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);
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;
85 public Point getPoint() { return p; }
86 public float error() { return olderror; }
88 private Vertex(Point p) {
90 if (vertices.get(p) != null) throw new Error();
94 public float olderror = 0;
95 public void setError(float nerror) {
101 public Matrix _recomputeFundamentalQuadric() {
102 Matrix m = Matrix.ZERO;
104 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
105 m = m.plus(e.t.norm().fundamentalQuadric(e.t.centroid()));
108 return m.times(1/(float)count);
111 public HasQuadric nearest() {
112 if (error_against==null) return null;
113 return error_against.vertices.nearest(p, this);
115 public void unComputeError() { setError(0); }
116 public void computeError() {
119 ? (quadric.preAndPostMultiply(p) * 100) / quadric_count
120 : nearest_in_other_mesh != null
121 ? nearest_in_other_mesh.fundamentalQuadric().preAndPostMultiply(p) * 100 * 10
122 : error_against != null
123 ? nearest().fundamentalQuadric().preAndPostMultiply(p) * 100 * 10
125 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
126 double ang = Math.abs(e.crossAngle());
127 if (ang > Math.PI) throw new Error();
128 float minangle = (float)(Math.PI * 0.8);
129 if (ang > minangle) nerror += (ang - minangle);
134 private void removeTrianglesFromRTree() {
135 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
136 if (e.t != null) e.t.removeFromRTree();
138 private void addTrianglesToRTree() {
139 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
140 if (e.t != null) e.t.addToRTree();
143 /** does NOT update bound pairs! */
144 public boolean transform(Matrix m) {
145 if (immutableVertices) throw new Error();
147 unApplyQuadricToNeighbor();
150 if (vertices.get(this.p)==null) throw new Error();
151 vertices.remove(this);
152 removeTrianglesFromRTree();
153 float newx = m.a*p.x + m.b*p.y + m.c*p.z + m.d;
154 float newy = m.e*p.x + m.f*p.y + m.g*p.z + m.h;
155 float newz = m.i*p.x + m.j*p.y + m.k*p.z + m.l;
156 this.p = new Point(newx, newy, newz);
157 addTrianglesToRTree();
160 applyQuadricToNeighbor();
164 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) {
165 if (Math.abs(e.crossAngle()) > (Math.PI * 0.9) || Math.abs(e.next.crossAngle()) > (Math.PI * 0.9)) good = false;
166 if (e.t.aspect() < 0.1) good = false;
167 e.p2.quadricStale = true;
170 if (!ignorecollision && good) triangles.range(oldp, this.p, (Visitor<T>)this);
172 reComputeErrorAround();
177 public void reComputeErrorAround() {
179 if (nearest_in_other_mesh != null) nearest_in_other_mesh.reComputeError();
180 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
181 e.p2.reComputeError();
184 public boolean visit(Object o) {
185 if (o instanceof T) {
187 if (!good) return false;
188 for(E e = Vertex.this.e; e!=null; e=e.pair.next==Vertex.this.e?null:e.pair.next) {
189 if (!t.has(e.p1) && !t.has(e.p2) && e.intersects(t)) { good = false; }
191 if (!e.t.has(t.e1().p1) && !e.t.has(t.e1().p2) && t.e1().intersects(e.t)) { good = false; }
192 if (!e.t.has(t.e2().p1) && !e.t.has(t.e2().p2) && t.e2().intersects(e.t)) { good = false; }
193 if (!e.t.has(t.e3().p1) && !e.t.has(t.e3().p2) && t.e3().intersects(e.t)) { good = false; }
198 Vertex v = (Vertex)o;
199 if (v.e==null || v.norm().dot(Vertex.this.norm()) < 0)
204 private boolean good;
206 public boolean move(Vec v) {
207 Matrix m = Matrix.translate(v);
211 good &= p.transform(m);
217 public E getFreeIncident() {
218 E ret = getFreeIncident(e, e);
219 if (ret != null) return ret;
220 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
221 System.out.println(e + " " + e.t);
222 throw new Error("unable to find free incident to " + this);
225 public E getFreeIncident(E start, E before) {
226 for(E e = start; e!=null; e=e.pair.next==before?null:e.pair.next)
227 if (e.pair.p2 == this && e.pair.t == null && e.pair.next.t == null)
232 public E getE(Point p2) {
233 Vertex v = vertices.get(p2);
234 if (v==null) return null;
237 public E getE(Vertex p2) {
238 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
239 if (e.p1 == this && e.p2 == p2) return e;
243 private void glNormal(GL gl) {
245 gl.glNormal3f(norm.x, norm.y, norm.z);
248 Vec norm = new Vec(0, 0, 0);
249 for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next)
251 norm = norm.plus(e.t.norm().times((float)e.prev.angle()));
255 public boolean isBoundTo(Vertex p) {
