3 import java.awt.event.*;
5 import javax.media.opengl.*;
6 import javax.media.opengl.glu.*;
7 import edu.wlu.cs.levy.CG.KDTree;
9 public class Geom implements Iterable<Geom.T> {
11 private KDTree kd = new KDTree(3);
13 public static float EPSILON = (float)0.0001;
14 public static Random random = new Random();
16 private HashMap<P,V> ps = new HashMap<P,V>();
17 public HashSet<E> es = new HashSet<E>();
18 public ArrayList<T> ts = new ArrayList<T>();
20 public Iterator<T> iterator() { return ts.iterator(); }
22 public P origin() { return new P(0, 0, 0); }
24 public Geom score_against = null;
25 public double score = 0;
26 public float score() { return (float)score; }
28 public float rescore() {
31 HashSet<V> done = new HashSet<V>();
33 for(V p : new V[] { t.p1(), t.p2(), t.p3() }) {
34 if (done.contains(p)) continue;
39 for(V p : new V[] { t.p1(), t.p2(), t.p3() })
43 for(V p : new V[] { t.p1(), t.p2(), t.p3() })
45 return (float)(dist/num);
48 public void transform(M m) {
49 ArrayList<V> set = new ArrayList<V>();
50 set.addAll(ps.values());
51 for(V v : set) v.transform(m);
54 public Vec diagonal() {
55 float min_x = Float.MAX_VALUE;
56 float min_y = Float.MAX_VALUE;
57 float min_z = Float.MAX_VALUE;
58 float max_x = Float.MIN_VALUE;
59 float max_y = Float.MIN_VALUE;
60 float max_z = Float.MIN_VALUE;
61 for(P p : ps.keySet()) {
62 if (p.x < min_x) min_x = p.x;
63 if (p.y < min_y) min_y = p.y;
64 if (p.z < min_z) min_z = p.z;
65 if (p.x > max_x) max_x = p.x;
66 if (p.y > max_y) max_y = p.y;
67 if (p.z > max_z) max_z = p.z;
69 return new Vec(max_x - min_x, max_y - min_y, max_z - min_z);
73 float min_x = Float.MAX_VALUE;
74 float min_y = Float.MAX_VALUE;
75 float min_z = Float.MAX_VALUE;
76 float max_x = Float.MIN_VALUE;
77 float max_y = Float.MIN_VALUE;
78 float max_z = Float.MIN_VALUE;
79 for(P p : ps.keySet()) {
80 if (p.x < min_x) min_x = p.x;
81 if (p.y < min_y) min_y = p.y;
82 if (p.z < min_z) min_z = p.z;
83 if (p.x > max_x) max_x = p.x;
84 if (p.y > max_y) max_y = p.y;
85 if (p.z > max_z) max_z = p.z;
87 return new P((float)(max_x + min_x)/2,
88 (float)(max_y + min_y)/2,
89 (float)(max_z + min_z)/2);
92 public T newT(V p12, V p23, V p31, Vec norm) {
93 Vec norm2 = p31.p.minus(p12.p).cross(p23.p.minus(p12.p));
94 float dot = norm.dot(norm2);
95 //if (Math.abs(dot) < EPSILON) throw new Error("dot products within epsilon of each other: "+norm+" "+norm2);
96 if (dot < 0) { V p = p12; p12=p23; p23 = p; }
97 return newT(p12, p23, p31);
100 public float volume() {
103 double area = t.area();
104 Vec origin_to_centroid = new Vec(new P(0, 0, 0), t.centroid());
105 boolean facingAway = t.norm().dot(origin_to_centroid) > 0;
106 double height = Math.abs(t.norm().dot(origin_to_centroid));
107 total += ((facingAway ? 1 : -1) * area * height) / 3.0;
112 public V nearest(P p) {
114 try { results = kd.nearest(new double[]{p.x,p.y,p.z},1); } catch (Exception e) { throw new Error(e); }
115 return (V)results[0];
118 public T newT(V p1, V p2, V p3) {
119 E e12 = p1.makeE(p2);
120 E e23 = p2.makeE(p3);
121 E e31 = p3.makeE(p1);
122 while(e12.next != e23 || e23.next != e31 || e31.next != e12) {
123 e12.makeAdjacent(e23);
124 e23.makeAdjacent(e31);
125 e31.makeAdjacent(e12);
128 if (e12.t == null) throw new Error();
129 if (e23.t == null) throw new Error();
130 if (e31.t == null) throw new Error();
134 public final class V {
138 if (ps.get(p) != null) throw new Error();
139 ps.put(this.p, this);
141 public int hashCode() {
144 public void kdremove() {
145 if (!inserted) return;
147 try { kd.delete(new double[]{p.x,p.y,p.z}); } catch (Exception e) { }
149 public void kdinsert() {
150 if (inserted) return;
