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 error_against = null;
24 public double error = 0;
26 public Mesh(boolean immutableVertices) { this.immutableVertices = immutableVertices; }
28 public void makeVerticesImmutable() { this.immutableVertices = true; }
29 public float error() { return (float)error; }
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 {
80 E e; // some edge *leaving* this point
82 Matrix binding = Matrix.ONE;
83 Vertex bound_to = this;
85 public Point getPoint() { return p; }
86 public float error() { return olderror; }
88 private Vertex(Point p) {
90 if (vertices.get(p) != null) throw new Error();
94 public float olderror = 0;
95 public void setError(float nerror) {
101 public Matrix _recomputeFundamentalQuadric() {
102 Matrix m = Matrix.ZERO;
104 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
105 m = m.plus(e.t.norm().fundamentalQuadric(e.t.centroid()));
108 return m.times(1/(float)count);
111 public HasQuadric nearest() {
112 if (error_against==null) return null;
113 return error_against.vertices.nearest(p, this);
117 public void computeError() {
120 ? (quadric.preAndPostMultiply(p) * 100) / quadric_count
121 : nearest_in_other_mesh != null
122 ? nearest_in_other_mesh.fundamentalQuadric().preAndPostMultiply(p) * 100 * 10
123 : error_against != null
124 ? nearest().fundamentalQuadric().preAndPostMultiply(p) * 100 * 10
126 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
127 double ang = Math.abs(e.crossAngle());
128 if (ang > Math.PI) throw new Error();
129 float minangle = (float)(Math.PI * 0.8);
130 if (ang > minangle) nerror += (ang - minangle);
135 private void removeTrianglesFromRTree() {
136 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
137 if (e.t != null) e.t.removeFromRTree();
139 private void addTrianglesToRTree() {
140 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
141 if (e.t != null) e.t.addToRTree();
144 /** does NOT update bound pairs! */
145 public boolean transform(Matrix m) {
146 if (immutableVertices) throw new Error();
148 unApplyQuadricToNeighbor();
151 if (vertices.get(this.p)==null) throw new Error();
152 vertices.remove(this);
153 removeTrianglesFromRTree();
154 float newx = m.a*p.x + m.b*p.y + m.c*p.z + m.d;
155 float newy = m.e*p.x + m.f*p.y + m.g*p.z + m.h;
156 float newz = m.i*p.x + m.j*p.y + m.k*p.z + m.l;
157 this.p = new Point(newx, newy, newz);
158 addTrianglesToRTree();
161 applyQuadricToNeighbor();
165 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
166 if (Math.abs(e.crossAngle()) > (Math.PI * 0.9) || Math.abs(e.next.crossAngle()) > (Math.PI * 0.9)) good = false;
167 if (e.t.aspect() < 0.1) good = false;
168 e.p2.quadricStale = true;
171 if (!ignorecollision && good) triangles.range(oldp, this.p, (Visitor<T>)this);
173 reComputeErrorAround();
178 public void reComputeErrorAround() {
180 if (nearest_in_other_mesh != null) nearest_in_other_mesh.reComputeError();
181 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
182 e.p2.reComputeError();
185 public boolean visit(Object o) {
186 if (o instanceof T) {
188 if (!good) return false;
189 for(E e = Vertex.this.e; e!=null; e=e.pair.next==Vertex.this.e?null:e.pair.next) {
190 if (!t.has(e.p1) && !t.has(e.p2) && e.intersects(t)) { good = false; }
192 if (!e.t.has(t.e1().p1) && !e.t.has(t.e1().p2) && t.e1().intersects(e.t)) { good = false; }