256 for(Vertex px = p; px!=null; px=(px.bound_to==p?null:px.bound_to))
262 public void unbind() { bound_to = this; binding = Matrix.ONE; }
263 public void bind(Vertex p) { bind(p, Matrix.ONE); }
264 public void bind(Vertex p, Matrix binding) {
265 if (isBoundTo(p)) return;
266 Vertex temp_bound_to = p.bound_to;
267 Matrix temp_binding = p.binding;
268 p.bound_to = this.bound_to;
269 p.binding = binding.times(this.binding); // FIXME: may have order wrong here
270 this.bound_to = temp_bound_to;
271 this.binding = temp_binding.times(temp_binding); // FIXME: may have order wrong here
275 public class BindingGroup {
276 private HashSet<E> set = new HashSet<E>();
277 public BindingGroup bind_others;
278 public BindingGroup other() { return bind_others; }
279 public BindingGroup(BindingGroup bind_others) { this.bind_others = bind_others; }
280 public BindingGroup() { this.bind_others = new BindingGroup(this); }
281 public BindingGroup(E e) { this(); set.add(e); }
282 public void add(E e) {
283 if (set.contains(e)) return;
285 BindingGroup e_bind_peers = e.bind_peers;
286 BindingGroup e_bind_to = e.bind_to;
288 e.bind_to = bind_others;
289 for (E epeer : e_bind_peers.set) add(epeer);
290 for (E eother : e_bind_to.set) bind_others.add(eother);
292 for(E eother : bind_others.set) {
293 if (e.next.bind_to.set.contains(eother.prev)) {
294 e.next.next.bindEdge(eother.prev.prev);
296 if (e.prev.bind_to.set.contains(eother.next)) {
297 e.prev.prev.bindEdge(eother.next.next);
302 public void dobind(E e) {
303 for(E ebound : set) {
304 e.p1.bind(ebound.p2);
305 e.p2.bind(ebound.p1);
308 public void shatter(BindingGroup bg1, BindingGroup bg2) {
310 e.shatter(e.midpoint(), bg1, bg2);
315 /** [UNIQUE] an edge */
316 public final class E implements Comparable<E> {
318 public final Vertex p1, p2;
319 T t; // triangle to our "left"
320 E prev; // previous half-edge
321 E next; // next half-edge
322 E pair; // partner half-edge
323 public BindingGroup bind_peers = new BindingGroup(this);
324 public BindingGroup bind_to = bind_peers.other();
325 boolean shattered = false;
327 public boolean intersects(T t) { return t.intersects(p1.p, p2.p); }
328 public float comparator() {
329 Vertex nearest = error_against.nearest(midpoint());
330 return (float)Math.max(length(), midpoint().distance(nearest.p));
332 public int compareTo(E e) {
333 return e.comparator() > comparator() ? 1 : -1;
335 public void bindEdge(E e) { bind_to.add(e); }
336 public void dobind() { bind_to.dobind(this); }
338 public Point shatter() { return shatter(midpoint(), null, null); }
339 public Point shatter(Point mid, BindingGroup bg1, BindingGroup bg2) {
340 if (shattered || destroyed) return mid;
347 int old_colorclass = t==null ? 0 : t.colorclass;
348 if (bg1==null) bg1 = new BindingGroup();
349 if (bg2==null) bg2 = new BindingGroup();
350 BindingGroup old_bind_to = bind_to;
351 bind_peers.shatter(bg1, bg2);
352 old_bind_to.shatter(bg2.other(), bg1.other());
356 newT(r.p, p1.p, mid, null, old_colorclass);
357 newT(r.p, mid, p2.p, null, old_colorclass);
358 bg1.add(p1.getE(mid));
359 bg2.add(p2.getE(mid).pair);
363 public boolean destroyed = false;
364 public void destroy() {
365 if (destroyed) return;
367 pair.destroyed = true;
369 if (t != null) t.destroy();
372 if (pair.t != null) pair.t.destroy();
375 if (next.t != null) next.t.destroy();
376 if (prev.t != null) prev.t.destroy();
380 if (pair.next.t != null) pair.next.t.destroy();
381 if (pair.prev.t != null) pair.next.t.destroy();
387 this.bind_peers = null;
388 pair.bind_peers = null;
389 pair.prev.next = next;
390 next.prev = pair.prev;
391 prev.next = pair.next;
393 if (p1.e == this) p1.e = prev.next;
394 if (pair.p1.e == pair) pair.p1.e = pair.prev.next;
397 private void sync() {
398 this.prev.next = this;
399 this.next.prev = this;
400 this.pair.pair = this;
401 bind_peers.add(this);
402 if (this.next.p1 != p2) throw new Error();
403 if (this.prev.p2 != p1) throw new Error();
404 if (this.p1.e == null) this.p1.e = this;
405 if (!added) added = true;
407 private boolean added = false;
409 public T makeT(int colorclass) { return t==null ? (t = new T(this, colorclass)) : t; }
411 public double crossAngle() {
412 Vec v1 = t.norm().times(-1);
413 Vec v2 = pair.t.norm().times(-1);
414 return Math.acos(v1.norm().dot(v2.norm()));
417 /** angle between this half-edge and the next */
418 public double angle() {
419 Vec v1 = next.p2.p.minus(p2.p);
420 Vec v2 = this.p1.p.minus(p2.p);
