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 applyQuadricToNeighbor() {
113 if (score_against == null) return;
115 Vertex new_nearest = (Vertex)nearest();
116 if (nearest_in_other_mesh != null && new_nearest == nearest_in_other_mesh) return;
118 if (nearest_in_other_mesh != null) unApplyQuadricToNeighbor();
119 if (nearest_in_other_mesh != null) throw new Error();
121 nearest_in_other_mesh = new_nearest;
123 nearest_in_other_mesh.unComputeError();
124 nearest_in_other_mesh.quadric = nearest_in_other_mesh.quadric.plus(fundamentalQuadric());
125 nearest_in_other_mesh.quadric_count++;
126 nearest_in_other_mesh.computeError();
131 public void reComputeErrorAround() {
133 if (nearest_in_other_mesh != null) nearest_in_other_mesh.reComputeError();
134 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
135 e.p2.reComputeError();
137 public void reComputeError() {
141 public void unComputeError() {
145 public HasQuadric nearest() { return score_against.vertices.nearest(p, this); }
146 public void computeError() {
149 ? (quadric.preAndPostMultiply(p) * 100) / quadric_count
152 : nearest_in_other_mesh != null
153 ? nearest_in_other_mesh.fundamentalQuadric().preAndPostMultiply(p) * 100 * 10
154 : score_against != null
155 ? nearest().fundamentalQuadric().preAndPostMultiply(p) * 100 * 10
157 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
158 double ang = Math.abs(e.crossAngle());
159 if (ang > Math.PI) throw new Error();
160 float minangle = (float)(Math.PI * 0.8);
162 oldscore += (ang - minangle);
167 private void removeTrianglesFromRTree() {
168 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
169 if (e.t != null) e.t.removeFromRTree();
171 private void addTrianglesToRTree() {
172 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
173 if (e.t != null) e.t.addToRTree();
176 /** does NOT update bound pairs! */
177 public boolean transform(Matrix m) {
178 if (immutableVertices) throw new Error();
180 unApplyQuadricToNeighbor();
183 if (vertices.get(this.p)==null) throw new Error();
184 vertices.remove(this);
185 removeTrianglesFromRTree();
186 float newx = m.a*p.x + m.b*p.y + m.c*p.z + m.d;
187 float newy = m.e*p.x + m.f*p.y + m.g*p.z + m.h;
188 float newz = m.i*p.x + m.j*p.y + m.k*p.z + m.l;
189 this.p = new Point(newx, newy, newz);
190 addTrianglesToRTree();
193 applyQuadricToNeighbor();
197 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
198 if (Math.abs(e.crossAngle()) > (Math.PI * 0.9) || Math.abs(e.next.crossAngle()) > (Math.PI * 0.9)) good = false;
199 if (e.t.aspect() < 0.1) good = false;
200 e.p2.quadricStale = true;
203 if (!ignorecollision && good) triangles.range(oldp, this.p, (Visitor<T>)this);
205 reComputeErrorAround();
209 public boolean visit(Object o) {
210 if (o instanceof T) {
212 if (!good) return false;
213 for(E e = Vertex.this.e; e!=null; e=e.pair.next==Vertex.this.e?null:e.pair.next) {
214 if (!t.has(e.p1) && !t.has(e.p2) && e.intersects(t)) { good = false; }
216 if (!e.t.has(t.e1().p1) && !e.t.has(t.e1().p2) && t.e1().intersects(e.t)) { good = false; }
217 if (!e.t.has(t.e2().p1) && !e.t.has(t.e2().p2) && t.e2().intersects(e.t)) { good = false; }
218 if (!e.t.has(t.e3().p1) && !e.t.has(t.e3().p2) && t.e3().intersects(e.t)) { good = false; }
223 Vertex v = (Vertex)o;
224 if (v.e==null || v.norm().dot(Vertex.this.norm()) < 0)
229 private boolean good;
231 public boolean move(Vec v) {
232 Matrix m = Matrix.translate(v);
236 good &= p.transform(m);
242 public E getFreeIncident() {
243 E ret = getFreeIncident(e, e);
244 if (ret != null) return ret;
245 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
246 System.out.println(e + " " + e.t);
247 throw new Error("unable to find free incident to " + this);
250 public E getFreeIncident(E start, E before) {
251 for(E e = start; e!=null; e=e.pair.next==before?null:e.pair.next)
252 if (e.pair.p2 == this && e.pair.t == null && e.pair.next.t == null)
257 public E getE(Point p2) {
258 Vertex v = vertices.get(p2);
259 if (v==null) return null;
262 public E getE(Vertex p2) {
263 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
264 if (e.p1 == this && e.p2 == p2) return e;
269 Vec norm = new Vec(0, 0, 0);
270 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
272 norm = norm.plus(e.t.norm().times((float)e.prev.angle()));
276 public boolean isBoundTo(Vertex p) {
277 for(Vertex px = p; px!=null; px=(px.bound_to==p?null:px.bound_to))
