mirror of
https://github.com/bulletphysics/bullet3
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ab8f16961e
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
583 lines
17 KiB
C++
583 lines
17 KiB
C++
/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
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All rights reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
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3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "hacdManifoldMesh.h"
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using namespace std;
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namespace HACD
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{
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Material::Material(void)
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{
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m_diffuseColor.X() = 0.5;
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m_diffuseColor.Y() = 0.5;
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m_diffuseColor.Z() = 0.5;
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m_specularColor.X() = 0.5;
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m_specularColor.Y() = 0.5;
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m_specularColor.Z() = 0.5;
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m_ambientIntensity = 0.4;
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m_emissiveColor.X() = 0.0;
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m_emissiveColor.Y() = 0.0;
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m_emissiveColor.Z() = 0.0;
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m_shininess = 0.4;
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m_transparency = 0.0;
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}
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TMMVertex::TMMVertex(void)
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{
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m_name = 0;
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m_id = 0;
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m_duplicate = 0;
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m_onHull = false;
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m_tag = false;
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}
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TMMVertex::~TMMVertex(void)
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{
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}
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TMMEdge::TMMEdge(void)
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{
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m_id = 0;
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m_triangles[0] = m_triangles[1] = m_newFace = 0;
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m_vertices[0] = m_vertices[1] = 0;
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}
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TMMEdge::~TMMEdge(void)
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{
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}
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TMMTriangle::TMMTriangle(void)
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{
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m_id = 0;
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for (int i = 0; i < 3; i++)
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{
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m_edges[i] = 0;
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m_vertices[0] = 0;
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}
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m_visible = false;
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}
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TMMTriangle::~TMMTriangle(void)
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{
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}
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TMMesh::TMMesh(void)
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{
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m_barycenter = Vec3<Real>(0, 0, 0);
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m_diag = 1;
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}
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TMMesh::~TMMesh(void)
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{
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}
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void TMMesh::Print()
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{
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size_t nV = m_vertices.GetSize();
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std::cout << "-----------------------------" << std::endl;
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std::cout << "vertices (" << nV << ")" << std::endl;
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for (size_t v = 0; v < nV; v++)
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{
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const TMMVertex ¤tVertex = m_vertices.GetData();
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std::cout << currentVertex.m_id << ", "
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<< currentVertex.m_pos.X() << ", "
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<< currentVertex.m_pos.Y() << ", "
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<< currentVertex.m_pos.Z() << std::endl;
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m_vertices.Next();
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}
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size_t nE = m_edges.GetSize();
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std::cout << "edges (" << nE << ")" << std::endl;
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for (size_t e = 0; e < nE; e++)
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{
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const TMMEdge ¤tEdge = m_edges.GetData();
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const CircularListElement<TMMVertex> *v0 = currentEdge.m_vertices[0];
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const CircularListElement<TMMVertex> *v1 = currentEdge.m_vertices[1];
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const CircularListElement<TMMTriangle> *f0 = currentEdge.m_triangles[0];
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const CircularListElement<TMMTriangle> *f1 = currentEdge.m_triangles[1];
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std::cout << "-> (" << v0->GetData().m_name << ", " << v1->GetData().m_name << ")" << std::endl;
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std::cout << "-> F0 (" << f0->GetData().m_vertices[0]->GetData().m_name << ", "
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<< f0->GetData().m_vertices[1]->GetData().m_name << ", "
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<< f0->GetData().m_vertices[2]->GetData().m_name << ")" << std::endl;
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std::cout << "-> F1 (" << f1->GetData().m_vertices[0]->GetData().m_name << ", "
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<< f1->GetData().m_vertices[1]->GetData().m_name << ", "
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<< f1->GetData().m_vertices[2]->GetData().m_name << ")" << std::endl;
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m_edges.Next();
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}
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size_t nT = m_triangles.GetSize();
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std::cout << "triangles (" << nT << ")" << std::endl;
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for (size_t t = 0; t < nT; t++)
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{
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const TMMTriangle ¤tTriangle = m_triangles.GetData();
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const CircularListElement<TMMVertex> *v0 = currentTriangle.m_vertices[0];
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const CircularListElement<TMMVertex> *v1 = currentTriangle.m_vertices[1];
