mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 22:00:05 +00:00
1020 lines
37 KiB
C++
1020 lines
37 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 "hacdICHull.h"
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#include <limits>
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#include <algorithm>
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namespace HACD
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{
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const long ICHull::sc_dummyIndex = std::numeric_limits<long>::max();
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ICHull::ICHull(void)
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{
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m_distPoints = 0;
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m_isFlat = false;
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m_dummyVertex = 0;
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}
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bool ICHull::AddPoints(const Vec3<Real> * points, size_t nPoints)
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{
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if (!points)
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{
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return false;
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}
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CircularListElement<TMMVertex> * vertex = NULL;
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for (size_t i = 0; i < nPoints; i++)
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{
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vertex = m_mesh.AddVertex();
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vertex->GetData().m_pos.X() = points[i].X();
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vertex->GetData().m_pos.Y() = points[i].Y();
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vertex->GetData().m_pos.Z() = points[i].Z();
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vertex->GetData().m_name = static_cast<long>(i);
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}
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return true;
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}
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bool ICHull::AddPoints(std::vector< Vec3<Real> > points)
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{
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CircularListElement<TMMVertex> * vertex = NULL;
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for (size_t i = 0; i < points.size(); i++)
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{
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vertex = m_mesh.AddVertex();
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vertex->GetData().m_pos.X() = points[i].X();
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vertex->GetData().m_pos.Y() = points[i].Y();
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vertex->GetData().m_pos.Z() = points[i].Z();
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}
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return true;
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}
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bool ICHull::AddPoint(const Vec3<Real> & point, long id)
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{
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if (AddPoints(&point, 1))
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{
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m_mesh.m_vertices.GetData().m_name = id;
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return true;
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}
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return false;
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}
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ICHullError ICHull::Process()
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{
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unsigned long addedPoints = 0;
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if (m_mesh.GetNVertices() < 3)
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{
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return ICHullErrorNotEnoughPoints;
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}
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if (m_mesh.GetNVertices() == 3)
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{
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m_isFlat = true;
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CircularListElement<TMMTriangle> * t1 = m_mesh.AddTriangle();
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CircularListElement<TMMTriangle> * t2 = m_mesh.AddTriangle();
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CircularListElement<TMMVertex> * v0 = m_mesh.m_vertices.GetHead();
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CircularListElement<TMMVertex> * v1 = v0->GetNext();
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CircularListElement<TMMVertex> * v2 = v1->GetNext();
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// Compute the normal to the plane
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Vec3<Real> p0 = v0->GetData().m_pos;
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Vec3<Real> p1 = v1->GetData().m_pos;
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Vec3<Real> p2 = v2->GetData().m_pos;
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m_normal = (p1-p0) ^ (p2-p0);
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m_normal.Normalize();
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t1->GetData().m_vertices[0] = v0;
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t1->GetData().m_vertices[1] = v1;
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t1->GetData().m_vertices[2] = v2;
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t2->GetData().m_vertices[0] = v1;
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t2->GetData().m_vertices[1] = v2;
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t2->GetData().m_vertices[2] = v2;
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return ICHullErrorOK;
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}
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if (m_isFlat)
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{
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m_mesh.m_edges.Clear();
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m_mesh.m_triangles.Clear();
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m_isFlat = false;
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}
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if (m_mesh.GetNTriangles() == 0) // we have to create the first polyhedron
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{
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ICHullError res = DoubleTriangle();
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if (res != ICHullErrorOK)
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{
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return res;
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}
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else
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{
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addedPoints += 3;
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}
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}
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CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
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// go to the first added and not processed vertex
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while (!(vertices.GetHead()->GetPrev()->GetData().m_tag))
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{
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vertices.Prev();
