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 HasQuadric implements Visitor<T> {
78 public String toString() { return p.toString(); }
80 E e; // some edge *leaving* this point
82 Matrix binding = Matrix.ONE;
83 Vertex bound_to = this;
84 public float oldscore = 0;
87 public Point getPoint() { return p; }
88 public float score() { return oldscore; }
90 private Vertex(Point p) {
92 if (vertices.get(p) != null) throw new Error();
96 private void glNormal(GL gl) {
98 gl.glNormal3f(norm.x, norm.y, norm.z);
101 public void recomputeFundamentalQuadric() {
102 unApplyQuadricToNeighbor();
103 if (quadricStale || fundamentalQuadric==null) {
104 Matrix m = Matrix.ZERO;
106 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
108 m = m.plus(t.norm().fundamentalQuadric(t.centroid()));
111 quadricStale = false;
112 fundamentalQuadric = m.times(1/(float)count);
114 applyQuadricToNeighbor();
117 public void unApplyQuadricToNeighbor() {
118 if (nearest_in_other_mesh == null) return;
119 if (fundamentalQuadric == null) return;
120 nearest_in_other_mesh.unComputeError();
121 nearest_in_other_mesh.quadric = nearest_in_other_mesh.quadric.minus(fundamentalQuadric);
122 nearest_in_other_mesh.quadric_count--;
123 if (nearest_in_other_mesh.quadric_count==0)
124 nearest_in_other_mesh.quadric = Matrix.ZERO;
125 nearest_in_other_mesh.computeError();
126 nearest_in_other_mesh = null;
129 public void applyQuadricToNeighbor() {
130 if (score_against == null) return;
132 Vertex new_nearest = score_against.nearest(p);
133 if (nearest_in_other_mesh != null && new_nearest == nearest_in_other_mesh) return;
135 if (nearest_in_other_mesh != null) unApplyQuadricToNeighbor();
136 if (nearest_in_other_mesh != null) throw new Error();
138 nearest_in_other_mesh = new_nearest;
140 // don't attract to vertices that face the other way
141 if (((Vertex)nearest_in_other_mesh).e == null || ((Vertex)nearest_in_other_mesh).norm().dot(norm()) < 0) {
142 nearest_in_other_mesh = null;
144 nearest_in_other_mesh.unComputeError();
145 nearest_in_other_mesh.quadric = nearest_in_other_mesh.quadric.plus(fundamentalQuadric());
146 nearest_in_other_mesh.quadric_count++;
147 nearest_in_other_mesh.computeError();
152 public void reComputeErrorAround() {
154 if (nearest_in_other_mesh != null) nearest_in_other_mesh.reComputeError();
155 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
156 e.p2.reComputeError();
158 public void reComputeError() {
162 public void unComputeError() {
166 public HasQuadric nearest() { return score_against.nearest(p); }
167 public void computeError() {
170 ? (quadric.preAndPostMultiply(p) * 100) / quadric_count
173 : nearest_in_other_mesh != null
174 ? nearest_in_other_mesh.fundamentalQuadric().preAndPostMultiply(p) * 100 * 10
175 : score_against != null
176 ? score_against.nearest(p).fundamentalQuadric().preAndPostMultiply(p) * 100 * 10
178 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
179 double ang = Math.abs(e.crossAngle());
180 if (ang > Math.PI) throw new Error();
181 float minangle = (float)(Math.PI * 0.8);
183 oldscore += (ang - minangle);
188 private void removeTrianglesFromRTree() {
189 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
190 if (e.t != null) e.t.removeFromRTree();
192 private void addTrianglesToRTree() {
193 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
194 if (e.t != null) e.t.addToRTree();
197 /** does NOT update bound pairs! */
198 public boolean transform(Matrix m) {
199 if (immutableVertices) throw new Error();
201 unApplyQuadricToNeighbor();
204 if (vertices.get(this.p)==null) throw new Error();
205 vertices.remove(this);
206 removeTrianglesFromRTree();
