vpBound.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2015 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Le fichier "bound.h" contient les macros et le types
 * utilises par le modele geometrique surfacique polygonale 3D.
 *
 * Authors:
 * Jean-Luc CORRE
 *
 *****************************************************************************/

#ifndef vpBound_H
#define vpBound_H
 
#include <visp3/core/vpConfig.h>
#include <visp3/robot/vpMy.h>

#ifndef DOXYGEN_SHOULD_SKIP_THIS


#define START_ARG   0
#define NEXT_ARG    1

#define BND_NULL    (-1)

#define BND_BLOCK   0
#define BND_CARDIOIDE   1
#define BND_CONE    2
#define BND_CYLINDER    3
#define BND_SPHERE  4
#define BND_TORUS   5
#define BND_WEDGE   6

#define BND_F3      7
#define BND_F4      8

#define BND_GRID    9
#define BND_PIPE    10
#define BND_SECTION 11

#define BND_NBR     12


#define BOUND_NBR   1024
#define FACE_NBR    6144        /* Tailles de tableaux  */
#define VERTEX_NBR  16
#define POINT_NBR   6144
#ifdef  face_normal
#define VECTOR_NBR  6144    
#endif  //face_normal

#ifdef  face_edge
typedef struct  {
    Index       v0, v1;     /* extremites       */
    Index       f0, f1;     /* faces        */
} Edge;
#endif  //face_edge

#ifdef  face_edge
typedef struct  {
    Index       nbr;        /* nombre d'aretes  */
    Edge        *ptr;       /* liste  dynamique */
} Edge_list;
#endif  //face_edge

#define DEFAULT_VSIZE   4

/*
 * Vertex_list :
 * Pour optimiser l'allocation et la liberation memoire d'une liste de sommets:
 * si (nbr > DEFAULT_VSIZE)
 * |    alors ptr est alloue et libere dynamiquement
 * |    sinon ptr = tbl
 * fsi;
 */
typedef struct  {
    Index       nbr;        /* nombre de sommets    */
    Index       *ptr;       /* liste  dynamique */
    Index       tbl[DEFAULT_VSIZE];
} Vertex_list;

typedef struct  {
    Index       nbr;        /* nombre de points */
    Point3f     *ptr;       /* liste  dynamique */
} Point3f_list;

#ifdef  face_normal
typedef struct  {
    Index       nbr;        /* nombre de vecteurs   */
    Vector      *ptr;       /* liste  dynamique */
} Vector_list;
#endif  //face_normal

typedef struct  {
    unsigned    is_polygonal:1; /* face polygonale  */
    unsigned    is_visible  :1; /* face affichable  */
#ifdef  face_edge
    Edge_list   edge;       /* liste d'aretes   */
#endif  //face_edge
    Vertex_list vertex;     /* liste de sommets */
#ifdef  face_normal
    Vector      normal;     /* vecteur normal   */
#endif  //face_normal
} Face;

typedef struct  {
    Index       nbr;        /* nombre de faces  */
    Face        *ptr;       /* liste  dynamique */
} Face_list;

typedef struct  {
    unsigned    is_display  :1; /* surface affichable   */
    unsigned    is_polygonal:1; /* surface polyedrique  */  
    Type        type;       /* type de la primitive */
#ifdef  face_edge
    Edge_list   edge;       /* liste d'aretes   */
#endif  //face_edge
    Face_list   face;       /* liste de faces   */
    Point3f_list    point;      /* points aux sommets   */
#ifdef  face_normal
    Vector_list normal;     /* normales aux sommets */
#endif  //face_normal
} Bound;

typedef struct  {
    Index       nbr;        /* nombre de surfaces   */
    Bound       *ptr;       /* liste  dynamique */
} Bound_list;

typedef struct  {
    float       xmin, xmax; /* bornes sur l'axe x   */
    float       ymin, ymax; /* bornes sur l'axe y   */
    float       zmin, zmax; /* bornes sur l'axe z   */
} Bounding_box;

typedef struct  {
    char        *name;      /* nom de la scene  */
    Bound_list  bound;      /* liste de surfaces    */
} Bound_scene;

typedef struct  {
    Index       nbr;        /* nombre de scenes */
    Bound_scene *ptr;       /* liste  dynamique */
} Bound_scene_list;

extern void malloc_huge_Bound (Bound *bp);
extern void free_huge_Bound (Bound *bp);
extern void fscanf_Bound (Bound *bp);

#endif
#endif