7fd59977 |
1 | #include <Standard_NotImplemented.hxx> |
2 | #include <math_Vector.hxx> |
3 | #include <math.hxx> |
4 | #include <gp_Pnt2d.hxx> |
5 | #include <gp_Vec2d.hxx> |
6 | #include <gp_Pnt.hxx> |
7 | #include <gp_Vec.hxx> |
8 | |
9 | #include <TColStd_Array1OfReal.hxx> |
10 | #include <Precision.hxx> |
11 | |
12 | class HMath_Vector{ |
13 | math_Vector *pvec; |
14 | void operator=(const math_Vector&){} |
15 | public: |
16 | HMath_Vector(){ pvec = 0;} |
17 | HMath_Vector(math_Vector* pv){ pvec = pv;} |
18 | ~HMath_Vector(){ if(pvec != 0) delete pvec;} |
19 | void operator=(math_Vector* pv){ if(pvec != pv && pvec != 0) delete pvec; pvec = pv;} |
20 | Standard_Real& operator()(Standard_Integer i){ return (*pvec).operator()(i);} |
21 | const Standard_Real& operator()(Standard_Integer i) const{ return (*pvec).operator()(i);} |
22 | const math_Vector* operator->() const{ return pvec;} |
23 | math_Vector* operator->(){ return pvec;} |
24 | math_Vector* Vector(){ return pvec;} |
25 | math_Vector* Init(Standard_Real v, Standard_Integer i = 0, Standard_Integer iEnd = 0){ |
26 | if(pvec == 0) return pvec; |
27 | if(iEnd - i == 0) pvec->Init(v); |
28 | else { Standard_Integer End = (iEnd <= pvec->Upper()) ? iEnd : pvec->Upper(); |
29 | for(; i <= End; i++) pvec->operator()(i) = v; } |
30 | return pvec; |
31 | } |
32 | }; |
33 | |
34 | static Standard_Real EPS_PARAM = 1.e-12; |
35 | static Standard_Real EPS_DIM = 1.e-20; |
36 | static Standard_Real ERROR_ALGEBR_RATIO = 2.0/3.0; |
37 | |
38 | static Standard_Integer GPM = 61; |
39 | static Standard_Integer SUBS_POWER = 32; |
40 | static Standard_Integer SM = 1953; |
41 | |
42 | static math_Vector LGaussP0(1,GPM); |
43 | static math_Vector LGaussW0(1,GPM); |
44 | static math_Vector LGaussP1(1,RealToInt(Ceiling(ERROR_ALGEBR_RATIO*GPM))); |
45 | static math_Vector LGaussW1(1,RealToInt(Ceiling(ERROR_ALGEBR_RATIO*GPM))); |
46 | |
47 | static math_Vector* LGaussP[] = {&LGaussP0,&LGaussP1}; |
48 | static math_Vector* LGaussW[] = {&LGaussW0,&LGaussW1}; |
49 | |
50 | static HMath_Vector L1 = new math_Vector(1,SM,0.0); |
51 | static HMath_Vector L2 = new math_Vector(1,SM,0.0); |
52 | static HMath_Vector DimL = new math_Vector(1,SM,0.0); |
53 | static HMath_Vector ErrL = new math_Vector(1,SM,0.0); |
54 | static HMath_Vector ErrUL = new math_Vector(1,SM,0.0); |
55 | static HMath_Vector IxL = new math_Vector(1,SM,0.0); |
56 | static HMath_Vector IyL = new math_Vector(1,SM,0.0); |
57 | static HMath_Vector IzL = new math_Vector(1,SM,0.0); |
58 | static HMath_Vector IxxL = new math_Vector(1,SM,0.0); |
59 | static HMath_Vector IyyL = new math_Vector(1,SM,0.0); |
60 | static HMath_Vector IzzL = new math_Vector(1,SM,0.0); |
61 | static HMath_Vector IxyL = new math_Vector(1,SM,0.0); |
62 | static HMath_Vector IxzL = new math_Vector(1,SM,0.0); |
63 | static HMath_Vector IyzL = new math_Vector(1,SM,0.0); |
64 | |
65 | static math_Vector UGaussP0(1,GPM); |
66 | static math_Vector UGaussW0(1,GPM); |
67 | static math_Vector UGaussP1(1,RealToInt(Ceiling(ERROR_ALGEBR_RATIO*GPM))); |
68 | static math_Vector UGaussW1(1,RealToInt(Ceiling(ERROR_ALGEBR_RATIO*GPM))); |
69 | |
70 | static math_Vector* UGaussP[] = {&UGaussP0,&UGaussP1}; |
71 | static math_Vector* UGaussW[] = {&UGaussW0,&UGaussW1}; |
72 | |
