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;
12 public class Mesh implements Iterable<Mesh.T> {
14 public static final float EPSILON = (float)0.0001;
15 public static final Random random = new Random();
17 private PointSet<Vert> pointset = new PointSet<Vert>();
19 public Iterable<Vert> vertices() { return pointset; }
21 public Iterable<E> edges() {
24 public Iterator<E> iterator() {
26 HashSet<E> hse = new HashSet<E>();
27 for(T t : Mesh.this) {
35 return hse.iterator();
39 public Iterator<T> iterator() {
40 for(Vert v : pointset)
41 if (v.e != null && v.e.t != null)
42 return new FaceIterator(v);
43 return new FaceIterator();
46 public Mesh score_against = null;
47 public double score = 0;
48 public float score() { return (float)score; }
50 public int numedges = 0;
51 public float avgedge = 0;
53 public void unbind() {
54 for(Mesh.T t : this) {
62 for(Mesh.T t : this) {
69 public float rescore() {
72 HashSet<Vert> done = new HashSet<Vert>();
74 for(Vert p : new Vert[] { t.v1(), t.v2(), t.v3() }) {
75 if (done.contains(p)) continue;
79 return (float)(dist/num);
82 public void transform(Matrix m) {
83 ArrayList<Vert> set = new ArrayList<Vert>();
84 for (Vert v : pointset)
86 for(Vert v : set) v.transform(m);
89 public float volume() {
92 double area = t.area();
93 Vec origin_to_centroid = new Vec(new Point(0, 0, 0), t.centroid());
94 boolean facingAway = t.norm().dot(origin_to_centroid) > 0;
95 double height = Math.abs(t.norm().dot(origin_to_centroid));
96 total += ((facingAway ? 1 : -1) * area * height) / 3.0;
101 public class BindingGroup {
102 public HashSet<E> es = new HashSet<E>();
103 public BindingGroup() { }
104 public BindingGroup(E e) {
107 public void add(E e) {
108 if (e.bg != null) { merge(e.bg); return; }
112 public void merge(BindingGroup bg) {
120 public Vec diagonal() { return pointset.diagonal(); }
121 public Point centroid() { return pointset.centroid(); }
122 public Vert nearest(Point p) { return pointset.nearest(p); }
124 public final class Vert extends HasPoint {
126 E e; // some edge *leaving* this point
128 Vert bound_to = this;
129 int nearest_vert_in_other_mesh_count;
130 float nearest_vert_in_other_mesh_x;
131 float nearest_vert_in_other_mesh_y;
132 float nearest_vert_in_other_mesh_z;
133 Vert nearest_vert_in_other_mesh;
134 Matrix binding = new Matrix();
136 boolean inserted = false;
138 public Matrix quadric() {
139 Matrix m = new Matrix(0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0);
143 m = m.plus(t.norm().fundamentalQuadric(t.centroid()));
145 } while(e != this.e);
149 public Point getPoint() { return p; }
150 private Vert(Point p) {
152 if (pointset.get(p) != null) throw new Error();
155 public float score() { return oldscore; }
156 public void unscore() {
157 if (nearest_vert_in_other_mesh == null) return;
158 nearest_vert_in_other_mesh.nearest_vert_in_other_mesh_x -= p.x;
159 nearest_vert_in_other_mesh.nearest_vert_in_other_mesh_y -= p.y;
160 nearest_vert_in_other_mesh.nearest_vert_in_other_mesh_z -= p.z;
161 nearest_vert_in_other_mesh.nearest_vert_in_other_mesh_count--;
162 if (nearest_vert_in_other_mesh.nearest_vert_in_other_mesh_count==0) {
163 nearest_vert_in_other_mesh.nearest_vert_in_other_mesh_x = 0;
164 nearest_vert_in_other_mesh.nearest_vert_in_other_mesh_y = 0;
165 nearest_vert_in_other_mesh.nearest_vert_in_other_mesh_z = 0;
167 nearest_vert_in_other_mesh = null;
169 public Vert partner() { return nearest_vert_in_other_mesh==null ? this : nearest_vert_in_other_mesh; }
170 public Point nearest_vert_in_other_mesh() { return nearest_vert_in_other_mesh_count==0 ? partner().p :
171 new Point(nearest_vert_in_other_mesh_x/nearest_vert_in_other_mesh_count, nearest_vert_in_other_mesh_y/nearest_vert_in_other_mesh_count, nearest_vert_in_other_mesh_z/nearest_vert_in_other_mesh_count); }
