delete PolySolver

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

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)