int Line::intersect(std::list<Kernel::V3D> &PntOut, const Cylinder &Cyl) const
/**
For the line that intersects the cylinder generate
add the point to the VecOut, return number of points
added. It does not check the points for validity.
@param PntOut :: Vector of points found by the line/cylinder intersection
@param Cyl :: Cylinder to intersect line with
@return Number of points found by intersection
*/
{
const Kernel::V3D Cent = Cyl.getCentre();
const Kernel::V3D Ax = Origin - Cent;
const Kernel::V3D N = Cyl.getNormal();
const double R = Cyl.getRadius();
const double vDn = N.scalar_prod(Direct);
const double vDA = N.scalar_prod(Ax);
// First solve the equation of intersection
double C[3];
C[0] = 1.0 - (vDn * vDn);
C[1] = 2.0 * (Ax.scalar_prod(Direct) - vDA * vDn);
C[2] = Ax.scalar_prod(Ax) - (R * R + vDA * vDA);
std::pair<std::complex<double>, std::complex<double>> SQ;
const int ix = solveQuadratic(C, SQ);
// This takes the centre displacement into account:
return lambdaPair(ix, SQ, PntOut);
}
Vector ClosestPointCylinder ( Vector const & V, Cylinder const & C )
{
Vector delta = V - C.getBase();
delta.y = 0.0f;
real dist = delta.magnitude();
Vector point = V;
// clamp the x-z coords of the point so they're inside the tube
IGNORE_RETURN( delta.normalize() );
delta *= std::min( C.getRadius(), dist );
point = C.getBase() + delta;
// and clamp the y coord so it's inside also
real min = C.getBase().y;
real max = min + C.getHeight();
point.y = clamp( min, V.y, max );
return point;
}
ContainmentResult TestCylinderCylinder ( Cylinder const & A,
Cylinder const & B )
{
Vector delta = B.getBase() - A.getBase();
delta.y = 0;
real dist = delta.magnitude();
Range AD( dist - A.getRadius(), dist + A.getRadius() );
Range BD( -B.getRadius(), B.getRadius() );
ContainmentResult hTest = Containment1d::TestRangeRange( AD, BD );
ContainmentResult vTest = Containment1d::TestRangeRange( A.getRangeY(), B.getRangeY() );
// ----------
return Containment::ComposeAxisTests(hTest,vTest);
}
ContainmentResult TestPointCylinder ( Vector const & V,
Cylinder const & C )
{
Vector delta = V - C.getBase();
delta.y = 0;
real dist = delta.magnitude();
real radius = C.getRadius();
ContainmentResult rTest = Containment1d::TestFloatLess(dist,radius);
ContainmentResult vTest = Containment1d::TestFloatRange(V.y, C.getRangeY());
// ----------
return Containment::ComposeAxisTests(rTest,vTest);
}
/*!
* \brief RectifyToVector::setUpResult
* \param cylinder
* \return
*/
bool RectifyToVector::setUpResult(Cylinder &cylinder)
{
//get and check cylinder
if(!this->inputElements.contains(0) || this->inputElements[0].size() != 1){
return false;
}
QPointer<Geometry> geometry = this->inputElements[0].at(0).geometry;
if(geometry.isNull() || !geometry->getIsSolved() || !geometry->hasDirection()){
return false;
}
//get the sense (positive or negative)
double sense = 1.0;
if(this->scalarInputParams.stringParameter.contains("sense")){
if(this->scalarInputParams.stringParameter.value("sense").compare("negative") == 0){
sense = -1.0;
}
}
//get the direction to compare
OiVec r_reference = geometry->getDirection().getVector();
r_reference.normalize();
OiVec r_cylinder = cylinder.getDirection().getVector();
r_cylinder.normalize();
//calculate the angle between both directions
double angle = 0.0;
OiVec::dot(angle, r_reference, r_cylinder);
angle = qAbs(qAcos(angle));
//invert the normal vector if the angle is greater than 90°
if(angle > PI/2.0){
r_cylinder = -1.0 * r_cylinder;
}
//invert the normal vector if sense is negative
r_cylinder = sense * r_cylinder;
//set result
Direction direction = cylinder.getDirection();
direction.setVector(r_cylinder);
cylinder.setCylinder(cylinder.getPosition(), direction, cylinder.getRadius());
return true;
}
bool TestYLineCylinder ( Vector const & V, Cylinder const & C )
{
return Distance2d::Distance2PointPoint(V,C.getBase()) < sqr(C.getRadius());
}
ContainmentResult TestSphereCylinder ( Sphere const & S,
Cylinder const & C )
{
Vector delta = C.getBase() - S.getCenter();
delta.y = 0;
real dist = delta.magnitude();
Range SD( dist - S.getRadius(), dist + S.getRadius() );
Range CD( -C.getRadius(), C.getRadius() );
