1 package edu.berkeley.qfat;
4 import java.awt.event.*;
6 import javax.media.opengl.*;
7 import javax.media.opengl.glu.*;
8 import edu.berkeley.qfat.geom.*;
9 import edu.wlu.cs.levy.CG.KDTree;
10 import edu.berkeley.qfat.geom.Point;
12 public class Mesh implements Iterable<Mesh.T> {
14 public static final float EPSILON = (float)0.0001;
15 public static final Random random = new Random();
17 private RTree<T> triangles = new RTree<T>();
18 private PointSet<Vertex> vertices = new PointSet<Vertex>();
20 public boolean immutableVertices;
21 public boolean ignorecollision = false;
22 public Mesh score_against = null;
23 public double score = 0;
25 public Mesh(boolean immutableVertices) { this.immutableVertices = immutableVertices; }
27 public void makeVerticesImmutable() { this.immutableVertices = true; }
28 public float score() { return (float)score; }
30 public int size() { return vertices.size(); }
31 public Iterable<Vertex> vertices() { return vertices; }
32 public Iterator<T> iterator() { return triangles.iterator(); }
34 public void rebindPoints() {
36 for(Mesh.T t : this) {
41 // ask edges to re-implement their bindings
42 for(Mesh.T t : this) {
49 public void transform(Matrix m) {
50 ArrayList<Vertex> set = new ArrayList<Vertex>();
51 for(Vertex v : vertices) set.add(v);
52 for(Vertex v : set) v.transform(m);
55 public void rebuild() { /*vertices.rebuild();*/ }
56 public Vec diagonal() { return vertices.diagonal(); }
57 public Point centroid() { return vertices.centroid(); }
58 public Vertex nearest(Point p) { return vertices.nearest(p); }
60 /** compute the volume of the mesh */
61 public float volume() {
64 double area = t.area();
65 Vec origin_to_centroid = new Vec(new Point(0, 0, 0), t.centroid());
66 boolean facingAway = t.norm().dot(origin_to_centroid) > 0;
67 double height = Math.abs(t.norm().dot(origin_to_centroid));
68 total += ((facingAway ? 1 : -1) * area * height) / 3.0;
74 // Vertexices //////////////////////////////////////////////////////////////////////////////
76 /** a vertex in the mesh */
77 public final class Vertex extends HasPoint implements Visitor<T> {
78 public String toString() { return p.toString(); }
80 E e; // some edge *leaving* this point
82 /** the nearest vertex in the "score_against" mesh */
83 Vertex nearest_in_other_mesh;
84 /** the number of vertices in the other mesh for which this is the nearest_in_other_mesh */
86 /** the total error quadric (contributions from all vertices in other mesh for which this is nearest) */
87 Matrix quadric = Matrix.ZERO;
89 Matrix binding = Matrix.ONE;
90 Vertex bound_to = this;
92 boolean quadricStale = false;
94 public Matrix errorQuadric() { return quadric; }
95 public Point getPoint() { return p; }
96 public float score() { return oldscore; }
98 private Matrix fundamentalQuadric = null;
99 public Matrix fundamentalQuadric() {
100 if (fundamentalQuadric == null) recomputeFundamentalQuadric();
101 return fundamentalQuadric;
104 private Vertex(Point p) {
106 if (vertices.get(p) != null) throw new Error();
110 private void glNormal(GL gl) {
112 gl.glNormal3f(norm.x, norm.y, norm.z);
115 public void recomputeFundamentalQuadricIfNeighborChanged() {
116 if (score_against.nearest(p) == nearest_in_other_mesh) return;
117 recomputeFundamentalQuadric();
119 public void recomputeFundamentalQuadric() {
120 unApplyQuadricToNeighbor();
121 if (quadricStale || fundamentalQuadric==null) {
122 Matrix m = Matrix.ZERO;
