private void exhaustiveCheck(
final Record rec, final Vector3d offset, final PolyTree ptree1, final PolyTree ptree2) {
final Matrix4dX X21 = new Matrix4dX(rec.X21);
final Matrix4dX X12 = new Matrix4dX();
X21.m03 += offset.x;
X21.m13 += offset.y;
X21.m23 += offset.z;
X12.invert(X21);
final Vector flist1 = getAllPolyhdreonFeatures(ptree1.getPolyhedron());
final Vector flist2 = getAllPolyhdreonFeatures(ptree2.getPolyhedron());
for (final Iterator it1 = flist1.iterator(); it1.hasNext(); ) {
final Feature f1 = (Feature) it1.next();
for (final Iterator it2 = flist2.iterator(); it2.hasNext(); ) {
final Feature f2 = (Feature) it2.next();
if (!(f1.type == Feature.FACE && f2.type == Feature.FACE)) {
final FeaturePair featurePair = new FeaturePair(f1, f2);
final PolyTreePair ptreePair = new PolyTreePair(ptree1, ptree2);
closestFeaturesHT.put(ptreePair, featurePair);
final DistanceReport rep = rec.createDistanceReport();
final double d = ptree1.vclip(rep, ptree2, X21, MAX_DIST, closestFeaturesHT);
rep.transformSecondPoints(X21);
checkVclipResults(rec, offset, rep, d, featurePair);
}
}
}
}
private void dotime(final Record rec, final boolean dryrun) {
PolyTree ptree1;
PolyTree ptree2;
ptree1 = (PolyTree) bodies.get(rec.poly1);
if (ptree1 == null) {
System.err.println("PolyTree " + rec.poly1 + " not found");
System.exit(1);
}
ptree2 = (PolyTree) bodies.get(rec.poly2);
if (ptree2 == null) {
System.err.println("PolyTree " + rec.poly2 + " not found");
System.exit(1);
}
final DistanceReport rep = new DistanceReport();
if (ptree1.isAtomic() && ptree2.isAtomic() && !dryrun)
ptree1.vclip(rep, ptree2, rec.X21, MAX_DIST, closestFeaturesHT);
}
private void singleCheck(
final Record rec,
final Vector3d offset,
final PolyTree ptree1,
final PolyTree ptree2,
final String fname1,
final String fname2) {
final Matrix4dX X21 = new Matrix4dX(rec.X21);
final Matrix4dX X12 = new Matrix4dX();
X21.m03 += offset.x;
X21.m13 += offset.y;
X21.m23 += offset.z;
X12.invert(X21);
FeaturePair featurePair;
if (fname1 != null) {
Feature f1, f2;
if (fname1.equals("")) f1 = ptree1.poly_.getVerts()[0];
else f1 = ptree1.poly_.findFeature(fname1);
if (fname1.equals("")) f2 = ptree2.poly_.getVerts()[0];
else f2 = ptree2.poly_.findFeature(fname2);
featurePair = new FeaturePair(f1, f2);
final PolyTreePair ptreePair = new PolyTreePair(ptree1, ptree2);
closestFeaturesHT.put(ptreePair, featurePair);
} else {
featurePair = (FeaturePair) closestFeaturesHT.get(new PolyTreePair(ptree1, ptree2));
if (featurePair == null)
featurePair = new FeaturePair(ptree1.poly_.getVerts()[0], ptree2.poly_.getVerts()[0]);
}
final DistanceReport rep = rec.createDistanceReport();
final double d = ptree1.vclip(rep, ptree2, X21, MAX_DIST, closestFeaturesHT);
rep.transformSecondPoints(X21);
checkVclipResults(rec, offset, rep, d, featurePair);
}
void polyTreeTests() throws Exception {
final PolyTree ptree = new PolyTree("compound");
final PolyTree unitCube = (PolyTree) library.get("unit-cube");
final Matrix4dX M = new Matrix4dX();
final double c = Math.cos(Math.toRadians(30));
M.setRpy(Math.toRadians(30), Math.toRadians(0), Math.toRadians(20));
final Vector3d p = new Vector3d(M.m01, M.m11, M.m21);
// Vector3d p = new Vector3d (M.m00, M.m10, M.m20);
M.setXyz(p.x, p.y, p.z);
// M.setXyz (-0.5, c, 0);
ptree.addComponent(null, unitCube, M);
