PQP.h
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00001 /*************************************************************************\
00002 
00003   Copyright 1999 The University of North Carolina at Chapel Hill.
00004   All Rights Reserved.
00005 
00006   Permission to use, copy, modify and distribute this software and its
00007   documentation for educational, research and non-profit purposes, without
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00010   copies.
00011 
00012   IN NO EVENT SHALL THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL BE
00013   LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR
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00015   USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF THE UNIVERSITY
00016   OF NORTH CAROLINA HAVE BEEN ADVISED OF THE POSSIBILITY OF SUCH
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00019   THE UNIVERSITY OF NORTH CAROLINA SPECIFICALLY DISCLAIM ANY
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00024   UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
00025 
00026   The authors may be contacted via:
00027 
00028   US Mail:             S. Gottschalk, E. Larsen
00029                        Department of Computer Science
00030                        Sitterson Hall, CB #3175
00031                        University of N. Carolina
00032                        Chapel Hill, NC 27599-3175
00033 
00034   Phone:               (919)962-1749
00035 
00036   EMail:               geom@cs.unc.edu
00037 
00038 
00039 \**************************************************************************/
00040 
00041 #ifndef PQP_H
00042 #define PQP_H
00043 
00044 #include "PQP_Compile.h"   
00045 #include "PQP_Internal.h"                             
00046                         
00047 //----------------------------------------------------------------------------
00048 //
00049 //  PQP API Return Values
00050 //
00051 //----------------------------------------------------------------------------
00052 
00053 const int PQP_OK = 0; 
00054   // Used by all API routines upon successful completion except
00055   // constructors and destructors
00056 
00057 const int PQP_ERR_MODEL_OUT_OF_MEMORY = -1; 
00058   // Returned when an API function cannot obtain enough memory to
00059   // store or process a PQP_Model object.
00060 
00061 const int PQP_ERR_OUT_OF_MEMORY = -2;
00062   // Returned when a PQP query cannot allocate enough storage to
00063   // compute or hold query information.  In this case, the returned
00064   // data should not be trusted.
00065 
00066 const int PQP_ERR_UNPROCESSED_MODEL = -3;
00067   // Returned when an unprocessed model is passed to a function which
00068   // expects only processed models, such as PQP_Collide() or
00069   // PQP_Distance().
00070 
00071 const int PQP_ERR_BUILD_OUT_OF_SEQUENCE = -4;
00072   // Returned when: 
00073   //       1. AddTri() is called before BeginModel().  
00074   //       2. BeginModel() is called immediately after AddTri().  
00075   // This error code is something like a warning: the invoked
00076   // operation takes place anyway, and PQP does what makes "most
00077   // sense", but the returned error code may tip off the client that
00078   // something out of the ordinary is happenning.
00079 
00080 const int PQP_ERR_BUILD_EMPTY_MODEL = -5; 
00081   // Returned when EndModel() is called on a model to which no
00082   // triangles have been added.  This is similar in spirit to the
00083   // OUT_OF_SEQUENCE return code, except that the requested operation
00084   // has FAILED -- the model remains "unprocessed", and the client may
00085   // NOT use it in queries.
00086 
00087 //----------------------------------------------------------------------------
00088 //
00089 //  PQP_REAL 
00090 //
00091 //  The floating point type used throughout the package. The type is defined 
00092 //  in PQP_Compile.h, and by default is "double"
00093 //
00094 //----------------------------------------------------------------------------
00095 
00096 //----------------------------------------------------------------------------
00097 //
00098 //  PQP_Model
00099 //
00100 //  A PQP_Model stores geometry to be used in a proximity query.
00101 //  The geometry is loaded with a call to BeginModel(), at least one call to 
00102 //  AddTri(), and then a call to EndModel().
00103 //
00104 //  // create a two triangle model, m
00105 //
00106 //  PQP_Model m;
00107 //
00108 //  PQP_REAL p1[3],p2[3],p3[3];  // 3 points will make triangle p
00109 //  PQP_REAL q1[3],q2[3],q3[3];  // another 3 points for triangle q
00110 //
00111 //  // some initialization of these vertices not shown
00112 //
00113 //  m.BeginModel();              // begin the model
00114 //  m.AddTri(p1,p2,p3,0);        // add triangle p
00115 //  m.AddTri(q1,q2,q3,1);        // add triangle q
00116 //  m.EndModel();                // end (build) the model
00117 //
00118 //  The last parameter of AddTri() is the number to be associated with the 
00119 //  triangle. These numbers are used to identify the triangles that overlap.
