73 lines
3.1 KiB
C++
73 lines
3.1 KiB
C++
/** \file sr_bv_math.h
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* BV tree math routines */
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# ifndef SR_BV_MATH_H
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# define SR_BV_MATH_H
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# include "sr.h"
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/*! if the following macro is defined, will use floats instead of doubles
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Default is doubles (macro not defined) */
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# ifdef SR_BV_MATH_FLOAT
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typedef float srbvreal;
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# else
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typedef double srbvreal;
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# endif
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typedef srbvreal srbvmat[3][3];
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typedef srbvreal srbvvec[3];
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const srbvreal srbvpi = (srbvreal)SR_PI;
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//============================== SrBvMath ===============================
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/*! This namespace encapsulates a (row-major) matrix/vector code
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adapted from the PQP package. Their copyright notice
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is displayed in the source file */
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namespace SrBvMath
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{
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void Vset ( srbvvec V, float* fp );
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void Midentity ( srbvmat M ); // set to id matrix
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void Videntity ( srbvvec T ); // set to a null vector
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void McM ( srbvmat Mr, const srbvmat M ); // Mr=M
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void VcV ( srbvvec Vr, const srbvvec V ); // Vr=V
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void McolcV ( srbvvec Vr, const srbvmat M, int c ); // Vr=M.column(c)
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void McolcMcol ( srbvmat Mr, int cr, const srbvmat M, int c ); // Vr.column(cr)=M.column(c)
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void MxM ( srbvmat Mr, const srbvmat M1, const srbvmat M2 ); // Mr=M1*M2
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void MTxM ( srbvmat Mr, const srbvmat M1, const srbvmat M2 ); // Mr=M1.transpose()*M2
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void MxV ( srbvvec Vr, const srbvmat M1, const srbvvec V1 ); // Vr=M1*V1
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void MxVpV ( srbvvec Vr, const srbvmat M1, const srbvvec V1, const srbvvec V2 );
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void MTxV ( srbvvec Vr, const srbvmat M1, const srbvvec V1 );
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void VmV ( srbvvec Vr, const srbvvec V1, const srbvvec V2 );
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void VpV ( srbvvec Vr, const srbvvec V1, const srbvvec V2 );
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void VpVxS ( srbvvec Vr, const srbvvec V1, const srbvvec V2, srbvreal s );
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void VcrossV ( srbvvec Vr, const srbvvec V1, const srbvvec V2 );
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srbvreal VdotV ( const srbvvec V1, const srbvvec V2 );
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srbvreal VdistV2 ( const srbvvec V1, const srbvvec V2 );
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void VxS ( srbvvec Vr, const srbvvec V, srbvreal s );
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void Meigen ( srbvmat vout, srbvvec dout, srbvmat a );
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/*! SegPoints returns closest points between a segment pair.
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Points x and y are the found closest points.
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Parameters p and a are segment 1 origin and vector.
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Parameters q and b are segment 2 origin and vector. */
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void SegPoints( srbvvec vec, srbvvec x, srbvvec y,
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const srbvvec p, const srbvvec a,
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const srbvvec q, const srbvvec b );
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/*! TriDist computes the closest points on two triangles, and
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returns the distance between them.
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s and t are the triangles, stored tri[point][dimension].
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If the triangles are disjoint, p and q give the closest
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points of s and t respectively. However, if the triangles
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overlap, p and q are basically a random pair of points from
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the triangles, not coincident points on the intersection of
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the triangles, as might be expected. */
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srbvreal TriDist ( srbvvec p, srbvvec q,
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const srbvmat s, const srbvmat t );
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}
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//============================== end of file ===============================
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# endif // SR_BV_MATH_H
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