parry3d/query/point/

point_tetrahedron.rs

use crate::math::{Real, Vector};
use crate::query::{PointProjection, PointQuery, PointQueryWithLocation};
use crate::shape::{FeatureId, Tetrahedron, TetrahedronPointLocation};

impl PointQuery for Tetrahedron {
    #[inline]
    fn project_local_point(&self, pt: Vector, solid: bool) -> PointProjection {
        self.project_local_point_and_get_location(pt, solid).0
    }

    #[inline]
    fn project_local_point_and_get_feature(&self, pt: Vector) -> (PointProjection, FeatureId) {
        let (proj, loc) = self.project_local_point_and_get_location(pt, false);
        let feature = match loc {
            TetrahedronPointLocation::OnVertex(i) => FeatureId::Vertex(i),
            TetrahedronPointLocation::OnEdge(i, _) => FeatureId::Edge(i),
            TetrahedronPointLocation::OnFace(i, _) => FeatureId::Face(i),
            TetrahedronPointLocation::OnSolid => unreachable!(),
        };

        (proj, feature)
    }
}

impl PointQueryWithLocation for Tetrahedron {
    type Location = TetrahedronPointLocation;

    #[inline]
    fn project_local_point_and_get_location(
        &self,
        pt: Vector,
        solid: bool,
    ) -> (PointProjection, Self::Location) {
        let ab = self.b - self.a;
        let ac = self.c - self.a;
        let ad = self.d - self.a;
        let ap = pt - self.a;

        /*
         * Voronoï regions of vertices.
         */
        let ap_ab = ap.dot(ab);
        let ap_ac = ap.dot(ac);
        let ap_ad = ap.dot(ad);

        if ap_ab <= 0.0 && ap_ac <= 0.0 && ap_ad <= 0.0 {
            // Voronoï region of `a`.
            let proj = PointProjection::new(false, self.a);
            return (proj, TetrahedronPointLocation::OnVertex(0));
        }

        let bc = self.c - self.b;
        let bd = self.d - self.b;
        let bp = pt - self.b;

        let bp_bc = bp.dot(bc);
        let bp_bd = bp.dot(bd);
        let bp_ab = bp.dot(ab);

        if bp_bc <= 0.0 && bp_bd <= 0.0 && bp_ab >= 0.0 {
            // Voronoï region of `b`.
            let proj = PointProjection::new(false, self.b);
            return (proj, TetrahedronPointLocation::OnVertex(1));
        }

        let cd = self.d - self.c;
        let cp = pt - self.c;

        let cp_ac = cp.dot(ac);
        let cp_bc = cp.dot(bc);
        let cp_cd = cp.dot(cd);

        if cp_cd <= 0.0 && cp_bc >= 0.0 && cp_ac >= 0.0 {
            // Voronoï region of `c`.
            let proj = PointProjection::new(false, self.c);
            return (proj, TetrahedronPointLocation::OnVertex(2));
        }

        let dp = pt - self.d;

        let dp_cd = dp.dot(cd);
        let dp_bd = dp.dot(bd);
        let dp_ad = dp.dot(ad);

        if dp_ad >= 0.0 && dp_bd >= 0.0 && dp_cd >= 0.0 {
            // Voronoï region of `d`.
            let proj = PointProjection::new(false, self.d);
            return (proj, TetrahedronPointLocation::OnVertex(3));
        }

        /*
         * Voronoï regions of edges.
         */
        #[inline(always)]
        fn check_edge(
            i: usize,
            a: Vector,
            _: Vector,
            nabc: Vector,
            nabd: Vector,
            ap: Vector,
            ab: Vector,
            ap_ab: Real, /*ap_ac: Real, ap_ad: Real,*/
            bp_ab: Real, /*bp_ac: Real, bp_ad: Real*/
        ) -> (
            Real,
            Real,
            Option<(PointProjection, TetrahedronPointLocation)>,
        ) {
            let ab_ab = ap_ab - bp_ab;

