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46 lines
1.3 KiB
46 lines
1.3 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: cylinder face x^2+y^2-1=0
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// u: planar angle from x-axis to z-axis
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// v: depth/height from xz-plane to y-axis
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struct cylinder_face_t final : subface {
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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::cylinder_face_t> {
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// Q' = M^{-T}QM^{-1}
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// Q = {
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// 1, 0, 0, 0
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// 0, 1, 0, 0
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// 0, 0, 0, 0
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// 0, 0, 0, -1
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// }
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size_t operator()(const internal::cylinder_face_t& subface) const
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{
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// build M^{-T}Q directly
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Eigen::Matrix4d mat = internal::empty_affine_matrix;
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mat.leftCols<2>() = subface.world_to_local.matrix().topRows<2>().transpose();
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auto res = mat * subface.world_to_local;
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return hash_funcs(res.matrix());
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}
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// size_t operator()(const internal::cylinder_face_t& subface) const
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// {
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// auto R = subface.world_to_local.linear().topLeftCorner<2, 3>(); // 2x3
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// auto b = subface.local_to_world.translation(); // 3x1
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// Eigen::Matrix<double, 3, 4> hash_mat = Eigen::Matrix<double, 3, 4>::Zero();
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// hash_mat.topLeftCorner<3, 3>() = R.transpose() * R;
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// hash_mat.topRightCorner<2, 1>() = R * b;
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// return hash_funcs(hash_mat);
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// }
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};
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} // namespace detail
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