193 if (!e.t.has(t.e2().p1) && !e.t.has(t.e2().p2) && t.e2().intersects(e.t)) { good = false; }
194 if (!e.t.has(t.e3().p1) && !e.t.has(t.e3().p2) && t.e3().intersects(e.t)) { good = false; }
199 Vertex v = (Vertex)o;
200 if (v.e==null || v.norm().dot(Vertex.this.norm()) < 0)
205 private boolean good;
207 public boolean move(Vec v) {
208 Matrix m = Matrix.translate(v);
212 good &= p.transform(m);
218 public E getFreeIncident() {
219 E ret = getFreeIncident(e, e);
220 if (ret != null) return ret;
221 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
222 System.out.println(e + " " + e.t);
223 throw new Error("unable to find free incident to " + this);
226 public E getFreeIncident(E start, E before) {
227 for(E e = start; e!=null; e=e.pair.next==before?null:e.pair.next)
228 if (e.pair.p2 == this && e.pair.t == null && e.pair.next.t == null)
233 public E getE(Point p2) {
234 Vertex v = vertices.get(p2);
235 if (v==null) return null;
238 public E getE(Vertex p2) {
239 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
240 if (e.p1 == this && e.p2 == p2) return e;
244 private void glNormal(GL gl) {
246 gl.glNormal3f(norm.x, norm.y, norm.z);
249 Vec norm = new Vec(0, 0, 0);
250 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
252 norm = norm.plus(e.t.norm().times((float)e.prev.angle()));
256 public boolean isBoundTo(Vertex p) {
257 for(Vertex px = p; px!=null; px=(px.bound_to==p?null:px.bound_to))
263 public void unbind() { bound_to = this; binding = Matrix.ONE; }
264 public void bind(Vertex p) { bind(p, Matrix.ONE); }
265 public void bind(Vertex p, Matrix binding) {
266 if (isBoundTo(p)) return;
267 Vertex temp_bound_to = p.bound_to;
268 Matrix temp_binding = p.binding;
269 p.bound_to = this.bound_to;
270 p.binding = binding.times(this.binding); // FIXME: may have order wrong here
271 this.bound_to = temp_bound_to;
272 this.binding = temp_binding.times(temp_binding); // FIXME: may have order wrong here
276 public class BindingGroup {
277 private HashSet<E> set = new HashSet<E>();
278 public BindingGroup bind_others;
279 public BindingGroup other() { return bind_others; }
280 public BindingGroup(BindingGroup bind_others) { this.bind_others = bind_others; }
281 public BindingGroup() { this.bind_others = new BindingGroup(this); }
282 public BindingGroup(E e) { this(); set.add(e); }
283 public void add(E e) {
284 if (set.contains(e)) return;
286 BindingGroup e_bind_peers = e.bind_peers;
287 BindingGroup e_bind_to = e.bind_to;
289 e.bind_to = bind_others;
290 for (E epeer : e_bind_peers.set) add(epeer);
291 for (E eother : e_bind_to.set) bind_others.add(eother);
293 for(E eother : bind_others.set) {
294 if (e.next.bind_to.set.contains(eother.prev)) {
295 e.next.next.bindEdge(eother.prev.prev);
297 if (e.prev.bind_to.set.contains(eother.next)) {
298 e.prev.prev.bindEdge(eother.next.next);
303 public void dobind(E e) {
304 for(E ebound : set) {
305 e.p1.bind(ebound.p2);
306 e.p2.bind(ebound.p1);
309 public void shatter(BindingGroup bg1, BindingGroup bg2) {
311 e.shatter(e.midpoint(), bg1, bg2);
316 /** [UNIQUE] an edge */
317 public final class E implements Comparable<E> {
319 public final Vertex p1, p2;
320 T t; // triangle to our "left"
321 E prev; // previous half-edge
322 E next; // next half-edge
323 E pair; // partner half-edge
324 public BindingGroup bind_peers = new BindingGroup(this);
325 public BindingGroup bind_to = bind_peers.other();
326 boolean shattered = false;
