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-rw-r--r--src/geometry/cuboid.rs234
1 files changed, 0 insertions, 234 deletions
diff --git a/src/geometry/cuboid.rs b/src/geometry/cuboid.rs
deleted file mode 100644
index 89e1a1e..0000000
--- a/src/geometry/cuboid.rs
+++ /dev/null
@@ -1,234 +0,0 @@
-#[cfg(feature = "dim3")]
-use crate::geometry::PolyhedronFace;
-use crate::geometry::{Cuboid, CuboidFeature, CuboidFeatureFace};
-use crate::math::{Point, Vector};
-use crate::utils::WSign;
-
-pub fn local_support_point(cube: &Cuboid, local_dir: Vector<f32>) -> Point<f32> {
- local_dir.copy_sign_to(cube.half_extents).into()
-}
-
-// #[cfg(feature = "dim2")]
-// pub fn polygon_ref(
-// cuboid: Cuboid,
-// out_vertices: &mut [Point<f32>; 4],
-// out_normals: &mut [Vector<f32>; 4],
-// ) -> PolygonRef {
-// *out_vertices = [
-// Point::new(cuboid.half_extents.x, -cuboid.half_extents.y),
-// Point::new(cuboid.half_extents.x, cuboid.half_extents.y),
-// Point::new(-cuboid.half_extents.x, cuboid.half_extents.y),
-// Point::new(-cuboid.half_extents.x, -cuboid.half_extents.y),
-// ];
-// *out_normals = [Vector::x(), Vector::y(), -Vector::x(), -Vector::y()];
-//
-// PolygonRef {
-// vertices: &out_vertices[..],
-// normals: &out_normals[..],
-// }
-// }
-
-#[cfg(feature = "dim2")]
-pub fn vertex_feature_id(vertex: Point<f32>) -> u8 {
- ((vertex.x.to_bits() >> 31) & 0b001 | (vertex.y.to_bits() >> 30) & 0b010) as u8
-}
-
-// #[cfg(feature = "dim3")]
-// pub fn vertex_feature_id(vertex: Point<f32>) -> u8 {
-// ((vertex.x.to_bits() >> 31) & 0b001
-// | (vertex.y.to_bits() >> 30) & 0b010
-// | (vertex.z.to_bits() >> 29) & 0b100) as u8
-// }
-
-#[cfg(feature = "dim3")]
-pub fn polyhedron_support_face(cube: &Cuboid, local_dir: Vector<f32>) -> PolyhedronFace {
- support_face(cube, local_dir).into()
-}
-
-#[cfg(feature = "dim2")]
-pub(crate) fn support_feature(cube: &Cuboid, local_dir: Vector<f32>) -> CuboidFeature {
- // In 2D, it is best for stability to always return a face.
- // It won't have any notable impact on performances anyway.
- CuboidFeature::Face(support_face(cube, local_dir))
-
- /*
- let amax = local_dir.amax();
-
- const MAX_DOT_THRESHOLD: f32 = 0.98480775301; // 10 degrees.
-
- if amax > MAX_DOT_THRESHOLD {
- // Support face.
- CuboidFeature::Face(cube.support_face(local_dir))
- } else {
- // Support vertex
- CuboidFeature::Vertex(cube.support_vertex(local_dir))
- }
- */
-}
-
-#[cfg(feature = "dim3")]
-pub(crate) fn support_feature(cube: &Cuboid, local_dir: Vector<f32>) -> CuboidFeature {
- CuboidFeature::Face(support_face(cube, local_dir))
- /*
- const MAX_DOT_THRESHOLD: f32 = crate::utils::COS_10_DEGREES;
- const MIN_DOT_THRESHOLD: f32 = 1.0 - MAX_DOT_THRESHOLD;
-
- let amax = local_dir.amax();
- let amin = local_dir.amin();
-
- if amax > MAX_DOT_THRESHOLD {
- // Support face.
- CuboidFeature::Face(support_face(cube, local_dir))
- } else if amin < MIN_DOT_THRESHOLD {
- // Support edge.
- CuboidFeature::Edge(support_edge(cube, local_dir))
- } else {
- // Support vertex.
