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 float EPSILON = (float)0.0001;
15 public static Random random = new Random();
17 private PointSet<Vert> pointset = new PointSet<Vert>();
18 public Vert nearest(Point p) { return pointset.nearest(p); }
19 private HashMap<Point,Vert> verts = new HashMap<Point,Vert>();
21 public Iterable<E> edges() {
24 public Iterator<E> iterator() {
26 HashSet<E> hse = new HashSet<E>();
27 for(T t : Mesh.this) {
35 return hse.iterator();
39 public Iterator<T> iterator() {
40 for(Vert v : pointset)
41 if (v.e != null && v.e.t != null)
42 return new FaceIterator(v);
43 return new FaceIterator();
46 public Point origin() { return new Point(0, 0, 0); }
48 public Mesh score_against = null;
49 public double score = 0;
50 public float score() { return (float)score; }
52 public int numedges = 0;
53 public float avgedge = 0;
55 public void unbind() {
56 for(Mesh.T t : this) {
64 for(Mesh.T t : this) {
71 public float rescore() {
74 HashSet<Vert> done = new HashSet<Vert>();
76 for(Vert p : new Vert[] { t.v1(), t.v2(), t.v3() }) {
77 if (done.contains(p)) continue;
83 for(Vert p : new Vert[] { t.v1(), t.v2(), t.v3() })
87 for(Vert p : new Vert[] { t.v1(), t.v2(), t.v3() })
90 return (float)(dist/num);
93 public void transform(Matrix m) {
94 ArrayList<Vert> set = new ArrayList<Vert>();
95 for (Vert v : pointset)
97 for(Vert v : set) v.transform(m);
100 public Vec diagonal() { return pointset.diagonal(); }
101 public Point centroid() { return pointset.centroid(); }
103 public float volume() {
106 double area = t.area();
107 Vec origin_to_centroid = new Vec(new Point(0, 0, 0), t.centroid());
108 boolean facingAway = t.norm().dot(origin_to_centroid) > 0;
109 double height = Math.abs(t.norm().dot(origin_to_centroid));
110 total += ((facingAway ? 1 : -1) * area * height) / 3.0;
116 public class BindingGroup {
117 public HashSet<E> es = new HashSet<E>();
118 public BindingGroup() { }
119 public BindingGroup(E e) {
122 public void add(E e) {
123 if (e.bg != null) { merge(e.bg); return; }
127 public void merge(BindingGroup bg) {
135 public Vert register(Point p) { Vert v = verts.get(p); return v==null ? new Vert(p) : v; }
136 public final class Vert extends HasPoint {
138 public Point getPoint() { return p; }
139 private Vert(Point p) {
141 if (verts.get(p) != null) throw new Error();
142 verts.put(this.p, this);
145 public void reinsert() {
146 pointset.remove(this);
149 public void kdremove() {
150 if (!inserted) return;
152 pointset.remove(this);
154 public void kdinsert() {
155 if (inserted) return;
160 public float score() { return oldscore; }
161 public void unscore() {
162 if (watch == null) return;
163 watch.watch_x -= p.x;
164 watch.watch_y -= p.y;
165 watch.watch_z -= p.z;
167 if (watch.watch_count==0) {
174 public Vert partner() { return watch==null ? this : watch; }
175 public Vert watchback() { return watch_count==0 ? partner() :
176 register(new Point(watch_x/watch_count, watch_y/watch_count, watch_z/watch_count)); }
177 public void rescore() {
178 if (score_against == null) return;
183 if (watch != null) unscore();
186 watch = score_against.nearest(po.p);
188 // don't attract to vertices that face the other way
189 if (watch.e == null || watch.norm().dot(norm()) < 0) {
192 watch.watch_x += po.p.x;
193 watch.watch_y += po.p.y;
194 watch.watch_z += po.p.z;
200 if (watch_count==0) s1 = 0;
201 else s1 = p.distance(watch_x/watch_count, watch_y/watch_count, watch_z/watch_count);
202 s2 = watch==null ? 0 : po.p.distance(watch.p);
203 oldscore = (float)(s1 + s2);
207 /** does NOT update bound pairs! */
208 public boolean transform(Matrix m) {
209 // FIXME: screws up kdtree
210 // FIXME: screws up hashmap
213 if (verts.get(this.p)==null) throw new Error();
214 verts.remove(this.p);
215 pointset.remove(this);
216 float newx = m.a*p.x + m.b*p.y + m.c*p.z + m.d;
217 float newy = m.e*p.x + m.f*p.y + m.g*p.z + m.h;
218 float newz = m.i*p.x + m.j*p.y + m.k*p.z + m.l;
219 this.p = new Point(newx, newy, newz);
220 // FIXME: what if we move onto exactly where another point is?
