bool dgCollisionConvexHull::RemoveCoplanarEdge (dgPolyhedra& polyhedra, const dgBigVector* const hullVertexArray) const
{
bool removeEdge = false;
// remove coplanar edges
dgInt32 mark = polyhedra.IncLRU();
dgPolyhedra::Iterator iter (polyhedra);
for (iter.Begin(); iter; ) {
dgEdge* edge0 = &(*iter);
iter ++;
if (edge0->m_incidentFace != -1) {
if (edge0->m_mark < mark) {
edge0->m_mark = mark;
edge0->m_twin->m_mark = mark;
dgBigVector normal0 (FaceNormal (edge0, &hullVertexArray[0]));
dgBigVector normal1 (FaceNormal (edge0->m_twin, &hullVertexArray[0]));
dgFloat64 test = normal0.DotProduct(normal1).GetScalar();
if (test > dgFloat64 (0.99995f)) {
if ((edge0->m_twin->m_next->m_twin->m_next != edge0) && (edge0->m_next->m_twin->m_next != edge0->m_twin)) {
#define DG_MAX_EDGE_ANGLE dgFloat32 (1.0e-3f)
if (edge0->m_twin == &(*iter)) {
if (iter) {
iter ++;
}
}
dgBigVector e1 (hullVertexArray[edge0->m_twin->m_next->m_next->m_incidentVertex] - hullVertexArray[edge0->m_incidentVertex]);
dgBigVector e0 (hullVertexArray[edge0->m_incidentVertex] - hullVertexArray[edge0->m_prev->m_incidentVertex]);
dgAssert(e0.m_w == dgFloat64(0.0f));
dgAssert(e1.m_w == dgFloat64(0.0f));
dgAssert (e0.DotProduct(e0).GetScalar() >= dgFloat64 (0.0f));
dgAssert (e1.DotProduct(e1).GetScalar() >= dgFloat64 (0.0f));
e0 = e0.Scale (dgFloat64 (1.0f) / sqrt (e0.DotProduct(e0).GetScalar()));
e1 = e1.Scale (dgFloat64 (1.0f) / sqrt (e1.DotProduct(e1).GetScalar()));
dgBigVector n1 (e0.CrossProduct(e1));
dgFloat64 projection = n1.DotProduct(normal0).GetScalar();
if (projection >= DG_MAX_EDGE_ANGLE) {
dgBigVector e11 (hullVertexArray[edge0->m_next->m_next->m_incidentVertex] - hullVertexArray[edge0->m_twin->m_incidentVertex]);
dgBigVector e00 (hullVertexArray[edge0->m_twin->m_incidentVertex] - hullVertexArray[edge0->m_twin->m_prev->m_incidentVertex]);
dgAssert (e00.m_w == dgFloat64 (0.0f));
dgAssert (e11.m_w == dgFloat64 (0.0f));
dgAssert (e00.DotProduct(e00).GetScalar() >= dgFloat64 (0.0f));
dgAssert (e11.DotProduct(e11).GetScalar() >= dgFloat64 (0.0f));
e00 = e00.Scale(dgFloat64(1.0f) / sqrt(e00.DotProduct(e00).GetScalar()));
e11 = e11.Scale(dgFloat64(1.0f) / sqrt(e11.DotProduct(e11).GetScalar()));
dgBigVector n11 (e00.CrossProduct(e11));
projection = n11.DotProduct(normal0).GetScalar();
if (projection >= DG_MAX_EDGE_ANGLE) {
dgAssert (&(*iter) != edge0);
dgAssert (&(*iter) != edge0->m_twin);
polyhedra.DeleteEdge(edge0);
removeEdge = true;
}
}
} else {
dgEdge* next = edge0->m_next;
dgEdge* prev = edge0->m_prev;
polyhedra.DeleteEdge(edge0);
for (edge0 = next; edge0->m_prev->m_twin == edge0; edge0 = next) {
next = edge0->m_next;
polyhedra.DeleteEdge(edge0);
}
for (edge0 = prev; edge0->m_next->m_twin == edge0; edge0 = prev) {
prev = edge0->m_prev;
polyhedra.DeleteEdge(edge0);
}
iter.Begin();
removeEdge = true;
}
}
}
}
}
return removeEdge;
}
int json_cpp_tests() {
json::Value e1(json::load_file("test.json"));
json::Value e2(e1);
json::Value e3;
json::Value e4(json::load_string("{\"foo\": true, \"bar\": \"test\"}"));
ASSERT_TRUE(e1.is_object(), "e1 is not an object");
