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875291c4d9592fbb0f8556ebc5d2c03bf4bced83
solvecraft/harness/cpp/shim/surface_surface_p4.cpp
T
jijinbei 875291c4d9 shim: share identical C++ helpers through sc_sm.h, sc_nlib.h, sc_gw.h 
125 shims carried private copies of the same small helpers (put_vec, st,
nl_status, Rd, dump_crv, read_nurb, ...). Move the most common, byte-identical
form of each into three headers grouped by the upstream API they need, and have
those shims pull them in with `using sc::<name>;`. Shims with a different
variant keep their own copy; files touched by open PRs are left alone.
`the_context()` stays per shim (its function-local SmContext must not be shared).

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01FBLgPenT24P1dunqnZR1Dj
2026-10-17 06:43:03 +09:00

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// SPDX-License-Identifier: Apache-2.0
// difftest shim for unit `surface.surface_p4`: the members of SmSurface.cpp
// (source/SMLib/src/SmSurface.cpp, source/SMLib/inc/SmSurface.h) owned by the unit --
// SmSurfaceEval::Normal / EvalNormalSection, sm_PassSPConvergenceTest,
// SmSurface::CreateSeamCurve / IsOnSeam / GlobalPointSolve, sm_ClassifyCurveSurfaceXSectPoint and the
// Newton equation sets SmCSIntersectENFO, SmCSNormalizeENFO, SmSSPIntersectENFO,
// SmSSINormalizeENFO and SmSSNormalizeENFO -- plus the co-ported smsurf_EvaluateNormalSection and
// smsurf_IsPointOnNormal (exported by upstream, called directly).
//
// Static functions and file-local classes of SmSurface.cpp cannot be linked against, so those
// exercised here are VERBATIM copies of upstream SmSurface.cpp (commit c9c5979), inside the
// namespace sc_srf_p4 (line ranges noted at each block).
//
// One entry point, sc_surface_surface_p4_eval(op, in, n_in, out, cap, out_len). Layouts are
// documented in crates/solidcore-ffi/src/units/surface_surface_p4.rs, which validates every
// input. A surface block is `0 oob form n m p q r s cpts(x y z w) u v` (an
// SmBSplineSurface(gw_SURFACE*, FALSE, NULL)), `1 O[3] N[3]` (SmPlane(O, N)) or `2 basis implicit`
// (an SmCurveBoundedSurface without boundary curves over a basis block); a curve block
// is `dim n p m cpts(x y z w) knots` (SmBSplineCurve(gw_CURVE*, dim, FALSE)). `out` receives
// the op status (0 = SM_SUCCESS, else the SmStatus value) and the op's outputs.
#include "sc_shim.h"
#include "StdAfx.h"
#include <SmBSplineCurve.h>
#include <SmBSplineSurface.h>
#include <SmContext.h>
#include <SmCrvOnSurf.h>
#include <SmCurve.h>
#include <SmCurveBoundedSurface.h>
#include <SmExtent1d.h>
#include <SmExtent2d.h>
#include <SmGeomUtility.h>
#include <SmLine.h>
#include <SmLocalSolveNd.h>
#include <SmMatrix.h>
#include <SmNurbsCrv.h>
#include <SmNurbsSrf.h>
#include <SmPlane.h>
#include <SmSolutionArray.h>
#include <SmSurface.h>
#include <SmSurfTypes.h>
#include <SmTArray.h>
#include <SmTol.h>
#include <SmVector2d.h>
#include <SmVector3d.h>
#include <nurbs.h>
#include <vector>
#include "sc_sm.h"
using sc::put_uv;
using sc::put_vec;
namespace sc_srf_p4
{
// clang-format off
// ---- verbatim: SmSurface.cpp lines 4462-4501: sm_PassSPConvergenceTest
static SmBoolean sm_PassSPConvergenceTest
(const SmSurface & crSurface, // in : Target Surface
const SmPoint2d & crUV, // in : Test SurfacePoint
const SmPoint3d & crSolvedPoint, // in : 3D Solution Point
double d3dTol
)
{
SmBoolean bRetVal;
// Locals for call:
SmStatus eReason;
double dDropToSurf, rdApproxDev ;
SmBoolean bFromLeftU, bFromLeftV ;
// test crSolvedPoint/SurfaceNormal(crUV) dist against d3dTol
SmStatus eStat = smsurf_IsPointOnNormal
(crSurface, // in : target surface
NULL, // in : clamp domain: if present, clamp crUVToTest to this domain.
// NULL to ignore
crUV, // in : Surface test 2Dpoint
crSolvedPoint, // in : input test 3DPoint
NULL, // in : associated 3d tangent, NULL to ignore
bFromLeftU, bFromLeftV, // out: associated from left eval values, NULL to ignore
d3dTol, // in : Max dist allowed between unique points
bRetVal, // out: TRUE=TestPoint within tol of SurfaceNormal line, FALSE=not
eReason, // out: SM_ERR_OUTSIDE_OF_DOMAIN = input UVTestPoint is not within domain or
// input UVTestPoint is on surface natural boundary and
// vector from SurfacePoint to TestPoint runs outside of surface domain
// SM_ERR_BAD_SURFACE_POINT = Surface.Evaluate() fails - testing impossible)
// SM_ERR_NOT_WITHIN_TOLERANCE = test run - Point not on normal
// SM_ERR_UNKNOWN = test run - Point is on normal
dDropToSurf, // out: when rbGoodPoint == TRUE, set to SurfPt/TestPt distSq
// rbGoodPoint == FALSE, set to 0.0
rdApproxDev) ; // out: deviation between 3dPoint and srfNormalLine
bRetVal &= ( eStat == SM_SUCCESS );
return bRetVal;
} // end sm_PassSPConvergenceTest
// ---- verbatim: SmSurface.cpp lines 13053-13063: sm_ConvertToParameterDelta
static double sm_ConvertToParameterDelta
(const SmVector3d & crTangentVector,
const SmVector3d & crDeltaVector)
{
double dTanLen = crTangentVector.Length();
if (dTanLen < SM_EFF_ZERO) return 0.0;
SmVector3d sUnitTan = crTangentVector / dTanLen;
double dDot = sUnitTan.Dot(crDeltaVector);
return dDot/dTanLen;
} // end sm_ConvertToParameterDelta
// ---- verbatim: SmSurface.cpp lines 13080-13773: sm_ClassifyCurveSurfaceXSectPoint
static SmStatus sm_ClassifyCurveSurfaceXSectPoint
(const SmSurface & crSurface, // in : Target Surface
const SmExtent2d & crUVDomain, // in : Target Surface Domain
const SmCurve & crCurve, // in : Target Curve
const SmExtent1d & crInterval, // in : Target Curve Domain
const SmPoint2d & crCurrentUV, // in : Current Surface Solution Point
double dCurrentT, // in : Current Curve Solution Point
SmBoolean & rbFoundGuess, // out: TRUE = Found a nearby intersection guess point
// will be set to FALSE when rePointType != SM_TC_NEAR_TANGENT
// or when 2nd guessPoint falls outside of input domains.
SmPoint2d & rNewUVGuess, // out: Surface GuessPoint
double & rdNewTGuess, // out: Curve GuessPoint
SmTsectCurveType & rePointType) // out: oneof: SM_TC_TOUCHING - degenerate curve marks a point on the surface
// SM_TC_CROSSING - curve crosses surface at a single point
// SM_TC_TANGENT - one intersection point
// SM_TC_COINCIDENT - curve likely to be coincident near tgt point
// SM_TC_NEAR_TANGENT - when rbFoundGuess is set to true, curve
// is likely to have a 2nd nearby intersection point
{
// init output
rbFoundGuess = FALSE ;
rePointType = SM_TC_CROSSING ;
// Get SurfacePoint Evaluation and SurfaceNormal
SmVector3d sPVV[3][3]; // out: matrix of evaluations values
// organized: [D Du Duu ]
// [Dv Duv 0 ]
// [Dvv 0 0 ]
SER(crSurface.Evaluate(crCurrentUV, 2, 2, TRUE, TRUE, TRUE, &sPVV[0][0], FALSE)); // exact Tangent values ?may need to change?
// get surface Normal
SmVector3d sSurfaceNormal = sPVV[1][0] * sPVV[0][1];
if (sSurfaceNormal.LengthSquared() < SM_EFF_ZERO_SQ)
{ SER(crSurface.EvaluateNormal(crCurrentUV, TRUE, TRUE, sSurfaceNormal));
}
else { SER(sSurfaceNormal.Unitize());
}
sPVV[2][2] = sSurfaceNormal; // Must be here for smsurf_EvaluateGeometric().
// Get the geometric properties of the curve at the current intersection
SmVector3d sCurveGeomVec[4] ; // out: a[0] = position
// a[1] = 1st derivative, Mag = Speed, direction = tangent vector
// a[2] = Curvature Vector, Mag = K, direction = normal vector
// a[3] = Torsion Vector, Mag = Torsion, direction = binormal vector
// note: Osculating circle center: center = pos + RadOfCurv * NormalVector
// center = a[0] + a[2]/a[2].LengthSquared(), when a[2].LengthSquared() is not zero.
if(SM_ERR == crCurve.EvaluateGeometric(dCurrentT, 2, TRUE, sCurveGeomVec))
{ // no extra guesses or possible coincidence signalled for degenerate curves
rePointType = SM_TC_TOUCHING ;
return(SM_SUCCESS) ;
}
#ifdef SM_DEBUG_CODE
SmBoolean bDebugMe = FALSE ;
if(bDebugMe)
{
SmBrep *pBrep = crSurface.GetFace() ? ((SmFace *)crSurface.GetFace())->GetBrep() : NULL ;
if(pBrep == NULL) pBrep = crCurve.GetOwner() ? ((SmEdge *)crCurve.GetEdge())->GetBrep() : NULL ;
smgfx_Erase() ;
smgfx_SetLook(1,2, 0,0,1) ; if(pBrep) pBrep->Draw(TRUE) ; sm_GraphicsLoop() ;
smgfx_SetLook(1,2, 0,1,1) ; crSurface.DrawUV() ; sm_GraphicsLoop() ;
smgfx_SetLook(2,3, 0,1,0) ; crCurve.Draw() ; sm_GraphicsLoop() ;
smgfx_SetLook(4,5, 1,0,0) ; sPVV[0][0].Draw() ; sm_GraphicsLoop() ;
smgfx_SetLook(5,6, 1,0,1) ; sCurveGeomVec[0].Draw() ; sm_GraphicsLoop() ;
sm_GraphicsLoop() ;
}
#endif // SM_DEBUG_CODE
// no work - curve is not within 20 degrees of tangency to surface
if (!sSurfaceNormal.IsPerpendicularTo(sCurveGeomVec[1],20.0))
{ rePointType = SM_TC_CROSSING ;
return SM_SUCCESS;
}
// Evaluate Surface Position and NormalSection in direction of CurveTangent.
// This should give us two circles or a line and a circle to intersect.
SmPoint3d sSurfacePoint = sPVV[0][0] ;
SmVector3d sSurfaceSectionTangent;
double dSurfaceSectionCurvature;
// Surface differential locals
double dGaussianCurvature ; // out: GaussianCurvature = K1*K2 (principal curvatures)
double dNormalCurvature ; // out: MeanCurvature = 1/2(K1 + K2)
double dPrincipleCurvature1 ; // out: 1st principal curvature value ; K1
double dPrincipleCurvature2 ; // out: 2nd principal curvature value ; K2
SmVector3d sEFGOfFirstFundForm ; // out: 1st fundamental form ; [E ; F ; G]
SmVector3d sLMNOfSecondFundForm ; // out: 2nd fundamental form ; [L ; M ; N]
SmVector3d PrincipleCurvatureVector1 ; // out: 3d vector tangent to surface in 1st principal direction
SmVector3d PrincipleCurvatureVector2 ; // out: 3d vector tangent to surface in 2nd principal direction
SER(crSurface.EvaluatePoint(crCurrentUV, sSurfacePoint));
SER(smsurf_EvaluateNormalSection(sPVV, sCurveGeomVec[1],
sSurfaceSectionTangent,
dSurfaceSectionCurvature));
SER(smsurf_EvaluateGeometric(sPVV, dGaussianCurvature,
dNormalCurvature,
dPrincipleCurvature1,
dPrincipleCurvature2,
sEFGOfFirstFundForm,
sLMNOfSecondFundForm,
PrincipleCurvatureVector1,
PrincipleCurvatureVector2)) ;
SmLocalSurfaceType eSurfaceType = ( smos_Fabs(dNormalCurvature) < SM_EFF_ZERO_SQRT
&& smos_Fabs(dPrincipleCurvature1) < SM_EFF_ZERO_SQRT
&& smos_Fabs(dPrincipleCurvature2) < SM_EFF_ZERO_SQRT) ? SM_LS_PLANAR
: (dGaussianCurvature > SM_EFF_ZERO_SQRT) ? SM_LS_ELLIPTICAL
: (dGaussianCurvature < -SM_EFF_ZERO_SQRT) ? SM_LS_HYPERBOLIC
: SM_LS_CYLINDRICAL ;
// Get Curve Curvature, Normal vector, and Binormal vectors
SmVector3d sCurveNormal = sCurveGeomVec[2];
double dCurveCurvature = sCurveNormal.Length();
if (smos_Fabs(dCurveCurvature) > SM_EFF_ZERO_SQRT)
{
sCurveNormal /= dCurveCurvature ;
}
else // curve is close to being a straight line - let CurveNormal = sSurfaceNormal
{
sCurveNormal = sSurfaceNormal ;
}
SmVector3d sCurveBinormal = sCurveGeomVec[1] * sCurveNormal ;
// degenerate curve check
if (sCurveBinormal.LengthSquared() < SM_EFF_ZERO_SQ)
{
rePointType = SM_TC_TOUCHING ;
return SM_SUCCESS ;
}
SER(sCurveBinormal.Unitize()) ;
// get the cosine of the angle between the surfaceSectionNormal plane and
// the plane of the curve's osculating circle (needed for Meusnier's Theorem)
double dAngRad ;
sCurveBinormal.AngleBetween(sSurfaceNormal, dAngRad) ;
double dCosPhi = smos_Fabs(smos_Cosine(dAngRad - SM_PI/2.0)) ;
// characterize the curve shape as a circle or a line
SmBoolean bCurveLine = FALSE ;
double dCurveRadius = 0.0;
SmPoint3d sCurveCenter, sCurvePoint ;
SmVector3d sCurveCircleNormal, sCurveVec ;
if(smos_Fabs(dCurveCurvature) > SM_EFF_ZERO_SQRT)
{
// let Curve = curve osculating circle
bCurveLine = FALSE ;
dCurveRadius = smos_Fabs(1.0/dCurveCurvature);
sCurveCenter = sCurveGeomVec[0] + sCurveNormal * dCurveRadius;
sCurveCircleNormal = sCurveBinormal ;
}
else // curve is a line
{
bCurveLine = TRUE ;
}
// always load CurvePoint and CurveVec because when circle is large
// the curve is treated as a line
sCurvePoint = sCurveGeomVec[0] ;
sCurveVec = sCurveGeomVec[1] ;
// characterize the surface section curve or
// the surface dupin indicatrix shape (when curve plane is tangent to surface) as
// an osculating circle in the CurvePlane, a line, or two lines
SmBoolean bSurfaceLine = FALSE, bSurfaceTwoLines = FALSE ;
double dSurfaceRadius = 0.0;
SmPoint3d sSurfaceCenter ;
SmVector3d sSurfaceCircleNormal, sSurfaceVec, sSurfaceVec2 ;
// if the curve plane is tangent to the surface plane
if(smos_Fabs(dCosPhi) < SM_EFF_ZERO_RAD)
{
// It is either coincident, tangent or tangent and needs to be intersected
// with the asymptopes of the dupin's indicatrix curves.
