public class Mesh implements Iterable<Mesh.T> {
- private KDTree kd = new KDTree(3);
-
- public static float EPSILON = (float)0.0001;
- public static Random random = new Random();
-
- private HashMap<Point,Vert> ps = new HashMap<Point,Vert>();
- public HashSet<E> es = new HashSet<E>();
- public ArrayList<T> ts = new ArrayList<T>();
-
- public Iterator<T> iterator() { return ts.iterator(); }
+ public static final float EPSILON = (float)0.0001;
+ public static final Random random = new Random();
+
+ private PointSet<Vert> pointset = new PointSet<Vert>();
+
+ public Iterable<Vert> vertices() { return pointset; }
+
+ public Iterable<E> edges() {
+ return
+ new Iterable<E>() {
+ public Iterator<E> iterator() {
+ // HACK
+ HashSet<E> hse = new HashSet<E>();
+ for(T t : Mesh.this) {
+ hse.add(t.e1());
+ hse.add(t.e2());
+ hse.add(t.e3());
+ hse.add(t.e1().pair);
+ hse.add(t.e2().pair);
+ hse.add(t.e3().pair);
+ }
+ return hse.iterator();
+ } };
+ }
- public Point origin() { return new Point(0, 0, 0); }
+ public Iterator<T> iterator() {
+ for(Vert v : pointset)
+ if (v.e != null && v.e.t != null)
+ return new FaceIterator(v);
+ return new FaceIterator();
+ }
public Mesh score_against = null;
public double score = 0;
public float score() { return (float)score; }
- public void unbind() {
+ public int numedges = 0;
+ public float avgedge = 0;
+ public void rebindPoints() {
+ // unbind all points
for(Mesh.T t : this) {
- t.p1().unbind();
- t.p2().unbind();
- t.p3().unbind();
+ t.v1().unbind();
+ t.v2().unbind();
+ t.v3().unbind();
}
-
- }
- public void bind() {
+ // ask edges to re-implement their bindings
for(Mesh.T t : this) {
t.e1().dobind();
t.e2().dobind();
t.e3().dobind();
}
}
- public int numedges = 0;
- public float avgedge = 0;
- public float rescore() {
+ public void unApplyQuadricToNeighborAll() {
+ HashSet<Vert> done = new HashSet<Vert>();
+ for(T t : this)
+ for(Vert p : new Vert[] { t.v1(), t.v2(), t.v3() }) {
+ if (done.contains(p)) continue;
+ done.add(p);
+ p.unApplyQuadricToNeighbor();
+ }
+ }
+ public void recomputeAllFundamentalQuadrics() {
+ HashSet<Vert> done = new HashSet<Vert>();
+ for(T t : this)
+ for(Vert p : new Vert[] { t.v1(), t.v2(), t.v3() }) {
+ if (done.contains(p)) continue;
+ done.add(p);
+ p.recomputeFundamentalQuadric();
+ }
+ }
+ public float applyQuadricToNeighborAll() {
int num = 0;
double dist = 0;
HashSet<Vert> done = new HashSet<Vert>();
- for(T t : ts)
- for(Vert p : new Vert[] { t.p1(), t.p2(), t.p3() }) {
+ for(T t : this)
+ for(Vert p : new Vert[] { t.v1(), t.v2(), t.v3() }) {
if (done.contains(p)) continue;
done.add(p);
- p.rescore();
+ p.applyQuadricToNeighbor();
+
}
- for(T t : ts)
- for(Vert p : new Vert[] { t.p1(), t.p2(), t.p3() })
- p.kdremove();
- kd = new KDTree(3);
- for(T t : ts)
- for(Vert p : new Vert[] { t.p1(), t.p2(), t.p3() })
- p.kdinsert();
return (float)(dist/num);
}
public void transform(Matrix m) {
ArrayList<Vert> set = new ArrayList<Vert>();
- set.addAll(ps.values());
+ for (Vert v : pointset)
+ set.add(v);
for(Vert v : set) v.transform(m);
}
- public Vec diagonal() {
- float min_x = Float.MAX_VALUE;
- float min_y = Float.MAX_VALUE;
- float min_z = Float.MAX_VALUE;
- float max_x = Float.MIN_VALUE;
- float max_y = Float.MIN_VALUE;
- float max_z = Float.MIN_VALUE;
- for(Point p : ps.keySet()) {
- if (p.x < min_x) min_x = p.x;
- if (p.y < min_y) min_y = p.y;
- if (p.z < min_z) min_z = p.z;
- if (p.x > max_x) max_x = p.x;
- if (p.y > max_y) max_y = p.y;
- if (p.z > max_z) max_z = p.z;
- }
- return new Vec(max_x - min_x, max_y - min_y, max_z - min_z);
- }
-
- public Point centroid() {
- float min_x = Float.MAX_VALUE;
- float min_y = Float.MAX_VALUE;
- float min_z = Float.MAX_VALUE;