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const CircularListElement<TMMVertex> *v2 = currentTriangle.m_vertices[2];
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const CircularListElement<TMMEdge> *e0 = currentTriangle.m_edges[0];
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const CircularListElement<TMMEdge> *e1 = currentTriangle.m_edges[1];
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const CircularListElement<TMMEdge> *e2 = currentTriangle.m_edges[2];
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std::cout << "-> (" << v0->GetData().m_name << ", " << v1->GetData().m_name << ", " << v2->GetData().m_name << ")" << std::endl;
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std::cout << "-> E0 (" << e0->GetData().m_vertices[0]->GetData().m_name << ", "
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<< e0->GetData().m_vertices[1]->GetData().m_name << ")" << std::endl;
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std::cout << "-> E1 (" << e1->GetData().m_vertices[0]->GetData().m_name << ", "
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<< e1->GetData().m_vertices[1]->GetData().m_name << ")" << std::endl;
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std::cout << "-> E2 (" << e2->GetData().m_vertices[0]->GetData().m_name << ", "
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<< e2->GetData().m_vertices[1]->GetData().m_name << ")" << std::endl;
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m_triangles.Next();
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}
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}
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bool TMMesh::Save(const char *fileName)
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{
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std::ofstream fout(fileName);
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std::cout << "Saving " << fileName << std::endl;
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if (SaveVRML2(fout))
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{
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fout.close();
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return true;
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}
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return false;
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}
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bool TMMesh::SaveVRML2(std::ofstream &fout)
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{
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return SaveVRML2(fout, Material());
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}
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bool TMMesh::SaveVRML2(std::ofstream &fout, const Material &material)
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{
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if (fout.is_open())
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{
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size_t nV = m_vertices.GetSize();
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size_t nT = m_triangles.GetSize();
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fout << "#VRML V2.0 utf8" << std::endl;
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fout << "" << std::endl;
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fout << "# Vertices: " << nV << std::endl;
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fout << "# Triangles: " << nT << std::endl;
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fout << "" << std::endl;
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fout << "Group {" << std::endl;
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fout << " children [" << std::endl;
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fout << " Shape {" << std::endl;
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fout << " appearance Appearance {" << std::endl;
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fout << " material Material {" << std::endl;
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fout << " diffuseColor " << material.m_diffuseColor.X() << " "
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<< material.m_diffuseColor.Y() << " "
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<< material.m_diffuseColor.Z() << std::endl;
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fout << " ambientIntensity " << material.m_ambientIntensity << std::endl;
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fout << " specularColor " << material.m_specularColor.X() << " "
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<< material.m_specularColor.Y() << " "
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<< material.m_specularColor.Z() << std::endl;
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fout << " emissiveColor " << material.m_emissiveColor.X() << " "
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<< material.m_emissiveColor.Y() << " "
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<< material.m_emissiveColor.Z() << std::endl;
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fout << " shininess " << material.m_shininess << std::endl;
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fout << " transparency " << material.m_transparency << std::endl;
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fout << " }" << std::endl;
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fout << " }" << std::endl;
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fout << " geometry IndexedFaceSet {" << std::endl;
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fout << " ccw TRUE" << std::endl;
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fout << " solid TRUE" << std::endl;
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fout << " convex TRUE" << std::endl;
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if (GetNVertices() > 0)
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{
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fout << " coord DEF co Coordinate {" << std::endl;
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fout << " point [" << std::endl;
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for (size_t v = 0; v < nV; v++)
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{
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TMMVertex ¤tVertex = m_vertices.GetData();
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fout << " " << currentVertex.m_pos.X() << " "
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<< currentVertex.m_pos.Y() << " "
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<< currentVertex.m_pos.Z() << "," << std::endl;
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currentVertex.m_id = v;
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m_vertices.Next();
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}
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fout << " ]" << std::endl;
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fout << " }" << std::endl;
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}
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if (GetNTriangles() > 0)
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{
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fout << " coordIndex [ " << std::endl;
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for (size_t f = 0; f < nT; f++)
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{
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TMMTriangle ¤tTriangle = m_triangles.GetData();
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fout << " " << currentTriangle.m_vertices[0]->GetData().m_id << ", "
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<< currentTriangle.m_vertices[1]->GetData().m_id << ", "
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<< currentTriangle.m_vertices[2]->GetData().m_id << ", -1," << std::endl;
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m_triangles.Next();
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}
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fout << " ]" << std::endl;
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}
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fout << " }" << std::endl;
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fout << " }" << std::endl;
