AP_Math: AP_GeodesicGrid: make data static
That gives the change of storing that data in flash storage in some architectures. That doesn't happen yet though, some extra changes are required for that to happen.
This commit is contained in:
Gustavo Jose de Sousa
Lucas De Marchi
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fd2428db34
commit
77223a7fcb
@ -105,78 +105,78 @@
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#include "AP_GeodesicGrid.h"
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AP_GeodesicGrid::AP_GeodesicGrid()
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: _neighbor_umbrellas{
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{{ 9, 8, 7, 12, 14}, 1, 2, 0, 0, 2},
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{{ 1, 2, 4, 5, 3}, 0, 0, 2, 2, 0},
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{{16, 15, 13, 18, 17}, 2, 2, 0, 2, 1},
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}
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, _inverses{
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{{-0.309017f, 0.500000f, 0.190983f},
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{ 0.000000f, 0.000000f, -0.618034f},
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{-0.309017f, -0.500000f, 0.190983f}},
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{{-0.190983f, 0.309017f, -0.500000f},
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{-0.500000f, -0.190983f, 0.309017f},
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{ 0.309017f, -0.500000f, -0.190983f}},
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{{-0.618034f, 0.000000f, 0.000000f},
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{ 0.190983f, -0.309017f, -0.500000f},
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{ 0.190983f, -0.309017f, 0.500000f}},
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{{-0.500000f, 0.190983f, -0.309017f},
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{ 0.000000f, -0.618034f, 0.000000f},
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{ 0.500000f, 0.190983f, -0.309017f}},
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{{-0.190983f, -0.309017f, -0.500000f},
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{-0.190983f, -0.309017f, 0.500000f},
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{ 0.618034f, 0.000000f, 0.000000f}},
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{{-0.309017f, -0.500000f, -0.190983f},
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{ 0.190983f, 0.309017f, -0.500000f},
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{ 0.500000f, -0.190983f, 0.309017f}},
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{{ 0.309017f, -0.500000f, 0.190983f},
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{ 0.000000f, 0.000000f, -0.618034f},
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{ 0.309017f, 0.500000f, 0.190983f}},
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{{ 0.190983f, -0.309017f, -0.500000f},
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{ 0.500000f, 0.190983f, 0.309017f},
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{-0.309017f, 0.500000f, -0.190983f}},
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{{ 0.500000f, -0.190983f, -0.309017f},
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{ 0.000000f, 0.618034f, 0.000000f},
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{-0.500000f, -0.190983f, -0.309017f}},
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{{ 0.309017f, 0.500000f, -0.190983f},
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{-0.500000f, 0.190983f, 0.309017f},
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{-0.190983f, -0.309017f, -0.500000f}},
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}
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, _mid_inverses{
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{{-0.000000f, 1.000000f, -0.618034f},
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{ 0.000000f, -1.000000f, -0.618034f},
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{-0.618034f, 0.000000f, 1.000000f}},
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{{-1.000000f, 0.618034f, -0.000000f},
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{-0.000000f, -1.000000f, 0.618034f},
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{ 0.618034f, -0.000000f, -1.000000f}},
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{{-0.618034f, -0.000000f, -1.000000f},
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{ 1.000000f, -0.618034f, -0.000000f},
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{-0.618034f, 0.000000f, 1.000000f}},
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{{-1.000000f, -0.618034f, -0.000000f},
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{ 1.000000f, -0.618034f, 0.000000f},
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{-0.000000f, 1.000000f, -0.618034f}},
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{{-1.000000f, -0.618034f, 0.000000f},
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{ 0.618034f, 0.000000f, 1.000000f},
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{ 0.618034f, 0.000000f, -1.000000f}},
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{{-0.618034f, -0.000000f, -1.000000f},
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{ 1.000000f, 0.618034f, -0.000000f},
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{ 0.000000f, -1.000000f, 0.618034f}},
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{{ 0.000000f, -1.000000f, -0.618034f},
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{ 0.000000f, 1.000000f, -0.618034f},
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{ 0.618034f, -0.000000f, 1.000000f}},
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{{ 1.000000f, -0.618034f, -0.000000f},
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{ 0.000000f, 1.000000f, 0.618034f},
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{-0.618034f, 0.000000f, -1.000000f}},
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{{ 1.000000f, 0.618034f, -0.000000f},
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{-1.000000f, 0.618034f, 0.000000f},
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{ 0.000000f, -1.000000f, -0.618034f}},
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{{-0.000000f, 1.000000f, 0.618034f},
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{-1.000000f, -0.618034f, -0.000000f},
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{ 0.618034f, 0.000000f, -1.000000f}},
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}
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{
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}
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const struct AP_GeodesicGrid::neighbor_umbrella
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AP_GeodesicGrid::_neighbor_umbrellas[3]{
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{{ 9, 8, 7, 12, 14}, 1, 2, 0, 0, 2},
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{{ 1, 2, 4, 5, 3}, 0, 0, 2, 2, 0},
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{{16, 15, 13, 18, 17}, 2, 2, 0, 2, 1},
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};
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const Matrix3f AP_GeodesicGrid::_inverses[10]{
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{{-0.309017f, 0.500000f, 0.190983f},
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{ 0.000000f, 0.000000f, -0.618034f},
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{-0.309017f, -0.500000f, 0.190983f}},
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{{-0.190983f, 0.309017f, -0.500000f},
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{-0.500000f, -0.190983f, 0.309017f},
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{ 0.309017f, -0.500000f, -0.190983f}},
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{{-0.618034f, 0.000000f, 0.000000f},
