From 6eb6662031e4766dd6039bf0327af811c5756fc6 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 10 Jun 2016 18:14:53 +0200
Subject: [PATCH] Use Vec3f instead of FCL_REAL
---
src/BVH/BVH_utility.cpp | 36 +++++++++++-------------------------
1 file changed, 11 insertions(+), 25 deletions(-)
diff --git a/src/BVH/BVH_utility.cpp b/src/BVH/BVH_utility.cpp
index 7316b412..0651f13c 100644
--- a/src/BVH/BVH_utility.cpp
+++ b/src/BVH/BVH_utility.cpp
@@ -480,16 +480,15 @@ static inline void getExtentAndCenter_pointcloud(Vec3f* ps, Vec3f* ps2, unsigned
FCL_REAL real_max = std::numeric_limits<FCL_REAL>::max();
- FCL_REAL min_coord[3] = {real_max, real_max, real_max};
- FCL_REAL max_coord[3] = {-real_max, -real_max, -real_max};
+ Vec3f min_coord (real_max, real_max, real_max);
+ Vec3f max_coord (-real_max, -real_max, -real_max);
for(int i = 0; i < n; ++i)
{
int index = indirect_index ? indices[i] : i;
const Vec3f& p = ps[index];
- Vec3f v(p[0], p[1], p[2]);
- Vec3f proj (axes.transpose() * v);
+ Vec3f proj (axes.transpose() * p);
for(int j = 0; j < 3; ++j)
{
@@ -510,16 +509,9 @@ static inline void getExtentAndCenter_pointcloud(Vec3f* ps, Vec3f* ps2, unsigned
}
}
- Vec3f o((max_coord[0] + min_coord[0]) / 2,
- (max_coord[1] + min_coord[1]) / 2,
- (max_coord[2] + min_coord[2]) / 2);
-
- center.noalias() = axes * o;
-
- extent << (max_coord[0] - min_coord[0]) / 2,
- (max_coord[1] - min_coord[1]) / 2,
- (max_coord[2] - min_coord[2]) / 2;
+ center.noalias() = axes * (max_coord + min_coord) / 2;
+ extent.noalias() = (max_coord - min_coord) / 2;
}
@@ -533,8 +525,8 @@ static inline void getExtentAndCenter_mesh(Vec3f* ps, Vec3f* ps2, Triangle* ts,
FCL_REAL real_max = std::numeric_limits<FCL_REAL>::max();
- FCL_REAL min_coord[3] = {real_max, real_max, real_max};
- FCL_REAL max_coord[3] = {-real_max, -real_max, -real_max};
+ Vec3f min_coord (real_max, real_max, real_max);
+ Vec3f max_coord (-real_max, -real_max, -real_max);
for(int i = 0; i < n; ++i)
{
@@ -545,8 +537,7 @@ static inline void getExtentAndCenter_mesh(Vec3f* ps, Vec3f* ps2, Triangle* ts,
{
int point_id = t[j];
const Vec3f& p = ps[point_id];
- Vec3f v(p[0], p[1], p[2]);
- Vec3f proj (axes.transpose() * v);
+ Vec3f proj(axes.transpose() * p);
for(int k = 0; k < 3; ++k)
{
@@ -561,8 +552,7 @@ static inline void getExtentAndCenter_mesh(Vec3f* ps, Vec3f* ps2, Triangle* ts,
{
int point_id = t[j];
const Vec3f& p = ps2[point_id];
- Vec3f v(p[0], p[1], p[2]);
- Vec3f proj (axes.transpose() * v);
+ Vec3f proj(axes.transpose() * p);
for(int k = 0; k < 3; ++k)
{
@@ -573,15 +563,11 @@ static inline void getExtentAndCenter_mesh(Vec3f* ps, Vec3f* ps2, Triangle* ts,
}
}
- Vec3f o((max_coord[0] + min_coord[0]) / 2,
- (max_coord[1] + min_coord[1]) / 2,
- (max_coord[2] + min_coord[2]) / 2);
+ Vec3f o((max_coord + min_coord) / 2);
center.noalias() = axes * o;
- extent << (max_coord[0] - min_coord[0]) / 2,
- (max_coord[1] - min_coord[1]) / 2,
- (max_coord[2] - min_coord[2]) / 2;
+ extent.noalias() = (max_coord - min_coord) / 2;
}
--
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