mirror of
https://github.com/bulletphysics/bullet3
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852 lines
30 KiB
C++
852 lines
30 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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#ifndef _CRT_SECURE_NO_WARNINGS
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#define _CRT_SECURE_NO_WARNINGS
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#endif //_CRT_SECURE_NO_WARNINGS
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#include <sstream>
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#include "hacdGraph.h"
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#include "hacdHACD.h"
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#include "hacdICHull.h"
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#include <string.h>
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#include <algorithm>
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#include <iterator>
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#include <limits>
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#include "assert.h"
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bool gCancelRequest=false;
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namespace HACD
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{
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double HACD::Concavity(ICHull & ch, std::map<long, DPoint> & distPoints)
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{
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double concavity = 0.0;
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double distance = 0.0;
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std::map<long, DPoint>::iterator itDP(distPoints.begin());
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std::map<long, DPoint>::iterator itDPEnd(distPoints.end());
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for(; itDP != itDPEnd; ++itDP)
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{
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if (!(itDP->second).m_computed)
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{
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if (itDP->first >= 0)
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{
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distance = ch.ComputeDistance(itDP->first, m_points[itDP->first], m_normals[itDP->first], (itDP->second).m_computed, true);
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}
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else
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{
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distance = ch.ComputeDistance(itDP->first, m_facePoints[-itDP->first-1], m_faceNormals[-itDP->first-1], (itDP->second).m_computed, true);
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}
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}
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else
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{
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distance = (itDP->second).m_dist;
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}
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if (concavity < distance)
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{
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concavity = distance;
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}
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}
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return concavity;
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}
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void HACD::CreateGraph()
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{
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// vertex to triangle adjacency information
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std::vector< std::set<long> > vertexToTriangles;
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vertexToTriangles.resize(m_nPoints);
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for(size_t t = 0; t < m_nTriangles; ++t)
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{
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vertexToTriangles[m_triangles[t].X()].insert(static_cast<long>(t));
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vertexToTriangles[m_triangles[t].Y()].insert(static_cast<long>(t));
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vertexToTriangles[m_triangles[t].Z()].insert(static_cast<long>(t));
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}
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m_graph.Clear();
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m_graph.Allocate(m_nTriangles, 5 * m_nTriangles);
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unsigned long long tr1[3];
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unsigned long long tr2[3];
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long i1, j1, k1, i2, j2, k2;
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long t1, t2;
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for (size_t v = 0; v < m_nPoints; v++)
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{
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std::set<long>::const_iterator it1(vertexToTriangles[v].begin()), itEnd(vertexToTriangles[v].end());
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for(; it1 != itEnd; ++it1)
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{
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t1 = *it1;
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i1 = m_triangles[t1].X();
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j1 = m_triangles[t1].Y();
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k1 = m_triangles[t1].Z();
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tr1[0] = GetEdgeIndex(i1, j1);
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tr1[1] = GetEdgeIndex(j1, k1);
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tr1[2] = GetEdgeIndex(k1, i1);
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std::set<long>::const_iterator it2(it1);
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for(++it2; it2 != itEnd; ++it2)
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{
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t2 = *it2;
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i2 = m_triangles[t2].X();
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j2 = m_triangles[t2].Y();
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k2 = m_triangles[t2].Z();
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tr2[0] = GetEdgeIndex(i2, j2);
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tr2[1] = GetEdgeIndex(j2, k2);
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tr2[2] = GetEdgeIndex(k2, i2);
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int shared = 0;
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for(int i = 0; i < 3; ++i)
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{
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for(int j = 0; j < 3; ++j)
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{
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if (tr1[i] == tr2[j])
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{
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shared++;
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}
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}
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}
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if (shared == 1) // two triangles are connected if they share exactly one edge
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{
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m_graph.AddEdge(t1, t2);
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}
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}
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}
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}
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if (m_ccConnectDist >= 0.0)
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{
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m_graph.ExtractCCs();
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if (m_graph.m_nCCs > 1)
