X-Git-Url: http://git.megacz.com/?p=anneal.git;a=blobdiff_plain;f=src%2Fedu%2Fberkeley%2Fqfat%2FMesh.java;h=926a5b7b5d55ffea170ea62037216a1e88193c1a;hp=bbb419ab8777f12a0e10ee56330b45b2b0aaf0e7;hb=d52f92b29c1987b5734c7183a9c01b5660f86482;hpb=eee2dd75dbd926b92f63d4c4adb968a58323717e diff --git a/src/edu/berkeley/qfat/Mesh.java b/src/edu/berkeley/qfat/Mesh.java index bbb419a..926a5b7 100644 --- a/src/edu/berkeley/qfat/Mesh.java +++ b/src/edu/berkeley/qfat/Mesh.java @@ -7,7 +7,11 @@ import javax.media.opengl.*; import javax.media.opengl.glu.*; import edu.berkeley.qfat.geom.*; import edu.wlu.cs.levy.CG.KDTree; +import edu.berkeley.qfat.bind.*; import edu.berkeley.qfat.geom.Point; +import com.infomatiq.jsi.IntProcedure; + +// EDGES RUN COUNTER-CLOCKWISE public class Mesh implements Iterable { @@ -17,15 +21,64 @@ public class Mesh implements Iterable { private RTree triangles = new RTree(); private PointSet vertices = new PointSet(); + public boolean option_wireframe = false; + public boolean option_errorNormals = false; + public boolean option_selectable = true; + + public void render(GL gl, Matrix m) { + if (option_wireframe) { + gl.glDisable(GL.GL_LIGHTING); + gl.glBegin(GL.GL_LINES); + gl.glColor3f(1, 1, 1); + for (T t : this) { + // fixme used to be .goodp + m.times(t.e1().v1.p).glVertex(gl); + m.times(t.e1().v2.p).glVertex(gl); + m.times(t.e2().v1.p).glVertex(gl); + m.times(t.e2().v2.p).glVertex(gl); + m.times(t.e3().v1.p).glVertex(gl); + m.times(t.e3().v2.p).glVertex(gl); + } + gl.glEnd(); + gl.glEnable(GL.GL_LIGHTING); + return; + } + for(T t : this) { + gl.glColor4f((float)(0.25+(0.05*t.color)), + (float)(0.25+(0.05*t.color)), + (float)(0.75+(0.05*t.color)), + (float)0.3); + /* + if (t.red) { + gl.glColor4f((float)(0.75+(0.05*t.color)), + (float)(0.25+(0.05*t.color)), + (float)(0.25+(0.05*t.color)), + (float)0.3); + } + */ + t.glTriangle(gl, m); + } + if (option_errorNormals) + for(T t : this) + for(Mesh.Vertex p : new Mesh.Vertex[] { t.v1(), t.v2(), t.v3() }) { + if (p.ok) { + gl.glBegin(GL.GL_LINES); + gl.glColor3f(1, 1, 1); + p.p.glVertex(gl); + p.p.plus(p.norm().times((float)p.error()*10)).glVertex(gl); + gl.glEnd(); + } + } + } + public boolean immutableVertices; - public boolean ignorecollision = false; - public Mesh score_against = null; - public double score = 0; + public Mesh error_against = null; + public double error = 0; public Mesh(boolean immutableVertices) { this.immutableVertices = immutableVertices; } public void makeVerticesImmutable() { this.immutableVertices = true; } - public float score() { return (float)score; } + public float error() { return (float)error; } public int size() { return vertices.size(); } public Iterable vertices() { return vertices; } @@ -44,12 +97,14 @@ public class Mesh implements Iterable { t.e2().dobind(); t.e3().dobind(); } + System.out.println("rebound!"); } public void transform(Matrix m) { ArrayList set = new ArrayList(); for(Vertex v : vertices) set.add(v); - for(Vertex v : set) v.transform(m); + for(Vertex v : set) v.transform(m.times(v.p), true, null); + for(Vertex v : set) v.goodp = v.p; } public void rebuild() { /*vertices.rebuild();*/ } @@ -71,207 +126,397 @@ public class Mesh implements Iterable { } + public void subdivide() { + for (Vertex v : vertices()) v.original = true; + HashSet edges = new HashSet(); + HashSet flip = new HashSet(); + HashSet tris = new HashSet(); + int count = 0; + for (T t : this) { + tris.add(t); + edges.add(t.e1()); + edges.add(t.e2()); + edges.add(t.e3()); + count++; + } + System.out.println("triangles="+count); + count = 0; + for(E e : edges) { + if (e.destroyed || e.shattered) continue; + e.shatter().edge = true; + for(E ex : (Iterable)e.getBoundPeers()) { + Vertex m = nearest(ex.midpoint()); + m.edge = true; + E e3 = ex.v1.getE(m).next; + if (e3.v2.original) + flip.add(e3); + } + } + + int i=0; + + for(E e : flip) { + e.flip(); + System.out.println("flip!"); + i++; + } + + System.out.println("count="+count); + + rebindPoints(); + HashSet verts = new HashSet(); + for(Vertex v : vertices()) verts.add(v); + for (Vertex v : verts) + v.clearWish(); + for (Vertex v : verts) { + if (v.edge) { + for(E e = v.e; e!=null; e=e.pair.next==v.e?null:e.pair.next) { + if (e.v2.original) { + v.wish(e.v2); + v.wish(e.v2); + v.wish(e.v2); + v.wish(e.v2); + } + } + for(E e = v.e; e!=null; e=e.pair.next==v.e?null:e.pair.next) { + for(E e2 = e.v2.e; e2!=null; e2=e2.pair.next==e.v2.e?null:e2.pair.next) { + if (e2.v2.original) { + v.wish(e.v2); + } + } + } + } + } + for (Vertex v : verts) + v.grantWish(); + System.out.println("-------------------------------------------------------------------"); + /* + for (Vertex v : verts) { + if (v.original) { + int n=0; + for(E e = v.e; e!