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 newP(0, 0, 0); }
24 public Geom score_against = null;
25 public double score = 0;
26 public float score() {
30 public float rescore() {
33 HashSet<V> done = new HashSet<V>();
35 for(V p : new V[] { t.p1(), t.p2(), t.p3() }) {
36 if (done.contains(p)) continue;
41 for(V p : new V[] { t.p1(), t.p2(), t.p3() })
45 for(V p : new V[] { t.p1(), t.p2(), t.p3() })
47 return (float)(dist/num);
50 public void transform(M m) {
51 ArrayList<V> set = new ArrayList<V>();
52 set.addAll(ps.values());
53 for(V v : set) v.transform(m);
56 public Vec diagonal() {
57 float min_x = Float.MAX_VALUE;
58 float min_y = Float.MAX_VALUE;
59 float min_z = Float.MAX_VALUE;
60 float max_x = Float.MIN_VALUE;
61 float max_y = Float.MIN_VALUE;
62 float max_z = Float.MIN_VALUE;
63 for(P p : ps.keySet()) {
64 if (p.x < min_x) min_x = p.x;
65 if (p.y < min_y) min_y = p.y;
66 if (p.z < min_z) min_z = p.z;
67 if (p.x > max_x) max_x = p.x;
68 if (p.y > max_y) max_y = p.y;
69 if (p.z > max_z) max_z = p.z;
71 return new Vec(max_x - min_x, max_y - min_y, max_z - min_z);
75 float min_x = Float.MAX_VALUE;
76 float min_y = Float.MAX_VALUE;
77 float min_z = Float.MAX_VALUE;
78 float max_x = Float.MIN_VALUE;
79 float max_y = Float.MIN_VALUE;
80 float max_z = Float.MIN_VALUE;
81 for(P p : ps.keySet()) {
82 if (p.x < min_x) min_x = p.x;
83 if (p.y < min_y) min_y = p.y;
84 if (p.z < min_z) min_z = p.z;
85 if (p.x > max_x) max_x = p.x;
86 if (p.y > max_y) max_y = p.y;
87 if (p.z > max_z) max_z = p.z;
89 return new P((float)(max_x + min_x)/2,
90 (float)(max_y + min_y)/2,
91 (float)(max_z + min_z)/2);
94 public P newP(double x, double y, double z) { return newP((float)x, (float)y, (float)z); }
95 public P newP(float x, float y, float z) { return new P(x, y, z); }
97 public T newT(V p12, V p23, V p31, Vec norm) {
98 Vec norm2 = p31.minus(p12).cross(p23.minus(p12));
99 float dot = norm.dot(norm2);
100 //if (Math.abs(dot) < EPSILON) throw new Error("dot products within epsilon of each other: "+norm+" "+norm2);
101 if (dot < 0) { V p = p12; p12=p23; p23 = p; }
102 return newT(p12, p23, p31);
106 public float volume() {
109 double area = t.area();
110 Vec origin_to_centroid = new Vec(newP(0, 0, 0), t.centroid());
111 boolean facingAway = t.norm().dot(origin_to_centroid) > 0;
112 double height = Math.abs(t.norm().dot(origin_to_centroid));
113 total += ((facingAway ? 1 : -1) * area * height) / 3.0;
118 public P nearest(P p) {
120 try { results = kd.nearest(new double[]{p.x,p.y,p.z},1); } catch (Exception e) { throw new Error(e); }
121 return (P)results[0];
124 public T newT(V p1, V p2, V p3) {
128 E e12 = p1.makeE(p2);
129 E e23 = p2.makeE(p3);
130 E e31 = p3.makeE(p1);
131 while(e12.next != e23 || e23.next != e31 || e31.next != e12) {
132 e12.makeAdjacent(e23);
133 e23.makeAdjacent(e31);
134 e31.makeAdjacent(e12);
137 if (e12.t == null) throw new Error();
138 if (e23.t == null) throw new Error();
139 if (e31.t == null) throw new Error();
143 public final class V extends P {
146 super(p.x, p.y, p.z);
147 if (ps.get(p) != null) throw new Error();
149 ps.put(this.p, this);
152 public int hashCode() {
156 public void kdremove() {
157 if (!inserted) return;
159 try { kd.delete(new double[]{p.x,p.y,p.z}); } catch (Exception e) { }
161 public void kdinsert() {
162 if (inserted) return;
164 try { kd.insert(new double[]{p.x,p.y,p.z},this); } catch (Exception e) { throw new Error(e); }
167 public float score() { return oldscore; }
168 public void unscore() {
169 if (watch == null) return;
174 if (watch.watch_count==0) {