222 verts.put(this.p,(Vert)this);
223 } catch (Exception e) {
224 throw new RuntimeException(e);
230 for(E e = this.e; ;) {
231 if (e.intersects(t)) { good = false; break; }
233 if (e == this.e) break;
238 if (t==this.t) continue;
239 if (this.intersects(t)) good = false;
244 public boolean move(Vec v) {
245 Matrix m = new Matrix(v);
249 good &= p.transform(m);
250 v = v.times(binding); // bleh wrong
256 public E makeE(Vert p2) {
258 if (e != null) return e;
260 if (this.e == null && p2.e == null) return this.e = new E(this, p2);
261 if (this.e == null && p2.e != null) return p2.makeE(this).pair;
262 return new E(getFreeIncident(), p2);
265 public E getFreeIncident() {
266 E ret = getFreeIncident(e, e);
267 if (ret != null) return ret;
268 ret = getFreeIncident(e.pair.next, e.pair.next);
269 if (ret == null) throw new Error("unable to find free incident to " + this);
273 public E getFreeIncident(E start, E before) {
276 if (e.pair.p2 == this && e.pair.t == null && e.pair.next.t == null) return e.pair;
278 } while(e != before);
282 public E getE(Vert p2) {
285 if (e==null) return null;
286 if (e.p1 == this && e.p2 == p2) return e;
292 public boolean isBoundTo(Vert p) {
295 if (px==this) return true;
301 public void unbind() { bound_to = this; binding = new Matrix(); }
302 public void bind(Vert p) { bind(p, new Matrix()); }
303 public void bind(Vert p, Matrix binding) {
304 if (isBoundTo(p)) return;
305 Vert temp_bound_to = p.bound_to;
306 Matrix temp_binding = p.binding;
307 p.bound_to = this.bound_to;
308 p.binding = binding.times(this.binding); // FIXME: may have order wrong here
309 this.bound_to = temp_bound_to;
310 this.binding = temp_binding.times(temp_binding); // FIXME: may have order wrong here
313 Vec norm = new Vec(0, 0, 0);
316 if (e.t != null) norm = norm.plus(e.t.norm().times((float)e.prev.angle()));
318 } while(e != this.e);
322 Vert bound_to = this;
328 E e; // some edge *leaving* this point
329 Matrix binding = new Matrix();
331 boolean inserted = false;
334 /** [UNIQUE] an edge */
335 public final class E implements Comparable<E> {
337 public boolean intersects(T t) {
338 double A0=t.v1().p.x, A1=t.v1().p.y, A2=t.v1().p.z;
339 double B0=t.v2().p.x, B1=t.v2().p.y, B2=t.v2().p.z;
340 double C0=t.v3().p.x, C1=t.v3().p.y, C2=t.v3().p.z;
341 double j0=p1.p.x, j1=p1.p.y, j2=p1.p.z;
342 double k0=p2.p.x, k1=p2.p.y, k2=p2.p.z;
350 double R00, R01, R02, R03,
364 /* c = a × b */
365 c0 = a1 * b2 - a2 * b1;
366 c1 = a2 * b0 - a0 * b2;
367 c2 = a0 * b1 - a1 * b0;
369 /* M^(-1) = (1/det(M)) * adj(M) */
370 in_det = 1 / (c0 * c0 + c1 * c1 + c2 * c2);
371 R00 = (b1 * c2 - b2 * c1) * in_det;
372 R01 = (b2 * c0 - b0 * c2) * in_det;
373 R02 = (b0 * c1 - b1 * c0) * in_det;
374 R10 = (c1 * a2 - c2 * a1) * in_det;
375 R11 = (c2 * a0 - c0 * a2) * in_det;
376 R12 = (c0 * a1 - c1 * a0) * in_det;
382 R03 = -(R00 * A0 + R01 * A1 + R02 * A2);
383 R13 = -(R10 * A0 + R11 * A1 + R12 * A2);
384 R23 = -(R20 * A0 + R21 * A1 + R22 * A2);
386 /* fill in last row of 4x4 matrix */
390 J2 = R20 * j0 + R21 * j1 + R22 * j2 + R23;
391 K2 = R20 * k0 + R21 * k1 + R22 * k2 + R23;
392 if (J2 * K2 >= 0) return false;
