PQP_Internal.h

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/*************************************************************************\

  Copyright 1999 The University of North Carolina at Chapel Hill.
  All Rights Reserved.

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  The authors may be contacted via:

  US Mail:             S. Gottschalk, E. Larsen
                       Department of Computer Science
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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, 
             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;
};

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 R[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_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; }
};

#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 R[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;
  
  // 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; }
};

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 R[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