394 lines
12 KiB
C
394 lines
12 KiB
C
//-----------------------------------------------------------------------------
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// Data structures and prototypes for slvs.lib, a geometric constraint solver.
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//
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// See the comments in this file, the accompanying sample code that uses
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// this library, and the accompanying documentation (DOC.txt).
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//
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// Copyright 2009-2013 Jonathan Westhues.
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//-----------------------------------------------------------------------------
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#ifndef __SLVS_H
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#define __SLVS_H
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#ifdef EXPORT_DLL
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#define DLL __declspec( dllexport )
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#else
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#define DLL __declspec( dllimport )
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#endif
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#ifdef __cplusplus
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extern "C" {
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#endif
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typedef uint32_t Slvs_hParam;
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typedef uint32_t Slvs_hEntity;
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typedef uint32_t Slvs_hConstraint;
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typedef uint32_t Slvs_hGroup;
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// To obtain the 3d (not projected into a workplane) of a constraint or
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// an entity, specify this instead of the workplane.
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#define SLVS_FREE_IN_3D 0
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typedef struct {
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Slvs_hParam h;
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Slvs_hGroup group;
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double val;
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} Slvs_Param;
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#define SLVS_E_POINT_IN_3D 50000
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#define SLVS_E_POINT_IN_2D 50001
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#define SLVS_E_NORMAL_IN_3D 60000
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#define SLVS_E_NORMAL_IN_2D 60001
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#define SLVS_E_DISTANCE 70000
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// The special point, normal, and distance types used for parametric step
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// and repeat, extrude, and assembly are currently not exposed. Please
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// contact us if you are interested in using these.
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#define SLVS_E_WORKPLANE 80000
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#define SLVS_E_LINE_SEGMENT 80001
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#define SLVS_E_CUBIC 80002
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#define SLVS_E_CIRCLE 80003
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#define SLVS_E_ARC_OF_CIRCLE 80004
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typedef struct {
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Slvs_hEntity h;
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Slvs_hGroup group;
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int type;
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Slvs_hEntity wrkpl;
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Slvs_hEntity point[4];
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Slvs_hEntity normal;
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Slvs_hEntity distance;
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Slvs_hParam param[4];
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} Slvs_Entity;
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#define SLVS_C_POINTS_COINCIDENT 100000
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#define SLVS_C_PT_PT_DISTANCE 100001
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#define SLVS_C_PT_PLANE_DISTANCE 100002
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#define SLVS_C_PT_LINE_DISTANCE 100003
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#define SLVS_C_PT_FACE_DISTANCE 100004
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#define SLVS_C_PT_IN_PLANE 100005
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#define SLVS_C_PT_ON_LINE 100006
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#define SLVS_C_PT_ON_FACE 100007
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#define SLVS_C_EQUAL_LENGTH_LINES 100008
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#define SLVS_C_LENGTH_RATIO 100009
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#define SLVS_C_EQ_LEN_PT_LINE_D 100010
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#define SLVS_C_EQ_PT_LN_DISTANCES 100011
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#define SLVS_C_EQUAL_ANGLE 100012
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#define SLVS_C_EQUAL_LINE_ARC_LEN 100013
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#define SLVS_C_SYMMETRIC 100014
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#define SLVS_C_SYMMETRIC_HORIZ 100015
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#define SLVS_C_SYMMETRIC_VERT 100016
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#define SLVS_C_SYMMETRIC_LINE 100017
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#define SLVS_C_AT_MIDPOINT 100018
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#define SLVS_C_HORIZONTAL 100019
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#define SLVS_C_VERTICAL 100020
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#define SLVS_C_DIAMETER 100021
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#define SLVS_C_PT_ON_CIRCLE 100022
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#define SLVS_C_SAME_ORIENTATION 100023
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#define SLVS_C_ANGLE 100024
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#define SLVS_C_PARALLEL 100025
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#define SLVS_C_PERPENDICULAR 100026
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#define SLVS_C_ARC_LINE_TANGENT 100027
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#define SLVS_C_CUBIC_LINE_TANGENT 100028
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#define SLVS_C_EQUAL_RADIUS 100029
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#define SLVS_C_PROJ_PT_DISTANCE 100030
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#define SLVS_C_WHERE_DRAGGED 100031
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#define SLVS_C_CURVE_CURVE_TANGENT 100032
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typedef struct {
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Slvs_hConstraint h;
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Slvs_hGroup group;
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int type;
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Slvs_hEntity wrkpl;
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double valA;
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Slvs_hEntity ptA;
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Slvs_hEntity ptB;
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Slvs_hEntity entityA;
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Slvs_hEntity entityB;
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Slvs_hEntity entityC;
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Slvs_hEntity entityD;
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int other;
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int other2;
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} Slvs_Constraint;
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typedef struct {
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//// INPUT VARIABLES
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//
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// Here, we specify the parameters and their initial values, the entities,
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// and the constraints. For example, param[] points to the array of
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// parameters, which has length params, so that the last valid element
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// is param[params-1].