181 public V partner() { return watch==null ? this : watch; }
182 public V watchback() { return watch_count==0 ? partner() :
183 newP(watch_x/watch_count, watch_y/watch_count, watch_z/watch_count).register(); }
184 public void rescore() {
185 if (score_against == null) return;
190 if (watch != null) unscore();
193 watch = (V)score_against.nearest(po);
195 // don't attract to vertices that face the other way
196 if (watch.norm().dot(norm()) < 0) {
199 watch.watch_x += po.x;
200 watch.watch_y += po.y;
201 watch.watch_z += po.z;
207 if (watch_count==0) s1 = 0;
208 else s1 = this.distance(watch_x/watch_count, watch_y/watch_count, watch_z/watch_count);
209 s2 = watch==null ? 0 : po.distance(watch);
210 oldscore = (float)(s1 + s2);
215 /** does NOT update bound pairs! */
216 public boolean transform(M m) {
217 // FIXME: screws up kdtree
218 // FIXME: screws up hashmap
221 if (ps.get(this.p)==null) throw new Error();
223 float newx = m.a*p.x + m.b*p.y + m.c*p.z + m.d;
224 float newy = m.e*p.x + m.f*p.y + m.g*p.z + m.h;
225 float newz = m.i*p.x + m.j*p.y + m.k*p.z + m.l;
229 this.p = new P(newx, newy, newz);
230 // FIXME: what if we move onto exactly where another point is?
231 ps.put(this.p,(V)this);
232 } catch (Exception e) {
233 throw new RuntimeException(e);
239 for(E e = this.e; ;) {
240 if (e.intersects(t)) { good = false; break; }
242 if (e == this.e) break;
247 if (t==this.t) continue;
248 if (this.intersects(t)) good = false;
253 public boolean move(Vec v) {
258 good &= p.transform(m);
259 v = v.times(binding); // bleh wrong
265 public E makeE(V p2) {
267 if (e != null) return e;
269 if (this.e == null && p2.e == null) return this.e = new E(this, p2);
270 if (this.e == null && p2.e != null) return p2.makeE(this).pair;
271 return new E(getFreeIncident(), p2);
274 public E getFreeIncident() {
275 E ret = getFreeIncident(e, e);
276 if (ret != null) return ret;
277 ret = getFreeIncident(e.pair.next, e.pair.next);
278 if (ret == null) throw new Error("unable to find free incident to " + this);
282 public E getFreeIncident(E start, E before) {
285 if (e.pair.p2 == this && e.pair.t == null && e.pair.next.t == null) return e.pair;
287 } while(e != before);
291 public E getE(V p2) {
295 if (e==null) return null;
296 if (e.p1 == this && e.p2 == p2) return e;
302 public boolean isBoundTo(V p) {
306 if (px==this) return true;
312 public void unbind() { bound_to = this; binding = new M(); }
313 public void bind(V p) { bind(p, new M()); }
314 public void bind(V p, M binding) {
316 if (isBoundTo(p)) return;
317 V temp_bound_to = p.bound_to;
318 M temp_binding = p.binding;
319 p.bound_to = this.bound_to;
320 p.binding = binding.times(this.binding); // FIXME: may have order wrong here
321 this.bound_to = temp_bound_to;
322 this.binding = temp_binding.times(temp_binding); // FIXME: may have order wrong here
325 Vec norm = new Vec(0, 0, 0);
328 if (e.t != null) norm = norm.plus(e.t.norm().times((float)e.prev.angle()));
330 } while(e != this.e);
340 E e; // some edge *leaving* this point
343 boolean inserted = false;
348 public P(float x, float y, float z) { this.x = x; this.y = y; this.z = z; }
349 public float distance(P p) { return distance(p.x, p.y, p.z); }
350 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)); }
351 public V register() { V v = ps.get(this); return v==null ? new V(this) : v; }
352 public P times(M m) { return m.times(this); }
353 public Vec minus(P p) { return new Vec(x-p.x, y-p.y, z-p.z); }
354 public P plus(Vec v) { return newP(x+v.x, y+v.y, z+v.z); }
