graspit: /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit

00001 /*<html><pre>  -<a                             href="qh-c.htm#qhull"
00002   >-------------------------------</a><a name="TOP">-</a>
00003 
00004    unix.c
00005    Unix version of Qhull
00006 
00007    see qh-c.htm
00008 
00009    copyright (c) 1993-1998, The Geometry Center
00010 */
00011 
00012 #include <stdio.h>
00013 #include <stdlib.h>
00014 #include <string.h>
00015 #include <ctype.h>
00016 #include <math.h>
00017 #include "qhull.h"
00018 #include "mem.h"
00019 #include "set.h"
00020 
00021 #if __MWERKS__ && __POWERPC__
00022 #include <SIOUX.h>
00023 #include <Files.h>
00024 #include <console.h>
00025 #include <Desk.h>
00026 
00027 #elif __cplusplus
00028 extern "C" {
00029   int isatty (int);
00030 }
00031 
00032 #elif _MSC_VER
00033 #include <io.h>
00034 #define isatty _isatty
00035 
00036 #else
00037 int isatty (int);  /* returns 1 if stdin is a tty
00038                    if "Undefined symbol" this can be deleted along with call in main() */
00039 #endif
00040 
00041 #ifdef USE_DMALLOC
00042 #include "dmalloc.h"
00043 #endif
00044 
00045 /*-<a                             href="qh-c.htm#qhull"
00046   >-------------------------------</a><a name="prompt">-</a>
00047 
00048   qh_prompt and qh_version
00049     version and long prompt for qhull
00050     
00051   notes:
00052     also change date in Changes.txt, Announce.txt, README.txt, qhull.man
00053                         qh-news.htm qhull-news.html
00054     change version or date: README.txt, qhull.html, Copying.txt file_id.diz
00055     check download size
00056  
00057   see:
00058     concise prompt below
00059 */  
00060 char qh_version[]= "version 2.5 1998/2/4"; 
00061 char qh_prompta[]= "\n\
00062 qhull- compute convex hulls and related structures.\n\
00063     http://www.geom.umn.edu/locate/qhull  %s\n\
00064 input (stdin):\n\
00065     first lines: dimension and number of points (or vice-versa).\n\
00066     other lines: point coordinates, best if one point per line\n\
00067     comments:    start with a non-numeric character\n\
00068     halfspaces:  use dim plus one and put offset after coefficients.\n\
00069         May be preceeded by a single interior point ('H').\n\
00070 \n\
00071 options:\n\
00072     d    - Delaunay triangulation by lifting points to a paraboloid\n\
00073     v    - Voronoi diagram from the Delaunay triangulation\n\
00074     Hn,n,... - halfspace intersection about [n,n,0,...]\n\
00075     d Qu - furthest-site Delaunay triangulation (upper convex hull)\n\
00076     v Qu - furthest-site Voronoi diagram\n\
00077     QJ   - joggle input instead of merging facets\n\
00078 \n\
00079   Qopts- Qhull control options:\n\
00080            Qbk:n   - scale coord k so that low bound is n\n\
00081              QBk:n - scale coord k so that upper bound is n (QBk is %2.2g)\n\
00082            QbB     - scale input to unit cube\n\
00083            Qbb     - scale last coordinate to [0,m] for Delaunay triangulations\n\
00084            Qbk:0Bk:0 - remove k-th coordinate from input\n\
00085            QJn     - randomly joggle input in range [-n,n]\n\
00086            QRn     - random rotation (n=seed, n=0 time, n=-1 time/no rotate)\n\
00087 %s%s%s%s";  /* split up qh_prompt for Visual C++ */
00088 char qh_promptb[]= "\
00089            Qc      - keep coplanar points with nearest facet\n\
00090            Qf      - partition point to furthest outside facet\n\
00091            Qg      - only build good facets (needs 'QGn', 'QVn', or 'PdD')\n\
00092            Qm      - only process points that would increase max_outside\n\
00093            Qi      - keep interior points with nearest facet\n\
