From 1800c2639dc293230300b8bb47daa9c045a07f85 Mon Sep 17 00:00:00 2001 From: Dorian Wouters Date: Sun, 1 Oct 2017 12:20:02 +0200 Subject: [PATCH] Update from upstream 3999e29c0aaadec3c32ca9c526d2c5b5a1bf5e8b --- CMakeLists.txt | 1 + inc/FloatMath.h | 525 ++++ inc/btAlignedAllocator.h | 8 +- inc/btAlignedObjectArray.h | 45 +- inc/btConvexHullComputer.h | 128 +- inc/btScalar.h | 311 +- inc/btVector3.h | 828 +++++- inc/vhacdCircularList.h | 107 +- inc/vhacdICHull.h | 152 +- inc/vhacdManifoldMesh.h | 235 +- inc/vhacdMesh.h | 192 +- inc/vhacdMutex.h | 95 +- inc/vhacdRaycastMesh.h | 39 + inc/vhacdSArray.h | 268 +- inc/vhacdTimer.h | 160 +- inc/vhacdVHACD.h | 634 ++-- inc/vhacdVector.h | 221 +- inc/vhacdVolume.h | 803 +++--- public/VHACD.h | 272 +- src/FloatMath.cpp | 17 + src/FloatMath.inl | 5276 ++++++++++++++++++++++++++++++++++ src/VHACD-ASYNC.cpp | 334 +++ src/VHACD.cpp | 2482 ++++++++-------- src/btAlignedAllocator.cpp | 225 +- src/btConvexHullComputer.cpp | 4664 ++++++++++++++---------------- src/vhacdICHull.cpp | 1376 +++++---- src/vhacdManifoldMesh.cpp | 351 +-- src/vhacdMesh.cpp | 614 ++-- src/vhacdRaycastMesh.cpp | 208 ++ src/vhacdVolume.cpp | 2938 +++++++++---------- 30 files changed, 15132 insertions(+), 8377 deletions(-) create mode 100644 inc/FloatMath.h create mode 100644 inc/vhacdRaycastMesh.h create mode 100644 src/FloatMath.cpp create mode 100644 src/FloatMath.inl create mode 100644 src/VHACD-ASYNC.cpp create mode 100644 src/vhacdRaycastMesh.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index 0f07d35..f022d56 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,4 +1,5 @@ project(VHACD_LIB CXX C) +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") if (NOT NO_OPENCL) find_package(OpenCL REQUIRED) diff --git a/inc/FloatMath.h b/inc/FloatMath.h new file mode 100644 index 0000000..37b07cb --- /dev/null +++ b/inc/FloatMath.h @@ -0,0 +1,525 @@ +#ifndef FLOAT_MATH_LIB_H + +#define FLOAT_MATH_LIB_H + + +#include +#include + +namespace FLOAT_MATH +{ + +enum FM_ClipState +{ + FMCS_XMIN = (1<<0), + FMCS_XMAX = (1<<1), + FMCS_YMIN = (1<<2), + FMCS_YMAX = (1<<3), + FMCS_ZMIN = (1<<4), + FMCS_ZMAX = (1<<5), +}; + +enum FM_Axis +{ + FM_XAXIS = (1<<0), + FM_YAXIS = (1<<1), + FM_ZAXIS = (1<<2) +}; + +enum LineSegmentType +{ + LS_START, + LS_MIDDLE, + LS_END +}; + + +const float FM_PI = 3.1415926535897932384626433832795028841971693993751f; +const float FM_DEG_TO_RAD = ((2.0f * FM_PI) / 360.0f); +const float FM_RAD_TO_DEG = (360.0f / (2.0f * FM_PI)); + +//***************** Float versions +//*** +//*** vectors are assumed to be 3 floats or 3 doubles representing X, Y, Z +//*** quaternions are assumed to be 4 floats or 4 doubles representing X,Y,Z,W +//*** matrices are assumed to be 16 floats or 16 doubles representing a standard D3D or OpenGL style 4x4 matrix +//*** bounding volumes are expressed as two sets of 3 floats/double representing bmin(x,y,z) and bmax(x,y,z) +//*** Plane equations are assumed to be 4 floats or 4 doubles representing Ax,By,Cz,D + +FM_Axis fm_getDominantAxis(const float normal[3]); +FM_Axis fm_getDominantAxis(const double normal[3]); + +void fm_decomposeTransform(const float local_transform[16],float trans[3],float rot[4],float scale[3]); +void fm_decomposeTransform(const double local_transform[16],double trans[3],double rot[4],double scale[3]); + +void fm_multiplyTransform(const float *pA,const float *pB,float *pM); +void fm_multiplyTransform(const double *pA,const double *pB,double *pM); + +void fm_inverseTransform(const float matrix[16],float inverse_matrix[16]); +void fm_inverseTransform(const double matrix[16],double inverse_matrix[16]); + +void fm_identity(float matrix[16]); // set 4x4 matrix to identity. +void fm_identity(double matrix[16]); // set 4x4 matrix to identity. + +void fm_inverseRT(const float matrix[16], const float pos[3], float t[3]); // inverse rotate translate the point. +void fm_inverseRT(const double matrix[16],const double pos[3],double t[3]); // inverse rotate translate the point. + +void fm_transform(const float matrix[16], const float pos[3], float t[3]); // rotate and translate this point. +void fm_transform(const double matrix[16],const double pos[3],double t[3]); // rotate and translate this point. + +float fm_getDeterminant(const float matrix[16]); +double fm_getDeterminant(const double matrix[16]); + +void fm_getSubMatrix(int32_t ki,int32_t kj,float pDst[16],const float matrix[16]); +void fm_getSubMatrix(int32_t ki,int32_t kj,double pDst[16],const float matrix[16]); + +void fm_rotate(const float matrix[16],const float pos[3],float t[3]); // only rotate the point by a 4x4 matrix, don't translate. +void fm_rotate(const double matri[16],const double pos[3],double t[3]); // only rotate the point by a 4x4 matrix, don't translate. + +void fm_eulerToMatrix(float ax,float ay,float az,float matrix[16]); // convert euler (in radians) to a dest 4x4 matrix (translation set to zero) +void fm_eulerToMatrix(double ax,double ay,double az,double matrix[16]); // convert euler (in radians) to a dest 4x4 matrix (translation set to zero) + +void fm_getAABB(uint32_t vcount,const float *points,uint32_t pstride,float bmin[3],float bmax[3]); +void fm_getAABB(uint32_t vcount,const double *points,uint32_t pstride,double bmin[3],double bmax[3]); + +void fm_getAABBCenter(const float bmin[3],const float bmax[3],float center[3]); +void fm_getAABBCenter(const double bmin[3],const double bmax[3],double center[3]); + +void fm_transformAABB(const float bmin[3],const float bmax[3],const float matrix[16],float tbmin[3],float tbmax[3]); +void fm_transformAABB(const double bmin[3],const double bmax[3],const double matrix[16],double tbmin[3],double tbmax[3]); + +void fm_eulerToQuat(float x,float y,float z,float quat[4]); // convert euler angles to quaternion. +void fm_eulerToQuat(double x,double y,double z,double quat[4]); // convert euler angles to quaternion. + +void fm_quatToEuler(const float quat[4],float &ax,float &ay,float &az); +void fm_quatToEuler(const double quat[4],double &ax,double &ay,double &az); + +void fm_eulerToQuat(const float euler[3],float quat[4]); // convert euler angles to quaternion. Angles must be radians not degrees! +void fm_eulerToQuat(const double euler[3],double quat[4]); // convert euler angles to quaternion. + +void fm_scale(float x,float y,float z,float matrix[16]); // apply scale to the matrix. +void fm_scale(double x,double y,double z,double matrix[16]); // apply scale to the matrix. + +void fm_eulerToQuatDX(float x,float y,float z,float quat[4]); // convert euler angles to quaternion using the fucked up DirectX method +void fm_eulerToQuatDX(double x,double y,double z,double quat[4]); // convert euler angles to quaternion using the fucked up DirectX method + +void fm_eulerToMatrixDX(float x,float y,float z,float matrix[16]); // convert euler angles to quaternion using the fucked up DirectX method. +void fm_eulerToMatrixDX(double x,double y,double z,double matrix[16]); // convert euler angles to quaternion using the fucked up DirectX method. + +void fm_quatToMatrix(const float quat[4],float matrix[16]); // convert quaterinion rotation to matrix, translation set to zero. +void fm_quatToMatrix(const double quat[4],double matrix[16]); // convert quaterinion rotation to matrix, translation set to zero. + +void fm_quatRotate(const float quat[4],const float v[3],float r[3]); // rotate a vector directly by a quaternion. +void fm_quatRotate(const double quat[4],const double v[3],double r[3]); // rotate a vector directly by a quaternion. + +void fm_getTranslation(const float matrix[16],float t[3]); +void fm_getTranslation(const double matrix[16],double t[3]); + +void fm_setTranslation(const float *translation,float matrix[16]); +void fm_setTranslation(const double *translation,double matrix[16]); + +void fm_multiplyQuat(const float *qa,const float *qb,float *quat); +void fm_multiplyQuat(const double *qa,const double *qb,double *quat); + +void fm_matrixToQuat(const float matrix[16],float quat[4]); // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w +void fm_matrixToQuat(const double matrix[16],double quat[4]); // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w + +float fm_sphereVolume(float radius); // return's the volume of a sphere of this radius (4/3 PI * R cubed ) +double fm_sphereVolume(double radius); // return's the volume of a sphere of this radius (4/3 PI * R cubed ) + +float fm_cylinderVolume(float radius,float h); +double fm_cylinderVolume(double radius,double h); + +float fm_capsuleVolume(float radius,float h); +double fm_capsuleVolume(double radius,double h); + +float fm_distance(const float p1[3],const float p2[3]); +double fm_distance(const double p1[3],const double p2[3]); + +float fm_distanceSquared(const float p1[3],const float p2[3]); +double fm_distanceSquared(const double p1[3],const double p2[3]); + +float fm_distanceSquaredXZ(const float p1[3],const float p2[3]); +double fm_distanceSquaredXZ(const double p1[3],const double p2[3]); + +float fm_computePlane(const float p1[3],const float p2[3],const float p3[3],float *n); // return D +double fm_computePlane(const double p1[3],const double p2[3],const double p3[3],double *n); // return D + +float fm_distToPlane(const float plane[4],const float pos[3]); // computes the distance of this point from the plane. +double fm_distToPlane(const double plane[4],const double pos[3]); // computes the distance of this point from the plane. + +float fm_dot(const float p1[3],const float p2[3]); +double fm_dot(const double p1[3],const double p2[3]); + +void fm_cross(float cross[3],const float a[3],const float b[3]); +void fm_cross(double cross[3],const double a[3],const double b[3]); + +float fm_computeNormalVector(float n[3],const float p1[3],const float p2[3]); // as P2-P1 normalized. +double fm_computeNormalVector(double n[3],const double p1[3],const double p2[3]); // as P2-P1 normalized. + +bool fm_computeWindingOrder(const float p1[3],const float p2[3],const float p3[3]); // returns true if the triangle is clockwise. +bool fm_computeWindingOrder(const double p1[3],const double p2[3],const double p3[3]); // returns true if the triangle is clockwise. + +float fm_normalize(float n[3]); // normalize this vector and return the distance +double fm_normalize(double n[3]); // normalize this vector and return the distance + +float fm_normalizeQuat(float n[4]); // normalize this quat +double fm_normalizeQuat(double n[4]); // normalize this quat + +void fm_matrixMultiply(const float A[16],const float B[16],float dest[16]); +void fm_matrixMultiply(const double A[16],const double B[16],double dest[16]); + +void fm_composeTransform(const float position[3],const float quat[4],const float scale[3],float matrix[16]); +void fm_composeTransform(const double position[3],const double quat[4],const double scale[3],double matrix[16]); + +float fm_computeArea(const float p1[3],const float p2[3],const float p3[3]); +double fm_computeArea(const double p1[3],const double p2[3],const double p3[3]); + +void fm_lerp(const float p1[3],const float p2[3],float dest[3],float lerpValue); +void fm_lerp(const double p1[3],const double p2[3],double dest[3],double lerpValue); + +bool fm_insideTriangleXZ(const float test[3],const float p1[3],const float p2[3],const float p3[3]); +bool fm_insideTriangleXZ(const double test[3],const double p1[3],const double p2[3],const double p3[3]); + +bool fm_insideAABB(const float pos[3],const float bmin[3],const float bmax[3]); +bool fm_insideAABB(const double pos[3],const double bmin[3],const double bmax[3]); + +bool fm_insideAABB(const float obmin[3],const float obmax[3],const float tbmin[3],const float tbmax[3]); // test if bounding box tbmin/tmbax is fully inside obmin/obmax +bool fm_insideAABB(const double obmin[3],const double obmax[3],const double tbmin[3],const double tbmax[3]); // test if bounding box tbmin/tmbax is fully inside obmin/obmax + +uint32_t fm_clipTestPoint(const float bmin[3],const float bmax[3],const float pos[3]); +uint32_t fm_clipTestPoint(const double bmin[3],const double bmax[3],const double pos[3]); + +uint32_t fm_clipTestPointXZ(const float bmin[3],const float bmax[3],const float pos[3]); // only tests X and Z, not Y +uint32_t fm_clipTestPointXZ(const double bmin[3],const double bmax[3],const double pos[3]); // only tests X and Z, not Y + + +uint32_t fm_clipTestAABB(const float bmin[3],const float bmax[3],const float p1[3],const float p2[3],const float p3[3],uint32_t &andCode); +uint32_t fm_clipTestAABB(const double bmin[3],const double bmax[3],const double p1[3],const double p2[3],const double p3[3],uint32_t &andCode); + + +bool fm_lineTestAABBXZ(const float p1[3],const float p2[3],const float bmin[3],const float bmax[3],float &time); +bool fm_lineTestAABBXZ(const double p1[3],const double p2[3],const double bmin[3],const double bmax[3],double &time); + +bool fm_lineTestAABB(const float p1[3],const float p2[3],const float bmin[3],const float bmax[3],float &time); +bool fm_lineTestAABB(const double p1[3],const double p2[3],const double bmin[3],const double bmax[3],double &time); + + +void fm_initMinMax(const float p[3],float bmin[3],float bmax[3]); +void fm_initMinMax(const double p[3],double bmin[3],double bmax[3]); + +void fm_initMinMax(float bmin[3],float bmax[3]); +void fm_initMinMax(double bmin[3],double bmax[3]); + +void fm_minmax(const float p[3],float bmin[3],float bmax[3]); // accumulate to a min-max value +void fm_minmax(const double p[3],double bmin[3],double bmax[3]); // accumulate to a min-max value + +// Computes the diagonal length of the bounding box and then inflates the bounding box on all sides +// by the ratio provided. +void fm_inflateMinMax(float bmin[3], float bmax[3], float ratio); +void fm_inflateMinMax(double bmin[3], double bmax[3], double ratio); + +float fm_solveX(const float plane[4],float y,float z); // solve for X given this plane equation and the other two components. +double fm_solveX(const double plane[4],double y,double z); // solve for X given this plane equation and the other two components. + +float fm_solveY(const float plane[4],float x,float z); // solve for Y given this plane equation and the other two components. +double fm_solveY(const double plane[4],double x,double z); // solve for Y given this plane equation and the other two components. + +float fm_solveZ(const float plane[4],float x,float y); // solve for Z given this plane equation and the other two components. +double fm_solveZ(const double plane[4],double x,double y); // solve for Z given this plane equation and the other two components. + +bool fm_computeBestFitPlane(uint32_t vcount, // number of input data points + const float *points, // starting address of points array. + uint32_t vstride, // stride between input points. + const float *weights, // *optional point weighting values. + uint32_t wstride, // weight stride for each vertex. + float plane[4], // Best fit plane equation + float center[3]); // Best fit weighted center of input points + +bool fm_computeBestFitPlane(uint32_t vcount, // number of input data points + const double *points, // starting address of points array. + uint32_t vstride, // stride between input points. + const double *weights, // *optional point weighting values. + uint32_t wstride, // weight stride for each vertex. + double plane[4], + double center[3]); + +// Computes the average center of a set of data points +bool fm_computeCentroid(uint32_t vcount, // number of input data points + const float *points, // starting address of points array. + float *center); + +bool fm_computeCentroid(uint32_t vcount, // number of input data points + const double *points, // starting address of points array. + double *center); + +// Compute centroid of a triangle mesh; takes area of each triangle into account +// weighted average +bool fm_computeCentroid(uint32_t vcount, // number of input data points + const float *points, // starting address of points array. + uint32_t triangleCount, + const uint32_t *indices, + float *center); + +// Compute centroid of a triangle mesh; takes area of each triangle into account +// weighted average +bool fm_computeCentroid(uint32_t vcount, // number of input data points + const double *points, // starting address of points array. + uint32_t triangleCount, + const uint32_t *indices, + double *center); + + +float fm_computeBestFitAABB(uint32_t vcount,const float *points,uint32_t pstride,float bmin[3],float bmax[3]); // returns the diagonal distance +double fm_computeBestFitAABB(uint32_t vcount,const double *points,uint32_t pstride,double bmin[3],double bmax[3]); // returns the diagonal distance + +float fm_computeBestFitSphere(uint32_t vcount,const float *points,uint32_t pstride,float center[3]); +double fm_computeBestFitSphere(uint32_t vcount,const double *points,uint32_t pstride,double center[3]); + +bool fm_lineSphereIntersect(const float center[3],float radius,const float p1[3],const float p2[3],float intersect[3]); +bool fm_lineSphereIntersect(const double center[3],double radius,const double p1[3],const double p2[3],double intersect[3]); + +bool fm_intersectRayAABB(const float bmin[3],const float bmax[3],const float pos[3],const float dir[3],float intersect[3]); +bool fm_intersectLineSegmentAABB(const float bmin[3],const float bmax[3],const float p1[3],const float p2[3],float intersect[3]); + +bool fm_lineIntersectsTriangle(const float rayStart[3],const float rayEnd[3],const float p1[3],const float p2[3],const float p3[3],float sect[3]); +bool fm_lineIntersectsTriangle(const double rayStart[3],const double rayEnd[3],const double p1[3],const double p2[3],const double p3[3],double sect[3]); + +bool fm_rayIntersectsTriangle(const float origin[3],const float dir[3],const float v0[3],const float v1[3],const float v2[3],float &t); +bool fm_rayIntersectsTriangle(const double origin[3],const double dir[3],const double v0[3],const double v1[3],const double v2[3],double &t); + +bool fm_raySphereIntersect(const float center[3],float radius,const float pos[3],const float dir[3],float distance,float intersect[3]); +bool fm_raySphereIntersect(const double center[3],double radius,const double pos[3],const double dir[3],double distance,double intersect[3]); + +void fm_catmullRom(float out_vector[3],const float p1[3],const float p2[3],const float p3[3],const float *p4, const float s); +void fm_catmullRom(double out_vector[3],const double p1[3],const double p2[3],const double p3[3],const double *p4, const double s); + +bool fm_intersectAABB(const float bmin1[3],const float bmax1[3],const float bmin2[3],const float bmax2[3]); +bool fm_intersectAABB(const double bmin1[3],const double bmax1[3],const double bmin2[3],const double bmax2[3]); + + +// computes the rotation quaternion to go from unit-vector v0 to unit-vector v1 +void fm_rotationArc(const float v0[3],const float v1[3],float quat[4]); +void fm_rotationArc(const double v0[3],const double v1[3],double quat[4]); + +float fm_distancePointLineSegment(const float Point[3],const float LineStart[3],const float LineEnd[3],float intersection[3],LineSegmentType &type,float epsilon); +double fm_distancePointLineSegment(const double Point[3],const double LineStart[3],const double LineEnd[3],double intersection[3],LineSegmentType &type,double epsilon); + + +bool fm_colinear(const double p1[3],const double p2[3],const double p3[3],double epsilon=0.999); // true if these three points in a row are co-linear +bool fm_colinear(const float p1[3],const float p2[3],const float p3[3],float epsilon=0.999f); + +bool fm_colinear(const float a1[3],const float a2[3],const float b1[3],const float b2[3],float epsilon=0.999f); // true if these two line segments are co-linear. +bool fm_colinear(const double a1[3],const double a2[3],const double b1[3],const double b2[3],double epsilon=0.999); // true if these two line segments are co-linear. + +enum IntersectResult +{ + IR_DONT_INTERSECT, + IR_DO_INTERSECT, + IR_COINCIDENT, + IR_PARALLEL, +}; + +IntersectResult fm_intersectLineSegments2d(const float a1[3], const float a2[3], const float b1[3], const float b2[3], float intersectionPoint[3]); +IntersectResult fm_intersectLineSegments2d(const double a1[3],const double a2[3],const double b1[3],const double b2[3],double intersectionPoint[3]); + +IntersectResult fm_intersectLineSegments2dTime(const float a1[3], const float a2[3], const float b1[3], const float b2[3],float &t1,float &t2); +IntersectResult fm_intersectLineSegments2dTime(const double a1[3],const double a2[3],const double b1[3],const double b2[3],double &t1,double &t2); + +// Plane-Triangle splitting + +enum PlaneTriResult +{ + PTR_ON_PLANE, + PTR_FRONT, + PTR_BACK, + PTR_SPLIT, +}; + +PlaneTriResult fm_planeTriIntersection(const float plane[4], // the plane equation in Ax+By+Cz+D format + const float *triangle, // the source triangle. + uint32_t tstride, // stride in bytes of the input and output *vertices* + float epsilon, // the co-planer epsilon value. + float *front, // the triangle in front of the + uint32_t &fcount, // number of vertices in the 'front' triangle + float *back, // the triangle in back of the plane + uint32_t &bcount); // the number of vertices in the 'back' triangle. + + +PlaneTriResult fm_planeTriIntersection(const double plane[4], // the plane equation in Ax+By+Cz+D format + const double *triangle, // the source triangle. + uint32_t tstride, // stride in bytes of the input and output *vertices* + double epsilon, // the co-planer epsilon value. + double *front, // the triangle in front of the + uint32_t &fcount, // number of vertices in the 'front' triangle + double *back, // the triangle in back of the plane + uint32_t &bcount); // the number of vertices in the 'back' triangle. + + +bool fm_intersectPointPlane(const float p1[3],const float p2[3],float *split,const float plane[4]); +bool fm_intersectPointPlane(const double p1[3],const double p2[3],double *split,const double plane[4]); + +PlaneTriResult fm_getSidePlane(const float p[3],const float plane[4],float epsilon); +PlaneTriResult fm_getSidePlane(const double p[3],const double plane[4],double epsilon); + + +void fm_computeBestFitOBB(uint32_t vcount,const float *points,uint32_t pstride,float *sides,float matrix[16],bool bruteForce=true); +void fm_computeBestFitOBB(uint32_t vcount,const double *points,uint32_t pstride,double *sides,double matrix[16],bool bruteForce=true); + +void fm_computeBestFitOBB(uint32_t vcount,const float *points,uint32_t pstride,float *sides,float pos[3],float quat[4],bool bruteForce=true); +void fm_computeBestFitOBB(uint32_t vcount,const double *points,uint32_t pstride,double *sides,double pos[3],double quat[4],bool bruteForce=true); + +void fm_computeBestFitABB(uint32_t vcount,const float *points,uint32_t pstride,float *sides,float pos[3]); +void fm_computeBestFitABB(uint32_t vcount,const double *points,uint32_t pstride,double *sides,double pos[3]); + + +//** Note, if the returned capsule height is less than zero, then you must represent it is a sphere of size radius. +void fm_computeBestFitCapsule(uint32_t vcount,const float *points,uint32_t pstride,float &radius,float &height,float matrix[16],bool bruteForce=true); +void fm_computeBestFitCapsule(uint32_t vcount,const double *points,uint32_t pstride,float &radius,float &height,double matrix[16],bool bruteForce=true); + + +void fm_planeToMatrix(const float plane[4],float matrix[16]); // convert a plane equation to a 4x4 rotation matrix. Reference vector is 0,1,0 +void fm_planeToQuat(const float plane[4],float quat[4],float pos[3]); // convert a plane equation to a quaternion and translation + +void fm_planeToMatrix(const double plane[4],double matrix[16]); // convert a plane equation to a 4x4 rotation matrix +void fm_planeToQuat(const double plane[4],double quat[4],double pos[3]); // convert a plane equation to a quaternion and translation + +inline void fm_doubleToFloat3(const double p[3],float t[3]) { t[0] = (float) p[0]; t[1] = (float)p[1]; t[2] = (float)p[2]; }; +inline void fm_floatToDouble3(const float p[3],double t[3]) { t[0] = (double)p[0]; t[1] = (double)p[1]; t[2] = (double)p[2]; }; + + +void fm_eulerMatrix(float ax,float ay,float az,float matrix[16]); // convert euler (in radians) to a dest 4x4 matrix (translation set to zero) +void fm_eulerMatrix(double ax,double ay,double az,double matrix[16]); // convert euler (in radians) to a dest 4x4 matrix (translation set to zero) + + +float fm_computeMeshVolume(const float *vertices,uint32_t tcount,const uint32_t *indices); +double fm_computeMeshVolume(const double *vertices,uint32_t tcount,const uint32_t *indices); + + +#define FM_DEFAULT_GRANULARITY 0.001f // 1 millimeter is the default granularity + +class fm_VertexIndex +{ +public: + virtual uint32_t getIndex(const float pos[3],bool &newPos) = 0; // get welded index for this float vector[3] + virtual uint32_t getIndex(const double pos[3],bool &newPos) = 0; // get welded index for this double vector[3] + virtual const float * getVerticesFloat(void) const = 0; + virtual const double * getVerticesDouble(void) const = 0; + virtual const float * getVertexFloat(uint32_t index) const = 0; + virtual const double * getVertexDouble(uint32_t index) const = 0; + virtual uint32_t getVcount(void) const = 0; + virtual bool isDouble(void) const = 0; + virtual bool saveAsObj(const char *fname,uint32_t tcount,uint32_t *indices) = 0; +}; + +fm_VertexIndex * fm_createVertexIndex(double granularity,bool snapToGrid); // create an indexed vertex system for doubles +fm_VertexIndex * fm_createVertexIndex(float granularity,bool snapToGrid); // create an indexed vertext system for floats +void fm_releaseVertexIndex(fm_VertexIndex *vindex); + + +class fm_Triangulate +{ +public: + virtual const double * triangulate3d(uint32_t pcount, + const double *points, + uint32_t vstride, + uint32_t &tcount, + bool consolidate, + double epsilon) = 0; + + virtual const float * triangulate3d(uint32_t pcount, + const float *points, + uint32_t vstride, + uint32_t &tcount, + bool consolidate, + float epsilon) = 0; +}; + +fm_Triangulate * fm_createTriangulate(void); +void fm_releaseTriangulate(fm_Triangulate *t); + + +const float * fm_getPoint(const float *points,uint32_t pstride,uint32_t index); +const double * fm_getPoint(const double *points,uint32_t pstride,uint32_t index); + +bool fm_insideTriangle(float Ax, float Ay,float Bx, float By,float Cx, float Cy,float Px, float Py); +bool fm_insideTriangle(double Ax, double Ay,double Bx, double By,double Cx, double Cy,double Px, double Py); +float fm_areaPolygon2d(uint32_t pcount,const float *points,uint32_t pstride); +double fm_areaPolygon2d(uint32_t pcount,const double *points,uint32_t pstride); + +bool fm_pointInsidePolygon2d(uint32_t pcount,const float *points,uint32_t pstride,const float *point,uint32_t xindex=0,uint32_t yindex=1); +bool fm_pointInsidePolygon2d(uint32_t pcount,const double *points,uint32_t pstride,const double *point,uint32_t xindex=0,uint32_t yindex=1); + +uint32_t fm_consolidatePolygon(uint32_t pcount,const float *points,uint32_t pstride,float *dest,float epsilon=0.999999f); // collapses co-linear edges. +uint32_t fm_consolidatePolygon(uint32_t pcount,const double *points,uint32_t pstride,double *dest,double epsilon=0.999999); // collapses co-linear edges. + + +bool fm_computeSplitPlane(uint32_t vcount,const double *vertices,uint32_t tcount,const uint32_t *indices,double *plane); +bool fm_computeSplitPlane(uint32_t vcount,const float *vertices,uint32_t tcount,const uint32_t *indices,float *plane); + +void fm_nearestPointInTriangle(const float *pos,const float *p1,const float *p2,const float *p3,float *nearest); +void fm_nearestPointInTriangle(const double *pos,const double *p1,const double *p2,const double *p3,double *nearest); + +float fm_areaTriangle(const float *p1,const float *p2,const float *p3); +double fm_areaTriangle(const double *p1,const double *p2,const double *p3); + +void fm_subtract(const float *A,const float *B,float *diff); // compute A-B and store the result in 'diff' +void fm_subtract(const double *A,const double *B,double *diff); // compute A-B and store the result in 'diff' + +void fm_multiply(float *A,float scaler); +void fm_multiply(double *A,double scaler); + +void fm_add(const float *A,const float *B,float *sum); +void fm_add(const double *A,const double *B,double *sum); + +void fm_copy3(const float *source,float *dest); +void fm_copy3(const double *source,double *dest); + +// re-indexes an indexed triangle mesh but drops unused vertices. The output_indices can be the same pointer as the input indices. +// the output_vertices can point to the input vertices if you desire. The output_vertices buffer should be at least the same size +// is the input buffer. The routine returns the new vertex count after re-indexing. +uint32_t fm_copyUniqueVertices(uint32_t vcount,const float *input_vertices,float *output_vertices,uint32_t tcount,const uint32_t *input_indices,uint32_t *output_indices); +uint32_t fm_copyUniqueVertices(uint32_t vcount,const double *input_vertices,double *output_vertices,uint32_t tcount,const uint32_t *input_indices,uint32_t *output_indices); + +bool fm_isMeshCoplanar(uint32_t tcount,const uint32_t *indices,const float *vertices,bool doubleSided); // returns true if this collection of indexed triangles are co-planar! +bool fm_isMeshCoplanar(uint32_t tcount,const uint32_t *indices,const double *vertices,bool doubleSided); // returns true if this collection of indexed triangles are co-planar! + +bool fm_samePlane(const float p1[4],const float p2[4],float normalEpsilon=0.01f,float dEpsilon=0.001f,bool doubleSided=false); // returns true if these two plane equations are identical within an epsilon +bool fm_samePlane(const double p1[4],const double p2[4],double normalEpsilon=0.01,double dEpsilon=0.001,bool doubleSided=false); + +void fm_OBBtoAABB(const float obmin[3],const float obmax[3],const float matrix[16],float abmin[3],float abmax[3]); + +// a utility class that will tessellate a mesh. +class fm_Tesselate +{ +public: + virtual const uint32_t * tesselate(fm_VertexIndex *vindex,uint32_t tcount,const uint32_t *indices,float longEdge,uint32_t maxDepth,uint32_t &outcount) = 0; +}; + +fm_Tesselate * fm_createTesselate(void); +void fm_releaseTesselate(fm_Tesselate *t); + +void fm_computeMeanNormals(uint32_t vcount, // the number of vertices + const float *vertices, // the base address of the vertex position data. + uint32_t vstride, // the stride between position data. + float *normals, // the base address of the destination for mean vector normals + uint32_t nstride, // the stride between normals + uint32_t tcount, // the number of triangles + const uint32_t *indices); // the triangle indices + +void fm_computeMeanNormals(uint32_t vcount, // the number of vertices + const double *vertices, // the base address of the vertex position data. + uint32_t vstride, // the stride between position data. + double *normals, // the base address of the destination for mean vector normals + uint32_t nstride, // the stride between normals + uint32_t tcount, // the number of triangles + const uint32_t *indices); // the triangle indices + + +bool fm_isValidTriangle(const float *p1,const float *p2,const float *p3,float epsilon=0.00001f); +bool fm_isValidTriangle(const double *p1,const double *p2,const double *p3,double epsilon=0.00001f); + + +}; // end of namespace + +#endif diff --git a/inc/btAlignedAllocator.h b/inc/btAlignedAllocator.h index f168f3c..9873b33 100644 --- a/inc/btAlignedAllocator.h +++ b/inc/btAlignedAllocator.h @@ -21,9 +21,15 @@ subject to the following restrictions: ///that is better portable and more predictable #include "btScalar.h" -//#define BT_DEBUG_MEMORY_ALLOCATIONS 1 + + +///BT_DEBUG_MEMORY_ALLOCATIONS preprocessor can be set in build system +///for regression tests to detect memory leaks +///#define BT_DEBUG_MEMORY_ALLOCATIONS 1 #ifdef BT_DEBUG_MEMORY_ALLOCATIONS +int btDumpMemoryLeaks(); + #define btAlignedAlloc(a,b) \ btAlignedAllocInternal(a,b,__LINE__,__FILE__) diff --git a/inc/btAlignedObjectArray.h b/inc/btAlignedObjectArray.h index ab032c1..56f8189 100644 --- a/inc/btAlignedObjectArray.h +++ b/inc/btAlignedObjectArray.h @@ -39,6 +39,12 @@ subject to the following restrictions: #include //for placement new #endif //BT_USE_PLACEMENT_NEW +// The register keyword is deprecated in C++11 so don't use it. +#if __cplusplus > 199711L +#define BT_REGISTER +#else +#define BT_REGISTER register +#endif ///The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods ///It is developed to replace stl::vector to avoid portability issues, including STL alignment issues to add SIMD/SSE data @@ -197,11 +203,21 @@ class btAlignedObjectArray m_data[m_size].