=null; e=e.pair.next==v.e?null:e.pair.next) { + n++; + v.wish(e.midpoint()); + v.wish(e.midpoint()); + v.wish(e.next.pair.t.centroid()); + } + v.avgWish(); + v.wishes = 3; + for(int j=0; j { - public String toString() { return p.toString(); } - public Point p; + public final class Vertex extends HasQuadric implements Visitor, HasPoint { + public void bindTo(Matrix bindingMatrix, HasBindingGroup other) { + bindTo(bindingMatrix, other, EPSILON); + } + public float getMaxX() { return getPoint().getMaxX(); } + public float getMinX() { return getPoint().getMinX(); } + public float getMaxY() { return getPoint().getMaxY(); } + public float getMinY() { return getPoint().getMinY(); } + public float getMaxZ() { return getPoint().getMaxZ(); } + public float getMinZ() { return getPoint().getMinZ(); } + + public Point p, goodp; + public Point oldp; E e; // some edge *leaving* this point - /** the nearest vertex in the "score_against" mesh */ - Vertex nearest_in_other_mesh; - /** the number of vertices in the other mesh for which this is the nearest_in_other_mesh */ - int quadric_count; - /** the total error quadric (contributions from all vertices in other mesh for which this is nearest) */ - Matrix quadric = Matrix.ZERO; + public boolean original = false; + public boolean edge = false; + public boolean face = false; + + private int wishes = 0; + private Point wish = Point.ZERO; + public void clearWish() { wishes = 0; wish = Point.ZERO; } + public void wish(HasPoint hp) { + Point p = hp.getPoint(); + wishes++; + wish = new Point(wish.x+p.x, wish.y+p.y, wish.z+p.z); + } + public void grantWish() { + for(Vertex v : (Iterable)getBoundPeers()) { + if (v==this) continue; + if (v.wishes==0) continue; + Point p = this.getBindingMatrix(v).times(v.wish.minus(Point.ZERO).div(v.wishes).plus(Point.ZERO)); + wish = p.minus(Point.ZERO).times(v.wishes).plus(wish); + wishes += v.wishes; + v.clearWish(); + } + if (wishes==0) return; + Vec d = wish.minus(Point.ZERO).div(wishes).plus(Point.ZERO).minus(getPoint()); + move(d, false); + clearWish(); + } + public void avgWish() { + if (wishes==0) return; + wish = wish.minus(Point.ZERO).div(wishes).plus(Point.ZERO); + wishes = 1; + } + + private boolean illegal = false; - Matrix binding = Matrix.ONE; - Vertex bound_to = this; - float oldscore = 0; - boolean quadricStale = false; + public boolean visible = false; - public Matrix errorQuadric() { return quadric; } public Point getPoint() { return p; } - public float score() { return oldscore; } - - private Matrix fundamentalQuadric = null; - public Matrix fundamentalQuadric() { - if (fundamentalQuadric == null) recomputeFundamentalQuadric(); - return fundamentalQuadric; - } + public float error() { return olderror; } private Vertex(Point p) { this.p = p; + this.goodp = p; + this.oldp = p; if (vertices.get(p) != null) throw new Error(); vertices.add(this); } - private void glNormal(GL gl) { - Vec norm = norm(); - gl.glNormal3f(norm.x, norm.y, norm.z); + public void reinsert() { + vertices.remove(this); + vertices.add(this); + for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) e.t.reinsert(); } - public void recomputeFundamentalQuadricIfNeighborChanged() { - Vertex oldv = nearest_in_other_mesh; - Vertex newv = score_against.nearest(p); - if (oldv==newv) return; - recomputeFundamentalQuadric(); - if (oldv!=null) oldv.recomputeFundamentalQuadricIfNeighborChanged(); - //if (newv!=null) newv.recomputeFundamentalQuadricIfNeighborChanged(); - } - public void recomputeFundamentalQuadric() { - unApplyQuadricToNeighbor(); - if (quadricStale || fundamentalQuadric==null) { - Matrix m = Matrix.ZERO; - int count = 0; - for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) { - T t = e.t; - m = m.plus(t.norm().fundamentalQuadric(t.centroid())); - count++; - } - quadricStale = false; - fundamentalQuadric = m.times(1/(float)count); + // the average of all adjacent points + public Point recenter() { + int count = 0; + Vec vec = Vec.ZERO; + for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) { + vec = vec.plus(e.getOther(this).getPoint().minus(Point.ZERO)); + count++; } - applyQuadricToNeighbor(); + return Point.ZERO.plus(vec.div(count)); } - public void unApplyQuadricToNeighbor() { - if (nearest_in_other_mesh == null) return; - if (fundamentalQuadric == null) return; - nearest_in_other_mesh.unComputeError(); - nearest_in_other_mesh.quadric = nearest_in_other_mesh.quadric.minus(fundamentalQuadric); - nearest_in_other_mesh.quadric_count--; - if (nearest_in_other_mesh.quadric_count==0) - nearest_in_other_mesh.quadric = Matrix.ZERO; - nearest_in_other_mesh.computeError(); - nearest_in_other_mesh = null; + public float olderror = 0; + public void setError(float nerror) { + error -= olderror; + olderror = nerror; + error += olderror; } - public void applyQuadricToNeighbor() { - if (score_against == null) return; - - Vertex new_nearest = score_against.nearest(p); - if (nearest_in_other_mesh != null && new_nearest == nearest_in_other_mesh) return; - - if (nearest_in_other_mesh != null) unApplyQuadricToNeighbor(); - if (nearest_in_other_mesh != null) throw new Error(); - - nearest_in_other_mesh = new_nearest; - - // don't attract to vertices that face the other way - if (nearest_in_other_mesh.e == null || nearest_in_other_mesh.norm().dot(norm()) < 0) { - nearest_in_other_mesh = null; - } else { - nearest_in_other_mesh.unComputeError(); - nearest_in_other_mesh.quadric = nearest_in_other_mesh.quadric.plus(fundamentalQuadric()); - nearest_in_other_mesh.quadric_count++; - nearest_in_other_mesh.computeError(); + /* + public Vertex hack(GL gl, Point mouse) { + double dist = Double.MAX_VALUE; + Vertex