r3d.h

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/**************************************************************
 *
 *    r3d.h
 *    
 *    Devon Powell
 *    8 February 2015
 *
 *    Routines for fast, geometrically robust clipping operations
 *    and analytic volume/moment computations over convex
 *    polyhedra in 3D. Includes a wrapper function for 
 *    physically conservative voxelization (volume sampling)
 *    of tetrahedra to a Cartesian grid.
 *    
 *    Copyright (C) 2014 Stanford University.
 *    See License.txt for more information.
 *
 *************************************************************/

#ifndef _R3D_H_
#define _R3D_H_

#include <stdint.h>

#ifdef SINGLE_PRECISION
typedef float r3d_real;
#else 
typedef double r3d_real;
#endif

typedef int32_t r3d_int;

typedef int64_t r3d_long;

typedef struct {
    r3d_real x, 
             y, 
             z; 
} r3d_rvec3;

typedef struct {
    r3d_int i, 
            j, 
            k; 
} r3d_dvec3;

typedef struct {
    r3d_rvec3 n; 
    r3d_real d; 
} r3d_plane;

typedef struct {
    r3d_real fdist[4]; 
    unsigned char fflags; 
} r3d_orientation;

typedef struct {
    r3d_rvec3 pos; 
    unsigned char pnbrs[3]; 
    r3d_orientation orient; 
} r3d_vertex;

typedef struct {
#define R3D_MAX_VERTS 64
    r3d_vertex verts[R3D_MAX_VERTS]; 
    r3d_int nverts; 
    r3d_int funclip; 
} r3d_poly;

typedef struct {
    r3d_real* moments[10]; 
    r3d_int polyorder; 
    r3d_orientation* orient; 
    r3d_long bufsz; 
    r3d_dvec3 n; 
    r3d_rvec3 d; 
} r3d_dest_grid;

const static r3d_int r3d_num_moments[3] = {1, 4, 10};

void r3d_voxelize_tet(r3d_plane* faces, r3d_dest_grid* grid);


void r3d_clip_tet(r3d_poly* poly, unsigned char andcmp);


void r3d_reduce(r3d_poly* poly, r3d_int polyorder, r3d_real* moments);

void r3du_init_box(r3d_poly* poly, r3d_rvec3 rbounds[2]);


void r3du_tet_faces_from_verts(r3d_rvec3* verts, r3d_plane* faces);


r3d_real r3du_orient(r3d_rvec3 pa, r3d_rvec3 pb, r3d_rvec3 pc, r3d_rvec3 pd);

#endif // _R3D_H_