00094            Qr      - process random outside points instead of furthest ones\n\
00095            Qs      - search all points for the initial simplex\n\
00096            Qu      - for 'd', compute upper hull without point at-infinity\n\
00097                      returns furthest-site Delaunay triangulation\n\
00098            Qv      - test vertex neighbors for convexity\n\
00099            Qx      - exact pre-merges (skips coplanar and angle coplanar facets)\n\
00100            Qz      - add point-at-infinity to Delaunay triangulation\n\
00101            QGn     - good facet if visible from point n, -n for not visible\n\
00102            QVn     - good facet if it includes point n, -n if not\n\
00103            Q0      - turn off default premerge with 'C-0'/'Qx'\n\
00104            Q1      - sort merges by type instead of angle\n\
00105            Q2      - merge all non-convex at once instead of independent sets\n\
00106            Q3      - do not merge redundant vertices\n\
00107            Q4      - avoid old->new merges\n\
00108            Q5      - do not correct outer planes at end of qhull\n\
00109            Q6      - do not pre-merge concave or coplanar facets\n\
00110            Q7      - depth-first processing instead of breadth-first\n\
00111            Q8      - do not process near-inside points\n\
00112            Q9      - process furthest of furthest points\n\
00113 ";
00114 char qh_promptc[]= "\
00115   Topts- Trace options:\n\
00116            T4      - trace at level n, 4=all, 5=mem/gauss, -1= events\n\
00117            Tc      - check frequently during execution\n\
00118            Ts      - print statistics\n\
00119            Tv      - verify result: structure, convexity, and point inclusion\n\
00120            Tz      - send all output to stdout\n\
00121            TFn     - report summary when n or more facets created\n\
00122            TO file - output results to file, may be enclosed in single quotes\n\
00123            TPn     - turn on tracing when point n added to hull\n\
00124             TMn    - turn on tracing at merge n\n\
00125             TWn    - trace merge facets when width > n\n\
00126            TRn     - rerun qhull n times.  Use with 'QJn'\n\
00127            TVn     - stop qhull after adding point n, -n for before (see TCn)\n\
00128             TCn    - stop qhull after building cone for point n (see TVn)\n\
00129 \n\
00130 Precision options (default detects precision problems without correction):\n\
00131     Cn   - radius of centrum (roundoff added).  Merge facets if non-convex\n\
00132      An  - cosine of maximum angle.  Merge facets if cosine > n or non-convex\n\
00133            C-0 roundoff, A-0.99/C-0.01 pre-merge, A0.99/C0.01 post-merge\n\
00134     En   - max roundoff error for distance computation\n\
00135     Rn   - randomly perturb computations by a factor of [1-n,1+n]\n\
00136     Vn   - min distance above plane for a visible facet (default 3C-n or En)\n\
00137     Un   - max distance below plane for a new, coplanar point (default Vn)\n\
00138     Wn   - min facet width for outside point (before roundoff, default 2Vn)\n\
00139 \n\
00140 Output formats (may be combined; if none, produces a summary to stdout):\n\
00141     f    - all fields of all facets\n\
00142     i    - vertices incident to each facet\n\
00143     m    - Mathematica output (2-d and 3-d)\n\
00144     o    - OFF file format (dim, points and facets; Voronoi regions)\n\
00145     n    - normals with offsets\n\
00146     p    - point coordinates (Voronoi vertices)\n\
00147     s    - print summary to stderr\n\
00148 ";
00149 char qh_promptd[]= "\
