Physsim: /home/drumwrig/Physsim/include/Physsim/Polyhedron.h Source File

00001 /****************************************************************************
00002  * Copyright 2006 Evan Drumwright
00003  * This library is distributed under the terms of the GNU General Public 
00004  * License (found in COPYING).
00005  ****************************************************************************/
00006 
00007 #ifndef _POLYHEDRON_H
00008 #define _POLYHEDRON_H
00009 
00010 #include <ostream>
00011 #include <vector>
00012 #include <list>
00013 #include <map>
00014 #include <Physsim/Matrix4.h>
00015 
00016 namespace Physsim {
00017 
00018 class Triangle;
00019         
00021 
00025 class Polyhedron
00026 {
00027         public:
00028                 enum LocationType { Inside, Outside, OnVertex, OnEdge, OnFace };        
00029 
00030                 Polyhedron() {} 
00031                 Polyhedron(const std::vector<TriangleConstPtr>& mesh);
00032                 Polyhedron(const Polyhedron& p) { operator=(p); }
00033                 void operator=(const Polyhedron& p);
00034                 void construct_from_mesh(const std::vector<TriangleConstPtr >& mesh);
00035                 const std::list<TriangleConstPtr>& get_incident_facets(Vector3ConstPtr v) const;
00036                 void transform(const Matrix4& T);
00037                 const std::vector<Vector3ConstPtr>& get_vertices() const { return _vertices; }
00038                 const std::vector<TriangleConstPtr>& get_facets() const { return _facets; }
00039                 bool inside(const Vector3& point) const;
00040                 bool inside_or_on(const Vector3& point) const;
00041                 LocationType location(const Vector3& point) const;
00042                 bool contains_facet(TriangleConstPtr t) const;
00043                 bool contains_vertex(boost::shared_ptr<Vector3> v) const;
00044                 std::list<PolyhedronPtr > convexify(unsigned max_pieces = std::numeric_limits<unsigned>::max(), Real max_volume = std::numeric_limits<Real>::max()) const;
00045                 static void to_VRML(std::ostream& out, const Polyhedron& p, Vector3 diffuse_color = Vector3(1,1,1), bool wireframe = false);
00046                 Real calc_volume() const;
00047                 
00049                 std::pair<Vector3, Vector3> get_bounding_box_corners() const { return std::make_pair(_bb_min, _bb_max); }
00050                 
00052                 bool is_convex() const { return _convex; }
00053                 
00054         private:
00055                 bool consistent() const;
00056                 static void calc_subexpressions(Real w0, Real w1, Real w2, Real& f1, Real& f2, Real& f3, Real& g0, Real& g1, Real& g2);
00057                 bool det_convexity() const;     
00058                 static boost::shared_ptr<Vector3> intersect_plane(const Vector3& normal, Real d, const Vector3& p1, const Vector3& p2); 
00059                 bool split(Polyhedron& t1, Polyhedron& t2, const Vector3& normal, Real plane_d, Real epsilon) const;
00060 
00061                 bool _convex;
00062                 Vector3 _bb_min, _bb_max;
00063                 std::vector<TriangleConstPtr> _facets;
00064                 std::vector<Vector3ConstPtr> _vertices;
00065                 std::map<Vector3ConstPtr, std::list<TriangleConstPtr> > _incident_facets;
00066 };
00067 
00068 std::ostream& operator<<(std::ostream& out, const Polyhedron& p);
00069 
00070 } // end namespace
00071 
00072 #endif