73 | static HMath_Vector U1 = new math_Vector(1,SM,0.0); |
74 | static HMath_Vector U2 = new math_Vector(1,SM,0.0); |
75 | static HMath_Vector DimU = new math_Vector(1,SM,0.0); |
76 | static HMath_Vector ErrU = new math_Vector(1,SM,0.0); |
77 | static HMath_Vector IxU = new math_Vector(1,SM,0.0); |
78 | static HMath_Vector IyU = new math_Vector(1,SM,0.0); |
79 | static HMath_Vector IzU = new math_Vector(1,SM,0.0); |
80 | static HMath_Vector IxxU = new math_Vector(1,SM,0.0); |
81 | static HMath_Vector IyyU = new math_Vector(1,SM,0.0); |
82 | static HMath_Vector IzzU = new math_Vector(1,SM,0.0); |
83 | static HMath_Vector IxyU = new math_Vector(1,SM,0.0); |
84 | static HMath_Vector IxzU = new math_Vector(1,SM,0.0); |
85 | static HMath_Vector IyzU = new math_Vector(1,SM,0.0); |
86 | |
87 | static Standard_Integer FillIntervalBounds(Standard_Real A, |
88 | Standard_Real B, |
89 | const TColStd_Array1OfReal& Knots, |
90 | HMath_Vector& VA, |
91 | HMath_Vector& VB) |
92 | { |
93 | Standard_Integer i = 1, iEnd = Knots.Upper(), j = 1, k = 1; |
94 | VA(j++) = A; |
95 | for(; i <= iEnd; i++){ |
96 | Standard_Real kn = Knots(i); |
97 | if(A < kn) |
98 | if(kn < B) VA(j++) = VB(k++) = kn; else break; |
99 | } |
100 | VB(k) = B; |
101 | return k; |
102 | } |
103 | |
104 | static inline Standard_Integer MaxSubs(Standard_Integer n, Standard_Integer coeff = SUBS_POWER){ |
105 | // return n = IntegerLast()/coeff < n? IntegerLast(): n*coeff + 1; |
106 | return Min((n * coeff + 1),SM); |
107 | } |
108 | |
109 | static Standard_Integer LFillIntervalBounds(Standard_Real A, |
110 | Standard_Real B, |
111 | const TColStd_Array1OfReal& Knots, |
112 | const Standard_Integer NumSubs) |
113 | { |
114 | Standard_Integer iEnd = Knots.Upper(), jEnd = L1->Upper(); |
115 | if(iEnd - 1 > jEnd){ |
116 | iEnd = MaxSubs(iEnd-1,NumSubs); |
117 | L1 = new math_Vector(1,iEnd); |
118 | L2 = new math_Vector(1,iEnd); |
119 | DimL = new math_Vector(1,iEnd); |
120 | ErrL = new math_Vector(1,iEnd,0.0); |
121 | ErrUL = new math_Vector(1,iEnd,0.0); |
122 | IxL = new math_Vector(1,iEnd); |
123 | IyL = new math_Vector(1,iEnd); |
124 | IzL = new math_Vector(1,iEnd); |
125 | IxxL = new math_Vector(1,iEnd); |
126 | IyyL = new math_Vector(1,iEnd); |
127 | IzzL = new math_Vector(1,iEnd); |
128 | IxyL = new math_Vector(1,iEnd); |
129 | IxzL = new math_Vector(1,iEnd); |
130 | IyzL = new math_Vector(1,iEnd); |
131 | } |
132 | return FillIntervalBounds(A, B, Knots, L1, L2); |
133 | } |
134 | |
135 | static Standard_Integer UFillIntervalBounds(Standard_Real A, |
136 | Standard_Real B, |
137 | const TColStd_Array1OfReal& Knots, |
138 | const Standard_Integer NumSubs) |
139 | { |
140 | Standard_Integer iEnd = Knots.Upper(), jEnd = U1->Upper(); |
141 | if(iEnd - 1 > jEnd){ |
142 | iEnd = MaxSubs(iEnd-1,NumSubs); |
143 | U1 = new math_Vector(1,iEnd); |
144 | U2 = new math_Vector(1,iEnd); |
145 | DimU = new math_Vector(1,iEnd); |
146 | ErrU = new math_Vector(1,iEnd,0.0); |
147 | IxU = new math_Vector(1,iEnd); |
148 | IyU = new math_Vector(1,iEnd); |
149 | IzU = new math_Vector(1,iEnd); |
150 | IxxU = new math_Vector(1,iEnd); |
151 | IyyU = new math_Vector(1,iEnd); |
152 | IzzU = new math_Vector(1,iEnd); |
153 | IxyU = new math_Vector(1,iEnd); |
154 | IxzU = new math_Vector(1,iEnd); |
155 | IyzU = new math_Vector(1,iEnd); |