M.setXyz(-p.x, -p.y, -p.z);
// M.setXyz ( 0.5,-c, 0);
ptree.addComponent(null, unitCube, M);
ptree.buildBoundingHull(PolyTree.CONVEX_HULL);
Vertex[] verts = ptree.getPolyhedron().getVerts();
final Point3dX[] hullPnts = new Point3dX[verts.length];
for (int i = 0; i < hullPnts.length; i++) hullPnts[i] = new Point3dX(verts[i].coords);
ptree.buildBoundingHull(PolyTree.OBB_HULL);
verts = ptree.getPolyhedron().getVerts();
final Point3dX px = new Point3dX();
for (final Vertex vert : verts) {
M.transform(vert.coords, px);
px.set(vert.coords);
}
for (int i = 0; i < verts.length; i++)
if (!locatePoint(verts[i].coords, hullPnts))
throw new Exception("Can't locate point " + verts[i].coords);
M.setIdentity();
final PolyTree cubepair = new PolyTree("cubepair");
final Point3d[] cubepairHullCheck =
new Point3d[] {
new Point3d(1.5, 0.5, 0.5),
new Point3d(1.5, 0.5, -0.5),
new Point3d(1.5, -0.5, 0.5),
new Point3d(1.5, -0.5, -0.5),
new Point3d(-1.5, 0.5, 0.5),
new Point3d(-1.5, 0.5, -0.5),
new Point3d(-1.5, -0.5, 0.5),
new Point3d(-1.5, -0.5, -0.5),
};
M.setXyz(1, 0, 0);
cubepair.addComponent(null, unitCube, M);
M.setXyz(-1, 0, 0);
cubepair.addComponent(null, unitCube, M);
cubepair.buildBoundingHull(PolyTree.OBB_HULL);
checkPolyVertices(cubepairHullCheck, cubepair);
cubepair.buildBoundingHull(PolyTree.CONVEX_HULL);
checkPolyVertices(cubepairHullCheck, cubepair);
Point3d[] jackHullCheck;
final PolyTree jack = new PolyTree("jack");
jack.addComponent("jack_0", cubepair);
M.setXyz(0, 0, 0);
M.setRpy(Math.toRadians(90), 0, 0);
jack.addComponent("jack_1", cubepair, M);
final Matrix4dX MI = new Matrix4dX();
MI.invertTrans(M);
jackHullCheck = appendPoints(cubepairHullCheck, transformPoints(MI, cubepairHullCheck));
M.setRpy(0, Math.toRadians(90), 0);
jack.addComponent("jack_2", cubepair, M);
MI.invertTrans(M);
jackHullCheck = appendPoints(jackHullCheck, transformPoints(MI, cubepairHullCheck));
jack.buildBoundingHull(PolyTree.CONVEX_HULL);
checkPolyVertices(jackHullCheck, jack);
jack.buildAllBoundingHulls(PolyTree.CONVEX_HULL);
checkPolyVertices(jackHullCheck, jack);
int i = 0;
for (final Iterator it = jack.getComponents(); it.hasNext(); ) {
final PolyTree part = (PolyTree) it.next();
part.setName("jack_" + i);
checkPolyVertices(cubepairHullCheck, part);
i++;
}
final Point3d[] jackOBBHullCheck =
new Point3d[] {
new Point3d(1.5, 1.5, 1.5),
new Point3d(1.5, 1.5, -1.5),
new Point3d(1.5, -1.5, 1.5),
new Point3d(1.5, -1.5, -1.5),
new Point3d(-1.5, 1.5, 1.5),
new Point3d(-1.5, 1.5, -1.5),
new Point3d(-1.5, -1.5, 1.5),
new Point3d(-1.5, -1.5, -1.5),
};
jack.buildAllBoundingHulls(PolyTree.OBB_HULL);
checkPolyVertices(jackOBBHullCheck, jack);
for (final Iterator it = jack.getComponents(); it.hasNext(); )
checkPolyVertices(cubepairHullCheck, (PolyTree) it.next());
final PolyTree cross1 = new PolyTree(null, library, "cross");
final PolyTree cross2 = new PolyTree(null, library, "cross");
final DistanceReport rep = new DistanceReport(10);
final double del = 0.1;
M.setRpy(0, 0, 0);
M.setXyz(1.5 + del, -1.0 - del, 0);
rep.setMaxPairDistance(2 * del);
cross1.vclip(rep, cross2, M, 10.0, null);
rep.transformSecondPoints(M);
checkDistanceReport(
rep,
new NormalDistPair[] {
new NormalDistPair(1, 0, 0, del),
new NormalDistPair(1, 0, 0, del),
new NormalDistPair(0, -1, 0, del)
});
}
