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;
11 import com.infomatiq.jsi.IntProcedure;
13 public class Mesh implements Iterable<Mesh.T> {
15 public static final float EPSILON = (float)0.0001;
16 public static final Random random = new Random();
18 private RTree<T> triangles = new RTree<T>();
19 private PointSet<Vertex> vertices = new PointSet<Vertex>();
21 public boolean immutableVertices;
22 public boolean ignorecollision = false;
23 public Mesh error_against = null;
24 public double error = 0;
26 public Mesh(boolean immutableVertices) { this.immutableVertices = immutableVertices; }
28 public void makeVerticesImmutable() { this.immutableVertices = true; }
29 public float error() { return (float)error; }
31 public int size() { return vertices.size(); }
32 public Iterable<Vertex> vertices() { return vertices; }
33 public Iterator<T> iterator() { return triangles.iterator(); }
35 public void rebindPoints() {
37 for(Mesh.T t : this) {
42 // ask edges to re-implement their bindings
43 for(Mesh.T t : this) {
50 public void transform(Matrix m) {
51 ArrayList<Vertex> set = new ArrayList<Vertex>();
52 for(Vertex v : vertices) set.add(v);
53 for(Vertex v : set) v.transform(m);
56 public void rebuild() { /*vertices.rebuild();*/ }
57 public Vec diagonal() { return vertices.diagonal(); }
58 public Point centroid() { return vertices.centroid(); }
59 public Vertex nearest(Point p) { return vertices.nearest(p); }
61 /** compute the volume of the mesh */
62 public float volume() {
65 double area = t.area();
66 Vec origin_to_centroid = new Vec(new Point(0, 0, 0), t.centroid());
67 boolean facingAway = t.norm().dot(origin_to_centroid) > 0;
68 double height = Math.abs(t.norm().dot(origin_to_centroid));
69 total += ((facingAway ? 1 : -1) * area * height) / 3.0;
75 // Vertexices //////////////////////////////////////////////////////////////////////////////
77 /** a vertex in the mesh */
78 public final class Vertex extends HasQuadric implements Visitor {
80 E e; // some edge *leaving* this point
82 Matrix binding = Matrix.ONE;
83 Vertex bound_to = this;
86 public Point getPoint() { return p; }
87 public float error() { return olderror; }
89 private Vertex(Point p) {
91 if (vertices.get(p) != null) throw new Error();
95 public float olderror = 0;
96 public void setError(float nerror) {
102 public Matrix _recomputeFundamentalQuadric() {
103 Matrix m = Matrix.ZERO;
105 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
106 m = m.plus(e.t.norm().fundamentalQuadric(e.t.centroid()));
109 return m.times(1/(float)count);
112 public HasQuadric nearest() { return error_against==null ? null : error_against.vertices.nearest(p, this); }
113 public void computeError() {
116 ? (quadric.preAndPostMultiply(p) * 100) / quadric_count
117 : nearest_in_other_mesh != null
118 ? nearest_in_other_mesh.fundamentalQuadric().preAndPostMultiply(p) * 100 * 10
119 : error_against != null
120 ? nearest().fundamentalQuadric().preAndPostMultiply(p) * 100 * 10
122 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
123 double ang = Math.abs(e.crossAngle());
124 if (ang > Math.PI) throw new Error();
125 float minangle = (float)(Math.PI * 0.8);
126 if (ang > minangle) nerror += (ang - minangle);
131 /** does NOT update bound pairs! */
132 public boolean transform(Matrix m) {
133 if (immutableVertices) throw new Error();
135 unApplyQuadricToNeighbor();
138 if (vertices.get(this.p)==null) throw new Error();
139 vertices.remove(this);
140 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
141 if (e.t != null) e.t.removeFromRTree();
142 this.p = m.times(this.p);
143 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
144 if (e.t != null) e.t.addToRTree();
147 applyQuadricToNeighbor();
151 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
