import edu.berkeley.qfat.geom.*;
import edu.wlu.cs.levy.CG.KDTree;
import edu.berkeley.qfat.geom.Point;
+import com.infomatiq.jsi.IntProcedure;
public class Mesh implements Iterable<Mesh.T> {
public static final float EPSILON = (float)0.0001;
public static final Random random = new Random();
- private RTree<T> tris = new RTree<T>();
- private PointSet<Vert> vertices = new PointSet<Vert>();
+ private RTree<T> triangles = new RTree<T>();
+ private PointSet<Vertex> vertices = new PointSet<Vertex>();
- public boolean tilemesh = false;
- public boolean ignorecollision = false;
- public Mesh score_against = null;
- public double score = 0;
- public float score() { return (float)score; }
- public int numedges = 0;
- public float avgedge = 0;
+ public boolean immutableVertices;
+ public boolean ignorecollision = false;
+ public Mesh error_against = null;
+ public double error = 0;
- public int size() { return vertices.size(); }
- public Iterable<Vert> vertices() { return vertices; }
+ public Mesh(boolean immutableVertices) { this.immutableVertices = immutableVertices; }
- public Iterator<T> iterator() {
- return tris.iterator();
- }
+ public void makeVerticesImmutable() { this.immutableVertices = true; }
+ public float error() { return (float)error; }
+
+ public int size() { return vertices.size(); }
+ public Iterable<Vertex> vertices() { return vertices; }
+ public Iterator<T> iterator() { return triangles.iterator(); }
public void rebindPoints() {
// unbind all points
}
}
- 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 : this)
- for(Vert p : new Vert[] { t.v1(), t.v2(), t.v3() }) {
- if (done.contains(p)) continue;
- done.add(p);
- p.applyQuadricToNeighbor();
-
- }
- return (float)(dist/num);
- }
-
public void transform(Matrix m) {
- ArrayList<Vert> set = new ArrayList<Vert>();
- for (Vert v : vertices)
- set.add(v);
- for(Vert v : set) v.transform(m);
+ ArrayList<Vertex> set = new ArrayList<Vertex>();
+ for(Vertex v : vertices) set.add(v);
+ for(Vertex v : set) v.transform(m.times(v.p));
}
+ public void rebuild() { /*vertices.rebuild();*/ }
+ public Vec diagonal() { return vertices.diagonal(); }
+ public Point centroid() { return vertices.centroid(); }
+ public Vertex nearest(Point p) { return vertices.nearest(p); }
+
+ /** compute the volume of the mesh */
public float volume() {
double total = 0;
for(T t : this) {
return (float)total;
}
- public void rebuild() { /*vertices.rebuild();*/ }
- public Vec diagonal() { return vertices.diagonal(); }
- public Point centroid() { return vertices.centroid(); }
- public Vert nearest(Point p) { return vertices.nearest(p); }
- public final class Vert extends HasPoint {
- public String toString() { return p.toString(); }
+ // Vertexices //////////////////////////////////////////////////////////////////////////////
+
+ /** a vertex in the mesh */
+ public final class Vertex extends HasQuadric implements Visitor {
public Point p;
E e; // some edge *leaving* this point
- /** 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 = Matrix.ONE;
- float oldscore = 0;
- boolean quadricStale = false;
+ Vertex bound_to = this;
+ private boolean good;
- 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 float error() { return olderror; }
- private Vert(Point p) {
+ private Vertex(Point p) {
this.p = p;
if (vertices.get(p) != null) throw new Error();
vertices.add(this);
}
- private void glNormal(GL gl) {
- Vec norm = norm();
- gl.glNormal3f(norm.x, norm.y, norm.z);
+ public float olderror = 0;
+ public void setError(float nerror) {
+ error -= olderror;
+ olderror = nerror;
+ error += olderror;
}
- public void recomputeFundamentalQuadric() {
- //if (!quadricStale && fundamentalQuadric != null) return;
- quadricStale = false;
- unApplyQuadricToNeighbor();
+ public Matrix _recomputeFundamentalQuadric() {
Matrix m = Matrix.ZERO;
- E e = this.e;
int count = 0;
- do {
- T t = e.t;