207 float newx = m.a*p.x + m.b*p.y + m.c*p.z + m.d;
208 float newy = m.e*p.x + m.f*p.y + m.g*p.z + m.h;
209 float newz = m.i*p.x + m.j*p.y + m.k*p.z + m.l;
210 this.p = new Point(newx, newy, newz);
211 addTrianglesToRTree();
214 applyQuadricToNeighbor();
218 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
219 if (Math.abs(e.crossAngle()) > (Math.PI * 0.9) || Math.abs(e.next.crossAngle()) > (Math.PI * 0.9)) good = false;
220 if (e.t.aspect() < 0.1) good = false;
221 e.p2.quadricStale = true;
224 if (!ignorecollision && good) triangles.range(oldp, this.p, (Visitor<T>)this);
226 reComputeErrorAround();
230 public void visit(T t) {
232 for(E e = Vertex.this.e; e!=null; e=e.pair.next==Vertex.this.e?null:e.pair.next) {
233 if (!t.has(e.p1) && !t.has(e.p2) && e.intersects(t)) { good = false; }
235 if (!e.t.has(t.e1().p1) && !e.t.has(t.e1().p2) && t.e1().intersects(e.t)) { good = false; }
236 if (!e.t.has(t.e2().p1) && !e.t.has(t.e2().p2) && t.e2().intersects(e.t)) { good = false; }
237 if (!e.t.has(t.e3().p1) && !e.t.has(t.e3().p2) && t.e3().intersects(e.t)) { good = false; }
241 private boolean good;
243 public boolean move(Vec v) {
244 Matrix m = Matrix.translate(v);
248 good &= p.transform(m);
254 public E getFreeIncident() {
255 E ret = getFreeIncident(e, e);
256 if (ret != null) return ret;
257 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
258 System.out.println(e + " " + e.t);
259 throw new Error("unable to find free incident to " + this);
262 public E getFreeIncident(E start, E before) {
263 for(E e = start; e!=null; e=e.pair.next==before?null:e.pair.next)
264 if (e.pair.p2 == this && e.pair.t == null && e.pair.next.t == null)
269 public E getE(Point p2) {
270 Vertex v = vertices.get(p2);
271 if (v==null) return null;
274 public E getE(Vertex p2) {
275 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
276 if (e.p1 == this && e.p2 == p2) return e;
281 Vec norm = new Vec(0, 0, 0);
282 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
284 norm = norm.plus(e.t.norm().times((float)e.prev.angle()));
288 public boolean isBoundTo(Vertex p) {
289 for(Vertex px = p; px!=null; px=(px.bound_to==p?null:px.bound_to))
295 public void unbind() { bound_to = this; binding = Matrix.ONE; }
296 public void bind(Vertex p) { bind(p, Matrix.ONE); }
297 public void bind(Vertex p, Matrix binding) {
298 if (isBoundTo(p)) return;
299 Vertex temp_bound_to = p.bound_to;
300 Matrix temp_binding = p.binding;
301 p.bound_to = this.bound_to;
302 p.binding = binding.times(this.binding); // FIXME: may have order wrong here
303 this.bound_to = temp_bound_to;
304 this.binding = temp_binding.times(temp_binding); // FIXME: may have order wrong here
308 public class BindingGroup {
309 private HashSet<E> set = new HashSet<E>();
310 public BindingGroup bind_others;
311 public BindingGroup other() { return bind_others; }
312 public BindingGroup(BindingGroup bind_others) { this.bind_others = bind_others; }
313 public BindingGroup() { this.bind_others = new BindingGroup(this); }
314 public BindingGroup(E e) { this(); set.add(e); }
315 public void add(E e) {
316 if (set.contains(e)) return;
318 BindingGroup e_bind_peers = e.bind_peers;
319 BindingGroup e_bind_to = e.bind_to;
321 e.bind_to = bind_others;
322 for (E epeer : e_bind_peers.set) add(epeer);
323 for (E eother : e_bind_to.set) bind_others.add(eother);
325 for(E eother : bind_others.set) {
326 if (e.next.bind_to.set.contains(eother.prev)) {
327 e.next.next.bindEdge(eother.prev.prev);
329 if (e.prev.bind_to.set.contains(eother.next)) {
330 e.prev.prev.bindEdge(eother.next.next);
335 public void dobind(E e) {
336 for(E ebound : set) {
337 e.p1.bind(ebound.p2);
