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add the 'extras' and Bullet 2 tests, to make it easier to create a new intermediate release

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This commit is contained in:
erwin coumans
2014-05-07 08:54:08 -07:00
parent e0784b2da6
commit 2cf7806c87
172 changed files with 42937 additions and 0 deletions
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51
Extras/HACD/CMakeLists.txt Normal file
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INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/Extras/HACD
)
SET(HACD_SRCS
hacdGraph.cpp
hacdHACD.cpp
hacdICHull.cpp
hacdManifoldMesh.cpp
)
SET(HACD_HDRS
hacdCircularList.h
hacdGraph.h
hacdHACD.h
hacdICHull.h
hacdManifoldMesh.h
hacdVector.h
hacdVersion.h
hacdCircularList.inl
hacdVector.inl
)
ADD_LIBRARY(HACD ${HACD_SRCS} ${HACD_HDRS})
SET_TARGET_PROPERTIES(HACD PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(HACD PROPERTIES SOVERSION ${BULLET_VERSION})
#IF (BUILD_SHARED_LIBS)
# TARGET_LINK_LIBRARIES(HACD BulletCollision LinearMath)
#ENDIF (BUILD_SHARED_LIBS)
IF (INSTALL_EXTRA_LIBS)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
#FILES_MATCHING requires CMake 2.6
IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS HACD DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS HACD DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN "*.inl" PATTERN
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
SET_TARGET_PROPERTIES(HACD PROPERTIES FRAMEWORK true)
SET_TARGET_PROPERTIES(HACD PROPERTIES PUBLIC_HEADER "${HACD_HDRS}")
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
ENDIF (INSTALL_EXTRA_LIBS)

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Extras/HACD/hacdCircularList.h Normal file
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/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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.
3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
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.
*/
#pragma once
#ifndef HACD_CIRCULAR_LIST_H
#define HACD_CIRCULAR_LIST_H
#include<stdlib.h>
#include "hacdVersion.h"
namespace HACD
{
//! CircularListElement class.
template < typename T > class CircularListElement
{
public:
T & GetData() { return m_data; }
const T & GetData() const { return m_data; }
CircularListElement<T> * & GetNext() { return m_next; }
CircularListElement<T> * & GetPrev() { return m_prev; }
const CircularListElement<T> * & GetNext() const { return m_next; }
const CircularListElement<T> * & GetPrev() const { return m_prev; }
//! Constructor
CircularListElement(const T & data) {m_data = data;}
CircularListElement(void){}
//! Destructor
~CircularListElement(void){}
private:
T m_data;
CircularListElement<T> * m_next;
CircularListElement<T> * m_prev;
CircularListElement(const CircularListElement & rhs);
};
//! CircularList class.
template < typename T > class CircularList
{
public:
CircularListElement<T> * & GetHead() { return m_head;}
const CircularListElement<T> * GetHead() const { return m_head;}
bool IsEmpty() const { return (m_size == 0);}
size_t GetSize() const { return m_size; }
const T & GetData() const { return m_head->GetData(); }
T & GetData() { return m_head->GetData();}
bool Delete() ;
bool Delete(CircularListElement<T> * element);
CircularListElement<T> * Add(const T * data = 0);
CircularListElement<T> * Add(const T & data);
bool Next();
bool Prev();
void Clear() { while(Delete());};
const CircularList& operator=(const CircularList& rhs);
//! Constructor
CircularList()
{
m_head = 0;
m_size = 0;
}
CircularList(const CircularList& rhs);
//! Destructor
virtual ~CircularList(void) {Clear();};
private:
CircularListElement<T> * m_head; //!< a pointer to the head of the circular list
size_t m_size; //!< number of element in the circular list
};
}
#include "hacdCircularList.inl"
#endif

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Extras/HACD/hacdCircularList.inl Normal file
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#pragma once
#ifndef HACD_CIRCULAR_LIST_INL
#define HACD_CIRCULAR_LIST_INL
#include<stdlib.h>
#include "hacdVersion.h"
namespace HACD
{
template < typename T >
inline bool CircularList<T>::Delete(CircularListElement<T> * element)
{
if (!element)
{
return false;
}
if (m_size > 1)
{
CircularListElement<T> * next = element->GetNext();
CircularListElement<T> * prev = element->GetPrev();
delete element;
m_size--;
if (element == m_head)
{
m_head = next;
}
next->GetPrev() = prev;
prev->GetNext() = next;
return true;
}
else if (m_size == 1)
{
delete m_head;
m_size--;
m_head = 0;
return true;
}
else
{
return false;
}
}
template < typename T >
inline bool CircularList<T>::Delete()
{
if (m_size > 1)
{
CircularListElement<T> * next = m_head->GetNext();
CircularListElement<T> * prev = m_head->GetPrev();
delete m_head;
m_size--;
m_head = next;
next->GetPrev() = prev;
prev->GetNext() = next;
return true;
}
else if (m_size == 1)
{
delete m_head;
m_size--;
m_head = 0;
return true;
}
else
{
return false;
}
}
template < typename T >
inline CircularListElement<T> * CircularList<T>::Add(const T * data)
{
if (m_size == 0)
{
if (data)
{
m_head = new CircularListElement<T>(*data);
}
else
{
m_head = new CircularListElement<T>();
}
m_head->GetNext() = m_head->GetPrev() = m_head;
}
else
{
CircularListElement<T> * next = m_head->GetNext();
CircularListElement<T> * element = m_head;
if (data)
{
m_head = new CircularListElement<T>(*data);
}
else
{
m_head = new CircularListElement<T>;
}
m_head->GetNext() = next;
m_head->GetPrev() = element;
element->GetNext() = m_head;
next->GetPrev() = m_head;
}
m_size++;
return m_head;
}
template < typename T >
inline CircularListElement<T> * CircularList<T>::Add(const T & data)
{
const T * pData = &data;
return Add(pData);
}
template < typename T >
inline bool CircularList<T>::Next()
{
if (m_size == 0)
{
return false;
}
m_head = m_head->GetNext();
return true;
}
template < typename T >
inline bool CircularList<T>::Prev()
{
if (m_size == 0)
{
return false;
}
m_head = m_head->GetPrev();
return true;
}
template < typename T >
inline CircularList<T>::CircularList(const CircularList& rhs)
{
if (rhs.m_size > 0)
{
CircularListElement<T> * current = rhs.m_head;
do
{
current = current->GetNext();
Add(current->GetData());
}
while ( current != rhs.m_head );
}
}
template < typename T >
inline const CircularList<T>& CircularList<T>::operator=(const CircularList& rhs)
{
if (&rhs != this)
{
Clear();
if (rhs.m_size > 0)
{
CircularListElement<T> * current = rhs.m_head;
do
{
current = current->GetNext();
Add(current->GetData());
}
while ( current != rhs.m_head );
}
}
return (*this);
}
}
#endif

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Extras/HACD/hacdGraph.cpp Normal file
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/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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.
3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
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.
*/
#include "hacdGraph.h"
namespace HACD
{
GraphEdge::GraphEdge()
{
m_convexHull = 0;
m_v1 = -1;
m_v2 = -1;
m_name = -1;
m_error = 0;
m_surf = 0;
m_perimeter = 0;
m_concavity = 0;
m_volume = 0;
m_deleted = false;
}
GraphVertex::GraphVertex()
{
m_convexHull = 0;
m_name = -1;
m_cc = -1;
m_error = 0;
m_surf = 0;
m_perimeter = 0;
m_concavity = 0;
m_volume = 0;
m_deleted = false;
}
bool GraphVertex::DeleteEdge(long name)
{
std::set<long>::iterator it = m_edges.find(name);
if (it != m_edges.end() )
{
m_edges.erase(it);
return true;
}
return false;
}
Graph::Graph()
{
m_nV = 0;
m_nE = 0;
m_nCCs = 0;
}
Graph::~Graph()
{
}
void Graph::Allocate(size_t nV, size_t nE)
{
m_nV = nV;
m_edges.reserve(nE);
m_vertices.resize(nV);
for(size_t i = 0; i < nV; i++)
{
m_vertices[i].m_name = static_cast<long>(i);
}
}
long Graph::AddVertex()
{
size_t name = m_vertices.size();
m_vertices.resize(name+1);
m_vertices[name].m_name = static_cast<long>(name);
m_nV++;
return static_cast<long>(name);
}
long Graph::AddEdge(long v1, long v2)
{
size_t name = m_edges.size();
m_edges.push_back(GraphEdge());
m_edges[name].m_name = static_cast<long>(name);
m_edges[name].m_v1 = v1;
m_edges[name].m_v2 = v2;
m_vertices[v1].AddEdge(static_cast<long>(name));
m_vertices[v2].AddEdge(static_cast<long>(name));
m_nE++;
return static_cast<long>(name);
}
bool Graph::DeleteEdge(long name)
{
if (name < static_cast<long>(m_edges.size()))
{
long v1 = m_edges[name].m_v1;
long v2 = m_edges[name].m_v2;
m_edges[name].m_deleted = true;
m_vertices[v1].DeleteEdge(name);
m_vertices[v2].DeleteEdge(name);
delete m_edges[name].m_convexHull;
m_edges[name].m_distPoints.clear();
m_edges[name].m_boudaryEdges.clear();
m_edges[name].m_convexHull = 0;
m_nE--;
return true;
}
return false;
}
bool Graph::DeleteVertex(long name)
{
if (name < static_cast<long>(m_vertices.size()))
{
m_vertices[name].m_deleted = true;
m_vertices[name].m_edges.clear();
m_vertices[name].m_ancestors = std::vector<long>();
delete m_vertices[name].m_convexHull;
m_vertices[name].m_distPoints.clear();
m_vertices[name].m_boudaryEdges.clear();
m_vertices[name].m_convexHull = 0;
m_nV--;
return true;
}
return false;
}
bool Graph::EdgeCollapse(long v1, long v2)
{
long edgeToDelete = GetEdgeID(v1, v2);
if (edgeToDelete >= 0)
{
// delete the edge (v1, v2)
DeleteEdge(edgeToDelete);
// add v2 to v1 ancestors
m_vertices[v1].m_ancestors.push_back(v2);
// add v2's ancestors to v1's ancestors
m_vertices[v1].m_ancestors.insert(m_vertices[v1].m_ancestors.begin(),
m_vertices[v2].m_ancestors.begin(),
m_vertices[v2].m_ancestors.end());
// update adjacency information
std::set<long> & v1Edges = m_vertices[v1].m_edges;
std::set<long>::const_iterator ed(m_vertices[v2].m_edges.begin());
std::set<long>::const_iterator itEnd(m_vertices[v2].m_edges.end());
long b = -1;
for(; ed != itEnd; ++ed)
{
if (m_edges[*ed].m_v1 == v2)
{
b = m_edges[*ed].m_v2;
}
else
{
b = m_edges[*ed].m_v1;
}
if (GetEdgeID(v1, b) >= 0)
{
m_edges[*ed].m_deleted = true;
m_vertices[b].DeleteEdge(*ed);
m_nE--;
}
else
{
m_edges[*ed].m_v1 = v1;
m_edges[*ed].m_v2 = b;
v1Edges.insert(*ed);
}
}
// delete the vertex v2
DeleteVertex(v2);
return true;
}
return false;
}
long Graph::GetEdgeID(long v1, long v2) const
{
if (v1 < static_cast<long>(m_vertices.size()) && !m_vertices[v1].m_deleted)
{
std::set<long>::const_iterator ed(m_vertices[v1].m_edges.begin());
std::set<long>::const_iterator itEnd(m_vertices[v1].m_edges.end());
for(; ed != itEnd; ++ed)
{
if ( (m_edges[*ed].m_v1 == v2) ||
(m_edges[*ed].m_v2 == v2) )
{
return m_edges[*ed].m_name;
}
}
}
return -1;
}
void Graph::Print() const
{
std::cout << "-----------------------------" << std::endl;
std::cout << "vertices (" << m_nV << ")" << std::endl;
for (size_t v = 0; v < m_vertices.size(); ++v)
{
const GraphVertex & currentVertex = m_vertices[v];
if (!m_vertices[v].m_deleted)
{
std::cout << currentVertex.m_name << "\t";
std::set<long>::const_iterator ed(currentVertex.m_edges.begin());
std::set<long>::const_iterator itEnd(currentVertex.m_edges.end());
for(; ed != itEnd; ++ed)
{
std::cout << "(" << m_edges[*ed].m_v1 << "," << m_edges[*ed].m_v2 << ") ";
}
std::cout << std::endl;
}
}
std::cout << "vertices (" << m_nE << ")" << std::endl;
for (size_t e = 0; e < m_edges.size(); ++e)
{
const GraphEdge & currentEdge = m_edges[e];
if (!m_edges[e].m_deleted)
{
std::cout << currentEdge.m_name << "\t("
<< m_edges[e].m_v1 << ","
<< m_edges[e].m_v2 << ") "<< std::endl;
}
}
}
void Graph::Clear()
{
m_vertices.clear();
m_edges.clear();
m_nV = 0;
m_nE = 0;
}
long Graph::ExtractCCs()
{
// all CCs to -1
for (size_t v = 0; v < m_vertices.size(); ++v)
{
if (!m_vertices[v].m_deleted)
{
m_vertices[v].m_cc = -1;
}
}
// we get the CCs
m_nCCs = 0;
long v2 = -1;
std::vector<long> temp;
for (size_t v = 0; v < m_vertices.size(); ++v)
{
if (!m_vertices[v].m_deleted && m_vertices[v].m_cc == -1)
{
m_vertices[v].m_cc = static_cast<long>(m_nCCs);
temp.clear();
temp.push_back(m_vertices[v].m_name);
while (temp.size())
{
long vertex = temp[temp.size()-1];
temp.pop_back();
std::set<long>::const_iterator ed(m_vertices[vertex].m_edges.begin());
std::set<long>::const_iterator itEnd(m_vertices[vertex].m_edges.end());
for(; ed != itEnd; ++ed)
{
if (m_edges[*ed].m_v1 == vertex)
{
v2 = m_edges[*ed].m_v2;
}
else
{
v2 = m_edges[*ed].m_v1;
}
if ( !m_vertices[v2].m_deleted && m_vertices[v2].m_cc == -1)
{
m_vertices[v2].m_cc = static_cast<long>(m_nCCs);
temp.push_back(v2);
}
}
}
m_nCCs++;
}
}
return static_cast<long>(m_nCCs);
}
}

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/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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.
