1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
|
/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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.
3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
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.
*/
#include "hacdManifoldMesh.h"
using namespace std;
namespace HACD
{
Material::Material(void)
{
m_diffuseColor.X() = 0.5;
m_diffuseColor.Y() = 0.5;
m_diffuseColor.Z() = 0.5;
m_specularColor.X() = 0.5;
m_specularColor.Y() = 0.5;
m_specularColor.Z() = 0.5;
m_ambientIntensity = 0.4;
m_emissiveColor.X() = 0.0;
m_emissiveColor.Y() = 0.0;
m_emissiveColor.Z() = 0.0;
m_shininess = 0.4;
m_transparency = 0.0;
}
TMMVertex::TMMVertex(void)
{
m_name = 0;
m_id = 0;
m_duplicate = 0;
m_onHull = false;
m_tag = false;
}
TMMVertex::~TMMVertex(void)
{
}
TMMEdge::TMMEdge(void)
{
m_id = 0;
m_triangles[0] = m_triangles[1] = m_newFace = 0;
m_vertices[0] = m_vertices[1] = 0;
}
TMMEdge::~TMMEdge(void)
{
}
TMMTriangle::TMMTriangle(void)
{
m_id = 0;
for(int i = 0; i < 3; i++)
{
m_edges[i] = 0;
m_vertices[0] = 0;
}
m_visible = false;
}
TMMTriangle::~TMMTriangle(void)
{
}
TMMesh::TMMesh(void)
{
m_barycenter = Vec3<Real>(0,0,0);
m_diag = 1;
}
TMMesh::~TMMesh(void)
{
}
void TMMesh::Print()
{
size_t nV = m_vertices.GetSize();
std::cout << "-----------------------------" << std::endl;
std::cout << "vertices (" << nV << ")" << std::endl;
for(size_t v = 0; v < nV; v++)
{
const TMMVertex & currentVertex = m_vertices.GetData();
std::cout << currentVertex.m_id << ", "
<< currentVertex.m_pos.X() << ", "
<< currentVertex.m_pos.Y() << ", "
<< currentVertex.m_pos.Z() << std::endl;
m_vertices.Next();
}
size_t nE = m_edges.GetSize();
std::cout << "edges (" << nE << ")" << std::endl;
for(size_t e = 0; e < nE; e++)
{
const TMMEdge & currentEdge = m_edges.GetData();
const CircularListElement<TMMVertex> * v0 = currentEdge.m_vertices[0];
const CircularListElement<TMMVertex> * v1 = currentEdge.m_vertices[1];
const CircularListElement<TMMTriangle> * f0 = currentEdge.m_triangles[0];
const CircularListElement<TMMTriangle> * f1 = currentEdge.m_triangles[1];
std::cout << "-> (" << v0->GetData().m_name << ", " << v1->GetData().m_name << ")" << std::endl;
std::cout << "-> F0 (" << f0->GetData().m_vertices[0]->GetData().m_name << ", "
<< f0->GetData().m_vertices[1]->GetData().m_name << ", "
<< f0->GetData().m_vertices[2]->GetData().m_name <<")" << std::endl;
std::cout << "-> F1 (" << f1->GetData().m_vertices[0]->GetData().m_name << ", "
<< f1->GetData().m_vertices[1]->GetData().m_name << ", "
<< f1->GetData().m_vertices[2]->GetData().m_name << ")" << std::endl;
m_edges.Next();
}
size_t nT = m_triangles.GetSize();
std::cout << "triangles (" << nT << ")" << std::endl;
for(size_t t = 0; t < nT; t++)
{
const TMMTriangle & currentTriangle = m_triangles.GetData();
const CircularListElement<TMMVertex> * v0 = currentTriangle.m_vertices[0];
const CircularListElement<TMMVertex> * v1 = currentTriangle.m_vertices[1];
const CircularListElement<TMMVertex> * v2 = currentTriangle.m_vertices[2];
const CircularListElement<TMMEdge> * e0 = currentTriangle.m_edges[0];
