btMiniSDF.h

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#ifndef MINISDF_H
#define MINISDF_H

#include "LinearMath/btVector3.h"
#include "LinearMath/btAabbUtil2.h"
#include "LinearMath/btAlignedObjectArray.h"


struct btMultiIndex
{
        unsigned int ijk[3];
};

struct btAlignedBox3d
{
        btVector3 m_min;
        btVector3 m_max;

        const btVector3& min() const
        {
                return m_min;
        }

        const btVector3& max() const
        {
                return m_max;
        }
        

        bool contains(const btVector3& x) const
        {
                return TestPointAgainstAabb2(m_min, m_max, x);
        }

        btAlignedBox3d(const btVector3& mn, const btVector3& mx)
                :m_min(mn),
                m_max(mx)
        {
        }

        btAlignedBox3d()
        {
        }
};

struct btShapeMatrix
{
        double m_vec[32];

        inline double&       operator[](int i)
        {
                return m_vec[i];
        }

        inline const double&       operator[](int i) const
        {
                return m_vec[i];
        }

};

struct btShapeGradients
{
        btVector3       m_vec[32];

        void topRowsDivide(int row, double denom)
        {
                for (int i=0;i<row;i++)
                {
                        m_vec[i] /= denom;
                }
        }
        
        void bottomRowsMul(int row, double val)
        {
                for (int i=32-row;i<32;i++)
                {
                        m_vec[i] *= val;
                }
        }
        
        inline btScalar&       operator()(int i, int j)
        {
                return m_vec[i][j];
        }
};

struct btCell32
{
        unsigned int m_cells[32];
};

struct btMiniSDF
{

        btAlignedBox3d m_domain;
        unsigned int m_resolution[3];
        btVector3 m_cell_size;
        btVector3 m_inv_cell_size;
        std::size_t m_n_cells;
        std::size_t m_n_fields;
        bool m_isValid;


        btAlignedObjectArray<btAlignedObjectArray<double> > m_nodes;
        btAlignedObjectArray<btAlignedObjectArray<btCell32 > > m_cells;
        btAlignedObjectArray<btAlignedObjectArray<unsigned int> > m_cell_map;

        btMiniSDF()
        :m_isValid(false)
        {
        }
        bool load(const char* data, int size);
        bool isValid() const
        {
                return m_isValid;
        }
        unsigned int multiToSingleIndex(btMultiIndex const & ijk) const;
        
        btAlignedBox3d subdomain(btMultiIndex const& ijk) const;

        btMultiIndex singleToMultiIndex(unsigned int l) const;

        btAlignedBox3d subdomain(unsigned int l) const;


        btShapeMatrix
        shape_function_(btVector3 const& xi, btShapeGradients* gradient = 0) const;

        bool interpolate(unsigned int field_id, double& dist, btVector3 const& x, btVector3* gradient) const;
};


#endif //MINISDF_H