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67 lines
2.2 KiB
67 lines
2.2 KiB
3 months ago
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// David Eberly, Geometric Tools, Redmond WA 98052
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// Copyright (c) 1998-2021
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// Distributed under the Boost Software License, Version 1.0.
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// https://www.boost.org/LICENSE_1_0.txt
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// https://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
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// Version: 4.0.2019.08.13
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#pragma once
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#include <Mathematics/Polyhedron3.h>
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namespace gte
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{
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template <typename Real>
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class ExtremalQuery3
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{
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public:
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// Abstract base class.
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virtual ~ExtremalQuery3() = default;
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// Disallow copying and assignment.
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ExtremalQuery3(ExtremalQuery3 const&) = delete;
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ExtremalQuery3& operator=(ExtremalQuery3 const&) = delete;
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// Member access.
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inline Polyhedron3<Real> const& GetPolytope() const
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{
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return mPolytope;
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}
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inline std::vector<Vector3<Real>> const& GetFaceNormals() const
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{
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return mFaceNormals;
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}
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// Compute the extreme vertices in the specified direction and return
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// the indices of the vertices in the polyhedron vertex array.
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virtual void GetExtremeVertices(Vector3<Real> const& direction,
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int& positiveDirection, int& negativeDirection) = 0;
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protected:
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// The caller must ensure that the input polyhedron is convex.
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ExtremalQuery3(Polyhedron3<Real> const& polytope)
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:
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mPolytope(polytope)
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{
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// Create the face normals.
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auto vertexPool = mPolytope.GetVertices();
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auto const& indices = mPolytope.GetIndices();
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int const numTriangles = static_cast<int>(indices.size()) / 3;
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mFaceNormals.resize(numTriangles);
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for (int t = 0; t < numTriangles; ++t)
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{
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Vector3<Real> v0 = vertexPool[indices[3 * t + 0]];
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Vector3<Real> v1 = vertexPool[indices[3 * t + 1]];
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Vector3<Real> v2 = vertexPool[indices[3 * t + 2]];
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Vector3<Real> edge1 = v1 - v0;
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Vector3<Real> edge2 = v2 - v0;
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mFaceNormals[t] = UnitCross(edge1, edge2);
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}
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}
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Polyhedron3<Real> const& mPolytope;
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std::vector<Vector3<Real>> mFaceNormals;
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};
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}
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