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PQP_Compile.h
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/*************************************************************************\
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Copyright 1999 The University of North Carolina at Chapel Hill.
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All Rights Reserved.
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Permission to use, copy, modify and distribute this software and its
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documentation for educational, research and non-profit purposes, without
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fee, and without a written agreement is hereby granted, provided that the
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above copyright notice and the following three paragraphs appear in all
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copies.
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IN NO EVENT SHALL THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL BE
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LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR
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CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF THE
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USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF THE UNIVERSITY
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OF NORTH CAROLINA HAVE BEEN ADVISED OF THE POSSIBILITY OF SUCH
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DAMAGES.
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THE UNIVERSITY OF NORTH CAROLINA SPECIFICALLY DISCLAIM ANY
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WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE
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PROVIDED HEREUNDER IS ON AN "AS IS" BASIS, AND THE UNIVERSITY OF
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NORTH CAROLINA HAS NO OBLIGATIONS TO PROVIDE MAINTENANCE, SUPPORT,
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UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
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The authors may be contacted via:
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US Mail: S. Gottschalk, E. Larsen
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Department of Computer Science
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Sitterson Hall, CB #3175
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University of N. Carolina
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Chapel Hill, NC 27599-3175
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Phone: (919)962-1749
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EMail: geom@cs.unc.edu
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\**************************************************************************/
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#ifndef PQP_COMPILE_H
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#define PQP_COMPILE_H
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// prevents compiler warnings when PQP_REAL is float
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#include <math.h>
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/*inline float sqrt(float x) { return (float)sqrt((double)x); }
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inline float cos(float x) { return (float)cos((double)x); }
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inline float sin(float x) { return (float)sin((double)x); }
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inline float fabs(float x) { return (float)fabs((double)x); }
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*/
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//-------------------------------------------------------------------------
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//
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// PQP_REAL
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//
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// This is the floating point type used throughout PQP. doubles are
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// recommended, both for their precision and because the software has
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// mainly been tested using them. However, floats appear to be faster
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// (by 60% on some machines).
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//
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//-------------------------------------------------------------------------
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typedef
double
PQP_REAL;
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//-------------------------------------------------------------------------
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//
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// PQP_BV_TYPE
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//
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// PQP introduces a bounding volume (BV) type known as the "rectangle
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// swept sphere" (RSS) - the volume created by sweeping a sphere so
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// that its center visits every point on a rectangle; it looks
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// something like a rounded box.
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//
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// In our experiments, the RSS type is comparable to the oriented
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// bounding box (OBB) in terms of the number of BV-pair and triangle-pair
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// tests incurred. However, with our present implementations, overlap
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// tests are cheaper for OBBs, while distance tests are cheaper for the
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// RSS type (we used a public gjk implementation for the OBB distance test).
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//
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// Consequently, PQP is configured to use the RSS type in distance and
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// tolerance queries (which use BV distance tests) and to use OBBs for
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// collision queries (which use BV overlap tests). Using both requires six
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// more PQP_REALs per BV node than using just one type.
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//
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// To save space, you can configure PQP to use only one type, however,
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// with RSS alone, collision queries will typically be slower. With OBB's
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// alone, distance and tolerance queries are currently not supported, since
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// we have not developed our own OBB distance test. The three options are:
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//
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// #define PQP_BV_TYPE RSS_TYPE
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// #define PQP_BV_TYPE OBB_TYPE
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// #define PQP_BV_TYPE RSS_TYPE | OBB_TYPE
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//
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//-------------------------------------------------------------------------
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#define RSS_TYPE 1
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#define OBB_TYPE 2
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#define PQP_BV_TYPE RSS_TYPE | OBB_TYPE
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#endif
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