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//-----------------------------------------------------------------------------
// Data structures used frequently in the program, various kinds of vectors
// (of real numbers, not symbolic algebra stuff) and our templated lists.
//
// Copyright 2008-2013 Jonathan Westhues.
//-----------------------------------------------------------------------------
#ifndef __DSC_H
#define __DSC_H
#include "solvespace.h"
class Vector;
class Vector4;
class Point2d;
class hEntity;
class hParam;
class Quaternion {
public:
// a + (vx)*i + (vy)*j + (vz)*k
double w, vx, vy, vz;
static const Quaternion IDENTITY;
static Quaternion From(double w, double vx, double vy, double vz);
static Quaternion From(hParam w, hParam vx, hParam vy, hParam vz);
static Quaternion From(Vector u, Vector v);
static Quaternion From(Vector axis, double dtheta);
Quaternion Plus(Quaternion b);
Quaternion Minus(Quaternion b);
Quaternion ScaledBy(double s);
double Magnitude(void);
Quaternion WithMagnitude(double s);
// Call a rotation matrix [ u' v' n' ]'; this returns the first and
// second rows, where that matrix is generated by this quaternion
Vector RotationU(void);
Vector RotationV(void);
Vector RotationN(void);
Vector Rotate(Vector p);
Quaternion ToThe(double p);
Quaternion Inverse(void);
Quaternion Times(Quaternion b);
Quaternion Mirror(void);
};
class Vector {
public:
double x, y, z;
static Vector From(double x, double y, double z);
static Vector From(hParam x, hParam y, hParam z);
static Vector AtIntersectionOfPlanes(Vector n1, double d1,
Vector n2, double d2);
static Vector AtIntersectionOfLines(Vector a0, Vector a1,
Vector b0, Vector b1,
bool *skew,
double *pa=NULL, double *pb=NULL);
static Vector AtIntersectionOfPlaneAndLine(Vector n, double d,
Vector p0, Vector p1,
bool *parallel);
static Vector AtIntersectionOfPlanes(Vector na, double da,
Vector nb, double db,
Vector nc, double dc, bool *parallel);
static void ClosestPointBetweenLines(Vector pa, Vector da,
Vector pb, Vector db,
double *ta, double *tb);
double Element(int i);
bool Equals(Vector v, double tol=LENGTH_EPS);
bool EqualsExactly(Vector v);
Vector Plus(Vector b);
Vector Minus(Vector b);
Vector Negated(void);
Vector Cross(Vector b);
double DirectionCosineWith(Vector b);
double Dot(Vector b);
Vector Normal(int which);
Vector RotatedAbout(Vector orig, Vector axis, double theta);
Vector RotatedAbout(Vector axis, double theta);
Vector DotInToCsys(Vector u, Vector v, Vector n);
Vector ScaleOutOfCsys(Vector u, Vector v, Vector n);
double DistanceToLine(Vector p0, Vector dp);
bool OnLineSegment(Vector a, Vector b, double tol=LENGTH_EPS);
Vector ClosestPointOnLine(Vector p0, Vector dp);
double Magnitude(void);
double MagSquared(void);
Vector WithMagnitude(double s);
Vector ScaledBy(double s);
Vector ProjectInto(hEntity wrkpl);
Vector ProjectVectorInto(hEntity wrkpl);
double DivPivoting(Vector delta);
Vector ClosestOrtho(void);
void MakeMaxMin(Vector *maxv, Vector *minv);
Vector ClampWithin(double minv, double maxv);
static bool BoundingBoxesDisjoint(Vector amax, Vector amin,
Vector bmax, Vector bmin);
static bool BoundingBoxIntersectsLine(Vector amax, Vector amin,
Vector p0, Vector p1, bool segment);
bool OutsideAndNotOn(Vector maxv, Vector minv);
Vector InPerspective(Vector u, Vector v, Vector n,
Vector origin, double cameraTan);
Point2d Project2d(Vector u, Vector v);
Point2d ProjectXy(void);
Vector4 Project4d(void);
};
class Vector4 {
public:
double w, x, y, z;
static Vector4 From(double w, double x, double y, double z);
static Vector4 From(double w, Vector v3);
static Vector4 Blend(Vector4 a, Vector4 b, double t);
Vector4 Plus(Vector4 b);
Vector4 Minus(Vector4 b);