~T(); } + ///resize changes the number of elements in the array. If the new size is larger, the new elements will be constructed using the optional second argument. ///when the new number of elements is smaller, the destructor will be called, but memory will not be freed, to reduce performance overhead of run-time memory (de)allocations. + SIMD_FORCE_INLINE void resizeNoInitialize(int newsize) + { + if (newsize > size()) + { + reserve(newsize); + } + m_size = newsize; + } + SIMD_FORCE_INLINE void resize(int newsize, const T& fillData=T()) { - int curSize = size(); + const BT_REGISTER int curSize = size(); if (newsize < curSize) { @@ -211,7 +227,7 @@ class btAlignedObjectArray } } else { - if (newsize > size()) + if (newsize > curSize) { reserve(newsize); } @@ -226,10 +242,9 @@ class btAlignedObjectArray m_size = newsize; } - SIMD_FORCE_INLINE T& expandNonInitializing( ) { - int sz = size(); + const BT_REGISTER int sz = size(); if( sz == capacity() ) { reserve( allocSize(size()) ); @@ -242,7 +257,7 @@ class btAlignedObjectArray SIMD_FORCE_INLINE T& expand( const T& fillValue=T()) { - int sz = size(); + const BT_REGISTER int sz = size(); if( sz == capacity() ) { reserve( allocSize(size()) ); @@ -258,7 +273,7 @@ class btAlignedObjectArray SIMD_FORCE_INLINE void push_back(const T& _Val) { - int sz = size(); + const BT_REGISTER int sz = size(); if( sz == capacity() ) { reserve( allocSize(size()) ); @@ -307,12 +322,13 @@ class btAlignedObjectArray { public: - bool operator() ( const T& a, const T& b ) + bool operator() ( const T& a, const T& b ) const { return ( a < b ); } }; + template void quickSortInternal(const L& CompareFunc,int lo, int hi) { @@ -460,15 +476,18 @@ class btAlignedObjectArray return index; } + void removeAtIndex(int index) + { + if (indextargetVertex; - } - - int getTargetVertex() const - { - return targetVertex; - } - - const Edge* getNextEdgeOfVertex() const // clockwise list of all edges of a vertex - { - return this + next; - } - - const Edge* getNextEdgeOfFace() const // counter-clockwise list of all edges of a face - { - return (this + reverse)->getNextEdgeOfVertex(); - } - - const Edge* getReverseEdge() const - { - return this + reverse; - } - }; - - - // Vertices of the output hull - btAlignedObjectArray vertices; - - // Edges of the output hull - btAlignedObjectArray edges; - - // Faces of the convex hull. Each entry is an index into the "edges" array pointing to an edge of the face. Faces are planar n-gons - btAlignedObjectArray faces; - - /* +class btConvexHullComputer { +private: + btScalar compute(const void* coords, bool doubleCoords, int32_t stride, int32_t count, btScalar shrink, btScalar shrinkClamp); + +public: + class Edge { + private: + int32_t next; + int32_t reverse; + int32_t targetVertex; + + friend class btConvexHullComputer; + + public: + int32_t getSourceVertex() const + { + return (this + reverse)->targetVertex; + } + + int32_t getTargetVertex() const + { + return targetVertex; + } + + const Edge* getNextEdgeOfVertex() const // clockwise list of all edges of a vertex + { + return this + next; + } + + const Edge* getNextEdgeOfFace() const // counter-clockwise list of all edges of a face + { + return (this + reverse)->getNextEdgeOfVertex(); + } + + const Edge* getReverseEdge() const + { + return this + reverse; + } + }; + + // Vertices of the output hull + btAlignedObjectArray vertices; + + // Edges of the output hull + btAlignedObjectArray edges; + + // Faces of the convex hull. Each entry is an index into the "edges" array pointing to an edge of the face. Faces are planar n-gons + btAlignedObjectArray faces; + + /* Compute convex hull of "count" vertices stored in "coords". "stride" is the difference in bytes between the addresses of consecutive vertices. If "shrink" is positive, the convex hull is shrunken by that amount (each face is moved by "shrink" length units towards the center along its normal). @@ -86,18 +82,16 @@ class btConvexHullComputer The output convex hull can be found in the member variables "vertices", "edges", "faces". */ - btScalar compute(const float* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp) - { - return compute(coords, false, stride, count, shrink, shrinkClamp); - } - - // same as above, but double precision - btScalar compute(const double* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp) - { - return compute(coords, true, stride, count, shrink, shrinkClamp); - } + btScalar compute(const float* coords, int32_t stride, int32_t count, btScalar shrink, btScalar shrinkClamp) + { + return compute(coords, false, stride, count, shrink, shrinkClamp); + } + + // same as above, but double precision + btScalar compute(const double* coords, int32_t stride, int32_t count, btScalar shrink, btScalar shrinkClamp) + { + return compute(coords, true, stride, count, shrink, shrinkClamp); + } }; - #endif //BT_CONVEX_HULL_COMPUTER_H - diff --git a/inc/btScalar.h b/inc/btScalar.h index f4bc17c..0075456 100644 --- a/inc/btScalar.h +++ b/inc/btScalar.h @@ -17,6 +17,7 @@ subject to the following restrictions: #ifndef BT_SCALAR_H #define BT_SCALAR_H + #ifdef BT_MANAGED_CODE //Aligned data types not supported in managed code #pragma unmanaged @@ -28,7 +29,7 @@ subject to the following restrictions: #include /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ -#define BT_BULLET_VERSION 279 +#define BT_BULLET_VERSION 286 inline int btGetVersion() { @@ -48,11 +49,16 @@ inline int btGetVersion() #define ATTRIBUTE_ALIGNED16(a) a #define ATTRIBUTE_ALIGNED64(a) a #define ATTRIBUTE_ALIGNED128(a) a + #elif (_M_ARM) + #define SIMD_FORCE_INLINE __forceinline + #define ATTRIBUTE_ALIGNED16(a) __declspec() a + #define ATTRIBUTE_ALIGNED64(a) __declspec() a + #define ATTRIBUTE_ALIGNED128(a) __declspec () a #else //#define BT_HAS_ALIGNED_ALLOCATOR #pragma warning(disable : 4324) // disable padding warning // #pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning. -// #pragma warning(disable:4996) //Turn off warnings about deprecated C routines + #pragma warning(disable:4996) //Turn off warnings about deprecated C routines // #pragma warning(disable:4786) // Disable the "debug name too long" warning #define SIMD_FORCE_INLINE __forceinline @@ -67,8 +73,28 @@ inline int btGetVersion() #define btFsel(a,b,c) __fsel((a),(b),(c)) #else -#if (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION)) +#if defined (_M_ARM) + //Do not turn SSE on for ARM (may want to turn on BT_USE_NEON however) +#elif (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION)) + #if _MSC_VER>1400 + #define BT_USE_SIMD_VECTOR3 + #endif + #define BT_USE_SSE + #ifdef BT_USE_SSE + +#if (_MSC_FULL_VER >= 170050727)//Visual Studio 2012 can compile SSE4/FMA3 (but SSE4/FMA3 is not enabled by default) + #define BT_ALLOW_SSE4 +#endif //(_MSC_FULL_VER >= 160040219) + + //BT_USE_SSE_IN_API is disabled under Windows by default, because + //it makes it harder to integrate Bullet into your application under Windows + //(structured embedding Bullet structs/classes need to be 16-byte aligned) + //with relatively little performance gain + //If you are not embedded Bullet data in your classes, or make sure that you align those classes on 16-byte boundaries + //you can manually enable this line or set it in the build system for a bit of performance gain (a few percent, dependent on usage) + //#define BT_USE_SSE_IN_API + #endif //BT_USE_SSE #include #endif @@ -76,9 +102,14 @@ inline int btGetVersion() #endif //__MINGW32__ - #include #ifdef BT_DEBUG + #ifdef _MSC_VER + #include + #define btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }} + #else//_MSC_VER + #include #define btAssert assert + #endif//_MSC_VER #else #define btAssert(x) #endif @@ -143,11 +174,37 @@ inline int btGetVersion() #else //non-windows systems -#if (defined (__APPLE__) && defined (__i386__) && (!defined (BT_USE_DOUBLE_PRECISION))) - #define BT_USE_SSE - #include +#if (defined (__APPLE__) && (!defined (BT_USE_DOUBLE_PRECISION))) + #if defined (__i386__) || defined (__x86_64__) + #define BT_USE_SIMD_VECTOR3 + #define BT_USE_SSE + //BT_USE_SSE_IN_API is enabled on Mac OSX by default, because memory is automatically aligned on 16-byte boundaries + //if apps run into issues, we will disable the next line + #define BT_USE_SSE_IN_API + #ifdef BT_USE_SSE + // include appropriate SSE level + #if defined (__SSE4_1__) + #include + #elif defined (__SSSE3__) + #include + #elif defined (__SSE3__) + #include + #else + #include + #endif + #endif //BT_USE_SSE + #elif defined( __ARM_NEON__ ) + #ifdef __clang__ + #define BT_USE_NEON 1 + #define BT_USE_SIMD_VECTOR3 + + #if defined BT_USE_NEON && defined (__clang__) + #include + #endif//BT_USE_NEON + #endif //__clang__ + #endif//__arm__ - #define SIMD_FORCE_INLINE inline + #define SIMD_FORCE_INLINE inline __attribute__ ((always_inline)) ///@todo: check out alignment methods for other platforms/compilers #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) @@ -157,10 +214,22 @@ inline int btGetVersion() #endif #if defined(DEBUG) || defined (_DEBUG) + #if defined (__i386__) || defined (__x86_64__) + #include + #define btAssert(x)\ + {\ + if(!(x))\ + {\ + printf("Assert %s in line %d, file %s\n",#x, __LINE__, __FILE__);\ + asm volatile ("int3");\ + }\ + } + #else//defined (__i386__) || defined (__x86_64__) #define btAssert assert - #else + #endif//defined (__i386__) || defined (__x86_64__) + #else//defined(DEBUG) || defined (_DEBUG) #define btAssert(x) - #endif + #endif//defined(DEBUG) || defined (_DEBUG) //btFullAssert is optional, slows down a lot #define btFullAssert(x) @@ -201,15 +270,120 @@ inline int btGetVersion() ///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision. #if defined(BT_USE_DOUBLE_PRECISION) + typedef double btScalar; //this number could be bigger in double precision #define BT_LARGE_FLOAT 1e30 #else + typedef float btScalar; //keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX #define BT_LARGE_FLOAT 1e18f #endif +#ifdef BT_USE_SSE +typedef __m128 btSimdFloat4; +#endif//BT_USE_SSE + +#if defined (BT_USE_SSE) +//#if defined BT_USE_SSE_IN_API && defined (BT_USE_SSE) +#ifdef _WIN32 + +#ifndef BT_NAN +static int btNanMask = 0x7F800001; +#define BT_NAN (*(float*)&btNanMask) +#endif + +#ifndef BT_INFINITY +static int btInfinityMask = 0x7F800000; +#define BT_INFINITY (*(float*)&btInfinityMask) +inline int btGetInfinityMask()//suppress stupid compiler warning +{ + return btInfinityMask; +} +#endif + +//use this, in case there are clashes (such as xnamath.h) +#ifndef BT_NO_SIMD_OPERATOR_OVERLOADS +inline __m128 operator + (const __m128 A, const __m128 B) +{ + return _mm_add_ps(A, B); +} + +inline __m128 operator - (const __m128 A, const __m128 B) +{ + return _mm_sub_ps(A, B); +} + +inline __m128 operator * (const __m128 A, const __m128 B) +{ + return _mm_mul_ps(A, B); +} +#endif //BT_NO_SIMD_OPERATOR_OVERLOADS + +#define btCastfTo128i(a) (_mm_castps_si128(a)) +#define btCastfTo128d(a) (_mm_castps_pd(a)) +#define btCastiTo128f(a) (_mm_castsi128_ps(a)) +#define btCastdTo128f(a) (_mm_castpd_ps(a)) +#define btCastdTo128i(a) (_mm_castpd_si128(a)) +#define btAssign128(r0,r1,r2,r3) _mm_setr_ps(r0,r1,r2,r3) + +#else//_WIN32 + +#define btCastfTo128i(a) ((__m128i)(a)) +#define btCastfTo128d(a) ((__m128d)(a)) +#define btCastiTo128f(a) ((__m128) (a)) +#define btCastdTo128f(a) ((__m128) (a)) +#define btCastdTo128i(a) ((__m128i)(a)) +#define btAssign128(r0,r1,r2,r3) (__m128){r0,r1,r2,r3} +#define BT_INFINITY INFINITY +#define BT_NAN NAN +#endif//_WIN32 +#else + +#ifdef BT_USE_NEON + #include + + typedef float32x4_t btSimdFloat4; + #define BT_INFINITY INFINITY + #define BT_NAN NAN + #define btAssign128(r0,r1,r2,r3) (float32x4_t){r0,r1,r2,r3} +#else//BT_USE_NEON + + #ifndef BT_INFINITY + struct btInfMaskConverter + { + union { + float mask; + int intmask; + }; + btInfMaskConverter(int mask=0x7F800000) + :intmask(mask) + { + } + }; + static btInfMaskConverter btInfinityMask = 0x7F800000; + #define BT_INFINITY (btInfinityMask.mask) + inline int btGetInfinityMask()//suppress stupid compiler warning + { + return btInfinityMask.intmask; + } + #endif +#endif//BT_USE_NEON + +#endif //BT_USE_SSE + +#ifdef BT_USE_NEON +#include + +typedef float32x4_t btSimdFloat4; +#define BT_INFINITY INFINITY +#define BT_NAN NAN +#define btAssign128(r0,r1,r2,r3) (float32x4_t){r0,r1,r2,r3} +#endif + + + #define BT_DECLARE_ALIGNED_ALLOCATOR() \ @@ -245,19 +419,30 @@ SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmod(x,y); } SIMD_FORCE_INLINE btScalar btSqrt(btScalar y) { #ifdef USE_APPROXIMATION +#ifdef __LP64__ + float xhalf = 0.5f*y; + int i = *(int*)&y; + i = 0x5f375a86 - (i>>1); + y = *(float*)&i; + y = y*(1.5f - xhalf*y*y); + y = y*(1.5f - xhalf*y*y); + y = y*(1.5f - xhalf*y*y); + y=1/y; + return y; +#else double x, z, tempf; unsigned long *tfptr = ((unsigned long *)&tempf) + 1; - - tempf = y; - *tfptr = (0xbfcdd90a - *tfptr)>>1; /* estimate of 1/sqrt(y) */ - x = tempf; - z = y*btScalar(0.5); - x = (btScalar(1.5)*x)-(x*x)*(x*z); /* iteration formula */ - x = (btScalar(1.5)*x)-(x*x)*(x*z); - x = (btScalar(1.5)*x)-(x*x)*(x*z); - x = (btScalar(1.5)*x)-(x*x)*(x*z); - x = (btScalar(1.5)*x)-(x*x)*(x*z); - return x*y; + tempf = y; + *tfptr = (0xbfcdd90a - *tfptr)>>1; /* estimate of 1/sqrt(y) */ + x = tempf; + z = y*btScalar(0.5); + x = (btScalar(1.5)*x)-(x*x)*(x*z); /* iteration formula */ + x = (btScalar(1.5)*x)-(x*x)*(x*z); + x = (btScalar(1.5)*x)-(x*x)*(x*z); + x = (btScalar(1.5)*x)-(x*x)*(x*z); + x = (btScalar(1.5)*x)-(x*x)*(x*z); + return x*y; +#endif #else return sqrtf(y); #endif @@ -289,22 +474,30 @@ SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); } #endif -#define SIMD_2_PI btScalar(6.283185307179586232) -#define SIMD_PI (SIMD_2_PI * btScalar(0.5)) -#define SIMD_HALF_PI (SIMD_2_PI * btScalar(0.25)) +#define SIMD_PI btScalar(3.1415926535897932384626433832795029) +#define SIMD_2_PI (btScalar(2.0) * SIMD_PI) +#define SIMD_HALF_PI (SIMD_PI * btScalar(0.5)) #define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0)) #define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI) #define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490) #define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */ - +#define btRecip(x) (btScalar(1.0)/btScalar(x)) #ifdef BT_USE_DOUBLE_PRECISION #define SIMD_EPSILON DBL_EPSILON #define SIMD_INFINITY DBL_MAX +#define BT_ONE 1.0 +#define BT_ZERO 0.0 +#define BT_TWO 2.0 +#define BT_HALF 0.5 #else #define SIMD_EPSILON FLT_EPSILON #define SIMD_INFINITY FLT_MAX +#define BT_ONE 1.0f +#define BT_ZERO 0.0f +#define BT_TWO 2.0f +#define BT_HALF 0.5f #endif SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x) @@ -488,6 +681,46 @@ SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src) return d; } +template +SIMD_FORCE_INLINE void btSetZero(T* a, int n) +{ + T* acurr = a; + size_t ncurr = n; + while (ncurr > 0) + { + *(acurr++) = 0; + --ncurr; + } +} + + +SIMD_FORCE_INLINE btScalar btLargeDot(const btScalar *a, const btScalar *b, int n) +{ + btScalar p0,q0,m0,p1,q1,m1,sum; + sum = 0; + n -= 2; + while (n >= 0) { + p0 = a[0]; q0 = b[0]; + m0 = p0 * q0; + p1 = a[1]; q1 = b[1]; + m1 = p1 * q1; + sum += m0; + sum += m1; + a += 2; + b += 2; + n -= 2; + } + n += 2; + while (n > 0) { + sum += (*a) * (*b); + a++; + b++; + n--; + } + return sum; +} + + // returns normalized value in range [-SIMD_PI, SIMD_PI] SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians) { @@ -506,6 +739,8 @@ SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians) } } + + ///rudimentary class to provide type info struct btTypedObject { @@ -519,4 +754,30 @@ struct btTypedObject return m_objectType; } }; + + + +///align a pointer to the provided alignment, upwards +template T* btAlignPointer(T* unalignedPtr, size_t alignment) +{ + + struct btConvertPointerSizeT + { + union + { + T* ptr; + size_t integer; + }; + }; + btConvertPointerSizeT converter; + + + const size_t bit_mask = ~(alignment - 1); + converter.ptr = unalignedPtr; + converter.integer += alignment-1; + converter.integer &= bit_mask; + return converter.ptr; +} + + #endif //BT_SCALAR_H diff --git a/inc/btVector3.h b/inc/btVector3.h index a3da305..4876700 100644 --- a/inc/btVector3.h +++ b/inc/btVector3.h @@ -17,9 +17,10 @@ subject to the following restrictions: #ifndef BT_VECTOR3_H #define BT_VECTOR3_H - +//#include #include "btScalar.h" #include "btMinMax.h" +#include "btAlignedAllocator.h" #ifdef BT_USE_DOUBLE_PRECISION #define btVector3Data btVector3DoubleData @@ -29,8 +30,51 @@ subject to the following restrictions: #define btVector3DataName "btVector3FloatData" #endif //BT_USE_DOUBLE_PRECISION +#if defined BT_USE_SSE + +//typedef uint32_t __m128i __attribute__ ((vector_size(16))); + +#ifdef _MSC_VER +#pragma warning(disable: 4556) // value of intrinsic immediate argument '4294967239' is out of range '0 - 255' +#endif + + +#define BT_SHUFFLE(x,y,z,w) ((w)<<6 | (z)<<4 | (y)<<2 | (x)) +//#define bt_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) ) +#define bt_pshufd_ps( _a, _mask ) _mm_shuffle_ps((_a), (_a), (_mask) ) +#define bt_splat3_ps( _a, _i ) bt_pshufd_ps((_a), BT_SHUFFLE(_i,_i,_i, 3) ) +#define bt_splat_ps( _a, _i ) bt_pshufd_ps((_a), BT_SHUFFLE(_i,_i,_i,_i) ) +#define btv3AbsiMask (_mm_set_epi32(0x00000000, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF)) +#define btvAbsMask (_mm_set_epi32( 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF)) +#define btvFFF0Mask (_mm_set_epi32(0x00000000, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF)) +#define btv3AbsfMask btCastiTo128f(btv3AbsiMask) +#define btvFFF0fMask btCastiTo128f(btvFFF0Mask) +#define btvxyzMaskf btvFFF0fMask +#define btvAbsfMask btCastiTo128f(btvAbsMask) +//there is an issue with XCode 3.2 (LCx errors) +#define btvMzeroMask (_mm_set_ps(-0.0f, -0.0f, -0.0f, -0.0f)) +#define v1110 (_mm_set_ps(0.0f, 1.0f, 1.0f, 1.0f)) +#define vHalf (_mm_set_ps(0.5f, 0.5f, 0.5f, 0.5f)) +#define v1_5 (_mm_set_ps(1.5f, 1.5f, 1.5f, 1.5f)) + +//const __m128 ATTRIBUTE_ALIGNED16(btvMzeroMask) = {-0.0f, -0.0f, -0.0f, -0.0f}; +//const __m128 ATTRIBUTE_ALIGNED16(v1110) = {1.0f, 1.0f, 1.0f, 0.0f}; +//const __m128 ATTRIBUTE_ALIGNED16(vHalf) = {0.5f, 0.5f, 0.5f, 0.5f}; +//const __m128 ATTRIBUTE_ALIGNED16(v1_5) = {1.5f, 1.5f, 1.5f, 1.5f}; + +#endif + +#ifdef BT_USE_NEON + +const float32x4_t ATTRIBUTE_ALIGNED16(btvMzeroMask) = (float32x4_t){-0.0f, -0.0f, -0.0f, -0.0f}; +const int32x4_t ATTRIBUTE_ALIGNED16(btvFFF0Mask) = (int32x4_t){static_cast(0xFFFFFFFF), + static_cast(0xFFFFFFFF), static_cast(0xFFFFFFFF), 0x0}; +const int32x4_t ATTRIBUTE_ALIGNED16(btvAbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF}; +const int32x4_t ATTRIBUTE_ALIGNED16(btv3AbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x0}; + +#endif /**@brief btVector3 can be used to represent 3D points and vectors. * It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user @@ -40,6 +84,8 @@ ATTRIBUTE_ALIGNED16(class) btVector3 { public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + #if defined (__SPU__) && defined (__CELLOS_LV2__) btScalar m_floats[4]; public: @@ -49,28 +95,31 @@ ATTRIBUTE_ALIGNED16(class) btVector3 } public: #else //__CELLOS_LV2__ __SPU__ -#ifdef BT_USE_SSE // _WIN32 - union { - __m128 mVec128; - btScalar m_floats[4]; - }; - SIMD_FORCE_INLINE __m128 get128() const - { - return mVec128; - } - SIMD_FORCE_INLINE void set128(__m128 v128) - { - mVec128 = v128; - } -#else - btScalar m_floats[4]; -#endif + #if defined (BT_USE_SSE) || defined(BT_USE_NEON) // _WIN32 || ARM + union { + btSimdFloat4 mVec128; + btScalar m_floats[4]; + }; + SIMD_FORCE_INLINE btSimdFloat4 get128() const + { + return mVec128; + } + SIMD_FORCE_INLINE void set128(btSimdFloat4 v128) + { + mVec128 = v128; + } + #else + btScalar m_floats[4]; + #endif #endif //__CELLOS_LV2__ __SPU__ public: /**@brief No initialization constructor */ - SIMD_FORCE_INLINE btVector3() {} + SIMD_FORCE_INLINE btVector3() + { + + } @@ -79,21 +128,50 @@ ATTRIBUTE_ALIGNED16(class) btVector3 * @param y Y value * @param z Z value */ - SIMD_FORCE_INLINE btVector3(const btScalar& x, const btScalar& y, const btScalar& z) + SIMD_FORCE_INLINE btVector3(const btScalar& _x, const btScalar& _y, const btScalar& _z) { - m_floats[0] = x; - m_floats[1] = y; - m_floats[2] = z; - m_floats[3] = btScalar(0.); + m_floats[0] = _x; + m_floats[1] = _y; + m_floats[2] = _z; + m_floats[3] = btScalar(0.f); } - +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) )|| defined (BT_USE_NEON) + // Set Vector + SIMD_FORCE_INLINE btVector3( btSimdFloat4 v) + { + mVec128 = v; + } + + // Copy constructor + SIMD_FORCE_INLINE btVector3(const btVector3& rhs) + { + mVec128 = rhs.mVec128; + } + + // Assignment Operator + SIMD_FORCE_INLINE btVector3& + operator=(const btVector3& v) + { + mVec128 = v.mVec128; + + return *this; + } +#endif // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON) + /**@brief Add a vector to this one * @param The vector to add to this one */ SIMD_FORCE_INLINE btVector3& operator+=(const btVector3& v) { - - m_floats[0] += v.m_floats[0]; m_floats[1] += v.m_floats[1];m_floats[2] += v.m_floats[2]; +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = _mm_add_ps(mVec128, v.mVec128); +#elif defined(BT_USE_NEON) + mVec128 = vaddq_f32(mVec128, v.mVec128); +#else + m_floats[0] += v.m_floats[0]; + m_floats[1] += v.m_floats[1]; + m_floats[2] += v.m_floats[2]; +#endif return *this; } @@ -102,14 +180,33 @@ ATTRIBUTE_ALIGNED16(class) btVector3 * @param The vector to subtract */ SIMD_FORCE_INLINE btVector3& operator-=(const btVector3& v) { - m_floats[0] -= v.m_floats[0]; m_floats[1] -= v.m_floats[1];m_floats[2] -= v.m_floats[2]; +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = _mm_sub_ps(mVec128, v.mVec128); +#elif defined(BT_USE_NEON) + mVec128 = vsubq_f32(mVec128, v.mVec128); +#else + m_floats[0] -= v.m_floats[0]; + m_floats[1] -= v.m_floats[1]; + m_floats[2] -= v.m_floats[2]; +#endif return *this; } + /**@brief Scale the vector * @param s Scale factor */ SIMD_FORCE_INLINE btVector3& operator*=(const btScalar& s) { - m_floats[0] *= s; m_floats[1] *= s;m_floats[2] *= s; +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vs = _mm_load_ss(&s); // (S 0 0 0) + vs = bt_pshufd_ps(vs, 0x80); // (S S S 0.0) + mVec128 = _mm_mul_ps(mVec128, vs); +#elif defined(BT_USE_NEON) + mVec128 = vmulq_n_f32(mVec128, s); +#else + m_floats[0] *= s; + m_floats[1] *= s; + m_floats[2] *= s; +#endif return *this; } @@ -118,14 +215,42 @@ ATTRIBUTE_ALIGNED16(class) btVector3 SIMD_FORCE_INLINE btVector3& operator/=(const btScalar& s) { btFullAssert(s != btScalar(0.0)); + +#if 0 //defined(BT_USE_SSE_IN_API) +// this code is not faster ! + __m128 vs = _mm_load_ss(&s); + vs = _mm_div_ss(v1110, vs); + vs = bt_pshufd_ps(vs, 0x00); // (S S S S) + + mVec128 = _mm_mul_ps(mVec128, vs); + + return *this; +#else return *this *= btScalar(1.0) / s; +#endif } /**@brief Return the dot product * @param v The other vector in the dot product */ SIMD_FORCE_INLINE btScalar dot(const btVector3& v) const { - return m_floats[0] * v.m_floats[0] + m_floats[1] * v.m_floats[1] +m_floats[2] * v.m_floats[2]; +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vd = _mm_mul_ps(mVec128, v.mVec128); + __m128 z = _mm_movehl_ps(vd, vd); + __m128 y = _mm_shuffle_ps(vd, vd, 0x55); + vd = _mm_add_ss(vd, y); + vd = _mm_add_ss(vd, z); + return _mm_cvtss_f32(vd); +#elif defined(BT_USE_NEON) + float32x4_t vd = vmulq_f32(mVec128, v.mVec128); + float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_low_f32(vd)); + x = vadd_f32(x, vget_high_f32(vd)); + return vget_lane_f32(x, 0); +#else + return m_floats[0] * v.m_floats[0] + + m_floats[1] * v.m_floats[1] + + m_floats[2] * v.m_floats[2]; +#endif } /**@brief Return the length of the vector squared */ @@ -140,6 +265,22 @@ ATTRIBUTE_ALIGNED16(class) btVector3 return btSqrt(length2()); } + /**@brief Return the norm (length) of the vector */ + SIMD_FORCE_INLINE btScalar norm() const + { + return length(); + } + + /**@brief Return the norm (length) of the vector */ + SIMD_FORCE_INLINE btScalar safeNorm() const + { + btScalar d = length2(); + //workaround for some clang/gcc issue of sqrtf(tiny number) = -INF + if (d>SIMD_EPSILON) + return btSqrt(d); + return btScalar(0); + } + /**@brief Return the distance squared between the ends of this and another vector * This is symantically treating the vector like a point */ SIMD_FORCE_INLINE btScalar distance2(const btVector3& v) const; @@ -165,7 +306,47 @@ ATTRIBUTE_ALIGNED16(class) btVector3 * x^2 + y^2 + z^2 = 1 */ SIMD_FORCE_INLINE btVector3& normalize() { + + btAssert(!fuzzyZero()); + +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + // dot product first + __m128 vd = _mm_mul_ps(mVec128, mVec128); + __m128 z = _mm_movehl_ps(vd, vd); + __m128 y = _mm_shuffle_ps(vd, vd, 0x55); + vd = _mm_add_ss(vd, y); + vd = _mm_add_ss(vd, z); + + #if 0 + vd = _mm_sqrt_ss(vd); + vd = _mm_div_ss(v1110, vd); + vd = bt_splat_ps(vd, 0x80); + mVec128 = _mm_mul_ps(mVec128, vd); + #else + + // NR step 1/sqrt(x) - vd is x, y is output + y = _mm_rsqrt_ss(vd); // estimate + + // one step NR + z = v1_5; + vd = _mm_mul_ss(vd, vHalf); // vd * 0.5 + //x2 = vd; + vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0 + vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0 * y0 + z = _mm_sub_ss(z, vd); // 1.5 - vd * 0.5 * y0 * y0 + + y = _mm_mul_ss(y, z); // y0 * (1.5 - vd * 0.5 * y0 * y0) + + y = bt_splat_ps(y, 0x80); + mVec128 = _mm_mul_ps(mVec128, y); + + #endif + + + return *this; +#else return *this /= length(); +#endif } /**@brief Return a normalized version of this vector */ @@ -184,29 +365,112 @@ ATTRIBUTE_ALIGNED16(class) btVector3 btFullAssert(s != btScalar(0.0)); return btAcos(dot(v) / s); } + /**@brief Return a vector will the absolute values of each element */ SIMD_FORCE_INLINE btVector3 absolute() const { + +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btVector3(_mm_and_ps(mVec128, btv3AbsfMask)); +#elif defined(BT_USE_NEON) + return btVector3(vabsq_f32(mVec128)); +#else return btVector3( btFabs(m_floats[0]), btFabs(m_floats[1]), btFabs(m_floats[2])); +#endif } + /**@brief Return the cross product between this and another vector * @param v The other vector */ SIMD_FORCE_INLINE btVector3 cross(const btVector3& v) const { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 T, V; + + T = bt_pshufd_ps(mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) + V = bt_pshufd_ps(v.mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) + + V = _mm_mul_ps(V, mVec128); + T = _mm_mul_ps(T, v.mVec128); + V = _mm_sub_ps(V, T); + + V = bt_pshufd_ps(V, BT_SHUFFLE(1, 2, 0, 3)); + return btVector3(V); +#elif defined(BT_USE_NEON) + float32x4_t T, V; + // form (Y, Z, X, _) of mVec128 and v.mVec128 + float32x2_t Tlow = vget_low_f32(mVec128); + float32x2_t Vlow = vget_low_f32(v.mVec128); + T = vcombine_f32(vext_f32(Tlow, vget_high_f32(mVec128), 1), Tlow); + V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v.mVec128), 1), Vlow); + + V = vmulq_f32(V, mVec128); + T = vmulq_f32(T, v.mVec128); + V = vsubq_f32(V, T); + Vlow = vget_low_f32(V); + // form (Y, Z, X, _); + V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow); + V = (float32x4_t)vandq_s32((int32x4_t)V, btvFFF0Mask); + + return btVector3(V); +#else return btVector3( - m_floats[1] * v.m_floats[2] -m_floats[2] * v.m_floats[1], + m_floats[1] * v.m_floats[2] - m_floats[2] * v.m_floats[1], m_floats[2] * v.m_floats[0] - m_floats[0] * v.m_floats[2], m_floats[0] * v.m_floats[1] - m_floats[1] * v.m_floats[0]); +#endif } SIMD_FORCE_INLINE btScalar triple(const btVector3& v1, const btVector3& v2) const { - return m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) + +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + // cross: + __m128 T = _mm_shuffle_ps(v1.mVec128, v1.mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) + __m128 V = _mm_shuffle_ps(v2.mVec128, v2.mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) + + V = _mm_mul_ps(V, v1.mVec128); + T = _mm_mul_ps(T, v2.mVec128); + V = _mm_sub_ps(V, T); + + V = _mm_shuffle_ps(V, V, BT_SHUFFLE(1, 2, 0, 3)); + + // dot: + V = _mm_mul_ps(V, mVec128); + __m128 z = _mm_movehl_ps(V, V); + __m128 y = _mm_shuffle_ps(V, V, 0x55); + V = _mm_add_ss(V, y); + V = _mm_add_ss(V, z); + return _mm_cvtss_f32(V); + +#elif defined(BT_USE_NEON) + // cross: + float32x4_t T, V; + // form (Y, Z, X, _) of mVec128 and v.mVec128 + float32x2_t Tlow = vget_low_f32(v1.mVec128); + float32x2_t Vlow = vget_low_f32(v2.mVec128); + T = vcombine_f32(vext_f32(Tlow, vget_high_f32(v1.mVec128), 1), Tlow); + V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v2.mVec128), 1), Vlow); + + V = vmulq_f32(V, v1.mVec128); + T = vmulq_f32(T, v2.mVec128); + V = vsubq_f32(V, T); + Vlow = vget_low_f32(V); + // form (Y, Z, X, _); + V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow); + + // dot: + V = vmulq_f32(mVec128, V); + float32x2_t x = vpadd_f32(vget_low_f32(V), vget_low_f32(V)); + x = vadd_f32(x, vget_high_f32(V)); + return vget_lane_f32(x, 0); +#else + return + m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) + m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) + m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]); +#endif } /**@brief Return the axis with the smallest value @@ -233,14 +497,31 @@ ATTRIBUTE_ALIGNED16(class) btVector3 return absolute().maxAxis(); } + SIMD_FORCE_INLINE void setInterpolate3(const btVector3& v0, const btVector3& v1, btScalar rt) { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vrt = _mm_load_ss(&rt); // (rt 0 0 0) + btScalar s = btScalar(1.0) - rt; + __m128 vs = _mm_load_ss(&s); // (S 0 0 0) + vs = bt_pshufd_ps(vs, 0x80); // (S S S 0.0) + __m128 r0 = _mm_mul_ps(v0.mVec128, vs); + vrt = bt_pshufd_ps(vrt, 0x80); // (rt rt rt 0.0) + __m128 r1 = _mm_mul_ps(v1.mVec128, vrt); + __m128 tmp3 = _mm_add_ps(r0,r1); + mVec128 = tmp3; +#elif defined(BT_USE_NEON) + float32x4_t vl = vsubq_f32(v1.mVec128, v0.mVec128); + vl = vmulq_n_f32(vl, rt); + mVec128 = vaddq_f32(vl, v0.mVec128); +#else btScalar s = btScalar(1.0) - rt; m_floats[0] = s * v0.m_floats[0] + rt * v1.m_floats[0]; m_floats[1] = s * v0.m_floats[1] + rt * v1.m_floats[1]; m_floats[2] = s * v0.m_floats[2] + rt * v1.m_floats[2]; //don't do the unused w component // m_co[3] = s * v0[3] + rt * v1[3]; +#endif } /**@brief Return the linear interpolation between this and another vector @@ -248,16 +529,41 @@ ATTRIBUTE_ALIGNED16(class) btVector3 * @param t The ration of this to v (t = 0 => return this, t=1 => return other) */ SIMD_FORCE_INLINE btVector3 lerp(const btVector3& v, const btScalar& t) const { - return btVector3(m_floats[0] + (v.m_floats[0] - m_floats[0]) * t, - m_floats[1] + (v.m_floats[1] - m_floats[1]) * t, - m_floats[2] + (v.m_floats[2] -m_floats[2]) * t); +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vt = _mm_load_ss(&t); // (t 0 0 0) + vt = bt_pshufd_ps(vt, 0x80); // (rt rt rt 0.0) + __m128 vl = _mm_sub_ps(v.mVec128, mVec128); + vl = _mm_mul_ps(vl, vt); + vl = _mm_add_ps(vl, mVec128); + + return btVector3(vl); +#elif defined(BT_USE_NEON) + float32x4_t vl = vsubq_f32(v.mVec128, mVec128); + vl = vmulq_n_f32(vl, t); + vl = vaddq_f32(vl, mVec128); + + return btVector3(vl); +#else + return + btVector3( m_floats[0] + (v.m_floats[0] - m_floats[0]) * t, + m_floats[1] + (v.m_floats[1] - m_floats[1]) * t, + m_floats[2] + (v.m_floats[2] - m_floats[2]) * t); +#endif } /**@brief Elementwise multiply this vector by the other * @param v The other vector */ SIMD_FORCE_INLINE btVector3& operator*=(const btVector3& v) { - m_floats[0] *= v.m_floats[0]; m_floats[1] *= v.m_floats[1];m_floats[2] *= v.m_floats[2]; +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = _mm_mul_ps(mVec128, v.mVec128); +#elif defined(BT_USE_NEON) + mVec128 = vmulq_f32(mVec128, v.mVec128); +#else + m_floats[0] *= v.m_floats[0]; + m_floats[1] *= v.m_floats[1]; + m_floats[2] *= v.m_floats[2]; +#endif return *this; } @@ -268,13 +574,13 @@ ATTRIBUTE_ALIGNED16(class) btVector3 /**@brief Return the z value */ SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; } /**@brief Set the x value */ - SIMD_FORCE_INLINE void setX(btScalar x) { m_floats[0] = x;}; + SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x;}; /**@brief Set the y value */ - SIMD_FORCE_INLINE void setY(btScalar y) { m_floats[1] = y;}; + SIMD_FORCE_INLINE void setY(btScalar _y) { m_floats[1] = _y;}; /**@brief Set the z value */ - SIMD_FORCE_INLINE void setZ(btScalar z) {m_floats[2] = z;}; + SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z;}; /**@brief Set the w value */ - SIMD_FORCE_INLINE void setW(btScalar w) { m_floats[3] = w;}; + SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w;}; /**@brief Return the x value */ SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; } /**@brief Return the y value */ @@ -292,7 +598,14 @@ ATTRIBUTE_ALIGNED16(class) btVector3 SIMD_FORCE_INLINE bool operator==(const btVector3& other) const { - return ((m_floats[3]==other.m_floats[3]) && (m_floats[2]==other.m_floats[2]) && (m_floats[1]==other.m_floats[1]) && (m_floats[0]==other.m_floats[0])); +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128))); +#else + return ((m_floats[3]==other.m_floats[3]) && + (m_floats[2]==other.m_floats[2]) && + (m_floats[1]==other.m_floats[1]) && + (m_floats[0]==other.m_floats[0])); +#endif } SIMD_FORCE_INLINE bool operator!=(const btVector3& other) const @@ -300,103 +613,231 @@ ATTRIBUTE_ALIGNED16(class) btVector3 return !(*this == other); } - /**@brief Set each element to the max of the current values and the values of another btVector3 + /**@brief Set each element to the max of the current values and the values of another btVector3 * @param other The other btVector3 to compare with */ - SIMD_FORCE_INLINE void setMax(const btVector3& other) - { - btSetMax(m_floats[0], other.m_floats[0]); - btSetMax(m_floats[1], other.m_floats[1]); - btSetMax(m_floats[2], other.m_floats[2]); - btSetMax(m_floats[3], other.w()); - } + SIMD_FORCE_INLINE void setMax(const btVector3& other) + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = _mm_max_ps(mVec128, other.mVec128); +#elif defined(BT_USE_NEON) + mVec128 = vmaxq_f32(mVec128, other.mVec128); +#else + btSetMax(m_floats[0], other.m_floats[0]); + btSetMax(m_floats[1], other.m_floats[1]); + btSetMax(m_floats[2], other.m_floats[2]); + btSetMax(m_floats[3], other.w()); +#endif + } + /**@brief Set each element to the min of the current values and the values of another btVector3 * @param other The other btVector3 to compare with */ - SIMD_FORCE_INLINE void setMin(const btVector3& other) - { - btSetMin(m_floats[0], other.m_floats[0]); - btSetMin(m_floats[1], other.m_floats[1]); - btSetMin(m_floats[2], other.m_floats[2]); - btSetMin(m_floats[3], other.w()); - } - - SIMD_FORCE_INLINE void setValue(const btScalar& x, const btScalar& y, const btScalar& z) - { - m_floats[0]=x; - m_floats[1]=y; - m_floats[2]=z; - m_floats[3] = btScalar(0.); - } - - void getSkewSymmetricMatrix(btVector3* v0,btVector3* v1,btVector3* v2) const - { - v0->setValue(0. ,-z() ,y()); - v1->setValue(z() ,0. ,-x()); - v2->setValue(-y() ,x() ,0.); - } - - void setZero() - { - setValue(btScalar(0.),btScalar(0.),btScalar(0.)); - } - - SIMD_FORCE_INLINE bool isZero() const - { - return m_floats[0] == btScalar(0) && m_floats[1] == btScalar(0) && m_floats[2] == btScalar(0); - } - - SIMD_FORCE_INLINE bool fuzzyZero() const - { - return length2() < SIMD_EPSILON; - } + SIMD_FORCE_INLINE void setMin(const btVector3& other) + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = _mm_min_ps(mVec128, other.mVec128); +#elif defined(BT_USE_NEON) + mVec128 = vminq_f32(mVec128, other.mVec128); +#else + btSetMin(m_floats[0], other.m_floats[0]); + btSetMin(m_floats[1], other.m_floats[1]); + btSetMin(m_floats[2], other.m_floats[2]); + btSetMin(m_floats[3], other.w()); +#endif + } - SIMD_FORCE_INLINE void serialize(struct btVector3Data& dataOut) const; + SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z) + { + m_floats[0]=_x; + m_floats[1]=_y; + m_floats[2]=_z; + m_floats[3] = btScalar(0.f); + } - SIMD_FORCE_INLINE void deSerialize(const struct btVector3Data& dataIn); + void getSkewSymmetricMatrix(btVector3* v0,btVector3* v1,btVector3* v2) const + { +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + + __m128 V = _mm_and_ps(mVec128, btvFFF0fMask); + __m128 V0 = _mm_xor_ps(btvMzeroMask, V); + __m128 V2 = _mm_movelh_ps(V0, V); + + __m128 V1 = _mm_shuffle_ps(V, V0, 0xCE); + + V0 = _mm_shuffle_ps(V0, V, 0xDB); + V2 = _mm_shuffle_ps(V2, V, 0xF9); + + v0->mVec128 = V0; + v1->mVec128 = V1; + v2->mVec128 = V2; +#else + v0->setValue(0. ,-z() ,y()); + v1->setValue(z() ,0. ,-x()); + v2->setValue(-y() ,x() ,0.); +#endif + } - SIMD_FORCE_INLINE void serializeFloat(struct btVector3FloatData& dataOut) const; + void setZero() + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = (__m128)_mm_xor_ps(mVec128, mVec128); +#elif defined(BT_USE_NEON) + int32x4_t vi = vdupq_n_s32(0); + mVec128 = vreinterpretq_f32_s32(vi); +#else + setValue(btScalar(0.),btScalar(0.),btScalar(0.)); +#endif + } - SIMD_FORCE_INLINE void deSerializeFloat(const struct btVector3FloatData& dataIn); + SIMD_FORCE_INLINE bool isZero() const + { + return m_floats[0] == btScalar(0) && m_floats[1] == btScalar(0) && m_floats[2] == btScalar(0); + } - SIMD_FORCE_INLINE void serializeDouble(struct btVector3DoubleData& dataOut) const; - SIMD_FORCE_INLINE void deSerializeDouble(const struct btVector3DoubleData& dataIn); + SIMD_FORCE_INLINE bool fuzzyZero() const + { + return length2() < SIMD_EPSILON*SIMD_EPSILON; + } + SIMD_FORCE_INLINE void serialize(struct btVector3Data& dataOut) const; + + SIMD_FORCE_INLINE void deSerialize(const struct btVector3Data& dataIn); + + SIMD_FORCE_INLINE void serializeFloat(struct btVector3FloatData& dataOut) const; + + SIMD_FORCE_INLINE void deSerializeFloat(const struct btVector3FloatData& dataIn); + + SIMD_FORCE_INLINE void serializeDouble(struct btVector3DoubleData& dataOut) const; + + SIMD_FORCE_INLINE void deSerializeDouble(const struct btVector3DoubleData& dataIn); + + /**@brief returns index of maximum dot product between this and vectors in array[] + * @param array The other vectors + * @param array_count The number of other vectors + * @param dotOut The maximum dot product */ + SIMD_FORCE_INLINE long maxDot( const btVector3 *array, long array_count, btScalar &dotOut ) const; + + /**@brief returns index of minimum dot product between this and vectors in array[] + * @param array The other vectors + * @param array_count The number of other vectors + * @param dotOut The minimum dot product */ + SIMD_FORCE_INLINE long minDot( const btVector3 *array, long array_count, btScalar &dotOut ) const; + + /* create a vector as btVector3( this->dot( btVector3 v0 ), this->dot( btVector3 v1), this->dot( btVector3 v2 )) */ + SIMD_FORCE_INLINE btVector3 dot3( const btVector3 &v0, const btVector3 &v1, const btVector3 &v2 ) const + { +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + + __m128 a0 = _mm_mul_ps( v0.mVec128, this->mVec128 ); + __m128 a1 = _mm_mul_ps( v1.mVec128, this->mVec128 ); + __m128 a2 = _mm_mul_ps( v2.mVec128, this->mVec128 ); + __m128 b0 = _mm_unpacklo_ps( a0, a1 ); + __m128 b1 = _mm_unpackhi_ps( a0, a1 ); + __m128 b2 = _mm_unpacklo_ps( a2, _mm_setzero_ps() ); + __m128 r = _mm_movelh_ps( b0, b2 ); + r = _mm_add_ps( r, _mm_movehl_ps( b2, b0 )); + a2 = _mm_and_ps( a2, btvxyzMaskf); + r = _mm_add_ps( r, btCastdTo128f (_mm_move_sd( btCastfTo128d(a2), btCastfTo128d(b1) ))); + return btVector3(r); + +#elif defined(BT_USE_NEON) + static const uint32x4_t xyzMask = (const uint32x4_t){ static_cast(-1), static_cast(-1), static_cast(-1), 0 }; + float32x4_t a0 = vmulq_f32( v0.mVec128, this->mVec128); + float32x4_t a1 = vmulq_f32( v1.mVec128, this->mVec128); + float32x4_t a2 = vmulq_f32( v2.mVec128, this->mVec128); + float32x2x2_t zLo = vtrn_f32( vget_high_f32(a0), vget_high_f32(a1)); + a2 = (float32x4_t) vandq_u32((uint32x4_t) a2, xyzMask ); + float32x2_t b0 = vadd_f32( vpadd_f32( vget_low_f32(a0), vget_low_f32(a1)), zLo.val[0] ); + float32x2_t b1 = vpadd_f32( vpadd_f32( vget_low_f32(a2), vget_high_f32(a2)), vdup_n_f32(0.0f)); + return btVector3( vcombine_f32(b0, b1) ); +#else + return btVector3( dot(v0), dot(v1), dot(v2)); +#endif + } }; /**@brief Return the sum of two vectors (Point symantics)*/ SIMD_FORCE_INLINE btVector3 operator+(const btVector3& v1, const btVector3& v2) { - return btVector3(v1.m_floats[0] + v2.m_floats[0], v1.m_floats[1] + v2.m_floats[1], v1.m_floats[2] + v2.m_floats[2]); +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btVector3(_mm_add_ps(v1.mVec128, v2.mVec128)); +#elif defined(BT_USE_NEON) + return btVector3(vaddq_f32(v1.mVec128, v2.mVec128)); +#else + return btVector3( + v1.m_floats[0] + v2.m_floats[0], + v1.m_floats[1] + v2.m_floats[1], + v1.m_floats[2] + v2.m_floats[2]); +#endif } /**@brief Return the elementwise product of two vectors */ SIMD_FORCE_INLINE btVector3 operator*(const btVector3& v1, const btVector3& v2) { - return btVector3(v1.m_floats[0] * v2.m_floats[0], v1.m_floats[1] * v2.m_floats[1], v1.m_floats[2] * v2.m_floats[2]); +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btVector3(_mm_mul_ps(v1.mVec128, v2.mVec128)); +#elif defined(BT_USE_NEON) + return btVector3(vmulq_f32(v1.mVec128, v2.mVec128)); +#else + return btVector3( + v1.m_floats[0] * v2.m_floats[0], + v1.m_floats[1] * v2.m_floats[1], + v1.m_floats[2] * v2.m_floats[2]); +#endif } /**@brief Return the difference between two vectors */ SIMD_FORCE_INLINE btVector3 operator-(const btVector3& v1, const btVector3& v2) { - return btVector3(v1.m_floats[0] - v2.m_floats[0], v1.m_floats[1] - v2.m_floats[1], v1.m_floats[2] - v2.m_floats[2]); +#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) + + // without _mm_and_ps this code causes slowdown in Concave moving + __m128 r = _mm_sub_ps(v1.mVec128, v2.mVec128); + return btVector3(_mm_and_ps(r, btvFFF0fMask)); +#elif defined(BT_USE_NEON) + float32x4_t r = vsubq_f32(v1.mVec128, v2.mVec128); + return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask)); +#else + return btVector3( + v1.m_floats[0] - v2.m_floats[0], + v1.m_floats[1] - v2.m_floats[1], + v1.m_floats[2] - v2.m_floats[2]); +#endif } + /**@brief Return the negative of the vector */ SIMD_FORCE_INLINE btVector3 operator-(const btVector3& v) { +#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) + __m128 r = _mm_xor_ps(v.mVec128, btvMzeroMask); + return btVector3(_mm_and_ps(r, btvFFF0fMask)); +#elif defined(BT_USE_NEON) + return btVector3((btSimdFloat4)veorq_s32((int32x4_t)v.mVec128, (int32x4_t)btvMzeroMask)); +#else return btVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]); +#endif } /**@brief Return the vector scaled by s */ SIMD_FORCE_INLINE btVector3 operator*(const btVector3& v, const btScalar& s) { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vs = _mm_load_ss(&s); // (S 0 0 0) + vs = bt_pshufd_ps(vs, 0x80); // (S S S 0.0) + return btVector3(_mm_mul_ps(v.mVec128, vs)); +#elif defined(BT_USE_NEON) + float32x4_t r = vmulq_n_f32(v.mVec128, s); + return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask)); +#else return btVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s); +#endif } /**@brief Return the vector scaled by s */ @@ -411,14 +852,46 @@ SIMD_FORCE_INLINE btVector3 operator/(const btVector3& v, const btScalar& s) { btFullAssert(s != btScalar(0.0)); +#if 0 //defined(BT_USE_SSE_IN_API) +// this code is not faster ! + __m128 vs = _mm_load_ss(&s); + vs = _mm_div_ss(v1110, vs); + vs = bt_pshufd_ps(vs, 0x00); // (S S S S) + + return btVector3(_mm_mul_ps(v.mVec128, vs)); +#else return v * (btScalar(1.0) / s); +#endif } /**@brief Return the vector inversely scaled by s */ SIMD_FORCE_INLINE btVector3 operator/(const btVector3& v1, const btVector3& v2) { - return btVector3(v1.m_floats[0] / v2.m_floats[0],v1.m_floats[1] / v2.m_floats[1],v1.m_floats[2] / v2.m_floats[2]); +#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) + __m128 vec = _mm_div_ps(v1.mVec128, v2.mVec128); + vec = _mm_and_ps(vec, btvFFF0fMask); + return btVector3(vec); +#elif defined(BT_USE_NEON) + float32x4_t x, y, v, m; + + x = v1.mVec128; + y = v2.mVec128; + + v = vrecpeq_f32(y); // v ~ 1/y + m = vrecpsq_f32(y, v); // m = (2-v*y) + v = vmulq_f32(v, m); // vv = v*m ~~ 1/y + m = vrecpsq_f32(y, v); // mm = (2-vv*y) + v = vmulq_f32(v, x); // x*vv + v = vmulq_f32(v, m); // (x*vv)*(2-vv*y) = x*(vv(2-vv*y)) ~~~ x/y + + return btVector3(v); +#else + return btVector3( + v1.m_floats[0] / v2.m_floats[0], + v1.m_floats[1] / v2.m_floats[1], + v1.m_floats[2] / v2.m_floats[2]); +#endif } /**@brief Return the dot product between two vectors */ @@ -488,22 +961,129 @@ SIMD_FORCE_INLINE btScalar btVector3::distance(const btVector3& v) const SIMD_FORCE_INLINE btVector3 btVector3::normalized() const { - return *this / length(); + btVector3 nrm = *this; + + return nrm.normalize(); } -SIMD_FORCE_INLINE btVector3 btVector3::rotate( const btVector3& wAxis, const btScalar angle ) const +SIMD_FORCE_INLINE btVector3 btVector3::rotate( const btVector3& wAxis, const btScalar _angle ) const { // wAxis must be a unit lenght vector +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + + __m128 O = _mm_mul_ps(wAxis.mVec128, mVec128); + btScalar ssin = btSin( _angle ); + __m128 C = wAxis.cross( mVec128 ).mVec128; + O = _mm_and_ps(O, btvFFF0fMask); + btScalar scos = btCos( _angle ); + + __m128 vsin = _mm_load_ss(&ssin); // (S 0 0 0) + __m128 vcos = _mm_load_ss(&scos); // (S 0 0 0) + + __m128 Y = bt_pshufd_ps(O, 0xC9); // (Y Z X 0) + __m128 Z = bt_pshufd_ps(O, 0xD2); // (Z X Y 0) + O = _mm_add_ps(O, Y); + vsin = bt_pshufd_ps(vsin, 0x80); // (S S S 0) + O = _mm_add_ps(O, Z); + vcos = bt_pshufd_ps(vcos, 0x80); // (S S S 0) + + vsin = vsin * C; + O = O * wAxis.mVec128; + __m128 X = mVec128 - O; + + O = O + vsin; + vcos = vcos * X; + O = O + vcos; + + return btVector3(O); +#else btVector3 o = wAxis * wAxis.dot( *this ); - btVector3 x = *this - o; - btVector3 y; + btVector3 _x = *this - o; + btVector3 _y; - y = wAxis.cross( *this ); + _y = wAxis.cross( *this ); - return ( o + x * btCos( angle ) + y * btSin( angle ) ); + return ( o + _x * btCos( _angle ) + _y * btSin( _angle ) ); +#endif } +SIMD_FORCE_INLINE long btVector3::maxDot( const btVector3 *array, long array_count, btScalar &dotOut ) const +{ +#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON) + #if defined _WIN32 || defined (BT_USE_SSE) + const long scalar_cutoff = 10; + long _maxdot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut ); + #elif defined BT_USE_NEON + const long scalar_cutoff = 4; + extern long (*_maxdot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut ); + #endif + if( array_count < scalar_cutoff ) +#endif + { + btScalar maxDot1 = -SIMD_INFINITY; + int i = 0; + int ptIndex = -1; + for( i = 0; i < array_count; i++ ) + { + btScalar dot = array[i].dot(*this); + + if( dot > maxDot1 ) + { + maxDot1 = dot; + ptIndex = i; + } + } + + dotOut = maxDot1; + return ptIndex; + } +#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON) + return _maxdot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut ); +#endif +} + +SIMD_FORCE_INLINE long btVector3::minDot( const btVector3 *array, long array_count, btScalar &dotOut ) const +{ +#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON) + #if defined BT_USE_SSE + const long scalar_cutoff = 10; + long _mindot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut ); + #elif defined BT_USE_NEON + const long scalar_cutoff = 4; + extern long (*_mindot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut ); + #else + #error unhandled arch! + #endif + + if( array_count < scalar_cutoff ) +#endif + { + btScalar minDot = SIMD_INFINITY; + int i = 0; + int ptIndex = -1; + + for( i = 0; i < array_count; i++ ) + { + btScalar dot = array[i].dot(*this); + + if( dot < minDot ) + { + minDot = dot; + ptIndex = i; + } + } + + dotOut = minDot; + + return ptIndex; + } +#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON) + return _mindot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut ); +#endif//BT_USE_SIMD_VECTOR3 +} + + class btVector4 : public btVector3 { public: @@ -511,24 +1091,47 @@ class btVector4 : public btVector3 SIMD_FORCE_INLINE btVector4() {} - SIMD_FORCE_INLINE btVector4(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w) - : btVector3(x,y,z) + SIMD_FORCE_INLINE btVector4(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w) + : btVector3(_x,_y,_z) + { + m_floats[3] = _w; + } + +#if (defined (BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) || defined (BT_USE_NEON) + SIMD_FORCE_INLINE btVector4(const btSimdFloat4 vec) + { + mVec128 = vec; + } + + SIMD_FORCE_INLINE btVector4(const btVector3& rhs) { - m_floats[3] = w; + mVec128 = rhs.mVec128; } + SIMD_FORCE_INLINE btVector4& + operator=(const btVector4& v) + { + mVec128 = v.mVec128; + return *this; + } +#endif // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON) SIMD_FORCE_INLINE btVector4 absolute4() const { +#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btVector4(_mm_and_ps(mVec128, btvAbsfMask)); +#elif defined(BT_USE_NEON) + return btVector4(vabsq_f32(mVec128)); +#else return btVector4( btFabs(m_floats[0]), btFabs(m_floats[1]), btFabs(m_floats[2]), btFabs(m_floats[3])); +#endif } - btScalar getW() const { return m_floats[3];} @@ -554,9 +1157,10 @@ class btVector4 : public btVector3 if (m_floats[3] > maxVal) { maxIndex = 3; + maxVal = m_floats[3]; } - return maxIndex; + return maxIndex; } @@ -582,6 +1186,7 @@ class btVector4 : public btVector3 if (m_floats[3] < minVal) { minIndex = 3; + minVal = m_floats[3]; } return minIndex; @@ -616,12 +1221,12 @@ class btVector4 : public btVector3 * @param z Value of z * @param w Value of w */ - SIMD_FORCE_INLINE void setValue(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w) + SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w) { - m_floats[0]=x; - m_floats[1]=y; - m_floats[2]=z; - m_floats[3]=w; + m_floats[0]=_x; + m_floats[1]=_y; + m_floats[2]=_z; + m_floats[3]=_w; } @@ -755,5 +1360,4 @@ SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3Data& dataIn m_floats[i] = dataIn.m_floats[i]; } - #endif //BT_VECTOR3_H diff --git a/inc/vhacdCircularList.h b/inc/vhacdCircularList.h index b91ff8c..0f5ddf9 100644 --- a/inc/vhacdCircularList.h +++ b/inc/vhacdCircularList.h @@ -16,61 +16,64 @@ #ifndef VHACD_CIRCULAR_LIST_H #define VHACD_CIRCULAR_LIST_H #include -namespace VHACD -{ - //! CircularListElement class. - template < typename T > class CircularListElement - { - public: - T & GetData() { return m_data; } - const T & GetData() const { return m_data; } - CircularListElement * & GetNext() { return m_next; } - CircularListElement * & GetPrev() { return m_prev; } - const CircularListElement * & GetNext() const { return m_next; } - const CircularListElement * & GetPrev() const { return m_prev; } - //! Constructor - CircularListElement(const T & data) {m_data = data;} - CircularListElement(void){} - //! Destructor - ~CircularListElement(void){} - private: - T m_data; - CircularListElement * m_next; - CircularListElement * m_prev; +namespace VHACD { +//! CircularListElement class. +template +class CircularListElement { +public: + T& GetData() { return m_data; } + const T& GetData() const { return m_data; } + CircularListElement*& GetNext() { return m_next; } + CircularListElement*& GetPrev() { return m_prev; } + const CircularListElement*& GetNext() const { return m_next; } + const CircularListElement*& GetPrev() const { return m_prev; } + //! Constructor + CircularListElement(const T& data) { m_data = data; } + CircularListElement(void) {} + //! Destructor + ~CircularListElement(void) {} +private: + T m_data; + CircularListElement* m_next; + CircularListElement* m_prev; - CircularListElement(const CircularListElement & rhs); - }; - //! CircularList class. - template < typename T > class CircularList + CircularListElement(const CircularListElement& rhs); +}; +//! CircularList class. +template +class CircularList { +public: + CircularListElement*& GetHead() { return m_head; } + const CircularListElement* 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* element); + CircularListElement* Add(const T* data = 0); + CircularListElement* Add(const T& data); + bool Next(); + bool Prev(); + void Clear() { - public: - CircularListElement * & GetHead() { return m_head;} - const CircularListElement * 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 * element); - CircularListElement * Add(const T * data = 0); - CircularListElement * 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 - ~CircularList(void) {Clear();}; - private: - CircularListElement * m_head; //!< a pointer to the head of the circular list - size_t m_size; //!< number of element in the circular list + while (Delete()) + ; }; + const CircularList& operator=(const CircularList& rhs); + //! Constructor + CircularList() + { + m_head = 0; + m_size = 0; + } + CircularList(const CircularList& rhs); + //! Destructor + ~CircularList(void) { Clear(); }; +private: + CircularListElement* m_head; //!< a pointer to the head of the circular list + size_t m_size; //!