            // NOTE: The following avoids the subsequent cross and dot products but are not
            // numerically stable.
            //
            // let dabc  = ap_ab * (ap_ac - bp_ac) - ap_ac * ab_ab;
            // let dabd  = ap_ab * (ap_ad - bp_ad) - ap_ad * ab_ab;

            let ap_x_ab = ap.cross(ab);
            let dabc = ap_x_ab.dot(nabc);
            let dabd = ap_x_ab.dot(nabd);

            // TODO: the case where ab_ab == 0.0 is not well defined.
            if ab_ab != 0.0 && dabc >= 0.0 && dabd >= 0.0 && ap_ab >= 0.0 && ap_ab <= ab_ab {
                // Voronoi region of `ab`.
                let u = ap_ab / ab_ab;
                let bcoords = [1.0 - u, u];
                let res = a + ab * u;
                let proj = PointProjection::new(false, res);
                (
                    dabc,
                    dabd,
                    Some((proj, TetrahedronPointLocation::OnEdge(i as u32, bcoords))),
                )
            } else {
                (dabc, dabd, None)
            }
        }

        // Voronoï region of ab.
        //            let bp_ad = bp_bd + bp_ab;
        //            let bp_ac = bp_bc + bp_ab;
        let nabc = ab.cross(ac);
        let nabd = ab.cross(ad);
        let (dabc, dabd, res) = check_edge(
            0, self.a, self.b, nabc, nabd, ap, ab, ap_ab,
            /*ap_ac, ap_ad,*/ bp_ab, /*, bp_ac, bp_ad*/
        );
        if let Some(res) = res {
            return res;
        }

        // Voronoï region of ac.
        // Substitutions (wrt. ab):
        //   b -> c
        //   c -> d
        //   d -> b
        //            let cp_ab = cp_ac - cp_bc;
        //            let cp_ad = cp_cd + cp_ac;
        let nacd = ac.cross(ad);
        let (dacd, dacb, res) = check_edge(
            1, self.a, self.c, nacd, -nabc, ap, ac, ap_ac,
            /*ap_ad, ap_ab,*/ cp_ac, /*, cp_ad, cp_ab*/
        );
        if let Some(res) = res {
            return res;
        }

        // Voronoï region of ad.
        // Substitutions (wrt. ab):
        //   b -> d
        //   c -> b
        //   d -> c
        //            let dp_ac = dp_ad - dp_cd;
        //            let dp_ab = dp_ad - dp_bd;
        let (dadb, dadc, res) = check_edge(
            2, self.a, self.d, -nabd, -nacd, ap, ad, ap_ad,
            /*ap_ab, ap_ac,*/ dp_ad, /*, dp_ab, dp_ac*/
        );
        if let Some(res) = res {
            return res;
        }

        // Voronoï region of bc.
        // Substitutions (wrt. ab):
        //   a -> b
        //   b -> c
        //   c -> a
        //            let cp_bd = cp_cd + cp_bc;
        let nbcd = bc.cross(bd);
        // NOTE: nabc = nbcd
        let (dbca, dbcd, res) = check_edge(
            3, self.b, self.c, nabc, nbcd, bp, bc, bp_bc,
            /*-bp_ab, bp_bd,*/ cp_bc, /*, -cp_ab, cp_bd*/
        );
        if let Some(res) = res {
            return res;
        }

        // Voronoï region of bd.
        // Substitutions (wrt. ab):
        //   a -> b
        //   b -> d
        //   d -> a

        //            let dp_bc = dp_bd - dp_cd;
        // NOTE: nbdc = -nbcd
        // NOTE: nbda = nabd
        let (dbdc, dbda, res) = check_edge(
            4, self.b, self.d, -nbcd, nabd, bp, bd, bp_bd,
            /*bp_bc, -bp_ab,*/ dp_bd, /*, dp_bc, -dp_ab*/
        );
        if let Some(res) = res {
            return res;
        }