Vector4 ScaledBy(double s);
Vector PerspectiveProject(void);
};
class Point2d {
public:
double x, y;
static Point2d From(double x, double y);
Point2d Plus(const Point2d &b) const;
Point2d Minus(const Point2d &b) const;
Point2d ScaledBy(double s) const;
double DivPivoting(Point2d delta) const;
double Dot(Point2d p) const;
double DistanceTo(const Point2d &p) const;
double DistanceToLine(const Point2d &p0, const Point2d &dp, bool segment) const;
double Magnitude(void) const;
double MagSquared(void) const;
Point2d WithMagnitude(double v) const;
Point2d Normal(void) const;
bool Equals(Point2d v, double tol=LENGTH_EPS) const;
};
// A simple list
template <class T>
class List {
public:
T *elem;
int n;
int elemsAllocated;
void AllocForOneMore(void) {
if(n >= elemsAllocated) {
elemsAllocated = (elemsAllocated + 32)*2;
T *newElem = (T *)MemAlloc((size_t)elemsAllocated*sizeof(elem[0]));
for(int i = 0; i < n; i++) {
new(&newElem[i]) T(std::move(elem[i]));
elem[i].~T();
}
MemFree(elem);
elem = newElem;
}
}
void Add(T *t) {
AllocForOneMore();
new(&elem[n++]) T(*t);
}
void AddToBeginning(T *t) {
AllocForOneMore();
new(&elem[n]) T();
std::move_backward(elem, elem + 1, elem + n + 1);
elem[0] = *t;
n++;
}
T *First(void) {
return (n == 0) ? NULL : &(elem[0]);
}
T *NextAfter(T *prev) {
if(!prev) return NULL;
if(prev - elem == (n - 1)) return NULL;
return prev + 1;
}
void ClearTags(void) {
int i;
for(i = 0; i < n; i++) {
elem[i].tag = 0;
}
}
void Clear(void) {
for(int i = 0; i < n; i++)
elem[i].~T();
if(elem) MemFree(elem);
elem = NULL;
n = elemsAllocated = 0;
}
void RemoveTagged(void) {
int src, dest;
dest = 0;
for(src = 0; src < n; src++) {
if(elem[src].tag) {
// this item should be deleted
} else {
if(src != dest) {
elem[dest] = elem[src];
}
dest++;
}
}
for(int i = dest; i < n; i++)
elem[i].~T();
n = dest;
// and elemsAllocated is untouched, because we didn't resize
}
void RemoveLast(int cnt) {
if(n < cnt) oops();
for(int i = n - cnt; i < n; i++)
elem[i].~T();
n -= cnt;
// and elemsAllocated is untouched, same as in RemoveTagged
}
void Reverse(void) {
int i;
for(i = 0; i < (n/2); i++) {
swap(elem[i], elem[(n-1)-i]);
}
}
};
// A list, where each element has an integer identifier. The list is kept
// sorted by that identifier, and items can be looked up in log n time by
// id.
template <class T, class H>
class IdList {
public:
T *elem;
int n;
int elemsAllocated;
uint32_t MaximumId(void) {
uint32_t id = 0;
int i;
for(i = 0; i < n; i++) {
id = max(id, elem[i].h.v);
}
return id;
}
H AddAndAssignId(T *t) {
t->h.v = (MaximumId() + 1);
Add(t);
return t->h;
}
void Add(T *t) {
if(n >= elemsAllocated) {
elemsAllocated = (elemsAllocated + 32)*2;
T *newElem = (T *)MemAlloc((size_t)elemsAllocated*sizeof(elem[0]));
for(int i = 0; i < n; i++) {
new(&newElem[i]) T(std::move(elem[i]));
elem[i].~T();
}
MemFree(elem);
elem = newElem;
}
int first = 0, last = n;
// We know that we must insert within the closed interval [first,last]
while(first != last) {
int mid = (first + last)/2;
H hm = elem[mid].h;
if(hm.v > t->h.v) {
last = mid;
} else if(hm.v < t->h.v) {
first = mid + 1;
} else {
dbp("can't insert in list; is handle %d not unique?", t->h.v);
oops();
}
}
int i = first;
new(&elem[n]) T();
std::move_backward(elem + i, elem + n, elem + n + 1);
elem[i] = *t;
n++;
}
T *FindById(H h) {
T *t = FindByIdNoOops(h);
if(!t) {
dbp("failed to look up item %08x, searched %d items", h.v, n);
oops();
}
return t;
}
int IndexOf(H h) {
int first = 0, last = n-1;
while(first <= last) {
int mid = (first + last)/2;
H hm = elem[mid].h;
if(hm.v > h.v) {
last = mid-1; // and first stays the same
} else if(hm.v < h.v) {
first = mid+1; // and last stays the same
} else {
return mid;
}