3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
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.
*/
#pragma once
#ifndef HACD_GRAPH_H
#define HACD_GRAPH_H
#include "hacdVersion.h"
#include "hacdVector.h"
#include "hacdICHull.h"
#include <map>
#include <vector>
#include <set>
namespace HACD
{
class GraphVertex;
class GraphEdge;
class Graph;
class HACD;
class GraphVertex
{
public:
bool AddEdge(long name)
{
m_edges.insert(name);
return true;
}
bool DeleteEdge(long name);
GraphVertex();
~GraphVertex(){ delete m_convexHull;};
private:
long m_name;
long m_cc;
std::set<long> m_edges;
bool m_deleted;
std::vector<long> m_ancestors;
std::map<long, DPoint> m_distPoints;
Real m_error;
double m_surf;
double m_volume;
double m_perimeter;
double m_concavity;
ICHull * m_convexHull;
std::set<unsigned long long> m_boudaryEdges;
friend class GraphEdge;
friend class Graph;
friend class HACD;
};
class GraphEdge
{
public:
GraphEdge();
~GraphEdge(){delete m_convexHull;};
private:
long m_name;
long m_v1;
long m_v2;
std::map<long, DPoint> m_distPoints;
Real m_error;
double m_surf;
double m_volume;
double m_perimeter;
double m_concavity;
ICHull * m_convexHull;
std::set<unsigned long long> m_boudaryEdges;
bool m_deleted;
friend class GraphVertex;
friend class Graph;
friend class HACD;
};
class Graph
{
public:
size_t GetNEdges() const { return m_nE;}
size_t GetNVertices() const { return m_nV;}
bool EdgeCollapse(long v1, long v2);
long AddVertex();
long AddEdge(long v1, long v2);
bool DeleteEdge(long name);
bool DeleteVertex(long name);
long GetEdgeID(long v1, long v2) const;
void Clear();
void Print() const;
long ExtractCCs();
Graph();
virtual ~Graph();
void Allocate(size_t nV, size_t nE);
private:
size_t m_nCCs;
size_t m_nV;
size_t m_nE;
std::vector<GraphEdge> m_edges;
std::vector<GraphVertex> m_vertices;
friend class HACD;
};
}
#endif

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/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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.
3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
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.
*/
#ifndef _CRT_SECURE_NO_WARNINGS
#define _CRT_SECURE_NO_WARNINGS
#endif //_CRT_SECURE_NO_WARNINGS
#include <sstream>
#include "hacdGraph.h"
#include "hacdHACD.h"
#include "hacdICHull.h"
#include <string.h>
#include <algorithm>
#include <iterator>
#include <limits>
bool gCancelRequest=false;
namespace HACD
{
double HACD::Concavity(ICHull & ch, std::map<long, DPoint> & distPoints)
{
double concavity = 0.0;
double distance = 0.0;
std::map<long, DPoint>::iterator itDP(distPoints.begin());
std::map<long, DPoint>::iterator itDPEnd(distPoints.end());
for(; itDP != itDPEnd; ++itDP)
{
if (!(itDP->second).m_computed)
{
if (itDP->first >= 0)
{
distance = ch.ComputeDistance(itDP->first, m_points[itDP->first], m_normals[itDP->first], (itDP->second).m_computed, true);
}
else
{
distance = ch.ComputeDistance(itDP->first, m_facePoints[-itDP->first-1], m_faceNormals[-itDP->first-1], (itDP->second).m_computed, true);
}
}
else
{
distance = (itDP->second).m_dist;
}
if (concavity < distance)
{
concavity = distance;
}
}
return concavity;
}
void HACD::CreateGraph()
{
// vertex to triangle adjacency information
std::vector< std::set<long> > vertexToTriangles;
vertexToTriangles.resize(m_nPoints);
for(size_t t = 0; t < m_nTriangles; ++t)
{
vertexToTriangles[m_triangles[t].X()].insert(static_cast<long>(t));
vertexToTriangles[m_triangles[t].Y()].insert(static_cast<long>(t));
vertexToTriangles[m_triangles[t].Z()].insert(static_cast<long>(t));
}
m_graph.Clear();
m_graph.Allocate(m_nTriangles, 5 * m_nTriangles);
unsigned long long tr1[3];
unsigned long long tr2[3];
long i1, j1, k1, i2, j2, k2;
long t1, t2;
for (size_t v = 0; v < m_nPoints; v++)
{
std::set<long>::const_iterator it1(vertexToTriangles[v].begin()), itEnd(vertexToTriangles[v].end());
for(; it1 != itEnd; ++it1)
{
t1 = *it1;
i1 = m_triangles[t1].X();
j1 = m_triangles[t1].Y();
k1 = m_triangles[t1].Z();
tr1[0] = GetEdgeIndex(i1, j1);
tr1[1] = GetEdgeIndex(j1, k1);
tr1[2] = GetEdgeIndex(k1, i1);
std::set<long>::const_iterator it2(it1);
for(++it2; it2 != itEnd; ++it2)
{
t2 = *it2;
i2 = m_triangles[t2].X();
j2 = m_triangles[t2].Y();
k2 = m_triangles[t2].Z();
tr2[0] = GetEdgeIndex(i2, j2);
tr2[1] = GetEdgeIndex(j2, k2);
tr2[2] = GetEdgeIndex(k2, i2);
int shared = 0;
for(int i = 0; i < 3; ++i)
{
for(int j = 0; j < 3; ++j)
{
if (tr1[i] == tr2[j])
{
shared++;
}
}
}
if (shared == 1) // two triangles are connected if they share exactly one edge
{
m_graph.AddEdge(t1, t2);
}
}
}
}
if (m_ccConnectDist >= 0.0)
{
m_graph.ExtractCCs();
if (m_graph.m_nCCs > 1)
{
std::vector< std::set<long> > cc2V;
cc2V.resize(m_graph.m_nCCs);
long cc;
for(size_t t = 0; t < m_nTriangles; ++t)
{
cc = m_graph.m_vertices[t].m_cc;
cc2V[cc].insert(m_triangles[t].X());
cc2V[cc].insert(m_triangles[t].Y());
cc2V[cc].insert(m_triangles[t].Z());
}
for(size_t cc1 = 0; cc1 < m_graph.m_nCCs; ++cc1)
{
for(size_t cc2 = cc1+1; cc2 < m_graph.m_nCCs; ++cc2)
{
std::set<long>::const_iterator itV1(cc2V[cc1].begin()), itVEnd1(cc2V[cc1].end());
for(; itV1 != itVEnd1; ++itV1)
{
double distC1C2 = std::numeric_limits<double>::max();
double dist;
t1 = -1;
t2 = -1;
std::set<long>::const_iterator itV2(cc2V[cc2].begin()), itVEnd2(cc2V[cc2].end());
for(; itV2 != itVEnd2; ++itV2)
{
dist = (m_points[*itV1] - m_points[*itV2]).GetNorm();
if (dist < distC1C2)
{
distC1C2 = dist;
t1 = *vertexToTriangles[*itV1].begin();
std::set<long>::const_iterator it2(vertexToTriangles[*itV2].begin()),
it2End(vertexToTriangles[*itV2].end());
t2 = -1;
for(; it2 != it2End; ++it2)
{
if (*it2 != t1)
{
t2 = *it2;
break;
}
}
}
}
if (distC1C2 <= m_ccConnectDist && t1 > 0 && t2 > 0)
{
m_graph.AddEdge(t1, t2);
}
}
}
}
}
}
}
void HACD::InitializeDualGraph()
{
long i, j, k;
Vec3<Real> u, v, w, normal;
delete [] m_normals;
m_normals = new Vec3<Real>[m_nPoints];
if (m_addFacesPoints)
{
delete [] m_facePoints;
delete [] m_faceNormals;
m_facePoints = new Vec3<Real>[m_nTriangles];
m_faceNormals = new Vec3<Real>[m_nTriangles];
}
memset(m_normals, 0, sizeof(Vec3<Real>) * m_nPoints);
for(unsigned long f = 0; f < m_nTriangles; f++)
{
if (m_callBack) (*m_callBack)("+ InitializeDualGraph\n", f, m_nTriangles, 0);
if (gCancelRequest)
return;
i = m_triangles[f].X();
j = m_triangles[f].Y();
k = m_triangles[f].Z();
m_graph.m_vertices[f].m_distPoints[i].m_distOnly = false;
m_graph.m_vertices[f].m_distPoints[j].m_distOnly = false;
m_graph.m_vertices[f].m_distPoints[k].m_distOnly = false;
ICHull * ch = new ICHull;
m_graph.m_vertices[f].m_convexHull = ch;
ch->AddPoint(m_points[i], i);
ch->AddPoint(m_points[j], j);
ch->AddPoint(m_points[k], k);
ch->SetDistPoints(&m_graph.m_vertices[f].m_distPoints);
u = m_points[j] - m_points[i];
v = m_points[k] - m_points[i];
w = m_points[k] - m_points[j];
normal = u ^ v;
m_normals[i] += normal;
m_normals[j] += normal;
m_normals[k] += normal;
m_graph.m_vertices[f].m_surf = normal.GetNorm();
m_graph.m_vertices[f].m_perimeter = u.GetNorm() + v.GetNorm() + w.GetNorm();
normal.Normalize();
m_graph.m_vertices[f].m_boudaryEdges.insert(GetEdgeIndex(i,j));
m_graph.m_vertices[f].m_boudaryEdges.insert(GetEdgeIndex(j,k));
m_graph.m_vertices[f].m_boudaryEdges.insert(GetEdgeIndex(k,i));
if(m_addFacesPoints)
{
m_faceNormals[f] = normal;
m_facePoints[f] = (m_points[i] + m_points[j] + m_points[k]) / 3.0;
m_graph.m_vertices[f].m_distPoints[-static_cast<long>(f)-1].m_distOnly = true;
}
if (m_addExtraDistPoints)
{// we need a kd-tree structure to accelerate this part!
