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kdl_parser
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kdl_parser/convex_decomposition/convex_decomposition.patch

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Index: ConvexDecomposition/vlookup.cpp
===================================================================
--- ConvexDecomposition/vlookup.cpp (revision 8299)
+++ ConvexDecomposition/vlookup.cpp (working copy)
@@ -164,7 +164,7 @@
};
-template <class Type> class VertexLess
+template <typename Type> class VertexLess
{
public:
typedef std::vector< Type > VertexVector;
@@ -188,7 +188,7 @@
static VertexVector *mList;
};
-template <class Type> class VertexPool
+template <typename Type> class VertexPool
{
public:
typedef std::set<int, VertexLess<Type> > VertexSet;
@@ -197,7 +197,7 @@
int GetVertex(const Type& vtx)
{
VertexLess<Type>::SetSearch(vtx,&mVtxs);
- VertexSet::iterator found;
+ typename VertexSet::iterator found;
found = mVertSet.find( -1 );
if ( found != mVertSet.end() )
{
@@ -254,10 +254,10 @@
VertexVector mVtxs; // set of vertices.
};
+double tmpp[3] = {0,0,0};
+template<> VertexPosition VertexLess<VertexPosition>::mFind = tmpp;
+template<> std::vector<VertexPosition > *VertexLess<VertexPosition>::mList =0;
-VertexPosition VertexLess<VertexPosition>::mFind;
-std::vector<VertexPosition > *VertexLess<VertexPosition>::mList=0;
-
enum RDIFF
{
RD_EQUAL,
@@ -288,6 +288,7 @@
}
+template<>
bool VertexLess<VertexPosition>::operator()(int v1,int v2) const
{
bool ret = false;
Index: ConvexDecomposition/ConvexDecomposition.cpp
===================================================================
--- ConvexDecomposition/ConvexDecomposition.cpp (revision 8299)
+++ ConvexDecomposition/ConvexDecomposition.cpp (working copy)
@@ -66,7 +66,7 @@
#include "cd_vector.h"
#include "cd_hull.h"
#include "bestfit.h"
-#include "PlaneTri.h"
+#include "planetri.h"
#include "vlookup.h"
#include "splitplane.h"
#include "meshvolume.h"
@@ -760,3 +760,3 @@
- assert( fcount >= 3 && fcount <= 4);
- assert( bcount >= 3 && bcount <= 4);
-
+ if ( fcount >= 3 && fcount <= 4)
+ if ( bcount >= 3 && bcount <= 4)
+ {
@@ -777,1 +777,1 @@
-
+ }
Index: ConvexDecomposition/splitplane.cpp
===================================================================
--- ConvexDecomposition/splitplane.cpp (revision 8299)
+++ ConvexDecomposition/splitplane.cpp (working copy)
@@ -67,7 +67,7 @@
#include "cd_hull.h"
#include "cd_wavefront.h"
#include "bestfit.h"
-#include "PlaneTri.h"
+#include "planetri.h"
#include "vlookup.h"
#include "meshvolume.h"
#include "bestfitobb.h"
Index: ConvexDecomposition/cd_vector.h
===================================================================
--- ConvexDecomposition/cd_vector.h (revision 8299)
+++ ConvexDecomposition/cd_vector.h (working copy)
@@ -309,12 +309,12 @@
Type FastMagnitude(void) const
{
- return Type(fast_sqrt(x * x + y * y + z * z));
+ return Type(sqrt(x * x + y * y + z * z));
};
Type FasterMagnitude(void) const
{
- return Type(faster_sqrt(x * x + y * y + z * z));
+ return Type(sqrt(x * x + y * y + z * z));
};
void Lerp(const Vector3d<Type>& from,const Vector3d<Type>& to,double slerp)
@@ -436,13 +436,13 @@
Type FastLength(void) const // length of vector.
{
- return Type(fast_sqrt( x*x + y*y + z*z ));
+ return Type(sqrt( x*x + y*y + z*z ));
};
Type FasterLength(void) const // length of vector.
{
- return Type(faster_sqrt( x*x + y*y + z*z ));
+ return Type(sqrt( x*x + y*y + z*z ));
};
Type Length2(void) const // squared distance, prior to square root.