00120 // 
00121 //  AddTri() copies into the PQP_Model the data pointed to by the three vertex 
00122 //  pointers, so that it is safe to delete vertex data after you have 
00123 //  passed it to AddTri().
00124 //
00125 //----------------------------------------------------------------------------
00126 //
00127 //  class PQP_Model  - declaration contained in PQP_Internal.h
00128 //  {
00129 //
00130 //  public:
00131 //    PQP_Model();
00132 //    ~PQP_Model();
00133 //
00134 //    int BeginModel(int num_tris = 8); // preallocate for num_tris triangles;
00135 //                                      // the parameter is optional, since
00136 //                                      // arrays are reallocated as needed
00137 //
00138 //    int AddTri(const PQP_REAL *p1, const PQP_REAL *p2, const PQP_REAL *p3, 
00139 //               int id);
00140 //
00141 //    int EndModel();
00142 //    int MemUsage(int msg);  // returns model mem usage in bytes
00143 //                            // prints message to stderr if msg == TRUE
00144 //  };
00145 
00146 //----------------------------------------------------------------------------
00147 //
00148 //  PQP_CollideResult 
00149 //
00150 //  This saves and reports results from a collision query.  
00151 //
00152 //----------------------------------------------------------------------------
00153 //
00154 //  struct PQP_CollideResult - declaration contained in PQP_Internal.h
00155 //  {
00156 //    // statistics
00157 //
00158 //    int NumBVTests();
00159 //    int NumTriTests();
00160 //    PQP_REAL QueryTimeSecs();
00161 //
00162 //    // free the list of contact pairs; ordinarily this list is reused
00163 //    // for each query, and only deleted in the destructor.
00164 //
00165 //    void FreePairsList(); 
00166 //
00167 //    // query results
00168 //
00169 //    int Colliding();
00170 //    int NumPairs();
00171 //    int Id1(int k);
00172 //    int Id2(int k);
00173 //  };
00174 
00175 //----------------------------------------------------------------------------
00176 //
00177 //  PQP_Collide() - detects collision between two PQP_Models
00178 //
00179 //
00180 //  Declare a PQP_CollideResult struct and pass its pointer to collect 
00181 //  collision data.
00182 //
00183 //  [R1, T1] is the placement of model 1 in the world &
00184 //  [R2, T2] is the placement of model 2 in the world.
00185 //  The columns of each 3x3 matrix are the basis vectors for the model
00186 //  in world coordinates, and the matrices are in row-major order:
00187 //  R(row r, col c) = R[r][c].
00188 //
00189 //  If PQP_ALL_CONTACTS is the flag value, after calling PQP_Collide(),
00190 //  the PQP_CollideResult object will contain an array with all
00191 //  colliding triangle pairs. Suppose CR is a pointer to the
00192 //  PQP_CollideResult object.  The number of pairs is gotten from
00193 //  CR->NumPairs(), and the ids of the 15'th pair of colliding
00194 //  triangles is gotten from CR->Id1(14) and CR->Id2(14).
00195 //
00196 //  If PQP_FIRST_CONTACT is the flag value, the PQP_CollideResult array
00197 //  will only get the first colliding triangle pair found.  Thus
00198 //  CR->NumPairs() will be at most 1, and if 1, CR->Id1(0) and
00199 //  CR->Id2(0) give the ids of the colliding triangle pair.
00200 //
00201 //----------------------------------------------------------------------------
00202 
00203 const int PQP_ALL_CONTACTS = 1;  // find all pairwise intersecting triangles
00204 const int PQP_FIRST_CONTACT = 2; // report first intersecting tri pair found
00205 
00206 int 
00207 PQP_Collide(PQP_CollideResult *result,
00208             PQP_REAL R1[3][3], PQP_REAL T1[3], PQP_Model *o1,
00209             PQP_REAL R2[3][3], PQP_REAL T2[3], PQP_Model *o2,
00210             int flag = PQP_ALL_CONTACTS);
00211 
00212 
00213 #if PQP_BV_TYPE & RSS_TYPE  // this is true by default,
00214                             // and explained in PQP_Compile.h
00215 
00216 //----------------------------------------------------------------------------
00217 //
00218 //  PQP_DistanceResult
00219 //
00220 //  This saves and reports results from a distance query.  