- float max_x = Float.MIN_VALUE;
- float max_y = Float.MIN_VALUE;
- float max_z = Float.MIN_VALUE;
- for(Point p : ps.keySet()) {
- if (p.x < min_x) min_x = p.x;
- if (p.y < min_y) min_y = p.y;
- if (p.z < min_z) min_z = p.z;
- if (p.x > max_x) max_x = p.x;
- if (p.y > max_y) max_y = p.y;
- if (p.z > max_z) max_z = p.z;
- }
- return new Point((float)(max_x + min_x)/2,
- (float)(max_y + min_y)/2,
- (float)(max_z + min_z)/2);
- }
-
- public T newT(Vert p12, Vert p23, Vert p31, Vec norm) {
- Vec norm2 = p31.p.minus(p12.p).cross(p23.p.minus(p12.p));
- float dot = norm.dot(norm2);
- //if (Math.abs(dot) < EPointSILON) throw new Error("dot products within epsilon of each other: "+norm+" "+norm2);
- if (dot < 0) { Vert p = p12; p12=p23; p23 = p; }
- return newT(p12, p23, p31);
- }
-
public float volume() {
double total = 0;
- for(T t : ts) {
+ for(T t : this) {
double area = t.area();
Vec origin_to_centroid = new Vec(new Point(0, 0, 0), t.centroid());
boolean facingAway = t.norm().dot(origin_to_centroid) > 0;
return (float)total;
}
- public Vert nearest(Point p) {
- Object[] results;
- try { results = kd.nearest(new double[]{p.x,p.y,p.z},1); } catch (Exception e) { throw new Error(e); }
- return (Vert)results[0];
- }
+ public void rebuildPointSet() { pointset.rebuild(); }
+ public Vec diagonal() { return pointset.diagonal(); }
+ public Point centroid() { return pointset.centroid(); }
+ public Vert nearest(Point p) { return pointset.nearest(p); }
- public T newT(Vert p1, Vert p2, Vert p3) {
- E e12 = p1.makeE(p2);
- E e23 = p2.makeE(p3);
- E e31 = p3.makeE(p1);
- while(e12.next != e23 || e23.next != e31 || e31.next != e12) {
- e12.makeAdjacent(e23);
- e23.makeAdjacent(e31);
- e31.makeAdjacent(e12);
- }
- T ret = e12.makeT();
- if (e12.t == null) throw new Error();
- if (e23.t == null) throw new Error();
- if (e31.t == null) throw new Error();
- return ret;
- }
+ public final class Vert extends HasPoint {
+ public Point p;
+ E e; // some edge *leaving* this point
- public class BindingGroup {
- public HashSet<E> es = new HashSet<E>();
- public BindingGroup() { }
- public BindingGroup(E e) {
- es.add(e);
- }
- public void add(E e) {
- if (e.bg != null) { merge(e.bg); return; }
- es.add(e);
- e.bg = this;
- }
- public void merge(BindingGroup bg) {
- for(E e : bg.es) {
- e.bg = null;
- add(e);
- }
+ /** the nearest vertex in the "score_against" mesh */
+ Vert nearest_in_other_mesh;
+ /** the number of vertices in the other mesh for which this is the nearest_in_other_mesh */
+ int quadric_count;
+ /** the total error quadric (contributions from all vertices in other mesh for which this is nearest) */
+ Matrix quadric = Matrix.ZERO;
+
+ Vert bound_to = this;
+ Matrix binding = new Matrix();
+ float oldscore = 0;
+ boolean quadricStale = false;
+
+ public Matrix errorQuadric() { return quadric; }
+ public Point getPoint() { return p; }
+ public float score() { return oldscore; }
+
+ private Matrix fundamentalQuadric = null;
+ public Matrix fundamentalQuadric() {
+ if (fundamentalQuadric == null) recomputeFundamentalQuadric();
+ return fundamentalQuadric;
}
- }
- public Vert register(Point p) { Vert v = ps.get(p); return v==null ? new Vert(p) : v; }
- public final class Vert {
- public Point p;
private Vert(Point p) {
this.p = p;
- if (ps.get(p) != null) throw new Error();
- ps.put(this.p, this);
- }
- public void kdremove() {
- if (!inserted) return;
- inserted = false;
- try { kd.delete(new double[]{p.x,p.y,p.z}); } catch (Exception e) { }
+ if (pointset.get(p) != null) throw new Error();
+ pointset.add(this);
}
- public void kdinsert() {
- if (inserted) return;
- inserted = true;
- try { kd.insert(new double[]{p.x,p.y,p.z},this); } catch (Exception e) { throw new Error(e); }
