Motion Strategy Library

00001 //----------------------------------------------------------------------
00002 //               The Motion Strategy Library (MSL)
00003 //----------------------------------------------------------------------
00004 //
00005 // Copyright (c) 1998-2000 Iowa State University and Steve LaValle.  
00006 // All Rights Reserved.
00007 // 
00008 // Permission to use, copy, and distribute this software and its 
00009 // documentation is hereby granted free of charge, provided that 
00010 // (1) it is not a component of a commercial product, and 
00011 // (2) this notice appears in all copies of the software and
00012 //     related documentation. 
00013 // 
00014 // Iowa State University and the author make no representations
00015 // about the suitability or fitness of this software for any purpose.  
00016 // It is provided "as is" without express or implied warranty.
00017 //----------------------------------------------------------------------
00018 
00019 
00020 #include "triangle.h"
00021 
00022 
00023 ostream& operator<<(ostream& out, const list<MSLTriangle>& L)
00024 {
00025   list<MSLTriangle>::iterator x; 
00026   list<MSLTriangle> vl;
00027   vl = L;
00028   for (x = vl.begin(); x != vl.end(); x++) 
00029     out << " " << *x;
00030   return out;
00031 }
00032 
00033 
00034 istream& operator>>(istream& in, list<MSLTriangle>& L)
00035 { 
00036   L.clear();
00037   MSLTriangle x;
00038   for(;;)
00039     { 
00040       char c;
00041       while (in.get(c) && isspace(c));
00042       if (!in) break;
00043       in.putback(c);
00044       x = MSLTriangle(); in >> x; L.push_back(x);
00045     }
00046   return in;
00047 }
00048 
00049 
00050 MSLTriangle::MSLTriangle(MSLPoint3d pt1, MSLPoint3d pt2, MSLPoint3d pt3){
00051   p1 = pt1;
00052   p2 = pt2;
00053   p3 = pt3;
00054 }
00055 
00056 
00057 MSLTriangle::MSLTriangle(){
00058   MSLPoint3d *p;
00059   p = new MSLPoint3d(0,0,0);
00060   p1 = *p;
00061   p2 = *p;
00062   p3 = *p;
00063 }
00064 
00065 
00066 MSLTriangle::MSLTriangle(const MSLTriangle& p){
00067   p1 = p.p1;
00068   p2 = p.p2;
00069   p3 = p.p3;
00070 }
00071 
00072 
00073 list<MSLTriangle> PolygonsToTriangles(const list<MSLPolygon > &pl,
00074                                       double thickness) {
00075 
00076   list<MSLPolygon>::const_iterator p;
00077   list<MSLPoint>::const_iterator pt;
00078   MSLPoint fpt;
00079   MSLPoint3d p1,p2,p3,p4,roof;
00080   list<MSLTriangle> tl;
00081 
00082   tl.clear();
00083 
00084   for (p = pl.begin(); p != pl.end(); p++) {
00085     //cout << "Polygon: " << (*p) << "\n";
00086     // Make the sides
00087     fpt = p->front();
00088     roof = MSLPoint3d(fpt.xcoord(),fpt.ycoord(),thickness);
00089     pt = p->end(); 
00090     pt--;  // Moves to the last element
00091     p1 = MSLPoint3d(pt->xcoord(),pt->ycoord(),0.0);
00092     p4 = MSLPoint3d(pt->xcoord(),pt->ycoord(),thickness);
00093     pt = p->begin();
00094     while (pt != p->end()) {
00095       p2 = MSLPoint3d(pt->xcoord(),pt->ycoord(),0.0);
00096       p3 = MSLPoint3d(pt->xcoord(),pt->ycoord(),thickness);
00097 
00098       tl.push_back(MSLTriangle(p1,p2,p3));
00099       tl.push_back(MSLTriangle(p4,p1,p3));
00100     
00101       if ((p3 != roof)&&(p4 != roof))
00102         tl.push_back(MSLTriangle(roof,p4,p3));
00103 
00104       p1 = p2; p4 = p3;
00105       pt++;
00106 
00107     }
00108   }
00109   
00110   return tl;
00111 }
00112 
00113
triangle.C
