1 #ifndef FLOAT_MATH_LIB_H
2
3 #define FLOAT_MATH_LIB_H
4
5
6 #include <float.h>
7 #include <stdint.h>
8
9 namespace FLOAT_MATH
10 {
11
12 enum FM_ClipState
13 {
14 FMCS_XMIN = (1<<0),
15 FMCS_XMAX = (1<<1),
16 FMCS_YMIN = (1<<2),
17 FMCS_YMAX = (1<<3),
18 FMCS_ZMIN = (1<<4),
19 FMCS_ZMAX = (1<<5),
20 };
21
22 enum FM_Axis
23 {
24 FM_XAXIS = (1<<0),
25 FM_YAXIS = (1<<1),
26 FM_ZAXIS = (1<<2)
27 };
28
29 enum LineSegmentType
30 {
31 LS_START,
32 LS_MIDDLE,
33 LS_END
34 };
35
36
37 const float FM_PI = 3.1415926535897932384626433832795028841971693993751f;
38 const float FM_DEG_TO_RAD = ((2.0f * FM_PI) / 360.0f);
39 const float FM_RAD_TO_DEG = (360.0f / (2.0f * FM_PI));
40
41 //***************** Float versions
42 //***
43 //*** vectors are assumed to be 3 floats or 3 doubles representing X, Y, Z
44 //*** quaternions are assumed to be 4 floats or 4 doubles representing X,Y,Z,W
45 //*** matrices are assumed to be 16 floats or 16 doubles representing a standard D3D or OpenGL style 4x4 matrix
46 //*** bounding volumes are expressed as two sets of 3 floats/double representing bmin(x,y,z) and bmax(x,y,z)
47 //*** Plane equations are assumed to be 4 floats or 4 doubles representing Ax,By,Cz,D
48
49 FM_Axis fm_getDominantAxis(const float normal[3]);
50 FM_Axis fm_getDominantAxis(const double normal[3]);
51
52 void fm_decomposeTransform(const float local_transform[16],float trans[3],float rot[4],float scale[3]);
53 void fm_decomposeTransform(const double local_transform[16],double trans[3],double rot[4],double scale[3]);
54
55 void fm_multiplyTransform(const float *pA,const float *pB,float *pM);
56 void fm_multiplyTransform(const double *pA,const double *pB,double *pM);
57
58 void fm_inverseTransform(const float matrix[16],float inverse_matrix[16]);
59 void fm_inverseTransform(const double matrix[16],double inverse_matrix[16]);
60
61 void fm_identity(float matrix[16]); // set 4x4 matrix to identity.
62 void fm_identity(double matrix[16]); // set 4x4 matrix to identity.
63
64 void fm_inverseRT(const float matrix[16], const float pos[3], float t[3]); // inverse rotate translate the point.
65 void fm_inverseRT(const double matrix[16],const double pos[3],double t[3]); // inverse rotate translate the point.
66
67 void fm_transform(const float matrix[16], const float pos[3], float t[3]); // rotate and translate this point.
68 void fm_transform(const double matrix[16],const double pos[3],double t[3]); // rotate and translate this point.
69
70 float fm_getDeterminant(const float matrix[16]);
71 double fm_getDeterminant(const double matrix[16]);
72
73 void fm_getSubMatrix(int32_t ki,int32_t kj,float pDst[16],const float matrix[16]);
74 void fm_getSubMatrix(int32_t ki,int32_t kj,double pDst[16],const float matrix[16]);
75
76 void fm_rotate(const float matrix[16],const float pos[3],float t[3]); // only rotate the point by a 4x4 matrix, don't translate.
77 void fm_rotate(const double matri[16],const double pos[3],double t[3]); // only rotate the point by a 4x4 matrix, don't translate.