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fout << " ]" << std::endl;
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fout << "}" << std::endl;
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}
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return true;
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}
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void TMMesh::GetIFS(Vec3<Real> *const points, Vec3<long> *const triangles)
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{
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size_t nV = m_vertices.GetSize();
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size_t nT = m_triangles.GetSize();
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for (size_t v = 0; v < nV; v++)
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{
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points[v] = m_vertices.GetData().m_pos;
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m_vertices.GetData().m_id = v;
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m_vertices.Next();
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}
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for (size_t f = 0; f < nT; f++)
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{
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TMMTriangle ¤tTriangle = m_triangles.GetData();
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triangles[f].X() = static_cast<long>(currentTriangle.m_vertices[0]->GetData().m_id);
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triangles[f].Y() = static_cast<long>(currentTriangle.m_vertices[1]->GetData().m_id);
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triangles[f].Z() = static_cast<long>(currentTriangle.m_vertices[2]->GetData().m_id);
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m_triangles.Next();
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}
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}
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void TMMesh::Clear()
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{
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m_vertices.Clear();
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m_edges.Clear();
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m_triangles.Clear();
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}
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void TMMesh::Copy(TMMesh &mesh)
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{
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Clear();
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// updating the id's
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size_t nV = mesh.m_vertices.GetSize();
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size_t nE = mesh.m_edges.GetSize();
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size_t nT = mesh.m_triangles.GetSize();
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for (size_t v = 0; v < nV; v++)
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{
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mesh.m_vertices.GetData().m_id = v;
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mesh.m_vertices.Next();
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}
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for (size_t e = 0; e < nE; e++)
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{
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mesh.m_edges.GetData().m_id = e;
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mesh.m_edges.Next();
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}
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for (size_t f = 0; f < nT; f++)
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{
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mesh.m_triangles.GetData().m_id = f;
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mesh.m_triangles.Next();
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}
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// copying data
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m_vertices = mesh.m_vertices;
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m_edges = mesh.m_edges;
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m_triangles = mesh.m_triangles;
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// generating mapping
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CircularListElement<TMMVertex> **vertexMap = new CircularListElement<TMMVertex> *[nV];
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CircularListElement<TMMEdge> **edgeMap = new CircularListElement<TMMEdge> *[nE];
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CircularListElement<TMMTriangle> **triangleMap = new CircularListElement<TMMTriangle> *[nT];
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for (size_t v = 0; v < nV; v++)
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{
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vertexMap[v] = m_vertices.GetHead();
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m_vertices.Next();
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}
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for (size_t e = 0; e < nE; e++)
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{
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edgeMap[e] = m_edges.GetHead();
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m_edges.Next();
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}
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for (size_t f = 0; f < nT; f++)
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{
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triangleMap[f] = m_triangles.GetHead();
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m_triangles.Next();
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}
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// updating pointers
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for (size_t v = 0; v < nV; v++)
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{
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if (vertexMap[v]->GetData().m_duplicate)
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{
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vertexMap[v]->GetData().m_duplicate = edgeMap[vertexMap[v]->GetData().m_duplicate->GetData().m_id];
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}
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}
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for (size_t e = 0; e < nE; e++)
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{
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if (edgeMap[e]->GetData().m_newFace)
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{
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edgeMap[e]->GetData().m_newFace = triangleMap[edgeMap[e]->GetData().m_newFace->GetData().m_id];
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}
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if (nT > 0)
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{
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for (int f = 0; f < 2; f++)
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{
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if (edgeMap[e]->GetData().m_triangles[f])
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{
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edgeMap[e]->GetData().m_triangles[f] = triangleMap[edgeMap[e]->GetData().m_triangles[f]->GetData().m_id];
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}
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}
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}
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for (int v = 0; v < 2; v++)
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{
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if (edgeMap[e]->GetData().m_vertices[v])
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{
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edgeMap[e]->GetData().m_vertices[v] = vertexMap[edgeMap[e]->GetData().m_vertices[v]->GetData().m_id];
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}
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}
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}