338 e.p2.bind(ebound.p1);
341 public void shatter(BindingGroup bg1, BindingGroup bg2) {
343 e.shatter(e.midpoint(), bg1, bg2);
348 /** [UNIQUE] an edge */
349 public final class E implements Comparable<E> {
351 public final Vertex p1, p2;
352 T t; // triangle to our "left"
353 E prev; // previous half-edge
354 E next; // next half-edge
355 E pair; // partner half-edge
356 public BindingGroup bind_peers = new BindingGroup(this);
357 public BindingGroup bind_to = bind_peers.other();
358 boolean shattered = false;
360 public boolean intersects(T t) { return t.intersects(p1.p, p2.p); }
361 public float comparator() {
362 Vertex nearest = score_against.nearest(midpoint());
363 return (float)Math.max(length(), midpoint().distance(nearest.p));
365 public int compareTo(E e) {
366 return e.comparator() > comparator() ? 1 : -1;
368 public void bindEdge(E e) { bind_to.add(e); }
369 public void dobind() { bind_to.dobind(this); }
371 public Point shatter() { return shatter(midpoint(), null, null); }
372 public Point shatter(Point mid, BindingGroup bg1, BindingGroup bg2) {
373 if (shattered || destroyed) return mid;
380 int old_colorclass = t==null ? 0 : t.colorclass;
381 if (bg1==null) bg1 = new BindingGroup();
382 if (bg2==null) bg2 = new BindingGroup();
383 BindingGroup old_bind_to = bind_to;
384 bind_peers.shatter(bg1, bg2);
385 old_bind_to.shatter(bg2.other(), bg1.other());
389 newT(r.p, p1.p, mid, null, old_colorclass);
390 newT(r.p, mid, p2.p, null, old_colorclass);
391 bg1.add(p1.getE(mid));
392 bg2.add(p2.getE(mid).pair);
396 public boolean destroyed = false;
397 public void destroy() {
398 if (destroyed) return;
400 pair.destroyed = true;
402 if (t != null) t.destroy();
405 if (pair.t != null) pair.t.destroy();
408 if (next.t != null) next.t.destroy();
409 if (prev.t != null) prev.t.destroy();
413 if (pair.next.t != null) pair.next.t.destroy();
414 if (pair.prev.t != null) pair.next.t.destroy();
420 this.bind_peers = null;
421 pair.bind_peers = null;
422 pair.prev.next = next;
423 next.prev = pair.prev;
424 prev.next = pair.next;
426 if (p1.e == this) p1.e = prev.next;
427 if (pair.p1.e == pair) pair.p1.e = pair.prev.next;
430 private void sync() {
431 this.prev.next = this;
432 this.next.prev = this;
433 this.pair.pair = this;
434 bind_peers.add(this);
435 if (this.next.p1 != p2) throw new Error();
436 if (this.prev.p2 != p1) throw new Error();
437 if (this.p1.e == null) this.p1.e = this;
438 if (!added) added = true;
440 private boolean added = false;
442 public T makeT(int colorclass) { return t==null ? (t = new T(this, colorclass)) : t; }
444 public double crossAngle() {
445 Vec v1 = t.norm().times(-1);
446 Vec v2 = pair.t.norm().times(-1);
447 return Math.acos(v1.norm().dot(v2.norm()));
450 /** angle between this half-edge and the next */
451 public double angle() {
452 Vec v1 = next.p2.p.minus(p2.p);
453 Vec v2 = this.p1.p.minus(p2.p);
454 return Math.acos(v1.norm().dot(v2.norm()));
457 public void makeAdjacent(E e) {
458 if (this.next == e) return;
459 if (p2 != e.p1) throw new Error("cannot make adjacent -- no shared vertex");
460 if (t != null || e.t != null) throw new Error("cannot make adjacent -- edges not both free");
462 E freeIncident = p2.getFreeIncident(e, this);
464 e.prev.next = freeIncident.next;
465 freeIncident.next.prev = e.prev;
467 freeIncident.next = this.next;
468 this.next.prev = freeIncident;
477 /** creates an isolated edge out in the middle of space */
478 public E(Point p1, Point p2) {
479 if (vertices.get(p1) != null) throw new Error();
480 if (vertices.get(p2) != null) throw new Error();
481 this.p1 = new Vertex(p1);
482 this.p2 = new Vertex(p2);