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{ 0.190983f, -0.309017f, -0.500000f},
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{ 0.190983f, -0.309017f, 0.500000f}},
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{{-0.500000f, 0.190983f, -0.309017f},
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{ 0.000000f, -0.618034f, 0.000000f},
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{ 0.500000f, 0.190983f, -0.309017f}},
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{{-0.190983f, -0.309017f, -0.500000f},
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{-0.190983f, -0.309017f, 0.500000f},
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{ 0.618034f, 0.000000f, 0.000000f}},
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{{-0.309017f, -0.500000f, -0.190983f},
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{ 0.190983f, 0.309017f, -0.500000f},
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{ 0.500000f, -0.190983f, 0.309017f}},
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{{ 0.309017f, -0.500000f, 0.190983f},
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{ 0.000000f, 0.000000f, -0.618034f},
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{ 0.309017f, 0.500000f, 0.190983f}},
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{{ 0.190983f, -0.309017f, -0.500000f},
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{ 0.500000f, 0.190983f, 0.309017f},
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{-0.309017f, 0.500000f, -0.190983f}},
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{{ 0.500000f, -0.190983f, -0.309017f},
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{ 0.000000f, 0.618034f, 0.000000f},
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{-0.500000f, -0.190983f, -0.309017f}},
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{{ 0.309017f, 0.500000f, -0.190983f},
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{-0.500000f, 0.190983f, 0.309017f},
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{-0.190983f, -0.309017f, -0.500000f}},
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};
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const Matrix3f AP_GeodesicGrid::_mid_inverses[10]{
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{{-0.000000f, 1.000000f, -0.618034f},
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{ 0.000000f, -1.000000f, -0.618034f},
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{-0.618034f, 0.000000f, 1.000000f}},
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{{-1.000000f, 0.618034f, -0.000000f},
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{-0.000000f, -1.000000f, 0.618034f},
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{ 0.618034f, -0.000000f, -1.000000f}},
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{{-0.618034f, -0.000000f, -1.000000f},
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{ 1.000000f, -0.618034f, -0.000000f},
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{-0.618034f, 0.000000f, 1.000000f}},
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{{-1.000000f, -0.618034f, -0.000000f},
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{ 1.000000f, -0.618034f, 0.000000f},
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{-0.000000f, 1.000000f, -0.618034f}},
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{{-1.000000f, -0.618034f, 0.000000f},
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{ 0.618034f, 0.000000f, 1.000000f},
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{ 0.618034f, 0.000000f, -1.000000f}},
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{{-0.618034f, -0.000000f, -1.000000f},
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{ 1.000000f, 0.618034f, -0.000000f},
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{ 0.000000f, -1.000000f, 0.618034f}},
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{{ 0.000000f, -1.000000f, -0.618034f},
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{ 0.000000f, 1.000000f, -0.618034f},
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{ 0.618034f, -0.000000f, 1.000000f}},
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{{ 1.000000f, -0.618034f, -0.000000f},
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{ 0.000000f, 1.000000f, 0.618034f},
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{-0.618034f, 0.000000f, -1.000000f}},
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{{ 1.000000f, 0.618034f, -0.000000f},
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{-1.000000f, 0.618034f, 0.000000f},
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{ 0.000000f, -1.000000f, -0.618034f}},
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{{-0.000000f, 1.000000f, 0.618034f},
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{-1.000000f, -0.618034f, -0.000000f},
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{ 0.618034f, 0.000000f, -1.000000f}},
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};
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int AP_GeodesicGrid::section(const Vector3f& v,
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const bool inclusive) const
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@ -106,8 +106,6 @@ public:
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*/
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static const int NUM_SUBTRIANGLES = 4;
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AP_GeodesicGrid();
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/**
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* Find which section is crossed by \p v.
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*
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@ -170,7 +168,7 @@ private:
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* The i-th matrix is the inverse of the change-of-basis matrix from
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* natural basis to the basis formed by T_i's vectors.
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*/
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Matrix3f _inverses[10];
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static const Matrix3f _inverses[10];
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/**
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* The inverses of the change-of-basis matrices for the middle triangles.
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@ -178,7 +176,7 @@ private:
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* The i-th matrix is the inverse of the change-of-basis matrix from
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* natural basis to the basis formed by T_i's middle triangle's vectors.
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*/
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Matrix3f _mid_inverses[10];
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static const Matrix3f _mid_inverses[10];
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/**
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* The representation of the neighbor umbrellas of T_0.
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@ -202,7 +200,7 @@ private:
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* the umbrellas' vertices and components is convertioned to be with
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* respect to those pairs.
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*/
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struct neighbor_umbrella {
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static const struct neighbor_umbrella {
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/**
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* The umbrella's components. The value of #components[i] is the
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* icosahedron triangle index of the i-th component.
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