156 | } |
157 | return FillIntervalBounds(A, B, Knots, U1, U2); |
158 | } |
159 | |
160 | static Standard_Real CCompute(Face& S, |
161 | Domain& D, |
162 | const gp_Pnt& loc, |
163 | Standard_Real& Dim, |
164 | gp_Pnt& g, |
165 | gp_Mat& inertia, |
166 | const Standard_Real EpsDim, |
167 | const Standard_Boolean isErrorCalculation, |
168 | const Standard_Boolean isVerifyComputation) |
169 | { |
170 | Standard_Boolean isNaturalRestriction = S.NaturalRestriction(); |
171 | |
172 | Standard_Integer NumSubs = SUBS_POWER; |
173 | |
174 | Standard_Real Ix, Iy, Iz, Ixx, Iyy, Izz, Ixy, Ixz, Iyz; |
175 | Dim = Ix = Iy = Iz = Ixx = Iyy = Izz = Ixy = Ixz = Iyz = 0.0; |
176 | Standard_Real x, y, z; |
177 | //boundary curve parametrization |
178 | Standard_Real l1, l2, lm, lr, l; |
179 | //Face parametrization in U and V direction |
180 | Standard_Real BV1, BV2, v; |
181 | Standard_Real BU1, BU2, u1, u2, um, ur, u; |
182 | S.Bounds (BU1, BU2, BV1, BV2); u1 = BU1; |
183 | //location point used to compute the inertia |
184 | Standard_Real xloc, yloc, zloc; |
185 | loc.Coord (xloc, yloc, zloc); // use member of parent class |
186 | //Jacobien (x, y, z) -> (u, v) = ||n|| |
187 | Standard_Real ds; |
188 | //On the Face |
189 | gp_Pnt Ps; |
190 | gp_Vec VNor; |
191 | //On the boundary curve u-v |
192 | gp_Pnt2d Puv; |
193 | gp_Vec2d Vuv; |
194 | Standard_Real Dul; // Dul = Du / Dl |
195 | Standard_Real CDim[2], CIx, CIy, CIz, CIxx, CIyy, CIzz, CIxy, CIxz, CIyz; |
196 | Standard_Real LocDim[2], LocIx, LocIy, LocIz, LocIxx, LocIyy, LocIzz, LocIxy, LocIxz, LocIyz; |
197 | |
198 | Standard_Real ErrorU, ErrorL, ErrorLMax = 0.0, Eps=0.0, EpsL=0.0, EpsU=0.0; |
199 | |
200 | Standard_Integer iD = 0, NbLSubs, iLS, iLSubEnd, iGL, iGLEnd, NbLGaussP[2], LRange[2], iL, kL, kLEnd, IL, JL; |
201 | Standard_Integer i, NbUSubs, iUS, iUSubEnd, iGU, iGUEnd, NbUGaussP[2], URange[2], iU, kU, kUEnd, IU, JU; |
202 | Standard_Integer UMaxSubs, LMaxSubs; |
203 | iGLEnd = isErrorCalculation? 2: 1; |
204 | for(i = 0; i < 2; i++) { |
205 | LocDim[i] = 0.0; |
206 | CDim[i] = 0.0; |
207 | } |
208 | |
209 | NbUGaussP[0] = S.SIntOrder(EpsDim); |
210 | NbUGaussP[1] = RealToInt(Ceiling(ERROR_ALGEBR_RATIO*NbUGaussP[0])); |
211 | math::GaussPoints(NbUGaussP[0],UGaussP0); math::GaussWeights(NbUGaussP[0],UGaussW0); |
212 | math::GaussPoints(NbUGaussP[1],UGaussP1); math::GaussWeights(NbUGaussP[1],UGaussW1); |
213 | |
214 | NbUSubs = S.SUIntSubs(); |
215 | TColStd_Array1OfReal UKnots(1,NbUSubs+1); |
216 | S.UKnots(UKnots); |
217 | |
218 | |
219 | while (isNaturalRestriction || D.More()) { |
220 | if(isNaturalRestriction){ |
221 | NbLGaussP[0] = Min(2*NbUGaussP[0],math::GaussPointsMax()); |
222 | }else{ |
223 | S.Load(D.Value()); ++iD; |
224 | NbLGaussP[0] = S.LIntOrder(EpsDim); |
225 | } |
226 | |
227 | |
228 | NbLGaussP[1] = RealToInt(Ceiling(ERROR_ALGEBR_RATIO*NbLGaussP[0])); |
229 | math::GaussPoints(NbLGaussP[0],LGaussP0); math::GaussWeights(NbLGaussP[0],LGaussW0); |
230 | math::GaussPoints(NbLGaussP[1],LGaussP1); math::GaussWeights(NbLGaussP[1],LGaussW1); |
231 | |
232 | NbLSubs = isNaturalRestriction? S.SVIntSubs(): S.LIntSubs(); |
233 | |
234 | TColStd_Array1OfReal LKnots(1,NbLSubs+1); |
235 | if(isNaturalRestriction){ |
236 | S.VKnots(LKnots); |
237 | l1 = BV1; l2 = BV2; |