394 J0 = R00 * j0 + R01 * j1 + R02 * j2 + R03;
395 K0 = R00 * k0 + R01 * k1 + R02 * k2 + R03;
396 i0 = J0 + J2 * ((K0 - J0) / (J2 - K2));
397 if (i0 < 0 || i0 > 1) return false;
399 J1 = R10 * j0 + R11 * j1 + R12 * j2 + R13;
400 K1 = R10 * k0 + R11 * k1 + R12 * k2 + R13;
401 i1 = J1 + J2 * ((K1 - J1) / (J2 - K2));
402 if (i1 < 0 || i1 > 1 || i0 + i1 > 1) return false;
407 public int compareTo(E e) {
408 return e.length() > length() ? 1 : -1;
411 public final Vert p1, p2;
412 T t; // triangle to our "left"
413 E prev; // previous half-edge
414 E next; // next half-edge
415 E pair; // partner half-edge
418 public BindingGroup bg = new BindingGroup(this);
420 public void bind(E e) { bind(e, new Matrix()); }
421 public void bind(E e, Matrix m) { e.bg.add(this); }
423 public void dobind() {
424 if (bg==null) return;
426 if (ex==this) continue;
432 boolean shattered = false;
433 public Vert shatter() { return shatter(register(midpoint()), null, null); }
434 public Vert shatter(Vert mid, BindingGroup bg1, BindingGroup bg2) {
435 if (shattered) return mid;
442 if (bg1==null) bg1 = new BindingGroup();
443 if (bg2==null) bg2 = new BindingGroup();
444 for(E e : bg.es) e.shatter(register(e.midpoint()), bg1, bg2);
448 newT(r, p1, mid, null);
449 newT(r, mid, p2, null);
450 bg1.add(p1.getE(mid));
451 bg2.add(mid.getE(p2));
455 public boolean destroyed = false;
456 public void destroy() {
457 if (destroyed) return;
459 pair.destroyed = true;
460 if (next.t != null) next.t.destroy();
461 if (prev.t != null) prev.t.destroy();
468 pair.prev.next = next;
469 next.prev = pair.prev;
470 prev.next = pair.next;
472 if (p1.e == this) p1.e = prev.next;
473 if (pair.p1.e == pair) pair.p1.e = pair.prev.next;
474 avgedge -= this.length();
475 avgedge -= pair.length();
480 private void sync() {
481 this.prev.next = this;
482 this.next.prev = this;
483 this.pair.pair = this;
484 if (this.next.p1 != p2) throw new Error();
485 if (this.prev.p2 != p1) throw new Error();
486 if (this.p1.e == null) this.p1.e = this;
493 private boolean added = false;
495 public T makeT() { return t==null ? (t = new T(this)) : t; }
497 /** angle between this half-edge and the next */
498 public double angle() {
499 Vec v1 = next.p2.p.minus(p2.p);
500 Vec v2 = this.p1.p.minus(p2.p);
501 return Math.acos(v1.norm().dot(v2.norm()));
504 public void makeAdjacent(E e) {
505 if (this.next == e) return;
506 if (p2 != e.p1) throw new Error("cannot make adjacent -- no shared vertex");
507 if (t != null || e.t != null) throw new Error("cannot make adjacent -- edges not both free");
509 E freeIncident = p2.getFreeIncident(e, this);
511 e.prev.next = freeIncident.next;
512 freeIncident.next.prev = e.prev;
514 freeIncident.next = this.next;
515 this.next.prev = freeIncident;
524 /** creates an isolated edge out in the middle of space */
525 public E(Vert p1, Vert p2) {
526 if (p1==p2) throw new Error("attempt to create edge with single vertex: " + p1);
529 this.prev = this.next = this.pair = new E(this, this, this);
533 /** adds a new half-edge from prev.p2 to p2 */
534 public E(E prev, Vert p2) {
538 if (p2.getE(p1) != null) throw new Error();