const CircularListElement<TMMEdge> * e1 = currentTriangle.m_edges[1];
const CircularListElement<TMMEdge> * e2 = currentTriangle.m_edges[2];
std::cout << "-> (" << v0->GetData().m_name << ", " << v1->GetData().m_name << ", "<< v2->GetData().m_name << ")" << std::endl;
std::cout << "-> E0 (" << e0->GetData().m_vertices[0]->GetData().m_name << ", "
<< e0->GetData().m_vertices[1]->GetData().m_name << ")" << std::endl;
std::cout << "-> E1 (" << e1->GetData().m_vertices[0]->GetData().m_name << ", "
<< e1->GetData().m_vertices[1]->GetData().m_name << ")" << std::endl;
std::cout << "-> E2 (" << e2->GetData().m_vertices[0]->GetData().m_name << ", "
<< e2->GetData().m_vertices[1]->GetData().m_name << ")" << std::endl;
m_triangles.Next();
}
}
bool TMMesh::Save(const char *fileName)
{
std::ofstream fout(fileName);
std::cout << "Saving " << fileName << std::endl;
if (SaveVRML2(fout))
{
fout.close();
return true;
}
return false;
}
bool TMMesh::SaveVRML2(std::ofstream &fout)
{
return SaveVRML2(fout, Material());
}
bool TMMesh::SaveVRML2(std::ofstream &fout, const Material & material)
{
if (fout.is_open())
{
size_t nV = m_vertices.GetSize();
size_t nT = m_triangles.GetSize();
fout <<"#VRML V2.0 utf8" << std::endl;
fout <<"" << std::endl;
fout <<"# Vertices: " << nV << std::endl;
fout <<"# Triangles: " << nT << std::endl;
fout <<"" << std::endl;
fout <<"Group {" << std::endl;
fout <<" children [" << std::endl;
fout <<" Shape {" << std::endl;
fout <<" appearance Appearance {" << std::endl;
fout <<" material Material {" << std::endl;
fout <<" diffuseColor " << material.m_diffuseColor.X() << " "
<< material.m_diffuseColor.Y() << " "
<< material.m_diffuseColor.Z() << std::endl;
fout <<" ambientIntensity " << material.m_ambientIntensity << std::endl;
fout <<" specularColor " << material.m_specularColor.X() << " "
<< material.m_specularColor.Y() << " "
<< material.m_specularColor.Z() << std::endl;
fout <<" emissiveColor " << material.m_emissiveColor.X() << " "
<< material.m_emissiveColor.Y() << " "
<< material.m_emissiveColor.Z() << std::endl;
fout <<" shininess " << material.m_shininess << std::endl;
fout <<" transparency " << material.m_transparency << std::endl;
fout <<" }" << std::endl;
fout <<" }" << std::endl;
fout <<" geometry IndexedFaceSet {" << std::endl;
fout <<" ccw TRUE" << std::endl;
fout <<" solid TRUE" << std::endl;
fout <<" convex TRUE" << std::endl;
if (GetNVertices() > 0) {
fout <<" coord DEF co Coordinate {" << std::endl;
fout <<" point [" << std::endl;
for(size_t v = 0; v < nV; v++)
{
TMMVertex & currentVertex = m_vertices.GetData();
fout <<" " << currentVertex.m_pos.X() << " "
<< currentVertex.m_pos.Y() << " "
<< currentVertex.m_pos.Z() << "," << std::endl;
currentVertex.m_id = v;
m_vertices.Next();
}
fout <<" ]" << std::endl;
fout <<" }" << std::endl;
}
if (GetNTriangles() > 0) {
fout <<" coordIndex [ " << std::endl;
for(size_t f = 0; f < nT; f++)
{
TMMTriangle & currentTriangle = m_triangles.GetData();
fout <<" " << currentTriangle.m_vertices[0]->GetData().m_id << ", "
<< currentTriangle.m_vertices[1]->GetData().m_id << ", "
<< currentTriangle.m_vertices[2]->GetData().m_id << ", -1," << std::endl;
