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use crate::math::{Point, Real, Vector};
use crate::shape::{FeatureId, PolygonalFeature, PolygonalFeatureMap, SupportMap};
use crate::utils;
use na::{self, ComplexField, RealField, Unit};
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
#[derive(Clone, Debug)]
pub struct ConvexPolygon {
points: Vec<Point<Real>>,
normals: Vec<Unit<Vector<Real>>>,
}
impl ConvexPolygon {
pub fn from_convex_hull(points: &[Point<Real>]) -> Option<Self> {
let mut vertices = crate::transformation::convex_hull(points);
vertices.reverse();
Self::from_convex_polyline(vertices)
}
pub fn from_convex_polyline(mut points: Vec<Point<Real>>) -> Option<Self> {
let eps = ComplexField::sqrt(crate::math::DEFAULT_EPSILON);
let mut normals = Vec::with_capacity(points.len());
for i1 in 0..points.len() {
let i2 = (i1 + 1) % points.len();
normals.push(utils::ccw_face_normal([&points[i1], &points[i2]])?);
}
let mut nremoved = 0;
if normals[0].dot(&*normals[normals.len() - 1]) > 1.0 - eps {
nremoved = 1;
}
for i2 in 1..points.len() {
let i1 = i2 - 1;
if normals[i1].dot(&*normals[i2]) > 1.0 - eps {
nremoved += 1;
} else {
points[i2 - nremoved] = points[i2];
normals[i2 - nremoved] = normals[i2];
}
}
let new_length = points.len() - nremoved;
points.truncate(new_length);
normals.truncate(new_length);
if points.len() != 0 {
Some(ConvexPolygon { points, normals })
} else {
None
}
}
#[inline]
pub fn points(&self) -> &[Point<Real>] {
&self.points
}
#[inline]
pub fn normals(&self) -> &[Unit<Vector<Real>>] {
&self.normals
}
pub fn support_feature_id_toward(&self, local_dir: &Unit<Vector<Real>>) -> FeatureId {
let eps: Real = Real::pi() / 180.0;
let ceps = ComplexField::cos(eps);
for i in 0..self.normals.len() {
let normal = &self.normals[i];
if normal.dot(local_dir.as_ref()) >= ceps {
return FeatureId::Face(i as u32);
}
}
FeatureId::Vertex(
utils::point_cloud_support_point_id(local_dir.as_ref(), &self.points) as u32,
)
}
}
impl SupportMap for ConvexPolygon {
#[inline]
fn local_support_point(&self, dir: &Vector<Real>) -> Point<Real> {
utils::point_cloud_support_point(dir, self.points())
}
}
impl PolygonalFeatureMap for ConvexPolygon {
fn local_support_feature(&self, dir: &Unit<Vector<Real>>, out_feature: &mut PolygonalFeature) {
let cuboid = crate::shape::Cuboid::new(self.points[2].coords);
cuboid.local_support_feature(dir, out_feature);
let mut best_face = 0;
let mut max_dot = self.normals[0].dot(&dir);
for i in 1..self.normals.len() {
let dot = self.normals[i].dot(&dir);
if dot > max_dot {
max_dot = dot;
best_face = i;
}
}
let i1 = best_face;
let i2 = (best_face + 1) % self.points.len();
*out_feature = PolygonalFeature {
vertices: [self.points[i1], self.points[i2]],
vids: [i1 as u32 * 2, i2 as u32 * 2],
fid: i1 as u32 * 2 + 1,
num_vertices: 2,
};
}
}