421 return Math.acos(v1.norm().dot(v2.norm()));
424 public void makeAdjacent(E e) {
425 if (this.next == e) return;
426 if (p2 != e.p1) throw new Error("cannot make adjacent -- no shared vertex");
427 if (t != null || e.t != null) throw new Error("cannot make adjacent -- edges not both free");
429 E freeIncident = p2.getFreeIncident(e, this);
431 e.prev.next = freeIncident.next;
432 freeIncident.next.prev = e.prev;
434 freeIncident.next = this.next;
435 this.next.prev = freeIncident;
444 /** creates an isolated edge out in the middle of space */
445 public E(Point p1, Point p2) {
446 if (vertices.get(p1) != null) throw new Error();
447 if (vertices.get(p2) != null) throw new Error();
448 this.p1 = new Vertex(p1);
449 this.p2 = new Vertex(p2);
450 this.prev = this.next = this.pair = new E(this, this, this);
452 this.p2.e = this.pair;
456 /** adds a new half-edge from prev.p2 to p2 */
457 public E(E prev, Point p) {
459 p2 = vertices.get(p);
460 if (p2 == null) p2 = new Vertex(p);
464 if (p2.getE(p1) != null) throw new Error();
466 this.next = this.pair = new E(this, this, prev.next);
468 E q = p2.getFreeIncident();
470 this.next.prev = this;
472 this.prev.next = this;
473 this.pair = new E(q, this, z);
475 if (p2.e==null) p2.e = this.pair;
479 /** adds a new half-edge to the mesh with a given predecessor, successor, and pair */
480 public E(E prev, E pair, E next) {
488 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); }
489 public boolean has(Vertex v) { return v==p1 || v==p2; }
490 public float length() { return p1.p.minus(p2.p).mag(); }
491 public String toString() { return p1+"->"+p2; }
495 public E makeE(Point p1, Point p2) {
496 Vertex v1 = vertices.get(p1);
497 Vertex v2 = vertices.get(p2);
498 if (v1 != null && v2 != null) {
500 if (e != null) return e;
502 if (e != null) return e;
504 if (v1 != null) return new E(v1.getFreeIncident(), p2);
505 if (v2 != null) return new E(v2.getFreeIncident(), p1).pair;
506 return new E(p1, p2);
508 public T newT(Point p1, Point p2, Point p3, Vec norm, int colorclass) {
510 Vec norm2 = p3.minus(p1).cross(p2.minus(p1));
511 float dot = norm.dot(norm2);
512 //if (Math.abs(dot) < EPointSILON) throw new Error("dot products within evertsilon of each other: "+norm+" "+norm2);
513 if (dot < 0) { Point p = p1; p1=p2; p2 = p; }
515 E e12 = makeE(p1, p2);
516 E e23 = makeE(p2, p3);
517 E e31 = makeE(p3, p1);
518 while(e12.next != e23 || e23.next != e31 || e31.next != e12) {
519 e12.makeAdjacent(e23);
520 e23.makeAdjacent(e31);
521 e31.makeAdjacent(e12);
523 T ret = e12.makeT(colorclass);
524 if (e12.t == null) throw new Error();
525 if (e23.t == null) throw new Error();
526 if (e31.t == null) throw new Error();
531 /** [UNIQUE] a triangle (face) */
532 public final class T extends Triangle {
534 public final int color;
535 public final int colorclass;
537 public void removeFromRTree() { triangles.remove(this); }
538 public void addToRTree() { triangles.insert(this); }
540 public void destroy() { triangles.remove(this); }
542 T(E e1, int colorclass) {
546 if (e1==e2 || e1==e3) throw new Error();
547 if (e3.next!=e1) throw new Error();
548 if (e1.t!=null || e2.t!=null || e3.t!=null) throw new Error("non-manifold surface or disagreeing normals");
551 e1.next.next.t = this;
553 // FIXME: check for sealed/watertight surface once construction is complete (and infer normal(s)?)
555 int color = Math.abs(random.nextInt());
558 if (e1().pair.t != null && color == e1().pair.t.color) { color++; continue; }
559 if (e2().pair.t != null && color == e2().pair.t.color) { color++; continue; }
560 if (e3().pair.t != null && color == e3().pair.t.color) { color++; continue; }
564 this.colorclass = colorclass;
567 public E e1() { return e1; }
568 public E e2() { return e1.next; }
569 public E e3() { return e1.prev; }
570 public Vertex v1() { return e1.p1; }
571 public Vertex v2() { return e1.p2; }
572 public Vertex v3() { return e1.next.p2; }
573 public Point p1() { return e1.p1.p; }
574 public Point p2() { return e1.p2.p; }
575 public Point p3() { return e1.next.p2.p; }
576 public boolean hasE(E e) { return e1==e || e1.next==e || e1.prev==e; }
577 public boolean has(Vertex v) { return v1()==v || v2()==v || v3()==v; }
579 public boolean shouldBeDrawn() {
580 if (e1().bind_to.set.size() == 0) return false;
581 if (e2().bind_to.set.size() == 0) return false;
582 if (e3().bind_to.set.size() == 0) return false;