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for (size_t f = 0; f < nT; f++)
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{
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if (nE > 0)
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{
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for (int e = 0; e < 3; e++)
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{
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if (triangleMap[f]->GetData().m_edges[e])
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{
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triangleMap[f]->GetData().m_edges[e] = edgeMap[triangleMap[f]->GetData().m_edges[e]->GetData().m_id];
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}
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}
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}
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for (int v = 0; v < 3; v++)
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{
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if (triangleMap[f]->GetData().m_vertices[v])
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{
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triangleMap[f]->GetData().m_vertices[v] = vertexMap[triangleMap[f]->GetData().m_vertices[v]->GetData().m_id];
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}
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}
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}
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delete[] vertexMap;
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delete[] edgeMap;
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delete[] triangleMap;
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}
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long IntersectRayTriangle(const Vec3<double> &P0, const Vec3<double> &dir,
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const Vec3<double> &V0, const Vec3<double> &V1,
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const Vec3<double> &V2, double &t)
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{
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Vec3<double> edge1, edge2, edge3;
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double det, invDet;
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edge1 = V1 - V2;
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edge2 = V2 - V0;
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Vec3<double> pvec = dir ^ edge2;
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det = edge1 * pvec;
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if (det == 0.0)
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return 0;
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invDet = 1.0 / det;
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Vec3<double> tvec = P0 - V0;
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Vec3<double> qvec = tvec ^ edge1;
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t = (edge2 * qvec) * invDet;
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if (t < 0.0)
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{
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return 0;
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}
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edge3 = V0 - V1;
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Vec3<double> I(P0 + t * dir);
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Vec3<double> s0 = (I - V0) ^ edge3;
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Vec3<double> s1 = (I - V1) ^ edge1;
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Vec3<double> s2 = (I - V2) ^ edge2;
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if (s0 * s1 > -1e-9 && s2 * s1 > -1e-9)
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{
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return 1;
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}
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return 0;
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}
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bool IntersectLineLine(const Vec3<double> &p1, const Vec3<double> &p2,
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const Vec3<double> &p3, const Vec3<double> &p4,
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Vec3<double> &pa, Vec3<double> &pb,
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double &mua, double &mub)
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{
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Vec3<double> p13, p43, p21;
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double d1343, d4321, d1321, d4343, d2121;
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double numer, denom;
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p13.X() = p1.X() - p3.X();
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p13.Y() = p1.Y() - p3.Y();
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p13.Z() = p1.Z() - p3.Z();
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p43.X() = p4.X() - p3.X();
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p43.Y() = p4.Y() - p3.Y();
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p43.Z() = p4.Z() - p3.Z();
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if (p43.X() == 0.0 && p43.Y() == 0.0 && p43.Z() == 0.0)
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return false;
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p21.X() = p2.X() - p1.X();
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p21.Y() = p2.Y() - p1.Y();
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p21.Z() = p2.Z() - p1.Z();
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if (p21.X() == 0.0 && p21.Y() == 0.0 && p21.Z() == 0.0)
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return false;
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d1343 = p13.X() * p43.X() + p13.Y() * p43.Y() + p13.Z() * p43.Z();
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d4321 = p43.X() * p21.X() + p43.Y() * p21.Y() + p43.Z() * p21.Z();
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d1321 = p13.X() * p21.X() + p13.Y() * p21.Y() + p13.Z() * p21.Z();
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d4343 = p43.X() * p43.X() + p43.Y() * p43.Y() + p43.Z() * p43.Z();
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d2121 = p21.X() * p21.X() + p21.Y() * p21.Y() + p21.Z() * p21.Z();
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denom = d2121 * d4343 - d4321 * d4321;
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if (denom == 0.0)
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return false;
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numer = d1343 * d4321 - d1321 * d4343;
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mua = numer / denom;
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mub = (d1343 + d4321 * (mua)) / d4343;
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|
|
|
pa.X() = p1.X() + mua * p21.X();
|
|
pa.Y() = p1.Y() + mua * p21.Y();
|
|
pa.Z() = p1.Z() + mua * p21.Z();
|
|
pb.X() = p3.X() + mub * p43.X();
|
|
pb.Y() = p3.Y() + mub * p43.Y();
|
|
pb.Z() = p3.Z() + mub * p43.Z();
|
|
|
|
return true;
|
|
}
|
|
|
|
long IntersectRayTriangle2(const Vec3<double> &P0, const Vec3<double> &dir,
|
|
const Vec3<double> &V0, const Vec3<double> &V1,
|
|
const Vec3<double> &V2, double &r)
|
|
{
|
|
Vec3<double> u, v, n; // triangle vectors
|
|
Vec3<double> w0, w; // ray vectors
|
|
double a, b; // params to calc ray-plane intersect
|
|
|
|
// get triangle edge vectors and plane normal
|
|
u = V1 - V0;
|
|
v = V2 - V0;
|
|
n = u ^ v; // cross product
|
|
if (n.GetNorm() == 0.0) // triangle is degenerate
|
|
return -1; // do not deal with this case
|
|
|
|
w0 = P0 - V0;
|
|
a = -n * w0;
|
|
b = n * dir;
|
|
if (fabs(b) <= 0.0)
|
|
{ // ray is parallel to triangle plane
|
|
if (a == 0.0) // ray lies in triangle plane
|
|
return 2;
|
|
else
|
|
return 0; // ray disjoint from plane
|
|
}
|
|
|
|
// get intersect point of ray with triangle plane
|
|
r = a / b;
|
|
if (r < 0.0) // ray goes away from triangle
|
|
return 0; // => no intersect
|
|
// for a segment, also test if (r > 1.0) => no intersect
|
|
|
|
Vec3<double> I = P0 + r * dir; // intersect point of ray and plane
|
|
|
|
// is I inside T?