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{
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std::vector< std::set<long> > cc2V;
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cc2V.resize(m_graph.m_nCCs);
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long cc;
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for(size_t t = 0; t < m_nTriangles; ++t)
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{
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cc = m_graph.m_vertices[t].m_cc;
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cc2V[cc].insert(m_triangles[t].X());
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cc2V[cc].insert(m_triangles[t].Y());
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cc2V[cc].insert(m_triangles[t].Z());
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}
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for(size_t cc1 = 0; cc1 < m_graph.m_nCCs; ++cc1)
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{
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for(size_t cc2 = cc1+1; cc2 < m_graph.m_nCCs; ++cc2)
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{
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std::set<long>::const_iterator itV1(cc2V[cc1].begin()), itVEnd1(cc2V[cc1].end());
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for(; itV1 != itVEnd1; ++itV1)
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{
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double distC1C2 = std::numeric_limits<double>::max();
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double dist;
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t1 = -1;
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t2 = -1;
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std::set<long>::const_iterator itV2(cc2V[cc2].begin()), itVEnd2(cc2V[cc2].end());
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for(; itV2 != itVEnd2; ++itV2)
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{
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dist = (m_points[*itV1] - m_points[*itV2]).GetNorm();
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if (dist < distC1C2)
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{
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distC1C2 = dist;
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t1 = *vertexToTriangles[*itV1].begin();
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std::set<long>::const_iterator it2(vertexToTriangles[*itV2].begin()),
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it2End(vertexToTriangles[*itV2].end());
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t2 = -1;
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for(; it2 != it2End; ++it2)
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{
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if (*it2 != t1)
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{
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t2 = *it2;
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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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if (distC1C2 <= m_ccConnectDist && t1 > 0 && t2 > 0)
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{
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m_graph.AddEdge(t1, t2);
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}
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}
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}
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}
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}
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}
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}
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void HACD::InitializeDualGraph()
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{
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long i, j, k;
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Vec3<Real> u, v, w, normal;
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delete [] m_normals;
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m_normals = new Vec3<Real>[m_nPoints];
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if (m_addFacesPoints)
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{
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delete [] m_facePoints;
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delete [] m_faceNormals;
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m_facePoints = new Vec3<Real>[m_nTriangles];
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m_faceNormals = new Vec3<Real>[m_nTriangles];
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}
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memset(m_normals, 0, sizeof(Vec3<Real>) * m_nPoints);
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for(unsigned long f = 0; f < m_nTriangles; f++)
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{
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if (m_callBack) (*m_callBack)("+ InitializeDualGraph\n", f, m_nTriangles, 0);
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if (gCancelRequest)
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return;
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i = m_triangles[f].X();
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j = m_triangles[f].Y();
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k = m_triangles[f].Z();
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m_graph.m_vertices[f].m_distPoints[i].m_distOnly = false;
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m_graph.m_vertices[f].m_distPoints[j].m_distOnly = false;
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m_graph.m_vertices[f].m_distPoints[k].m_distOnly = false;
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ICHull * ch = new ICHull;
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m_graph.m_vertices[f].m_convexHull = ch;
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ch->AddPoint(m_points[i], i);
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ch->AddPoint(m_points[j], j);
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ch->AddPoint(m_points[k], k);
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ch->SetDistPoints(&m_graph.m_vertices[f].m_distPoints);
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u = m_points[j] - m_points[i];
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v = m_points[k] - m_points[i];
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w = m_points[k] - m_points[j];
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normal = u ^ v;
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m_normals[i] += normal;
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m_normals[j] += normal;
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m_normals[k] += normal;
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m_graph.m_vertices[f].m_surf = normal.GetNorm();
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m_graph.m_vertices[f].m_perimeter = u.GetNorm() + v.GetNorm() + w.GetNorm();
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normal.Normalize();
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m_graph.m_vertices[f].m_boudaryEdges.insert(GetEdgeIndex(i,j));
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m_graph.m_vertices[f].m_boudaryEdges.insert(GetEdgeIndex(j,k));
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m_graph.m_vertices[f].m_boudaryEdges.insert(GetEdgeIndex(k,i));
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if(m_addFacesPoints)
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{
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m_faceNormals[f] = normal;
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m_facePoints[f] = (m_points[i] + m_points[j] + m_points[k]) / 3.0;
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m_graph.m_vertices[f].m_distPoints[-static_cast<long>(f)-1].m_distOnly = true;
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}
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if (m_addExtraDistPoints)
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{// we need a kd-tree structure to accelerate this part!
