//**********************************************************************************
//test of polyhedron intersection callable from python shell
bool do_Polyhedras_Intersect(const shared_ptr<Shape>& cm1,const shared_ptr<Shape>& cm2,const State& state1,const State& state2){
const Se3r& se31=state1.se3;
const Se3r& se32=state2.se3;
Polyhedra* A = static_cast<Polyhedra*>(cm1.get());
Polyhedra* B = static_cast<Polyhedra*>(cm2.get());
//move and rotate 1st the CGAL structure Polyhedron
Matrix3r rot_mat = (se31.orientation).toRotationMatrix();
Vector3r trans_vec = se31.position;
Transformation t_rot_trans(rot_mat(0,0),rot_mat(0,1),rot_mat(0,2), trans_vec[0],rot_mat(1,0),rot_mat(1,1),rot_mat(1,2),trans_vec[1],rot_mat(2,0),rot_mat(2,1),rot_mat(2,2),trans_vec[2],1.);
Polyhedron PA = A->GetPolyhedron();
std::transform( PA.points_begin(), PA.points_end(), PA.points_begin(), t_rot_trans);
//move and rotate 2st the CGAL structure Polyhedron
rot_mat = (se32.orientation).toRotationMatrix();
trans_vec = se32.position;
t_rot_trans = Transformation(rot_mat(0,0),rot_mat(0,1),rot_mat(0,2), trans_vec[0],rot_mat(1,0),rot_mat(1,1),rot_mat(1,2),trans_vec[1],rot_mat(2,0),rot_mat(2,1),rot_mat(2,2),trans_vec[2],1.);
Polyhedron PB = B->GetPolyhedron();
std::transform( PB.points_begin(), PB.points_end(), PB.points_begin(), t_rot_trans);
//calculate plane equations
std::transform( PA.facets_begin(), PA.facets_end(), PA.planes_begin(),Plane_equation());
std::transform( PB.facets_begin(), PB.facets_end(), PB.planes_begin(),Plane_equation());
//call test
return do_intersect(PA,PB);
}
bool enemy_in_the_way(float rotation) {
if(!enemy)
return false;
Ray ray(Point(ball->x, ball->y), Vector(sin(rotation), cos(rotation)));
for(int i = 0; i < 4; ++i) {
if(do_intersect(enemy_sides[i], ray))
return true;
}
return false;
}
void remove_intersecting(SetUint group,
vector<SetUint> &groups)
{
vector<SetUint >::iterator it = groups.begin();
while (it != groups.end()) {
if (do_intersect(group, *it))
it = groups.erase(it);
else
++it;
}
}
void operator()(const Box* bp, const Box* bq) {
Face_descriptor fp = bp->f();
Triangle_3 tp = triangle(P, fp);
Face_descriptor fq = bq->f();
Triangle_3 tq = triangle(Q, fq);
if(do_intersect( tp, tq)) {
++(count);
}
}
//**********************************************************************************
//generate "packing" of non-overlapping balls
vector<Vector3r> fillBoxByBalls_cpp(Vector3r minCoord, Vector3r maxCoord, Vector3r sizemin, Vector3r sizemax, Vector3r ratio, int seed, shared_ptr<Material> mat, int NumPoints){
vector<Vector3r> v;
Polyhedra trialP;
Polyhedron trial, trial_moved;
srand(seed);
int it = 0;
vector<Polyhedron> polyhedrons;
vector<vector<Vector3r> > vv;
Vector3r position;
bool intersection;
int count = 0;
Vector3r radii;
bool fixed_ratio = 0;
if (ratio[0] > 0 && ratio[1] > 0 && ratio[2]>0){
fixed_ratio = 1;
sizemax[0] = min(min(sizemax[0]/ratio[0], sizemax[1]/ratio[1]), sizemax[2]/ratio[2]);
sizemin[0] = max(max(sizemin[0]/ratio[0], sizemin[1]/ratio[1]), sizemin[2]/ratio[2]);
}
fixed_ratio = 1; //force spherical
//it - number of trials to make packing possibly more/less dense
Vector3r random_size;
while (it<1000){
it = it+1;
if (it == 1){
if (fixed_ratio) {
double rrr = (rand()*(sizemax[0]-sizemin[0])/RAND_MAX + sizemin[0])/2.;
radii = Vector3r(rrr,rrr,rrr);
}else {
radii = Vector3r(rand()*(sizemax[0]-sizemin[0])/2.,rand()*(sizemax[1]-sizemin[1])/2.,rand()*(sizemax[2]-sizemin[2])/2.)/RAND_MAX + sizemin/2.;
}
trialP.v = BallPoints(radii,NumPoints,rand());
trialP.Initialize();
trial = trialP.GetPolyhedron();
Matrix3r rot_mat = (trialP.GetOri()).toRotationMatrix();
Transformation t_rot(rot_mat(0,0),rot_mat(0,1),rot_mat(0,2),rot_mat(1,0),rot_mat(1,1),rot_mat(1,2),rot_mat(2,0),rot_mat(2,1),rot_mat(2,2),1.);
std::transform( trial.points_begin(), trial.points_end(), trial.points_begin(), t_rot);
}
position = Vector3r(rand()*(maxCoord[0]-minCoord[0]),rand()*(maxCoord[1]-minCoord[1]),rand()*(maxCoord[2]-minCoord[2]))/RAND_MAX + minCoord;
//move CGAL structure Polyhedron
Transformation transl(CGAL::TRANSLATION, ToCGALVector(position));
trial_moved = trial;
std::transform( trial_moved.points_begin(), trial_moved.points_end(), trial_moved.points_begin(), transl);
//calculate plane equations
std::transform( trial_moved.facets_begin(), trial_moved.facets_end(), trial_moved.planes_begin(),Plane_equation());
intersection = false;
//call test with boundary
for(Polyhedron::Vertex_iterator vi = trial_moved.vertices_begin(); (vi != trial_moved.vertices_end()) && (!intersection); vi++){
intersection = (vi->point().x()<minCoord[0]) || (vi->point().x()>maxCoord[0]) || (vi->point().y()<minCoord[1]) || (vi->point().y()>maxCoord[1]) || (vi->point().z()<minCoord[2]) || (vi->point().z()>maxCoord[2]);
}
//call test with other polyhedrons
for(vector<Polyhedron>::iterator a = polyhedrons.begin(); (a != polyhedrons.end()) && (!intersection); a++){
intersection = do_intersect(*a,trial_moved);
if (intersection) break;
}
if (!intersection){
polyhedrons.push_back(trial_moved);
v.clear();
for(Polyhedron::Vertex_iterator vi = trial_moved.vertices_begin(); vi != trial_moved.vertices_end(); vi++){
v.push_back(FromCGALPoint(vi->point()));
}
vv.push_back(v);
it = 0;
count ++;
}
}
cout << "generated " << count << " polyhedrons"<< endl;
//can't be used - no information about material
Scene* scene=Omega::instance().getScene().get();
for(vector<vector<Vector3r> >::iterator p=vv.begin(); p!=vv.end(); ++p){
shared_ptr<Body> BP = NewPolyhedra(*p, mat);
BP->shape->color = Vector3r(double(rand())/RAND_MAX,double(rand())/RAND_MAX,double(rand())/RAND_MAX);
scene->bodies->insert(BP);
}
return v;
}
// test whether a point lies on a segment
bool on(Segment s, Point p) {
//check whether the point lies on the segment
return do_intersect(s, p);
}
// test whether two segments intersect
bool intersection1a(Segment s1, Segment s2){
//check for intersection of to segments
return do_intersect(s1, s2);
}