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//
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// param[] is actually an in/out variable; if the solver is successful,
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// then the new values (that satisfy the constraints) are written to it.
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//
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Slvs_Param *param;
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int params;
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Slvs_Entity *entity;
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int entities;
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Slvs_Constraint *constraint;
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int constraints;
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// If a parameter corresponds to a point (distance, normal, etc.) being
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// dragged, then specify it here. This will cause the solver to favor
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// that parameter, and attempt to change it as little as possible even
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// if that requires it to change other parameters more.
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//
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// Unused members of this array should be set to zero.
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Slvs_hParam dragged[4];
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// If the solver fails, then it can determine which constraints are
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// causing the problem. But this is a relatively slow process (for
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// a system with n constraints, about n times as long as just solving).
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// If calculateFaileds is true, then the solver will do so, otherwise
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// not.
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int calculateFaileds;
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//// OUTPUT VARIABLES
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//
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// If the solver fails, then it can report which constraints are causing
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// the problem. The caller should allocate the array failed[], and pass
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// its size in faileds.
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//
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// The solver will set faileds equal to the number of problematic
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// constraints, and write their Slvs_hConstraints into failed[]. To
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// ensure that there is sufficient space for any possible set of
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// failing constraints, faileds should be greater than or equal to
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// constraints.
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Slvs_hConstraint *failed;
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int faileds;
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// The solver indicates the number of unconstrained degrees of freedom.
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int dof;
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// The solver indicates whether the solution succeeded.
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#define SLVS_RESULT_OKAY 0
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#define SLVS_RESULT_INCONSISTENT 1
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#define SLVS_RESULT_DIDNT_CONVERGE 2
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#define SLVS_RESULT_TOO_MANY_UNKNOWNS 3
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int result;
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} Slvs_System;
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DLL void Slvs_Solve(Slvs_System *sys, Slvs_hGroup hg);
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// Our base coordinate system has basis vectors
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// (1, 0, 0) (0, 1, 0) (0, 0, 1)
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// A unit quaternion defines a rotation to a new coordinate system with
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// basis vectors
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// U V N
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// which these functions compute from the quaternion.
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DLL void Slvs_QuaternionU(double qw, double qx, double qy, double qz,
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double *x, double *y, double *z);
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DLL void Slvs_QuaternionV(double qw, double qx, double qy, double qz,
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double *x, double *y, double *z);
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DLL void Slvs_QuaternionN(double qw, double qx, double qy, double qz,
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double *x, double *y, double *z);
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// Similarly, compute a unit quaternion in terms of two basis vectors.
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DLL void Slvs_MakeQuaternion(double ux, double uy, double uz,
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double vx, double vy, double vz,
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double *qw, double *qx, double *qy, double *qz);
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//-------------------------------------
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// These are just convenience functions, to save you the trouble of filling
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// out the structures by hand. The code is included in the header file to
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// let the compiler inline them if possible.
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static Slvs_Param Slvs_MakeParam(Slvs_hParam h, Slvs_hGroup group, double val)
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{
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Slvs_Param r;
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r.h = h;
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r.group = group;
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r.val = val;
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return r;
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}
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static Slvs_Entity Slvs_MakePoint2d(Slvs_hEntity h, Slvs_hGroup group,
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Slvs_hEntity wrkpl,
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Slvs_hParam u, Slvs_hParam v)
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{
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Slvs_Entity r;
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memset(&r, 0, sizeof(r));
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r.h = h;
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r.group = group;
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r.type = SLVS_E_POINT_IN_2D;
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r.wrkpl = wrkpl;
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r.param[0] = u;
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r.param[1] = v;
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return r;
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}
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static Slvs_Entity Slvs_MakePoint3d(Slvs_hEntity h, Slvs_hGroup group,
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Slvs_hParam x, Slvs_hParam y, Slvs_hParam z)
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{
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Slvs_Entity r;
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memset(&r, 0, sizeof(r));
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r.h = h;
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r.group = group;
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r.type = SLVS_E_POINT_IN_3D;
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r.wrkpl = SLVS_FREE_IN_3D;
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r.param[0] = x;
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r.param[1] = y;
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r.param[2] = z;
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return r;
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}
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static Slvs_Entity Slvs_MakeNormal3d(Slvs_hEntity h, Slvs_hGroup group,
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Slvs_hParam qw, Slvs_hParam qx, Slvs_hParam qy, Slvs_hParam qz)
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{
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Slvs_Entity r;
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memset(&r, 0, sizeof(r));
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r.h = h;
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r.group = group;
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r.type = SLVS_E_NORMAL_IN_3D;
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r.wrkpl = SLVS_FREE_IN_3D;
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r.param[0] = qw;
