Add Connectors for 3D SDF

sdf/connectors.go

@@ -0,0 +1,143 @@
+package sdf
+
+// Connector3d stores the information needed to connector to another part
+type Connector3d struct {
+	Position V3
+	Vector   V3
+	Angle    float64
+}
+
+// Transform3DConnector applies a transformation matrix to an SDF3 and a connector.
+// func Transform3DConnector(sdf SDF3, connectors map[string]Connector3d, matrix M44) (SDF3, map[string]Connector3d) {
+// 	s := TransformSDF3{}
+// 	s.sdf = sdf
+// 	s.matrix = matrix
+// 	s.inverse = matrix.Inverse()
+// 	s.bb = matrix.MulBox(sdf.BoundingBox())
+
+// 	for key := range connectors {
+// 		connector := connectors[key]
+// 		connector.Position = matrix.MulPosition(connectors[key].Position)
+// 		connectors[key] = connector
+// 	}
+// 	return &s, connectors
+// }
+
+// ConnectorizedSDF3 is an SDF3 that can store connectors
+type ConnectorizedSDF3 interface {
+	SDF3
+	Connectors() map[string]Connector3d
+	AddConnector(name string, connector Connector3d)
+	Connect(parentConnector string, child ConnectorizedSDF3, childConnector string) ConnectorizedSDF3
+}
+
+// SDF3WithConnectors is a SDF3 with connectors
+type SDF3WithConnectors struct {
+	SDF3
+	connectors map[string]Connector3d
+}
+
+// Connectors returns all of the connectors
+func (s *SDF3WithConnectors) Connectors() map[string]Connector3d {
+
+	return s.connectors
+
+}
+
+// AddConnector add a Connector3d to an SDF3
+func (s *SDF3WithConnectors) AddConnector(name string, connector Connector3d) {
+
+	if s.connectors == nil {
+		s.connectors = make(map[string]Connector3d)
+	}
+
+	s.connectors[name] = connector
+
+}
+
+// Connect moves a child SDF so the specified connectors on the parent and child align, unions them and returns the union.
+func (s *SDF3WithConnectors) Connect(parentConnector string, child ConnectorizedSDF3, childConnector string) ConnectorizedSDF3 {
+
+	possDiff := s.connectors[parentConnector].Position.Sub(child.Connectors()[childConnector].Position)
+
+	transformedChild := Transform3D(child, Translate3d(possDiff))
+
+	s2 := UnionConnectorizedSDF3{}
+
+	s2.sdf = []SDF3{s, transformedChild}
+
+	// work out the bounding box
+	s2.bb = s.BoundingBox().Extend(transformedChild.BoundingBox())
+	s2.min = Min
+
+	s2.connectors = s.Connectors()
+	return &s2
+}
+
+// UnionConnectorizedSDF3 is a union of SDF3s.
+type UnionConnectorizedSDF3 struct {
+	sdf        []SDF3
+	connectors map[string]Connector3d
+	min        MinFunc
+	bb         Box3
+}
+
+// Evaluate returns the minimum distance to an SDF3 union.
+func (s *UnionConnectorizedSDF3) Evaluate(p V3) float64 {
+	var d float64
+	for i, x := range s.sdf {
+		if i == 0 {
+			d = x.Evaluate(p)
+		} else {
+			d = s.min(d, x.Evaluate(p))
+		}
+	}
+	return d
+}
+
+// BoundingBox returns the bounding box of an SDF3 union.
+func (s *UnionConnectorizedSDF3) BoundingBox() Box3 {
+	return s.bb
+}
+
+// SetMin is used to control blending
+func (s *UnionConnectorizedSDF3) SetMin(min MinFunc) {
+	s.min = min
+}
+
+// AddConnector add a Connector3d to an SDF3
+func (s *UnionConnectorizedSDF3) AddConnector(name string, connector Connector3d) {
+
+	s.connectors[name] = connector
+
+}
+
+// Connect returns the union of multiple SDF3 objects.
+func (s *UnionConnectorizedSDF3) Connect(parentConnector string, child ConnectorizedSDF3, childConnector string) ConnectorizedSDF3 {
+
+	possDiff := s.connectors[parentConnector].Position.Sub(child.Connectors()[childConnector].Position)
+
+	transformedChild := Transform3D(child, Translate3d(possDiff))
+
+	s2 := UnionConnectorizedSDF3{}
+
+	s2.sdf = append(s.sdf, transformedChild)
+
+	// work out the bounding box
+	s2.bb = s.BoundingBox().Extend(transformedChild.BoundingBox())
+	s2.min = Min
+
+	s2.connectors = s.Connectors()
+	return &s2
+}
+
+// Connectors returns the map of Connector3ds associated with the SDF
+func (s *UnionConnectorizedSDF3) Connectors() map[string]Connector3d {
+
+	if s.connectors == nil {
+		s.connectors = make(map[string]Connector3d)
+	}
+
+	return s.connectors
+
+}