< number of element in the circular list +}; } #include "vhacdCircularList.inl" #endif // VHACD_CIRCULAR_LIST_H \ No newline at end of file diff --git a/inc/vhacdICHull.h b/inc/vhacdICHull.h index 0ef5d8f..132bdcf 100644 --- a/inc/vhacdICHull.h +++ b/inc/vhacdICHull.h @@ -18,83 +18,81 @@ #include "vhacdManifoldMesh.h" #include "vhacdVector.h" -namespace VHACD -{ - //! Incremental Convex Hull algorithm (cf. http://maven.smith.edu/~orourke/books/ftp.html ). - enum ICHullError - { - ICHullErrorOK = 0, - ICHullErrorCoplanarPoints, - ICHullErrorNoVolume, - ICHullErrorInconsistent, - ICHullErrorNotEnoughPoints - }; - class ICHull - { - public: - static const double sc_eps; - //! - bool IsFlat() { return m_isFlat;} - //! Returns the computed mesh - TMMesh & GetMesh() { return m_mesh;} - //! Add one point to the convex-hull - bool AddPoint(const Vec3 & point) {return AddPoints(&point, 1);} - //! Add one point to the convex-hull - bool AddPoint(const Vec3 & point, int id); - //! Add points to the convex-hull - bool AddPoints(const Vec3 * points, size_t nPoints); - //! - ICHullError Process(); - //! - ICHullError Process(const unsigned int nPointsCH, const double minVolume = 0.0); - //! - bool IsInside(const Vec3 & pt0, const double eps = 0.0); - //! - const ICHull & operator=(ICHull & rhs); +namespace VHACD { +//! Incremental Convex Hull algorithm (cf. http://cs.smith.edu/~orourke/books/ftp.html ). +enum ICHullError { + ICHullErrorOK = 0, + ICHullErrorCoplanarPoints, + ICHullErrorNoVolume, + ICHullErrorInconsistent, + ICHullErrorNotEnoughPoints +}; +class ICHull { +public: + static const double sc_eps; + //! + bool IsFlat() { return m_isFlat; } + //! Returns the computed mesh + TMMesh& GetMesh() { return m_mesh; } + //! Add one point to the convex-hull + bool AddPoint(const Vec3& point) { return AddPoints(&point, 1); } + //! Add one point to the convex-hull + bool AddPoint(const Vec3& point, int32_t id); + //! Add points to the convex-hull + bool AddPoints(const Vec3* points, size_t nPoints); + //! + ICHullError Process(); + //! + ICHullError Process(const uint32_t nPointsCH, const double minVolume = 0.0); + //! + bool IsInside(const Vec3& pt0, const double eps = 0.0); + //! + const ICHull& operator=(ICHull& rhs); - //! Constructor - ICHull(); - //! Destructor - ~ICHull(void) {}; + //! Constructor + ICHull(); + //! Destructor + ~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 * MakeFace(CircularListElement * v0, - CircularListElement * v1, - CircularListElement * v2, - CircularListElement * fold); - //! - CircularListElement * MakeConeFace(CircularListElement * e, CircularListElement * v); - //! - bool ProcessPoint(); - //! - bool ComputePointVolume(double &totalVolume, bool markVisibleFaces); - //! - bool FindMaxVolumePoint(const double minVolume = 0.0); - //! - bool CleanEdges(); - //! - bool CleanVertices(unsigned int & addedPoints); - //! - bool CleanTriangles(); - //! - bool CleanUp(unsigned int & addedPoints); - //! - bool MakeCCW(CircularListElement * f, - CircularListElement * e, - CircularListElement * v); - void Clear(); - private: - static const int sc_dummyIndex; - TMMesh m_mesh; - SArray *> m_edgesToDelete; - SArray *> m_edgesToUpdate; - SArray *> m_trianglesToDelete; - Vec3 m_normal; - bool m_isFlat; - ICHull(const ICHull & rhs); - }; +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* MakeFace(CircularListElement* v0, + CircularListElement* v1, + CircularListElement* v2, + CircularListElement* fold); + //! + CircularListElement* MakeConeFace(CircularListElement* e, CircularListElement* v); + //! + bool ProcessPoint(); + //! + bool ComputePointVolume(double& totalVolume, bool markVisibleFaces); + //! + bool FindMaxVolumePoint(const double minVolume = 0.0); + //! + bool CleanEdges(); + //! + bool CleanVertices(uint32_t& addedPoints); + //! + bool CleanTriangles(); + //! + bool CleanUp(uint32_t& addedPoints); + //! + bool MakeCCW(CircularListElement* f, + CircularListElement* e, + CircularListElement* v); + void Clear(); + +private: + static const int32_t sc_dummyIndex; + TMMesh m_mesh; + SArray*> m_edgesToDelete; + SArray*> m_edgesToUpdate; + SArray*> m_trianglesToDelete; + Vec3 m_normal; + bool m_isFlat; + ICHull(const ICHull& rhs); +}; } -#endif // VHACD_ICHULL_H \ No newline at end of file +#endif // VHACD_ICHULL_H diff --git a/inc/vhacdManifoldMesh.h b/inc/vhacdManifoldMesh.h index 644f116..a48f53c 100644 --- a/inc/vhacdManifoldMesh.h +++ b/inc/vhacdManifoldMesh.h @@ -16,130 +16,127 @@ All rights reserved. #ifndef VHACD_MANIFOLD_MESH_H #define VHACD_MANIFOLD_MESH_H #include "vhacdCircularList.h" -#include "vhacdVector.h" #include "vhacdSArray.h" -namespace VHACD -{ - class TMMTriangle; - class TMMEdge; - class TMMesh; - class ICHull; +#include "vhacdVector.h" +namespace VHACD { +class TMMTriangle; +class TMMEdge; +class TMMesh; +class ICHull; + +//! Vertex data structure used in a triangular manifold mesh (TMM). +class TMMVertex { +public: + void Initialize(); + TMMVertex(void); + ~TMMVertex(void); + +private: + Vec3 m_pos; + int32_t m_name; + size_t m_id; + CircularListElement* m_duplicate; // pointer to incident cone edge (or NULL) + bool m_onHull; + bool m_tag; + TMMVertex(const TMMVertex& rhs); + 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: + void Initialize(); + TMMEdge(void); + ~TMMEdge(void); + +private: + size_t m_id; + CircularListElement* m_triangles[2]; + CircularListElement* m_vertices[2]; + CircularListElement* m_newFace; + TMMEdge(const TMMEdge& rhs); + friend class ICHull; + friend class TMMTriangle; + friend class TMMVertex; + friend class TMMesh; +}; - //! Vertex data structure used in a triangular manifold mesh (TMM). - class TMMVertex - { - public: - void Initialize(); - TMMVertex(void); - ~TMMVertex(void); - - private: - Vec3 m_pos; - int m_name; - size_t m_id; - CircularListElement * m_duplicate; // pointer to incident cone edge (or NULL) - bool m_onHull; - bool m_tag; - TMMVertex(const TMMVertex & rhs); - friend class ICHull; - friend class TMMesh; - friend class TMMTriangle; - friend class TMMEdge; - }; +//! Triangle data structure used in a triangular manifold mesh (TMM). +class TMMTriangle { +public: + void Initialize(); + TMMTriangle(void); + ~TMMTriangle(void); - //! Edge data structure used in a triangular manifold mesh (TMM). - class TMMEdge - { - public: - void Initialize(); - TMMEdge(void); - ~TMMEdge(void); - private: - size_t m_id; - CircularListElement * m_triangles[2]; - CircularListElement * m_vertices[2]; - CircularListElement * m_newFace; - TMMEdge(const TMMEdge & rhs); - friend class ICHull; - friend class TMMTriangle; - friend class TMMVertex; - friend class TMMesh; - }; +private: + size_t m_id; + CircularListElement* m_edges[3]; + CircularListElement* m_vertices[3]; + bool m_visible; - //! Triangle data structure used in a triangular manifold mesh (TMM). - class TMMTriangle - { - public: - void Initialize(); - TMMTriangle(void); - ~TMMTriangle(void); - private: - size_t m_id; - CircularListElement * m_edges[3]; - CircularListElement * m_vertices[3]; - bool m_visible; - - TMMTriangle(const TMMTriangle & rhs); - friend class ICHull; - friend class TMMesh; - friend class TMMVertex; - friend class TMMEdge; - }; - //! 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 & GetVertices() const { return m_vertices;} - //! Returns the edges circular list - inline const CircularList & GetEdges() const { return m_edges;} - //! Returns the triangles circular list - inline const CircularList & GetTriangles() const { return m_triangles;} - //! Returns the vertices circular list - inline CircularList & GetVertices() { return m_vertices;} - //! Returns the edges circular list - inline CircularList & GetEdges() { return m_edges;} - //! Returns the triangles circular list - inline CircularList & GetTriangles() { return m_triangles;} - //! Add vertex to the mesh - CircularListElement * AddVertex() {return m_vertices.Add();} - //! Add vertex to the mesh - CircularListElement * AddEdge() {return m_edges.Add();} - //! Add vertex to the mesh - CircularListElement * AddTriangle() {return m_triangles.Add();} - //! Print mesh information - void Print(); - //! - void GetIFS(Vec3 * const points, Vec3 * const triangles); - //! - void Clear(); - //! - void Copy(TMMesh & mesh); - //! - bool CheckConsistancy(); - //! - bool Normalize(); - //! - bool Denormalize(); - //! Constructor - TMMesh(); - //! Destructor - virtual ~TMMesh(void); + TMMTriangle(const TMMTriangle& rhs); + friend class ICHull; + friend class TMMesh; + friend class TMMVertex; + friend class TMMEdge; +}; +//! 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& GetVertices() const { return m_vertices; } + //! Returns the edges circular list + inline const CircularList& GetEdges() const { return m_edges; } + //! Returns the triangles circular list + inline const CircularList& GetTriangles() const { return m_triangles; } + //! Returns the vertices circular list + inline CircularList& GetVertices() { return m_vertices; } + //! Returns the edges circular list + inline CircularList& GetEdges() { return m_edges; } + //! Returns the triangles circular list + inline CircularList& GetTriangles() { return m_triangles; } + //! Add vertex to the mesh + CircularListElement* AddVertex() { return m_vertices.Add(); } + //! Add vertex to the mesh + CircularListElement* AddEdge() { return m_edges.Add(); } + //! Add vertex to the mesh + CircularListElement* AddTriangle() { return m_triangles.Add(); } + //! Print mesh information + void Print(); + //! + void GetIFS(Vec3* const points, Vec3* const triangles); + //! + void Clear(); + //! + void Copy(TMMesh& mesh); + //! + bool CheckConsistancy(); + //! + bool Normalize(); + //! + bool Denormalize(); + //! Constructor + TMMesh(); + //! Destructor + virtual ~TMMesh(void); - private: - CircularList m_vertices; - CircularList m_edges; - CircularList m_triangles; +private: + CircularList m_vertices; + CircularList m_edges; + CircularList m_triangles; - // not defined - TMMesh(const TMMesh & rhs); - friend class ICHull; - }; + // not defined + TMMesh(const TMMesh& rhs); + friend class ICHull; +}; } #endif // VHACD_MANIFOLD_MESH_H \ No newline at end of file diff --git a/inc/vhacdMesh.h b/inc/vhacdMesh.h index 9e26754..a282e2b 100644 --- a/inc/vhacdMesh.h +++ b/inc/vhacdMesh.h @@ -20,111 +20,111 @@ #define VHACD_DEBUG_MESH -namespace VHACD -{ - enum AXIS - { - AXIS_X = 0, - AXIS_Y = 1, - AXIS_Z = 2 - }; - struct Plane - { - double m_a; - double m_b; - double m_c; - double m_d; - AXIS m_axis; - short m_index; - }; +namespace VHACD { +enum AXIS { + AXIS_X = 0, + AXIS_Y = 1, + AXIS_Z = 2 +}; +struct Plane { + double m_a; + double m_b; + double m_c; + double m_d; + AXIS m_axis; + short m_index; +}; #ifdef VHACD_DEBUG_MESH - struct Material - { +struct Material { - Vec3 m_diffuseColor; - double m_ambientIntensity; - Vec3 m_specularColor; - Vec3 m_emissiveColor; - double m_shininess; - double m_transparency; - 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; - }; + Vec3 m_diffuseColor; + double m_ambientIntensity; + Vec3 m_specularColor; + Vec3 m_emissiveColor; + double m_shininess; + double m_transparency; + 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; }; +}; #endif // VHACD_DEBUG_MESH - //! Triangular mesh data structure - class Mesh - { - public: - void AddPoint(const Vec3 & pt) { m_points.PushBack(pt);}; - void SetPoint(size_t index, const Vec3 & pt) { m_points[index] = pt; }; - const Vec3 & GetPoint(size_t index) const { return m_points[index]; }; - Vec3 & GetPoint(size_t index) { return m_points[index]; }; - size_t GetNPoints() const { return m_points.Size();}; - double * GetPoints() { return (double *)m_points.Data(); } // ugly - const double * const GetPoints() const { return (double *)m_points.Data(); } // ugly - const Vec3 * const GetPointsBuffer() const { return m_points.Data(); } // - Vec3 * const GetPointsBuffer() { return m_points.Data(); } // - void AddTriangle(const Vec3 & tri) { m_triangles.PushBack(tri);}; - void SetTriangle(size_t index, const Vec3 & tri) { m_triangles[index] = tri; }; - const Vec3 & GetTriangle(size_t index) const { return m_triangles[index];}; - Vec3 & GetTriangle(size_t index) { return m_triangles[index];}; - size_t GetNTriangles() const { return m_triangles.Size();}; - int * GetTriangles() { return (int *)m_triangles.Data(); } // ugly - const int * const GetTriangles() const { return (int *)m_triangles.Data(); } // ugly - const Vec3 * const GetTrianglesBuffer() const { return m_triangles.Data(); } - Vec3 * const GetTrianglesBuffer() { return m_triangles.Data(); } - const Vec3 & GetCenter() const { return m_center;} - const Vec3 & GetMinBB() const { return m_minBB;} - const Vec3 & GetMaxBB() const { return m_maxBB;} - void ClearPoints() { m_points.Clear();} - void ClearTriangles() { m_triangles.Clear();} - void Clear() { ClearPoints(); ClearTriangles();} - void ResizePoints(size_t nPts) { m_points.Resize(nPts);} - void ResizeTriangles(size_t nTri) { m_triangles.Resize(nTri);} - void CopyPoints(SArray< Vec3 >& points) const { points = m_points; } - double GetDiagBB() const { return m_diag; } - double ComputeVolume() const; - void ComputeConvexHull(const double * const pts, - const size_t nPts); - void Clip(const Plane & plane, - SArray< Vec3 > & positivePart, - SArray< Vec3 > & negativePart) const; - bool IsInside(const Vec3 & pt) const; - double ComputeDiagBB(); +//! Triangular mesh data structure +class Mesh { +public: + void AddPoint(const Vec3& pt) { m_points.PushBack(pt); }; + void SetPoint(size_t index, const Vec3& pt) { m_points[index] = pt; }; + const Vec3& GetPoint(size_t index) const { return m_points[index]; }; + Vec3& GetPoint(size_t index) { return m_points[index]; }; + size_t GetNPoints() const { return m_points.Size(); }; + double* GetPoints() { return (double*)m_points.Data(); } // ugly + const double* const GetPoints() const { return (double*)m_points.Data(); } // ugly + const Vec3* const GetPointsBuffer() const { return m_points.Data(); } // + Vec3* const GetPointsBuffer() { return m_points.Data(); } // + void AddTriangle(const Vec3& tri) { m_triangles.PushBack(tri); }; + void SetTriangle(size_t index, const Vec3& tri) { m_triangles[index] = tri; }; + const Vec3& GetTriangle(size_t index) const { return m_triangles[index]; }; + Vec3& GetTriangle(size_t index) { return m_triangles[index]; }; + size_t GetNTriangles() const { return m_triangles.Size(); }; + int32_t* GetTriangles() { return (int32_t*)m_triangles.Data(); } // ugly + const int32_t* const GetTriangles() const { return (int32_t*)m_triangles.Data(); } // ugly + const Vec3* const GetTrianglesBuffer() const { return m_triangles.Data(); } + Vec3* const GetTrianglesBuffer() { return m_triangles.Data(); } + const Vec3& GetCenter() const { return m_center; } + const Vec3& GetMinBB() const { return m_minBB; } + const Vec3& GetMaxBB() const { return m_maxBB; } + void ClearPoints() { m_points.Clear(); } + void ClearTriangles() { m_triangles.Clear(); } + void Clear() + { + ClearPoints(); + ClearTriangles(); + } + void ResizePoints(size_t nPts) { m_points.Resize(nPts); } + void ResizeTriangles(size_t nTri) { m_triangles.Resize(nTri); } + void CopyPoints(SArray >& points) const { points = m_points; } + double GetDiagBB() const { return m_diag; } + double ComputeVolume() const; + void ComputeConvexHull(const double* const pts, + const size_t nPts); + void Clip(const Plane& plane, + SArray >& positivePart, + SArray >& negativePart) const; + bool IsInside(const Vec3& pt) const; + double ComputeDiagBB(); + Vec3 &ComputeCenter(void); #ifdef VHACD_DEBUG_MESH - bool LoadOFF(const std::string & fileName, bool invert); - bool SaveVRML2(const std::string & fileName) const ; - bool SaveVRML2(std::ofstream & fout, const Material & material) const; - bool SaveOFF(const std::string & fileName) const; + bool LoadOFF(const std::string& fileName, bool invert); + bool SaveVRML2(const std::string& fileName) const; + bool SaveVRML2(std::ofstream& fout, const Material& material) const; + bool SaveOFF(const std::string& fileName) const; #endif // VHACD_DEBUG_MESH - //! Constructor. - Mesh(); - //! Destructor. - ~Mesh(void); + //! Constructor. + Mesh(); + //! Destructor. + ~Mesh(void); - private: - SArray< Vec3 > m_points; - SArray< Vec3 > m_triangles; - Vec3 m_minBB; - Vec3 m_maxBB; - Vec3 m_center; - double m_diag; - }; +private: + SArray > m_points; + SArray > m_triangles; + Vec3 m_minBB; + Vec3 m_maxBB; + Vec3 m_center; + double m_diag; +}; } #endif \ No newline at end of file diff --git a/inc/vhacdMutex.h b/inc/vhacdMutex.h index 7043145..6b09259 100644 --- a/inc/vhacdMutex.h +++ b/inc/vhacdMutex.h @@ -50,19 +50,20 @@ #ifndef VHACD_MUTEX_H #define VHACD_MUTEX_H - #if defined(WIN32) +#ifndef _WIN32_WINNT #define _WIN32_WINNT 0x400 +#endif #include -#pragma comment(lib,"winmm.lib") +#pragma comment(lib, "winmm.lib") #endif #if defined(__linux__) //#include +#include #include #include -#include #define __stdcall #endif @@ -74,78 +75,74 @@ #define PTHREAD_MUTEX_RECURSIVE_NP PTHREAD_MUTEX_RECURSIVE #endif - #define VHACD_DEBUG //#define VHACD_NDEBUG -#ifdef VHACD_NDEBUG -#define VHACD_VERIFY( x ) (x) +#ifdef VHACD_NDEBUG +#define VHACD_VERIFY(x) (x) #else -#define VHACD_VERIFY( x ) assert((x)) +#define VHACD_VERIFY(x) assert((x)) #endif -namespace VHACD -{ - class Mutex +namespace VHACD { +class Mutex { +public: + Mutex(void) { - public: - Mutex(void) - { #if defined(WIN32) || defined(_XBOX) - InitializeCriticalSection(&m_mutex); + InitializeCriticalSection(&m_mutex); #elif defined(__APPLE__) || defined(__linux__) - pthread_mutexattr_t mutexAttr; // Mutex Attribute - VHACD_VERIFY(pthread_mutexattr_init(&mutexAttr) == 0); - VHACD_VERIFY(pthread_mutexattr_settype(&mutexAttr, PTHREAD_MUTEX_RECURSIVE_NP) == 0); - VHACD_VERIFY(pthread_mutex_init(&m_mutex, &mutexAttr) == 0); - VHACD_VERIFY(pthread_mutexattr_destroy(&mutexAttr) == 0); + pthread_mutexattr_t mutexAttr; // Mutex Attribute + VHACD_VERIFY(pthread_mutexattr_init(&mutexAttr) == 0); + VHACD_VERIFY(pthread_mutexattr_settype(&mutexAttr, PTHREAD_MUTEX_RECURSIVE_NP) == 0); + VHACD_VERIFY(pthread_mutex_init(&m_mutex, &mutexAttr) == 0); + VHACD_VERIFY(pthread_mutexattr_destroy(&mutexAttr) == 0); #endif - } - ~Mutex(void) - { + } + ~Mutex(void) + { #if defined(WIN32) || defined(_XBOX) - DeleteCriticalSection(&m_mutex); + DeleteCriticalSection(&m_mutex); #elif defined(__APPLE__) || defined(__linux__) - VHACD_VERIFY(pthread_mutex_destroy(&m_mutex) == 0); + VHACD_VERIFY(pthread_mutex_destroy(&m_mutex) == 0); #endif - } - void Lock(void) - { + } + void Lock(void) + { #if defined(WIN32) || defined(_XBOX) - EnterCriticalSection(&m_mutex); + EnterCriticalSection(&m_mutex); #elif defined(__APPLE__) || defined(__linux__) - VHACD_VERIFY(pthread_mutex_lock(&m_mutex) == 0); + VHACD_VERIFY(pthread_mutex_lock(&m_mutex) == 0); #endif - } - bool TryLock(void) - { + } + bool TryLock(void) + { #if defined(WIN32) || defined(_XBOX) - bool bRet = false; - //assert(("TryEnterCriticalSection seems to not work on XP???", 0)); - bRet = TryEnterCriticalSection(&m_mutex) ? true : false; - return bRet; + bool bRet = false; + //assert(("TryEnterCriticalSection seems to not work on XP???", 0)); + bRet = TryEnterCriticalSection(&m_mutex) ? true : false; + return bRet; #elif defined(__APPLE__) || defined(__linux__) - int result = pthread_mutex_trylock(&m_mutex); - return (result == 0); + int32_t result = pthread_mutex_trylock(&m_mutex); + return (result == 0); #endif - } + } - void Unlock(void) - { + void Unlock(void) + { #if defined(WIN32) || defined(_XBOX) - LeaveCriticalSection(&m_mutex); + LeaveCriticalSection(&m_mutex); #elif defined(__APPLE__) || defined(__linux__) - VHACD_VERIFY(pthread_mutex_unlock(&m_mutex) == 0); + VHACD_VERIFY(pthread_mutex_unlock(&m_mutex) == 0); #endif - } + } - private: +private: #if defined(WIN32) || defined(_XBOX) - CRITICAL_SECTION m_mutex; + CRITICAL_SECTION m_mutex; #elif defined(__APPLE__) || defined(__linux__) - pthread_mutex_t m_mutex; + pthread_mutex_t m_mutex; #endif - }; - +}; } #endif // VHACD_MUTEX_H diff --git a/inc/vhacdRaycastMesh.h b/inc/vhacdRaycastMesh.h new file mode 100644 index 0000000..93bf299 --- /dev/null +++ b/inc/vhacdRaycastMesh.h @@ -0,0 +1,39 @@ +#ifndef RAYCAST_MESH_H + +#define RAYCAST_MESH_H + +#include + +namespace VHACD +{ + + // Very simple brute force raycast against a triangle mesh. Tests every triangle; no hierachy. + // Does a deep copy, always does calculations with full double float precision + class RaycastMesh + { + public: + static RaycastMesh * createRaycastMesh(uint32_t vcount, // The number of vertices in the source triangle mesh + const double *vertices, // The array of vertex positions in the format x1,y1,z1..x2,y2,z2.. etc. + uint32_t tcount, // The number of triangles in the source triangle mesh + const uint32_t *indices); // The triangle indices in the format of i1,i2,i3 ... i4,i5,i6, ... + + static RaycastMesh * createRaycastMesh(uint32_t vcount, // The number of vertices in the source triangle mesh + const float *vertices, // The array of vertex positions in the format x1,y1,z1..x2,y2,z2.. etc. + uint32_t tcount, // The number of triangles in the source triangle mesh + const uint32_t *indices); // The triangle indices in the format of i1,i2,i3 ... i4,i5,i6, ... + + + virtual bool raycast(const double *from, // The starting point of the raycast + const double *to, // The ending point of the raycast + const double *closestToPoint, // The point to match the nearest hit location (can just be the 'from' location of no specific point) + double *hitLocation, // The point where the ray hit nearest to the 'closestToPoint' location + double *hitDistance) = 0; // The distance the ray traveled to the hit location + + virtual void release(void) = 0; + protected: + virtual ~RaycastMesh(void) { }; + }; + +} // end of VHACD namespace + +#endif diff --git a/inc/vhacdSArray.h b/inc/vhacdSArray.h index 065e209..4d84d1a 100644 --- a/inc/vhacdSArray.h +++ b/inc/vhacdSArray.h @@ -16,145 +16,143 @@ #ifndef VHACD_SARRAY_H #define VHACD_SARRAY_H #include -#include #include +#include #define SARRAY_DEFAULT_MIN_SIZE 16 -namespace VHACD -{ - //! SArray. - template < typename T, size_t N = 64 > class SArray - { - public: - T & operator[](size_t i) - { - T * const data = Data(); - return data[i]; - } - const T & operator[](size_t i) const - { - const T * const data = Data(); - return data[i]; - } - size_t Size() const - { - return m_size; - } - T * const Data() - { - return (m_maxSize == N)? m_data0 : m_data; - } - const T * const Data() const - { - return (m_maxSize == N)? m_data0 : m_data; - } - void Clear() - { - m_size = 0; - delete [] m_data; - m_data = 0; - m_maxSize = N; - } - void PopBack() - { - --m_size; - } - void Allocate(size_t size) - { - if (size > m_maxSize) - { - T * temp = new T[size]; - memcpy(temp, Data(), m_size*sizeof(T)); - delete [] m_data; - m_data = temp; - m_maxSize = size; - } - } - void Resize(size_t size) - { - Allocate(size); - m_size = size; - } +namespace VHACD { +//! SArray. +template +class SArray { +public: + T& operator[](size_t i) + { + T* const data = Data(); + return data[i]; + } + const T& operator[](size_t i) const + { + const T* const data = Data(); + return data[i]; + } + size_t Size() const + { + return m_size; + } + T* const Data() + { + return (m_maxSize == N) ? m_data0 : m_data; + } + const T* const Data() const + { + return (m_maxSize == N) ? m_data0 : m_data; + } + void Clear() + { + m_size = 0; + delete[] m_data; + m_data = 0; + m_maxSize = N; + } + void PopBack() + { + --m_size; + } + void Allocate(size_t size) + { + if (size > m_maxSize) { + T* temp = new T[size]; + memcpy(temp, Data(), m_size * sizeof(T)); + delete[] m_data; + m_data = temp; + m_maxSize = size; + } + } + void Resize(size_t size) + { + Allocate(size); + m_size = size; + } + + void PushBack(const T& value) + { + if (m_size == m_maxSize) { + size_t maxSize = (m_maxSize << 1); + T* temp = new T[maxSize]; + memcpy(temp, Data(), m_maxSize * sizeof(T)); + delete[] m_data; + m_data = temp; + m_maxSize = maxSize; + } + T* const data = Data(); + data[m_size++] = value; + } + bool Find(const T& value, size_t& pos) + { + T* const data = Data(); + for (pos = 0; pos < m_size; ++pos) + if (value == data[pos]) + return true; + return false; + } + bool Insert(const T& value) + { + size_t pos; + if (Find(value, pos)) + return false; + PushBack(value); + return true; + } + bool Erase(const T& value) + { + size_t pos; + T* const data = Data(); + if (Find(value, pos)) { + for (size_t j = pos + 1; j < m_size; ++j) + data[j - 1] = data[j]; + --m_size; + return true; + } + return false; + } + void operator=(const SArray& rhs) + { + if (m_maxSize < rhs.m_size) { + delete[] m_data; + m_maxSize = rhs.m_maxSize; + m_data = new T[m_maxSize]; + } + m_size = rhs.m_size; + memcpy(Data(), rhs.Data(), m_size * sizeof(T)); + } + void Initialize() + { + m_data = 0; + m_size = 0; + m_maxSize = N; + } + SArray(const SArray& rhs) + { + m_data = 0; + m_size = 0; + m_maxSize = N; + *this = rhs; + } + SArray() + { + Initialize(); + } + ~SArray() + { + delete[] m_data; + } - void PushBack(const T & value) - { - if (m_size==m_maxSize) - { - size_t maxSize = (m_maxSize << 1); - T * temp = new T[maxSize]; - memcpy(temp, Data(), m_maxSize*sizeof(T)); - delete [] m_data; - m_data = temp; - m_maxSize = maxSize; - } - T * const data = Data(); - data[m_size++] = value; - } - bool Find(const T & value, size_t & pos) - { - T * const data = Data(); - for(pos = 0; pos < m_size; ++pos) - if (value == data[pos]) return true; - return false; - } - bool Insert(const T & value) - { - size_t pos; - if (Find(value, pos)) return false; - PushBack(value); - return true; - } - bool Erase(const T & value) - { - size_t pos; - T * const data = Data(); - if (Find(value, pos)) - { - for(size_t j = pos+1; j < m_size; ++j) - data[j-1] = data[j]; - --m_size; - return true; - } - return false; - } - void operator=(const SArray & rhs) - { - if (m_maxSize < rhs.m_size) - { - delete [] m_data; - m_maxSize = rhs.m_maxSize; - m_data = new T[m_maxSize]; - } - m_size = rhs.m_size; - memcpy(Data(), rhs.Data(), m_size*sizeof(T)); - } - void Initialize() - { - m_data = 0; - m_size = 0; - m_maxSize = N; - } - SArray(const SArray & rhs) - { - m_data = 0; - m_size = 0; - m_maxSize = N; - *this = rhs; - } - SArray() - { - Initialize(); - } - ~SArray() - { - delete [] m_data; - } - private: - T m_data0[N]; - T * m_data; - size_t m_size; - size_t m_maxSize; - }; +private: + T m_data0[N]; + T* m_data; + size_t m_size; + size_t m_maxSize; +}; } #endif \ No newline at end of file diff --git a/inc/vhacdTimer.h b/inc/vhacdTimer.h index 06666fe..ba0e2c3 100644 --- a/inc/vhacdTimer.h +++ b/inc/vhacdTimer.h @@ -19,105 +19,103 @@ #ifdef _WIN32 #ifndef WIN32_LEAN_AND_MEAN #define WIN32_LEAN_AND_MEAN // Exclude rarely-used stuff from Windows headers -#endif +#endif #include #elif __MACH__ #include #include #else -#include #include +#include #endif -namespace VHACD -{ +namespace VHACD { #ifdef _WIN32 - class Timer +class Timer { +public: + Timer(void) { - public: - Timer(void) - { - m_start.QuadPart = 0; - m_stop.QuadPart = 0; - QueryPerformanceFrequency( &m_freq ) ; - }; - ~Timer(void){}; - void Tic() - { - QueryPerformanceCounter(&m_start) ; - } - void Toc() - { - QueryPerformanceCounter(&m_stop); - } - double GetElapsedTime() // in ms - { - LARGE_INTEGER delta; - delta.QuadPart = m_stop.QuadPart - m_start.QuadPart; - return (1000.0 * delta.QuadPart) / (double)m_freq.QuadPart; - } - private: - LARGE_INTEGER m_start; - LARGE_INTEGER m_stop; - LARGE_INTEGER m_freq; - + m_start.QuadPart = 0; + m_stop.QuadPart = 0; + QueryPerformanceFrequency(&m_freq); }; + ~Timer(void){}; + void Tic() + { + QueryPerformanceCounter(&m_start); + } + void Toc() + { + QueryPerformanceCounter(&m_stop); + } + double GetElapsedTime() // in ms + { + LARGE_INTEGER delta; + delta.QuadPart = m_stop.QuadPart - m_start.QuadPart; + return (1000.0 * delta.QuadPart) / (double)m_freq.QuadPart; + } + +private: + LARGE_INTEGER m_start; + LARGE_INTEGER m_stop; + LARGE_INTEGER m_freq; +}; #elif __MACH__ - class Timer +class Timer { +public: + Timer(void) + { + memset(this, 0, sizeof(Timer)); + host_get_clock_service(mach_host_self(), CALENDAR_CLOCK, &m_cclock); + }; + ~Timer(void) { - public: - Timer(void) - { - memset(this, 0, sizeof(Timer)); - host_get_clock_service(mach_host_self(), CALENDAR_CLOCK, & m_cclock); - }; - ~Timer(void) - { - mach_port_deallocate(mach_task_self(), m_cclock); - }; - void Tic() - { - clock_get_time( m_cclock, &m_start); - } - void Toc() - { - clock_get_time( m_cclock, &m_stop); - } - double GetElapsedTime() // in ms - { - return 1000.0 * (m_stop.tv_sec - m_start.tv_sec + (1.0E-9) * (m_stop.tv_nsec - m_start.tv_nsec)); - } - private: - clock_serv_t m_cclock; - mach_timespec_t m_start; - mach_timespec_t m_stop; + mach_port_deallocate(mach_task_self(), m_cclock); }; + void Tic() + { + clock_get_time(m_cclock, &m_start); + } + void Toc() + { + clock_get_time(m_cclock, &m_stop); + } + double GetElapsedTime() // in ms + { + return 1000.0 * (m_stop.tv_sec - m_start.tv_sec + (1.0E-9) * (m_stop.tv_nsec - m_start.tv_nsec)); + } + +private: + clock_serv_t m_cclock; + mach_timespec_t m_start; + mach_timespec_t m_stop; +}; #else - class Timer +class Timer { +public: + Timer(void) { - public: - Timer(void) - { - memset(this, 0, sizeof(Timer)); - }; - ~Timer(void){}; - void Tic() - { - clock_gettime(CLOCK_REALTIME, &m_start); - } - void Toc() - { - clock_gettime(CLOCK_REALTIME, &m_stop); - } - double GetElapsedTime() // in ms - { - return 1000.0 * (m_stop.tv_sec - m_start.tv_sec + (1.0E-9) * (m_stop.tv_nsec - m_start.tv_nsec)); - } - private: - struct timespec m_start; - struct timespec m_stop; + memset(this, 0, sizeof(Timer)); }; + ~Timer(void){}; + void Tic() + { + clock_gettime(CLOCK_REALTIME, &m_start); + } + void Toc() + { + clock_gettime(CLOCK_REALTIME, &m_stop); + } + double GetElapsedTime() // in ms + { + return 1000.0 * (m_stop.tv_sec - m_start.tv_sec + (1.0E-9) * (m_stop.tv_nsec - m_start.tv_nsec)); + } + +private: + struct timespec m_start; + struct timespec m_stop; +}; #endif } #endif // VHACD_TIMER_H diff --git a/inc/vhacdVHACD.h b/inc/vhacdVHACD.h index 44c5ed3..d67b107 100644 --- a/inc/vhacdVHACD.h +++ b/inc/vhacdVHACD.h @@ -25,349 +25,347 @@ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND #endif //OPENCL_FOUND #include "vhacdMutex.h" +#include "vhacdVolume.h" +#include "vhacdRaycastMesh.h" +#include -#define USE_THREAD 1 -#define OCL_MIN_NUM_PRIMITIVES 4096 -#define CH_APP_MIN_NUM_PRIMITIVES 64000 -namespace VHACD -{ - class VHACD : public IVHACD +#define USE_THREAD 1 +#define OCL_MIN_NUM_PRIMITIVES 4096 +#define CH_APP_MIN_NUM_PRIMITIVES 64000 +namespace VHACD { +class VHACD : public IVHACD { +public: + //! Constructor. + VHACD() { - public: - //! Constructor. - VHACD() - { #if USE_THREAD == 1 && _OPENMP - m_ompNumProcessors = 2*omp_get_num_procs(); - omp_set_num_threads(m_ompNumProcessors); + m_ompNumProcessors = 2 * omp_get_num_procs(); + omp_set_num_threads(m_ompNumProcessors); #else //USE_THREAD == 1 && _OPENMP - m_ompNumProcessors = 1; + m_ompNumProcessors = 1; #endif //USE_THREAD == 1 && _OPENMP #ifdef CL_VERSION_1_1 - m_oclWorkGroupSize = 0; - m_oclDevice = 0; - m_oclQueue = 0; - m_oclKernelComputePartialVolumes = 0; - m_oclKernelComputeSum = 0; + m_oclWorkGroupSize = 0; + m_oclDevice = 0; + m_oclQueue = 0; + m_oclKernelComputePartialVolumes = 0; + m_oclKernelComputeSum = 0; #endif //CL_VERSION_1_1 - Init(); - } - //! Destructor. - ~VHACD(void) {} - unsigned int GetNConvexHulls() const - { - return (unsigned int)m_convexHulls.Size(); - } - void Cancel() - { - SetCancel(true); - } - void GetConvexHull(const unsigned int index, ConvexHull & ch) const - { - Mesh * mesh = m_convexHulls[index]; - ch.m_nPoints = (unsigned int)mesh->GetNPoints(); - ch.m_nTriangles = (unsigned int)mesh->GetNTriangles(); - ch.m_points = mesh->GetPoints(); - ch.m_triangles = mesh->GetTriangles(); - } - void Clean(void) - { - delete m_volume; - delete m_pset; - size_t nCH = m_convexHulls.Size(); - for (size_t p = 0; p < nCH; ++p) - { - delete m_convexHulls[p]; - } - m_convexHulls.Clear(); - Init(); - } - void Release(void) - { - delete this; - } - bool Compute(const float * const points, - const unsigned int stridePoints, - const unsigned int nPoints, - const int * const triangles, - const unsigned int strideTriangles, - const unsigned int nTriangles, - const Parameters & params); - bool Compute(const double * const points, - const unsigned int stridePoints, - const unsigned int nPoints, - const int * const triangles, - const unsigned int strideTriangles, - const unsigned int nTriangles, - const Parameters & params); - bool OCLInit(void * const oclDevice, - IUserLogger * const logger = 0); - bool OCLRelease(IUserLogger * const logger = 0); - private: - void SetCancel(bool cancel) - { - m_cancelMutex.Lock(); - m_cancel = cancel; - m_cancelMutex.Unlock(); - } - bool GetCancel() - { + Init(); + } + //! Destructor. + ~VHACD(void) + { + } + uint32_t GetNConvexHulls() const + { + return (uint32_t)m_convexHulls.Size(); + } + void Cancel() + { + SetCancel(true); + } + void