355 public boolean equals(Object o) { return o!=null && (o instanceof P) && ((P)o).x==x && ((P)o).y==y && ((P)o).z==z; }
356 public void glVertex(GL gl) { _glVertex(gl); }
357 private void _glVertex(GL gl) { gl.glVertex3f(x, y, z); }
358 public String toString() { return "("+x+","+y+","+z+")"; }
359 // FIXME: moving a point alters its hashCode
360 public int hashCode() {
362 Float.floatToIntBits(x) ^
363 Float.floatToIntBits(y) ^
364 Float.floatToIntBits(z);
368 /** vector in 3-space */
369 public final class Vec {
370 public final float x, y, z;
371 public Vec(double x, double y, double z) { this((float)x, (float)y, (float)z); }
372 public Vec(float x, float y, float z) { this.x = x; this.y = y; this.z = z; }
373 public Vec(P p1, P p2) { this(p2.x-p1.x, p2.y-p1.y, p2.z-p1.z); }
374 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); }
375 public Vec plus(Vec v) { return new Vec(x+v.x, y+v.y, z+v.z); }
376 public Vec norm() { return mag()==0 ? this : div(mag()); }
377 public Vec times(M m) { return m.apply(this); }
378 public float mag() { return (float)Math.sqrt(x*x+y*y+z*z); }
379 public float dot(Vec v) { return x*v.x + y*v.y + z*v.z; }
380 public Vec times(float mag) { return new Vec(x*mag, y*mag, z*mag); }
381 public Vec div(float mag) { return new Vec(x/mag, y/mag, z/mag); }
382 public String toString() { return "<"+x+","+y+","+z+">"; }
385 public class BindingGroup {
386 public HashSet<E> es = new HashSet<E>();
387 public BindingGroup() { }
388 public BindingGroup(E e) {
391 public void add(E e) {
392 if (e.bg != null) { merge(e.bg); return; }
396 public void merge(BindingGroup bg) {
404 /** [UNIQUE] an edge */
405 public final class E implements Comparable<E> {
407 public boolean intersects(T t) {
408 double A0=t.p1().x, A1=t.p1().y, A2=t.p1().z;
409 double B0=t.p2().x, B1=t.p2().y, B2=t.p2().z;
410 double C0=t.p3().x, C1=t.p3().y, C2=t.p3().z;
411 double j0=p1.x, j1=p1.y, j2=p1.z;
412 double k0=p2.x, k1=p2.y, k2=p2.z;
420 double R00, R01, R02, R03,
434 /* c = a × b */
435 c0 = a1 * b2 - a2 * b1;
436 c1 = a2 * b0 - a0 * b2;
437 c2 = a0 * b1 - a1 * b0;
439 /* M^(-1) = (1/det(M)) * adj(M) */
440 in_det = 1 / (c0 * c0 + c1 * c1 + c2 * c2);
441 R00 = (b1 * c2 - b2 * c1) * in_det;
442 R01 = (b2 * c0 - b0 * c2) * in_det;
443 R02 = (b0 * c1 - b1 * c0) * in_det;
444 R10 = (c1 * a2 - c2 * a1) * in_det;
445 R11 = (c2 * a0 - c0 * a2) * in_det;
446 R12 = (c0 * a1 - c1 * a0) * in_det;
452 R03 = -(R00 * A0 + R01 * A1 + R02 * A2);
453 R13 = -(R10 * A0 + R11 * A1 + R12 * A2);
454 R23 = -(R20 * A0 + R21 * A1 + R22 * A2);
456 /* fill in last row of 4x4 matrix */
460 J2 = R20 * j0 + R21 * j1 + R22 * j2 + R23;
461 K2 = R20 * k0 + R21 * k1 + R22 * k2 + R23;
462 if (J2 * K2 >= 0) return false;
464 J0 = R00 * j0 + R01 * j1 + R02 * j2 + R03;
465 K0 = R00 * k0 + R01 * k1 + R02 * k2 + R03;
466 i0 = J0 + J2 * ((K0 - J0) / (J2 - K2));
467 if (i0 < 0 || i0 > 1) return false;
469 J1 = R10 * j0 + R11 * j1 + R12 * j2 + R13;
470 K1 = R10 * k0 + R11 * k1 + R12 * k2 + R13;
471 i1 = J1 + J2 * ((K1 - J1) / (J2 - K2));
472 if (i1 < 0 || i1 > 1 || i0 + i1 > 1) return false;
477 public int compareTo(E e) {
478 return e.length() > length() ? 1 : -1;
481 public final V p1, p2;
482 T t; // triangle to our "left"
483 E prev; // previous half-edge
484 E next; // next half-edge
485 E pair; // partner half-edge
488 public BindingGroup bg = new BindingGroup(this);
490 public void bind(E e) { bind(e, new M()); }
491 public void bind(E e, M m) { e.bg.add(this); }
493 public void dobind() {
494 if (bg==null) return;
496 if (ex==this) continue;