switch(eSurfaceType)
{
case SM_LS_PLANAR : rePointType = SM_TC_COINCIDENT ;
return(SM_SUCCESS) ;
case SM_LS_ELLIPTICAL : rePointType = SM_TC_TANGENT ;
return(SM_SUCCESS) ;
case SM_LS_HYPERBOLIC : { rePointType = SM_TC_TANGENT ;
bSurfaceLine = TRUE ;
bSurfaceTwoLines = TRUE ;
// Let us compute the vectors by evaluating the hyperbola
// K1*x^2 + K2*y^2 = 1 at a large X value and computing the
// Y. This should give us a vector in terms of the principle
// curvature vectors which defines the asymptotic directions of the
// hyperbola.
double dY = 10000.0;
double dTmp = (1-dPrincipleCurvature1*dY*dY) / dPrincipleCurvature2;
if (dTmp < 0.0) dTmp = 0.0; // should be caught as elliptical or cylindrical cases, but just in case. . .
double dX = smos_Sqrt( dTmp );
//double dSize = smos_Sqrt(dY*dY + dX*dX) ;
sSurfaceVec = dY * PrincipleCurvatureVector1 + dX * PrincipleCurvatureVector2;
sSurfaceVec2 = dY * PrincipleCurvatureVector1 - dX * PrincipleCurvatureVector2;
sSurfaceVec.Unitize() ;
sSurfaceVec2.Unitize() ;
}
break ;
case SM_LS_CYLINDRICAL : rePointType = SM_TC_TANGENT ;
bSurfaceLine = TRUE ;
bSurfaceTwoLines = FALSE ;
sSurfaceVec = smos_Fabs(dPrincipleCurvature1) < SM_EFF_ZERO_SQRT
? PrincipleCurvatureVector1
: PrincipleCurvatureVector2 ;
break ;
} // end switch on eSurfaceType
} // end curvePlane is tangent to surface branch
// else curvePlane is not tangent to surface and when the surfaceSection is flat
else if (smos_Fabs(dSurfaceSectionCurvature) < SM_EFF_ZERO_SQRT)
{
bSurfaceLine = TRUE ;
bSurfaceTwoLines = FALSE ;
sSurfaceVec = sSurfaceSectionTangent ;
}
else // curvePlane is not tangent to surface and surfaceSection is curved
{
bSurfaceLine = FALSE ;
bSurfaceTwoLines = FALSE ;
sSurfaceVec = sSurfaceSectionTangent ;
// get surface osculating circle in the curve's plane
// remember to use Meusnier's theorem to pick correct SurfaceCircleRadius
dSurfaceRadius = smos_Fabs(1.0 / dSurfaceSectionCurvature) * dCosPhi ;
// rotate the surface normal into the curve's plane about the tangent
// vector - do this by projecting the surface normal onto the curve plane
// and unitizing.
SmVector3d sSurfaceCircleCenterVec = (sCurveBinormal * (smos_Sgn(dSurfaceSectionCurvature) * sSurfaceNormal)) * sCurveBinormal ;
sSurfaceCircleCenterVec.Unitize() ;
// sCircle1Center = lies in direction of the sSurfaceCircleCenterVec not the sSurfaceNormal
sSurfaceCenter = sSurfacePoint + sSurfaceCircleCenterVec * dSurfaceRadius ;
sSurfaceCircleNormal = sCurveBinormal;
} // end get surface osculating circle branch
#ifdef SM_DEBUG_CODE
if(bDebugMe)
{
SmBrep *pBrep = crSurface.GetFace() ? ((SmFace *)crSurface.GetFace())->GetBrep() : NULL ;
if(pBrep == NULL) pBrep = crCurve.GetOwner() ? ((SmEdge *)crCurve.GetEdge())->GetBrep() : NULL ;
smgfx_Erase() ;
smgfx_SetLook(1,2, 0,0,1) ; if(pBrep) pBrep->Draw(TRUE) ; sm_GraphicsLoop() ;
smgfx_SetLook(1,2, 0,1,1) ; crSurface.DrawUV() ; sm_GraphicsLoop() ;
smgfx_SetLook(2,3, 0,1,0) ; crCurve.Draw() ; sm_GraphicsLoop() ;
smgfx_SetLook(4,5, 1,0,0) ; sPVV[0][0].Draw() ; sm_GraphicsLoop() ;
smgfx_SetLook(5,6, 1,0,1) ; sCurveGeomVec[0].Draw() ; sm_GraphicsLoop() ;
smgfx_SetLook(2,3, 1,.5,0); if(bSurfaceLine) { (3.0 * sSurfaceVec).Draw(&sSurfacePoint) ; sm_GraphicsLoop() ;
(-3.0 * sSurfaceVec).Draw(&sSurfacePoint) ; sm_GraphicsLoop() ;
if(bSurfaceTwoLines)
{ (3.0 * sSurfaceVec2).Draw(&sSurfacePoint) ; sm_GraphicsLoop() ;
(-3.0 * sSurfaceVec2).Draw(&sSurfacePoint) ; sm_GraphicsLoop() ; } }
else { SMGFX_DRAWLIST(NULL,
smgfx_DrawCircularArc(sSurfaceCenter,
(sSurfacePoint-sSurfaceCenter),
(sSurfacePoint-sSurfaceCenter)*sSurfaceCircleNormal,
dSurfaceRadius,
-90.0, 90.0,
dSurfaceRadius/100,
NULL)) ; sm_GraphicsLoop() ; }
smgfx_SetLook(3,4, .5,1,0); if(bCurveLine) { (3.0 * sCurveVec).Draw(&sCurvePoint) ; sm_GraphicsLoop() ;
(-3.0 * sCurveVec).Draw(&sCurvePoint) ; sm_GraphicsLoop() ; }
else{ SMGFX_DRAWLIST(NULL,
smgfx_DrawCircularArc(sCurveCenter,
(sCurvePoint-sCurveCenter),
(sCurvePoint-sCurveCenter)*sCurveCircleNormal,
dCurveRadius,
-90.0, 90.0,
dCurveRadius/100,
NULL)) ; sm_GraphicsLoop() ; }
sm_GraphicsLoop() ;
}
#endif // SM_DEBUG_CODE
// We need a tolerance for line and circle intersections.
// They're purely geometric, but could well have tolerance issues.
// Look to topology first, otherwise use heuristics.
double dCurveTol = SM_EFF_ZERO_SQRT; // default values, if nothing else to use.
double dSurfaceTol = SM_EFF_ZERO_SQRT;
SmEdge *pCurveOwner = SM_CAST_PTR( SmEdge, crCurve.GetOwner() );
if ( pCurveOwner != NULL )
{ dCurveTol = pCurveOwner->GetTolerance(); }
else if ( !bCurveLine )
{ dCurveTol = dCurveRadius / 1000; }
SmFace *pSurfaceOwner = SM_CAST_PTR( SmFace, crSurface.GetOwner() );
if ( pSurfaceOwner != NULL )
{ dSurfaceTol = pSurfaceOwner->GetTolerance(); }
else if ( !bSurfaceLine )
{ dSurfaceTol = dSurfaceRadius / 1000; }
double d3DTol = dCurveTol + dSurfaceTol;
// when both curve and surface shapes are lines
if(bCurveLine && bSurfaceLine)
{
// classify the point as crossing or coincident
rePointType = ( ( bSurfaceTwoLines && sCurveVec.IsParallelTo(sSurfaceVec2, 2.0))
|| ( bSurfaceLine && sCurveVec.IsParallelTo(sSurfaceVec, 2.0)))
? SM_TC_COINCIDENT
: SM_TC_CROSSING ;
// all done
return(SM_SUCCESS) ;
}
// when both shapes are curved - see if one should be treated as a line
if(!bCurveLine && !bSurfaceLine)
{
// when osculating circle radii vastly differ - treat one shape as a line
// (Note, 2.0 is not enough. [B30])
if (dCurveRadius > 1000.0 * dSurfaceRadius) { bCurveLine = TRUE ; }
else if(dSurfaceRadius > 1000.0 * dCurveRadius) { bSurfaceLine = TRUE ; }
}
// look for second intersections
SmVector3d sFoundVector ;
// when curve is linear or close enough
if(bCurveLine)
{
// intersect CurveLine with SurfaceOsculating Circle
ULONG lNumTsect;
double adTsectLineParam[2];
// intersect line with circle
SER(smgu_LineCoPlanarCircleIntersect(sCurvePoint, sCurveVec,
sSurfaceCenter, sSurfaceCircleNormal,
dSurfaceRadius, d3DTol,
lNumTsect, adTsectLineParam));
// If only have one or zero intersections we are done without
// picking up extra guess or finding coincidence
switch(lNumTsect)
{
// If no intersection, it's probably a tolerance thing,
// and probably tangent. (Was CROSSING in that case.)
// But leave the warning in, it should be checked.
case 0: { rePointType = SM_TC_TANGENT ; WARN(_T("Unexpected Branch")) ; return SM_SUCCESS; }
case 1: { rePointType = SM_TC_TANGENT ; return SM_SUCCESS; }
case 2: { rePointType = SM_TC_NEAR_TANGENT ; break ; }
}
// Find the other intersection -- i.e. the one we don't have
double dLineT = (smos_Fabs(adTsectLineParam[1]) > smos_Fabs(adTsectLineParam[0]))
? adTsectLineParam[1]
: adTsectLineParam[0];
SmPoint3d sOtherTsect = sCurvePoint + dLineT * sCurveVec;
sFoundVector = dLineT * sCurveVec ;
} // end Curve is line branch
// when surface is linear
if(bSurfaceLine)
{
// intersect SurfaceLine with CurveOsculating Circle
ULONG lNumTsect, lNumTsect2 = 0;
double adTsectLineParam[2], adTsectLineParam2[2];
SmVector3d sFoundVector2 ;
SmTsectCurveType eLocalPointType = SM_TC_UNKNOWN, eLocalPointType2 = SM_TC_UNKNOWN ;
// intersect line with circle
SER(smgu_LineCoPlanarCircleIntersect(sSurfacePoint, sSurfaceVec,
sCurveCenter, sCurveCircleNormal,
dCurveRadius, d3DTol,
lNumTsect, adTsectLineParam));
// use number of intersections to classify the point against SurfaceVec
switch(lNumTsect)
{
// If no intersection, it's probably a tolerance thing,
// and probably tangent. (Was CROSSING in that case.)
// But leave the warning in, it should be checked.
case 0: { eLocalPointType = SM_TC_TANGENT ; WARN(_T("Unexpected Branch")) ; break ; }
case 1: { eLocalPointType = SM_TC_TANGENT ; break ; }
case 2: { eLocalPointType = SM_TC_NEAR_TANGENT ;
// Find the other intersection -- i.e. the one we don't have
double dLineT = (smos_Fabs(adTsectLineParam[1]) > smos_Fabs(adTsectLineParam[0]))
? adTsectLineParam[1]
: adTsectLineParam[0];
SmPoint3d sOtherTsect = sSurfacePoint + dLineT * sSurfaceVec;
sFoundVector = dLineT * sSurfaceVec ;
}
break ;
} // end switch on number of line/circle intersection points
// when surface is represented by two lines
if(bSurfaceTwoLines)
{
// intersect SurfaceLine2 with CurveOsculating Circle
SER(smgu_LineCoPlanarCircleIntersect(sSurfacePoint, sSurfaceVec2,
sCurveCenter, sCurveCircleNormal,
dCurveRadius, d3DTol,
lNumTsect2, adTsectLineParam2));
// use number of intersections to classify the point against SurfaceVec2
switch(lNumTsect2)
{
// If no intersection, it's probably a tolerance thing,
// and probably tangent. (Was CROSSING in that case.)
// But leave the warning in, it should be checked.
case 0: { eLocalPointType2 = SM_TC_TANGENT ; WARN(_T("Unexpected Branch")) ; break ; }
case 1: { eLocalPointType2 = SM_TC_TANGENT ; break ; }
case 2: { eLocalPointType2 = SM_TC_NEAR_TANGENT ;
// Find the other intersection -- i.e. the one we don't have
double dLineT = (smos_Fabs(adTsectLineParam2[1]) > smos_Fabs(adTsectLineParam2[0]))
? adTsectLineParam2[1]
: adTsectLineParam2[0];
SmPoint3d sOtherTsect = sSurfacePoint + dLineT * sSurfaceVec;
sFoundVector2 = dLineT * sSurfaceVec ;
}
break ;
} // end switch on number of line/circle intersection points
} // end need to intersect with SurfaceVec2 check
// When there are no near-tangent cases - classify the intersection and exit
if(eLocalPointType != SM_TC_NEAR_TANGENT && eLocalPointType2 != SM_TC_NEAR_TANGENT)
{
rePointType = (!bSurfaceTwoLines) ? eLocalPointType : SM_TC_TANGENT ;
return(SM_SUCCESS) ;
}
// arrive here when we have a near-tangent case
rePointType = SM_TC_NEAR_TANGENT ;
// when there are two near-tangent cases
if(eLocalPointType == SM_TC_NEAR_TANGENT && eLocalPointType2 == SM_TC_NEAR_TANGENT)
{
// pick the closest 2nd intersection point (maybe we should use both)
if(sFoundVector2.LengthSquared() < sFoundVector.LengthSquared())
{ sFoundVector = sFoundVector2 ; }
}
// when only the second intersection was a near tangent case
else if(eLocalPointType2 == SM_TC_NEAR_TANGENT)
{
sFoundVector = sFoundVector2 ;
}
// else first intersection is a tangent case and sFoundVector is already set
} // end when surface is linear branch
// when curve and surface are both curved
if(!bCurveLine && !bSurfaceLine)
{
// intersect osculating curve and surface circles
ULONG lNumTsect;
SmPoint3d sTsectPoints[2];
// Do BiggerCircle/SmallerCircle intersection
if (dCurveRadius > dSurfaceRadius)
{
SER(smgu_CircleCoPlanarCircleIntersect(sCurveCircleNormal,
sCurveCenter,dCurveRadius,sSurfaceCenter,dSurfaceRadius,
d3DTol,
lNumTsect,sTsectPoints));
}
else
{
SER(smgu_CircleCoPlanarCircleIntersect(sSurfaceCircleNormal,
sSurfaceCenter,dSurfaceRadius,sCurveCenter,dCurveRadius,
d3DTol,
lNumTsect,sTsectPoints));
}
// If only have one or zero intersections we are done without
// picking up extra guess
switch(lNumTsect)
{
// If no intersection, it's probably a tolerance thing,
// and probably tangent. (Was CROSSING in that case.)
