X-Git-Url: http://git.megacz.com/?a=blobdiff_plain;f=src%2Fedu%2Fberkeley%2Fqfat%2FMesh.java;h=e66c814bfab1244a4127db9d3c027be6d34f57de;hb=d2a95aac1e76caacb65a8d17d9b6b32740edacb1;hp=84cb0916ef729a7318fc0bf4e79d3b433414a47e;hpb=b424ccb86139efcf43779ebb3267bc1709347dd8;p=anneal.git diff --git a/src/edu/berkeley/qfat/Mesh.java b/src/edu/berkeley/qfat/Mesh.java index 84cb091..e66c814 100644 --- a/src/edu/berkeley/qfat/Mesh.java +++ b/src/edu/berkeley/qfat/Mesh.java @@ -11,8 +11,8 @@ import edu.berkeley.qfat.geom.Point; public class Mesh implements Iterable { - public static float EPSILON = (float)0.0001; - public static Random random = new Random(); + public static final float EPSILON = (float)0.0001; + public static final Random random = new Random(); private PointSet pointset = new PointSet(); @@ -74,7 +74,8 @@ public class Mesh implements Iterable { for(Vert p : new Vert[] { t.v1(), t.v2(), t.v3() }) { if (done.contains(p)) continue; done.add(p); - p.rescore(); + //p.rescore(); + p.recomputeFundamentalQuadric(); } return (float)(dist/num); } @@ -98,7 +99,6 @@ public class Mesh implements Iterable { return (float)total; } - public class BindingGroup { public HashSet es = new HashSet(); public BindingGroup() { } @@ -124,6 +124,29 @@ public class Mesh implements Iterable { public final class Vert extends HasPoint { public Point p; + E e; // some edge *leaving* this point + + Vert bound_to = this; + + /** 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; + + Matrix binding = new Matrix(); + float oldscore = 0; + boolean inserted = false; + + public Matrix errorQuadric() { return quadric; } + + private Matrix fundamentalQuadric = null; + public Matrix fundamentalQuadric() { + if (fundamentalQuadric == null) recomputeFundamentalQuadric(); + return fundamentalQuadric; + } + public Point getPoint() { return p; } private Vert(Point p) { this.p = p; @@ -131,56 +154,63 @@ public class Mesh implements Iterable { pointset.add(this); } public float score() { return oldscore; } + + public void recomputeFundamentalQuadric() { + unscore(); + 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; + rescore(); + } + 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; + if (nearest_in_other_mesh == null) return; + if (fundamentalQuadric == null) return; + 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 = null; } - public Vert partner() { return watch==null ? this : watch; } - public Point watchback() { return watch_count==0 ? partner().p : - new Point(watch_x/watch_count, watch_y/watch_count, watch_z/watch_count); } + public void rescore() { if (score_against == null) return; score -= oldscore; oldscore = 0; - if (watch != null) unscore(); - Vert po = this; - if (watch == null) { - watch = score_against.nearest(po.p); + if (nearest_in_other_mesh != null) unscore(); + if (nearest_in_other_mesh == null) { + nearest_in_other_mesh = score_against.nearest(p); // don't attract to vertices that face the other way - if (watch.e == null || watch.norm().dot(norm()) < 0) { - watch = null; + if (nearest_in_other_mesh.e == null || nearest_in_other_mesh.norm().dot(norm()) < 0) { + nearest_in_other_mesh = null; } else { - watch.watch_x += po.p.x; - watch.watch_y += po.p.y; - watch.watch_z += po.p.z; - watch.watch_count++; + nearest_in_other_mesh.quadric = nearest_in_other_mesh.quadric.plus(fundamentalQuadric()); + nearest_in_other_mesh.quadric_count++; } } + /* 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); + if (quadric_count==0) s1 = 0; + else s1 = p.distance(quadric_x/quadric_count, quadric_y/quadric_count, quadric_z/quadric_count); + s2 = quadric==null ? 0 : po.p.distance(quadric.p); oldscore = (float)(s1 + s2); + */ + oldscore = quadric.preAndPostMultiply(p); + score += oldscore; } /** does NOT update bound pairs! */ public boolean transform(Matrix m) { - // FIXME: screws up kdtree - // FIXME: screws up hashmap unscore(); try { if (pointset.get(this.p)==null) throw new Error(); @@ -189,12 +219,22 @@ public class Mesh implements Iterable { 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? pointset.add(this); } catch (Exception e) { throw new RuntimeException(e); } + fundamentalQuadric = fundamentalQuadric(); rescore(); + + // recompute fundamental quadrics of all vertices sharing a face + /* + E e = this.e; + do { + e.p2.recomputeFundamentalQuadric(); + e = e.pair.next; + } while(e != this.e); + */ + boolean good = true; /* for(T t : this) { @@ -285,17 +325,6 @@ public class Mesh implements Iterable { } 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; } /** [UNIQUE] an edge */ @@ -307,6 +336,7 @@ public class Mesh implements Iterable { E next; // next half-edge E pair; // partner half-edge public BindingGroup bg = new BindingGroup(this); + boolean shattered = false; public int compareTo(E e) { return e.length() > length() ? 1 : -1; } @@ -322,7 +352,6 @@ public class Mesh implements Iterable { } } - boolean shattered = false; public Point shatter() { return shatter(midpoint(), null, null); } public Point shatter(Point mid, BindingGroup bg1, BindingGroup bg2) { if (shattered) return mid; @@ -415,16 +444,22 @@ public class Mesh implements Iterable { } /** 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; @@ -439,6 +474,7 @@ public class Mesh implements Iterable { this.prev.next = this; this.pair = new E(q, this, z); } + if (p2.e==null) p2.e = this.pair; sync(); } @@ -527,10 +563,6 @@ public class Mesh implements Iterable { } } - private Vert register(Point p) { - Vert v = pointset.get(p); - return v==null ? new Vert(p) : v; - } public E makeE(Point p1, Point p2) { Vert v1 = pointset.get(p1); Vert v2 = pointset.get(p2); @@ -540,9 +572,9 @@ public class Mesh implements Iterable { e = v2.getE(v1); if (e != null) return e; } - if (v1 != null) return new E(v1.getFreeIncident(), register(p2)); - if (v2 != null) return new E(v2.getFreeIncident(), register(p1)).pair; - return new E(register(p1), register(p2)); + 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) {