124 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
126 m = m.plus(t.norm().fundamentalQuadric(t.centroid()));
129 quadricStale = false;
130 fundamentalQuadric = m.times(1/(float)count);
132 applyQuadricToNeighbor();
135 public void unApplyQuadricToNeighbor() {
136 if (nearest_in_other_mesh == null) return;
137 if (fundamentalQuadric == null) return;
138 nearest_in_other_mesh.unComputeError();
139 nearest_in_other_mesh.quadric = nearest_in_other_mesh.quadric.minus(fundamentalQuadric);
140 nearest_in_other_mesh.quadric_count--;
141 if (nearest_in_other_mesh.quadric_count==0)
142 nearest_in_other_mesh.quadric = Matrix.ZERO;
143 nearest_in_other_mesh.computeError();
144 nearest_in_other_mesh = null;
147 public void applyQuadricToNeighbor() {
148 if (score_against == null) return;
150 Vertex new_nearest = score_against.nearest(p);
151 if (nearest_in_other_mesh != null && new_nearest == nearest_in_other_mesh) return;
153 if (nearest_in_other_mesh != null) unApplyQuadricToNeighbor();
154 if (nearest_in_other_mesh != null) throw new Error();
156 nearest_in_other_mesh = new_nearest;
158 // don't attract to vertices that face the other way
159 if (nearest_in_other_mesh.e == null || nearest_in_other_mesh.norm().dot(norm()) < 0) {
160 nearest_in_other_mesh = null;
162 nearest_in_other_mesh.unComputeError();
163 nearest_in_other_mesh.quadric = nearest_in_other_mesh.quadric.plus(fundamentalQuadric());
164 nearest_in_other_mesh.quadric_count++;
165 nearest_in_other_mesh.computeError();
170 public void reComputeErrorAround() {
172 if (nearest_in_other_mesh != null) nearest_in_other_mesh.reComputeError();
173 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
174 e.p2.reComputeError();
176 public void reComputeError() {
180 public void unComputeError() {
184 public void computeError() {
187 ? (quadric.preAndPostMultiply(p) * 100) / quadric_count
190 : nearest_in_other_mesh != null
191 ? nearest_in_other_mesh.fundamentalQuadric().preAndPostMultiply(p) * 100 * 10
192 : score_against != null
193 ? score_against.nearest(p).fundamentalQuadric().preAndPostMultiply(p) * 100 * 10
195 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
196 double ang = Math.abs(e.crossAngle());
197 if (ang > Math.PI) throw new Error();
198 float minangle = (float)(Math.PI * 0.8);
200 oldscore += (ang - minangle);
205 private void removeTrianglesFromRTree() {
206 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
207 if (e.t != null) e.t.removeFromRTree();
209 private void addTrianglesToRTree() {
210 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
211 if (e.t != null) e.t.addToRTree();
214 /** does NOT update bound pairs! */
215 public boolean transform(Matrix m) {
216 if (immutableVertices) throw new Error();
218 unApplyQuadricToNeighbor();
221 if (vertices.get(this.p)==null) throw new Error();
222 vertices.remove(this);
223 removeTrianglesFromRTree();
224 float newx = m.a*p.x + m.b*p.y + m.c*p.z + m.d;
225 float newy = m.e*p.x + m.f*p.y + m.g*p.z + m.h;
226 float newz = m.i*p.x + m.j*p.y + m.k*p.z + m.l;
227 this.p = new Point(newx, newy, newz);
228 addTrianglesToRTree();
231 applyQuadricToNeighbor();
235 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
236 if (Math.abs(e.crossAngle()) > (Math.PI * 0.9) || Math.abs(e.next.crossAngle()) > (Math.PI * 0.9)) good = false;
237 if (e.t.aspect() < 0.1) good = false;
238 e.p2.quadricStale = true;
241 if (!ignorecollision && good) triangles.range(oldp, this.p, (Visitor<T>)this);
243 reComputeErrorAround();