// But leave the warning in, it should be checked.
case 0: { rePointType = SM_TC_TANGENT ; WARN(_T("Unexpected Branch")) ; return SM_SUCCESS; }
case 1: { rePointType = SM_TC_TANGENT ; return SM_SUCCESS; }
case 2: { rePointType = SM_TC_NEAR_TANGENT ; break ; }
case 3: { rePointType = SM_TC_COINCIDENT ; return SM_SUCCESS; }
}
// else save new intersection guess point
sFoundVector = sTsectPoints[0] - sSurfacePoint ;
sFoundVector = (sFoundVector.Length() < sTsectPoints[1].DistanceBetween(sSurfacePoint))
? (sTsectPoints[1] - sSurfacePoint)
: (sTsectPoints[0] - sSurfacePoint) ;
} // end curve and surface are both curved branch
// { // let Circle1 = surface osculating circle in the curve's plane
// // remember to use Meusnier's theorem to pick correct circle1Radius
// dCircle1Radius = smos_Fabs(1.0 / dSurfaceSectionCurvature) * dCosPhi ;
// // SER(sSurfaceNormal.Unitize()); // all ready unitized
// // SER(sCurveNormal.Unitize()); // all ready unitized
//
// // rotate the surface normal into the curve's plane about the tangent
// // vector - do this by projecting the surface normal onto the curve plane
// // and unitizing.
// SmVector3d sSurfaceCircleNormal = (sCurveBinormal * sSurfaceNormal) * sCurveBinormal ;
// sSurfaceCircleNormal.Unitize() ;
//
// // sCircle1Center = lies in direction of the sSurfaceCircleNormal not the sSurfaceNormal
// sCircle1Center = sSurfacePoint + sSurfaceCircleNormal * dCircle1Radius ;
// sCircle1Normal = sCurveBinormal;
//
// // when Curve Curvature is or is close enough to being a line
// if ( smos_Fabs(dCurveCurvature) < SM_EFF_ZERO_SQRT
// || smos_Fabs(1.0/dCurveCurvature) > 2.0 * dCircle1Radius)
// {
// sLinePoint = sCurveGeomVec[0];
// sLineVec = sCurveGeomVec[1];
// SER(sLineVec.Unitize());
// bLineCircleIntersection = TRUE;
// }
// else // curve and surface curvatures are close enough to take into consideration
// {
// // let Circle2 = curve osculating circle
// dCircle2Radius = smos_Fabs(1.0/dCurveCurvature);
//
// // when surface is flat compared to the curve
// if (dCircle1Radius > 2.0 * dCircle2Radius)
// {
// // let circle1 = curve osculating circle
// dCircle1Radius = smos_Fabs(1.0/dCurveCurvature);
// sCircle1Center = sCurveGeomVec[0] + sCurveNormal * dCircle1Radius;
// sCircle2Normal = sCurveBinormal;
//
// // let line = surface tangent line
// sLinePoint = sSurfacePoint;
// sLineVec = sSurfaceSectionTangent;
// SER(sLineVec.Unitize());
// bLineCircleIntersection = TRUE;
// }
// else // curve and surface curvature are nearly equal branch
// {
// // let circle2 = curve osculating circle
// sCircle2Center = sCurveGeomVec[0] + sCurveNormal * dCircle2Radius;
// sCircle2Normal = sCurveBinormal;
// } // end nearly equal curve and surface curvatures branch
// } // end curve ans surface curvatures are close to one another
// } // end surface curvature in curve direction check
//
// SmBoolean bLineCircleIntersection = FALSE, bTwoLineIntersection = FALSE ;
//
// double dCircle1Radius, dCircle2Radius;
// SmPoint3d sLinePoint, sCircle1Center, sCircle2Center;
// SmVector3d sLineVec, sLineVec2, sCircle1Normal, sCircle2Normal;
// SmVector3d sFoundVector;
//
// // If the surface section curvature is zero then use a line instead of a circle for the surface.
// // Also if the radius of one circle is greater then twice the
// // other use a line for the one with the larger radius.
//
//
// // when test = circle/line intersection
// if (bLineCircleIntersection)
// {
// ULONG lNumTsect;
// double adTsectLineParam[2];
//
// // intersect line with circle
// SER(smgu_LineCoPlanarCircleIntersect(sLinePoint, sLineVec,
// sCircle1Center, sCircle1Normal,
// dCircle1Radius, SM_EFF_ZERO,
// lNumTsect, adTsectLineParam));
//
// // If only have one or zero intersections we are done without
// // picking up extra guess or finding coincidence
// switch(lNumTsect)
// {
// case 0: rePointType = SM_TC_CROSSING ; WARN(_T("Unexpected Branch")) ; return SM_SUCCESS;
// case 1: rePointType = SM_TC_TANGENT ; return SM_SUCCESS;
// case 2: rePointType = SM_TC_NEAR_TANGENT ; break ;
// }
//
// // Find the other intersection -- i.e. the one we don't have
// double dLineT = adTsectLineParam[0];
// if (smos_Fabs(adTsectLineParam[1]) > smos_Fabs(adTsectLineParam[0]))
// {
// dLineT = adTsectLineParam[1];
// }
// SmPoint3d sOtherTsect = sLinePoint + dLineT * sLineVec;
// sFoundVector = dLineT * sLineVec;
// }
// else // test = circle/circle interesection
// {
// ULONG lNumTsect;
// SmPoint3d sTsectPoints[2];
//
// // Do BiggerCircle/SmallerCircle intersection
// if (dCircle1Radius > dCircle2Radius)
// {
// SER(smgu_CircleCoPlanarCircleIntersect(sCircle1Normal,
// sCircle1Center,dCircle1Radius,sCircle2Center,dCircle2Radius,
// SM_EFF_ZERO,
// lNumTsect,sTsectPoints));
// }
// else
// {
// SER(smgu_CircleCoPlanarCircleIntersect(sCircle2Normal,
// sCircle2Center,dCircle2Radius,sCircle1Center,dCircle1Radius,
// SM_EFF_ZERO,
// lNumTsect,sTsectPoints));
// }
//
// // If only have one or zero intersections we are done without
// // picking up extra guess
// switch(lNumTsect)
// {
// case 0: rePointType = SM_TC_CROSSING ; WARN(_T("Unexpected Branch")) ; return SM_SUCCESS;
// case 1: rePointType = SM_TC_TANGENT ; return SM_SUCCESS;
// case 2: rePointType = SM_TC_NEAR_TANGENT ; break ;
// case 3: rePointType = SM_TC_COINCIDENT ; return SM_SUCCESS;
// }
//
// // else save new intersection guess point
// sFoundVector = sTsectPoints[0] - sSurfacePoint;
// if (sFoundVector.Length() < sTsectPoints[1].DistanceBetween(sSurfacePoint))
// {
// sFoundVector = sTsectPoints[1] - sSurfacePoint;
// }
// } // end test = circle/circle intersection
// Use the found vector to compute an approximate step in the
// curve and surface parameters.
SmVector3d sDU = sPVV[1][0] ;
SmVector3d sDV = sPVV[0][1] ;
rbFoundGuess = TRUE;
// old style: rdNewTGuess = dCurrentT + sm_ConvertToParameterDelta(sCurveGeomVec[1],sFoundVector);
// new style: account for circlular arc distance in curves.
// gwc: the two approaches were about the same so didn't bother to make a change to the surface guess.
rdNewTGuess = dCurrentT + smos_Sgn(sCurveGeomVec[1].Dot(sFoundVector))
* ( bCurveLine ? sFoundVector.Length()
: 2.0 * dCurveRadius * smos_ArcSine(sFoundVector.Length()/2.0/dCurveRadius))
/ sCurveGeomVec[1].Length();
// Use the combined 2d shift, instead of two 1-d shifts. [B30]
SmPoint2d sDeltaUV;
SmStatus eStat = smgu_VecLinCombTwoVectors( sDU, sDV, sFoundVector, sDeltaUV );
if ( eStat == SM_SUCCESS )
{
rNewUVGuess = crCurrentUV + sDeltaUV;
}
else
{
// Well, ok, if the 2d shift fails, then try two 1-d shifts.
// Presumably one will succeed and one will fail, but the one that fails
// is on a degenerate surface derivative, so its magnitude doesn't mean much anyway.
rNewUVGuess.x = crCurrentUV.x + sm_ConvertToParameterDelta(sDU,sFoundVector);
rNewUVGuess.y = crCurrentUV.y + sm_ConvertToParameterDelta(sDV,sFoundVector);
}
// skip guesses outside of both given domains - keep guesses in at least one domain
if ( !crInterval.ContainsValue(rdNewTGuess)
&& !crUVDomain.ContainsPoint2d(rNewUVGuess))
{
// If the guess is outside of the domain we'll be able to pick it up using
// another method.
rbFoundGuess = FALSE;
return SM_SUCCESS;
}
// set output
rdNewTGuess = crInterval.ClampValue(rdNewTGuess);
rNewUVGuess = crUVDomain.ClampPoint2d(rNewUVGuess);
#ifdef SM_DEBUG_CODE
if(bDebugMe)
{
SmBrep *pBrep = crSurface.GetFace() ? ((SmFace *)crSurface.GetFace())->GetBrep() : NULL ;
if(pBrep == NULL) pBrep = crCurve.GetOwner() ? ((SmEdge *)crCurve.GetEdge())->GetBrep() : NULL ;
SmVector3d sNewCurvePt, sNewSurfacePt ;
crCurve.EvaluatePoint(rdNewTGuess, sNewCurvePt) ;
crSurface.EvaluatePoint(rNewUVGuess, sNewSurfacePt) ;
smgfx_Erase() ;
smgfx_SetLook(1,2, 0,0,1) ; if(pBrep) pBrep->Draw(TRUE) ; sm_GraphicsLoop() ;
smgfx_SetLook(1,2, 0,1,1) ; crSurface.DrawUV() ; sm_GraphicsLoop() ;
smgfx_SetLook(2,3, 0,1,0) ; crCurve.Draw() ; sm_GraphicsLoop() ;
smgfx_SetLook(4,5, 1,0,0) ; sPVV[0][0].Draw() ; sm_GraphicsLoop() ;
smgfx_SetLook(1,5, 1,.5,0); sPVV[0][0].DrawPointToPoint(sPVV[0][0]+sFoundVector) ; sm_GraphicsLoop() ;
smgfx_SetLook(5,6, 1,0,1) ; sCurveGeomVec[0].Draw() ; sm_GraphicsLoop() ;
smgfx_SetLook(7,8, 0,0,1) ; sNewCurvePt.Draw() ; sm_GraphicsLoop() ;
smgfx_SetLook(7,8, 0,.5,1); sNewSurfacePt.Draw() ; sm_GraphicsLoop() ;
sm_GraphicsLoop() ;
}
#endif // SM_DEBUG_CODE
// all done
return SM_SUCCESS; // Found a guess - loaded it now we are done
} // end sm_ClassifyCurveSurfaceXSectPoint
// ---- verbatim: SmSurface.cpp lines 24435-24468: class SmCSIntersectENFO
class SmCSIntersectENFO : public SmEvalNFunctionsObject
{
protected:
const SmCurve & m_crCurve; // Target Curve
const SmSurface & m_crSurface; // Target Surface
double m_dSquaredTolerance; // not currently used
ULONG m_lCount; // Number of calls to Evaluate
double m_dLastSum; //
SmBoolean m_bDoMinimize; // TRUE = Find closest Curve/Surface point pair
// using different equations in Evaluate().
// FALSE= minimize Curve/Surface point distance
public:
// constructor, destructor
SmCSIntersectENFO
(const SmCurve & crCurve,
const SmSurface & crSurface,
double dSquaredTolerance)
: m_crCurve(crCurve),
m_crSurface(crSurface),
m_dSquaredTolerance(dSquaredTolerance),
m_lCount(0),
m_dLastSum(0.0),
m_bDoMinimize(FALSE)
{ }
virtual ~SmCSIntersectENFO() {}
// NewtonRaphson Evalaluate callback function
virtual SmStatus Evaluate(const SmTArray<double> & crX, // in : x of Ax=F
SmTArray<double> & rF, // out: F of Ax=F function values,
SmMatrix * pOptJacobian, // out: Partial derivatives of the functions.
SmBoolean & rbFoundAnswer); // out: Not always used, when used
// TRUE = converged (F members are within tolerance of 0.0
// FALSE= Not Used or Not Converged
} ; // end class SmCSIntersectENFO
// ---- verbatim: SmSurface.cpp lines 24501-24705: SmCSIntersectENFO::Evaluate
SmStatus SmCSIntersectENFO::Evaluate
(const SmTArray<double> & crX, // in : crX[0] = curve t param
// crX[1] = surface u param
// crX[2] = surface v param
SmTArray<double> & rF, // out: error vector = surf(u,v) - curve(t)
SmMatrix * pOptJacobian, // opt: | -dCX/dt dSX/du dSX/dv |
// | -dCY/dt dSY/du dSY/dv |
// | -dCZ/dt dSZ/du dSZ/dv |
SmBoolean & rbFoundAnswer) // not currently used
{
// check input state
SM_ASSERT(crX.GetSize() == 3);
SM_ASSERT(rF.GetSize() == 3);
if (pOptJacobian)
{
SM_ASSERT(pOptJacobian->GetNumRows() == 3);
SM_ASSERT(pOptJacobian->GetNumColumns() == 3);
}
// count calls
m_lCount++;
// init output
rbFoundAnswer = FALSE;
// Evaluate CurvePoint
SmPoint3d sCurvePV[2]; // sCurvePV[0] = m_crCurve 3dPoint
// sCurvePV[1] = m_crCurve 3dTangent
SER(m_crCurve.Evaluate(crX[0],1,TRUE,sCurvePV,TRUE)); // nonZeroTangent values
// Evaluate SurfacePoint
SmPoint3d sSurfacePoint;
SmVector3d sDU, sDV;
SmPoint2d sUV(crX[1],crX[2]);
SER(m_crSurface.Evaluate1stDerivatives(sUV,TRUE,TRUE,sSurfacePoint,sDU,sDV)); // nonZeroTangent values
#ifdef SM_DEBUG_CODE
SmBoolean bDebugMe = FALSE;
// draw CurvePoint(red) and SurfacePoint(yellow)
if (bDebugMe)
{
sm_GraphicsLoop();
smgfx_SetLook(1,2, 0,1,0); m_crCurve.DrawAt(crX[0],2); sm_GraphicsLoop();
smgfx_SetLook(1,2, 1,1,0); m_crSurface.DrawAt(sUV,2); sm_GraphicsLoop();
sm_GraphicsLoop();
}
#endif
// Fail at singular Curve and Surface Points - zero tangent lengths
if ( sDU.LengthSquared() < SM_EFF_ZERO_SQ
|| sDV.LengthSquared() < SM_EFF_ZERO_SQ
|| sCurvePV[1].LengthSquared() < SM_EFF_ZERO_SQ)
{
return SM_ERR;
}
// get Gap Vector = S - C
SmVector3d sVecSMinusC = sSurfacePoint - sCurvePV[0];
#ifdef SM_DEBUG_CODE
if (bDebugMe)
{
sm_GraphicsLoop();
smgfx_SetLook(2,4, 1,0,0); sVecSMinusC.Draw(&sCurvePV[0]); sm_GraphicsLoop();
sm_GraphicsLoop();
}
#endif
// Intersection simply tries to minimize the following three functions
// fun[0] = (S(u,v) - C(t)).x
// fun[1] = (S(u,v) - C(t)).y
// fun[2] = (S(u,v) - C(t)).z
//
// It produces the following Jacobian
// | -dC/dt.x dS/du.x dS/dv.x |
// | -dC/dt.y dS/du.y dS/dv.y |
// | -dC/dt.z dS/du.z dS/dv.z |
if (pOptJacobian)
{
(*pOptJacobian)[0][0] = -sCurvePV[1].x;
(*pOptJacobian)[0][1] = sDU.x;
(*pOptJacobian)[0][2] = sDV.x;
(*pOptJacobian)[1][0] = -sCurvePV[1].y;
(*pOptJacobian)[1][1] = sDU.y;
(*pOptJacobian)[1][2] = sDV.y;
(*pOptJacobian)[2][0] = -sCurvePV[1].z;
(*pOptJacobian)[2][1] = sDU.z;
(*pOptJacobian)[2][2] = sDV.z;
}
// Compute function values
rF[0] = sVecSMinusC.x;
rF[1] = sVecSMinusC.y;
rF[2] = sVecSMinusC.z;
// Check for solver not converging.