238 | }else{ |
239 | S.LKnots(LKnots); |
240 | l1 = S.FirstParameter(); l2 = S.LastParameter(); |
241 | } |
242 | ErrorL = 0.0; |
243 | kLEnd = 1; JL = 0; |
244 | //OCC503(apo): if(Abs(l2-l1) < EPS_PARAM) continue; |
245 | if(Abs(l2-l1) > EPS_PARAM) { |
246 | iLSubEnd = LFillIntervalBounds(l1, l2, LKnots, NumSubs); |
247 | LMaxSubs = MaxSubs(iLSubEnd); |
248 | if(LMaxSubs > DimL.Vector()->Upper()) LMaxSubs = DimL.Vector()->Upper(); |
249 | DimL.Init(0.0,1,LMaxSubs); ErrL.Init(0.0,1,LMaxSubs); ErrUL.Init(0.0,1,LMaxSubs); |
250 | do{// while: L |
251 | if(++JL > iLSubEnd){ |
252 | LRange[0] = IL = ErrL->Max(); LRange[1] = JL; |
253 | L1(JL) = (L1(IL) + L2(IL))/2.0; L2(JL) = L2(IL); L2(IL) = L1(JL); |
254 | }else LRange[0] = IL = JL; |
255 | if(JL == LMaxSubs || Abs(L2(JL) - L1(JL)) < EPS_PARAM) |
256 | if(kLEnd == 1){ |
257 | DimL(JL) = ErrL(JL) = IxL(JL) = IyL(JL) = IzL(JL) = |
258 | IxxL(JL) = IyyL(JL) = IzzL(JL) = IxyL(JL) = IxzL(JL) = IyzL(JL) = 0.0; |
259 | }else{ |
260 | JL--; |
261 | EpsL = ErrorL; Eps = EpsL/0.9; |
262 | break; |
263 | } |
264 | else |
265 | for(kL=0; kL < kLEnd; kL++){ |
266 | iLS = LRange[kL]; |
267 | lm = 0.5*(L2(iLS) + L1(iLS)); |
268 | lr = 0.5*(L2(iLS) - L1(iLS)); |
269 | CIx = CIy = CIz = CIxx = CIyy = CIzz = CIxy = CIxz = CIyz = 0.0; |
270 | for(iGL=0; iGL < iGLEnd; iGL++){// |
271 | CDim[iGL] = 0.0; |
272 | for(iL=1; iL<=NbLGaussP[iGL]; iL++){ |
273 | l = lm + lr*(*LGaussP[iGL])(iL); |
274 | if(isNaturalRestriction){ |
275 | v = l; u2 = BU2; Dul = (*LGaussW[iGL])(iL); |
276 | }else{ |
277 | S.D12d (l, Puv, Vuv); |
278 | Dul = Vuv.Y()*(*LGaussW[iGL])(iL); // Dul = Du / Dl |
279 | if(Abs(Dul) < EPS_PARAM) continue; |
280 | v = Puv.Y(); u2 = Puv.X(); |
281 | //Check on cause out off bounds of value current parameter |
282 | if(v < BV1) v = BV1; else if(v > BV2) v = BV2; |
283 | if(u2 < BU1) u2 = BU1; else if(u2 > BU2) u2 = BU2; |
284 | } |
285 | ErrUL(iLS) = 0.0; |
286 | kUEnd = 1; JU = 0; |
287 | if(Abs(u2-u1) < EPS_PARAM) continue; |
288 | iUSubEnd = UFillIntervalBounds(u1, u2, UKnots, NumSubs); |
289 | UMaxSubs = MaxSubs(iUSubEnd); |
290 | if(UMaxSubs > DimU.Vector()->Upper()) UMaxSubs = DimU.Vector()->Upper(); |
291 | DimU.Init(0.0,1,UMaxSubs); ErrU.Init(0.0,1,UMaxSubs); ErrorU = 0.0; |
292 | do{//while: U |
293 | if(++JU > iUSubEnd){ |
294 | URange[0] = IU = ErrU->Max(); URange[1] = JU; |
295 | U1(JU) = (U1(IU)+U2(IU))/2.0; U2(JU) = U2(IU); U2(IU) = U1(JU); |
296 | }else URange[0] = IU = JU; |
297 | if(JU == UMaxSubs || Abs(U2(JU) - U1(JU)) < EPS_PARAM) |
298 | if(kUEnd == 1){ |
299 | DimU(JU) = ErrU(JU) = IxU(JU) = IyU(JU) = IzU(JU) = |
300 | IxxU(JU) = IyyU(JU) = IzzU(JU) = IxyU(JU) = IxzU(JU) = IyzU(JU) = 0.0; |
301 | }else{ |
302 | JU--; |
303 | EpsU = ErrorU; Eps = EpsU*Abs((u2-u1)*Dul)/0.1; EpsL = 0.9*Eps; |
304 | break; |
305 | } |
306 | else |
307 | for(kU=0; kU < kUEnd; kU++){ |
308 | iUS = URange[kU]; |
309 | um = 0.5*(U2(iUS) + U1(iUS)); |
310 | ur = 0.5*(U2(iUS) - U1(iUS)); |
311 | LocIx = LocIy = LocIz = LocIxx = LocIyy = LocIzz = LocIxy = LocIxz = LocIyz = 0.0; |
312 | iGUEnd = iGLEnd - iGL; |
313 | for(iGU=0; iGU < iGUEnd; iGU++){// |
314 | LocDim[iGU] = 0.0; |
315 | for(iU=1; iU<=NbUGaussP[iGU]; iU++){ |
316 | u = um + ur*(*UGaussP[iGU])(iU); |
317 | S.Normal(u, v, Ps, VNor); |