- m = m.plus(t.norm().fundamentalQuadric(t.centroid()));
+ for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
+ m = m.plus(e.t.norm().fundamentalQuadric(e.t.centroid()));
count++;
- e = e.pair.next;
- } while(e != this.e);
- fundamentalQuadric = m.times(1/(float)count);
- applyQuadricToNeighbor();
- }
-
- 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 void applyQuadricToNeighbor() {
- if (score_against == null) return;
-
- Vert new_nearest = score_against.nearest(p);
- if (nearest_in_other_mesh != null && new_nearest == nearest_in_other_mesh) return;
-
- 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();
+ return m.times(1/(float)count);
}
- public void reComputeErrorAround() {
- reComputeError();
- if (nearest_in_other_mesh != null) nearest_in_other_mesh.reComputeError();
- E e = this.e;
- do {
- e.p2.reComputeError();
- e = e.pair.next;
- } while (e != this.e);
- }
- public void reComputeError() {
- unComputeError();
- computeError();
- }
- public void unComputeError() {
- score -= oldscore;
- oldscore = 0;
- }
+ public HasQuadric nearest() { return error_against==null ? null : error_against.vertices.nearest(p, this); }
public void computeError() {
- if (quadric_count == 0) {
- if (!tilemesh) {
- }
- else if (nearest_in_other_mesh == null) {
- if (score_against != null) {
- Vert ne = score_against.nearest(p);
- oldscore = ne.fundamentalQuadric().preAndPostMultiply(p) * 100 * 10;
- } else {
- oldscore = 0;
- }
- } else {
- oldscore = nearest_in_other_mesh.fundamentalQuadric().preAndPostMultiply(p) * 100 * 10;
- }
- } else {
- oldscore = (quadric.preAndPostMultiply(p) * 100) / quadric_count;
- }
-
- oldscore = oldscore;
-
- int numaspects = 0;
- float aspects = 0;
- E e = this.e;
- do {
- //double ang = Math.abs(e.crossAngle());
+ float nerror =
+ quadric_count != 0
+ ? (quadric.preAndPostMultiply(p) * 100) / quadric_count
+ : nearest_in_other_mesh != null
+ ? nearest_in_other_mesh.fundamentalQuadric().preAndPostMultiply(p) * 100 * 10
+ : error_against != null
+ ? nearest().fundamentalQuadric().preAndPostMultiply(p) * 100 * 10
+ : 0;
+ for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
double ang = Math.abs(e.crossAngle());
if (ang > Math.PI) throw new Error();
- /*
- if (e.t != null) {
- numaspects++;
- aspects += e.t.aspect()*e.t.aspect();
- }
- */
-
float minangle = (float)(Math.PI * 0.8);
- if (ang > minangle)
- oldscore += (ang - minangle);
+ if (ang > minangle) nerror += (ang - minangle);
+ }
+ setError(nerror);
+ }
- e = e.pair.next;
- } while (e != this.e);
- if (numaspects > 0) oldscore += (aspects / numaspects);
+ /** does NOT update bound pairs! */
+ public boolean transform(Point newp) {
+ if (immutableVertices) throw new Error();
- //System.out.println(oldscore);
- //oldscore = oldscore*oldscore;
- score += oldscore;
- }
+ unApplyQuadricToNeighbor();
+ Point oldp = this.p;
- private void removeTrianglesFromRTree() {
- E e = this.e;
- do {
+ if (vertices.get(this.p)==null) throw new Error();
+ vertices.remove(this);
+ for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
if (e.t != null) e.t.removeFromRTree();
- e = e.pair.next;
- } while(e != this.e);
- }
- private void addTrianglesToRTree() {
- E e = this.e;
- do {
+ this.p = newp;
+ for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
if (e.t != null) e.t.addToRTree();
- e = e.pair.next;
- } while(e != this.e);
- }
+ vertices.add(this);
- /** does NOT update bound pairs! */
- public boolean transform(Matrix m) {
- unApplyQuadricToNeighbor();
- Point oldp = this.p;
- try {
- if (vertices.get(this.p)==null) throw new Error();
- vertices.remove(this);
- removeTrianglesFromRTree();
- 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);
- addTrianglesToRTree();
- vertices.add(this);
- } catch (Exception e) {
- throw new RuntimeException(e);
- }
applyQuadricToNeighbor();
- // FIXME: intersection test needed?