@@ -518,7 +518,7 @@
inline double FastNormalize(void) // normalize to a unit vector, returns distance.
{
- double d = fast_sqrt( static_cast< double >( x*x + y*y + z*z ) );
+ double d = sqrt( static_cast< double >( x*x + y*y + z*z ) );
if ( d > 0 )
{
double r = 1.0f / d;
@@ -535,7 +535,7 @@
inline double FasterNormalize(void) // normalize to a unit vector, returns distance.
{
- double d = faster_sqrt( static_cast< double >( x*x + y*y + z*z ) );
+ double d = sqrt( static_cast< double >( x*x + y*y + z*z ) );
if ( d > 0 )
{
double r = 1.0f / d;
@@ -1029,7 +1029,8 @@
void Zero(void)
{
- x = y = z = 0;
+ x = 0;
+ y = 0;
};
Vector2d negative(void) const
@@ -1047,12 +1048,12 @@
Type fastmagnitude(void) const
{
- return (Type) fast_sqrt(x * x + y * y );
+ return (Type) sqrt(x * x + y * y );
}
Type fastermagnitude(void) const
{
- return (Type) faster_sqrt( x * x + y * y );
+ return (Type) sqrt( x * x + y * y );
}
void Reflection(Vector2d &a,Vector2d &b); // compute reflection vector.
@@ -1064,12 +1065,12 @@
Type FastLength(void) const // length of vector.
{
- return Type(fast_sqrt( x*x + y*y ));
+ return Type(sqrt( x*x + y*y ));
};
Type FasterLength(void) const // length of vector.
{
- return Type(faster_sqrt( x*x + y*y ));
+ return Type(sqrt( x*x + y*y ));
};
Type Length2(void) // squared distance, prior to square root.
@@ -1090,7 +1091,7 @@
Type dx = a.x - x;
Type dy = a.y - y;
Type d = dx*dx+dy*dy;
- return fast_sqrt(d);
+ return sqrt(d);
};
Type FasterDistance(const Vector2d &a) const // distance between two points.
@@ -1098,7 +1099,7 @@
Type dx = a.x - x;
Type dy = a.y - y;
Type d = dx*dx+dy*dy;
- return faster_sqrt(d);
+ return sqrt(d);
};
Type Distance2(Vector2d &a) // squared distance.
Index: ConvexDecomposition/float_math.cpp
===================================================================
--- ConvexDecomposition/float_math.cpp (revision 8299)
+++ ConvexDecomposition/float_math.cpp (working copy)
@@ -212,8 +212,14 @@
matrix[1*4+2] = 2 * ( yz + wx );
matrix[2*4+2] = 1 - 2 * ( xx + yy );
- matrix[3*4+0] =(double) matrix[3*4+1] = matrix[3*4+2] = 0.0f;
- matrix[0*4+3] =(double) matrix[1*4+3] = matrix[2*4+3] = 0.0f;
+ matrix[3*4+0] = 0.0f;
+ matrix[3*4+1] = 0.0f;
+ matrix[3*4+2] = 0.0f;
+
+ matrix[0*4+3] = 0.0f;
+ matrix[1*4+3] = 0.0f;
+ matrix[2*4+3] = 0.0f;
+
matrix[3*4+3] =(double) 1.0f;
}
Index: ConvexDecomposition/cd_wavefront.cpp
===================================================================
--- ConvexDecomposition/cd_wavefront.cpp (revision 8299)
+++ ConvexDecomposition/cd_wavefront.cpp (working copy)
@@ -672,7 +672,7 @@
const char *foo = argv[0];
if ( *foo != '#' )
{
- if ( stricmp(argv[0],"v") == 0 && argc == 4 )
+ if ( strcmp(argv[0],"v") == 0 && argc == 4 )
{
double vx = (double) atof( argv[1] );
double vy = (double) atof( argv[2] );
@@ -681,14 +681,14 @@
mVerts.push_back(vy);
mVerts.push_back(vz);
}
- else if ( stricmp(argv[0],"vt") == 0 && argc == 3 )
+ else if ( strcmp(argv[0],"vt") == 0 && argc == 3 )
{
double tx = (double) atof( argv[1] );
double ty = (double) atof( argv[2] );
mTexels.push_back(tx);