ASSERT_TRUE(e2.is_object(), "e2 is not an object");
ASSERT_TRUE(e3.is_undefined(), "e3 has a defined value");
ASSERT_TRUE(e4.is_object(), "e4 is not an object");
ASSERT_EQ(e1.size(), 1, "e1 has too many properties");
ASSERT_EQ(e2.size(), 1, "e2 has too many properties");
ASSERT_EQ(e4.size(), 2, "e4 does not have 2 elements");
ASSERT_TRUE(e1.get("web-app").is_object(), "e1[0].web-app is not an object");
ASSERT_EQ(e1.get("web-app").get("servlet").at(0).get("servlet-class").as_string(), "org.cofax.cds.CDSServlet", "property has incorrect value");
ASSERT_EQ(e1["web-app"]["servlet"][0]["servlet-class"].as_string(), "org.cofax.cds.CDSServlet", "property has incorrect value");
ASSERT_EQ(e4["foo"].as_boolean(), true, "property has incorrect value");
// verify iterator results (note that they can be returned in any order)
json::Iterator i(e1.get("web-app"));
std::set<std::string> iteratorResults;
for ( int ii = 0; ii < 3; ++ii ) {
ASSERT_FALSE(i.key().empty(), "iterator returned a null value");
iteratorResults.insert(i.key());
i.next();
}
ASSERT_FALSE(i.valid(), "iterator has more values than expected");
ASSERT_EQ(iteratorResults.size(), 3, "iterator did not return enough values");
json::Value e5(json::Value(12.34));
ASSERT_TRUE(e5.is_number(), "e5 is not a number after assignment");
ASSERT_EQ(e5.as_real(), 12.34, "e5 has incorrect value after assignment");
json::Value e6(json::Value(true));
ASSERT_TRUE(e6.is_boolean(), "e6 is not a boolean after assignment");
ASSERT_EQ(e6.as_boolean(), true, "e6 has incorrect value after assignment");
json::Value e7(json::Value("foobar"));
ASSERT_TRUE(e7.is_string(), "e7 is not a string after assignment");
ASSERT_EQ(e7.as_string(), "foobar", "e7 has incorrect value after assignment");
json::Value e8(json::object());
ASSERT_TRUE(e8.is_object(), "e8 is not an object after assignment");
json::Value e9(json::null());
ASSERT_TRUE(e9.is_null(), "e9 is not null after assignment");
json::Value e10(json::array());
ASSERT_TRUE(e10.is_array(), "e10 is not an array after index assignment");
e10.set_at(0, json::Value("foobar"));
ASSERT_EQ(e10.size(), 1, "e10 has incorrect number of elements after assignment");
ASSERT_EQ(e10[0].as_string(), "foobar", "e10[0] has incorrect value after assignment");
e10.set_at(1, json::Value("foobar"));
ASSERT_TRUE(e10.is_array(), "e10 is not an array after index assignment");
ASSERT_EQ(e10.size(), 2, "e10 has incorrect number of elements after assignment");
ASSERT_EQ(e10[1].as_string(), "foobar", "e10[0] has incorrect value after assignment");
e10.set_at(0, json::Value("barfoo"));
ASSERT_TRUE(e10.is_array(), "e10 is not an array after index assignment");
ASSERT_EQ(e10.size(), 2, "e10 has incorrect number of elements after assignment");
ASSERT_EQ(e10[0].as_string(), "barfoo", "e10[0] has incorrect value after assignment");
e10.set_at(100, json::null());
ASSERT_TRUE(e10.is_array(), "e10 is not an array after index assignment");
ASSERT_EQ(e10.size(), 2, "e10 has incorrect number of elements after assignment");
e10.insert_at(1, json::Value("new"));
ASSERT_EQ(e10.size(), 3, "e10 has incorrect size after insert");