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}
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while (!vertices.GetData().m_tag) // not processed
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{
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vertices.GetData().m_tag = true;
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if (ProcessPoint())
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{
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addedPoints++;
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CleanUp(addedPoints);
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vertices.Next();
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if (!GetMesh().CheckConsistancy())
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{
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return ICHullErrorInconsistent;
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}
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}
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}
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if (m_isFlat)
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{
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std::vector< CircularListElement<TMMTriangle> * > trianglesToDuplicate;
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size_t nT = m_mesh.GetNTriangles();
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for(size_t f = 0; f < nT; f++)
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{
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TMMTriangle & currentTriangle = m_mesh.m_triangles.GetHead()->GetData();
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if( currentTriangle.m_vertices[0]->GetData().m_name == sc_dummyIndex ||
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currentTriangle.m_vertices[1]->GetData().m_name == sc_dummyIndex ||
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currentTriangle.m_vertices[2]->GetData().m_name == sc_dummyIndex )
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{
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m_trianglesToDelete.push_back(m_mesh.m_triangles.GetHead());
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for(int k = 0; k < 3; k++)
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{
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for(int h = 0; h < 2; h++)
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{
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if (currentTriangle.m_edges[k]->GetData().m_triangles[h] == m_mesh.m_triangles.GetHead())
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{
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currentTriangle.m_edges[k]->GetData().m_triangles[h] = 0;
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break;
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}
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}
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}
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}
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else
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{
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trianglesToDuplicate.push_back(m_mesh.m_triangles.GetHead());
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}
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m_mesh.m_triangles.Next();
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}
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size_t nE = m_mesh.GetNEdges();
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for(size_t e = 0; e < nE; e++)
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{
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TMMEdge & currentEdge = m_mesh.m_edges.GetHead()->GetData();
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if( currentEdge.m_triangles[0] == 0 && currentEdge.m_triangles[1] == 0)
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{
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m_edgesToDelete.push_back(m_mesh.m_edges.GetHead());
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}
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m_mesh.m_edges.Next();
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}
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m_mesh.m_vertices.Delete(m_dummyVertex);
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m_dummyVertex = 0;
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size_t nV = m_mesh.GetNVertices();
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CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
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for(size_t v = 0; v < nV; ++v)
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{
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vertices.GetData().m_tag = false;
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vertices.Next();
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}
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CleanEdges();
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CleanTriangles();
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CircularListElement<TMMTriangle> * newTriangle;
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for(size_t t = 0; t < trianglesToDuplicate.size(); t++)
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{
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newTriangle = m_mesh.AddTriangle();
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newTriangle->GetData().m_vertices[0] = trianglesToDuplicate[t]->GetData().m_vertices[1];
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newTriangle->GetData().m_vertices[1] = trianglesToDuplicate[t]->GetData().m_vertices[0];
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newTriangle->GetData().m_vertices[2] = trianglesToDuplicate[t]->GetData().m_vertices[2];
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}
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}
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return ICHullErrorOK;
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}
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ICHullError ICHull::Process(unsigned long nPointsCH)
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{
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unsigned long addedPoints = 0;
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if (nPointsCH < 3 || m_mesh.GetNVertices() < 3)
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{
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return ICHullErrorNotEnoughPoints;
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}
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if (m_mesh.GetNVertices() == 3)
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{
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m_isFlat = true;
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CircularListElement<TMMTriangle> * t1 = m_mesh.AddTriangle();
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CircularListElement<TMMTriangle> * t2 = m_mesh.AddTriangle();
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CircularListElement<TMMVertex> * v0 = m_mesh.m_vertices.GetHead();
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CircularListElement<TMMVertex> * v1 = v0->GetNext();
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CircularListElement<TMMVertex> * v2 = v1->GetNext();
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// Compute the normal to the plane
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Vec3<Real> p0 = v0->GetData().m_pos;
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Vec3<Real> p1 = v1->GetData().m_pos;
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Vec3<Real> p2 = v2->GetData().m_pos;
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m_normal = (p1-p0) ^ (p2-p0);
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m_normal.Normalize();