+
+ public void recomputeFundamentalQuadric() {
+ if (!quadricStale && fundamentalQuadric != null) return;
+ quadricStale = false;
+ unApplyQuadricToNeighbor();
+ Matrix m = Matrix.ZERO;
+ E e = this.e;
+ do {
+ T t = e.t;
+ m = m.plus(t.norm().fundamentalQuadric(t.centroid()));
+ e = e.pair.next;
+ } while(e != this.e);
+ fundamentalQuadric = m;
+ applyQuadricToNeighbor();
}
- public float score() { return oldscore; }
- public void unscore() {
- if (watch == null) return;
- watch.watch_x -= p.x;
- watch.watch_y -= p.y;
- watch.watch_z -= p.z;
- watch.watch_count--;
- if (watch.watch_count==0) {
- watch.watch_x = 0;
- watch.watch_y = 0;
- watch.watch_z = 0;
- }
- watch = null;
+ public void unApplyQuadricToNeighbor() {
+ if (nearest_in_other_mesh == null) return;
+ if (fundamentalQuadric == null) return;
+ nearest_in_other_mesh.unComputeError();
+ nearest_in_other_mesh.quadric = nearest_in_other_mesh.quadric.minus(fundamentalQuadric);
+ nearest_in_other_mesh.quadric_count--;
+ if (nearest_in_other_mesh.quadric_count==0)
+ nearest_in_other_mesh.quadric = Matrix.ZERO;
+ nearest_in_other_mesh.computeError();
+ nearest_in_other_mesh = null;
}
- public Vert partner() { return watch==null ? this : watch; }
- public Vert watchback() { return watch_count==0 ? partner() :
- register(new Point(watch_x/watch_count, watch_y/watch_count, watch_z/watch_count)); }
- public void rescore() {
+
+ public void applyQuadricToNeighbor() {
if (score_against == null) return;
- score -= oldscore;
- oldscore = 0;
+ Vert new_nearest = score_against.nearest(p);
+ if (nearest_in_other_mesh != null && new_nearest == nearest_in_other_mesh) return;
- if (watch != null) unscore();
- Vert po = this;
- if (watch == null) {
- watch = score_against.nearest(po.p);
-
- // don't attract to vertices that face the other way
- if (watch.norm().dot(norm()) < 0) {
- watch = null;
- } else {
- watch.watch_x += po.p.x;
- watch.watch_y += po.p.y;
- watch.watch_z += po.p.z;
- watch.watch_count++;
- }
+ if (nearest_in_other_mesh != null) unApplyQuadricToNeighbor();
+ if (nearest_in_other_mesh != null) throw new Error();
+
+ nearest_in_other_mesh = new_nearest;
+
+ // don't attract to vertices that face the other way
+ if (nearest_in_other_mesh.e == null || nearest_in_other_mesh.norm().dot(norm()) < 0) {
+ nearest_in_other_mesh = null;
+ } else {
+ nearest_in_other_mesh.unComputeError();
+ nearest_in_other_mesh.quadric = nearest_in_other_mesh.quadric.plus(fundamentalQuadric());
+ nearest_in_other_mesh.quadric_count++;
+ nearest_in_other_mesh.computeError();
}
+ reComputeError();
+ }
- double s1, s2;
- if (watch_count==0) s1 = 0;
- else s1 = p.distance(watch_x/watch_count, watch_y/watch_count, watch_z/watch_count);
- s2 = watch==null ? 0 : po.p.distance(watch.p);
- oldscore = (float)(s1 + s2);
+ public void reComputeError() {
+ unComputeError();
+ computeError();
+ }
+ public void unComputeError() {
+ score -= oldscore;
+ oldscore = 0;
+ }
+ public void computeError() {
+ oldscore = quadric_count == 0 ? 0 : (quadric.preAndPostMultiply(p) / quadric_count);
score += oldscore;
}
-
/** does NOT update bound pairs! */
public boolean transform(Matrix m) {
- // FIXME: screws up kdtree
- // FIXME: screws up hashmap
- unscore();
+ unApplyQuadricToNeighbor();
try {
- if (ps.get(this.p)==null) throw new Error();
- ps.remove(this.p);
+ if (pointset.get(this.p)==null) throw new Error();
+ pointset.remove(this);
float newx = m.a*p.x + m.b*p.y + m.c*p.z + m.d;
float newy = m.e*p.x + m.f*p.y + m.g*p.z + m.h;
float newz = m.i*p.x + m.j*p.y + m.k*p.z + m.l;
this.p = new Point(newx, newy, newz);
- // FIXME: what if we move onto exactly where another point is?