78
79 void fm_eulerToMatrix(float ax,float ay,float az,float matrix[16]); // convert euler (in radians) to a dest 4x4 matrix (translation set to zero)
80 void fm_eulerToMatrix(double ax,double ay,double az,double matrix[16]); // convert euler (in radians) to a dest 4x4 matrix (translation set to zero)
81
82 void fm_getAABB(uint32_t vcount,const float *points,uint32_t pstride,float bmin[3],float bmax[3]);
83 void fm_getAABB(uint32_t vcount,const double *points,uint32_t pstride,double bmin[3],double bmax[3]);
84
85 void fm_getAABBCenter(const float bmin[3],const float bmax[3],float center[3]);
86 void fm_getAABBCenter(const double bmin[3],const double bmax[3],double center[3]);
87
88 void fm_transformAABB(const float bmin[3],const float bmax[3],const float matrix[16],float tbmin[3],float tbmax[3]);
89 void fm_transformAABB(const double bmin[3],const double bmax[3],const double matrix[16],double tbmin[3],double tbmax[3]);
90
91 void fm_eulerToQuat(float x,float y,float z,float quat[4]); // convert euler angles to quaternion.
92 void fm_eulerToQuat(double x,double y,double z,double quat[4]); // convert euler angles to quaternion.
93
94 void fm_quatToEuler(const float quat[4],float &ax,float &ay,float &az);
95 void fm_quatToEuler(const double quat[4],double &ax,double &ay,double &az);
96
97 void fm_eulerToQuat(const float euler[3],float quat[4]); // convert euler angles to quaternion. Angles must be radians not degrees!
98 void fm_eulerToQuat(const double euler[3],double quat[4]); // convert euler angles to quaternion.
99
100 void fm_scale(float x,float y,float z,float matrix[16]); // apply scale to the matrix.
101 void fm_scale(double x,double y,double z,double matrix[16]); // apply scale to the matrix.
102
103 void fm_eulerToQuatDX(float x,float y,float z,float quat[4]); // convert euler angles to quaternion using the fucked up DirectX method
104 void fm_eulerToQuatDX(double x,double y,double z,double quat[4]); // convert euler angles to quaternion using the fucked up DirectX method
105
106 void fm_eulerToMatrixDX(float x,float y,float z,float matrix[16]); // convert euler angles to quaternion using the fucked up DirectX method.
107 void fm_eulerToMatrixDX(double x,double y,double z,double matrix[16]); // convert euler angles to quaternion using the fucked up DirectX method.
108
109 void fm_quatToMatrix(const float quat[4],float matrix[16]); // convert quaterinion rotation to matrix, translation set to zero.
110 void fm_quatToMatrix(const double quat[4],double matrix[16]); // convert quaterinion rotation to matrix, translation set to zero.
111
112 void fm_quatRotate(const float quat[4],const float v[3],float r[3]); // rotate a vector directly by a quaternion.
113 void fm_quatRotate(const double quat[4],const double v[3],double r[3]); // rotate a vector directly by a quaternion.
114
115 void fm_getTranslation(const float matrix[16],float t[3]);
116 void fm_getTranslation(const double matrix[16],double t[3]);
117
118 void fm_setTranslation(const float *translation,float matrix[16]);
119 void fm_setTranslation(const double *translation,double matrix[16]);
120
121 void fm_multiplyQuat(const float *qa,const float *qb,float *quat);
122 void fm_multiplyQuat(const double *qa,const double *qb,double *quat);
123
124 void fm_matrixToQuat(const float matrix[16],float quat[4]); // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w
125 void fm_matrixToQuat(const double matrix[16],double quat[4]); // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w
126
127 float fm_sphereVolume(float radius); // return's the volume of a sphere of this radius (4/3 PI * R cubed )
128 double fm_sphereVolume(double radius); // return's the volume of a sphere of this radius (4/3 PI * R cubed )
129
130 float fm_cylinderVolume(float radius,float h);
131 double fm_cylinderVolume(double radius,double h);
132
133 float fm_capsuleVolume(float radius,float h);
134 double fm_capsuleVolume(double radius,double h);
135
136 float fm_distance(const float p1[3],const float p2[3]);
137 double fm_distance(const double p1[3],const double p2[3]);
138
139 float fm_distanceSquared(const float p1[3],const float p2[3]);
140 double fm_distanceSquared(const double p1[3],const double p2[3]);
141
142 float fm_distanceSquaredXZ(const float p1[3],const float p2[3]);
143 double fm_distanceSquaredXZ(const double p1[3],const double p2[3]);
144
145 float fm_computePlane(const float p1[3],const float p2[3],const float p3[3],float *n); // return D
146 double fm_computePlane(const double p1[3],const double p2[3],const double p3[3],double *n); // return D
147
148 float fm_distToPlane(const float plane[4],const float pos[3]); // computes the distance of this point from the plane.
