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|
;;;
;;; geobody.l
;;; geometric computation package for EUSLISP
;;; Copyright (1988) Toshihiro MATSUI,Electrotechnical Laboratory
;;;
;;; revision history
;;; 1990
;;; Sep/27 split from geopack.l
(in-package "GEOMETRY")
(export '(add-wings))
(require :geoclasses "geoclasses.l")
(defvar *edge-class*)
(defvar *face-class*)
(defvar *body-class*)
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;;; FaceSet
;; basic accessors
(defmethod FaceSet
(:update ()
(if *debug* (format *error-output* "updating body ~A~%" (send self :name)))
(send self :reset-vertices)
(dolist (f faces) (send f :reset-normal)) ;update surface normals
(remprop self :visible-edges)
self)
(:vertices () vertices)
(:faces (&rest x)
(cond (x (send* self :get-face x))
(t faces)))
(:face (n) (nth n faces))
(:all-edges () edges)
(:edges () edges)
(:edge (n) (nth n edges))
(:vertex (n) (nth n vertices))
(:box () box)
(:color (&optional new)
(if new
(setf (get self :color) new)
(get self :color)))
(:reflectance (&optional new &aux ref)
(if new
(setf (get self :reflectance) new)
(if (setq ref (get self :reflectance)) ref 0.5)))
(:diffusion (&optional new &aux dif)
(if new
(setf (get self :diffusion) new)
(if (setq dif (get self :diffusion)) dif 0.5)))
(:holes () (apply #'append (send-all faces :holes)))
(:visible-faces (vp)
(if (derivedp vp viewing) (setq vp (send vp :viewpoint)))
(mapcan #'(lambda (f) (if (send f :visible vp) (list f))) faces))
(:visible-edges (vp &aux visible-faces r)
(if (derivedp vp viewing) (setq vp (send vp :viewpoint)))
(if (equal (car (setq r (get self :visible-edges))) vp)
(cdr r)
(let ((htab (make-hash-table :size (round (* 1.5 (length edges)))
:hash #'sys:address)) )
(dolist (f (send self :visible-faces vp))
(dolist (e (send f :all-edges)) (setf (gethash e htab) e)) )
(setq r (send htab :list-values))
(setf (get self :visible-edges) (cons vp r))
(sys:reclaim (hash-table-key htab))
(sys:reclaim (hash-table-value htab))
r )) )
(:contour-edges (vp &aux (visible-faces (send self :visible-faces vp)) r)
(dolist (e edges)
(cond ((member (edge-pface e) visible-faces)
(if (not (member (edge-nface e) visible-faces))
(push e r)))
((member (edge-nface e) visible-faces)
(if (not (member (edge-pface e) visible-faces))
(push e r))) ) )
r)
(:non-contour-edges (vp &aux (visible-faces (send self :visible-faces vp)) r)
(dolist (e edges)
(if (and (member (edge-pface e) visible-faces)
(member (edge-nface e) visible-faces))
(push e r)))
r)
(:common-box (b &optional (tolerance)) ; common minimal box between two bodies
(declare (type body b))
(send box :intersection (send b :box) tolerance))
(:Newbox (&optional (tolerance *contact-threshold*))
(setq box (make-bounding-box vertices tolerance)))
)
;; shape modification methods
;; These methods destructively changes `model-vertices'.
;; The history of modification is recorded in the csg list so that the
;; shape change can be played back again.
(defmethod FaceSet
(:reset-vertices ()
(let* ((mv model-vertices)
(v vertices)
(wrot (coordinates-rot worldcoords))
(wpos (coordinates-pos worldcoords)))
(while mv
(transform wrot (car mv) (car v))
(v+ wpos (car v) (car v))
(pop v) (pop mv))
(send box :init vertices *contact-threshold*) ;update minimal box
)
self)
(:translate-vertices (trans)
;move all vertices with respect to the coordinates,
;without moving coordinates.
