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.times(v.p));
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;
86 public Point getPoint() { return p; }
87 public float error() { return olderror; }
89 private Vertex(Point p) {
91 if (vertices.get(p) != null) throw new Error();
95 public float olderror = 0;
96 public void setError(float nerror) {
102 public Matrix _recomputeFundamentalQuadric() {
103 Matrix m = Matrix.ZERO;
105 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
106 m = m.plus(e.t.norm().fundamentalQuadric(e.t.centroid()));
109 return m.times(1/(float)count);
112 public HasQuadric nearest() { return error_against==null ? null : error_against.vertices.nearest(p, this); }
113 public void computeError() {
116 ? (quadric.preAndPostMultiply(p) * 100) / quadric_count
117 : nearest_in_other_mesh != null
118 ? nearest_in_other_mesh.fundamentalQuadric().preAndPostMultiply(p) * 100 * 10
119 : error_against != null
120 ? nearest().fundamentalQuadric().preAndPostMultiply(p) * 100 * 10
122 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
123 double ang = Math.abs(e.crossAngle());
124 if (ang > Math.PI) throw new Error();
125 float minangle = (float)(Math.PI * 0.8);
126 if (ang > minangle) nerror += (ang - minangle);
131 /** does NOT update bound pairs! */
132 public boolean transform(Point newp) {
133 if (immutableVertices) throw new Error();
135 unApplyQuadricToNeighbor();
138 if (vertices.get(this.p)==null) throw new Error();
139 vertices.remove(this);
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.removeFromRTree();
143 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
144 if (e.t != null) e.t.addToRTree();
147 applyQuadricToNeighbor();
151 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
152 if (Math.abs(e.crossAngle()) > (Math.PI * 0.9) || Math.abs(e.next.crossAngle()) > (Math.PI * 0.9)) good = false;
153 if (e.t.aspect() < 0.1) good = false;
154 e.p2.quadricStale = true;
157 if (!ignorecollision && good) triangles.range(oldp, this.p, (Visitor<T>)this);
162 public void reComputeErrorAround() {
164 if (nearest_in_other_mesh != null) nearest_in_other_mesh.reComputeError();
165 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
166 e.p2.reComputeError();
169 public boolean visit(Object o) {
170 if (o instanceof T) {
172 if (!good) return false;
173 for(E e = Vertex.this.e; e!=null; e=e.pair.next==Vertex.this.e?null:e.pair.next) {
174 if (!t.has(e.p1) && !t.has(e.p2) && e.intersects(t)) { good = false; }
176 if (!e.t.has(t.e1().p1) && !e.t.has(t.e1().p2) && t.e1().intersects(e.t)) { good = false; }
177 if (!e.t.has(t.e2().p1) && !e.t.has(t.e2().p2) && t.e2().intersects(e.t)) { good = false; }
178 if (!e.t.has(t.e3().p1) && !e.t.has(t.e3().p2) && t.e3().intersects(e.t)) { good = false; }
183 Vertex v = (Vertex)o;
184 if (v.e==null || v.norm().dot(Vertex.this.norm()) < 0)
191 public boolean move(Vec v) {
192 Matrix m = Matrix.translate(v);
194 for(Vertex p = this; p != null; p = (p.bound_to==this)?null:p.bound_to) {
196 good &= p.transform(m.times(p.p));
198 for(Vertex p = this; p != null; p = (p.bound_to==this)?null:p.bound_to)
200 p.reComputeErrorAround();
206 public E getFreeIncident() {
207 E ret = getFreeIncident(e, e);
208 if (ret != null) return ret;
209 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
210 System.out.println(e + " " + e.t);
211 throw new Error("unable to find free incident to " + this);
214 public E getFreeIncident(E start, E before) {
215 for(E e = start; e!=null; e=e.pair.next==before?null:e.pair.next)
216 if (e.pair.p2 == this && e.pair.t == null && e.pair.next.t == null)
221 public E getE(Point p2) {
222 Vertex v = vertices.get(p2);
223 if (v==null) return null;
226 public E getE(Vertex p2) {
227 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
228 if (e.p1 == this && e.p2 == p2) return e;
232 private void glNormal(GL gl) {
234 gl.glNormal3f(norm.x, norm.y, norm.z);
237 Vec norm = new Vec(0, 0, 0);
238 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
240 norm = norm.plus(e.t.norm().times((float)e.prev.angle()));
244 public boolean isBoundTo(Vertex p) {
245 for(Vertex px = p; px!=null; px=(px.bound_to==p?null:px.bound_to))
251 public void unbind() { bound_to = this; binding = Matrix.ONE; }
252 public void bind(Vertex p) { bind(p, Matrix.ONE); }