283 public void unbind() { bound_to = this; binding = Matrix.ONE; }
284 public void bind(Vertex p) { bind(p, Matrix.ONE); }
285 public void bind(Vertex p, Matrix binding) {
286 if (isBoundTo(p)) return;
287 Vertex temp_bound_to = p.bound_to;
288 Matrix temp_binding = p.binding;
289 p.bound_to = this.bound_to;
290 p.binding = binding.times(this.binding); // FIXME: may have order wrong here
291 this.bound_to = temp_bound_to;
292 this.binding = temp_binding.times(temp_binding); // FIXME: may have order wrong here
296 public class BindingGroup {
297 private HashSet<E> set = new HashSet<E>();
298 public BindingGroup bind_others;
299 public BindingGroup other() { return bind_others; }
300 public BindingGroup(BindingGroup bind_others) { this.bind_others = bind_others; }
301 public BindingGroup() { this.bind_others = new BindingGroup(this); }
302 public BindingGroup(E e) { this(); set.add(e); }
303 public void add(E e) {
304 if (set.contains(e)) return;
306 BindingGroup e_bind_peers = e.bind_peers;
307 BindingGroup e_bind_to = e.bind_to;
309 e.bind_to = bind_others;
310 for (E epeer : e_bind_peers.set) add(epeer);
311 for (E eother : e_bind_to.set) bind_others.add(eother);
313 for(E eother : bind_others.set) {
314 if (e.next.bind_to.set.contains(eother.prev)) {
315 e.next.next.bindEdge(eother.prev.prev);
317 if (e.prev.bind_to.set.contains(eother.next)) {
318 e.prev.prev.bindEdge(eother.next.next);
323 public void dobind(E e) {
324 for(E ebound : set) {
325 e.p1.bind(ebound.p2);
326 e.p2.bind(ebound.p1);
329 public void shatter(BindingGroup bg1, BindingGroup bg2) {
331 e.shatter(e.midpoint(), bg1, bg2);
336 /** [UNIQUE] an edge */
337 public final class E implements Comparable<E> {
339 public final Vertex p1, p2;
340 T t; // triangle to our "left"
341 E prev; // previous half-edge
342 E next; // next half-edge
343 E pair; // partner half-edge
344 public BindingGroup bind_peers = new BindingGroup(this);
345 public BindingGroup bind_to = bind_peers.other();
346 boolean shattered = false;
348 public boolean intersects(T t) { return t.intersects(p1.p, p2.p); }
349 public float comparator() {
350 Vertex nearest = score_against.nearest(midpoint());
351 return (float)Math.max(length(), midpoint().distance(nearest.p));
353 public int compareTo(E e) {
354 return e.comparator() > comparator() ? 1 : -1;
356 public void bindEdge(E e) { bind_to.add(e); }
357 public void dobind() { bind_to.dobind(this); }
359 public Point shatter() { return shatter(midpoint(), null, null); }
360 public Point shatter(Point mid, BindingGroup bg1, BindingGroup bg2) {
361 if (shattered || destroyed) return mid;
368 int old_colorclass = t==null ? 0 : t.colorclass;
369 if (bg1==null) bg1 = new BindingGroup();
370 if (bg2==null) bg2 = new BindingGroup();
371 BindingGroup old_bind_to = bind_to;
372 bind_peers.shatter(bg1, bg2);
373 old_bind_to.shatter(bg2.other(), bg1.other());
377 newT(r.p, p1.p, mid, null, old_colorclass);
378 newT(r.p, mid, p2.p, null, old_colorclass);
379 bg1.add(p1.getE(mid));
380 bg2.add(p2.getE(mid).pair);
384 public boolean destroyed = false;
385 public void destroy() {
386 if (destroyed) return;
388 pair.destroyed = true;
390 if (t != null) t.destroy();
393 if (pair.t != null) pair.t.destroy();
396 if (next.t != null) next.t.destroy();
397 if (prev.t != null) prev.t.destroy();
401 if (pair.next.t != null) pair.next.t.destroy();
402 if (pair.prev.t != null) pair.next.t.destroy();
408 this.bind_peers = null;
409 pair.bind_peers = null;
410 pair.prev.next = next;
411 next.prev = pair.prev;
412 prev.next = pair.next;
414 if (p1.e == this) p1.e = prev.next;
415 if (pair.p1.e == pair) pair.p1.e = pair.prev.next;
418 private void sync() {
419 this.prev.next = this;
420 this.next.prev = this;
421 this.pair.pair = this;
422 bind_peers.add(this);
423 if (this.next.p1 != p2) throw new Error();
424 if (this.prev.p2 != p1) throw new Error();
425 if (this.p1.e == null) this.p1.e = this;
426 if (!added) added = true;
428 private boolean added = false;
430 public T makeT(int colorclass) { return t==null ? (t = new T(this, colorclass)) : t; }
432 public double crossAngle() {
433 Vec v1 = t.norm().times(-1);
434 Vec v2 = pair.t.norm().times(-1);
435 return Math.acos(v1.norm().dot(v2.norm()));
438 /** angle between this half-edge and the next */
439 public double angle() {
440 Vec v1 = next.p2.p.minus(p2.p);
441 Vec v2 = this.p1.p.minus(p2.p);
