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72 lines
2.2 KiB
72 lines
2.2 KiB
#pragma once
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#include <base/subface.hpp>
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#include <primitive_descriptor.h>
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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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const cylinder_descriptor_t* geometry_ptr = nullptr;
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// 内部访问：类型安全，无需转换
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const cylinder_descriptor_t* get_geometry_ptr() const
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{
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assert(geometry_ptr && "Geometry not initialized");
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return geometry_ptr;
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}
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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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size_t h = hash_funcs(res.matrix());
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detail::hash_combine(h, reinterpret_cast<size_t>(subface.geometry_ptr));
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return h;
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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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template <>
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struct eq_compare<internal::cylinder_face_t> {
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bool operator()(const internal::cylinder_face_t& lhs, const internal::cylinder_face_t& rhs) const
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{
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constexpr double eps = 1e-12;
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if (lhs.geometry_ptr != rhs.geometry_ptr) {
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return false;
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}
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if (!lhs.world_to_local.isApprox(rhs.world_to_local, 1e-12)) {
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return false;
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}
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return true;
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}
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};
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} // namespace detail
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