/* class JsonObject
* represents a JSON object,
* providing access to the underlying data.
*/
JsonObject::JsonObject(JsonIn *j) : positions()
{
strict = STRICT_JSON;
jsin = j;
start = jsin->tell();
// cache the position of the value for each member
jsin->start_object();
bool gotsep = true;
bool lastsep = false;
while (!jsin->end_object()) {
std::string n = jsin->get_member_name();
int p = jsin->tell();
positions[n] = p;
if ( strict && ! gotsep ) {
end = jsin->tell();
jsin->seek(start);
throw jsin->line_number() + ": missing comma: " + dump_input();
}
gotsep = jsin->skip_value();
lastsep = gotsep;
}
end = jsin->tell();
if ( strict && lastsep ) {
jsin->seek(start);
throw jsin->line_number() + ": trailing comma: " + dump_input();
}
}
/* class JsonArray
* represents a JSON array,
* providing access to the underlying data.
*/
JsonArray::JsonArray(JsonIn *j) : positions()
{
strict = STRICT_JSON;
jsin = j;
start = jsin->tell();
index = 0;
// cache the position of each element
bool gotsep = true;
bool lastsep = false;
jsin->start_array();
while (!jsin->end_array()) {
positions.push_back(jsin->tell());
if ( strict && ! gotsep ) {
end = jsin->tell();
jsin->seek(start);
throw jsin->line_number() + ": missing comma: " + dump_input();
}
gotsep = jsin->skip_value();
lastsep = gotsep;
}
end = jsin->tell();
if ( strict && lastsep ) {
jsin->seek(start);
throw jsin->line_number() + ": trailing comma: " + dump_input();
}
}
static int _brl_process_input(brl_t *brl)
{
if (brl->dump)
dump_input(brl);
else
process_input(brl);
return 0;
}
/* compute intersection of two convex polyhedrons */
TRI* cvi (double *va, int nva, double *pa, int npa, double *vb, int nvb, double *pb, int npb, CVIKIND kind, int *m, double **pv, int *nv)
{
double e [6], p [3], q [3], eps, d, *nl, *pt, *nn, *yy;
PFV *pfv, *v, *w, *z;
int i, j, k, n;
TRI *tri, *t;
/* initialize */
eps = GEOMETRIC_EPSILON;
tri = t = NULL;
pfv = NULL;
yy = NULL;
/* compute closest points */
d = gjk (va, nva, vb, nvb, p, q);
if (d > GEOMETRIC_EPSILON) { *m = 0; return NULL; }
/* push 'p' deeper inside only if regularized intersection is sought */
if (kind == REGULARIZED && !refine_point (pa, npa, pb, npb, p, &eps)) { *m = 0; return NULL; }
/* vertices extents for a later sanity check */
vertices_extents (va, nva, vb, nvb, eps, e);
/* translate base points of planes so that
* p = q = 0; compute new normals 'yy' */
ERRMEM (yy = malloc (sizeof (double [3]) * (npa+npb)));
for (i = 0, nl = pa, pt = pa + 3, nn = yy;
i < npa; i ++, nl += 6, pt += 6, nn += 3)
{
SUB (pt, p, q); /* q => translated point of current plane */
d = - DOT (nl, q); /* d => zero offset */
if (d > -GEOMETRIC_EPSILON) d = -eps; /* regularisation (tiny swelling) */
DIV (nl, -d, nn); /* <nn, x> <= 1 (yy stores vertices of polar polygon) */
}
for (i = 0, nl = pb, pt = pb + 3; i < npb;
i ++, nl += 6, pt += 6, nn += 3)
{
SUB (pt, p, q);
d = - DOT (nl, q);
if (d > -GEOMETRIC_EPSILON) d = -eps; /* regularisation (tiny swelling) */
DIV (nl, -d, nn);
}
/* compute and polarise convex
* hull of new normals 'yy' */
if (!(tri = hull (yy, npa+npb, &i))) goto error; /* tri = cv (polar (a) U polar (b)) */
if (!(pfv = TRI_Polarise (tri, i, &j))) goto error; /* pfv = polar (tri) => pfv = a * b */
/* normals in 'pfv' point to 'yy'; triangulate
* polar faces and set 'a' or 'b' flags */
/* count all face vertices */
for (k = n = 0; k < j; k ++)
{
v = &pfv [k]; n ++;
for (w = v->n; w != v; w = w->n) n ++;
}
/* there is (number of face vertices - 2) triangles per face,
* hence there is n - j * 2 triangles in total; vertex
* memory in 'pfv' is placed after n PFV items */
#if GEOMDEBUG
ASSERT_DEBUG (n - j*2 > 3, "Inconsitent polar faces => too few vertices in some faces");
#else
if (n - j*2 <= 3) goto error;
#endif
ERRMEM (tri = realloc (tri, sizeof (TRI) * (n-j*2) + sizeof (double [3]) * i)); /* allocate space for triangles and vertices */
pt = (double*) (tri + (n - j*2)); /* this is where output vertices begin */
nn = (double*) (pfv + n); /* this is where coords begin in 'pfv' block */
memcpy (pt, nn, sizeof (double [3]) * i); /* copy vertex data */
if (pv) *pv = pt;
if (nv) *nv = i;
/* shift point coords to the old 'zero' */
for (k = 0, nl = pt; k < i; k ++, nl += 3)
{
ADD (nl, p, nl); /* 'nl' used as a point */
if (nl[0] < e [0] || nl[1] < e [1] || nl[2] < e [2] ||
nl[0] > e [3] || nl[1] > e [4] || nl[2] > e [5])
{
#if GEOMDEBUG
printf ("CVI HAS GONE INSANE FOR THE INPUT:\n"), dump_input (va, nva, pa, npa, vb, nvb, pb, npb);
#endif
goto error;
}
}
for (k = 0, t = tri; k < j; k ++)
{
v = &pfv [k]; /* fixed vertex 'v' */
for (w = v->n, z = w->n; z != v; w = w->n, z = z->n, t ++) /* remaining vertices 'w' & 'z' */
{
COPY (v->nl, t->out); /* copy normal */
NORMALIZE (t->out);
t->ver [0] = pt + (v->coord - nn); /* map vertices */
t->ver [1] = pt + (w->coord - nn);
t->ver [2] = pt + (z->coord - nn);
t->flg = ((v->nl - yy) / 3) + 1; /* first 'npa' entries in 'yy' come from 'a' => positive 1-based index in 'a' */
if (t->flg > npa) t->flg = -(t->flg - npa); /* last 'npb' ones come from 'b' => negative 1-based index in 'b' */
}
}
goto done;
error:
if (tri) free (tri);
tri = t = NULL;
done:
free (yy);
free (pfv);
(*m) = (t - tri);
return tri;
}