152 try { kd.insert(new double[]{p.x,p.y,p.z},this); } catch (Exception e) { throw new Error(e); }
155 public float score() { return oldscore; }
156 public void unscore() {
157 if (watch == null) return;
158 watch.watch_x -= p.x;
159 watch.watch_y -= p.y;
160 watch.watch_z -= p.z;
162 if (watch.watch_count==0) {
169 public V partner() { return watch==null ? this : watch; }
170 public V watchback() { return watch_count==0 ? partner() :
171 new P(watch_x/watch_count, watch_y/watch_count, watch_z/watch_count).register(); }
172 public void rescore() {
173 if (score_against == null) return;
178 if (watch != null) unscore();
181 watch = score_against.nearest(po.p);
183 // don't attract to vertices that face the other way
184 if (watch.norm().dot(norm()) < 0) {
187 watch.watch_x += po.p.x;
188 watch.watch_y += po.p.y;
189 watch.watch_z += po.p.z;
195 if (watch_count==0) s1 = 0;
196 else s1 = p.distance(watch_x/watch_count, watch_y/watch_count, watch_z/watch_count);
197 s2 = watch==null ? 0 : po.p.distance(watch.p);
198 oldscore = (float)(s1 + s2);
203 /** does NOT update bound pairs! */
204 public boolean transform(M m) {
205 // FIXME: screws up kdtree
206 // FIXME: screws up hashmap
209 if (ps.get(this.p)==null) throw new Error();
211 float newx = m.a*p.x + m.b*p.y + m.c*p.z + m.d;
212 float newy = m.e*p.x + m.f*p.y + m.g*p.z + m.h;
213 float newz = m.i*p.x + m.j*p.y + m.k*p.z + m.l;
214 this.p = new P(newx, newy, newz);
215 // FIXME: what if we move onto exactly where another point is?
216 ps.put(this.p,(V)this);
217 } catch (Exception e) {
218 throw new RuntimeException(e);
224 for(E e = this.e; ;) {
225 if (e.intersects(t)) { good = false; break; }
227 if (e == this.e) break;
232 if (t==this.t) continue;
233 if (this.intersects(t)) good = false;
238 public boolean move(Vec v) {
243 good &= p.transform(m);
244 v = v.times(binding); // bleh wrong
250 public E makeE(V p2) {
252 if (e != null) return e;
254 if (this.e == null && p2.e == null) return this.e = new E(this, p2);
255 if (this.e == null && p2.e != null) return p2.makeE(this).pair;
256 return new E(getFreeIncident(), p2);
259 public E getFreeIncident() {
260 E ret = getFreeIncident(e, e);
261 if (ret != null) return ret;
262 ret = getFreeIncident(e.pair.next, e.pair.next);
263 if (ret == null) throw new Error("unable to find free incident to " + this);
267 public E getFreeIncident(E start, E before) {
270 if (e.pair.p2 == this && e.pair.t == null && e.pair.next.t == null) return e.pair;
272 } while(e != before);
276 public E getE(V p2) {
279 if (e==null) return null;
280 if (e.p1 == this && e.p2 == p2) return e;
286 public boolean isBoundTo(V p) {
289 if (px==this) return true;
295 public void unbind() { bound_to = this; binding = new M(); }
296 public void bind(V p) { bind(p, new M()); }
297 public void bind(V p, M binding) {
298 if (isBoundTo(p)) return;
299 V temp_bound_to = p.bound_to;
300 M 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
307 Vec norm = new Vec(0, 0, 0);
310 if (e.t != null) norm = norm.plus(e.t.norm().times((float)e.prev.angle()));
312 } while(e != this.e);
322 E e; // some edge *leaving* this point
325 boolean inserted = false;
330 public P(double x, double y, double z) { this((float)x, (float)y, (float)z); }
331 public P(float x, float y, float z) { this.x = x; this.y = y; this.z = z; }
332 public float distance(P p) { return distance(p.x, p.y, p.z); }
333 public float distance(float ox, float oy, float oz) { return (float)Math.sqrt((x-ox)*(x-ox)+(y-oy)*(y-oy)+(z-oz)*(z-oz)); }
334 public V register() { V v = ps.get(this); return v==null ? new V(this) : v; }
335 public P times(M m) { return m.times(this); }