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long i1, j1, k1;
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Vec3<Real> u1, v1, normal1;
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normal = -normal;
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double distance = 0.0;
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double distMin = 0.0;
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size_t faceIndex = m_nTriangles;
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Vec3<Real> seedPoint((m_points[i] + m_points[j] + m_points[k]) / 3.0);
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long nhit = 0;
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for(size_t f1 = 0; f1 < m_nTriangles; f1++)
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{
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i1 = m_triangles[f1].X();
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j1 = m_triangles[f1].Y();
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k1 = m_triangles[f1].Z();
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u1 = m_points[j1] - m_points[i1];
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v1 = m_points[k1] - m_points[i1];
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normal1 = (u1 ^ v1);
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if (normal * normal1 > 0.0)
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{
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nhit = IntersectRayTriangle(Vec3<double>(seedPoint.X(), seedPoint.Y(), seedPoint.Z()),
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Vec3<double>(normal.X(), normal.Y(), normal.Z()),
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Vec3<double>(m_points[i1].X(), m_points[i1].Y(), m_points[i1].Z()),
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Vec3<double>(m_points[j1].X(), m_points[j1].Y(), m_points[j1].Z()),
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Vec3<double>(m_points[k1].X(), m_points[k1].Y(), m_points[k1].Z()),
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distance);
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if ((nhit==1) && ((distMin > distance) || (faceIndex == m_nTriangles)))
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{
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distMin = distance;
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faceIndex = f1;
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}
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}
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}
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if (faceIndex < m_nTriangles )
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{
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i1 = m_triangles[faceIndex].X();
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j1 = m_triangles[faceIndex].Y();
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k1 = m_triangles[faceIndex].Z();
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m_graph.m_vertices[f].m_distPoints[i1].m_distOnly = true;
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m_graph.m_vertices[f].m_distPoints[j1].m_distOnly = true;
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m_graph.m_vertices[f].m_distPoints[k1].m_distOnly = true;
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if (m_addFacesPoints)
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{
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m_graph.m_vertices[f].m_distPoints[-static_cast<long>(faceIndex)-1].m_distOnly = true;
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}
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}
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}
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}
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for (size_t v = 0; v < m_nPoints; v++)
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{
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m_normals[v].Normalize();
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}
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}
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void HACD::NormalizeData()
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{
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if (m_nPoints == 0)
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{
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return;
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}
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m_barycenter = m_points[0];
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Vec3<Real> min = m_points[0];
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Vec3<Real> max = m_points[0];