(dolist (v model-vertices) (v+ v trans v))
(send self :update)
;(send-all (send self :primitive-bodies) :translate-vertices trans self)
self)
(:rotate-vertices (rad axis)
;move all vertices with respect to this coordinates
;without moving coordinates.
(let (rotmat)
(if (float-vector-p axis) (setq rotmat (rotation-matrix rad axis)))
(dolist (v model-vertices)
(if (float-vector-p axis)
(transform rotmat v v)
(rotate-vector v rad axis v))))
(send self :update)
; (send-all (send self :primitive-bodies) :rotate-vertices rad axis self)
self)
(:magnify (scale &optional (axis))
(cond (axis
(setq axis (cond ((eql axis :x) #f(1 0 0))
((eql axis :y) #f(0 1 0))
((eql axis :z) #f(0 0 1))
(t (normalize-vector axis))))
(dolist (v model-vertices)
(v+ (scale (* (- scale 1.0) (v. v axis)) axis) v v) )
)
(t (dolist (v model-vertices) (scale scale v v)) ))
(send self :update)
self) )
(defmethod FaceSet
(:faces-intersect-with-point-vector (point vector)
"args=(point vector)
checks intersection with a line which extends from POINT toward VECTOR direction."
(let (result intersect)
(dolist (f faces)
(setq intersect (send f :intersect-point-vector point vector))
(if (eq (car intersect) ':inside)
(push (list f (cadr intersect)) result )))
result))
(:distance (target)
(let ((closest-distance) (closest nil) d)
(cond ((derivedp target float-vector)
(setq closest-distance 1.0e30)
(dolist (f faces)
(setq d (send f :distance target))
(when (< (abs d) (abs closest-distance))
(setq closest-distance d
closest f))))
((derivedp target plane)
(setq closest-distance (send target :distance (car vertices))
closest (car vertices))
(dolist (v (rest vertices))
(setq d (send target :distance v))
(when (< d closest-distance)
(setq closest-distance d
closest v))) ) )
(values closest-distance closest))
)
)
(defmethod FaceSet
(:init (&rest initargs
&key ((:faces f)) ((:edges e)) ((:vertices v))
(color nil) (reflectance) (diffusion)
&allow-other-keys)
(when f
(setq faces f)
(if (null e)
(setq edges (remove-duplicates (apply #'append (send-all f :all-edges)))))
(if (null v)
(setq vertices (remove-duplicates (apply #'append (send-all f :all-vertices)))))
)
(send-super* :init initargs)
(when e (setq edges e))
(when v (setq vertices v))
(setq box (instance bounding-box :init vertices *contact-threshold*))
(if (null model-vertices))
(setq model-vertices (mapcar #'copy-seq vertices))
(if color (setf (get self :color) color))
(if reflectance (setf (get self :reflectance) reflectance))
(if diffusion (setf (get self :diffusion) diffusion))
self)
)
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;;;
;;; body (Brep)
;;;
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
(defmethod body
(:translate-vertices (trans)
(send-super :translate-vertices trans)
(nconc csg (list (list :translate-vertices trans)))
self)
(:rotate-vertices (rad axis)
(send-super :rotate-vertices rad axis)
(nconc csg (list (list :rotate-vertices rad axis)))
self)
(:magnify (scale &optional (axis))
(send-super :magnify scale axis)
(nconc csg (list (list :magnify (float scale) axis)))
self)
)
;; mass properties
(defmethod body
(:euler () ":euler returns the number of rings (passes)"
(let ((v (length vertices)) (e (length edges)) (f (length faces))
(L (length (send self :holes)) ) )
;pass(ring) is unknown
(declare (integer v e f L))
%((e - f - v + 2 + L) / 2) ) )
(:perimeter () (apply #'+ (send-all edges :length)))
(:volume (&optional (point #f(0 0 0)))
(apply #'+ (send-all faces :volume point)))
(:centroid (&optional (point (float-vector 0 0 0)))
(let* ((cents (send-all faces :centroid point))
(total-area (apply #'+ (mapcar #'car cents)))
(glist (mapcar #'(lambda (c) (apply #'scale c)) cents))
(centroid (float-vector 0 0 0)))
(dolist (g glist) (v+ g centroid centroid))
(scale (/ 1.0 total-area) centroid centroid)
; (setf (get self :centroid) centroid)
centroid))
(:world-centroid ()
(send (send self :worldcoords) :transform-vector (get self :centroid)))
(:area () (apply #'+ (send-all faces :area)))
(:extream-point (vec)
":extream-point (vec) finds the farthest point along vec in vertices."