336 public Vec minus(P p) { return new Vec(x-p.x, y-p.y, z-p.z); }
337 public P plus(Vec v) { return new P(x+v.x, y+v.y, z+v.z); }
338 public boolean equals(Object o) { return o!=null && (o instanceof P) && ((P)o).x==x && ((P)o).y==y && ((P)o).z==z; }
339 public void glVertex(GL gl) { _glVertex(gl); }
340 private void _glVertex(GL gl) { gl.glVertex3f(x, y, z); }
341 public String toString() { return "("+x+","+y+","+z+")"; }
342 // FIXME: moving a point alters its hashCode
343 public int hashCode() {
345 Float.floatToIntBits(x) ^
346 Float.floatToIntBits(y) ^
347 Float.floatToIntBits(z);
351 /** vector in 3-space */
352 public final class Vec {
353 public final float x, y, z;
354 public Vec(double x, double y, double z) { this((float)x, (float)y, (float)z); }
355 public Vec(float x, float y, float z) { this.x = x; this.y = y; this.z = z; }
356 public Vec(P p1, P p2) { this(p2.x-p1.x, p2.y-p1.y, p2.z-p1.z); }
357 public Vec cross(Vec v) { return new Vec(y*v.z-z*v.y, z*v.x-x*v.z, x*v.y-y*v.x); }
358 public Vec plus(Vec v) { return new Vec(x+v.x, y+v.y, z+v.z); }
359 public Vec norm() { return mag()==0 ? this : div(mag()); }
360 public Vec times(M m) { return m.apply(this); }
361 public float mag() { return (float)Math.sqrt(x*x+y*y+z*z); }
362 public float dot(Vec v) { return x*v.x + y*v.y + z*v.z; }
363 public Vec times(float mag) { return new Vec(x*mag, y*mag, z*mag); }
364 public Vec div(float mag) { return new Vec(x/mag, y/mag, z/mag); }
365 public String toString() { return "<"+x+","+y+","+z+">"; }
368 public class BindingGroup {
369 public HashSet<E> es = new HashSet<E>();
370 public BindingGroup() { }
371 public BindingGroup(E e) {
374 public void add(E e) {
375 if (e.bg != null) { merge(e.bg); return; }
379 public void merge(BindingGroup bg) {
387 /** [UNIQUE] an edge */
388 public final class E implements Comparable<E> {
390 public boolean intersects(T t) {
391 double A0=t.p1().p.x, A1=t.p1().p.y, A2=t.p1().p.z;
392 double B0=t.p2().p.x, B1=t.p2().p.y, B2=t.p2().p.z;
393 double C0=t.p3().p.x, C1=t.p3().p.y, C2=t.p3().p.z;
394 double j0=p1.p.x, j1=p1.p.y, j2=p1.p.z;
395 double k0=p2.p.x, k1=p2.p.y, k2=p2.p.z;
403 double R00, R01, R02, R03,
417 /* c = a × b */
418 c0 = a1 * b2 - a2 * b1;
419 c1 = a2 * b0 - a0 * b2;
420 c2 = a0 * b1 - a1 * b0;
422 /* M^(-1) = (1/det(M)) * adj(M) */
423 in_det = 1 / (c0 * c0 + c1 * c1 + c2 * c2);
424 R00 = (b1 * c2 - b2 * c1) * in_det;
425 R01 = (b2 * c0 - b0 * c2) * in_det;
426 R02 = (b0 * c1 - b1 * c0) * in_det;
427 R10 = (c1 * a2 - c2 * a1) * in_det;
428 R11 = (c2 * a0 - c0 * a2) * in_det;
429 R12 = (c0 * a1 - c1 * a0) * in_det;
435 R03 = -(R00 * A0 + R01 * A1 + R02 * A2);
436 R13 = -(R10 * A0 + R11 * A1 + R12 * A2);
437 R23 = -(R20 * A0 + R21 * A1 + R22 * A2);
439 /* fill in last row of 4x4 matrix */
443 J2 = R20 * j0 + R21 * j1 + R22 * j2 + R23;
444 K2 = R20 * k0 + R21 * k1 + R22 * k2 + R23;
445 if (J2 * K2 >= 0) return false;
447 J0 = R00 * j0 + R01 * j1 + R02 * j2 + R03;
448 K0 = R00 * k0 + R01 * k1 + R02 * k2 + R03;
449 i0 = J0 + J2 * ((K0 - J0) / (J2 - K2));
450 if (i0 < 0 || i0 > 1) return false;
452 J1 = R10 * j0 + R11 * j1 + R12 * j2 + R13;
453 K1 = R10 * k0 + R11 * k1 + R12 * k2 + R13;
454 i1 = J1 + J2 * ((K1 - J1) / (J2 - K2));
455 if (i1 < 0 || i1 > 1 || i0 + i1 > 1) return false;
460 public int compareTo(E e) {
461 return e.length() > length() ? 1 : -1;
464 public final V p1, p2;
465 T t; // triangle to our "left"
466 E prev; // previous half-edge
467 E next; // next half-edge
468 E pair; // partner half-edge
471 public BindingGroup bg = new BindingGroup(this);
473 public void bind(E e) { bind(e, new M()); }
474 public void bind(E e, M m) { e.bg.add(this); }