149 double fm_distToPlane(const double plane[4],const double pos[3]); // computes the distance of this point from the plane.
150
151 float fm_dot(const float p1[3],const float p2[3]);
152 double fm_dot(const double p1[3],const double p2[3]);
153
154 void fm_cross(float cross[3],const float a[3],const float b[3]);
155 void fm_cross(double cross[3],const double a[3],const double b[3]);
156
157 float fm_computeNormalVector(float n[3],const float p1[3],const float p2[3]); // as P2-P1 normalized.
158 double fm_computeNormalVector(double n[3],const double p1[3],const double p2[3]); // as P2-P1 normalized.
159
160 bool fm_computeWindingOrder(const float p1[3],const float p2[3],const float p3[3]); // returns true if the triangle is clockwise.
161 bool fm_computeWindingOrder(const double p1[3],const double p2[3],const double p3[3]); // returns true if the triangle is clockwise.
162
163 float fm_normalize(float n[3]); // normalize this vector and return the distance
164 double fm_normalize(double n[3]); // normalize this vector and return the distance
165
166 float fm_normalizeQuat(float n[4]); // normalize this quat
167 double fm_normalizeQuat(double n[4]); // normalize this quat
168
169 void fm_matrixMultiply(const float A[16],const float B[16],float dest[16]);
170 void fm_matrixMultiply(const double A[16],const double B[16],double dest[16]);
171
172 void fm_composeTransform(const float position[3],const float quat[4],const float scale[3],float matrix[16]);
173 void fm_composeTransform(const double position[3],const double quat[4],const double scale[3],double matrix[16]);
174
175 float fm_computeArea(const float p1[3],const float p2[3],const float p3[3]);
176 double fm_computeArea(const double p1[3],const double p2[3],const double p3[3]);
177
178 void fm_lerp(const float p1[3],const float p2[3],float dest[3],float lerpValue);
179 void fm_lerp(const double p1[3],const double p2[3],double dest[3],double lerpValue);
180
181 bool fm_insideTriangleXZ(const float test[3],const float p1[3],const float p2[3],const float p3[3]);
182 bool fm_insideTriangleXZ(const double test[3],const double p1[3],const double p2[3],const double p3[3]);
183
184 bool fm_insideAABB(const float pos[3],const float bmin[3],const float bmax[3]);
185 bool fm_insideAABB(const double pos[3],const double bmin[3],const double bmax[3]);
186
187 bool fm_insideAABB(const float obmin[3],const float obmax[3],const float tbmin[3],const float tbmax[3]); // test if bounding box tbmin/tmbax is fully inside obmin/obmax
188 bool fm_insideAABB(const double obmin[3],const double obmax[3],const double tbmin[3],const double tbmax[3]); // test if bounding box tbmin/tmbax is fully inside obmin/obmax
189
190 uint32_t fm_clipTestPoint(const float bmin[3],const float bmax[3],const float pos[3]);
191 uint32_t fm_clipTestPoint(const double bmin[3],const double bmax[3],const double pos[3]);
192
193 uint32_t fm_clipTestPointXZ(const float bmin[3],const float bmax[3],const float pos[3]); // only tests X and Z, not Y
194 uint32_t fm_clipTestPointXZ(const double bmin[3],const double bmax[3],const double pos[3]); // only tests X and Z, not Y
195
196
197 uint32_t fm_clipTestAABB(const float bmin[3],const float bmax[3],const float p1[3],const float p2[3],const float p3[3],uint32_t &andCode);
198 uint32_t fm_clipTestAABB(const double bmin[3],const double bmax[3],const double p1[3],const double p2[3],const double p3[3],uint32_t &andCode);
199
200
201 bool fm_lineTestAABBXZ(const float p1[3],const float p2[3],const float bmin[3],const float bmax[3],float &time);
202 bool fm_lineTestAABBXZ(const double p1[3],const double p2[3],const double bmin[3],const double bmax[3],double &time);
203
204 bool fm_lineTestAABB(const float p1[3],const float p2[3],const float bmin[3],const float bmax[3],float &time);
205 bool fm_lineTestAABB(const double p1[3],const double p2[3],const double bmin[3],const double bmax[3],double &time);
206
207
208 void fm_initMinMax(const float p[3],float bmin[3],float bmax[3]);
209 void fm_initMinMax(const double p[3],double bmin[3],double bmax[3]);
210
211 void fm_initMinMax(float bmin[3],float bmax[3]);
212 void fm_initMinMax(double bmin[3],double bmax[3]);
213
214 void fm_minmax(const float p[3],float bmin[3],float bmax[3]); // accumulate to a min-max value
215 void fm_minmax(const double p[3],double bmin[3],double bmax[3]); // accumulate to a min-max value
216
217 // Computes the diagonal length of the bounding box and then inflates the bounding box on all sides
218 // by the ratio provided.