- ps.put(this.p,(Vert)this);
+ pointset.add(this);
} catch (Exception e) {
throw new RuntimeException(e);
}
- rescore();
- boolean good = true;
- /*
- for(T t : ts) {
- for(E e = this.e; ;) {
- if (e.intersects(t)) { good = false; break; }
- e = e.pair.next;
- if (e == this.e) break;
- }
- }
- */
- /*
- if (t==this.t) continue;
- if (this.intersects(t)) good = false;
- }
- */
- return good;
+ applyQuadricToNeighbor();
+
+ // should recompute fundamental quadrics of all vertices sharing a face, but we defer...
+ E e = this.e;
+ do {
+ e.p2.quadricStale = true;
+ e = e.pair.next;
+ } while(e != this.e);
+
+
+ // FIXME: intersection test needed?
+ return true;
}
+
public boolean move(Vec v) {
Matrix m = new Matrix(v);
Vert p = this;
boolean good = true;
do {
good &= p.transform(m);
- v = v.times(binding); // bleh wrong
p = p.bound_to;
} while (p != this);
return good;
}
- public E makeE(Vert p2) {
- E e = getE(p2);
- if (e != null) return e;
- e = p2.getE(this);
- if (this.e == null && p2.e == null) return this.e = new E(this, p2);
- if (this.e == null && p2.e != null) return p2.makeE(this).pair;
- return new E(getFreeIncident(), p2);
- }
-
public E getFreeIncident() {
E ret = getFreeIncident(e, e);
if (ret != null) return ret;
return null;
}
+ public E getE(Point p2) {
+ Vert v = pointset.get(p2);
+ if (v==null) return null;
+ return getE(v);
+ }
public E getE(Vert p2) {
E e = this.e;
do {
return null;
}
+ public Vec norm() {
+ Vec norm = new Vec(0, 0, 0);
+ E e = this.e;
+ do {
+ if (e.t != null) norm = norm.plus(e.t.norm().times((float)e.prev.angle()));
+ e = e.pair.next;
+ } while(e != this.e);
+ return norm.norm();
+ }
+
public boolean isBoundTo(Vert p) {
Vert px = p;
do {
} while(px != p);
return false;
}
-
public void unbind() { bound_to = this; binding = new Matrix(); }
public void bind(Vert p) { bind(p, new Matrix()); }
public void bind(Vert p, Matrix binding) {
this.bound_to = temp_bound_to;
this.binding = temp_binding.times(temp_binding); // FIXME: may have order wrong here
}
- public Vec norm() {
- Vec norm = new Vec(0, 0, 0);
- E e = this.e;
- do {
- if (e.t != null) norm = norm.plus(e.t.norm().times((float)e.prev.angle()));
- e = e.pair.next;
- } while(e != this.e);
- return norm.norm();
- }
+ }
- Vert bound_to = this;
- int watch_count;
- float watch_x;
- float watch_y;
- float watch_z;
- Vert watch;
- E e; // some edge *leaving* this point
- Matrix binding = new Matrix();
- float oldscore = 0;
- boolean inserted = false;
+ public class BindingGroup {
+ private HashSet<E> left = new HashSet<E>();
+ private HashSet<E> right = new HashSet<E>();
+ public BindingGroup() { }
+ public BindingGroup(E e) {
+ left.add(e);
+ }
+ public void add(E e, boolean swap) {
+ if (e.bg != null) {
+ if (e.bg == this) return;
+ for(E ex : (!swap ? e.bg.left : e.bg.right)) {
+ ex.bg = this;
+ left.add(ex);
+ }
+ for(E ex : (!swap ? e.bg.right : e.bg.left)) {
+ ex.bg = this;
+ right.add(ex);
+ }
+ } else {
