1626 lines
62 KiB
C++
1626 lines
62 KiB
C++
/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
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All rights reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
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3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef _CRT_SECURE_NO_WARNINGS
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#define _CRT_SECURE_NO_WARNINGS
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#endif
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#include "btConvexHullComputer.h"
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#include "vhacdVolume.h"
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#include <algorithm>
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#include <float.h>
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#include <math.h>
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#include <queue>
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#include <string.h>
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#ifdef _MSC_VER
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#pragma warning(disable:4458 4100)
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#endif
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namespace VHACD {
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/********************************************************/
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/* AABB-triangle overlap test code */
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/* by Tomas Akenine-M<>ller */
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/* Function: int32_t triBoxOverlap(float boxcenter[3], */
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/* float boxhalfsize[3],float triverts[3][3]); */
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/* History: */
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/* 2001-03-05: released the code in its first version */
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/* 2001-06-18: changed the order of the tests, faster */
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/* */
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/* Acknowledgement: Many thanks to Pierre Terdiman for */
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/* suggestions and discussions on how to optimize code. */
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/* Thanks to David Hunt for finding a ">="-bug! */
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/********************************************************/
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#define X 0
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#define Y 1
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#define Z 2
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#define FINDMINMAX(x0, x1, x2, min, max) \
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min = max = x0; \
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if (x1 < min) \
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min = x1; \
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if (x1 > max) \
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max = x1; \
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if (x2 < min) \
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min = x2; \
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if (x2 > max) \
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max = x2;
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#define AXISTEST_X01(a, b, fa, fb) \
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p0 = a * v0[Y] - b * v0[Z]; \
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p2 = a * v2[Y] - b * v2[Z]; \
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if (p0 < p2) { \
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min = p0; \
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max = p2; \
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} \
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else { \
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min = p2; \
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max = p0; \
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} \
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rad = fa * boxhalfsize[Y] + fb * boxhalfsize[Z]; \
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if (min > rad || max < -rad) \
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return 0;
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#define AXISTEST_X2(a, b, fa, fb) \
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p0 = a * v0[Y] - b * v0[Z]; \
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p1 = a * v1[Y] - b * v1[Z]; \
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if (p0 < p1) { \
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min = p0; \
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max = p1; \
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} \
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else { \
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min = p1; \
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max = p0; \
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} \
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rad = fa * boxhalfsize[Y] + fb * boxhalfsize[Z]; \
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if (min > rad || max < -rad) \
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return 0;
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#define AXISTEST_Y02(a, b, fa, fb) \
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p0 = -a * v0[X] + b * v0[Z]; \
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p2 = -a * v2[X] + b * v2[Z]; \
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if (p0 < p2) { \
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min = p0; \
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max = p2; \
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} \
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else { \
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min = p2; \
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max = p0; \
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} \
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rad = fa * boxhalfsize[X] + fb * boxhalfsize[Z]; \
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if (min > rad || max < -rad) \
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return 0;
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#define AXISTEST_Y1(a, b, fa, fb) \
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p0 = -a * v0[X] + b * v0[Z]; \
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p1 = -a * v1[X] + b * v1[Z]; \
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if (p0 < p1) { \
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min = p0; \
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max = p1; \
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} \
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else { \
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min = p1; \
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max = p0; \
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} \
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rad = fa * boxhalfsize[X] + fb * boxhalfsize[Z]; \
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if (min > rad || max < -rad) \
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return 0;
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#define AXISTEST_Z12(a, b, fa, fb) \
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p1 = a * v1[X] - b * v1[Y]; \
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p2 = a * v2[X] - b * v2[Y]; \
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if (p2 < p1) { \
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min = p2; \
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max = p1; \
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} \
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else { \
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min = p1; \
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max = p2; \
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} \
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rad = fa * boxhalfsize[X] + fb * boxhalfsize[Y]; \
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if (min > rad || max < -rad) \
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return 0;
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#define AXISTEST_Z0(a, b, fa, fb) \
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p0 = a * v0[X] - b * v0[Y]; \
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p1 = a * v1[X] - b * v1[Y]; \
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if (p0 < p1) { \
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min = p0; \
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max = p1; \
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} \
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else { \
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min = p1; \
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max = p0; \
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} \
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rad = fa * boxhalfsize[X] + fb * boxhalfsize[Y]; \
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if (min > rad || max < -rad) \
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return 0;
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int32_t PlaneBoxOverlap(const Vec3<double>& normal,
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const Vec3<double>& vert,
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const Vec3<double>& maxbox)
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{
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int32_t q;
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Vec3<double> vmin, vmax;
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double v;
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for (q = X; q <= Z; q++) {
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v = vert[q];
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if (normal[q] > 0.0) {
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vmin[q] = -maxbox[q] - v;
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vmax[q] = maxbox[q] - v;
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}
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else {
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vmin[q] = maxbox[q] - v;
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vmax[q] = -maxbox[q] - v;
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}
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}
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if (normal * vmin > 0.0)
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return 0;
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if (normal * vmax >= 0.0)
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return 1;
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return 0;
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}
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int32_t TriBoxOverlap(const Vec3<double>& boxcenter,
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const Vec3<double>& boxhalfsize,
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const Vec3<double>& triver0,
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const Vec3<double>& triver1,
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const Vec3<double>& triver2)
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{
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/* use separating axis theorem to test overlap between triangle and box */
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/* need to test for overlap in these directions: */
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/* 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle */
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/* we do not even need to test these) */
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/* 2) normal of the triangle */
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/* 3) crossproduct(edge from tri, {x,y,z}-directin) */
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/* this gives 3x3=9 more tests */
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Vec3<double> v0, v1, v2;
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double min, max, p0, p1, p2, rad, fex, fey, fez; // -NJMP- "d" local variable removed
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Vec3<double> normal, e0, e1, e2;
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/* This is the fastest branch on Sun */
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/* move everything so that the boxcenter is in (0,0,0) */
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v0 = triver0 - boxcenter;
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v1 = triver1 - boxcenter;
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v2 = triver2 - boxcenter;
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/* compute triangle edges */
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e0 = v1 - v0; /* tri edge 0 */
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e1 = v2 - v1; /* tri edge 1 */
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e2 = v0 - v2; /* tri edge 2 */
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/* Bullet 3: */
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/* test the 9 tests first (this was faster) */
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fex = fabs(e0[X]);
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fey = fabs(e0[Y]);
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fez = fabs(e0[Z]);
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AXISTEST_X01(e0[Z], e0[Y], fez, fey);
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AXISTEST_Y02(e0[Z], e0[X], fez, fex);
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AXISTEST_Z12(e0[Y], e0[X], fey, fex);
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fex = fabs(e1[X]);
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fey = fabs(e1[Y]);
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fez = fabs(e1[Z]);
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AXISTEST_X01(e1[Z], e1[Y], fez, fey);
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AXISTEST_Y02(e1[Z], e1[X], fez, fex);
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AXISTEST_Z0(e1[Y], e1[X], fey, fex);
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fex = fabs(e2[X]);
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fey = fabs(e2[Y]);
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fez = fabs(e2[Z]);
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AXISTEST_X2(e2[Z], e2[Y], fez, fey);
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AXISTEST_Y1(e2[Z], e2[X], fez, fex);
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AXISTEST_Z12(e2[Y], e2[X], fey, fex);
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/* Bullet 1: */
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/* first test overlap in the {x,y,z}-directions */
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/* find min, max of the triangle each direction, and test for overlap in */
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/* that direction -- this is equivalent to testing a minimal AABB around */
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/* the triangle against the AABB */
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/* test in X-direction */
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FINDMINMAX(v0[X], v1[X], v2[X], min, max);
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if (min > boxhalfsize[X] || max < -boxhalfsize[X])
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return 0;
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/* test in Y-direction */
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FINDMINMAX(v0[Y], v1[Y], v2[Y], min, max);
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if (min > boxhalfsize[Y] || max < -boxhalfsize[Y])
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return 0;
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/* test in Z-direction */
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FINDMINMAX(v0[Z], v1[Z], v2[Z], min, max);
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if (min > boxhalfsize[Z] || max < -boxhalfsize[Z])
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return 0;
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/* Bullet 2: */
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/* test if the box intersects the plane of the triangle */
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/* compute plane equation of triangle: normal*x+d=0 */
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normal = e0 ^ e1;
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if (!PlaneBoxOverlap(normal, v0, boxhalfsize))
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return 0;
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return 1; /* box and triangle overlaps */
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}
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// Slightly modified version of Stan Melax's code for 3x3 matrix diagonalization (Thanks Stan!)
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// source: http://www.melax.com/diag.html?attredirects=0
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void Diagonalize(const double (&A)[3][3], double (&Q)[3][3], double (&D)[3][3])
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{
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// A must be a symmetric matrix.
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// returns Q and D such that
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// Diagonal matrix D = QT * A * Q; and A = Q*D*QT
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const int32_t maxsteps = 24; // certainly wont need that many.
