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00009 #ifndef ColUtils_H
00010 #define ColUtils_H
00011 #if defined(__sgi) || defined(_WIN32)
00012 #pragma once
00013 #endif
00014
00015
00016
00017
00018
00019 #include <math.h>
00020
00021 #include <OpenSG/OSGConfig.h>
00022 #include <OpenSG/OSGBaseTypes.h>
00023 #include <OpenSG/OSGBaseFunctions.h>
00024 #include <OpenSG/OSGVector.h>
00025 #include <OpenSG/OSGMatrix.h>
00026 #include <OpenSG/OSGGeoProperty.h>
00027 #include <OpenSG/OSGQuaternion.h>
00028
00029 #include <Collision.h>
00030 #include <col_import_export.h>
00031
00032
00033 using osg::Vec3f;
00034 using osg::Vec4f;
00035 using osg::Pnt3f;
00036 using osg::MFPnt3f;
00037 using osg::NodePtr;
00038 using osg::GeometryPtr;
00039
00040 using namespace std;
00041
00042 using namespace std;
00043 namespace col {
00044
00045
00046
00047
00048
00050 const float NearZero = 1E-6;
00051
00052
00053
00054
00055
00056 struct TopoFace;
00057
00058
00059
00060
00061
00062 COL_EXPORTIMPORT
00063 float operator * ( const Vec3f& vec3, const Vec4f& vec4 );
00064 COL_EXPORTIMPORT
00065 float operator * ( const Pnt3f& pnt, const float vec[3] );
00066 COL_EXPORTIMPORT
00067 float operator * ( const Vec4f& vec4, const Pnt3f& pnt3 );
00068 COL_EXPORTIMPORT
00069 float operator * ( const Pnt3f& pnt3, const Vec3f& vec3 );
00070 COL_EXPORTIMPORT
00071 void operator += ( Vec4f &vec4, const Vec3f &vec3 );
00072
00073 COL_EXPORTIMPORT
00074 Pnt3f lincomb( float c1, const Pnt3f& pnt1, float c2, const Pnt3f& pnt2 );
00075
00076 COL_EXPORTIMPORT
00077 float dist ( const Pnt3f& pnt1, const Pnt3f& pnt2 );
00078
00079 COL_EXPORTIMPORT
00080 float dist2 ( const Pnt3f& pnt1, const Pnt3f& pnt2 );
00081
00082
00083 COL_EXPORTIMPORT
00084 Pnt3f barycenter ( const Pnt3f* points, const unsigned int npoints );
00085 COL_EXPORTIMPORT
00086 Pnt3f barycenter ( const vector<Pnt3f>& points );
00087 COL_EXPORTIMPORT
00088 Pnt3f barycenter ( const Pnt3f* points,
00089 const unsigned int index[], const unsigned int nindices );
00090 COL_EXPORTIMPORT
00091 Pnt3f barycenter ( const MFPnt3f* points,
00092 const unsigned int index[], const unsigned int nindices );
00093 COL_EXPORTIMPORT
00094 Pnt3f barycenter ( const vector<Pnt3f> &points, const TopoFace &face );
00095
00096 COL_EXPORTIMPORT
00097 bool collinear ( const Vec3f &a, const Vec3f &b );
00098
00099 COL_EXPORTIMPORT
00100 bool coplanar ( const Pnt3f& p0, const Pnt3f& p1, const Pnt3f& p2,
00101 const Pnt3f& q0, const Pnt3f& q1, const Pnt3f& q2 );
00102
00103 COL_EXPORTIMPORT
00104 Vec3f triangleNormal( const Pnt3f& p0, const Pnt3f& p1, const Pnt3f& p2 );
00105
00106 COL_EXPORTIMPORT
00107 void dominantIndices( const Vec3f& v, unsigned int* x, unsigned int* y );
00108
00109 COL_EXPORTIMPORT
00110 void dominantIndices( const Vec3f& v,
00111 unsigned int* x, unsigned int* y, unsigned int * z );
00112
00113 COL_EXPORTIMPORT
00114 unsigned int dominantIndex( const Vec3f &v );
00115
00116 COL_EXPORTIMPORT
00117 Vec3f operator * ( const osg::Matrix &m, const Vec3f &v );
00118 COL_EXPORTIMPORT
00119 Pnt3f operator * ( const osg::Matrix &m, const Pnt3f &p );
00120 COL_EXPORTIMPORT
00121 Vec3f mulMTVec ( const osg::Matrix &m, const Vec3f &v );
00122 COL_EXPORTIMPORT
00123 Pnt3f mulM3Pnt ( const osg::Matrix &m, const Pnt3f &p );
00124
00125 COL_EXPORTIMPORT
00126 osg::Matrix operator * ( const osg::Matrix & m1, const osg::Matrix & m2 );
00127