219 void fm_inflateMinMax(float bmin[3], float bmax[3], float ratio);
220 void fm_inflateMinMax(double bmin[3], double bmax[3], double ratio);
221
222 float fm_solveX(const float plane[4],float y,float z); // solve for X given this plane equation and the other two components.
223 double fm_solveX(const double plane[4],double y,double z); // solve for X given this plane equation and the other two components.
224
225 float fm_solveY(const float plane[4],float x,float z); // solve for Y given this plane equation and the other two components.
226 double fm_solveY(const double plane[4],double x,double z); // solve for Y given this plane equation and the other two components.
227
228 float fm_solveZ(const float plane[4],float x,float y); // solve for Z given this plane equation and the other two components.
229 double fm_solveZ(const double plane[4],double x,double y); // solve for Z given this plane equation and the other two components.
230
231 bool fm_computeBestFitPlane(uint32_t vcount, // number of input data points
232 const float *points, // starting address of points array.
233 uint32_t vstride, // stride between input points.
234 const float *weights, // *optional point weighting values.
235 uint32_t wstride, // weight stride for each vertex.
236 float plane[4], // Best fit plane equation
237 float center[3]); // Best fit weighted center of input points
238
239 bool fm_computeBestFitPlane(uint32_t vcount, // number of input data points
240 const double *points, // starting address of points array.
241 uint32_t vstride, // stride between input points.
242 const double *weights, // *optional point weighting values.
243 uint32_t wstride, // weight stride for each vertex.
244 double plane[4],
245 double center[3]);
246
247 // Computes the average center of a set of data points
248 bool fm_computeCentroid(uint32_t vcount, // number of input data points
249 const float *points, // starting address of points array.
250 float *center);
251
252 bool fm_computeCentroid(uint32_t vcount, // number of input data points
253 const double *points, // starting address of points array.
254 double *center);
255
256 // Compute centroid of a triangle mesh; takes area of each triangle into account
257 // weighted average
258 bool fm_computeCentroid(uint32_t vcount, // number of input data points
259 const float *points, // starting address of points array.
260 uint32_t triangleCount,
261 const uint32_t *indices,
262 float *center);
263
264 // Compute centroid of a triangle mesh; takes area of each triangle into account
265 // weighted average
266 bool fm_computeCentroid(uint32_t vcount, // number of input data points
267 const double *points, // starting address of points array.