long i1, j1, k1;
Vec3<Real> u1, v1, normal1;
normal = -normal;
double distance = 0.0;
double distMin = 0.0;
size_t faceIndex = m_nTriangles;
Vec3<Real> seedPoint((m_points[i] + m_points[j] + m_points[k]) / 3.0);
long nhit = 0;
for(size_t f1 = 0; f1 < m_nTriangles; f1++)
{
i1 = m_triangles[f1].X();
j1 = m_triangles[f1].Y();
k1 = m_triangles[f1].Z();
u1 = m_points[j1] - m_points[i1];
v1 = m_points[k1] - m_points[i1];
normal1 = (u1 ^ v1);
if (normal * normal1 > 0.0)
{
nhit = IntersectRayTriangle(Vec3<double>(seedPoint.X(), seedPoint.Y(), seedPoint.Z()),
Vec3<double>(normal.X(), normal.Y(), normal.Z()),
Vec3<double>(m_points[i1].X(), m_points[i1].Y(), m_points[i1].Z()),
Vec3<double>(m_points[j1].X(), m_points[j1].Y(), m_points[j1].Z()),
Vec3<double>(m_points[k1].X(), m_points[k1].Y(), m_points[k1].Z()),
distance);
if ((nhit==1) && ((distMin > distance) || (faceIndex == m_nTriangles)))
{
distMin = distance;
faceIndex = f1;
}
}
}
if (faceIndex < m_nTriangles )
{
i1 = m_triangles[faceIndex].X();
j1 = m_triangles[faceIndex].Y();
k1 = m_triangles[faceIndex].Z();
m_graph.m_vertices[f].m_distPoints[i1].m_distOnly = true;
m_graph.m_vertices[f].m_distPoints[j1].m_distOnly = true;
m_graph.m_vertices[f].m_distPoints[k1].m_distOnly = true;
if (m_addFacesPoints)
{
m_graph.m_vertices[f].m_distPoints[-static_cast<long>(faceIndex)-1].m_distOnly = true;
}
}
}
}
for (size_t v = 0; v < m_nPoints; v++)
{
m_normals[v].Normalize();
}
}
void HACD::NormalizeData()
{
if (m_nPoints == 0)
{
return;
}
m_barycenter = m_points[0];
Vec3<Real> min = m_points[0];
Vec3<Real> max = m_points[0];
Real x, y, z;
for (size_t v = 1; v < m_nPoints ; v++)
{
m_barycenter += m_points[v];
x = m_points[v].X();
y = m_points[v].Y();
z = m_points[v].Z();
if ( x < min.X()) min.X() = x;
else if ( x > max.X()) max.X() = x;
if ( y < min.Y()) min.Y() = y;
else if ( y > max.Y()) max.Y() = y;
if ( z < min.Z()) min.Z() = z;
else if ( z > max.Z()) max.Z() = z;
}
m_barycenter /= static_cast<Real>(m_nPoints);
m_diag = (max-min).GetNorm();
const Real invDiag = static_cast<Real>(2.0 * m_scale / m_diag);
if (m_diag != 0.0)
{
for (size_t v = 0; v < m_nPoints ; v++)
{
m_points[v] = (m_points[v] - m_barycenter) * invDiag;
}
}
}
void HACD::DenormalizeData()
{
if (m_nPoints == 0)
{
return;
}
if (m_diag != 0.0)
{
const Real diag = static_cast<Real>(m_diag / (2.0 * m_scale));
for (size_t v = 0; v < m_nPoints ; v++)
{
m_points[v] = m_points[v] * diag + m_barycenter;
}
}
}
HACD::HACD(void)
{
m_convexHulls = 0;
m_triangles = 0;
m_points = 0;
m_normals = 0;
m_nTriangles = 0;
m_nPoints = 0;
m_nClusters = 0;
m_concavity = 0.0;
m_diag = 1.0;
m_barycenter = Vec3<Real>(0.0, 0.0,0.0);
m_alpha = 0.1;
m_beta = 0.1;
m_nVerticesPerCH = 30;
m_callBack = 0;
m_addExtraDistPoints = false;
m_addNeighboursDistPoints = false;
m_scale = 1000.0;
m_partition = 0;
m_nMinClusters = 3;
m_facePoints = 0;
m_faceNormals = 0;
m_ccConnectDist = 30;
}
HACD::~HACD(void)
{
delete [] m_normals;
delete [] m_convexHulls;
delete [] m_partition;
delete [] m_facePoints;
delete [] m_faceNormals;
}
int iteration = 0;
void HACD::ComputeEdgeCost(size_t e)
{
GraphEdge & gE = m_graph.m_edges[e];
long v1 = gE.m_v1;
long v2 = gE.m_v2;
if (m_graph.m_vertices[v2].m_distPoints.size()>m_graph.m_vertices[v1].m_distPoints.size())
{
gE.m_v1 = v2;
gE.m_v2 = v1;
//std::swap<long>(v1, v2);
std::swap(v1, v2);
}
GraphVertex & gV1 = m_graph.m_vertices[v1];
GraphVertex & gV2 = m_graph.m_vertices[v2];
// delete old convex-hull
delete gE.m_convexHull;
// create the edge's convex-hull
ICHull * ch = new ICHull;
gE.m_convexHull = ch;
(*ch) = (*gV1.m_convexHull);
// update distPoints
gE.m_distPoints = gV1.m_distPoints;
std::map<long, DPoint>::iterator itDP(gV2.m_distPoints.begin());
std::map<long, DPoint>::iterator itDPEnd(gV2.m_distPoints.end());
std::map<long, DPoint>::iterator itDP1;
for(; itDP != itDPEnd; ++itDP)
{
itDP1 = gE.m_distPoints.find(itDP->first);
if (itDP1 == gE.m_distPoints.end())
{
gE.m_distPoints[itDP->first].m_distOnly = (itDP->second).m_distOnly;
if ( !(itDP->second).m_distOnly )
{
ch->AddPoint(m_points[itDP->first], itDP->first);
}
}
else
{
if ( (itDP1->second).m_distOnly && !(itDP->second).m_distOnly)
{
gE.m_distPoints[itDP->first].m_distOnly = false;
ch->AddPoint(m_points[itDP->first], itDP->first);
}
}
}
ch->SetDistPoints(&gE.m_distPoints);
// create the convex-hull
while (ch->Process() == ICHullErrorInconsistent) // if we face problems when constructing the visual-hull. really ugly!!!!
{
// if (m_callBack) (*m_callBack)("\t Problem with convex-hull construction [HACD::ComputeEdgeCost]\n", 0.0, 0.0, 0);
ch = new ICHull;
CircularList<TMMVertex> & verticesCH = (gE.m_convexHull)->GetMesh().m_vertices;
size_t nV = verticesCH.GetSize();
long ptIndex = 0;
verticesCH.Next();
for(size_t v = 1; v < nV; ++v)
{
ptIndex = verticesCH.GetHead()->GetData().m_name;
ch->AddPoint(m_points[ptIndex], ptIndex);
verticesCH.Next();
}
delete gE.m_convexHull;
gE.m_convexHull = ch;
}
double volume = 0.0;
double concavity = 0.0;
if (ch->IsFlat())
{
bool insideHull;
std::map<long, DPoint>::iterator itDP(gE.m_distPoints.begin());
std::map<long, DPoint>::iterator itDPEnd(gE.m_distPoints.end());
for(; itDP != itDPEnd; ++itDP)
{
if (itDP->first >= 0)
{
concavity = std::max<double>(concavity, ch->ComputeDistance(itDP->first, m_points[itDP->first], m_normals[itDP->first], insideHull, false));
}
}
}
else
{
if (m_addNeighboursDistPoints)
{ // add distance points from adjacent clusters
std::set<long> eEdges;
std::set_union(gV1.m_edges.begin(),
gV1.m_edges.end(),
gV2.m_edges.begin(),
gV2.m_edges.end(),
std::inserter( eEdges, eEdges.begin() ) );
std::set<long>::const_iterator ed(eEdges.begin());
std::set<long>::const_iterator itEnd(eEdges.end());
long a, b, c;
for(; ed != itEnd; ++ed)
{
a = m_graph.m_edges[*ed].m_v1;
b = m_graph.m_edges[*ed].m_v2;
if ( a != v2 && a != v1)
{
c = a;
}
else if ( b != v2 && b != v1)
{
c = b;
}
else
{
c = -1;
}
if ( c > 0)
{
GraphVertex & gVC = m_graph.m_vertices[c];
std::map<long, DPoint>::iterator itDP(gVC.m_distPoints.begin());
std::map<long, DPoint>::iterator itDPEnd(gVC.m_distPoints.end());
std::map<long, DPoint>::iterator itDP1;
for(; itDP != itDPEnd; ++itDP)
{
itDP1 = gE.m_distPoints.find(itDP->first);
if (itDP1 == gE.m_distPoints.end())
{
if (itDP->first >= 0 && itDP1 == gE.m_distPoints.end() && ch->IsInside(m_points[itDP->first]))
{
gE.m_distPoints[itDP->first].m_distOnly = true;
}
else if (itDP->first < 0 && ch->IsInside(m_facePoints[-itDP->first-1]))
{
gE.m_distPoints[itDP->first].m_distOnly = true;
}
}
}
}
}
}
concavity = Concavity(*ch, gE.m_distPoints);
}
// compute boudary edges
double perimeter = 0.0;
double surf = 1.0;
if (m_alpha > 0.0)
{
gE.m_boudaryEdges.clear();
std::set_symmetric_difference (gV1.m_boudaryEdges.begin(),
gV1.m_boudaryEdges.end(),
gV2.m_boudaryEdges.begin(),
gV2.m_boudaryEdges.end(),
std::inserter( gE.m_boudaryEdges,
gE.m_boudaryEdges.begin() ) );
std::set<unsigned long long>::const_iterator itBE(gE.m_boudaryEdges.begin());
std::set<unsigned long long>::const_iterator itBEEnd(gE.m_boudaryEdges.end());
for(; itBE != itBEEnd; ++itBE)
{
perimeter += (m_points[static_cast<long>((*itBE) >> 32)] -
m_points[static_cast<long>((*itBE) & 0xFFFFFFFFULL)]).GetNorm();
}
surf = gV1.m_surf + gV2.m_surf;
}
double ratio = perimeter * perimeter / (4.0 * sc_pi * surf);
gE.m_volume = (m_beta == 0.0)?0.0:ch->ComputeVolume()/pow(m_scale, 3.0); // cluster's volume
gE.m_surf = surf; // cluster's area
gE.m_perimeter = perimeter; // cluster's perimeter
gE.m_concavity = concavity; // cluster's concavity
gE.m_error = static_cast<Real>(concavity + m_alpha * ratio + m_beta * volume); // cluster's priority
}
bool HACD::InitializePriorityQueue()
{
m_pqueue.reserve(m_graph.m_nE + 100);
for (size_t e=0; e < m_graph.m_nE; ++e)
{
ComputeEdgeCost(static_cast<long>(e));
m_pqueue.push(GraphEdgePriorityQueue(static_cast<long>(e), m_graph.m_edges[e].m_error));
}
return true;
}
void HACD::Simplify()
{
long v1 = -1;
long v2 = -1;
double progressOld = -1.0;
double progress = 0.0;
double globalConcavity = 0.0;
char msg[1024];
double ptgStep = 1.0;
while ( (globalConcavity < m_concavity) &&
(m_graph.GetNVertices() > m_nMinClusters) &&
