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), true);
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 private boolean transform(Point newp, boolean ignoreProblems) {
134 if (immutableVertices) throw new Error();
136 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();
152 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
153 if (Math.abs(e.crossAngle()) > (Math.PI * 0.9) || Math.abs(e.next.crossAngle()) > (Math.PI * 0.9)) good = false;
154 if (e.t.aspect() < 0.1) good = false;
155 e.p2.quadricStale = true;
158 if (!ignorecollision && !ignoreProblems && good)
159 triangles.range(oldp, this.p, (Visitor<T>)this);
164 public void reComputeErrorAround() {
166 if (nearest_in_other_mesh != null) nearest_in_other_mesh.reComputeError();
167 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
168 e.p2.reComputeError();
171 public boolean visit(Object o) {
172 if (o instanceof Vertex)
173 return ((Vertex)o).e != null && ((Vertex)o).norm().dot(Vertex.this.norm()) >= 0;
175 if (!good) return false;
176 for(E e = Vertex.this.e; e!=null; e=e.pair.next==Vertex.this.e?null:e.pair.next) {
177 if (!t.has(e.p1) && !t.has(e.p2) && e.intersects(t)) { good = false; }
179 if (!e.t.has(t.e1().p1) && !e.t.has(t.e1().p2) && t.e1().intersects(e.t)) { good = false; }
180 if (!e.t.has(t.e2().p1) && !e.t.has(t.e2().p2) && t.e2().intersects(e.t)) { good = false; }
181 if (!e.t.has(t.e3().p1) && !e.t.has(t.e3().p2) && t.e3().intersects(e.t)) { good = false; }
187 public boolean move(Matrix m, boolean ignoreProblems) {
189 for(Vertex p = this; p != null; p = (p.bound_to==this)?null:p.bound_to)
190 good &= p.transform(m.times(p.p), ignoreProblems);
191 for(Vertex p = this; p != null; p = (p.bound_to==this)?null:p.bound_to)
192 if (good) p.reComputeErrorAround();
193 else p.transform(p.oldp, true);
197 public E getFreeIncident() {
198 E ret = getFreeIncident(e, e);
199 if (ret != null) return ret;
200 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
201 System.out.println(e + " " + e.t);
202 throw new Error("unable to find free incident to " + this);
205 public E getFreeIncident(E start, E before) {
206 for(E e = start; e!=null; e=e.pair.next==before?null:e.pair.next)
207 if (e.pair.p2 == this && e.pair.t == null && e.pair.next.t == null)
212 public E getE(Point p2) {
213 Vertex v = vertices.get(p2);
214 if (v==null) return null;
217 public E getE(Vertex p2) {
218 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
219 if (e.p1 == this && e.p2 == p2) return e;
223 private void glNormal(GL gl) {
225 gl.glNormal3f(norm.x, norm.y, norm.z);
228 Vec norm = new Vec(0, 0, 0);
229 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
231 norm = norm.plus(e.t.norm().times((float)e.prev.angle()));
235 public boolean isBoundTo(Vertex p) {
236 for(Vertex px = p; px!=null; px=(px.bound_to==p?null:px.bound_to))
242 public void unbind() { bound_to = this; binding = Matrix.ONE; }
243 public void bind(Vertex p) { bind(p, Matrix.ONE); }
244 public void bind(Vertex p, Matrix binding) {
245 if (isBoundTo(p)) return;
246 Vertex temp_bound_to = p.bound_to;
247 Matrix temp_binding = p.binding;
248 p.bound_to = this.bound_to;
249 p.binding = binding.times(this.binding); // FIXME: may have order wrong here
250 this.bound_to = temp_bound_to;
251 this.binding = temp_binding.times(temp_binding); // FIXME: may have order wrong here
255 public class BindingGroup {
256 private HashSet<E> set = new HashSet<E>();
257 public BindingGroup bind_others;
258 public BindingGroup other() { return bind_others; }
259 public BindingGroup(BindingGroup bind_others) { this.bind_others = bind_others; }
260 public BindingGroup() { this.bind_others = new BindingGroup(this); }
261 public BindingGroup(E e) { this(); set.add(e); }
262 public void add(E e) {
263 if (set.contains(e)) return;
265 BindingGroup e_bind_peers = e.bind_peers;
