1 package edu.berkeley.qfat;
4 import java.awt.event.*;
6 import javax.media.opengl.*;
7 import javax.media.opengl.glu.*;
8 import edu.berkeley.qfat.geom.*;
9 import edu.wlu.cs.levy.CG.KDTree;
10 import edu.berkeley.qfat.geom.Point;
11 import com.infomatiq.jsi.IntProcedure;
13 public class Mesh implements Iterable<Mesh.T> {
15 public static final float EPSILON = (float)0.0001;
16 public static final Random random = new Random();
18 private RTree<T> triangles = new RTree<T>();
19 private PointSet<Vertex> vertices = new PointSet<Vertex>();
21 public boolean immutableVertices;
22 public boolean ignorecollision = false;
23 public Mesh score_against = null;
24 public double score = 0;
26 public Mesh(boolean immutableVertices) { this.immutableVertices = immutableVertices; }
28 public void makeVerticesImmutable() { this.immutableVertices = true; }
29 public float score() { return (float)score; }
31 public int size() { return vertices.size(); }
32 public Iterable<Vertex> vertices() { return vertices; }
33 public Iterator<T> iterator() { return triangles.iterator(); }
35 public void rebindPoints() {
37 for(Mesh.T t : this) {
42 // ask edges to re-implement their bindings
43 for(Mesh.T t : this) {
50 public void transform(Matrix m) {
51 ArrayList<Vertex> set = new ArrayList<Vertex>();
52 for(Vertex v : vertices) set.add(v);
53 for(Vertex v : set) v.transform(m);
56 public void rebuild() { /*vertices.rebuild();*/ }
57 public Vec diagonal() { return vertices.diagonal(); }
58 public Point centroid() { return vertices.centroid(); }
59 public Vertex nearest(Point p) { return vertices.nearest(p); }
61 /** compute the volume of the mesh */
62 public float volume() {
65 double area = t.area();
66 Vec origin_to_centroid = new Vec(new Point(0, 0, 0), t.centroid());
67 boolean facingAway = t.norm().dot(origin_to_centroid) > 0;
68 double height = Math.abs(t.norm().dot(origin_to_centroid));
69 total += ((facingAway ? 1 : -1) * area * height) / 3.0;
75 // Vertexices //////////////////////////////////////////////////////////////////////////////
77 /** a vertex in the mesh */
78 public final class Vertex extends HasQuadric implements Visitor {
79 public String toString() { return p.toString(); }
81 E e; // some edge *leaving* this point
83 Matrix binding = Matrix.ONE;
84 Vertex bound_to = this;
86 public Point getPoint() { return p; }
87 public float score() { return oldscore; }
89 private Vertex(Point p) {
91 if (vertices.get(p) != null) throw new Error();
95 private void glNormal(GL gl) {
97 gl.glNormal3f(norm.x, norm.y, norm.z);
100 public void _recomputeFundamentalQuadric() {
101 Matrix m = Matrix.ZERO;
103 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
105 m = m.plus(t.norm().fundamentalQuadric(t.centroid()));
108 quadricStale = false;
109 fundamentalQuadric = m.times(1/(float)count);
112 public void reComputeErrorAround() {
114 if (nearest_in_other_mesh != null) nearest_in_other_mesh.reComputeError();
115 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
116 e.p2.reComputeError();
118 public void reComputeError() {
122 public void unComputeError() {
126 public HasQuadric nearest() {
127 if (score_against==null) return null;
128 return score_against.vertices.nearest(p, this);
130 public void computeError() {
133 ? (quadric.preAndPostMultiply(p) * 100) / quadric_count
136 : nearest_in_other_mesh != null
137 ? nearest_in_other_mesh.fundamentalQuadric().preAndPostMultiply(p) * 100 * 10
138 : score_against != null
139 ? nearest().fundamentalQuadric().preAndPostMultiply(p) * 100 * 10
141 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
142 double ang = Math.abs(e.crossAngle());
143 if (ang > Math.PI) throw new Error();
144 float minangle = (float)(Math.PI * 0.8);
146 oldscore += (ang - minangle);
151 private void removeTrianglesFromRTree() {
152 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
