93 lines
6.2 KiB
C++
93 lines
6.2 KiB
C++
#ifndef unprojectionchecks_h
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#define unprojectionchecks_h
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struct unprojection_mode {
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unprojection_mode() { bCheckContact=0; }
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int imode;
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vectorf dir; // direction or rotation axis
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vectorf center; // center of rotation
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float vel; // linear or angular velocity
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float tmax; // maximum unprojection length (not time)
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float minPtDist; // tolerance value
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int bCheckContact;
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matrix3x3f R0;
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vectorf offset0;
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};
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typedef int (*unprojection_check)(unprojection_mode*, const primitive*,int,const primitive*,int, contact*, geom_contact_area*);
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int default_unprojection(unprojection_mode*, const primitive*,int,const primitive*,int, contact*, geom_contact_area*);
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int tri_tri_lin_unprojection(unprojection_mode *pmode, const triangle *ptri1,int iFeature1,const triangle *ptri2,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int tri_box_lin_unprojection(unprojection_mode *pmode, const triangle *ptri,int iFeature1,const box *pbox,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int box_tri_lin_unprojection(unprojection_mode *pmode, const box *pbox,int iFeature1,const triangle *ptri,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int tri_cylinder_lin_unprojection(unprojection_mode *pmode, const triangle *ptri,int iFeature1,const cylinder *pcyl,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int cylinder_tri_lin_unprojection(unprojection_mode *pmode, const cylinder *pcyl,int iFeature1,const triangle *ptri,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int tri_sphere_lin_unprojection(unprojection_mode *pmode, const triangle *ptri,int iFeature1,const sphere *psphere,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int sphere_tri_lin_unprojection(unprojection_mode *pmode, const sphere *psphere,int iFeature1,const triangle *ptri,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int tri_ray_lin_unprojection(unprojection_mode *pmode, const triangle *ptri,int iFeature1,const ray *pray,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int ray_tri_lin_unprojection(unprojection_mode *pmode, const ray *pray,int iFeature1,const triangle *ptri,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int tri_plane_lin_unprojection(unprojection_mode *pmode, const triangle *ptri,int iFeature1,const plane *pplane,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int plane_tri_lin_unprojection(unprojection_mode *pmode, const plane *pplane,int iFeature1,const triangle *ptri,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int box_box_lin_unprojection(unprojection_mode *pmode, const box *pbox1,int iFeature1, const box *pbox2,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int box_cylinder_lin_unprojection(unprojection_mode *pmode, const box *pbox,int iFeature1,const cylinder *pcyl,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int cylinder_box_lin_unprojection(unprojection_mode *pmode, const cylinder *pcyl,int iFeature1,const box *pbox,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int box_sphere_lin_unprojection(unprojection_mode *pmode, const box *pbox,int iFeature1,const sphere *psph,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int sphere_box_lin_unprojection(unprojection_mode *pmode, const sphere *psph,int iFeature1,const box *pbox,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int cyl_cyl_lin_unprojection(unprojection_mode *pmode, const cylinder *pcyl1,int iFeature1,const cylinder *pcyl2,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int cylinder_sphere_lin_unprojection(unprojection_mode *pmode, const cylinder *pbox,int iFeature1,const sphere *psph,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int sphere_cylinder_lin_unprojection(unprojection_mode *pmode, const sphere *psph,int iFeature1,const cylinder *pcyl,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int sphere_sphere_lin_unprojection(unprojection_mode *pmode, const sphere *psph1,int iFeature1, const sphere *psph2,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int tri_tri_rot_unprojection(unprojection_mode *pmode, const triangle *ptri1,int iFeature1,const triangle *ptri2,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int tri_ray_rot_unprojection(unprojection_mode *pmode, const triangle *ptri,int iFeature1,const ray *pray,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int ray_tri_rot_unprojection(unprojection_mode *pmode, const ray *pray,int iFeature1,const triangle *ptri,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int cyl_ray_rot_unprojection(unprojection_mode *pmode, const cylinder *pcyl,int iFeature1,const ray *pray,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int ray_cyl_rot_unprojection(unprojection_mode *pmode, const ray *pray,int iFeature1,const cylinder *pcyl,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int box_ray_rot_unprojection(unprojection_mode *pmode, const box *pbox,int iFeature1, const ray *pray,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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int ray_box_rot_unprojection(unprojection_mode *pmode, const ray *pray,int iFeature1, const box *pbox,int iFeature2,
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contact *pcontact, geom_contact_area *parea);
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class CUnprojectionChecker {
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public:
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CUnprojectionChecker();
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int Check(unprojection_mode *pmode, int type1,int type2, const primitive *prim1,int iFeature1,const primitive *prim2,int iFeature2,
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contact *pcontact, geom_contact_area *parea=0)
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{
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return table[pmode->imode][type1][type2](pmode, prim1,iFeature1,prim2,iFeature2, pcontact, parea);
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}
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int CheckExists(int imode, int type1,int type2) {
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return table[imode][type1][type2]!=default_unprojection;
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}
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unprojection_check table[2][NPRIMS][NPRIMS];
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};
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extern CUnprojectionChecker g_Unprojector;
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#endif |