540 this.next = this.pair = new E(this, this, prev.next);
542 E q = p2.getFreeIncident();
544 this.next.prev = this;
546 this.prev.next = this;
547 this.pair = new E(q, this, z);
552 /** adds a new half-edge to the mesh with a given predecessor, successor, and pair */
553 public E(E prev, E pair, E next) {
561 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); }
562 public boolean has(Vert v) { return v==p1 || v==p2; }
563 public float length() { return p1.p.minus(p2.p).mag(); }
564 public String toString() { return p1+"->"+p2; }
567 public T newT(Vert p1, Vert p2, Vert p3, Vec norm) {
569 Vec norm2 = p3.p.minus(p1.p).cross(p2.p.minus(p1.p));
570 float dot = norm.dot(norm2);
571 //if (Math.abs(dot) < EPointSILON) throw new Error("dot products within evertsilon of each other: "+norm+" "+norm2);
572 if (dot < 0) { Vert p = p1; p1=p2; p2 = p; }
574 E e12 = p1.makeE(p2);
575 E e23 = p2.makeE(p3);
576 E e31 = p3.makeE(p1);
577 while(e12.next != e23 || e23.next != e31 || e31.next != e12) {
578 e12.makeAdjacent(e23);
579 e23.makeAdjacent(e31);
580 e31.makeAdjacent(e12);
583 if (e12.t == null) throw new Error();
584 if (e23.t == null) throw new Error();
585 if (e31.t == null) throw new Error();
590 public class FaceIterator implements Iterator<T> {
591 private HashSet<T> visited = new HashSet<T>();
592 private LinkedList<T> next = new LinkedList<T>();
593 public FaceIterator() { }
594 public FaceIterator(Vert v) { next.addFirst(v.e.t); }
595 public boolean hasNext() { return next.peek()!=null; }
596 public void remove() { throw new Error(); }
598 T ret = next.removeFirst();
599 if (ret == null) return null;
601 T t1 = ret.e1().pair.t;
602 T t2 = ret.e2().pair.t;
603 T t3 = ret.e3().pair.t;
604 if (t1 != null && !visited.contains(t1)) next.addFirst(t1);
605 if (t2 != null && !visited.contains(t2)) next.addFirst(t2);
606 if (t3 != null && !visited.contains(t3)) next.addFirst(t3);
611 /** [UNIQUE] a triangle (face) */
612 public final class T extends Triangle {
614 public final int color;
616 public void destroy() {
623 if (e1==e2 || e1==e3) throw new Error();
624 if (e3.next!=e1) throw new Error();
625 if (e1.t!=null || e2.t!=null || e3.t!=null) throw new Error("non-manifold surface or disagreeing normals");
628 e1.next.next.t = this;
630 // FIXME: check for sealed/watertight surface once construction is complete (and infer normal(s)?)
632 int color = Math.abs(random.nextInt());
635 if (e1().pair.t != null && color == e1().pair.t.color) { color++; continue; }
636 if (e2().pair.t != null && color == e2().pair.t.color) { color++; continue; }
637 if (e3().pair.t != null && color == e3().pair.t.color) { color++; continue; }
646 public E e1() { return e1; }
647 public E e2() { return e1.next; }
648 public E e3() { return e1.prev; }
649 public Vert v1() { return e1.p1; }
650 public Vert v2() { return e1.p2; }
651 public Vert v3() { return e1.next.p2; }
652 public Point p1() { return e1.p1.p; }
653 public Point p2() { return e1.p2.p; }
654 public Point p3() { return e1.next.p2.p; }
655 public boolean hasE(E e) { return e1==e || e1.next==e || e1.prev==e; }
656 public boolean has(Vert v) { return v1()==v || v2()==v || v3()==v; }