cur = null; + for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) { + Vertex v = e.getOther(this); + double dist2 = v.getPoint().glProject(gl).distance(mouse); + if ((cur==null || dist2 < dist) && v.visible) { + dist = dist2; + cur = v; + } } - reComputeError(); + return cur; } + */ - public void reComputeErrorAround() { - reComputeError(); - if (nearest_in_other_mesh != null) nearest_in_other_mesh.reComputeError(); - for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) - e.p2.reComputeError(); + public float averageTriangleArea() { + int count = 0; + float ret = 0; + for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) { + ret += e.t.area(); + count++; + } + return ret/count; } - public void reComputeError() { - unComputeError(); - computeError(); + public float averageEdgeLength() { + int count = 0; + float ret = 0; + for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) { + ret += e.length(); + count++; + } + return ret/count; } - public void unComputeError() { - score -= oldscore; - oldscore = 0; + + public Matrix _recomputeFundamentalQuadric() { + Matrix m = Matrix.ZERO; + int count = 0; + for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) { + m = m.plus(e.t.norm().fundamentalQuadric(e.t.centroid())); + count++; + } + if (count > 0) { + m = m.plus(norm().fundamentalQuadric(this.p).times(count)); + count *= 2; + } + return m.times(1/(float)count); } + + public HasQuadric nearest() { return error_against==null ? null : error_against.vertices.nearest(p, this); } public void computeError() { - oldscore = - quadric_count != 0 - ? (quadric.preAndPostMultiply(p) * 100) / quadric_count - : immutableVertices - ? oldscore - : nearest_in_other_mesh != null - ? nearest_in_other_mesh.fundamentalQuadric().preAndPostMultiply(p) * 100 * 10 - : score_against != null - ? score_against.nearest(p).fundamentalQuadric().preAndPostMultiply(p) * 100 * 10 - : 0; + if (error_against==null) return; + if (nearest_in_other_mesh == null && nearest()==null) return; + float nerror = + nearest_in_other_mesh != null + ? nearest_in_other_mesh.fundamentalQuadric().preAndPostMultiply(p) + : nearest().fundamentalQuadric().preAndPostMultiply(p); + if (quadric_count != 0) + nerror = (nerror + quadric.preAndPostMultiply(p))/(quadric_count+1); + + if (!immutableVertices && quadric_count == 0) { + //nerror = Math.max(nerror, 0.4f); + //nerror *= 2; + } + //System.out.println(nerror); for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) { - double ang = Math.abs(e.crossAngle()); + double ang = e.dihedralAngle(); if (ang > Math.PI) throw new Error(); + if (ang < -Math.PI) throw new Error(); float minangle = (float)(Math.PI * 0.8); - if (ang > minangle) - oldscore += (ang - minangle); + //nerror += ((ang / Math.PI)*(ang/Math.PI)) * e.length() * 0.05; + + //nerror += (1-e.t.quality())*0.0001; + if (ang > minangle) nerror += (ang - minangle); + + //System.out.println(((ang / Math.PI)*(ang/Math.PI)) * 0.000001); + /* + if (e.t.aspect() < 0.2) { + nerror += (0.2-e.t.aspect()) * 10; + } + */ + } + if (!immutableVertices) { + Vertex n = (Vertex)nearest(); + float d = norm().dot(n.norm()); + if (d > 1 || d < -1) throw new Error(); + if (d >= 0) { + nerror *= (2.0f - d); + } else { + nerror += 0.0003 * (2.0f + d); + nerror *= (2.0f + d); + } } - score += oldscore; - } - private void removeTrianglesFromRTree() { - for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) - if (e.t != null) e.t.removeFromRTree(); + setError(nerror); } - private void addTrianglesToRTree() { - for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) - if (e.t != null) e.t.addToRTree(); + + public boolean move(Vec vv, boolean ignoreProblems) { + + boolean good = true; + + // t1' = M * t1 + // t2' = t2.getMatrix(t1) * t1' + // t2' = t2.getMatrix(t1) * M * t1 + // t1 = t1.getMatrix(t2) * t2 + // M * t1 = M * t1.getMatrix(t2) * t2 + + /* + if (bindingGroup!=null && this != bindingGroup.getMaster()) { + Matrix m2 = getBindingMatrix(bindingGroup.getMaster()); + Vec v2 = m2.times(vv.plus(getPoint())).minus(m2.times(getPoint())); + return ((Vertex)bindingGroup.getMaster()).move(v2, ignoreProblems); + } + */ + + Point op = this.p; + Point pt = vv.plus(getPoint()); + Point pp = pt; + pt = getBindingConstraint().getProjection(pp); + if (pt==null) return false; + System.out.println(pt.minus(pp).mag() + " " + getBindingConstraint()); + + for(Vertex v : (Iterable)getBoundPeers()) { + Point pt2 = v.getBindingMatrix(this).times(pt); + /* + if (Math.abs( v.p.minus(pt2).mag() / pt.minus(op).mag() ) > 5) + throw new Error(v.p+" "+pt2+"\n"+op+" "+pt+"\n"+v.getBindingMatrix(this)); + if (Math.abs( v.p.minus(pt2).mag() / pt.minus(op).mag() ) < 1/5) throw new Error(); + */ + good &= v.transform(pt2, ignoreProblems, v.getBindingMatrix(this)); + } + + if (!good && !ignoreProblems) { + for(Vertex v : (Iterable)getBoundPeers()) + v.transform(v.oldp, true, null); + } + + for(Vertex v : (Iterable)getBoundPeers()) + v.recomputeFundamentalQuadricIfNeighborChanged(); + for(Vertex v : (Iterable)getBoundPeers()) + v.reComputeErrorAround(); + ok = true; + return good; } + public boolean ok = true; /** does NOT update bound pairs! */ - public boolean