btMiniSDF.h

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#ifndef MINISDF_H
#define MINISDF_H
 
#include "LinearMath/btVector3.h"
#include "LinearMath/btAabbUtil2.h"
#include "LinearMath/btAlignedObjectArray.h"
 
struct btMultiIndex
{
    unsigned int ijk[3];
};
 
struct btAlignedBox3d
{
    btVector3 m_min;
    btVector3 m_max;
 
    const btVector3& min() const
    {
        return m_min;
    }
 
    const btVector3& max() const
    {
        return m_max;
    }
 
    bool contains(const btVector3& x) const
    {
        return TestPointAgainstAabb2(m_min, m_max, x);
    }
 
    btAlignedBox3d(const btVector3& mn, const btVector3& mx)
        : m_min(mn),
          m_max(mx)
    {
    }
 
    btAlignedBox3d()
    {
    }
};
 
struct btShapeMatrix
{
    double m_vec[32];
 
    inline double& operator[](int i)
    {
        return m_vec[i];
    }
 
    inline const double& operator[](int i) const
    {
        return m_vec[i];
    }
};
 
struct btShapeGradients
{
    btVector3 m_vec[32];
 
    void topRowsDivide(int row, double denom)
    {
        for (int i = 0; i < row; i++)
        {
            m_vec[i] /= denom;
        }
    }
 
    void bottomRowsMul(int row, double val)
    {
        for (int i = 32 - row; i < 32; i++)
        {
            m_vec[i] *= val;
        }
    }
 
    inline btScalar& operator()(int i, int j)
    {
        return m_vec[i][j];
    }
};
 
struct btCell32
{
    unsigned int m_cells[32];
};
 
struct btMiniSDF
{
    btAlignedBox3d m_domain;
    unsigned int m_resolution[3];
    btVector3 m_cell_size;
    btVector3 m_inv_cell_size;
    std::size_t m_n_cells;
    std::size_t m_n_fields;
    bool m_isValid;
 
    btAlignedObjectArray<btAlignedObjectArray<double> > m_nodes;
    btAlignedObjectArray<btAlignedObjectArray<btCell32> > m_cells;
    btAlignedObjectArray<btAlignedObjectArray<unsigned int> > m_cell_map;
 
    btMiniSDF()
        : m_isValid(false)
    {
    }
    bool load(const char* data, int size);
    bool isValid() const
    {
        return m_isValid;
    }
    unsigned int multiToSingleIndex(btMultiIndex const& ijk) const;
 
    btAlignedBox3d subdomain(btMultiIndex const& ijk) const;
 
    btMultiIndex singleToMultiIndex(unsigned int l) const;
 
    btAlignedBox3d subdomain(unsigned int l) const;
 
    btShapeMatrix
    shape_function_(btVector3 const& xi, btShapeGradients* gradient = 0) const;
 
    bool interpolate(unsigned int field_id, double& dist, btVector3 const& x, btVector3* gradient) const;
};
 
#endif  //MINISDF_H