/usr/include/simgear/bvh/BVHNearestPointVisitor.hxx is in libsimgear-dev 3.4.0-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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//
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Library General Public
// License as published by the Free Software Foundation; either
// version 2 of the License, or (at your option) any later version.
//
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// Library General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
#ifndef BVHNearestPointVisitor_hxx
#define BVHNearestPointVisitor_hxx
#include <simgear/math/SGGeometry.hxx>
#include "BVHVisitor.hxx"
#include "BVHNode.hxx"
#include "BVHGroup.hxx"
#include "BVHPageNode.hxx"
#include "BVHTransform.hxx"
#include "BVHLineGeometry.hxx"
#include "BVHStaticGeometry.hxx"
#include "BVHStaticData.hxx"
#include "BVHStaticNode.hxx"
#include "BVHStaticTriangle.hxx"
#include "BVHStaticBinary.hxx"
namespace simgear {
class BVHNearestPointVisitor : public BVHVisitor {
public:
BVHNearestPointVisitor(const SGSphered& sphere, const double& t) :
_sphere(sphere),
_time(t),
_material(0),
_id(0),
_havePoint(false)
{ }
virtual void apply(BVHGroup& leaf)
{
if (!intersects(_sphere, leaf.getBoundingSphere()))
return;
leaf.traverse(*this);
}
virtual void apply(BVHPageNode& leaf)
{
if (!intersects(_sphere, leaf.getBoundingSphere()))
return;
leaf.traverse(*this);
}
virtual void apply(BVHTransform& transform)
{
if (!intersects(_sphere, transform.getBoundingSphere()))
return;
SGSphered sphere = _sphere;
_sphere = transform.sphereToLocal(sphere);
bool havePoint = _havePoint;
_havePoint = false;
transform.traverse(*this);
if (_havePoint) {
_point = transform.ptToWorld(_point);
_linearVelocity = transform.vecToWorld(_linearVelocity);
_angularVelocity = transform.vecToWorld(_angularVelocity);
}
_havePoint |= havePoint;
_sphere.setCenter(sphere.getCenter());
}
virtual void apply(BVHMotionTransform& transform)
{
if (!intersects(_sphere, transform.getBoundingSphere()))
return;
SGSphered sphere = _sphere;
_sphere = transform.sphereToLocal(sphere, _time);
bool havePoint = _havePoint;
_havePoint = false;
transform.traverse(*this);
if (_havePoint) {
SGMatrixd toWorld = transform.getToWorldTransform(_time);
SGVec3d localCenter = _sphere.getCenter();
_linearVelocity += transform.getLinearVelocityAt(localCenter);
_angularVelocity += transform.getAngularVelocity();
_linearVelocity = toWorld.xformVec(_linearVelocity);
_angularVelocity = toWorld.xformVec(_angularVelocity);
_point = toWorld.xformPt(_point);
if (!_id)
_id = transform.getId();
}
_havePoint |= havePoint;
_sphere.setCenter(sphere.getCenter());
}
virtual void apply(BVHLineGeometry& node)
{ }
virtual void apply(BVHStaticGeometry& node)
{
if (!intersects(_sphere, node.getBoundingSphere()))
return;
node.traverse(*this);
}
virtual void apply(const BVHStaticBinary& node, const BVHStaticData& data)
{
if (!intersects(_sphere, node.getBoundingBox()))
return;
node.traverse(*this, data, _sphere.getCenter());
}
virtual void apply(const BVHStaticTriangle& node, const BVHStaticData& data)
{
SGVec3f center(_sphere.getCenter());
SGVec3d closest(closestPoint(node.getTriangle(data), center));
if (!intersects(_sphere, closest))
return;
_point = closest;
_linearVelocity = SGVec3d::zeros();
_angularVelocity = SGVec3d::zeros();
_material = data.getMaterial(node.getMaterialIndex());
// The trick is to decrease the radius of the search sphere.
_sphere.setRadius(length(closest - _sphere.getCenter()));
_havePoint = true;
_id = 0;
}
void setSphere(const SGSphered& sphere)
{ _sphere = sphere; }
const SGSphered& getSphere() const
{ return _sphere; }
const SGVec3d& getPoint() const
{ return _point; }
const SGVec3d& getLinearVelocity() const
{ return _linearVelocity; }
const SGVec3d& getAngularVelocity() const
{ return _angularVelocity; }
const BVHMaterial* getMaterial() const
{ return _material; }
BVHNode::Id getId() const
{ return _id; }
bool empty() const
{ return !_havePoint; }
private:
SGSphered _sphere;
double _time;
SGVec3d _point;
SGVec3d _linearVelocity;
SGVec3d _angularVelocity;
const BVHMaterial* _material;
BVHNode::Id _id;
bool _havePoint;
};
}
#endif
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