(let* ((p (first vertices)) (m (v. vec p)) m2)
(declare (float m m2))
(dolist (v (rest vertices))
(setq m2 (v. vec v))
(if (> m2 m) (setq m m2 p v)))
p))
(:length (vec)
"length in vec direction"
(- (v. vec (send self :extream-point vec))
(v. vec (send self :extream-point (scale -1.0 vec)))) )
(:supporting-faces (&optional (gravity (floatvector 0.0 0.0 -1.0)))
(send self :faces-intersect-with-point-vector
(send self :centroid) gravity))
)
;; intersection
(defmethod body
(:possibly-interfering-faces (cbox)
(mapcan #'(lambda (f) (if (send f :boxtest cbox) (list f))) faces))
(:possibly-interfering-edges (cbox)
(mapcan #'(lambda (e) (if (send e :boxtest cbox) (list e))) edges))
(:intersect-face (f) ;bug 90Sep
(dolist (aface faces)
(if (or (send aface :intersect-face f)
(send f :intersect-face aface))
(return-from :intersect-face T)))
nil)
(:intersectp (b) ;check intersection with another body
(declare (type body b))
(let* ((cbox (send box :intersection (send b :box)))
myfaces hisfaces)
(when cbox ;boxes interfer?
(setq myfaces (send self :possibly-interfering-faces cbox))
(setq hisfaces (send b :possibly-interfering-faces cbox))
(dolist (f1 myfaces)
(dolist (f2 hisfaces)
(setq cbox (send (send f1 :box) :intersection (send f2 :box)))
(if (or (send f1 :intersect-face f2 cbox)
(send f2 :intersect-face f1 cbox))
(return-from :intersectp t))
;; (sys:reclaim-tree cbox) ;; segfaults if GC occurred
)))))
(:intersectp2 (body2 &optional (tolerance *epsilon*))
(let* ((cbox (send self :common-box body2))
faces1 faces2 edges1 edges2 p point flag inside-flag)
(when cbox
(setq faces1 (send self :possibly-interfering-faces cbox))
(setq faces2 (send body2 :possibly-interfering-faces cbox))
(setq edges1 (send self :possibly-interfering-edges cbox))
(setq edges2 (send body2 :possibly-interfering-edges cbox))
(dolist (f1 faces1)
(dolist (e2 edges2)
(cond ((send f1 :coplanar-line e2)
(when (null flag)
(dolist (e1 (send f1 :all-edges))
(if (consp (send e1 :intersect-line e2))
(let ((n (send f1 :normal)))
(if (or (eps= 1.0 (v. n (send (edge-pface e2) :normal)))
(eps= 1.0 (v. n (send (edge-nface e2) :normal))))
(return-from :intersectp2 :intersect)
(return (setq flag :contact))))))
(if (send f1 :insidep (line-pvert e2))
(let ((n (send f1 :normal)))
(if (or (eps= 1.0 (v. n (send (edge-pface e2) :normal)))
(eps= 1.0 (v. n (send (edge-nface e2) :normal))))
(return-from :intersectp2 :intersect)
(setq flag :contact)))) ))
(t
(setq p (send f1 :intersection (line-pvert e2)
(line-nvert e2)))
(when (and (not (eq p *nan*))
(eps-in-range 0.0 p 1.0 tolerance))
(setq point (send e2 :point p))