ContainmentResult hTest = Containment1d::TestRangeRange( SD, CD );
ContainmentResult hTest2 = Containment1d::TestFloatRange( dist, CD );
ContainmentResult vTest = Containment1d::TestRangeRange( S.getRangeY(), C.getRangeY() );
ContainmentResult cTest = Containment1d::TestFloatRange( S.getCenter().y, C.getRangeY() );
// ----------
if(hTest == CR_Outside)
{
// Sphere can't possibly touch the cylinder
return CR_Outside;
}
else if((hTest == CR_TouchingOutside) || (hTest == CR_Boundary))
{
// Sphere is touching the outside of the cylinder's tube if its
// center is inside the vertical range of the cylinder
if((cTest == CR_Inside) || (cTest == CR_Boundary))
{
return CR_TouchingOutside;
}
else
{
return CR_Outside;
}
}
else if((hTest == CR_Inside) || (hTest == CR_TouchingInside))
{
// Sphere is in the tube of the cylinder. It touches the cylinder
// if its vertical range touches the vertical range of the cylinder
return Containment::ComposeAxisTests(hTest,vTest);
}
else
{
// hTest == CR_Overlap
if(vTest == CR_Outside)
{
return CR_Outside;
}
else if((vTest == CR_Inside) || (vTest == CR_TouchingInside))
{
return CR_Overlap;
}
else if (vTest == CR_Boundary)
{
// This really shouldn't be happening
return CR_Boundary;
}
else if (vTest == CR_TouchingOutside)
{
if(hTest2 == CR_Inside)
{
// Sphere is touching a cap of the cylinder
return CR_TouchingOutside;
}
else if(hTest2 == CR_Boundary)
{
// Sphere is touching the edge of the cap of the cylinder
return CR_TouchingOutside;
}
else
{
// Sphere isn't touching the cap
return CR_Outside;
}
}
else
{
// vTest == CR_Overlap
if((cTest == CR_Inside) || (cTest == CR_Boundary))
{
// The ranges overlap vertically and horizontally, and the center of
// the sphere is inside the vertical range - the sphere overlaps the
// cylinder
return CR_Overlap;
}
else
{
// The sphere is inside both ranges, but its center is outside both
// ranges. The sphere overlaps the cylinder if the closest point
// on the cylinder is inside the sphere.
Vector closestPoint = Distance3d::ClosestPointCylinder(S.getCenter(),C);
ContainmentResult result = TestPointSphere(closestPoint,S);
if(result == CR_Outside)
{
return CR_Outside;
}
else if(result == CR_Boundary)
{
return CR_TouchingOutside;
}
else
{
return CR_Overlap;
}
}
}
}
}
C3DModel CTriangulator<Real, Cylinder<Real> >::Triangulate(const Cylinder<Real> &pShape)
{
Vector3<Real> center = pShape.getCenter();
Vector3<Real> u = pShape.getU();
Real height2 = pShape.getHalfLength();
Real rad = pShape.getRadius();
C3DModel model;
std::vector<Vector3<Real> > vVertices;
std::vector<TriFace> vFaces;
int verticalsegments = 2;
int pointsoncircle = 24;
Real dalpha = 2.0 * CMath<Real>::SYS_PI/(Real)pointsoncircle;
Vector3<Real> vTop = center + (height2 * u);
Vector3<Real> vBottom = center - (height2 * u);
vVertices.push_back(vTop);
Real dheight = (2.0 * height2)/Real(verticalsegments+1);
Real currentheight = center.z + height2;
Real alpha = 0.0;
//create the vertices
for(int j=0;j<(verticalsegments+2);j++)
{
for(int i=0;i<pointsoncircle;i++)
{
Vector3<Real> vNext=pShape.eval(alpha);
vNext.z = currentheight;
vVertices.push_back(vNext);
alpha+=dalpha;
}
alpha=0.0;
currentheight-=dheight;
}
vVertices.push_back(vBottom);
//add the top triangle fan
for(int i=0;i<pointsoncircle;i++)
{
int verts[3];
verts[0]=0;
verts[1]=1+i;
verts[2]=1+(i+1)%pointsoncircle;
TriFace face(verts);
vFaces.push_back(face);
}
//add the body of the cylinder
int index = 1;
for(int i=0;i<verticalsegments+1;i++)
{
int index=1+i*pointsoncircle;
for(int j=0;j<pointsoncircle;j++)
{
int verts[3];
verts[0]=index+j;
verts[1]=index+pointsoncircle+j;
verts[2]=index+(j+1)%pointsoncircle;
TriFace face1(verts);
vFaces.push_back(face1);
verts[0]=index+(j+1)%pointsoncircle;
verts[1]=index+pointsoncircle+j;
verts[2]=index+pointsoncircle+(j+1)%pointsoncircle;
TriFace face2(verts);
vFaces.push_back(face2);
}
}//end for i
int ilast=vVertices.size()-1;
int ilastrow=ilast-pointsoncircle;
//add lower triangle fan
for(int i=0;i<pointsoncircle;i++)
{
int verts[3];
verts[0]=ilast;
verts[1]=ilastrow+(i+1)%pointsoncircle;
verts[2]=ilastrow+i;
TriFace face(verts);
vFaces.push_back(face);
}
model.CreateFrom(vVertices,vFaces);
return model;
}