// If we've iterated too many times, and it looks like a tangency situation.
// Some parameters for the check:
// How many times before we check.
// Note, this should maybe higher, because it will reach 10 while the
// caller's iteration count is only 4.
// However, 25 causes problems in my_shell_demo 10.
ULONG lIterLim = 10;
// How close to tangent to prompt switching.
// Note, 5 degrees is too big [090408]; experience suggests that
// this should maybe even be smaller than 1 degree. [bd]
// Use 0.5. [B234: limit about 0.75 for this]
double dTangentTolDeg = 0.5;
double dScaledZero = SM_EFF_ZERO * (1.0 + sSurfacePoint.GetMaxDimension()) ;
if ( m_bDoMinimize
|| ( m_lCount > lIterLim
&& sVecSMinusC.LengthSquared() > m_dLastSum /* + dScaledZero */))
{
// if we are near a tangent point
SmPoint3d sCrvPVV[3];
SmVector3d sNorm;
SER(m_crCurve.Evaluate(crX[0],2,TRUE,sCrvPVV,TRUE)); // nonZeroTangent values
SER(m_crSurface.EvaluateNormal(sUV,TRUE,TRUE,sNorm));
if(sNorm.IsPerpendicularTo(sCrvPVV[1], dTangentTolDeg ))
{
// Slow convergence problem. Switch to a normalize operation.
// this next section should be exactly the same as SmCSNormalizeENFO::Evaluate
m_bDoMinimize = TRUE;
SmVector3d sDUV, sDUU, sDVV;
SER(m_crSurface.Evaluate2ndDerivatives(sUV,TRUE,TRUE,sSurfacePoint,
sDU,sDV,sDUV,sDUU,sDVV));
sVecSMinusC = sSurfacePoint - sCrvPVV[0];
// Try a little trick here if the curve/surface gap distance
// gets very small. Translate surfacePoint by its
// normal vector in the appropriate direction. This
// preserves angles while increasing the gap size
if (sVecSMinusC.LengthSquared() < 1000.0 * dScaledZero)
{
// recalculate gap vector with offset SurfacePoint
if (sNorm.Dot(sVecSMinusC) >= 0.0)
{
sVecSMinusC = sSurfacePoint+sNorm - sCrvPVV[0];
}
else
{
sVecSMinusC = sSurfacePoint-sNorm - sCrvPVV[0];
}
} // end small gap check
// Normalization, Minimization, Maximization
// Normalizaiton simply tries to minimize the following three functions
// fun[0] = dt*(S-C)
// fun[1] = du*(S-C)
// fun[2] = dv*(S-C)
//
// It produces the following Jacobian
// | dtt*(S-C) - dt*dt dt*du dt*dv |
// | -du*dt duu*(S-C) + du*du duv*(S-C) + dv*du |
// | -dv*dt duv*(S-C) + dv*du dvv*(S-C) + dv*dv |
if (pOptJacobian)
{
(*pOptJacobian)[0][0] = sCrvPVV[2].Dot(sVecSMinusC) - sCrvPVV[1].Dot(sCrvPVV[1]);
(*pOptJacobian)[0][1] = sCrvPVV[1].Dot(sDU);
(*pOptJacobian)[0][2] = sCrvPVV[1].Dot(sDV);
(*pOptJacobian)[1][0] = -sDU.Dot(sCrvPVV[1]);
(*pOptJacobian)[1][1] = sDUU.Dot(sVecSMinusC) + sDU.Dot(sDU);
(*pOptJacobian)[1][2] = sDUV.Dot(sVecSMinusC) + sDU.Dot(sDV);
(*pOptJacobian)[2][0] = -sDV.Dot(sCrvPVV[1]);
(*pOptJacobian)[2][1] = (*pOptJacobian)[1][2];
(*pOptJacobian)[2][2] = sDVV.Dot(sVecSMinusC) + sDV.Dot(sDV);
}
// Compute function values
rF[0] = sCrvPVV[1].Dot(sVecSMinusC);
rF[1] = sDU.Dot(sVecSMinusC);
rF[2] = sDV.Dot(sVecSMinusC);
}
}
if (m_lCount > 9)
{
m_dLastSum = sVecSMinusC.LengthSquared();
}
#ifdef SM_DEBUG_CODE
if (bDebugMe)
{
if (pOptJacobian) pOptJacobian->Dump();
smos_WriteBuffer(_T(" X --- \n")); crX.Dump();
smos_WriteBuffer(_T(" F --- \n")); rF.Dump();
}
#endif
return SM_SUCCESS;
} // end SmCSIntersectENFO::Evaluate
// ---- verbatim: SmSurface.cpp lines 25190-25229: class SmCSNormalizeENFO
class SmCSNormalizeENFO : public SmEvalNFunctionsObject
{
protected:
const SmCurve & m_crCurve; // Target Curve
const SmSurface & m_crSurface; // Target Surface
SmSolverOperationType m_eSolverOperation; // SM_SO_3D_SIGNED_DIRECTED_MINIMIZE
// ALL_OTHERS
double m_dDistanceTolerance; // not currently used
const SmVector3d * m_cpOptVectors; // When SM_SO_3D_SIGNED_DIRECTED_MINIMIZE
// m_cpOptVectors[0] = direction to minimize
// else - not used
double m_dSquaredTolerance; // not currently used
public:
// constructor, destructor
SmCSNormalizeENFO
(const SmCurve & crCurve,
const SmSurface & crSurface,
SmSolverOperationType eSolverOperation,
double dDistanceTolerance,
const SmVector3d * cpOptVectors,
double dSquaredTolerance)
: m_crCurve(crCurve),
m_crSurface(crSurface),
m_eSolverOperation(eSolverOperation),
m_dDistanceTolerance(dDistanceTolerance),
m_cpOptVectors(cpOptVectors),
m_dSquaredTolerance(dSquaredTolerance)
{ }
virtual ~SmCSNormalizeENFO() {}
// NewtonRaphson used evaluate callback
virtual SmStatus Evaluate(const SmTArray<double> & crX, // in : x of Ax=F
SmTArray<double> & rF, // out: F of Ax=F function values,
SmMatrix * pOptJacobian, // out: Partial derivatives of the functions.
SmBoolean & rbFoundAnswer); // out: Not always used, when used
// TRUE = converged (F members are within tolerance of 0.0
// FALSE= Not Used or Not Converged
} ; // end class SmCSNormalizeENFO
// ---- verbatim: SmSurface.cpp lines 25275-25526: SmCSNormalizeENFO::Evaluate
SmStatus SmCSNormalizeENFO::Evaluate
(const SmTArray<double> & crX, // in : x of Ax=F
SmTArray<double> & rF, // out: F of Ax=F function values,
SmMatrix * pOptJacobian, // out: Partial derivatives of the functions.
SmBoolean & rbFoundAnswer) // out: TRUE =
// FALSE=
{
ULONG lCount = (m_eSolverOperation == SM_SO_3D_SIGNED_DIRECTED_MINIMIZE)
? 4
: 3 ;
SM_ASSERT(crX.GetSize() == lCount);
SM_ASSERT(rF.GetSize() == lCount);
if (pOptJacobian)
{
SM_ASSERT(pOptJacobian->GetNumRows() == lCount);
SM_ASSERT(pOptJacobian->GetNumColumns() == lCount);
}
// init output
rbFoundAnswer = FALSE;
// evaluate Curve Point and derivs
SmPoint3d sCrvPVV[3];
SER(m_crCurve.Evaluate(crX[0],2,TRUE,sCrvPVV,TRUE)); // nonZeroTangent values
// evaluate Surface Point and derivs
SmPoint3d sS;
SmVector3d sSu, sSv, sSuu, sSuv, sSvv;
SmPoint2d sUV(crX[1],crX[2]);
SER(m_crSurface.Evaluate2ndDerivatives(sUV,TRUE,TRUE,sS,
sSu,sSv,sSuv,sSuu,sSvv));
// Naming:
SmPoint3d &sC = sCrvPVV[0];
SmPoint3d &sCt = sCrvPVV[1];
SmPoint3d &sCtt = sCrvPVV[2];
#ifdef SM_DEBUG_CODE
SmBoolean bDebugMe = FALSE ;
// draw CurvePoint(green), SurfacePoint(Yellow)
if (bDebugMe)
{
SmEdge *pEdge = (SmEdge *)m_crCurve.GetEdge() ;
SmFace *pFace = (SmFace *)m_crSurface.GetFace() ;
SmBrep *pBrep1 = pEdge ? pEdge->GetBrep() : NULL ;
SmBrep *pBrep2 = pFace ? pFace->GetBrep() : NULL ;
smgfx_Erase();
smgfx_SetLook(1,2, 0,0,1) ; if(pBrep1) pBrep1->Draw(TRUE) ; sm_GraphicsLoop() ;
smgfx_SetLook(1,2, 0,1,0) ; if(pBrep2) pBrep2->Draw(TRUE) ; sm_GraphicsLoop() ;
smgfx_SetLook(3,4, 0,1,1) ; m_crCurve.Draw() ; sm_GraphicsLoop() ;
smgfx_SetLook(3,4, 1,1,0) ; m_crCurve.DrawCurvature() ; sm_GraphicsLoop() ;
smgfx_SetLook(3,4, 1,0,0) ; m_crCurve.DrawParams() ; sm_GraphicsLoop() ;
smgfx_SetLook(1,2, 1,1,0) ; m_crSurface.DrawUV() ; sm_GraphicsLoop() ;
smgfx_SetLook(5,6, 1,0,0) ; m_crCurve.DrawAt(crX[0],2); sm_GraphicsLoop();
smgfx_SetLook(7,8, 0,1,0) ; m_crSurface.DrawAt(sUV,2); sm_GraphicsLoop() ;
sm_GraphicsLoop();
}
#endif // SM_DEBUG_CODE
// Fail at singular curve or surface points - zero length tangents
if ( sCt.LengthSquared() < SM_EFF_ZERO_SQ
|| sSu.LengthSquared() < SM_EFF_ZERO_SQ
|| sSv.LengthSquared() < SM_EFF_ZERO_SQ)
{
return SM_ERR;
}
// get gap vector
SmVector3d sSMinusC = sS - sC;
double dScaledZero = SM_EFF_ZERO * 1000.0 * ( 1.0 + sS.GetMaxDimension());
// Try a little trick here if the curve/surface gap distance
// gets very small. Translate surfacePoint by its
// normal vector in the appropriate direction. This
// preserves angles while increasing the gap size
if (sSMinusC.LengthSquared() < dScaledZero)
{
SmVector3d sNorm;
// get offset direction as SurfNormal or given direction
if (m_eSolverOperation == SM_SO_3D_SIGNED_DIRECTED_MINIMIZE)
{
sNorm = m_cpOptVectors[0];
}
else
{
SER(m_crSurface.EvaluateNormal(sUV,TRUE,TRUE,sNorm));
}
// recalculate gap vector with offset SurfacePoint
if (sNorm.Dot(sSMinusC) >= 0.0)
{
sSMinusC = sS+sNorm - sC;
}
else
{
sSMinusC = sS-sNorm - sC;
}
} // end small gap check
#ifdef SM_DEBUG_CODE
// draw new gap vector(red)
if (bDebugMe)
{
sm_GraphicsLoop();
smgfx_SetLook(2,4, 1,0,0); sSMinusC.Draw(&sC); sm_GraphicsLoop() ;
sm_GraphicsLoop();
}
#endif
// Unitize Ct and get its derivative.
SmVector3d sCt_Unit( sCt );
sCt_Unit.Unitize();
SmVector3d sCt_Unit_t = sCt.UnitizedDerivative( sCtt );
// branch on SolverOperation
if (m_eSolverOperation == SM_SO_3D_SIGNED_DIRECTED_MINIMIZE)
{
// 3D Signed Directed Minimize evalautes the four functions
// fun[0] = Ct*(N) // Make curve tangent lie in surface tangent plane - N is unitized surface Normal
// fun[1] = S.x - C.x - w * V.x // Intersection of line from curve to surface along V
// fun[2] = S.y - C.y - w * V.y
// fun[3] = S.z - C.z - w * V.z
// and associated Jacobian:
// | Ctt * N Ct * dNdu Ct * dNdv 0.0 |
// | -Ct.x Su.x Sv.x -V.x |
// | -Ct.y Su.y Sv.y -V.y |
// | -Ct.z Su.z Sv.z -V.z |
//
// Amended to use unit Ct and N in the objective functions.
NER(m_cpOptVectors);
// Surface Normal, unit, and derivatives
SmVector3d sCross = sSu * sSv;
SmVector3d sCrossu = sSu.DerivativeOfCrossProduct( sSv, sSuu, sSuv );
SmVector3d sCrossv = sSu.DerivativeOfCrossProduct( sSv, sSuv, sSvv );
// 'N' will mean 'Unit'.
