fixed const correctness for Inertia and some Stat functions + code cleaning
This commit is contained in:
Luigi Malomo
parent
bd1b1a937b
commit
95f5550951
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@ -53,16 +53,16 @@ namespace vcg
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template <class MeshType>
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class Inertia
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{
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typedef typename MeshType::VertexType VertexType;
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typedef typename MeshType::VertexPointer VertexPointer;
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typedef typename MeshType::VertexIterator VertexIterator;
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typedef typename MeshType::ScalarType ScalarType;
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typedef typename MeshType::FaceType FaceType;
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typedef typename MeshType::FacePointer FacePointer;
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typedef typename MeshType::FaceIterator FaceIterator;
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typedef typename MeshType::ConstFaceIterator ConstFaceIterator;
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typedef typename MeshType::FaceContainer FaceContainer;
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typedef typename MeshType::CoordType CoordType;
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typedef typename MeshType::VertexType VertexType;
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typedef typename MeshType::VertexPointer VertexPointer;
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typedef typename MeshType::VertexIterator VertexIterator;
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typedef typename MeshType::ScalarType ScalarType;
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typedef typename MeshType::FaceType FaceType;
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typedef typename MeshType::FacePointer FacePointer;
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typedef typename MeshType::FaceIterator FaceIterator;
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typedef typename MeshType::ConstFaceIterator ConstFaceIterator;
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typedef typename MeshType::FaceContainer FaceContainer;
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typedef typename MeshType::CoordType CoordType;
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private :
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enum {X=0,Y=1,Z=2};
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@ -188,50 +188,51 @@ void CompFaceIntegrals(const FaceType &f)
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It requires a watertight mesh with per face normals.
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*/
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void Compute(MeshType &m)
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void Compute(const MeshType &m)
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{
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tri::UpdateNormal<MeshType>::PerFaceNormalized(m);
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double nx, ny, nz;
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double nx, ny, nz;
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T0 = T1[X] = T1[Y] = T1[Z]
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= T2[X] = T2[Y] = T2[Z]
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= TP[X] = TP[Y] = TP[Z] = 0;
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for (auto fi=m.face.begin(); fi!=m.face.end();++fi) if(!(*fi).IsD() && vcg::DoubleArea(*fi)>std::numeric_limits<float>::min()) {
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const FaceType &f=(*fi);
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T0 = T1[X] = T1[Y] = T1[Z]
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= T2[X] = T2[Y] = T2[Z]
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= TP[X] = TP[Y] = TP[Z] = 0;
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for (auto fi=m.face.begin(); fi!=m.face.end();++fi) if(!(*fi).IsD() && vcg::DoubleArea(*fi)>std::numeric_limits<float>::min())
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{
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const FaceType &f=(*fi);
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const auto fn = vcg::NormalizedTriangleNormal(f);
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nx = fabs(f.N()[0]);
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ny = fabs(f.N()[1]);
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nz = fabs(f.N()[2]);
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if (nx > ny && nx > nz) C = X;
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else C = (ny > nz) ? Y : Z;
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A = (C + 1) % 3;
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B = (A + 1) % 3;
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nx = fabs(fn[0]);
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ny = fabs(fn[1]);
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nz = fabs(fn[2]);
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if (nx > ny && nx > nz) C = X;
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else C = (ny > nz) ? Y : Z;
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A = (C + 1) % 3;
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B = (A + 1) % 3;
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CompFaceIntegrals(f);
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CompFaceIntegrals(f);
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T0 += f.N()[X] * ((A == X) ? Fa : ((B == X) ? Fb : Fc));
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T0 += fn[X] * ((A == X) ? Fa : ((B == X) ? Fb : Fc));
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T1[A] += f.N()[A] * Faa;
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T1[B] += f.N()[B] * Fbb;
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T1[C] += f.N()[C] * Fcc;
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T2[A] += f.N()[A] * Faaa;
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T2[B] += f.N()[B] * Fbbb;
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T2[C] += f.N()[C] * Fccc;
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TP[A] += f.N()[A] * Faab;
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TP[B] += f.N()[B] * Fbbc;
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TP[C] += f.N()[C] * Fcca;
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}
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T1[A] += fn[A] * Faa;
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T1[B] += fn[B] * Fbb;
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T1[C] += fn[C] * Fcc;
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T2[A] += fn[A] * Faaa;
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T2[B] += fn[B] * Fbbb;
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T2[C] += fn[C] * Fccc;
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TP[A] += fn[A] * Faab;
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TP[B] += fn[B] * Fbbc;
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TP[C] += fn[C] * Fcca;
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}
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T1[X] /= 2; T1[Y] /= 2; T1[Z] /= 2;
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T2[X] /= 3; T2[Y] /= 3; T2[Z] /= 3;
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TP[X] /= 2; TP[Y] /= 2; TP[Z] /= 2;
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T1[X] /= 2; T1[Y] /= 2; T1[Z] /= 2;
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T2[X] /= 3; T2[Y] /= 3; T2[Z] /= 3;
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TP[X] /= 2; TP[Y] /= 2; TP[Z] /= 2;
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}
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/*! \brief Return the Volume (or mass) of the mesh.
