1 package edu.berkeley.qfat;
3 import java.awt.event.*;
5 import javax.media.opengl.*;
6 import javax.media.opengl.glu.*;
8 import edu.berkeley.qfat.geom.*;
9 import edu.berkeley.qfat.geom.Point;
13 // - solve self-intersection problem
14 // - get a better test model?
16 // FIXME: re-orient goal (how?)
18 public class Main extends MeshViewer {
20 public static int verts = 0;
22 public static final Random random = new Random();
24 /** magnification factor */
25 private static final float MAG = 1;
27 public Main(StlFile stlf, Frame f) {
30 for(int i=0; i<stlf.coordArray.length; i+=3) {
31 Point p0 = new Point(stlf.coordArray[i+0].x * MAG, stlf.coordArray[i+0].y * MAG, stlf.coordArray[i+0].z * MAG);
32 Point p1 = new Point(stlf.coordArray[i+1].x * MAG, stlf.coordArray[i+1].y * MAG, stlf.coordArray[i+1].z * MAG);
33 Point p2 = new Point(stlf.coordArray[i+2].x * MAG, stlf.coordArray[i+2].y * MAG, stlf.coordArray[i+2].z * MAG);
34 Vec n = new Vec(stlf.normArray[i/3].x * MAG, stlf.normArray[i/3].y * MAG, stlf.normArray[i/3].z * MAG);
35 Mesh.T t = goal.newT(p0, p1, p2, n, 0);
38 goal.ignorecollision = true;
40 // rotate to align major axis -- this probably needs to be done by a human.
41 goal.transform(new Matrix(new Vec(0, 0, 1), (float)(Math.PI/2)));
43 float goal_width = goal.diagonal().dot(new Vec(1, 0, 0));
44 float goal_height = goal.diagonal().dot(new Vec(0, 1, 0));
45 float goal_depth = goal.diagonal().dot(new Vec(0, 0, 1));
48 float width = (float)0.6;
49 float height = (float)0.08;
50 float depth = (float)0.3;
52 float width = (float)0.7;
53 float depth = (float)0.08;
54 float height = (float)0.4;
56 float rshift = width/2;
57 float lshift = -(width/2);
59 //float halfup = height/2;
62 translations = new Matrix[] {
64 new Matrix(new Vec(lshift, depth, halfup)),
65 new Matrix(new Vec(rshift, depth, halfup)),
66 new Matrix(new Vec(lshift, -depth, halfup)),
67 new Matrix(new Vec(rshift, -depth, halfup)),
69 new Matrix(new Vec(0, depth, halfup)),
70 new Matrix(new Vec(0, -depth, halfup)),
72 new Matrix(new Vec(lshift, 0, height)),
73 new Matrix(new Vec(rshift, 0, height)),
74 new Matrix(new Vec(lshift, 0, -height)),
75 new Matrix(new Vec(rshift, 0, -height)),
77 new Matrix(new Vec( width, 0, 0)),
78 new Matrix(new Vec(-width, 0, 0)),
86 Point ltf = new Point(lshift, (depth/2), (height/2));
87 Point mtf = new Point( 0.0, (depth/2), (height/2));
88 Point rtf = new Point(rshift, (depth/2), (height/2));
89 Point lbf = new Point(lshift, -(depth/2), (height/2));
90 Point mbf = new Point( 0.0, -(depth/2), (height/2));
91 Point rbf = new Point(rshift, -(depth/2), (height/2));
93 Point ltc = new Point(lshift, (depth/2), 0);
94 Point mtc = new Point( 0.0, (depth/2), 0);
95 Point rtc = new Point(rshift, (depth/2), 0);
96 Point lbc = new Point(lshift, -(depth/2), 0);
97 Point mbc = new Point( 0.0, -(depth/2), 0);
98 Point rbc = new Point(rshift, -(depth/2), 0);
100 Point ltn = new Point(lshift, (depth/2), -(height/2));