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Real x, y, z;
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for (size_t v = 1; v < m_nPoints ; v++)
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{
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m_barycenter += m_points[v];
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x = m_points[v].X();
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y = m_points[v].Y();
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z = m_points[v].Z();
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if ( x < min.X()) min.X() = x;
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else if ( x > max.X()) max.X() = x;
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if ( y < min.Y()) min.Y() = y;
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else if ( y > max.Y()) max.Y() = y;
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if ( z < min.Z()) min.Z() = z;
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else if ( z > max.Z()) max.Z() = z;
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}
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m_barycenter /= static_cast<Real>(m_nPoints);
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m_diag = (max-min).GetNorm();
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const Real invDiag = static_cast<Real>(2.0 * m_scale / m_diag);
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if (m_diag != 0.0)
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{
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for (size_t v = 0; v < m_nPoints ; v++)
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{
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m_points[v] = (m_points[v] - m_barycenter) * invDiag;
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}
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}
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}
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void HACD::DenormalizeData()
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{
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if (m_nPoints == 0)
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{
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return;
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}
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if (m_diag != 0.0)
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{
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const Real diag = static_cast<Real>(m_diag / (2.0 * m_scale));
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for (size_t v = 0; v < m_nPoints ; v++)
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{
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m_points[v] = m_points[v] * diag + m_barycenter;
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}
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}
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}
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HACD::HACD(void)
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{
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m_convexHulls = 0;
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m_triangles = 0;
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m_points = 0;
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m_normals = 0;
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m_nTriangles = 0;
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m_nPoints = 0;
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m_nClusters = 0;
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m_concavity = 0.0;
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m_diag = 1.0;
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m_barycenter = Vec3<Real>(0.0, 0.0,0.0);
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m_alpha = 0.1;
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m_beta = 0.1;
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m_nVerticesPerCH = 30;
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m_callBack = 0;
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m_addExtraDistPoints = false;
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m_addNeighboursDistPoints = false;
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m_scale = 1000.0;
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m_partition = 0;
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m_nMinClusters = 3;
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m_facePoints = 0;
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m_faceNormals = 0;
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m_ccConnectDist = 30;
