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Viewing changes to pkg/common/Bo1_Aabb.cpp

  • Committer: Package Import Robot
  • Author(s): Anton Gladky
  • Date: 2014-08-04 19:34:58 UTC
  • mfrom: (1.1.11)
  • Revision ID: package-import@ubuntu.com-20140804193458-cw8qhnujxe9wzi15
Tags: 1.11.0-1
* [a0600ae] Imported Upstream version 1.11.0
* [a3055e0] Do not use parallel build on kfreebsd-amd64 and s390x.
* [f86b405] Remove applied patches.

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pkg/common/Bo1_Aabb.cpp
 
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/*************************************************************************
 
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*  Copyright (C) 2004 by Olivier Galizzi                                 *
 
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*  olivier.galizzi@imag.fr                                               *
 
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*                                                                        *
 
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*  This program is free software; it is licensed under the terms of the  *
 
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*  GNU General Public License v2 or later. See file LICENSE for details. *
 
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*************************************************************************/
 
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#include <yade/pkg/common/Bo1_Aabb.hpp>
 
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YADE_PLUGIN((Bo1_Sphere_Aabb)(Bo1_Facet_Aabb)(Bo1_Box_Aabb));
 
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void Bo1_Sphere_Aabb::go(const shared_ptr<Shape>& cm, shared_ptr<Bound>& bv, const Se3r& se3, const Body* b){
 
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        Sphere* sphere = static_cast<Sphere*>(cm.get());
 
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        if(!bv){ bv=shared_ptr<Bound>(new Aabb); }
 
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        Aabb* aabb=static_cast<Aabb*>(bv.get());
 
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        Vector3r halfSize = (aabbEnlargeFactor>0?aabbEnlargeFactor:1.)*Vector3r(sphere->radius,sphere->radius,sphere->radius);
 
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        if(!scene->isPeriodic){
 
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                aabb->min=se3.position-halfSize; aabb->max=se3.position+halfSize;
 
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                return;
 
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        }
 
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        // adjust box size along axes so that sphere doesn't stick out of the box even if sheared (i.e. parallelepiped)
 
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        if(scene->cell->hasShear()) {
 
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                Vector3r refHalfSize(halfSize);
 
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                const Vector3r& cos=scene->cell->getCos();
 
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                for(int i=0; i<3; i++){
 
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                        //cerr<<"cos["<<i<<"]"<<cos[i]<<" ";
 
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                        int i1=(i+1)%3,i2=(i+2)%3;
 
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                        halfSize[i1]+=.5*refHalfSize[i1]*(1/cos[i]-1);
 
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                        halfSize[i2]+=.5*refHalfSize[i2]*(1/cos[i]-1);
 
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                }
 
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        }
 
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        //cerr<<" || "<<halfSize<<endl;
 
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        aabb->min = scene->cell->unshearPt(se3.position)-halfSize;
 
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        aabb->max = scene->cell->unshearPt(se3.position)+halfSize;      
 
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}
 
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void Bo1_Facet_Aabb::go(          const shared_ptr<Shape>& cm
 
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                                , shared_ptr<Bound>& bv
 
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                                , const Se3r& se3
 
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                                , const Body* b)
 
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{
 
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        if(!bv){ bv=shared_ptr<Bound>(new Aabb); }
 
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        Aabb* aabb=static_cast<Aabb*>(bv.get());
 
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        Facet* facet = static_cast<Facet*>(cm.get());
 
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        const Vector3r& O = se3.position;
 
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        Matrix3r facetAxisT=se3.orientation.toRotationMatrix();
 
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        const vector<Vector3r>& vertices=facet->vertices;
 
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        if(!scene->isPeriodic){
 
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                aabb->min=aabb->max = O + facetAxisT * vertices[0];
 
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                for (int i=1;i<3;++i)
 
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                {
 
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                        Vector3r v = O + facetAxisT * vertices[i];
 
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                        aabb->min = aabb->min.cwiseMin(v);
 
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                        aabb->max = aabb->max.cwiseMax(v);
 
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                }
 
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        } else {
 
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                Real inf=std::numeric_limits<Real>::infinity();
 
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                aabb->min=Vector3r(inf,inf,inf); aabb->max=Vector3r(-inf,-inf,-inf);
 
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                for(int i=0; i<3; i++){
 
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                        Vector3r v=scene->cell->unshearPt(O+facetAxisT*vertices[i]);
 
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                        aabb->min=aabb->min.cwiseMin(v);
 
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                        aabb->max=aabb->max.cwiseMax(v);
 
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                }
 
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        }
 
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}
 
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void Bo1_Box_Aabb::go(  const shared_ptr<Shape>& cm,
 
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                                shared_ptr<Bound>& bv,
 
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                                const Se3r& se3,
 
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                                const Body*     b)
 
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{
 
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        Box* box = static_cast<Box*>(cm.get());
 
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        if(!bv){ bv=shared_ptr<Bound>(new Aabb); }
 
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        Aabb* aabb=static_cast<Aabb*>(bv.get());
 
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        if(scene->isPeriodic && scene->cell->hasShear()) throw logic_error(__FILE__ "Boxes not (yet?) supported in sheared cell.");
 
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        Matrix3r r=se3.orientation.toRotationMatrix();
 
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        Vector3r halfSize(Vector3r::Zero());
 
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        for( int i=0; i<3; ++i )
 
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                for( int j=0; j<3; ++j )
 
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                        halfSize[i] += std::abs( r(i,j) * box->extents[j] );
 
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        aabb->min = se3.position-halfSize;
 
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        aabb->max = se3.position+halfSize;
 
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}