transform(Matrix m) { + private boolean transform(Point newp, boolean ignoreProblems, Matrix yes) { + this.oldp = this.p; if (immutableVertices) throw new Error(); unApplyQuadricToNeighbor(); - Point oldp = this.p; - if (vertices.get(this.p)==null) throw new Error(); - vertices.remove(this); - removeTrianglesFromRTree(); - float newx = m.a*p.x + m.b*p.y + m.c*p.z + m.d; - float newy = m.e*p.x + m.f*p.y + m.g*p.z + m.h; - float newz = m.i*p.x + m.j*p.y + m.k*p.z + m.l; - this.p = new Point(newx, newy, newz); - addTrianglesToRTree(); - vertices.add(this); + boolean illegalbefore = illegal; + illegal = false; + /* + if (this.p.minus(newp).mag() > 0.1 && !ignoreProblems) { + try { + throw new Exception(""+this.p.minus(newp).mag()+" "+ignoreProblems+" "+yes); + } catch(Exception e) { + e.printStackTrace(); + } + illegal = true; + } + */ + this.p = newp; + reinsert(); applyQuadricToNeighbor(); - good = true; + if (!ignoreProblems) { + checkLegality(); + } + for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) + e.v2.quadricStale = true; + return !illegal || (illegalbefore && illegal); + } + public void checkLegality() { + /* for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) { - if (Math.abs(e.crossAngle()) > (Math.PI * 0.9) || Math.abs(e.next.crossAngle()) > (Math.PI * 0.9)) good = false; - if (e.t.aspect() < 0.1) good = false; - e.p2.quadricStale = true; + if (Math.abs(e.dihedralAngle()) > (Math.PI * 0.9) || + Math.abs(e.next.dihedralAngle()) > (Math.PI * 0.9)) illegal = true; + if (e.t.aspect() < 0.2) illegal = true; } + */ + if (!illegal) triangles.range(oldp, this.p, (Visitor)this); + } - if (!ignorecollision && good) triangles.range(oldp, this.p, (Visitor)this); - - reComputeErrorAround(); - return good; + public void reComputeErrorAround() { + reComputeError(); + if (nearest_in_other_mesh != null) + nearest_in_other_mesh.reComputeError(); + for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) + e.v2.reComputeError(); } - public void visit(T t) { - if (!good) return; + public boolean visit(Object o) { + if (o instanceof Vertex) + return ((Vertex)o).e != null && ((Vertex)o).norm().dot(Vertex.this.norm()) >= 0; + T t = (T)o; + if (illegal) return false; for(E e = Vertex.this.e; e!=null; e=e.pair.next==Vertex.this.e?null:e.pair.next) { - if (!t.has(e.p1) && !t.has(e.p2) && e.intersects(t)) { good = false; } + if (!t.has(e.v1) && !t.has(e.v2) && e.intersects(t)) { illegal = true; } if (e.t != null) { - if (!e.t.has(t.e1().p1) && !e.t.has(t.e1().p2) && t.e1().intersects(e.t)) { good = false; } - if (!e.t.has(t.e2().p1) && !e.t.has(t.e2().p2) && t.e2().intersects(e.t)) { good = false; } - if (!e.t.has(t.e3().p1) && !e.t.has(t.e3().p2) && t.e3().intersects(e.t)) { good = false; } + if (!e.t.has(t.e1().v1) && !e.t.has(t.e1().v2) && t.e1().intersects(e.t)) { illegal = true; } + if (!e.t.has(t.e2().v1) && !e.t.has(t.e2().v2) && t.e2().intersects(e.t)) { illegal = true; } + if (!e.t.has(t.e3().v1) && !e.t.has(t.e3().v2) && t.e3().intersects(e.t)) { illegal = true; } } } - } - private boolean good; - - public boolean move(Vec v) { - Matrix m = Matrix.translate(v); - Vertex p = this; - boolean good = true; - do { - good &= p.transform(m); - p = p.bound_to; - } while (p != this); - return good; + return !illegal; } + public E getEdge() { return e; } public E getFreeIncident() { E ret = getFreeIncident(e, e); if (ret != null) return ret; @@ -282,22 +527,32 @@ public class Mesh implements Iterable { public E getFreeIncident(E start, E before) { for(E e = start; e!=null; e=e.pair.next==before?null:e.pair.next) - if (e.pair.p2 == this && e.pair.t == null && e.pair.next.t == null) + if (e.pair.v2 == this && e.pair.t == null && e.pair.next.t == null) return e.pair; return null; } - public E getE(Point p2) { - Vertex v = vertices.get(p2); + public E getE(Point v2) { + Vertex v = vertices.get(v2); if (v==null) return null; return getE(v); } - public E getE(Vertex p2) { - for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) - if (e.p1 == this && e.p2 == p2) return e; + public E getE(Vertex v2) { + if (this.e!=null && this!=this.e.v1 && this!=this.e.v2) throw new RuntimeException(); + int i=0; + for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) { + if (e.v1 == this && e.v2 == v2) return e; + i++; + e.sanity(); + if (e.destroyed) throw new RuntimeException("fark " + i + " " + e.prev + " " + (e.prev.next==e) + " " + e.prev.destroyed); + } return null; } + private void glNormal(GL gl) { + Vec norm = norm(); + gl.glNormal3f(norm.x, norm.y, norm.z); + } public Vec norm() { Vec norm = new Vec(0, 0, 0); for(E e = this.e; e!=null; e=e.pair.next==this.e?null:e.pair.next) @@ -306,112 +561,196 @@ public class Mesh implements Iterable { return norm.norm(); } - public boolean isBoundTo(Vertex p) { - for(Vertex px = p; px!