101 Point mtn = new Point( 0.0, (depth/2), -(height/2));
102 Point rtn = new Point(rshift, (depth/2), -(height/2));
103 Point lbn = new Point(lshift, -(depth/2), -(height/2));
104 Point mbn = new Point( 0.0, -(depth/2), -(height/2));
105 Point rbn = new Point(rshift, -(depth/2), -(height/2));
108 Point[] points = new Point[] {
133 tile.newT(ltf, mtf, mtc, null, 1);
134 tile.newT(mtc, ltc, ltf, null, 1);
135 tile.newT(mtf, rtf, rtc, null, 1);
136 tile.newT(rtc, mtc, mtf, null, 1);
138 tile.newT(ltc, mtc, mtn, null, 1);
139 tile.newT(mtn, ltn, ltc, null, 1);
140 tile.newT(mtc, rtc, rtn, null, 1);
141 tile.newT(rtn, mtn, mtc, null, 1);
143 // bottom (swap normals)
144 tile.newT(mbf, lbf, mbc, null, 2);
145 tile.newT(lbc, mbc, lbf, null, 2);
146 tile.newT(rbf, mbf, rbc, null, 2);
147 tile.newT(mbc, rbc, mbf, null, 2);
149 tile.newT(mbc, lbc, mbn, null, 2);
150 tile.newT(lbn, mbn, lbc, null, 2);
152 tile.newT(rbc, mbc, rbn, null, 2);
153 tile.newT(mbn, rbn, mbc, null, 2);
157 tile.newT(ltf, ltc, lbc, null, 3);
158 tile.newT(lbc, lbf, ltf, null, 3);
159 tile.newT(ltc, ltn, lbn, null, 3);
160 tile.newT(lbn, lbc, ltc, null, 3);
162 // right (swap normals)
163 tile.newT(rtc, rtf, rbc, null, 4);
164 tile.newT(rbf, rbc, rtf, null, 4);
165 tile.newT(rtn, rtc, rbn, null, 4);
166 tile.newT(rbc, rbn, rtc, null, 4);
169 tile.newT(ltn, mtn, mbn, null, 5);
170 tile.newT(ltn, mbn, lbn, null, 5);
171 tile.newT(mtn, rtn, rbn, null, 5);
172 tile.newT(mtn, rbn, mbn, null, 5);
175 tile.newT(mtf, ltf, mbf, null, 6);
176 tile.newT(mbf, ltf, lbf, null, 6);
177 tile.newT(rtf, mtf, rbf, null, 6);
178 tile.newT(rbf, mtf, mbf, null, 6);
180 for(Matrix m : translations) {
181 for(Mesh.T t1 : tile) {
182 for(Mesh.T t2 : tile) {
183 if (t1==t2) continue;
185 if ((t1.v1().p.times(m).minus(t2.v1().p).mag() < Mesh.EPSILON) &&
186 (t1.v2().p.times(m).minus(t2.v3().p).mag() < Mesh.EPSILON) &&
187 (t1.v3().p.times(m).minus(t2.v2().p).mag() < Mesh.EPSILON)) {
188 t1.e1().bindEdge(t2.e3());
189 t1.e2().bindEdge(t2.e2());
190 t1.e3().bindEdge(t2.e1());
192 if ((t1.v2().p.times(m).minus(t2.v1().p).mag() < Mesh.EPSILON) &&
193 (t1.v3().p.times(m).minus(t2.v3().p).mag() < Mesh.EPSILON) &&
194 (t1.v1().p.times(m).minus(t2.v2().p).mag() < Mesh.EPSILON)) {
195 t1.e2().bindEdge(t2.e3());
196 t1.e3().bindEdge(t2.e2());
197 t1.e1().bindEdge(t2.e1());
199 if ((t1.v3().p.times(m).minus(t2.v1().p).mag() < Mesh.EPSILON) &&
200 (t1.v1().p.times(m).minus(t2.v3().p).mag() < Mesh.EPSILON) &&
201 (t1.v2().p.times(m).minus(t2.v2().p).mag() < Mesh.EPSILON)) {
202 t1.e3().bindEdge(t2.e3());
203 t1.e1().bindEdge(t2.e2());
204 t1.e2().bindEdge(t2.e1());
211 //xMesh.Vert mid = lbf.getE(mbn).shatter();
213 // rescale to match volume
214 float factor = (float)Math.pow(tile.volume() / goal.volume(), 1.0/3.0);
215 goal.transform(new Matrix(factor));
217 // translate to match centroid
218 goal.transform(new Matrix(tile.centroid().minus(goal.centroid())));
226 //mid.move(new Vec((float)0,0,(float)-0.05));