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Meaningful only if the mesh is watertight.
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*/
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ScalarType Mass()
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ScalarType Mass(void) const
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{
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return static_cast<ScalarType>(T0);
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}
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@ -240,15 +241,17 @@ ScalarType Mass()
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Meaningful only if the mesh is watertight.
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*/
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Point3<ScalarType> CenterOfMass()
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Point3<ScalarType> CenterOfMass(void) const
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{
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Point3<ScalarType> r;
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r[X] = T1[X] / T0;
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r[Y] = T1[Y] / T0;
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r[Z] = T1[Z] / T0;
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return r;
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Point3<ScalarType> r;
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r[X] = T1[X] / T0;
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r[Y] = T1[Y] / T0;
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r[Z] = T1[Z] / T0;
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return r;
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}
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void InertiaTensor(Matrix33<ScalarType> &J ){
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void InertiaTensor(Matrix33<ScalarType> &J) const
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{
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Point3<ScalarType> r;
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r[X] = T1[X] / T0;
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r[Y] = T1[Y] / T0;
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@ -270,27 +273,27 @@ void InertiaTensor(Matrix33<ScalarType> &J ){
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}
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//void InertiaTensor(Matrix44<ScalarType> &J )
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void InertiaTensor(Eigen::Matrix3d &J )
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void InertiaTensor(Eigen::Matrix3d &J) const
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{
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J=Eigen::Matrix3d::Identity();
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Point3d r;
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r[X] = T1[X] / T0;
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r[Y] = T1[Y] / T0;
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r[Z] = T1[Z] / T0;
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/* compute inertia tensor */
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J(X,X) = (T2[Y] + T2[Z]);
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J(Y,Y) = (T2[Z] + T2[X]);
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J(Z,Z) = (T2[X] + T2[Y]);
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J(X,Y) = J(Y,X) = - TP[X];
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J(Y,Z) = J(Z,Y) = - TP[Y];
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J(Z,X) = J(X,Z) = - TP[Z];
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J=Eigen::Matrix3d::Identity();
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Point3d r;
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r[X] = T1[X] / T0;
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r[Y] = T1[Y] / T0;
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r[Z] = T1[Z] / T0;
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/* compute inertia tensor */
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J(X,X) = (T2[Y] + T2[Z]);
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J(Y,Y) = (T2[Z] + T2[X]);
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J(Z,Z) = (T2[X] + T2[Y]);
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J(X,Y) = J(Y,X) = - TP[X];
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J(Y,Z) = J(Z,Y) = - TP[Y];
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J(Z,X) = J(X,Z) = - TP[Z];
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J(X,X) -= T0 * (r[Y]*r[Y] + r[Z]*r[Z]);
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J(Y,Y) -= T0 * (r[Z]*r[Z] + r[X]*r[X]);
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J(Z,Z) -= T0 * (r[X]*r[X] + r[Y]*r[Y]);
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J(X,Y) = J(Y,X) += T0 * r[X] * r[Y];
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J(Y,Z) = J(Z,Y) += T0 * r[Y] * r[Z];
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J(Z,X) = J(X,Z) += T0 * r[Z] * r[X];
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J(X,X) -= T0 * (r[Y]*r[Y] + r[Z]*r[Z]);
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J(Y,Y) -= T0 * (r[Z]*r[Z] + r[X]*r[X]);
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J(Z,Z) -= T0 * (r[X]*r[X] + r[Y]*r[Y]);
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J(X,Y) = J(Y,X) += T0 * r[X] * r[Y];
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J(Y,Z) = J(Z,Y) += T0 * r[Y] * r[Z];
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J(Z,X) = J(X,Z) += T0 * r[Z] * r[X];
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}
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@ -299,7 +302,7 @@ void InertiaTensor(Eigen::Matrix3d &J )
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The result is factored as eigenvalues and eigenvectors (as ROWS).
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*/
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void InertiaTensorEigen(Matrix33<ScalarType> &EV, Point3<ScalarType> &ev )
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void InertiaTensorEigen(Matrix33<ScalarType> &EV, Point3<ScalarType> &ev) const
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{
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Eigen::Matrix3d it;
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InertiaTensor(it);
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@ -376,7 +379,7 @@ static void Covariance(const MeshType & m, vcg::Point3<ScalarType> & bary, vcg::
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}
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}; // end class Inertia
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} // end namespace tri
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} // end namespace tri
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} // end namespace vcg
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@ -239,18 +239,18 @@ public:
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return barycenter/areaSum;
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}
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static ScalarType ComputeTetraMeshVolume(MeshType & m)
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static ScalarType ComputeTetraMeshVolume(const MeshType & m)
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{
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ScalarType V = 0;
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ForEachTetra(m, [&V] (TetraType & t) {
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ForEachTetra(m, [&V] (const TetraType & t) {
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V += Tetra::ComputeVolume(t);
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});
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return V;
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}
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static ScalarType ComputeMeshVolume(MeshType & m)
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static ScalarType ComputeMeshVolume(const MeshType & m)
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{
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Inertia<MeshType> I(m);
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return I.Mass();
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