=null; px=(px.bound_to==p?null:px.bound_to)) - if (px==this) - return true; - return false; - } - - public void unbind() { bound_to = this; binding = Matrix.ONE; } - public void bind(Vertex p) { bind(p, Matrix.ONE); } - public void bind(Vertex p, Matrix binding) { - if (isBoundTo(p)) return; - Vertex temp_bound_to = p.bound_to; - Matrix temp_binding = p.binding; - p.bound_to = this.bound_to; - p.binding = binding.times(this.binding); // FIXME: may have order wrong here - this.bound_to = temp_bound_to; - this.binding = temp_binding.times(temp_binding); // FIXME: may have order wrong here - } + public void bindTo(Vertex p) { bindTo(Matrix.ONE, p); } } - public class BindingGroup { - private HashSet set = new HashSet(); - public BindingGroup bind_others; - public BindingGroup other() { return bind_others; } - public BindingGroup(BindingGroup bind_others) { this.bind_others = bind_others; } - public BindingGroup() { this.bind_others = new BindingGroup(this); } - public BindingGroup(E e) { this(); set.add(e); } - public void add(E e) { - if (set.contains(e)) return; - set.add(e); - BindingGroup e_bind_peers = e.bind_peers; - BindingGroup e_bind_to = e.bind_to; - e.bind_peers = this; - e.bind_to = bind_others; - for (E epeer : e_bind_peers.set) add(epeer); - for (E eother : e_bind_to.set) bind_others.add(eother); - - for(E eother : bind_others.set) { - if (e.next.bind_to.set.contains(eother.prev)) { - e.next.next.bindEdge(eother.prev.prev); - } - if (e.prev.bind_to.set.contains(eother.next)) { - e.prev.prev.bindEdge(eother.next.next); - } - } + /** [UNIQUE] an edge */ + public final class E extends HasBindingGroup implements Comparable { + + public void bindTo(Matrix bindingMatrix, HasBindingGroup other) { + bindTo(bindingMatrix, other, EPSILON); } - public void dobind(E e) { - for(E ebound : set) { - e.p1.bind(ebound.p2); - e.p2.bind(ebound.p1); - } - } - public void shatter(BindingGroup bg1, BindingGroup bg2) { - for(E e : set) { - e.shatter(e.midpoint(), bg1, bg2); - } - } - } - /** [UNIQUE] an edge */ - public final class E implements Comparable { + public void sanity() { + if (destroyed) return; + if (pair!=null && (pair.v1!=v2 || pair.v2!=v1)) throw new RuntimeException(); + if (next!=null && next.v1!=v2) throw new RuntimeException(); + if (prev!=null && prev.v2!=v1) throw new RuntimeException(); + } - public final Vertex p1, p2; + public final Vertex v1, v2; T t; // triangle to our "left" E prev; // previous half-edge E next; // next half-edge E pair; // partner half-edge - public BindingGroup bind_peers = new BindingGroup(this); - public BindingGroup bind_to = bind_peers.other(); boolean shattered = false; - public boolean intersects(T t) { return t.intersects(p1.p, p2.p); } + public boolean intersects(T t) { return t.intersects(v1.p, v2.p); } + + public Segment getSegment() { return new Segment(v1.getPoint(), v2.getPoint()); } + + public void flip() { + // FIXME: coplanarity check needed + if (destroyed) return; + for (E e : (Iterable)getBoundPeers()) { + if (!e.pair.isBoundTo(pair)) throw new RuntimeException("cannot flip!"); + } + Vertex v1 = t.getOtherVertex(this); + Vertex v2 = pair.t.getOtherVertex(pair); + destroy(); + pair.destroy(); + T t1 = newT(v1, v2, this.v2); + T t2 = newT(v2, v1, this.v1); + t1.e1().sanity(); + t1.e2().sanity(); + t1.e3().sanity(); + t2.e1().sanity(); + t2.e2().sanity(); + t2.e3().sanity(); + + for (E e : (Iterable)getBoundPeers()) { + if (e==this) continue; + if (e.destroyed) continue; + Vertex v1e = e.t.getOtherVertex(e); + Vertex v2e = e.pair.t.getOtherVertex(e.pair); + e.destroy(); + e.pair.destroy(); + if (v1e.getE(v2e)!=null) throw new RuntimeException(); + newT(v1e, v2e, e.v2).red = true; + newT(v2e, v1e, e.v1).red = true; + v2e.getE(v1e).bindTo(e.getBindingMatrix(this), v1.getE(v2)); + v1e.getE(v2e).bindTo(e.pair.getBindingMatrix(this.pair), v2.getE(v1)); + } + + } + + public void bindingGroupChanged() { + HashSet nbg = new HashSet(); + for(E eother : (Iterable)getBoundPeers()) nbg.add(eother); + for(E eother : nbg) { + if (next==null || prev==null) continue; + if (eother.next==null || eother.prev==null) continue; + + if (next.isBoundTo(eother.pair.prev.pair) && !prev.isBoundTo(eother.pair.next.pair)) + prev.bindTo(next.getBindingMatrix(eother.pair.prev.pair), eother.pair.next.pair); + if (!next.isBoundTo(eother.pair.prev.pair) && prev.isBoundTo(eother.pair.next.pair)) + next.bindTo(prev.getBindingMatrix(eother.pair.next.pair), eother.pair.prev.pair); + + /* + if (next.isBoundTo(eother.prev) && !prev.isBoundTo(eother.next)) + prev.bindTo(next.getBindingMatrix(eother.prev), eother.next); + if (!next.isBoundTo(eother.prev) && prev.isBoundTo(eother.next)) + next.bindTo(prev.getBindingMatrix(eother.next), eother.prev); + */ + if (next.isBoundTo(eother.next) && !prev.isBoundTo(eother.prev)) + prev.bindTo(next.getBindingMatrix(eother.next), eother.prev); + if (!next.isBoundTo(eother.next) && prev.isBoundTo(eother.prev)) + next.bindTo(prev.getBindingMatrix(eother.prev), eother.next); + } + + } + + public float stretchRatio() { + Vertex nearest = error_against.nearest(midpoint()); + float nearest_distance = midpoint().distance(nearest.p); + float other_distance = + (v1.p.distance(error_against.nearest(v1.p).p)+ + v2.p.distance(error_against.nearest(v2.p).p))/2; + return nearest_distance/other_distance; + } public float comparator() { - Vertex nearest = score_against.nearest(midpoint()); - return (float)Math.max(length(), midpoint().distance(nearest.p)); + return length(); } public int compareTo(E e) { return e.comparator() > comparator() ? 