[8] | 1 | //Copyright and Disclaimer: |
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| 2 | //This code is copyright Vienna University of Technology, 2004. |
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| 3 | |
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| 4 | #include <memory.h> |
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| 5 | #include <stdlib.h> |
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| 6 | #include <malloc.h> |
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| 7 | #include "DataTypes.h" |
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| 8 | #include "MathStuff.h" |
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| 9 | |
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| 10 | const struct Object OBJECT_NULL = { 0, 0 }; |
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| 11 | const struct VecPoint VECPOINT_NULL = { 0, 0 }; |
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| 12 | const struct VecPlane VECPLANE_NULL = { 0, 0 }; |
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| 13 | |
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| 14 | void copyVector3(Vector3 result, const Vector3 input) { |
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| 15 | result[0] = input[0]; |
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| 16 | result[1] = input[1]; |
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| 17 | result[2] = input[2]; |
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| 18 | } |
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| 19 | |
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| 20 | void addVector3(Vector3 result, const Vector3 a, const Vector3 b) { |
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| 21 | int i; |
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| 22 | for(i = 0; i < 3; i++) { |
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| 23 | result[i] = a[i]+b[i]; |
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| 24 | } |
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| 25 | } |
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| 26 | |
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| 27 | void diffVector3(Vector3 result, const Vector3 a, const Vector3 b) { |
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| 28 | int i; |
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| 29 | for(i = 0; i < 3; i++) { |
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| 30 | result[i] = a[i]-b[i]; |
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| 31 | } |
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| 32 | } |
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| 33 | |
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| 34 | void copyVector3Values(Vector3 result, const double x, const double y, const double z) { |
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| 35 | result[0] = x; |
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| 36 | result[1] = y; |
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| 37 | result[2] = z; |
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| 38 | } |
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| 39 | |
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| 40 | void copyMatrix(Matrix4x4 result, const Matrix4x4 input) { |
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| 41 | if(input != result) { |
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| 42 | memcpy(result,input,4*4*sizeof(double)); |
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| 43 | } |
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| 44 | } |
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| 45 | |
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| 46 | void planesSetSize(struct VecPlane* p, const int size) { |
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| 47 | if(0 != p) { |
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| 48 | if(size == p->size) { |
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| 49 | return; |
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| 50 | } |
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| 51 | p->plane = (struct Plane*)realloc(p->plane,size*sizeof(struct Plane)); |
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| 52 | p->size = size; |
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| 53 | } |
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| 54 | } |
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| 55 | |
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| 56 | void emptyVecPlane(struct VecPlane* p) { |
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| 57 | planesSetSize(p,0); |
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| 58 | } |
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| 59 | |
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| 60 | void vecPointSetSize(struct VecPoint* poly, const int size) { |
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| 61 | if(0 != poly) { |
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| 62 | if(size == poly->size) { |
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| 63 | return; |
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| 64 | } |
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| 65 | poly->points = (Vector3*)realloc(poly->points,size*sizeof(Vector3)); |
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| 66 | poly->size = size; |
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| 67 | } |
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| 68 | } |
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| 69 | |
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| 70 | void emptyVecPoint(struct VecPoint* poly) { |
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| 71 | vecPointSetSize(poly,0); |
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| 72 | } |
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| 73 | |
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| 74 | void append2VecPoint(struct VecPoint* poly, const Vector3 p) { |
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| 75 | if(0 != poly) { |
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| 76 | int size = poly->size; |
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| 77 | vecPointSetSize(poly,size+1); |
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| 78 | copyVector3(poly->points[size],p); |
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| 79 | } |
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| 80 | } |
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| 81 | |
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| 82 | void copyVecPoint(struct VecPoint* poly, const struct VecPoint poly2) { |
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| 83 | if(0 != poly) { |
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| 84 | int i; |
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| 85 | vecPointSetSize(poly,poly2.size); |
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| 86 | for(i= 0; i < poly2.size; i++) { |
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| 87 | copyVector3(poly->points[i],poly2.points[i]); |
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| 88 | } |
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| 89 | } |
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| 90 | } |
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| 91 | |
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| 92 | void swapVecPoint(struct VecPoint* poly1, struct VecPoint* poly2) { |
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| 93 | if(0 != poly1 && 0 != poly2 && poly1 != poly2) { |
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| 94 | { |
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| 95 | Vector3* points = poly1->points; |
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| 96 | poly1->points = poly2->points; |
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| 97 | poly2->points = points; |
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| 98 | } |
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| 99 | { |
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| 100 | int size = poly1->size; |
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| 101 | poly1->size = poly2->size; |
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| 102 | poly2->size = size; |
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| 103 | } |
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| 104 | } |
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| 105 | } |
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| 106 | |
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| 107 | void objectSetSize(struct Object* obj, const int size) { |
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| 108 | if(0 != obj) { |
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| 109 | int i; |
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| 110 | if(size == obj->size) { |
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| 111 | return; |
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| 112 | } |
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| 113 | //dispose if shrinking |
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| 114 | for(i = size; i < obj->size; i++) { |
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| 115 | emptyVecPoint( &(obj->poly[i]) ); |