(setq inside-flag (send f1 :insidep point))
(cond ((and (or (eps= p 0.0 tolerance)
(eps= p 1.0 tolerance))
(member inside-flag '(:inside :border)))
(setq flag :contact))
(t
(case inside-flag
(:inside
(return-from :intersectp2 :intersect))
(:border
(setq flag :contact)))))) ))))
(dolist (f1 faces2)
(dolist (e2 edges2)
(cond ((send f1 :coplanar-line e2)
(when (null flag)
(dolist (e1 (send f1 :all-edges))
(if (consp (send e1 :intersect-line e2))
(let ((n (send f1 :normal)))
(if (or (eps= 1.0 (v. n (send (edge-pface e2) :normal)))
(eps= 1.0 (v. n (send (edge-nface e2) :normal))))
(return-from :intersectp2 :intersect)
(return (setq flag :contact))))))
(if (send f1 :insidep (line-pvert e2))
(let ((n (send f1 :normal)))
(if (or (eps= 1.0 (v. n (send (edge-pface e2) :normal)))
(eps= 1.0 (v. n (send (edge-nface e2) :normal))))
(return-from :intersectp2 :intersect)
(setq flag :contact)))) ))
(t
(setq p (send f1 :intersection (line-pvert e2)
(line-nvert e2)))
(when (and (not (eq p *nan*))
(eps-in-range 0.0 p 1.0 tolerance))
(setq point (send e2 :point p))
(setq inside-flag (send f1 :insidep point))
(cond ((and (or (eps= p 0.0 tolerance)
(eps= p 1.0 tolerance))
(member inside-flag '(:inside :border)))
(setq flag :contact))
(t
(case inside-flag
(:inside
(return-from :intersectp2 :intersect))
(:border
(setq flag :contact)))))) ))))
flag)) )
(:insidep (point &optional (tolerance *coplanar-threshold*))
;;does point lie in this body?
(if (and (null evertedp)
(null (send box :inner point)))
(return-from :insidep ':outside))
(let (d random-vnorm flag intersect-count)
(cond
(convexp
(dolist (f faces)
(setq d (send f :plane-distance point))
(cond ((< (abs d) tolerance)
(setq flag (send f :insidep point))
(if (eq flag ':outside)
(return-from :insidep ':outside)
(return-from :insidep ':border)))
((> d 0.0) (return-from :insidep ':outside))))
':inside)
(t
(setq flag nil)
(while (null flag)
(setq random-vnorm (random-normalized-vector)
intersect-count 0)
(dolist (f faces)
(if (and (< (abs (send f :plane-distance point)) tolerance)
(null (eq (send f :insidep point) ':outside)))
(return-from :insidep ':border))
(setq flag
(send f :intersect-point-vector point random-vnorm))
(case (car flag)
(:inside (inc intersect-count))
(:outside ) ;do nothing
(t (setq flag nil) (return nil)))))
(if (null evertedp)
(if (oddp intersect-count) ':inside ':outside)
(if (oddp intersect-count) ':outside ':inside))))))
(:evert ()
(send-all faces :invert)
(send-all edges :invert)
(setq evertedp (null evertedp))
(cond (evertedp
(setq box (instance bounding-box :init2