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int32_t k0, k1, k2;
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double o[3], m[3];
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double q[4] = { 0.0, 0.0, 0.0, 1.0 };
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double jr[4];
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double sqw, sqx, sqy, sqz;
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double tmp1, tmp2, mq;
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double AQ[3][3];
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double thet, sgn, t, c;
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for (int32_t i = 0; i < maxsteps; ++i) {
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// quat to matrix
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sqx = q[0] * q[0];
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sqy = q[1] * q[1];
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sqz = q[2] * q[2];
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sqw = q[3] * q[3];
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Q[0][0] = (sqx - sqy - sqz + sqw);
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Q[1][1] = (-sqx + sqy - sqz + sqw);
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Q[2][2] = (-sqx - sqy + sqz + sqw);
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tmp1 = q[0] * q[1];
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tmp2 = q[2] * q[3];
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Q[1][0] = 2.0 * (tmp1 + tmp2);
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Q[0][1] = 2.0 * (tmp1 - tmp2);
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tmp1 = q[0] * q[2];
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tmp2 = q[1] * q[3];
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Q[2][0] = 2.0 * (tmp1 - tmp2);
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Q[0][2] = 2.0 * (tmp1 + tmp2);
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tmp1 = q[1] * q[2];
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tmp2 = q[0] * q[3];
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Q[2][1] = 2.0 * (tmp1 + tmp2);
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Q[1][2] = 2.0 * (tmp1 - tmp2);
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// AQ = A * Q
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AQ[0][0] = Q[0][0] * A[0][0] + Q[1][0] * A[0][1] + Q[2][0] * A[0][2];
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AQ[0][1] = Q[0][1] * A[0][0] + Q[1][1] * A[0][1] + Q[2][1] * A[0][2];
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AQ[0][2] = Q[0][2] * A[0][0] + Q[1][2] * A[0][1] + Q[2][2] * A[0][2];
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AQ[1][0] = Q[0][0] * A[0][1] + Q[1][0] * A[1][1] + Q[2][0] * A[1][2];
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AQ[1][1] = Q[0][1] * A[0][1] + Q[1][1] * A[1][1] + Q[2][1] * A[1][2];
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AQ[1][2] = Q[0][2] * A[0][1] + Q[1][2] * A[1][1] + Q[2][2] * A[1][2];
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AQ[2][0] = Q[0][0] * A[0][2] + Q[1][0] * A[1][2] + Q[2][0] * A[2][2];
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AQ[2][1] = Q[0][1] * A[0][2] + Q[1][1] * A[1][2] + Q[2][1] * A[2][2];
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AQ[2][2] = Q[0][2] * A[0][2] + Q[1][2] * A[1][2] + Q[2][2] * A[2][2];
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// D = Qt * AQ
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D[0][0] = AQ[0][0] * Q[0][0] + AQ[1][0] * Q[1][0] + AQ[2][0] * Q[2][0];
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D[0][1] = AQ[0][0] * Q[0][1] + AQ[1][0] * Q[1][1] + AQ[2][0] * Q[2][1];
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D[0][2] = AQ[0][0] * Q[0][2] + AQ[1][0] * Q[1][2] + AQ[2][0] * Q[2][2];
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D[1][0] = AQ[0][1] * Q[0][0] + AQ[1][1] * Q[1][0] + AQ[2][1] * Q[2][0];
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D[1][1] = AQ[0][1] * Q[0][1] + AQ[1][1] * Q[1][1] + AQ[2][1] * Q[2][1];
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D[1][2] = AQ[0][1] * Q[0][2] + AQ[1][1] * Q[1][2] + AQ[2][1] * Q[2][2];
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D[2][0] = AQ[0][2] * Q[0][0] + AQ[1][2] * Q[1][0] + AQ[2][2] * Q[2][0];
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D[2][1] = AQ[0][2] * Q[0][1] + AQ[1][2] * Q[1][1] + AQ[2][2] * Q[2][1];
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D[2][2] = AQ[0][2] * Q[0][2] + AQ[1][2] * Q[1][2] + AQ[2][2] * Q[2][2];
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o[0] = D[1][2];
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o[1] = D[0][2];
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o[2] = D[0][1];
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m[0] = fabs(o[0]);
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m[1] = fabs(o[1]);
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m[2] = fabs(o[2]);
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k0 = (m[0] > m[1] && m[0] > m[2]) ? 0 : (m[1] > m[2]) ? 1 : 2; // index of largest element of offdiag
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k1 = (k0 + 1) % 3;
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k2 = (k0 + 2) % 3;
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if (o[k0] == 0.0) {
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break; // diagonal already
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}
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thet = (D[k2][k2] - D[k1][k1]) / (2.0 * o[k0]);
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sgn = (thet > 0.0) ? 1.0 : -1.0;
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thet *= sgn; // make it positive
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t = sgn / (thet + ((thet < 1.E6) ? sqrt(thet * thet + 1.0) : thet)); // sign(T)/(|T|+sqrt(T^2+1))
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c = 1.0 / sqrt(t * t + 1.0); // c= 1/(t^2+1) , t=s/c
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if (c == 1.0) {
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break; // no room for improvement - reached machine precision.
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}
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jr[0] = jr[1] = jr[2] = jr[3] = 0.0;
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jr[k0] = sgn * sqrt((1.0 - c) / 2.0); // using 1/2 angle identity sin(a/2) = sqrt((1-cos(a))/2)
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jr[k0] *= -1.0; // since our quat-to-matrix convention was for v*M instead of M*v
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jr[3] = sqrt(1.0 - jr[k0] * jr[k0]);
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if (jr[3] == 1.0) {
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break; // reached limits of floating point precision
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}
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q[0] = (q[3] * jr[0] + q[0] * jr[3] + q[1] * jr[2] - q[2] * jr[1]);
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q[1] = (q[3] * jr[1] - q[0] * jr[2] + q[1] * jr[3] + q[2] * jr[0]);
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q[2] = (q[3] * jr[2] + q[0] * jr[1] - q[1] * jr[0] + q[2] * jr[3]);
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q[3] = (q[3] * jr[3] - q[0] * jr[0] - q[1] * jr[1] - q[2] * jr[2]);