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}
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HACD::~HACD(void)
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{
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delete [] m_normals;
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delete [] m_convexHulls;
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delete [] m_partition;
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delete [] m_facePoints;
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delete [] m_faceNormals;
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}
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int iteration = 0;
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void HACD::ComputeEdgeCost(size_t e)
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{
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GraphEdge & gE = m_graph.m_edges[e];
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long v1 = gE.m_v1;
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long v2 = gE.m_v2;
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if (m_graph.m_vertices[v2].m_distPoints.size()>m_graph.m_vertices[v1].m_distPoints.size())
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{
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gE.m_v1 = v2;
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gE.m_v2 = v1;
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//std::swap<long>(v1, v2);
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std::swap(v1, v2);
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}
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GraphVertex & gV1 = m_graph.m_vertices[v1];
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GraphVertex & gV2 = m_graph.m_vertices[v2];
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// delete old convex-hull
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delete gE.m_convexHull;
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// create the edge's convex-hull
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ICHull * ch = new ICHull;
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gE.m_convexHull = ch;
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(*ch) = (*gV1.m_convexHull);
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// update distPoints
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gE.m_distPoints = gV1.m_distPoints;
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std::map<long, DPoint>::iterator itDP(gV2.m_distPoints.begin());
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std::map<long, DPoint>::iterator itDPEnd(gV2.m_distPoints.end());
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std::map<long, DPoint>::iterator itDP1;
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for(; itDP != itDPEnd; ++itDP)
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{
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itDP1 = gE.m_distPoints.find(itDP->first);
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if (itDP1 == gE.m_distPoints.end())
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{
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gE.m_distPoints[itDP->first].m_distOnly = (itDP->second).m_distOnly;
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if ( !(itDP->second).m_distOnly )
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{
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ch->AddPoint(m_points[itDP->first], itDP->first);
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}
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}
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else
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{
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if ( (itDP1->second).m_distOnly && !(itDP->second).m_distOnly)
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{
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gE.m_distPoints[itDP->first].m_distOnly = false;
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ch->AddPoint(m_points[itDP->first], itDP->first);
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}
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}
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}
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ch->SetDistPoints(&gE.m_distPoints);
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// create the convex-hull
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while (ch->Process() == ICHullErrorInconsistent) // if we face problems when constructing the visual-hull. really ugly!!!!
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{