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t1->GetData().m_vertices[0] = v0;
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t1->GetData().m_vertices[1] = v1;
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t1->GetData().m_vertices[2] = v2;
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t2->GetData().m_vertices[0] = v1;
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t2->GetData().m_vertices[1] = v0;
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t2->GetData().m_vertices[2] = v2;
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return ICHullErrorOK;
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}
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if (m_isFlat)
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{
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m_mesh.m_triangles.Clear();
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m_mesh.m_edges.Clear();
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m_isFlat = false;
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}
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if (m_mesh.GetNTriangles() == 0) // we have to create the first polyhedron
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{
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ICHullError res = DoubleTriangle();
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if (res != ICHullErrorOK)
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{
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return res;
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}
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else
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{
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addedPoints += 3;
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}
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}
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CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
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while (!vertices.GetData().m_tag && addedPoints < nPointsCH) // not processed
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{
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if (!FindMaxVolumePoint())
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{
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break;
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}
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vertices.GetData().m_tag = true;
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if (ProcessPoint())
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{
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addedPoints++;
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CleanUp(addedPoints);
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if (!GetMesh().CheckConsistancy())
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{
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return ICHullErrorInconsistent;
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}
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vertices.Next();
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}
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}
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// delete remaining points
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while (!vertices.GetData().m_tag)
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{
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if (vertices.GetHead() == m_dummyVertex)
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m_dummyVertex = 0;
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vertices.Delete();
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}
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if (m_isFlat)
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{
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std::vector< CircularListElement<TMMTriangle> * > trianglesToDuplicate;
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size_t nT = m_mesh.GetNTriangles();
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for(size_t f = 0; f < nT; f++)
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{
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TMMTriangle & currentTriangle = m_mesh.m_triangles.GetHead()->GetData();
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if( currentTriangle.m_vertices[0]->GetData().m_name == sc_dummyIndex ||
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currentTriangle.m_vertices[1]->GetData().m_name == sc_dummyIndex ||
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currentTriangle.m_vertices[2]->GetData().m_name == sc_dummyIndex )
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{
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m_trianglesToDelete.push_back(m_mesh.m_triangles.GetHead());
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for(int k = 0; k < 3; k++)
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{
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for(int h = 0; h < 2; h++)
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{
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if (currentTriangle.m_edges[k]->GetData().m_triangles[h] == m_mesh.m_triangles.GetHead())
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{
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currentTriangle.m_edges[k]->GetData().m_triangles[h] = 0;
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break;
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}
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}
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}
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}
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else
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{
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trianglesToDuplicate.push_back(m_mesh.m_triangles.GetHead());
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}
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m_mesh.m_triangles.Next();
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}
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size_t nE = m_mesh.GetNEdges();
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for(size_t e = 0; e < nE; e++)
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{
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TMMEdge & currentEdge = m_mesh.m_edges.GetHead()->GetData();
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if( currentEdge.m_triangles[0] == 0 && currentEdge.m_triangles[1] == 0)
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{
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m_edgesToDelete.push_back(m_mesh.m_edges.GetHead());
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}
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m_mesh.m_edges.Next();
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}
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m_mesh.m_vertices.Delete(m_dummyVertex);
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m_dummyVertex = 0;
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size_t nV = m_mesh.GetNVertices();
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CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
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for(size_t v = 0; v < nV; ++v)
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{
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vertices.GetData().m_tag = false;
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vertices.Next();
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}
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CleanEdges();
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CleanTriangles();
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CircularListElement<TMMTriangle> * newTriangle;
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for(size_t t = 0; t < trianglesToDuplicate.size(); t++)