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mq = sqrt(q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]);
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q[0] /= mq;
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q[1] /= mq;
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q[2] /= mq;
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q[3] /= mq;
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}
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}
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const double TetrahedronSet::EPS = 0.0000000000001;
|
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VoxelSet::VoxelSet()
|
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{
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m_minBB[0] = m_minBB[1] = m_minBB[2] = 0.0;
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m_minBBVoxels[0] = m_minBBVoxels[1] = m_minBBVoxels[2] = 0;
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m_maxBBVoxels[0] = m_maxBBVoxels[1] = m_maxBBVoxels[2] = 1;
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m_minBBPts[0] = m_minBBPts[1] = m_minBBPts[2] = 0;
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m_maxBBPts[0] = m_maxBBPts[1] = m_maxBBPts[2] = 1;
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m_barycenter[0] = m_barycenter[1] = m_barycenter[2] = 0;
|
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m_barycenterPCA[0] = m_barycenterPCA[1] = m_barycenterPCA[2] = 0.0;
|
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m_scale = 1.0;
|
||
m_unitVolume = 1.0;
|
||
m_numVoxelsOnSurface = 0;
|
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m_numVoxelsInsideSurface = 0;
|
||
memset(m_Q, 0, sizeof(double) * 9);
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||
memset(m_D, 0, sizeof(double) * 9);
|
||
}
|
||
VoxelSet::~VoxelSet(void)
|
||
{
|
||
}
|
||
void VoxelSet::ComputeBB()
|
||
{
|
||
const size_t nVoxels = m_voxels.Size();
|
||
if (nVoxels == 0)
|
||
return;
|
||
for (int32_t h = 0; h < 3; ++h) {
|
||
m_minBBVoxels[h] = m_voxels[0].m_coord[h];
|
||
m_maxBBVoxels[h] = m_voxels[0].m_coord[h];
|
||
}
|
||
Vec3<double> bary(0.0);
|
||
for (size_t p = 0; p < nVoxels; ++p) {
|
||
for (int32_t h = 0; h < 3; ++h) {
|
||
bary[h] += m_voxels[p].m_coord[h];
|
||
if (m_minBBVoxels[h] > m_voxels[p].m_coord[h])
|
||
m_minBBVoxels[h] = m_voxels[p].m_coord[h];
|
||
if (m_maxBBVoxels[h] < m_voxels[p].m_coord[h])
|
||
m_maxBBVoxels[h] = m_voxels[p].m_coord[h];
|
||
}
|
||
}
|
||
bary /= (double)nVoxels;
|
||
for (int32_t h = 0; h < 3; ++h) {
|
||
m_minBBPts[h] = m_minBBVoxels[h] * m_scale + m_minBB[h];
|
||
m_maxBBPts[h] = m_maxBBVoxels[h] * m_scale + m_minBB[h];
|
||
m_barycenter[h] = (short)(bary[h] + 0.5);
|
||
}
|
||
}
|
||
void VoxelSet::ComputeConvexHull(Mesh& meshCH, const size_t sampling) const
|
||
{
|
||
const size_t CLUSTER_SIZE = 65536;
|
||
const size_t nVoxels = m_voxels.Size();
|
||
if (nVoxels == 0)
|
||
return;
|
||
|
||
SArray<Vec3<double> > cpoints;
|
||
|
||
Vec3<double>* points = new Vec3<double>[CLUSTER_SIZE];
|
||
size_t p = 0;
|
||
size_t s = 0;
|
||
short i, j, k;
|
||
while (p < nVoxels) {
|
||
size_t q = 0;
|
||
while (q < CLUSTER_SIZE && p < nVoxels) {
|
||
if (m_voxels[p].m_data == PRIMITIVE_ON_SURFACE) {
|
||
++s;
|
||
if (s == sampling) {
|
||
s = 0;
|
||
i = m_voxels[p].m_coord[0];
|
||
j = m_voxels[p].m_coord[1];
|
||
k = m_voxels[p].m_coord[2];
|
||
Vec3<double> p0((i - 0.5) * m_scale, (j - 0.5) * m_scale, (k - 0.5) * m_scale);
|
||
Vec3<double> p1((i + 0.5) * m_scale, (j - 0.5) * m_scale, (k - 0.5) * m_scale);
|
||
Vec3<double> p2((i + 0.5) * m_scale, (j + 0.5) * m_scale, (k - 0.5) * m_scale);
|
||
Vec3<double> p3((i - 0.5) * m_scale, (j + 0.5) * m_scale, (k - 0.5) * m_scale);
|
||
Vec3<double> p4((i - 0.5) * m_scale, (j - 0.5) * m_scale, (k + 0.5) * m_scale);
|
||
Vec3<double> p5((i + 0.5) * m_scale, (j - 0.5) * m_scale, (k + 0.5) * m_scale);
|
||
Vec3<double> p6((i + 0.5) * m_scale, (j + 0.5) * m_scale, (k + 0.5) * m_scale);
|
||
Vec3<double> p7((i - 0.5) * m_scale, (j + 0.5) * m_scale, (k + 0.5) * m_scale);
|
||
points[q++] = p0 + m_minBB;
|
||
points[q++] = p1 + m_minBB;
|
||
points[q++] = p2 + m_minBB;
|
||
points[q++] = p3 + m_minBB;
|
||
points[q++] = p4 + m_minBB;
|
||
points[q++] = p5 + m_minBB;
|
||
points[q++] = p6 + m_minBB;
|
||
points[q++] = p7 + m_minBB;
|
||
}
|
||
}
|
||
++p;
|
||
}
|
||
btConvexHullComputer ch;
|
||
ch.compute((double*)points, 3 * sizeof(double), (int32_t)q, -1.0, -1.0);
|
||
for (int32_t v = 0; v < ch.vertices.size(); v++) {
|
||
cpoints.PushBack(Vec3<double>(ch.vertices[v].getX(), ch.vertices[v].getY(), ch.vertices[v].getZ()));
|
||
}
|
||
}
|
||
delete[] points;
|
||
|
||
points = cpoints.Data();
|
||
btConvexHullComputer ch;
|
||
ch.compute((double*)points, 3 * sizeof(double), (int32_t)cpoints.Size(), -1.0, -1.0);
|
||
meshCH.ResizePoints(0);
|
||
meshCH.ResizeTriangles(0);
|
||
for (int32_t v = 0; v < ch.vertices.size(); v++) {
|
||
meshCH.AddPoint(Vec3<double>(ch.vertices[v].getX(), ch.vertices[v].getY(), ch.vertices[v].getZ()));
|
||
}
|
||
const int32_t nt = ch.faces.size();
|
||
for (int32_t t = 0; t < nt; ++t) {
|
||
const btConvexHullComputer::Edge* sourceEdge = &(ch.edges[ch.faces[t]]);
|
||
int32_t a = sourceEdge->getSourceVertex();
|
||
int32_t b = sourceEdge->getTargetVertex();
|
||
const btConvexHullComputer::Edge* edge = sourceEdge->getNextEdgeOfFace();
|
||
int32_t c = edge->getTargetVertex();
|
||
while (c != a) {
|
||
meshCH.AddTriangle(Vec3<int32_t>(a, b, c));
|
||
edge = edge->getNextEdgeOfFace();
|
||
b = c;
|
||
c = edge->getTargetVertex();
|
||
}
|
||
}
|
||
}
|
||
void VoxelSet::GetPoints(const Voxel& voxel,
|
||
Vec3<double>* const pts) const
|
||
{
|
||
short i = voxel.m_coord[0];
|
||
short j = voxel.m_coord[1];
|
||
short k = voxel.m_coord[2];
|
||
pts[0][0] = (i - 0.5) * m_scale + m_minBB[0];
|
||
pts[1][0] = (i + 0.5) * m_scale + m_minBB[0];
|
||
pts[2][0] = (i + 0.5) * m_scale + m_minBB[0];
|
||
pts[3][0] = (i - 0.5) * m_scale + m_minBB[0];
|
||
pts[4][0] = (i - 0.5) * m_scale + m_minBB[0];
|
||
pts[5][0] = (i + 0.5) * m_scale + m_minBB[0];
|
||
pts[6][0] = (i + 0.5) * m_scale + m_minBB[0];
|
||
pts[7][0] = (i - 0.5) * m_scale + m_minBB[0];
|
||
pts[0][1] = (j - 0.5) * m_scale + m_minBB[1];
|
||
pts[1][1] = (j - 0.5) * m_scale + m_minBB[1];
|
||
pts[2][1] = (j + 0.5) * m_scale + m_minBB[1];
|
||
pts[3][1] = (j + 0.5) * m_scale + m_minBB[1];
|
||
pts[4][1] = (j - 0.5) * m_scale + m_minBB[1];
|
||
pts[5][1] = (j - 0.5) * m_scale + m_minBB[1];
|
||
pts[6][1] = (j + 0.5) * m_scale + m_minBB[1];
|
||
pts[7][1] = (j + 0.5) * m_scale + m_minBB[1];
|
||
pts[0][2] = (k - 0.5) * m_scale + m_minBB[2];
|
||
pts[1][2] = (k - 0.5) * m_scale + m_minBB[2];
|
||
pts[2][2] = (k - 0.5) * m_scale + m_minBB[2];
|
||
pts[3][2] = (k - 0.5) * m_scale + m_minBB[2];
|
||
pts[4][2] = (k + 0.5) * m_scale + m_minBB[2];
|
||
pts[5][2] = (k + 0.5) * m_scale + m_minBB[2];
|
||
pts[6][2] = (k + 0.5) * m_scale + m_minBB[2];
|
||
pts[7][2] = (k + 0.5) * m_scale + m_minBB[2];
|
||
}
|
||
void VoxelSet::Intersect(const Plane& plane,
|
||
SArray<Vec3<double> >* const positivePts,
|
||
SArray<Vec3<double> >* const negativePts,
|
||
const size_t sampling) const
|
||
{
|
||
const size_t nVoxels = m_voxels.Size();
|
||
if (nVoxels == 0)
|
||
return;
|
||
const double d0 = m_scale;
|
||
double d;
|
||
Vec3<double> pts[8];
|
||
Vec3<double> pt;
|
||
Voxel voxel;