(float-vector -1.e10 -1.e10 -1.e10)
(float-vector 1.e10 1.e10 1.e10)))
(setq convexp nil))
(t (send self :newbox)
(send self :set-convexp)))
evertedp)
(:set-convexp ()
(if (every #'(lambda (x) (>= x 0.0)) (send-all edges :angle)) (setq convexp t))
(send-all faces :set-convexp)
self)
)
;;;
;;; csg management
;;;
(defmethod body
(:get-face (&optional b f id)
(let (r rr rrr ftype)
(cond ((bodyp b)
(dolist (f faces)
(if (eq (send f :primitive-body) b) (push f r))))
((keywordp b)
(dolist (f faces)
(if (eq (car (send f :primitive-body-type)) b)
(push f r))))
(t (setq r (copy-seq faces))))
(cond ((facep f)
(dolist (fx r)
(if (eq (send fx :primitive-face) f) (push fx rr))) )
((keywordp f)
(dolist (fx r)
(setq ftype (car (send fx :id)))
(if (or (eq ftype f)
(and (eq f :end) (member ftype '(:top :bottom))))
(push fx rr))) )
(t (setq rr r)))
(cond (id
(dolist (fx rr)
(if (eq (second (send fx :id)) id) (push fx rrr)))
rrr)
(t rr))))
(:primitive-body-p () (and (consp (car csg)) (keywordp (caar csg))))
(:primitive-bodies (&optional +/- btype)
"collects primitive bodies that defines this body in a list"
(labels
((getprimt (x)
(cond ((primitive-body-p x) (list x))
((listp x)
(mapcan #'getprimt
(cond ((listp (cadr x)) (cadr x))
(t (third x)))))
(t (mapcan #'getprimt (cadr (send x :csg)))) )) )
(let (pbodies)
(case +/-
(:+ (setq pbodies (first (send self :primitive-groups))))
(:- (setq pbodies (second (send self :primitive-groups))))
(t (setq pbodies (getprimt self)) ) )
(cond (btype
(collect-if
#'(lambda (pb &aux (bt (car (send pb :body-type))))
(if (consp btype)
(member bt btype)
(eql btype bt)))
pbodies))
(t pbodies)))))
(:csg (&optional newcsg)
(if newcsg (setq csg newcsg) csg) )
(:copy-csg ()
(labels
((copy-csg (csg)
(cond ((listp csg)
(list (car csg)
(mapcar #'(lambda (x) (copy-csg x))
(cadr csg))))
((bodyp csg)
(let ((csgb) (par) (dec))
(send csg :worldcoords)
;; dissociate csg body from the inheritance tree
;; to keep consisntency after copying
(setq par (send csg :parent))
(if par (send par :dissoc csg))
(setq dec (send csg :descendants))
(send csg :clear-assoc)
;; copy the body
(setq csgb (copy-object csg))
;; restore the inheritance tree
(if par (send par :assoc csg))
(dolist (d dec) (send csg :assoc d))
(send csgb :worldcoords)
(dolist (f (body-faces csgb))
(send f :primitive-face f))
(setf (get csgb :copied-primitive) csg)
csgb) ))) )
(if (send self :primitive-body-p)
(copy-csg self)
(copy-csg csg ))
))
(:body-type ()
(if (member (car csg) '(+ - * /))
(list :complex (car csg))
(car csg)))
(:creation-form ()
"returns eus program that re-creates this body."