|
|
double uu, uv, vv, wu, wv, D;
|
|
uu = u * u;
|
|
uv = u * v;
|
|
vv = v * v;
|
|
w = I - V0;
|
|
wu = w * u;
|
|
wv = w * v;
|
|
D = uv * uv - uu * vv;
|
|
|
|
// get and test parametric coords
|
|
double s, t;
|
|
s = (uv * wv - vv * wu) / D;
|
|
if (s < 0.0 || s > 1.0) // I is outside T
|
|
return 0;
|
|
t = (uv * wu - uu * wv) / D;
|
|
if (t < 0.0 || (s + t) > 1.0) // I is outside T
|
|
return 0;
|
|
return 1; // I is in T
|
|
}
|
|
|
|
bool TMMesh::CheckConsistancy()
|
|
{
|
|
size_t nE = m_edges.GetSize();
|
|
size_t nT = m_triangles.GetSize();
|
|
for (size_t e = 0; e < nE; e++)
|
|
{
|
|
for (int f = 0; f < 2; f++)
|
|
{
|
|
if (!m_edges.GetHead()->GetData().m_triangles[f])
|
|
{
|
|
return false;
|
|
}
|
|
}
|
|
m_edges.Next();
|
|
}
|
|
|
|
for (size_t f = 0; f < nT; f++)
|
|
{
|
|
for (int e = 0; e < 3; e++)
|
|
{
|
|
int found = 0;
|
|
for (int k = 0; k < 2; k++)
|
|
{
|
|
if (m_triangles.GetHead()->GetData().m_edges[e]->GetData().m_triangles[k] == m_triangles.GetHead())
|
|
{
|
|
found++;
|
|
}
|
|
}
|
|
if (found != 1)
|
|
{
|
|
return false;
|
|
}
|
|
}
|
|
m_triangles.Next();
|
|
}
|
|
|
|
return true;
|
|
}
|
|
bool TMMesh::Normalize()
|
|
{
|
|
size_t nV = m_vertices.GetSize();
|
|
if (nV == 0)
|
|
{
|
|
return false;
|
|
}
|
|
m_barycenter = m_vertices.GetHead()->GetData().m_pos;
|
|
Vec3<Real> min = m_barycenter;
|
|
Vec3<Real> max = m_barycenter;
|
|
Real x, y, z;
|
|
for (size_t v = 1; v < nV; v++)
|
|
{
|
|
m_barycenter += m_vertices.GetHead()->GetData().m_pos;
|
|
x = m_vertices.GetHead()->GetData().m_pos.X();
|
|
y = m_vertices.GetHead()->GetData().m_pos.Y();
|
|
z = m_vertices.GetHead()->GetData().m_pos.Z();
|
|
if (x < min.X())
|
|
min.X() = x;
|
|
else if (x > max.X())
|
|
max.X() = x;
|
|
if (y < min.Y())
|
|
min.Y() = y;
|
|
else if (y > max.Y())
|
|
max.Y() = y;
|
|
if (z < min.Z())
|
|
min.Z() = z;
|
|
else if (z > max.Z())
|
|
max.Z() = z;
|
|
m_vertices.Next();
|
|
}
|
|
m_barycenter /= static_cast<Real>(nV);
|
|
m_diag = static_cast<Real>(0.001 * (max - min).GetNorm());
|
|
const Real invDiag = static_cast<Real>(1.0 / m_diag);
|
|
if (m_diag != 0.0)
|
|
{
|
|
for (size_t v = 0; v < nV; v++)
|
|
{
|
|
m_vertices.GetHead()->GetData().m_pos = (m_vertices.GetHead()->GetData().m_pos - m_barycenter) * invDiag;
|
|
m_vertices.Next();
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
bool TMMesh::Denormalize()
|
|
{
|
|
size_t nV = m_vertices.GetSize();
|
|
if (nV == 0)
|
|
{
|
|
return false;
|
|
}
|
|
if (m_diag != 0.0)
|
|
{
|
|
for (size_t v = 0; v < nV; v++)
|
|
{
|
|
m_vertices.GetHead()->GetData().m_pos = m_vertices.GetHead()->GetData().m_pos * m_diag + m_barycenter;
|
|
m_vertices.Next();
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
} // namespace HACD
|