#include "common.h"#include <stdlib.h>#include <stddef.h>#include <stdio.h>#include <strings.h>#include <math.h>#include "machine.h"#include "vmath.h"#include "db.h"#include "nmg.h"#include "raytrace.h"#include "rtgeom.h"#include "./debug.h"Include dependency graph for g_rpc.c:
Go to the source code of this file.
Data Structures | |
| struct | rpc_specific |
Defines | |
| #define | RPC_NORM_BODY (1) |
| #define | RPC_NORM_TOP (2) |
| #define | RPC_NORM_FRT (3) |
| #define | RPC_NORM_BACK (4) |
| #define | RT_RPC_SEG_MISS(SEG) (SEG).seg_stp=RT_SOLTAB_NULL |
| #define | RPC_TOL .0001 |
Functions | |
| int | rt_rpc_prep (struct soltab *stp, struct rt_db_internal *ip, struct rt_i *rtip) |
| void | rt_rpc_print (register const struct soltab *stp) |
| int | rt_rpc_shot (struct soltab *stp, register struct xray *rp, struct application *ap, struct seg *seghead) |
| void | rt_rpc_vshot (struct soltab **stp, struct xray **rp, struct seg *segp, int n, struct application *ap) |
| void | rt_rpc_norm (register struct hit *hitp, struct soltab *stp, register struct xray *rp) |
| void | rt_rpc_curve (register struct curvature *cvp, register struct hit *hitp, struct soltab *stp) |
| void | rt_rpc_uv (struct application *ap, struct soltab *stp, register struct hit *hitp, register struct uvcoord *uvp) |
| void | rt_rpc_free (register struct soltab *stp) |
| int | rt_rpc_class (void) |
| int | rt_rpc_plot (struct bu_list *vhead, struct rt_db_internal *ip, const struct rt_tess_tol *ttol, const struct bn_tol *tol) |
| int | rt_mk_parabola (struct rt_pt_node *pts, fastf_t r, fastf_t b, fastf_t dtol, fastf_t ntol) |
| rt_pt_node * | rt_ptalloc (void) |
| int | rt_rpc_tess (struct nmgregion **r, struct model *m, struct rt_db_internal *ip, const struct rt_tess_tol *ttol, const struct bn_tol *tol) |
| int | rt_rpc_import (struct rt_db_internal *ip, const struct bu_external *ep, register const fastf_t *mat, const struct db_i *dbip) |
| int | rt_rpc_export (struct bu_external *ep, const struct rt_db_internal *ip, double local2mm, const struct db_i *dbip) |
| int | rt_rpc_import5 (struct rt_db_internal *ip, const struct bu_external *ep, register const fastf_t *mat, const struct db_i *dbip) |
| int | rt_rpc_export5 (struct bu_external *ep, const struct rt_db_internal *ip, double local2mm, const struct db_i *dbip) |
| int | rt_rpc_describe (struct bu_vls *str, const struct rt_db_internal *ip, int verbose, double mm2local) |
| void | rt_rpc_ifree (struct rt_db_internal *ip) |
Variables | |
| const struct bu_structparse | rt_rpc_parse [] |
Algorithm -
Given V, H, R, and B, there is a set of points on this rpc
{ (x,y,z) | (x,y,z) is on rpc }
Through a series of Affine Transformations, this set of points will be transformed into a set of points on an rpc located at the origin with a rectangular halfwidth R of 1 along the Y axis, a height H of +1 along the -X axis, a distance B of 1 along the -Z axis between the vertex V and the tip of the parabola.
{ (x',y',z') | (x',y',z') is on rpc at origin }
The transformation from X to X' is accomplished by:
X' = S(R( X - V ))
where R(X) = ( H/(-|H|) ) ( R/( |R|) ) . X ( B/(-|B|) )
and S(X) = ( 1/|H| 0 0 ) ( 0 1/|R| 0 ) . X ( 0 0 1/|B| )
To find the intersection of a line with the surface of the rpc, consider the parametric line L:
L : { P(n) | P + t(n) . D }
Call W the actual point of intersection between L and the rpc. Let W' be the point of intersection between L' and the unit rpc.
L' : { P'(n) | P' + t(n) . D' }
W = invR( invS( W' ) ) + V
Where W' = k D' + P'.
If Dy' and Dz' are both 0, then there is no hit on the rpc; but the end plates need checking. If there is now only 1 hit point, the top plate needs to be checked as well.