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{
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newTriangle = m_mesh.AddTriangle();
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newTriangle->GetData().m_vertices[0] = trianglesToDuplicate[t]->GetData().m_vertices[1];
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newTriangle->GetData().m_vertices[1] = trianglesToDuplicate[t]->GetData().m_vertices[0];
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newTriangle->GetData().m_vertices[2] = trianglesToDuplicate[t]->GetData().m_vertices[2];
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}
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}
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return ICHullErrorOK;
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}
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bool ICHull::FindMaxVolumePoint()
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{
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CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
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CircularListElement<TMMVertex> * vMaxVolume = 0;
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CircularListElement<TMMVertex> * vHeadPrev = vertices.GetHead()->GetPrev();
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double maxVolume = 0.0;
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double volume = 0.0;
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while (!vertices.GetData().m_tag) // not processed
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{
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if (ComputePointVolume(volume, false))
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{
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if ( maxVolume < volume)
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{
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maxVolume = volume;
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vMaxVolume = vertices.GetHead();
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}
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vertices.Next();
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}
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}
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CircularListElement<TMMVertex> * vHead = vHeadPrev->GetNext();
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vertices.GetHead() = vHead;
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if (!vMaxVolume)
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{
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return false;
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}
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if (vMaxVolume != vHead)
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{
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Vec3<Real> pos = vHead->GetData().m_pos;
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long id = vHead->GetData().m_name;
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vHead->GetData().m_pos = vMaxVolume->GetData().m_pos;
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vHead->GetData().m_name = vMaxVolume->GetData().m_name;
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vMaxVolume->GetData().m_pos = pos;
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vHead->GetData().m_name = id;
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}
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return true;
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}
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ICHullError ICHull::DoubleTriangle()
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{
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// find three non colinear points
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m_isFlat = false;
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CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
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CircularListElement<TMMVertex> * v0 = vertices.GetHead();
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while( Colinear(v0->GetData().m_pos,
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v0->GetNext()->GetData().m_pos,
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v0->GetNext()->GetNext()->GetData().m_pos))
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{
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if ( (v0 = v0->GetNext()) == vertices.GetHead())
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{
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return ICHullErrorCoplanarPoints;
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}
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}
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CircularListElement<TMMVertex> * v1 = v0->GetNext();
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CircularListElement<TMMVertex> * v2 = v1->GetNext();
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// mark points as processed
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v0->GetData().m_tag = v1->GetData().m_tag = v2->GetData().m_tag = true;
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// create two triangles
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CircularListElement<TMMTriangle> * f0 = MakeFace(v0, v1, v2, 0);
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MakeFace(v2, v1, v0, f0);
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// find a fourth non-coplanar point to form tetrahedron
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CircularListElement<TMMVertex> * v3 = v2->GetNext();
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vertices.GetHead() = v3;
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double vol = Volume(v0->GetData().m_pos, v1->GetData().m_pos, v2->GetData().m_pos, v3->GetData().m_pos);
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while (vol == 0.0 && !v3->GetNext()->GetData().m_tag)
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{
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v3 = v3->GetNext();
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vol = Volume(v0->GetData().m_pos, v1->GetData().m_pos, v2->GetData().m_pos, v3->GetData().m_pos);
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}
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if (vol == 0.0)
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{
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// compute the barycenter
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Vec3<Real> bary(0.0,0.0,0.0);
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CircularListElement<TMMVertex> * vBary = v0;
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do
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{
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bary += vBary->GetData().m_pos;
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}
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while ( (vBary = vBary->GetNext()) != v0);
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bary /= static_cast<Real>(vertices.GetSize());
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// Compute the normal to the plane
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Vec3<Real> p0 = v0->GetData().m_pos;
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Vec3<Real> p1 = v1->GetData().m_pos;
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Vec3<Real> p2 = v2->GetData().m_pos;
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m_normal = (p1-p0) ^ (p2-p0);
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m_normal.Normalize();
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// add dummy vertex placed at (bary + normal)
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vertices.GetHead() = v2;
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Vec3<Real> newPt = bary + m_normal;