502 boolean shattered = false;
503 public V shatter() { return shatter(midpoint().register(), null, null); }
504 public V shatter(V mid, BindingGroup bg1, BindingGroup bg2) {
505 mid = mid.register();
506 if (shattered) return mid;
513 if (bg1==null) bg1 = new BindingGroup();
514 if (bg2==null) bg2 = new BindingGroup();
515 for(E e : bg.es) e.shatter(e.midpoint().register(), bg1, bg2);
521 bg1.add(p1.getE(mid));
522 bg2.add(mid.getE(p2));
526 public boolean destroyed = false;
527 public void destroy() {
528 if (destroyed) return;
530 pair.destroyed = true;
531 if (next.t != null) next.t.destroy();
532 if (prev.t != null) prev.t.destroy();
533 if (pair.next.t != null) ts.remove(pair.next.t);
534 if (pair.prev.t != null) ts.remove(pair.prev.t);
541 pair.prev.next = next;
542 next.prev = pair.prev;
543 prev.next = pair.next;
545 if (p1.e == this) p1.e = prev.next;
546 if (pair.p1.e == pair) pair.p1.e = pair.prev.next;
549 avgedge -= this.length();
550 avgedge -= pair.length();
555 private void sync() {
556 this.prev.next = this;
557 this.next.prev = this;
558 this.pair.pair = this;
559 if (this.next.p1 != p2) throw new Error();
560 if (this.prev.p2 != p1) throw new Error();
561 if (this.p1.e == null) this.p1.e = this;
569 private boolean added = false;
571 public T makeT() { return t==null ? (t = new T(this)) : t; }
573 /** angle between this half-edge and the next */
574 public double angle() {
575 Vec v1 = next.p2.minus(p2);
576 Vec v2 = this.p1.minus(p2);
577 return Math.acos(v1.norm().dot(v2.norm()));
580 public void makeAdjacent(E e) {
581 if (this.next == e) return;
582 if (p2 != e.p1) throw new Error("cannot make adjacent -- no shared vertex");
583 if (t != null || e.t != null) throw new Error("cannot make adjacent -- edges not both free");
585 E freeIncident = p2.getFreeIncident(e, this);
587 e.prev.next = freeIncident.next;
588 freeIncident.next.prev = e.prev;
590 freeIncident.next = this.next;
591 this.next.prev = freeIncident;
600 /** creates an isolated edge out in the middle of space */
601 public E(V p1, V p2) {
604 if (p1==p2) throw new Error("attempt to create edge with single vertex: " + p1);
607 this.prev = this.next = this.pair = new E(this, this, this);
611 /** adds a new half-edge from prev.p2 to p2 */
612 public E(E prev, V p2) {
617 if (p2.getE(p1) != null) throw new Error();
619 this.next = this.pair = new E(this, this, prev.next);
621 E q = p2.getFreeIncident();
623 this.next.prev = this;
625 this.prev.next = this;
626 this.pair = new E(q, this, z);
631 /** adds a new half-edge to the mesh with a given predecessor, successor, and pair */
632 public E(E prev, E pair, E next) {
640 public P midpoint() { return newP((p1.x+p2.x)/2, (p1.y+p2.y)/2, (p1.z+p2.z)/2).register(); }
641 public boolean has(P p) {
643 return p==p1 || p==p2;
645 public float length() { return p1.minus(p2).mag(); }
646 public String toString() { return p1+"->"+p2; }
649 /** [UNIQUE] a triangle (face) */
650 public final class T {
652 public final int color;
654 public void destroy() {
658 public P nearest(P p) {
659 float d1 = p1().distance(p);
660 float d2 = p2().distance(p);
661 float d3 = p3().distance(p);
662 if (d1 < d2 && d1 < d3) return p1();
663 if (d2 < d3) return p2();
671 if (e1==e2 || e1==e3) throw new Error();
672 if (e3.next!=e1) throw new Error();
673 if (e1.t!=null || e2.t!=null || e3.t!=null)
674 throw new Error("non-manifold surface or disagreeing normals");
677 e1.next.next.t = this;
679 // FIXME: check for sealed/watertight surface once construction is complete (and infer normal(s)?)