442 return Math.acos(v1.norm().dot(v2.norm()));
445 public void makeAdjacent(E e) {
446 if (this.next == e) return;
447 if (p2 != e.p1) throw new Error("cannot make adjacent -- no shared vertex");
448 if (t != null || e.t != null) throw new Error("cannot make adjacent -- edges not both free");
450 E freeIncident = p2.getFreeIncident(e, this);
452 e.prev.next = freeIncident.next;
453 freeIncident.next.prev = e.prev;
455 freeIncident.next = this.next;
456 this.next.prev = freeIncident;
465 /** creates an isolated edge out in the middle of space */
466 public E(Point p1, Point p2) {
467 if (vertices.get(p1) != null) throw new Error();
468 if (vertices.get(p2) != null) throw new Error();
469 this.p1 = new Vertex(p1);
470 this.p2 = new Vertex(p2);
471 this.prev = this.next = this.pair = new E(this, this, this);
473 this.p2.e = this.pair;
477 /** adds a new half-edge from prev.p2 to p2 */
478 public E(E prev, Point p) {
480 p2 = vertices.get(p);
481 if (p2 == null) p2 = new Vertex(p);
485 if (p2.getE(p1) != null) throw new Error();
487 this.next = this.pair = new E(this, this, prev.next);
489 E q = p2.getFreeIncident();
491 this.next.prev = this;
493 this.prev.next = this;
494 this.pair = new E(q, this, z);
496 if (p2.e==null) p2.e = this.pair;
500 /** adds a new half-edge to the mesh with a given predecessor, successor, and pair */
501 public E(E prev, E pair, E next) {
509 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); }
510 public boolean has(Vertex v) { return v==p1 || v==p2; }
511 public float length() { return p1.p.minus(p2.p).mag(); }
512 public String toString() { return p1+"->"+p2; }
516 public E makeE(Point p1, Point p2) {
517 Vertex v1 = vertices.get(p1);
518 Vertex v2 = vertices.get(p2);
519 if (v1 != null && v2 != null) {
521 if (e != null) return e;
523 if (e != null) return e;
525 if (v1 != null) return new E(v1.getFreeIncident(), p2);
526 if (v2 != null) return new E(v2.getFreeIncident(), p1).pair;
527 return new E(p1, p2);
529 public T newT(Point p1, Point p2, Point p3, Vec norm, int colorclass) {
531 Vec norm2 = p3.minus(p1).cross(p2.minus(p1));
532 float dot = norm.dot(norm2);
533 //if (Math.abs(dot) < EPointSILON) throw new Error("dot products within evertsilon of each other: "+norm+" "+norm2);
534 if (dot < 0) { Point p = p1; p1=p2; p2 = p; }
536 E e12 = makeE(p1, p2);
537 E e23 = makeE(p2, p3);
538 E e31 = makeE(p3, p1);
539 while(e12.next != e23 || e23.next != e31 || e31.next != e12) {
540 e12.makeAdjacent(e23);
541 e23.makeAdjacent(e31);
542 e31.makeAdjacent(e12);
544 T ret = e12.makeT(colorclass);
545 if (e12.t == null) throw new Error();
546 if (e23.t == null) throw new Error();
547 if (e31.t == null) throw new Error();
552 /** [UNIQUE] a triangle (face) */
553 public final class T extends Triangle {
555 public final int color;
556 public final int colorclass;
558 public void removeFromRTree() { triangles.remove(this); }
559 public void addToRTree() { triangles.insert(this); }
561 public void destroy() { triangles.remove(this); }
563 T(E e1, int colorclass) {
567 if (e1==e2 || e1==e3) throw new Error();
568 if (e3.next!=e1) throw new Error();
569 if (e1.t!=null || e2.t!=null || e3.t!=null) throw new Error("non-manifold surface or disagreeing normals");
572 e1.next.next.t = this;
574 // FIXME: check for sealed/watertight surface once construction is complete (and infer normal(s)?)
576 int color = Math.abs(random.nextInt());
579 if (e1().pair.t != null && color == e1().pair.t.color) { color++; continue; }
580 if (e2().pair.t != null && color == e2().pair.t.color) { color++; continue; }
581 if (e3().pair.t != null && color == e3().pair.t.color) { color++; continue; }
585 this.colorclass = colorclass;
588 public E e1() { return e1; }
589 public E e2() { return e1.next; }
590 public E e3() { return e1.prev; }
591 public Vertex v1() { return e1.p1; }
592 public Vertex v2() { return e1.p2; }
593 public Vertex v3() { return e1.next.p2; }
594 public Point p1() { return e1.p1.p; }
595 public Point p2() { return e1.p2.p; }
596 public Point p3() { return e1.next.p2.p; }
597 public boolean hasE(E e) { return e1==e || e1.next==e || e1.prev==e; }
598 public boolean has(Vertex v) { return v1()==v || v2()==v || v3()==v; }
600 public boolean shouldBeDrawn() {
601 if (e1().bind_to.set.size() == 0) return false;
602 if (e2().bind_to.set.size() == 0) return false;
603 if (e3().bind_to.set.size() == 0) return false;