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aka_polytope.hh
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/**
* @file aka_polytope.hh
*
* @author Alejandro M. Aragón <alejandro.aragon@epfl.ch>
*
* @date creation: Fri Jan 04 2013
* @date last modification: Sun Oct 19 2014
*
* @brief k-DOP class template
*
* @section LICENSE
*
* Copyright (©) 2014, 2015 EPFL (Ecole Polytechnique Fédérale de Lausanne)
* Laboratory (LSMS - Laboratoire de Simulation en Mécanique des Solides)
*
* Akantu is free software: you can redistribute it and/or modify it under the
* terms of the GNU Lesser General Public License as published by the Free
* Software Foundation, either version 3 of the License, or (at your option) any
* later version.
*
* Akantu is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
* A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
* details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with Akantu. If not, see <http://www.gnu.org/licenses/>.
*
*/
/* -------------------------------------------------------------------------- */
#ifndef __AKANTU_POLYTOPE_HH__
#define __AKANTU_POLYTOPE_HH__
#include "aka_point.hh"
__BEGIN_AKANTU__
//! k-DOP (Discrete Orientation Polytope) class template
/*! \tparam k - Number of planes used to define the polytope
*/
template <int k>
class Polytope {
Real min_[k / 2]; //! Minimum coordinate value along k/2 directions
Real max_[k / 2]; //! Maximum coordinate value along k/2 directions
public:
//! Parameter constructor that uses a container of points
template <class point_container>
Polytope(const point_container& pts) {
Real inf = std::numeric_limits <Real>::infinity();
for (size_t i = 0; i < k / 2; ++i) {
min_[i] = inf;
max_[i] = -inf;
}
initialize(pts);
}
//! Check for collision with another polytope
bool operator& (Polytope & p) {
for (size_t i = 0; i < k / 2; ++i)
if (p.min_[i] > max_[i] || p.max_[i] < min_[i])
return false;
return true;
}
private:
//! Private member function used to initialize the polytope
template <class point_container>
void initialize(const point_container& pts);
};
template <>
template <class point_container>
void Polytope <14>::initialize(const point_container& pts) {
typedef typename point_container::value_type point_type;
Real c = 0.57735026918963;
for (size_t i = 0; i < pts.size(); ++i) {
const point_type& p = pts[i];
// set min/max values along axe (±1,0,0), (0,±1,0), (0,0,±1)
for (size_t j = 0; j < point_type::dim(); ++j) {
min_[j] = std::min(min_[j], p[j]);
max_[j] = std::max(max_[j], p[j]);
}
// set min/max values along axe (1,1,1) and (-1,-1,-1) (normalized)
point_type e1(c, c, c);
Real f1 = p * e1;
min_[3] = std::min(min_[3], f1);
max_[3] = std::max(max_[3], f1);
// set min/max values along axe (1,1,-1) and (-1,-1,1) (normalized)
point_type e2(c, c, -c);
Real f2 = p * e2;
min_[4] = std::min(min_[4], f2);
max_[4] = std::max(max_[4], f2);
// set min/max values along axe (1,-1,1) and (-1,1,-1) (normalized)
point_type e3(c, -c, c);
Real f3 = p * e3;
min_[5] = std::min(min_[5], f3);
max_[5] = std::max(max_[5], f3);
// set min/max values along axe (-1,1,1) and (1,-1,-1) (normalized)
point_type e4(-c, c, c);
Real f4 = p * e4;
min_[6] = std::min(min_[6], f4);
max_[6] = std::max(max_[6], f4);
}
}
__END_AKANTU__
#endif /* __AKANTU_POLYTOPE_HH__ */
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