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// if (m_callBack) (*m_callBack)("\t Problem with convex-hull construction [HACD::ComputeEdgeCost]\n", 0.0, 0.0, 0);
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ch = new ICHull;
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CircularList<TMMVertex> & verticesCH = (gE.m_convexHull)->GetMesh().m_vertices;
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size_t nV = verticesCH.GetSize();
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long ptIndex = 0;
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verticesCH.Next();
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for(size_t v = 1; v < nV; ++v)
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{
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ptIndex = verticesCH.GetHead()->GetData().m_name;
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if (ptIndex != ICHull::sc_dummyIndex/* && ptIndex < m_nPoints*/)
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ch->AddPoint(m_points[ptIndex], ptIndex);
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verticesCH.Next();
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}
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delete gE.m_convexHull;
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gE.m_convexHull = ch;
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}
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|
double volume = 0.0;
|
|
double concavity = 0.0;
|
|
if (ch->IsFlat())
|
|
{
|
|
bool insideHull;
|
|
std::map<long, DPoint>::iterator itDP(gE.m_distPoints.begin());
|
|
std::map<long, DPoint>::iterator itDPEnd(gE.m_distPoints.end());
|
|
for(; itDP != itDPEnd; ++itDP)
|
|
{
|
|
if (itDP->first >= 0)
|
|
{
|
|
concavity = std::max<double>(concavity, ch->ComputeDistance(itDP->first, m_points[itDP->first], m_normals[itDP->first], insideHull, false));
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (m_addNeighboursDistPoints)
|
|
{ // add distance points from adjacent clusters
|
|
std::set<long> eEdges;
|
|
std::set_union(gV1.m_edges.begin(),
|
|
gV1.m_edges.end(),
|
|
gV2.m_edges.begin(),
|
|
gV2.m_edges.end(),
|
|
std::inserter( eEdges, eEdges.begin() ) );
|
|
|
|
std::set<long>::const_iterator ed(eEdges.begin());
|
|
std::set<long>::const_iterator itEnd(eEdges.end());
|
|
long a, b, c;
|
|
for(; ed != itEnd; ++ed)
|
|
{
|
|
a = m_graph.m_edges[*ed].m_v1;
|
|
b = m_graph.m_edges[*ed].m_v2;
|
|
if ( a != v2 && a != v1)
|
|
{
|
|
c = a;
|
|
}
|
|
else if ( b != v2 && b != v1)
|
|
{
|
|
c = b;
|
|
}
|
|
else
|
|
{
|
|
c = -1;
|
|
}
|
|
if ( c > 0)
|
|
{
|
|
GraphVertex & gVC = m_graph.m_vertices[c];
|
|
std::map<long, DPoint>::iterator itDP(gVC.m_distPoints.begin());
|
|
std::map<long, DPoint>::iterator itDPEnd(gVC.m_distPoints.end());
|
|
std::map<long, DPoint>::iterator itDP1;
|
|
for(; itDP != itDPEnd; ++itDP)
|
|
{
|
|
itDP1 = gE.m_distPoints.find(itDP->first);
|
|
if (itDP1 == gE.m_distPoints.end())
|
|
{
|
|
if (itDP->first >= 0 && itDP1 == gE.m_distPoints.end() && ch->IsInside(m_points[itDP->first]))
|
|
{
|
|
gE.m_distPoints[itDP->first].m_distOnly = true;
|
|
}
|
|
else if (itDP->first < 0 && ch->IsInside(m_facePoints[-itDP->first-1]))
|
|
{
|
|
gE.m_distPoints[itDP->first].m_distOnly = true;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
concavity = Concavity(*ch, gE.m_distPoints);
|
|
}
|
|
|
|
// compute boudary edges
|
|
double perimeter = 0.0;
|
|
double surf = 1.0;
|
|
if (m_alpha > 0.0)
|
|
{
|
|
gE.m_boudaryEdges.clear();
|
|
std::set_symmetric_difference (gV1.m_boudaryEdges.begin(),
|
|
gV1.m_boudaryEdges.end(),
|
|
gV2.m_boudaryEdges.begin(),
|
|
gV2.m_boudaryEdges.end(),
|
|
std::inserter( gE.m_boudaryEdges,
|
|
gE.m_boudaryEdges.begin() ) );
|
|
|
|
std::set<unsigned long long>::const_iterator itBE(gE.m_boudaryEdges.begin());
|
|
std::set<unsigned long long>::const_iterator itBEEnd(gE.m_boudaryEdges.end());
|
|
for(; itBE != itBEEnd; ++itBE)
|
|
{
|
|
perimeter += (m_points[static_cast<long>((*itBE) >> 32)] -
|
|
m_points[static_cast<long>((*itBE) & 0xFFFFFFFFULL)]).GetNorm();
|
|
}
|
|
surf = gV1.m_surf + gV2.m_surf;
|
|
}
|
|
double ratio = perimeter * perimeter / (4.0 * sc_pi * surf);
|
|
gE.m_volume = (m_beta == 0.0)?0.0:ch->ComputeVolume()/pow(m_scale, 3.0); // cluster's volume
|
|
gE.m_surf = surf; // cluster's area
|
|
gE.m_perimeter = perimeter; // cluster's perimeter
|
|
gE.m_concavity = concavity; // cluster's concavity
|
|
gE.m_error = static_cast<Real>(concavity + m_alpha * ratio + m_beta * volume); // cluster's priority
|
|
}
|
|
bool HACD::InitializePriorityQueue()
|
|
{
|
|
m_pqueue.reserve(m_graph.m_nE + 100);
|
|
for (size_t e=0; e < m_graph.m_nE; ++e)
|
|
{
|
|
ComputeEdgeCost(static_cast<long>(e));
|
|