m_triangles.Next();
}
fout <<" ]" << std::endl;
}
fout <<" }" << std::endl;
fout <<" }" << std::endl;
fout <<" ]" << std::endl;
fout <<"}" << std::endl;
}
return true;
}
void TMMesh::GetIFS(Vec3<Real> * const points, Vec3<long> * const triangles)
{
size_t nV = m_vertices.GetSize();
size_t nT = m_triangles.GetSize();
for(size_t v = 0; v < nV; v++)
{
points[v] = m_vertices.GetData().m_pos;
m_vertices.GetData().m_id = v;
m_vertices.Next();
}
for(size_t f = 0; f < nT; f++)
{
TMMTriangle & currentTriangle = m_triangles.GetData();
triangles[f].X() = static_cast<long>(currentTriangle.m_vertices[0]->GetData().m_id);
triangles[f].Y() = static_cast<long>(currentTriangle.m_vertices[1]->GetData().m_id);
triangles[f].Z() = static_cast<long>(currentTriangle.m_vertices[2]->GetData().m_id);
m_triangles.Next();
}
}
void TMMesh::Clear()
{
m_vertices.Clear();
m_edges.Clear();
m_triangles.Clear();
}
void TMMesh::Copy(TMMesh & mesh)
{
Clear();
// updating the id's
size_t nV = mesh.m_vertices.GetSize();
size_t nE = mesh. m_edges.GetSize();
size_t nT = mesh.m_triangles.GetSize();
for(size_t v = 0; v < nV; v++)
{
mesh.m_vertices.GetData().m_id = v;
mesh.m_vertices.Next();
}
for(size_t e = 0; e < nE; e++)
{
mesh.m_edges.GetData().m_id = e;
mesh.m_edges.Next();
}
for(size_t f = 0; f < nT; f++)
{
mesh.m_triangles.GetData().m_id = f;
mesh.m_triangles.Next();
}
// copying data
m_vertices = mesh.m_vertices;
m_edges = mesh.m_edges;
m_triangles = mesh.m_triangles;
// generating mapping
CircularListElement<TMMVertex> ** vertexMap = new CircularListElement<TMMVertex> * [nV];
CircularListElement<TMMEdge> ** edgeMap = new CircularListElement<TMMEdge> * [nE];
CircularListElement<TMMTriangle> ** triangleMap = new CircularListElement<TMMTriangle> * [nT];
for(size_t v = 0; v < nV; v++)
{
vertexMap[v] = m_vertices.GetHead();
m_vertices.Next();
}
for(size_t e = 0; e < nE; e++)
{
edgeMap[e] = m_edges.GetHead();
m_edges.Next();
}
for(size_t f = 0; f < nT; f++)
{
triangleMap[f] = m_triangles.GetHead();
m_triangles.Next();
}
// updating pointers
for(size_t v = 0; v < nV; v++)
{
if (vertexMap[v]->GetData().m_duplicate)
{
vertexMap[v]->GetData().m_duplicate = edgeMap[vertexMap[v]->GetData().m_duplicate->GetData().m_id];
}
}
for(size_t e = 0; e < nE; e++)
{
if (edgeMap[e]->GetData().m_newFace)
{
edgeMap[e]->GetData().m_newFace = triangleMap[edgeMap[e]->GetData().m_newFace->GetData().m_id];
}
if (nT > 0)
{
for(int f = 0; f < 2; f++)
{
if (edgeMap[e]->GetData().m_triangles[f])
{
edgeMap[e]->GetData().m_triangles[f] = triangleMap[edgeMap[e]->GetData().m_triangles[f]->GetData().m_id];
}
}
}
for(int v = 0; v < 2; v++)
{
if (edgeMap[e]->GetData().m_vertices[v])
{
edgeMap[e]->GetData().m_vertices[v] = vertexMap[edgeMap[e]->GetData().m_vertices[v]->GetData().m_id];
}
}
}
for(size_t f = 0; f < nT; f++)
{
if (nE > 0)
{
for(int e = 0; e < 3; e++)
{
if (triangleMap[f]->GetData().m_edges[e])
{
triangleMap[f]->GetData().m_edges[e] = edgeMap[triangleMap[f]->GetData().m_edges[e]->GetData().m_id];
}
}
}
for(int v = 0; v < 3; v++)
{
if (triangleMap[f]->GetData().m_vertices[v])
{