268 uint32_t triangleCount,
269 const uint32_t *indices,
270 double *center);
271
272
273 float fm_computeBestFitAABB(uint32_t vcount,const float *points,uint32_t pstride,float bmin[3],float bmax[3]); // returns the diagonal distance
274 double fm_computeBestFitAABB(uint32_t vcount,const double *points,uint32_t pstride,double bmin[3],double bmax[3]); // returns the diagonal distance
275
276 float fm_computeBestFitSphere(uint32_t vcount,const float *points,uint32_t pstride,float center[3]);
277 double fm_computeBestFitSphere(uint32_t vcount,const double *points,uint32_t pstride,double center[3]);
278
279 bool fm_lineSphereIntersect(const float center[3],float radius,const float p1[3],const float p2[3],float intersect[3]);
280 bool fm_lineSphereIntersect(const double center[3],double radius,const double p1[3],const double p2[3],double intersect[3]);
281
282 bool fm_intersectRayAABB(const float bmin[3],const float bmax[3],const float pos[3],const float dir[3],float intersect[3]);
283 bool fm_intersectLineSegmentAABB(const float bmin[3],const float bmax[3],const float p1[3],const float p2[3],float intersect[3]);
284
285 bool fm_lineIntersectsTriangle(const float rayStart[3],const float rayEnd[3],const float p1[3],const float p2[3],const float p3[3],float sect[3]);
286 bool fm_lineIntersectsTriangle(const double rayStart[3],const double rayEnd[3],const double p1[3],const double p2[3],const double p3[3],double sect[3]);
287
288 bool fm_rayIntersectsTriangle(const float origin[3],const float dir[3],const float v0[3],const float v1[3],const float v2[3],float &t);
289 bool fm_rayIntersectsTriangle(const double origin[3],const double dir[3],const double v0[3],const double v1[3],const double v2[3],double &t);
290
291 bool fm_raySphereIntersect(const float center[3],float radius,const float pos[3],const float dir[3],float distance,float intersect[3]);
292 bool fm_raySphereIntersect(const double center[3],double radius,const double pos[3],const double dir[3],double distance,double intersect[3]);
293
294 void fm_catmullRom(float out_vector[3],const float p1[3],const float p2[3],const float p3[3],const float *p4, const float s);
295 void fm_catmullRom(double out_vector[3],const double p1[3],const double p2[3],const double p3[3],const double *p4, const double s);
296
297 bool fm_intersectAABB(const float bmin1[3],const float bmax1[3],const float bmin2[3],const float bmax2[3]);
298 bool fm_intersectAABB(const double bmin1[3],const double bmax1[3],const double bmin2[3],const double bmax2[3]);
299
300
301 // computes the rotation quaternion to go from unit-vector v0 to unit-vector v1
302 void fm_rotationArc(const float v0[3],const float v1[3],float quat[4]);
303 void fm_rotationArc(const double v0[3],const double v1[3],double quat[4]);
304
305 float fm_distancePointLineSegment(const float Point[3],const float LineStart[3],const float LineEnd[3],float intersection[3],LineSegmentType &type,float epsilon);
306 double fm_distancePointLineSegment(const double Point[3],const double LineStart[3],const double LineEnd[3],double intersection[3],LineSegmentType &type,double epsilon);
307
308
309 bool fm_colinear(const double p1[3],const double p2[3],const double p3[3],double epsilon=0.999); // true if these three points in a row are co-linear
310 bool fm_colinear(const float p1[3],const float p2[3],const float p3[3],float epsilon=0.999f);
311
312 bool fm_colinear(const float a1[3],const float a2[3],const float b1[3],const float b2[3],float epsilon=0.999f); // true if these two line segments are co-linear.
313 bool fm_colinear(const double a1[3],const double a2[3],const double b1[3],const double b2[3],double epsilon=0.999); // true if these two line segments are co-linear.
314
315 enum IntersectResult
316 {
317 IR_DONT_INTERSECT,
318 IR_DO_INTERSECT,
319 IR_COINCIDENT,
320 IR_PARALLEL,
321 };
322
323 IntersectResult fm_intersectLineSegments2d(const float a1[3], const float a2[3], const float b1[3], const float b2[3], float intersectionPoint[3]);
324 IntersectResult fm_intersectLineSegments2d(const double a1[3],const double a2[3],const double b1[3],const double b2[3],double intersectionPoint[3]);
325
326 IntersectResult fm_intersectLineSegments2dTime(const float a1[3], const float a2[3], const float b1[3], const float b2[3],float &t1,float &t2);
327 IntersectResult fm_intersectLineSegments2dTime(const double a1[3],const double a2[3],const double b1[3],const double b2[3],double &t1,double &t2);
328
329 // Plane-Triangle splitting
330
331 enum PlaneTriResult
332 {
333 PTR_ON_PLANE,
334 PTR_FRONT,
335 PTR_BACK,
336 PTR_SPLIT,
337 };
338
339 PlaneTriResult fm_planeTriIntersection(const float plane[4], // the plane equation in Ax+By+Cz+D format
340 const float *triangle, // the source triangle.
