mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 22:00:05 +00:00
578 lines
21 KiB
C++
578 lines
21 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 & currentVertex = 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 & currentEdge = 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 & currentTriangle = 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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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 & currentVertex = 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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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 & currentTriangle = 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 & currentTriangle = 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();
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pa.Y() = p1.Y() + mua * p21.Y();
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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;
|
|
}
|
|
}
|