- CuboidFeature::Vertex(support_vertex(cube, local_dir))
- }
- */
-}
-
-// #[cfg(feature = "dim3")]
-// pub(crate) fn support_vertex(cube: &Cuboid, local_dir: Vector<f32>) -> CuboidFeatureVertex {
-// let vertex = local_support_point(cube, local_dir);
-// let vid = vertex_feature_id(vertex);
-//
-// CuboidFeatureVertex { vertex, vid }
-// }
-
-// #[cfg(feature = "dim3")]
-// pub(crate) fn support_edge(cube: &Cuboid, local_dir: Vector<f32>) -> CuboidFeatureEdge {
-// let he = cube.half_extents;
-// let i = local_dir.iamin();
-// let j = (i + 1) % 3;
-// let k = (i + 2) % 3;
-// let mut a = Point::origin();
-// a[i] = he[i];
-// a[j] = local_dir[j].copy_sign_to(he[j]);
-// a[k] = local_dir[k].copy_sign_to(he[k]);
-//
-// let mut b = a;
-// b[i] = -he[i];
-//
-// let vid1 = vertex_feature_id(a);
-// let vid2 = vertex_feature_id(b);
-// let eid = (vid1.max(vid2) << 3) | vid1.min(vid2) | 0b11_000_000;
-//
-// CuboidFeatureEdge {
-// vertices: [a, b],
-// vids: [vid1, vid2],
-// eid,
-// }
-// }
-
-#[cfg(feature = "dim2")]
-pub fn support_face(cube: &Cuboid, local_dir: Vector<f32>) -> CuboidFeatureFace {
- let he = cube.half_extents;
- let i = local_dir.iamin();
- let j = (i + 1) % 2;
- let mut a = Point::origin();
- a[i] = he[i];
- a[j] = local_dir[j].copy_sign_to(he[j]);
-
- let mut b = a;
- b[i] = -he[i];
-
- let vid1 = vertex_feature_id(a);
- let vid2 = vertex_feature_id(b);
- let fid = (vid1.max(vid2) << 2) | vid1.min(vid2) | 0b11_00_00;
-
- CuboidFeatureFace {
- vertices: [a, b],
- vids: [vid1, vid2],
- fid,
- }
-}
-
-#[cfg(feature = "dim3")]
-pub(crate) fn support_face(cube: &Cuboid, local_dir: Vector<f32>) -> CuboidFeatureFace {
- // NOTE: can we use the orthonormal basis of local_dir
- // to make this AoSoA friendly?
- let he = cube.half_extents;
- let iamax = local_dir.iamax();
- let sign = local_dir[iamax].copy_sign_to(1.0);
-
- let vertices = match iamax {
- 0 => [
- Point::new(he.x * sign, he.y, he.z),
- Point::new(he.x * sign, -he.y, he.z),
- Point::new(he.x * sign, -he.y, -he.z),
- Point::new(he.x * sign, he.y, -he.z),
- ],
- 1 => [
- Point::new(he.x, he.y * sign, he.z),
- Point::new(-he.x, he.y * sign, he.z),
- Point::new(-he.x, he.y * sign, -he.z),
- Point::new(he.x, he.y * sign, -he.z),
- ],
- 2 => [
- Point::new(he.x, he.y, he.z * sign),
- Point::new(he.x, -he.y, he.z * sign),
- Point::new(-he.x, -he.y, he.z * sign),
- Point::new(-he.x, he.y, he.z * sign),
- ],
- _ => unreachable!(),
- };
-
- pub fn vid(i: u8) -> u8 {
- // Each vertex has an even feature id.
- i * 2
- }
-
- let sign_index = ((sign as i8 + 1) / 2) as usize;
- // The vertex id as numbered depending on the sign of the vertex
- // component. A + sign means the corresponding bit is 0 while a -
- // sign means the corresponding bit is 1.
- // For exampl the vertex [2.0, -1.0, -3.0] has the id 0b011
- let vids = match iamax {
- 0 => [
- [vid(0b000), vid(0b010), vid(0b011), vid(0b001)],
- [vid(0b100), vid(0b110), vid(0b111), vid(0b101)],
- ][sign_index],
- 1 => [
- [vid(0b000), vid(0b100), vid(0b101), vid(0b001)],
- [vid(0b010), vid(0b110), vid(0b111), vid(0b011)],
- ][sign_index],
- 2 => [
- [vid(0b000), vid(0b010), vid(0b110), vid(0b100)],
- [vid(0b001), vid(0b011), vid(0b111), vid(0b101)],
- ][sign_index],
- _ => unreachable!(),
- };
-
- // The feature ids of edges is obtained from the vertex ids
- // of their endpoints.
- // Assuming vid1 > vid2, we do: (vid1 << 3) | vid2 | 0b11000000
- //
- let eids = match iamax {
- 0 => [
- [0b11_010_000, 0b11_011_010, 0b11_011_001, 0b11_001_000],
- [0b11_110_100, 0b11_111_110, 0b11_111_101, 0b11_101_100],
- ][sign_index],
- 1 => [
- [0b11_100_000, 0b11_101_100, 0b11_101_001, 0b11_001_000],
- [0b11_110_010, 0b11_111_110, 0b11_111_011, 0b11_011_010],
- ][sign_index],
- 2 => [
- [0b11_010_000, 0b11_110_010, 0b11_110_100, 0b11_100_000],
- [0b11_011_001, 0b11_111_011, 0b11_111_101, 0b11_101_001],
- ][sign_index],
- _ => unreachable!(),
- };
-
- // The face with normals [x, y, z] are numbered [10, 11, 12].
- // The face with negated normals are numbered [13, 14, 15].
- let fid = iamax + sign_index * 3 + 10;
-
- CuboidFeatureFace {
- vertices,
- vids,
- eids,
- fid: fid as u8,
- }
-}
generated by cgit (git 2.34.1) at 2026-02-05 20:41:13 +0000