|
||
size_t sp = 0;
|
||
size_t sn = 0;
|
||
for (size_t v = 0; v < nVoxels; ++v) {
|
||
voxel = m_voxels[v];
|
||
pt = GetPoint(voxel);
|
||
d = plane.m_a * pt[0] + plane.m_b * pt[1] + plane.m_c * pt[2] + plane.m_d;
|
||
// if (d >= 0.0 && d <= d0) positivePts->PushBack(pt);
|
||
// else if (d < 0.0 && -d <= d0) negativePts->PushBack(pt);
|
||
if (d >= 0.0) {
|
||
if (d <= d0) {
|
||
GetPoints(voxel, pts);
|
||
for (int32_t k = 0; k < 8; ++k) {
|
||
positivePts->PushBack(pts[k]);
|
||
}
|
||
}
|
||
else {
|
||
if (++sp == sampling) {
|
||
// positivePts->PushBack(pt);
|
||
GetPoints(voxel, pts);
|
||
for (int32_t k = 0; k < 8; ++k) {
|
||
positivePts->PushBack(pts[k]);
|
||
}
|
||
sp = 0;
|
||
}
|
||
}
|
||
}
|
||
else {
|
||
if (-d <= d0) {
|
||
GetPoints(voxel, pts);
|
||
for (int32_t k = 0; k < 8; ++k) {
|
||
negativePts->PushBack(pts[k]);
|
||
}
|
||
}
|
||
else {
|
||
if (++sn == sampling) {
|
||
// negativePts->PushBack(pt);
|
||
GetPoints(voxel, pts);
|
||
for (int32_t k = 0; k < 8; ++k) {
|
||
negativePts->PushBack(pts[k]);
|
||
}
|
||
sn = 0;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
void VoxelSet::ComputeExteriorPoints(const Plane& plane,
|
||
const Mesh& mesh,
|
||
SArray<Vec3<double> >* const exteriorPts) const
|
||
{
|
||
const size_t nVoxels = m_voxels.Size();
|
||
if (nVoxels == 0)
|
||
return;
|
||
double d;
|
||
Vec3<double> pt;
|
||
Vec3<double> pts[8];
|
||
Voxel voxel;
|
||
for (size_t v = 0; v < nVoxels; ++v) {
|
||
voxel = m_voxels[v];
|
||
pt = GetPoint(voxel);
|
||
d = plane.m_a * pt[0] + plane.m_b * pt[1] + plane.m_c * pt[2] + plane.m_d;
|
||
if (d >= 0.0) {
|
||
if (!mesh.IsInside(pt)) {
|
||
GetPoints(voxel, pts);
|
||
for (int32_t k = 0; k < 8; ++k) {
|
||
exteriorPts->PushBack(pts[k]);
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
void VoxelSet::ComputeClippedVolumes(const Plane& plane,
|
||
double& positiveVolume,
|
||
double& negativeVolume) const
|
||
{
|
||
negativeVolume = 0.0;
|
||
positiveVolume = 0.0;
|
||
const size_t nVoxels = m_voxels.Size();
|
||
if (nVoxels == 0)
|
||
return;
|
||
double d;
|
||
Vec3<double> pt;
|
||
size_t nPositiveVoxels = 0;
|
||
for (size_t v = 0; v < nVoxels; ++v) {
|
||
pt = GetPoint(m_voxels[v]);
|
||
d = plane.m_a * pt[0] + plane.m_b * pt[1] + plane.m_c * pt[2] + plane.m_d;
|
||
nPositiveVoxels += (d >= 0.0);
|
||
}
|
||
size_t nNegativeVoxels = nVoxels - nPositiveVoxels;
|
||
positiveVolume = m_unitVolume * nPositiveVoxels;
|
||
negativeVolume = m_unitVolume * nNegativeVoxels;
|
||
}
|
||
void VoxelSet::SelectOnSurface(PrimitiveSet* const onSurfP) const
|
||
{
|
||
VoxelSet* const onSurf = (VoxelSet*)onSurfP;
|
||
const size_t nVoxels = m_voxels.Size();
|
||
if (nVoxels == 0)
|
||
return;
|
||
|
||
for (int32_t h = 0; h < 3; ++h) {
|
||
onSurf->m_minBB[h] = m_minBB[h];
|
||
}
|
||
onSurf->m_voxels.Resize(0);
|
||
onSurf->m_scale = m_scale;
|
||
onSurf->m_unitVolume = m_unitVolume;
|
||
onSurf->m_numVoxelsOnSurface = 0;
|
||
onSurf->m_numVoxelsInsideSurface = 0;
|
||
Voxel voxel;
|
||
for (size_t v = 0; v < nVoxels; ++v) {
|
||
voxel = m_voxels[v];
|
||
if (voxel.m_data == PRIMITIVE_ON_SURFACE) {
|
||
onSurf->m_voxels.PushBack(voxel);
|
||
++onSurf->m_numVoxelsOnSurface;
|
||
}
|
||
}
|
||
}
|
||
void VoxelSet::Clip(const Plane& plane,
|
||
PrimitiveSet* const positivePartP,
|
||
PrimitiveSet* const negativePartP) const
|
||
{
|
||
VoxelSet* const positivePart = (VoxelSet*)positivePartP;
|
||
VoxelSet* const negativePart = (VoxelSet*)negativePartP;
|
||
const size_t nVoxels = m_voxels.Size();
|
||
if (nVoxels == 0)
|
||
return;
|
||
|
||
for (int32_t h = 0; h < 3; ++h) {
|
||
negativePart->m_minBB[h] = positivePart->m_minBB[h] = m_minBB[h];
|
||
}
|
||
positivePart->m_voxels.Resize(0);
|
||
negativePart->m_voxels.Resize(0);
|
||
positivePart->m_voxels.Allocate(nVoxels);
|
||
negativePart->m_voxels.Allocate(nVoxels);
|
||
negativePart->m_scale = positivePart->m_scale = m_scale;
|
||
negativePart->m_unitVolume = positivePart->m_unitVolume = m_unitVolume;
|
||
negativePart->m_numVoxelsOnSurface = positivePart->m_numVoxelsOnSurface = 0;
|
||
negativePart->m_numVoxelsInsideSurface = positivePart->m_numVoxelsInsideSurface = 0;
|
||
|
||
double d;
|
||
Vec3<double> pt;
|
||
Voxel voxel;
|
||
const double d0 = m_scale;
|
||
for (size_t v = 0; v < nVoxels; ++v) {
|
||
voxel = m_voxels[v];
|
||
pt = GetPoint(voxel);
|
||
d = plane.m_a * pt[0] + plane.m_b * pt[1] + plane.m_c * pt[2] + plane.m_d;
|
||
if (d >= 0.0) {
|
||
if (voxel.m_data == PRIMITIVE_ON_SURFACE || d <= d0) {
|
||
voxel.m_data = PRIMITIVE_ON_SURFACE;
|
||
positivePart->m_voxels.PushBack(voxel);
|
||
++positivePart->m_numVoxelsOnSurface;
|
||
}
|
||
else {
|
||
positivePart->m_voxels.PushBack(voxel);
|
||
++positivePart->m_numVoxelsInsideSurface;
|
||
}
|
||
}
|
||
else {
|
||
if (voxel.m_data == PRIMITIVE_ON_SURFACE || -d <= d0) {
|
||
voxel.m_data = PRIMITIVE_ON_SURFACE;
|
||
negativePart->m_voxels.PushBack(voxel);
|
||
++negativePart->m_numVoxelsOnSurface;
|
||
}
|
||
else {
|
||
negativePart->m_voxels.PushBack(voxel);
|
||
++negativePart->m_numVoxelsInsideSurface;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
void VoxelSet::Convert(Mesh& mesh, const VOXEL_VALUE value) const
|
||
{
|
||
const size_t nVoxels = m_voxels.Size();
|
||
if (nVoxels == 0)
|
||
return;
|
||
Voxel voxel;
|
||
Vec3<double> pts[8];
|
||
for (size_t v = 0; v < nVoxels; ++v) {
|
||
voxel = m_voxels[v];
|
||
if (voxel.m_data == value) {
|
||
GetPoints(voxel, pts);
|
||
int32_t s = (int32_t)mesh.GetNPoints();
|
||
for (int32_t k = 0; k < 8; ++k) {
|
||
mesh.AddPoint(pts[k]);
|
||
}
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 0, s + 2, s + 1));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 0, s + 3, s + 2));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 4, s + 5, s + 6));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 4, s + 6, s + 7));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 7, s + 6, s + 2));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 7, s + 2, s + 3));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 4, s + 1, s + 5));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 4, s + 0, s + 1));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 6, s + 5, s + 1));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 6, s + 1, s + 2));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 7, s + 0, s + 4));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 7, s + 3, s + 0));
|
||
}
|
||
}
|
||
}
|
||
void VoxelSet::ComputePrincipalAxes()
|
||
{
|
||
const size_t nVoxels = m_voxels.Size();
|
||
if (nVoxels == 0)
|
||
return;
|
||
m_barycenterPCA[0] = m_barycenterPCA[1] = m_barycenterPCA[2] = 0.0;
|
||
for (size_t v = 0; v < nVoxels; ++v) {
|
||
Voxel& voxel = m_voxels[v];
|
||
m_barycenterPCA[0] += voxel.m_coord[0];
|
||
m_barycenterPCA[1] += voxel.m_coord[1];
|
||
m_barycenterPCA[2] += voxel.m_coord[2];
|
||
}
|
||
m_barycenterPCA /= (double)nVoxels;
|
||
|
||
double covMat[3][3] = { { 0.0, 0.0, 0.0 },
|
||
{ 0.0, 0.0, 0.0 },
|
||
{ 0.0, 0.0, 0.0 } };
|
||
double x, y, z;
|
||
for (size_t v = 0; v < nVoxels; ++v) {
|
||
Voxel& voxel = m_voxels[v];
|
||
x = voxel.m_coord[0] - m_barycenter[0];
|
||
y = voxel.m_coord[1] - m_barycenter[1];
|
||
z = voxel.m_coord[2] - m_barycenter[2];
|
||
covMat[0][0] += x * x;
|
||
covMat[1][1] += y * y;
|
||
covMat[2][2] += z * z;
|
||
covMat[0][1] += x * y;
|
||
covMat[0][2] += x * z;
|
||
covMat[1][2] += y * z;
|
||
}
|
||
covMat[0][0] /= nVoxels;