247 public void visit(T t) {
249 for(E e = Vertex.this.e; e!=null; e=e.pair.next==Vertex.this.e?null:e.pair.next) {
250 if (!t.has(e.p1) && !t.has(e.p2) && e.intersects(t)) { good = false; }
252 if (!e.t.has(t.e1().p1) && !e.t.has(t.e1().p2) && t.e1().intersects(e.t)) { good = false; }
253 if (!e.t.has(t.e2().p1) && !e.t.has(t.e2().p2) && t.e2().intersects(e.t)) { good = false; }
254 if (!e.t.has(t.e3().p1) && !e.t.has(t.e3().p2) && t.e3().intersects(e.t)) { good = false; }
258 private boolean good;
260 public boolean move(Vec v) {
261 Matrix m = Matrix.translate(v);
265 good &= p.transform(m);
271 public E getFreeIncident() {
272 E ret = getFreeIncident(e, e);
273 if (ret != null) return ret;
274 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
275 System.out.println(e + " " + e.t);
276 throw new Error("unable to find free incident to " + this);
279 public E getFreeIncident(E start, E before) {
280 for(E e = start; e!=null; e=e.pair.next==before?null:e.pair.next)
281 if (e.pair.p2 == this && e.pair.t == null && e.pair.next.t == null)
286 public E getE(Point p2) {
287 Vertex v = vertices.get(p2);
288 if (v==null) return null;
291 public E getE(Vertex p2) {
292 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
293 if (e.p1 == this && e.p2 == p2) return e;
298 Vec norm = new Vec(0, 0, 0);
299 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
301 norm = norm.plus(e.t.norm().times((float)e.prev.angle()));
305 public boolean isBoundTo(Vertex p) {
306 for(Vertex px = p; px!=null; px=(px.bound_to==p?null:px.bound_to))
312 public void unbind() { bound_to = this; binding = Matrix.ONE; }
313 public void bind(Vertex p) { bind(p, Matrix.ONE); }
314 public void bind(Vertex p, Matrix binding) {
315 if (isBoundTo(p)) return;
316 Vertex temp_bound_to = p.bound_to;
317 Matrix temp_binding = p.binding;
318 p.bound_to = this.bound_to;
319 p.binding = binding.times(this.binding); // FIXME: may have order wrong here
320 this.bound_to = temp_bound_to;
321 this.binding = temp_binding.times(temp_binding); // FIXME: may have order wrong here
325 public class BindingGroup {
326 private HashSet<E> set = new HashSet<E>();
327 public BindingGroup bind_others;
328 public BindingGroup other() { return bind_others; }
329 public BindingGroup(BindingGroup bind_others) { this.bind_others = bind_others; }
330 public BindingGroup() { this.bind_others = new BindingGroup(this); }
331 public BindingGroup(E e) { this(); set.add(e); }
332 public void add(E e) {
333 if (set.contains(e)) return;
335 BindingGroup e_bind_peers = e.bind_peers;
336 BindingGroup e_bind_to = e.bind_to;
338 e.bind_to = bind_others;
339 for (E epeer : e_bind_peers.set) add(epeer);
340 for (E eother : e_bind_to.set) bind_others.add(eother);
342 for(E eother : bind_others.set) {
343 if (e.next.bind_to.set.contains(eother.prev)) {
344 e.next.next.bindEdge(eother.prev.prev);
346 if (e.prev.bind_to.set.contains(eother.next)) {
347 e.prev.prev.bindEdge(eother.next.next);
352 public void dobind(E e) {
353 for(E ebound : set) {
354 e.p1.bind(ebound.p2);
355 e.p2.bind(ebound.p1);
358 public void shatter(BindingGroup bg1, BindingGroup bg2) {
360 e.shatter(e.midpoint(), bg1, bg2);
365 /** [UNIQUE] an edge */
366 public final class E implements Comparable<E> {
368 public final Vertex p1, p2;
369 T t; // triangle to our "left"
370 E prev; // previous half-edge
371 E next; // next half-edge
372 E pair; // partner half-edge
373 public BindingGroup bind_peers = new BindingGroup(this);