318 | ds = VNor.Magnitude(); //Jacobien(x,y,z) -> (u,v)=||n|| |
319 | ds *= (*UGaussW[iGU])(iU); |
320 | LocDim[iGU] += ds; |
321 | if(iGU > 0) continue; |
322 | Ps.Coord(x, y, z); |
323 | x -= xloc; y -= yloc; z -= zloc; |
324 | LocIx += x*ds; LocIy += y*ds; LocIz += z*ds; |
325 | LocIxy += x*y*ds; LocIyz += y*z*ds; LocIxz += x*z*ds; |
326 | x *= x; y *= y; z *= z; |
327 | LocIxx += (y+z)*ds; LocIyy += (x+z)*ds; LocIzz += (x+y)*ds; |
328 | }//for: iU |
329 | }//for: iGU |
330 | DimU(iUS) = LocDim[0]*ur; |
331 | if(iGL > 0) continue; |
332 | ErrU(iUS) = Abs(LocDim[1]-LocDim[0])*ur; |
333 | IxU(iUS) = LocIx*ur; IyU(iUS) = LocIy*ur; IzU(iUS) = LocIz*ur; |
334 | IxxU(iUS) = LocIxx*ur; IyyU(iUS) = LocIyy*ur; IzzU(iUS) = LocIzz*ur; |
335 | IxyU(iUS) = LocIxy*ur; IxzU(iUS) = LocIxz*ur; IyzU(iUS) = LocIyz*ur; |
336 | }//for: kU (iUS) |
337 | if(JU == iUSubEnd) kUEnd = 2; |
338 | if(kUEnd == 2) ErrorU = ErrU(ErrU->Max()); |
339 | }while((ErrorU - EpsU > 0.0 && EpsU != 0.0) || kUEnd == 1); |
340 | for(i=1; i<=JU; i++) CDim[iGL] += DimU(i)*Dul; |
341 | if(iGL > 0) continue; |
342 | ErrUL(iLS) = ErrorU*Abs((u2-u1)*Dul); |
343 | for(i=1; i<=JU; i++){ |
344 | CIx += IxU(i)*Dul; CIy += IyU(i)*Dul; CIz += IzU(i)*Dul; |
345 | CIxx += IxxU(i)*Dul; CIyy += IyyU(i)*Dul; CIzz += IzzU(i)*Dul; |
346 | CIxy += IxyU(i)*Dul; CIxz += IxzU(i)*Dul; CIyz += IyzU(i)*Dul; |
347 | } |
348 | }//for: iL |
349 | }//for: iGL |
350 | DimL(iLS) = CDim[0]*lr; |
351 | if(iGLEnd == 2) ErrL(iLS) = Abs(CDim[1]-CDim[0])*lr + ErrUL(iLS); |
352 | IxL(iLS) = CIx*lr; IyL(iLS) = CIy*lr; IzL(iLS) = CIz*lr; |
353 | IxxL(iLS) = CIxx*lr; IyyL(iLS) = CIyy*lr; IzzL(iLS) = CIzz*lr; |
354 | IxyL(iLS) = CIxy*lr; IxzL(iLS) = CIxz*lr; IyzL(iLS) = CIyz*lr; |
355 | }//for: (kL)iLS |
356 | // Calculate/correct epsilon of computation by current value of Dim |
357 | //That is need for not spend time for |
358 | if(JL == iLSubEnd){ |
359 | kLEnd = 2; |
360 | Standard_Real DDim = 0.0; |
361 | for(i=1; i<=JL; i++) DDim += DimL(i); |
362 | DDim = Abs(DDim*EpsDim); |
363 | if(DDim > Eps) { |
364 | Eps = DDim; EpsL = 0.9*Eps; |
365 | } |
366 | } |
367 | if(kLEnd == 2) ErrorL = ErrL(ErrL->Max()); |
368 | }while((ErrorL - EpsL > 0.0 && isVerifyComputation) || kLEnd == 1); |
369 | for(i=1; i<=JL; i++){ |
370 | Dim += DimL(i); |
371 | Ix += IxL(i); Iy += IyL(i); Iz += IzL(i); |
372 | Ixx += IxxL(i); Iyy += IyyL(i); Izz += IzzL(i); |
373 | Ixy += IxyL(i); Ixz += IxzL(i); Iyz += IyzL(i); |
374 | } |
375 | ErrorLMax = Max(ErrorLMax, ErrorL); |
376 | } |
377 | if(isNaturalRestriction) break; |
378 | D.Next(); |
379 | } |
380 | if(Abs(Dim) >= EPS_DIM){ |
381 | Ix /= Dim; Iy /= Dim; Iz /= Dim; |
382 | g.SetCoord (Ix, Iy, Iz); |
383 | }else{ |
384 | Dim =0.0; |
385 | g.SetCoord (0., 0.,0.); |
386 | } |
387 | inertia = gp_Mat (gp_XYZ (Ixx, -Ixy, -Ixz), |
388 | gp_XYZ (-Ixy, Iyy, -Iyz), |
389 | gp_XYZ (-Ixz, -Iyz, Izz)); |
390 | |
391 | if(iGLEnd == 2) Eps = Dim != 0.0? ErrorLMax/Abs(Dim): 0.0; |
392 | else Eps = EpsDim; |
393 | return Eps; |
394 | } |
395 | |
396 | static Standard_Real Compute(Face& S, const gp_Pnt& loc, Standard_Real& Dim, gp_Pnt& g, gp_Mat& inertia, |
397 | Standard_Real EpsDim) |
398 | { |
399 | Standard_Boolean isErrorCalculation = 0.0 > EpsDim || EpsDim < 0.001? 1: 0; |
