120ca87015
git-svn-id: https://free-cad.svn.sourceforge.net/svnroot/free-cad/trunk@5000 e8eeb9e2-ec13-0410-a4a9-efa5cf37419d
101 lines
3.6 KiB
C++
101 lines
3.6 KiB
C++
// Wild Magic Source Code
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// David Eberly
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// http://www.geometrictools.com
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// Copyright (c) 1998-2007
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//
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// This library is free software; you can redistribute it and/or modify it
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// under the terms of the GNU Lesser General Public License as published by
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// the Free Software Foundation; either version 2.1 of the License, or (at
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// your option) any later version. The license is available for reading at
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// either of the locations:
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// http://www.gnu.org/copyleft/lgpl.html
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// http://www.geometrictools.com/License/WildMagicLicense.pdf
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// The license applies to versions 0 through 4 of Wild Magic.
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//
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// Version: 4.0.0 (2006/06/28)
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#ifndef WM4DISTANCE_H
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#define WM4DISTANCE_H
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#include "Wm4FoundationLIB.h"
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#include "Wm4Vector2.h"
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#include "Wm4Vector3.h"
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namespace Wm4
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{
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template <class Real, class TVector>
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class WM4_FOUNDATION_ITEM Distance
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{
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public:
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// abstract base class
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virtual ~Distance ();
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// static distance queries
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virtual Real Get () = 0; // distance
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virtual Real GetSquared () = 0; // squared distance
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// function calculations for dynamic distance queries
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virtual Real Get (Real fT, const TVector& rkVelocity0,
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const TVector& rkVelocity1) = 0;
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virtual Real GetSquared (Real fT, const TVector& rkVelocity0,
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const TVector& rkVelocity1) = 0;
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// Derivative calculations for dynamic distance queries. The defaults
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// use finite difference estimates
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// f'(t) = (f(t+h)-f(t-h))/(2*h)
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// where h = DifferenceStep. A derived class may override these and
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// provide implementations of exact formulas that do not require h.
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virtual Real GetDerivative (Real fT, const TVector& rkVelocity0,
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const TVector& rkVelocity1);
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virtual Real GetDerivativeSquared (Real fT, const TVector& rkVelocity0,
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const TVector& rkVelocity1);
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// Dynamic distance queries. The function computes the smallest distance
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// between the two objects over the time interval [tmin,tmax].
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virtual Real Get (Real fTMin, Real fTMax, const TVector& rkVelocity0,
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const TVector& rkVelocity1);
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virtual Real GetSquared (Real fTMin, Real fTMax,
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const TVector& rkVelocity0, const TVector& rkVelocity1);
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// for Newton's method and inverse parabolic interpolation
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int MaximumIterations; // default = 8
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Real ZeroThreshold; // default = Math<Real>::ZERO_TOLERANCE
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// for derivative approximations
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void SetDifferenceStep (Real fDifferenceStep); // default = 1e-03
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Real GetDifferenceStep () const;
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// The time at which minimum distance occurs for the dynamic queries.
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Real GetContactTime () const;
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// Closest points on the two objects. These are valid for static or
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// dynamic queries. The set of closest points on a single object need
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// not be a single point. In this case, the Boolean member functions
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// return 'true'. A derived class may support querying for the full
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// contact set.
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const TVector& GetClosestPoint0 () const;
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const TVector& GetClosestPoint1 () const;
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bool HasMultipleClosestPoints0 () const;
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bool HasMultipleClosestPoints1 () const;
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protected:
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Distance ();
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Real m_fContactTime;
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TVector m_kClosestPoint0;
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TVector m_kClosestPoint1;
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bool m_bHasMultipleClosestPoints0;
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bool m_bHasMultipleClosestPoints1;
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Real m_fDifferenceStep, m_fInvTwoDifferenceStep;
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};
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typedef Distance<float,Vector2f> Distance2f;
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typedef Distance<float,Vector3f> Distance3f;
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typedef Distance<double,Vector2d> Distance2d;
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typedef Distance<double,Vector3d> Distance3d;
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}
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#endif
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