mTexels.push_back(ty);
}
- else if ( stricmp(argv[0],"vn") == 0 && argc == 4 )
+ else if ( strcmp(argv[0],"vn") == 0 && argc == 4 )
{
double normalx = (double) atof(argv[1]);
double normaly = (double) atof(argv[2]);
@@ -697,7 +697,7 @@
mNormals.push_back(normaly);
mNormals.push_back(normalz);
}
- else if ( stricmp(argv[0],"f") == 0 && argc >= 4 )
+ else if ( strcmp(argv[0],"f") == 0 && argc >= 4 )
{
GeometryVertex v[32];
Index: Makefile
===================================================================
--- Makefile (revision 0)
+++ Makefile (revision 8581)
@@ -0,0 +1,93 @@
+
+
+OBJS = DecomposeSample.o \
+ ConvexDecomposition/bestfit.o ConvexDecomposition/float_math.o \
+ ConvexDecomposition/bestfitobb.o ConvexDecomposition/meshvolume.o \
+ ConvexDecomposition/cd_hull.o ConvexDecomposition/planetri.o \
+ ConvexDecomposition/cd_wavefront.o ConvexDecomposition/raytri.o \
+ ConvexDecomposition/concavity.o ConvexDecomposition/splitplane.o \
+ ConvexDecomposition/ConvexDecomposition.o ConvexDecomposition/triangulate.o \
+ ConvexDecomposition/fitsphere.o ConvexDecomposition/vlookup.o
+
+HEADERS = \
+ ConvexDecomposition/bestfit.h \
+ ConvexDecomposition/bestfitobb.h \
+ ConvexDecomposition/cd_hull.h \
+ ConvexDecomposition/cd_vector.h \
+ ConvexDecomposition/cd_wavefront.h \
+ ConvexDecomposition/concavity.h \
+ ConvexDecomposition/ConvexDecomposition.h \
+ ConvexDecomposition/fitsphere.h \
+ ConvexDecomposition/float_math.h \
+ ConvexDecomposition/meshvolume.h \
+ ConvexDecomposition/planetri.h \
+ ConvexDecomposition/raytri.h \
+ ConvexDecomposition/splitplane.h \
+ ConvexDecomposition/triangulate.h \
+ ConvexDecomposition/vlookup.h
+
+CC = g++
+
+DEBUG = -ggdb
+
+CFLAGS = -IConvexDecomposition -Wall -c $(DEBUG)
+
+LFLAGS = $(DEBUG)
+
+convex_decomposition: $(OBJS)
+ $(CC) $(LFLAGS) $(OBJS) -o convex_decomposition
+
+DecomposeSample.o: DecomposeSample.cpp
+ $(CC) $(CFLAGS) DecomposeSample.cpp -o $@
+
+ConvexDecomposition/bestfit.o: ConvexDecomposition/bestfit.cpp
+ $(CC) $(CFLAGS) ConvexDecomposition/bestfit.cpp -o $@
+
+ConvexDecomposition/bestfitobb.o: ConvexDecomposition/bestfitobb.cpp
+ $(CC) $(CFLAGS) ConvexDecomposition/bestfitobb.cpp -o $@
+
+ConvexDecomposition/cd_hull.o: ConvexDecomposition/cd_hull.cpp
+ $(CC) $(CFLAGS) ConvexDecomposition/cd_hull.cpp -o $@
+
+ConvexDecomposition/cd_wavefront.o: ConvexDecomposition/cd_wavefront.cpp
+ $(CC) $(CFLAGS) ConvexDecomposition/cd_wavefront.cpp -o $@
+
+ConvexDecomposition/concavity.o: ConvexDecomposition/concavity.cpp
+ $(CC) $(CFLAGS) ConvexDecomposition/concavity.cpp -o $@
+
+ConvexDecomposition/ConvexDecomposition.o: ConvexDecomposition/ConvexDecomposition.cpp
+ $(CC) $(CFLAGS) ConvexDecomposition/ConvexDecomposition.cpp -o $@
+
+ConvexDecomposition/fitsphere.o: ConvexDecomposition/fitsphere.cpp
+ $(CC) $(CFLAGS) ConvexDecomposition/fitsphere.cpp -o $@
+
+ConvexDecomposition/float_math.o: ConvexDecomposition/float_math.cpp
+ $(CC) $(CFLAGS) ConvexDecomposition/float_math.cpp -o $@
+
+ConvexDecomposition/meshvolume.o: ConvexDecomposition/meshvolume.cpp