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AddPoint(newPt, sc_dummyIndex);
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m_dummyVertex = vertices.GetHead();
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m_isFlat = true;
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v3 = v2->GetNext();
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vol = Volume(v0->GetData().m_pos, v1->GetData().m_pos, v2->GetData().m_pos, v3->GetData().m_pos);
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return ICHullErrorOK;
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}
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else if (v3 != vertices.GetHead())
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{
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TMMVertex temp;
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temp.m_name = v3->GetData().m_name;
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temp.m_pos = v3->GetData().m_pos;
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v3->GetData().m_name = vertices.GetHead()->GetData().m_name;
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v3->GetData().m_pos = vertices.GetHead()->GetData().m_pos;
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vertices.GetHead()->GetData().m_name = temp.m_name;
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vertices.GetHead()->GetData().m_pos = temp.m_pos;
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}
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return ICHullErrorOK;
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}
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CircularListElement<TMMTriangle> * ICHull::MakeFace(CircularListElement<TMMVertex> * v0,
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CircularListElement<TMMVertex> * v1,
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CircularListElement<TMMVertex> * v2,
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CircularListElement<TMMTriangle> * fold)
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{
|
|
CircularListElement<TMMEdge> * e0;
|
|
CircularListElement<TMMEdge> * e1;
|
|
CircularListElement<TMMEdge> * e2;
|
|
long index = 0;
|
|
if (!fold) // if first face to be created
|
|
{
|
|
e0 = m_mesh.AddEdge(); // create the three edges
|
|
e1 = m_mesh.AddEdge();
|
|
e2 = m_mesh.AddEdge();
|
|
}
|
|
else // otherwise re-use existing edges (in reverse order)
|
|
{
|
|
e0 = fold->GetData().m_edges[2];
|
|
e1 = fold->GetData().m_edges[1];
|
|
e2 = fold->GetData().m_edges[0];
|
|
index = 1;
|
|
}
|
|
e0->GetData().m_vertices[0] = v0; e0->GetData().m_vertices[1] = v1;
|
|
e1->GetData().m_vertices[0] = v1; e1->GetData().m_vertices[1] = v2;
|
|
e2->GetData().m_vertices[0] = v2; e2->GetData().m_vertices[1] = v0;
|
|
// create the new face
|
|
CircularListElement<TMMTriangle> * f = m_mesh.AddTriangle();
|
|
f->GetData().m_edges[0] = e0; f->GetData().m_edges[1] = e1; f->GetData().m_edges[2] = e2;
|
|
f->GetData().m_vertices[0] = v0; f->GetData().m_vertices[1] = v1; f->GetData().m_vertices[2] = v2;
|
|
// link edges to face f
|
|
e0->GetData().m_triangles[index] = e1->GetData().m_triangles[index] = e2->GetData().m_triangles[index] = f;
|
|
return f;
|
|
}
|
|
CircularListElement<TMMTriangle> * ICHull::MakeConeFace(CircularListElement<TMMEdge> * e, CircularListElement<TMMVertex> * p)
|
|
{
|
|
// create two new edges if they don't already exist
|
|
CircularListElement<TMMEdge> * newEdges[2];
|
|
for(int i = 0; i < 2; ++i)
|
|
{
|
|
if ( !( newEdges[i] = e->GetData().m_vertices[i]->GetData().m_duplicate ) )
|
|
{ // if the edge doesn't exits add it and mark the vertex as duplicated
|
|
newEdges[i] = m_mesh.AddEdge();
|
|
newEdges[i]->GetData().m_vertices[0] = e->GetData().m_vertices[i];
|
|
newEdges[i]->GetData().m_vertices[1] = p;
|
|
e->GetData().m_vertices[i]->GetData().m_duplicate = newEdges[i];
|
|
}
|
|
}
|
|
// make the new face
|
|
CircularListElement<TMMTriangle> * newFace = m_mesh.AddTriangle();
|
|
newFace->GetData().m_edges[0] = e;
|
|
newFace->GetData().m_edges[1] = newEdges[0];
|
|
newFace->GetData().m_edges[2] = newEdges[1];
|
|
MakeCCW(newFace, e, p);
|
|
for(int i=0; i < 2; ++i)
|
|
{
|
|
for(int j=0; j < 2; ++j)
|
|
{
|
|
if ( ! newEdges[i]->GetData().m_triangles[j] )
|
|
{
|
|
newEdges[i]->GetData().m_triangles[j] = newFace;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
return newFace;
|
|
}
|
|
bool ICHull::ComputePointVolume(double &totalVolume, bool markVisibleFaces)
|
|
{
|
|
// mark visible faces
|
|
CircularListElement<TMMTriangle> * fHead = m_mesh.GetTriangles().GetHead();
|
|
CircularListElement<TMMTriangle> * f = fHead;
|
|
CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
|
|
CircularListElement<TMMVertex> * vertex0 = vertices.GetHead();
|
|
bool visible = false;
|
|
Vec3<double> pos0 = Vec3<double>(vertex0->GetData().m_pos.X(),
|
|
vertex0->GetData().m_pos.Y(),
|
|
vertex0->GetData().m_pos.Z());
|
|
double vol = 0.0;
|
|
totalVolume = 0.0;
|
|
Vec3<double> ver0, ver1, ver2;
|
|
do
|
|
{
|
|
ver0.X() = f->GetData().m_vertices[0]->GetData().m_pos.X();
|
|
ver0.Y() = f->GetData().m_vertices[0]->GetData().m_pos.Y();
|
|
ver0.Z() = f->GetData().m_vertices[0]->GetData().m_pos.Z();
|
|
ver1.X() = f->GetData().m_vertices[1]->GetData().m_pos.X();
|
|
ver1.Y() = f->GetData().m_vertices[1]->GetData().m_pos.Y();
|
|
ver1.Z() = f->GetData().m_vertices[1]->GetData().m_pos.Z();
|
|
ver2.X() = f->GetData().m_vertices[2]->GetData().m_pos.X();
|
|
ver2.Y() = f->GetData().m_vertices[2]->GetData().m_pos.Y();
|
|
ver2.Z() = f->GetData().m_vertices[2]->GetData().m_pos.Z();
|
|
vol = Volume(ver0, ver1, ver2, pos0);
|
|
if ( vol < 0.0 )
|
|
{
|
|
vol = fabs(vol);
|
|
totalVolume += vol;
|
|
if (markVisibleFaces)
|
|
{
|
|
f->GetData().m_visible = true;
|
|
m_trianglesToDelete.push_back(f);
|
|
}
|
|
visible = true;
|
|
}
|
|
f = f->GetNext();
|
|
}
|
|
while (f != fHead);
|
|
|
|
if (m_trianglesToDelete.size() == m_mesh.m_triangles.GetSize())
|
|
{
|
|
for(size_t i = 0; i < m_trianglesToDelete.size(); i++)
|
|
{
|
|
m_trianglesToDelete[i]->GetData().m_visible = false;
|
|
}
|
|
visible = false;
|
|
}
|
|
// if no faces visible from p then p is inside the hull
|
|
if (!visible && markVisibleFaces)
|
|
{
|
|
if (vertices.GetHead() == m_dummyVertex)
|
|
m_dummyVertex = 0;
|
|
vertices.Delete();
|
|
m_trianglesToDelete.clear();
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
bool ICHull::ProcessPoint()
|
|
{
|
|
double totalVolume = 0.0;
|
|
if (!ComputePointVolume(totalVolume, true))
|
|
{
|
|
return false;
|
|
}
|
|
// Mark edges in interior of visible region for deletion.
|
|
// Create a new face based on each border edge
|
|
CircularListElement<TMMVertex> * v0 = m_mesh.GetVertices().GetHead();
|
|
CircularListElement<TMMEdge> * eHead = m_mesh.GetEdges().GetHead();
|
|
CircularListElement<TMMEdge> * e = eHead;
|
|
CircularListElement<TMMEdge> * tmp = 0;
|
|
long nvisible = 0;
|
|
m_edgesToDelete.clear();
|
|
m_edgesToUpdate.clear();
|
|
do
|
|
{
|
|
tmp = e->GetNext();
|
|
nvisible = 0;
|
|
for(int k = 0; k < 2; k++)
|
|
{
|
|
if ( e->GetData().m_triangles[k]->GetData().m_visible )
|
|
{
|
|
nvisible++;
|
|
}
|
|
}
|
|
if ( nvisible == 2)
|
|
{
|
|
m_edgesToDelete.push_back(e);
|
|
}
|
|
else if ( nvisible == 1)
|
|
{
|
|
e->GetData().m_newFace = MakeConeFace(e, v0);
|
|
m_edgesToUpdate.push_back(e);
|
|
}
|
|
e = tmp;
|
|
}
|
|
while (e != eHead);
|
|
return true;
|
|
}
|
|
bool ICHull::MakeCCW(CircularListElement<TMMTriangle> * f,
|
|
CircularListElement<TMMEdge> * e,
|
|
CircularListElement<TMMVertex> * v)
|
|
{
|
|
// the visible face adjacent to e
|
|
CircularListElement<TMMTriangle> * fv;
|
|
if (e->GetData().m_triangles[0]->GetData().m_visible)
|
|
{
|
|
fv = e->GetData().m_triangles[0];
|
|
}
|
|
else
|
|
{
|
|
fv = e->GetData().m_triangles[1];
|
|
}
|
|
|
|
// set vertex[0] and vertex[1] to have the same orientation as the corresponding vertices of fv.