Line L' hits the infinitely long canonical rpc at W' when
A * k**2 + B * k + C = 0
where
A = Dy'**2 B = (2 * Dy' * Py') - Dz' C = Py'**2 - Pz' - 1 b = |Breadth| = 1.0 h = |Height| = 1.0 r = 1.0
The quadratic formula yields k (which is constant):
k = [ -B +/- sqrt( B**2 - 4*A*C )] / (2*A)
Now, D' = S( R( D ) ) and P' = S( R( P - V ) )
Substituting,
W = V + invR( invS[ k *( S( R( D ) ) ) + S( R( P - V ) ) ] ) = V + invR( ( k * R( D ) ) + R( P - V ) ) = V + k * D + P - V = k * D + P
Note that ``k'' is constant, and is the same in the formulations for both W and W'.
The hit at ``k'' is a hit on the canonical rpc IFF -1 <= Wx' <= 0 and -1 <= Wz' <= 0.
NORMALS. Given the point W on the surface of the rpc, what is the vector normal to the tangent plane at that point?
Map W onto the unit rpc, ie: W' = S( R( W - V ) ).
Plane on unit rpc at W' has a normal vector N' where
N' = <0, Wy', -.5>.
The plane transforms back to the tangent plane at W, and this new plane (on the original rpc) has a normal vector of N, viz:
N = inverse[ transpose( inverse[ S o R ] ) ] ( N' )
because if H is perpendicular to plane Q, and matrix M maps from Q to Q', then inverse[ transpose(M) ] (H) is perpendicular to Q'. Here, H and Q are in "prime space" with the unit sphere. [Somehow, the notation here is backwards]. So, the mapping matrix M = inverse( S o R ), because S o R maps from normal space to the unit sphere.
N = inverse[ transpose( inverse[ S o R ] ) ] ( N' ) = inverse[ transpose(invR o invS) ] ( N' ) = inverse[ transpose(invS) o transpose(invR) ] ( N' ) = inverse[ inverse(S) o R ] ( N' ) = invR o S ( N' )
because inverse(R) = transpose(R), so R = transpose( invR ), and S = transpose( S ).
Note that the normal vector produced above will not have unit length.
THE TOP AND END PLATES.
If Dz' == 0, line L' is parallel to the top plate, so there is no hit on the top plate. Otherwise, rays intersect the top plate with k = (0 - Pz')/Dz'. The solution is within the top plate IFF -1 <= Wx' <= 0 and -1 <= Wy' <= 1.
If Dx' == 0, line L' is parallel to the end plates, so there is no hit on the end plates. Otherwise, rays intersect the front plate with k = (0 - Px') / Dx' and the back plate with k = (-1 - Px') / Dx'.
The solution W' is within an end plate IFF
Wy'**2 + Wz' <= 1.0 and Wz' <= 1.0
The normal for a hit on the top plate is -Bunit. The normal for a hit on the front plate is -Hunit, and the normal for a hit on the back plate is +Hunit.
Authors - Michael J. Markowski
Source - SECAD/VLD Computing Consortium, Bldg 394 The U. S. Army Ballistic Research Laboratory Aberdeen Proving Ground, Maryland 21005-5066
Definition in file g_rpc.c.
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Definition at line 343 of file g_rpc.c. Referenced by rt_rpc_curve(), rt_rpc_norm(), rt_rpc_shot(), and rt_rpc_uv(). |
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Definition at line 344 of file g_rpc.c. Referenced by rt_rpc_curve(), rt_rpc_norm(), rt_rpc_shot(), and rt_rpc_uv(). |
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Definition at line 345 of file g_rpc.c. Referenced by rt_rpc_curve(), rt_rpc_norm(), rt_rpc_shot(), and rt_rpc_uv(). |
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Definition at line 346 of file g_rpc.c. Referenced by rt_rpc_curve(), rt_rpc_norm(), rt_rpc_shot(), and rt_rpc_uv(). |
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Referenced by rt_mk_parabola(). |
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R T _ R P C _ P R I N T Definition at line 329 of file g_rpc.c. References bn_mat_print(), rpc_specific::rpc_Bunit, rpc_specific::rpc_Hunit, rpc_specific::rpc_invRoS, rpc_specific::rpc_Runit, rpc_specific::rpc_SoR, rpc_specific::rpc_V, and VPRINT. Here is the call graph for this function:  |
