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46 lines
1.5 KiB
46 lines
1.5 KiB
//这个是对一个关节的复现
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# pragma once
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#include<Eigen/Dense>
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#include<vector>
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#include <iostream>
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#include <fstream>
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#include <cassert>
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#include <string>
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#include<math.h>
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using namespace std;
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using namespace Eigen;
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struct Interface
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{
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vector<Vector3d> dir;//加入的时候一定要先初始化好
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double r;//圆柱的半径
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Vector3d position=Vector3d(0,0,0);
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double R;//需要的最小圆的半径，这里我们使用最小值的2倍
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};
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//关于这个，文章原话是
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// The key idea is to associate an inflated sphere S+ of radius r + ,
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// with each ball. S+ has the same center as the ball. r + is computed
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// as the smallest radius for which the beams incident on the ball do
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// not interfere outside of S+ . To compute r + , we consider all pairs
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// of incident beams and for each pair compute a candidate radius
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// using line–line intersection between the profiles of both beams
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// in the plane that contains their axes. Radius r + is the maximum
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// of these candidates. For simplicity, we set r + to be slightly larger
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// than this maximum, so as to ensure that the caps (or disks) are
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// disjoint.
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void getR(Interface& g){
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double anglecos=1;
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for(int i=0;i<g.dir.size();i++){
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for(int j=i+1;j<g.dir.size();j++){
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anglecos=min(abs(g.dir[i].dot(g.dir[j])),abs(anglecos));
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}
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}
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anglecos=max(double(-1),anglecos);
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anglecos=min(double(1),anglecos);
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double angle=acos(anglecos);
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double R=g.r/cos(angle/2);
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g.R=2*R;
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}
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