|
|
long i; // index of e->m_vertices[0] in fv
|
|
CircularListElement<TMMVertex> * v0 = e->GetData().m_vertices[0];
|
|
CircularListElement<TMMVertex> * v1 = e->GetData().m_vertices[1];
|
|
for(i = 0; fv->GetData().m_vertices[i] != v0; i++);
|
|
|
|
if ( fv->GetData().m_vertices[(i+1) % 3] != e->GetData().m_vertices[1] )
|
|
{
|
|
f->GetData().m_vertices[0] = v1;
|
|
f->GetData().m_vertices[1] = v0;
|
|
}
|
|
else
|
|
{
|
|
f->GetData().m_vertices[0] = v0;
|
|
f->GetData().m_vertices[1] = v1;
|
|
// swap edges
|
|
CircularListElement<TMMEdge> * tmp = f->GetData().m_edges[0];
|
|
f->GetData().m_edges[0] = f->GetData().m_edges[1];
|
|
f->GetData().m_edges[1] = tmp;
|
|
}
|
|
f->GetData().m_vertices[2] = v;
|
|
return true;
|
|
}
|
|
bool ICHull::CleanUp(unsigned long & addedPoints)
|
|
{
|
|
bool r0 = CleanEdges();
|
|
bool r1 = CleanTriangles();
|
|
bool r2 = CleanVertices(addedPoints);
|
|
return r0 && r1 && r2;
|
|
}
|
|
bool ICHull::CleanEdges()
|
|
{
|
|
// integrate the new faces into the data structure
|
|
CircularListElement<TMMEdge> * e;
|
|
const std::vector<CircularListElement<TMMEdge> *>::iterator itEndUpdate = m_edgesToUpdate.end();
|
|
for(std::vector<CircularListElement<TMMEdge> *>::iterator it = m_edgesToUpdate.begin(); it != itEndUpdate; ++it)
|
|
{
|
|
e = *it;
|
|
if ( e->GetData().m_newFace )
|
|
{
|
|
if ( e->GetData().m_triangles[0]->GetData().m_visible)
|
|
{
|
|
e->GetData().m_triangles[0] = e->GetData().m_newFace;
|
|
}
|
|
else
|
|
{
|
|
e->GetData().m_triangles[1] = e->GetData().m_newFace;
|
|
}
|
|
e->GetData().m_newFace = 0;
|
|
}
|
|
}
|
|
// delete edges maked for deletion
|
|
CircularList<TMMEdge> & edges = m_mesh.GetEdges();
|
|
const std::vector<CircularListElement<TMMEdge> *>::iterator itEndDelete = m_edgesToDelete.end();
|
|
for(std::vector<CircularListElement<TMMEdge> *>::iterator it = m_edgesToDelete.begin(); it != itEndDelete; ++it)
|
|
{
|
|
edges.Delete(*it);
|
|
}
|
|
m_edgesToDelete.clear();
|
|
m_edgesToUpdate.clear();
|
|
return true;
|
|
}
|
|
bool ICHull::CleanTriangles()
|
|
{
|
|
CircularList<TMMTriangle> & triangles = m_mesh.GetTriangles();
|
|
const std::vector<CircularListElement<TMMTriangle> *>::iterator itEndDelete = m_trianglesToDelete.end();
|
|
for(std::vector<CircularListElement<TMMTriangle> *>::iterator it = m_trianglesToDelete.begin(); it != itEndDelete; ++it)
|
|
{
|
|
if (m_distPoints)
|
|
{
|
|
if (m_isFlat)
|
|
{
|
|
// to be updated
|
|
}
|
|
else
|
|
{
|
|
std::set<long>::const_iterator itPEnd((*it)->GetData().m_incidentPoints.end());
|
|
std::set<long>::const_iterator itP((*it)->GetData().m_incidentPoints.begin());
|
|
std::map<long, DPoint>::iterator itPoint;
|
|
for(; itP != itPEnd; ++itP)
|
|
{
|
|
itPoint = m_distPoints->find(*itP);
|
|
if (itPoint != m_distPoints->end())
|
|
{
|
|
itPoint->second.m_computed = false;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
triangles.Delete(*it);
|
|
}
|
|
m_trianglesToDelete.clear();
|
|
return true;
|
|
}
|
|
bool ICHull::CleanVertices(unsigned long & addedPoints)
|
|
{
|
|
// mark all vertices incident to some undeleted edge as on the hull
|
|
CircularList<TMMEdge> & edges = m_mesh.GetEdges();
|
|
CircularListElement<TMMEdge> * e = edges.GetHead();
|
|
size_t nE = edges.GetSize();
|
|
for(size_t i = 0; i < nE; i++)
|
|
{
|
|
e->GetData().m_vertices[0]->GetData().m_onHull = true;
|
|
e->GetData().m_vertices[1]->GetData().m_onHull = true;
|
|
e = e->GetNext();
|
|
}
|
|
// delete all the vertices that have been processed but are not on the hull
|
|
CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
|
|
CircularListElement<TMMVertex> * vHead = vertices.GetHead();
|
|
CircularListElement<TMMVertex> * v = vHead;
|
|
v = v->GetPrev();
|
|
do
|
|
{
|
|
if (v->GetData().m_tag && !v->GetData().m_onHull)
|
|
{
|
|
CircularListElement<TMMVertex> * tmp = v->GetPrev();
|
|
if (tmp == m_dummyVertex)
|
|
m_dummyVertex = 0;
|
|
vertices.Delete(v);
|
|
v = tmp;
|
|
addedPoints--;
|
|
}
|
|
else
|
|
{
|
|
v->GetData().m_duplicate = 0;
|
|
v->GetData().m_onHull = false;
|
|
v = v->GetPrev();
|
|
}
|
|
}
|
|
while (v->GetData().m_tag && v != vHead);
|
|
return true;
|
|
}
|
|
void ICHull::Clear()
|
|
{
|
|
m_mesh.Clear();
|
|
m_edgesToDelete = std::vector<CircularListElement<TMMEdge> *>();
|
|