374 public BindingGroup bind_to = bind_peers.other();
375 boolean shattered = false;
377 public boolean intersects(T t) { return t.intersects(p1.p, p2.p); }
378 public float comparator() {
379 Vertex nearest = score_against.nearest(midpoint());
380 return (float)Math.max(length(), midpoint().distance(nearest.p));
382 public int compareTo(E e) {
383 return e.comparator() > comparator() ? 1 : -1;
385 public void bindEdge(E e) { bind_to.add(e); }
386 public void dobind() { bind_to.dobind(this); }
388 public Point shatter() { return shatter(midpoint(), null, null); }
389 public Point shatter(Point mid, BindingGroup bg1, BindingGroup bg2) {
390 if (shattered || destroyed) return mid;
397 int old_colorclass = t==null ? 0 : t.colorclass;
398 if (bg1==null) bg1 = new BindingGroup();
399 if (bg2==null) bg2 = new BindingGroup();
400 BindingGroup old_bind_to = bind_to;
401 bind_peers.shatter(bg1, bg2);
402 old_bind_to.shatter(bg2.other(), bg1.other());
406 newT(r.p, p1.p, mid, null, old_colorclass);
407 newT(r.p, mid, p2.p, null, old_colorclass);
408 bg1.add(p1.getE(mid));
409 bg2.add(p2.getE(mid).pair);
413 public boolean destroyed = false;
414 public void destroy() {
415 if (destroyed) return;
417 pair.destroyed = true;
419 if (t != null) t.destroy();
422 if (pair.t != null) pair.t.destroy();
425 if (next.t != null) next.t.destroy();
426 if (prev.t != null) prev.t.destroy();
430 if (pair.next.t != null) pair.next.t.destroy();
431 if (pair.prev.t != null) pair.next.t.destroy();
437 this.bind_peers = null;
438 pair.bind_peers = null;
439 pair.prev.next = next;
440 next.prev = pair.prev;
441 prev.next = pair.next;
443 if (p1.e == this) p1.e = prev.next;
444 if (pair.p1.e == pair) pair.p1.e = pair.prev.next;
447 private void sync() {
448 this.prev.next = this;
449 this.next.prev = this;
450 this.pair.pair = this;
451 bind_peers.add(this);
452 if (this.next.p1 != p2) throw new Error();
453 if (this.prev.p2 != p1) throw new Error();
454 if (this.p1.e == null) this.p1.e = this;
455 if (!added) added = true;
457 private boolean added = false;
459 public T makeT(int colorclass) { return t==null ? (t = new T(this, colorclass)) : t; }
461 public double crossAngle() {
462 Vec v1 = t.norm().times(-1);
463 Vec v2 = pair.t.norm().times(-1);
464 return Math.acos(v1.norm().dot(v2.norm()));
467 /** angle between this half-edge and the next */
468 public double angle() {
469 Vec v1 = next.p2.p.minus(p2.p);
470 Vec v2 = this.p1.p.minus(p2.p);
471 return Math.acos(v1.norm().dot(v2.norm()));
474 public void makeAdjacent(E e) {
475 if (this.next == e) return;
476 if (p2 != e.p1) throw new Error("cannot make adjacent -- no shared vertex");
477 if (t != null || e.t != null) throw new Error("cannot make adjacent -- edges not both free");
479 E freeIncident = p2.getFreeIncident(e, this);
481 e.prev.next = freeIncident.next;
482 freeIncident.next.prev = e.prev;
484 freeIncident.next = this.next;
485 this.next.prev = freeIncident;
494 /** creates an isolated edge out in the middle of space */
495 public E(Point p1, Point p2) {
496 if (vertices.get(p1) != null) throw new Error();
497 if (vertices.get(p2) != null) throw new Error();
498 this.p1 = new Vertex(p1);
499 this.p2 = new Vertex(p2);
500 this.prev = this.next = this.pair = new E(this, this, this);
502 this.p2.e = this.pair;
506 /** adds a new half-edge from prev.p2 to p2 */
507 public E(E prev, Point p) {
509 p2 = vertices.get(p);
510 if (p2 == null) p2 = new Vertex(p);