+ (!swap ? left : right).add(e);
+ e.bg = this;
+ }
+ }
+ public void dobind(E e) {
+ // assumes e is part of the "left" set
+ Vert v1 = null;
+ Vert v2 = null;
+ if (left.contains(e)) { v1 = e.p1; v2 = e.p2; }
+ if (right.contains(e)) { v1 = e.p2; v2 = e.p1; }
+ for(E ex : left) {
+ if (ex==e) continue;
+ v1.bind(ex.p1);
+ v2.bind(ex.p2);
+ }
+ for(E ex : right) {
+ if (ex==e) continue;
+ v1.bind(ex.p2);
+ v2.bind(ex.p1);
+ }
+ }
+ public void shatter(BindingGroup bg1, BindingGroup bg2) {
+ for(E e : left) {
+ e.shatter(e.midpoint(), bg1, bg2);
+ }
+ for(E e : right) {
+ e.shatter(e.midpoint(), bg2, bg1); /* swap correct? */
+ }
+ }
}
/** [UNIQUE] an edge */
public final class E implements Comparable<E> {
- public boolean intersects(T t) {
- double A0=t.p1().p.x, A1=t.p1().p.y, A2=t.p1().p.z;
- double B0=t.p2().p.x, B1=t.p2().p.y, B2=t.p2().p.z;
- double C0=t.p3().p.x, C1=t.p3().p.y, C2=t.p3().p.z;
- double j0=p1.p.x, j1=p1.p.y, j2=p1.p.z;
- double k0=p2.p.x, k1=p2.p.y, k2=p2.p.z;
- double J0, J1, J2;
- double K0, K1, K2;
- double i0, i1, i2;
- double a0, a1, a2;
- double b0, b1, b2;
- double c0, c1, c2;
- double in_det;
- double R00, R01, R02, R03,
- R10, R11, R12, R13,
- R20, R21, R22, R23,
- R30, R31, R32, R33;
-
-
- /* a = B - A */
- a0 = B0 - A0;
- a1 = B1 - A1;
- a2 = B2 - A2;
- /* b = C - B */
- b0 = C0 - A0;
- b1 = C1 - A1;
- b2 = C2 - A2;
- /* c = a × b */
- c0 = a1 * b2 - a2 * b1;
- c1 = a2 * b0 - a0 * b2;
- c2 = a0 * b1 - a1 * b0;
-
- /* M^(-1) = (1/det(M)) * adj(M) */
- in_det = 1 / (c0 * c0 + c1 * c1 + c2 * c2);
- R00 = (b1 * c2 - b2 * c1) * in_det;
- R01 = (b2 * c0 - b0 * c2) * in_det;
- R02 = (b0 * c1 - b1 * c0) * in_det;
- R10 = (c1 * a2 - c2 * a1) * in_det;
- R11 = (c2 * a0 - c0 * a2) * in_det;
- R12 = (c0 * a1 - c1 * a0) * in_det;
- R20 = (c0) * in_det;
- R21 = (c1) * in_det;
- R22 = (c2) * in_det;
-
- /* O = M^(-1) * A */
- R03 = -(R00 * A0 + R01 * A1 + R02 * A2);
- R13 = -(R10 * A0 + R11 * A1 + R12 * A2);
- R23 = -(R20 * A0 + R21 * A1 + R22 * A2);
-
- /* fill in last row of 4x4 matrix */
- R30 = R31 = R32 = 0;
- R33 = 1;
-
- J2 = R20 * j0 + R21 * j1 + R22 * j2 + R23;
- K2 = R20 * k0 + R21 * k1 + R22 * k2 + R23;
- if (J2 * K2 >= 0) return false;
-
- J0 = R00 * j0 + R01 * j1 + R02 * j2 + R03;
- K0 = R00 * k0 + R01 * k1 + R02 * k2 + R03;
- i0 = J0 + J2 * ((K0 - J0) / (J2 - K2));
- if (i0 < 0 || i0 > 1) return false;
-
- J1 = R10 * j0 + R11 * j1 + R12 * j2 + R13;
- K1 = R10 * k0 + R11 * k1 + R12 * k2 + R13;
- i1 = J1 + J2 * ((K1 - J1) / (J2 - K2));
- if (i1 < 0 || i1 > 1 || i0 + i1 > 1) return false;
-
- return true;
- }
-
- public int compareTo(E e) {
- return e.length() > length() ? 1 : -1;
- }
-
public final Vert p1, p2;
T t; // triangle to our "left"
E prev; // previous half-edge
E next; // next half-edge
E pair; // partner half-edge
-
-
public BindingGroup bg = new BindingGroup(this);
+ boolean shattered = false;
- public void bind(E e) { bind(e, new Matrix()); }
- public void bind(E e, Matrix m) { e.bg.add(this); }