}
return -1;
}
T *FindByIdNoOops(H h) {
int first = 0, last = n-1;
while(first <= last) {
int mid = (first + last)/2;
H hm = elem[mid].h;
if(hm.v > h.v) {
last = mid-1; // and first stays the same
} else if(hm.v < h.v) {
first = mid+1; // and last stays the same
} else {
return &(elem[mid]);
}
}
return NULL;
}
T *First(void) {
return (n == 0) ? NULL : &(elem[0]);
}
T *NextAfter(T *prev) {
if(!prev) return NULL;
if(prev - elem == (n - 1)) return NULL;
return prev + 1;
}
void ClearTags(void) {
int i;
for(i = 0; i < n; i++) {
elem[i].tag = 0;
}
}
void Tag(H h, int tag) {
int i;
for(i = 0; i < n; i++) {
if(elem[i].h.v == h.v) {
elem[i].tag = tag;
}
}
}
void RemoveTagged(void) {
int src, dest;
dest = 0;
for(src = 0; src < n; src++) {
if(elem[src].tag) {
// this item should be deleted
} else {
if(src != dest) {
elem[dest] = elem[src];
}
dest++;
}
}
for(int i = dest; i < n; i++)
elem[i].~T();
n = dest;
// and elemsAllocated is untouched, because we didn't resize
}
void RemoveById(H h) {
ClearTags();
FindById(h)->tag = 1;
RemoveTagged();
}
void MoveSelfInto(IdList<T,H> *l) {
l->Clear();
*l = *this;
elemsAllocated = n = 0;
elem = NULL;
}
void DeepCopyInto(IdList<T,H> *l) {
l->Clear();
l->elem = (T *)MemAlloc(elemsAllocated * sizeof(elem[0]));
for(int i = 0; i < n; i++)
new(&l->elem[i]) T(elem[i]);
l->elemsAllocated = elemsAllocated;
l->n = n;
}
void Clear(void) {
for(int i = 0; i < n; i++) {
elem[i].Clear();
elem[i].~T();
}
elemsAllocated = n = 0;
if(elem) MemFree(elem);
elem = NULL;
}
};
class BandedMatrix {
public:
enum {
MAX_UNKNOWNS = 16,
RIGHT_OF_DIAG = 1,
LEFT_OF_DIAG = 2
};
double A[MAX_UNKNOWNS][MAX_UNKNOWNS];
double B[MAX_UNKNOWNS];
double X[MAX_UNKNOWNS];
int n;
void Solve(void);
};
#define RGBi(r, g, b) RgbaColor::From((r), (g), (b))
#define RGBf(r, g, b) RgbaColor::FromFloat((float)(r), (float)(g), (float)(b))
// Note: sizeof(class RgbaColor) should be exactly 4
//
class RgbaColor {
public:
uint8_t red, green, blue, alpha;
float redF(void) const { return (float)red / 255.0f; }
float greenF(void) const { return (float)green / 255.0f; }
float blueF(void) const { return (float)blue / 255.0f; }
float alphaF(void) const { return (float)alpha / 255.0f; }
bool Equals(RgbaColor c) const {
return
c.red == red &&
c.green == green &&
c.blue == blue &&
c.alpha == alpha;
}
uint32_t ToPackedIntBGRA(void) const {
return
blue |
(uint32_t)(green << 8) |
(uint32_t)(red << 16) |
(uint32_t)((255 - alpha) << 24);
}
uint32_t ToPackedInt(void) const {
return
red |
(uint32_t)(green << 8) |
(uint32_t)(blue << 16) |
(uint32_t)((255 - alpha) << 24);
}
uint32_t ToARGB32(void) const {
return
blue |
(uint32_t)(green << 8) |
(uint32_t)(red << 16) |
(uint32_t)(alpha << 24);
}
static RgbaColor From(int r, int g, int b, int a = 255) {
RgbaColor c;
c.red = (uint8_t)r;
c.green = (uint8_t)g;
c.blue = (uint8_t)b;
c.alpha = (uint8_t)a;
return c;
}
static RgbaColor FromFloat(float r, float g, float b, float a = 1.0) {
return From(
(int)(255.1f * r),
(int)(255.1f * g),
(int)(255.1f * b),
(int)(255.1f * a));
}
static RgbaColor FromPackedInt(uint32_t rgba) {
return From(
(int)((rgba) & 0xff),
(int)((rgba >> 8) & 0xff),
(int)((rgba >> 16) & 0xff),
(int)(255 - ((rgba >> 24) & 0xff)));
}
static RgbaColor FromPackedIntBGRA(uint32_t bgra) {
return From(
(int)((bgra >> 16) & 0xff),
(int)((bgra >> 8) & 0xff),
(int)((bgra) & 0xff),
(int)(255 - ((bgra >> 24) & 0xff)));
}
};
class BBox {
public:
Vector minp;
Vector maxp;
static BBox From(const Vector &p0, const Vector &p1);
Vector GetOrigin();
Vector GetExtents();
void Include(const Vector &v, double r = 0.0);
bool Overlaps(BBox &b1);
bool Contains(const Point2d &p);
};
#endif
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