153 if (e.t != null) e.t.removeFromRTree();
155 private void addTrianglesToRTree() {
156 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
157 if (e.t != null) e.t.addToRTree();
160 /** does NOT update bound pairs! */
161 public boolean transform(Matrix m) {
162 if (immutableVertices) throw new Error();
164 unApplyQuadricToNeighbor();
167 if (vertices.get(this.p)==null) throw new Error();
168 vertices.remove(this);
169 removeTrianglesFromRTree();
170 float newx = m.a*p.x + m.b*p.y + m.c*p.z + m.d;
171 float newy = m.e*p.x + m.f*p.y + m.g*p.z + m.h;
172 float newz = m.i*p.x + m.j*p.y + m.k*p.z + m.l;
173 this.p = new Point(newx, newy, newz);
174 addTrianglesToRTree();
177 applyQuadricToNeighbor();
181 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
182 if (Math.abs(e.crossAngle()) > (Math.PI * 0.9) || Math.abs(e.next.crossAngle()) > (Math.PI * 0.9)) good = false;
183 if (e.t.aspect() < 0.1) good = false;
184 e.p2.quadricStale = true;
187 if (!ignorecollision && good) triangles.range(oldp, this.p, (Visitor<T>)this);
189 reComputeErrorAround();
193 public boolean visit(Object o) {
194 if (o instanceof T) {
196 if (!good) return false;
197 for(E e = Vertex.this.e; e!=null; e=e.pair.next==Vertex.this.e?null:e.pair.next) {
198 if (!t.has(e.p1) && !t.has(e.p2) && e.intersects(t)) { good = false; }
200 if (!e.t.has(t.e1().p1) && !e.t.has(t.e1().p2) && t.e1().intersects(e.t)) { good = false; }
201 if (!e.t.has(t.e2().p1) && !e.t.has(t.e2().p2) && t.e2().intersects(e.t)) { good = false; }
202 if (!e.t.has(t.e3().p1) && !e.t.has(t.e3().p2) && t.e3().intersects(e.t)) { good = false; }
207 Vertex v = (Vertex)o;
208 if (v.e==null || v.norm().dot(Vertex.this.norm()) < 0)
213 private boolean good;
215 public boolean move(Vec v) {
216 Matrix m = Matrix.translate(v);
220 good &= p.transform(m);
226 public E getFreeIncident() {
227 E ret = getFreeIncident(e, e);
228 if (ret != null) return ret;
229 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
230 System.out.println(e + " " + e.t);
231 throw new Error("unable to find free incident to " + this);
234 public E getFreeIncident(E start, E before) {
235 for(E e = start; e!=null; e=e.pair.next==before?null:e.pair.next)
236 if (e.pair.p2 == this && e.pair.t == null && e.pair.next.t == null)
241 public E getE(Point p2) {
242 Vertex v = vertices.get(p2);
243 if (v==null) return null;
246 public E getE(Vertex p2) {
247 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
248 if (e.p1 == this && e.p2 == p2) return e;
253 Vec norm = new Vec(0, 0, 0);
254 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
256 norm = norm.plus(e.t.norm().times((float)e.prev.angle()));
260 public boolean isBoundTo(Vertex p) {
261 for(Vertex px = p; px!=null; px=(px.bound_to==p?null:px.bound_to))
267 public void unbind() { bound_to = this; binding = Matrix.ONE; }
268 public void bind(Vertex p) { bind(p, Matrix.ONE); }
269 public void bind(Vertex p, Matrix binding) {
270 if (isBoundTo(p)) return;
271 Vertex temp_bound_to = p.bound_to;
272 Matrix temp_binding = p.binding;
273 p.bound_to = this.bound_to;
274 p.binding = binding.times(this.binding); // FIXME: may have order wrong here
275 this.bound_to = temp_bound_to;
276 this.binding = temp_binding.times(temp_binding); // FIXME: may have order wrong here
280 public class BindingGroup {
281 private HashSet<E> set = new HashSet<E>();
282 public BindingGroup bind_others;
283 public BindingGroup other() { return bind_others; }
284 public BindingGroup(BindingGroup bind_others) { this.bind_others = bind_others; }
285 public BindingGroup() { this.bind_others = new BindingGroup(this); }
286 public BindingGroup(E e) { this(); set.add(e); }
287 public void add(E e) {
288 if (set.contains(e)) return;
290 BindingGroup e_bind_peers = e.bind_peers;
291 BindingGroup e_bind_to = e.bind_to;
293 e.bind_to = bind_others;