00150     Fopts- additional input/output formats:\n\
00151            Fa      - print area for each facet\n\
00152            FA      - compute total area and volume for option 's'\n\
00153            Fc      - print count and coplanar points for each facet\n\
00154            FC      - print centrum or Voronoi center for each facet\n\
00155            Fd      - use cdd format for input (homogeneous with offset first)\n\
00156            FD      - use cdd format for normals (offset first)\n\
00157            FF      - print facets w/o ridges\n\
00158            Fi      - print inner planes for each facet\n\
00159            Fi      - print inner ridge normals (bounded) for Voronoi diagram\n\
00160            FI      - print id for each facet\n\
00161            Fm      - print merge count for each facet (511 max)\n\
00162            Fn      - print count and neighbors for each facet\n\
00163            FN      - print count and vertex neighbors for each point\n\
00164            Fo      - print outer planes (or max_outside) for each facet\n\
00165            Fo      - print outer ridge normals (unbounded)for Voronoi diagram\n\
00166            FO      - print all options\n\
00167            Fp      - print point for each halfspace intersection\n\
00168            FP      - print nearest vertex for each coplanar point (v,p,f,d)\n\
00169            FQ      - print Qhull and input command\n\
00170            Fs      - print summary: #int (6), dimension, #points,\n\
00171                        tot vertices, tot facets, #vertices in output, #facets\n\
00172                        #real (2), max outer plane and min vertex\n\
00173            FS      - print sizes: #int (0), #real(2) tot area, tot vol\n\
00174            Ft      - print Delaunay triangulation with added centrums\n\
00175            Fv      - print count and vertices for each facet\n\
00176            Fv      - print Voronoi diagram as vertices for each pair of sites\n\
00177            FV      - print average vertex (feasible point for 'H')\n\
00178            Fx      - print extreme points by point id (2-d, in order)\n\
00179 ";
00180 char qh_prompte[]= "\
00181     Gopts- Geomview output (2-d, 3-d and 4-d; 2-d Voronoi)\n\
00182            Ga      - all points as dots\n\
00183             Gp     -  coplanar points and vertices as radii\n\
00184             Gv     -  vertices as spheres\n\
00185            Gi      - inner planes only\n\
00186             Gn     -  no planes\n\
00187             Go     -  outer planes only\n\
00188            Gc      - centrums\n\
00189            Gh      - hyperplane intersections\n\
00190            Gr      - ridges\n\
00191            GDn     - drop dimension n in 3-d and 4-d output\n\
00192            Gt      - transparent outer ridges to view 3-d Delaunay\n\
00193     Popts- Print options:\n\
00194            PAn     - keep n largest facets by area\n\
00195            Pdk:n   - drop facet if normal[k] <= n (default 0.0)\n\
00196            PDk:n   - drop facet if normal[k] >= n\n\
00197            Pg      - print good facets (needs 'QGn' or 'QVn')\n\
00198            PFn     - keep facets whose area is at least n\n\
00199            PG      - print neighbors of good facets\n\
00200            PMn     - keep n facets with most merges\n\
00201            Po      - force output.  If error, output neighborhood of facet\n\
00202            Pp      - do not report precision problems\n\
00203 \n\
00204     .    - list of all options\n\
00205     -    - one line descriptions of all options\n\
00206 ";
00207 /* for opts, don't assign 'e' or 'E' to a flag (already used for exponent) */
00208 
00209 /*-<a                             href="qh-c.htm#qhull"