triangleMap[f]->GetData().m_vertices[v] = vertexMap[triangleMap[f]->GetData().m_vertices[v]->GetData().m_id];
}
}
}
delete [] vertexMap;
delete [] edgeMap;
delete [] triangleMap;
}
long IntersectRayTriangle(const Vec3<double> & P0, const Vec3<double> & dir,
const Vec3<double> & V0, const Vec3<double> & V1,
const Vec3<double> & V2, double &t)
{
Vec3<double> edge1, edge2, edge3;
double det, invDet;
edge1 = V1 - V2;
edge2 = V2 - V0;
Vec3<double> pvec = dir ^ edge2;
det = edge1 * pvec;
if (det == 0.0)
return 0;
invDet = 1.0/det;
Vec3<double> tvec = P0 - V0;
Vec3<double> qvec = tvec ^ edge1;
t = (edge2 * qvec) * invDet;
if (t < 0.0)
{
return 0;
}
edge3 = V0 - V1;
Vec3<double> I(P0 + t * dir);
Vec3<double> s0 = (I-V0) ^ edge3;
Vec3<double> s1 = (I-V1) ^ edge1;
Vec3<double> s2 = (I-V2) ^ edge2;
if (s0*s1 > -1e-9 && s2*s1 > -1e-9)
{
return 1;
}
return 0;
}
bool IntersectLineLine(const Vec3<double> & p1, const Vec3<double> & p2,
const Vec3<double> & p3, const Vec3<double> & p4,
Vec3<double> & pa, Vec3<double> & pb,
double & mua, double & mub)
{
Vec3<double> p13,p43,p21;
double d1343,d4321,d1321,d4343,d2121;
double numer,denom;
p13.X() = p1.X() - p3.X();
p13.Y() = p1.Y() - p3.Y();
p13.Z() = p1.Z() - p3.Z();
p43.X() = p4.X() - p3.X();
p43.Y() = p4.Y() - p3.Y();
p43.Z() = p4.Z() - p3.Z();
if (p43.X()==0.0 && p43.Y()==0.0 && p43.Z()==0.0)
return false;
p21.X() = p2.X() - p1.X();
p21.Y() = p2.Y() - p1.Y();
p21.Z() = p2.Z() - p1.Z();
if (p21.X()==0.0 && p21.Y()==0.0 && p21.Z()==0.0)
return false;
d1343 = p13.X() * p43.X() + p13.Y() * p43.Y() + p13.Z() * p43.Z();
d4321 = p43.X() * p21.X() + p43.Y() * p21.Y() + p43.Z() * p21.Z();
d1321 = p13.X() * p21.X() + p13.Y() * p21.Y() + p13.Z() * p21.Z();
d4343 = p43.X() * p43.X() + p43.Y() * p43.Y() + p43.Z() * p43.Z();
d2121 = p21.X() * p21.X() + p21.Y() * p21.Y() + p21.Z() * p21.Z();
denom = d2121 * d4343 - d4321 * d4321;
if (denom==0.0)
return false;
numer = d1343 * d4321 - d1321 * d4343;
mua = numer / denom;
mub = (d1343 + d4321 * (mua)) / d4343;
pa.X() = p1.X() + mua * p21.X();
pa.Y() = p1.Y() + mua * p21.Y();
pa.Z() = p1.Z() + mua * p21.Z();
pb.X() = p3.X() + mub * p43.X();
pb.Y() = p3.Y() + mub * p43.Y();
pb.Z() = p3.Z() + mub * p43.Z();
return true;
}
long IntersectRayTriangle2(const Vec3<double> & P0, const Vec3<double> & dir,
const Vec3<double> & V0, const Vec3<double> & V1,
const Vec3<double> & V2, double &r)
{
Vec3<double> u, v, n; // triangle vectors
Vec3<double> w0, w; // ray vectors
double a, b; // params to calc ray-plane intersect
// get triangle edge vectors and plane normal
u = V1 - V0;
v = V2 - V0;
n = u ^ v; // cross product
if (n.GetNorm() == 0.0) // triangle is degenerate
return -1; // do not deal with this case
w0 = P0 - V0;
a = - n * w0;
b = n * dir;
if (fabs(b) <= 0.0) { // ray is parallel to triangle plane
if (a == 0.0) // ray lies in triangle plane
return 2;
else return 0; // ray disjoint from plane
}
// get intersect point of ray with triangle plane
r = a / b;
if (r < 0.0) // ray goes away from triangle
return 0; // => no intersect
// for a segment, also test if (r > 1.0) => no intersect
Vec3<double> I = P0 + r * dir; // intersect point of ray and plane
// is I inside T?
