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 // don't attract to vertices that face the other way
124 if (((Vertex)nearest_in_other_mesh).e == null || ((Vertex)nearest_in_other_mesh).norm().dot(norm()) < 0) {
125 nearest_in_other_mesh = null;
127 nearest_in_other_mesh.unComputeError();
128 nearest_in_other_mesh.quadric = nearest_in_other_mesh.quadric.plus(fundamentalQuadric());
129 nearest_in_other_mesh.quadric_count++;
130 nearest_in_other_mesh.computeError();
136 public void reComputeErrorAround() {
138 if (nearest_in_other_mesh != null) nearest_in_other_mesh.reComputeError();
139 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
140 e.p2.reComputeError();
142 public void reComputeError() {
146 public void unComputeError() {
150 public HasQuadric nearest() { return score_against.vertices.nearest(p, this); }
151 public void computeError() {
154 ? (quadric.preAndPostMultiply(p) * 100) / quadric_count
157 : nearest_in_other_mesh != null
158 ? nearest_in_other_mesh.fundamentalQuadric().preAndPostMultiply(p) * 100 * 10
159 : score_against != null
160 ? nearest().fundamentalQuadric().preAndPostMultiply(p) * 100 * 10
162 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
163 double ang = Math.abs(e.crossAngle());
164 if (ang > Math.PI) throw new Error();
165 float minangle = (float)(Math.PI * 0.8);
167 oldscore += (ang - minangle);
172 private void removeTrianglesFromRTree() {
173 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
174 if (e.t != null) e.t.removeFromRTree();
176 private void addTrianglesToRTree() {
177 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
178 if (e.t != null) e.t.addToRTree();
181 /** does NOT update bound pairs! */
182 public boolean transform(Matrix m) {
183 if (immutableVertices) throw new Error();
185 unApplyQuadricToNeighbor();
188 if (vertices.get(this.p)==null) throw new Error();
189 vertices.remove(this);
190 removeTrianglesFromRTree();
191 float newx = m.a*p.x + m.b*p.y + m.c*p.z + m.d;
192 float newy = m.e*p.x + m.f*p.y + m.g*p.z + m.h;
193 float newz = m.i*p.x + m.j*p.y + m.k*p.z + m.l;
194 this.p = new Point(newx, newy, newz);
195 addTrianglesToRTree();
198 applyQuadricToNeighbor();
202 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
203 if (Math.abs(e.crossAngle()) > (Math.PI * 0.9) || Math.abs(e.next.crossAngle()) > (Math.PI * 0.9)) good = false;
204 if (e.t.aspect() < 0.1) good = false;
205 e.p2.quadricStale = true;
208 if (!ignorecollision && good) triangles.range(oldp, this.p, (Visitor<T>)this);
210 reComputeErrorAround();
214 public boolean visit(Object o) {
215 if (o instanceof T) {
217 if (!good) return false;
218 for(E e = Vertex.this.e; e!=null; e=e.pair.next==Vertex.this.e?null:e.pair.next) {
219 if (!t.has(e.p1) && !t.has(e.p2) && e.intersects(t)) { good = false; }
221 if (!e.t.has(t.e1().p1) && !e.t.has(t.e1().p2) && t.e1().intersects(e.t)) { good = false; }
222 if (!e.t.has(t.e2().p1) && !e.t.has(t.e2().p2) && t.e2().intersects(e.t)) { good = false; }
223 if (!e.t.has(t.e3().p1) && !e.t.has(t.e3().p2) && t.e3().intersects(e.t)) { good = false; }
228 Vertex v = (Vertex)o;
229 if (v.e==null || v.norm().dot(Vertex.this.norm()) < 0)
234 private boolean good;
236 public boolean move(Vec v) {
237 Matrix m = Matrix.translate(v);
241 good &= p.transform(m);
247 public E getFreeIncident() {
248 E ret = getFreeIncident(e, e);
249 if (ret != null) return ret;
250 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
251 System.out.println(e + " " + e.t);
252 throw new Error("unable to find free incident to " + this);
255 public E getFreeIncident(E start, E before) {
256 for(E e = start; e!=null; e=e.pair.next==before?null:e.pair.next)
257 if (e.pair.p2 == this && e.pair.t == null && e.pair.next.t == null)
262 public E getE(Point p2) {
263 Vertex v = vertices.get(p2);
264 if (v==null) return null;
267 public E getE(Vertex p2) {
268 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
269 if (e.p1 == this && e.p2 == p2) return e;
274 Vec norm = new Vec(0, 0, 0);
275 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
277 norm = norm.plus(e.t.norm().times((float)e.prev.angle()));
281 public boolean isBoundTo(Vertex p) {
282 for(Vertex px = p; px!=null; px=(px.bound_to==p?null:px.bound_to))
288 public void unbind() { bound_to = this; binding = Matrix.ONE; }
289 public void bind(Vertex p) { bind(p, Matrix.ONE); }