400 | Standard_Boolean isVerifyComputation = 0.0 < EpsDim && EpsDim < 0.001? 1: 0; |
401 | EpsDim = Abs(EpsDim); |
402 | Domain D; |
403 | return CCompute(S,D,loc,Dim,g,inertia,EpsDim,isErrorCalculation,isVerifyComputation); |
404 | } |
405 | |
406 | static Standard_Real Compute(Face& S, Domain& D, const gp_Pnt& loc, Standard_Real& Dim, gp_Pnt& g, gp_Mat& inertia, |
407 | Standard_Real EpsDim) |
408 | { |
409 | Standard_Boolean isErrorCalculation = 0.0 > EpsDim || EpsDim < 0.001? 1: 0; |
410 | Standard_Boolean isVerifyComputation = 0.0 < EpsDim && EpsDim < 0.001? 1: 0; |
411 | EpsDim = Abs(EpsDim); |
412 | return CCompute(S,D,loc,Dim,g,inertia,EpsDim,isErrorCalculation,isVerifyComputation); |
413 | } |
414 | |
415 | static void Compute(Face& S, Domain& D, const gp_Pnt& loc, Standard_Real& dim, gp_Pnt& g, gp_Mat& inertia){ |
416 | Standard_Real Ix, Iy, Iz, Ixx, Iyy, Izz, Ixy, Ixz, Iyz; |
417 | dim = Ix = Iy = Iz = Ixx = Iyy = Izz = Ixy = Ixz = Iyz = 0.0; |
418 | |
419 | Standard_Real x, y, z; |
420 | Standard_Integer NbCGaussgp_Pnts = 0; |
421 | |
422 | Standard_Real l1, l2, lm, lr, l; //boundary curve parametrization |
423 | Standard_Real v1, v2, vm, vr, v; //Face parametrization in v direction |
424 | Standard_Real u1, u2, um, ur, u; |
425 | Standard_Real ds; //Jacobien (x, y, z) -> (u, v) = ||n|| |
426 | |
427 | gp_Pnt P; //On the Face |
428 | gp_Vec VNor; |
429 | |
430 | gp_Pnt2d Puv; //On the boundary curve u-v |
431 | gp_Vec2d Vuv; |
432 | Standard_Real Dul; // Dul = Du / Dl |
433 | Standard_Real CArea, CIx, CIy, CIz, CIxx, CIyy, CIzz, CIxy, CIxz, CIyz; |
434 | Standard_Real LocArea, LocIx, LocIy, LocIz, LocIxx, LocIyy, LocIzz, LocIxy, |
435 | LocIxz, LocIyz; |
436 | |
437 | |
438 | S.Bounds (u1, u2, v1, v2); |
439 | |
440 | Standard_Integer NbUGaussgp_Pnts = Min(S.UIntegrationOrder (), |
441 | math::GaussPointsMax()); |
442 | Standard_Integer NbVGaussgp_Pnts = Min(S.VIntegrationOrder (), |
443 | math::GaussPointsMax()); |
444 | |
445 | Standard_Integer NbGaussgp_Pnts = Max(NbUGaussgp_Pnts, NbVGaussgp_Pnts); |
446 | |
447 | //Number of Gauss points for the integration |
448 | //on the Face |
449 | math_Vector GaussSPV (1, NbGaussgp_Pnts); |
450 | math_Vector GaussSWV (1, NbGaussgp_Pnts); |
451 | math::GaussPoints (NbGaussgp_Pnts,GaussSPV); |
452 | math::GaussWeights (NbGaussgp_Pnts,GaussSWV); |
453 | |
454 | |
455 | //location point used to compute the inertia |
456 | Standard_Real xloc, yloc, zloc; |
457 | loc.Coord (xloc, yloc, zloc); |
458 | |
459 | while (D.More()) { |
460 | |
461 | S.Load(D.Value()); |
462 | NbCGaussgp_Pnts = Min(S.IntegrationOrder (), math::GaussPointsMax()); |
463 | |
464 | math_Vector GaussCP (1, NbCGaussgp_Pnts); |
465 | math_Vector GaussCW (1, NbCGaussgp_Pnts); |
466 | math::GaussPoints (NbCGaussgp_Pnts,GaussCP); |
467 | math::GaussWeights (NbCGaussgp_Pnts,GaussCW); |
468 | |
469 | CArea = 0.0; |
470 | CIx = CIy = CIz = CIxx = CIyy = CIzz = CIxy = CIxz = CIyz = 0.0; |
471 | l1 = S.FirstParameter (); |
472 | l2 = S.LastParameter (); |
473 | lm = 0.5 * (l2 + l1); |
474 | lr = 0.5 * (l2 - l1); |
475 | |
476 | Puv = S.Value2d (lm); |
477 | vm = Puv.Y(); |
478 | Puv = S.Value2d (lr); |
479 | vr = Puv.Y(); |
480 | |
481 | for (Standard_Integer i = 1; i <= NbCGaussgp_Pnts; i++) { |
482 | l = lm + lr * GaussCP (i); |
483 | S.D12d(l, Puv, Vuv); |