00210   >-------------------------------</a><a name="prompt2">-</a>
00211 
00212   qh_prompt2
00213     synopsis for qhull 
00214 */  
00215 char qh_prompt2[]= "\n\
00216 qhull- compute convex hulls and related structures.  %s\n\
00217     input (stdin): dimension, number of points, point coordinates\n\
00218     comments start with a non-numeric character\n\
00219     halfspace: use dim plus one and put offsets after coefficients\n\
00220 \n\
00221 options (qh-opt.htm):\n\
00222     d      - Delaunay triangulation by lifting points to a paraboloid\n\
00223     v      - Voronoi diagram from the Delaunay triangulation\n\
00224     H1,1   - Halfspace intersection about [1,1,0,...] via polar duality\n\
00225     d Qu   - furthest-site Delaunay triangulation (upper convex hull)\n\
00226     v Qu   - furthest-site Voronoi diagram\n\
00227     QJ     - randomly joggle input by a small amount\n\
00228     .      - concise list of all options\n\
00229     -      - one-line description of all options\n\
00230 \n\
00231 output options (subset):\n\
00232     FA     - compute total area and volume\n\
00233     Fx     - extreme points (convex hull vertices)\n\
00234     G      - Geomview output (2-d, 3-d and 4-d)\n\
00235     Fp     - halfspace intersections\n\
00236     m      - Mathematica output (2-d and 3-d)\n\
00237     n      - normals with offsets\n\
00238     o      - OFF file format (if Voronoi, outputs regions)\n\
00239     TO file- output results to file, may be enclosed in single quotes\n\
00240     f      - print all fields of all facets\n\
00241     s      - summary of results (default)\n\
00242     Tv     - verify result: structure, convexity, and point inclusion\n\
00243     p      - vertex coordinates\n\
00244     i      - vertices incident to each facet\n\
00245 \n\
00246 examples:\n\
00247     rbox c d D2 | qhull Qc s f Fx | more      rbox 1000 s | qhull Tv s FA\n\
00248     rbox 10 D2 | qhull d QJ s i TO result     rbox 10 D2 | qhull v QJ p\n\
00249     rbox 10 D2 | qhull d Qu QJ m              rbox 10 D2 | qhull v Qu QJ o\n\
00250     rbox c | qhull n                          rbox c | qhull FV n | qhull H Fp\n\
00251     rbox d D12 | qhull QR0 FA                 rbox c D7 | qhull FA TF1000\n\
00252     rbox y 1000 W0 | qhull                    rbox 10 | qhull v QJ o Fv\n\
00253 \n\
00254 ";
00255 /* for opts, don't assign 'e' or 'E' to a flag (already used for exponent) */
00256 
00257 /*-<a                             href="qh-c.htm#qhull"
00258   >-------------------------------</a><a name="prompt3">-</a>
00259 
00260   qh_prompt3
00261     concise prompt for qhull 
00262 */  
00263 char qh_prompt3[]= "\n\
00264 Qhull %s.  Upper-case options [not 'F.' or 'PG'] use number\n\
00265 \n\
00266  delaunay       voronoi        Halfspace      facet_dump     Geomview \n\
00267  incidences     mathematica    normals        points         off_file\n\
00268  summary\n\
00269  Farea          FArea-total    Fcoplanars     FCentrums      Fd-cdd-in\n\
00270  FD-cdd-out     FFacet-xridge  Finner         FIds           Fmerges\n\
00271  Fneighbors     FNeigh-vertex  Fouter         FOptions       Fpoint-intersect\n\
00272  FPoint_near    FQhull         Fsummary       FSize\n\
00273  Ftriangles     Fvertices      Fvoronoi       FVertex-ave    Fxtremes\n\
00274  Gvertices      Gpoints        Gall_points    Gno_planes     Ginner\n\
00275  Gcentrums      Ghyperplanes   Gridges        Gouter         GDrop_dim\n\
00276  Gtransparent   PArea-keep     Pdrop d0:0D0   Pgood          PFacet_area_keep\n\
00277  PGood_neighbors PMerge-keep   Poutput_forced Pprecision_not\n\
00278  QbBound 0:0.5  QbB-scale-box  Qbb-scale-last Qcoplanar\n\