341 uint32_t tstride, // stride in bytes of the input and output *vertices*
342 float epsilon, // the co-planer epsilon value.
343 float *front, // the triangle in front of the
344 uint32_t &fcount, // number of vertices in the 'front' triangle
345 float *back, // the triangle in back of the plane
346 uint32_t &bcount); // the number of vertices in the 'back' triangle.
347
348
349 PlaneTriResult fm_planeTriIntersection(const double plane[4], // the plane equation in Ax+By+Cz+D format
350 const double *triangle, // the source triangle.
351 uint32_t tstride, // stride in bytes of the input and output *vertices*
352 double epsilon, // the co-planer epsilon value.
353 double *front, // the triangle in front of the
354 uint32_t &fcount, // number of vertices in the 'front' triangle
355 double *back, // the triangle in back of the plane
356 uint32_t &bcount); // the number of vertices in the 'back' triangle.
357
358
359 bool fm_intersectPointPlane(const float p1[3],const float p2[3],float *split,const float plane[4]);
360 bool fm_intersectPointPlane(const double p1[3],const double p2[3],double *split,const double plane[4]);
361
362 PlaneTriResult fm_getSidePlane(const float p[3],const float plane[4],float epsilon);
363 PlaneTriResult fm_getSidePlane(const double p[3],const double plane[4],double epsilon);
364
365
366 void fm_computeBestFitOBB(uint32_t vcount,const float *points,uint32_t pstride,float *sides,float matrix[16],bool bruteForce=true);
367 void fm_computeBestFitOBB(uint32_t vcount,const double *points,uint32_t pstride,double *sides,double matrix[16],bool bruteForce=true);
368
369 void fm_computeBestFitOBB(uint32_t vcount,const float *points,uint32_t pstride,float *sides,float pos[3],float quat[4],bool bruteForce=true);
370 void fm_computeBestFitOBB(uint32_t vcount,const double *points,uint32_t pstride,double *sides,double pos[3],double quat[4],bool bruteForce=true);
371
372 void fm_computeBestFitABB(uint32_t vcount,const float *points,uint32_t pstride,float *sides,float pos[3]);
373 void fm_computeBestFitABB(uint32_t vcount,const double *points,uint32_t pstride,double *sides,double pos[3]);
374
375
376 //** Note, if the returned capsule height is less than zero, then you must represent it is a sphere of size radius.
377 void fm_computeBestFitCapsule(uint32_t vcount,const float *points,uint32_t pstride,float &radius,float &height,float matrix[16],bool bruteForce=true);
378 void fm_computeBestFitCapsule(uint32_t vcount,const double *points,uint32_t pstride,float &radius,float &height,double matrix[16],bool bruteForce=true);
379
380
381 void fm_planeToMatrix(const float plane[4],float matrix[16]); // convert a plane equation to a 4x4 rotation matrix. Reference vector is 0,1,0
382 void fm_planeToQuat(const float plane[4],float quat[4],float pos[3]); // convert a plane equation to a quaternion and translation
383
384 void fm_planeToMatrix(const double plane[4],double matrix[16]); // convert a plane equation to a 4x4 rotation matrix
385 void fm_planeToQuat(const double plane[4],double quat[4],double pos[3]); // convert a plane equation to a quaternion and translation
386
fm_doubleToFloat3(const double p[3],float t[3])387 inline void fm_doubleToFloat3(const double p[3],float t[3]) { t[0] = (float) p[0]; t[1] = (float)p[1]; t[2] = (float)p[2]; };
fm_floatToDouble3(const float p[3],double t[3])388 inline void fm_floatToDouble3(const float p[3],double t[3]) { t[0] = (double)p[0]; t[1] = (double)p[1]; t[2] = (double)p[2]; };