00221 //
00222 //----------------------------------------------------------------------------
00223 //
00224 //  struct PQP_DistanceResult - declaration contained in PQP_Internal.h
00225 //  {
00226 //    // statistics
00227 //  
00228 //    int NumBVTests();
00229 //    int NumTriTests();
00230 //    PQP_REAL QueryTimeSecs();
00231 //  
00232 //    // The following distance and points established the minimum distance
00233 //    // for the models, within the relative and absolute error bounds 
00234 //    // specified.
00235 //
00236 //    PQP_REAL Distance();
00237 //    const PQP_REAL *P1();  // pointers to three PQP_REALs
00238 //    const PQP_REAL *P2();  
00239 //  };
00240 
00241 //----------------------------------------------------------------------------
00242 //
00243 //  PQP_Distance() - computes the distance between two PQP_Models
00244 //
00245 //
00246 //  Declare a PQP_DistanceResult struct and pass its pointer to collect
00247 //  distance information.
00248 //
00249 //  "rel_err" is the relative error margin from actual distance.
00250 //  "abs_err" is the absolute error margin from actual distance.  The
00251 //  smaller of the two will be satisfied, so set one large to nullify
00252 //  its effect.
00253 //
00254 //  "qsize" is an optional parameter controlling the size of a priority
00255 //  queue used to direct the search for closest points.  A larger queue
00256 //  can help the algorithm discover the minimum with fewer steps, but
00257 //  will increase the cost of each step. It is not beneficial to increase
00258 //  qsize if the application has frame-to-frame coherence, i.e., the
00259 //  pair of models take small steps between each call, since another
00260 //  speedup trick already accelerates this situation with no overhead.
00261 //
00262 //  However, a queue size of 100 to 200 has been seen to save time in a
00263 //  planning application with "non-coherent" placements of models.
00264 //
00265 //----------------------------------------------------------------------------
00266 
00267 int 
00268 PQP_Distance(PQP_DistanceResult *result, 
00269              PQP_REAL R1[3][3], PQP_REAL T1[3], PQP_Model *o1,
00270              PQP_REAL R2[3][3], PQP_REAL T2[3], PQP_Model *o2,
00271              PQP_REAL rel_err, PQP_REAL abs_err,
00272              int qsize = 2);
00273 
00274 //----------------------------------------------------------------------------
00275 //
00276 //  PQP_ToleranceResult
00277 //
00278 //  This saves and reports results from a tolerance query.  
00279 //
00280 //----------------------------------------------------------------------------
00281 //
00282 //  struct PQP_ToleranceResult - declaration contained in PQP_Internal.h
00283 //  {
00284 //    // statistics
00285 //  
00286 //    int NumBVTests(); 
00287 //    int NumTriTests();
00288 //    PQP_REAL QueryTimeSecs();
00289 //  
00290 //    // If the models are closer than ( <= ) tolerance, these points 
00291 //    // and distance were what established this.  Otherwise, 
00292 //    // distance and point values are not meaningful.
00293 //  
00294 //    PQP_REAL Distance();
00295 //    const PQP_REAL *P1();
00296 //    const PQP_REAL *P2();
00297 //  
00298 //    // boolean says whether models are closer than tolerance distance
00299 //  
00300 //    int CloserThanTolerance();
00301 //  };
00302 
00303 //----------------------------------------------------------------------------
00304 //
00305 // PQP_Tolerance() - checks if distance between PQP_Models is <= tolerance
00306 //
00307 //
00308 // Declare a PQP_ToleranceResult and pass its pointer to collect
00309 // tolerance information.
00310 //
00311 // The algorithm returns whether the true distance is <= or >
00312 // "tolerance".  This routine does not simply compute true distance
00313 // and compare to the tolerance - models can often be shown closer or
00314 // farther than the tolerance more trivially.  In most cases this
00315 // query should run faster than a distance query would on the same
00316 // models and configurations.
00317 // 
00318 // "qsize" again controls the size of a priority queue used for
00319 // searching.  Not setting qsize is the current recommendation, since
00320 // increasing it has only slowed down our applications.
00321 //
00322 //----------------------------------------------------------------------------
00323 
00324 int
00325 PQP_Tolerance(PQP_ToleranceResult *res, 
00326               PQP_REAL R1[3][3], PQP_REAL T1[3], PQP_Model *o1,
00327               PQP_REAL R2[3][3], PQP_REAL T2[3], PQP_Model *o2,
00328               PQP_REAL tolerance,
00329               int qsize = 2);
00330 
00331 #endif 
00332 #endif
00333 
00334 
00335 
00336 
00337 
00338 


jskeus
Author(s): JSK Alumnis
autogenerated on Thu Jun 6 2019 21:31:35