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R T _ R P C _ S H O T Intersect a ray with a rpc. If an intersection occurs, a struct seg will be acquired and filled in. Returns - 0 MISS >0 HIT Definition at line 360 of file g_rpc.c. References application::a_resource, BU_LIST_INSERT, FAST, seg::l, LOCAL, MAT4X3VEC, NEAR_ZERO, RPC_NORM_BACK, RPC_NORM_BODY, RPC_NORM_FRT, RPC_NORM_TOP, rpc_specific::rpc_SoR, rpc_specific::rpc_V, RT_GET_SEG, RT_HIT_MAGIC, RT_PCOEF_TOL, seg::seg_in, seg::seg_out, seg::seg_stp, soltab::st_specific, VJOIN1, VSUB2, X, Y, and Z. |
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R T _ R P C _ V S H O T Vectorized version. Definition at line 509 of file g_rpc.c. References rt_vstub(). Here is the call graph for this function:  |
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R T _ R P C _ N O R M Given ONE ray distance, return the normal and entry/exit point. Definition at line 525 of file g_rpc.c. References bu_log(), MAT4X3VEC, rpc_specific::rpc_Bunit, rpc_specific::rpc_Hunit, rpc_specific::rpc_invRoS, RPC_NORM_BACK, RPC_NORM_BODY, RPC_NORM_FRT, RPC_NORM_TOP, soltab::st_specific, VJOIN1, VMOVE, VREVERSE, VSET, VUNITIZE, and Y. Here is the call graph for this function:  |
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R T _ R P C _ C U R V E Return the curvature of the rpc. Definition at line 559 of file g_rpc.c. References bn_vec_ortho(), rpc_specific::rpc_b, rpc_specific::rpc_Hunit, rpc_specific::rpc_inv_rsq, RPC_NORM_BACK, RPC_NORM_BODY, RPC_NORM_FRT, RPC_NORM_TOP, soltab::st_specific, VMOVE, and Y. Here is the call graph for this function:  |
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R T _ R P C _ U V For a hit on the surface of an rpc, return the (u,v) coordinates of the hit point, 0 <= u,v <= 1. u = azimuth v = elevation Definition at line 594 of file g_rpc.c. References bn_invpi, FAST, LOCAL, MAT4X3VEC, RPC_NORM_BACK, RPC_NORM_BODY, RPC_NORM_FRT, RPC_NORM_TOP, rpc_specific::rpc_SoR, rpc_specific::rpc_V, soltab::st_specific, VSUB2, X, Y, and Z. |
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R T _ R P C _ F R E E Definition at line 637 of file g_rpc.c. References bu_free(). Here is the call graph for this function:  |
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R T _ R P C _ C L A S S |
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R T _ R P C _ P L O T Definition at line 658 of file g_rpc.c. References rt_tess_tol::abs, bn_mat_trn(), bn_pi, bu_free(), bu_log(), bu_malloc(), rt_db_internal::idb_ptr, LOCAL, MAGNITUDE, MAT4X3VEC, MAT_IDN, NEAR_ZERO, rt_pt_node::next, rt_tess_tol::norm, NULL, rt_pt_node::p, pos, R, rt_tess_tol::rel, rt_rpc_internal::rpc_B, rt_rpc_internal::rpc_H, rt_rpc_internal::rpc_r, rt_rpc_internal::rpc_V, RT_CK_DB_INTERNAL, RT_DOT_TOL, RT_LEN_TOL, rt_mk_parabola(), rt_ptalloc(), RT_RPC_CK_MAGIC, VADD2, VCROSS, VDOT, VMOVE, VREVERSE, VSET, and VUNITIZE. Here is the call graph for this function:  |
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R T _ R P C _ T E S S Returns - -1 failure 0 OK. *r points to nmgregion that holds this tessellation. Definition at line 920 of file g_rpc.c. References rt_tess_tol::abs, BN_CK_TOL, bn_mat_trn(), bn_pi, bu_calloc(), bu_free(), BU_LIST_FIRST, bu_log(), bu_malloc(), rt_db_internal::idb_ptr, LOCAL, MAGNITUDE, MAT4X3VEC, MAT_IDN, NEAR_ZERO, rt_pt_node::next, NMG_CK_MODEL, nmg_mrsv(), rt_tess_tol::norm, NULL, rt_pt_node::p, pos, R, rt_tess_tol::rel, rt_rpc_internal::rpc_B, rt_rpc_internal::rpc_H, rt_rpc_internal::rpc_r, rt_rpc_internal::rpc_V, RT_CK_DB_INTERNAL, RT_CK_TESS_TOL, RT_DOT_TOL, RT_LEN_TOL, rt_mk_parabola(), rt_ptalloc(), RT_RPC_CK_MAGIC, VADD2, VCROSS, VDOT, VMOVE, VREVERSE, VSET, VUNITIZE, and Y. Here is the call graph for this function:  |