+ public int compareTo(E e) { return e.length() > length() ? 1 : -1; }
- public void dobind() {
- if (bg==null) return;
- for(E ex : bg.es) {
- if (ex==this) continue;
- p1.bind(ex.p1);
- p2.bind(ex.p2);
- }
+ public void bindEdge(E e) {
+ e.pair.bg.add(this, false);
}
+ public void dobind() { if (bg != null) bg.dobind(this); }
- boolean shattered = false;
- public Vert shatter() { return shatter(register(midpoint()), null, null); }
- public Vert shatter(Vert mid, BindingGroup bg1, BindingGroup bg2) {
+ public Point shatter() { return shatter(midpoint(), null, null); }
+ public Point shatter(Point mid, BindingGroup bg1, BindingGroup bg2) {
if (shattered) return mid;
shattered = true;
if (bg1==null) bg1 = new BindingGroup();
if (bg2==null) bg2 = new BindingGroup();
- for(E e : bg.es) e.shatter(register(e.midpoint()), bg1, bg2);
+ bg.shatter(bg1, bg2);
pair.shatter();
destroy();
- newT(r, p1, mid);
- newT(r, mid, p2);
- bg1.add(p1.getE(mid));
- bg2.add(mid.getE(p2));
+ newT(r.p, p1.p, mid, null);
+ newT(r.p, mid, p2.p, null);
+ bg1.add(p1.getE(mid), false);
+ bg2.add(p2.getE(mid).pair, false);
return mid;
}
pair.destroyed = true;
if (next.t != null) next.t.destroy();
if (prev.t != null) prev.t.destroy();
- if (pair.next.t != null) ts.remove(pair.next.t);
- if (pair.prev.t != null) ts.remove(pair.prev.t);
next.t = null;
prev.t = null;
pair.next.t = null;
pair.next = prev;
if (p1.e == this) p1.e = prev.next;
if (pair.p1.e == pair) pair.p1.e = pair.prev.next;
- es.remove(this);
- es.remove(pair);
avgedge -= this.length();
avgedge -= pair.length();
numedges--;
if (this.next.p1 != p2) throw new Error();
if (this.prev.p2 != p1) throw new Error();
if (this.p1.e == null) this.p1.e = this;
- es.add(this);
if (!added) {
added = true;
numedges++;
}
/** creates an isolated edge out in the middle of space */
- public E(Vert p1, Vert p2) {
- if (p1==p2) throw new Error("attempt to create edge with single vertex: " + p1);
- this.p1 = p1;
- this.p2 = p2;
+ public E(Point p1, Point p2) {
+ if (pointset.get(p1) != null) throw new Error();
+ if (pointset.get(p2) != null) throw new Error();
+ this.p1 = new Vert(p1);
+ this.p2 = new Vert(p2);
this.prev = this.next = this.pair = new E(this, this, this);
+ this.p1.e = this;
+ this.p2.e = this.pair;
sync();
}
/** adds a new half-edge from prev.p2 to p2 */
- public E(E prev, Vert p2) {
+ public E(E prev, Point p) {
+ Vert p2;
+ p2 = pointset.get(p);
+ if (p2 == null) p2 = new Vert(p);
this.p1 = prev.p2;
this.p2 = p2;
this.prev = prev;
this.prev.next = this;
this.pair = new E(q, this, z);
}
+ if (p2.e==null) p2.e = this.pair;
sync();
}
public boolean has(Vert v) { return v==p1 || v==p2; }
public float length() { return p1.p.minus(p2.p).mag(); }
public String toString() { return p1+"->"+p2; }
+
+ public boolean intersects(T t) {
+ double A0=t.v1().p.x, A1=t.v1().p.y, A2=t.v1().p.z;
+ double B0=t.v2().p.x, B1=t.v2().p.y, B2=t.v2().p.z;