m_edgesToUpdate = std::vector<CircularListElement<TMMEdge> *>();
|
|
m_trianglesToDelete= std::vector<CircularListElement<TMMTriangle> *>();
|
|
m_isFlat = false;
|
|
}
|
|
const ICHull & ICHull::operator=(ICHull & rhs)
|
|
{
|
|
if (&rhs != this)
|
|
{
|
|
m_mesh.Copy(rhs.m_mesh);
|
|
m_edgesToDelete = rhs.m_edgesToDelete;
|
|
m_edgesToUpdate = rhs.m_edgesToUpdate;
|
|
m_trianglesToDelete = rhs.m_trianglesToDelete;
|
|
m_isFlat = rhs.m_isFlat;
|
|
}
|
|
return (*this);
|
|
}
|
|
double ICHull::ComputeVolume()
|
|
{
|
|
size_t nV = m_mesh.m_vertices.GetSize();
|
|
if (nV == 0 || m_isFlat)
|
|
{
|
|
return 0.0;
|
|
}
|
|
Vec3<double> bary(0.0, 0.0, 0.0);
|
|
for(size_t v = 0; v < nV; v++)
|
|
{
|
|
bary.X() += m_mesh.m_vertices.GetHead()->GetData().m_pos.X();
|
|
bary.Y() += m_mesh.m_vertices.GetHead()->GetData().m_pos.Y();
|
|
bary.Z() += m_mesh.m_vertices.GetHead()->GetData().m_pos.Z();
|
|
m_mesh.m_vertices.Next();
|
|
}
|
|
bary /= static_cast<double>(nV);
|
|
|
|
size_t nT = m_mesh.m_triangles.GetSize();
|
|
Vec3<double> ver0, ver1, ver2;
|
|
double totalVolume = 0.0;
|
|
for(size_t t = 0; t < nT; t++)
|
|
{
|
|
ver0.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.X();
|
|
ver0.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Y();
|
|
ver0.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Z();
|
|
ver1.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.X();
|
|
ver1.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Y();
|
|
ver1.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Z();
|
|
ver2.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.X();
|
|
ver2.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Y();
|
|
ver2.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Z();
|
|
totalVolume += Volume(ver0, ver1, ver2, bary);
|
|
m_mesh.m_triangles.Next();
|
|
}
|
|
return totalVolume;
|
|
}
|
|
bool ICHull::IsInside(const Vec3<Real> & pt0)
|
|
{
|
|
const Vec3<double> pt(pt0.X(), pt0.Y(), pt0.Z());
|
|
if (m_isFlat)
|
|
{
|
|
size_t nT = m_mesh.m_triangles.GetSize();
|
|
Vec3<double> ver0, ver1, ver2, a, b, c;
|
|
double u,v;
|
|
for(size_t t = 0; t < nT; t++)
|
|
{
|
|
ver0.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.X();
|
|
ver0.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Y();
|
|
ver0.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Z();
|
|
ver1.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.X();
|
|
ver1.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Y();
|
|
ver1.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Z();
|
|
ver2.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.X();
|
|
ver2.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Y();
|
|
ver2.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Z();
|
|
a = ver1 - ver0;
|
|
b = ver2 - ver0;
|
|
c = pt - ver0;
|
|
u = c * a;
|
|
v = c * b;
|
|
if ( u >= 0.0 && u <= 1.0 && v >= 0.0 && u+v <= 1.0)
|
|
{
|
|
return true;
|
|
}
|
|
m_mesh.m_triangles.Next();
|
|
}
|
|
return false;
|
|
}
|
|
else
|
|
{
|
|
size_t nT = m_mesh.m_triangles.GetSize();
|
|
Vec3<double> ver0, ver1, ver2;
|
|
for(size_t t = 0; t < nT; t++)
|
|
{
|
|
ver0.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.X();
|
|
ver0.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Y();
|
|
ver0.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Z();
|
|
ver1.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.X();
|
|
ver1.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Y();
|
|
ver1.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Z();
|
|
ver2.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.X();
|
|
ver2.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Y();
|
|
ver2.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Z();
|
|
if (Volume(ver0, ver1, ver2, pt) < 0.0)
|
|
{
|
|
return false;
|
|
}
|
|
m_mesh.m_triangles.Next();
|
|
}
|
|
return true;
|
|
}
|
|
}
|
|
double ICHull::ComputeDistance(long name, const Vec3<Real> & pt, const Vec3<Real> & normal, bool & insideHull, bool updateIncidentPoints)
|
|
{
|
|
Vec3<double> ptNormal(static_cast<double>(normal.X()),
|
|
static_cast<double>(normal.Y()),
|
|
static_cast<double>(normal.Z()));
|
|
Vec3<double> p0( static_cast<double>(pt.X()),
|
|
static_cast<double>(pt.Y()),
|
|
static_cast<double>(pt.Z()));
|
|
|
|
if (m_isFlat)