(labels ((cr-form (csg)
(cond
((listp csg)
(cond ((eq (car csg) '+)
(list* 'body+ (mapcar #'cr-form (cadr csg))) )
((eq (car csg) '-)
(list* 'body- (mapcar #'cr-form (cadr csg))) ) ))
((bodyp csg)
(let ((creation (car (send csg :csg))))
(setq creation
(case (car creation)
(:cube (cons 'make-cube (cdr creation)))
(:cylinder (list* 'make-cylinder
(cadr creation)
(caddr creation)
:segments (cdddr creation)))
(t (error "don't know how to create ~a" creation))) )
(append creation (list :name (send csg :name)))
`(send ,creation
:move-to ,(send csg :worldcoords) :world) ) ))))
(if (send self :primitive-body-p)
(cr-form self)
(cr-form csg))) )
(:prin1 (strm) (send-super :prin1 strm (send self :body-type)))
(:init (&rest initargs
&key (approximated nil)
(primitive nil) ((:csg csgform) nil)
&allow-other-keys)
(send-super* :init initargs)
(send-all edges :set-angle)
(if approximated (send-all edges :set-approximated-flag))
(if (every #'plusp (send-all edges :angle)) (setq convexp t))
(if (and vertices faces)
(setf (get self :centroid #f(0 0 0)) (send self :centroid)
(get self :volume) (send self :volume)))
(when primitive
(send-all faces :body self)
(setq csg (list primitive)))
;; (setq *bodies* (adjoin self *bodies*))
self) )
(defmethod body
(:replace-shape (newbody)
(dolist (p descendants)
(if (get p :copied-primitive) (send self :dissoc p)))
(setq faces (body-faces newbody)
edges (body-edges newbody)
vertices (body-vertices newbody)
model-vertices (geo::body-model-vertices newbody)
box (body-box newbody)
convexp (geo::body-convexp newbody)
csg (body-csg newbody))
(setf (get self :visible-edges) nil)
(let ((w-inv (send (send self :worldcoords) :inverse-transformation))
(mv model-vertices))
(while mv
(setf (car mv) (send w-inv :transform-vector (car mv)))
(setq mv (cdr mv))
))
(send-all faces :body self)
(dolist (p (send self :primitive-bodies)) (send self :assoc p))
self)
(:+ (&rest bodies)
(send self :replace-shape (apply #'body+ self bodies)))
(:- (&rest bodies)
(send self :replace-shape (apply #'body- self bodies)))
(:* (&rest bodies)
(send self :replace-shape (apply #'body* self bodies)))
(:primitive-groups ()
(labels
((p-primitives (csg)
(cond ((listp csg)
(cond ((eq (car csg) '+)
(mapcan #'P-primitives (cadr csg)))
((eq (car csg) '-)
(nconc (P-primitives (caadr csg))
(mapcan #'n-primitives (cdadr csg))) ) ))
((primitive-body-p csg) (list csg) ) ))
(n-primitives (csg)
(if (listp csg)
(cond ((eq (car csg) '+) (mapcan #'n-primitives (cadr csg)))
((eq (car csg) '-)
(nconc (n-primitives (caadr csg))
(mapcan #'P-primitives (cdadr csg))) ) )))
)
(if (send self :primitive-body-p)
(list (list self) nil)
(list (p-primitives csg) (n-primitives csg)))) )
)
(defmethod body ;Hirukawa
(:constraint (b) ; get body(b)'s constraint to body(self)
(declare (type body b))
(let (mycontact hiscontact)
(when (send box :intersection (send b :box)) ;boxes contact?
(setq mycontact (nconc (send self :contact-vertices b)
(send self :contact-edges b)))
(setq hiscontact (nconc (send b :contact-vertices self)
(send b :contact-edges self)))
(instance constraint-relation :init
:constrained-body self
:constraining-body b
:constraints (contact-to-constraint mycontact hiscontact)))))
(:contact-vertices (b)
(let ((cbox (send box :intersection (send b :box))))
(when cbox
(let ((myvertices (send self :possibly-contacting-vertices cbox))
(hisfaces (send b :possibly-contacting-faces cbox))
conp e1 ftemp)
(dolist (v myvertices) ; select contacting vertices
(dolist (f hisfaces)
(if (not (eq (send f :contactp v) ':outside))
(return
(push (instance constrained-point :init
:position v :hisface f)
conp)))))
(dolist (p conp) ; append back pointer to edges
(dolist (e edges)
(if (or (equal (constrained-point-position p) (edge-pvert e))
(equal (constrained-point-position p) (edge-nvert e)))
(setf (constrained-point-myneighborhood p)
(cons e (constrained-point-myneighborhood p))))))
; p=(position hisface (myedge1 myedge2 ...))