389
390
391 void fm_eulerMatrix(float ax,float ay,float az,float matrix[16]); // convert euler (in radians) to a dest 4x4 matrix (translation set to zero)
392 void fm_eulerMatrix(double ax,double ay,double az,double matrix[16]); // convert euler (in radians) to a dest 4x4 matrix (translation set to zero)
393
394
395 float fm_computeMeshVolume(const float *vertices,uint32_t tcount,const uint32_t *indices);
396 double fm_computeMeshVolume(const double *vertices,uint32_t tcount,const uint32_t *indices);
397
398
399 #define FM_DEFAULT_GRANULARITY 0.001f // 1 millimeter is the default granularity
400
401 class fm_VertexIndex
402 {
403 public:
404 virtual uint32_t getIndex(const float pos[3],bool &newPos) = 0; // get welded index for this float vector[3]
405 virtual uint32_t getIndex(const double pos[3],bool &newPos) = 0; // get welded index for this double vector[3]
406 virtual const float * getVerticesFloat(void) const = 0;
407 virtual const double * getVerticesDouble(void) const = 0;
408 virtual const float * getVertexFloat(uint32_t index) const = 0;
409 virtual const double * getVertexDouble(uint32_t index) const = 0;
410 virtual uint32_t getVcount(void) const = 0;
411 virtual bool isDouble(void) const = 0;
412 virtual bool saveAsObj(const char *fname,uint32_t tcount,uint32_t *indices) = 0;
413 };
414
415 fm_VertexIndex * fm_createVertexIndex(double granularity,bool snapToGrid); // create an indexed vertex system for doubles
416 fm_VertexIndex * fm_createVertexIndex(float granularity,bool snapToGrid); // create an indexed vertext system for floats
417 void fm_releaseVertexIndex(fm_VertexIndex *vindex);
418
419
420 class fm_Triangulate
421 {
422 public:
423 virtual const double * triangulate3d(uint32_t pcount,
424 const double *points,
425 uint32_t vstride,
426 uint32_t &tcount,
427 bool consolidate,
428 double epsilon) = 0;
429
430 virtual const float * triangulate3d(uint32_t pcount,
431 const float *points,
432 uint32_t vstride,
433 uint32_t &tcount,
434 bool consolidate,
435 float epsilon) = 0;
436 };
437
438 fm_Triangulate * fm_createTriangulate(void);
439 void fm_releaseTriangulate(fm_Triangulate *t);
440
441
442 const float * fm_getPoint(const float *points,uint32_t pstride,uint32_t index);
443 const double * fm_getPoint(const double *points,uint32_t pstride,uint32_t index);
444
445 bool fm_insideTriangle(float Ax, float Ay,float Bx, float By,float Cx, float Cy,float Px, float Py);
446 bool fm_insideTriangle(double Ax, double Ay,double Bx, double By,double Cx, double Cy,double Px, double Py);
447 float fm_areaPolygon2d(uint32_t pcount,const float *points,uint32_t pstride);
448 double fm_areaPolygon2d(uint32_t pcount,const double *points,uint32_t pstride);
449
450 bool fm_pointInsidePolygon2d(uint32_t pcount,const float *points,uint32_t pstride,const float *point,uint32_t xindex=0,uint32_t yindex=1);
451 bool fm_pointInsidePolygon2d(uint32_t pcount,const double *points,uint32_t pstride,const double *point,uint32_t xindex=0,uint32_t yindex=1);
452
453 uint32_t fm_consolidatePolygon(uint32_t pcount,const float *points,uint32_t pstride,float *dest,float epsilon=0.999999f); // collapses co-linear edges.
454 uint32_t fm_consolidatePolygon(uint32_t pcount,const double *points,uint32_t pstride,double *dest,double epsilon=0.999999); // collapses co-linear edges.