|
|
{
|
|
double distance = 0.0;
|
|
Vec3<double> chNormal(static_cast<double>(m_normal.X()),
|
|
static_cast<double>(m_normal.Y()),
|
|
static_cast<double>(m_normal.Z()));
|
|
ptNormal -= (ptNormal * chNormal) * chNormal;
|
|
if (ptNormal.GetNorm() > 0.0)
|
|
{
|
|
ptNormal.Normalize();
|
|
long nameVE1;
|
|
long nameVE2;
|
|
Vec3<double> pa, pb, d0, d1, d2, d3;
|
|
Vec3<double> p1 = p0 + ptNormal;
|
|
Vec3<double> p2, p3;
|
|
double mua, mub, s;
|
|
const double EPS = 0.00000000001;
|
|
size_t nE = m_mesh.GetNEdges();
|
|
for(size_t e = 0; e < nE; e++)
|
|
{
|
|
TMMEdge & currentEdge = m_mesh.m_edges.GetHead()->GetData();
|
|
nameVE1 = currentEdge.m_vertices[0]->GetData().m_name;
|
|
nameVE2 = currentEdge.m_vertices[1]->GetData().m_name;
|
|
if (currentEdge.m_triangles[0] == 0 || currentEdge.m_triangles[1] == 0)
|
|
{
|
|
if ( nameVE1==name || nameVE2==name )
|
|
{
|
|
return 0.0;
|
|
}
|
|
/*
|
|
if (debug) std::cout << "V" << name
|
|
<< " E " << nameVE1 << " " << nameVE2 << std::endl;
|
|
*/
|
|
|
|
p2.X() = currentEdge.m_vertices[0]->GetData().m_pos.X();
|
|
p2.Y() = currentEdge.m_vertices[0]->GetData().m_pos.Y();
|
|
p2.Z() = currentEdge.m_vertices[0]->GetData().m_pos.Z();
|
|
p3.X() = currentEdge.m_vertices[1]->GetData().m_pos.X();
|
|
p3.Y() = currentEdge.m_vertices[1]->GetData().m_pos.Y();
|
|
p3.Z() = currentEdge.m_vertices[1]->GetData().m_pos.Z();
|
|
d0 = p3 - p2;
|
|
if (d0.GetNorm() > 0.0)
|
|
{
|
|
if (IntersectLineLine(p0, p1, p2, p3, pa, pb, mua, mub))
|
|
{
|
|
d1 = pa - p2;
|
|
d2 = pa - pb;
|
|
d3 = pa - p0;
|
|
mua = d1.GetNorm()/d0.GetNorm();
|
|
mub = d1*d0;
|
|
s = d3*ptNormal;
|
|
if (d2.GetNorm() < EPS && mua <= 1.0 && mub>=0.0 && s>0.0)
|
|
{
|
|
distance = std::max<double>(distance, d3.GetNorm());
|
|
}
|
|
}
|
|
}
|
|
}
|
|
m_mesh.m_edges.Next();
|
|
}
|
|
}
|
|
return distance;
|
|
}
|
|
else
|
|
{
|
|
Vec3<double> ptNormal(static_cast<double>(normal.X()),
|
|
static_cast<double>(normal.Y()),
|
|
static_cast<double>(normal.Z()));
|
|
|
|
Vec3<double> impact;
|
|
long nhit;
|
|
double dist;
|
|
double distance = 0.0;
|
|
size_t nT = m_mesh.GetNTriangles();
|
|
insideHull = false;
|
|
CircularListElement<TMMTriangle> * face = 0;
|
|
Vec3<double> ver0, ver1, ver2;
|
|
for(size_t f = 0; f < nT; f++)
|
|
{
|
|
TMMTriangle & currentTriangle = m_mesh.m_triangles.GetHead()->GetData();
|
|
/*
|
|
if (debug) std::cout << "T " << currentTriangle.m_vertices[0]->GetData().m_name << " "
|
|
<< currentTriangle.m_vertices[1]->GetData().m_name << " "
|
|
<< currentTriangle.m_vertices[2]->GetData().m_name << std::endl;
|
|
*/
|
|
if (currentTriangle.m_vertices[0]->GetData().m_name == name ||
|
|
currentTriangle.m_vertices[1]->GetData().m_name == name ||
|
|
currentTriangle.m_vertices[2]->GetData().m_name == name)
|
|
{
|
|
nhit = 1;
|
|
dist = 0.0;
|
|
}
|
|
else
|
|
{
|
|
ver0.X() = currentTriangle.m_vertices[0]->GetData().m_pos.X();
|
|
ver0.Y() = currentTriangle.m_vertices[0]->GetData().m_pos.Y();
|
|
ver0.Z() = currentTriangle.m_vertices[0]->GetData().m_pos.Z();
|
|
ver1.X() = currentTriangle.m_vertices[1]->GetData().m_pos.X();
|
|
ver1.Y() = currentTriangle.m_vertices[1]->GetData().m_pos.Y();
|
|
ver1.Z() = currentTriangle.m_vertices[1]->GetData().m_pos.Z();
|
|
ver2.X() = currentTriangle.m_vertices[2]->GetData().m_pos.X();
|
|
ver2.Y() = currentTriangle.m_vertices[2]->GetData().m_pos.Y();
|
|
ver2.Z() = currentTriangle.m_vertices[2]->GetData().m_pos.Z();
|
|
nhit = IntersectRayTriangle(p0, ptNormal, ver0, ver1, ver2, dist);
|
|
}
|
|
|
|
if (nhit == 1 && distance <= dist)
|
|
{
|
|
distance = dist;
|
|
insideHull = true;
|
|
face = m_mesh.m_triangles.GetHead();
|
|
/*
|
|
std::cout << name << " -> T " << currentTriangle.m_vertices[0]->GetData().m_name << " "
|
|
<< currentTriangle.m_vertices[1]->GetData().m_name << " "
|
|
<< currentTriangle.m_vertices[2]->GetData().m_name << " Dist "
|
|
<< dist << " P " << currentTriangle.m_normal * normal << std::endl;
|
|
*/
|
|
if (dist > 0.1)
|
|
{
|
|
break;
|
|
}
|
|
}
|
|
m_mesh.m_triangles.Next();
|
|
}
|
|
if (updateIncidentPoints && face && m_distPoints)
|
|
{
|
|
(*m_distPoints)[name].m_dist = static_cast<Real>(distance);
|
|
face->GetData().m_incidentPoints.insert(name);
|
|
}
|
|
return distance;
|
|
}
|
|
}
|
|
}
|
|
|
|
|