266 BindingGroup e_bind_to = e.bind_to;
268 e.bind_to = bind_others;
269 for (E epeer : e_bind_peers.set) add(epeer);
270 for (E eother : e_bind_to.set) bind_others.add(eother);
272 for(E eother : bind_others.set) {
273 if (e.next.bind_to.set.contains(eother.prev)) {
274 e.next.next.bindEdge(eother.prev.prev);
276 if (e.prev.bind_to.set.contains(eother.next)) {
277 e.prev.prev.bindEdge(eother.next.next);
282 public void dobind(E e) {
283 for(E ebound : set) {
284 e.p1.bind(ebound.p2);
285 e.p2.bind(ebound.p1);
288 public void shatter(BindingGroup bg1, BindingGroup bg2) {
290 e.shatter(e.midpoint(), bg1, bg2);
295 /** [UNIQUE] an edge */
296 public final class E implements Comparable<E> {
298 public final Vertex p1, p2;
299 T t; // triangle to our "left"
300 E prev; // previous half-edge
301 E next; // next half-edge
302 E pair; // partner half-edge
303 public BindingGroup bind_peers = new BindingGroup(this);
304 public BindingGroup bind_to = bind_peers.other();
305 boolean shattered = false;
307 public boolean intersects(T t) { return t.intersects(p1.p, p2.p); }
308 public float comparator() {
309 Vertex nearest = error_against.nearest(midpoint());
310 return (float)Math.max(length(), midpoint().distance(nearest.p));
312 public int compareTo(E e) {
313 return e.comparator() > comparator() ? 1 : -1;
315 public void bindEdge(E e) { bind_to.add(e); }
316 public void dobind() { bind_to.dobind(this); }
318 public Point shatter() { return shatter(midpoint(), null, null); }
319 public Point shatter(Point mid, BindingGroup bg1, BindingGroup bg2) {
320 if (shattered || destroyed) return mid;
327 int old_colorclass = t==null ? 0 : t.colorclass;
328 if (bg1==null) bg1 = new BindingGroup();
329 if (bg2==null) bg2 = new BindingGroup();
330 BindingGroup old_bind_to = bind_to;
331 bind_peers.shatter(bg1, bg2);
332 old_bind_to.shatter(bg2.other(), bg1.other());
336 newT(r.p, p1.p, mid, null, old_colorclass);
337 newT(r.p, mid, p2.p, null, old_colorclass);
338 bg1.add(p1.getE(mid));
339 bg2.add(p2.getE(mid).pair);
343 public boolean destroyed = false;
344 public void destroy() {
345 if (destroyed) return;
347 pair.destroyed = true;
349 if (t != null) t.destroy();
352 if (pair.t != null) pair.t.destroy();
355 if (next.t != null) next.t.destroy();
356 if (prev.t != null) prev.t.destroy();
360 if (pair.next.t != null) pair.next.t.destroy();
361 if (pair.prev.t != null) pair.next.t.destroy();
367 this.bind_peers = null;
368 pair.bind_peers = null;
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;
377 private void sync() {
378 this.prev.next = this;
379 this.next.prev = this;
380 this.pair.pair = this;
381 bind_peers.add(this);
382 if (this.next.p1 != p2) throw new Error();
383 if (this.prev.p2 != p1) throw new Error();
384 if (this.p1.e == null) this.p1.e = this;
385 if (!added) added = true;
387 private boolean added = false;
389 public T makeT(int colorclass) { return t==null ? (t = new T(this, colorclass)) : t; }
391 public double crossAngle() {
392 Vec v1 = t.norm().times(-1);
393 Vec v2 = pair.t.norm().times(-1);
394 return Math.acos(v1.norm().dot(v2.norm()));
397 /** angle between this half-edge and the next */
398 public double angle() {
399 Vec v1 = next.p2.p.minus(p2.p);
400 Vec v2 = this.p1.p.minus(p2.p);
401 return Math.acos(v1.norm().dot(v2.norm()));
404 public void makeAdjacent(E e) {
405 if (this.next == e) return;
406 if (p2 != e.p1) throw new Error("cannot make adjacent -- no shared vertex");
407 if (t != null || e.t != null) throw new Error("cannot make adjacent -- edges not both free");
409 E freeIncident = p2.getFreeIncident(e, this);
411 e.prev.next = freeIncident.next;
412 freeIncident.next.prev = e.prev;
414 freeIncident.next = this.next;
415 this.next.prev = freeIncident;
424 /** creates an isolated edge out in the middle of space */