00128 COL_EXPORTIMPORT
00129 osg::Matrix axisToMat( const Vec3f & a, float d );
00130
00131 COL_EXPORTIMPORT
00132 unsigned int discretizeOri( osg::Quaternion q, unsigned int r );
00133
00134 COL_EXPORTIMPORT
00135 void printMat( const osg::Matrix &m, FILE *file = stdout );
00136
00137 COL_EXPORTIMPORT
00138 void printPnt( const osg::Pnt3f &p, FILE *file = stdout );
00139
00140 COL_EXPORTIMPORT
00141 void sortVerticesCounterClockwise( const vector<Pnt3f> &vertex,
00142 const Vec3f &normal,
00143 TopoFace &face );
00144
00145 COL_EXPORTIMPORT
00146 osg::NodePtr geomFromPoints( const vector<Pnt3f> &vertex,
00147 vector<TopoFace> &face,
00148 int gl_type,
00149 bool skip_redundant,
00150 const Vec3f normals[] );
00151
00152 COL_EXPORTIMPORT
00153 osg::NodePtr geomFromPoints( const Pnt3f vertex[], unsigned int nvertices,
00154 unsigned int face[],
00155 const unsigned int face_nv[],
00156 unsigned int nfaces,
00157 int gl_type,
00158 bool skip_redundant,
00159 const Vec3f normals[] );
00160
00161 COL_EXPORTIMPORT
00162 osg::NodePtr makeCube( float radius, int gl_type );
00163
00164 COL_EXPORTIMPORT
00165 void getNodeBBox( NodePtr node, float min[3], float max[3] );
00166
00167 COL_EXPORTIMPORT
00168 GeometryPtr getGeom( const NodePtr node );
00169
00170 COL_EXPORTIMPORT
00171 MFPnt3f* getPoints( const NodePtr node );
00172
00173 COL_EXPORTIMPORT
00174 MFPnt3f* getPoints( const GeometryPtr geo );
00175
00176 COL_EXPORTIMPORT
00177 osg::GeoPositions3fPtr getPositions( const osg::NodePtr node );
00178
00179 COL_EXPORTIMPORT
00180 void calcVertexNormals( const osg::NodePtr node, const float creaseAngle = 90.0 );
00181
00182 COL_EXPORTIMPORT
00183 osg::NodePtr findGeomNode( const osg::NodePtr node );
00184 COL_EXPORTIMPORT
00185 osg::MaterialPtr findMaterial( const osg::NodePtr node );
00186
00187 COL_EXPORTIMPORT
00188 void mergeGeom( const NodePtr &subtree, NodePtr *geonode );
00189
00190 COL_EXPORTIMPORT
00191 void mlerp( osg::Matrix* intermat,
00192 const osg::Matrix& m1, const osg::Matrix& m2,
00193 float t );
00194
00195 COL_EXPORTIMPORT
00196 bool lockToProcessor( unsigned int processor );
00197
00198 COL_EXPORTIMPORT
00199 void sleep( unsigned int microseconds );
00200
00201 COL_EXPORTIMPORT
00202 float time( void );
00203
00204 COL_EXPORTIMPORT
00205 double my_drand48( void );
00206
00207 COL_EXPORTIMPORT
00208 float pseudo_randomf( void );
00209
00210 COL_EXPORTIMPORT
00211 unsigned int pseudo_random( void );
00212
00213
00214 class COL_EXPORTIMPORT NanoTimer
00215 {
00216 public:
00217
00218 NanoTimer();
00219
00220 void start( void );
00221 double elapsed( void ) const;
00222
00223 static bool usesHighFrequ( void );
00224 static double frequ( void );
00225
00226 private:
00227
00228 unsigned long long int m_time_stamp;
00229
00230 static bool M_Use_High_Frequ;
00231 static double M_GHz;
00232 static bool M_FrequencyChecked;
00233
00234 static long long unsigned int getTimeStamp( void );
00235 static void checkFrequency( void );
00236 };
00237
00238
00239 COL_EXPORTIMPORT
00240 unsigned int sign( float & x );
00241 COL_EXPORTIMPORT
00242 unsigned int sign( double & x );
00243 COL_EXPORTIMPORT
00244 unsigned int sign( int x );
00245
00246
00247 COL_EXPORTIMPORT
00248 bool isectCoplanarTriangles( const Vec3f& normalV,
00249 const Pnt3f& polyVv0, const Pnt3f& polyVv1,
00250 const Pnt3f& polyVv2,
00251 const Pnt3f& polyUv0, const Pnt3f& polyUv1,
00252 const Pnt3f& polyUv2 );