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r.param[1] = qx;
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r.param[2] = qy;
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r.param[3] = qz;
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return r;
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}
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static Slvs_Entity Slvs_MakeNormal2d(Slvs_hEntity h, Slvs_hGroup group,
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Slvs_hEntity wrkpl)
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{
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Slvs_Entity r;
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memset(&r, 0, sizeof(r));
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r.h = h;
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r.group = group;
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r.type = SLVS_E_NORMAL_IN_2D;
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r.wrkpl = wrkpl;
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return r;
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}
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static Slvs_Entity Slvs_MakeDistance(Slvs_hEntity h, Slvs_hGroup group,
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Slvs_hEntity wrkpl, Slvs_hParam d)
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{
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Slvs_Entity r;
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memset(&r, 0, sizeof(r));
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r.h = h;
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r.group = group;
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r.type = SLVS_E_DISTANCE;
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r.wrkpl = wrkpl;
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r.param[0] = d;
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return r;
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}
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static Slvs_Entity Slvs_MakeLineSegment(Slvs_hEntity h, Slvs_hGroup group,
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Slvs_hEntity wrkpl,
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Slvs_hEntity ptA, Slvs_hEntity ptB)
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{
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Slvs_Entity r;
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memset(&r, 0, sizeof(r));
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r.h = h;
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r.group = group;
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r.type = SLVS_E_LINE_SEGMENT;
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r.wrkpl = wrkpl;
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r.point[0] = ptA;
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r.point[1] = ptB;
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return r;
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}
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static Slvs_Entity Slvs_MakeCubic(Slvs_hEntity h, Slvs_hGroup group,
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Slvs_hEntity wrkpl,
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Slvs_hEntity pt0, Slvs_hEntity pt1,
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Slvs_hEntity pt2, Slvs_hEntity pt3)
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{
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Slvs_Entity r;
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memset(&r, 0, sizeof(r));
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r.h = h;
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r.group = group;
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r.type = SLVS_E_CUBIC;
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r.wrkpl = wrkpl;
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r.point[0] = pt0;
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r.point[1] = pt1;
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r.point[2] = pt2;
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r.point[3] = pt3;
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return r;
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}
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static Slvs_Entity Slvs_MakeArcOfCircle(Slvs_hEntity h, Slvs_hGroup group,
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Slvs_hEntity wrkpl,
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Slvs_hEntity normal,
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Slvs_hEntity center,
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Slvs_hEntity start, Slvs_hEntity end)
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{
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Slvs_Entity r;
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memset(&r, 0, sizeof(r));
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r.h = h;
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r.group = group;
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r.type = SLVS_E_ARC_OF_CIRCLE;
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r.wrkpl = wrkpl;
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r.normal = normal;
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r.point[0] = center;
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r.point[1] = start;
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r.point[2] = end;
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return r;
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}
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static Slvs_Entity Slvs_MakeCircle(Slvs_hEntity h, Slvs_hGroup group,
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Slvs_hEntity wrkpl,
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Slvs_hEntity center,
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Slvs_hEntity normal, Slvs_hEntity radius)
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{
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Slvs_Entity r;
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memset(&r, 0, sizeof(r));
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r.h = h;
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r.group = group;
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r.type = SLVS_E_CIRCLE;
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r.wrkpl = wrkpl;
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r.point[0] = center;
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r.normal = normal;
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r.distance = radius;
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return r;
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}
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static Slvs_Entity Slvs_MakeWorkplane(Slvs_hEntity h, Slvs_hGroup group,
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Slvs_hEntity origin, Slvs_hEntity normal)
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{
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Slvs_Entity r;
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memset(&r, 0, sizeof(r));
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r.h = h;
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r.group = group;
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r.type = SLVS_E_WORKPLANE;
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r.wrkpl = SLVS_FREE_IN_3D;
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r.point[0] = origin;
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r.normal = normal;
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return r;
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}
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static Slvs_Constraint Slvs_MakeConstraint(Slvs_hConstraint h,
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Slvs_hGroup group,
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int type,
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Slvs_hEntity wrkpl,
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double valA,
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Slvs_hEntity ptA,
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Slvs_hEntity ptB,
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Slvs_hEntity entityA,
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Slvs_hEntity entityB)
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{
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Slvs_Constraint r;
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memset(&r, 0, sizeof(r));
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r.h = h;
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r.group = group;
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r.type = type;
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r.wrkpl = wrkpl;
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r.valA = valA;
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r.ptA = ptA;
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r.ptB = ptB;
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r.entityA = entityA;
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r.entityB = entityB;
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return r;
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}
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#ifdef __cplusplus
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}
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#endif
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#endif
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