172 public void rescore() {
173 if (score_against == null) return;
178 if (nearest_vert_in_other_mesh != null) unscore();
180 if (nearest_vert_in_other_mesh == null) {
181 nearest_vert_in_other_mesh = score_against.nearest(po.p);
183 // don't attract to vertices that face the other way
184 if (nearest_vert_in_other_mesh.e == null || nearest_vert_in_other_mesh.norm().dot(norm()) < 0) {
185 nearest_vert_in_other_mesh = null;
187 nearest_vert_in_other_mesh.nearest_vert_in_other_mesh_x += po.p.x;
188 nearest_vert_in_other_mesh.nearest_vert_in_other_mesh_y += po.p.y;
189 nearest_vert_in_other_mesh.nearest_vert_in_other_mesh_z += po.p.z;
190 nearest_vert_in_other_mesh.nearest_vert_in_other_mesh_count++;
195 if (nearest_vert_in_other_mesh_count==0) s1 = 0;
196 else s1 = p.distance(nearest_vert_in_other_mesh_x/nearest_vert_in_other_mesh_count, nearest_vert_in_other_mesh_y/nearest_vert_in_other_mesh_count, nearest_vert_in_other_mesh_z/nearest_vert_in_other_mesh_count);
197 s2 = nearest_vert_in_other_mesh==null ? 0 : po.p.distance(nearest_vert_in_other_mesh.p);
198 oldscore = (float)(s1 + s2);
202 /** does NOT update bound pairs! */
203 public boolean transform(Matrix m) {
206 if (pointset.get(this.p)==null) throw new Error();
207 pointset.remove(this);
208 float newx = m.a*p.x + m.b*p.y + m.c*p.z + m.d;
209 float newy = m.e*p.x + m.f*p.y + m.g*p.z + m.h;
210 float newz = m.i*p.x + m.j*p.y + m.k*p.z + m.l;
211 this.p = new Point(newx, newy, newz);
213 } catch (Exception e) {
214 throw new RuntimeException(e);
220 for(E e = this.e; ;) {
221 if (e.intersects(t)) { good = false; break; }
223 if (e == this.e) break;
228 if (t==this.t) continue;
229 if (this.intersects(t)) good = false;
234 public boolean move(Vec v) {
235 Matrix m = new Matrix(v);
239 good &= p.transform(m);
240 v = v.times(binding); // bleh wrong
246 public E getFreeIncident() {
247 E ret = getFreeIncident(e, e);
248 if (ret != null) return ret;
249 ret = getFreeIncident(e.pair.next, e.pair.next);
250 if (ret == null) throw new Error("unable to find free incident to " + this);
254 public E getFreeIncident(E start, E before) {
257 if (e.pair.p2 == this && e.pair.t == null && e.pair.next.t == null) return e.pair;
259 } while(e != before);
263 public E getE(Point p2) {
264 Vert v = pointset.get(p2);
265 if (v==null) return null;
268 public E getE(Vert p2) {
271 if (e==null) return null;
272 if (e.p1 == this && e.p2 == p2) return e;
278 public boolean isBoundTo(Vert p) {
281 if (px==this) return true;
287 public void unbind() { bound_to = this; binding = new Matrix(); }
288 public void bind(Vert p) { bind(p, new Matrix()); }
289 public void bind(Vert p, Matrix binding) {
290 if (isBoundTo(p)) return;
291 Vert temp_bound_to = p.bound_to;
292 Matrix temp_binding = p.binding;
293 p.bound_to = this.bound_to;
294 p.binding = binding.times(this.binding); // FIXME: may have order wrong here
295 this.bound_to = temp_bound_to;
296 this.binding = temp_binding.times(temp_binding); // FIXME: may have order wrong here
299 Vec norm = new Vec(0, 0, 0);
302 if (e.t != null) norm = norm.plus(e.t.norm().times((float)e.prev.angle()));
304 } while(e != this.e);
309 /** [UNIQUE] an edge */
310 public final class E implements Comparable<E> {
312 public final Vert p1, p2;
313 T t; // triangle to our "left"
314 E prev; // previous half-edge
315 E next; // next half-edge
316 E pair; // partner half-edge
317 public BindingGroup bg = new BindingGroup(this);
318 boolean shattered = false;
320 public int compareTo(E e) { return e.length() > length() ? 1 : -1; }
322 public void bind(E e) { bind(e, new Matrix()); }
323 public void bind(E e, Matrix m) { e.bg.add(this); }