|
||
covMat[1][1] /= nVoxels;
|
||
covMat[2][2] /= nVoxels;
|
||
covMat[0][1] /= nVoxels;
|
||
covMat[0][2] /= nVoxels;
|
||
covMat[1][2] /= nVoxels;
|
||
covMat[1][0] = covMat[0][1];
|
||
covMat[2][0] = covMat[0][2];
|
||
covMat[2][1] = covMat[1][2];
|
||
Diagonalize(covMat, m_Q, m_D);
|
||
}
|
||
Volume::Volume()
|
||
{
|
||
m_dim[0] = m_dim[1] = m_dim[2] = 0;
|
||
m_minBB[0] = m_minBB[1] = m_minBB[2] = 0.0;
|
||
m_maxBB[0] = m_maxBB[1] = m_maxBB[2] = 1.0;
|
||
m_numVoxelsOnSurface = 0;
|
||
m_numVoxelsInsideSurface = 0;
|
||
m_numVoxelsOutsideSurface = 0;
|
||
m_scale = 1.0;
|
||
m_data = 0;
|
||
}
|
||
Volume::~Volume(void)
|
||
{
|
||
delete[] m_data;
|
||
}
|
||
void Volume::Allocate()
|
||
{
|
||
delete[] m_data;
|
||
size_t size = m_dim[0] * m_dim[1] * m_dim[2];
|
||
m_data = new unsigned char[size];
|
||
memset(m_data, PRIMITIVE_UNDEFINED, sizeof(unsigned char) * size);
|
||
}
|
||
void Volume::Free()
|
||
{
|
||
delete[] m_data;
|
||
m_data = 0;
|
||
}
|
||
void Volume::FillOutsideSurface(const size_t i0,
|
||
const size_t j0,
|
||
const size_t k0,
|
||
const size_t i1,
|
||
const size_t j1,
|
||
const size_t k1)
|
||
{
|
||
const short neighbours[6][3] = { { 1, 0, 0 },
|
||
{ 0, 1, 0 },
|
||
{ 0, 0, 1 },
|
||
{ -1, 0, 0 },
|
||
{ 0, -1, 0 },
|
||
{ 0, 0, -1 } };
|
||
std::queue<Vec3<short> > fifo;
|
||
Vec3<short> current;
|
||
short a, b, c;
|
||
for (size_t i = i0; i < i1; ++i) {
|
||
for (size_t j = j0; j < j1; ++j) {
|
||
for (size_t k = k0; k < k1; ++k) {
|
||
|
||
if (GetVoxel(i, j, k) == PRIMITIVE_UNDEFINED) {
|
||
current[0] = (short)i;
|
||
current[1] = (short)j;
|
||
current[2] = (short)k;
|
||
fifo.push(current);
|
||
GetVoxel(current[0], current[1], current[2]) = PRIMITIVE_OUTSIDE_SURFACE;
|
||
++m_numVoxelsOutsideSurface;
|
||
while (fifo.size() > 0) {
|
||
current = fifo.front();
|
||
fifo.pop();
|
||
for (int32_t h = 0; h < 6; ++h) {
|
||
a = current[0] + neighbours[h][0];
|
||
b = current[1] + neighbours[h][1];
|
||
c = current[2] + neighbours[h][2];
|
||
if (a < 0 || a >= (int32_t)m_dim[0] || b < 0 || b >= (int32_t)m_dim[1] || c < 0 || c >= (int32_t)m_dim[2]) {
|
||
continue;
|
||
}
|
||
unsigned char& v = GetVoxel(a, b, c);
|
||
if (v == PRIMITIVE_UNDEFINED) {
|
||
v = PRIMITIVE_OUTSIDE_SURFACE;
|
||
++m_numVoxelsOutsideSurface;
|
||
fifo.push(Vec3<short>(a, b, c));
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
void Volume::FillInsideSurface()
|
||
{
|
||
const size_t i0 = m_dim[0];
|
||
const size_t j0 = m_dim[1];
|
||
const size_t k0 = m_dim[2];
|
||
for (size_t i = 0; i < i0; ++i) {
|
||
for (size_t j = 0; j < j0; ++j) {
|
||
for (size_t k = 0; k < k0; ++k) {
|
||
unsigned char& v = GetVoxel(i, j, k);
|
||
if (v == PRIMITIVE_UNDEFINED) {
|
||
v = PRIMITIVE_INSIDE_SURFACE;
|
||
++m_numVoxelsInsideSurface;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
void Volume::Convert(Mesh& mesh, const VOXEL_VALUE value) const
|
||
{
|
||
const size_t i0 = m_dim[0];
|
||
const size_t j0 = m_dim[1];
|
||
const size_t k0 = m_dim[2];
|
||
for (size_t i = 0; i < i0; ++i) {
|
||
for (size_t j = 0; j < j0; ++j) {
|
||
for (size_t k = 0; k < k0; ++k) {
|
||
const unsigned char& voxel = GetVoxel(i, j, k);
|
||
if (voxel == value) {
|
||
Vec3<double> p0((i - 0.5) * m_scale, (j - 0.5) * m_scale, (k - 0.5) * m_scale);
|
||
Vec3<double> p1((i + 0.5) * m_scale, (j - 0.5) * m_scale, (k - 0.5) * m_scale);
|
||
Vec3<double> p2((i + 0.5) * m_scale, (j + 0.5) * m_scale, (k - 0.5) * m_scale);
|
||
Vec3<double> p3((i - 0.5) * m_scale, (j + 0.5) * m_scale, (k - 0.5) * m_scale);
|
||
Vec3<double> p4((i - 0.5) * m_scale, (j - 0.5) * m_scale, (k + 0.5) * m_scale);
|
||
Vec3<double> p5((i + 0.5) * m_scale, (j - 0.5) * m_scale, (k + 0.5) * m_scale);
|
||
Vec3<double> p6((i + 0.5) * m_scale, (j + 0.5) * m_scale, (k + 0.5) * m_scale);
|
||
Vec3<double> p7((i - 0.5) * m_scale, (j + 0.5) * m_scale, (k + 0.5) * m_scale);
|
||
int32_t s = (int32_t)mesh.GetNPoints();
|
||
mesh.AddPoint(p0 + m_minBB);
|
||
mesh.AddPoint(p1 + m_minBB);
|
||
mesh.AddPoint(p2 + m_minBB);
|
||
mesh.AddPoint(p3 + m_minBB);
|
||
mesh.AddPoint(p4 + m_minBB);
|
||
mesh.AddPoint(p5 + m_minBB);
|
||
mesh.AddPoint(p6 + m_minBB);
|
||
mesh.AddPoint(p7 + m_minBB);
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 0, s + 2, s + 1));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 0, s + 3, s + 2));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 4, s + 5, s + 6));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 4, s + 6, s + 7));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 7, s + 6, s + 2));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 7, s + 2, s + 3));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 4, s + 1, s + 5));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 4, s + 0, s + 1));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 6, s + 5, s + 1));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 6, s + 1, s + 2));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 7, s + 0, s + 4));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 7, s + 3, s + 0));
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
void Volume::Convert(VoxelSet& vset) const
|
||
{
|
||
for (int32_t h = 0; h < 3; ++h) {
|
||
vset.m_minBB[h] = m_minBB[h];
|
||
}
|
||
vset.m_voxels.Allocate(m_numVoxelsInsideSurface + m_numVoxelsOnSurface);
|
||
vset.m_scale = m_scale;
|
||
vset.m_unitVolume = m_scale * m_scale * m_scale;
|
||
const short i0 = (short)m_dim[0];
|
||
const short j0 = (short)m_dim[1];
|
||
const short k0 = (short)m_dim[2];
|
||
Voxel voxel;
|
||
vset.m_numVoxelsOnSurface = 0;
|
||
vset.m_numVoxelsInsideSurface = 0;
|
||
for (short i = 0; i < i0; ++i) {
|
||
for (short j = 0; j < j0; ++j) {
|
||
for (short k = 0; k < k0; ++k) {
|
||
const unsigned char& value = GetVoxel(i, j, k);
|
||
if (value == PRIMITIVE_INSIDE_SURFACE) {
|
||
voxel.m_coord[0] = i;
|
||
voxel.m_coord[1] = j;
|
||
voxel.m_coord[2] = k;
|
||
voxel.m_data = PRIMITIVE_INSIDE_SURFACE;
|
||
vset.m_voxels.PushBack(voxel);
|
||
++vset.m_numVoxelsInsideSurface;
|
||
}
|
||
else if (value == PRIMITIVE_ON_SURFACE) {
|
||
voxel.m_coord[0] = i;
|
||
voxel.m_coord[1] = j;
|
||
voxel.m_coord[2] = k;
|
||
voxel.m_data = PRIMITIVE_ON_SURFACE;
|
||
vset.m_voxels.PushBack(voxel);
|
||
++vset.m_numVoxelsOnSurface;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
void Volume::Convert(TetrahedronSet& tset) const
|
||
{
|
||
tset.m_tetrahedra.Allocate(5 * (m_numVoxelsInsideSurface + m_numVoxelsOnSurface));
|
||
tset.m_scale = m_scale;
|
||
const short i0 = (short)m_dim[0];
|
||
const short j0 = (short)m_dim[1];
|
||
const short k0 = (short)m_dim[2];
|
||
tset.m_numTetrahedraOnSurface = 0;
|
||
tset.m_numTetrahedraInsideSurface = 0;
|
||
Tetrahedron tetrahedron;
|
||
for (short i = 0; i < i0; ++i) {
|
||
for (short j = 0; j < j0; ++j) {
|
||
for (short k = 0; k < k0; ++k) {
|
||
const unsigned char& value = GetVoxel(i, j, k);
|
||
if (value == PRIMITIVE_INSIDE_SURFACE || value == PRIMITIVE_ON_SURFACE) {
|
||
tetrahedron.m_data = value;
|
||
Vec3<double> p1((i - 0.5) * m_scale + m_minBB[0], (j - 0.5) * m_scale + m_minBB[1], (k - 0.5) * m_scale + m_minBB[2]);
|
||
Vec3<double> p2((i + 0.5) * m_scale + m_minBB[0], (j - 0.5) * m_scale + m_minBB[1], (k - 0.5) * m_scale + m_minBB[2]);
|
||
Vec3<double> p3((i + 0.5) * m_scale + m_minBB[0], (j + 0.5) * m_scale + m_minBB[1], (k - 0.5) * m_scale + m_minBB[2]);
|
||
Vec3<double> p4((i - 0.5) * m_scale + m_minBB[0], (j + 0.5) * m_scale + m_minBB[1], (k - 0.5) * m_scale + m_minBB[2]);