455
456
457 bool fm_computeSplitPlane(uint32_t vcount,const double *vertices,uint32_t tcount,const uint32_t *indices,double *plane);
458 bool fm_computeSplitPlane(uint32_t vcount,const float *vertices,uint32_t tcount,const uint32_t *indices,float *plane);
459
460 void fm_nearestPointInTriangle(const float *pos,const float *p1,const float *p2,const float *p3,float *nearest);
461 void fm_nearestPointInTriangle(const double *pos,const double *p1,const double *p2,const double *p3,double *nearest);
462
463 float fm_areaTriangle(const float *p1,const float *p2,const float *p3);
464 double fm_areaTriangle(const double *p1,const double *p2,const double *p3);
465
466 void fm_subtract(const float *A,const float *B,float *diff); // compute A-B and store the result in 'diff'
467 void fm_subtract(const double *A,const double *B,double *diff); // compute A-B and store the result in 'diff'
468
469 void fm_multiply(float *A,float scaler);
470 void fm_multiply(double *A,double scaler);
471
472 void fm_add(const float *A,const float *B,float *sum);
473 void fm_add(const double *A,const double *B,double *sum);
474
475 void fm_copy3(const float *source,float *dest);
476 void fm_copy3(const double *source,double *dest);
477
478 // re-indexes an indexed triangle mesh but drops unused vertices. The output_indices can be the same pointer as the input indices.
479 // the output_vertices can point to the input vertices if you desire. The output_vertices buffer should be at least the same size
480 // is the input buffer. The routine returns the new vertex count after re-indexing.
481 uint32_t fm_copyUniqueVertices(uint32_t vcount,const float *input_vertices,float *output_vertices,uint32_t tcount,const uint32_t *input_indices,uint32_t *output_indices);
482 uint32_t fm_copyUniqueVertices(uint32_t vcount,const double *input_vertices,double *output_vertices,uint32_t tcount,const uint32_t *input_indices,uint32_t *output_indices);
483
484 bool fm_isMeshCoplanar(uint32_t tcount,const uint32_t *indices,const float *vertices,bool doubleSided); // returns true if this collection of indexed triangles are co-planar!
485 bool fm_isMeshCoplanar(uint32_t tcount,const uint32_t *indices,const double *vertices,bool doubleSided); // returns true if this collection of indexed triangles are co-planar!
486
487 bool fm_samePlane(const float p1[4],const float p2[4],float normalEpsilon=0.01f,float dEpsilon=0.001f,bool doubleSided=false); // returns true if these two plane equations are identical within an epsilon
488 bool fm_samePlane(const double p1[4],const double p2[4],double normalEpsilon=0.01,double dEpsilon=0.001,bool doubleSided=false);
489
490 void fm_OBBtoAABB(const float obmin[3],const float obmax[3],const float matrix[16],float abmin[3],float abmax[3]);
491
492 // a utility class that will tessellate a mesh.
493 class fm_Tesselate
494 {
495 public:
496 virtual const uint32_t * tesselate(fm_VertexIndex *vindex,uint32_t tcount,const uint32_t *indices,float longEdge,uint32_t maxDepth,uint32_t &outcount) = 0;
497 };
498
499 fm_Tesselate * fm_createTesselate(void);
500 void fm_releaseTesselate(fm_Tesselate *t);
501
502 void fm_computeMeanNormals(uint32_t vcount, // the number of vertices
503 const float *vertices, // the base address of the vertex position data.
504 uint32_t vstride, // the stride between position data.
505 float *normals, // the base address of the destination for mean vector normals
506 uint32_t nstride, // the stride between normals
507 uint32_t tcount, // the number of triangles
508 const uint32_t *indices); // the triangle indices
509
510 void fm_computeMeanNormals(uint32_t vcount, // the number of vertices
511 const double *vertices, // the base address of the vertex position data.
512 uint32_t vstride, // the stride between position data.
513 double *normals, // the base address of the destination for mean vector normals
514 uint32_t nstride, // the stride between normals
515 uint32_t tcount, // the number of triangles
516 const uint32_t *indices); // the triangle indices
517
518
519 bool fm_isValidTriangle(const float *p1,const float *p2,const float *p3,float epsilon=0.00001f);
520 bool fm_isValidTriangle(const double *p1,const double *p2,const double *p3,double epsilon=0.00001f);
521
522
523 }; // end of namespace
524
525 #endif
526