(m_graph.GetNEdges() > 0))
{
progress = 100.0-m_graph.GetNVertices() * 100.0 / m_nTriangles;
if (fabs(progress-progressOld) > ptgStep && m_callBack)
{
sprintf(msg, "%3.2f %% V = %lu \t C = %f \t \t \r", progress, static_cast<unsigned long>(m_graph.GetNVertices()), globalConcavity);
(*m_callBack)(msg, progress, globalConcavity, m_graph.GetNVertices());
progressOld = progress;
if (progress > 99.0)
{
ptgStep = 0.01;
}
else if (progress > 90.0)
{
ptgStep = 0.1;
}
}
GraphEdgePriorityQueue currentEdge(0,0.0);
bool done = false;
do
{
done = false;
if (m_pqueue.size() == 0)
{
done = true;
break;
}
currentEdge = m_pqueue.top();
m_pqueue.pop();
}
while ( m_graph.m_edges[currentEdge.m_name].m_deleted ||
m_graph.m_edges[currentEdge.m_name].m_error != currentEdge.m_priority);
if (m_graph.m_edges[currentEdge.m_name].m_concavity < m_concavity && !done)
{
globalConcavity = std::max<double>(globalConcavity ,m_graph.m_edges[currentEdge.m_name].m_concavity);
v1 = m_graph.m_edges[currentEdge.m_name].m_v1;
v2 = m_graph.m_edges[currentEdge.m_name].m_v2;
// update vertex info
m_graph.m_vertices[v1].m_error = m_graph.m_edges[currentEdge.m_name].m_error;
m_graph.m_vertices[v1].m_surf = m_graph.m_edges[currentEdge.m_name].m_surf;
m_graph.m_vertices[v1].m_volume = m_graph.m_edges[currentEdge.m_name].m_volume;
m_graph.m_vertices[v1].m_concavity = m_graph.m_edges[currentEdge.m_name].m_concavity;
m_graph.m_vertices[v1].m_perimeter = m_graph.m_edges[currentEdge.m_name].m_perimeter;
m_graph.m_vertices[v1].m_distPoints = m_graph.m_edges[currentEdge.m_name].m_distPoints;
(*m_graph.m_vertices[v1].m_convexHull) = (*m_graph.m_edges[currentEdge.m_name].m_convexHull);
(m_graph.m_vertices[v1].m_convexHull)->SetDistPoints(&(m_graph.m_vertices[v1].m_distPoints));
m_graph.m_vertices[v1].m_boudaryEdges = m_graph.m_edges[currentEdge.m_name].m_boudaryEdges;
// We apply the optimal ecol
// std::cout << "v1 " << v1 << " v2 " << v2 << std::endl;
m_graph.EdgeCollapse(v1, v2);
// recompute the adjacent edges costs
std::set<long>::const_iterator itE(m_graph.m_vertices[v1].m_edges.begin()),
itEEnd(m_graph.m_vertices[v1].m_edges.end());
for(; itE != itEEnd; ++itE)
{
size_t e = *itE;
ComputeEdgeCost(static_cast<long>(e));
m_pqueue.push(GraphEdgePriorityQueue(static_cast<long>(e), m_graph.m_edges[e].m_error));
}
}
else
{
break;
}
}
while (!m_pqueue.empty())
{
m_pqueue.pop();
}
m_cVertices.clear();
m_nClusters = m_graph.GetNVertices();
m_cVertices.reserve(m_nClusters);
for (size_t p=0, v = 0; v != m_graph.m_vertices.size(); ++v)
{
if (!m_graph.m_vertices[v].m_deleted)
{
if (m_callBack)
{
char msg[1024];
sprintf(msg, "\t CH \t %lu \t %lf \t %lf\n", static_cast<unsigned long>(p), m_graph.m_vertices[v].m_concavity, m_graph.m_vertices[v].m_error);
(*m_callBack)(msg, 0.0, 0.0, m_nClusters);
p++;
}
m_cVertices.push_back(static_cast<long>(v));
}
}
if (m_callBack)
{
sprintf(msg, "# clusters = %lu \t C = %f\n", static_cast<unsigned long>(m_nClusters), globalConcavity);
(*m_callBack)(msg, progress, globalConcavity, m_graph.GetNVertices());
}
}
bool HACD::Compute(bool fullCH, bool exportDistPoints)
{
gCancelRequest = false;
if ( !m_points || !m_triangles || !m_nPoints || !m_nTriangles)
{
return false;
}
size_t nV = m_nTriangles;
if (m_callBack)
{
std::ostringstream msg;
msg << "+ Mesh" << std::endl;
msg << "\t # vertices \t" << m_nPoints << std::endl;
msg << "\t # triangles \t" << m_nTriangles << std::endl;
msg << "+ Parameters" << std::endl;
msg << "\t min # of clusters \t" << m_nMinClusters << std::endl;
msg << "\t max concavity \t" << m_concavity << std::endl;
msg << "\t compacity weigth \t" << m_alpha << std::endl;
msg << "\t volume weigth \t" << m_beta << std::endl;
msg << "\t # vertices per convex-hull \t" << m_nVerticesPerCH << std::endl;
msg << "\t scale \t" << m_scale << std::endl;
msg << "\t add extra distance points \t" << m_addExtraDistPoints << std::endl;
msg << "\t add neighbours distance points \t" << m_addNeighboursDistPoints << std::endl;
msg << "\t add face distance points \t" << m_addFacesPoints << std::endl;
msg << "\t produce full convex-hulls \t" << fullCH << std::endl;
msg << "\t max. distance to connect CCs \t" << m_ccConnectDist << std::endl;
(*m_callBack)(msg.str().c_str(), 0.0, 0.0, nV);
}
if (m_callBack) (*m_callBack)("+ Normalizing Data\n", 0.0, 0.0, nV);
NormalizeData();
if (m_callBack) (*m_callBack)("+ Creating Graph\n", 0.0, 0.0, nV);
CreateGraph();
// Compute the surfaces and perimeters of all the faces
if (m_callBack) (*m_callBack)("+ Initializing Dual Graph\n", 0.0, 0.0, nV);
if (gCancelRequest)
return false;
InitializeDualGraph();
if (m_callBack) (*m_callBack)("+ Initializing Priority Queue\n", 0.0, 0.0, nV);
if (gCancelRequest)
return false;
InitializePriorityQueue();
// we simplify the graph
if (m_callBack) (*m_callBack)("+ Simplification ...\n", 0.0, 0.0, m_nTriangles);
Simplify();
if (m_callBack) (*m_callBack)("+ Denormalizing Data\n", 0.0, 0.0, m_nClusters);
DenormalizeData();
if (m_callBack) (*m_callBack)("+ Computing final convex-hulls\n", 0.0, 0.0, m_nClusters);
delete [] m_convexHulls;
m_convexHulls = new ICHull[m_nClusters];
delete [] m_partition;
m_partition = new long [m_nTriangles];
for (size_t p = 0; p != m_cVertices.size(); ++p)
{
size_t v = m_cVertices[p];
m_partition[v] = static_cast<long>(p);
for(size_t a = 0; a < m_graph.m_vertices[v].m_ancestors.size(); a++)
{
m_partition[m_graph.m_vertices[v].m_ancestors[a]] = static_cast<long>(p);
}
// compute the convex-hull
const std::map<long, DPoint> & pointsCH = m_graph.m_vertices[v].m_distPoints;
std::map<long, DPoint>::const_iterator itCH(pointsCH.begin());
std::map<long, DPoint>::const_iterator itCHEnd(pointsCH.end());
for(; itCH != itCHEnd; ++itCH)
{
if (!(itCH->second).m_distOnly)
{
m_convexHulls[p].AddPoint(m_points[itCH->first], itCH->first);
}
}
m_convexHulls[p].SetDistPoints(&m_graph.m_vertices[v].m_distPoints);
if (fullCH)
{
m_convexHulls[p].Process();
}
else
{
m_convexHulls[p].Process(static_cast<unsigned long>(m_nVerticesPerCH));
}
if (exportDistPoints)
{
itCH = pointsCH.begin();
for(; itCH != itCHEnd; ++itCH)
{
if ((itCH->second).m_distOnly)
{
if (itCH->first >= 0)
{
m_convexHulls[p].AddPoint(m_points[itCH->first], itCH->first);
}
else
{
m_convexHulls[p].AddPoint(m_facePoints[-itCH->first-1], itCH->first);
}
}
}
}
}
return true;
}
size_t HACD::GetNTrianglesCH(size_t numCH) const
{
if (numCH >= m_nClusters)
{
return 0;
}
return m_convexHulls[numCH].GetMesh().GetNTriangles();
}
size_t HACD::GetNPointsCH(size_t numCH) const
{
if (numCH >= m_nClusters)
{
return 0;
}
return m_convexHulls[numCH].GetMesh().GetNVertices();
}
bool HACD::GetCH(size_t numCH, Vec3<Real> * const points, Vec3<long> * const triangles)
{
if (numCH >= m_nClusters)
{
return false;
}
m_convexHulls[numCH].GetMesh().GetIFS(points, triangles);
return true;
}
bool HACD::Save(const char * fileName, bool uniColor, long numCluster) const
{
std::ofstream fout(fileName);
if (fout.is_open())
{
if (m_callBack)
{
char msg[1024];
sprintf(msg, "Saving %s\n", fileName);
(*m_callBack)(msg, 0.0, 0.0, m_graph.GetNVertices());
}
Material mat;
if (numCluster < 0)
{
for (size_t p = 0; p != m_nClusters; ++p)
{
if (!uniColor)
{
mat.m_diffuseColor.X() = mat.m_diffuseColor.Y() = mat.m_diffuseColor.Z() = 0.0;
while (mat.m_diffuseColor.X() == mat.m_diffuseColor.Y() ||
mat.m_diffuseColor.Z() == mat.m_diffuseColor.Y() ||
mat.m_diffuseColor.Z() == mat.m_diffuseColor.X() )
{
mat.m_diffuseColor.X() = (rand()%100) / 100.0;
mat.m_diffuseColor.Y() = (rand()%100) / 100.0;
mat.m_diffuseColor.Z() = (rand()%100) / 100.0;
}
}
m_convexHulls[p].GetMesh().SaveVRML2(fout, mat);
}
}
else if (numCluster < static_cast<long>(m_cVertices.size()))
{
m_convexHulls[numCluster].GetMesh().SaveVRML2(fout, mat);
}
fout.close();
return true;
}
else
{
if (m_callBack)
{
char msg[1024];
sprintf(msg, "Error saving %s\n", fileName);
(*m_callBack)(msg, 0.0, 0.0, m_graph.GetNVertices());
}
return false;
}
}
}

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/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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.
3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
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.