GetConvexHull(const uint32_t index, ConvexHull& ch) const + { + Mesh* mesh = m_convexHulls[index]; + ch.m_nPoints = (uint32_t)mesh->GetNPoints(); + ch.m_nTriangles = (uint32_t)mesh->GetNTriangles(); + ch.m_points = mesh->GetPoints(); + ch.m_triangles = (uint32_t *)mesh->GetTriangles(); + ch.m_volume = mesh->ComputeVolume(); + Vec3 ¢er = mesh->ComputeCenter(); + ch.m_center[0] = center.X(); + ch.m_center[1] = center.Y(); + ch.m_center[2] = center.Z(); + } + void Clean(void) + { + if (mRaycastMesh) + { + mRaycastMesh->release(); + mRaycastMesh = nullptr; + } + delete m_volume; + delete m_pset; + size_t nCH = m_convexHulls.Size(); + for (size_t p = 0; p < nCH; ++p) { + delete m_convexHulls[p]; + } + m_convexHulls.Clear(); + Init(); + } + void Release(void) + { + delete this; + } + bool Compute(const float* const points, + const uint32_t nPoints, + const uint32_t* const triangles, + const uint32_t nTriangles, + const Parameters& params); + bool Compute(const double* const points, + const uint32_t nPoints, + const uint32_t* const triangles, + const uint32_t nTriangles, + const Parameters& params); + bool OCLInit(void* const oclDevice, + IUserLogger* const logger = 0); + bool OCLRelease(IUserLogger* const logger = 0); - m_cancelMutex.Lock(); - bool cancel = m_cancel; - m_cancelMutex.Unlock(); - return cancel; - } - void Update(const double stageProgress, - const double operationProgress, - const Parameters & params) - { - m_stageProgress = stageProgress; - m_operationProgress = operationProgress; - if (params.m_callback) - { - params.m_callback->Update(m_overallProgress, - m_stageProgress, - m_operationProgress, - m_stage.c_str(), - m_operation.c_str()); - } - } - void Init() - { - memset(m_rot, 0, sizeof(double) * 9); - m_dim = 64; - m_volume = 0; - m_volumeCH0 = 0.0; - m_pset = 0; - m_overallProgress = 0.0; - m_stageProgress = 0.0; - m_operationProgress = 0.0; - m_stage = ""; - m_operation = ""; - m_barycenter[0] = m_barycenter[1] = m_barycenter[2] = 0.0; - m_rot[0][0] = m_rot[1][1] = m_rot[2][2] = 1.0; - SetCancel(false); - } - void ComputePrimitiveSet(const Parameters & params); - void ComputeACD(const Parameters & params); - void MergeConvexHulls(const Parameters & params); - void SimplifyConvexHulls(const Parameters & params); - void ComputeBestClippingPlane(const PrimitiveSet * inputPSet, - const double volume, - const SArray< Plane > & planes, - const Vec3 & preferredCuttingDirection, - const double w, - const double alpha, - const double beta, - const int convexhullDownsampling, - const double progress0, - const double progress1, - Plane & bestPlane, - double & minConcavity, - const Parameters & params); - template - void AlignMesh(const T * const points, - const unsigned int stridePoints, - const unsigned int nPoints, - const int * const triangles, - const unsigned int strideTriangles, - const unsigned int nTriangles, - const Parameters & params) - { - if (GetCancel() || !params.m_pca) - { - return; - } - m_timer.Tic(); + virtual bool ComputeCenterOfMass(double centerOfMass[3]) const; - m_stage = "Align mesh"; - m_operation = "Voxelization"; +private: + void SetCancel(bool cancel) + { + m_cancelMutex.Lock(); + m_cancel = cancel; + m_cancelMutex.Unlock(); + } + bool GetCancel() + { - std::ostringstream msg; - if (params.m_logger) - { - msg << "+ " << m_stage << std::endl; - params.m_logger->Log(msg.str().c_str()); - } + m_cancelMutex.Lock(); + bool cancel = m_cancel; + m_cancelMutex.Unlock(); + return cancel; + } + void Update(const double stageProgress, + const double operationProgress, + const Parameters& params) + { + m_stageProgress = stageProgress; + m_operationProgress = operationProgress; + if (params.m_callback) { + params.m_callback->Update(m_overallProgress, + m_stageProgress, + m_operationProgress, + m_stage.c_str(), + m_operation.c_str()); + } + } + void Init() + { + if (mRaycastMesh) + { + mRaycastMesh->release(); + mRaycastMesh = nullptr; + } + memset(m_rot, 0, sizeof(double) * 9); + m_dim = 64; + m_volume = 0; + m_volumeCH0 = 0.0; + m_pset = 0; + m_overallProgress = 0.0; + m_stageProgress = 0.0; + m_operationProgress = 0.0; + m_stage = ""; + m_operation = ""; + m_barycenter[0] = m_barycenter[1] = m_barycenter[2] = 0.0; + m_rot[0][0] = m_rot[1][1] = m_rot[2][2] = 1.0; + SetCancel(false); + } + void ComputePrimitiveSet(const Parameters& params); + void ComputeACD(const Parameters& params); + void MergeConvexHulls(const Parameters& params); + void SimplifyConvexHull(Mesh* const ch, const size_t nvertices, const double minVolume); + void SimplifyConvexHulls(const Parameters& params); + void ComputeBestClippingPlane(const PrimitiveSet* inputPSet, + const double volume, + const SArray& planes, + const Vec3& preferredCuttingDirection, + const double w, + const double alpha, + const double beta, + const int32_t convexhullDownsampling, + const double progress0, + const double progress1, + Plane& bestPlane, + double& minConcavity, + const Parameters& params); + template + void AlignMesh(const T* const points, + const uint32_t stridePoints, + const uint32_t nPoints, + const int32_t* const triangles, + const uint32_t strideTriangles, + const uint32_t nTriangles, + const Parameters& params) + { + if (GetCancel() || !params.m_pca) { + return; + } + m_timer.Tic(); - Update(0.0, 0.0, params); - if (GetCancel()) - { - return; - } - m_dim = (size_t)(pow((double)params.m_resolution, 1.0 / 3.0) + 0.5); - Volume volume; - volume.Voxelize(points, stridePoints, nPoints, - triangles, strideTriangles, nTriangles, - m_dim, m_barycenter, m_rot); - size_t n = volume.GetNPrimitivesOnSurf() + volume.GetNPrimitivesInsideSurf(); - Update(50.0, 100.0, params); + m_stage = "Align mesh"; + m_operation = "Voxelization"; - if (params.m_logger) - { - msg.str(""); - msg << "\t dim = " << m_dim << "\t-> " << n << " voxels" << std::endl; - params.m_logger->Log(msg.str().c_str()); - } - if (GetCancel()) - { - return; - } - m_operation = "PCA"; - Update(50.0, 0.0, params); - volume.AlignToPrincipalAxes(m_rot); - m_overallProgress = 1.0; - Update(100.0, 100.0, params); + std::ostringstream msg; + if (params.m_logger) { + msg << "+ " << m_stage << std::endl; + params.m_logger->Log(msg.str().c_str()); + } - m_timer.Toc(); - if (params.m_logger) - { - msg.str(""); - msg << "\t time " << m_timer.GetElapsedTime() / 1000.0 << "s" << std::endl; - params.m_logger->Log(msg.str().c_str()); - } - } - template - void VoxelizeMesh(const T * const points, - const unsigned int stridePoints, - const unsigned int nPoints, - const int * const triangles, - const unsigned int strideTriangles, - const unsigned int nTriangles, - const Parameters & params) - { - if (GetCancel()) - { - return; - } + Update(0.0, 0.0, params); + if (GetCancel()) { + return; + } + m_dim = (size_t)(pow((double)params.m_resolution, 1.0 / 3.0) + 0.5); + Volume volume; + volume.Voxelize(points, stridePoints, nPoints, + triangles, strideTriangles, nTriangles, + m_dim, m_barycenter, m_rot); + size_t n = volume.GetNPrimitivesOnSurf() + volume.GetNPrimitivesInsideSurf(); + Update(50.0, 100.0, params); - m_timer.Tic(); - m_stage = "Voxelization"; + if (params.m_logger) { + msg.str(""); + msg << "\t dim = " << m_dim << "\t-> " << n << " voxels" << std::endl; + params.m_logger->Log(msg.str().c_str()); + } + if (GetCancel()) { + return; + } + m_operation = "PCA"; + Update(50.0, 0.0, params); + volume.AlignToPrincipalAxes(m_rot); + m_overallProgress = 1.0; + Update(100.0, 100.0, params); - std::ostringstream msg; - if (params.m_logger) - { - msg << "+ " << m_stage << std::endl; - params.m_logger->Log(msg.str().c_str()); - } + m_timer.Toc(); + if (params.m_logger) { + msg.str(""); + msg << "\t time " << m_timer.GetElapsedTime() / 1000.0 << "s" << std::endl; + params.m_logger->Log(msg.str().c_str()); + } + } + template + void VoxelizeMesh(const T* const points, + const uint32_t stridePoints, + const uint32_t nPoints, + const int32_t* const triangles, + const uint32_t strideTriangles, + const uint32_t nTriangles, + const Parameters& params) + { + if (GetCancel()) { + return; + } - delete m_volume; - m_volume = 0; - int iteration = 0; - const int maxIteration = 5; - double progress = 0.0; - while (iteration++ < maxIteration && !m_cancel) - { - msg.str(""); - msg << "Iteration " << iteration; - m_operation = msg.str(); + m_timer.Tic(); + m_stage = "Voxelization"; - progress = iteration * 100.0 / maxIteration; - Update(progress, 0.0, params); + std::ostringstream msg; + if (params.m_logger) { + msg << "+ " << m_stage << std::endl; + params.m_logger->Log(msg.str().c_str()); + } - m_volume = new Volume; - m_volume->Voxelize(points, stridePoints, nPoints, - triangles, strideTriangles, nTriangles, - m_dim, m_barycenter, m_rot); + delete m_volume; + m_volume = 0; + int32_t iteration = 0; + const int32_t maxIteration = 5; + double progress = 0.0; + while (iteration++ < maxIteration && !m_cancel) { + msg.str(""); + msg << "Iteration " << iteration; + m_operation = msg.str(); - Update(progress, 100.0, params); + progress = iteration * 100.0 / maxIteration; + Update(progress, 0.0, params); - size_t n = m_volume->GetNPrimitivesOnSurf() + m_volume->GetNPrimitivesInsideSurf(); - if (params.m_logger) - { - msg.str(""); - msg << "\t dim = " << m_dim << "\t-> " << n << " voxels" << std::endl; - params.m_logger->Log(msg.str().c_str()); - } + m_volume = new Volume; + m_volume->Voxelize(points, stridePoints, nPoints, + triangles, strideTriangles, nTriangles, + m_dim, m_barycenter, m_rot); - double a = pow((double)(params.m_resolution) / n, 0.33); - size_t dim_next = (size_t)(m_dim * a + 0.5); - if (n < params.m_resolution && - iteration < maxIteration && - m_volume->GetNPrimitivesOnSurf() < params.m_resolution / 8 && - m_dim != dim_next) - { - delete m_volume; - m_volume = 0; - m_dim = dim_next; - } - else - { - break; - } - } - m_overallProgress = 10.0; - Update(100.0, 100.0, params); + Update(progress, 100.0, params); - m_timer.Toc(); - if (params.m_logger) - { - msg.str(""); - msg << "\t time " << m_timer.GetElapsedTime() / 1000.0 << "s" << std::endl; - params.m_logger->Log(msg.str().c_str()); - } - } - template - bool ComputeACD(const T * const points, - const unsigned int stridePoints, - const unsigned int nPoints, - const int * const triangles, - const unsigned int strideTriangles, - const unsigned int nTriangles, - const Parameters & params) - { - Init(); - if (params.m_oclAcceleration) - { - // build kernals - } - AlignMesh(points, stridePoints, nPoints, triangles, strideTriangles, nTriangles, params); - VoxelizeMesh(points, stridePoints, nPoints, triangles, strideTriangles, nTriangles, params); - ComputePrimitiveSet(params); - ComputeACD(params); - MergeConvexHulls(params); - SimplifyConvexHulls(params); - if (params.m_oclAcceleration) - { - // Release kernals - } - if (GetCancel()) - { - Clean(); - return false; - } - return true; - } + size_t n = m_volume->GetNPrimitivesOnSurf() + m_volume->GetNPrimitivesInsideSurf(); + if (params.m_logger) { + msg.str(""); + msg << "\t dim = " << m_dim << "\t-> " << n << " voxels" << std::endl; + params.m_logger->Log(msg.str().c_str()); + } + double a = pow((double)(params.m_resolution) / n, 0.33); + size_t dim_next = (size_t)(m_dim * a + 0.5); + if (n < params.m_resolution && iteration < maxIteration && m_volume->GetNPrimitivesOnSurf() < params.m_resolution / 8 && m_dim != dim_next) { + delete m_volume; + m_volume = 0; + m_dim = dim_next; + } + else { + break; + } + } + m_overallProgress = 10.0; + Update(100.0, 100.0, params); - private: - SArray m_convexHulls; - std::string m_stage; - std::string m_operation; - double m_overallProgress; - double m_stageProgress; - double m_operationProgress; - double m_rot[3][3]; - double m_volumeCH0; - Vec3 m_barycenter; - Timer m_timer; - size_t m_dim; - Volume * m_volume; - PrimitiveSet * m_pset; - Mutex m_cancelMutex; - bool m_cancel; - int m_ompNumProcessors; + m_timer.Toc(); + if (params.m_logger) { + msg.str(""); + msg << "\t time " << m_timer.GetElapsedTime() / 1000.0 << "s" << std::endl; + params.m_logger->Log(msg.str().c_str()); + } + } + template + bool ComputeACD(const T* const points, + const uint32_t nPoints, + const uint32_t* const triangles, + const uint32_t nTriangles, + const Parameters& params) + { + Init(); + if (params.m_projectHullVertices) + { + mRaycastMesh = RaycastMesh::createRaycastMesh(nPoints, points, nTriangles, (const uint32_t *)triangles); + } + if (params.m_oclAcceleration) { + // build kernels + } + AlignMesh(points, 3, nPoints, (int32_t *)triangles, 3, nTriangles, params); + VoxelizeMesh(points, 3, nPoints, (int32_t *)triangles, 3, nTriangles, params); + ComputePrimitiveSet(params); + ComputeACD(params); + MergeConvexHulls(params); + SimplifyConvexHulls(params); + if (params.m_oclAcceleration) { + // Release kernels + } + if (GetCancel()) { + Clean(); + return false; + } + return true; + } + +private: + RaycastMesh *mRaycastMesh{ nullptr }; + SArray m_convexHulls; + std::string m_stage; + std::string m_operation; + double m_overallProgress; + double m_stageProgress; + double m_operationProgress; + double m_rot[3][3]; + double m_volumeCH0; + Vec3 m_barycenter; + Timer m_timer; + size_t m_dim; + Volume* m_volume; + PrimitiveSet* m_pset; + Mutex m_cancelMutex; + bool m_cancel; + int32_t m_ompNumProcessors; #ifdef CL_VERSION_1_1 - cl_device_id * m_oclDevice; - cl_context m_oclContext; - cl_program m_oclProgram; - cl_command_queue * m_oclQueue; - cl_kernel * m_oclKernelComputePartialVolumes; - cl_kernel * m_oclKernelComputeSum; - size_t m_oclWorkGroupSize; + cl_device_id* m_oclDevice; + cl_context m_oclContext; + cl_program m_oclProgram; + cl_command_queue* m_oclQueue; + cl_kernel* m_oclKernelComputePartialVolumes; + cl_kernel* m_oclKernelComputeSum; + size_t m_oclWorkGroupSize; #endif //CL_VERSION_1_1 - }; +}; } #endif // VHACD_VHACD_H - diff --git a/inc/vhacdVector.h b/inc/vhacdVector.h index 455f633..efcfcf6 100644 --- a/inc/vhacdVector.h +++ b/inc/vhacdVector.h @@ -15,91 +15,154 @@ #pragma once #ifndef VHACD_VECTOR_H #define VHACD_VECTOR_H -#include #include +#include + +namespace VHACD { +//! Vector dim 3. +template +class Vec3 { +public: + T& operator[](size_t i) { return m_data[i]; } + const T& operator[](size_t i) const { return m_data[i]; } + 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; + bool operator<(const Vec3& rhs) const; + bool operator>(const Vec3& rhs) const; + Vec3(); + Vec3(T a); + Vec3(T x, T y, T z); + Vec3(const Vec3& rhs); + /*virtual*/ ~Vec3(void); + + // Compute the center of this bounding box and return the diagonal length + T GetCenter(const Vec3 &bmin, const Vec3 &bmax) + { + X() = (bmin.X() + bmax.X())*0.5; + Y() = (bmin.Y() + bmax.Y())*0.5; + Z() = (bmin.Z() + bmax.Z())*0.5; + T dx = bmax.X() - bmin.X(); + T dy = bmax.Y() - bmin.Y(); + T dz = bmax.Z() - bmin.Z(); + T diagonal = T(sqrt(dx*dx + dy*dy + dz*dz)); + return diagonal; + } + + // Update the min/max values relative to this point + void UpdateMinMax(Vec3 &bmin,Vec3 &bmax) const + { + if (X() < bmin.X()) + { + bmin.X() = X(); + } + if (Y() < bmin.Y()) + { + bmin.Y() = Y(); + } + if (Z() < bmin.Z()) + { + bmin.Z() = Z(); + } + if (X() > bmax.X()) + { + bmax.X() = X(); + } + if (X() > bmax.X()) + { + bmax.X() = X(); + } + if (Y() > bmax.Y()) + { + bmax.Y() = Y(); + } + if (Z() > bmax.Z()) + { + bmax.Z() = Z(); + } + } + + // Returns the squared distance between these two points + T GetDistanceSquared(const Vec3 &p) const + { + T dx = X() - p.X(); + T dy = Y() - p.Y(); + T dz = Z() - p.Z(); + return dx*dx + dy*dy + dz*dz; + } -namespace VHACD -{ - //! Vector dim 3. - template < typename T > class Vec3 + T GetDistance(const Vec3 &p) const { - public: - T & operator[](size_t i) { return m_data[i];} - const T & operator[](size_t i) const { return m_data[i];} - 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; - bool operator< (const Vec3 & rhs) const; - bool operator> (const Vec3 & rhs) const; - Vec3(); - Vec3(T a); - Vec3(T x, T y, T z); - Vec3(const Vec3 & rhs); - /*virtual*/ ~Vec3(void); + return sqrt(GetDistanceSquared(p)); + } - private: - T m_data[3]; - }; - //! Vector dim 2. - template < typename T > class Vec2 + // Returns the raw vector data as a pointer + T* GetData(void) { - public: - T & operator[](size_t i) { return m_data[i];} - const T & operator[](size_t i) const { return m_data[i];} - T & X(); - T & Y(); - const T & X() const; - const T & Y() const; - void Normalize(); - T GetNorm() const; - void operator= (const Vec2 & rhs); - void operator+=(const Vec2 & rhs); - void operator-=(const Vec2 & rhs); - void operator-=(T a); - void operator+=(T a); - void operator/=(T a); - void operator*=(T a); - T operator^ (const Vec2 & rhs) const; - T operator* (const Vec2 & rhs) const; - Vec2 operator+ (const Vec2 & rhs) const; - Vec2 operator- (const Vec2 & rhs) const; - Vec2 operator- () const; - Vec2 operator* (T rhs) const; - Vec2 operator/ (T rhs) const; - Vec2(); - Vec2(T a); - Vec2(T x, T y); - Vec2(const Vec2 & rhs); - /*virtual*/ ~Vec2(void); + return m_data; + } +private: + T m_data[3]; +}; +//! Vector dim 2. +template +class Vec2 { +public: + T& operator[](size_t i) { return m_data[i]; } + const T& operator[](size_t i) const { return m_data[i]; } + T& X(); + T& Y(); + const T& X() const; + const T& Y() const; + void Normalize(); + T GetNorm() const; + void operator=(const Vec2& rhs); + void operator+=(const Vec2& rhs); + void operator-=(const Vec2& rhs); + void operator-=(T a); + void operator+=(T a); + void operator/=(T a); + void operator*=(T a); + T operator^(const Vec2& rhs) const; + T operator*(const Vec2& rhs) const; + Vec2 operator+(const Vec2& rhs) const; + Vec2 operator-(const Vec2& rhs) const; + Vec2 operator-() const; + Vec2 operator*(T rhs) const; + Vec2 operator/(T rhs) const; + Vec2(); + Vec2(T a); + Vec2(T x, T y); + Vec2(const Vec2& rhs); + /*virtual*/ ~Vec2(void); - private: - T m_data[2]; - }; +private: + T m_data[2]; +}; - template - const bool Colinear(const Vec3 & a, const Vec3 & b, const Vec3 & c); - template - const T ComputeVolume4(const Vec3 & a, const Vec3 & b, const Vec3 & c, const Vec3 & d); - +template +const bool Colinear(const Vec3& a, const Vec3& b, const Vec3& c); +template +const T ComputeVolume4(const Vec3& a, const Vec3& b, const Vec3& c, const Vec3& d); } -#include "vhacdVector.inl" // template implementation +#include "vhacdVector.inl" // template implementation #endif \ No newline at end of file diff --git a/inc/vhacdVolume.h b/inc/vhacdVolume.h index 0aeb794..8c47fa1 100644 --- a/inc/vhacdVolume.h +++ b/inc/vhacdVolume.h @@ -15,473 +15,416 @@ #pragma once #ifndef VHACD_VOLUME_H #define VHACD_VOLUME_H -#include -#include "vhacdVector.h" #include "vhacdMesh.h" +#include "vhacdVector.h" +#include -namespace VHACD -{ - - enum VOXEL_VALUE - { - PRIMITIVE_UNDEFINED = 0, - PRIMITIVE_OUTSIDE_SURFACE = 1, - PRIMITIVE_INSIDE_SURFACE = 2, - PRIMITIVE_ON_SURFACE = 3 - }; - - struct Voxel - { - public: - short m_coord[3]; - short m_data; - }; +#ifdef _MSC_VER +#pragma warning(push) +#pragma warning(disable:4456 4701) +#endif - class PrimitiveSet { - public: - virtual ~PrimitiveSet() {}; - virtual PrimitiveSet * Create() const = 0; - virtual const size_t GetNPrimitives() const = 0; - virtual const size_t GetNPrimitivesOnSurf() const = 0; - virtual const size_t GetNPrimitivesInsideSurf() const = 0; - virtual const double GetEigenValue(AXIS axis) const = 0; - virtual const double ComputeMaxVolumeError() const = 0; - virtual const double ComputeVolume() const = 0; - virtual void Clip(const Plane & plane, - PrimitiveSet * const positivePart, - PrimitiveSet * const negativePart) const = 0; - virtual void Intersect(const Plane & plane, - SArray< Vec3 > * const positivePts, - SArray< Vec3 > * const negativePts, - const size_t sampling) const = 0; - virtual void ComputeExteriorPoints(const Plane & plane, - const Mesh & mesh, - SArray< Vec3 > * const exteriorPts) const = 0; - virtual void ComputeClippedVolumes(const Plane & plane, - double & positiveVolume, - double & negativeVolume) const = 0; - virtual void SelectOnSurface(PrimitiveSet * const onSurfP) const = 0; - virtual void ComputeConvexHull( Mesh & meshCH, const size_t sampling = 1) const = 0; - virtual void ComputeBB() = 0; - virtual void ComputePrincipalAxes() = 0; - virtual void AlignToPrincipalAxes() = 0; - virtual void RevertAlignToPrincipalAxes() = 0; - virtual void Convert(Mesh & mesh, const VOXEL_VALUE value) const = 0; +namespace VHACD { - const Mesh & GetConvexHull() const { return m_convexHull; }; - Mesh & GetConvexHull() { return m_convexHull; }; - private: - Mesh m_convexHull; - }; +enum VOXEL_VALUE { + PRIMITIVE_UNDEFINED = 0, + PRIMITIVE_OUTSIDE_SURFACE = 1, + PRIMITIVE_INSIDE_SURFACE = 2, + PRIMITIVE_ON_SURFACE = 3 +}; - //! - class VoxelSet : public PrimitiveSet - { - friend class Volume; - public: - //! Destructor. - ~VoxelSet(void); - //! Constructor. - VoxelSet(); +struct Voxel { +public: + short m_coord[3]; + short m_data; +}; - const size_t GetNPrimitives() const { return m_voxels.Size();} - const size_t GetNPrimitivesOnSurf() const { return m_numVoxelsOnSurface; } - const size_t GetNPrimitivesInsideSurf() const { return m_numVoxelsInsideSurface; } - const double GetEigenValue(AXIS axis) const { return m_D[axis][axis]; } - const double ComputeVolume() const { return m_unitVolume * m_voxels.Size(); } - const double ComputeMaxVolumeError() const { return m_unitVolume * m_numVoxelsOnSurface;} - const Vec3 & GetMinBBVoxels() const { return m_minBBVoxels;} - const Vec3 & GetMaxBBVoxels() const { return m_maxBBVoxels;} - const Vec3 & GetMinBB() const { return m_minBB; } - const double & GetScale() const { return m_scale; } - const double & GetUnitVolume() const { return m_unitVolume; } - Vec3 GetPoint(Vec3 voxel) const - { - return Vec3 (voxel[0] * m_scale + m_minBB[0], - voxel[1] * m_scale + m_minBB[1], - voxel[2] * m_scale + m_minBB[2]); - } - Vec3 GetPoint(const Voxel & voxel) const - { - return Vec3 (voxel.m_coord[0] * m_scale + m_minBB[0], - voxel.m_coord[1] * m_scale + m_minBB[1], - voxel.m_coord[2] * m_scale + m_minBB[2]); - } - Vec3 GetPoint(Vec3 voxel) const - { - return Vec3 (voxel[0] * m_scale + m_minBB[0], - voxel[1] * m_scale + m_minBB[1], - voxel[2] * m_scale + m_minBB[2]); - } - void GetPoints(const Voxel & voxel, Vec3 * const pts) const; - void ComputeConvexHull(Mesh & meshCH, const size_t sampling = 1) const; - void Clip(const Plane & plane, - PrimitiveSet * const positivePart, - PrimitiveSet * const negativePart) const; - void Intersect(const Plane & plane, - SArray< Vec3 > * const positivePts, - SArray< Vec3 > * const negativePts, - const size_t sampling) const; - void ComputeExteriorPoints(const Plane & plane, - const Mesh & mesh, - SArray< Vec3 > * const exteriorPts) const; - void ComputeClippedVolumes(const Plane & plane, - double & positiveVolume, - double & negativeVolume) const; - void SelectOnSurface(PrimitiveSet * const onSurfP) const; - void ComputeBB(); - void Convert(Mesh & mesh, const VOXEL_VALUE value) const; - void ComputePrincipalAxes(); - PrimitiveSet * Create() const - { - return new VoxelSet(); - } - void AlignToPrincipalAxes() {}; - void RevertAlignToPrincipalAxes() {}; - Voxel * const GetVoxels() { return m_voxels.Data(); } - const Voxel * const GetVoxels() const { return m_voxels.Data(); } +class PrimitiveSet { +public: + virtual ~PrimitiveSet(){}; + virtual PrimitiveSet* Create() const = 0; + virtual const size_t GetNPrimitives() const = 0; + virtual const size_t GetNPrimitivesOnSurf() const = 0; + virtual const size_t GetNPrimitivesInsideSurf() const = 0; + virtual const double GetEigenValue(AXIS axis) const = 0; + virtual const double ComputeMaxVolumeError() const = 0; + virtual const double ComputeVolume() const = 0; + virtual void Clip(const Plane& plane, PrimitiveSet* const positivePart, + PrimitiveSet* const negativePart) const = 0; + virtual void Intersect(const Plane& plane, SArray >* const positivePts, + SArray >* const negativePts, const size_t sampling) const = 0; + virtual void ComputeExteriorPoints(const Plane& plane, const Mesh& mesh, + SArray >* const exteriorPts) const = 0; + virtual void ComputeClippedVolumes(const Plane& plane, double& positiveVolume, + double& negativeVolume) const = 0; + virtual void SelectOnSurface(PrimitiveSet* const onSurfP) const = 0; + virtual void ComputeConvexHull(Mesh& meshCH, const size_t sampling = 1) const = 0; + virtual void ComputeBB() = 0; + virtual void ComputePrincipalAxes() = 0; + virtual void AlignToPrincipalAxes() = 0; + virtual void RevertAlignToPrincipalAxes() = 0; + virtual void Convert(Mesh& mesh, const VOXEL_VALUE value) const = 0; + const Mesh& GetConvexHull() const { return m_convexHull; }; + Mesh& GetConvexHull() { return m_convexHull; }; +private: + Mesh m_convexHull; +}; - private: - size_t m_numVoxelsOnSurface; - size_t m_numVoxelsInsideSurface; - Vec3 m_minBB; - double m_scale; - SArray< Voxel, 8 > m_voxels; - double m_unitVolume; - Vec3 m_minBBPts; - Vec3 m_maxBBPts; - Vec3 m_minBBVoxels; - Vec3 m_maxBBVoxels; - Vec3 m_barycenter; - double m_Q[3][3]; - double m_D[3][3]; - Vec3 m_barycenterPCA; - }; +//! +class VoxelSet : public PrimitiveSet { + friend class Volume; +public: + //! Destructor. + ~VoxelSet(void); + //! Constructor. + VoxelSet(); - struct Tetrahedron + const size_t GetNPrimitives() const { return m_voxels.Size(); } + const size_t GetNPrimitivesOnSurf() const { return m_numVoxelsOnSurface; } + const size_t GetNPrimitivesInsideSurf() const { return m_numVoxelsInsideSurface; } + const double GetEigenValue(AXIS axis) const { return m_D[axis][axis]; } + const double ComputeVolume() const { return m_unitVolume * m_voxels.Size(); } + const double ComputeMaxVolumeError() const { return m_unitVolume * m_numVoxelsOnSurface; } + const Vec3& GetMinBBVoxels() const { return m_minBBVoxels; } + const Vec3& GetMaxBBVoxels() const { return m_maxBBVoxels; } + const Vec3& GetMinBB() const { return m_minBB; } + const double& GetScale() const { return m_scale; } + const double& GetUnitVolume() const { return m_unitVolume; } + Vec3 GetPoint(Vec3 voxel) const { - public: - Vec3 m_pts[4]; - unsigned char m_data; - }; - - //! - class TetrahedronSet : public PrimitiveSet - { - friend class Volume; - public: - //! Destructor. - ~TetrahedronSet(void); - //! Constructor. - TetrahedronSet(); - - const size_t GetNPrimitives() const { return m_tetrahedra.Size();} - const size_t GetNPrimitivesOnSurf() const { return m_numTetrahedraOnSurface; } - const size_t GetNPrimitivesInsideSurf() const { return m_numTetrahedraInsideSurface; } - const Vec3 & GetMinBB() const { return m_minBB; } - const Vec3 & GetMaxBB() const { return m_maxBB; } - const Vec3 & GetBarycenter() const { return m_barycenter; } - const double GetEigenValue(AXIS axis) const { return m_D[axis][axis]; } - const double GetSacle() const { return m_scale; } - const double ComputeVolume() const; - const double ComputeMaxVolumeError() const; - void ComputeConvexHull(Mesh & meshCH, const size_t sampling = 1) const; - void ComputePrincipalAxes(); - void AlignToPrincipalAxes(); - void RevertAlignToPrincipalAxes(); - void Clip(const Plane & plane, - PrimitiveSet * const positivePart, - PrimitiveSet * const negativePart) const; - void Intersect(const Plane & plane, - SArray< Vec3 > * const positivePts, - SArray< Vec3 > * const negativePts, - const size_t sampling) const; - void ComputeExteriorPoints(const Plane & plane, - const Mesh & mesh, - SArray< Vec3 > * const exteriorPts) const; - void ComputeClippedVolumes(const Plane & plane, - double & positiveVolume, - double & negativeVolume) const; - void SelectOnSurface(PrimitiveSet * const onSurfP) const; - void ComputeBB(); - void Convert(Mesh & mesh, const VOXEL_VALUE value) const; - inline bool Add(Tetrahedron & tetrahedron); - PrimitiveSet * Create() const - { - return new TetrahedronSet(); - } - static const double EPS; - - private: + return Vec3(voxel[0] * m_scale + m_minBB[0], + voxel[1] * m_scale + m_minBB[1], + voxel[2] * m_scale + m_minBB[2]); + } + Vec3 GetPoint(const Voxel& voxel) const + { + return Vec3(voxel.m_coord[0] * m_scale + m_minBB[0], + voxel.m_coord[1] * m_scale + m_minBB[1], + voxel.m_coord[2] * m_scale + m_minBB[2]); + } + Vec3 GetPoint(Vec3 voxel) const + { + return Vec3(voxel[0] * m_scale + m_minBB[0], + voxel[1] * m_scale + m_minBB[1], + voxel[2] * m_scale + m_minBB[2]); + } + void GetPoints(const Voxel& voxel, Vec3* const pts) const; + void ComputeConvexHull(Mesh& meshCH, const size_t sampling = 1) const; + void Clip(const Plane& plane, PrimitiveSet* const positivePart, PrimitiveSet* const negativePart) const; + void Intersect(const Plane& plane, SArray >* const positivePts, + SArray >* const negativePts, const size_t sampling) const; + void ComputeExteriorPoints(const Plane& plane, const Mesh& mesh, + SArray >* const exteriorPts) const; + void ComputeClippedVolumes(const Plane& plane, double& positiveVolume, double& negativeVolume) const; + void SelectOnSurface(PrimitiveSet* const onSurfP) const; + void ComputeBB(); + void Convert(Mesh& mesh, const VOXEL_VALUE value) const; + void ComputePrincipalAxes(); + PrimitiveSet* Create() const + { + return new VoxelSet(); + } + void AlignToPrincipalAxes(){}; + void RevertAlignToPrincipalAxes(){}; + Voxel* const GetVoxels() { return m_voxels.Data(); } + const Voxel* const GetVoxels() const { return m_voxels.Data(); } +private: + size_t m_numVoxelsOnSurface; + size_t m_numVoxelsInsideSurface; + Vec3 m_minBB; + double m_scale; + SArray m_voxels; + double m_unitVolume; + Vec3 m_minBBPts; + Vec3 m_maxBBPts; + Vec3 m_minBBVoxels; + Vec3 m_maxBBVoxels; + Vec3 m_barycenter; + double m_Q[3][3]; + double m_D[3][3]; + Vec3 m_barycenterPCA; +}; - void AddClippedTetrahedra(const