m_pqueue.push(GraphEdgePriorityQueue(static_cast<long>(e), m_graph.m_edges[e].m_error));
|
|
}
|
|
return true;
|
|
}
|
|
void HACD::Simplify()
|
|
{
|
|
long v1 = -1;
|
|
long v2 = -1;
|
|
double progressOld = -1.0;
|
|
double progress = 0.0;
|
|
double globalConcavity = 0.0;
|
|
char msg[1024];
|
|
double ptgStep = 1.0;
|
|
while ( (globalConcavity < m_concavity) &&
|
|
(m_graph.GetNVertices() > m_nMinClusters) &&
|
|
(m_graph.GetNEdges() > 0))
|
|
{
|
|
progress = 100.0-m_graph.GetNVertices() * 100.0 / m_nTriangles;
|
|
if (fabs(progress-progressOld) > ptgStep && m_callBack)
|
|
{
|
|
sprintf(msg, "%3.2f %% V = %lu \t C = %f \t \t \r", progress, static_cast<unsigned long>(m_graph.GetNVertices()), globalConcavity);
|
|
(*m_callBack)(msg, progress, globalConcavity, m_graph.GetNVertices());
|
|
progressOld = progress;
|
|
if (progress > 99.0)
|
|
{
|
|
ptgStep = 0.01;
|
|
}
|
|
else if (progress > 90.0)
|
|
{
|
|
ptgStep = 0.1;
|
|
}
|
|
}
|
|
|
|
GraphEdgePriorityQueue currentEdge(0,0.0);
|
|
bool done = false;
|
|
do
|
|
{
|
|
done = false;
|
|
if (m_pqueue.size() == 0)
|
|
{
|
|
done = true;
|
|
break;
|
|
}
|
|
currentEdge = m_pqueue.top();
|
|
m_pqueue.pop();
|
|
}
|
|
while ( m_graph.m_edges[currentEdge.m_name].m_deleted ||
|
|
m_graph.m_edges[currentEdge.m_name].m_error != currentEdge.m_priority);
|
|
|
|
|
|
if (m_graph.m_edges[currentEdge.m_name].m_concavity < m_concavity && !done)
|
|
{
|
|
globalConcavity = std::max<double>(globalConcavity ,m_graph.m_edges[currentEdge.m_name].m_concavity);
|
|
v1 = m_graph.m_edges[currentEdge.m_name].m_v1;
|
|
v2 = m_graph.m_edges[currentEdge.m_name].m_v2;
|
|
// update vertex info
|
|
m_graph.m_vertices[v1].m_error = m_graph.m_edges[currentEdge.m_name].m_error;
|
|
m_graph.m_vertices[v1].m_surf = m_graph.m_edges[currentEdge.m_name].m_surf;
|
|
m_graph.m_vertices[v1].m_volume = m_graph.m_edges[currentEdge.m_name].m_volume;
|
|
m_graph.m_vertices[v1].m_concavity = m_graph.m_edges[currentEdge.m_name].m_concavity;
|
|
m_graph.m_vertices[v1].m_perimeter = m_graph.m_edges[currentEdge.m_name].m_perimeter;
|
|
m_graph.m_vertices[v1].m_distPoints = m_graph.m_edges[currentEdge.m_name].m_distPoints;
|
|
(*m_graph.m_vertices[v1].m_convexHull) = (*m_graph.m_edges[currentEdge.m_name].m_convexHull);
|
|
(m_graph.m_vertices[v1].m_convexHull)->SetDistPoints(&(m_graph.m_vertices[v1].m_distPoints));
|
|
m_graph.m_vertices[v1].m_boudaryEdges = m_graph.m_edges[currentEdge.m_name].m_boudaryEdges;
|
|
|
|
// We apply the optimal ecol
|
|
// std::cout << "v1 " << v1 << " v2 " << v2 << std::endl;
|
|
m_graph.EdgeCollapse(v1, v2);
|
|
// recompute the adjacent edges costs
|
|
std::set<long>::const_iterator itE(m_graph.m_vertices[v1].m_edges.begin()),
|
|
itEEnd(m_graph.m_vertices[v1].m_edges.end());
|
|
for(; itE != itEEnd; ++itE)
|
|
{
|
|
size_t e = *itE;
|
|
ComputeEdgeCost(static_cast<long>(e));
|
|
m_pqueue.push(GraphEdgePriorityQueue(static_cast<long>(e), m_graph.m_edges[e].m_error));
|
|
}
|
|
}
|
|
else
|
|
{
|
|
break;
|
|
}
|
|
}
|
|
while (!m_pqueue.empty())
|
|
{
|
|
m_pqueue.pop();
|
|
}
|
|
|
|
m_cVertices.clear();
|
|
m_nClusters = m_graph.GetNVertices();
|
|
m_cVertices.reserve(m_nClusters);
|
|
for (size_t p=0, v = 0; v != m_graph.m_vertices.size(); ++v)
|
|
{
|
|
if (!m_graph.m_vertices[v].m_deleted)
|
|
{
|
|
if (m_callBack)
|
|
{
|
|
char msg[1024];
|
|
sprintf(msg, "\t CH \t %lu \t %lf \t %lf\n", static_cast<unsigned long>(p), m_graph.m_vertices[v].m_concavity, m_graph.m_vertices[v].m_error);
|
|
(*m_callBack)(msg, 0.0, 0.0, m_nClusters);
|
|
p++;
|
|
}
|
|
m_cVertices.push_back(static_cast<long>(v));
|
|
}
|
|
}
|
|
if (m_callBack)
|
|
{
|
|
sprintf(msg, "# clusters = %lu \t C = %f\n", static_cast<unsigned long>(m_nClusters), globalConcavity);
|
|
(*m_callBack)(msg, progress, globalConcavity, m_graph.GetNVertices());
|
|
}
|
|
|
|
}
|
|
|
|
bool HACD::Compute(bool fullCH, bool exportDistPoints)
|
|
{
|
|
gCancelRequest = false;
|
|
|
|
if ( !m_points || !m_triangles || !m_nPoints || !m_nTriangles)
|
|
{
|
|
return false;
|
|
}
|
|
size_t nV = m_nTriangles;
|
|
if (m_callBack)
|
|
{
|
|
std::ostringstream msg;
|
|
msg << "+ Mesh" << std::endl;
|
|
msg << "\t # vertices \t" << m_nPoints << std::endl;
|
|
msg << "\t # triangles \t" << m_nTriangles << std::endl;
|
|
msg << "+ Parameters" << std::endl;
|
|
msg << "\t min # of clusters \t" << m_nMinClusters << std::endl;
|
|
msg << "\t max concavity \t" << m_concavity << std::endl;
|
|
msg << "\t compacity weigth \t" << m_alpha << std::endl;
|
|
msg << "\t volume weigth \t" << m_beta << std::endl;
|
|
msg << "\t # vertices per convex-hull \t" << m_nVerticesPerCH << std::endl;
|
|
msg << "\t scale \t" << m_scale << std::endl;
|
|