*/
#pragma once
#ifndef HACD_HACD_H
#define HACD_HACD_H
#include "hacdVersion.h"
#include "hacdVector.h"
#include "hacdGraph.h"
#include "hacdICHull.h"
#include <set>
#include <vector>
#include <queue>
#include <functional>
namespace HACD
{
const double sc_pi = 3.14159265;
class HACD;
// just to be able to set the capcity of the container
template<class _Ty, class _Container = std::vector<_Ty>, class _Pr = std::less<typename _Container::value_type> >
class reservable_priority_queue: public std::priority_queue<_Ty, _Container, _Pr>
{
typedef typename std::priority_queue<_Ty, _Container, _Pr>::size_type size_type;
public:
reservable_priority_queue(size_type capacity = 0) { reserve(capacity); };
void reserve(size_type capacity) { this->c.reserve(capacity); }
size_type capacity() const { return this->c.capacity(); }
};
//! priority queque element
class GraphEdgePriorityQueue
{
public:
//! Constructor
//! @param name edge's id
//! @param priority edge's priority
GraphEdgePriorityQueue(long name, Real priority)
{
m_name = name;
m_priority = priority;
}
//! Destructor
~GraphEdgePriorityQueue(void){}
private:
long m_name; //!< edge name
Real m_priority; //!< priority
//! Operator < for GraphEdgePQ
friend bool operator<(const GraphEdgePriorityQueue & lhs, const GraphEdgePriorityQueue & rhs);
//! Operator > for GraphEdgePQ
friend bool operator>(const GraphEdgePriorityQueue & lhs, const GraphEdgePriorityQueue & rhs);
friend class HACD;
};
inline bool operator<(const GraphEdgePriorityQueue & lhs, const GraphEdgePriorityQueue & rhs)
{
return lhs.m_priority<rhs.m_priority;
}
inline bool operator>(const GraphEdgePriorityQueue & lhs, const GraphEdgePriorityQueue & rhs)
{
return lhs.m_priority>rhs.m_priority;
}
typedef bool (*CallBackFunction)(const char *, double, double, size_t);
//! Provides an implementation of the Hierarchical Approximate Convex Decomposition (HACD) technique described in "A Simple and Efficient Approach for 3D Mesh Approximate Convex Decomposition" Game Programming Gems 8 - Chapter 2.8, p.202. A short version of the chapter was published in ICIP09 and is available at ftp://ftp.elet.polimi.it/users/Stefano.Tubaro/ICIP_USB_Proceedings_v2/pdfs/0003501.pdf
class HACD
{
public:
//! Gives the triangles partitionas an array of size m_nTriangles where the i-th element specifies the cluster to which belong the i-th triangle
//! @return triangles partition
const long * const GetPartition() const { return m_partition;}
//! Sets the scale factor
//! @param scale scale factor
void SetScaleFactor(double scale) { m_scale = scale;}
//! Gives the scale factor
//! @return scale factor
const double GetScaleFactor() const { return m_scale;}
//! Sets the call-back function
//! @param callBack pointer to the call-back function
void SetCallBack(CallBackFunction callBack) { m_callBack = callBack;}
//! Gives the call-back function
//! @return pointer to the call-back function
const CallBackFunction GetCallBack() const { return m_callBack;}
//! Specifies whether faces points should be added when computing the concavity
//! @param addFacesPoints true = faces points should be added
void SetAddFacesPoints(bool addFacesPoints) { m_addFacesPoints = addFacesPoints;}
//! Specifies wheter faces points should be added when computing the concavity
//! @return true = faces points should be added
const bool GetAddFacesPoints() const { return m_addFacesPoints;}
//! Specifies whether extra points should be added when computing the concavity
//! @param addExteraDistPoints true = extra points should be added
void SetAddExtraDistPoints(bool addExtraDistPoints) { m_addExtraDistPoints = addExtraDistPoints;}
//! Specifies wheter extra points should be added when computing the concavity
//! @return true = extra points should be added
const bool GetAddExtraDistPoints() const { return m_addExtraDistPoints;}
//! Specifies whether extra points should be added when computing the concavity
//! @param addExteraDistPoints true = extra points should be added
void SetAddNeighboursDistPoints(bool addNeighboursDistPoints) { m_addNeighboursDistPoints = addNeighboursDistPoints;}
//! Specifies wheter extra points should be added when computing the concavity
//! @return true = extra points should be added
const bool GetAddNeighboursDistPoints() const { return m_addNeighboursDistPoints;}
//! Sets the points of the input mesh (Remark: the input points will be scaled and shifted. Use DenormalizeData() to invert those operations)
//! @param points pointer to the input points
void SetPoints(Vec3<Real> * points) { m_points = points;}
//! Gives the points of the input mesh (Remark: the input points will be scaled and shifted. Use DenormalizeData() to invert those operations)
//! @return pointer to the input points
const Vec3<Real> * GetPoints() const { return m_points;}
//! Sets the triangles of the input mesh.
//! @param triangles points pointer to the input points
void SetTriangles(Vec3<long> * triangles) { m_triangles = triangles;}
//! Gives the triangles in the input mesh
//! @return pointer to the input triangles
const Vec3<long> * GetTriangles() const { return m_triangles;}
//! Sets the number of points in the input mesh.
//! @param nPoints number of points the input mesh
void SetNPoints(size_t nPoints) { m_nPoints = nPoints;}
//! Gives the number of points in the input mesh.
//! @return number of points the input mesh
const size_t GetNPoints() const { return m_nPoints;}
//! Sets the number of triangles in the input mesh.
//! @param nTriangles number of triangles in the input mesh
void SetNTriangles(size_t nTriangles) { m_nTriangles = nTriangles;}
//! Gives the number of triangles in the input mesh.
//! @return number of triangles the input mesh
const size_t GetNTriangles() const { return m_nTriangles;}
//! Sets the minimum number of clusters to be generated.
//! @param nClusters minimum number of clusters
void SetNClusters(size_t nClusters) { m_nMinClusters = nClusters;}
//! Gives the number of generated clusters.
//! @return number of generated clusters
const size_t GetNClusters() const { return m_nClusters;}
//! Sets the maximum allowed concavity.
//! @param concavity maximum concavity
void SetConcavity(double concavity) { m_concavity = concavity;}
//! Gives the maximum allowed concavity.
//! @return maximum concavity
double GetConcavity() const { return m_concavity;}
//! Sets the maximum allowed distance to get CCs connected.
//! @param concavity maximum distance to get CCs connected
void SetConnectDist(double ccConnectDist) { m_ccConnectDist = ccConnectDist;}
//! Gives the maximum allowed distance to get CCs connected.
//! @return maximum distance to get CCs connected
double GetConnectDist() const { return m_ccConnectDist;}
//! Sets the volume weight.
//! @param beta volume weight
void SetVolumeWeight(double beta) { m_beta = beta;}
//! Gives the volume weight.
//! @return volume weight
double GetVolumeWeight() const { return m_beta;}
//! Sets the compacity weight (i.e. parameter alpha in ftp://ftp.elet.polimi.it/users/Stefano.Tubaro/ICIP_USB_Proceedings_v2/pdfs/0003501.pdf).
//! @param alpha compacity weight
void SetCompacityWeight(double alpha) { m_alpha = alpha;}
//! Gives the compacity weight (i.e. parameter alpha in ftp://ftp.elet.polimi.it/users/Stefano.Tubaro/ICIP_USB_Proceedings_v2/pdfs/0003501.pdf).
//! @return compacity weight
double GetCompacityWeight() const { return m_alpha;}
//! Sets the maximum number of vertices for each generated convex-hull.
//! @param nVerticesPerCH maximum # vertices per CH
void SetNVerticesPerCH(size_t nVerticesPerCH) { m_nVerticesPerCH = nVerticesPerCH;}
//! Gives the maximum number of vertices for each generated convex-hull.
//! @return maximum # vertices per CH
const size_t GetNVerticesPerCH() const { return m_nVerticesPerCH;}
//! Gives the number of vertices for the cluster number numCH.
//! @return number of vertices
size_t GetNPointsCH(size_t numCH) const;
//! Gives the number of triangles for the cluster number numCH.
//! @param numCH cluster's number
//! @return number of triangles
size_t GetNTrianglesCH(size_t numCH) const;
//! Gives the vertices and the triangles of the cluster number numCH.
//! @param numCH cluster's number
//! @param points pointer to the vector of points to be filled
//! @param triangles pointer to the vector of triangles to be filled
//! @return true if sucess
bool GetCH(size_t numCH, Vec3<Real> * const points, Vec3<long> * const triangles);
//! Computes the HACD decomposition.
//! @param fullCH specifies whether to generate convex-hulls with a full or limited (i.e. < m_nVerticesPerCH) number of vertices
//! @param exportDistPoints specifies wheter distance points should ne exported or not (used only for debugging).
//! @return true if sucess
bool Compute(bool fullCH=false, bool exportDistPoints=false);
//! Saves the generated convex-hulls in a VRML 2.0 file.
//! @param fileName the output file name
//! @param uniColor specifies whether the different convex-hulls should have the same color or not
//! @param numCluster specifies the cluster to be saved, if numCluster < 0 export all clusters
//! @return true if sucess
bool Save(const char * fileName, bool uniColor, long numCluster=-1) const;
//! Shifts and scales to the data to have all the coordinates between 0.0 and 1000.0.
void NormalizeData();
//! Inverse the operations applied by NormalizeData().
void DenormalizeData();
//! Constructor.
HACD(void);
//! Destructor.
~HACD(void);
private:
//! Gives the edge index.
//! @param a first vertex id
//! @param b second vertex id
//! @return edge's index
static unsigned long long GetEdgeIndex(unsigned long long a, unsigned long long b)
{
if (a > b) return (a << 32) + b;
else return (b << 32) + a;
}
//! Computes the concavity of a cluster.
//! @param ch the cluster's convex-hull
//! @param distPoints the cluster's points
//! @return cluster's concavity
double Concavity(ICHull & ch, std::map<long, DPoint> & distPoints);
//! Computes the perimeter of a cluster.
//! @param triIndices the cluster's triangles
//! @param distPoints the cluster's points
//! @return cluster's perimeter
double ComputePerimeter(const std::vector<long> & triIndices) const;
//! Creates the Graph by associating to each mesh triangle a vertex in the graph and to each couple of adjacent triangles an edge in the graph.
void CreateGraph();
//! Initializes the graph costs and computes the vertices normals
void InitializeDualGraph();
//! Computes the cost of an edge
//! @param e edge's id
void ComputeEdgeCost(size_t e);
//! Initializes the priority queue
//! @param fast specifies whether fast mode is used
//! @return true if success
bool InitializePriorityQueue();
//! Cleans the intersection between convex-hulls
void CleanClusters();
//! Computes convex-hulls from partition information
//! @param fullCH specifies whether to generate convex-hulls with a full or limited (i.e. < m_nVerticesPerCH) number of vertices
void ComputeConvexHulls(bool fullCH);
//! Simplifies the graph
//! @param fast specifies whether fast mode is used
void Simplify();
private:
double m_scale; //>! scale factor used for NormalizeData() and DenormalizeData()
Vec3<long> * m_triangles; //>! pointer the triangles array
Vec3<Real> * m_points; //>! pointer the points array
Vec3<Real> * m_facePoints; //>! pointer to the faces points array
Vec3<Real> * m_faceNormals; //>! pointer to the faces normals array
Vec3<Real> * m_normals; //>! pointer the normals array
size_t m_nTriangles; //>! number of triangles in the original mesh
size_t m_nPoints; //>! number of vertices in the original mesh
size_t m_nClusters; //>! number of clusters
size_t m_nMinClusters; //>! minimum number of clusters
double m_ccConnectDist; //>! maximum allowed distance to connect CCs
double m_concavity; //>! maximum concavity
double m_alpha; //>! compacity weigth
double m_beta; //>! volume weigth
double m_diag; //>! length of the BB diagonal
Vec3<Real> m_barycenter; //>! barycenter of the mesh
std::vector< long > m_cVertices; //>! array of vertices each belonging to a different cluster
ICHull * m_convexHulls; //>! convex-hulls associated with the final HACD clusters
Graph m_graph; //>! simplification graph
size_t m_nVerticesPerCH; //>! maximum number of vertices per convex-hull
reservable_priority_queue<GraphEdgePriorityQueue,
std::vector<GraphEdgePriorityQueue>,
std::greater<std::vector<GraphEdgePriorityQueue>::value_type> > m_pqueue; //!> priority queue
HACD(const HACD & rhs);
CallBackFunction m_callBack; //>! call-back function
long * m_partition; //>! array of size m_nTriangles where the i-th element specifies the cluster to which belong the i-th triangle
bool m_addFacesPoints; //>! specifies whether to add faces points or not
bool m_addExtraDistPoints; //>! specifies whether to add extra points for concave shapes or not
bool m_addNeighboursDistPoints; //>! specifies whether to add extra points from adjacent clusters or not
};
}
#endif

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/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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.
3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
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.
*/
#pragma once
#ifndef HACD_ICHULL_H
#define HACD_ICHULL_H
#include "hacdVersion.h"
#include "hacdManifoldMesh.h"
#include "hacdVector.h"
#include <vector>
#include <map>
namespace HACD
{
class DPoint;
class HACD;
//! Incremental Convex Hull algorithm (cf. http://maven.smith.edu/~orourke/books/ftp.html ).
enum ICHullError
{
ICHullErrorOK = 0,
ICHullErrorCoplanarPoints,
ICHullErrorNoVolume,
ICHullErrorInconsistent,
ICHullErrorNotEnoughPoints
};
class ICHull
{
public:
//!
bool IsFlat() { return m_isFlat;}
//!
std::map<long, DPoint> * GetDistPoints() const { return m_distPoints;}
//!
void SetDistPoints(std::map<long, DPoint> * distPoints) { m_distPoints = distPoints;}
//! Returns the computed mesh
TMMesh & GetMesh() { return m_mesh;}
//! Add one point to the convex-hull
bool AddPoint(const Vec3<Real> & point) {return AddPoints(&point, 1);}
//! Add one point to the convex-hull
bool AddPoint(const Vec3<Real> & point, long id);
//! Add points to the convex-hull
bool AddPoints(const Vec3<Real> * points, size_t nPoints);
bool AddPoints(std::vector< Vec3<Real> > points);
//!
ICHullError Process();
//!