Vec3 (&pts) [10], const int nPts); +struct Tetrahedron { +public: + Vec3 m_pts[4]; + unsigned char m_data; +}; - size_t m_numTetrahedraOnSurface ; - size_t m_numTetrahedraInsideSurface; - double m_scale; - Vec3 m_minBB; - Vec3 m_maxBB; - Vec3 m_barycenter; - SArray< Tetrahedron, 8 > m_tetrahedra; - double m_Q[3][3]; - double m_D[3][3]; - }; +//! +class TetrahedronSet : public PrimitiveSet { + friend class Volume; +public: + //! Destructor. + ~TetrahedronSet(void); + //! Constructor. + TetrahedronSet(); - //! - class Volume - { - public: + const size_t GetNPrimitives() const { return m_tetrahedra.Size(); } + const size_t GetNPrimitivesOnSurf() const { return m_numTetrahedraOnSurface; } + const size_t GetNPrimitivesInsideSurf() const { return m_numTetrahedraInsideSurface; } + const Vec3& GetMinBB() const { return m_minBB; } + const Vec3& GetMaxBB() const { return m_maxBB; } + const Vec3& GetBarycenter() const { return m_barycenter; } + const double GetEigenValue(AXIS axis) const { return m_D[axis][axis]; } + const double GetSacle() const { return m_scale; } + const double ComputeVolume() const; + const double ComputeMaxVolumeError() const; + void ComputeConvexHull(Mesh& meshCH, const size_t sampling = 1) const; + void ComputePrincipalAxes(); + void AlignToPrincipalAxes(); + void RevertAlignToPrincipalAxes(); + void Clip(const Plane& plane, PrimitiveSet* const positivePart, PrimitiveSet* const negativePart) const; + void Intersect(const Plane& plane, SArray >* const positivePts, + SArray >* const negativePts, const size_t sampling) const; + void ComputeExteriorPoints(const Plane& plane, const Mesh& mesh, + SArray >* const exteriorPts) const; + void ComputeClippedVolumes(const Plane& plane, double& positiveVolume, double& negativeVolume) const; + void SelectOnSurface(PrimitiveSet* const onSurfP) const; + void ComputeBB(); + void Convert(Mesh& mesh, const VOXEL_VALUE value) const; + inline bool Add(Tetrahedron& tetrahedron); + PrimitiveSet* Create() const + { + return new TetrahedronSet(); + } + static const double EPS; - //! Destructor. - ~Volume(void); +private: + void AddClippedTetrahedra(const Vec3 (&pts)[10], const int32_t nPts); - //! Constructor. - Volume(); + size_t m_numTetrahedraOnSurface; + size_t m_numTetrahedraInsideSurface; + double m_scale; + Vec3 m_minBB; + Vec3 m_maxBB; + Vec3 m_barycenter; + SArray m_tetrahedra; + double m_Q[3][3]; + double m_D[3][3]; +}; - //! Voxelize - template - void Voxelize(const T * const points, - const unsigned int stridePoints, - const unsigned int nPoints, - const int * const triangles, - const unsigned int strideTriangles, - const unsigned int nTriangles, - const size_t dim, - const Vec3 & barycenter, - const double (&rot)[3][3]); - unsigned char & GetVoxel(const size_t i, const size_t j, const size_t k) - { - assert( i < m_dim[0] || i >= 0); - assert( j < m_dim[0] || j >= 0); - assert( k < m_dim[0] || k >= 0); - return m_data[i + j * m_dim[0] + k * m_dim[0] * m_dim[1]]; - } - const unsigned char & GetVoxel(const size_t i, const size_t j, const size_t k) const - { - assert( i < m_dim[0] || i >= 0); - assert( j < m_dim[0] || j >= 0); - assert( k < m_dim[0] || k >= 0); - return m_data[i + j * m_dim[0] + k * m_dim[0] * m_dim[1]]; - } - const size_t GetNPrimitivesOnSurf() const { return m_numVoxelsOnSurface;} - const size_t GetNPrimitivesInsideSurf() const { return m_numVoxelsInsideSurface;} - void Convert(Mesh & mesh, const VOXEL_VALUE value) const; - void Convert(VoxelSet & vset) const; - void Convert(TetrahedronSet & tset) const; - void AlignToPrincipalAxes(double (&rot)[3][3]) const; +//! +class Volume { +public: + //! Destructor. + ~Volume(void); - private: - void FillOutsideSurface(const size_t i0, - const size_t j0, - const size_t k0, - const size_t i1, - const size_t j1, - const size_t k1); - void FillInsideSurface(); - template - void ComputeBB(const T * const points, - const unsigned int stridePoints, - const unsigned int nPoints, - const Vec3 & barycenter, - const double (& rot)[3][3]); - void Allocate(); - void Free(); + //! Constructor. + Volume(); - Vec3 m_minBB; - Vec3 m_maxBB; - double m_scale; - size_t m_dim[3]; //>! dim - size_t m_numVoxelsOnSurface ; - size_t m_numVoxelsInsideSurface ; - size_t m_numVoxelsOutsideSurface; - unsigned char * m_data; - }; - int TriBoxOverlap(const Vec3 & boxcenter, - const Vec3 & boxhalfsize, - const Vec3 & triver0, - const Vec3 & triver1, - const Vec3 & triver2); + //! Voxelize template - inline void ComputeAlignedPoint(const T * const points, - const unsigned int idx, - const Vec3 & barycenter, - const double (& rot)[3][3], - Vec3 & pt) - {}; - template <> - inline void ComputeAlignedPoint(const float * const points, - const unsigned int idx, - const Vec3 & barycenter, - const double (& rot)[3][3], - Vec3 & pt) + void Voxelize(const T* const points, const uint32_t stridePoints, const uint32_t nPoints, + const int32_t* const triangles, const uint32_t strideTriangles, const uint32_t nTriangles, + const size_t dim, const Vec3& barycenter, const double (&rot)[3][3]); + unsigned char& GetVoxel(const size_t i, const size_t j, const size_t k) { - double x = points[idx + 0] - barycenter[0]; - double y = points[idx + 1] - barycenter[1]; - double z = points[idx + 2] - barycenter[2]; - pt[0] = rot[0][0] * x + rot[1][0] * y + rot[2][0] * z; - pt[1] = rot[0][1] * x + rot[1][1] * y + rot[2][1] * z; - pt[2] = rot[0][2] * x + rot[1][2] * y + rot[2][2] * z; - } - template <> - inline void ComputeAlignedPoint(const double * const points, - const unsigned int idx, - const Vec3 & barycenter, - const double (& rot)[3][3], - Vec3 & pt) - { - double x = points[idx + 0] - barycenter[0]; - double y = points[idx + 1] - barycenter[1]; - double z = points[idx + 2] - barycenter[2]; - pt[0] = rot[0][0] * x + rot[1][0] * y + rot[2][0] * z; - pt[1] = rot[0][1] * x + rot[1][1] * y + rot[2][1] * z; - pt[2] = rot[0][2] * x + rot[1][2] * y + rot[2][2] * z; + assert(i < m_dim[0] || i >= 0); + assert(j < m_dim[0] || j >= 0); + assert(k < m_dim[0] || k >= 0); + return m_data[i + j * m_dim[0] + k * m_dim[0] * m_dim[1]]; } - template - void Volume::ComputeBB(const T * const points, - const unsigned int stridePoints, - const unsigned int nPoints, - const Vec3 & barycenter, - const double (& rot)[3][3]) + const unsigned char& GetVoxel(const size_t i, const size_t j, const size_t k) const { - Vec3 pt; - ComputeAlignedPoint(points, 0, barycenter, rot, pt); - m_maxBB = pt; - m_minBB = pt; - for (unsigned int v = 1; v < nPoints; ++v) - { - ComputeAlignedPoint(points, v * stridePoints, barycenter, rot, pt); - for (int i = 0; i < 3; ++i) - { - if (pt[i] < m_minBB[i]) m_minBB[i] = pt[i]; - else if (pt[i] > m_maxBB[i]) m_maxBB[i] = pt[i]; - } - } + assert(i < m_dim[0] || i >= 0); + assert(j < m_dim[0] || j >= 0); + assert(k < m_dim[0] || k >= 0); + return m_data[i + j * m_dim[0] + k * m_dim[0] * m_dim[1]]; } + const size_t GetNPrimitivesOnSurf() const { return m_numVoxelsOnSurface; } + const size_t GetNPrimitivesInsideSurf() const { return m_numVoxelsInsideSurface; } + void Convert(Mesh& mesh, const VOXEL_VALUE value) const; + void Convert(VoxelSet& vset) const; + void Convert(TetrahedronSet& tset) const; + void AlignToPrincipalAxes(double (&rot)[3][3]) const; + +private: + void FillOutsideSurface(const size_t i0, const size_t j0, const size_t k0, const size_t i1, + const size_t j1, const size_t k1); + void FillInsideSurface(); template - void Volume::Voxelize(const T * const points, - const unsigned int stridePoints, - const unsigned int nPoints, - const int * const triangles, - const unsigned int strideTriangles, - const unsigned int nTriangles, - const size_t dim, - const Vec3 & barycenter, - const double (& rot)[3][3]) - { - if (nPoints == 0) - { - return; - } - ComputeBB(points, stridePoints, nPoints, barycenter, rot); + void ComputeBB(const T* const points, const uint32_t stridePoints, const uint32_t nPoints, + const Vec3& barycenter, const double (&rot)[3][3]); + void Allocate(); + void Free(); - double d[3] = { m_maxBB[0] - m_minBB[0], m_maxBB[1] - m_minBB[1], m_maxBB[2] - m_minBB[2] }; - double r; - if (d[0] > d[1] && d[0] > d[2]) - { - r = d[0]; - m_dim[0] = dim; - m_dim[1] = 2 + static_cast(dim * d[1] / d[0]); - m_dim[2] = 2 + static_cast(dim * d[2] / d[0]); - } - else if (d[1] > d[0] && d[1] > d[2]) - { - r = d[1]; - m_dim[1] = dim; - m_dim[0] = 2 + static_cast(dim * d[0] / d[1]); - m_dim[2] = 2 + static_cast(dim * d[2] / d[1]); - } - else - { - r = d[2]; - m_dim[2] = dim; - m_dim[0] = 2 + static_cast(dim * d[0] / d[2]); - m_dim[1] = 2 + static_cast(dim * d[1] / d[2]); + Vec3 m_minBB; + Vec3 m_maxBB; + double m_scale; + size_t m_dim[3]; //>! dim + size_t m_numVoxelsOnSurface; + size_t m_numVoxelsInsideSurface; + size_t m_numVoxelsOutsideSurface; + unsigned char* m_data; +}; +int32_t TriBoxOverlap(const Vec3& boxcenter, const Vec3& boxhalfsize, const Vec3& triver0, + const Vec3& triver1, const Vec3& triver2); +template +inline void ComputeAlignedPoint(const T* const points, const uint32_t idx, const Vec3& barycenter, + const double (&rot)[3][3], Vec3& pt){}; +template <> +inline void ComputeAlignedPoint(const float* const points, const uint32_t idx, const Vec3& barycenter, const double (&rot)[3][3], Vec3& pt) +{ + double x = points[idx + 0] - barycenter[0]; + double y = points[idx + 1] - barycenter[1]; + double z = points[idx + 2] - barycenter[2]; + pt[0] = rot[0][0] * x + rot[1][0] * y + rot[2][0] * z; + pt[1] = rot[0][1] * x + rot[1][1] * y + rot[2][1] * z; + pt[2] = rot[0][2] * x + rot[1][2] * y + rot[2][2] * z; +} +template <> +inline void ComputeAlignedPoint(const double* const points, const uint32_t idx, const Vec3& barycenter, const double (&rot)[3][3], Vec3& pt) +{ + double x = points[idx + 0] - barycenter[0]; + double y = points[idx + 1] - barycenter[1]; + double z = points[idx + 2] - barycenter[2]; + pt[0] = rot[0][0] * x + rot[1][0] * y + rot[2][0] * z; + pt[1] = rot[0][1] * x + rot[1][1] * y + rot[2][1] * z; + pt[2] = rot[0][2] * x + rot[1][2] * y + rot[2][2] * z; +} +template +void Volume::ComputeBB(const T* const points, const uint32_t stridePoints, const uint32_t nPoints, + const Vec3& barycenter, const double (&rot)[3][3]) +{ + Vec3 pt; + ComputeAlignedPoint(points, 0, barycenter, rot, pt); + m_maxBB = pt; + m_minBB = pt; + for (uint32_t v = 1; v < nPoints; ++v) { + ComputeAlignedPoint(points, v * stridePoints, barycenter, rot, pt); + for (int32_t i = 0; i < 3; ++i) { + if (pt[i] < m_minBB[i]) + m_minBB[i] = pt[i]; + else if (pt[i] > m_maxBB[i]) + m_maxBB[i] = pt[i]; } + } +} +template +void Volume::Voxelize(const T* const points, const uint32_t stridePoints, const uint32_t nPoints, + const int32_t* const triangles, const uint32_t strideTriangles, const uint32_t nTriangles, + const size_t dim, const Vec3& barycenter, const double (&rot)[3][3]) +{ + if (nPoints == 0) { + return; + } + ComputeBB(points, stridePoints, nPoints, barycenter, rot); - m_scale = r / (dim - 1); - double invScale = (dim - 1) / r; + double d[3] = { m_maxBB[0] - m_minBB[0], m_maxBB[1] - m_minBB[1], m_maxBB[2] - m_minBB[2] }; + double r; + if (d[0] > d[1] && d[0] > d[2]) { + r = d[0]; + m_dim[0] = dim; + m_dim[1] = 2 + static_cast(dim * d[1] / d[0]); + m_dim[2] = 2 + static_cast(dim * d[2] / d[0]); + } + else if (d[1] > d[0] && d[1] > d[2]) { + r = d[1]; + m_dim[1] = dim; + m_dim[0] = 2 + static_cast(dim * d[0] / d[1]); + m_dim[2] = 2 + static_cast(dim * d[2] / d[1]); + } + else { + r = d[2]; + m_dim[2] = dim; + m_dim[0] = 2 + static_cast(dim * d[0] / d[2]); + m_dim[1] = 2 + static_cast(dim * d[1] / d[2]); + } - Allocate(); - m_numVoxelsOnSurface = 0; - m_numVoxelsInsideSurface = 0; - m_numVoxelsOutsideSurface = 0; + m_scale = r / (dim - 1); + double invScale = (dim - 1) / r; - Vec3 p[3]; - size_t i, j, k; - size_t i0, j0, k0; - size_t i1, j1, k1; - Vec3 boxcenter; - Vec3 pt; - const Vec3 boxhalfsize(0.5, 0.5, 0.5); - for (size_t t = 0, ti = 0; t < nTriangles; ++t, ti += strideTriangles) - { - Vec3 tri(triangles[ti + 0], - triangles[ti + 1], - triangles[ti + 2]); - for (int c = 0; c < 3; ++c) - { - ComputeAlignedPoint(points, tri[c] * stridePoints, barycenter, rot, pt); - p[c][0] = (pt[0] - m_minBB[0]) * invScale; - p[c][1] = (pt[1] - m_minBB[1]) * invScale; - p[c][2] = (pt[2] - m_minBB[2]) * invScale; - i = static_cast(p[c][0] + 0.5); - j = static_cast(p[c][1] + 0.5); - k = static_cast(p[c][2] + 0.5); - assert(i < m_dim[0] && i >= 0 && j < m_dim[1] && j >= 0 && k < m_dim[2] && k >= 0); + Allocate(); + m_numVoxelsOnSurface = 0; + m_numVoxelsInsideSurface = 0; + m_numVoxelsOutsideSurface = 0; - if (c == 0) - { - i0 = i1 = i; - j0 = j1 = j; - k0 = k1 = k; - } - else - { - if (i < i0) i0 = i; - if (j < j0) j0 = j; - if (k < k0) k0 = k; - if (i > i1) i1 = i; - if (j > j1) j1 = j; - if (k > k1) k1 = k; - } + Vec3 p[3]; + size_t i, j, k; + size_t i0, j0, k0; + size_t i1, j1, k1; + Vec3 boxcenter; + Vec3 pt; + const Vec3 boxhalfsize(0.5, 0.5, 0.5); + for (size_t t = 0, ti = 0; t < nTriangles; ++t, ti += strideTriangles) { + Vec3 tri(triangles[ti + 0], + triangles[ti + 1], + triangles[ti + 2]); + for (int32_t c = 0; c < 3; ++c) { + ComputeAlignedPoint(points, tri[c] * stridePoints, barycenter, rot, pt); + p[c][0] = (pt[0] - m_minBB[0]) * invScale; + p[c][1] = (pt[1] - m_minBB[1]) * invScale; + p[c][2] = (pt[2] - m_minBB[2]) * invScale; + i = static_cast(p[c][0] + 0.5); + j = static_cast(p[c][1] + 0.5); + k = static_cast(p[c][2] + 0.5); + assert(i < m_dim[0] && i >= 0 && j < m_dim[1] && j >= 0 && k < m_dim[2] && k >= 0); + + if (c == 0) { + i0 = i1 = i; + j0 = j1 = j; + k0 = k1 = k; + } + else { + if (i < i0) + i0 = i; + if (j < j0) + j0 = j; + if (k < k0) + k0 = k; + if (i > i1) + i1 = i; + if (j > j1) + j1 = j; + if (k > k1) + k1 = k; } - if (i0 > 0) --i0; - if (j0 > 0) --j0; - if (k0 > 0) --k0; - if (i1 < m_dim[0]) ++i1; - if (j1 < m_dim[1]) ++j1; - if (k1 < m_dim[2]) ++k1; - for (size_t i = i0; i < i1; ++i) - { - boxcenter[0] = (double)i; - for (size_t j = j0; j < j1; ++j) - { - boxcenter[1] = (double)j; - for (size_t k = k0; k < k1; ++k) - { - boxcenter[2] = (double)k; - int res = TriBoxOverlap(boxcenter, boxhalfsize, p[0], p[1], p[2]); - unsigned char & value = GetVoxel(i, j, k); - if (res == 1 && value == PRIMITIVE_UNDEFINED) - { - value = PRIMITIVE_ON_SURFACE; - ++m_numVoxelsOnSurface; - } + } + if (i0 > 0) + --i0; + if (j0 > 0) + --j0; + if (k0 > 0) + --k0; + if (i1 < m_dim[0]) + ++i1; + if (j1 < m_dim[1]) + ++j1; + if (k1 < m_dim[2]) + ++k1; + for (size_t i = i0; i < i1; ++i) { + boxcenter[0] = (double)i; + for (size_t j = j0; j < j1; ++j) { + boxcenter[1] = (double)j; + for (size_t k = k0; k < k1; ++k) { + boxcenter[2] = (double)k; + int32_t res = TriBoxOverlap(boxcenter, boxhalfsize, p[0], p[1], p[2]); + unsigned char& value = GetVoxel(i, j, k); + if (res == 1 && value == PRIMITIVE_UNDEFINED) { + value = PRIMITIVE_ON_SURFACE; + ++m_numVoxelsOnSurface; } } } } - FillOutsideSurface(0, 0, 0, m_dim[0], m_dim[1], 1); - FillOutsideSurface(0, 0, m_dim[2] - 1, m_dim[0], m_dim[1], m_dim[2]); - FillOutsideSurface(0, 0, 0, m_dim[0], 1, m_dim[2]); - FillOutsideSurface(0, m_dim[1] - 1, 0, m_dim[0], m_dim[1], m_dim[2]); - FillOutsideSurface(0, 0, 0, 1, m_dim[1], m_dim[2]); - FillOutsideSurface(m_dim[0] - 1, 0, 0, m_dim[0], m_dim[1], m_dim[2]); - FillInsideSurface(); } + FillOutsideSurface(0, 0, 0, m_dim[0], m_dim[1], 1); + FillOutsideSurface(0, 0, m_dim[2] - 1, m_dim[0], m_dim[1], m_dim[2]); + FillOutsideSurface(0, 0, 0, m_dim[0], 1, m_dim[2]); + FillOutsideSurface(0, m_dim[1] - 1, 0, m_dim[0], m_dim[1], m_dim[2]); + FillOutsideSurface(0, 0, 0, 1, m_dim[1], m_dim[2]); + FillOutsideSurface(m_dim[0] - 1, 0, 0, m_dim[0], m_dim[1], m_dim[2]); + FillInsideSurface(); +} } -#endif // VHACD_VOLUME_H +#ifdef _MSC_VER +#pragma warning(pop) +#endif + + +#endif // VHACD_VOLUME_H diff --git a/public/VHACD.h b/public/VHACD.h index 86cf9fd..6539098 100644 --- a/public/VHACD.h +++ b/public/VHACD.h @@ -1,119 +1,153 @@ -/* 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 VHACD_H -#define VHACD_H - -#define VHACD_VERSION_MAJOR 2 -#define VHACD_VERSION_MINOR 2 - -namespace VHACD -{ - class IVHACD - { - public: - class IUserCallback { - public: - virtual ~IUserCallback() {}; - virtual void Update(const double overallProgress, - const double stageProgress, - const double operationProgress, - const char * const stage, - const char * const operation) = 0; - }; - - class IUserLogger { - public: - virtual ~IUserLogger() {}; - virtual void Log(const char * const msg) = 0; - }; - - class ConvexHull { - public: - double * m_points; - int * m_triangles; - unsigned int m_nPoints; - unsigned int m_nTriangles; - }; - - class Parameters { - public: - Parameters(void) { Init(); } - void Init(void) - { - m_resolution = 100000; - m_depth = 20; - m_concavity = 0.001; - m_planeDownsampling = 4; - m_convexhullDownsampling = 4; - m_alpha = 0.05; - m_beta = 0.05; - m_gamma = 0.0005; - m_pca = 0; - m_mode = 0; // 0: voxel-based (recommended), 1: tetrahedron-based - m_maxNumVerticesPerCH = 64; - m_minVolumePerCH = 0.0001; - m_callback = 0; - m_logger = 0; - m_convexhullApproximation = true; - m_oclAcceleration = true; - } - double m_concavity; - double m_alpha; - double m_beta; - double m_gamma; - double m_minVolumePerCH; - IUserCallback * m_callback; - IUserLogger * m_logger; - unsigned int m_resolution; - unsigned int m_maxNumVerticesPerCH; - int m_depth; - int m_planeDownsampling; - int m_convexhullDownsampling; - int m_pca; - int m_mode; - int m_convexhullApproximation; - int m_oclAcceleration; - }; - - virtual void Cancel() = 0; - virtual bool Compute(const float * const points, - const unsigned int stridePoints, - const unsigned int countPoints, - const int * const triangles, - const unsigned int strideTriangles, - const unsigned int countTriangles, - const Parameters & params) = 0; - virtual bool Compute(const double * const points, - const unsigned int stridePoints, - const unsigned int countPoints, - const int * const triangles, - const unsigned int strideTriangles, - const unsigned int countTriangles, - const Parameters & params) = 0; - virtual unsigned int GetNConvexHulls() const = 0; - virtual void GetConvexHull(const unsigned int index, ConvexHull & ch) const = 0; - virtual void Clean(void) = 0; // release internally allocated memory - virtual void Release(void) = 0; // release IVHACD - virtual bool OCLInit(void * const oclDevice, - IUserLogger * const logger = 0) = 0; - virtual bool OCLRelease(IUserLogger * const logger = 0) = 0; - - protected: - virtual ~IVHACD(void) {} - }; - IVHACD * CreateVHACD(void); -} -#endif // VHACD_H \ No newline at end of file +/* 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 VHACD_H +#define VHACD_H + +#define VHACD_VERSION_MAJOR 2 +#define VHACD_VERSION_MINOR 3 + +// Changes for version 2.3 +// +// m_gamma : Has been removed. This used to control the error metric to merge convex hulls. Now it uses the 'm_maxConvexHulls' value instead. +// m_maxConvexHulls : This is the maximum number of convex hulls to produce from the merge operation; replaces 'm_gamma'. +// +// Note that decomposition depth is no longer a user provided value. It is now derived from the +// maximum number of hulls requested. +// +// As a convenience to the user, each convex hull produced now includes the volume of the hull as well as it's center. +// +// This version supports a convenience method to automatically make V-HACD run asynchronously in a background thread. +// To get a fully asynchronous version, call 'CreateVHACD_ASYNC' instead of 'CreateVHACD'. You get the same interface however, +// now when computing convex hulls, it is no longer a blocking operation. All callback messages are still returned +// in the application's thread so you don't need to worry about mutex locks or anything in that case. +// To tell if the operation is complete, the application should call 'IsReady'. This will return true if +// the last approximation operation is complete and will dispatch any pending messages. +// If you call 'Compute' while a previous operation was still running, it will automatically cancel the last request +// and begin a new one. To cancel a currently running approximation just call 'Cancel'. +#include + +namespace VHACD { +class IVHACD { +public: + class IUserCallback { + public: + virtual ~IUserCallback(){}; + virtual void Update(const double overallProgress, + const double stageProgress, + const double operationProgress, + const char* const stage, + const char* const operation) + = 0; + }; + + class IUserLogger { + public: + virtual ~IUserLogger(){}; + virtual void Log(const char* const msg) = 0; + }; + + class ConvexHull { + public: + double* m_points; + uint32_t* m_triangles; + uint32_t m_nPoints; + uint32_t m_nTriangles; + double m_volume; + double m_center[3]; + }; + + class Parameters { + public: + Parameters(void) { Init(); } + void Init(void) + { + m_resolution = 100000; + m_concavity = 0.001; + m_planeDownsampling = 4; + m_convexhullDownsampling = 4; + m_alpha = 0.05; + m_beta = 0.05; + m_pca = 0; + m_mode = 0; // 0: voxel-based (recommended), 1: tetrahedron-based + m_maxNumVerticesPerCH = 64; + m_minVolumePerCH = 0.0001; + m_callback = 0; + m_logger = 0; + m_convexhullApproximation = true; + m_oclAcceleration = true; + m_maxConvexHulls = 1024; + m_projectHullVertices = true; // This will project the output convex hull vertices onto the original source mesh to increase the floating point accuracy of the results + } + double m_concavity; + double m_alpha; + double m_beta; + double m_minVolumePerCH; + IUserCallback* m_callback; + IUserLogger* m_logger; + uint32_t m_resolution; + uint32_t m_maxNumVerticesPerCH; + uint32_t m_planeDownsampling; + uint32_t m_convexhullDownsampling; + uint32_t m_pca; + uint32_t m_mode; + uint32_t m_convexhullApproximation; + uint32_t m_oclAcceleration; + uint32_t m_maxConvexHulls; + bool m_projectHullVertices; + }; + + virtual void Cancel() = 0; + virtual bool Compute(const float* const points, + const uint32_t countPoints, + const uint32_t* const triangles, + const uint32_t countTriangles, + const Parameters& params) + = 0; + virtual bool Compute(const double* const points, + const uint32_t countPoints, + const uint32_t* const triangles, + const uint32_t countTriangles, + const Parameters& params) + = 0; + virtual uint32_t GetNConvexHulls() const = 0; + virtual void GetConvexHull(const uint32_t index, ConvexHull& ch) const = 0; + virtual void Clean(void) = 0; // release internally allocated memory + virtual void Release(void) = 0; // release IVHACD + virtual bool OCLInit(void* const oclDevice, + IUserLogger* const logger = 0) + = 0; + virtual bool OCLRelease(IUserLogger* const logger = 0) = 0; + + // Will compute the center of mass of the convex hull decomposition results and return it + // in 'centerOfMass'. Returns false if the center of mass could not be computed. + virtual bool ComputeCenterOfMass(double centerOfMass[3]) const = 0; + + // In synchronous mode (non-multi-threaded) the state is always 'ready' + // In asynchronous mode, this returns true if the background thread is not still actively computing + // a new solution. In an asynchronous config the 'IsReady' call will report any update or log + // messages in the caller's current thread. + virtual bool IsReady(void) const + { + return true; + } + +protected: + virtual ~IVHACD(void) {} +}; +IVHACD* CreateVHACD(void); +IVHACD* CreateVHACD_ASYNC(void); +} +#endif // VHACD_H diff --git a/src/FloatMath.cpp b/src/FloatMath.cpp new file mode 100644 index 0000000..481e875 --- /dev/null +++ b/src/FloatMath.cpp @@ -0,0 +1,17 @@ +#include +#include +#include +#include +#include +#include +#include "FloatMath.h" +#include + +#define REAL float + +#include "FloatMath.inl" + +#undef REAL +#define REAL double + +#include "FloatMath.inl" diff --git a/src/FloatMath.inl b/src/FloatMath.inl new file mode 100644 index 0000000..ce529e6 --- /dev/null +++ b/src/FloatMath.inl @@ -0,0 +1,5276 @@ +// a set of routines that let you do common 3d math +// operations without any vector, matrix, or quaternion +// classes or templates. +// +// a vector (or point) is a 'float *' to 3 floating point numbers. +// a matrix is a 'float *' to an array of 16 floating point numbers representing a 4x4 transformation matrix compatible with D3D or OGL +// a quaternion is a 'float *' to 4 floats representing a quaternion x,y,z,w +// + +namespace FLOAT_MATH +{ + +void fm_inverseRT(const REAL matrix[16],const REAL pos[3],REAL t[3]) // inverse rotate translate the point. +{ + + REAL _x = pos[0] - matrix[3*4+0]; + REAL _y = pos[1] - matrix[3*4+1]; + REAL _z = pos[2] - matrix[3*4+2]; + + // Multiply inverse-translated source vector by inverted rotation transform + + t[0] = (matrix[0*4+0] * _x) + (matrix[0*4+1] * _y) + (matrix[0*4+2] * _z); + t[1] = (matrix[1*4+0] * _x) + (matrix[1*4+1] * _y) + (matrix[1*4+2] * _z); + t[2] = (matrix[2*4+0] * _x) + (matrix[2*4+1] * _y) + (matrix[2*4+2] * _z); + +} + +REAL fm_getDeterminant(const REAL matrix[16]) +{ + REAL tempv[3]; + REAL p0[3]; + REAL p1[3]; + REAL p2[3]; + + + p0[0] = matrix[0*4+0]; + p0[1] = matrix[0*4+1]; + p0[2] = matrix[0*4+2]; + + p1[0] = matrix[1*4+0]; + p1[1] = matrix[1*4+1]; + p1[2] = matrix[1*4+2]; + + p2[0] = matrix[2*4+0]; + p2[1] = matrix[2*4+1]; + p2[2] = matrix[2*4+2]; + + fm_cross(tempv,p1,p2); + + return fm_dot(p0,tempv); + +} + +REAL fm_squared(REAL x) { return x*x; }; + +void fm_decomposeTransform(const REAL local_transform[16],REAL trans[3],REAL rot[4],REAL scale[3]) +{ + + trans[0] = local_transform[12]; + trans[1] = local_transform[13]; + trans[2] = local_transform[14]; + + scale[0] = (REAL)sqrt(fm_squared(local_transform[0*4+0]) + fm_squared(local_transform[0*4+1]) + fm_squared(local_transform[0*4+2])); + scale[1] = (REAL)sqrt(fm_squared(local_transform[1*4+0]) + fm_squared(local_transform[1*4+1]) + fm_squared(local_transform[1*4+2])); + scale[2] = (REAL)sqrt(fm_squared(local_transform[2*4+0]) + fm_squared(local_transform[2*4+1]) + fm_squared(local_transform[2*4+2])); + + REAL m[16]; + memcpy(m,local_transform,sizeof(REAL)*16); + + REAL sx = 1.0f / scale[0]; + REAL sy = 1.0f / scale[1]; + REAL sz = 1.0f / scale[2]; + + m[0*4+0]*=sx; + m[0*4+1]*=sx; + m[0*4+2]*=sx; + + m[1*4+0]*=sy; + m[1*4+1]*=sy; + m[1*4+2]*=sy; + + m[2*4+0]*=sz; + m[2*4+1]*=sz; + m[2*4+2]*=sz; + + fm_matrixToQuat(m,rot); + +} + +void fm_getSubMatrix(int32_t ki,int32_t kj,REAL pDst[16],const REAL matrix[16]) +{ + int32_t row, col; + int32_t dstCol = 0, dstRow = 0; + + for ( col = 0; col < 4; col++ ) + { + if ( col == kj ) + { + continue; + } + for ( dstRow = 0, row = 0; row < 4; row++ ) + { + if ( row == ki ) + { + continue; + } + pDst[dstCol*4+dstRow] = matrix[col*4+row]; + dstRow++; + } + dstCol++; + } +} + +void fm_inverseTransform(const REAL matrix[16],REAL inverse_matrix[16]) +{ + REAL determinant = fm_getDeterminant(matrix); + determinant = 1.0f / determinant; + for (int32_t i = 0; i < 4; i++ ) + { + for (int32_t j = 0; j < 4; j++ ) + { + int32_t sign = 1 - ( ( i + j ) % 2 ) * 2; + REAL subMat[16]; + fm_identity(subMat); + fm_getSubMatrix( i, j, subMat, matrix ); + REAL subDeterminant = fm_getDeterminant(subMat); + inverse_matrix[i*4+j] = ( subDeterminant * sign ) * determinant; + } + } +} + +void fm_identity(REAL matrix[16]) // set 4x4 matrix to identity. +{ + matrix[0*4+0] = 1; + matrix[1*4+1] = 1; + matrix[2*4+2] = 1; + matrix[3*4+3] = 1; + + matrix[1*4+0] = 0; + matrix[2*4+0] = 0; + matrix[3*4+0] = 0; + + matrix[0*4+1] = 0; + matrix[2*4+1] = 0; + matrix[3*4+1] = 0; + + matrix[0*4+2] = 0; + matrix[1*4+2] = 0; + matrix[3*4+2] = 0; + + matrix[0*4+3] = 0; + matrix[1*4+3] = 0; + matrix[2*4+3] = 0; + +} + +void fm_quatToEuler(const REAL quat[4],REAL &ax,REAL &ay,REAL &az) +{ + REAL x = quat[0]; + REAL y = quat[1]; + REAL z = quat[2]; + REAL w = quat[3]; + + REAL sint = (2.0f * w * y) - (2.0f * x * z); + REAL cost_temp = 1.0f - (sint * sint); + REAL cost = 0; + + if ( (REAL)fabs(cost_temp) > 0.001f ) + { + cost = (REAL)sqrt( cost_temp ); + } + + REAL sinv, cosv, sinf, cosf; + if ( (REAL)fabs(cost) > 0.001f ) + { + cost = 1.0f / cost; + sinv = ((2.0f * y * z) + (2.0f * w * x)) * cost; + cosv = (1.0f - (2.0f * x * x) - (2.0f * y * y)) * cost; + sinf = ((2.0f * x * y) + (2.0f * w * z)) * cost; + cosf = (1.0f - (2.0f * y * y) - (2.0f * z * z)) * cost; + } + else + { + sinv = (2.0f * w * x) - (2.0f * y * z); + cosv = 1.0f - (2.0f * x * x) - (2.0f * z * z); + sinf = 0; + cosf = 1.0f; + } + + // compute output rotations + ax = (REAL)atan2( sinv, cosv ); + ay = (REAL)atan2( sint, cost ); + az = (REAL)atan2( sinf, cosf ); + +} + +void fm_eulerToMatrix(REAL ax,REAL ay,REAL az,REAL *matrix) // convert euler (in radians) to a dest 4x4 matrix (translation set to zero) +{ + REAL quat[4]; + fm_eulerToQuat(ax,ay,az,quat); + fm_quatToMatrix(quat,matrix); +} + +void fm_getAABB(uint32_t vcount,const REAL *points,uint32_t pstride,REAL *bmin,REAL *bmax) +{ + + const uint8_t *source = (const uint8_t *) points; + + bmin[0] = points[0]; + bmin[1] = points[1]; + bmin[2] = points[2]; + + bmax[0] = points[0]; + bmax[1] = points[1]; + bmax[2] = points[2]; + + + for (uint32_t i=1; i bmax[0] ) bmax[0] = p[0]; + if ( p[1] > bmax[1] ) bmax[1] = p[1]; + if ( p[2] > bmax[2] ) bmax[2] = p[2]; + + } +} + +void fm_eulerToQuat(const REAL *euler,REAL *quat) // convert euler angles to quaternion. +{ + fm_eulerToQuat(euler[0],euler[1],euler[2],quat); +} + +void fm_eulerToQuat(REAL roll,REAL pitch,REAL yaw,REAL *quat) // convert euler angles to quaternion. +{ + roll *= 0.5f; + pitch *= 0.5f; + yaw *= 0.5f; + + REAL cr = (REAL)cos(roll); + REAL cp = (REAL)cos(pitch); + REAL cy = (REAL)cos(yaw); + + REAL sr = (REAL)sin(roll); + REAL sp = (REAL)sin(pitch); + REAL sy = (REAL)sin(yaw); + + REAL cpcy = cp * cy; + REAL spsy = sp * sy; + REAL spcy = sp * cy; + REAL cpsy = cp * sy; + + quat[0] = ( sr * cpcy - cr * spsy); + quat[1] = ( cr * spcy + sr * cpsy); + quat[2] = ( cr * cpsy - sr * spcy); + quat[3] = cr * cpcy + sr * spsy; +} + +void fm_quatToMatrix(const REAL *quat,REAL *matrix) // convert quaterinion rotation to matrix, zeros out the translation component. +{ + + REAL xx = quat[0]*quat[0]; + REAL yy = quat[1]*quat[1]; + REAL zz = quat[2]*quat[2]; + REAL xy = quat[0]*quat[1]; + REAL xz = quat[0]*quat[2]; + REAL yz = quat[1]*quat[2]; + REAL wx = quat[3]*quat[0]; + REAL wy = quat[3]*quat[1]; + REAL wz = quat[3]*quat[2]; + + matrix[0*4+0] = 1 - 2 * ( yy + zz ); + matrix[1*4+0] = 2 * ( xy - wz ); + matrix[2*4+0] = 2 * ( xz + wy ); + + matrix[0*4+1] = 2 * ( xy + wz ); + matrix[1*4+1] = 1 - 2 * ( xx + zz ); + matrix[2*4+1] = 2 * ( yz - wx ); + + matrix[0*4+2] = 2 * ( xz - wy ); + matrix[1*4+2] = 2 * ( yz + wx ); + matrix[2*4+2] = 1 - 2 * ( xx + yy ); + + matrix[3*4+0] = matrix[3*4+1] = matrix[3*4+2] = (REAL) 0.0f; + matrix[0*4+3] = matrix[1*4+3] = matrix[2*4+3] = (REAL) 0.0f; + matrix[3*4+3] =(REAL) 1.0f; + +} + + +void fm_quatRotate(const REAL *quat,const REAL *v,REAL *r) // rotate a vector directly by a quaternion. +{ + REAL left[4]; + + left[0] = quat[3]*v[0] + quat[1]*v[2] - v[1]*quat[2]; + left[1] = quat[3]*v[1] + quat[2]*v[0] - v[2]*quat[0]; + left[2] = quat[3]*v[2] + quat[0]*v[1] - v[0]*quat[1]; + left[3] = - quat[0]*v[0] - quat[1]*v[1] - quat[2]*v[2]; + + r[0] = (left[3]*-quat[0]) + (quat[3]*left[0]) + (left[1]*-quat[2]) - (-quat[1]*left[2]); + r[1] = (left[3]*-quat[1]) + (quat[3]*left[1]) + (left[2]*-quat[0]) - (-quat[2]*left[0]); + r[2] = (left[3]*-quat[2]) + (quat[3]*left[2]) + (left[0]*-quat[1]) - (-quat[0]*left[1]); + +} + + +void fm_getTranslation(const REAL *matrix,REAL *t) +{ + t[0] = matrix[3*4+0]; + t[1] = matrix[3*4+1]; + t[2] = matrix[3*4+2]; +} + +void fm_matrixToQuat(const REAL *matrix,REAL *quat) // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w +{ + + REAL tr = matrix[0*4+0] + matrix[1*4+1] + matrix[2*4+2]; + + // check the diagonal + + if (tr > 0.0f ) + { + REAL s = (REAL) sqrt ( (double) (tr + 1.0f) ); + quat[3] = s * 0.5f; + s = 0.5f / s; + quat[0] = (matrix[1*4+2] - matrix[2*4+1]) * s; + quat[1] = (matrix[2*4+0] - matrix[0*4+2]) * s; + quat[2] = (matrix[0*4+1] - matrix[1*4+0]) * s; + + } + else + { + // diagonal is negative + int32_t nxt[3] = {1, 2, 0}; + REAL qa[4]; + + int32_t i = 0; + + if (matrix[1*4+1] > matrix[0*4+0]) i = 1; + if (matrix[2*4+2] > matrix[i*4+i]) i = 2; + + int32_t j = nxt[i]; + int32_t k = nxt[j]; + + REAL s = (REAL)sqrt ( ((matrix[i*4+i] - (matrix[j*4+j] + matrix[k*4+k])) + 1.0f) ); + + qa[i] = s * 0.5f; + + if (s != 0.0f ) s = 0.5f / s; + + qa[3] = (matrix[j*4+k] - matrix[k*4+j]) * s; + qa[j] = (matrix[i*4+j] + matrix[j*4+i]) * s; + qa[k] = (matrix[i*4+k] + matrix[k*4+i]) * s; + + quat[0] = qa[0]; + quat[1] = qa[1]; + quat[2] = qa[2]; + quat[3] = qa[3]; + } +// fm_normalizeQuat(quat); +} + + +REAL fm_sphereVolume(REAL radius) // return's the volume of a sphere of this radius (4/3 PI * R cubed ) +{ + return (4.0f / 3.0f ) * FM_PI * radius * radius * radius; +} + + +REAL fm_cylinderVolume(REAL radius,REAL h) +{ + return FM_PI * radius * radius *h; +} + +REAL fm_capsuleVolume(REAL radius,REAL h) +{ + REAL volume = fm_sphereVolume(radius); // volume of the sphere portion. + REAL ch = h-radius*2; // this is the cylinder length + if ( ch > 0 ) + { + volume+=fm_cylinderVolume(radius,ch); + } + return volume; +} + +void fm_transform(const REAL matrix[16],const REAL v[3],REAL t[3]) // rotate and translate this point +{ + if ( matrix ) + { + REAL tx = (matrix[0*4+0] * v[0]) + (matrix[1*4+0] * v[1]) + (matrix[2*4+0] * v[2]) + matrix[3*4+0]; + REAL ty = (matrix[0*4+1] * v[0]) + (matrix[1*4+1] * v[1]) + (matrix[2*4+1] * v[2]) + matrix[3*4+1]; + REAL tz = (matrix[0*4+2] * v[0]) + (matrix[1*4+2] * v[1]) + (matrix[2*4+2] * v[2]) + matrix[3*4+2]; + t[0] = tx; + t[1] = ty; + t[2] = tz; + } + else + { + t[0] = v[0]; + t[1] = v[1]; + t[2] = v[2]; + } +} + +void fm_rotate(const REAL matrix[16],const REAL v[3],REAL t[3]) // rotate and translate this point +{ + if ( matrix ) + { + REAL tx = (matrix[0*4+0] * v[0]) + (matrix[1*4+0] * v[1]) + (matrix[2*4+0] * v[2]); + REAL ty = (matrix[0*4+1] * v[0]) + (matrix[1*4+1] * v[1]) + (matrix[2*4+1] * v[2]); + REAL tz = (matrix[0*4+2] * v[0]) + (matrix[1*4+2] * v[1]) + (matrix[2*4+2] * v[2]); + t[0] = tx; + t[1] = ty; + t[2] = tz; + } + else + { + t[0] = v[0]; + t[1] = v[1]; + t[2] = v[2]; + } +} + + +REAL fm_distance(const REAL *p1,const REAL *p2) +{ + REAL dx = p1[0] - p2[0]; + REAL dy = p1[1] - p2[1]; + REAL dz = p1[2] - p2[2]; + + return (REAL)sqrt( dx*dx + dy*dy + dz *dz ); +} + +REAL fm_distanceSquared(const REAL *p1,const REAL *p2) +{ + REAL dx = p1[0] - p2[0]; + REAL dy = p1[1] - p2[1]; + REAL dz = p1[2] - p2[2]; + + return dx*dx + dy*dy + dz *dz; +} + + +REAL fm_distanceSquaredXZ(const REAL *p1,const REAL *p2) +{ + REAL dx = p1[0] - p2[0]; + REAL dz = p1[2] - p2[2]; + + return dx*dx + dz *dz; +} + + +REAL fm_computePlane(const REAL *A,const REAL *B,const REAL *C,REAL *n) // returns D +{ + REAL vx = (B[0] - C[0]); + REAL vy = (B[1] - C[1]); + REAL vz = (B[2] - C[2]); + + REAL wx = (A[0] - B[0]); + REAL wy = (A[1] - B[1]); + REAL wz = (A[2] - B[2]); + + REAL vw_x = vy * wz - vz * wy; + REAL vw_y = vz * wx - vx * wz; + REAL vw_z = vx * wy - vy * wx; + + REAL mag = (REAL)sqrt((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z)); + + if ( mag < 0.000001f ) + { + mag = 0; + } + else + { + mag = 1.0f/mag; + } + + REAL x = vw_x * mag; + REAL y = vw_y * mag; + REAL z = vw_z * mag; + + + REAL D = 0.0f - ((x*A[0])+(y*A[1])+(z*A[2])); + + n[0] = x; + n[1] = y; + n[2] = z; + + return D; +} + +REAL fm_distToPlane(const REAL *plane,const REAL *p) // computes the distance of this point from the plane. +{ + return p[0]*plane[0]+p[1]*plane[1]+p[2]*plane[2]+plane[3]; +} + +REAL fm_dot(const REAL *p1,const REAL *p2) +{ + return p1[0]*p2[0]+p1[1]*p2[1]+p1[2]*p2[2]; +} + +void fm_cross(REAL *cross,const REAL *a,const REAL *b) +{ + cross[0] = a[1]*b[2] - a[2]*b[1]; + cross[1] = a[2]*b[0] - a[0]*b[2]; + cross[2] = a[0]*b[1] - a[1]*b[0]; +} + +REAL fm_computeNormalVector(REAL *n,const REAL *p1,const REAL *p2) +{ + n[0] = p2[0] - p1[0]; + n[1] = p2[1] - p1[1]; + n[2] = p2[2] - p1[2]; + return fm_normalize(n); +} + +bool fm_computeWindingOrder(const REAL *p1,const REAL *p2,const REAL *p3) // returns true if the triangle is clockwise. +{ + bool ret = false; + + REAL v1[3]; + REAL v2[3]; + + fm_computeNormalVector(v1,p1,p2); // p2-p1 (as vector) and then normalized + fm_computeNormalVector(v2,p1,p3); // p3-p1 (as vector) and then normalized + + REAL cross[3]; + + fm_cross(cross, v1, v2 ); + REAL ref[3] = { 1, 0, 0 }; + + REAL d = fm_dot( cross, ref ); + + + if ( d <= 0 ) + ret = false; + else + ret = true; + + return ret; +} + +REAL fm_normalize(REAL *n) // normalize this vector +{ + REAL dist = (REAL)sqrt(n[0]*n[0] + n[1]*n[1] + n[2]*n[2]); + if ( dist > 0.0000001f ) + { + REAL mag = 1.0f / dist; + n[0]*=mag; + n[1]*=mag; + n[2]*=mag; + } + else + { + n[0] = 1; + n[1] = 0; + n[2] = 0; + } + + return dist; +} + + +void fm_matrixMultiply(const REAL *pA,const REAL *pB,REAL *pM) +{ +#if 1 + + REAL a = pA[0*4+0] * pB[0*4+0] + pA[0*4+1] * pB[1*4+0] + pA[0*4+2] * pB[2*4+0] + pA[0*4+3] * pB[3*4+0]; + REAL b = pA[0*4+0] * pB[0*4+1] + pA[0*4+1] * pB[1*4+1] + pA[0*4+2] * pB[2*4+1] + pA[0*4+3] * pB[3*4+1]; + REAL c = pA[0*4+0] * pB[0*4+2] + pA[0*4+1] * pB[1*4+2] + pA[0*4+2] * pB[2*4+2] + pA[0*4+3] * pB[3*4+2]; + REAL d = pA[0*4+0] * pB[0*4+3] + pA[0*4+1] * pB[1*4+3] + pA[0*4+2] * pB[2*4+3] + pA[0*4+3] * pB[3*4+3]; + + REAL e = pA[1*4+0] * pB[0*4+0] + pA[1*4+1] * pB[1*4+0] + pA[1*4+2] * pB[2*4+0] + pA[1*4+3] * pB[3*4+0]; + REAL f = pA[1*4+0] * pB[0*4+1] + pA[1*4+1] * pB[1*4+1] + pA[1*4+2] * pB[2*4+1] + pA[1*4+3] * pB[3*4+1]; + REAL g = pA[1*4+0] * pB[0*4+2] + pA[1*4+1] * pB[1*4+2] + pA[1*4+2] * pB[2*4+2] + pA[1*4+3] * pB[3*4+2]; + REAL h = pA[1*4+0] * pB[0*4+3] + pA[1*4+1] * pB[1*4+3] + pA[1*4+2] * pB[2*4+3] + pA[1*4+3] * pB[3*4+3]; + + REAL i = pA[2*4+0] * pB[0*4+0] + pA[2*4+1] * pB[1*4+0] + pA[2*4+2] * pB[2*4+0] + pA[2*4+3] * pB[3*4+0]; + REAL j = pA[2*4+0] * pB[0*4+1] + pA[2*4+1] * pB[1*4+1] + pA[2*4+2] * pB[2*4+1] + pA[2*4+3] * pB[3*4+1]; + REAL k = pA[2*4+0] * pB[0*4+2] + pA[2*4+1] * pB[1*4+2] + pA[2*4+2] * pB[2*4+2] + pA[2*4+3] * pB[3*4+2]; + REAL l = pA[2*4+0] * pB[0*4+3] + pA[2*4+1] * pB[1*4+3] + pA[2*4+2] * pB[2*4+3] + pA[2*4+3] * pB[3*4+3]; + + REAL m = pA[3*4+0] * pB[0*4+0] + pA[3*4+1] * pB[1*4+0] + pA[3*4+2] * pB[2*4+0] + pA[3*4+3] * pB[3*4+0]; + REAL n = pA[3*4+0] * pB[0*4+1] + pA[3*4+1] * pB[1*4+1] + pA[3*4+2] * pB[2*4+1] + pA[3*4+3] * pB[3*4+1]; + REAL o = pA[3*4+0] * pB[0*4+2] + pA[3*4+1] * pB[1*4+2] + pA[3*4+2] * pB[2*4+2] + pA[3*4+3] * pB[3*4+2]; + REAL p = pA[3*4+0] * pB[0*4+3] + pA[3*4+1] * pB[1*4+3] + pA[3*4+2] * pB[2*4+3] + pA[3*4+3] * pB[3*4+3]; + + pM[0] = a; + pM[1] = b; + pM[2] = c; + pM[3] = d; + + pM[4] = e; + pM[5] = f; + pM[6] = g; + pM[7] = h; + + pM[8] = i; + pM[9] = j; + pM[10] = k; + pM[11] = l; + + pM[12] = m; + pM[13] = n; + pM[14] = o; + pM[15] = p; + + +#else + memset(pM, 0, sizeof(REAL)*16); + for(int32_t i=0; i<4; i++ ) + for(int32_t j=0; j<4; j++ ) + for(int32_t k=0; k<4; k++ ) + pM[4*i+j] += pA[4*i+k] * pB[4*k+j]; +#endif +} + + +void fm_eulerToQuatDX(REAL x,REAL y,REAL z,REAL *quat) // convert euler angles to quaternion using the fucked up DirectX method +{ + REAL matrix[16]; + fm_eulerToMatrix(x,y,z,matrix); + fm_matrixToQuat(matrix,quat); +} + +// implementation copied from: http://blogs.msdn.com/mikepelton/archive/2004/10/29/249501.aspx +void fm_eulerToMatrixDX(REAL x,REAL y,REAL z,REAL *matrix) // convert euler angles to quaternion using the fucked up DirectX method. +{ + fm_identity(matrix); + matrix[0*4+0] = (REAL)(cos(z)*cos(y) + sin(z)*sin(x)*sin(y)); + matrix[0*4+1] = (REAL)(sin(z)*cos(x)); + matrix[0*4+2] = (REAL)(cos(z)*-sin(y) + sin(z)*sin(x)*cos(y)); + + matrix[1*4+0] = (REAL)(-sin(z)*cos(y)+cos(z)*sin(x)*sin(y)); + matrix[1*4+1] = (REAL)(cos(z)*cos(x)); + matrix[1*4+2] = (REAL)(sin(z)*sin(y) +cos(z)*sin(x)*cos(y)); + + matrix[2*4+0] = (REAL)(cos(x)*sin(y)); + matrix[2*4+1] = (REAL)(-sin(x)); + matrix[2*4+2] = (REAL)(cos(x)*cos(y)); +} + + +void fm_scale(REAL x,REAL y,REAL z,REAL *fscale) // apply scale to the matrix. +{ + fscale[0*4+0] = x; + fscale[1*4+1] = y; + fscale[2*4+2] = z; +} + + +void fm_composeTransform(const REAL *position,const REAL *quat,const REAL *scale,REAL *matrix) +{ + fm_identity(matrix); + fm_quatToMatrix(quat,matrix); + + if ( scale && ( scale[0] != 1 || scale[1] != 1 || scale[2] != 1 ) ) + { + REAL work[16]; + memcpy(work,matrix,sizeof(REAL)*16); + REAL mscale[16]; + fm_identity(mscale); + fm_scale(scale[0],scale[1],scale[2],mscale); + fm_matrixMultiply(work,mscale,matrix); + } + + matrix[12] = position[0]; + matrix[13] = position[1]; + matrix[14] = position[2]; +} + + +void fm_setTranslation(const REAL *translation,REAL *matrix) +{ + matrix[12] = translation[0]; + matrix[13] = translation[1]; + matrix[14] = translation[2]; +} + +static REAL enorm0_3d ( REAL x0, REAL y0, REAL z0, REAL x1, REAL y1, REAL z1 ) + +/**********************************************************************/ + +/* +Purpose: + +ENORM0_3D computes the Euclidean norm of (P1-P0) in 3D. + +Modified: + +18 April 1999 + +Author: + +John Burkardt + +Parameters: + +Input, REAL X0, Y0, Z0, X1, Y1, Z1, the coordinates of the points +P0 and P1. + +Output, REAL ENORM0_3D, the Euclidean norm of (P1-P0). +*/ +{ + REAL value; + + value = (REAL)sqrt ( + ( x1 - x0 ) * ( x1 - x0 ) + + ( y1 - y0 ) * ( y1 - y0 ) + + ( z1 - z0 ) * ( z1 - z0 ) ); + + return value; +} + + +static REAL triangle_area_3d ( REAL x1, REAL y1, REAL z1, REAL x2,REAL y2, REAL z2, REAL x3, REAL y3, REAL z3 ) + + /**********************************************************************/ + + /* + Purpose: + + TRIANGLE_AREA_3D computes the area of a triangle in 3D. + + Modified: + + 22 April 1999 + + Author: + + John Burkardt + + Parameters: + + Input, REAL X1, Y1, Z1, X2, Y2, Z2, X3, Y3, Z3, the (X,Y,Z) + coordinates of the corners of the triangle. + + Output, REAL TRIANGLE_AREA_3D, the area of the triangle. + */ +{ + REAL a; + REAL alpha; + REAL area; + REAL b; + REAL base; + REAL c; + REAL dot; + REAL height; + /* + Find the projection of (P3-P1) onto (P2-P1). + */ + dot = + ( x2 - x1 ) * ( x3 - x1 ) + + ( y2 - y1 ) * ( y3 - y1 ) + + ( z2 - z1 ) * ( z3 - z1 ); + + base = enorm0_3d ( x1, y1, z1, x2, y2, z2 ); + /* + The height of the triangle is the length of (P3-P1) after its + projection onto (P2-P1) has been subtracted. + */ + if ( base == 0.0 ) { + + height = 0.0; + + } + else { + + alpha = dot / ( base * base ); + + a = x3 - x1 - alpha * ( x2 - x1 ); + b = y3 - y1 - alpha * ( y2 - y1 ); + c = z3 - z1 - alpha * ( z2 - z1 ); + + height = (REAL)sqrt ( a * a + b * b + c * c ); + + } + + area = 0.5f * base * height; + + return area; +} + + +REAL fm_computeArea(const REAL *p1,const REAL *p2,const REAL *p3) +{ + REAL ret = 0; + + ret = triangle_area_3d(p1[0],p1[1],p1[2],p2[0],p2[1],p2[2],p3[0],p3[1],p3[2]); + + return ret; +} + + +void fm_lerp(const REAL *p1,const REAL *p2,REAL *dest,REAL lerpValue) +{ + dest[0] = ((p2[0] - p1[0])*lerpValue) + p1[0]; + dest[1] = ((p2[1] - p1[1])*lerpValue) + p1[1]; + dest[2] = ((p2[2] - p1[2])*lerpValue) + p1[2]; +} + +bool fm_pointTestXZ(const REAL *p,const REAL *i,const REAL *j) +{ + bool ret = false; + + if (((( i[2] <= p[2] ) && ( p[2] < j[2] )) || (( j[2] <= p[2] ) && ( p[2] < i[2] ))) && ( p[0] < (j[0] - i[0]) * (p[2] - i[2]) / (j[2] - i[2]) + i[0])) + ret = true; + + return ret; +}; + + +bool fm_insideTriangleXZ(const REAL *p,const REAL *p1,const REAL *p2,const REAL *p3) +{ + bool ret = false; + + int32_t c = 0; + if ( fm_pointTestXZ(p,p1,p2) ) c = !c; + if ( fm_pointTestXZ(p,p2,p3) ) c = !c; + if ( fm_pointTestXZ(p,p3,p1) ) c = !c; + if ( c ) ret = true; + + return ret; +} + +bool fm_insideAABB(const REAL *pos,const REAL *bmin,const REAL *bmax) +{ + bool ret = false; + + if ( pos[0] >= bmin[0] && pos[0] <= bmax[0] && + pos[1] >= bmin[1] && pos[1] <= bmax[1] && + pos[2] >= bmin[2] && pos[2] <= bmax[2] ) + ret = true; + + return ret; +} + + +uint32_t fm_clipTestPoint(const REAL *bmin,const REAL *bmax,const REAL *pos) +{ + uint32_t ret = 0; + + if ( pos[0] < bmin[0] ) + ret|=FMCS_XMIN; + else if ( pos[0] > bmax[0] ) + ret|=FMCS_XMAX; + + if ( pos[1] < bmin[1] ) + ret|=FMCS_YMIN; + else if ( pos[1] > bmax[1] ) + ret|=FMCS_YMAX; + + if ( pos[2] < bmin[2] ) + ret|=FMCS_ZMIN; + else if ( pos[2] > bmax[2] ) + ret|=FMCS_ZMAX; + + return ret; +} + +uint32_t fm_clipTestPointXZ(const REAL *bmin,const REAL *bmax,const REAL *pos) // only tests X and Z, not Y +{ + uint32_t ret = 0; + + if ( pos[0] < bmin[0] ) + ret|=FMCS_XMIN; + else if ( pos[0] > bmax[0] ) + ret|=FMCS_XMAX; + + if ( pos[2] < bmin[2] ) + ret|=FMCS_ZMIN; + else if ( pos[2] > bmax[2] ) + ret|=FMCS_ZMAX; + + return ret; +} + +uint32_t fm_clipTestAABB(const REAL *bmin,const REAL *bmax,const REAL *p1,const REAL *p2,const REAL *p3,uint32_t &andCode) +{ + uint32_t orCode = 0; + + andCode = FMCS_XMIN | FMCS_XMAX | FMCS_YMIN | FMCS_YMAX | FMCS_ZMIN | FMCS_ZMAX; + + uint32_t c = fm_clipTestPoint(bmin,bmax,p1); + orCode|=c; + andCode&=c; + + c = fm_clipTestPoint(bmin,bmax,p2); + orCode|=c; + andCode&=c; + + c = fm_clipTestPoint(bmin,bmax,p3); + orCode|=c; + andCode&=c; + + return orCode; +} + +bool intersect(const REAL *si,const REAL *ei,const REAL *bmin,const REAL *bmax,REAL *time) +{ + REAL st,et,fst = 0,fet = 1; + + for (int32_t i = 0; i < 3; i++) + { + if (*si < *ei) + { + if (*si > *bmax || *ei < *bmin) + return false; + REAL di = *ei - *si; + st = (*si < *bmin)? (*bmin - *si) / di: 0; + et = (*ei > *bmax)? (*bmax - *si) / di: 1; + } + else + { + if (*ei > *bmax || *si < *bmin) + return false; + REAL di = *ei - *si; + st = (*si > *bmax)? (*bmax - *si) / di: 0; + et = (*ei < *bmin)? (*bmin - *si) / di: 1; + } + + if (st > fst) fst = st; + if (et < fet) fet = et; + if (fet < fst) + return false; + bmin++; bmax++; + si++; ei++; + } + + *time = fst; + return true; +} + + + +bool fm_lineTestAABB(const REAL *p1,const REAL *p2,const REAL *bmin,const REAL *bmax,REAL &time) +{ + bool sect = intersect(p1,p2,bmin,bmax,&time); + return sect; +} + + +bool fm_lineTestAABBXZ(const REAL *p1,const REAL *p2,const REAL *bmin,const REAL *bmax,REAL &time) +{ + REAL _bmin[3]; + REAL _bmax[3]; + + _bmin[0] = bmin[0]; + _bmin[1] = -1e9; + _bmin[2] = bmin[2]; + + _bmax[0] = bmax[0]; + _bmax[1] = 1e9; + _bmax[2] = bmax[2]; + + bool sect = intersect(p1,p2,_bmin,_bmax,&time); + + return sect; +} + +void fm_minmax(const REAL *p,REAL *bmin,REAL *bmax) // accmulate to a min-max value +{ + + if ( p[0] < bmin[0] ) bmin[0] = p[0]; + if ( p[1] < bmin[1] ) bmin[1] = p[1]; + if ( p[2] < bmin[2] ) bmin[2] = p[2]; + + if ( p[0] > bmax[0] ) bmax[0] = p[0]; + if ( p[1] > bmax[1] ) bmax[1] = p[1]; + if ( p[2] > bmax[2] ) bmax[2] = p[2]; + +} + +REAL fm_solveX(const REAL *plane,REAL y,REAL z) // solve for X given this plane equation and the other two components. +{ + REAL x = (y*plane[1]+z*plane[2]+plane[3]) / -plane[0]; + return x; +} + +REAL fm_solveY(const REAL *plane,REAL x,REAL z) // solve for Y given this plane equation and the other two components. +{ + REAL y = (x*plane[0]+z*plane[2]+plane[3]) / -plane[1]; + return y; +} + + +REAL fm_solveZ(const REAL *plane,REAL x,REAL y) // solve for Y given this plane equation and the other two components. +{ + REAL z = (x*plane[0]+y*plane[1]+plane[3]) / -plane[2]; + return z; +} + + +void fm_getAABBCenter(const REAL *bmin,const REAL *bmax,REAL *center) +{ + center[0] = (bmax[0]-bmin[0])*0.5f+bmin[0]; + center[1] = (bmax[1]-bmin[1])*0.5f+bmin[1]; + center[2] = (bmax[2]-bmin[2])*0.5f+bmin[2]; +} + +FM_Axis fm_getDominantAxis(const REAL normal[3]) +{ + FM_Axis ret = FM_XAXIS; + + REAL x = (REAL)fabs(normal[0]); + REAL y = (REAL)fabs(normal[1]); + REAL z = (REAL)fabs(normal[2]); + + if ( y > x && y > z ) + ret = FM_YAXIS; + else if ( z > x && z > y ) + ret = FM_ZAXIS; + + return ret; +} + + +bool fm_lineSphereIntersect(const REAL *center,REAL radius,const REAL *p1,const REAL *p2,REAL *intersect) +{ + bool ret = false; + + REAL dir[3]; + + dir[0] = p2[0]-p1[0]; + dir[1] = p2[1]-p1[1]; + dir[2] = p2[2]-p1[2]; + + REAL distance = (REAL)sqrt( dir[0]*dir[0]+dir[1]*dir[1]+dir[2]*dir[2]); + + if ( distance > 0 ) + { + REAL recip = 1.0f / distance; + dir[0]*=recip; + dir[1]*=recip; + dir[2]*=recip; + ret = fm_raySphereIntersect(center,radius,p1,dir,distance,intersect); + } + else + { + dir[0] = center[0]-p1[0]; + dir[1] = center[1]-p1[1]; + dir[2] = center[2]-p1[2]; + REAL d2 = dir[0]*dir[0]+dir[1]*dir[1]+dir[2]*dir[2]; + REAL r2 = radius*radius; + if ( d2 < r2 ) + { + ret = true; + if ( intersect ) + { + intersect[0] = p1[0]; + intersect[1] = p1[1]; + intersect[2] = p1[2]; + } + } + } + return ret; +} + +#define DOT(p1,p2) (p1[0]*p2[0]+p1[1]*p2[1]+p1[2]*p2[2]) + +bool fm_raySphereIntersect(const REAL *center,REAL radius,const REAL *pos,const REAL *dir,REAL distance,REAL *intersect) +{ + bool ret = false; + + REAL E0[3]; + + E0[0] = center[0] - pos[0]; + E0[1] = center[1] - pos[1]; + E0[2] = center[2] - pos[2]; + + REAL V[3]; + + V[0] = dir[0]; + V[1] = dir[1]; + V[2] = dir[2]; + + + REAL dist2 = E0[0]*E0[0] + E0[1]*E0[1] + E0[2] * E0[2]; + REAL radius2 = radius*radius; // radius squared.. + + // Bug Fix For Gem, if origin is *inside* the sphere, invert the + // direction vector so that we get a valid intersection location. + if ( dist2 < radius2 ) + { + V[0]*=-1; + V[1]*=-1; + V[2]*=-1; + } + + + REAL v = DOT(E0,V); + + REAL disc = radius2 - (dist2 - v*v); + + if (disc > 0.0f) + { + if ( intersect ) + { + REAL d = (REAL)sqrt(disc); + REAL diff = v-d; + if ( diff < distance ) + { + intersect[0] = pos[0]+V[0]*diff; + intersect[1] = pos[1]+V[1]*diff; + intersect[2] = pos[2]+V[2]*diff; + ret = true; + } + } + } + + return ret; +} + + +void fm_catmullRom(REAL *out_vector,const REAL *p1,const REAL *p2,const REAL *p3,const REAL *p4, const REAL s) +{ + REAL s_squared = s * s; + REAL s_cubed = s_squared * s; + + REAL coefficient_p1 = -s_cubed + 2*s_squared - s; + REAL coefficient_p2 = 3 * s_cubed - 5 * s_squared + 2; + REAL coefficient_p3 = -3 * s_cubed +4 * s_squared + s; + REAL coefficient_p4 = s_cubed - s_squared; + + out_vector[0] = (coefficient_p1 * p1[0] + coefficient_p2 * p2[0] + coefficient_p3 * p3[0] + coefficient_p4 * p4[0])*0.5f; + out_vector[1] = (coefficient_p1 * p1[1] + coefficient_p2 * p2[1] + coefficient_p3 * p3[1] + coefficient_p4 * p4[1])*0.5f; + out_vector[2] = (coefficient_p1 * p1[2] + coefficient_p2 * p2[2] + coefficient_p3 * p3[2] + coefficient_p4 * p4[2])*0.5f; +} + +bool fm_intersectAABB(const REAL *bmin1,const REAL *bmax1,const REAL *bmin2,const REAL *bmax2) +{ + if ((bmin1[0] > bmax2[0]) || (bmin2[0] > bmax1[0])) return false; + if ((bmin1[1] > bmax2[1]) || (bmin2[1] > bmax1[1])) return false; + if ((bmin1[2] > bmax2[2]) || (bmin2[2] > bmax1[2])) return false; + return true; + +} + +bool fm_insideAABB(const REAL *obmin,const REAL *obmax,const REAL *tbmin,const REAL *tbmax) // test if bounding box tbmin/tmbax is fully inside obmin/obmax +{ + bool ret = false; + + if ( tbmax[0] <= obmax[0] && + tbmax[1] <= obmax[1] && + tbmax[2] <= obmax[2] && + tbmin[0] >= obmin[0] && + tbmin[1] >= obmin[1] && + tbmin[2] >= obmin[2] ) ret = true; + + return ret; +} + + +// Reference, from Stan Melax in Game Gems I +// Quaternion q; +// vector3 c = CrossProduct(v0,v1); +// REAL d = DotProduct(v0,v1); +// REAL s = (REAL)sqrt((1+d)*2); +// q.x = c.x / s; +// q.y = c.y / s; +// q.z = c.z / s; +// q.w = s /2.0f; +// return q; +void fm_rotationArc(const REAL *v0,const REAL *v1,REAL *quat) +{ + REAL cross[3]; + + fm_cross(cross,v0,v1); + REAL d = fm_dot(v0,v1); + + if( d<= -0.99999f ) // 180 about x axis + { + if ( fabsf((float)v0[0]) < 0.1f ) + { + quat[0] = 0; + quat[1] = v0[2]; + quat[2] = -v0[1]; + quat[3] = 0; + } + else + { + quat[0] = v0[1]; + quat[1] = -v0[0]; + quat[2] = 0; + quat[3] = 0; + } + REAL magnitudeSquared = quat[0]*quat[0] + quat[1]*quat[1] + quat[2]*quat[2] + quat[3]*quat[3]; + REAL magnitude = sqrtf((float)magnitudeSquared); + REAL recip = 1.0f / magnitude; + quat[0]*=recip; + quat[1]*=recip; + quat[2]*=recip; + quat[3]*=recip; + } + else + { + REAL s = (REAL)sqrt((1+d)*2); + REAL recip = 1.0f / s; + + quat[0] = cross[0] * recip; + quat[1] = cross[1] * recip; + quat[2] = cross[2] * recip; + quat[3] = s * 0.5f; + } +} + + +REAL fm_distancePointLineSegment(const REAL *Point,const REAL *LineStart,const REAL *LineEnd,REAL *intersection,LineSegmentType &type,REAL epsilon) +{ + REAL ret; + + REAL LineMag = fm_distance( LineEnd, LineStart ); + + if ( LineMag > 0 ) + { + REAL U = ( ( ( Point[0] - LineStart[0] ) * ( LineEnd[0] - LineStart[0] ) ) + ( ( Point[1] - LineStart[1] ) * ( LineEnd[1] - LineStart[1] ) ) + ( ( Point[2] - LineStart[2] ) * ( LineEnd[2] - LineStart[2] ) ) ) / ( LineMag * LineMag ); + if( U < 0.0f || U > 1.0f ) + { + REAL d1 = fm_distanceSquared(Point,LineStart); + REAL d2 = fm_distanceSquared(Point,LineEnd); + if ( d1 <= d2 ) + { + ret = (REAL)sqrt(d1); + intersection[0] = LineStart[0]; + intersection[1] = LineStart[1]; + intersection[2] = LineStart[2]; + type = LS_START; + } + else + { + ret = (REAL)sqrt(d2); + intersection[0] = LineEnd[0]; + intersection[1] = LineEnd[1]; + intersection[2] = LineEnd[2]; + type = LS_END; + } + } + else + { + intersection[0] = LineStart[0] + U * ( LineEnd[0] - LineStart[0] ); + intersection[1] = LineStart[1] + U * ( LineEnd[1] - LineStart[1] ); + intersection[2] = LineStart[2] + U * ( LineEnd[2] - LineStart[2] ); + + ret = fm_distance(Point,intersection); + + REAL d1 = fm_distanceSquared(intersection,LineStart); + REAL d2 = fm_distanceSquared(intersection,LineEnd); + REAL mag = (epsilon*2)*(epsilon*2); + + if ( d1 < mag ) // if less than 1/100th the total distance, treat is as the 'start' + { + type = LS_START; + } + else if ( d2 < mag ) + { + type = LS_END; + } + else + { + type = LS_MIDDLE; + } + + } + } + else + { + ret = LineMag; + intersection[0] = LineEnd[0]; + intersection[1] = LineEnd[1]; + intersection[2] = LineEnd[2]; + type = LS_END; + } + + return ret; +} + + +#ifndef BEST_FIT_PLANE_H + +#define BEST_FIT_PLANE_H + +template class Eigen +{ +public: + + + void DecrSortEigenStuff(void) + { + Tridiagonal(); //diagonalize the matrix. + QLAlgorithm(); // + DecreasingSort(); + GuaranteeRotation(); + } + + void Tridiagonal(void) + { + Type fM00 = mElement[0][0]; + Type fM01 = mElement[0][1]; + Type fM02 = mElement[0][2]; + Type fM11 = mElement[1][1]; + Type fM12 = mElement[1][2]; + Type fM22 = mElement[2][2]; + + m_afDiag[0] = fM00; + m_afSubd[2] = 0; + if (fM02 != (Type)0.0) + { + Type fLength = (REAL)sqrt(fM01*fM01+fM02*fM02); + Type fInvLength = ((Type)1.0)/fLength; + fM01 *= fInvLength; + fM02 *= fInvLength; + Type fQ = ((Type)2.0)*fM01*fM12+fM02*(fM22-fM11); + m_afDiag[1] = fM11+fM02*fQ; + m_afDiag[2] = fM22-fM02*fQ; + m_afSubd[0] = fLength; + m_afSubd[1] = fM12-fM01*fQ; + mElement[0][0] = (Type)1.0; + mElement[0][1] = (Type)0.0; + mElement[0][2] = (Type)0.0; + mElement[1][0] = (Type)0.0; + mElement[1][1] = fM01; + mElement[1][2] = fM02; + mElement[2][0] = (Type)0.0; + mElement[2][1] = fM02; + mElement[2][2] = -fM01; + m_bIsRotation = false; + } + else + { + m_afDiag[1] = fM11; + m_afDiag[2] = fM22; + m_afSubd[0] = fM01; + m_afSubd[1] = fM12; + mElement[0][0] = (Type)1.0; + mElement[0][1] = (Type)0.0; + mElement[0][2] = (Type)0.0; + mElement[1][0] = (Type)0.0; + mElement[1][1] = (Type)1.0; + mElement[1][2] = (Type)0.0; + mElement[2][0] = (Type)0.0; + mElement[2][1] = (Type)0.0; + mElement[2][2] = (Type)1.0; + m_bIsRotation = true; + } + } + + bool QLAlgorithm(void) + { + const int32_t iMaxIter = 32; + + for (int32_t i0 = 0; i0 <3; i0++) + { + int32_t i1; + for (i1 = 0; i1 < iMaxIter; i1++) + { + int32_t i2; + for (i2 = i0; i2 <= (3-2); i2++) + { + Type fTmp = fabs(m_afDiag[i2]) + fabs(m_afDiag[i2+1]); + if ( fabs(m_afSubd[i2]) + fTmp == fTmp ) + break; + } + if (i2 == i0) + { + break; + } + + Type fG = (m_afDiag[i0+1] - m_afDiag[i0])/(((Type)2.0) * m_afSubd[i0]); + Type fR = (REAL)sqrt(fG*fG+(Type)1.0); + if (fG < (Type)0.0) + { + fG = m_afDiag[i2]-m_afDiag[i0]+m_afSubd[i0]/(fG-fR); + } + else + { + fG = m_afDiag[i2]-m_afDiag[i0]+m_afSubd[i0]/(fG+fR); + } + Type fSin = (Type)1.0, fCos = (Type)1.0, fP = (Type)0.0; + for (int32_t i3 = i2-1; i3 >= i0; i3--) + { + Type fF = fSin*m_afSubd[i3]; + Type fB = fCos*m_afSubd[i3]; + if (fabs(fF) >= fabs(fG)) + { + fCos = fG/fF; + fR = (REAL)sqrt(fCos*fCos+(Type)1.0); + m_afSubd[i3+1] = fF*fR; + fSin = ((Type)1.0)/fR; + fCos *= fSin; + } + else + { + fSin = fF/fG; + fR = (REAL)sqrt(fSin*fSin+(Type)1.0); + m_afSubd[i3+1] = fG*fR; + fCos = ((Type)1.0)/fR; + fSin *= fCos; + } + fG = m_afDiag[i3+1]-fP; + fR = (m_afDiag[i3]-fG)*fSin+((Type)2.0)*fB*fCos; + fP = fSin*fR; + m_afDiag[i3+1] = fG+fP; + fG = fCos*fR-fB; + for (int32_t i4 = 0; i4 < 3; i4++) + { + fF = mElement[i4][i3+1]; + mElement[i4][i3+1] = fSin*mElement[i4][i3]+fCos*fF; + mElement[i4][i3] = fCos*mElement[i4][i3]-fSin*fF; + } + } + m_afDiag[i0] -= fP; + m_afSubd[i0] = fG; + m_afSubd[i2] = (Type)0.0; + } + if (i1 == iMaxIter) + { + return false; + } + } + return true; + } + + void DecreasingSort(void) + { + //sort eigenvalues in decreasing order, e[0] >= ... >= e[iSize-1] + for (int32_t i0 = 0, i1; i0 <= 3-2; i0++) + { + // locate maximum eigenvalue + i1 = i0; + Type fMax = m_afDiag[i1]; + int32_t i2; + for (i2 = i0+1; i2 < 3; i2++) + { + if (m_afDiag[i2] > fMax) + { + i1 = i2; + fMax = m_afDiag[i1]; + } + } + + if (i1 != i0) + { + // swap eigenvalues + m_afDiag[i1] = m_afDiag[i0]; + m_afDiag[i0] = fMax; + // swap eigenvectors + for (i2 = 0; i2 < 3; i2++) + { + Type fTmp = mElement[i2][i0]; + mElement[i2][i0] = mElement[i2][i1]; + mElement[i2][i1] = fTmp; + m_bIsRotation = !m_bIsRotation; + } + } + } + } + + + void GuaranteeRotation(void) + { + if (!m_bIsRotation) + { + // change sign on the first column + for (int32_t iRow = 0; iRow <3; iRow++) + { + mElement[iRow][0] = -mElement[iRow][0]; + } + } + } + + Type mElement[3][3]; + Type m_afDiag[3]; + Type m_afSubd[3]; + bool m_bIsRotation; +}; + +#endif + +bool fm_computeBestFitPlane(uint32_t vcount, + const REAL *points, + uint32_t vstride, + const REAL *weights, + uint32_t wstride, + REAL *plane, + REAL *center) +{ + bool ret = false; + + REAL kOrigin[3] = { 0, 0, 0 }; + + REAL wtotal = 0; + + { + const char *source = (const char *) points; + const char *wsource = (const char *) weights; + + for (uint32_t i=0; i kES; + + kES.mElement[0][0] = fSumXX; + kES.mElement[0][1] = fSumXY; + kES.mElement[0][2] = fSumXZ; + + kES.mElement[1][0] = fSumXY; + kES.mElement[1][1] = fSumYY; + kES.mElement[1][2] = fSumYZ; + + kES.mElement[2][0] = fSumXZ; + kES.mElement[2][1] = fSumYZ; + kES.mElement[2][2] = fSumZZ; + + // compute eigenstuff, smallest eigenvalue is in last position + kES.DecrSortEigenStuff(); + + REAL kNormal[3]; + + kNormal[0] = kES.mElement[0][2]; + kNormal[1] = kES.mElement[1][2]; + kNormal[2] = kES.mElement[2][2]; + + // the minimum energy + plane[0] = kNormal[0]; + plane[1] = kNormal[1]; + plane[2] = kNormal[2]; + + plane[3] = 0 - fm_dot(kNormal,kOrigin); + + ret = true; + + return ret; +} + + +bool fm_colinear(const REAL a1[3],const REAL a2[3],const REAL b1[3],const REAL b2[3],REAL epsilon) // true if these two line segments are co-linear. +{ + bool ret = false; + + REAL dir1[3]; + REAL