inline Box<T>& Box<T>::operator/=(T2 c)
{
assert(c != T(0));
T cInv(1 / c);
scale(cInv, cInv);
return *this;
}
//===========================================================================
void cGELMesh::connectVerticesToSkeleton(bool a_connectToNodesOnly)
{
// get number of vertices
int numVertices = m_gelVertices.size();
// for each deformable vertex we search for the nearest sphere or link
for (int i=0; i<numVertices; i++)
{
// get current deformable vertex
cGELVertex* curVertex = &m_gelVertices[i];
// get current vertex position
cVector3d pos = curVertex->m_vertex->getPos();
// initialize constant
double min_distance = 99999999999999999.0;
cGELSkeletonNode* nearest_node = NULL;
cGELSkeletonLink* nearest_link = NULL;
// search for the nearest node
list<cGELSkeletonNode*>::iterator itr;
for(itr = m_nodes.begin(); itr != m_nodes.end(); ++itr)
{
cGELSkeletonNode* nextNode = *itr;
double distance = cDistance(pos, nextNode->m_pos);
if (distance < min_distance)
{
min_distance = distance;
nearest_node = nextNode;
nearest_link = NULL;
}
}
// search for the nearest link if any
if (!a_connectToNodesOnly)
{
list<cGELSkeletonLink*>::iterator j;
for(j = m_links.begin(); j != m_links.end(); ++j)
{
cGELSkeletonLink* nextLink = *j;
double angle0 = cAngle(nextLink->m_wLink01, cSub(pos, nextLink->m_node0->m_pos));
double angle1 = cAngle(nextLink->m_wLink10, cSub(pos, nextLink->m_node1->m_pos));
if ((angle0 < (CHAI_PI / 2.0)) && (angle1 < (CHAI_PI / 2.0)))
{
cVector3d p = cProjectPointOnLine(pos,
nextLink->m_node0->m_pos,
nextLink->m_wLink01);
double distance = cDistance(pos, p);
if (distance < min_distance)
{
min_distance = distance;
nearest_node = NULL;
nearest_link = nextLink;
}
}
}
}
// attach vertex to nearest node if it exists
if (nearest_node != NULL)
{
curVertex->m_node = nearest_node;
curVertex->m_link = NULL;
cVector3d posRel = cSub(pos, nearest_node->m_pos);
curVertex->m_massParticle->m_pos = cMul(cTrans(nearest_node->m_rot), posRel);
}
// attach vertex to nearest link if it exists
else if (nearest_link != NULL)
{
curVertex->m_node = NULL;
curVertex->m_link = nearest_link;
cMatrix3d rot;
rot.setCol( nearest_link->m_A0,
nearest_link->m_B0,
nearest_link->m_wLink01);
cVector3d posRel = cSub(pos, nearest_link->m_node0->m_pos);
curVertex->m_massParticle->m_pos = cMul(cInv(rot), posRel);
}
}
}