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| 116 | } |
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| 117 | //allocate new place |
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| 118 | obj->poly = (struct VecPoint*)realloc(obj->poly,size*sizeof(struct VecPoint)); |
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| 119 | //initialize new place |
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| 120 | for(i = obj->size; i < size; i++) { |
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| 121 | obj->poly[i] = VECPOINT_NULL; |
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| 122 | } |
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| 123 | obj->size = size; |
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| 124 | } |
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| 125 | } |
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| 126 | |
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| 127 | void emptyObject(struct Object* obj) { |
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| 128 | objectSetSize(obj,0); |
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| 129 | } |
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| 130 | |
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| 131 | void copyObject(struct Object* obj, const struct Object objIn) { |
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| 132 | if(0 != obj) { |
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| 133 | int i; |
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| 134 | objectSetSize(obj,objIn.size); |
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| 135 | for(i = 0; i < objIn.size; i++) { |
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| 136 | copyVecPoint( &(obj->poly[i]), objIn.poly[i]); |
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| 137 | } |
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| 138 | } |
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| 139 | } |
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| 140 | |
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| 141 | void append2Object(struct Object* obj, const struct VecPoint poly) { |
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| 142 | if(0 != obj) { |
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| 143 | int size = obj->size; |
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| 144 | objectSetSize(obj,size+1); |
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| 145 | copyVecPoint( &(obj->poly[size]) ,poly); |
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| 146 | } |
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| 147 | } |
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| 148 | |
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| 149 | |
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| 150 | void convObject2VecPoint(struct VecPoint* points,const struct Object obj) { |
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| 151 | if(0 != points) { |
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| 152 | int i, j; |
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| 153 | emptyVecPoint(points); |
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| 154 | for(i = 0; i < obj.size; i++) { |
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| 155 | struct VecPoint* p = &(obj.poly[i]); |
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| 156 | for(j = 0; j < p->size; j++) { |
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| 157 | append2VecPoint(points,p->points[j]); |
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| 158 | } |
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| 159 | } |
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| 160 | } |
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| 161 | } |
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| 162 | |
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| 163 | void calcAABoxPoints(Vector3x8 points, const struct AABox b) { |
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| 164 | //generate 8 corners of the box |
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| 165 | copyVector3Values(points[0],b.min[0],b.min[1],b.min[2]);// 7+------+6 |
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| 166 | copyVector3Values(points[1],b.max[0],b.min[1],b.min[2]);// /| /| |
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| 167 | copyVector3Values(points[2],b.max[0],b.max[1],b.min[2]);// / | / | |
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| 168 | copyVector3Values(points[3],b.min[0],b.max[1],b.min[2]);// / 4+---/--+5 |
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| 169 | copyVector3Values(points[4],b.min[0],b.min[1],b.max[2]);// 3+------+2 / y z |
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| 170 | copyVector3Values(points[5],b.max[0],b.min[1],b.max[2]);// | / | / | / |
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| 171 | copyVector3Values(points[6],b.max[0],b.max[1],b.max[2]);// |/ |/ |/ |
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| 172 | copyVector3Values(points[7],b.min[0],b.max[1],b.max[2]);// 0+------+1 *---x |
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| 173 | } |
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| 174 | |
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| 175 | void calcAABoxPlanes(struct VecPlane* planes, const struct AABox b) { |
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| 176 | if(0 != planes) { |
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| 177 | struct Plane *p; |
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| 178 | planesSetSize(planes,6); |
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| 179 | |
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| 180 | //bottom plane |
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| 181 | p = &(planes->plane[0]); |
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| 182 | copyVector3Values(p->n,0,-1,0); |
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| 183 | p->d = absDouble(b.min[1]); |
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| 184 | |
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| 185 | //top plane |
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| 186 | p = &(planes->plane[1]); |
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| 187 | copyVector3Values(p->n,0,1,0); |
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| 188 | p->d = absDouble(b.max[1]); |
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| 189 | |
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| 190 | //left plane |
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| 191 | p = &(planes->plane[2]); |
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| 192 | copyVector3Values(p->n,-1,0,0); |
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| 193 | p->d = absDouble(b.min[0]); |
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| 194 | |
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| 195 | //right plane |
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| 196 | p = &(planes->plane[3]); |
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| 197 | copyVector3Values(p->n,1,0,0); |
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| 198 | p->d = absDouble(b.max[0]); |
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| 199 | |
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| 200 | //back plane |
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| 201 | p = &(planes->plane[4]); |
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| 202 | copyVector3Values(p->n,0,0,-1); |
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| 203 | p->d = absDouble(b.min[2]); |
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| 204 | |
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| 205 | //front plane |
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| 206 | p = &(planes->plane[5]); |
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| 207 | copyVector3Values(p->n,0,0,1); |
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| 208 | p->d = absDouble(b.max[2]); |
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| 209 | |
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| 210 | } |
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| 211 | } |
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| 212 | |
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| 213 | double getPlaneCoeff(struct Plane* plane, int i) |
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| 214 | { |
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| 215 | if(i < 3) return plane->n[i]; |
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| 216 | return plane->d; |
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| 217 | } |
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| 218 | |
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| 219 | void setPlaneCoeff(double coeff, struct Plane* plane, int i) |
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| 220 | { |
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| 221 | if(i < 3) |
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| 222 | plane->n[i] = coeff; |
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| 223 | else |
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| 224 | plane->d = coeff; |
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| 225 | } |
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