|
||
Vec3<double> p5((i - 0.5) * m_scale + m_minBB[0], (j - 0.5) * m_scale + m_minBB[1], (k + 0.5) * m_scale + m_minBB[2]);
|
||
Vec3<double> p6((i + 0.5) * m_scale + m_minBB[0], (j - 0.5) * m_scale + m_minBB[1], (k + 0.5) * m_scale + m_minBB[2]);
|
||
Vec3<double> p7((i + 0.5) * m_scale + m_minBB[0], (j + 0.5) * m_scale + m_minBB[1], (k + 0.5) * m_scale + m_minBB[2]);
|
||
Vec3<double> p8((i - 0.5) * m_scale + m_minBB[0], (j + 0.5) * m_scale + m_minBB[1], (k + 0.5) * m_scale + m_minBB[2]);
|
||
|
||
tetrahedron.m_pts[0] = p2;
|
||
tetrahedron.m_pts[1] = p4;
|
||
tetrahedron.m_pts[2] = p7;
|
||
tetrahedron.m_pts[3] = p5;
|
||
tset.m_tetrahedra.PushBack(tetrahedron);
|
||
|
||
tetrahedron.m_pts[0] = p6;
|
||
tetrahedron.m_pts[1] = p2;
|
||
tetrahedron.m_pts[2] = p7;
|
||
tetrahedron.m_pts[3] = p5;
|
||
tset.m_tetrahedra.PushBack(tetrahedron);
|
||
|
||
tetrahedron.m_pts[0] = p3;
|
||
tetrahedron.m_pts[1] = p4;
|
||
tetrahedron.m_pts[2] = p7;
|
||
tetrahedron.m_pts[3] = p2;
|
||
tset.m_tetrahedra.PushBack(tetrahedron);
|
||
|
||
tetrahedron.m_pts[0] = p1;
|
||
tetrahedron.m_pts[1] = p4;
|
||
tetrahedron.m_pts[2] = p2;
|
||
tetrahedron.m_pts[3] = p5;
|
||
tset.m_tetrahedra.PushBack(tetrahedron);
|
||
|
||
tetrahedron.m_pts[0] = p8;
|
||
tetrahedron.m_pts[1] = p5;
|
||
tetrahedron.m_pts[2] = p7;
|
||
tetrahedron.m_pts[3] = p4;
|
||
tset.m_tetrahedra.PushBack(tetrahedron);
|
||
if (value == PRIMITIVE_INSIDE_SURFACE) {
|
||
tset.m_numTetrahedraInsideSurface += 5;
|
||
}
|
||
else {
|
||
tset.m_numTetrahedraOnSurface += 5;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
void Volume::AlignToPrincipalAxes(double (&rot)[3][3]) const
|
||
{
|
||
const short i0 = (short)m_dim[0];
|
||
const short j0 = (short)m_dim[1];
|
||
const short k0 = (short)m_dim[2];
|
||
Vec3<double> barycenter(0.0);
|
||
size_t nVoxels = 0;
|
||
for (short i = 0; i < i0; ++i) {
|
||
for (short j = 0; j < j0; ++j) {
|
||
for (short k = 0; k < k0; ++k) {
|
||
const unsigned char& value = GetVoxel(i, j, k);
|
||
if (value == PRIMITIVE_INSIDE_SURFACE || value == PRIMITIVE_ON_SURFACE) {
|
||
barycenter[0] += i;
|
||
barycenter[1] += j;
|
||
barycenter[2] += k;
|
||
++nVoxels;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
barycenter /= (double)nVoxels;
|
||
|
||
double covMat[3][3] = { { 0.0, 0.0, 0.0 },
|
||
{ 0.0, 0.0, 0.0 },
|
||
{ 0.0, 0.0, 0.0 } };
|
||
double x, y, z;
|
||
for (short i = 0; i < i0; ++i) {
|
||
for (short j = 0; j < j0; ++j) {
|
||
for (short k = 0; k < k0; ++k) {
|
||
const unsigned char& value = GetVoxel(i, j, k);
|
||
if (value == PRIMITIVE_INSIDE_SURFACE || value == PRIMITIVE_ON_SURFACE) {
|
||
x = i - barycenter[0];
|
||
y = j - barycenter[1];
|
||
z = k - barycenter[2];
|
||
covMat[0][0] += x * x;
|
||
covMat[1][1] += y * y;
|
||
covMat[2][2] += z * z;
|
||
covMat[0][1] += x * y;
|
||
covMat[0][2] += x * z;
|
||
covMat[1][2] += y * z;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
covMat[1][0] = covMat[0][1];
|
||
covMat[2][0] = covMat[0][2];
|
||
covMat[2][1] = covMat[1][2];
|
||
double D[3][3];
|
||
Diagonalize(covMat, rot, D);
|
||
}
|
||
TetrahedronSet::TetrahedronSet()
|
||
{
|
||
m_minBB[0] = m_minBB[1] = m_minBB[2] = 0.0;
|
||
m_maxBB[0] = m_maxBB[1] = m_maxBB[2] = 1.0;
|
||
m_barycenter[0] = m_barycenter[1] = m_barycenter[2] = 0.0;
|
||
m_scale = 1.0;
|
||
m_numTetrahedraOnSurface = 0;
|
||
m_numTetrahedraInsideSurface = 0;
|
||
memset(m_Q, 0, sizeof(double) * 9);
|
||
memset(m_D, 0, sizeof(double) * 9);
|
||
}
|
||
TetrahedronSet::~TetrahedronSet(void)
|
||
{
|
||
}
|
||
void TetrahedronSet::ComputeBB()
|
||
{
|
||
const size_t nTetrahedra = m_tetrahedra.Size();
|
||
if (nTetrahedra == 0)
|
||
return;
|
||
|
||
for (int32_t h = 0; h < 3; ++h) {
|
||
m_minBB[h] = m_maxBB[h] = m_tetrahedra[0].m_pts[0][h];
|
||
m_barycenter[h] = 0.0;
|
||
}
|
||
for (size_t p = 0; p < nTetrahedra; ++p) {
|
||
for (int32_t i = 0; i < 4; ++i) {
|
||
for (int32_t h = 0; h < 3; ++h) {
|
||
if (m_minBB[h] > m_tetrahedra[p].m_pts[i][h])
|
||
m_minBB[h] = m_tetrahedra[p].m_pts[i][h];
|
||
if (m_maxBB[h] < m_tetrahedra[p].m_pts[i][h])
|
||
m_maxBB[h] = m_tetrahedra[p].m_pts[i][h];
|
||
m_barycenter[h] += m_tetrahedra[p].m_pts[i][h];
|
||
}
|
||
}
|
||
}
|
||
m_barycenter /= (double)(4 * nTetrahedra);
|
||
}
|
||
void TetrahedronSet::ComputeConvexHull(Mesh& meshCH, const size_t sampling) const
|
||
{
|
||
const size_t CLUSTER_SIZE = 65536;
|
||
const size_t nTetrahedra = m_tetrahedra.Size();
|
||
if (nTetrahedra == 0)
|
||
return;
|
||
|
||
SArray<Vec3<double> > cpoints;
|
||
|
||
Vec3<double>* points = new Vec3<double>[CLUSTER_SIZE];
|
||
size_t p = 0;
|
||
while (p < nTetrahedra) {
|
||
size_t q = 0;
|
||
size_t s = 0;
|
||
while (q < CLUSTER_SIZE && p < nTetrahedra) {
|
||
if (m_tetrahedra[p].m_data == PRIMITIVE_ON_SURFACE) {
|
||
++s;
|
||
if (s == sampling) {
|
||
s = 0;
|
||
for (int32_t a = 0; a < 4; ++a) {
|
||
points[q++] = m_tetrahedra[p].m_pts[a];
|
||
for (int32_t xx = 0; xx < 3; ++xx) {
|
||
assert(m_tetrahedra[p].m_pts[a][xx] + EPS >= m_minBB[xx]);
|
||
assert(m_tetrahedra[p].m_pts[a][xx] <= m_maxBB[xx] + EPS);
|
||
}
|
||
}
|
||
}
|
||
}
|
||
++p;
|
||
}
|
||
btConvexHullComputer ch;
|
||
ch.compute((double*)points, 3 * sizeof(double), (int32_t)q, -1.0, -1.0);
|
||
for (int32_t v = 0; v < ch.vertices.size(); v++) {
|
||
cpoints.PushBack(Vec3<double>(ch.vertices[v].getX(), ch.vertices[v].getY(), ch.vertices[v].getZ()));
|
||
}
|
||
}
|
||
delete[] points;
|
||
|
||
points = cpoints.Data();
|
||
btConvexHullComputer ch;
|
||
ch.compute((double*)points, 3 * sizeof(double), (int32_t)cpoints.Size(), -1.0, -1.0);
|
||
meshCH.ResizePoints(0);
|
||
meshCH.ResizeTriangles(0);
|
||
for (int32_t v = 0; v < ch.vertices.size(); v++) {
|
||
meshCH.AddPoint(Vec3<double>(ch.vertices[v].getX(), ch.vertices[v].getY(), ch.vertices[v].getZ()));
|
||
}
|
||
const int32_t nt = ch.faces.size();
|
||
for (int32_t t = 0; t < nt; ++t) {
|
||
const btConvexHullComputer::Edge* sourceEdge = &(ch.edges[ch.faces[t]]);
|
||
int32_t a = sourceEdge->getSourceVertex();
|
||
int32_t b = sourceEdge->getTargetVertex();
|
||
const btConvexHullComputer::Edge* edge = sourceEdge->getNextEdgeOfFace();
|
||
int32_t c = edge->getTargetVertex();
|
||
while (c != a) {
|
||
meshCH.AddTriangle(Vec3<int32_t>(a, b, c));
|
||
edge = edge->getNextEdgeOfFace();
|
||
b = c;
|
||
c = edge->getTargetVertex();
|
||
}
|
||
}
|
||
}
|
||
inline bool TetrahedronSet::Add(Tetrahedron& tetrahedron)
|
||
{
|
||
double v = ComputeVolume4(tetrahedron.m_pts[0], tetrahedron.m_pts[1], tetrahedron.m_pts[2], tetrahedron.m_pts[3]);
|
||
|
||
const double EPS = 0.0000000001;
|
||
if (fabs(v) < EPS) {
|
||
return false;
|
||
}
|
||
else if (v < 0.0) {
|
||
Vec3<double> tmp = tetrahedron.m_pts[0];
|
||
tetrahedron.m_pts[0] = tetrahedron.m_pts[1];
|
||
tetrahedron.m_pts[1] = tmp;
|
||
}
|
||
|
||
for (int32_t a = 0; a < 4; ++a) {
|
||
for (int32_t xx = 0; xx < 3; ++xx) {
|
||
assert(tetrahedron.m_pts[a][xx] + EPS >= m_minBB[xx]);
|
||
assert(tetrahedron.m_pts[a][xx] <= m_maxBB[xx] + EPS);
|
||
}
|
||
}
|
||
m_tetrahedra.PushBack(tetrahedron);
|
||
return true;
|
||
}
|
||
|
||
void TetrahedronSet::AddClippedTetrahedra(const Vec3<double> (&pts)[10], const int32_t nPts)
|
||
{
|
||
const int32_t tetF[4][3] = { { 0, 1, 2 }, { 2, 1, 3 }, { 3, 1, 0 }, { 3, 0, 2 } };
|
||
if (nPts < 4) {
|
||
return;
|
||
}
|
||
else if (nPts == 4) {
|
||
Tetrahedron tetrahedron;
|
||