1 : -1; } - public void bindEdge(E e) { bind_to.add(e); } - public void dobind() { bind_to.dobind(this); } + public void bindEdge(E e, Matrix m) { + _bindEdge(e, m); + pair._bindEdge(e.pair, m); + } + public void _bindEdge(E e, Matrix m) { + e = e.pair; + /* + //assumes edges are identical length at binding time + Vec reflectionPlaneNormal = e.v2.p.minus(e.v1.p).norm(); + float a = reflectionPlaneNormal.x; + float b = reflectionPlaneNormal.y; + float c = reflectionPlaneNormal.z; + Matrix reflectionMatrix = + new Matrix( 1-2*a*a, -2*a*b, -2*a*c, 0, + -2*a*b, 1-2*b*b, -2*b*c, 0, + -2*a*c, -2*b*c, 1-2*c*c, 0, + 0, 0, 0, 1); + m = m.times(Matrix.translate(e.midpoint().minus(Point.ORIGIN)) + .times(reflectionMatrix) + .times(Matrix.translate(Point.ORIGIN.minus(e.midpoint())))); + System.out.println(reflectionPlaneNormal); + System.out.println(" " + v1.p + " " + m.times(e.v1.p)); + System.out.println(" " + v2.p + " " + m.times(e.v2.p)); + */ + /* + if (m.times(e.v1.p).minus(v1.p).mag() > EPSILON) throw new Error(); + if (m.times(e.v2.p).minus(v2.p).mag() > EPSILON) throw new Error(); + */ + this.bindTo(m, e); + } + + public void dobind() { + for(E e : (Iterable)getBoundPeers()) { + if (e==this) continue; + v1.bindTo(getBindingMatrix(e), e.v1); + v2.bindTo(getBindingMatrix(e), e.v2); + /* + e.v1.setConstraint(getAffineConstraint()); + e.v2.setConstraint(getAffineConstraint()); + */ + } + } - public Point shatter() { return shatter(midpoint(), null, null); } - public Point shatter(Point mid, BindingGroup bg1, BindingGroup bg2) { - if (shattered || destroyed) return mid; + public Vertex shatter() { + if (shattered || destroyed) return nearest(midpoint()); shattered = true; - - Vertex r = next.p2; - E next = this.next; - E prev = this.prev; - - int old_colorclass = t==null ? 0 : t.colorclass; - if (bg1==null) bg1 = new BindingGroup(); - if (bg2==null) bg2 = new BindingGroup(); - BindingGroup old_bind_to = bind_to; - bind_peers.shatter(bg1, bg2); - old_bind_to.shatter(bg2.other(), bg1.other()); - pair.shatter(); - destroy(); - - newT(r.p, p1.p, mid, null, old_colorclass); - newT(r.p, mid, p2.p, null, old_colorclass); - bg1.add(p1.getE(mid)); - bg2.add(p2.getE(mid).pair); - return mid; + E first = null; + E firste = null; + E firstx = null; + E firstq = null; + for(E e : (Iterable)getBoundPeers()) { + E enext = e.next; + E eprev = e.prev; + E pnext = e.pair.next; + E pprev = e.pair.prev; + Point mid = e.midpoint(); + Vertex r = e.next.v2; + Vertex l = e.pair.next.v2; + if (!e.destroyed) { + e.destroy(); + e.pair.destroy(); + newT(r.p, e.v1.p, mid, null, 0); + newT(r.p, mid, e.v2.p, null, 0); + newT(l.p, mid, e.v1.p, null, 0); + newT(l.p, e.v2.p, mid, null, 0); + } + } + for(E e : (Iterable)getBoundPeers()) { + Point mid = e.midpoint(); + if (first==null) { + first = e.v1.getE(mid); + firste = e; + firstx = e.pair; + firstq = e.v2.getE(mid).pair; + continue; + } + e.v1.getE(mid). bindTo(e.getBindingMatrix(firste), first); + e.v1.getE(mid).pair. bindTo(e.getBindingMatrix(firste), first.pair); + e.v2.getE(mid).pair. bindTo(e.getBindingMatrix(firste), firstq); + e.v2.getE(mid).pair.pair.bindTo(e.getBindingMatrix(firste), firstq.pair); + } + /* + first.setConstraint(firste.getAffineConstraint()); + firstq.setConstraint(firste.getAffineConstraint()); + */ + return nearest(midpoint()); } public boolean destroyed = false; @@ -436,51 +775,82 @@ public class Mesh implements Iterable { pair.next.t = null; pair.prev.t = null; - this.bind_to = null; - pair.bind_to = null; - this.bind_peers = null; - pair.bind_peers = null; pair.prev.next = next; next.prev = pair.prev; prev.next = pair.next; - pair.next = prev; - if (p1.e == this) p1.e = prev.next; - if (pair.p1.e == pair) pair.p1.e = pair.prev.next; + pair.next.prev = prev; + + if (v1.e == this) v1.e = pair.next; + if (pair.v1.e == pair) pair.v1.e = next; + + if (v2.e == this) throw new RuntimeException(); + if (pair.v2.e == pair) throw new RuntimeException(); + + /* + next = pair; + prev = pair; + pair.next = this; + pair.prev = this; + */ + + /* + pair.prev = null; + pair.next = null; + next = null; + prev = null; + */ + + /* + sanity(); + next.sanity(); + prev.sanity(); + pair.sanity(); + */ } private void sync() { this.prev.next = this; this.next.prev = this; this.pair.pair = this; - bind_peers.add(this); - if (this.next.p1 != p2) throw new Error(); - if (this.prev.p2 != p1) throw new Error(); - if (this.p1.e == null) this.p1.e = this; + if (this.next.v1 != v2) throw new Error(); + if (this.prev.v2 != v1) throw new Error(); + if (this.v1.e == null) this.v1.e = this; if (!added) added = true; } private boolean added = false; public T makeT(int colorclass) { return t==null ? (t = new T(this, colorclass)) : t; } - public double crossAngle() { + public double dihedralAngle() { Vec v1 = t.norm().times(-1); Vec v2 = pair.t.norm().times(-1); - return Math.acos(v1.norm().dot(v2.norm())); + double prod = v1.norm().dot(v2.norm()); + prod = Math.min(1,prod); + prod = Math.max(-1,prod); + double ret = Math.acos(prod); + if (Double.isNaN(ret)) throw new Error("nan! " + prod); + return ret; } /** angle between this half-edge and the next */ public double