From 67e2cd13855356837c2cedb444b3113524fe3098 Mon Sep 17 00:00:00 2001
From: Lucile Remigy <lucile.remigy@epitech.eu>
Date: Thu, 26 Sep 2019 15:56:24 +0200
Subject: [PATCH] delete PolySolver
---
include/hpp/fcl/intersect.h | 41 +++---------
src/intersect.cpp | 128 ------------------------------------
2 files changed, 9 insertions(+), 160 deletions(-)
diff --git a/include/hpp/fcl/intersect.h b/include/hpp/fcl/intersect.h
index b56a6c62..fd8dfd55 100644
--- a/include/hpp/fcl/intersect.h
+++ b/include/hpp/fcl/intersect.h
@@ -41,42 +41,19 @@
#include <hpp/fcl/math/transform.h>
#include <boost/math/special_functions/erf.hpp>
-namespace hpp
-{
+namespace hpp
+{
namespace fcl
{
-/// @brief A class solves polynomial degree (1,2,3) equations
-class PolySolver
+/// @brief CCD intersect kernel among primitives
+class Intersect
{
public:
- /// @brief Solve a linear equation with coefficients c, return roots s and number of roots
- static int solveLinear(FCL_REAL c[2], FCL_REAL s[1]);
-
- /// @brief Solve a quadratic function with coefficients c, return roots s and number of roots
- static int solveQuadric(FCL_REAL c[3], FCL_REAL s[2]);
-
- /// @brief Solve a cubic function with coefficients c, return roots s and number of roots
- static int solveCubic(FCL_REAL c[4], FCL_REAL s[3]);
-
-private:
- /// @brief Check whether v is zero
- static inline bool isZero(FCL_REAL v);
+ static bool buildTrianglePlane
+ (const Vec3f& v1, const Vec3f& v2, const Vec3f& v3, Vec3f* n, FCL_REAL* t);
+}; // class Intersect
- /// @brief Compute v^{1/3}
- static inline bool cbrt(FCL_REAL v);
-
- static const FCL_REAL NEAR_ZERO_THRESHOLD;
-};
-
-/// @brief CCD intersect kernel among primitives
-class Intersect
-{
-public:
- static bool buildTrianglePlane
- (const Vec3f& v1, const Vec3f& v2, const Vec3f& v3, Vec3f* n, FCL_REAL* t);
-}; // class Intersect
-
/// @brief Project functions
class Project
{
@@ -213,6 +190,6 @@ public:
}
-} // namespace hpp
-
+} // namespace hpp
+
#endif
diff --git a/src/intersect.cpp b/src/intersect.cpp
index 15df43fc..1002ed98 100644
--- a/src/intersect.cpp
+++ b/src/intersect.cpp
@@ -46,134 +46,6 @@ namespace hpp
{
namespace fcl
{
-const FCL_REAL PolySolver::NEAR_ZERO_THRESHOLD = 1e-9;
-
-
-bool PolySolver::isZero(FCL_REAL v)
-{
- return (v < NEAR_ZERO_THRESHOLD) && (v > -NEAR_ZERO_THRESHOLD);
-}
-
-bool PolySolver::cbrt(FCL_REAL v)
-{
- return powf((float) v, (float) (1.0 / 3.0));
-}
-
-int PolySolver::solveLinear(FCL_REAL c[2], FCL_REAL s[1])
-{
- if(isZero(c[1]))
- return 0;
- s[0] = - c[0] / c[1];
- return 1;
-}
-
-int PolySolver::solveQuadric(FCL_REAL c[3], FCL_REAL s[2])
-{
- FCL_REAL p, q, D;
-
- // make sure we have a d2 equation
-
- if(isZero(c[2]))
- return solveLinear(c, s);
-
- // normal for: x^2 + px + q
- p = c[1] / (2.0 * c[2]);
- q = c[0] / c[2];
- D = p * p - q;
-
- if(isZero(D))
- {
- // one FCL_REAL root
- s[0] = s[1] = -p;
- return 1;
- }
-
- if(D < 0.0)
- // no real root
- return 0;
- else
- {
- // two real roots
- FCL_REAL sqrt_D = sqrt(D);
- s[0] = sqrt_D - p;
- s[1] = -sqrt_D - p;
- return 2;
- }
-}
-
-int PolySolver::solveCubic(FCL_REAL c[4], FCL_REAL s[3])
-{
- int i, num;
- FCL_REAL sub, A, B, C, sq_A, p, q, cb_p, D;
- const FCL_REAL ONE_OVER_THREE = 1 / 3.0;
- const FCL_REAL PI = 3.14159265358979323846;
-
- // make sure we have a d2 equation
- if(isZero(c[3]))
- return solveQuadric(c, s);
-
- // normalize the equation:x ^ 3 + Ax ^ 2 + Bx + C = 0
- A = c[2] / c[3];
- B = c[1] / c[3];
- C = c[0] / c[3];
-
- // substitute x = y - A / 3 to eliminate the quadratic term: x^3 + px + q = 0
- sq_A = A * A;
- p = (-ONE_OVER_THREE * sq_A + B) * ONE_OVER_THREE;
- q = 0.5 * (2.0 / 27.0 * A * sq_A - ONE_OVER_THREE * A * B + C);
-
- // use Cardano's formula
- cb_p = p * p * p;
- D = q * q + cb_p;
-
- if(isZero(D))
- {
- if(isZero(q))
- {
- // one triple solution
- s[0] = 0.0;
- num = 1;
- }
- else
- {
- // one single and one FCL_REAL solution
- FCL_REAL u = cbrt(-q);
- s[0] = 2.0 * u;
- s[1] = -u;
- num = 2;
- }
- }
- else
- {
- if(D < 0.0)
- {
- // three real solutions
- FCL_REAL phi = ONE_OVER_THREE * acos(-q / sqrt(-cb_p));
- FCL_REAL t = 2.0 * sqrt(-p);
- s[0] = t * cos(phi);
- s[1] = -t * cos(phi + PI / 3.0);
- s[2] = -t * cos(phi - PI / 3.0);
- num = 3;
- }
- else
- {
- // one real solution
- FCL_REAL sqrt_D = sqrt(D);
- FCL_REAL u = cbrt(sqrt_D + fabs(q));
- if(q > 0.0)
- s[0] = - u + p / u ;
- else
- s[0] = u - p / u;
- num = 1;
- }
- }
-
- // re-substitute
- sub = ONE_OVER_THREE * A;
- for(i = 0; i < num; i++)
- s[i] -= sub;
- return num;
-}
bool Intersect::buildTrianglePlane
(const Vec3f& v1, const Vec3f& v2, const Vec3f& v3, Vec3f* n, FCL_REAL* t)
--
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