294 for (E epeer : e_bind_peers.set) add(epeer);
295 for (E eother : e_bind_to.set) bind_others.add(eother);
297 for(E eother : bind_others.set) {
298 if (e.next.bind_to.set.contains(eother.prev)) {
299 e.next.next.bindEdge(eother.prev.prev);
301 if (e.prev.bind_to.set.contains(eother.next)) {
302 e.prev.prev.bindEdge(eother.next.next);
307 public void dobind(E e) {
308 for(E ebound : set) {
309 e.p1.bind(ebound.p2);
310 e.p2.bind(ebound.p1);
313 public void shatter(BindingGroup bg1, BindingGroup bg2) {
315 e.shatter(e.midpoint(), bg1, bg2);
320 /** [UNIQUE] an edge */
321 public final class E implements Comparable<E> {
323 public final Vertex p1, p2;
324 T t; // triangle to our "left"
325 E prev; // previous half-edge
326 E next; // next half-edge
327 E pair; // partner half-edge
328 public BindingGroup bind_peers = new BindingGroup(this);
329 public BindingGroup bind_to = bind_peers.other();
330 boolean shattered = false;
332 public boolean intersects(T t) { return t.intersects(p1.p, p2.p); }
333 public float comparator() {
334 Vertex nearest = score_against.nearest(midpoint());
335 return (float)Math.max(length(), midpoint().distance(nearest.p));
337 public int compareTo(E e) {
338 return e.comparator() > comparator() ? 1 : -1;
340 public void bindEdge(E e) { bind_to.add(e); }
341 public void dobind() { bind_to.dobind(this); }
343 public Point shatter() { return shatter(midpoint(), null, null); }
344 public Point shatter(Point mid, BindingGroup bg1, BindingGroup bg2) {
345 if (shattered || destroyed) return mid;
352 int old_colorclass = t==null ? 0 : t.colorclass;
353 if (bg1==null) bg1 = new BindingGroup();
354 if (bg2==null) bg2 = new BindingGroup();
355 BindingGroup old_bind_to = bind_to;
356 bind_peers.shatter(bg1, bg2);
357 old_bind_to.shatter(bg2.other(), bg1.other());
361 newT(r.p, p1.p, mid, null, old_colorclass);
362 newT(r.p, mid, p2.p, null, old_colorclass);
363 bg1.add(p1.getE(mid));
364 bg2.add(p2.getE(mid).pair);
368 public boolean destroyed = false;
369 public void destroy() {
370 if (destroyed) return;
372 pair.destroyed = true;
374 if (t != null) t.destroy();
377 if (pair.t != null) pair.t.destroy();
380 if (next.t != null) next.t.destroy();
381 if (prev.t != null) prev.t.destroy();
385 if (pair.next.t != null) pair.next.t.destroy();
386 if (pair.prev.t != null) pair.next.t.destroy();
392 this.bind_peers = null;
393 pair.bind_peers = null;
394 pair.prev.next = next;
395 next.prev = pair.prev;
396 prev.next = pair.next;
398 if (p1.e == this) p1.e = prev.next;
399 if (pair.p1.e == pair) pair.p1.e = pair.prev.next;
402 private void sync() {
403 this.prev.next = this;
404 this.next.prev = this;
405 this.pair.pair = this;
406 bind_peers.add(this);
407 if (this.next.p1 != p2) throw new Error();
408 if (this.prev.p2 != p1) throw new Error();
409 if (this.p1.e == null) this.p1.e = this;
410 if (!added) added = true;
412 private boolean added = false;
414 public T makeT(int colorclass) { return t==null ? (t = new T(this, colorclass)) : t; }
416 public double crossAngle() {
417 Vec v1 = t.norm().times(-1);
418 Vec v2 = pair.t.norm().times(-1);
419 return Math.acos(v1.norm().dot(v2.norm()));
422 /** angle between this half-edge and the next */
423 public double angle() {
424 Vec v1 = next.p2.p.minus(p2.p);
425 Vec v2 = this.p1.p.minus(p2.p);
426 return Math.acos(v1.norm().dot(v2.norm()));
429 public void makeAdjacent(E e) {
430 if (this.next == e) return;
431 if (p2 != e.p1) throw new Error("cannot make adjacent -- no shared vertex");
432 if (t != null || e.t != null) throw new Error("cannot make adjacent -- edges not both free");
434 E freeIncident = p2.getFreeIncident(e, this);
436 e.prev.next = freeIncident.next;
437 freeIncident.next.prev = e.prev;
439 freeIncident.next = this.next;
440 this.next.prev = freeIncident;
449 /** creates an isolated edge out in the middle of space */