476 public void dobind() {
477 if (bg==null) return;
479 if (ex==this) continue;
485 boolean shattered = false;
486 public V shatter() { return shatter(midpoint().register(), null, null); }
487 public V shatter(V mid, BindingGroup bg1, BindingGroup bg2) {
488 if (shattered) return mid;
495 if (bg1==null) bg1 = new BindingGroup();
496 if (bg2==null) bg2 = new BindingGroup();
497 for(E e : bg.es) e.shatter(e.midpoint().register(), bg1, bg2);
503 bg1.add(p1.getE(mid));
504 bg2.add(mid.getE(p2));
508 public boolean destroyed = false;
509 public void destroy() {
510 if (destroyed) return;
512 pair.destroyed = true;
513 if (next.t != null) next.t.destroy();
514 if (prev.t != null) prev.t.destroy();
515 if (pair.next.t != null) ts.remove(pair.next.t);
516 if (pair.prev.t != null) ts.remove(pair.prev.t);
523 pair.prev.next = next;
524 next.prev = pair.prev;
525 prev.next = pair.next;
527 if (p1.e == this) p1.e = prev.next;
528 if (pair.p1.e == pair) pair.p1.e = pair.prev.next;
531 avgedge -= this.length();
532 avgedge -= pair.length();
537 private void sync() {
538 this.prev.next = this;
539 this.next.prev = this;
540 this.pair.pair = this;
541 if (this.next.p1 != p2) throw new Error();
542 if (this.prev.p2 != p1) throw new Error();
543 if (this.p1.e == null) this.p1.e = this;
551 private boolean added = false;
553 public T makeT() { return t==null ? (t = new T(this)) : t; }
555 /** angle between this half-edge and the next */
556 public double angle() {
557 Vec v1 = next.p2.p.minus(p2.p);
558 Vec v2 = this.p1.p.minus(p2.p);
559 return Math.acos(v1.norm().dot(v2.norm()));
562 public void makeAdjacent(E e) {
563 if (this.next == e) return;
564 if (p2 != e.p1) throw new Error("cannot make adjacent -- no shared vertex");
565 if (t != null || e.t != null) throw new Error("cannot make adjacent -- edges not both free");
567 E freeIncident = p2.getFreeIncident(e, this);
569 e.prev.next = freeIncident.next;
570 freeIncident.next.prev = e.prev;
572 freeIncident.next = this.next;
573 this.next.prev = freeIncident;
582 /** creates an isolated edge out in the middle of space */
583 public E(V p1, V p2) {
584 if (p1==p2) throw new Error("attempt to create edge with single vertex: " + p1);
587 this.prev = this.next = this.pair = new E(this, this, this);
591 /** adds a new half-edge from prev.p2 to p2 */
592 public E(E prev, V p2) {
596 if (p2.getE(p1) != null) throw new Error();
598 this.next = this.pair = new E(this, this, prev.next);
600 E q = p2.getFreeIncident();
602 this.next.prev = this;
604 this.prev.next = this;
605 this.pair = new E(q, this, z);
610 /** adds a new half-edge to the mesh with a given predecessor, successor, and pair */
611 public E(E prev, E pair, E next) {
619 public P midpoint() { return new P((p1.p.x+p2.p.x)/2, (p1.p.y+p2.p.y)/2, (p1.p.z+p2.p.z)/2); }
620 public boolean has(V v) { return v==p1 || v==p2; }
621 public float length() { return p1.p.minus(p2.p).mag(); }
622 public String toString() { return p1+"->"+p2; }
625 /** [UNIQUE] a triangle (face) */
626 public final class T {
628 public final int color;
630 public void destroy() {
634 public V nearest(P p) {
635 float d1 = p1().p.distance(p);
636 float d2 = p2().p.distance(p);
637 float d3 = p3().p.distance(p);
638 if (d1 < d2 && d1 < d3) return p1();
639 if (d2 < d3) return p2();
647 if (e1==e2 || e1==e3) throw new Error();
648 if (e3.next!=e1) throw new Error();
649 if (e1.t!=null || e2.t!=null || e3.t!=null)
650 throw new Error("non-manifold surface or disagreeing normals");
653 e1.next.next.t = this;
655 // FIXME: check for sealed/watertight surface once construction is complete (and infer normal(s)?)