angle() { - Vec v1 = next.p2.p.minus(p2.p); - Vec v2 = this.p1.p.minus(p2.p); + Vec v1 = next.v2.p.minus(this.v2.p); + Vec v2 = this.v1.p.minus(this.v2.p); return Math.acos(v1.norm().dot(v2.norm())); } + public Vertex getOther(Vertex v) { + if (this.v1 == v) return v2; + if (this.v2 == v) return v1; + throw new Error(); + } + public void makeAdjacent(E e) { if (this.next == e) return; - if (p2 != e.p1) throw new Error("cannot make adjacent -- no shared vertex"); - if (t != null || e.t != null) throw new Error("cannot make adjacent -- edges not both free"); + if (v2 != e.v1) throw new Error("cannot make adjacent -- no shared vertex: " + this + " " + e); + if (t != null || e.t != null) throw new Error("cannot make adjacent -- edges not both free " + t + " " + e.t); - E freeIncident = p2.getFreeIncident(e, this); + E freeIncident = v2.getFreeIncident(e, this); e.prev.next = freeIncident.next; freeIncident.next.prev = e.prev; @@ -496,53 +866,55 @@ public class Mesh implements Iterable { } /** creates an isolated edge out in the middle of space */ - public E(Point p1, Point p2) { - if (vertices.get(p1) != null) throw new Error(); - if (vertices.get(p2) != null) throw new Error(); - this.p1 = new Vertex(p1); - this.p2 = new Vertex(p2); + public E(Point v1, Point v2) { + if (vertices.get(v1) != null) throw new Error(); + if (vertices.get(v2) != null) throw new Error(); + this.v1 = new Vertex(v1); + this.v2 = new Vertex(v2); this.prev = this.next = this.pair = new E(this, this, this); - this.p1.e = this; - this.p2.e = this.pair; + this.v1.e = this; + this.v2.e = this.pair; sync(); } - /** adds a new half-edge from prev.p2 to p2 */ + /** adds a new half-edge from prev.v2 to v2 */ public E(E prev, Point p) { - Vertex p2; - p2 = vertices.get(p); - if (p2 == null) p2 = new Vertex(p); - this.p1 = prev.p2; - this.p2 = p2; + Vertex v2; + v2 = vertices.get(p); + if (v2 == null) v2 = new Vertex(p); + this.v1 = prev.v2; + this.v2 = v2; this.prev = prev; - if (p2.getE(p1) != null) throw new Error(); - if (p2.e==null) { + if (prev.destroyed) throw new RuntimeException(); + if (v2.getE(v1) != null) throw new Error(); + if (v2.e==null) { this.next = this.pair = new E(this, this, prev.next); } else { - E q = p2.getFreeIncident(); + E q = v2.getFreeIncident(); this.next = q.next; this.next.prev = this; E z = prev.next; this.prev.next = this; this.pair = new E(q, this, z); } - if (p2.e==null) p2.e = this.pair; + if (v2.e==null) v2.e = this.pair; sync(); } /** adds a new half-edge to the mesh with a given predecessor, successor, and pair */ public E(E prev, E pair, E next) { - this.p1 = prev.p2; - this.p2 = next.p1; + this.v1 = prev.v2; + this.v2 = next.v1; + if (prev.destroyed) throw new RuntimeException(); this.prev = prev; this.next = next; this.pair = pair; sync(); } - 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); } - public boolean has(Vertex v) { return v==p1 || v==p2; } - public float length() { return p1.p.minus(p2.p).mag(); } - public String toString() { return p1+"->"+p2; } + public Point midpoint() { return new Point((v1.p.x+v2.p.x)/2, (v1.p.y+v2.p.y)/2, (v1.p.z+v2.p.z)/2); } + public boolean has(Vertex v) { return v==v1 || v==v2; } + public float length() { return v1.p.minus(v2.p).mag(); } + public String toString() { return v1+"->"+v2; } } @@ -559,16 +931,34 @@ public class Mesh implements Iterable { if (v2 != null) return new E(v2.getFreeIncident(), p1).pair; return new E(p1, p2); } - public T newT(Point p1, Point p2, Point p3, Vec norm, int colorclass) { + public boolean coalesce = false; + private static float round(float f) { + return Math.round(f*1000)/1000f; + } + public T newT(HasPoint v1, HasPoint v2, HasPoint v3) { + return newT(v1.getPoint(), v2.getPoint(), v3.getPoint(), null, 0); + } + public T newT(Point v1, Point v2, Point v3, Vec norm, int colorclass) { + if (coalesce) { + + for(Vertex v : vertices) { if (v1.distance(v.p) < EPSILON) { v1 = v.p; break; } } + for(Vertex v : vertices) { if (v2.distance(v.p) < EPSILON) { v2 = v.p; break; } } + for(Vertex v : vertices) { if (v3.distance(v.p) < EPSILON) { v3 = v.p; break; } } + /* + v1 = new Point(round(v1.x), round(v1.y), round(v1.z)); + v2 = new Point(round(v2.x), round(v2.y), round(v2.z)); + v3 = new Point(round(v3.x), round(v3.y), round(v3.z)); + */ + } if (norm != null) { - Vec norm2 = p3.minus(p1).cross(p2.minus(p1)); + Vec norm2 = v3.minus(v1).cross(v2.minus(v1)); float dot = norm.dot(norm2); //if (Math.abs(dot) < EPointSILON) throw new Error("dot products within evertsilon of each other: "+norm+" "+norm2); - if (dot < 0) { Point p = p1; p1=p2; p2 = p; } + if (dot < 0) { Point p = v1; v1=v2; v2 = p; } } - E e12 = makeE(p1, p2); - E e23 = makeE(p2, p3); - E e31 = makeE(p3, p1); + E e12 = makeE(v1, v2); + E e23 = makeE(v2, v3); + E e31 = makeE(v3, v1); while(e12.next != e23 || e23.next != e31 || e31.next != e12) { e12.makeAdjacent(e23); e23.makeAdjacent(e31); @@ -581,17 +971,121 @@ public class Mesh implements Iterable { return ret; } - + private int max_serial = 0; /** [UNIQUE] a triangle (face) */ public final class T extends Triangle { public final E e1; public final int color; public final int colorclass; - public void