425 public E(Point p1, Point p2) {
426 if (vertices.get(p1) != null) throw new Error();
427 if (vertices.get(p2) != null) throw new Error();
428 this.p1 = new Vertex(p1);
429 this.p2 = new Vertex(p2);
430 this.prev = this.next = this.pair = new E(this, this, this);
432 this.p2.e = this.pair;
436 /** adds a new half-edge from prev.p2 to p2 */
437 public E(E prev, Point p) {
439 p2 = vertices.get(p);
440 if (p2 == null) p2 = new Vertex(p);
444 if (p2.getE(p1) != null) throw new Error();
446 this.next = this.pair = new E(this, this, prev.next);
448 E q = p2.getFreeIncident();
450 this.next.prev = this;
452 this.prev.next = this;
453 this.pair = new E(q, this, z);
455 if (p2.e==null) p2.e = this.pair;
459 /** adds a new half-edge to the mesh with a given predecessor, successor, and pair */
460 public E(E prev, E pair, E next) {
468 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); }
469 public boolean has(Vertex v) { return v==p1 || v==p2; }
470 public float length() { return p1.p.minus(p2.p).mag(); }
471 public String toString() { return p1+"->"+p2; }
475 public E makeE(Point p1, Point p2) {
476 Vertex v1 = vertices.get(p1);
477 Vertex v2 = vertices.get(p2);
478 if (v1 != null && v2 != null) {
480 if (e != null) return e;
482 if (e != null) return e;
484 if (v1 != null) return new E(v1.getFreeIncident(), p2);
485 if (v2 != null) return new E(v2.getFreeIncident(), p1).pair;
486 return new E(p1, p2);
488 public T newT(Point p1, Point p2, Point p3, Vec norm, int colorclass) {
490 Vec norm2 = p3.minus(p1).cross(p2.minus(p1));
491 float dot = norm.dot(norm2);
492 //if (Math.abs(dot) < EPointSILON) throw new Error("dot products within evertsilon of each other: "+norm+" "+norm2);
493 if (dot < 0) { Point p = p1; p1=p2; p2 = p; }
495 E e12 = makeE(p1, p2);
496 E e23 = makeE(p2, p3);
497 E e31 = makeE(p3, p1);
498 while(e12.next != e23 || e23.next != e31 || e31.next != e12) {
499 e12.makeAdjacent(e23);
500 e23.makeAdjacent(e31);
501 e31.makeAdjacent(e12);
503 T ret = e12.makeT(colorclass);
504 if (e12.t == null) throw new Error();
505 if (e23.t == null) throw new Error();
506 if (e31.t == null) throw new Error();
511 /** [UNIQUE] a triangle (face) */
512 public final class T extends Triangle {
514 public final int color;
515 public final int colorclass;
517 public void removeFromRTree() { triangles.remove(this); }
518 public void addToRTree() { triangles.insert(this); }
520 public void destroy() { triangles.remove(this); }
522 T(E e1, int colorclass) {
526 if (e1==e2 || e1==e3) throw new Error();
527 if (e3.next!=e1) throw new Error();
528 if (e1.t!=null || e2.t!=null || e3.t!=null) throw new Error("non-manifold surface or disagreeing normals");
531 e1.next.next.t = this;
533 // FIXME: check for sealed/watertight surface once construction is complete (and infer normal(s)?)
535 int color = Math.abs(random.nextInt());
538 if (e1().pair.t != null && color == e1().pair.t.color) { color++; continue; }
539 if (e2().pair.t != null && color == e2().pair.t.color) { color++; continue; }
540 if (e3().pair.t != null && color == e3().pair.t.color) { color++; continue; }
544 this.colorclass = colorclass;
547 public E e1() { return e1; }
548 public E e2() { return e1.next; }
549 public E e3() { return e1.prev; }
550 public Vertex v1() { return e1.p1; }
551 public Vertex v2() { return e1.p2; }
552 public Vertex v3() { return e1.next.p2; }
553 public Point p1() { return e1.p1.p; }
554 public Point p2() { return e1.p2.p; }
555 public Point p3() { return e1.next.p2.p; }
556 public boolean hasE(E e) { return e1==e || e1.next==e || e1.prev==e; }
557 public boolean has(Vertex v) { return v1()==v || v2()==v || v3()==v; }
559 public boolean shouldBeDrawn() {
560 if (e1().bind_to.set.size() == 0) return false;
561 if (e2().bind_to.set.size() == 0) return false;
562 if (e3().bind_to.set.size() == 0) return false;