681 int color = Math.abs(random.nextInt());
684 if (e1().pair.t != null && color == e1().pair.t.color) { color++; continue; }
685 if (e2().pair.t != null && color == e2().pair.t.color) { color++; continue; }
686 if (e3().pair.t != null && color == e3().pair.t.color) { color++; continue; }
698 public V p1() { return e1.p1; }
699 public V p2() { return e1.p2; }
700 public V p3() { return e1.next.p2; }
701 public E e1() { return e1; }
702 public E e2() { return e1.next; }
703 public E e3() { return e1.prev; }
704 public Vec norm() { return p2().minus(p1()).cross(p3().minus(p1())).norm(); }
705 public boolean hasE(E e) { return e1==e || e1.next==e || e1.prev==e; }
706 public boolean has(P p) { return p1()==p || p2()==p || p3()==p; }
708 public float area() {
709 return (float)Math.abs(0.5 * e1().length() * new Vec(p1(), p2()).norm().dot(new Vec(p2(), p3())));
712 public void glVertices(GL gl) {
718 public P centroid() { return newP((p1().x+p2().x+p3().x)/3,
719 (p1().y+p2().y+p3().y)/3,
720 (p1().z+p2().z+p3().z)/3); }
721 public float diameter() {
722 // FIXME: what is this supposed to be?
723 return Math.max(Math.max(e1().length(), e2().length()), e3().length()) / 2;
738 public final float a, b, c, d, e, f, g, h, i, j, k, l;
739 public M() { this(1); }
740 public M(float scale) {
742 l = h = d = e = b = i = c = j = g = 0;
744 public M(float scalex, float scaley, float scalez) {
748 l = h = d = e = b = i = c = j = g = 0;
750 public M(Vec translate) {
751 d = translate.x; h = translate.y; l = translate.z;
753 b = c = e = g = i = j = 0;
755 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) {
756 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;
757 this.j = j; this.k = k; this.l = l;
759 public M times(float x) {
760 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);
762 public M(Vec axis, float angle) {
763 double q = Math.cos(angle);
764 double s = Math.sin(angle);
766 a = (float)(q + axis.x*axis.x*t);
767 f = (float)(q + axis.y*axis.y*t);
768 k = (float)(q + axis.z*axis.z*t);
769 double tmp1 = axis.x*axis.y*t;
770 double tmp2 = axis.z*s;
771 e = (float)(tmp1 + tmp2);
772 b = (float)(tmp1 - tmp2);
773 tmp1 = axis.x*axis.z*t;
775 i = (float)(tmp1 - tmp2);
776 c = (float)(tmp1 + tmp2);
777 tmp1 = axis.y*axis.z*t;
779 j = (float)(tmp1 + tmp2);
780 g = (float)(tmp1 - tmp2);
783 public P times(P p) {
784 return newP(a*p.x + b*p.y + c*p.z + d,
785 e*p.x + f*p.y + g*p.z + h,
786 i*p.x + j*p.y + k*p.z + l);
788 public P apply(P p) { return p; }
789 public Vec apply(Vec v) { return v; }
790 public M invert() { return this; }
791 public M times(M m) { return this; }
794 public void unbind() {
796 for(Geom.T t : this) {
804 for(Geom.T t : this) {
810 public int numedges = 0;
811 public float avgedge = 0;