484 | v = Puv.Y(); |
485 | u2 = Puv.X(); |
486 | Dul = Vuv.Y(); |
487 | Dul *= GaussCW (i); |
488 | um = 0.5 * (u2 + u1); |
489 | ur = 0.5 * (u2 - u1); |
490 | LocArea = LocIx = LocIy = LocIz = LocIxx = LocIyy = LocIzz = |
491 | LocIxy = LocIxz = LocIyz = 0.0; |
492 | for (Standard_Integer j = 1; j <= NbGaussgp_Pnts; j++) { |
493 | u = um + ur * GaussSPV (j); |
494 | S.Normal (u, v, P, VNor); |
495 | ds = VNor.Magnitude(); //normal.Magnitude |
496 | ds = ds * Dul * GaussSWV (j); |
497 | LocArea += ds; |
498 | P.Coord (x, y, z); |
499 | x -= xloc; |
500 | y -= yloc; |
501 | z -= zloc; |
502 | LocIx += x * ds; |
503 | LocIy += y * ds; |
504 | LocIz += z * ds; |
505 | LocIxy += x * y * ds; |
506 | LocIyz += y * z * ds; |
507 | LocIxz += x * z * ds; |
508 | x *= x; |
509 | y *= y; |
510 | z *= z; |
511 | LocIxx += (y + z) * ds; |
512 | LocIyy += (x + z) * ds; |
513 | LocIzz += (x + y) * ds; |
514 | } |
515 | CArea += LocArea * ur; |
516 | CIx += LocIx * ur; |
517 | CIy += LocIy * ur; |
518 | CIz += LocIz * ur; |
519 | CIxx += LocIxx * ur; |
520 | CIyy += LocIyy * ur; |
521 | CIzz += LocIzz * ur; |
522 | CIxy += LocIxy * ur; |
523 | CIxz += LocIxz * ur; |
524 | CIyz += LocIyz * ur; |
525 | } |
526 | dim += CArea * lr; |
527 | Ix += CIx * lr; |
528 | Iy += CIy * lr; |
529 | Iz += CIz * lr; |
530 | Ixx += CIxx * lr; |
531 | Iyy += CIyy * lr; |
532 | Izz += CIzz * lr; |
533 | Ixy += CIxy * lr; |
534 | Ixz += CIxz * lr; |
535 | Iyz += CIyz * lr; |
536 | D.Next(); |
537 | } |
538 | if (Abs(dim) >= EPS_DIM) { |
539 | Ix /= dim; |
540 | Iy /= dim; |
541 | Iz /= dim; |
542 | g.SetCoord (Ix, Iy, Iz); |
543 | } |
544 | else { |
545 | dim =0.; |
546 | g.SetCoord (0., 0.,0.); |
547 | } |
548 | inertia = gp_Mat (gp_XYZ (Ixx, -Ixy, -Ixz), |
549 | gp_XYZ (-Ixy, Iyy, -Iyz), |
550 | gp_XYZ (-Ixz, -Iyz, Izz)); |
551 | } |
552 | |
553 | |
554 | |
555 | static void Compute(const Face& S, const gp_Pnt& loc, Standard_Real& dim, gp_Pnt& g, gp_Mat& inertia){ |
556 | Standard_Real Ix, Iy, Iz, Ixx, Iyy, Izz, Ixy, Ixz, Iyz; |
557 | dim = Ix = Iy = Iz = Ixx = Iyy = Izz = Ixy = Ixz = Iyz = 0.0; |
558 | |
559 | Standard_Real LowerU, UpperU, LowerV, UpperV; |
560 | S.Bounds (LowerU, UpperU, LowerV, UpperV); |
561 | Standard_Integer UOrder = Min(S.UIntegrationOrder (), |
562 | math::GaussPointsMax()); |
563 | Standard_Integer VOrder = Min(S.VIntegrationOrder (), |
564 | math::GaussPointsMax()); |
565 | gp_Pnt P; |
566 | gp_Vec VNor; |
567 | Standard_Real dsi, ds; |
568 | Standard_Real ur, um, u, vr, vm, v; |
569 | Standard_Real x, y, z; |
570 | Standard_Real Ixi, Iyi, Izi, Ixxi, Iyyi, Izzi, Ixyi, Ixzi, Iyzi; |
571 | Standard_Real xloc, yloc, zloc; |
572 | loc.Coord (xloc, yloc, zloc); |
573 | |
574 | Standard_Integer i, j; |
575 | math_Vector GaussPU (1, UOrder); //gauss points and weights |
576 | math_Vector GaussWU (1, UOrder); |
577 | math_Vector GaussPV (1, VOrder); |
578 | math_Vector GaussWV (1, VOrder); |
579 | |
580 | //Recuperation des points de Gauss dans le fichier GaussPoints. |
581 | math::GaussPoints (UOrder,GaussPU); |
582 | math::GaussWeights (UOrder,GaussWU); |
583 | math::GaussPoints (VOrder,GaussPV); |
584 | math::GaussWeights (VOrder,GaussWV); |
585 | |
586 | // Calcul des integrales aux points de gauss : |
587 | um = 0.5 * (UpperU + LowerU); |
