PQP_Compile.h
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00001 /*************************************************************************\
00002 
00003   Copyright 1999 The University of North Carolina at Chapel Hill.
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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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00009   above copyright notice and the following three paragraphs appear in all
00010   copies.
00011 
00012   IN NO EVENT SHALL THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL BE
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00019   THE UNIVERSITY OF NORTH CAROLINA SPECIFICALLY DISCLAIM ANY
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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_COMPILE_H
00042 #define PQP_COMPILE_H
00043 
00044 // prevents compiler warnings when PQP_REAL is float
00045 
00046 #include <math.h>
00047 inline float sqrt(float x) { return (float)sqrt((double)x); }
00048 inline float cos(float x) { return (float)cos((double)x); }
00049 inline float sin(float x) { return (float)sin((double)x); }
00050 inline float fabs(float x) { return (float)fabs((double)x); }
00051 
00052 //-------------------------------------------------------------------------
00053 //
00054 // PQP_REAL
00055 //
00056 // This is the floating point type used throughout PQP.  doubles are
00057 // recommended, both for their precision and because the software has
00058 // mainly been tested using them.  However, floats appear to be faster 
00059 // (by 60% on some machines).
00060 //
00061 //-------------------------------------------------------------------------
00062 
00063 typedef double PQP_REAL;
00064 
00065 //-------------------------------------------------------------------------
00066 //
00067 // PQP_BV_TYPE
00068 //
00069 // PQP introduces a bounding volume (BV) type known as the "rectangle
00070 // swept sphere" (RSS) - the volume created by sweeping a sphere so
00071 // that its center visits every point on a rectangle; it looks
00072 // something like a rounded box.
00073 //
00074 // In our experiments, the RSS type is comparable to the oriented 
00075 // bounding box (OBB) in terms of the number of BV-pair and triangle-pair 
00076 // tests incurred.  However, with our present implementations, overlap 
00077 // tests are cheaper for OBBs, while distance tests are cheaper for the 
00078 // RSS type (we used a public gjk implementation for the OBB distance test).
00079 //
00080 // Consequently, PQP is configured to use the RSS type in distance and 
00081 // tolerance queries (which use BV distance tests) and to use OBBs for
00082 // collision queries (which use BV overlap tests). Using both requires six
00083 // more PQP_REALs per BV node than using just one type. 
00084 //
00085 // To save space, you can configure PQP to use only one type, however, 
00086 // with RSS alone, collision queries will typically be slower.  With OBB's 
00087 // alone, distance and tolerance queries are currently not supported, since 
00088 // we have not developed our own OBB distance test.  The three options are:
00089 //
00090 // #define PQP_BV_TYPE  RSS_TYPE           
00091 // #define PQP_BV_TYPE  OBB_TYPE           
00092 // #define PQP_BV_TYPE  RSS_TYPE | OBB_TYPE
00093 //
00094 //-------------------------------------------------------------------------
00095 
00096 #define RSS_TYPE     1
00097 #define OBB_TYPE     2
00098 
00099 #define PQP_BV_TYPE  RSS_TYPE | OBB_TYPE
00100 
00101 #define obb_disjoint PQP_obb_disjoint 
00102 #define project6 PQP_obb_project6
00103 #endif


jskeus
Author(s): JSK Alumnis
autogenerated on Tue Mar 7 2017 04:04:34