good = true;
- // should recompute fundamental quadrics of all vertices sharing a face, but we defer...
- E e = this.e;
- do {
- /*
- if (Math.abs(e.crossAngle()) > (Math.PI * 0.9) ||
- Math.abs(e.next.crossAngle()) > (Math.PI * 0.9)) {
- good = false;
- }
- if (e.t.aspect() < 0.1) {
- good = false;
- }
- */
+ for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
+ if (Math.abs(e.crossAngle()) > (Math.PI * 0.9) || Math.abs(e.next.crossAngle()) > (Math.PI * 0.9)) good = false;
+ if (e.t.aspect() < 0.1) good = false;
e.p2.quadricStale = true;
- e = e.pair.next;
- } while(e != this.e);
-
-
- if (!ignorecollision && good) {
-
- tris.range(new Segment(oldp, this.p),
- new Visitor<T>() {
- public void visit(T t) {
- if (!good) return;
- E e = Vert.this.e;
- do {
- if (!t.has(e.p1) && !t.has(e.p2) && e.intersects(t)) { good = false; }
- if (e.t != null) {
- if (!e.t.has(t.e1().p1) && !e.t.has(t.e1().p2) && t.e1().intersects(e.t)) { good = false; }
- if (!e.t.has(t.e2().p1) && !e.t.has(t.e2().p2) && t.e2().intersects(e.t)) { good = false; }
- if (!e.t.has(t.e3().p1) && !e.t.has(t.e3().p2) && t.e3().intersects(e.t)) { good = false; }
- }
- e = e.pair.next;
- } while(e != Vert.this.e);
- }
- });
-
- /*
- for(T t : Mesh.this) {
- if (!good) break;
- e = this.e;
- do {
- if (!t.has(e.p1) && !t.has(e.p2) && e.intersects(t)) { good = false; break; }
- if (e.t != null) {
- if (!e.t.has(t.e1().p1) && !e.t.has(t.e1().p2) && t.e1().intersects(e.t)) { good = false; break; }
- if (!e.t.has(t.e2().p1) && !e.t.has(t.e2().p2) && t.e2().intersects(e.t)) { good = false; break; }
- if (!e.t.has(t.e3().p1) && !e.t.has(t.e3().p2) && t.e3().intersects(e.t)) { good = false; break; }
- }
- e = e.pair.next;
- } while(e != this.e);
- }
- */
}
+ if (!ignorecollision && good) triangles.range(oldp, this.p, (Visitor<T>)this);
- reComputeErrorAround();
return good;
}
- private boolean good;
+ public void reComputeErrorAround() {
+ reComputeError();
+ if (nearest_in_other_mesh != null) nearest_in_other_mesh.reComputeError();
+ for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
+ e.p2.reComputeError();
+ }
+
+ public boolean visit(Object o) {
+ if (o instanceof T) {
+ T t = (T)o;
+ if (!good) return false;
+ for(E e = Vertex.this.e; e!=null; e=e.pair.next==Vertex.this.e?null:e.pair.next) {
+ if (!t.has(e.p1) && !t.has(e.p2) && e.intersects(t)) { good = false; }
+ if (e.t != null) {
+ if (!e.t.has(t.e1().p1) && !e.t.has(t.e1().p2) && t.e1().intersects(e.t)) { good = false; }
+ if (!e.t.has(t.e2().p1) && !e.t.has(t.e2().p2) && t.e2().intersects(e.t)) { good = false; }
+ if (!e.t.has(t.e3().p1) && !e.t.has(t.e3().p2) && t.e3().intersects(e.t)) { good = false; }
+ }
+ }
+ return good;
+ } else {
+ Vertex v = (Vertex)o;
+ if (v.e==null || v.norm().dot(Vertex.this.norm()) < 0)
+ return false;
+ return true;
+ }
+ }
+
+ Point oldp;
public boolean move(Vec v) {
Matrix m = Matrix.translate(v);
- Vert p = this;
boolean good = true;
- do {
- good &= p.transform(m);
- p = p.bound_to;
- } while (p != this);
+ for(Vertex p = this; p != null; p = (p.bound_to==this)?null:p.bound_to) {