SmVector3d sN( sCross );
sN.Unitize();
SmVector3d sNu = sCross.UnitizedDerivative( sCrossu );
SmVector3d sNv = sCross.UnitizedDerivative( sCrossv );
if (pOptJacobian)
{
(*pOptJacobian)[0][0] = sCt_Unit_t.Dot( sN );
(*pOptJacobian)[0][1] = sCt_Unit .Dot( sNu );
(*pOptJacobian)[0][2] = sCt_Unit .Dot( sNv );
(*pOptJacobian)[0][3] = 0.0;
(*pOptJacobian)[1][0] = -sCt.x;
(*pOptJacobian)[1][1] = sSu.x;
(*pOptJacobian)[1][2] = sSv.x;
(*pOptJacobian)[1][3] = -m_cpOptVectors[0].x;
(*pOptJacobian)[2][0] = -sCt.y;
(*pOptJacobian)[2][1] = sSu.y;
(*pOptJacobian)[2][2] = sSv.y;
(*pOptJacobian)[2][3] = -m_cpOptVectors[0].y;
(*pOptJacobian)[3][0] = -sCt.z;
(*pOptJacobian)[3][1] = sSu.z;
(*pOptJacobian)[3][2] = sSv.z;
(*pOptJacobian)[3][3] = -m_cpOptVectors[0].z;
}
// Compute function values
SmVector3d sVec = sS - sC - crX[3] * m_cpOptVectors[0];
rF[0] = sCt_Unit.Dot(sN);
rF[1] = sVec.x;
rF[2] = sVec.y;
rF[3] = sVec.z;
}
else
{ // Normalization, Minimization, Maximization
// Normalizaiton simply tries to minimize the following three functions
// fun[0] = Ct*(S-C)
// fun[1] = Su*(S-C)
// fun[2] = Sv*(S-C)
//
// It produces the following Jacobian
// | Ctt*(S-C) - Ct*Ct Ct*Su Ct*Sv |
// | -Su*Ct Suu*(S-C) + Su*Su Suv*(S-C) + Sv*Su |
// | -Sv*Ct Suv*(S-C) + Sv*Su Svv*(S-C) + Sv*Sv |
//
// Amended to use unitized Ct, Su, and Sv in the objective functions.
// Unitize sSu and sSv and get their derivatives.
SmVector3d sSu_Unit( sSu );
sSu_Unit.Unitize();
SmVector3d sSu_Unit_u = sSu.UnitizedDerivative( sSuu );
SmVector3d sSu_Unit_v = sSu.UnitizedDerivative( sSuv );
SmVector3d sSv_Unit( sSv );
sSv_Unit.Unitize();
SmVector3d sSv_Unit_u = sSv.UnitizedDerivative( sSuv ); // Note: not the same as sSu_Unit_v.
SmVector3d sSv_Unit_v = sSv.UnitizedDerivative( sSvv );
if (pOptJacobian)
{
(*pOptJacobian)[0][0] = sCt_Unit_t.Dot( sSMinusC ) - sCt_Unit.Dot( sCt );
(*pOptJacobian)[0][1] = sCt_Unit .Dot( sSu );
(*pOptJacobian)[0][2] = sCt_Unit .Dot( sSv );
(*pOptJacobian)[1][0] = -sSu_Unit .Dot( sCt );
(*pOptJacobian)[1][1] = sSu_Unit_u.Dot( sSMinusC ) + sSu_Unit.Dot( sSu );
(*pOptJacobian)[1][2] = sSu_Unit_v.Dot( sSMinusC ) + sSu_Unit.Dot( sSv );
(*pOptJacobian)[2][0] = -sSv_Unit .Dot( sCt );
(*pOptJacobian)[2][1] = sSv_Unit_u.Dot( sSMinusC ) + sSv_Unit.Dot( sSu );
(*pOptJacobian)[2][2] = sSv_Unit_v.Dot( sSMinusC ) + sSv_Unit.Dot( sSv );
}
// Compute function values
rF[0] = sCt_Unit.Dot( sSMinusC );
rF[1] = sSu_Unit.Dot( sSMinusC );
rF[2] = sSv_Unit.Dot( sSMinusC );
}
#ifdef SM_DEBUG_CODE
SmBoolean bDebugMe2 = FALSE;
if (bDebugMe2)
{
if (pOptJacobian && m_eSolverOperation == SM_SO_3D_SIGNED_DIRECTED_MINIMIZE)
{
pOptJacobian->Dump();
smos_WriteBuffer(_T(" X --- \n")); crX.Dump();
smos_WriteBuffer(_T(" F --- \n")); rF.Dump();
SmMatrix sTmpJ(4,4);
SmTArray<double> sTmpX(crX);
SER(ComputeJacobian(sTmpX,rF,sTmpJ));
sTmpJ.Dump();
}
else
{
if (pOptJacobian) pOptJacobian->Dump();
smos_WriteBuffer(_T(" X --- \n")); crX.Dump();
smos_WriteBuffer(_T(" F --- \n")); rF.Dump();
}
}
#endif
return SM_SUCCESS;
} // end SmCSNormalizeENFO::Evaluate
// ---- verbatim: SmSurface.cpp lines 26582-26615: class SmSSPIntersectENFO
class SmSSPIntersectENFO : public SmEvalNFunctionsObject
{
protected:
const SmSurface & m_crSurface; // 1st target surface
const SmSurface & m_crOtherSurface; // 2nd target surface
SmBoolean m_bSteepestDescent; // TRUE = each iteration let PlaneThroughPoint = avg(surf1Point,surf2Point)
// PlaneNormal = cross(surf1Normal,surf2Normal)
// FALSE= each iteration let Plane = m_cpPlane in surf/surf/Plane intersection
const SmPlane * m_cpPlane; // 3rd target surface - a plane
double m_dSquaredTolerance; // max deviation allowed for a solution
public:
// constructor, destructor
SmSSPIntersectENFO(const SmSurface & crSurface,
const SmSurface & crOtherSurface,
SmBoolean bSteepestDescent,
const SmPlane * cpOptPlane,
double dSquaredTolerance)
: m_crSurface(crSurface),
m_crOtherSurface(crOtherSurface),
m_bSteepestDescent(bSteepestDescent),
m_cpPlane(cpOptPlane),
m_dSquaredTolerance(dSquaredTolerance)
{ }
virtual ~SmSSPIntersectENFO() { }
// NewtonRaphson Equation Set Evaluation Callback Function
virtual SmStatus Evaluate(const SmTArray<double> & crX, // in : x of Ax=F
SmTArray<double> & rF, // out: F of Ax=F function values,
SmMatrix * pOptJacobian, // out: Partial derivatives of the functions.
SmBoolean & rbFoundAnswer); // out: Not always used, when used
// TRUE = converged (F members are within tolerance of 0.0
// FALSE= Not Used or Not Converged
} ; // end class SmSSPIntersectENFO
// ---- verbatim: SmSurface.cpp lines 26648-26826: SmSSPIntersectENFO::Evaluate
SmStatus SmSSPIntersectENFO::Evaluate
(const SmTArray<double> & crX, // in : x of Ax=F
SmTArray<double> & rF, // out: F of Ax=F function values,
SmMatrix * pOptJacobian, // out: Partial derivatives of the functions.
SmBoolean & rbFoundAnswer) // out: TRUE = current crX vector satisfies equations to tolerances
// FALSE= current crX not good enough - new one evaluated but not tested
{
// check input
SM_ASSERT(crX.GetSize() == 4);
SM_ASSERT(rF.GetSize() == 4);
if (pOptJacobian)
{
SM_ASSERT(pOptJacobian->GetNumRows() == 4);
SM_ASSERT(pOptJacobian->GetNumColumns() == 4);
}
// init output
rbFoundAnswer = FALSE;
// locals for surf1, surf2, and plane evaluations
SmPoint3d sF, sG, sH;
SmVector3d sDUF, sDVF, sDUG, sDVG, sDUH, sDVH;;
SmPoint2d sUV(crX[0],crX[1]), sUV2(crX[2],crX[3]);
SmPlane *pPlane = NULL ;
SmObjDelete sClean1 ;
// get surface 3d points - with 1st derivatives
SER(m_crSurface. Evaluate1stDerivatives(sUV, TRUE,TRUE,sF,sDUF,sDVF));
SER(m_crOtherSurface.Evaluate1stDerivatives(sUV2,TRUE,TRUE,sG,sDUG,sDVG));
// pick plane to use in this evaluation and get Plane derivatives
// when doing steepestDescent - plane = plane(surf1Point, surf2Point)
// else plane = m_cpPlane
if (m_bSteepestDescent)
{
// If we are doing a steepest descent then we just recompute a plane
// get planeThroughPoint
sH = (sF+sG) / 2.0; // Put plane between points of surfaces
// get planeNormal
SmVector3d sNorm1 = sDUF * sDVF;
SmVector3d sNorm2 = sDUG * sDVG;
if (sNorm1.LengthSquared() < SM_EFF_ZERO) { SER(m_crSurface.EvaluateNormal(sUV,TRUE,TRUE,sNorm1)); }
if (sNorm2.LengthSquared() < SM_EFF_ZERO) { SER(m_crOtherSurface.EvaluateNormal(sUV2,TRUE,TRUE,sNorm2)); }
SmVector3d sPlaneNorm = sNorm1 * sNorm2;
if (sPlaneNorm.LengthSquared() < SM_EFF_ZERO_SQ)
{ return SM_ERR;
}
sPlaneNorm.Unitize();
// instance a temporary plane
pPlane = new (*m_crSurface.GetContext()) SmPlane(sH,sPlaneNorm);
sClean1.SetObj(pPlane) ;
}
else // let Plane = m_cpPlane
{
NER(m_cpPlane);
pPlane = (SmPlane *)m_cpPlane ;
}
// evaluate Plane derivatives
SER(pPlane->Evaluate1stDerivatives(SmPoint2d(0,0),TRUE,TRUE,sH,sDUH,sDVH));
#ifdef SM_DEBUG_CODE
SmBoolean bDebugMe = FALSE;
// draw Surf1(blue), Surf2(green), plane(cyan), Surf1Point(red), Surf2Point(magenta), PlaneOrig(yellow)
if (bDebugMe)
{
smgfx_Erase();
smgfx_SetLook(1,2, 0,0,1); m_crSurface.DrawUV(); sm_GraphicsLoop();
smgfx_SetLook(1,2, 0,1,0); m_crOtherSurface.DrawUV(); sm_GraphicsLoop();
smgfx_SetLook(1,2, 0,1,1); pPlane->DrawUV(); sm_GraphicsLoop();
smgfx_SetLook(2,4, 1,0,0); m_crSurface.DrawAt(sUV,1); sm_GraphicsLoop();
smgfx_SetLook(2,4, 1,0,1); m_crOtherSurface.DrawAt(sUV2,1); sm_GraphicsLoop();
smgfx_SetLook(2,4, 1,1,0); pPlane->DrawAt(SmPoint2d(0,0),1);
sm_GraphicsLoop();
}
#endif
// Utilize plane equation aX + bY + cZ + d = 0 in solver
SmVector3d sABC = sDUH * sDVH;
SER(sABC.Unitize());
double dD = - sABC.Dot(sH);
double sDUFLenSq = sDUF.LengthSquared();
double sDVFLenSq = sDVF.LengthSquared();
double sDUGLenSq = sDUG.LengthSquared();
double sDVGLenSq = sDVG.LengthSquared();
// if we have a zero length tangent then we must fail
if ( sDUFLenSq < SM_EFF_ZERO_SQ || sDVFLenSq < SM_EFF_ZERO_SQ
|| sDUGLenSq < SM_EFF_ZERO_SQ || sDVGLenSq < SM_EFF_ZERO_SQ)
{
return SM_ERR;
}
// get gap vector
SmVector3d sDiff1 = sF - sG;
// evaluate F[3]
rF[3] = sABC.Dot(sF) + dD + sABC.Dot(sG) + dD;
// exit criteria - Surface points on plane and close to each other
if ( sDiff1.LengthSquared() < SM_EFF_ZERO_SQ
&& rF[3] < SM_EFF_ZERO)
{
rbFoundAnswer = TRUE;
return SM_SUCCESS;
}
#ifdef SM_DEBUG_CODE
if (bDebugMe)
{
smgfx_SetLook(1,2, 1,0,0); sDiff1.Draw(&sG); sm_GraphicsLoop();
sm_GraphicsLoop();
}
#endif
// Intersection simply tries to minimize the following equations.
// It is essentially intersecting the three surfaces by intersecting
// tangent planes.
// fun[0] = (f-g) . X - X component of vector f-g
// fun[1] = (f-g) . Y - Y component of vector f-g
// fun[2] = (f-g) . Z - Z component of vector f-g
// fun[3] = A * f.x + B * f.y + C * f.z + D - 2 Plane equations
// + A * g.x + B * g.y + C * g.z + D
//
// Where f is surface1, g is surface2 and h is surface3
//
// It produces the following Jacobian
// | duf.X dvf.X -dug.X -dvg.X |
// | duf.Y dvf.Y -dug.Y -dvg.Y |
// | duf.Z dvf.Z -dug.Z -dvg.Z |
// | sABC.duf sABC.dvf sABC.dug sABC.dvg |
// GWC_NEEDS_WORK jacobian_is_degenerate_when_surfacePointNormals_are_parallel GWC_LINE ;
if (pOptJacobian)
{
(*pOptJacobian)[0][0] = sDUF.x;
(*pOptJacobian)[0][1] = sDVF.x;
(*pOptJacobian)[0][2] = - sDUG.x;
(*pOptJacobian)[0][3] = - sDVG.x;
(*pOptJacobian)[1][0] = sDUF.y;
(*pOptJacobian)[1][1] = sDVF.y;
(*pOptJacobian)[1][2] = - sDUG.y;
(*pOptJacobian)[1][3] = - sDVG.y;
(*pOptJacobian)[2][0] = sDUF.z;
(*pOptJacobian)[2][1] = sDVF.z;
(*pOptJacobian)[2][2] = - sDUG.z;
(*pOptJacobian)[2][3] = - sDVG.z;
(*pOptJacobian)[3][0] = sABC.Dot(sDUF);
(*pOptJacobian)[3][1] = sABC.Dot(sDVF);
(*pOptJacobian)[3][2] = sABC.Dot(sDUG);
(*pOptJacobian)[3][3] = sABC.Dot(sDVG);
}
// Compute function values
rF[0] = sDiff1.x;
rF[1] = sDiff1.y;
rF[2] = sDiff1.z;
// rF[3] - computed above
#ifdef SM_DEBUG_CODE
if (bDebugMe)
{
if (pOptJacobian) pOptJacobian->Dump();
smos_WriteBuffer(_T(" X --- \n")); SM_DUMP_TARRAY( crX );
smos_WriteBuffer(_T(" F --- \n")); SM_DUMP_TARRAY( rF );
}
#endif
return SM_SUCCESS;
} // end SmSSPIntersectENFO::Evaluate
// ---- verbatim: SmSurface.cpp lines 26944-26972: class SmSSINormalizeENFO
class SmSSINormalizeENFO : public SmEvalNFunctionsObject
{
protected:
const SmSurface & m_crSurface; // 1st surface to intersect
const SmSurface & m_crOtherSurface; // 2nd surface to intersect
double m_dSquaredTolerance; //
SmVector3d m_vPlaneNormal; // A, B, C of plane = Ax + By + Cz + D = 0
double m_dPlaneD; // D of plane definiton
public:
// constructor, destructor
SmSSINormalizeENFO(const SmSurface & crSurface,
const SmSurface & crOtherSurface,
double dSquaredTolerance,
const SmVector3d & crPlaneNormal,
double dPlaneD)
: m_crSurface(crSurface), m_crOtherSurface(crOtherSurface),
m_dSquaredTolerance(dSquaredTolerance), m_vPlaneNormal(crPlaneNormal),
m_dPlaneD(dPlaneD) {}
virtual ~SmSSINormalizeENFO() {}
// method
virtual SmStatus Evaluate(const SmTArray<double> & crX, // in : x of Ax=F
SmTArray<double> & rF, // out: F of Ax=F function values,
SmMatrix * pOptJacobian, // out: Partial derivatives of the functions.