removeFromRTree() { triangles.remove(this); } - public void addToRTree() { triangles.insert(this); } + public boolean red = false; + public boolean old = false; + + public final int serial = max_serial++; + public boolean occluded; + + public Point shatter() { + if (destroyed) return null; + E e = e1(); + + HashSet forward = new HashSet(); + HashSet backward = new HashSet(); + HashSet both = new HashSet(); + + for(E eb : (Iterable)e.getBoundPeers()) { + if (eb==e) continue; + if (eb.next.isBoundTo(e.next) && eb.prev.isBoundTo(e.prev)) { + forward.add(eb); + both.add(eb); + } + if (eb.pair.next.pair.isBoundTo(e.prev) && eb.pair.prev.pair.isBoundTo(e.next)) { + backward.add(eb.pair); + both.add(eb.pair); + } + } + + Vertex v1 = e.t.v1(); + Vertex v2 = e.t.v2(); + Vertex v3 = e.t.v3(); + Point c = e.t.centroid(); + E e_next = e.next; + E e_prev = e.prev; + e.t.destroy(); + newT(v1, v2, c); + newT(c, v2, v3); + newT(v3, v1, c); + + // FIXME: forward too + for(E ex : backward) { + Vertex v1x = ex.t.v1(); + Vertex v2x = ex.t.v2(); + Vertex v3x = ex.t.v3(); + Point cx = ex.t.centroid(); + E ex_next = ex.next; + E ex_prev = ex.prev; + ex.t.destroy(); + newT(v1x, v2x, cx); + newT(cx, v2x, v3x); + newT(v3x, v1x, cx); + + // FIXME: i have no idea if this is right + e.next.bindTo(e.getBindingMatrix(ex.pair), ex.prev); + e.prev.bindTo(e.getBindingMatrix(ex.pair), ex.next); + e.next.pair.bindTo(e.getBindingMatrix(ex.pair), ex.prev.pair); + e.prev.pair.bindTo(e.getBindingMatrix(ex.pair), ex.next.pair); + + e_next.next.bindTo(e_next.getBindingMatrix(ex_prev.pair), ex_prev.prev.pair); + e_next.prev.bindTo(e_next.getBindingMatrix(ex_prev.pair), ex_prev.next.pair); + + e_prev.next.bindTo(e_prev.getBindingMatrix(ex_next.pair), ex_next.prev.pair); + e_prev.prev.bindTo(e_prev.getBindingMatrix(ex_next.pair), ex_next.next.pair); + } + + /* + + E first = null; + E firste = null; + E firstx = null; + E firstq = null; + for(E e : (Iterable)getBoundPeers()) { + E enext = e.next; + E eprev = e.prev; + E pnext = e.pair.next; + E pprev = e.pair.prev; + Point mid = e.midpoint(); + Vertex r = e.next.v2; + Vertex l = e.pair.next.v2; + if (!e.destroyed) { + e.destroy(); + e.pair.destroy(); + newT(r.p, e.v1.p, mid, null, 0); + newT(r.p, mid, e.v2.p, null, 0); + newT(l.p, mid, e.v1.p, null, 0); + newT(l.p, e.v2.p, mid, null, 0); + } + } + for(E e : (Iterable)getBoundPeers()) { + Point mid = e.midpoint(); + if (first==null) { + first = e.v1.getE(mid); + firste = e; + firstx = e.pair; + firstq = e.v2.getE(mid).pair; + continue; + } + e.v1.getE(mid). bindTo(e.getBindingMatrix(firste), first); + e.v1.getE(mid).pair. bindTo(e.getBindingMatrix(firste), first.pair); + e.v2.getE(mid).pair. bindTo(e.getBindingMatrix(firste), firstq); + e.v2.getE(mid).pair.pair.bindTo(e.getBindingMatrix(firste), firstq.pair); + } + */ + /* + first.setConstraint(firste.getAffineConstraint()); + firstq.setConstraint(firste.getAffineConstraint()); + */ + return null; + } - public void destroy() { triangles.remove(this); } T(E e1, int colorclass) { this.e1 = e1; @@ -621,21 +1115,60 @@ public class Mesh implements Iterable { public E e1() { return e1; } public E e2() { return e1.next; } public E e3() { return e1.prev; } - public Vertex v1() { return e1.p1; } - public Vertex v2() { return e1.p2; } - public Vertex v3() { return e1.next.p2; } - public Point p1() { return e1.p1.p; } - public Point p2() { return e1.p2.p; } - public Point p3() { return e1.next.p2.p; } + public Vertex v1() { return e1.v1; } + public Vertex v2() { return e1.v2; } + public Vertex v3() { return e1.next.v2; } + public Point p1() { return e1.v1.p; } + public Point p2() { return e1.v2.p; } + public Point p3() { return e1.next.v2.p; } public boolean hasE(E e) { return e1==e || e1.next==e || e1.prev==e; } public boolean has(Vertex v) { return v1()==v || v2()==v || v3()==v; } + public Vertex getOtherVertex(E e) { + if (!hasE(e)) throw new RuntimeException(); + if (!e.has(v1())) return v1(); + if (!e.has(v2())) return v2(); + if (!e.has(v3())) return v3(); + throw new RuntimeException(); + } + + public void removeFromRTree() { triangles.remove(this); } + public void addToRTree() { triangles.insert(this); } + public void destroy() { + if (e1 != null) { + e1.t = null; + e1.next.t = null; + e1.prev.t = null; + } + triangles.remove(this); + destroyed = true; + } + public void reinsert() { triangles.remove(this); triangles.add(this); } + + private boolean destroyed = false; + public boolean destroyed() { return destroyed; } + public boolean shouldBeDrawn() { - if (e1().bind_to.set.size() == 0) return false; - if (e2().bind_to.set.size() == 0) return false; - if (e3().bind_to.set.size() == 0) return false; + + if (e1().bindingGroupSize() <= 1) return false; + if (e2().bindingGroupSize() <= 1) return false; + if (e3().bindingGroupSize() <= 1) return false; + return true; } + public void glTriangle(GL gl, Matrix m) { + gl.glPushName(serial); + gl.glBegin(GL.GL_TRIANGLES); + glVertices(gl, m); + gl.glEnd(); + gl.glPopName(); + } + + /** issue gl.glVertex() for each of the triangle's points */ + public void glVertices(GL gl, Matrix m) { + if (!shouldBeDrawn()) return; + super.glVertices(gl, m); + } } }