pcStruct.h

#pragma once

#include "conf.h"
#include <vector>
#include <simMath/3Vector.h>
#include <simMath/4X4Matrix.h>
#include "obbStruct.h"
#include "pcNode.h"

class COcStruct;

class CPcStruct
{
    friend class COcStruct;

public:
    CPcStruct();
    CPcStruct(double cellS,int cellPts,const double* points,size_t pointCnt,const unsigned char* rgbData,bool rgbForEachPt,double proximityTol);
    virtual ~CPcStruct();

    CPcStruct* copyYourself() const;
    void scaleYourself(double f);
    unsigned char* serialize(int& dataSize) const;
    bool deserialize(const unsigned char* data);
    unsigned char* serializeOld(int& dataSize) const;
    bool deserializeOld(const unsigned char* data);

    size_t countCellsWithContent() const;
    void getPointsPosAndRgb_all(std::vector<double>& pointsPosAndRgb) const;
    void getPointsPosAndRgb_subset(std::vector<double>& pointsPosAndRgb,double prop) const;
    void getOctreeCorners(std::vector<double>& points) const;

    const double* getPoints(const C4X4Matrix& pcM,unsigned long long int pcCaching,size_t* ptCnt,C4X4Matrix& transf) const;

    void add_pts(const double* points,size_t pointCnt,const unsigned char* rgbData,bool dataForEachPt,double proximityTol);

    bool delete_pts(const double* points,size_t pointCnt,double proximityTol,int* count);
    bool delete_octree(const C4X4Matrix& pcM,const COcStruct* ocStruct,const C4X4Matrix& ocM,int* count);

    bool intersect_pts(const double* points,size_t pointCnt,double proximityTol);

    bool getDistance_pt(const C4X4Matrix& pcM,const C3Vector& point,double& dist,C3Vector* pcMinDistSegAbsPt,C3Vector* ptMinDistSegAbsPt,unsigned long long int* pcCaching) const;
    bool getDistance_seg(const C4X4Matrix& pcM,const C3Vector& segMiddle,const C3Vector& segHs,double& dist,C3Vector* pcMinDistSegAbsPt,C3Vector* segMinDistSegAbsPt,unsigned long long int* pcCaching) const;
    bool getDistance_tri(const C4X4Matrix& pcM,const C3Vector& p,const C3Vector& v,const C3Vector& w,double& dist,C3Vector* pcMinDistSegAbsPt,C3Vector* triMinDistSegAbsPt,unsigned long long int* pcCaching) const;
    bool getDistance_shape(const CObbStruct* obbStruct,const C4X4Matrix& pcM,const C4X4Matrix& shapeM,double& dist,C3Vector* pcMinDistSegAbsPt,C3Vector* shapeMinDistSegAbsPt,unsigned long long int* pcCaching,int* obbCaching) const;
    bool getDistance_ptcloud(const CPcStruct* pc2Struct,const C4X4Matrix& pc1M,const C4X4Matrix& pc2M,double& dist,C3Vector* pc1MinDistSegAbsPt,C3Vector* pc2MinDistSegAbsPt,unsigned long long int* pc1Caching,unsigned long long int* pc2Caching) const;

    bool getSensorDistance(const C4X4Matrix& pcM,const CVolumePlanes& planesIn,const CVolumePlanes& planesOut,bool fast,double& dist,C3Vector* detectPt) const;

private:
    void _create(double cellS,int cellPts,const double* points,size_t pointCnt,const unsigned char* rgbData,bool rgbForEachPt,double distanceTolerance);
    void _extendPointCloudOctreeIfNeeded(const double* points,size_t pointCnt);

    double cellSize;
    int maxPtCnt;
    double boxSize;
    C3Vector boxPos;
    CPcNode* pcNode;
};