00279  Qfurthest      Qgood_only     QGood_point    Qinterior      Qmax_out\n\
00280  QJoggle        Qrandom        QRotate        Qsearch_1st    QupperDelaunay\n\
00281  QVertex_good   Qvneighbors    Qxact_merge    Qzinfinite     Q0_no_premerge\n\
00282  Q1_no_angle    Q2_no_independ Q3_no_redundant Q4_no_old     Q5_no_check_out\n\
00283  Q6_no_concave  Q7_depth_first Q8_no_near_in  Q9_pick_furthest T4_trace\n\
00284  Tcheck_often   Tstatistics    Tverify        Tz_stdout      TFacet_log\n\
00285  TPoint_trace   TMerge_trace   TOoutput_file  TRerun         TWide_trace\n\
00286  TVertex_stop   TCone_stop                    Angle_max      Centrum_size\n\
00287  Error_round    Random_dist    Visible_min    Ucoplanar_max  Wide_outside\n\
00288 ";
00289 
00290 /*-<a                             href="qh-c.htm#global"
00291   >-------------------------------</a><a name="main">-</a>
00292   
00293   main( argc, argv )
00294     processes the command line, calls qhull() to do the work, and exits
00295   
00296   design:
00297     initializes data structures
00298     reads points
00299     finishes initialization
00300     computes convex hull and other structures
00301     checks the result
00302     writes the output
00303     frees memory
00304 */
00305 int main(int argc, char *argv[]) {
00306   int curlong, totlong; /* used !qh_NOmem */
00307   int exitcode, numpoints, dim;
00308   coordT *points;
00309   boolT ismalloc;
00310 
00311 #if __MWERKS__ && __POWERPC__
00312   char inBuf[BUFSIZ], outBuf[BUFSIZ], errBuf[BUFSIZ];
00313   SIOUXSettings.showstatusline= false;
00314   SIOUXSettings.tabspaces= 1;
00315   SIOUXSettings.rows= 40;
00316   if (setvbuf (stdin, inBuf, _IOFBF, sizeof(inBuf)) < 0   /* w/o, SIOUX I/O is slow*/
00317   || setvbuf (stdout, outBuf, _IOFBF, sizeof(outBuf)) < 0
00318   || (stdout != stderr && setvbuf (stderr, errBuf, _IOFBF, sizeof(errBuf)) < 0)) 
00319     fprintf (stderr, "qhull internal warning (main): could not change stdio to fully buffered.\n");
00320   argc= ccommand(&argv);
00321 #endif
00322 
00323   if ((argc == 1) && isatty( 0 /*stdin*/)) {      
00324     fprintf(stdout, qh_prompt2, qh_version);
00325     exit(qh_ERRnone);
00326   }
00327   if (argc > 1 && *argv[1] == '-' && !*(argv[1]+1)) {
00328     fprintf(stdout, qh_prompta, qh_version, qh_DEFAULTbox, 
00329                 qh_promptb, qh_promptc, qh_promptd, qh_prompte);
00330     exit(qh_ERRnone);
00331   }
00332   if (argc >1 && *argv[1] == '.' && !*(argv[1]+1)) {
00333     fprintf(stdout, qh_prompt3, qh_version);
00334     exit(qh_ERRnone);
00335   }
00336   qh_init_A (stdin, stdout, stderr, argc, argv);  /* sets qh qhull_command */
00337   exitcode= setjmp (qh errexit); /* simple statement for CRAY J916 */
00338   if (!exitcode) {
00339     qh_initflags (qh qhull_command);
00340     points= qh_readpoints (&numpoints, &dim, &ismalloc);
00341     qh_init_B (points, numpoints, dim, ismalloc);
00342     qh_qhull();
00343     qh_check_output();
00344     qh_produce_output();
00345     if (qh VERIFYoutput && !qh FORCEoutput && !qh STOPpoint && !qh STOPcone)
00346       qh_check_points();
00347     exitcode= qh_ERRnone;
00348   }
00349   qh NOerrexit= True;  /* no more setjmp */
00350 #ifdef qh_NOmem
00351   qh_freeqhull( True);
00352 #else
00353   qh_freeqhull( False);
00354   qh_memfreeshort (&curlong, &totlong);
00355   if (curlong || totlong) 
00356     fprintf (stderr, "qhull internal warning (main): did not free %d bytes of long memory (%d pieces)\n",
00357        totlong, curlong);
00358 #endif
00359   return exitcode;
00360 } /* main */
00361
/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/qhull/unix.c