tetrahedron.m_data = PRIMITIVE_ON_SURFACE;
|
||
tetrahedron.m_pts[0] = pts[0];
|
||
tetrahedron.m_pts[1] = pts[1];
|
||
tetrahedron.m_pts[2] = pts[2];
|
||
tetrahedron.m_pts[3] = pts[3];
|
||
if (Add(tetrahedron)) {
|
||
++m_numTetrahedraOnSurface;
|
||
}
|
||
}
|
||
else if (nPts == 5) {
|
||
const int32_t tet[15][4] = {
|
||
{ 0, 1, 2, 3 }, { 1, 2, 3, 4 }, { 0, 2, 3, 4 }, { 0, 1, 3, 4 }, { 0, 1, 2, 4 },
|
||
};
|
||
const int32_t rem[5] = { 4, 0, 1, 2, 3 };
|
||
double maxVol = 0.0;
|
||
int32_t h0 = -1;
|
||
Tetrahedron tetrahedron0;
|
||
tetrahedron0.m_data = PRIMITIVE_ON_SURFACE;
|
||
for (int32_t h = 0; h < 5; ++h) {
|
||
double v = ComputeVolume4(pts[tet[h][0]], pts[tet[h][1]], pts[tet[h][2]], pts[tet[h][3]]);
|
||
if (v > maxVol) {
|
||
h0 = h;
|
||
tetrahedron0.m_pts[0] = pts[tet[h][0]];
|
||
tetrahedron0.m_pts[1] = pts[tet[h][1]];
|
||
tetrahedron0.m_pts[2] = pts[tet[h][2]];
|
||
tetrahedron0.m_pts[3] = pts[tet[h][3]];
|
||
maxVol = v;
|
||
}
|
||
else if (-v > maxVol) {
|
||
h0 = h;
|
||
tetrahedron0.m_pts[0] = pts[tet[h][1]];
|
||
tetrahedron0.m_pts[1] = pts[tet[h][0]];
|
||
tetrahedron0.m_pts[2] = pts[tet[h][2]];
|
||
tetrahedron0.m_pts[3] = pts[tet[h][3]];
|
||
maxVol = -v;
|
||
}
|
||
}
|
||
if (h0 == -1)
|
||
return;
|
||
if (Add(tetrahedron0)) {
|
||
++m_numTetrahedraOnSurface;
|
||
}
|
||
else {
|
||
return;
|
||
}
|
||
int32_t a = rem[h0];
|
||
maxVol = 0.0;
|
||
int32_t h1 = -1;
|
||
Tetrahedron tetrahedron1;
|
||
tetrahedron1.m_data = PRIMITIVE_ON_SURFACE;
|
||
for (int32_t h = 0; h < 4; ++h) {
|
||
double v = ComputeVolume4(pts[a], tetrahedron0.m_pts[tetF[h][0]], tetrahedron0.m_pts[tetF[h][1]], tetrahedron0.m_pts[tetF[h][2]]);
|
||
if (v > maxVol) {
|
||
h1 = h;
|
||
tetrahedron1.m_pts[0] = pts[a];
|
||
tetrahedron1.m_pts[1] = tetrahedron0.m_pts[tetF[h][0]];
|
||
tetrahedron1.m_pts[2] = tetrahedron0.m_pts[tetF[h][1]];
|
||
tetrahedron1.m_pts[3] = tetrahedron0.m_pts[tetF[h][2]];
|
||
maxVol = v;
|
||
}
|
||
}
|
||
if (h1 == -1 && Add(tetrahedron1)) {
|
||
++m_numTetrahedraOnSurface;
|
||
}
|
||
}
|
||
else if (nPts == 6) {
|
||
|
||
const int32_t tet[15][4] = { { 2, 3, 4, 5 }, { 1, 3, 4, 5 }, { 1, 2, 4, 5 }, { 1, 2, 3, 5 }, { 1, 2, 3, 4 },
|
||
{ 0, 3, 4, 5 }, { 0, 2, 4, 5 }, { 0, 2, 3, 5 }, { 0, 2, 3, 4 }, { 0, 1, 4, 5 },
|
||
{ 0, 1, 3, 5 }, { 0, 1, 3, 4 }, { 0, 1, 2, 5 }, { 0, 1, 2, 4 }, { 0, 1, 2, 3 } };
|
||
const int32_t rem[15][2] = { { 0, 1 }, { 0, 2 }, { 0, 3 }, { 0, 4 }, { 0, 5 },
|
||
{ 1, 2 }, { 1, 3 }, { 1, 4 }, { 1, 5 }, { 2, 3 },
|
||
{ 2, 4 }, { 2, 5 }, { 3, 4 }, { 3, 5 }, { 4, 5 } };
|
||
double maxVol = 0.0;
|
||
int32_t h0 = -1;
|
||
Tetrahedron tetrahedron0;
|
||
tetrahedron0.m_data = PRIMITIVE_ON_SURFACE;
|
||
for (int32_t h = 0; h < 15; ++h) {
|
||
double v = ComputeVolume4(pts[tet[h][0]], pts[tet[h][1]], pts[tet[h][2]], pts[tet[h][3]]);
|
||
if (v > maxVol) {
|
||
h0 = h;
|
||
tetrahedron0.m_pts[0] = pts[tet[h][0]];
|
||
tetrahedron0.m_pts[1] = pts[tet[h][1]];
|
||
tetrahedron0.m_pts[2] = pts[tet[h][2]];
|
||
tetrahedron0.m_pts[3] = pts[tet[h][3]];
|
||
maxVol = v;
|
||
}
|
||
else if (-v > maxVol) {
|
||
h0 = h;
|
||
tetrahedron0.m_pts[0] = pts[tet[h][1]];
|
||
tetrahedron0.m_pts[1] = pts[tet[h][0]];
|
||
tetrahedron0.m_pts[2] = pts[tet[h][2]];
|
||
tetrahedron0.m_pts[3] = pts[tet[h][3]];
|
||
maxVol = -v;
|
||
}
|
||
}
|
||
if (h0 == -1)
|
||
return;
|
||
if (Add(tetrahedron0)) {
|
||
++m_numTetrahedraOnSurface;
|
||
}
|
||
else {
|
||
return;
|
||
}
|
||
|
||
int32_t a0 = rem[h0][0];
|
||
int32_t a1 = rem[h0][1];
|
||
int32_t h1 = -1;
|
||
Tetrahedron tetrahedron1;
|
||
tetrahedron1.m_data = PRIMITIVE_ON_SURFACE;
|
||
maxVol = 0.0;
|
||
for (int32_t h = 0; h < 4; ++h) {
|
||
double v = ComputeVolume4(pts[a0], tetrahedron0.m_pts[tetF[h][0]], tetrahedron0.m_pts[tetF[h][1]], tetrahedron0.m_pts[tetF[h][2]]);
|
||
if (v > maxVol) {
|
||
h1 = h;
|
||
tetrahedron1.m_pts[0] = pts[a0];
|
||
tetrahedron1.m_pts[1] = tetrahedron0.m_pts[tetF[h][0]];
|
||
tetrahedron1.m_pts[2] = tetrahedron0.m_pts[tetF[h][1]];
|
||
tetrahedron1.m_pts[3] = tetrahedron0.m_pts[tetF[h][2]];
|
||
maxVol = v;
|
||
}
|
||
}
|
||
if (h1 != -1 && Add(tetrahedron1)) {
|
||
++m_numTetrahedraOnSurface;
|
||
}
|
||
else {
|
||
h1 = -1;
|
||
}
|
||
maxVol = 0.0;
|
||
int32_t h2 = -1;
|
||
Tetrahedron tetrahedron2;
|
||
tetrahedron2.m_data = PRIMITIVE_ON_SURFACE;
|
||
for (int32_t h = 0; h < 4; ++h) {
|
||
double v = ComputeVolume4(pts[a0], tetrahedron0.m_pts[tetF[h][0]], tetrahedron0.m_pts[tetF[h][1]], tetrahedron0.m_pts[tetF[h][2]]);
|
||
if (h == h1)
|
||
continue;
|
||
if (v > maxVol) {
|
||
h2 = h;
|
||
tetrahedron2.m_pts[0] = pts[a1];
|
||
tetrahedron2.m_pts[1] = tetrahedron0.m_pts[tetF[h][0]];
|
||
tetrahedron2.m_pts[2] = tetrahedron0.m_pts[tetF[h][1]];
|
||
tetrahedron2.m_pts[3] = tetrahedron0.m_pts[tetF[h][2]];
|
||
maxVol = v;
|
||
}
|
||
}
|
||
if (h1 != -1) {
|
||
for (int32_t h = 0; h < 4; ++h) {
|
||
double v = ComputeVolume4(pts[a1], tetrahedron1.m_pts[tetF[h][0]], tetrahedron1.m_pts[tetF[h][1]], tetrahedron1.m_pts[tetF[h][2]]);
|
||
if (h == 1)
|
||
continue;
|
||
if (v > maxVol) {
|
||
h2 = h;
|
||
tetrahedron2.m_pts[0] = pts[a1];
|
||
tetrahedron2.m_pts[1] = tetrahedron1.m_pts[tetF[h][0]];
|
||
tetrahedron2.m_pts[2] = tetrahedron1.m_pts[tetF[h][1]];
|
||
tetrahedron2.m_pts[3] = tetrahedron1.m_pts[tetF[h][2]];
|
||
maxVol = v;
|
||
}
|
||
}
|
||
}
|
||
if (h2 != -1 && Add(tetrahedron2)) {
|
||
++m_numTetrahedraOnSurface;
|
||
}
|
||
}
|
||
else {
|
||
assert(0);
|
||
}
|
||
}
|
||
|
||
void TetrahedronSet::Intersect(const Plane& plane,
|
||
SArray<Vec3<double> >* const positivePts,
|
||
SArray<Vec3<double> >* const negativePts,
|
||
const size_t sampling) const
|
||
{
|
||
const size_t nTetrahedra = m_tetrahedra.Size();
|
||
if (nTetrahedra == 0)
|
||
return;
|
||
}
|
||
void TetrahedronSet::ComputeExteriorPoints(const Plane& plane,
|
||
const Mesh& mesh,
|
||
SArray<Vec3<double> >* const exteriorPts) const
|
||
{
|
||
}
|
||
void TetrahedronSet::ComputeClippedVolumes(const Plane& plane,
|
||
double& positiveVolume,
|
||
double& negativeVolume) const
|
||
{
|
||
const size_t nTetrahedra = m_tetrahedra.Size();
|
||
if (nTetrahedra == 0)
|
||
return;
|
||
}
|
||
|
||
void TetrahedronSet::SelectOnSurface(PrimitiveSet* const onSurfP) const
|
||
{
|
||
TetrahedronSet* const onSurf = (TetrahedronSet*)onSurfP;
|
||
const size_t nTetrahedra = m_tetrahedra.Size();
|
||
if (nTetrahedra == 0)
|
||
return;
|
||
onSurf->m_tetrahedra.Resize(0);
|
||
onSurf->m_scale = m_scale;
|
||
onSurf->m_numTetrahedraOnSurface = 0;
|
||
onSurf->m_numTetrahedraInsideSurface = 0;
|
||
onSurf->m_barycenter = m_barycenter;
|
||
onSurf->m_minBB = m_minBB;
|
||
onSurf->m_maxBB = m_maxBB;
|
||
for (int32_t i = 0; i < 3; ++i) {
|
||
for (int32_t j = 0; j < 3; ++j) {
|
||
onSurf->m_Q[i][j] = m_Q[i][j];
|
||
onSurf->m_D[i][j] = m_D[i][j];
|
||
}
|
||
}
|
||
Tetrahedron tetrahedron;
|
||
for (size_t v = 0; v < nTetrahedra; ++v) {
|
||
tetrahedron = m_tetrahedra[v];
|
||
if (tetrahedron.m_data == PRIMITIVE_ON_SURFACE) {
|
||
onSurf->m_tetrahedra.PushBack(tetrahedron);
|
||
++onSurf->m_numTetrahedraOnSurface;
|
||
}
|
||
}
|
||
}
|
||
void TetrahedronSet::Clip(const Plane& plane,
|
||
PrimitiveSet* const positivePartP,
|
||
PrimitiveSet* const negativePartP) const
|
||
{
|
||
TetrahedronSet* const positivePart = (TetrahedronSet*)positivePartP;
|
||
TetrahedronSet* const negativePart = (TetrahedronSet*)negativePartP;
|
||
const size_t nTetrahedra = m_tetrahedra.Size();
|
||