double uu, uv, vv, wu, wv, D;
uu = u * u;
uv = u * v;
vv = v * v;
w = I - V0;
wu = w * u;
wv = w * v;
D = uv * uv - uu * vv;
// get and test parametric coords
double s, t;
s = (uv * wv - vv * wu) / D;
if (s < 0.0 || s > 1.0) // I is outside T
return 0;
t = (uv * wu - uu * wv) / D;
if (t < 0.0 || (s + t) > 1.0) // I is outside T
return 0;
return 1; // I is in T
}
bool TMMesh::CheckConsistancy()
{
size_t nE = m_edges.GetSize();
size_t nT = m_triangles.GetSize();
for(size_t e = 0; e < nE; e++)
{
for(int f = 0; f < 2; f++)
{
if (!m_edges.GetHead()->GetData().m_triangles[f])
{
return false;
}
}
m_edges.Next();
}
for(size_t f = 0; f < nT; f++)
{
for(int e = 0; e < 3; e++)
{
int found = 0;
for(int k = 0; k < 2; k++)
{
if (m_triangles.GetHead()->GetData().m_edges[e]->GetData().m_triangles[k] == m_triangles.GetHead())
{
found++;
}
}
if (found != 1)
{
return false;
}
}
m_triangles.Next();
}
return true;
}
bool TMMesh::Normalize()
{
size_t nV = m_vertices.GetSize();
if (nV == 0)
{
return false;
}
m_barycenter = m_vertices.GetHead()->GetData().m_pos;
Vec3<Real> min = m_barycenter;
Vec3<Real> max = m_barycenter;
Real x, y, z;
for(size_t v = 1; v < nV; v++)
{
m_barycenter += m_vertices.GetHead()->GetData().m_pos;
x = m_vertices.GetHead()->GetData().m_pos.X();
y = m_vertices.GetHead()->GetData().m_pos.Y();
z = m_vertices.GetHead()->GetData().m_pos.Z();
if ( x < min.X()) min.X() = x;
else if ( x > max.X()) max.X() = x;
if ( y < min.Y()) min.Y() = y;
else if ( y > max.Y()) max.Y() = y;
if ( z < min.Z()) min.Z() = z;
else if ( z > max.Z()) max.Z() = z;
m_vertices.Next();
}
m_barycenter /= static_cast<Real>(nV);
m_diag = static_cast<Real>(0.001 * (max-min).GetNorm());
const Real invDiag = static_cast<Real>(1.0 / m_diag);
if (m_diag != 0.0)
{
for(size_t v = 0; v < nV; v++)
{
m_vertices.GetHead()->GetData().m_pos = (m_vertices.GetHead()->GetData().m_pos - m_barycenter) * invDiag;
m_vertices.Next();
}
}
return true;
}
bool TMMesh::Denormalize()
{
size_t nV = m_vertices.GetSize();
if (nV == 0)
{
return false;
}
if (m_diag != 0.0)
{
for(size_t v = 0; v < nV; v++)
{
m_vertices.GetHead()->GetData().m_pos = m_vertices.GetHead()->GetData().m_pos * m_diag + m_barycenter;
m_vertices.Next();
}
}
return false;
}
}
|