325 public void dobind() {
326 if (bg==null) return;
328 if (ex==this) continue;
334 public Point shatter() { return shatter(midpoint(), null, null); }
335 public Point shatter(Point mid, BindingGroup bg1, BindingGroup bg2) {
336 if (shattered) return mid;
343 if (bg1==null) bg1 = new BindingGroup();
344 if (bg2==null) bg2 = new BindingGroup();
345 for(E e : bg.es) e.shatter(e.midpoint(), bg1, bg2);
349 newT(r.p, p1.p, mid, null);
350 newT(r.p, mid, p2.p, null);
351 bg1.add(p1.getE(mid));
352 bg2.add(p2.getE(mid).pair);
356 public boolean destroyed = false;
357 public void destroy() {
358 if (destroyed) return;
360 pair.destroyed = true;
361 if (next.t != null) next.t.destroy();
362 if (prev.t != null) prev.t.destroy();
369 pair.prev.next = next;
370 next.prev = pair.prev;
371 prev.next = pair.next;
373 if (p1.e == this) p1.e = prev.next;
374 if (pair.p1.e == pair) pair.p1.e = pair.prev.next;
375 avgedge -= this.length();
376 avgedge -= pair.length();
381 private void sync() {
382 this.prev.next = this;
383 this.next.prev = this;
384 this.pair.pair = this;
385 if (this.next.p1 != p2) throw new Error();
386 if (this.prev.p2 != p1) throw new Error();
387 if (this.p1.e == null) this.p1.e = this;
394 private boolean added = false;
396 public T makeT() { return t==null ? (t = new T(this)) : t; }
398 /** angle between this half-edge and the next */
399 public double angle() {
400 Vec v1 = next.p2.p.minus(p2.p);
401 Vec v2 = this.p1.p.minus(p2.p);
402 return Math.acos(v1.norm().dot(v2.norm()));
405 public void makeAdjacent(E e) {
406 if (this.next == e) return;
407 if (p2 != e.p1) throw new Error("cannot make adjacent -- no shared vertex");
408 if (t != null || e.t != null) throw new Error("cannot make adjacent -- edges not both free");
410 E freeIncident = p2.getFreeIncident(e, this);
412 e.prev.next = freeIncident.next;
413 freeIncident.next.prev = e.prev;
415 freeIncident.next = this.next;
416 this.next.prev = freeIncident;
425 /** creates an isolated edge out in the middle of space */
426 public E(Point p1, Point p2) {
427 if (pointset.get(p1) != null) throw new Error();
428 if (pointset.get(p2) != null) throw new Error();
429 this.p1 = new Vert(p1);
430 this.p2 = new Vert(p2);
431 this.prev = this.next = this.pair = new E(this, this, this);
433 this.p2.e = this.pair;
437 /** adds a new half-edge from prev.p2 to p2 */
438 public E(E prev, Point p) {
440 p2 = pointset.get(p);
441 if (p2 == null) p2 = new Vert(p);
445 if (p2.getE(p1) != null) throw new Error();
447 this.next = this.pair = new E(this, this, prev.next);
449 E q = p2.getFreeIncident();
451 this.next.prev = this;
453 this.prev.next = this;
454 this.pair = new E(q, this, z);
456 if (p2.e==null) p2.e = this.pair;
460 /** adds a new half-edge to the mesh with a given predecessor, successor, and pair */
461 public E(E prev, E pair, E next) {
469 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); }
470 public boolean has(Vert v) { return v==p1 || v==p2; }
471 public float length() { return p1.p.minus(p2.p).mag(); }
472 public String toString() { return p1+"->"+p2; }
474 public boolean intersects(T t) {
475 double A0=t.v1().p.x, A1=t.v1().p.y, A2=t.v1().p.z;
476 double B0=t.v2().p.x, B1=t.v2().p.y, B2=t.v2().p.z;
477 double C0=t.v3().p.x, C1=t.v3().p.y, C2=t.v3().p.z;
478 double j0=p1.p.x, j1=p1.p.y, j2=p1.p.z;
479 double k0=p2.p.x, k1=p2.p.y, k2=p2.p.z;
487 double R00, R01, R02, R03,
501 /* c = a × b */
502 c0 = a1 * b2 - a2 * b1;
503 c1 = a2 * b0 - a0 * b2;
504 c2 = a0 * b1 - a1 * b0;
506 /* M^(-1) = (1/det(M)) * adj(M) */
507 in_det = 1 / (c0 * c0 + c1 * c1 + c2 * c2);
508 R00 = (b1 * c2 - b2 * c1) * in_det;
509 R01 = (b2 * c0 - b0 * c2) * in_det;
510 R02 = (b0 * c1 - b1 * c0) * in_det;
511 R10 = (c1 * a2 - c2 * a1) * in_det;