SmBoolean & rbFoundAnswer); // out: Not always used, when used
// TRUE = converged (F members are within tolerance of 0.0
// FALSE= Not Used or Not Converged
} ; // end class SmSSINormalizeENFO
// ---- verbatim: SmSurface.cpp lines 27010-27256: SmSSINormalizeENFO::Evaluate
SmStatus SmSSINormalizeENFO::Evaluate
(const SmTArray<double> & crX, // in : x of Ax=F
SmTArray<double> & rF, // out: F of Ax=F function values,
SmMatrix * pOptJacobian, // out: Partial derivatives of the functions.
SmBoolean & rbFoundAnswer) // out: Always set to False in this function
{
// check input
SM_ASSERT(crX.GetSize() == 4);
SM_ASSERT(rF.GetSize() == 4);
if (pOptJacobian)
{
SM_ASSERT(pOptJacobian->GetNumRows() == 4);
SM_ASSERT(pOptJacobian->GetNumColumns() == 4);
}
// init output
rbFoundAnswer = FALSE;
// loclas for surf1, surf2, and plane evaluations
SmPoint3d sSurfacePoint, sSrfPoint2;
SmVector3d sDU, sDV, sDUV, sDUU, sDVV;
SmVector3d sDU2, sDV2, sDUV2, sDUU2, sDVV2;
SmPoint2d sUV(crX[0],crX[1]), sUV2(crX[2],crX[3]);
SmVector3d sPlaneNorm(m_vPlaneNormal);
// get surface 3d points - with 2nd derivatives
SER(m_crSurface.Evaluate2ndDerivatives (sUV,TRUE,TRUE,sSurfacePoint,
sDU,sDV,sDUV,sDUU,sDVV));
SER(m_crOtherSurface.Evaluate2ndDerivatives(sUV2,TRUE,TRUE,sSrfPoint2,
sDU2,sDV2,sDUV2,sDUU2,sDVV2));
#ifdef SM_DEBUG_CODE
SmBoolean bDebugMe = FALSE;
// draw Surf1(blue), Surf2(green), plane(cyan), Surf1Point(red), Surf2Point(magenta), PlaneOrig(yellow)
if (bDebugMe)
{
smgfx_Erase();
smgfx_SetLook(1,2, 0,0,1); m_crSurface.DrawUV(); sm_GraphicsLoop();
smgfx_SetLook(1,2, 0,1,0); m_crOtherSurface.DrawUV(); sm_GraphicsLoop();
smgfx_SetLook(2,4, 0,1,1); sPlaneNorm.Draw(&sSurfacePoint); sm_GraphicsLoop();
smgfx_SetLook(2,4, 0,1,1); sPlaneNorm.Draw(&sSrfPoint2); sm_GraphicsLoop();
smgfx_SetLook(4,6, 1,0,0); m_crSurface.DrawAt(sUV,1); sm_GraphicsLoop();
smgfx_SetLook(4,6, 1,0,1); m_crOtherSurface.DrawAt(sUV2,1); sm_GraphicsLoop();
sm_GraphicsLoop();
}
#endif
// fail on surface singularities
double sDULenSq = sDU.LengthSquared();
double sDVLenSq = sDV.LengthSquared();
double sDULenSq2 = sDU2.LengthSquared();
double sDVLenSq2 = sDV2.LengthSquared();
// if we have a zero length tangent then we must fail
if ( sDULenSq < SM_EFF_ZERO_SQ || sDVLenSq < SM_EFF_ZERO_SQ
|| sDULenSq2 < SM_EFF_ZERO_SQ || sDVLenSq2 < SM_EFF_ZERO_SQ)
{
return SM_ERR;
}
// when the gap is small
SmVector3d sGap = sSrfPoint2 - sSurfacePoint;
double dTol = SM_EFF_ZERO * 1000.0 * ( 1.0 + sSurfacePoint.GetMaxDimension());
if (sGap.LengthSquared() < dTol)
{
// We have a hard time solving when gaps get really
// close so we can translate one surfacePoint by its normal
// and solve a little better
SmVector3d sNorm, sNorm2;
SER(m_crSurface.EvaluateNormal(sUV,TRUE,TRUE,sNorm));
SER(m_crOtherSurface.EvaluateNormal(sUV2,TRUE,TRUE,sNorm2));
SmVector3d sAveNorm ;
sAveNorm = (sNorm.Dot(sNorm2) < 0.0)
? (sNorm - sNorm2)/2.0
: (sNorm + sNorm2)/2.0 ;
// project AvdNorm to Plane
SmVector3d sMoveInPlane = sPlaneNorm * sAveNorm * sPlaneNorm;
if (sNorm.Dot(sGap) > 0.0) { sSurfacePoint = sSurfacePoint - sMoveInPlane;
sGap = sSrfPoint2 - sSurfacePoint;
}
else { sSurfacePoint = sSurfacePoint + sMoveInPlane;
sGap = sSrfPoint2 - sSurfacePoint;
}
// rbFoundAnswer = TRUE;
// return SM_SUCCESS;
} // working with small gap checks
#ifdef SM_DEBUG_CODE
if (bDebugMe)
{
smgfx_SetLook(1,2, 1,0,0); sGap.Draw(&sSurfacePoint); sm_GraphicsLoop();
sm_GraphicsLoop() ;
}
#endif
// Seek solution where S = S2 on given plane.
// strategy: make Gap perpendicular to Plane (parallel to plane normal)
// make S lie on plane
// make S2 lie on plane.
// This is only TRUE when S = S2 on given plane.
// The 1st two equations make Gap perp to plane by making it
// perp to two vectors in that plane.
// The second two equations keep the points in the plane.
//
// let
// S = sSurfacePoint, S2 = sSrfPoint2,
// Gap = S2-S
// N = du x dv, N2 = du2 x dv2
// V = N x dPlaneNorm, V2 = N2 x dPlaneNorm (2 vectors in the plane)
//
// fun[0] = V * (S2-S) // gap is perpendicular to V
// fun[1] = V2 * (S2-S) // gap is perpendicular to V2
// fun[2] = S * dPlaneNorm + dPlaneD // S is on plane
// fun[3] = S2 * dPlaneNorm + dPlaneD // S2 is on plane
//
// It produces the following Jacobian
// | (dV/du)*(S2-S) - V*du (dV/dv)(S2-S) - V*dv V*du2 V*dv2 |
// | -V2*du -V2*dv (dV2/du2)*(S2-S) + V2*du2 (dV2/dv2)*(S2-S) + V2*dv2 |
// | du*sPlaneNorm dv*sPlaneNorm 0 0 |
// | 0 0 du2*sPlaneNorm dv2*sPlaneNorm |
// get surface normals
SmVector3d sN = sDU * sDV; // Compute normals
SmVector3d sN2 = sDU2 * sDV2;
// unitize surf1 Normal
SmVector3d sNU = sN;
if (sNU.LengthSquared() < SM_EFF_ZERO_SQ)
{
SER(m_crSurface.EvaluateNormal(sUV,TRUE,TRUE,sNU));
if (sNU.LengthSquared() < SM_EFF_ZERO_SQ)
{
return SM_ERR;
}
}
sNU.Unitize();
// unitize surf2 Normal
SmVector3d sN2U = sN2;
if (sN2U.LengthSquared() < SM_EFF_ZERO_SQ)
{
SER(m_crSurface.EvaluateNormal(sUV2,TRUE,TRUE,sN2U));
if (sN2U.LengthSquared() < SM_EFF_ZERO_SQ)
{
return SM_ERR;
}
}
sN2U.Unitize();
// Get two plane vectors equal to surf/plane intersection directions
SmVector3d sV = sNU * sPlaneNorm; // Compute vectors in tangent plane and on plane
SmVector3d sV2 = sN2U * sPlaneNorm;
// build the jacobian
if (pOptJacobian)
{
SmVector3d sZeroVec(0.0,0.0,0.0);
SmVector3d dN_du = sDU.DerivativeOfCrossProduct(sDV,sDUU,sDUV);
// dN_du = sN.UnitizedDerivative(dN_du);
SmVector3d dN_dv = sDU.DerivativeOfCrossProduct(sDV,sDUV,sDVV);
// dN_dv = sN.UnitizedDerivative(dN_dv);
SmVector3d dN2_du2 = sDU2.DerivativeOfCrossProduct(sDV2,sDUU2,sDUV2);
// dN2_du2 = sN2.UnitizedDerivative(dN2_du2);
SmVector3d dN2_dv2 = sDU2.DerivativeOfCrossProduct(sDV2,sDUV2,sDVV2);
// dN2_dv2 = sN2.UnitizedDerivative(dN2_dv2);
SmVector3d dV_du = sN.DerivativeOfCrossProduct(sPlaneNorm,dN_du,sZeroVec);
SmVector3d dV_dv = sN.DerivativeOfCrossProduct(sPlaneNorm,dN_dv,sZeroVec);
SmVector3d dV2_du2 = sN2.DerivativeOfCrossProduct(sPlaneNorm,dN2_du2,sZeroVec);
SmVector3d dV2_dv2 = sN2.DerivativeOfCrossProduct(sPlaneNorm,dN2_dv2,sZeroVec);
(*pOptJacobian)[0][0] = dV_du.Dot(sGap) - sV.Dot(sDU);
(*pOptJacobian)[0][1] = dV_dv.Dot(sGap) - sV.Dot(sDV);
(*pOptJacobian)[0][2] = sV.Dot(sDU2);
(*pOptJacobian)[0][3] = sV.Dot(sDV2);
(*pOptJacobian)[1][0] = - sV2.Dot(sDU);
(*pOptJacobian)[1][1] = - sV2.Dot(sDV);
(*pOptJacobian)[1][2] = dV2_du2.Dot(sGap) + sV2.Dot(sDU2);
(*pOptJacobian)[1][3] = dV2_dv2.Dot(sGap) + sV2.Dot(sDV2);
(*pOptJacobian)[2][0] = sDU.Dot(sPlaneNorm);
(*pOptJacobian)[2][1] = sDV.Dot(sPlaneNorm);
(*pOptJacobian)[2][2] = 0.0;
(*pOptJacobian)[2][3] = 0.0;
(*pOptJacobian)[3][0] = 0.0;
(*pOptJacobian)[3][1] = 0.0;
(*pOptJacobian)[3][2] = sDU2.Dot(sPlaneNorm);
(*pOptJacobian)[3][3] = sDV2.Dot(sPlaneNorm);
}
// Compute function values
rF[0] = sV.Dot(sGap);
rF[1] = sV2.Dot(sGap);
rF[2] = sSurfacePoint.Dot(sPlaneNorm) + m_dPlaneD;
rF[3] = sSrfPoint2.Dot(sPlaneNorm) + m_dPlaneD;
if (pOptJacobian)
{ // GWC:TODO
// The above jacobian had some errors in it
// that have been corrected but not tested.
// Need to come
// back and change following function for
// 2nd derivatives and then try removing this
// block all together.
// Compute the jacobian the hard way - it works
// The above natural jacobian does not.
//
// Pass in the surface domains.
SmTArray< SmExtent1d > sDomains;
SmExtent2d sDom( m_crSurface.GetNaturalUVDomain() );
SmExtent1d sIvl = sDom.GetUInterval();
sDomains.Add( sIvl );
sIvl = sDom.GetVInterval();
sDomains.Add( sIvl );
sDom = m_crOtherSurface.GetNaturalUVDomain();
sIvl = sDom.GetUInterval();
sDomains.Add( sIvl );
sIvl = sDom.GetVInterval();
sDomains.Add( sIvl );
SmTArray<double> sTmpX(crX);
SER( ComputeJacobian( sTmpX, rF, *pOptJacobian, &sDomains ));
}
#ifdef SM_DEBUG_CODE
if (bDebugMe)
{
if (pOptJacobian)
{
pOptJacobian->Dump();
SmMatrix sTmpJ(4,4);
SmTArray<double> sTmpX(crX);
SER(ComputeJacobian(sTmpX,rF,sTmpJ));
sTmpJ.Dump();
smos_WriteBuffer(_T(" X --- \n")); crX.Dump();
smos_WriteBuffer(_T(" F --- \n")); rF.Dump();
}
}
#endif
return SM_SUCCESS;
} // end SmSSINormalizeENFO::Evaluate
// ---- verbatim: SmSurface.cpp lines 28056-28091: class SmSSNormalizeENFO
class SmSSNormalizeENFO : public SmEvalNFunctionsObject
{
protected:
const SmSurface & m_crSurface; // 1st Surface
const SmSurface & m_crOtherSurface; // 2nd Surface
SmSolverOperationType m_eSolverOperation; // SM_SO_3D_SIGNED_DIRECTED_MINIMIZE
const SmVector3d * m_cpOptVectors; // extra data needed for case
// SM_SO_3D_SIGNED_DIRECTED_MINIMIZE
// m_cpOptVectors[0] =
double m_dSquaredTolerance; // NOT USED in this evaluator
public:
// constructor, destructor
SmSSNormalizeENFO
(const SmSurface & crSurface,
const SmSurface & crOtherSurface,
SmSolverOperationType eSolverOperation,
const SmVector3d * cpOptVectors,
double dSquaredTolerance)
: m_crSurface(crSurface),
m_crOtherSurface(crOtherSurface),
m_eSolverOperation(eSolverOperation),
m_cpOptVectors(cpOptVectors),
m_dSquaredTolerance(dSquaredTolerance)
{}
virtual ~SmSSNormalizeENFO() {}
// NewtonRaphson evaluator callback mathod
virtual SmStatus Evaluate(const SmTArray<double> & crX, // in : x of Ax=F
SmTArray<double> & rF, // out: F of Ax=F function values,
SmMatrix * pOptJacobian, // out: Partial derivatives of the functions.
SmBoolean & rbFoundAnswer); // out: Not always used, when used
// TRUE = converged (F members are within tolerance of 0.0
// FALSE= Not Used or Not Converged
} ; // end class SmSSNormalizeENFO
// ---- verbatim: SmSurface.cpp lines 28147-28404: SmSSNormalizeENFO::Evaluate
SmStatus SmSSNormalizeENFO::Evaluate
(const SmTArray<double> & crX, // in : x of Ax=F
SmTArray<double> & rF, // out: F of Ax=F function values,
SmMatrix * pOptJacobian, // out: Partial derivatives of the functions.