450 public E(Point p1, Point p2) {
451 if (vertices.get(p1) != null) throw new Error();
452 if (vertices.get(p2) != null) throw new Error();
453 this.p1 = new Vertex(p1);
454 this.p2 = new Vertex(p2);
455 this.prev = this.next = this.pair = new E(this, this, this);
457 this.p2.e = this.pair;
461 /** adds a new half-edge from prev.p2 to p2 */
462 public E(E prev, Point p) {
464 p2 = vertices.get(p);
465 if (p2 == null) p2 = new Vertex(p);
469 if (p2.getE(p1) != null) throw new Error();
471 this.next = this.pair = new E(this, this, prev.next);
473 E q = p2.getFreeIncident();
475 this.next.prev = this;
477 this.prev.next = this;
478 this.pair = new E(q, this, z);
480 if (p2.e==null) p2.e = this.pair;
484 /** adds a new half-edge to the mesh with a given predecessor, successor, and pair */
485 public E(E prev, E pair, E next) {
493 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); }
494 public boolean has(Vertex v) { return v==p1 || v==p2; }
495 public float length() { return p1.p.minus(p2.p).mag(); }
496 public String toString() { return p1+"->"+p2; }
500 public E makeE(Point p1, Point p2) {
501 Vertex v1 = vertices.get(p1);
502 Vertex v2 = vertices.get(p2);
503 if (v1 != null && v2 != null) {
505 if (e != null) return e;
507 if (e != null) return e;
509 if (v1 != null) return new E(v1.getFreeIncident(), p2);
510 if (v2 != null) return new E(v2.getFreeIncident(), p1).pair;
511 return new E(p1, p2);
513 public T newT(Point p1, Point p2, Point p3, Vec norm, int colorclass) {
515 Vec norm2 = p3.minus(p1).cross(p2.minus(p1));
516 float dot = norm.dot(norm2);
517 //if (Math.abs(dot) < EPointSILON) throw new Error("dot products within evertsilon of each other: "+norm+" "+norm2);
518 if (dot < 0) { Point p = p1; p1=p2; p2 = p; }
520 E e12 = makeE(p1, p2);
521 E e23 = makeE(p2, p3);
522 E e31 = makeE(p3, p1);
523 while(e12.next != e23 || e23.next != e31 || e31.next != e12) {
524 e12.makeAdjacent(e23);
525 e23.makeAdjacent(e31);
526 e31.makeAdjacent(e12);
528 T ret = e12.makeT(colorclass);
529 if (e12.t == null) throw new Error();
530 if (e23.t == null) throw new Error();
531 if (e31.t == null) throw new Error();
536 /** [UNIQUE] a triangle (face) */
537 public final class T extends Triangle {
539 public final int color;
540 public final int colorclass;
542 public void removeFromRTree() { triangles.remove(this); }
543 public void addToRTree() { triangles.insert(this); }
545 public void destroy() { triangles.remove(this); }
547 T(E e1, int colorclass) {
551 if (e1==e2 || e1==e3) throw new Error();
552 if (e3.next!=e1) throw new Error();
553 if (e1.t!=null || e2.t!=null || e3.t!=null) throw new Error("non-manifold surface or disagreeing normals");
556 e1.next.next.t = this;
558 // FIXME: check for sealed/watertight surface once construction is complete (and infer normal(s)?)
560 int color = Math.abs(random.nextInt());
563 if (e1().pair.t != null && color == e1().pair.t.color) { color++; continue; }
564 if (e2().pair.t != null && color == e2().pair.t.color) { color++; continue; }
565 if (e3().pair.t != null && color == e3().pair.t.color) { color++; continue; }
569 this.colorclass = colorclass;
572 public E e1() { return e1; }
573 public E e2() { return e1.next; }
574 public E e3() { return e1.prev; }
575 public Vertex v1() { return e1.p1; }
576 public Vertex v2() { return e1.p2; }
577 public Vertex v3() { return e1.next.p2; }
578 public Point p1() { return e1.p1.p; }
579 public Point p2() { return e1.p2.p; }
580 public Point p3() { return e1.next.p2.p; }
581 public boolean hasE(E e) { return e1==e || e1.next==e || e1.prev==e; }
582 public boolean has(Vertex v) { return v1()==v || v2()==v || v3()==v; }
584 public boolean shouldBeDrawn() {
585 if (e1().bind_to.set.size() == 0) return false;
586 if (e2().bind_to.set.size() == 0) return false;
587 if (e3().bind_to.set.size() == 0) return false;