290 public void bind(Vertex p, Matrix binding) {
291 if (isBoundTo(p)) return;
292 Vertex temp_bound_to = p.bound_to;
293 Matrix temp_binding = p.binding;
294 p.bound_to = this.bound_to;
295 p.binding = binding.times(this.binding); // FIXME: may have order wrong here
296 this.bound_to = temp_bound_to;
297 this.binding = temp_binding.times(temp_binding); // FIXME: may have order wrong here
301 public class BindingGroup {
302 private HashSet<E> set = new HashSet<E>();
303 public BindingGroup bind_others;
304 public BindingGroup other() { return bind_others; }
305 public BindingGroup(BindingGroup bind_others) { this.bind_others = bind_others; }
306 public BindingGroup() { this.bind_others = new BindingGroup(this); }
307 public BindingGroup(E e) { this(); set.add(e); }
308 public void add(E e) {
309 if (set.contains(e)) return;
311 BindingGroup e_bind_peers = e.bind_peers;
312 BindingGroup e_bind_to = e.bind_to;
314 e.bind_to = bind_others;
315 for (E epeer : e_bind_peers.set) add(epeer);
316 for (E eother : e_bind_to.set) bind_others.add(eother);
318 for(E eother : bind_others.set) {
319 if (e.next.bind_to.set.contains(eother.prev)) {
320 e.next.next.bindEdge(eother.prev.prev);
322 if (e.prev.bind_to.set.contains(eother.next)) {
323 e.prev.prev.bindEdge(eother.next.next);
328 public void dobind(E e) {
329 for(E ebound : set) {
330 e.p1.bind(ebound.p2);
331 e.p2.bind(ebound.p1);
334 public void shatter(BindingGroup bg1, BindingGroup bg2) {
336 e.shatter(e.midpoint(), bg1, bg2);
341 /** [UNIQUE] an edge */
342 public final class E implements Comparable<E> {
344 public final Vertex p1, p2;
345 T t; // triangle to our "left"
346 E prev; // previous half-edge
347 E next; // next half-edge
348 E pair; // partner half-edge
349 public BindingGroup bind_peers = new BindingGroup(this);
350 public BindingGroup bind_to = bind_peers.other();
351 boolean shattered = false;
353 public boolean intersects(T t) { return t.intersects(p1.p, p2.p); }
354 public float comparator() {
355 Vertex nearest = score_against.nearest(midpoint());
356 return (float)Math.max(length(), midpoint().distance(nearest.p));
358 public int compareTo(E e) {
359 return e.comparator() > comparator() ? 1 : -1;
361 public void bindEdge(E e) { bind_to.add(e); }
362 public void dobind() { bind_to.dobind(this); }
364 public Point shatter() { return shatter(midpoint(), null, null); }
365 public Point shatter(Point mid, BindingGroup bg1, BindingGroup bg2) {
366 if (shattered || destroyed) return mid;
373 int old_colorclass = t==null ? 0 : t.colorclass;
374 if (bg1==null) bg1 = new BindingGroup();
375 if (bg2==null) bg2 = new BindingGroup();
376 BindingGroup old_bind_to = bind_to;
377 bind_peers.shatter(bg1, bg2);
378 old_bind_to.shatter(bg2.other(), bg1.other());
382 newT(r.p, p1.p, mid, null, old_colorclass);
383 newT(r.p, mid, p2.p, null, old_colorclass);
384 bg1.add(p1.getE(mid));
385 bg2.add(p2.getE(mid).pair);
389 public boolean destroyed = false;
390 public void destroy() {
391 if (destroyed) return;
393 pair.destroyed = true;
395 if (t != null) t.destroy();
398 if (pair.t != null) pair.t.destroy();
401 if (next.t != null) next.t.destroy();
402 if (prev.t != null) prev.t.destroy();
406 if (pair.next.t != null) pair.next.t.destroy();
407 if (pair.prev.t != null) pair.next.t.destroy();
413 this.bind_peers = null;
414 pair.bind_peers = null;
415 pair.prev.next = next;
416 next.prev = pair.prev;
417 prev.next = pair.next;
419 if (p1.e == this) p1.e = prev.next;
420 if (pair.p1.e == pair) pair.p1.e = pair.prev.next;
423 private void sync() {
424 this.prev.next = this;
425 this.next.prev = this;
426 this.pair.pair = this;
427 bind_peers.add(this);
428 if (this.next.p1 != p2) throw new Error();
429 if (this.prev.p2 != p1) throw new Error();
430 if (this.p1.e == null) this.p1.e = this;
431 if (!added) added = true;
433 private boolean added = false;
435 public T makeT(int colorclass) { return t==null ? (t = new T(this, colorclass)) : t; }
437 public double crossAngle() {
438 Vec v1 = t.norm().times(-1);
439 Vec v2 = pair.t.norm().times(-1);
440 return Math.acos(v1.norm().dot(v2.norm()));
443 /** angle between this half-edge and the next */
444 public double angle() {
445 Vec v1 = next.p2.p.minus(p2.p);
446 Vec v2 = this.p1.p.minus(p2.p);
447 return Math.acos(v1.norm().dot(v2.norm()));
