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