(dolist (p conp)
(send p :to-convex))
conp))))
(:contact-edges (b)
(let ((cbox (send box :intersection (send b :box))))
(when cbox
(let ((myedges (send self :possibly-contacting-edges cbox))
(hisfaces (send b :possibly-contacting-faces cbox))
foot conp op)
(dolist (e myedges)
(dolist (f hisfaces)
(setq foot (send f :contact-edge e))
(if (and foot
(null (find foot conp
:test #'(lambda (a b)
(eps-v= a
(constrained-point-position
b)
*contact-threshold*)))))
(if (plusp (edge-angle e))
(push (instance constrained-point :init
:position foot :hisface f
:myneighborhood (list (list e)))
conp)
(push (instance constrained-point :init
:position foot :hisface f
:myneighborhood (list (list (edge-pface e))
(list (edge-nface e))))
conp)))))
; and-edge conp=((vertex hisface ((edge))) ...)
; or-edge conp=((vertex hisface ((face1) (face2))) ...)
conp))))
(:possibly-contacting-vertices (cbox)
(mapcan #'(lambda (v) (if (send cbox :inner v) (list v))) vertices))
(:possibly-contacting-edges(cbox)
(mapcan #'(lambda (e)
(if (send e :boxtest cbox *contact-threshold*) (list e)))
edges))
(:possibly-contacting-faces (cbox)
(mapcan #'(lambda (f)
(if (send f :boxtest cbox *contact-threshold*) (list f)))
faces)))
;;;
;;;
(defmethod sphere
(:radius (&optional r)
(if r (setq radius r))
radius)
(:inner (point)
(< (distance point pos) radius))
(:volume () %(4.0 * pi * radius * radius * radius / 3))
(:intersect-line (p1 p2)
(let* ((lu p1)
(lv (v- p1 p2))
(center (send self :worldpos))
(g (v- lu center))
(a (v. lv lv))
(b (v. lv g))
(c (- (v. g g) (* radius radius)))
(d %(b * b - a * c)))
(if (< d 0.0)
nil
(list (midpoint %(( b + sqrt(d)) / a) p1 p2)
(midpoint %(( b - sqrt(d)) / a) p1 p2)))) )
(:closest-point (point)
(v+ (send self :worldpos)
(scale radius (normalize-vector (v- point (send self :worldpos))))))
(:intersect-with-body (bod)
(dolist (v (send bod :vertices))
(if (< (distance v pos) radius) (return-from :intersect-with-body t)))
nil)
(:init (&key (center (float-vector 0 0 0)) ((:radius r) 1.0))
(send-super :init)
(setq pos center radius r)
self))
(defun add-wings (bod)
(let (edgering edge-pairs oldedge newedge)
(dolist (e (body-edges bod))
(setq newedge (instance winged-edge :init
:pface (edge-pface e)
:nface (edge-nface e)
:pvertex (edge-pvert e)
:nvertex (edge-nvert e)
:angle (edge-angle e)
:pwing (send e :pwing)
:pcwing (send e :pcwing)
:nwing (send e :nwing)
:ncwing (send e :ncwing)))
(setq edge-pairs (acons e newedge edge-pairs)))
(dolist (ep edge-pairs)
(setq oldedge (car ep) newedge (cdr ep))
(send newedge :init
:pwing (cdr (assq (winged-edge-pwing newedge) edge-pairs))
:nwing (cdr (assq (winged-edge-nwing newedge) edge-pairs))
:pcwing (cdr (assq (winged-edge-pcwing newedge) edge-pairs))
:ncwing (cdr (assq (winged-edge-ncwing newedge) edge-pairs))))
(dolist (f (send bod :faces))
(setq edgering nil)
(dolist (e (send f :edges))
(push (cdr (assq e edge-pairs)) edgering))
(setf (face-edges f) edgering)
(dolist (h (send f :holes))
(setq edgering nil)
(dolist (e (send h :edges))
(push (cdr (assq e edge-pairs)) edgering))
(setf (hole-edges h) edgering)) )
(setf (body-edges bod) (mapcar #'cdr edge-pairs))
bod))
(provide :geobody "@(#)$Id: geobody.l,v 1.1.1.1 2003/11/20 07:46:28 eus Exp $")
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