253 public void bind(Vertex p, Matrix binding) {
254 if (isBoundTo(p)) return;
255 Vertex temp_bound_to = p.bound_to;
256 Matrix temp_binding = p.binding;
257 p.bound_to = this.bound_to;
258 p.binding = binding.times(this.binding); // FIXME: may have order wrong here
259 this.bound_to = temp_bound_to;
260 this.binding = temp_binding.times(temp_binding); // FIXME: may have order wrong here
264 public class BindingGroup {
265 private HashSet<E> set = new HashSet<E>();
266 public BindingGroup bind_others;
267 public BindingGroup other() { return bind_others; }
268 public BindingGroup(BindingGroup bind_others) { this.bind_others = bind_others; }
269 public BindingGroup() { this.bind_others = new BindingGroup(this); }
270 public BindingGroup(E e) { this(); set.add(e); }
271 public void add(E e) {
272 if (set.contains(e)) return;
274 BindingGroup e_bind_peers = e.bind_peers;
275 BindingGroup e_bind_to = e.bind_to;
277 e.bind_to = bind_others;
278 for (E epeer : e_bind_peers.set) add(epeer);
279 for (E eother : e_bind_to.set) bind_others.add(eother);
281 for(E eother : bind_others.set) {
282 if (e.next.bind_to.set.contains(eother.prev)) {
283 e.next.next.bindEdge(eother.prev.prev);
285 if (e.prev.bind_to.set.contains(eother.next)) {
286 e.prev.prev.bindEdge(eother.next.next);
291 public void dobind(E e) {
292 for(E ebound : set) {
293 e.p1.bind(ebound.p2);
294 e.p2.bind(ebound.p1);
297 public void shatter(BindingGroup bg1, BindingGroup bg2) {
299 e.shatter(e.midpoint(), bg1, bg2);
304 /** [UNIQUE] an edge */
305 public final class E implements Comparable<E> {
307 public final Vertex p1, p2;
308 T t; // triangle to our "left"
309 E prev; // previous half-edge
310 E next; // next half-edge
311 E pair; // partner half-edge
312 public BindingGroup bind_peers = new BindingGroup(this);
313 public BindingGroup bind_to = bind_peers.other();
314 boolean shattered = false;
316 public boolean intersects(T t) { return t.intersects(p1.p, p2.p); }
317 public float comparator() {
318 Vertex nearest = error_against.nearest(midpoint());
319 return (float)Math.max(length(), midpoint().distance(nearest.p));
321 public int compareTo(E e) {
322 return e.comparator() > comparator() ? 1 : -1;
324 public void bindEdge(E e) { bind_to.add(e); }
325 public void dobind() { bind_to.dobind(this); }
327 public Point shatter() { return shatter(midpoint(), null, null); }
328 public Point shatter(Point mid, BindingGroup bg1, BindingGroup bg2) {
329 if (shattered || destroyed) return mid;
336 int old_colorclass = t==null ? 0 : t.colorclass;
337 if (bg1==null) bg1 = new BindingGroup();
338 if (bg2==null) bg2 = new BindingGroup();
339 BindingGroup old_bind_to = bind_to;
340 bind_peers.shatter(bg1, bg2);
341 old_bind_to.shatter(bg2.other(), bg1.other());
345 newT(r.p, p1.p, mid, null, old_colorclass);
346 newT(r.p, mid, p2.p, null, old_colorclass);
347 bg1.add(p1.getE(mid));
348 bg2.add(p2.getE(mid).pair);
352 public boolean destroyed = false;
353 public void destroy() {
354 if (destroyed) return;
356 pair.destroyed = true;
358 if (t != null) t.destroy();
361 if (pair.t != null) pair.t.destroy();
364 if (next.t != null) next.t.destroy();
365 if (prev.t != null) prev.t.destroy();
369 if (pair.next.t != null) pair.next.t.destroy();
370 if (pair.prev.t != null) pair.next.t.destroy();
376 this.bind_peers = null;
377 pair.bind_peers = null;
378 pair.prev.next = next;
379 next.prev = pair.prev;
380 prev.next = pair.next;
382 if (p1.e == this) p1.e = prev.next;
383 if (pair.p1.e == pair) pair.p1.e = pair.prev.next;
386 private void sync() {
387 this.prev.next = this;
388 this.next.prev = this;
389 this.pair.pair = this;
390 bind_peers.add(this);
391 if (this.next.p1 != p2) throw new Error();
392 if (this.prev.p2 != p1) throw new Error();
393 if (this.p1.e == null) this.p1.e = this;
394 if (!added) added = true;
396 private boolean added = false;
398 public T makeT(int colorclass) { return t==null ? (t = new T(this, colorclass)) : t; }
400 public double crossAngle() {
401 Vec v1 = t.norm().times(-1);
402 Vec v2 = pair.t.norm().times(-1);
403 return Math.acos(v1.norm().dot(v2.norm()));
406 /** angle between this half-edge and the next */
407 public double angle() {
408 Vec v1 = next.p2.p.minus(p2.p);
409 Vec v2 = this.p1.p.minus(p2.p);
410 return Math.acos(v1.norm().dot(v2.norm()));
413 public void makeAdjacent(E e) {
