168 lines
4.3 KiB
Text
168 lines
4.3 KiB
Text
/**
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* @file util.cc
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*
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* @auhtor Remus Claudiu Dumitru <r.dumitru@jacobs-university.de>
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* @date 13 Feb 2012
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*
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*/
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//==============================================================================
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// Includes
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//==============================================================================
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#include "model/util.h"
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#include <sys/stat.h> // stat()
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#include <unistd.h>
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#include <math.h>
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#include <stdexcept>
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using namespace std;
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//==============================================================================
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// Implementation
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//==============================================================================
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bool model::sameSide(const Point3d& p1,
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const Point3d& p2, const Point3d& a, const Point3d& b)
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{
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// compute the required vectors
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Vector3d ba;
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ba.x = b.x - a.x;
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ba.y = b.y - a.y;
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ba.z = b.z - a.z;
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Vector3d p1a;
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p1a.x = p1.x - a.x;
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p1a.y = p1.y - a.y;
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p1a.z = p1.z - a.z;
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Vector3d p2a;
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p2a.x = p2.x - a.x;
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p2a.y = p2.y - a.y;
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p2a.z = p2.z - a.z;
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// do the cross products
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Vector3d cp1 = ba.crossProduct(p1a);
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Vector3d cp2 = ba.crossProduct(p2a);
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// compute the dotproduct
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double dotProduct = cp1.x * cp2.x + cp1.y * cp2.y + cp1.z * cp2.z;
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if (dotProduct >= 0) {
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return true;
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}
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else {
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return false;
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}
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}
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bool model::insideHull(const Point3d& pt, const vector<Point3d>& hull) {
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if (hull.size() <= 0) {
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throw runtime_error("hull cannot be empty");
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}
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Point3d center(0.0, 0.0, 0.0);
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for (unsigned int i = 0; i < hull.size(); ++i) {
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center.x += hull[i].x;
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center.y += hull[i].y;
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center.z += hull[i].z;
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}
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center = center / hull.size();
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for (unsigned int i = 0; i < hull.size() - 1; ++i) {
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if (sameSide(pt, center, hull[i], hull[i+1]) &&
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sameSide(pt, hull[i], center, hull[i+1]) &&
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sameSide(pt, hull[i+1], center, hull[i]))
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{
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return true;
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}
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}
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if (sameSide(pt, center, hull[hull.size()-1], hull[0]) &&
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sameSide(pt, hull[hull.size()-1], center, hull[0]) &&
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sameSide(pt, hull[0], center, hull[hull.size()-1]))
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{
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return true;
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}
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return false;
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}
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vector<model::Point3d> model::getHorizontalConvexHull(vector<Point3d> points) {
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if (points.size() <= 3) {
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return points;
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}
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vector<Point3d> hull;
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vector<Point3d>::iterator leftmostIt = points.begin();
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// compute the lefmost point
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for (vector<Point3d>::iterator it = points.begin() + 1;
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it != points.end(); ++it)
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{
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if (it->x < leftmostIt->x) {
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leftmostIt = it;
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}
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}
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Point3d pointOnHull = *leftmostIt;
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Point3d endPoint;
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do {
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// add the candidate point to the hull
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hull.push_back(pointOnHull);
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endPoint = points[0];
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for (unsigned int j = 1; j < points.size(); ++j) {
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// define dummy points in the XOZ plane
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Point3d fakeCurPt(points[j].x, 0.0, points[j].z);
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Point3d fakePointOnHull(pointOnHull.x, 0.0, pointOnHull.z);
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Point3d fakeEndPoint(endPoint.x, 0.0, endPoint.z);
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// define a point to the left of the line
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Point3d farLeft = fakeEndPoint;
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farLeft.rotate(pointOnHull, Rotation3d(0.0, -M_PI/6, 0.0));
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// if ... or points[j] on the left side of line (pointOnHull, endPoint)
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if (pointOnHull != points[j] &&
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(endPoint == pointOnHull || sameSide(fakeCurPt, farLeft, fakePointOnHull, fakeEndPoint)))
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{
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endPoint = points[j];
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}
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}
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pointOnHull = endPoint;
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} while (endPoint != hull[0]);
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return hull;
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}
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bool model::fileExists(const string& fileName) {
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struct stat buffer ;
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if (stat(fileName.c_str(), &buffer)) return false; // ret 0 for found
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return true;
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}
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bool model::fileIsDir(const string& fileName) {
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struct stat buffer;
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int status = stat(fileName.c_str(), &buffer);
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if (status != 0 || S_ISREG(buffer.st_mode)) {
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return false;
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}
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if (S_ISDIR(buffer.st_mode)) {
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return true;
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}
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return false;
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}
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bool model::makeDir(const string& path) {
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if (fileExists(path) && fileIsDir(path)) {
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return true;
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}
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return (mkdir(path.c_str(), S_IRWXU | S_IRWXG | S_IRWXO) == 0 ? true : false);
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}
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