328 public boolean intersects(T t) { return t.intersects(p1.p, p2.p); }
329 public float comparator() {
330 Vertex nearest = error_against.nearest(midpoint());
331 return (float)Math.max(length(), midpoint().distance(nearest.p));
333 public int compareTo(E e) {
334 return e.comparator() > comparator() ? 1 : -1;
336 public void bindEdge(E e) { bind_to.add(e); }
337 public void dobind() { bind_to.dobind(this); }
339 public Point shatter() { return shatter(midpoint(), null, null); }
340 public Point shatter(Point mid, BindingGroup bg1, BindingGroup bg2) {
341 if (shattered || destroyed) return mid;
348 int old_colorclass = t==null ? 0 : t.colorclass;
349 if (bg1==null) bg1 = new BindingGroup();
350 if (bg2==null) bg2 = new BindingGroup();
351 BindingGroup old_bind_to = bind_to;
352 bind_peers.shatter(bg1, bg2);
353 old_bind_to.shatter(bg2.other(), bg1.other());
357 newT(r.p, p1.p, mid, null, old_colorclass);
358 newT(r.p, mid, p2.p, null, old_colorclass);
359 bg1.add(p1.getE(mid));
360 bg2.add(p2.getE(mid).pair);
364 public boolean destroyed = false;
365 public void destroy() {
366 if (destroyed) return;
368 pair.destroyed = true;
370 if (t != null) t.destroy();
373 if (pair.t != null) pair.t.destroy();
376 if (next.t != null) next.t.destroy();
377 if (prev.t != null) prev.t.destroy();
381 if (pair.next.t != null) pair.next.t.destroy();
382 if (pair.prev.t != null) pair.next.t.destroy();
388 this.bind_peers = null;
389 pair.bind_peers = null;
390 pair.prev.next = next;
391 next.prev = pair.prev;
392 prev.next = pair.next;
394 if (p1.e == this) p1.e = prev.next;
395 if (pair.p1.e == pair) pair.p1.e = pair.prev.next;
398 private void sync() {
399 this.prev.next = this;
400 this.next.prev = this;
401 this.pair.pair = this;
402 bind_peers.add(this);
403 if (this.next.p1 != p2) throw new Error();
404 if (this.prev.p2 != p1) throw new Error();
405 if (this.p1.e == null) this.p1.e = this;
406 if (!added) added = true;
408 private boolean added = false;
410 public T makeT(int colorclass) { return t==null ? (t = new T(this, colorclass)) : t; }
412 public double crossAngle() {
413 Vec v1 = t.norm().times(-1);
414 Vec v2 = pair.t.norm().times(-1);
415 return Math.acos(v1.norm().dot(v2.norm()));
418 /** angle between this half-edge and the next */
419 public double angle() {
420 Vec v1 = next.p2.p.minus(p2.p);
421 Vec v2 = this.p1.p.minus(p2.p);
422 return Math.acos(v1.norm().dot(v2.norm()));
425 public void makeAdjacent(E e) {
426 if (this.next == e) return;
427 if (p2 != e.p1) throw new Error("cannot make adjacent -- no shared vertex");
428 if (t != null || e.t != null) throw new Error("cannot make adjacent -- edges not both free");
430 E freeIncident = p2.getFreeIncident(e, this);
432 e.prev.next = freeIncident.next;
433 freeIncident.next.prev = e.prev;
435 freeIncident.next = this.next;
436 this.next.prev = freeIncident;
445 /** creates an isolated edge out in the middle of space */
446 public E(Point p1, Point p2) {
447 if (vertices.get(p1) != null) throw new Error();
448 if (vertices.get(p2) != null) throw new Error();
449 this.p1 = new Vertex(p1);
450 this.p2 = new Vertex(p2);
451 this.prev = this.next = this.pair = new E(this, this, this);
453 this.p2.e = this.pair;
457 /** adds a new half-edge from prev.p2 to p2 */
458 public E(E prev, Point p) {
460 p2 = vertices.get(p);
461 if (p2 == null) p2 = new Vertex(p);