152 if (Math.abs(e.crossAngle()) > (Math.PI * 0.9) || Math.abs(e.next.crossAngle()) > (Math.PI * 0.9)) good = false;
153 if (e.t.aspect() < 0.1) good = false;
154 e.p2.quadricStale = true;
157 if (!ignorecollision && good) triangles.range(oldp, this.p, (Visitor<T>)this);
162 public void reComputeErrorAround() {
164 if (nearest_in_other_mesh != null) nearest_in_other_mesh.reComputeError();
165 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
166 e.p2.reComputeError();
169 public boolean visit(Object o) {
170 if (o instanceof T) {
172 if (!good) return false;
173 for(E e = Vertex.this.e; e!=null; e=e.pair.next==Vertex.this.e?null:e.pair.next) {
174 if (!t.has(e.p1) && !t.has(e.p2) && e.intersects(t)) { good = false; }
176 if (!e.t.has(t.e1().p1) && !e.t.has(t.e1().p2) && t.e1().intersects(e.t)) { good = false; }
177 if (!e.t.has(t.e2().p1) && !e.t.has(t.e2().p2) && t.e2().intersects(e.t)) { good = false; }
178 if (!e.t.has(t.e3().p1) && !e.t.has(t.e3().p2) && t.e3().intersects(e.t)) { good = false; }
183 Vertex v = (Vertex)o;
184 if (v.e==null || v.norm().dot(Vertex.this.norm()) < 0)
190 public boolean move(Vec v) {
191 Matrix m = Matrix.translate(v);
193 for(Vertex p = this; p != null; p = (p.bound_to==this)?null:p.bound_to)
194 good &= p.transform(m);
195 for(Vertex p = this; p != null; p = (p.bound_to==this)?null:p.bound_to)
197 p.reComputeErrorAround();
199 p.transform(Matrix.translate(v.times(-1)));
203 public E getFreeIncident() {
204 E ret = getFreeIncident(e, e);
205 if (ret != null) return ret;
206 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
207 System.out.println(e + " " + e.t);
208 throw new Error("unable to find free incident to " + this);
211 public E getFreeIncident(E start, E before) {
212 for(E e = start; e!=null; e=e.pair.next==before?null:e.pair.next)
213 if (e.pair.p2 == this && e.pair.t == null && e.pair.next.t == null)
218 public E getE(Point p2) {
219 Vertex v = vertices.get(p2);
220 if (v==null) return null;
223 public E getE(Vertex p2) {
224 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
225 if (e.p1 == this && e.p2 == p2) return e;
229 private void glNormal(GL gl) {
231 gl.glNormal3f(norm.x, norm.y, norm.z);
234 Vec norm = new Vec(0, 0, 0);
235 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
237 norm = norm.plus(e.t.norm().times((float)e.prev.angle()));
241 public boolean isBoundTo(Vertex p) {
242 for(Vertex px = p; px!=null; px=(px.bound_to==p?null:px.bound_to))
248 public void unbind() { bound_to = this; binding = Matrix.ONE; }
249 public void bind(Vertex p) { bind(p, Matrix.ONE); }
250 public void bind(Vertex p, Matrix binding) {
251 if (isBoundTo(p)) return;
252 Vertex temp_bound_to = p.bound_to;
253 Matrix temp_binding = p.binding;
254 p.bound_to = this.bound_to;
255 p.binding = binding.times(this.binding); // FIXME: may have order wrong here
256 this.bound_to = temp_bound_to;
257 this.binding = temp_binding.times(temp_binding); // FIXME: may have order wrong here
261 public class BindingGroup {
262 private HashSet<E> set = new HashSet<E>();
263 public BindingGroup bind_others;
264 public BindingGroup other() { return bind_others; }
265 public BindingGroup(BindingGroup bind_others) { this.bind_others = bind_others; }
266 public BindingGroup() { this.bind_others = new BindingGroup(this); }
267 public BindingGroup(E e) { this(); set.add(e); }
268 public void add(E e) {
269 if (set.contains(e)) return;
271 BindingGroup e_bind_peers = e.bind_peers;
272 BindingGroup e_bind_to = e.bind_to;
274 e.bind_to = bind_others;
275 for (E epeer : e_bind_peers.set) add(epeer);
276 for (E eother : e_bind_to.set) bind_others.add(eother);
278 for(E eother : bind_others.set) {
279 if (e.next.bind_to.set.contains(eother.prev)) {