+ p.oldp = p.p;
+ good &= p.transform(m.times(p.p));
+ }
+ for(Vertex p = this; p != null; p = (p.bound_to==this)?null:p.bound_to)
+ if (good)
+ p.reComputeErrorAround();
+ else
+ p.transform(p.oldp);
return good;
}
public E getFreeIncident() {
E ret = getFreeIncident(e, e);
if (ret != null) return ret;
- ret = getFreeIncident(e.pair.next, e.pair.next);
- if (ret == null) {
- E ex = e;
- do {
- System.out.println(ex + " " + ex.t);
- ex = ex.pair.next;
- } while (ex != e);
- throw new Error("unable to find free incident to " + this);
- }
- return ret;
+ for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
+ System.out.println(e + " " + e.t);
+ throw new Error("unable to find free incident to " + this);
}
public E getFreeIncident(E start, E before) {
- E e = start;
- do {
- if (e.pair.p2 == this && e.pair.t == null && e.pair.next.t == null) return e.pair;
- e = e.pair.next;
- } while(e != before);
+ for(E e = start; e!=null; e=e.pair.next==before?null:e.pair.next)
+ if (e.pair.p2 == this && e.pair.t == null && e.pair.next.t == null)
+ return e.pair;
return null;
}
public E getE(Point p2) {
- Vert v = vertices.get(p2);
+ Vertex v = vertices.get(p2);
if (v==null) return null;
return getE(v);
}
- public E getE(Vert p2) {
- E e = this.e;
- do {
- if (e==null) return null;
+ public E getE(Vertex p2) {
+ for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
if (e.p1 == this && e.p2 == p2) return e;
- e = e.pair.next;
- } while (e!=this.e);
return null;
}
+ private void glNormal(GL gl) {
+ Vec norm = norm();
+ gl.glNormal3f(norm.x, norm.y, norm.z);
+ }
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);
+ for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
+ if (e.t != null)
+ norm = norm.plus(e.t.norm().times((float)e.prev.angle()));
return norm.norm();
}
- public boolean isBoundTo(Vert p) {
- Vert px = p;
- do {
- if (px==this) return true;
- px = px.bound_to;
- } while(px != p);
+ public boolean isBoundTo(Vertex p) {
+ for(Vertex px = p; px!=null; px=(px.bound_to==p?null:px.bound_to))
+ if (px==this)
+ return true;
return false;
}
+
public void unbind() { bound_to = this; binding = Matrix.ONE; }
- public void bind(Vert p) { bind(p, Matrix.ONE); }
- public void bind(Vert p, Matrix binding) {
+ public void bind(Vertex p) { bind(p, Matrix.ONE); }
+ public void bind(Vertex p, Matrix binding) {
if (isBoundTo(p)) return;
- Vert temp_bound_to = p.bound_to;
+ Vertex temp_bound_to = p.bound_to;
Matrix temp_binding = p.binding;
p.bound_to = this.bound_to;
p.binding = binding.times(this.binding); // FIXME: may have order wrong here
/** [UNIQUE] an edge */
public final class E implements Comparable<E> {
- public final Vert p1, p2;
+ public final Vertex p1, p2;
T t; // triangle to our "left"
E prev; // previous half-edge
E next; // next half-edge
public boolean intersects(T t) { return t.intersects(p1.p, p2.p); }
public float comparator() {
- Vert nearest = score_against.nearest(midpoint());
- //if (t==null) return length();
- /*
- double ang = Math.abs(crossAngle());
- float minangle = (float)(Math.PI * 0.9);
- if (ang > minangle)