SmBoolean & rbFoundAnswer) // out: Always set to False in this function
{
// check input
ULONG lCount = (m_eSolverOperation == SM_SO_3D_SIGNED_DIRECTED_MINIMIZE)
? 5
: 4 ;
SM_ASSERT(crX.GetSize() == lCount);
SM_ASSERT(rF.GetSize() == lCount);
if (pOptJacobian)
{
SM_ASSERT(pOptJacobian->GetNumRows() == lCount);
SM_ASSERT(pOptJacobian->GetNumColumns() == lCount);
}
// input output
rbFoundAnswer = FALSE;
// Surf1Point and Surf2Point current solution values
SmPoint3d sSrfPoint1, sSrfPoint2;
SmVector3d sS1u, sS1v, sS1uu, sS1uv, sS1vv;
SmVector3d sS2u, sS2v, sS2uu, sS2uv, sS2vv;
SmPoint2d sUV1(crX[0],crX[1]);
SmPoint2d sUV2(crX[2],crX[3]);
SER(m_crSurface.Evaluate2ndDerivatives (sUV1,TRUE,TRUE,sSrfPoint1,
sS1u,sS1v,sS1uv,sS1uu,sS1vv));
SER(m_crOtherSurface.Evaluate2ndDerivatives(sUV2,TRUE,TRUE,sSrfPoint2,
sS2u,sS2v,sS2uv,sS2uu,sS2vv));
#ifdef SM_DEBUG_CODE
SmBoolean bDebugMe = FALSE;
// draw Surf1(blue), Surf2(green), Surf1Point(red), Surf2Point(magenta),
if (bDebugMe)
{
smgfx_Erase();
smgfx_SetLook(1,2, 0,0,1); m_crSurface.DrawUV(); sm_GraphicsLoop();
smgfx_SetLook(1,2, 0,1,0); m_crOtherSurface.DrawUV(); sm_GraphicsLoop();
smgfx_SetLook(2,4, 1,0,0); m_crSurface.DrawAt(sUV1,1); sm_GraphicsLoop();
smgfx_SetLook(2,4, 1,0,1); m_crOtherSurface.DrawAt(sUV2,1); sm_GraphicsLoop();
sm_GraphicsLoop();
}
#endif
// fail on surface singularities
double sDULenSq1 = sS1u.LengthSquared();
double sDVLenSq1 = sS1v.LengthSquared();
double sDULenSq2 = sS2u.LengthSquared();
double sDVLenSq2 = sS2v.LengthSquared();
// if we have a zero length tangent then we must fail
if ( sDULenSq1 < SM_EFF_ZERO_SQ || sDVLenSq1 < SM_EFF_ZERO_SQ
|| sDULenSq2 < SM_EFF_ZERO_SQ || sDVLenSq2 < SM_EFF_ZERO_SQ)
{
return SM_ERR;
}
// when the gap is small
SmVector3d sGap = sSrfPoint2 - sSrfPoint1;
double dTol = SM_EFF_ZERO * 1000.0 * ( 1.0 + sSrfPoint1.GetMaxDimension());
if (sGap.LengthSquared() < dTol)
{
// We have a hard time solving when gaps get really
// close so we can translate one surfacePoint by its normal
// and solve a little better
SmVector3d sNorm;
if (m_eSolverOperation == SM_SO_3D_SIGNED_DIRECTED_MINIMIZE)
{
sNorm = m_cpOptVectors[0];
}
else
{
SER(m_crSurface.EvaluateNormal(sUV1,TRUE,TRUE,sNorm));
}
sGap = (sNorm.Dot(sGap) > 0.0)
? sSrfPoint2 - (sSrfPoint1 - sNorm)
: sSrfPoint2 - (sSrfPoint1 + sNorm) ;
// rbFoundAnswer = TRUE;
// return SM_SUCCESS;
} // working with small gap checks
#ifdef SM_DEBUG_CODE
if (bDebugMe)
{
smgfx_SetLook(2,4, 1,0,0); sGap.Draw(&sSrfPoint1); sm_GraphicsLoop();
sm_GraphicsLoop();
}
#endif
// Unitize sSu1 and sSv1 and get their derivatives.
SmVector3d sS1u_Unit( sS1u );
sS1u_Unit.Unitize();
SmVector3d sS1u_Unit_u = sS1u.UnitizedDerivative( sS1uu );
SmVector3d sS1u_Unit_v = sS1u.UnitizedDerivative( sS1uv );
SmVector3d sS1v_Unit( sS1v );
sS1v_Unit.Unitize();
SmVector3d sS1v_Unit_u = sS1v.UnitizedDerivative( sS1uv ); // Note: not the same as sS1u_Unit_v.
SmVector3d sS1v_Unit_v = sS1v.UnitizedDerivative( sS1vv );
if (m_eSolverOperation == SM_SO_3D_SIGNED_DIRECTED_MINIMIZE)
{
// SM_SO_3D_SIGNED_DIRECTED_MINIMIZE tries to minimize the following five functions:
// fun[0] = S1u*(N2) // Makes tangent planes parallel
// fun[1] = S1v*(N2) // Also makes tangent planes parallel
// fun[2] = S1.x - S2.x - w * V.x
// fun[3] = S1.y - S2.y - w * V.y
// fun[4] = S1.z - S2.z - w * V.z
//
// It produces the following Jacobian:
// | S1uu*(N2) S1uv*(N2) S1u*(dN2/du2) S1u*(dN2/dv2) 0.0 |
// | S1uv*(N2) S1vv*(N2) S1v*(dN2/du2) S1v*(dN2/dv2) 0.0 |
// | S1u.x S1v.x -S2u.x -S2v.x -V.x |
// | S1u.y S1v.y -S2u.y -S2v.y -V.y |
// | S1u.z S1v.z -S2u.z -S2v.z -V.z |
//
// Amended, as above, to use unitized S1u, S1v, and N2.
NER(m_cpOptVectors);
// Surf2 unit Normal and NormalDerivatives
SmVector3d sCross2 = sS2u * sS2v;
SmVector3d sCross2u = sS2u.DerivativeOfCrossProduct( sS2v, sS2uu, sS2uv );
SmVector3d sCross2v = sS2u.DerivativeOfCrossProduct( sS2v, sS2uv, sS2vv );
// 'N' will mean 'Unit'.
SmVector3d sN2( sCross2 );
sN2.Unitize();
SmVector3d sN2u = sCross2.UnitizedDerivative( sCross2u );
SmVector3d sN2v = sCross2.UnitizedDerivative( sCross2v );
if (pOptJacobian)
{
(*pOptJacobian)[0][0] = sS1u_Unit_u.Dot( sN2 );
(*pOptJacobian)[0][1] = sS1u_Unit_v.Dot( sN2 );
(*pOptJacobian)[0][2] = sS1u_Unit .Dot( sN2u );
(*pOptJacobian)[0][3] = sS1u_Unit .Dot( sN2v );
(*pOptJacobian)[0][4] = 0.0;
(*pOptJacobian)[1][0] = sS1v_Unit_u.Dot( sN2 );
(*pOptJacobian)[1][1] = sS1v_Unit_v.Dot( sN2 );
(*pOptJacobian)[1][2] = sS1v_Unit .Dot( sN2u );
(*pOptJacobian)[1][3] = sS1v_Unit .Dot( sN2v );
(*pOptJacobian)[1][4] = 0.0;
(*pOptJacobian)[2][0] = sS1u.x;
(*pOptJacobian)[2][1] = sS1v.x;
(*pOptJacobian)[2][2] = - sS2u.x;
(*pOptJacobian)[2][3] = - sS2v.x;
(*pOptJacobian)[2][4] = - m_cpOptVectors[0].x;
(*pOptJacobian)[3][0] = sS1u.y;
(*pOptJacobian)[3][1] = sS1v.y;
(*pOptJacobian)[3][2] = - sS2u.y;
(*pOptJacobian)[3][3] = - sS2v.y;
(*pOptJacobian)[3][4] = - m_cpOptVectors[0].y;
(*pOptJacobian)[4][0] = sS1u.z;
(*pOptJacobian)[4][1] = sS1v.z;
(*pOptJacobian)[4][2] = - sS2u.z;
(*pOptJacobian)[4][3] = - sS2v.z;
(*pOptJacobian)[4][4] = - m_cpOptVectors[0].z;
}
// Compute function values
rF[0] = sS1u_Unit.Dot(sN2);
rF[1] = sS1v_Unit.Dot(sN2);
SmVector3d sVec = sSrfPoint1 - sSrfPoint2 - crX[4] * m_cpOptVectors[0];
rF[2] = sVec.x;
rF[3] = sVec.y;
rF[4] = sVec.z;
}
else
{
// Normalization simply tries to minimize the following four functions
// fun[0] = S1u*(S2-S1)
// fun[1] = S1v*(S2-S1)
// fun[2] = S2u*(S2-S1)
// fun[3] = S2v*(S2-S1)
//
// It produces the following Jacobian
// | S1uu*(S2-S1) - S1u*S1u S1uv(S2-S1) - S1u*S1v S1u*S2u S1u*S2v |
// | S1uv*(S2-S1) - S1v*S1u S1vv(S2-S1) - S1v*S1v S1v*S2u S1v*S2v |
// | -S2u*S1u -S2u*S1v S2uu*(S2-S1) + S2u*S2u S2uv*(S2-S1) + S2u*S2v |
// | -S2v*S1u -S2v*S1v S2uv*(S2-S1) + S2u*S2v S2vv*(S2-S1) + S2v*S2v |
//
// Amended, as above, to use unitized first derivatives.
// Unitize sDu2 and sDv2 and get their derivatives.
SmVector3d sS2u_Unit( sS2u );
sS2u_Unit.Unitize();
SmVector3d sS2u_Unit_u = sS2u.UnitizedDerivative( sS2uu );
SmVector3d sS2u_Unit_v = sS2u.UnitizedDerivative( sS2uv );
SmVector3d sS2v_Unit( sS2v );
sS2v_Unit.Unitize();
SmVector3d sS2v_Unit_u = sS2v.UnitizedDerivative( sS2uv ); // Note: not the same as sS2u_Unit_v.
SmVector3d sS2v_Unit_v = sS2v.UnitizedDerivative( sS2vv );
if (pOptJacobian)
{
(*pOptJacobian)[0][0] = sS1u_Unit_u.Dot( sGap ) - sS1u_Unit.Dot( sS1u );
(*pOptJacobian)[0][1] = sS1u_Unit_v.Dot( sGap ) - sS1u_Unit.Dot( sS1v );
(*pOptJacobian)[0][2] = sS1u_Unit .Dot( sS2u );
(*pOptJacobian)[0][3] = sS1u_Unit .Dot( sS2v );
(*pOptJacobian)[1][0] = sS1v_Unit_u.Dot( sGap ) - sS1v_Unit.Dot( sS1u );
(*pOptJacobian)[1][1] = sS1v_Unit_v.Dot( sGap ) - sS1v_Unit.Dot( sS1v );
(*pOptJacobian)[1][2] = sS1v_Unit .Dot( sS2u );
(*pOptJacobian)[1][3] = sS1v_Unit .Dot( sS2v );
(*pOptJacobian)[2][0] = - sS2u_Unit .Dot( sS1u );
(*pOptJacobian)[2][1] = - sS2u_Unit .Dot( sS1v );
(*pOptJacobian)[2][2] = sS2u_Unit_u.Dot( sGap ) + sS2u_Unit.Dot( sS2u );
(*pOptJacobian)[2][3] = sS2u_Unit_v.Dot( sGap ) + sS2u_Unit.Dot( sS2v );
(*pOptJacobian)[3][0] = - sS2v_Unit .Dot( sS1u );
(*pOptJacobian)[3][1] = - sS2v_Unit .Dot( sS1v );
(*pOptJacobian)[3][2] = sS2v_Unit_u.Dot( sGap ) + sS2v_Unit.Dot( sS2v );
(*pOptJacobian)[3][3] = sS2v_Unit_v.Dot( sGap ) + sS2v_Unit.Dot( sS2v );
}
// Compute function values
rF[0] = sS1u_Unit.Dot( sGap );
rF[1] = sS1v_Unit.Dot( sGap );
rF[2] = sS2u_Unit.Dot( sGap );
rF[3] = sS2v_Unit.Dot( sGap );
}
#ifdef SM_DEBUG_CODE
SmBoolean bDebugMe2 = FALSE;
if (bDebugMe2)
{
if (pOptJacobian && m_eSolverOperation == SM_SO_3D_SIGNED_DIRECTED_MINIMIZE)
{
pOptJacobian->Dump();
smos_WriteBuffer(_T(" X --- \n")); crX.Dump();
smos_WriteBuffer(_T(" F --- \n")); rF.Dump();
SmMatrix sTmpJ(5,5);
SmTArray<double> sTmpX(crX);
SER(ComputeJacobian(sTmpX,rF,sTmpJ));
sTmpJ.Dump();
}
else
{
if (pOptJacobian) pOptJacobian->Dump();
smos_WriteBuffer(_T(" X --- \n")); crX.Dump();
smos_WriteBuffer(_T(" F --- \n")); rF.Dump();
}
}
#endif
return SM_SUCCESS;
} // end SmSSNormalizeENFO::Evaluate
// clang-format on
} // namespace sc_srf_p4
namespace
{
// Ops (keep in sync with crates/solidcore-ffi/src/units/surface_surface_p4.rs).