00253
00254 COL_EXPORTIMPORT
00255 bool isectCoplanarEdges( const Pnt3f& v0V, const Pnt3f& v1V,
00256 const Pnt3f& u0V, const Pnt3f& u1V,
00257 unsigned int x, unsigned int y );
00258
00259 COL_EXPORTIMPORT
00260 bool pointInPolygon( const Pnt3f& pt,
00261 const Pnt3f* poly, unsigned int plSize,
00262 unsigned int x, unsigned int y );
00263
00264 COL_EXPORTIMPORT
00265 bool pointInTriangle( const Pnt3f& pt,
00266 const Pnt3f& v0, const Pnt3f& v1, const Pnt3f& v2,
00267 unsigned int x, unsigned int y );
00268
00269 COL_EXPORTIMPORT
00270 void isectEdgePolygon( const Pnt3f& v1, const Pnt3f& v2,
00271 const Pnt3f* poly, unsigned int plSize,
00272 const Vec3f& normalV,
00273 unsigned int x, unsigned int y,
00274 bool* isect, bool* oneside );
00275
00276 COL_EXPORTIMPORT
00277 void isectEdgeTriangle( const Pnt3f& v1, const Pnt3f& v2,
00278 const Pnt3f* poly, const Vec3f& normalV,
00279 unsigned int x, unsigned int y,
00280 bool* isect, bool* oneside );
00281
00282
00283 COL_EXPORTIMPORT
00284 void getTransfomUpto( const osg::NodePtr &cur, const osg::NodePtr &upto, osg::Matrix &result );
00285
00286 COL_EXPORTIMPORT
00287 void iterFaces( const osg::NodePtr &node, void (*Callback)(const osg::NodePtr &, const osg::GeometryPtr &, const osg::FaceIterator &, void *), void *data );
00288
00289 COL_EXPORTIMPORT
00290 void countFaces( const osg::NodePtr &, const osg::GeometryPtr &, const osg::FaceIterator &, void *data );
00291
00292
00293
00294
00295
00296
00297
00298 class COL_EXPORTIMPORT FibRand
00299 {
00300 public:
00301
00302 FibRand( int seed );
00303 unsigned int rand( void );
00304 unsigned int mrand( unsigned int m );
00305 float frand( void );
00306
00308 static const int M_MaxRand = (1 << 30);
00309
00310 private:
00311
00312 void refresh(void);
00313
00314 static const int M_HashConst = 618033988;
00315 static const int M_KK = 100;
00316 static const int M_LL = 37;
00317 static const int M_MM = M_MaxRand;
00318 static const int M_TT = 70;
00319 static const int M_BufSize = 100;
00320
00321 int m_buf[M_BufSize];
00322 int m_current_idx;
00323
00324 };
00325
00326
00327
00328
00329
00330
00331
00333 #define col_min(col_X1,col_X2) (((col_X1) < (col_X2)) ? (col_X1) : (col_X2))
00334
00336 #define col_max(col_X1,col_X2) (((col_X1) > (col_X2)) ? (col_X1) : (col_X2))
00337
00339 #define col_max3( col_X1, col_X2, col_X3 ) \
00340 col_max( col_max(col_X1,col_X2), col_X3 )
00341
00343 #define col_abs_max3( col_X1, col_X2, col_X3 ) \
00344 col_max3( fabsf(col_X1), fabsf(col_X2), fabsf(col_X3) )
00345
00347 #define col_max_v( col_V ) \
00348 col_max3( (col_V)[0], (col_V)[1], (col_V)[2] )
00349
00351 #define col_min_max(col_MIN,col_X,col_MAX) \
00352 if ( (col_MIN) > (col_X) ) \
00353 col_MIN = (col_X); \
00354 else if ( (col_MAX) < (col_X) ) \
00355 col_MAX = (col_X);
00356
00358 #define col_clamp(col_XX, col_LOW, col_HIGH) \
00359 (((col_XX) < (col_LOW)) ? \
00360 (col_LOW) \
00361 : (col_XX) > (col_HIGH) ? \
00362 (col_HIGH) \
00363 : (col_XX))
00364
00365
00366 #define col_near_zero(col_X) \
00367 ( fabsf( col_X ) < col::NearZero )
00368
00370 #define col_near_null( col_V ) \
00371 ( fabsf( col_V[0] ) < col::NearZero && \
00372 fabsf( col_V[1] ) < col::NearZero && \
00373 fabsf( col_V[2] ) < col::NearZero )
00374
00376 #define col_almost_equal( col_X, col_Y ) \
00377 ( fabsf( (col_X) - (col_Y) ) < col::NearZero )
00378
00379 }
00380
00381 #endif
00382
00383