657 int color = Math.abs(random.nextInt());
660 if (e1().pair.t != null && color == e1().pair.t.color) { color++; continue; }
661 if (e2().pair.t != null && color == e2().pair.t.color) { color++; continue; }
662 if (e3().pair.t != null && color == e3().pair.t.color) { color++; continue; }
674 public V p1() { return e1.p1; }
675 public V p2() { return e1.p2; }
676 public V p3() { return e1.next.p2; }
677 public E e1() { return e1; }
678 public E e2() { return e1.next; }
679 public E e3() { return e1.prev; }
680 public Vec norm() { return p2().p.minus(p1().p).cross(p3().p.minus(p1().p)).norm(); }
681 public boolean hasE(E e) { return e1==e || e1.next==e || e1.prev==e; }
682 public boolean has(V v) { return p1()==v || p2()==v || p3()==v; }
684 public float area() {
685 return (float)Math.abs(0.5 * e1().length() * new Vec(p1().p, p2().p).norm().dot(new Vec(p2().p, p3().p)));
688 public void glVertices(GL gl) {
694 public P centroid() { return new P((p1().p.x+p2().p.x+p3().p.x)/3,
695 (p1().p.y+p2().p.y+p3().p.y)/3,
696 (p1().p.z+p2().p.z+p3().p.z)/3); }
697 public float diameter() {
698 // FIXME: what is this supposed to be?
699 return Math.max(Math.max(e1().length(), e2().length()), e3().length()) / 2;
714 public final float a, b, c, d, e, f, g, h, i, j, k, l;
715 public M() { this(1); }
716 public M(float scale) {
718 l = h = d = e = b = i = c = j = g = 0;
720 public M(float scalex, float scaley, float scalez) {
724 l = h = d = e = b = i = c = j = g = 0;
726 public M(Vec translate) {
727 d = translate.x; h = translate.y; l = translate.z;
729 b = c = e = g = i = j = 0;
731 public M(float a, float b, float c, float d, float e, float f, float g, float h, float i, float j, float k, float l) {
732 this.a = a; this.b = b; this.c = c; this.d = d; this.e = e; this.f = f; this.g = g; this.h = h; this.i = i;
733 this.j = j; this.k = k; this.l = l;
735 public M times(float x) {
736 return new M(a*x, b*x, c*x, d*x, e*x, f*x, g*x, h*x, i*x, j*x, k*x, l*x);
738 public M(Vec axis, float angle) {
739 double q = Math.cos(angle);
740 double s = Math.sin(angle);
742 a = (float)(q + axis.x*axis.x*t);
743 f = (float)(q + axis.y*axis.y*t);
744 k = (float)(q + axis.z*axis.z*t);
745 double tmp1 = axis.x*axis.y*t;
746 double tmp2 = axis.z*s;
747 e = (float)(tmp1 + tmp2);
748 b = (float)(tmp1 - tmp2);
749 tmp1 = axis.x*axis.z*t;
751 i = (float)(tmp1 - tmp2);
752 c = (float)(tmp1 + tmp2);
753 tmp1 = axis.y*axis.z*t;
755 j = (float)(tmp1 + tmp2);
756 g = (float)(tmp1 - tmp2);
759 public P times(P p) {
760 return new P(a*p.x + b*p.y + c*p.z + d,
761 e*p.x + f*p.y + g*p.z + h,
762 i*p.x + j*p.y + k*p.z + l);
764 public P apply(P p) { return p; }
765 public Vec apply(Vec v) { return v; }
766 public M invert() { return this; }
767 public M times(M m) { return this; }
770 public void unbind() {
772 for(Geom.T t : this) {
780 for(Geom.T t : this) {
786 public int numedges = 0;
787 public float avgedge = 0;