450 public void makeAdjacent(E e) {
451 if (this.next == e) return;
452 if (p2 != e.p1) throw new Error("cannot make adjacent -- no shared vertex");
453 if (t != null || e.t != null) throw new Error("cannot make adjacent -- edges not both free");
455 E freeIncident = p2.getFreeIncident(e, this);
457 e.prev.next = freeIncident.next;
458 freeIncident.next.prev = e.prev;
460 freeIncident.next = this.next;
461 this.next.prev = freeIncident;
470 /** creates an isolated edge out in the middle of space */
471 public E(Point p1, Point p2) {
472 if (vertices.get(p1) != null) throw new Error();
473 if (vertices.get(p2) != null) throw new Error();
474 this.p1 = new Vertex(p1);
475 this.p2 = new Vertex(p2);
476 this.prev = this.next = this.pair = new E(this, this, this);
478 this.p2.e = this.pair;
482 /** adds a new half-edge from prev.p2 to p2 */
483 public E(E prev, Point p) {
485 p2 = vertices.get(p);
486 if (p2 == null) p2 = new Vertex(p);
490 if (p2.getE(p1) != null) throw new Error();
492 this.next = this.pair = new E(this, this, prev.next);
494 E q = p2.getFreeIncident();
496 this.next.prev = this;
498 this.prev.next = this;
499 this.pair = new E(q, this, z);
501 if (p2.e==null) p2.e = this.pair;
505 /** adds a new half-edge to the mesh with a given predecessor, successor, and pair */
506 public E(E prev, E pair, E next) {
514 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); }
515 public boolean has(Vertex v) { return v==p1 || v==p2; }
516 public float length() { return p1.p.minus(p2.p).mag(); }
517 public String toString() { return p1+"->"+p2; }
521 public E makeE(Point p1, Point p2) {
522 Vertex v1 = vertices.get(p1);
523 Vertex v2 = vertices.get(p2);
524 if (v1 != null && v2 != null) {
526 if (e != null) return e;
528 if (e != null) return e;
530 if (v1 != null) return new E(v1.getFreeIncident(), p2);
531 if (v2 != null) return new E(v2.getFreeIncident(), p1).pair;
532 return new E(p1, p2);
534 public T newT(Point p1, Point p2, Point p3, Vec norm, int colorclass) {
536 Vec norm2 = p3.minus(p1).cross(p2.minus(p1));
537 float dot = norm.dot(norm2);
538 //if (Math.abs(dot) < EPointSILON) throw new Error("dot products within evertsilon of each other: "+norm+" "+norm2);
539 if (dot < 0) { Point p = p1; p1=p2; p2 = p; }
541 E e12 = makeE(p1, p2);
542 E e23 = makeE(p2, p3);
543 E e31 = makeE(p3, p1);
544 while(e12.next != e23 || e23.next != e31 || e31.next != e12) {
545 e12.makeAdjacent(e23);
546 e23.makeAdjacent(e31);
547 e31.makeAdjacent(e12);
549 T ret = e12.makeT(colorclass);
550 if (e12.t == null) throw new Error();
551 if (e23.t == null) throw new Error();
552 if (e31.t == null) throw new Error();
557 /** [UNIQUE] a triangle (face) */
558 public final class T extends Triangle {
560 public final int color;
561 public final int colorclass;
563 public void removeFromRTree() { triangles.remove(this); }
564 public void addToRTree() { triangles.insert(this); }
566 public void destroy() { triangles.remove(this); }
568 T(E e1, int colorclass) {
572 if (e1==e2 || e1==e3) throw new Error();
573 if (e3.next!=e1) throw new Error();
574 if (e1.t!=null || e2.t!=null || e3.t!=null) throw new Error("non-manifold surface or disagreeing normals");
577 e1.next.next.t = this;
579 // FIXME: check for sealed/watertight surface once construction is complete (and infer normal(s)?)
581 int color = Math.abs(random.nextInt());
584 if (e1().pair.t != null && color == e1().pair.t.color) { color++; continue; }
585 if (e2().pair.t != null && color == e2().pair.t.color) { color++; continue; }
586 if (e3().pair.t != null && color == e3().pair.t.color) { color++; continue; }
590 this.colorclass = colorclass;
593 public E e1() { return e1; }
594 public E e2() { return e1.next; }
595 public E e3() { return e1.prev; }
596 public Vertex v1() { return e1.p1; }
597 public Vertex v2() { return e1.p2; }
598 public Vertex v3() { return e1.next.p2; }
599 public Point p1() { return e1.p1.p; }
600 public Point p2() { return e1.p2.p; }
601 public Point p3() { return e1.next.p2.p; }
602 public boolean hasE(E e) { return e1==e || e1.next==e || e1.prev==e; }
603 public boolean has(Vertex v) { return v1()==v || v2()==v || v3()==v; }
605 public boolean shouldBeDrawn() {
606 if (e1().bind_to.set.size() == 0) return false;
607 if (e2().bind_to.set.size() == 0) return false;
608 if (e3().bind_to.set.size() == 0) return false;