PQP_Internal.h

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  Copyright 1999 The University of North Carolina at Chapel Hill.
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#include "Tri.h"
#include "BV.h"
 
class PQP_Model
{
 
public:
 
  int build_state;
 
  Tri *tris;  
  int num_tris;
  int num_tris_alloced;
 
  BV *b;
  int num_bvs;
  int num_bvs_alloced;
 
  Tri *last_tri;       // closest tri on this model in last distance test
  
  BV *child(int n) { return &b[n]; }
 
  PQP_Model();
  ~PQP_Model();
 
  int BeginModel(int num_tris = 8); // preallocate for num_tris triangles;
                                    // the parameter is optional, since
                                    // arrays are reallocated as needed
  int AddTri(const PQP_REAL *p1, const PQP_REAL *p2, const PQP_REAL *p3,
// added by yamane ->
                         const PQP_REAL *n1, const PQP_REAL *n2, const PQP_REAL *n3,
                         int _vertex_id[3], int _neighbor_id[3],
// <-
             int id);
  int EndModel();
  int MemUsage(int msg);  // returns model mem usage.  
                          // prints message to stderr if msg == TRUE
};
 
struct CollisionPair
{
  int id1;
  int id2;
  PQP_REAL depth;
  PQP_REAL position1[3];
  int vertex_id1;
  PQP_REAL position2[3];
  int vertex_id2;
  PQP_REAL normal[3];
};
 
struct PQP_CollideResult  
{
  // stats
 
  int num_bv_tests;
  int num_tri_tests;
  double query_time_secs;
 
  // xform from model 1 to model 2
 
  PQP_REAL RR[3][3];
  PQP_REAL T[3];
 
  int num_pairs_alloced;
  int num_pairs;
  CollisionPair *pairs;
 
  void SizeTo(int n);    
  void Add(int i1, int i2, PQP_REAL _depth, PQP_REAL position1[3], int _vertex_id1, PQP_REAL position2[3], int _vertex_id2, PQP_REAL normal[3]);
        void Remove(int id);
 
        int have_vertex1(int vertex_id) {
                if(vertex_id < 0) return -1;
                for(int i=0; i<num_pairs; i++)
                {
                        if(pairs[i].vertex_id1 == vertex_id) return i;
                }
                return -1;
        }
        int have_vertex2(int vertex_id) {
                if(vertex_id < 0) return -1;
                for(int i=0; i<num_pairs; i++)
                {
                        if(pairs[i].vertex_id2 == vertex_id) return i;
                }
                return -1;
        }
        
 
  PQP_CollideResult();
  ~PQP_CollideResult();
 
  // statistics
 
  int NumBVTests() { return num_bv_tests; }
  int NumTriTests() { return num_tri_tests; }
  double QueryTimeSecs() { return query_time_secs; }
 
  // free the list of contact pairs; ordinarily this list is reused
  // for each query, and only deleted in the destructor.
 
  void FreePairsList(); 
 
  // query results
 
  int Colliding() { return (num_pairs > 0); }
  int NumPairs() { return num_pairs; }
  int Id1(int k) { return pairs[k].id1; }
  int Id2(int k) { return pairs[k].id2; }
        PQP_REAL Depth(int k) {
                return pairs[k].depth;
        }
        void Position1(int k, PQP_REAL _pos[3]) {
                _pos[0] = pairs[k].position1[0];
                _pos[1] = pairs[k].position1[1];
                _pos[2] = pairs[k].position1[2];
        }
        void Position2(int k, PQP_REAL _pos[3]) {
                _pos[0] = pairs[k].position2[0];
                _pos[1] = pairs[k].position2[1];
                _pos[2] = pairs[k].position2[2];
        }
        void Normal(int k, PQP_REAL _norm[3]) {
                _norm[0] = pairs[k].normal[0];
                _norm[1] = pairs[k].normal[1];
                _norm[2] = pairs[k].normal[2];
        }
        
};
 
#if PQP_BV_TYPE & RSS_TYPE // distance/tolerance are only available with RSS
 
struct PQP_DistanceResult 
{
  // stats
 
  int num_bv_tests;
  int num_tri_tests;
  double query_time_secs;
 
  // xform from model 1 to model 2
 
  PQP_REAL RR[3][3];
  PQP_REAL T[3];
 
  PQP_REAL rel_err; 
  PQP_REAL abs_err; 
 
  PQP_REAL distance;
  PQP_REAL p1[3]; 
  PQP_REAL p2[3];
  int qsize;
        int id1;
        int id2;
  
  // statistics
 
  int NumBVTests() { return num_bv_tests; }
  int NumTriTests() { return num_tri_tests; }
  double QueryTimeSecs() { return query_time_secs; }
 
  // The following distance and points established the minimum distance
  // for the models, within the relative and absolute error bounds 
  // specified.
  // Points are defined: PQP_REAL p1[3], p2[3];
 
  PQP_REAL Distance() { return distance; }
  const PQP_REAL *P1() { return p1; }
  const PQP_REAL *P2() { return p2; }
        int ID1() { return id1; }
        int ID2() { return id2; }
 
};
 
struct PQP_ToleranceResult 
{
  // stats
 
  int num_bv_tests;
  int num_tri_tests;
  double query_time_secs;
 
  // xform from model 1 to model 2
 
  PQP_REAL RR[3][3];
  PQP_REAL T[3];
 
  int    closer_than_tolerance;   
  PQP_REAL tolerance;      
 
  PQP_REAL distance;
  PQP_REAL p1[3]; 
  PQP_REAL p2[3]; 
  int qsize;
 
  // statistics
 
  int NumBVTests() { return num_bv_tests; }
  int NumTriTests() { return num_tri_tests; }
  double QueryTimeSecs() { return query_time_secs; }
 
  // If the models are closer than ( <= ) tolerance, these points 
  // and distance were what established this.  Otherwise, 
  // distance and point values are not meaningful.
 
  PQP_REAL Distance() { return distance; }
  const PQP_REAL *P1() { return p1; }
  const PQP_REAL *P2() { return p2; }
 
  // boolean says whether models are closer than tolerance distance
 
  int CloserThanTolerance() { return closer_than_tolerance; }
};
 
#endif