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R T _ R P C _ I M P O R T Import an RPC from the database format to the internal format. Apply modeling transformations as well. Definition at line 1192 of file g_rpc.c. References BU_CK_EXTERNAL, bu_free(), bu_log(), bu_malloc(), DB5_MAJORTYPE_BRLCAD, bu_external::ext_buf, ID_RPC, ID_SOLID, rt_db_internal::idb_major_type, rt_db_internal::idb_meth, rt_db_internal::idb_ptr, LOCAL, MAT4X3PNT, MAT4X3VEC, rt_rpc_internal::rpc_B, rt_rpc_internal::rpc_H, rt_rpc_internal::rpc_magic, rt_rpc_internal::rpc_r, rt_rpc_internal::rpc_V, RT_CK_DB_INTERNAL, RT_RPC_INTERNAL_MAGIC, record::s, record::solidrec::s_values, SMALL_FASTF, and record::u_id. Here is the call graph for this function:  |
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R T _ R P C _ E X P O R T The name is added by the caller, in the usual place. Definition at line 1235 of file g_rpc.c. References bu_calloc(), BU_CK_EXTERNAL, bu_log(), bu_external::ext_buf, bu_external::ext_nbytes, ID_RPC, ID_SOLID, rt_db_internal::idb_ptr, MAGNITUDE, NEAR_ZERO, RPC, rt_rpc_internal::rpc_B, rt_rpc_internal::rpc_H, rt_rpc_internal::rpc_r, rt_rpc_internal::rpc_V, RT_CK_DB_INTERNAL, RT_DOT_TOL, RT_LEN_TOL, RT_RPC_CK_MAGIC, record::s, record::solidrec::s_id, record::solidrec::s_type, record::solidrec::s_values, VDOT, and VSCALE. Here is the call graph for this function:  |
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R T _ R P C _ I M P O R T 5 Import an RPC from the database format to the internal format. Apply modeling transformations as well. Definition at line 1284 of file g_rpc.c. References BU_ASSERT_LONG, BU_CK_EXTERNAL, bu_free(), bu_log(), bu_malloc(), DB5_MAJORTYPE_BRLCAD, bu_external::ext_buf, bu_external::ext_nbytes, ID_RPC, rt_db_internal::idb_major_type, rt_db_internal::idb_meth, rt_db_internal::idb_ptr, MAT4X3PNT, MAT4X3VEC, ntohd(), rt_rpc_internal::rpc_B, rt_rpc_internal::rpc_H, rt_rpc_internal::rpc_magic, rt_rpc_internal::rpc_r, rt_rpc_internal::rpc_V, RT_CK_DB_INTERNAL, RT_RPC_INTERNAL_MAGIC, SIZEOF_NETWORK_DOUBLE, and SMALL_FASTF. Here is the call graph for this function:  |
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R T _ R P C _ E X P O R T 5 The name is added by the caller, in the usual place. Definition at line 1327 of file g_rpc.c. References BU_CK_EXTERNAL, bu_log(), bu_malloc(), bu_external::ext_buf, bu_external::ext_nbytes, htond(), ID_RPC, rt_db_internal::idb_ptr, MAGNITUDE, NEAR_ZERO, rt_rpc_internal::rpc_B, rt_rpc_internal::rpc_H, rt_rpc_internal::rpc_r, rt_rpc_internal::rpc_V, RT_CK_DB_INTERNAL, RT_DOT_TOL, RT_LEN_TOL, RT_RPC_CK_MAGIC, SIZEOF_NETWORK_DOUBLE, VDOT, and VSCALE. Here is the call graph for this function:  |
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R T _ R P C _ D E S C R I B E Make human-readable formatted presentation of this solid. First line describes type of solid. Additional lines are indented one tab, and give parameter values. Definition at line 1376 of file g_rpc.c. References bu_vls_strcat(), rt_db_internal::idb_ptr, INTCLAMP, MAGNITUDE, RT_RPC_CK_MAGIC, X, Y, and Z. Here is the call graph for this function:  |
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R T _ R P C _ I F R E E Free the storage associated with the rt_db_internal version of this solid. Definition at line 1417 of file g_rpc.c. References bu_free(), GENPTR_NULL, rt_db_internal::idb_ptr, rt_rpc_internal::rpc_magic, RT_CK_DB_INTERNAL, and RT_RPC_CK_MAGIC. Here is the call graph for this function:  |
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Initial value: {
{ "%f", 3, "V", bu_offsetof(struct rt_rpc_internal, rpc_V[X]), BU_STRUCTPARSE_FUNC_NULL },
{ "%f", 3, "H", bu_offsetof(struct rt_rpc_internal, rpc_H[X]), BU_STRUCTPARSE_FUNC_NULL },
{ "%f", 3, "B", bu_offsetof(struct rt_rpc_internal, rpc_B[X]), BU_STRUCTPARSE_FUNC_NULL },
{ "%f", 1, "r", bu_offsetof(struct rt_rpc_internal, rpc_r), BU_STRUCTPARSE_FUNC_NULL },
{ {'\0','\0','\0','\0'}, 0, (char *)NULL, 0, BU_STRUCTPARSE_FUNC_NULL }
}
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1.4.6