if (nTetrahedra == 0)
|
||
return;
|
||
positivePart->m_tetrahedra.Resize(0);
|
||
negativePart->m_tetrahedra.Resize(0);
|
||
positivePart->m_tetrahedra.Allocate(nTetrahedra);
|
||
negativePart->m_tetrahedra.Allocate(nTetrahedra);
|
||
negativePart->m_scale = positivePart->m_scale = m_scale;
|
||
negativePart->m_numTetrahedraOnSurface = positivePart->m_numTetrahedraOnSurface = 0;
|
||
negativePart->m_numTetrahedraInsideSurface = positivePart->m_numTetrahedraInsideSurface = 0;
|
||
negativePart->m_barycenter = m_barycenter;
|
||
positivePart->m_barycenter = m_barycenter;
|
||
negativePart->m_minBB = m_minBB;
|
||
positivePart->m_minBB = m_minBB;
|
||
negativePart->m_maxBB = m_maxBB;
|
||
positivePart->m_maxBB = m_maxBB;
|
||
for (int32_t i = 0; i < 3; ++i) {
|
||
for (int32_t j = 0; j < 3; ++j) {
|
||
negativePart->m_Q[i][j] = positivePart->m_Q[i][j] = m_Q[i][j];
|
||
negativePart->m_D[i][j] = positivePart->m_D[i][j] = m_D[i][j];
|
||
}
|
||
}
|
||
|
||
Tetrahedron tetrahedron;
|
||
double delta, alpha;
|
||
int32_t sign[4];
|
||
int32_t npos, nneg;
|
||
Vec3<double> posPts[10];
|
||
Vec3<double> negPts[10];
|
||
Vec3<double> P0, P1, M;
|
||
const Vec3<double> n(plane.m_a, plane.m_b, plane.m_c);
|
||
const int32_t edges[6][2] = { { 0, 1 }, { 0, 2 }, { 0, 3 }, { 1, 2 }, { 1, 3 }, { 2, 3 } };
|
||
double dist;
|
||
for (size_t v = 0; v < nTetrahedra; ++v) {
|
||
tetrahedron = m_tetrahedra[v];
|
||
npos = nneg = 0;
|
||
for (int32_t i = 0; i < 4; ++i) {
|
||
dist = plane.m_a * tetrahedron.m_pts[i][0] + plane.m_b * tetrahedron.m_pts[i][1] + plane.m_c * tetrahedron.m_pts[i][2] + plane.m_d;
|
||
if (dist > 0.0) {
|
||
sign[i] = 1;
|
||
posPts[npos] = tetrahedron.m_pts[i];
|
||
++npos;
|
||
}
|
||
else {
|
||
sign[i] = -1;
|
||
negPts[nneg] = tetrahedron.m_pts[i];
|
||
++nneg;
|
||
}
|
||
}
|
||
|
||
if (npos == 4) {
|
||
positivePart->Add(tetrahedron);
|
||
if (tetrahedron.m_data == PRIMITIVE_ON_SURFACE) {
|
||
++positivePart->m_numTetrahedraOnSurface;
|
||
}
|
||
else {
|
||
++positivePart->m_numTetrahedraInsideSurface;
|
||
}
|
||
}
|
||
else if (nneg == 4) {
|
||
negativePart->Add(tetrahedron);
|
||
if (tetrahedron.m_data == PRIMITIVE_ON_SURFACE) {
|
||
++negativePart->m_numTetrahedraOnSurface;
|
||
}
|
||
else {
|
||
++negativePart->m_numTetrahedraInsideSurface;
|
||
}
|
||
}
|
||
else {
|
||
int32_t nnew = 0;
|
||
for (int32_t j = 0; j < 6; ++j) {
|
||
if (sign[edges[j][0]] * sign[edges[j][1]] == -1) {
|
||
P0 = tetrahedron.m_pts[edges[j][0]];
|
||
P1 = tetrahedron.m_pts[edges[j][1]];
|
||
delta = (P0 - P1) * n;
|
||
alpha = -(plane.m_d + (n * P1)) / delta;
|
||
assert(alpha >= 0.0 && alpha <= 1.0);
|
||
M = alpha * P0 + (1 - alpha) * P1;
|
||
for (int32_t xx = 0; xx < 3; ++xx) {
|
||
assert(M[xx] + EPS >= m_minBB[xx]);
|
||
assert(M[xx] <= m_maxBB[xx] + EPS);
|
||
}
|
||
posPts[npos++] = M;
|
||
negPts[nneg++] = M;
|
||
++nnew;
|
||
}
|
||
}
|
||
negativePart->AddClippedTetrahedra(negPts, nneg);
|
||
positivePart->AddClippedTetrahedra(posPts, npos);
|
||
}
|
||
}
|
||
}
|
||
void TetrahedronSet::Convert(Mesh& mesh, const VOXEL_VALUE value) const
|
||
{
|
||
const size_t nTetrahedra = m_tetrahedra.Size();
|
||
if (nTetrahedra == 0)
|
||
return;
|
||
for (size_t v = 0; v < nTetrahedra; ++v) {
|
||
const Tetrahedron& tetrahedron = m_tetrahedra[v];
|
||
if (tetrahedron.m_data == value) {
|
||
int32_t s = (int32_t)mesh.GetNPoints();
|
||
mesh.AddPoint(tetrahedron.m_pts[0]);
|
||
mesh.AddPoint(tetrahedron.m_pts[1]);
|
||
mesh.AddPoint(tetrahedron.m_pts[2]);
|
||
mesh.AddPoint(tetrahedron.m_pts[3]);
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 0, s + 1, s + 2));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 2, s + 1, s + 3));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 3, s + 1, s + 0));
|
||
mesh.AddTriangle(Vec3<int32_t>(s + 3, s + 0, s + 2));
|
||
}
|
||
}
|
||
}
|
||
const double TetrahedronSet::ComputeVolume() const
|
||
{
|
||
const size_t nTetrahedra = m_tetrahedra.Size();
|
||
if (nTetrahedra == 0)
|
||
return 0.0;
|
||
double volume = 0.0;
|
||
for (size_t v = 0; v < nTetrahedra; ++v) {
|
||
const Tetrahedron& tetrahedron = m_tetrahedra[v];
|
||
volume += fabs(ComputeVolume4(tetrahedron.m_pts[0], tetrahedron.m_pts[1], tetrahedron.m_pts[2], tetrahedron.m_pts[3]));
|
||
}
|
||
return volume / 6.0;
|
||
}
|
||
const double TetrahedronSet::ComputeMaxVolumeError() const
|
||
{
|
||
const size_t nTetrahedra = m_tetrahedra.Size();
|
||
if (nTetrahedra == 0)
|
||
return 0.0;
|
||
double volume = 0.0;
|
||
for (size_t v = 0; v < nTetrahedra; ++v) {
|
||
const Tetrahedron& tetrahedron = m_tetrahedra[v];
|
||
if (tetrahedron.m_data == PRIMITIVE_ON_SURFACE) {
|
||
volume += fabs(ComputeVolume4(tetrahedron.m_pts[0], tetrahedron.m_pts[1], tetrahedron.m_pts[2], tetrahedron.m_pts[3]));
|
||
}
|
||
}
|
||
return volume / 6.0;
|
||
}
|
||
void TetrahedronSet::RevertAlignToPrincipalAxes()
|
||
{
|
||
const size_t nTetrahedra = m_tetrahedra.Size();
|
||
if (nTetrahedra == 0)
|
||
return;
|
||
double x, y, z;
|
||
for (size_t v = 0; v < nTetrahedra; ++v) {
|
||
Tetrahedron& tetrahedron = m_tetrahedra[v];
|
||
for (int32_t i = 0; i < 4; ++i) {
|
||
x = tetrahedron.m_pts[i][0] - m_barycenter[0];
|
||
y = tetrahedron.m_pts[i][1] - m_barycenter[1];
|
||
z = tetrahedron.m_pts[i][2] - m_barycenter[2];
|
||
tetrahedron.m_pts[i][0] = m_Q[0][0] * x + m_Q[0][1] * y + m_Q[0][2] * z + m_barycenter[0];
|
||
tetrahedron.m_pts[i][1] = m_Q[1][0] * x + m_Q[1][1] * y + m_Q[1][2] * z + m_barycenter[1];
|
||
tetrahedron.m_pts[i][2] = m_Q[2][0] * x + m_Q[2][1] * y + m_Q[2][2] * z + m_barycenter[2];
|
||
}
|
||
}
|
||
ComputeBB();
|
||
}
|
||
void TetrahedronSet::ComputePrincipalAxes()
|
||
{
|
||
const size_t nTetrahedra = m_tetrahedra.Size();
|
||
if (nTetrahedra == 0)
|
||
return;
|
||
double covMat[3][3] = { { 0.0, 0.0, 0.0 },
|
||
{ 0.0, 0.0, 0.0 },
|
||
{ 0.0, 0.0, 0.0 } };
|
||
double x, y, z;
|
||
for (size_t v = 0; v < nTetrahedra; ++v) {
|
||
Tetrahedron& tetrahedron = m_tetrahedra[v];
|
||
for (int32_t i = 0; i < 4; ++i) {
|
||
x = tetrahedron.m_pts[i][0] - m_barycenter[0];
|
||
y = tetrahedron.m_pts[i][1] - m_barycenter[1];
|
||
z = tetrahedron.m_pts[i][2] - m_barycenter[2];
|
||
covMat[0][0] += x * x;
|
||
covMat[1][1] += y * y;
|
||
covMat[2][2] += z * z;
|
||
covMat[0][1] += x * y;
|
||
covMat[0][2] += x * z;
|
||
covMat[1][2] += y * z;
|
||
}
|
||
}
|
||
double n = nTetrahedra * 4.0;
|
||
covMat[0][0] /= n;
|
||
covMat[1][1] /= n;
|
||
covMat[2][2] /= n;
|
||
covMat[0][1] /= n;
|
||
covMat[0][2] /= n;
|
||
covMat[1][2] /= n;
|
||
covMat[1][0] = covMat[0][1];
|
||
covMat[2][0] = covMat[0][2];
|
||
covMat[2][1] = covMat[1][2];
|
||
Diagonalize(covMat, m_Q, m_D);
|
||
}
|
||
void TetrahedronSet::AlignToPrincipalAxes()
|
||
{
|
||
const size_t nTetrahedra = m_tetrahedra.Size();
|
||
if (nTetrahedra == 0)
|
||
return;
|
||
double x, y, z;
|
||
for (size_t v = 0; v < nTetrahedra; ++v) {
|
||
Tetrahedron& tetrahedron = m_tetrahedra[v];
|
||
for (int32_t i = 0; i < 4; ++i) {
|
||
x = tetrahedron.m_pts[i][0] - m_barycenter[0];
|
||
y = tetrahedron.m_pts[i][1] - m_barycenter[1];
|
||
z = tetrahedron.m_pts[i][2] - m_barycenter[2];
|
||
tetrahedron.m_pts[i][0] = m_Q[0][0] * x + m_Q[1][0] * y + m_Q[2][0] * z + m_barycenter[0];
|
||
tetrahedron.m_pts[i][1] = m_Q[0][1] * x + m_Q[1][1] * y + m_Q[2][1] * z + m_barycenter[1];
|
||
tetrahedron.m_pts[i][2] = m_Q[0][2] * x + m_Q[1][2] * y + m_Q[2][2] * z + m_barycenter[2];
|
||
}
|
||
}
|
||
ComputeBB();
|
||
}
|
||
}
|