#pragma once
#include
namespace internal
{
// local: plane x=0
struct plane_t final : subface {
static constexpr uint64_t max_degree = 1;
static constexpr equation_system_type eq_sys_type = equation_system_type::implicit;
std::function fetch_sdf_evaluator() const override;
std::function fetch_sdf_grad_evaluator() const override;
// u: planar local x-axis
// v: planar local y-axis
std::function fetch_point_by_param_evaluator() const override;
std::function fetch_curve_constraint_evaluator(parameter_u_t constraint_var_type,
double u) const override;
std::function fetch_curve_constraint_evaluator(parameter_v_t constraint_var_type,
double v) const override;
std::function fetch_solver_evaluator() const override;
};
struct plane_paired_model_matrix {
internal::paired_model_matrix *data{};
};
} // namespace internal
namespace detail
{
template <>
struct hasher {
size_t operator()(const internal::plane_paired_model_matrix &block) const
{
const auto& mat = block.data->local_to_world.matrix();
Eigen::Vector3d n_vec = mat.col(0);
double tz = mat.col(3).transpose().dot(n_vec);
double norm = n_vec.norm();
if (norm < 1e-8) {
n_vec = Eigen::Vector3d::UnitZ();
norm = 1.0;
} else {
n_vec /= norm;
}
double d = -tz / norm; // 平面方程: n·x = d
// 可选:统一法向方向(例如让 z 分量优先为正)
if (n_vec[2] < -1e-8 ||
(std::abs(n_vec[2]) < 1e-8 && (n_vec[1] < -1e-8 ||
(std::abs(n_vec[1]) < 1e-8 && n_vec[0] < 0)))) {
n_vec = -n_vec;
d = -d;
}
Eigen::Vector4d hash_key;
hash_key << n_vec, d;
return XXH3_64bits(hash_key.data(), sizeof(Eigen::Vector4d));
}
};
template <>
struct default_elem_ctor {
internal::plane_t operator()(const internal::plane_paired_model_matrix &k) const
{
internal::plane_t res{};
res.model_matrices = const_cast(k.data);
return res;
}
};
} // namespace detail