ICHullError Process(unsigned long nPointsCH);
//!
double ComputeVolume();
//!
bool IsInside(const Vec3<Real> & pt0);
//!
double ComputeDistance(long name, const Vec3<Real> & pt, const Vec3<Real> & normal, bool & insideHull, bool updateIncidentPoints);
//!
const ICHull & operator=(ICHull & rhs);
//! Constructor
ICHull(void);
//! Destructor
virtual ~ICHull(void) {};
private:
//! DoubleTriangle builds the initial double triangle. It first finds 3 noncollinear points and makes two faces out of them, in opposite order. It then finds a fourth point that is not coplanar with that face. The vertices are stored in the face structure in counterclockwise order so that the volume between the face and the point is negative. Lastly, the 3 newfaces to the fourth point are constructed and the data structures are cleaned up.
ICHullError DoubleTriangle();
//! MakeFace creates a new face structure from three vertices (in ccw order). It returns a pointer to the face.
CircularListElement<TMMTriangle> * MakeFace(CircularListElement<TMMVertex> * v0,
CircularListElement<TMMVertex> * v1,
CircularListElement<TMMVertex> * v2,
CircularListElement<TMMTriangle> * fold);
//!
CircularListElement<TMMTriangle> * MakeConeFace(CircularListElement<TMMEdge> * e, CircularListElement<TMMVertex> * v);
//!
bool ProcessPoint();
//!
bool ComputePointVolume(double &totalVolume, bool markVisibleFaces);
//!
bool FindMaxVolumePoint();
//!
bool CleanEdges();
//!
bool CleanVertices(unsigned long & addedPoints);
//!
bool CleanTriangles();
//!
bool CleanUp(unsigned long & addedPoints);
//!
bool MakeCCW(CircularListElement<TMMTriangle> * f,
CircularListElement<TMMEdge> * e,
CircularListElement<TMMVertex> * v);
void Clear();
private:
static const long sc_dummyIndex;
static const double sc_distMin;
TMMesh m_mesh;
std::vector<CircularListElement<TMMEdge> *> m_edgesToDelete;
std::vector<CircularListElement<TMMEdge> *> m_edgesToUpdate;
std::vector<CircularListElement<TMMTriangle> *> m_trianglesToDelete;
std::map<long, DPoint> * m_distPoints;
CircularListElement<TMMVertex> * m_dummyVertex;
Vec3<Real> m_normal;
bool m_isFlat;
ICHull(const ICHull & rhs);
friend class HACD;
};
}
#endif

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/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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.
3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
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.
*/
#include "hacdManifoldMesh.h"
using namespace std;
namespace HACD
{
Material::Material(void)
{
m_diffuseColor.X() = 0.5;
m_diffuseColor.Y() = 0.5;
m_diffuseColor.Z() = 0.5;
m_specularColor.X() = 0.5;
m_specularColor.Y() = 0.5;
m_specularColor.Z() = 0.5;
m_ambientIntensity = 0.4;
m_emissiveColor.X() = 0.0;
m_emissiveColor.Y() = 0.0;
m_emissiveColor.Z() = 0.0;
m_shininess = 0.4;
m_transparency = 0.0;
}
TMMVertex::TMMVertex(void)
{
m_name = 0;
m_id = 0;
m_duplicate = 0;
m_onHull = false;
m_tag = false;
}
TMMVertex::~TMMVertex(void)
{
}
TMMEdge::TMMEdge(void)
{
m_id = 0;
m_triangles[0] = m_triangles[1] = m_newFace = 0;
m_vertices[0] = m_vertices[1] = 0;
}
TMMEdge::~TMMEdge(void)
{
}
TMMTriangle::TMMTriangle(void)
{
m_id = 0;
for(int i = 0; i < 3; i++)
{
m_edges[i] = 0;
m_vertices[0] = 0;
}
m_visible = false;
}
TMMTriangle::~TMMTriangle(void)
{
}
TMMesh::TMMesh(void)
{
m_barycenter = Vec3<Real>(0,0,0);
m_diag = 1;
}
TMMesh::~TMMesh(void)
{
}
void TMMesh::Print()
{
size_t nV = m_vertices.GetSize();
std::cout << "-----------------------------" << std::endl;
std::cout << "vertices (" << nV << ")" << std::endl;
for(size_t v = 0; v < nV; v++)
{
const TMMVertex & currentVertex = m_vertices.GetData();
std::cout << currentVertex.m_id << ", "
<< currentVertex.m_pos.X() << ", "
<< currentVertex.m_pos.Y() << ", "
<< currentVertex.m_pos.Z() << std::endl;
m_vertices.Next();
}
size_t nE = m_edges.GetSize();
std::cout << "edges (" << nE << ")" << std::endl;
for(size_t e = 0; e < nE; e++)
{
const TMMEdge & currentEdge = m_edges.GetData();
const CircularListElement<TMMVertex> * v0 = currentEdge.m_vertices[0];
const CircularListElement<TMMVertex> * v1 = currentEdge.m_vertices[1];
const CircularListElement<TMMTriangle> * f0 = currentEdge.m_triangles[0];
const CircularListElement<TMMTriangle> * f1 = currentEdge.m_triangles[1];
std::cout << "-> (" << v0->GetData().m_name << ", " << v1->GetData().m_name << ")" << std::endl;
std::cout << "-> F0 (" << f0->GetData().m_vertices[0]->GetData().m_name << ", "
<< f0->GetData().m_vertices[1]->GetData().m_name << ", "
<< f0->GetData().m_vertices[2]->GetData().m_name <<")" << std::endl;
std::cout << "-> F1 (" << f1->GetData().m_vertices[0]->GetData().m_name << ", "
<< f1->GetData().m_vertices[1]->GetData().m_name << ", "
<< f1->GetData().m_vertices[2]->GetData().m_name << ")" << std::endl;
m_edges.Next();
}
size_t nT = m_triangles.GetSize();
std::cout << "triangles (" << nT << ")" << std::endl;
for(size_t t = 0; t < nT; t++)
{
const TMMTriangle & currentTriangle = m_triangles.GetData();
const CircularListElement<TMMVertex> * v0 = currentTriangle.m_vertices[0];
const CircularListElement<TMMVertex> * v1 = currentTriangle.m_vertices[1];
const CircularListElement<TMMVertex> * v2 = currentTriangle.m_vertices[2];
const CircularListElement<TMMEdge> * e0 = currentTriangle.m_edges[0];
const CircularListElement<TMMEdge> * e1 = currentTriangle.m_edges[1];
const CircularListElement<TMMEdge> * e2 = currentTriangle.m_edges[2];
std::cout << "-> (" << v0->GetData().m_name << ", " << v1->GetData().m_name << ", "<< v2->GetData().m_name << ")" << std::endl;
std::cout << "-> E0 (" << e0->GetData().m_vertices[0]->GetData().m_name << ", "
<< e0->GetData().m_vertices[1]->GetData().m_name << ")" << std::endl;
std::cout << "-> E1 (" << e1->GetData().m_vertices[0]->GetData().m_name << ", "
<< e1->GetData().m_vertices[1]->GetData().m_name << ")" << std::endl;
std::cout << "-> E2 (" << e2->GetData().m_vertices[0]->GetData().m_name << ", "
<< e2->GetData().m_vertices[1]->GetData().m_name << ")" << std::endl;
m_triangles.Next();
}
}
bool TMMesh::Save(const char *fileName)
{
std::ofstream fout(fileName);
std::cout << "Saving " << fileName << std::endl;
if (SaveVRML2(fout))
{
fout.close();
return true;
}
return false;
}
bool TMMesh::SaveVRML2(std::ofstream &fout)
{
return SaveVRML2(fout, Material());
}
bool TMMesh::SaveVRML2(std::ofstream &fout, const Material & material)
{
if (fout.is_open())
{
size_t nV = m_vertices.GetSize();
size_t nT = m_triangles.GetSize();
fout <<"#VRML V2.0 utf8" << std::endl;
fout <<"" << std::endl;
fout <<"# Vertices: " << nV << std::endl;
fout <<"# Triangles: " << nT << std::endl;
fout <<"" << std::endl;
fout <<"Group {" << std::endl;
fout <<" children [" << std::endl;
fout <<" Shape {" << std::endl;
fout <<" appearance Appearance {" << std::endl;
fout <<" material Material {" << std::endl;
fout <<" diffuseColor " << material.m_diffuseColor.X() << " "
<< material.m_diffuseColor.Y() << " "
<< material.m_diffuseColor.Z() << std::endl;
fout <<" ambientIntensity " << material.m_ambientIntensity << std::endl;
fout <<" specularColor " << material.m_specularColor.X() << " "
<< material.m_specularColor.Y() << " "
<< material.m_specularColor.Z() << std::endl;
fout <<" emissiveColor " << material.m_emissiveColor.X() << " "
<< material.m_emissiveColor.Y() << " "
<< material.m_emissiveColor.Z() << std::endl;
fout <<" shininess " << material.m_shininess << std::endl;
fout <<" transparency " << material.m_transparency << std::endl;
fout <<" }" << std::endl;
fout <<" }" << std::endl;
fout <<" geometry IndexedFaceSet {" << std::endl;
fout <<" ccw TRUE" << std::endl;
fout <<" solid TRUE" << std::endl;
fout <<" convex TRUE" << std::endl;
if (GetNVertices() > 0) {
fout <<" coord DEF co Coordinate {" << std::endl;
fout <<" point [" << std::endl;
for(size_t v = 0; v < nV; v++)
{
TMMVertex & currentVertex = m_vertices.GetData();
fout <<" " << currentVertex.m_pos.X() << " "
<< currentVertex.m_pos.Y() << " "
<< currentVertex.m_pos.Z() << "," << std::endl;
currentVertex.m_id = v;
m_vertices.Next();
}
fout <<" ]" << std::endl;
fout <<" }" << std::endl;
}
if (GetNTriangles() > 0) {
fout <<" coordIndex [ " << std::endl;
for(size_t f = 0; f < nT; f++)
{
TMMTriangle & currentTriangle = m_triangles.GetData();
fout <<" " << currentTriangle.m_vertices[0]->GetData().m_id << ", "
<< currentTriangle.m_vertices[1]->GetData().m_id << ", "
<< currentTriangle.m_vertices[2]->GetData().m_id << ", -1," << std::endl;
m_triangles.Next();
}
fout <<" ]" << std::endl;
}
fout <<" }" << std::endl;
fout <<" }" << std::endl;
fout <<" ]" << std::endl;
fout <<"}" << std::endl;
}
return true;
}
void TMMesh::GetIFS(Vec3<Real> * const points, Vec3<long> * const triangles)
{
size_t nV = m_vertices.GetSize();
size_t nT = m_triangles.GetSize();
for(size_t v = 0; v < nV; v++)
{
points[v] = m_vertices.GetData().m_pos;
m_vertices.GetData().m_id = v;
m_vertices.Next();
}
for(size_t f = 0; f < nT; f++)
{
TMMTriangle & currentTriangle = m_triangles.GetData();
triangles[f].X() = static_cast<long>(currentTriangle.m_vertices[0]->GetData().m_id);
triangles[f].Y() = static_cast<long>(currentTriangle.m_vertices[1]->GetData().m_id);
triangles[f].Z() = static_cast<long>(currentTriangle.m_vertices[2]->GetData().m_id);
m_triangles.Next();
}
}
void TMMesh::Clear()
{
m_vertices.Clear();
m_edges.Clear();
m_triangles.Clear();
}
void TMMesh::Copy(TMMesh & mesh)
{
Clear();
// updating the id's
size_t nV = mesh.m_vertices.GetSize();
size_t nE = mesh. m_edges.GetSize();
size_t nT = mesh.m_triangles.GetSize();