512 R11 = (c2 * a0 - c0 * a2) * in_det;
513 R12 = (c0 * a1 - c1 * a0) * in_det;
519 R03 = -(R00 * A0 + R01 * A1 + R02 * A2);
520 R13 = -(R10 * A0 + R11 * A1 + R12 * A2);
521 R23 = -(R20 * A0 + R21 * A1 + R22 * A2);
523 /* fill in last row of 4x4 matrix */
527 J2 = R20 * j0 + R21 * j1 + R22 * j2 + R23;
528 K2 = R20 * k0 + R21 * k1 + R22 * k2 + R23;
529 if (J2 * K2 >= 0) return false;
531 J0 = R00 * j0 + R01 * j1 + R02 * j2 + R03;
532 K0 = R00 * k0 + R01 * k1 + R02 * k2 + R03;
533 i0 = J0 + J2 * ((K0 - J0) / (J2 - K2));
534 if (i0 < 0 || i0 > 1) return false;
536 J1 = R10 * j0 + R11 * j1 + R12 * j2 + R13;
537 K1 = R10 * k0 + R11 * k1 + R12 * k2 + R13;
538 i1 = J1 + J2 * ((K1 - J1) / (J2 - K2));
539 if (i1 < 0 || i1 > 1 || i0 + i1 > 1) return false;
545 public E makeE(Point p1, Point p2) {
546 Vert v1 = pointset.get(p1);
547 Vert v2 = pointset.get(p2);
548 if (v1 != null && v2 != null) {
550 if (e != null) return e;
552 if (e != null) return e;
554 if (v1 != null) return new E(v1.getFreeIncident(), p2);
555 if (v2 != null) return new E(v2.getFreeIncident(), p1).pair;
556 return new E(p1, p2);
558 public T newT(Point p1, Point p2, Point p3, Vec norm) {
560 Vec norm2 = p3.minus(p1).cross(p2.minus(p1));
561 float dot = norm.dot(norm2);
562 //if (Math.abs(dot) < EPointSILON) throw new Error("dot products within evertsilon of each other: "+norm+" "+norm2);
563 if (dot < 0) { Point p = p1; p1=p2; p2 = p; }
565 E e12 = makeE(p1, p2);
566 E e23 = makeE(p2, p3);
567 E e31 = makeE(p3, p1);
568 while(e12.next != e23 || e23.next != e31 || e31.next != e12) {
569 e12.makeAdjacent(e23);
570 e23.makeAdjacent(e31);
571 e31.makeAdjacent(e12);
574 if (e12.t == null) throw new Error();
575 if (e23.t == null) throw new Error();
576 if (e31.t == null) throw new Error();
581 public class FaceIterator implements Iterator<T> {
582 private HashSet<T> visited = new HashSet<T>();
583 private LinkedList<T> next = new LinkedList<T>();
584 public FaceIterator() { }
585 public FaceIterator(Vert v) { next.addFirst(v.e.t); }
586 public boolean hasNext() { return next.peek()!=null; }
587 public void remove() { throw new Error(); }
589 T ret = next.removeFirst();
590 if (ret == null) return null;
592 T t1 = ret.e1().pair.t;
593 T t2 = ret.e2().pair.t;
594 T t3 = ret.e3().pair.t;
595 if (t1 != null && !visited.contains(t1)) next.addFirst(t1);
596 if (t2 != null && !visited.contains(t2)) next.addFirst(t2);
597 if (t3 != null && !visited.contains(t3)) next.addFirst(t3);
602 /** [UNIQUE] a triangle (face) */
603 public final class T extends Triangle {
605 public final int color;
607 public void destroy() {
614 if (e1==e2 || e1==e3) throw new Error();
615 if (e3.next!=e1) throw new Error();
616 if (e1.t!=null || e2.t!=null || e3.t!=null) throw new Error("non-manifold surface or disagreeing normals");
619 e1.next.next.t = this;
621 // FIXME: check for sealed/watertight surface once construction is complete (and infer normal(s)?)
623 int color = Math.abs(random.nextInt());
626 if (e1().pair.t != null && color == e1().pair.t.color) { color++; continue; }
627 if (e2().pair.t != null && color == e2().pair.t.color) { color++; continue; }
628 if (e3().pair.t != null && color == e3().pair.t.color) { color++; continue; }
633 public E e1() { return e1; }
634 public E e2() { return e1.next; }
635 public E e3() { return e1.prev; }
636 public Vert v1() { return e1.p1; }
637 public Vert v2() { return e1.p2; }
638 public Vert v3() { return e1.next.p2; }
639 public Point p1() { return e1.p1.p; }
640 public Point p2() { return e1.p2.p; }
641 public Point p3() { return e1.next.p2.p; }
642 public boolean hasE(E e) { return e1==e || e1.next==e || e1.prev==e; }
643 public boolean has(Vert v) { return v1()==v || v2()==v || v3()==v; }