source: GTP/trunk/App/Demos/Vis/CHC_revisited/DataTypes.c @ 2746

//Copyright and Disclaimer:
//This code is copyright Vienna University of Technology, 2004.

#include <memory.h>
#include <stdlib.h>
#include <malloc.h>
#include "DataTypes.h"
#include "MathStuff.h"

const struct Object OBJECT_NULL = { 0, 0 };
const struct VecPoint VECPOINT_NULL = { 0, 0 };
const struct VecPlane VECPLANE_NULL = { 0, 0 };

void copyVector3(Vector3 result, const Vector3 input) {
        result[0] = input[0]; 
        result[1] = input[1];
        result[2] = input[2];
}

void addVector3(Vector3 result, const Vector3 a, const Vector3 b) 
{
        int i;
        
        for (i = 0; i < 3; ++ i) 
        {
                result[i] = a[i] + b[i];
        }
}


void diffVector3(Vector3 result, const Vector3 a, const Vector3 b) 
{
        int i;
        for (i = 0; i < 3; ++ i) 
        {
                result[i] = a[i] - b[i];
        }
}


void copyVector3Values(Vector3 result, const double x, const double y, const double z) 
{
        result[0] = x; 
        result[1] = y;
        result[2] = z;
}


void copyMatrix(Matrix4x4 result, const Matrix4x4 input) 
{
        if (input != result) 
        {
                memcpy(result,input,4*4*sizeof(double));
        }
}


void planesSetSize(struct VecPlane* p, const int size) 
{
        if (0 != p) 
        {
                if(size == p->size) 
                {
                        return;
                }

                p->plane = (struct Plane*)realloc(p->plane,size*sizeof(struct Plane));
                p->size = size;
        }
}


void emptyVecPlane(struct VecPlane* p) 
{
        planesSetSize(p,0);
}


void vecPointSetSize(struct VecPoint* poly, const int size) 
{
        if (0 != poly) 
        {
                if (size == poly->size) 
                {
                        return;
                }
                
                poly->points = (Vector3*)realloc(poly->points,size*sizeof(Vector3));
                poly->size = size;
        }
}


void emptyVecPoint(struct VecPoint* poly) 
{
        vecPointSetSize(poly,0);
}


void append2VecPoint(struct VecPoint* poly, const Vector3 p) 
{
        if (0 != poly) 
        {
                int size = poly->size;
                vecPointSetSize(poly,size+1);
                copyVector3(poly->points[size], p);
        }
}


void copyVecPoint(struct VecPoint* poly, const struct VecPoint poly2) 
{
        if (0 != poly) 
        {
                int i;
                vecPointSetSize(poly,poly2.size);
                for (i = 0; i < poly2.size; ++ i) 
                {
                        copyVector3(poly->points[i], poly2.points[i]);
                }
        }
}


void swapVecPoint(struct VecPoint* poly1, struct VecPoint* poly2) 
{
        if(0 != poly1 && 0 != poly2 && poly1 != poly2) 
        {
                Vector3* points = poly1->points;
                poly1->points = poly2->points;
                poly2->points = points;
                
                int size = poly1->size;
                poly1->size = poly2->size;
                poly2->size = size;
        }
}


void objectSetSize(struct Object* obj, const int size) 
{
        if (0 != obj) 
        {
                int i;
                if(size == obj->size) 
                {
                        return;
                }
                
                //dispose if shrinking
                for(i = size; i < obj->size; i++) 
                {
                        emptyVecPoint(&(obj->poly[i])); 
                }

                //allocate new place
                obj->poly = (struct VecPoint*)realloc(obj->poly,size*sizeof(struct VecPoint));
                
                //initialize new place
                for(i = obj->size; i < size; i++) 
                {
                        obj->poly[i] = VECPOINT_NULL;
                }
                
                obj->size = size;
        }
}


void emptyObject(struct Object* obj) 
{
        objectSetSize(obj, 0);
}


void copyObject(struct Object* obj, const struct Object objIn) 
{
        if(0 != obj) 
        {
                int i;
                objectSetSize(obj,objIn.size);

                for(i = 0; i < objIn.size; i++)
                {
                        copyVecPoint( &(obj->poly[i]), objIn.poly[i]);
                }
        }
}


void append2Object(struct Object* obj, const struct VecPoint poly) 
{       
        if (0 != obj) 
        {
                int size = obj->size;
                objectSetSize(obj, size + 1);
                copyVecPoint(&(obj->poly[size]), poly);
        }
}


void convObject2VecPoint(struct VecPoint* points,const struct Object obj) 
{
        if(0 != points) {
                int i, j;
                emptyVecPoint(points);
                for(i = 0; i < obj.size; i++) {
                        struct VecPoint* p = &(obj.poly[i]);
                        for(j = 0; j < p->size; j++) {
                                append2VecPoint(points,p->points[j]);
                        }
                }
        }
}


void calcAABoxPoints(Vector3x8 points, const struct AABox b) {
    //generate 8 corners of the box
        copyVector3Values(points[0],b.min[0],b.min[1],b.min[2]);//     7+------+6
        copyVector3Values(points[1],b.max[0],b.min[1],b.min[2]);//     /|     /|
        copyVector3Values(points[2],b.max[0],b.max[1],b.min[2]);//    / |    / |
        copyVector3Values(points[3],b.min[0],b.max[1],b.min[2]);//   / 4+---/--+5
        copyVector3Values(points[4],b.min[0],b.min[1],b.max[2]);// 3+------+2 /    y   z
        copyVector3Values(points[5],b.max[0],b.min[1],b.max[2]);//  | /    | /     |  /
        copyVector3Values(points[6],b.max[0],b.max[1],b.max[2]);//  |/     |/      |/
        copyVector3Values(points[7],b.min[0],b.max[1],b.max[2]);// 0+------+1      *---x
}


void calcAABoxPlanes(struct VecPlane* planes, const struct AABox b) {
        if(0 != planes) {
                struct Plane *p;
                planesSetSize(planes,6);
                
                //bottom plane
                p = &(planes->plane[0]);
                copyVector3Values(p->n,0,-1,0);
                p->d = absDouble(b.min[1]);

                //top plane
                p = &(planes->plane[1]);
                copyVector3Values(p->n,0,1,0);
                p->d = absDouble(b.max[1]);

                //left plane
                p = &(planes->plane[2]);
                copyVector3Values(p->n,-1,0,0);
                p->d = absDouble(b.min[0]);

                //right plane
                p = &(planes->plane[3]);
                copyVector3Values(p->n,1,0,0);
                p->d = absDouble(b.max[0]);

                //back plane
                p = &(planes->plane[4]);
                copyVector3Values(p->n,0,0,-1);
                p->d = absDouble(b.min[2]);

                //front plane
                p = &(planes->plane[5]);
                copyVector3Values(p->n,0,0,1);
                p->d = absDouble(b.max[2]);

        }
}

double getPlaneCoeff(struct Plane* plane, int i)
{
        if(i < 3) return plane->n[i];
        return plane->d;
}

void setPlaneCoeff(double coeff, struct Plane* plane, int i)
{
        if(i < 3) 
                plane->n[i] = coeff;
        else 
                plane->d = coeff;
}