for(size_t v = 0; v < nV; v++)
{
mesh.m_vertices.GetData().m_id = v;
mesh.m_vertices.Next();
}
for(size_t e = 0; e < nE; e++)
{
mesh.m_edges.GetData().m_id = e;
mesh.m_edges.Next();
}
for(size_t f = 0; f < nT; f++)
{
mesh.m_triangles.GetData().m_id = f;
mesh.m_triangles.Next();
}
// copying data
m_vertices = mesh.m_vertices;
m_edges = mesh.m_edges;
m_triangles = mesh.m_triangles;
// generating mapping
CircularListElement<TMMVertex> ** vertexMap = new CircularListElement<TMMVertex> * [nV];
CircularListElement<TMMEdge> ** edgeMap = new CircularListElement<TMMEdge> * [nE];
CircularListElement<TMMTriangle> ** triangleMap = new CircularListElement<TMMTriangle> * [nT];
for(size_t v = 0; v < nV; v++)
{
vertexMap[v] = m_vertices.GetHead();
m_vertices.Next();
}
for(size_t e = 0; e < nE; e++)
{
edgeMap[e] = m_edges.GetHead();
m_edges.Next();
}
for(size_t f = 0; f < nT; f++)
{
triangleMap[f] = m_triangles.GetHead();
m_triangles.Next();
}
// updating pointers
for(size_t v = 0; v < nV; v++)
{
if (vertexMap[v]->GetData().m_duplicate)
{
vertexMap[v]->GetData().m_duplicate = edgeMap[vertexMap[v]->GetData().m_duplicate->GetData().m_id];
}
}
for(size_t e = 0; e < nE; e++)
{
if (edgeMap[e]->GetData().m_newFace)
{
edgeMap[e]->GetData().m_newFace = triangleMap[edgeMap[e]->GetData().m_newFace->GetData().m_id];
}
if (nT > 0)
{
for(int f = 0; f < 2; f++)
{
if (edgeMap[e]->GetData().m_triangles[f])
{
edgeMap[e]->GetData().m_triangles[f] = triangleMap[edgeMap[e]->GetData().m_triangles[f]->GetData().m_id];
}
}
}
for(int v = 0; v < 2; v++)
{
if (edgeMap[e]->GetData().m_vertices[v])
{
edgeMap[e]->GetData().m_vertices[v] = vertexMap[edgeMap[e]->GetData().m_vertices[v]->GetData().m_id];
}
}
}
for(size_t f = 0; f < nT; f++)
{
if (nE > 0)
{
for(int e = 0; e < 3; e++)
{
if (triangleMap[f]->GetData().m_edges[e])
{
triangleMap[f]->GetData().m_edges[e] = edgeMap[triangleMap[f]->GetData().m_edges[e]->GetData().m_id];
}
}
}
for(int v = 0; v < 3; v++)
{
if (triangleMap[f]->GetData().m_vertices[v])
{
triangleMap[f]->GetData().m_vertices[v] = vertexMap[triangleMap[f]->GetData().m_vertices[v]->GetData().m_id];
}
}
}
delete [] vertexMap;
delete [] edgeMap;
delete [] triangleMap;
}
long IntersectRayTriangle(const Vec3<double> & P0, const Vec3<double> & dir,
const Vec3<double> & V0, const Vec3<double> & V1,
const Vec3<double> & V2, double &t)
{
Vec3<double> edge1, edge2, edge3;
double det, invDet;
edge1 = V1 - V2;
edge2 = V2 - V0;
Vec3<double> pvec = dir ^ edge2;
det = edge1 * pvec;
if (det == 0.0)
return 0;
invDet = 1.0/det;
Vec3<double> tvec = P0 - V0;
Vec3<double> qvec = tvec ^ edge1;
t = (edge2 * qvec) * invDet;
if (t < 0.0)
{
return 0;
}
edge3 = V0 - V1;
Vec3<double> I(P0 + t * dir);
Vec3<double> s0 = (I-V0) ^ edge3;
Vec3<double> s1 = (I-V1) ^ edge1;
Vec3<double> s2 = (I-V2) ^ edge2;
if (s0*s1 > -1e-9 && s2*s1 > -1e-9)
{
return 1;
}
return 0;
}
bool IntersectLineLine(const Vec3<double> & p1, const Vec3<double> & p2,
const Vec3<double> & p3, const Vec3<double> & p4,
Vec3<double> & pa, Vec3<double> & pb,
double & mua, double & mub)
{
Vec3<double> p13,p43,p21;
double d1343,d4321,d1321,d4343,d2121;
double numer,denom;
p13.X() = p1.X() - p3.X();
p13.Y() = p1.Y() - p3.Y();
p13.Z() = p1.Z() - p3.Z();
p43.X() = p4.X() - p3.X();
p43.Y() = p4.Y() - p3.Y();
p43.Z() = p4.Z() - p3.Z();
if (p43.X()==0.0 && p43.Y()==0.0 && p43.Z()==0.0)
return false;
p21.X() = p2.X() - p1.X();
p21.Y() = p2.Y() - p1.Y();
p21.Z() = p2.Z() - p1.Z();
if (p21.X()==0.0 && p21.Y()==0.0 && p21.Z()==0.0)
return false;
d1343 = p13.X() * p43.X() + p13.Y() * p43.Y() + p13.Z() * p43.Z();
d4321 = p43.X() * p21.X() + p43.Y() * p21.Y() + p43.Z() * p21.Z();
d1321 = p13.X() * p21.X() + p13.Y() * p21.Y() + p13.Z() * p21.Z();
d4343 = p43.X() * p43.X() + p43.Y() * p43.Y() + p43.Z() * p43.Z();
d2121 = p21.X() * p21.X() + p21.Y() * p21.Y() + p21.Z() * p21.Z();
denom = d2121 * d4343 - d4321 * d4321;
if (denom==0.0)
return false;
numer = d1343 * d4321 - d1321 * d4343;
mua = numer / denom;
mub = (d1343 + d4321 * (mua)) / d4343;
pa.X() = p1.X() + mua * p21.X();
pa.Y() = p1.Y() + mua * p21.Y();
pa.Z() = p1.Z() + mua * p21.Z();
pb.X() = p3.X() + mub * p43.X();
pb.Y() = p3.Y() + mub * p43.Y();
pb.Z() = p3.Z() + mub * p43.Z();
return true;
}
long IntersectRayTriangle2(const Vec3<double> & P0, const Vec3<double> & dir,
const Vec3<double> & V0, const Vec3<double> & V1,
const Vec3<double> & V2, double &r)
{
Vec3<double> u, v, n; // triangle vectors
Vec3<double> w0, w; // ray vectors
double a, b; // params to calc ray-plane intersect
// get triangle edge vectors and plane normal
u = V1 - V0;
v = V2 - V0;
n = u ^ v; // cross product
if (n.GetNorm() == 0.0) // triangle is degenerate
return -1; // do not deal with this case
w0 = P0 - V0;
a = - n * w0;
b = n * dir;
if (fabs(b) <= 0.0) { // ray is parallel to triangle plane
if (a == 0.0) // ray lies in triangle plane
return 2;
else return 0; // ray disjoint from plane
}
// get intersect point of ray with triangle plane
r = a / b;
if (r < 0.0) // ray goes away from triangle
return 0; // => no intersect
// for a segment, also test if (r > 1.0) => no intersect
Vec3<double> I = P0 + r * dir; // intersect point of ray and plane
// is I inside T?
double uu, uv, vv, wu, wv, D;
uu = u * u;
uv = u * v;
vv = v * v;
w = I - V0;
wu = w * u;
wv = w * v;
D = uv * uv - uu * vv;
// get and test parametric coords
double s, t;
s = (uv * wv - vv * wu) / D;
if (s < 0.0 || s > 1.0) // I is outside T
return 0;
t = (uv * wu - uu * wv) / D;
if (t < 0.0 || (s + t) > 1.0) // I is outside T
return 0;
return 1; // I is in T
}
bool TMMesh::CheckConsistancy()
{
size_t nE = m_edges.GetSize();
size_t nT = m_triangles.GetSize();
for(size_t e = 0; e < nE; e++)
{
for(int f = 0; f < 2; f++)
{
if (!m_edges.GetHead()->GetData().m_triangles[f])
{
return false;
}
}
m_edges.Next();
}
for(size_t f = 0; f < nT; f++)
{
for(int e = 0; e < 3; e++)
{
int found = 0;
for(int k = 0; k < 2; k++)
{
if (m_triangles.GetHead()->GetData().m_edges[e]->GetData().m_triangles[k] == m_triangles.GetHead())
{
found++;
}
}
if (found != 1)
{
return false;
}
}
m_triangles.Next();
}
return true;
}
bool TMMesh::Normalize()
{
size_t nV = m_vertices.GetSize();
if (nV == 0)
{
return false;
}
m_barycenter = m_vertices.GetHead()->GetData().m_pos;
Vec3<Real> min = m_barycenter;
Vec3<Real> max = m_barycenter;
Real x, y, z;
for(size_t v = 1; v < nV; v++)
{
m_barycenter += m_vertices.GetHead()->GetData().m_pos;
x = m_vertices.GetHead()->GetData().m_pos.X();
y = m_vertices.GetHead()->GetData().m_pos.Y();
z = m_vertices.GetHead()->GetData().m_pos.Z();
if ( x < min.X()) min.X() = x;
else if ( x > max.X()) max.X() = x;
if ( y < min.Y()) min.Y() = y;
else if ( y > max.Y()) max.Y() = y;
if ( z < min.Z()) min.Z() = z;
else if ( z > max.Z()) max.Z() = z;
m_vertices.Next();
}
m_barycenter /= static_cast<Real>(nV);
m_diag = static_cast<Real>(0.001 * (max-min).GetNorm());
const Real invDiag = static_cast<Real>(1.0 / m_diag);
if (m_diag != 0.0)
{
for(size_t v = 0; v < nV; v++)
{
m_vertices.GetHead()->GetData().m_pos = (m_vertices.GetHead()->GetData().m_pos - m_barycenter) * invDiag;
m_vertices.Next();
}
}
return true;
}
bool TMMesh::Denormalize()
{
size_t nV = m_vertices.GetSize();
if (nV == 0)
{
return false;
}
if (m_diag != 0.0)
{
for(size_t v = 0; v < nV; v++)
{
m_vertices.GetHead()->GetData().m_pos = m_vertices.GetHead()->GetData().m_pos * m_diag + m_barycenter;
m_vertices.Next();
}
}
return false;
}
}

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/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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.
3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
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.
*/
/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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.
3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
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.
*/
#pragma once
#ifndef HACD_MANIFOLD_MESH_H
#define HACD_MANIFOLD_MESH_H
#include <iostream>
#include <fstream>
#include "hacdVersion.h"
#include "hacdCircularList.h"
#include "hacdVector.h"
#include <set>
namespace HACD
{
class TMMTriangle;
class TMMEdge;
class TMMesh;
class ICHull;
class HACD;
class DPoint
{
public:
DPoint(Real dist=0, bool computed=false, bool distOnly=false)
:m_dist(dist),
m_computed(computed),
m_distOnly(distOnly){};
~DPoint(){};
private:
Real m_dist;
bool m_computed;
bool m_distOnly;
friend class TMMTriangle;
friend class TMMesh;
friend class GraphVertex;
friend class GraphEdge;
friend class Graph;
friend class ICHull;
friend class HACD;
};
//! Vertex data structure used in a triangular manifold mesh (TMM).
class TMMVertex
{
public:
TMMVertex(void);
~TMMVertex(void);
private:
Vec3<Real> m_pos;
long m_name;
size_t m_id;
CircularListElement<TMMEdge> * m_duplicate; // pointer to incident cone edge (or NULL)
bool m_onHull;
bool m_tag;
TMMVertex(const TMMVertex & rhs);
friend class HACD;
friend class ICHull;
friend class TMMesh;
friend class TMMTriangle;
friend class TMMEdge;
};
//! Edge data structure used in a triangular manifold mesh (TMM).
class TMMEdge
{
public:
TMMEdge(void);
~TMMEdge(void);
private:
size_t m_id;
CircularListElement<TMMTriangle> * m_triangles[2];
CircularListElement<TMMVertex> * m_vertices[2];
CircularListElement<TMMTriangle> * m_newFace;
TMMEdge(const TMMEdge & rhs);
friend class HACD;
friend class ICHull;
friend class TMMTriangle;
friend class TMMVertex;
friend class TMMesh;
};
//! Triangle data structure used in a triangular manifold mesh (TMM).
