPosition p(pos);
00324 return vp->GetVertex(p);
00325 }
00326
00327 const double * Vl_getVertices(VertexLookup vlook)
00328 {
00329 VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook;
00330 return vp->GetPos(0);
00331 }
00332
00333
00334 unsigned int Vl_getVcount(VertexLookup vlook)
00335 {
00336 VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook;
00337 return vp->GetVertexCount();
00338 }
00339
00340 };