227 //ltn.move(new Vec((float)0,0,(float)-0.05));
229 //mtf.move(new Vec(0, (float)-0.05, (float)0.05));
232 System.out.println("tile volume: " + tile.volume());
233 System.out.println("goal volume: " + goal.volume());
235 tile.score_against = goal;
236 goal.score_against = tile;
237 tile.tilemesh = true;
240 public synchronized void breakit() {
241 if (verts > 800) return;
242 //while(verts < 800) {
243 PriorityQueue<Mesh.E> es = new PriorityQueue<Mesh.E>();
244 for(Mesh.E e : tile.edges()) es.add(e);
245 for(int i=0; i<10; i++) {
246 Mesh.E e = es.poll();
248 System.out.println("shatter " + e);
255 public synchronized void rand(float temp, Mesh.Vert p) {
257 //p.reComputeError();
258 p.reComputeErrorAround();
259 double tile_score = tile.score();
260 double goal_score = goal.score();
263 Matrix inv = p.errorQuadric();
264 v = new Vec(inv.d, inv.h, inv.l).norm().times(1/(float)300);
265 if (p.quadric_count == 0) {
266 v = goal.nearest(p.p).p.minus(p.p).norm().times(1/(float)300);
268 Vec v2 = new Vec((random.nextFloat() - (float)0.5) / 500,
269 (random.nextFloat() - (float)0.5) / 500,
270 (random.nextFloat() - (float)0.5) / 500);
271 v = v.plus(v2.norm().times(1/(float)300));
274 boolean good = p.move(v);
276 p.reComputeErrorAround();
278 double new_tile_score = tile.score();
279 double new_goal_score = goal.score();
280 double tile_delta = (new_tile_score - tile_score) / tile_score;
281 double goal_delta = (new_goal_score - goal_score) / goal_score;
282 double delta = tile_delta + goal_delta;
283 double swapProbability = Math.exp((-1 * delta) / temp);
284 //boolean doSwap = good && (Math.random() < swapProbability);
285 //boolean doSwap = good && (tile_delta <= 0 && goal_delta <= 0);
286 boolean doSwap = good && (tile_delta + goal_delta <= 0);
288 tile_score = new_tile_score;
289 goal_score = new_goal_score;
290 //System.out.println("score: " + tile_score + " / " + goal_score);
300 public void anneal() throws Exception {
303 float temp = hightemp;
306 double ratio = (hits+misses==0) ? 1 : (hits / (hits+misses));
307 System.out.println("temp="+temp + " ratio="+(Math.ceil(ratio*100)));
311 double acceptance = ratio;
317 //temp = last * 0.8f;
321 if (acceptance > 0.96) gamma = 0.4f;
322 else if (acceptance > 0.9) gamma = 0.5f;
323 else if (acceptance > 0.8) gamma = 0.65f;
324 else if (acceptance > 0.6) gamma = 0.7f;
326 if (acceptance > 0.3) {
328 } else if (acceptance > 0.15) {
335 //temp = last * 0.8f;
342 HashSet<Mesh.Vert> hs = new HashSet<Mesh.Vert>();
343 for(Mesh.Vert p : tile.vertices()) hs.add(p);
344 for(int i=0; i<10; i++) {
346 for(Mesh.Vert v : hs) rand(temp,v);
348 tile.rebuildPointSet();
352 goal.unApplyQuadricToNeighborAll();
354 tile.recomputeAllFundamentalQuadrics();
356 goal.applyQuadricToNeighborAll();
360 public static void main(String[] s) throws Exception {
361 StlFile stlf = new StlFile();
362 stlf.load("fish.stl");
363 //stlf.load("monkey.stl");
364 Frame f = new Frame();
365 Main main = new Main(stlf, f);