414 if (this.next == e) return;
415 if (p2 != e.p1) throw new Error("cannot make adjacent -- no shared vertex");
416 if (t != null || e.t != null) throw new Error("cannot make adjacent -- edges not both free");
418 E freeIncident = p2.getFreeIncident(e, this);
420 e.prev.next = freeIncident.next;
421 freeIncident.next.prev = e.prev;
423 freeIncident.next = this.next;
424 this.next.prev = freeIncident;
433 /** creates an isolated edge out in the middle of space */
434 public E(Point p1, Point p2) {
435 if (vertices.get(p1) != null) throw new Error();
436 if (vertices.get(p2) != null) throw new Error();
437 this.p1 = new Vertex(p1);
438 this.p2 = new Vertex(p2);
439 this.prev = this.next = this.pair = new E(this, this, this);
441 this.p2.e = this.pair;
445 /** adds a new half-edge from prev.p2 to p2 */
446 public E(E prev, Point p) {
448 p2 = vertices.get(p);
449 if (p2 == null) p2 = new Vertex(p);
453 if (p2.getE(p1) != null) throw new Error();
455 this.next = this.pair = new E(this, this, prev.next);
457 E q = p2.getFreeIncident();
459 this.next.prev = this;
461 this.prev.next = this;
462 this.pair = new E(q, this, z);
464 if (p2.e==null) p2.e = this.pair;
468 /** adds a new half-edge to the mesh with a given predecessor, successor, and pair */
469 public E(E prev, E pair, E next) {
477 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); }
478 public boolean has(Vertex v) { return v==p1 || v==p2; }
479 public float length() { return p1.p.minus(p2.p).mag(); }
480 public String toString() { return p1+"->"+p2; }
484 public E makeE(Point p1, Point p2) {
485 Vertex v1 = vertices.get(p1);
486 Vertex v2 = vertices.get(p2);
487 if (v1 != null && v2 != null) {
489 if (e != null) return e;
491 if (e != null) return e;
493 if (v1 != null) return new E(v1.getFreeIncident(), p2);
494 if (v2 != null) return new E(v2.getFreeIncident(), p1).pair;
495 return new E(p1, p2);
497 public T newT(Point p1, Point p2, Point p3, Vec norm, int colorclass) {
499 Vec norm2 = p3.minus(p1).cross(p2.minus(p1));
500 float dot = norm.dot(norm2);
501 //if (Math.abs(dot) < EPointSILON) throw new Error("dot products within evertsilon of each other: "+norm+" "+norm2);
502 if (dot < 0) { Point p = p1; p1=p2; p2 = p; }
504 E e12 = makeE(p1, p2);
505 E e23 = makeE(p2, p3);
506 E e31 = makeE(p3, p1);
507 while(e12.next != e23 || e23.next != e31 || e31.next != e12) {
508 e12.makeAdjacent(e23);
509 e23.makeAdjacent(e31);
510 e31.makeAdjacent(e12);
512 T ret = e12.makeT(colorclass);
513 if (e12.t == null) throw new Error();
514 if (e23.t == null) throw new Error();
515 if (e31.t == null) throw new Error();
520 /** [UNIQUE] a triangle (face) */
521 public final class T extends Triangle {
523 public final int color;
524 public final int colorclass;
526 public void removeFromRTree() { triangles.remove(this); }
527 public void addToRTree() { triangles.insert(this); }
529 public void destroy() { triangles.remove(this); }
531 T(E e1, int colorclass) {
535 if (e1==e2 || e1==e3) throw new Error();
536 if (e3.next!=e1) throw new Error();
537 if (e1.t!=null || e2.t!=null || e3.t!=null) throw new Error("non-manifold surface or disagreeing normals");
540 e1.next.next.t = this;
542 // FIXME: check for sealed/watertight surface once construction is complete (and infer normal(s)?)
544 int color = Math.abs(random.nextInt());
547 if (e1().pair.t != null && color == e1().pair.t.color) { color++; continue; }
548 if (e2().pair.t != null && color == e2().pair.t.color) { color++; continue; }
549 if (e3().pair.t != null && color == e3().pair.t.color) { color++; continue; }
553 this.colorclass = colorclass;
556 public E e1() { return e1; }
557 public E e2() { return e1.next; }
558 public E e3() { return e1.prev; }
559 public Vertex v1() { return e1.p1; }
560 public Vertex v2() { return e1.p2; }
561 public Vertex v3() { return e1.next.p2; }
562 public Point p1() { return e1.p1.p; }
563 public Point p2() { return e1.p2.p; }
564 public Point p3() { return e1.next.p2.p; }
565 public boolean hasE(E e) { return e1==e || e1.next==e || e1.prev==e; }
566 public boolean has(Vertex v) { return v1()==v || v2()==v || v3()==v; }
568 public boolean shouldBeDrawn() {
569 if (e1().bind_to.set.size() == 0) return false;
570 if (e2().bind_to.set.size() == 0) return false;
571 if (e3().bind_to.set.size() == 0) return false;