465 if (p2.getE(p1) != null) throw new Error();
467 this.next = this.pair = new E(this, this, prev.next);
469 E q = p2.getFreeIncident();
471 this.next.prev = this;
473 this.prev.next = this;
474 this.pair = new E(q, this, z);
476 if (p2.e==null) p2.e = this.pair;
480 /** adds a new half-edge to the mesh with a given predecessor, successor, and pair */
481 public E(E prev, E pair, E next) {
489 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); }
490 public boolean has(Vertex v) { return v==p1 || v==p2; }
491 public float length() { return p1.p.minus(p2.p).mag(); }
492 public String toString() { return p1+"->"+p2; }
496 public E makeE(Point p1, Point p2) {
497 Vertex v1 = vertices.get(p1);
498 Vertex v2 = vertices.get(p2);
499 if (v1 != null && v2 != null) {
501 if (e != null) return e;
503 if (e != null) return e;
505 if (v1 != null) return new E(v1.getFreeIncident(), p2);
506 if (v2 != null) return new E(v2.getFreeIncident(), p1).pair;
507 return new E(p1, p2);
509 public T newT(Point p1, Point p2, Point p3, Vec norm, int colorclass) {
511 Vec norm2 = p3.minus(p1).cross(p2.minus(p1));
512 float dot = norm.dot(norm2);
513 //if (Math.abs(dot) < EPointSILON) throw new Error("dot products within evertsilon of each other: "+norm+" "+norm2);
514 if (dot < 0) { Point p = p1; p1=p2; p2 = p; }
516 E e12 = makeE(p1, p2);
517 E e23 = makeE(p2, p3);
518 E e31 = makeE(p3, p1);
519 while(e12.next != e23 || e23.next != e31 || e31.next != e12) {
520 e12.makeAdjacent(e23);
521 e23.makeAdjacent(e31);
522 e31.makeAdjacent(e12);
524 T ret = e12.makeT(colorclass);
525 if (e12.t == null) throw new Error();
526 if (e23.t == null) throw new Error();
527 if (e31.t == null) throw new Error();
532 /** [UNIQUE] a triangle (face) */
533 public final class T extends Triangle {
535 public final int color;
536 public final int colorclass;
538 public void removeFromRTree() { triangles.remove(this); }
539 public void addToRTree() { triangles.insert(this); }
541 public void destroy() { triangles.remove(this); }
543 T(E e1, int colorclass) {
547 if (e1==e2 || e1==e3) throw new Error();
548 if (e3.next!=e1) throw new Error();
549 if (e1.t!=null || e2.t!=null || e3.t!=null) throw new Error("non-manifold surface or disagreeing normals");
552 e1.next.next.t = this;
554 // FIXME: check for sealed/watertight surface once construction is complete (and infer normal(s)?)
556 int color = Math.abs(random.nextInt());
559 if (e1().pair.t != null && color == e1().pair.t.color) { color++; continue; }
560 if (e2().pair.t != null && color == e2().pair.t.color) { color++; continue; }
561 if (e3().pair.t != null && color == e3().pair.t.color) { color++; continue; }
565 this.colorclass = colorclass;
568 public E e1() { return e1; }
569 public E e2() { return e1.next; }
570 public E e3() { return e1.prev; }
571 public Vertex v1() { return e1.p1; }
572 public Vertex v2() { return e1.p2; }
573 public Vertex v3() { return e1.next.p2; }
574 public Point p1() { return e1.p1.p; }
575 public Point p2() { return e1.p2.p; }
576 public Point p3() { return e1.next.p2.p; }
577 public boolean hasE(E e) { return e1==e || e1.next==e || e1.prev==e; }
578 public boolean has(Vertex v) { return v1()==v || v2()==v || v3()==v; }
580 public boolean shouldBeDrawn() {
581 if (e1().bind_to.set.size() == 0) return false;
582 if (e2().bind_to.set.size() == 0) return false;
583 if (e3().bind_to.set.size() == 0) return false;