msg << "\t add extra distance points \t" << m_addExtraDistPoints << std::endl;
|
|
msg << "\t add neighbours distance points \t" << m_addNeighboursDistPoints << std::endl;
|
|
msg << "\t add face distance points \t" << m_addFacesPoints << std::endl;
|
|
msg << "\t produce full convex-hulls \t" << fullCH << std::endl;
|
|
msg << "\t max. distance to connect CCs \t" << m_ccConnectDist << std::endl;
|
|
(*m_callBack)(msg.str().c_str(), 0.0, 0.0, nV);
|
|
}
|
|
if (m_callBack) (*m_callBack)("+ Normalizing Data\n", 0.0, 0.0, nV);
|
|
NormalizeData();
|
|
if (m_callBack) (*m_callBack)("+ Creating Graph\n", 0.0, 0.0, nV);
|
|
CreateGraph();
|
|
// Compute the surfaces and perimeters of all the faces
|
|
if (m_callBack) (*m_callBack)("+ Initializing Dual Graph\n", 0.0, 0.0, nV);
|
|
if (gCancelRequest)
|
|
return false;
|
|
|
|
InitializeDualGraph();
|
|
if (m_callBack) (*m_callBack)("+ Initializing Priority Queue\n", 0.0, 0.0, nV);
|
|
if (gCancelRequest)
|
|
return false;
|
|
|
|
InitializePriorityQueue();
|
|
// we simplify the graph
|
|
if (m_callBack) (*m_callBack)("+ Simplification ...\n", 0.0, 0.0, m_nTriangles);
|
|
Simplify();
|
|
if (m_callBack) (*m_callBack)("+ Denormalizing Data\n", 0.0, 0.0, m_nClusters);
|
|
DenormalizeData();
|
|
if (m_callBack) (*m_callBack)("+ Computing final convex-hulls\n", 0.0, 0.0, m_nClusters);
|
|
delete [] m_convexHulls;
|
|
m_convexHulls = new ICHull[m_nClusters];
|
|
delete [] m_partition;
|
|
m_partition = new long [m_nTriangles];
|
|
for (size_t p = 0; p != m_cVertices.size(); ++p)
|
|
{
|
|
size_t v = m_cVertices[p];
|
|
m_partition[v] = static_cast<long>(p);
|
|
for(size_t a = 0; a < m_graph.m_vertices[v].m_ancestors.size(); a++)
|
|
{
|
|
m_partition[m_graph.m_vertices[v].m_ancestors[a]] = static_cast<long>(p);
|
|
}
|
|
// compute the convex-hull
|
|
const std::map<long, DPoint> & pointsCH = m_graph.m_vertices[v].m_distPoints;
|
|
std::map<long, DPoint>::const_iterator itCH(pointsCH.begin());
|
|
std::map<long, DPoint>::const_iterator itCHEnd(pointsCH.end());
|
|
for(; itCH != itCHEnd; ++itCH)
|
|
{
|
|
if (!(itCH->second).m_distOnly)
|
|
{
|
|
m_convexHulls[p].AddPoint(m_points[itCH->first], itCH->first);
|
|
}
|
|
}
|
|
m_convexHulls[p].SetDistPoints(&m_graph.m_vertices[v].m_distPoints);
|
|
if (fullCH)
|
|
{
|
|
m_convexHulls[p].Process();
|
|
}
|
|
else
|
|
{
|
|
m_convexHulls[p].Process(static_cast<unsigned long>(m_nVerticesPerCH));
|
|
}
|
|
if (exportDistPoints)
|
|
{
|
|
itCH = pointsCH.begin();
|
|
for(; itCH != itCHEnd; ++itCH)
|
|
{
|
|
if ((itCH->second).m_distOnly)
|
|
{
|
|
if (itCH->first >= 0)
|
|
{
|
|
m_convexHulls[p].AddPoint(m_points[itCH->first], itCH->first);
|
|
}
|
|
else
|
|
{
|
|
m_convexHulls[p].AddPoint(m_facePoints[-itCH->first-1], itCH->first);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
size_t HACD::GetNTrianglesCH(size_t numCH) const
|
|
{
|
|
if (numCH >= m_nClusters)
|
|
{
|
|
return 0;
|
|
}
|
|
return m_convexHulls[numCH].GetMesh().GetNTriangles();
|
|
}
|
|
size_t HACD::GetNPointsCH(size_t numCH) const
|
|
{
|
|
if (numCH >= m_nClusters)
|
|
{
|
|
return 0;
|
|
}
|
|
return m_convexHulls[numCH].GetMesh().GetNVertices();
|
|
}
|
|
|
|
bool HACD::GetCH(size_t numCH, Vec3<Real> * const points, Vec3<long> * const triangles)
|
|
{
|
|
if (numCH >= m_nClusters)
|
|
{
|
|
return false;
|
|
}
|
|
m_convexHulls[numCH].GetMesh().GetIFS(points, triangles);
|
|
return true;
|
|
}
|
|
|
|
bool HACD::Save(const char * fileName, bool uniColor, long numCluster) const
|
|
{
|
|
std::ofstream fout(fileName);
|
|
if (fout.is_open())
|
|
{
|
|
if (m_callBack)
|
|
{
|
|
char msg[1024];
|
|
sprintf(msg, "Saving %s\n", fileName);
|
|
(*m_callBack)(msg, 0.0, 0.0, m_graph.GetNVertices());
|
|
}
|
|
Material mat;
|
|
if (numCluster < 0)
|
|
{
|
|
for (size_t p = 0; p != m_nClusters; ++p)
|
|
{
|
|
if (!uniColor)
|
|
{
|
|
mat.m_diffuseColor.X() = mat.m_diffuseColor.Y() = mat.m_diffuseColor.Z() = 0.0;
|
|
while (mat.m_diffuseColor.X() == mat.m_diffuseColor.Y() ||
|
|
mat.m_diffuseColor.Z() == mat.m_diffuseColor.Y() ||
|
|
mat.m_diffuseColor.Z() == mat.m_diffuseColor.X() )
|
|
{
|
|
mat.m_diffuseColor.X() = (rand()%100) / 100.0;
|
|
mat.m_diffuseColor.Y() = (rand()%100) / 100.0;
|
|
mat.m_diffuseColor.Z() = (rand()%100) / 100.0;
|
|
}
|
|
}
|
|
m_convexHulls[p].GetMesh().SaveVRML2(fout, mat);
|
|
}
|
|
}
|
|
else if (numCluster < static_cast<long>(m_cVertices.size()))
|
|
{
|
|
m_convexHulls[numCluster].GetMesh().SaveVRML2(fout, mat);
|
|
}
|
|
fout.close();
|
|
return true;
|
|
}
|
|
else
|
|
{
|
|
if (m_callBack)
|
|
{
|
|
char msg[1024];
|
|
sprintf(msg, "Error saving %s\n", fileName);
|
|
(*m_callBack)(msg, 0.0, 0.0, m_graph.GetNVertices());
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
}
|
|
|
|
|