588 | vm = 0.5 * (UpperV + LowerV); |
589 | ur = 0.5 * (UpperU - LowerU); |
590 | vr = 0.5 * (UpperV - LowerV); |
591 | |
592 | for (j = 1; j <= VOrder; j++) { |
593 | v = vm + vr * GaussPV (j); |
594 | dsi = Ixi = Iyi = Izi = Ixxi = Iyyi = Izzi = Ixyi = Ixzi = Iyzi = 0.0; |
595 | |
596 | for (i = 1; i <= UOrder; i++) { |
597 | u = um + ur * GaussPU (i); |
598 | S.Normal (u, v, P, VNor); |
599 | ds = VNor.Magnitude() * GaussWU (i); |
600 | P.Coord (x, y, z); |
601 | x -= xloc; |
602 | y -= yloc; |
603 | z -= zloc; |
604 | dsi += ds; |
605 | Ixi += x * ds; |
606 | Iyi += y * ds; |
607 | Izi += z * ds; |
608 | Ixyi += x * y * ds; |
609 | Iyzi += y * z * ds; |
610 | Ixzi += x * z * ds; |
611 | x *= x; |
612 | y *= y; |
613 | z *= z; |
614 | Ixxi += (y + z) * ds; |
615 | Iyyi += (x + z) * ds; |
616 | Izzi += (x + y) * ds; |
617 | } |
618 | dim += dsi * GaussWV (j); |
619 | Ix += Ixi * GaussWV (j); |
620 | Iy += Iyi * GaussWV (j); |
621 | Iz += Izi * GaussWV (j); |
622 | Ixx += Ixxi * GaussWV (j); |
623 | Iyy += Iyyi * GaussWV (j); |
624 | Izz += Izzi * GaussWV (j); |
625 | Ixy += Ixyi * GaussWV (j); |
626 | Iyz += Iyzi * GaussWV (j); |
627 | Ixz += Ixzi * GaussWV (j); |
628 | } |
629 | vr *= ur; |
630 | Ixx *= vr; |
631 | Iyy *= vr; |
632 | Izz *= vr; |
633 | Ixy *= vr; |
634 | Ixz *= vr; |
635 | Iyz *= vr; |
636 | if (Abs(dim) >= EPS_DIM) { |
637 | Ix /= dim; |
638 | Iy /= dim; |
639 | Iz /= dim; |
640 | dim *= vr; |
641 | g.SetCoord (Ix, Iy, Iz); |
642 | } |
643 | else { |
644 | dim =0.; |
645 | g.SetCoord (0.,0.,0.); |
646 | } |
647 | inertia = gp_Mat (gp_XYZ (Ixx, -Ixy, -Ixz), |
648 | gp_XYZ (-Ixy, Iyy, -Iyz), |
649 | gp_XYZ (-Ixz, -Iyz, Izz)); |
650 | } |
651 | |
652 | GProp_SGProps::GProp_SGProps(){} |
653 | |
654 | GProp_SGProps::GProp_SGProps (const Face& S, |
655 | const gp_Pnt& SLocation |
656 | ) |
657 | { |
658 | SetLocation(SLocation); |
659 | Perform(S); |
660 | } |
661 | |
662 | GProp_SGProps::GProp_SGProps (Face& S, |
663 | Domain& D, |
664 | const gp_Pnt& SLocation |
665 | ) |
666 | { |
667 | SetLocation(SLocation); |
668 | Perform(S,D); |
669 | } |
670 | |
671 | GProp_SGProps::GProp_SGProps(Face& S, const gp_Pnt& SLocation, const Standard_Real Eps){ |
672 | SetLocation(SLocation); |
673 | Perform(S, Eps); |
674 | } |
675 | |
676 | GProp_SGProps::GProp_SGProps(Face& S, Domain& D, const gp_Pnt& SLocation, const Standard_Real Eps){ |
677 | SetLocation(SLocation); |
678 | Perform(S, D, Eps); |
679 | } |
680 | |
681 | void GProp_SGProps::SetLocation(const gp_Pnt& SLocation){ |
682 | loc = SLocation; |
683 | } |
684 | |
685 | void GProp_SGProps::Perform(const Face& S){ |
686 | Compute(S,loc,dim,g,inertia); |
687 | myEpsilon = 1.0; |
688 | return; |
689 | } |
690 | |
691 | void GProp_SGProps::Perform(Face& S, Domain& D){ |
692 | Compute(S,D,loc,dim,g,inertia); |
693 | myEpsilon = 1.0; |
694 | return; |
695 | } |
696 | |
697 | Standard_Real GProp_SGProps::Perform(Face& S, const Standard_Real Eps){ |
698 | return myEpsilon = Compute(S,loc,dim,g,inertia,Eps); |
699 | } |
700 | |
701 | Standard_Real GProp_SGProps::Perform(Face& S, Domain& D, const Standard_Real Eps){ |
702 | return myEpsilon = Compute(S,D,loc,dim,g,inertia,Eps); |
703 | } |
704 | |
705 | |
706 | Standard_Real GProp_SGProps::GetEpsilon(){ |
707 | return myEpsilon; |
708 | } |