enum : int32_t
{
OP_NORMAL_EVAL = 0,
OP_SECTION_FN = 1,
OP_SECTION_EVAL = 2,
OP_ON_NORMAL = 3,
OP_PASS_SP = 4,
OP_SEAM = 5,
OP_IS_ON_SEAM = 6,
OP_GPS = 7,
OP_CS_INTERSECT = 8,
OP_CS_NORMALIZE = 9,
OP_SSP_INTERSECT = 10,
OP_SSI_NORMALIZE = 11,
OP_SS_NORMALIZE = 12,
OP_CLASSIFY = 13,
OP_STEP_INV = 14,
};
struct Rd
{
const double* in;
int64_t at;
double num() { return in[at++]; }
int64_t idx() { return (int64_t)in[at++]; }
bool flag() { return in[at++] != 0.0; }
SmBoolean bflag() { return flag() ? TRUE : FALSE; }
SmVector3d vec()
{
double x = num();
double y = num();
double z = num();
return SmVector3d(x, y, z);
}
SmPoint2d uv()
{
double u = num();
double v = num();
return SmPoint2d(u, v);
}
SmExtent2d dom()
{
double u0 = num();
double v0 = num();
double u1 = num();
double v1 = num();
return SmExtent2d(SmPoint2d(u0, v0), SmPoint2d(u1, v1));
}
};
double st(SmStatus s) { return s == SM_SUCCESS ? 0.0 : (double)s; }
double flg(SmBoolean b) { return b ? 1.0 : 0.0; }
const SmContext& the_context()
{
static SmContext* p = new SmContext();
return *p;
}
SmSurface* read_surface(Rd& rd, const SmContext& ctx)
{
int64_t kind = rd.idx();
if (kind == 2)
{
// a curve-bounded surface without boundary curves over a basis surface block
SmSurface* basis = read_surface(rd, ctx);
bool implicit = rd.flag();
SmTArray<SmCurve*> c3d, cuv;
return new (ctx) SmCurveBoundedSurface(*basis, &c3d, &cuv, implicit ? TRUE : FALSE);
}
if (kind == 1)
{
SmPoint3d o = rd.vec();
SmVector3d n = rd.vec();
return new (ctx) SmPlane(o, n, &ctx);
}
bool oob = rd.flag();
SmBSplineSurfaceForm form = (SmBSplineSurfaceForm)rd.idx();
gw_INDEX n = (gw_INDEX)rd.idx();
gw_INDEX m = (gw_INDEX)rd.idx();
gw_DEGREE p = (gw_DEGREE)rd.idx();
gw_DEGREE q = (gw_DEGREE)rd.idx();
gw_INDEX r = (gw_INDEX)rd.idx();
gw_INDEX s = (gw_INDEX)rd.idx();
gw_SURFACE* sur = sm_AllocateNurbSurface(n, m, p, q, r, s);
for (gw_INDEX i = 0; i <= n; i++)
for (gw_INDEX j = 0; j <= m; j++)
{
sur->net->Pw[i][j].x = rd.num();
sur->net->Pw[i][j].y = rd.num();
sur->net->Pw[i][j].z = rd.num();
sur->net->Pw[i][j].w = rd.num();
}
for (gw_INDEX i = 0; i <= r; i++)
sur->knu->U[i] = rd.num();
for (gw_INDEX i = 0; i <= s; i++)
sur->knv->U[i] = rd.num();
SmBSplineSurface* b = new (ctx) SmBSplineSurface(sur, FALSE, NULL);
b->GetOutOfBoundsEnabled() = oob ? TRUE : FALSE;
b->SetBSplineSurfaceForm(form);
return b;
}
SmBSplineCurve* read_curve(Rd& rd, const SmContext& ctx)
{
ULONG dim = (ULONG)rd.idx();
gw_INDEX n = (gw_INDEX)rd.idx();
gw_DEGREE p = (gw_DEGREE)rd.idx();
gw_INDEX m = (gw_INDEX)rd.idx();
gw_CURVE* cur = sm_AllocateNurbCurve(n, p, m);
for (gw_INDEX i = 0; i <= n; i++)
{
cur->pol->Pw[i].x = rd.num();
cur->pol->Pw[i].y = rd.num();
cur->pol->Pw[i].z = rd.num();
cur->pol->Pw[i].w = rd.num();
}
for (gw_INDEX i = 0; i <= m; i++)
cur->knt->U[i] = rd.num();
return new (ctx) SmBSplineCurve(cur, dim, FALSE);
}
const double* opt_target(Rd& rd, double& store)
{
bool has = rd.flag();
store = rd.num();
return has ? &store : NULL;
}
std::vector<SmVector3d> read_vecs(Rd& rd)
{
int64_t n = rd.idx();
std::vector<SmVector3d> v;
for (int64_t i = 0; i < n; i++)
v.push_back(rd.vec());
return v;
}
// Evaluate one equation set at x: status, then (on success) found, F and the Jacobian.
template <typename Enfo>
void eval_enfo(Enfo& e, int n, const std::vector<double>& x, std::vector<double>& o)
{
SmTArray<double> X, F;
for (int i = 0; i < n; i++)
{
X.Add(x[i]);
F.Add(0.0);
}
SmMatrix J(n, n);
SmBoolean found = FALSE;
SmStatus r = e.Evaluate(X, F, &J, found);
o.push_back(st(r));
if (r == SM_SUCCESS)
{
o.push_back(flg(found));
if (found)
{
// upstream returns early: only the last function value is set
o.push_back(F[n - 1]);
return;
}
for (int i = 0; i < n; i++)
o.push_back(F[i]);
for (int i = 0; i < n; i++)
for (int j = 0; j < n; j++)
o.push_back(J[i][j]);
}
}
std::vector<std::vector<double>> read_points(Rd& rd, int n)
{
int64_t count = rd.idx();
std::vector<std::vector<double>> xs;
for (int64_t k = 0; k < count; k++)
{
std::vector<double> x;
for (int i = 0; i < n; i++)
x.push_back(rd.num());
xs.push_back(x);
}
return xs;
}
// the reason code of smsurf_IsPointOnNormal: 0 unknown (on normal), 1 outside of domain, 2 bad surface point,
// 3 not within tolerance
double reason_code(SmStatus r)
{
if (r == SM_ERR_OUTSIDE_OF_DOMAIN)
return 1.0;
if (r == SM_ERR_BAD_SURFACE_POINT)
return 2.0;
if (r == SM_ERR_NOT_WITHIN_TOLERANCE)
return 3.0;
return 0.0;
}
void run(int32_t op, Rd& rd, std::vector<double>& o)
{
const SmContext& ctx = the_context();
SmSurface* s = read_surface(rd, ctx);
switch (op)
{
case OP_NORMAL_EVAL:
{
SmPoint2d uv = rd.uv();
SmSurfaceEval e(s, uv.x, uv.y);
if (e.FailsEval())
{
o.push_back((double)SM_ERR);
break;
}
SmVector3d n = e.Normal();
o.push_back(0.0);
put_vec(o, n);
break;
}
case OP_SECTION_FN:
{
SmPoint2d uv = rd.uv();
SmVector3d dir = rd.vec();
SmVector3d pvv[3][3];
SmStatus r = s->Evaluate(uv, 2, 2, TRUE, TRUE, TRUE, &pvv[0][0], TRUE);
if (r == SM_SUCCESS)
{
SmVector3d n = pvv[1][0] * pvv[0][1];
if (n.LengthSquared() < SM_EFF_ZERO_SQ)
r = s->EvaluateNormal(uv, TRUE, TRUE, n);
else
n.Unitize();
pvv[2][2] = n;
}
if (r != SM_SUCCESS)
{
o.push_back(st(r));
break;
}
SmVector3d tangent;
double curv = 0.0;
r = smsurf_EvaluateNormalSection(pvv, dir, tangent, curv);
o.push_back(st(r));
if (r == SM_SUCCESS)
{
put_vec(o, tangent);
o.push_back(curv);
}
break;
}
case OP_SECTION_EVAL:
{
SmPoint2d uv = rd.uv();
SmVector3d dir = rd.vec();
SmSurfaceEval e(s, uv.x, uv.y, dir);
if (e.FailsEval())
{
o.push_back((double)SM_ERR);
break;
}
SmVector3d n = e.Normal();
SmVector3d t = e.SectTangent();
double k = e.SectCurvature();
o.push_back(0.0);
put_vec(o, n);
put_vec(o, t);
o.push_back(k);
break;
}
case OP_ON_NORMAL:
{
bool has_dom = rd.flag();
SmExtent2d d = rd.dom();
SmPoint2d uv = rd.uv();
SmPoint3d p = rd.vec();
bool has_d = rd.flag();
SmVector3d dv = rd.vec();
double tol = rd.num();
SmBoolean fu = TRUE, fv = TRUE, good = FALSE;
SmStatus reason = SM_ERR_UNKNOWN;
double drop = 0.0, dev = 0.0;
SmStatus r = smsurf_IsPointOnNormal(*s, has_dom ? &d : NULL, uv, p, has_d ? &dv : NULL, fu, fv, tol, good, reason,
drop, dev);
o.push_back(st(r));
o.push_back(flg(fu));
o.push_back(flg(fv));
o.push_back(flg(good));
o.push_back(reason_code(reason));
o.push_back(drop);
o.push_back(reason == SM_ERR_BAD_SURFACE_POINT ? 0.0 : dev);
break;
}
case OP_PASS_SP:
{
SmPoint2d uv = rd.uv();
SmPoint3d p = rd.vec();
double tol = rd.num();
o.push_back(0.0);
o.push_back(flg(sc_srf_p4::sm_PassSPConvergenceTest(*s, uv, p, tol)));
break;
}
case OP_SEAM:
{
SmSurfParamType param = (SmSurfParamType)rd.idx();
bool known = rd.flag();
SmCrvOnSurf* seam = NULL;
SmStatus r = s->CreateSeamCurve(ctx, param, seam, known ? TRUE : UNSURE);
o.push_back(st(r));
o.push_back(flg(seam != NULL));
if (seam != NULL)
{
SmExtent1d iv = seam->GetNaturalInterval();
o.push_back(iv.GetMin());
o.push_back(iv.GetMax());
for (int k = 0; k < 5; k++)
{
double t = iv.GetMin() + (iv.GetMax() - iv.GetMin()) * k / 4.0;
SmPoint3d pt(SM_UNDEF_DOUBLE, SM_UNDEF_DOUBLE, SM_UNDEF_DOUBLE);
SmStatus er = seam->EvaluatePoint(t, pt);
o.push_back(st(er));
put_vec(o, pt);
}
delete seam;
}
break;
}
case OP_IS_ON_SEAM:
{
SmPoint2d uv = rd.uv();
bool has_tol = rd.flag();
double tol = rd.num();
SmTol3d tol3d(tol);
SmSurfParamType dir = SM_SP_NEITHER;
SmTArray<SmPoint2d> cross;
SmBoolean r = s->IsOnSeam(uv, has_tol ? &tol3d : NULL, &dir, &cross);
o.push_back(0.0);
o.push_back(flg(r));
o.push_back((double)dir);
o.push_back((double)cross.GetSize());
for (ULONG i = 0; i < cross.GetSize(); i++)
put_uv(o, SmVector2d(cross[i].x, cross[i].y));
break;
}
case OP_GPS:
{
SmExtent2d d = rd.dom();
SmSolverOperationType sop = (SmSolverOperationType)rd.idx();
SmPoint3d p = rd.vec();
double tol = rd.num();
double tgt = 0.0;
const double* pt = opt_target(rd, tgt);
SmSolutionRequestedType req = (SmSolutionRequestedType)rd.idx();
SmSolutionArray sols;
SmStatus r = s->GlobalPointSolve(d, sop, p, SmZoneTol3d(tol), pt, req, sols);
o.push_back(st(r));
o.push_back((double)sols.GetSize());
for (ULONG i = 0; i < sols.GetSize(); i++)
{
o.push_back(sols[i].m_vStart.m_dSolutionValue);
o.push_back(sols[i].m_vStart[0]);
o.push_back(sols[i].m_vStart[1]);
}
break;
}
case OP_STEP_INV:
{
SmExtent2d d = rd.dom();
SmPoint3d p = rd.vec();
double tol = rd.num();
bool has_guess = rd.flag();
SmPoint2d guess = rd.uv();
SmPoint2d uv;
SmLocationType loc = SM_LT_EXTERIOR;
SmStatus r = s->STEPInversion(d, p, tol, uv, loc, has_guess ? &guess : NULL);
o.push_back(st(r));
if (r == SM_SUCCESS)
{
o.push_back(uv.x);
o.push_back(uv.y);
o.push_back((double)loc);
}
break;
}
case OP_CS_INTERSECT:
{
SmBSplineCurve* c = read_curve(rd, ctx);
std::vector<std::vector<double>> xs = read_points(rd, 3);
sc_srf_p4::SmCSIntersectENFO e(*c, *s, SM_EFF_ZERO * SM_EFF_ZERO);
o.push_back(0.0);
for (const std::vector<double>& x : xs)
eval_enfo(e, 3, x, o);
delete c;
break;
}
case OP_CS_NORMALIZE:
{
SmBSplineCurve* c = read_curve(rd, ctx);
SmSolverOperationType sop = (SmSolverOperationType)rd.idx();
std::vector<SmVector3d> vecs = read_vecs(rd);
int n = sop == SM_SO_3D_SIGNED_DIRECTED_MINIMIZE ? 4 : 3;
std::vector<std::vector<double>> xs = read_points(rd, n);
sc_srf_p4::SmCSNormalizeENFO e(*c, *s, sop, SM_EFF_ZERO, vecs.empty() ? NULL : vecs.data(),
SM_EFF_ZERO * SM_EFF_ZERO);
o.push_back(0.0);
for (const std::vector<double>& x : xs)
eval_enfo(e, n, x, o);
delete c;
break;
}
case OP_SSP_INTERSECT:
{
SmSurface* s2 = read_surface(rd, ctx);
bool steepest = rd.flag();
bool has_plane = rd.flag();
SmPoint3d po = rd.vec();
SmVector3d pn = rd.vec();
std::vector<std::vector<double>> xs = read_points(rd, 4);
SmPlane* plane = has_plane ? new (ctx) SmPlane(po, pn, &ctx) : NULL;
sc_srf_p4::SmSSPIntersectENFO e(*s, *s2, steepest ? TRUE : FALSE, plane, SM_EFF_ZERO * SM_EFF_ZERO);
o.push_back(0.0);
for (const std::vector<double>& x : xs)
eval_enfo(e, 4, x, o);
delete plane;
delete s2;
break;
}
case OP_SSI_NORMALIZE:
{
SmSurface* s2 = read_surface(rd, ctx);
SmVector3d pn = rd.vec();
double pd = rd.num();
std::vector<std::vector<double>> xs = read_points(rd, 4);
sc_srf_p4::SmSSINormalizeENFO e(*s, *s2, SM_EFF_ZERO * SM_EFF_ZERO, pn, pd);
o.push_back(0.0);
for (const std::vector<double>& x : xs)
eval_enfo(e, 4, x, o);
delete s2;
break;
}
case OP_SS_NORMALIZE:
{
SmSurface* s2 = read_surface(rd, ctx);
SmSolverOperationType sop = (SmSolverOperationType)rd.idx();
std::vector<SmVector3d> vecs = read_vecs(rd);
int n = sop == SM_SO_3D_SIGNED_DIRECTED_MINIMIZE ? 5 : 4;
std::vector<std::vector<double>> xs = read_points(rd, n);
sc_srf_p4::SmSSNormalizeENFO e(*s, *s2, sop, vecs.empty() ? NULL : vecs.data(), SM_EFF_ZERO * SM_EFF_ZERO);
o.push_back(0.0);
for (const std::vector<double>& x : xs)
eval_enfo(e, n, x, o);
delete s2;
break;
}
case OP_CLASSIFY:
{
SmExtent2d d = rd.dom();
SmBSplineCurve* c = read_curve(rd, ctx);
double a = rd.num(), b = rd.num();
SmPoint2d uv = rd.uv();
double t = rd.num();
SmBoolean found = FALSE;
SmPoint2d guess_uv(SM_UNDEF_DOUBLE, SM_UNDEF_DOUBLE);
double guess_t = SM_UNDEF_DOUBLE;
SmTsectCurveType type = SM_TC_UNKNOWN;
SmStatus r = sc_srf_p4::sm_ClassifyCurveSurfaceXSectPoint(*s, d, *c, SmExtent1d(a, b), uv, t, found, guess_uv,
guess_t, type);
o.push_back(st(r));
if (r == SM_SUCCESS)
{
o.push_back(flg(found));
o.push_back(guess_uv.x);
o.push_back(guess_uv.y);
o.push_back(guess_t);
o.push_back((double)type);
}
delete c;
break;
}
default:
o.push_back((double)SC_ERR_ARG);
break;
}
delete s;
}
} // namespace
SC_EXPORT int32_t sc_surface_surface_p4_eval(int32_t op, const double* in, int64_t n_in, double* out, int64_t cap,
int64_t* out_len)
{
if (in == NULL || n_in < 1 || out_len == NULL)
return SC_ERR_ARG;
SC_TRY
Rd rd{in, 0};
std::vector<double> o;
run(op, rd, o);
if (rd.at != n_in)
{
*out_len = 0;
return SC_ERR_ARG;
}
return sc_copy_out(o.data(), (int64_t)o.size(), out, cap, out_len);
SC_CATCH
}
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