135 lines
2.1 KiB
C++
135 lines
2.1 KiB
C++
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#ifndef MINISDF_H
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#define MINISDF_H
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btAabbUtil2.h"
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#include "LinearMath/btAlignedObjectArray.h"
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struct btMultiIndex
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{
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unsigned int ijk[3];
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};
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struct btAlignedBox3d
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{
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btVector3 m_min;
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btVector3 m_max;
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const btVector3& min() const
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{
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return m_min;
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}
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const btVector3& max() const
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{
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return m_max;
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}
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bool contains(const btVector3& x) const
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{
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return TestPointAgainstAabb2(m_min, m_max, x);
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}
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btAlignedBox3d(const btVector3& mn, const btVector3& mx)
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:m_min(mn),
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m_max(mx)
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{
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}
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btAlignedBox3d()
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{
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}
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};
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struct btShapeMatrix
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{
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double m_vec[32];
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inline double& operator[](int i)
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{
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return m_vec[i];
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}
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inline const double& operator[](int i) const
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{
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return m_vec[i];
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}
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};
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struct btShapeGradients
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{
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btVector3 m_vec[32];
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void topRowsDivide(int row, double denom)
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{
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for (int i=0;i<row;i++)
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{
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m_vec[i] /= denom;
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}
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}
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void bottomRowsMul(int row, double val)
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{
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for (int i=32-row;i<32;i++)
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{
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m_vec[i] *= val;
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}
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}
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inline btScalar& operator()(int i, int j)
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{
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return m_vec[i][j];
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}
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};
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struct btCell32
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{
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unsigned int m_cells[32];
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};
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struct btMiniSDF
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{
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btAlignedBox3d m_domain;
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unsigned int m_resolution[3];
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btVector3 m_cell_size;
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btVector3 m_inv_cell_size;
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std::size_t m_n_cells;
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std::size_t m_n_fields;
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bool m_isValid;
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btAlignedObjectArray<btAlignedObjectArray<double> > m_nodes;
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btAlignedObjectArray<btAlignedObjectArray<btCell32 > > m_cells;
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btAlignedObjectArray<btAlignedObjectArray<unsigned int> > m_cell_map;
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btMiniSDF()
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:m_isValid(false)
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{
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}
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bool load(const char* data, int size);
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bool isValid() const
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{
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return m_isValid;
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}
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unsigned int multiToSingleIndex(btMultiIndex const & ijk) const;
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btAlignedBox3d subdomain(btMultiIndex const& ijk) const;
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btMultiIndex singleToMultiIndex(unsigned int l) const;
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btAlignedBox3d subdomain(unsigned int l) const;
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btShapeMatrix
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shape_function_(btVector3 const& xi, btShapeGradients* gradient = 0) const;
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bool interpolate(unsigned int field_id, double& dist, btVector3 const& x, btVector3* gradient) const;
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};
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#endif //MINISDF_H
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