280 e.next.next.bindEdge(eother.prev.prev);
282 if (e.prev.bind_to.set.contains(eother.next)) {
283 e.prev.prev.bindEdge(eother.next.next);
288 public void dobind(E e) {
289 for(E ebound : set) {
290 e.p1.bind(ebound.p2);
291 e.p2.bind(ebound.p1);
294 public void shatter(BindingGroup bg1, BindingGroup bg2) {
296 e.shatter(e.midpoint(), bg1, bg2);
301 /** [UNIQUE] an edge */
302 public final class E implements Comparable<E> {
304 public final Vertex p1, p2;
305 T t; // triangle to our "left"
306 E prev; // previous half-edge
307 E next; // next half-edge
308 E pair; // partner half-edge
309 public BindingGroup bind_peers = new BindingGroup(this);
310 public BindingGroup bind_to = bind_peers.other();
311 boolean shattered = false;
313 public boolean intersects(T t) { return t.intersects(p1.p, p2.p); }
314 public float comparator() {
315 Vertex nearest = error_against.nearest(midpoint());
316 return (float)Math.max(length(), midpoint().distance(nearest.p));
318 public int compareTo(E e) {
319 return e.comparator() > comparator() ? 1 : -1;
321 public void bindEdge(E e) { bind_to.add(e); }
322 public void dobind() { bind_to.dobind(this); }
324 public Point shatter() { return shatter(midpoint(), null, null); }
325 public Point shatter(Point mid, BindingGroup bg1, BindingGroup bg2) {
326 if (shattered || destroyed) return mid;
333 int old_colorclass = t==null ? 0 : t.colorclass;
334 if (bg1==null) bg1 = new BindingGroup();
335 if (bg2==null) bg2 = new BindingGroup();
336 BindingGroup old_bind_to = bind_to;
337 bind_peers.shatter(bg1, bg2);
338 old_bind_to.shatter(bg2.other(), bg1.other());
342 newT(r.p, p1.p, mid, null, old_colorclass);
343 newT(r.p, mid, p2.p, null, old_colorclass);
344 bg1.add(p1.getE(mid));
345 bg2.add(p2.getE(mid).pair);
349 public boolean destroyed = false;
350 public void destroy() {
351 if (destroyed) return;
353 pair.destroyed = true;
355 if (t != null) t.destroy();
358 if (pair.t != null) pair.t.destroy();
361 if (next.t != null) next.t.destroy();
362 if (prev.t != null) prev.t.destroy();
366 if (pair.next.t != null) pair.next.t.destroy();
367 if (pair.prev.t != null) pair.next.t.destroy();
373 this.bind_peers = null;
374 pair.bind_peers = null;
375 pair.prev.next = next;
376 next.prev = pair.prev;
377 prev.next = pair.next;
379 if (p1.e == this) p1.e = prev.next;
380 if (pair.p1.e == pair) pair.p1.e = pair.prev.next;
383 private void sync() {
384 this.prev.next = this;
385 this.next.prev = this;
386 this.pair.pair = this;
387 bind_peers.add(this);
388 if (this.next.p1 != p2) throw new Error();
389 if (this.prev.p2 != p1) throw new Error();
390 if (this.p1.e == null) this.p1.e = this;
391 if (!added) added = true;
393 private boolean added = false;
395 public T makeT(int colorclass) { return t==null ? (t = new T(this, colorclass)) : t; }
397 public double crossAngle() {
398 Vec v1 = t.norm().times(-1);
399 Vec v2 = pair.t.norm().times(-1);
400 return Math.acos(v1.norm().dot(v2.norm()));
403 /** angle between this half-edge and the next */
404 public double angle() {
405 Vec v1 = next.p2.p.minus(p2.p);
406 Vec v2 = this.p1.p.minus(p2.p);
407 return Math.acos(v1.norm().dot(v2.norm()));
410 public void makeAdjacent(E e) {
411 if (this.next == e) return;
412 if (p2 != e.p1) throw new Error("cannot make adjacent -- no shared vertex");
413 if (t != null || e.t != null) throw new Error("cannot make adjacent -- edges not both free");
415 E freeIncident = p2.getFreeIncident(e, this);
417 e.prev.next = freeIncident.next;
418 freeIncident.next.prev = e.prev;
420 freeIncident.next = this.next;
421 this.next.prev = freeIncident;
430 /** creates an isolated edge out in the middle of space */
431 public E(Point p1, Point p2) {
432 if (vertices.get(p1) != null) throw new Error();