+ double C0=t.v3().p.x, C1=t.v3().p.y, C2=t.v3().p.z;
+ double j0=p1.p.x, j1=p1.p.y, j2=p1.p.z;
+ double k0=p2.p.x, k1=p2.p.y, k2=p2.p.z;
+ double J0, J1, J2;
+ double K0, K1, K2;
+ double i0, i1, i2;
+ double a0, a1, a2;
+ double b0, b1, b2;
+ double c0, c1, c2;
+ double in_det;
+ double R00, R01, R02, R03,
+ R10, R11, R12, R13,
+ R20, R21, R22, R23,
+ R30, R31, R32, R33;
+
+
+ /* a = B - A */
+ a0 = B0 - A0;
+ a1 = B1 - A1;
+ a2 = B2 - A2;
+ /* b = C - B */
+ b0 = C0 - A0;
+ b1 = C1 - A1;
+ b2 = C2 - A2;
+ /* c = a × b */
+ c0 = a1 * b2 - a2 * b1;
+ c1 = a2 * b0 - a0 * b2;
+ c2 = a0 * b1 - a1 * b0;
+
+ /* M^(-1) = (1/det(M)) * adj(M) */
+ in_det = 1 / (c0 * c0 + c1 * c1 + c2 * c2);
+ R00 = (b1 * c2 - b2 * c1) * in_det;
+ R01 = (b2 * c0 - b0 * c2) * in_det;
+ R02 = (b0 * c1 - b1 * c0) * in_det;
+ R10 = (c1 * a2 - c2 * a1) * in_det;
+ R11 = (c2 * a0 - c0 * a2) * in_det;
+ R12 = (c0 * a1 - c1 * a0) * in_det;
+ R20 = (c0) * in_det;
+ R21 = (c1) * in_det;
+ R22 = (c2) * in_det;
+
+ /* O = M^(-1) * A */
+ R03 = -(R00 * A0 + R01 * A1 + R02 * A2);
+ R13 = -(R10 * A0 + R11 * A1 + R12 * A2);
+ R23 = -(R20 * A0 + R21 * A1 + R22 * A2);
+
+ /* fill in last row of 4x4 matrix */
+ R30 = R31 = R32 = 0;
+ R33 = 1;
+
+ J2 = R20 * j0 + R21 * j1 + R22 * j2 + R23;
+ K2 = R20 * k0 + R21 * k1 + R22 * k2 + R23;
+ if (J2 * K2 >= 0) return false;
+
+ J0 = R00 * j0 + R01 * j1 + R02 * j2 + R03;
+ K0 = R00 * k0 + R01 * k1 + R02 * k2 + R03;
+ i0 = J0 + J2 * ((K0 - J0) / (J2 - K2));
+ if (i0 < 0 || i0 > 1) return false;
+
+ J1 = R10 * j0 + R11 * j1 + R12 * j2 + R13;
+ K1 = R10 * k0 + R11 * k1 + R12 * k2 + R13;
+ i1 = J1 + J2 * ((K1 - J1) / (J2 - K2));
+ if (i1 < 0 || i1 > 1 || i0 + i1 > 1) return false;
+
+ return true;
+ }
+ }
+
+ public E makeE(Point p1, Point p2) {
+ Vert v1 = pointset.get(p1);
+ Vert v2 = pointset.get(p2);
+ if (v1 != null && v2 != null) {
+ E e = v1.getE(v2);
+ if (e != null) return e;
+ e = v2.getE(v1);
+ if (e != null) return e;
+ }
+ if (v1 != null) return new E(v1.getFreeIncident(), p2);
+ if (v2 != null) return new E(v2.getFreeIncident(), p1).pair;
+ return new E(p1, p2);
+ }
+ public T newT(Point p1, Point p2, Point p3, Vec norm) {
+ if (norm != null) {
+ Vec norm2 = p3.minus(p1).cross(p2.minus(p1));
+ float dot = norm.dot(norm2);
+ //if (Math.abs(dot) < EPointSILON) throw new Error("dot products within evertsilon of each other: "+norm+" "+norm2);
+ if (dot < 0) { Point p = p1; p1=p2; p2 = p; }
+ }
+ E e12 = makeE(p1, p2);
+ E e23 = makeE(p2, p3);
+ E e31 = makeE(p3, p1);
+ while(e12.next != e23 || e23.next != e31 || e31.next != e12) {
+ e12.makeAdjacent(e23);
+ e23.makeAdjacent(e31);
+ e31.makeAdjacent(e12);
+ }
+ T ret = e12.makeT();
+ if (e12.t == null) throw new Error();
+ if (e23.t == null) throw new Error();
+ if (e31.t == null) throw new Error();
+ return ret;
+ }
+
+
+ public class FaceIterator implements Iterator<T> {
+ private HashSet<T> visited = new HashSet<T>();
+ private LinkedList<T> next = new LinkedList<T>();
