mirror of
https://github.com/bulletphysics/bullet3
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251 lines
11 KiB
C++
251 lines
11 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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/* 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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#pragma once
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#ifndef HACD_MANIFOLD_MESH_H
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#define HACD_MANIFOLD_MESH_H
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#include <iostream>
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#include <fstream>
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#include "hacdVersion.h"
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#include "hacdCircularList.h"
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#include "hacdVector.h"
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#include <set>
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namespace HACD
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{
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class TMMTriangle;
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class TMMEdge;
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class TMMesh;
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class ICHull;
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class HACD;
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class DPoint
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{
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public:
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DPoint(Real dist=0, bool computed=false, bool distOnly=false)
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:m_dist(dist),
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m_computed(computed),
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m_distOnly(distOnly){};
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~DPoint(){};
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private:
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Real m_dist;
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bool m_computed;
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bool m_distOnly;
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friend class TMMTriangle;
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friend class TMMesh;
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friend class GraphVertex;
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friend class GraphEdge;
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friend class Graph;
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friend class ICHull;
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friend class HACD;
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};
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//! Vertex data structure used in a triangular manifold mesh (TMM).
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class TMMVertex
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{
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public:
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TMMVertex(void);
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~TMMVertex(void);
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private:
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Vec3<Real> m_pos;
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long m_name;
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size_t m_id;
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CircularListElement<TMMEdge> * m_duplicate; // pointer to incident cone edge (or NULL)
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bool m_onHull;
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bool m_tag;
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TMMVertex(const TMMVertex & rhs);
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friend class HACD;
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friend class ICHull;
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friend class TMMesh;
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friend class TMMTriangle;
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friend class TMMEdge;
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};
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//! Edge data structure used in a triangular manifold mesh (TMM).
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class TMMEdge
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{
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public:
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TMMEdge(void);
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~TMMEdge(void);
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private:
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size_t m_id;
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CircularListElement<TMMTriangle> * m_triangles[2];
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CircularListElement<TMMVertex> * m_vertices[2];
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CircularListElement<TMMTriangle> * m_newFace;
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TMMEdge(const TMMEdge & rhs);
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friend class HACD;
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friend class ICHull;
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friend class TMMTriangle;
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friend class TMMVertex;
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friend class TMMesh;
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};
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//! Triangle data structure used in a triangular manifold mesh (TMM).
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class TMMTriangle
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{
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public:
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TMMTriangle(void);
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~TMMTriangle(void);
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private:
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size_t m_id;
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CircularListElement<TMMEdge> * m_edges[3];
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CircularListElement<TMMVertex> * m_vertices[3];
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std::set<long> m_incidentPoints;
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bool m_visible;
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TMMTriangle(const TMMTriangle & rhs);
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friend class HACD;
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friend class ICHull;
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friend class TMMesh;
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friend class TMMVertex;
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friend class TMMEdge;
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};
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class Material
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{
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public:
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Material(void);
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~Material(void){}
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// private:
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Vec3<double> m_diffuseColor;
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double m_ambientIntensity;
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Vec3<double> m_specularColor;
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Vec3<double> m_emissiveColor;
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double m_shininess;
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double m_transparency;
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friend class TMMesh;
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friend class HACD;
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};
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//! triangular manifold mesh data structure.
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class TMMesh
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{
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public:
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//! Returns the number of vertices>
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inline size_t GetNVertices() const { return m_vertices.GetSize();}
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//! Returns the number of edges
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inline size_t GetNEdges() const { return m_edges.GetSize();}
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//! Returns the number of triangles
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inline size_t GetNTriangles() const { return m_triangles.GetSize();}
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//! Returns the vertices circular list
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inline const CircularList<TMMVertex> & GetVertices() const { return m_vertices;}
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//! Returns the edges circular list
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inline const CircularList<TMMEdge> & GetEdges() const { return m_edges;}
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//! Returns the triangles circular list
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inline const CircularList<TMMTriangle> & GetTriangles() const { return m_triangles;}
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//! Returns the vertices circular list
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inline CircularList<TMMVertex> & GetVertices() { return m_vertices;}
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//! Returns the edges circular list
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inline CircularList<TMMEdge> & GetEdges() { return m_edges;}
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//! Returns the triangles circular list
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inline CircularList<TMMTriangle> & GetTriangles() { return m_triangles;}
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//! Add vertex to the mesh
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CircularListElement<TMMVertex> * AddVertex() {return m_vertices.Add();}
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//! Add vertex to the mesh
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CircularListElement<TMMEdge> * AddEdge() {return m_edges.Add();}
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//! Add vertex to the mesh
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CircularListElement<TMMTriangle> * AddTriangle() {return m_triangles.Add();}
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//! Print mesh information
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void Print();
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//!
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void GetIFS(Vec3<Real> * const points, Vec3<long> * const triangles);
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//! Save mesh
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bool Save(const char *fileName);
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//! Save mesh to VRML 2.0 format
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bool SaveVRML2(std::ofstream &fout);
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//! Save mesh to VRML 2.0 format
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bool SaveVRML2(std::ofstream &fout, const Material & material);
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//!
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void Clear();
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//!
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void Copy(TMMesh & mesh);
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//!
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bool CheckConsistancy();
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//!
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bool Normalize();
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//!
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bool Denormalize();
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//! Constructor
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TMMesh(void);
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//! Destructor
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virtual ~TMMesh(void);
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private:
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CircularList<TMMVertex> m_vertices;
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CircularList<TMMEdge> m_edges;
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CircularList<TMMTriangle> m_triangles;
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Real m_diag; //>! length of the BB diagonal
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Vec3<Real> m_barycenter; //>! barycenter of the mesh
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// not defined
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TMMesh(const TMMesh & rhs);
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friend class ICHull;
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friend class HACD;
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};
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//! IntersectRayTriangle(): intersect a ray with a 3D triangle
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//! Input: a ray R, and a triangle T
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//! Output: *I = intersection point (when it exists)
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//! 0 = disjoint (no intersect)
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//! 1 = intersect in unique point I1
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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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// intersect_RayTriangle(): intersect a ray with a 3D triangle
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// Input: a ray R, and a triangle T
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// Output: *I = intersection point (when it exists)
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// Return: -1 = triangle is degenerate (a segment or point)
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// 0 = disjoint (no intersect)
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// 1 = intersect in unique point I1
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// 2 = are in the same plane
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long IntersectRayTriangle2(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 &r);
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/*
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Calculate the line segment PaPb that is the shortest route between
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two lines P1P2 and P3P4. Calculate also the values of mua and mub where
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Pa = P1 + mua (P2 - P1)
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Pb = P3 + mub (P4 - P3)
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Return FALSE if no solution exists.
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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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#endif
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