483 this.prev = this.next = this.pair = new E(this, this, this);
485 this.p2.e = this.pair;
489 /** adds a new half-edge from prev.p2 to p2 */
490 public E(E prev, Point p) {
492 p2 = vertices.get(p);
493 if (p2 == null) p2 = new Vertex(p);
497 if (p2.getE(p1) != null) throw new Error();
499 this.next = this.pair = new E(this, this, prev.next);
501 E q = p2.getFreeIncident();
503 this.next.prev = this;
505 this.prev.next = this;
506 this.pair = new E(q, this, z);
508 if (p2.e==null) p2.e = this.pair;
512 /** adds a new half-edge to the mesh with a given predecessor, successor, and pair */
513 public E(E prev, E pair, E next) {
521 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); }
522 public boolean has(Vertex v) { return v==p1 || v==p2; }
523 public float length() { return p1.p.minus(p2.p).mag(); }
524 public String toString() { return p1+"->"+p2; }
528 public E makeE(Point p1, Point p2) {
529 Vertex v1 = vertices.get(p1);
530 Vertex v2 = vertices.get(p2);
531 if (v1 != null && v2 != null) {
533 if (e != null) return e;
535 if (e != null) return e;
537 if (v1 != null) return new E(v1.getFreeIncident(), p2);
538 if (v2 != null) return new E(v2.getFreeIncident(), p1).pair;
539 return new E(p1, p2);
541 public T newT(Point p1, Point p2, Point p3, Vec norm, int colorclass) {
543 Vec norm2 = p3.minus(p1).cross(p2.minus(p1));
544 float dot = norm.dot(norm2);
545 //if (Math.abs(dot) < EPointSILON) throw new Error("dot products within evertsilon of each other: "+norm+" "+norm2);
546 if (dot < 0) { Point p = p1; p1=p2; p2 = p; }
548 E e12 = makeE(p1, p2);
549 E e23 = makeE(p2, p3);
550 E e31 = makeE(p3, p1);
551 while(e12.next != e23 || e23.next != e31 || e31.next != e12) {
552 e12.makeAdjacent(e23);
553 e23.makeAdjacent(e31);
554 e31.makeAdjacent(e12);
556 T ret = e12.makeT(colorclass);
557 if (e12.t == null) throw new Error();
558 if (e23.t == null) throw new Error();
559 if (e31.t == null) throw new Error();
564 /** [UNIQUE] a triangle (face) */
565 public final class T extends Triangle {
567 public final int color;
568 public final int colorclass;
570 public void removeFromRTree() { triangles.remove(this); }
571 public void addToRTree() { triangles.insert(this); }
573 public void destroy() { triangles.remove(this); }
575 T(E e1, int colorclass) {
579 if (e1==e2 || e1==e3) throw new Error();
580 if (e3.next!=e1) throw new Error();
581 if (e1.t!=null || e2.t!=null || e3.t!=null) throw new Error("non-manifold surface or disagreeing normals");
584 e1.next.next.t = this;
586 // FIXME: check for sealed/watertight surface once construction is complete (and infer normal(s)?)
588 int color = Math.abs(random.nextInt());
591 if (e1().pair.t != null && color == e1().pair.t.color) { color++; continue; }
592 if (e2().pair.t != null && color == e2().pair.t.color) { color++; continue; }
593 if (e3().pair.t != null && color == e3().pair.t.color) { color++; continue; }
597 this.colorclass = colorclass;
600 public E e1() { return e1; }
601 public E e2() { return e1.next; }
602 public E e3() { return e1.prev; }
603 public Vertex v1() { return e1.p1; }
604 public Vertex v2() { return e1.p2; }
605 public Vertex v3() { return e1.next.p2; }
606 public Point p1() { return e1.p1.p; }
607 public Point p2() { return e1.p2.p; }
608 public Point p3() { return e1.next.p2.p; }
609 public boolean hasE(E e) { return e1==e || e1.next==e || e1.prev==e; }
610 public boolean has(Vertex v) { return v1()==v || v2()==v || v3()==v; }
612 public boolean shouldBeDrawn() {
613 if (e1().bind_to.set.size() == 0) return false;
614 if (e2().bind_to.set.size() == 0) return false;
615 if (e3().bind_to.set.size() == 0) return false;