+ public FaceIterator() { }
+ public FaceIterator(Vert v) { next.addFirst(v.e.t); }
+ public boolean hasNext() { return next.peek()!=null; }
+ public void remove() { throw new Error(); }
+ public T next() {
+ T ret = next.removeFirst();
+ if (ret == null) return null;
+ visited.add(ret);
+ T t1 = ret.e1().pair.t;
+ T t2 = ret.e2().pair.t;
+ T t3 = ret.e3().pair.t;
+ if (t1 != null && !visited.contains(t1)) next.addFirst(t1);
+ if (t2 != null && !visited.contains(t2)) next.addFirst(t2);
+ if (t3 != null && !visited.contains(t3)) next.addFirst(t3);
+ return ret;
+ }
}
/** [UNIQUE] a triangle (face) */
- public final class T {
+ public final class T extends Triangle {
public final E e1;
public final int color;
public void destroy() {
- ts.remove(this);
- }
-
- public Vert nearest(Point p) {
- float d1 = p1().p.distance(p);
- float d2 = p2().p.distance(p);
- float d3 = p3().p.distance(p);
- if (d1 < d2 && d1 < d3) return p1();
- if (d2 < d3) return p2();
- return p3();
}
T(E e1) {
this.e1 = e1;
E e2 = e1.next;
E e3 = e2.next;
- if (e1==e2 || e1==e3) throw new Error();
+ if (e1==e2 || e1==e3) throw new Error();
if (e3.next!=e1) throw new Error();
- if (e1.t!=null || e2.t!=null || e3.t!=null)
- throw new Error("non-manifold surface or disagreeing normals");
+ if (e1.t!=null || e2.t!=null || e3.t!=null) throw new Error("non-manifold surface or disagreeing normals");
e1.t = this;
e1.next.t = this;
e1.next.next.t = this;
if (e3().pair.t != null && color == e3().pair.t.color) { color++; continue; }
break;
}
-
- // FIXME unnecssary
- ts.add(this);
- p1().kdinsert();
- p2().kdinsert();
- p3().kdinsert();
-
this.color = color;
}
- public Vert p1() { return e1.p1; }
- public Vert p2() { return e1.p2; }
- public Vert p3() { return e1.next.p2; }
public E e1() { return e1; }
public E e2() { return e1.next; }
public E e3() { return e1.prev; }
- public Vec norm() { return p2().p.minus(p1().p).cross(p3().p.minus(p1().p)).norm(); }
+ public Vert v1() { return e1.p1; }
+ public Vert v2() { return e1.p2; }
+ public Vert v3() { return e1.next.p2; }
+ public Point p1() { return e1.p1.p; }
+ public Point p2() { return e1.p2.p; }
+ public Point p3() { return e1.next.p2.p; }
public boolean hasE(E e) { return e1==e || e1.next==e || e1.prev==e; }
- public boolean has(Vert v) { return p1()==v || p2()==v || p3()==v; }
-
- public float area() {
- return (float)Math.abs(0.5 * e1().length() * new Vec(p1().p, p2().p).norm().dot(new Vec(p2().p, p3().p)));
- }
-
- public void glVertices(GL gl) {
- p1().p.glVertex(gl);
- p2().p.glVertex(gl);
- p3().p.glVertex(gl);
- }
-
- public Point centroid() { return new Point((p1().p.x+p2().p.x+p3().p.x)/3,
- (p1().p.y+p2().p.y+p3().p.y)/3,
- (p1().p.z+p2().p.z+p3().p.z)/3); }
- public float diameter() {
- // FIXME: what is this supposed to be?
- return Math.max(Math.max(e1().length(), e2().length()), e3().length()) / 2;
- }
-
-
+ public boolean has(Vert v) { return v1()==v || v2()==v || v3()==v; }
}
-
}