        // Voronoï region of cd.
        // Substitutions (wrt. ab):
        //   a -> c
        //   b -> d
        //   c -> a
        //   d -> b
        // NOTE: ncda = nacd
        // NOTE: ncdb = nbcd
        let (dcda, dcdb, res) = check_edge(
            5, self.c, self.d, nacd, nbcd, cp, cd, cp_cd,
            /*-cp_ac, -cp_bc,*/ dp_cd, /*, -dp_ac, -dp_bc*/
        );
        if let Some(res) = res {
            return res;
        }

        /*
         * Voronoï regions of faces.
         */
        #[inline(always)]
        fn check_face(
            i: usize,
            a: Vector,
            b: Vector,
            c: Vector,
            ap: Vector,
            bp: Vector,
            cp: Vector,
            ab: Vector,
            ac: Vector,
            ad: Vector,
            dabc: Real,
            dbca: Real,
            dacb: Real,
            /* ap_ab: Real, bp_ab: Real, cp_ab: Real,
            ap_ac: Real, bp_ac: Real, cp_ac: Real, */
        ) -> Option<(PointProjection, TetrahedronPointLocation)> {
            if dabc < 0.0 && dbca < 0.0 && dacb < 0.0 {
                let n = ab.cross(ac); // TODO: is is possible to avoid this cross product?
                if n.dot(ad) * n.dot(ap) < 0.0 {
                    // Voronoï region of the face.

                    // NOTE:
                    // The following avoids expansive computations but are not very
                    // numerically stable.
                    //
                    // let va = bp_ab * cp_ac - cp_ab * bp_ac;
                    // let vb = cp_ab * ap_ac - ap_ab * cp_ac;
                    // let vc = ap_ab * bp_ac - bp_ab * ap_ac;

                    // NOTE: the normalization may fail even if the dot products
                    // above were < 0. This happens, e.g., when we use fixed-point
                    // numbers and there are not enough decimal bits to perform
                    // the normalization.
                    let normal = n.try_normalize()?;
                    let vc = normal.dot(ap.cross(bp));
                    let va = normal.dot(bp.cross(cp));
                    let vb = normal.dot(cp.cross(ap));

                    let denom = va + vb + vc;
                    assert!(denom != 0.0);
                    let inv_denom = 1.0 / denom;

                    let bcoords = [va * inv_denom, vb * inv_denom, vc * inv_denom];
                    let res = a * bcoords[0] + b * bcoords[1] + c * bcoords[2];
                    let proj = PointProjection::new(false, res);

                    return Some((proj, TetrahedronPointLocation::OnFace(i as u32, bcoords)));
                }
            }
            None
        }

        // Face abc.
        if let Some(res) = check_face(
            0, self.a, self.b, self.c, ap, bp, cp, ab, ac, ad, dabc, dbca,
            dacb,
            /*ap_ab, bp_ab, cp_ab,
            ap_ac, bp_ac, cp_ac*/
        ) {
            return res;
        }

        // Face abd.
        if let Some(res) = check_face(
            1, self.a, self.b, self.d, ap, bp, dp, ab, ad, ac, dadb, dabd,
            dbda,
            /*ap_ab, bp_ab, dp_ab,
            ap_ad, bp_ad, dp_ad*/
        ) {
            return res;
        }
        // Face acd.
        if let Some(res) = check_face(
            2, self.a, self.c, self.d, ap, cp, dp, ac, ad, ab, dacd, dcda,
            dadc,
            /*ap_ac, cp_ac, dp_ac,
            ap_ad, cp_ad, dp_ad*/
        ) {
            return res;
        }
        // Face bcd.
        if let Some(res) = check_face(
            3, self.b, self.c, self.d, bp, cp, dp, bc, bd, -ab, dbcd, dcdb,
            dbdc,
            /*bp_bc, cp_bc, dp_bc,
            bp_bd, cp_bd, dp_bd*/
        ) {
            return res;
        }

        if !solid {
            // XXX: implement the non-solid projection.
            unimplemented!(
                "Non-solid ray-cast/point projection on a tetrahedron is not yet implemented."
            )
        }

        let proj = PointProjection::new(true, pt);
        (proj, TetrahedronPointLocation::OnSolid)
    }
}