433 if (vertices.get(p2) != null) throw new Error();
434 this.p1 = new Vertex(p1);
435 this.p2 = new Vertex(p2);
436 this.prev = this.next = this.pair = new E(this, this, this);
438 this.p2.e = this.pair;
442 /** adds a new half-edge from prev.p2 to p2 */
443 public E(E prev, Point p) {
445 p2 = vertices.get(p);
446 if (p2 == null) p2 = new Vertex(p);
450 if (p2.getE(p1) != null) throw new Error();
452 this.next = this.pair = new E(this, this, prev.next);
454 E q = p2.getFreeIncident();
456 this.next.prev = this;
458 this.prev.next = this;
459 this.pair = new E(q, this, z);
461 if (p2.e==null) p2.e = this.pair;
465 /** adds a new half-edge to the mesh with a given predecessor, successor, and pair */
466 public E(E prev, E pair, E next) {
474 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); }
475 public boolean has(Vertex v) { return v==p1 || v==p2; }
476 public float length() { return p1.p.minus(p2.p).mag(); }
477 public String toString() { return p1+"->"+p2; }
481 public E makeE(Point p1, Point p2) {
482 Vertex v1 = vertices.get(p1);
483 Vertex v2 = vertices.get(p2);
484 if (v1 != null && v2 != null) {
486 if (e != null) return e;
488 if (e != null) return e;
490 if (v1 != null) return new E(v1.getFreeIncident(), p2);
491 if (v2 != null) return new E(v2.getFreeIncident(), p1).pair;
492 return new E(p1, p2);
494 public T newT(Point p1, Point p2, Point p3, Vec norm, int colorclass) {
496 Vec norm2 = p3.minus(p1).cross(p2.minus(p1));
497 float dot = norm.dot(norm2);
498 //if (Math.abs(dot) < EPointSILON) throw new Error("dot products within evertsilon of each other: "+norm+" "+norm2);
499 if (dot < 0) { Point p = p1; p1=p2; p2 = p; }
501 E e12 = makeE(p1, p2);
502 E e23 = makeE(p2, p3);
503 E e31 = makeE(p3, p1);
504 while(e12.next != e23 || e23.next != e31 || e31.next != e12) {
505 e12.makeAdjacent(e23);
506 e23.makeAdjacent(e31);
507 e31.makeAdjacent(e12);
509 T ret = e12.makeT(colorclass);
510 if (e12.t == null) throw new Error();
511 if (e23.t == null) throw new Error();
512 if (e31.t == null) throw new Error();
517 /** [UNIQUE] a triangle (face) */
518 public final class T extends Triangle {
520 public final int color;
521 public final int colorclass;
523 public void removeFromRTree() { triangles.remove(this); }
524 public void addToRTree() { triangles.insert(this); }
526 public void destroy() { triangles.remove(this); }
528 T(E e1, int colorclass) {
532 if (e1==e2 || e1==e3) throw new Error();
533 if (e3.next!=e1) throw new Error();
534 if (e1.t!=null || e2.t!=null || e3.t!=null) throw new Error("non-manifold surface or disagreeing normals");
537 e1.next.next.t = this;
539 // FIXME: check for sealed/watertight surface once construction is complete (and infer normal(s)?)
541 int color = Math.abs(random.nextInt());
544 if (e1().pair.t != null && color == e1().pair.t.color) { color++; continue; }
545 if (e2().pair.t != null && color == e2().pair.t.color) { color++; continue; }
546 if (e3().pair.t != null && color == e3().pair.t.color) { color++; continue; }
550 this.colorclass = colorclass;
553 public E e1() { return e1; }
554 public E e2() { return e1.next; }
555 public E e3() { return e1.prev; }
556 public Vertex v1() { return e1.p1; }
557 public Vertex v2() { return e1.p2; }
558 public Vertex v3() { return e1.next.p2; }
559 public Point p1() { return e1.p1.p; }
560 public Point p2() { return e1.p2.p; }
561 public Point p3() { return e1.next.p2.p; }
562 public boolean hasE(E e) { return e1==e || e1.next==e || e1.prev==e; }
563 public boolean has(Vertex v) { return v1()==v || v2()==v || v3()==v; }
565 public boolean shouldBeDrawn() {
566 if (e1().bind_to.set.size() == 0) return false;
567 if (e2().bind_to.set.size() == 0) return false;
568 if (e3().bind_to.set.size() == 0) return false;