- return 300;
- */
- /*
- if ((length() * length()) / t.area() > 10)
- return (float)(length()*Math.sqrt(t.area()));
- return length()*t.area();
- */
+ Vertex nearest = error_against.nearest(midpoint());
return (float)Math.max(length(), midpoint().distance(nearest.p));
- //return length();
}
public int compareTo(E e) {
return e.comparator() > comparator() ? 1 : -1;
if (shattered || destroyed) return mid;
shattered = true;
- Vert r = next.p2;
+ Vertex r = next.p2;
E next = this.next;
E prev = this.prev;
pair.next = prev;
if (p1.e == this) p1.e = prev.next;
if (pair.p1.e == pair) pair.p1.e = pair.prev.next;
- avgedge -= this.length();
- avgedge -= pair.length();
- numedges--;
- numedges--;
}
private void sync() {
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;
- if (!added) {
- added = true;
- numedges++;
- avgedge += length();
- }
+ if (!added) added = true;
}
private boolean added = false;
public E(Point p1, Point p2) {
if (vertices.get(p1) != null) throw new Error();
if (vertices.get(p2) != null) throw new Error();
- this.p1 = new Vert(p1);
- this.p2 = new Vert(p2);
+ this.p1 = new Vertex(p1);
+ this.p2 = new Vertex(p2);
this.prev = this.next = this.pair = new E(this, this, this);
this.p1.e = this;
this.p2.e = this.pair;
/** adds a new half-edge from prev.p2 to p2 */
public E(E prev, Point p) {
- Vert p2;
+ Vertex p2;
p2 = vertices.get(p);
- if (p2 == null) p2 = new Vert(p);
+ if (p2 == null) p2 = new Vertex(p);
this.p1 = prev.p2;
this.p2 = p2;
this.prev = prev;
sync();
}
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); }
- public boolean has(Vert v) { return v==p1 || v==p2; }
+ public boolean has(Vertex v) { return v==p1 || v==p2; }
public float length() { return p1.p.minus(p2.p).mag(); }
public String toString() { return p1+"->"+p2; }
}
public E makeE(Point p1, Point p2) {
- Vert v1 = vertices.get(p1);
- Vert v2 = vertices.get(p2);
+ Vertex v1 = vertices.get(p1);
+ Vertex v2 = vertices.get(p2);
if (v1 != null && v2 != null) {
E e = v1.getE(v2);
if (e != null) return e;
public final int color;
public final int colorclass;
- public void removeFromRTree() { tris.remove(this); }
- public void addToRTree() { tris.insert(this); }
+ public void removeFromRTree() { triangles.remove(this); }
+ public void addToRTree() { triangles.insert(this); }
- public void destroy() { tris.remove(this); }
+ public void destroy() { triangles.remove(this); }
T(E e1, int colorclass) {
this.e1 = e1;
}
this.color = color;
this.colorclass = colorclass;
- tris.add(this);
+ triangles.add(this);
}
public E e1() { return e1; }
public E e2() { return e1.next; }
public E e3() { return e1.prev; }
- public Vert v1() { return e1.p1; }
- public Vert v2() { return e1.p2; }
- public Vert v3() { return e1.next.p2; }
+ public Vertex v1() { return e1.p1; }
+ public Vertex v2() { return e1.p2; }
+ public Vertex 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 v1()==v || v2()==v || v3()==v; }
+ public boolean has(Vertex v) { return v1()==v || v2()==v || v3()==v; }
public boolean shouldBeDrawn() {
if (e1().bind_to.set.size() == 0) return false;