+ $(CC) $(CFLAGS) ConvexDecomposition/meshvolume.cpp -o $@
+
+ConvexDecomposition/planetri.o: ConvexDecomposition/planetri.cpp
+ $(CC) $(CFLAGS) ConvexDecomposition/planetri.cpp -o $@
+
+ConvexDecomposition/raytri.o: ConvexDecomposition/raytri.cpp
+ $(CC) $(CFLAGS) ConvexDecomposition/raytri.cpp -o $@
+
+ConvexDecomposition/splitplane.o: ConvexDecomposition/splitplane.cpp
+ $(CC) $(CFLAGS) ConvexDecomposition/splitplane.cpp -o $@
+
+ConvexDecomposition/triangulate.o: ConvexDecomposition/triangulate.cpp
+ $(CC) $(CFLAGS) ConvexDecomposition/triangulate.cpp -o $@
+
+ConvexDecomposition/vlookup.o: ConvexDecomposition/vlookup.cpp ConvexDecomposition/vlookup.cpp
+ $(CC) $(CFLAGS) ConvexDecomposition/vlookup.cpp -o $@
+
+install:
+ cp convex_decomposition ../../convex_decomposition/bin/
+
+clean:
+ \rm *.o */*.o convex_decomposition
+
+tar:
+ tar cfv ConvexDecomposition.tar DecomposeSample.cpp convex_decomposition Makefile \
+ ConvexDecomposition
Index: DecomposeSample.cpp
===================================================================
--- DecomposeSample.cpp (revision 8299)
+++ DecomposeSample.cpp (working copy)
@@ -6,7 +6,7 @@
#include <vector>
-#include "./ConvexDecomposition/convexdecomposition.h"
+#include "./ConvexDecomposition/ConvexDecomposition.h"
#include "./ConvexDecomposition/cd_wavefront.h"
using namespace ConvexDecomposition;
@@ -227,7 +227,7 @@
if ( fph )
{
- printf("Saving convex decomposition of %d hulls to COLLADA file '%s'\r\n", mHulls.size(), scratch );
+ printf("Saving convex decomposition of %d hulls to COLLADA file '%s'\r\n", (int)mHulls.size(), scratch );
fprintf(fph,"<?xml version=\"1.0\" encoding=\"utf-8\"?>\r\n");
fprintf(fph,"<COLLADA version=\"1.4.0\" xmlns=\"http://www.collada.org/2005/11/COLLADASchema\">\r\n");
@@ -537,7 +537,7 @@
};
-void main(int argc,const char **argv)
+int main(int argc,const char **argv)
{
if ( argc < 2 )
{
Index: DecomposeSample.cpp
===================================================================
--- DecomposeSample.cpp (revision 8299)
+++ DecomposeSample.cpp (working copy)
@@ -67,3 +67,3 @@
strcpy(mBaseName,fname);
- char *dot = strstr(mBaseName,".");
+ char *dot = strstr(mBaseName,".obj");
if ( dot ) *dot = 0;
Index: ConvexDecomposition/cd_wavefront.cpp
===================================================================
--- ConvexDecomposition/cd_wavefront.cpp (revision 8299)
+++ ConvexDecomposition/cd_wavefront.cpp (working copy)
@@ -573,6 +573,7 @@
FloatVector mNormals;
GeometryInterface *mCallback;
+ friend class WavefrontObj;
};
@@ -839,7 +840,17 @@
memcpy(mIndices, &indices[0], sizeof(int)*mTriCount*3);
ret = mTriCount;
}
-
+ else if( obj.mVerts.size() > 0 ) {
+ // take consecutive vertices
+ mVertexCount = obj.mVerts.size()/3;
+ mVertices = new double[mVertexCount*3];
+ memcpy( mVertices, &obj.mVerts[0], sizeof(double)*mVertexCount*3 );
+ mTriCount = mVertexCount/3;
+ mIndices = new int[mTriCount*3*sizeof(int)];
+ for(int i = 0; i < mVertexCount; ++i)
+ mIndices[i] = i;
+ ret = mTriCount;
+ }
return ret;
}
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