ASSERT_EQ(e10[1].as_string(), "new", "e10[1] has incorrect value after insert");
ASSERT_EQ(e10[2].as_string(), "foobar", "e10[2] has incorrect value after insert");
e10.del_at(0);
ASSERT_EQ(e10.size(), 2, "e10 has incorrect size after delete");
ASSERT_EQ(e10[1].as_string(), "foobar", "e10[1] has incorrect value after delete");
e10.clear();
ASSERT_EQ(e10.size(), 0, "e10 has incorrect number of elements after clear");
json::Value e11(json::object());
ASSERT_TRUE(e11.is_object(), "e11 is not an object after property assignment");
e11.set_key("foo", json::Value("test"));
ASSERT_EQ(e11.size(), 1, "e11 has incorrect number of properties after assignment");
ASSERT_EQ(e11["foo"].as_string(), "test", "e11.foo has incorrect value after assignment");
e11.set_key("foo", json::Value("again"));
ASSERT_TRUE(e11.is_object(), "e11 is not an object after property assignment");
ASSERT_EQ(e11.size(), 1, "e11 has incorrect number of properties after assignment");
ASSERT_EQ(e11["foo"].as_string(), "again", "e11.foo has incorrect value after assignment");
e11.set_key("bar", json::Value("test"));
ASSERT_TRUE(e11.is_object(), "e11 is not an object after property assignment");
ASSERT_EQ(e11.size(), 2, "e11 has incorrect number of properties after assignment");
ASSERT_EQ(e11["bar"].as_string(), "test", "e11.foo has incorrect value after assignment");
e11.clear();
ASSERT_EQ(e11.size(), 0, "e11 has incorrect number of properties after clear");
json::Value e12(json::object());
e12.set_key("foo", json::Value("test"));
e12.set_key("bar", json::Value(3));
char* out_cstr = e12.save_string(JSON_COMPACT);
std::string out(out_cstr);
free(out_cstr);
ASSERT_EQ(out, "{\"bar\":3,\"foo\":\"test\"}", "object did not serialize as expected");
std::istringstream instr(out);
instr >> e12;
ASSERT_TRUE(e12.is_object(), "e12 is not an object after stream read");
ASSERT_EQ(e12.size(), 2, "e12 has wrong size after stream read");
ASSERT_EQ(e12.get("bar").as_integer(), 3, "e12.bar has incorrect value after stream read");
ASSERT_EQ(e12.get("foo").as_string(), "test", "ee12.test has incorrect value after stream read");
std::ostringstream outstr;
outstr << e12;
ASSERT_EQ(instr.str(), "{\"bar\":3,\"foo\":\"test\"}", "object did not serialize as expected");
const json::Value e13(e12);
ASSERT_EQ(e13["bar"].as_integer(), 3, "e13.bar has incorrect value after copy");
json::Value e14(json::object());
ASSERT_TRUE(e14.is_object(), "e14 is not an object after construction");
e14.set_key("foo", json::object());
ASSERT_TRUE(e14["foo"].is_object(), "e14.foo is not an object after assignment");
e14["foo"]["bar"] = json::Value(42);
ASSERT_EQ(e14["foo"]["bar"].as_integer(), 42, "e14.foo.bar has incorrect value after assignment");
json::Value e15(json::array());
ASSERT_TRUE(e15.is_array(), "e15 is not an array after construction");
e15.set_at(0, json::Value(42));
ASSERT_EQ(e15[0].as_integer(), 42, "e15[0] has incorrect value after assignment");
e15[0] = json::Value("foo");
ASSERT_EQ(e15[0].as_string(), "foo", "e15[0] has incorrecy value after assignment");
return 0;
}
