void ConvexPolyhedron3<Real>::Create (const V3Array& rakPoint,
const IArray& raiConnect)
{
assert( rakPoint.size() >= 4 && raiConnect.size() >= 4 );
int iVQuantity = (int)rakPoint.size();
int iTQuantity = (int)raiConnect.size()/3;
int iEQuantity = iVQuantity + iTQuantity - 2;
Reset(iVQuantity,iEQuantity,iTQuantity);
m_akPoint = rakPoint;
// Copy polyhedron points into vertex array. Compute centroid for use in
// making sure the triangles are counterclockwise oriented when viewed
// from the outside.
ComputeCentroid();
// get polyhedron edge and triangle information
for (int iT = 0, iIndex = 0; iT < iTQuantity; iT++)
{
// get vertex indices for triangle
int iV0 = raiConnect[iIndex++];
int iV1 = raiConnect[iIndex++];
int iV2 = raiConnect[iIndex++];
// make sure triangle is counterclockwise
Vector3<Real>& rkV0 = m_akPoint[iV0];
Vector3<Real>& rkV1 = m_akPoint[iV1];
Vector3<Real>& rkV2 = m_akPoint[iV2];
Vector3<Real> kDiff = m_kCentroid - rkV0;
Vector3<Real> kE1 = rkV1 - rkV0;
Vector3<Real> kE2 = rkV2 - rkV0;
Vector3<Real> kNormal = kE1.Cross(kE2);
Real fLength = kNormal.Length();
if ( fLength > Math<Real>::EPSILON )
{
kNormal /= fLength;
}
else
{
kNormal = kDiff;
kNormal.Normalize();
}
Real fDistance = kNormal.Dot(kDiff);
if ( fDistance < (Real)0.0 )
{
// triangle is counterclockwise
Insert(iV0,iV1,iV2);
}
else
{
// triangle is clockwise
Insert(iV0,iV2,iV1);
}
}
UpdatePlanes();
}
inline
void DynSetArray(ok_msg::DynamicProto &dyn, const IArray<std::string> &arr) {
dyn.mutable_vsstr()->Reserve(arr.Size());
for (const auto &s : arr) {
*dyn.mutable_vsstr()->Add() = s;
}
}
void ConvexPolyhedron3<Real>::Create (const V3Array& rakPoint,
const IArray& raiConnect, const PArray& rakPlane)
{
assert( rakPoint.size() >= 4 && raiConnect.size() >= 4 );
int iVQuantity = (int)rakPoint.size();
int iTQuantity = (int)raiConnect.size()/3;
int iEQuantity = iVQuantity + iTQuantity - 2;
Reset(iVQuantity,iEQuantity,iTQuantity);
m_akPoint = rakPoint;
m_akPlane = rakPlane;
// Copy polyhedron points into vertex array. Compute centroid for use in
// making sure the triangles are counterclockwise oriented when viewed
// from the outside.
ComputeCentroid();
// get polyhedron edge and triangle information
for (int iT = 0, iIndex = 0; iT < iTQuantity; iT++)
{
// get vertex indices for triangle
int iV0 = raiConnect[iIndex++];
int iV1 = raiConnect[iIndex++];
int iV2 = raiConnect[iIndex++];
Real fDistance = m_akPlane[iT].DistanceTo(m_kCentroid);
if ( fDistance > (Real)0.0 )
{
// triangle is counterclockwise
Insert(iV0,iV1,iV2);
}
else
{
// triangle is clockwise
Insert(iV0,iV2,iV1);
}
}
}
inline char FindChar(const IArray &v) const {
char c = 0, max;
int vs = v.size(), tr = vs / 2 + 2;
for(int i = 0; i < vs; ++i) {
if(abs(max = v[i]) >= tr) {
c = i;
if(max < 0) {
c |= 8;
}
break;
}
}
return c;
}
inline short FillChar(const IArray &v) const {
short o = 0, p = 1;
int vs = v.size();
for(int i = 0; i < vs; ++i) {
if(v[i] > 0) {
o |= p;
}
p *= 2;
}
#ifdef DEBUG
cout << "Coded array: ";
Print(o, 8);
#endif
return o;
}
void dumpArray(IArray<MyNode>& a)
{
if (!a.isEmpty()) {
// Dump some details about the array
cout << "Contents of array (" << a.numberOfItems() << " elements,"
<< a.size() << " size, " << a.delta() << " delta):";
cout << endl << " ";
for (int i = 0; i < a.numberOfItems(); i++)
cout << *a[i] << " ";
if (a.isFull())
cout << "Array is full!" << endl;
}
else
cout << "Empty array (" << a.numberOfItems() << ")";
cout << endl << endl;
}
TEST(ArrayTest, testAlgorithm)
{
// create and initialize array
const int SIZE = 10;
typedef Poco::Array<int,SIZE> IArray;
IArray a = { { 1, 2, 3, 4, 5 } };
IArray b(a);
// modify elements directly
for (unsigned i=0; i<b.size(); ++i) {
++b[i];
}
// try iterators
for (IArray::iterator pos =b.begin(); pos<b.end(); ++pos) {
--(*pos);
}
for (unsigned i=0; i<a.size(); ++i) {
EXPECT_TRUE(a[i] == b[i]);
}
// change order using an STL algorithm
std::reverse(a.begin(),a.end());
for (unsigned i=0; i<a.size(); ++i) {
EXPECT_TRUE(a[SIZE-i-1] == b[i]);
}
std::reverse(a.begin(),a.end());
// negate elements using STL framework
std::transform( a.begin(),a.end(), // source
a.begin(), // destination
std::negate<int>()); // operation
for (unsigned i=0; i<a.size(); ++i) {
EXPECT_TRUE(a[i] == -b[i]);
}
}
inline void PrintArray(const IArray &arr) {
for(int i = 0; i < arr.size(); ++i) {
cout << '\t' << arr[i];
}
cout << endl;
}