class TMMTriangle
{
public:
TMMTriangle(void);
~TMMTriangle(void);
private:
size_t m_id;
CircularListElement<TMMEdge> * m_edges[3];
CircularListElement<TMMVertex> * m_vertices[3];
std::set<long> m_incidentPoints;
bool m_visible;
TMMTriangle(const TMMTriangle & rhs);
friend class HACD;
friend class ICHull;
friend class TMMesh;
friend class TMMVertex;
friend class TMMEdge;
};
class Material
{
public:
Material(void);
~Material(void){}
// private:
Vec3<double> m_diffuseColor;
double m_ambientIntensity;
Vec3<double> m_specularColor;
Vec3<double> m_emissiveColor;
double m_shininess;
double m_transparency;
friend class TMMesh;
friend class HACD;
};
//! triangular manifold mesh data structure.
class TMMesh
{
public:
//! Returns the number of vertices>
inline size_t GetNVertices() const { return m_vertices.GetSize();}
//! Returns the number of edges
inline size_t GetNEdges() const { return m_edges.GetSize();}
//! Returns the number of triangles
inline size_t GetNTriangles() const { return m_triangles.GetSize();}
//! Returns the vertices circular list
inline const CircularList<TMMVertex> & GetVertices() const { return m_vertices;}
//! Returns the edges circular list
inline const CircularList<TMMEdge> & GetEdges() const { return m_edges;}
//! Returns the triangles circular list
inline const CircularList<TMMTriangle> & GetTriangles() const { return m_triangles;}
//! Returns the vertices circular list
inline CircularList<TMMVertex> & GetVertices() { return m_vertices;}
//! Returns the edges circular list
inline CircularList<TMMEdge> & GetEdges() { return m_edges;}
//! Returns the triangles circular list
inline CircularList<TMMTriangle> & GetTriangles() { return m_triangles;}
//! Add vertex to the mesh
CircularListElement<TMMVertex> * AddVertex() {return m_vertices.Add();}
//! Add vertex to the mesh
CircularListElement<TMMEdge> * AddEdge() {return m_edges.Add();}
//! Add vertex to the mesh
CircularListElement<TMMTriangle> * AddTriangle() {return m_triangles.Add();}
//! Print mesh information
void Print();
//!
void GetIFS(Vec3<Real> * const points, Vec3<long> * const triangles);
//! Save mesh
bool Save(const char *fileName);
//! Save mesh to VRML 2.0 format
bool SaveVRML2(std::ofstream &fout);
//! Save mesh to VRML 2.0 format
bool SaveVRML2(std::ofstream &fout, const Material & material);
//!
void Clear();
//!
void Copy(TMMesh & mesh);
//!
bool CheckConsistancy();
//!
bool Normalize();
//!
bool Denormalize();
//! Constructor
TMMesh(void);
//! Destructor
virtual ~TMMesh(void);
private:
CircularList<TMMVertex> m_vertices;
CircularList<TMMEdge> m_edges;
CircularList<TMMTriangle> m_triangles;
Real m_diag; //>! length of the BB diagonal
Vec3<Real> m_barycenter; //>! barycenter of the mesh
// not defined
TMMesh(const TMMesh & rhs);
friend class ICHull;
friend class HACD;
};
//! IntersectRayTriangle(): intersect a ray with a 3D triangle
//! Input: a ray R, and a triangle T
//! Output: *I = intersection point (when it exists)
//! 0 = disjoint (no intersect)
//! 1 = intersect in unique point I1
long IntersectRayTriangle( const Vec3<double> & P0, const Vec3<double> & dir,
const Vec3<double> & V0, const Vec3<double> & V1,
const Vec3<double> & V2, double &t);
// intersect_RayTriangle(): intersect a ray with a 3D triangle
// Input: a ray R, and a triangle T
// Output: *I = intersection point (when it exists)
// Return: -1 = triangle is degenerate (a segment or point)
// 0 = disjoint (no intersect)
// 1 = intersect in unique point I1
// 2 = are in the same plane
long IntersectRayTriangle2(const Vec3<double> & P0, const Vec3<double> & dir,
const Vec3<double> & V0, const Vec3<double> & V1,
const Vec3<double> & V2, double &r);
/*
Calculate the line segment PaPb that is the shortest route between
two lines P1P2 and P3P4. Calculate also the values of mua and mub where
Pa = P1 + mua (P2 - P1)
Pb = P3 + mub (P4 - P3)
Return FALSE if no solution exists.
*/
bool IntersectLineLine(const Vec3<double> & p1, const Vec3<double> & p2,
const Vec3<double> & p3, const Vec3<double> & p4,
Vec3<double> & pa, Vec3<double> & pb,
double & mua, double &mub);
}
#endif

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/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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.
3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
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.
*/
#pragma once
#ifndef HACD_VECTOR_H
#define HACD_VECTOR_H
#include<math.h>
#include<iostream>
#include "hacdVersion.h"
namespace HACD
{
typedef double Real;
//! Vector dim 3.
template < typename T > class Vec3
{
public:
T & X();
T & Y();
T & Z();
const T & X() const;
const T & Y() const;
const T & Z() const;
void Normalize();
T GetNorm() const;
void operator= (const Vec3 & rhs);
void operator+=(const Vec3 & rhs);
void operator-=(const Vec3 & rhs);
void operator-=(T a);
void operator+=(T a);
void operator/=(T a);
void operator*=(T a);
Vec3 operator^ (const Vec3 & rhs) const;
T operator* (const Vec3 & rhs) const;
Vec3 operator+ (const Vec3 & rhs) const;
Vec3 operator- (const Vec3 & rhs) const;
Vec3 operator- () const;
Vec3 operator* (T rhs) const;
Vec3 operator/ (T rhs) const;
Vec3();
Vec3(T a);
Vec3(T x, T y, T z);
Vec3(const Vec3 & rhs);
/*virtual*/ ~Vec3(void);
private:
T m_data[3];
};
template<typename T>
const bool Colinear(const Vec3<T> & a, const Vec3<T> & b, const Vec3<T> & c);
template<typename T>
const T Volume(const Vec3<T> & a, const Vec3<T> & b, const Vec3<T> & c, const Vec3<T> & d);
}
#include "hacdVector.inl" // template implementation
#endif

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#pragma once
#ifndef HACD_VECTOR_INL
#define HACD_VECTOR_INL
namespace HACD
{
template <typename T>
inline Vec3<T> operator*(T lhs, const Vec3<T> & rhs)
{
return Vec3<T>(lhs * rhs.X(), lhs * rhs.Y(), lhs * rhs.Z());
}
template <typename T>
inline T & Vec3<T>::X()
{
return m_data[0];
}
template <typename T>
inline T & Vec3<T>::Y()
{
return m_data[1];
}
template <typename T>
inline T & Vec3<T>::Z()
{
return m_data[2];
}
template <typename T>
inline const T & Vec3<T>::X() const
{
return m_data[0];
}
template <typename T>
inline const T & Vec3<T>::Y() const
{
return m_data[1];
}
template <typename T>
inline const T & Vec3<T>::Z() const
{
return m_data[2];
}
template <typename T>
inline void Vec3<T>::Normalize()
{
T n = sqrt(m_data[0]*m_data[0]+m_data[1]*m_data[1]+m_data[2]*m_data[2]);
if (n != 0.0) (*this) /= n;
}
template <typename T>
inline T Vec3<T>::GetNorm() const
{
return sqrt(m_data[0]*m_data[0]+m_data[1]*m_data[1]+m_data[2]*m_data[2]);
}
template <typename T>
inline void Vec3<T>::operator= (const Vec3 & rhs)
{
this->m_data[0] = rhs.m_data[0];
this->m_data[1] = rhs.m_data[1];
this->m_data[2] = rhs.m_data[2];
}
template <typename T>
inline void Vec3<T>::operator+=(const Vec3 & rhs)
{
this->m_data[0] += rhs.m_data[0];
this->m_data[1] += rhs.m_data[1];
this->m_data[2] += rhs.m_data[2];
}
template <typename T>
inline void Vec3<T>::operator-=(const Vec3 & rhs)
{
this->m_data[0] -= rhs.m_data[0];
this->m_data[1] -= rhs.m_data[1];
this->m_data[2] -= rhs.m_data[2];
}
template <typename T>
inline void Vec3<T>::operator-=(T a)
{
this->m_data[0] -= a;
this->m_data[1] -= a;
this->m_data[2] -= a;
}
template <typename T>
inline void Vec3<T>::operator+=(T a)
{
this->m_data[0] += a;
this->m_data[1] += a;
this->m_data[2] += a;
}
template <typename T>
inline void Vec3<T>::operator/=(T a)
{
this->m_data[0] /= a;
this->m_data[1] /= a;
this->m_data[2] /= a;
}
template <typename T>
inline void Vec3<T>::operator*=(T a)
{
this->m_data[0] *= a;
this->m_data[1] *= a;
this->m_data[2] *= a;
}
template <typename T>
inline Vec3<T> Vec3<T>::operator^ (const Vec3<T> & rhs) const
{
return Vec3<T>(m_data[1] * rhs.m_data[2] - m_data[2] * rhs.m_data[1],
m_data[2] * rhs.m_data[0] - m_data[0] * rhs.m_data[2],
m_data[0] * rhs.m_data[1] - m_data[1] * rhs.m_data[0]);
}
template <typename T>
inline T Vec3<T>::operator*(const Vec3<T> & rhs) const
{
return (m_data[0] * rhs.m_data[0] + m_data[1] * rhs.m_data[1] + m_data[2] * rhs.m_data[2]);
}
template <typename T>
inline Vec3<T> Vec3<T>::operator+(const Vec3<T> & rhs) const
{
return Vec3<T>(m_data[0] + rhs.m_data[0],m_data[1] + rhs.m_data[1],m_data[2] + rhs.m_data[2]);
}
template <typename T>
inline Vec3<T> Vec3<T>::operator-(const Vec3<T> & rhs) const
{
return Vec3<T>(m_data[0] - rhs.m_data[0],m_data[1] - rhs.m_data[1],m_data[2] - rhs.m_data[2]) ;
}
template <typename T>
inline Vec3<T> Vec3<T>::operator-() const
{
return Vec3<T>(-m_data[0],-m_data[1],-m_data[2]) ;
}
template <typename T>
inline Vec3<T> Vec3<T>::operator*(T rhs) const
{
return Vec3<T>(rhs * this->m_data[0], rhs * this->m_data[1], rhs * this->m_data[2]);
}
template <typename T>
inline Vec3<T> Vec3<T>::operator/ (T rhs) const
{
return Vec3<T>(m_data[0] / rhs, m_data[1] / rhs, m_data[2] / rhs);
}
template <typename T>
inline Vec3<T>::Vec3(T a)
{
m_data[0] = m_data[1] = m_data[2] = a;
}
template <typename T>
inline Vec3<T>::Vec3(T x, T y, T z)
{
m_data[0] = x;
m_data[1] = y;
m_data[2] = z;
}
template <typename T>
inline Vec3<T>::Vec3(const Vec3 & rhs)
{
m_data[0] = rhs.m_data[0];
m_data[1] = rhs.m_data[1];
m_data[2] = rhs.m_data[2];
}
template <typename T>
inline Vec3<T>::~Vec3(void){};
template <typename T>
inline Vec3<T>::Vec3() {}
template<typename T>
inline const bool Colinear(const Vec3<T> & a, const Vec3<T> & b, const Vec3<T> & c)
{
return ((c.Z() - a.Z()) * (b.Y() - a.Y()) - (b.Z() - a.Z()) * (c.Y() - a.Y()) == 0.0 /*EPS*/) &&
((b.Z() - a.Z()) * (c.X() - a.X()) - (b.X() - a.X()) * (c.Z() - a.Z()) == 0.0 /*EPS*/) &&
((b.X() - a.X()) * (c.Y() - a.Y()) - (b.Y() - a.Y()) * (c.X() - a.X()) == 0.0 /*EPS*/);
}
template<typename T>
inline const T Volume(const Vec3<T> & a, const Vec3<T> & b, const Vec3<T> & c, const Vec3<T> & d)
{
return (a-d) * ((b-d) ^ (c-d));
}
}
#endif //HACD_VECTOR_INL

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/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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.
3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
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.
*/
#pragma once
#ifndef HACD_VERSION_H
#define HACD_VERSION_H
#define HACD_VERSION_MAJOR 0
#define HACD_VERSION_MINOR 0
#endif

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project "HACD"
kind "StaticLib"
targetdir "../../lib"
includedirs {"."}
files {
"**.cpp",
"**.h"
}