514 if (p2.getE(p1) != null) throw new Error();
516 this.next = this.pair = new E(this, this, prev.next);
518 E q = p2.getFreeIncident();
520 this.next.prev = this;
522 this.prev.next = this;
523 this.pair = new E(q, this, z);
525 if (p2.e==null) p2.e = this.pair;
529 /** adds a new half-edge to the mesh with a given predecessor, successor, and pair */
530 public E(E prev, E pair, E next) {
538 public Point midpoint() { return new Point((p1.p.x+p2.p.x)/2, (p1.p.y+p2.p.y)/2, (p1.p.z+p2.p.z)/2); }
539 public boolean has(Vertex v) { return v==p1 || v==p2; }
540 public float length() { return p1.p.minus(p2.p).mag(); }
541 public String toString() { return p1+"->"+p2; }
545 public E makeE(Point p1, Point p2) {
546 Vertex v1 = vertices.get(p1);
547 Vertex v2 = vertices.get(p2);
548 if (v1 != null && v2 != null) {
550 if (e != null) return e;
552 if (e != null) return e;
554 if (v1 != null) return new E(v1.getFreeIncident(), p2);
555 if (v2 != null) return new E(v2.getFreeIncident(), p1).pair;
556 return new E(p1, p2);
558 public T newT(Point p1, Point p2, Point p3, Vec norm, int colorclass) {
560 Vec norm2 = p3.minus(p1).cross(p2.minus(p1));
561 float dot = norm.dot(norm2);
562 //if (Math.abs(dot) < EPointSILON) throw new Error("dot products within evertsilon of each other: "+norm+" "+norm2);
563 if (dot < 0) { Point p = p1; p1=p2; p2 = p; }
565 E e12 = makeE(p1, p2);
566 E e23 = makeE(p2, p3);
567 E e31 = makeE(p3, p1);
568 while(e12.next != e23 || e23.next != e31 || e31.next != e12) {
569 e12.makeAdjacent(e23);
570 e23.makeAdjacent(e31);
571 e31.makeAdjacent(e12);
573 T ret = e12.makeT(colorclass);
574 if (e12.t == null) throw new Error();
575 if (e23.t == null) throw new Error();
576 if (e31.t == null) throw new Error();
581 /** [UNIQUE] a triangle (face) */
582 public final class T extends Triangle {
584 public final int color;
585 public final int colorclass;
587 public void removeFromRTree() { triangles.remove(this); }
588 public void addToRTree() { triangles.insert(this); }
590 public void destroy() { triangles.remove(this); }
592 T(E e1, int colorclass) {
596 if (e1==e2 || e1==e3) throw new Error();
597 if (e3.next!=e1) throw new Error();
598 if (e1.t!=null || e2.t!=null || e3.t!=null) throw new Error("non-manifold surface or disagreeing normals");
601 e1.next.next.t = this;
603 // FIXME: check for sealed/watertight surface once construction is complete (and infer normal(s)?)
605 int color = Math.abs(random.nextInt());
608 if (e1().pair.t != null && color == e1().pair.t.color) { color++; continue; }
609 if (e2().pair.t != null && color == e2().pair.t.color) { color++; continue; }
610 if (e3().pair.t != null && color == e3().pair.t.color) { color++; continue; }
614 this.colorclass = colorclass;
617 public E e1() { return e1; }
618 public E e2() { return e1.next; }
619 public E e3() { return e1.prev; }
620 public Vertex v1() { return e1.p1; }
621 public Vertex v2() { return e1.p2; }
622 public Vertex v3() { return e1.next.p2; }
623 public Point p1() { return e1.p1.p; }
624 public Point p2() { return e1.p2.p; }
625 public Point p3() { return e1.next.p2.p; }
626 public boolean hasE(E e) { return e1==e || e1.next==e || e1.prev==e; }
627 public boolean has(Vertex v) { return v1()==v || v2()==v || v3()==v; }
629 public boolean shouldBeDrawn() {
630 if (e1().bind_to.set.size() == 0) return false;
631 if (e2().bind_to.set.size() == 0) return false;
632 if (e3().bind_to.set.size() == 0) return false;