dir2[3]; + + dir1[0] = (a2[0] - a1[0]); + dir1[1] = (a2[1] - a1[1]); + dir1[2] = (a2[2] - a1[2]); + + dir2[0] = (b2[0]-a1[0]) - (b1[0]-a1[0]); + dir2[1] = (b2[1]-a1[1]) - (b1[1]-a1[1]); + dir2[2] = (b2[2]-a2[2]) - (b1[2]-a2[2]); + + fm_normalize(dir1); + fm_normalize(dir2); + + REAL dot = fm_dot(dir1,dir2); + + if ( dot >= epsilon ) + { + ret = true; + } + + + return ret; +} + +bool fm_colinear(const REAL *p1,const REAL *p2,const REAL *p3,REAL epsilon) +{ + bool ret = false; + + REAL dir1[3]; + REAL dir2[3]; + + dir1[0] = p2[0] - p1[0]; + dir1[1] = p2[1] - p1[1]; + dir1[2] = p2[2] - p1[2]; + + dir2[0] = p3[0] - p2[0]; + dir2[1] = p3[1] - p2[1]; + dir2[2] = p3[2] - p2[2]; + + fm_normalize(dir1); + fm_normalize(dir2); + + REAL dot = fm_dot(dir1,dir2); + + if ( dot >= epsilon ) + { + ret = true; + } + + + return ret; +} + +void fm_initMinMax(const REAL *p,REAL *bmin,REAL *bmax) +{ + bmax[0] = bmin[0] = p[0]; + bmax[1] = bmin[1] = p[1]; + bmax[2] = bmin[2] = p[2]; +} + +IntersectResult fm_intersectLineSegments2d(const REAL *a1,const REAL *a2,const REAL *b1,const REAL *b2,REAL *intersection) +{ + IntersectResult ret; + + REAL denom = ((b2[1] - b1[1])*(a2[0] - a1[0])) - ((b2[0] - b1[0])*(a2[1] - a1[1])); + REAL nume_a = ((b2[0] - b1[0])*(a1[1] - b1[1])) - ((b2[1] - b1[1])*(a1[0] - b1[0])); + REAL nume_b = ((a2[0] - a1[0])*(a1[1] - b1[1])) - ((a2[1] - a1[1])*(a1[0] - b1[0])); + if (denom == 0 ) + { + if(nume_a == 0 && nume_b == 0) + { + ret = IR_COINCIDENT; + } + else + { + ret = IR_PARALLEL; + } + } + else + { + + REAL recip = 1 / denom; + REAL ua = nume_a * recip; + REAL ub = nume_b * recip; + + if(ua >= 0 && ua <= 1 && ub >= 0 && ub <= 1 ) + { + // Get the intersection point. + intersection[0] = a1[0] + ua*(a2[0] - a1[0]); + intersection[1] = a1[1] + ua*(a2[1] - a1[1]); + ret = IR_DO_INTERSECT; + } + else + { + ret = IR_DONT_INTERSECT; + } + } + return ret; +} + +IntersectResult fm_intersectLineSegments2dTime(const REAL *a1,const REAL *a2,const REAL *b1,const REAL *b2,REAL &t1,REAL &t2) +{ + IntersectResult ret; + + REAL denom = ((b2[1] - b1[1])*(a2[0] - a1[0])) - ((b2[0] - b1[0])*(a2[1] - a1[1])); + REAL nume_a = ((b2[0] - b1[0])*(a1[1] - b1[1])) - ((b2[1] - b1[1])*(a1[0] - b1[0])); + REAL nume_b = ((a2[0] - a1[0])*(a1[1] - b1[1])) - ((a2[1] - a1[1])*(a1[0] - b1[0])); + if (denom == 0 ) + { + if(nume_a == 0 && nume_b == 0) + { + ret = IR_COINCIDENT; + } + else + { + ret = IR_PARALLEL; + } + } + else + { + + REAL recip = 1 / denom; + REAL ua = nume_a * recip; + REAL ub = nume_b * recip; + + if(ua >= 0 && ua <= 1 && ub >= 0 && ub <= 1 ) + { + t1 = ua; + t2 = ub; + ret = IR_DO_INTERSECT; + } + else + { + ret = IR_DONT_INTERSECT; + } + } + return ret; +} + +//**** Plane Triangle Intersection + + + + + +// assumes that the points are on opposite sides of the plane! +bool fm_intersectPointPlane(const REAL *p1,const REAL *p2,REAL *split,const REAL *plane) +{ + + REAL dp1 = fm_distToPlane(plane,p1); + REAL dp2 = fm_distToPlane(plane, p2); + if (dp1 <= 0 && dp2 <= 0) + { + return false; + } + if (dp1 >= 0 && dp2 >= 0) + { + return false; + } + + REAL dir[3]; + + dir[0] = p2[0] - p1[0]; + dir[1] = p2[1] - p1[1]; + dir[2] = p2[2] - p1[2]; + + REAL dot1 = dir[0]*plane[0] + dir[1]*plane[1] + dir[2]*plane[2]; + REAL dot2 = dp1 - plane[3]; + + REAL t = -(plane[3] + dot2 ) / dot1; + + split[0] = (dir[0]*t)+p1[0]; + split[1] = (dir[1]*t)+p1[1]; + split[2] = (dir[2]*t)+p1[2]; + + return true; +} + +PlaneTriResult fm_getSidePlane(const REAL *p,const REAL *plane,REAL epsilon) +{ + PlaneTriResult ret = PTR_ON_PLANE; + + REAL d = fm_distToPlane(plane,p); + + if ( d < -epsilon || d > epsilon ) + { + if ( d > 0 ) + ret = PTR_FRONT; // it is 'in front' within the provided epsilon value. + else + ret = PTR_BACK; + } + + return ret; +} + + + +#ifndef PLANE_TRIANGLE_INTERSECTION_H + +#define PLANE_TRIANGLE_INTERSECTION_H + +#define MAXPTS 256 + +template class point +{ +public: + + void set(const Type *p) + { + x = p[0]; + y = p[1]; + z = p[2]; + } + + Type x; + Type y; + Type z; +}; + +template class plane +{ +public: + plane(const Type *p) + { + normal.x = p[0]; + normal.y = p[1]; + normal.z = p[2]; + D = p[3]; + } + + Type Classify_Point(const point &p) + { + return p.x*normal.x + p.y*normal.y + p.z*normal.z + D; + } + + point normal; + Type D; +}; + +template class polygon +{ +public: + polygon(void) + { + mVcount = 0; + } + + polygon(const Type *p1,const Type *p2,const Type *p3) + { + mVcount = 3; + mVertices[0].set(p1); + mVertices[1].set(p2); + mVertices[2].set(p3); + } + + + int32_t NumVertices(void) const { return mVcount; }; + + const point& Vertex(int32_t index) + { + if ( index < 0 ) index+=mVcount; + return mVertices[index]; + }; + + + void set(const point *pts,int32_t count) + { + for (int32_t i=0; i *poly,plane *part, polygon &front, polygon &back) + { + int32_t count = poly->NumVertices (); + int32_t out_c = 0, in_c = 0; + point ptA, ptB,outpts[MAXPTS],inpts[MAXPTS]; + Type sideA, sideB; + ptA = poly->Vertex (count - 1); + sideA = part->Classify_Point (ptA); + for (int32_t i = -1; ++i < count;) + { + ptB = poly->Vertex(i); + sideB = part->Classify_Point(ptB); + if (sideB > 0) + { + if (sideA < 0) + { + point v; + fm_intersectPointPlane(&ptB.x, &ptA.x, &v.x, &part->normal.x ); + outpts[out_c++] = inpts[in_c++] = v; + } + outpts[out_c++] = ptB; + } + else if (sideB < 0) + { + if (sideA > 0) + { + point v; + fm_intersectPointPlane(&ptB.x, &ptA.x, &v.x, &part->normal.x ); + outpts[out_c++] = inpts[in_c++] = v; + } + inpts[in_c++] = ptB; + } + else + outpts[out_c++] = inpts[in_c++] = ptB; + ptA = ptB; + sideA = sideB; + } + + front.set(&outpts[0], out_c); + back.set(&inpts[0], in_c); + } + + int32_t mVcount; + point mVertices[MAXPTS]; +}; + + + +#endif + +static inline void add(const REAL *p,REAL *dest,uint32_t tstride,uint32_t &pcount) +{ + char *d = (char *) dest; + d = d + pcount*tstride; + dest = (REAL *) d; + dest[0] = p[0]; + dest[1] = p[1]; + dest[2] = p[2]; + pcount++; + assert( pcount <= 4 ); +} + + +PlaneTriResult fm_planeTriIntersection(const REAL *_plane, // the plane equation in Ax+By+Cz+D format + const REAL *triangle, // the source triangle. + uint32_t tstride, // stride in bytes of the input and output *vertices* + REAL epsilon, // the co-planar epsilon value. + REAL *front, // the triangle in front of the + uint32_t &fcount, // number of vertices in the 'front' triangle + REAL *back, // the triangle in back of the plane + uint32_t &bcount) // the number of vertices in the 'back' triangle. +{ + + fcount = 0; + bcount = 0; + + const char *tsource = (const char *) triangle; + + // get the three vertices of the triangle. + const REAL *p1 = (const REAL *) (tsource); + const REAL *p2 = (const REAL *) (tsource+tstride); + const REAL *p3 = (const REAL *) (tsource+tstride*2); + + + PlaneTriResult r1 = fm_getSidePlane(p1,_plane,epsilon); // compute the side of the plane each vertex is on + PlaneTriResult r2 = fm_getSidePlane(p2,_plane,epsilon); + PlaneTriResult r3 = fm_getSidePlane(p3,_plane,epsilon); + + // If any of the points lay right *on* the plane.... + if ( r1 == PTR_ON_PLANE || r2 == PTR_ON_PLANE || r3 == PTR_ON_PLANE ) + { + // If the triangle is completely co-planar, then just treat it as 'front' and return! + if ( r1 == PTR_ON_PLANE && r2 == PTR_ON_PLANE && r3 == PTR_ON_PLANE ) + { + add(p1,front,tstride,fcount); + add(p2,front,tstride,fcount); + add(p3,front,tstride,fcount); + return PTR_FRONT; + } + // Decide to place the co-planar points on the same side as the co-planar point. + PlaneTriResult r= PTR_ON_PLANE; + if ( r1 != PTR_ON_PLANE ) + r = r1; + else if ( r2 != PTR_ON_PLANE ) + r = r2; + else if ( r3 != PTR_ON_PLANE ) + r = r3; + + if ( r1 == PTR_ON_PLANE ) r1 = r; + if ( r2 == PTR_ON_PLANE ) r2 = r; + if ( r3 == PTR_ON_PLANE ) r3 = r; + + } + + if ( r1 == r2 && r1 == r3 ) // if all three vertices are on the same side of the plane. + { + if ( r1 == PTR_FRONT ) // if all three are in front of the plane, then copy to the 'front' output triangle. + { + add(p1,front,tstride,fcount); + add(p2,front,tstride,fcount); + add(p3,front,tstride,fcount); + } + else + { + add(p1,back,tstride,bcount); // if all three are in 'back' then copy to the 'back' output triangle. + add(p2,back,tstride,bcount); + add(p3,back,tstride,bcount); + } + return r1; // if all three points are on the same side of the plane return result + } + + + polygon pi(p1,p2,p3); + polygon pfront,pback; + + plane part(_plane); + + pi.Split_Polygon(&pi,&part,pfront,pback); + + for (int32_t i=0; i bmax[0] ) bmax[0] = t[0]; + if ( t[1] > bmax[1] ) bmax[1] = t[1]; + if ( t[2] > bmax[2] ) bmax[2] = t[2]; + + src+=pstride; + } + + REAL center[3]; + + sides[0] = bmax[0]-bmin[0]; + sides[1] = bmax[1]-bmin[1]; + sides[2] = bmax[2]-bmin[2]; + + center[0] = sides[0]*0.5f+bmin[0]; + center[1] = sides[1]*0.5f+bmin[1]; + center[2] = sides[2]*0.5f+bmin[2]; + + REAL ocenter[3]; + + fm_rotate(matrix,center,ocenter); + + matrix[12]+=ocenter[0]; + matrix[13]+=ocenter[1]; + matrix[14]+=ocenter[2]; + +} + +void fm_computeBestFitOBB(uint32_t vcount,const REAL *points,uint32_t pstride,REAL *sides,REAL *matrix,bool bruteForce) +{ + REAL plane[4]; + REAL center[3]; + fm_computeBestFitPlane(vcount,points,pstride,0,0,plane,center); + fm_planeToMatrix(plane,matrix); + computeOBB( vcount, points, pstride, sides, matrix ); + + REAL refmatrix[16]; + memcpy(refmatrix,matrix,16*sizeof(REAL)); + + REAL volume = sides[0]*sides[1]*sides[2]; + if ( bruteForce ) + { + for (REAL a=10; a<180; a+=10) + { + REAL quat[4]; + fm_eulerToQuat(0,a*FM_DEG_TO_RAD,0,quat); + REAL temp[16]; + REAL pmatrix[16]; + fm_quatToMatrix(quat,temp); + fm_matrixMultiply(temp,refmatrix,pmatrix); + REAL psides[3]; + computeOBB( vcount, points, pstride, psides, pmatrix ); + REAL v = psides[0]*psides[1]*psides[2]; + if ( v < volume ) + { + volume = v; + memcpy(matrix,pmatrix,sizeof(REAL)*16); + sides[0] = psides[0]; + sides[1] = psides[1]; + sides[2] = psides[2]; + } + } + } +} + +void fm_computeBestFitOBB(uint32_t vcount,const REAL *points,uint32_t pstride,REAL *sides,REAL *pos,REAL *quat,bool bruteForce) +{ + REAL matrix[16]; + fm_computeBestFitOBB(vcount,points,pstride,sides,matrix,bruteForce); + fm_getTranslation(matrix,pos); + fm_matrixToQuat(matrix,quat); +} + +void fm_computeBestFitABB(uint32_t vcount,const REAL *points,uint32_t pstride,REAL *sides,REAL *pos) +{ + REAL bmin[3]; + REAL bmax[3]; + + bmin[0] = points[0]; + bmin[1] = points[1]; + bmin[2] = points[2]; + + bmax[0] = points[0]; + bmax[1] = points[1]; + bmax[2] = points[2]; + + const char *cp = (const char *) points; + for (uint32_t i=0; i bmax[0] ) bmax[0] = p[0]; + if ( p[1] > bmax[1] ) bmax[1] = p[1]; + if ( p[2] > bmax[2] ) bmax[2] = p[2]; + + cp+=pstride; + } + + + sides[0] = bmax[0] - bmin[0]; + sides[1] = bmax[1] - bmin[1]; + sides[2] = bmax[2] - bmin[2]; + + pos[0] = bmin[0]+sides[0]*0.5f; + pos[1] = bmin[1]+sides[1]*0.5f; + pos[2] = bmin[2]+sides[2]*0.5f; + +} + + +void fm_planeToMatrix(const REAL *plane,REAL *matrix) // convert a plane equation to a 4x4 rotation matrix +{ + REAL ref[3] = { 0, 1, 0 }; + REAL quat[4]; + fm_rotationArc(ref,plane,quat); + fm_quatToMatrix(quat,matrix); + REAL origin[3] = { 0, -plane[3], 0 }; + REAL center[3]; + fm_transform(matrix,origin,center); + fm_setTranslation(center,matrix); +} + +void fm_planeToQuat(const REAL *plane,REAL *quat,REAL *pos) // convert a plane equation to a quaternion and translation +{ + REAL ref[3] = { 0, 1, 0 }; + REAL matrix[16]; + fm_rotationArc(ref,plane,quat); + fm_quatToMatrix(quat,matrix); + REAL origin[3] = { 0, plane[3], 0 }; + fm_transform(matrix,origin,pos); +} + +void fm_eulerMatrix(REAL ax,REAL ay,REAL az,REAL *matrix) // convert euler (in radians) to a dest 4x4 matrix (translation set to zero) +{ + REAL quat[4]; + fm_eulerToQuat(ax,ay,az,quat); + fm_quatToMatrix(quat,matrix); +} + + +//********************************************************** +//********************************************************** +//**** Vertex Welding +//********************************************************** +//********************************************************** + +#ifndef VERTEX_INDEX_H + +#define VERTEX_INDEX_H + +namespace VERTEX_INDEX +{ + +class KdTreeNode; + +typedef std::vector< KdTreeNode * > KdTreeNodeVector; + +enum Axes +{ + X_AXIS = 0, + Y_AXIS = 1, + Z_AXIS = 2 +}; + +class KdTreeFindNode +{ +public: + KdTreeFindNode(void) + { + mNode = 0; + mDistance = 0; + } + KdTreeNode *mNode; + double mDistance; +}; + +class KdTreeInterface +{ +public: + virtual const double * getPositionDouble(uint32_t index) const = 0; + virtual const float * getPositionFloat(uint32_t index) const = 0; +}; + +class KdTreeNode +{ +public: + KdTreeNode(void) + { + mIndex = 0; + mLeft = 0; + mRight = 0; + } + + KdTreeNode(uint32_t index) + { + mIndex = index; + mLeft = 0; + mRight = 0; + }; + + ~KdTreeNode(void) + { + } + + + void addDouble(KdTreeNode *node,Axes dim,const KdTreeInterface *iface) + { + const double *nodePosition = iface->getPositionDouble( node->mIndex ); + const double *position = iface->getPositionDouble( mIndex ); + switch ( dim ) + { + case X_AXIS: + if ( nodePosition[0] <= position[0] ) + { + if ( mLeft ) + mLeft->addDouble(node,Y_AXIS,iface); + else + mLeft = node; + } + else + { + if ( mRight ) + mRight->addDouble(node,Y_AXIS,iface); + else + mRight = node; + } + break; + case Y_AXIS: + if ( nodePosition[1] <= position[1] ) + { + if ( mLeft ) + mLeft->addDouble(node,Z_AXIS,iface); + else + mLeft = node; + } + else + { + if ( mRight ) + mRight->addDouble(node,Z_AXIS,iface); + else + mRight = node; + } + break; + case Z_AXIS: + if ( nodePosition[2] <= position[2] ) + { + if ( mLeft ) + mLeft->addDouble(node,X_AXIS,iface); + else + mLeft = node; + } + else + { + if ( mRight ) + mRight->addDouble(node,X_AXIS,iface); + else + mRight = node; + } + break; + } + + } + + + void addFloat(KdTreeNode *node,Axes dim,const KdTreeInterface *iface) + { + const float *nodePosition = iface->getPositionFloat( node->mIndex ); + const float *position = iface->getPositionFloat( mIndex ); + switch ( dim ) + { + case X_AXIS: + if ( nodePosition[0] <= position[0] ) + { + if ( mLeft ) + mLeft->addFloat(node,Y_AXIS,iface); + else + mLeft = node; + } + else + { + if ( mRight ) + mRight->addFloat(node,Y_AXIS,iface); + else + mRight = node; + } + break; + case Y_AXIS: + if ( nodePosition[1] <= position[1] ) + { + if ( mLeft ) + mLeft->addFloat(node,Z_AXIS,iface); + else + mLeft = node; + } + else + { + if ( mRight ) + mRight->addFloat(node,Z_AXIS,iface); + else + mRight = node; + } + break; + case Z_AXIS: + if ( nodePosition[2] <= position[2] ) + { + if ( mLeft ) + mLeft->addFloat(node,X_AXIS,iface); + else + mLeft = node; + } + else + { + if ( mRight ) + mRight->addFloat(node,X_AXIS,iface); + else + mRight = node; + } + break; + } + + } + + + uint32_t getIndex(void) const { return mIndex; }; + + void search(Axes axis,const double *pos,double radius,uint32_t &count,uint32_t maxObjects,KdTreeFindNode *found,const KdTreeInterface *iface) + { + + const double *position = iface->getPositionDouble(mIndex); + + double dx = pos[0] - position[0]; + double dy = pos[1] - position[1]; + double dz = pos[2] - position[2]; + + KdTreeNode *search1 = 0; + KdTreeNode *search2 = 0; + + switch ( axis ) + { + case X_AXIS: + if ( dx <= 0 ) // JWR if we are to the left + { + search1 = mLeft; // JWR then search to the left + if ( -dx < radius ) // JWR if distance to the right is less than our search radius, continue on the right as well. + search2 = mRight; + } + else + { + search1 = mRight; // JWR ok, we go down the left tree + if ( dx < radius ) // JWR if the distance from the right is less than our search radius + search2 = mLeft; + } + axis = Y_AXIS; + break; + case Y_AXIS: + if ( dy <= 0 ) + { + search1 = mLeft; + if ( -dy < radius ) + search2 = mRight; + } + else + { + search1 = mRight; + if ( dy < radius ) + search2 = mLeft; + } + axis = Z_AXIS; + break; + case Z_AXIS: + if ( dz <= 0 ) + { + search1 = mLeft; + if ( -dz < radius ) + search2 = mRight; + } + else + { + search1 = mRight; + if ( dz < radius ) + search2 = mLeft; + } + axis = X_AXIS; + break; + } + + double r2 = radius*radius; + double m = dx*dx+dy*dy+dz*dz; + + if ( m < r2 ) + { + switch ( count ) + { + case 0: + found[count].mNode = this; + found[count].mDistance = m; + break; + case 1: + if ( m < found[0].mDistance ) + { + if ( maxObjects == 1 ) + { + found[0].mNode = this; + found[0].mDistance = m; + } + else + { + found[1] = found[0]; + found[0].mNode = this; + found[0].mDistance = m; + } + } + else if ( maxObjects > 1) + { + found[1].mNode = this; + found[1].mDistance = m; + } + break; + default: + { + bool inserted = false; + + for (uint32_t i=0; i= maxObjects ) scan=maxObjects-1; + for (uint32_t j=scan; j>i; j--) + { + found[j] = found[j-1]; + } + found[i].mNode = this; + found[i].mDistance = m; + inserted = true; + break; + } + } + + if ( !inserted && count < maxObjects ) + { + found[count].mNode = this; + found[count].mDistance = m; + } + } + break; + } + count++; + if ( count > maxObjects ) + { + count = maxObjects; + } + } + + + if ( search1 ) + search1->search( axis, pos,radius, count, maxObjects, found, iface); + + if ( search2 ) + search2->search( axis, pos,radius, count, maxObjects, found, iface); + + } + + void search(Axes axis,const float *pos,float radius,uint32_t &count,uint32_t maxObjects,KdTreeFindNode *found,const KdTreeInterface *iface) + { + + const float *position = iface->getPositionFloat(mIndex); + + float dx = pos[0] - position[0]; + float dy = pos[1] - position[1]; + float dz = pos[2] - position[2]; + + KdTreeNode *search1 = 0; + KdTreeNode *search2 = 0; + + switch ( axis ) + { + case X_AXIS: + if ( dx <= 0 ) // JWR if we are to the left + { + search1 = mLeft; // JWR then search to the left + if ( -dx < radius ) // JWR if distance to the right is less than our search radius, continue on the right as well. + search2 = mRight; + } + else + { + search1 = mRight; // JWR ok, we go down the left tree + if ( dx < radius ) // JWR if the distance from the right is less than our search radius + search2 = mLeft; + } + axis = Y_AXIS; + break; + case Y_AXIS: + if ( dy <= 0 ) + { + search1 = mLeft; + if ( -dy < radius ) + search2 = mRight; + } + else + { + search1 = mRight; + if ( dy < radius ) + search2 = mLeft; + } + axis = Z_AXIS; + break; + case Z_AXIS: + if ( dz <= 0 ) + { + search1 = mLeft; + if ( -dz < radius ) + search2 = mRight; + } + else + { + search1 = mRight; + if ( dz < radius ) + search2 = mLeft; + } + axis = X_AXIS; + break; + } + + float r2 = radius*radius; + float m = dx*dx+dy*dy+dz*dz; + + if ( m < r2 ) + { + switch ( count ) + { + case 0: + found[count].mNode = this; + found[count].mDistance = m; + break; + case 1: + if ( m < found[0].mDistance ) + { + if ( maxObjects == 1 ) + { + found[0].mNode = this; + found[0].mDistance = m; + } + else + { + found[1] = found[0]; + found[0].mNode = this; + found[0].mDistance = m; + } + } + else if ( maxObjects > 1) + { + found[1].mNode = this; + found[1].mDistance = m; + } + break; + default: + { + bool inserted = false; + + for (uint32_t i=0; i= maxObjects ) scan=maxObjects-1; + for (uint32_t j=scan; j>i; j--) + { + found[j] = found[j-1]; + } + found[i].mNode = this; + found[i].mDistance = m; + inserted = true; + break; + } + } + + if ( !inserted && count < maxObjects ) + { + found[count].mNode = this; + found[count].mDistance = m; + } + } + break; + } + count++; + if ( count > maxObjects ) + { + count = maxObjects; + } + } + + + if ( search1 ) + search1->search( axis, pos,radius, count, maxObjects, found, iface); + + if ( search2 ) + search2->search( axis, pos,radius, count, maxObjects, found, iface); + + } + +private: + + void setLeft(KdTreeNode *left) { mLeft = left; }; + void setRight(KdTreeNode *right) { mRight = right; }; + + KdTreeNode *getLeft(void) { return mLeft; } + KdTreeNode *getRight(void) { return mRight; } + + uint32_t mIndex; + KdTreeNode *mLeft; + KdTreeNode *mRight; +}; + + +#define MAX_BUNDLE_SIZE 1024 // 1024 nodes at a time, to minimize memory allocation and guarantee that pointers are persistent. + +class KdTreeNodeBundle +{ +public: + + KdTreeNodeBundle(void) + { + mNext = 0; + mIndex = 0; + } + + bool isFull(void) const + { + return (bool)( mIndex == MAX_BUNDLE_SIZE ); + } + + KdTreeNode * getNextNode(void) + { + assert(mIndex DoubleVector; +typedef std::vector< float > FloatVector; + +class KdTree : public KdTreeInterface +{ +public: + KdTree(void) + { + mRoot = 0; + mBundle = 0; + mVcount = 0; + mUseDouble = false; + } + + virtual ~KdTree(void) + { + reset(); + } + + const double * getPositionDouble(uint32_t index) const + { + assert( mUseDouble ); + assert ( index < mVcount ); + return &mVerticesDouble[index*3]; + } + + const float * getPositionFloat(uint32_t index) const + { + assert( !mUseDouble ); + assert ( index < mVcount ); + return &mVerticesFloat[index*3]; + } + + uint32_t search(const double *pos,double radius,uint32_t maxObjects,KdTreeFindNode *found) const + { + assert( mUseDouble ); + if ( !mRoot ) return 0; + uint32_t count = 0; + mRoot->search(X_AXIS,pos,radius,count,maxObjects,found,this); + return count; + } + + uint32_t search(const float *pos,float radius,uint32_t maxObjects,KdTreeFindNode *found) const + { + assert( !mUseDouble ); + if ( !mRoot ) return 0; + uint32_t count = 0; + mRoot->search(X_AXIS,pos,radius,count,maxObjects,found,this); + return count; + } + + void reset(void) + { + mRoot = 0; + mVerticesDouble.clear(); + mVerticesFloat.clear(); + KdTreeNodeBundle *bundle = mBundle; + while ( bundle ) + { + KdTreeNodeBundle *next = bundle->mNext; + delete bundle; + bundle = next; + } + mBundle = 0; + mVcount = 0; + } + + uint32_t add(double x,double y,double z) + { + assert(mUseDouble); + uint32_t ret = mVcount; + mVerticesDouble.push_back(x); + mVerticesDouble.push_back(y); + mVerticesDouble.push_back(z); + mVcount++; + KdTreeNode *node = getNewNode(ret); + if ( mRoot ) + { + mRoot->addDouble(node,X_AXIS,this); + } + else + { + mRoot = node; + } + return ret; + } + + uint32_t add(float x,float y,float z) + { + assert(!mUseDouble); + uint32_t ret = mVcount; + mVerticesFloat.push_back(x); + mVerticesFloat.push_back(y); + mVerticesFloat.push_back(z); + mVcount++; + KdTreeNode *node = getNewNode(ret); + if ( mRoot ) + { + mRoot->addFloat(node,X_AXIS,this); + } + else + { + mRoot = node; + } + return ret; + } + + KdTreeNode * getNewNode(uint32_t index) + { + if ( mBundle == 0 ) + { + mBundle = new KdTreeNodeBundle; + } + if ( mBundle->isFull() ) + { + KdTreeNodeBundle *bundle = new KdTreeNodeBundle; + mBundle->mNext = bundle; + mBundle = bundle; + } + KdTreeNode *node = mBundle->getNextNode(); + new ( node ) KdTreeNode(index); + return node; + } + + uint32_t getNearest(const double *pos,double radius,bool &_found) const // returns the nearest possible neighbor's index. + { + assert( mUseDouble ); + uint32_t ret = 0; + + _found = false; + KdTreeFindNode found[1]; + uint32_t count = search(pos,radius,1,found); + if ( count ) + { + KdTreeNode *node = found[0].mNode; + ret = node->getIndex(); + _found = true; + } + return ret; + } + + uint32_t getNearest(const float *pos,float radius,bool &_found) const // returns the nearest possible neighbor's index. + { + assert( !mUseDouble ); + uint32_t ret = 0; + + _found = false; + KdTreeFindNode found[1]; + uint32_t count = search(pos,radius,1,found); + if ( count ) + { + KdTreeNode *node = found[0].mNode; + ret = node->getIndex(); + _found = true; + } + return ret; + } + + const double * getVerticesDouble(void) const + { + assert( mUseDouble ); + const double *ret = 0; + if ( !mVerticesDouble.empty() ) + { + ret = &mVerticesDouble[0]; + } + return ret; + } + + const float * getVerticesFloat(void) const + { + assert( !mUseDouble ); + const float * ret = 0; + if ( !mVerticesFloat.empty() ) + { + ret = &mVerticesFloat[0]; + } + return ret; + } + + uint32_t getVcount(void) const { return mVcount; }; + + void setUseDouble(bool useDouble) + { + mUseDouble = useDouble; + } + +private: + bool mUseDouble; + KdTreeNode *mRoot; + KdTreeNodeBundle *mBundle; + uint32_t mVcount; + DoubleVector mVerticesDouble; + FloatVector mVerticesFloat; +}; + +}; // end of namespace VERTEX_INDEX + +class MyVertexIndex : public fm_VertexIndex +{ +public: + MyVertexIndex(double granularity,bool snapToGrid) + { + mDoubleGranularity = granularity; + mFloatGranularity = (float)granularity; + mSnapToGrid = snapToGrid; + mUseDouble = true; + mKdTree.setUseDouble(true); + } + + MyVertexIndex(float granularity,bool snapToGrid) + { + mDoubleGranularity = granularity; + mFloatGranularity = (float)granularity; + mSnapToGrid = snapToGrid; + mUseDouble = false; + mKdTree.setUseDouble(false); + } + + virtual ~MyVertexIndex(void) + { + + } + + + double snapToGrid(double p) + { + double m = fmod(p,mDoubleGranularity); + p-=m; + return p; + } + + float snapToGrid(float p) + { + float m = fmodf(p,mFloatGranularity); + p-=m; + return p; + } + + uint32_t getIndex(const float *_p,bool &newPos) // get index for a vector float + { + uint32_t ret; + + if ( mUseDouble ) + { + double p[3]; + p[0] = _p[0]; + p[1] = _p[1]; + p[2] = _p[2]; + return getIndex(p,newPos); + } + + newPos = false; + + float p[3]; + + if ( mSnapToGrid ) + { + p[0] = snapToGrid(_p[0]); + p[1] = snapToGrid(_p[1]); + p[2] = snapToGrid(_p[2]); + } + else + { + p[0] = _p[0]; + p[1] = _p[1]; + p[2] = _p[2]; + } + + bool found; + ret = mKdTree.getNearest(p,mFloatGranularity,found); + if ( !found ) + { + newPos = true; + ret = mKdTree.add(p[0],p[1],p[2]); + } + + + return ret; + } + + uint32_t getIndex(const double *_p,bool &newPos) // get index for a vector double + { + uint32_t ret; + + if ( !mUseDouble ) + { + float p[3]; + p[0] = (float)_p[0]; + p[1] = (float)_p[1]; + p[2] = (float)_p[2]; + return getIndex(p,newPos); + } + + newPos = false; + + double p[3]; + + if ( mSnapToGrid ) + { + p[0] = snapToGrid(_p[0]); + p[1] = snapToGrid(_p[1]); + p[2] = snapToGrid(_p[2]); + } + else + { + p[0] = _p[0]; + p[1] = _p[1]; + p[2] = _p[2]; + } + + bool found; + ret = mKdTree.getNearest(p,mDoubleGranularity,found); + if ( !found ) + { + newPos = true; + ret = mKdTree.add(p[0],p[1],p[2]); + } + + + return ret; + } + + const float * getVerticesFloat(void) const + { + const float * ret = 0; + + assert( !mUseDouble ); + + ret = mKdTree.getVerticesFloat(); + + return ret; + } + + const double * getVerticesDouble(void) const + { + const double * ret = 0; + + assert( mUseDouble ); + + ret = mKdTree.getVerticesDouble(); + + return ret; + } + + const float * getVertexFloat(uint32_t index) const + { + const float * ret = 0; + assert( !mUseDouble ); +#ifdef _DEBUG + uint32_t vcount = mKdTree.getVcount(); + assert( index < vcount ); +#endif + ret = mKdTree.getVerticesFloat(); + ret = &ret[index*3]; + return ret; + } + + const double * getVertexDouble(uint32_t index) const + { + const double * ret = 0; + assert( mUseDouble ); +#ifdef _DEBUG + uint32_t vcount = mKdTree.getVcount(); + assert( index < vcount ); +#endif + ret = mKdTree.getVerticesDouble(); + ret = &ret[index*3]; + + return ret; + } + + uint32_t getVcount(void) const + { + return mKdTree.getVcount(); + } + + bool isDouble(void) const + { + return mUseDouble; + } + + + bool saveAsObj(const char *fname,uint32_t tcount,uint32_t *indices) + { + bool ret = false; + + + FILE *fph = fopen(fname,"wb"); + if ( fph ) + { + ret = true; + + uint32_t vcount = getVcount(); + if ( mUseDouble ) + { + const double *v = getVerticesDouble(); + for (uint32_t i=0; i(ret); +} + +fm_VertexIndex * fm_createVertexIndex(float granularity,bool snapToGrid) // create an indexed vertext system for floats +{ + MyVertexIndex *ret = new MyVertexIndex(granularity,snapToGrid); + return static_cast< fm_VertexIndex *>(ret); +} + +void fm_releaseVertexIndex(fm_VertexIndex *vindex) +{ + MyVertexIndex *m = static_cast< MyVertexIndex *>(vindex); + delete m; +} + +#endif // END OF VERTEX WELDING CODE + + +REAL fm_computeBestFitAABB(uint32_t vcount,const REAL *points,uint32_t pstride,REAL *bmin,REAL *bmax) // returns the diagonal distance +{ + + const uint8_t *source = (const uint8_t *) points; + + bmin[0] = points[0]; + bmin[1] = points[1]; + bmin[2] = points[2]; + + bmax[0] = points[0]; + bmax[1] = points[1]; + bmax[2] = points[2]; + + + for (uint32_t i=1; i bmax[0] ) bmax[0] = p[0]; + if ( p[1] > bmax[1] ) bmax[1] = p[1]; + if ( p[2] > bmax[2] ) bmax[2] = p[2]; + + } + + REAL dx = bmax[0] - bmin[0]; + REAL dy = bmax[1] - bmin[1]; + REAL dz = bmax[2] - bmin[2]; + + return (REAL) sqrt( dx*dx + dy*dy + dz*dz ); + +} + + + +/* a = b - c */ +#define vector(a,b,c) \ + (a)[0] = (b)[0] - (c)[0]; \ + (a)[1] = (b)[1] - (c)[1]; \ + (a)[2] = (b)[2] - (c)[2]; + + + +#define innerProduct(v,q) \ + ((v)[0] * (q)[0] + \ + (v)[1] * (q)[1] + \ + (v)[2] * (q)[2]) + +#define crossProduct(a,b,c) \ + (a)[0] = (b)[1] * (c)[2] - (c)[1] * (b)[2]; \ + (a)[1] = (b)[2] * (c)[0] - (c)[2] * (b)[0]; \ + (a)[2] = (b)[0] * (c)[1] - (c)[0] * (b)[1]; + + +bool fm_lineIntersectsTriangle(const REAL *rayStart,const REAL *rayEnd,const REAL *p1,const REAL *p2,const REAL *p3,REAL *sect) +{ + REAL dir[3]; + + dir[0] = rayEnd[0] - rayStart[0]; + dir[1] = rayEnd[1] - rayStart[1]; + dir[2] = rayEnd[2] - rayStart[2]; + + REAL d = (REAL)sqrt(dir[0]*dir[0] + dir[1]*dir[1] + dir[2]*dir[2]); + REAL r = 1.0f / d; + + dir[0]*=r; + dir[1]*=r; + dir[2]*=r; + + + REAL t; + + bool ret = fm_rayIntersectsTriangle(rayStart, dir, p1, p2, p3, t ); + + if ( ret ) + { + if ( t > d ) + { + sect[0] = rayStart[0] + dir[0]*t; + sect[1] = rayStart[1] + dir[1]*t; + sect[2] = rayStart[2] + dir[2]*t; + } + else + { + ret = false; + } + } + + return ret; +} + + + +bool fm_rayIntersectsTriangle(const REAL *p,const REAL *d,const REAL *v0,const REAL *v1,const REAL *v2,REAL &t) +{ + REAL e1[3],e2[3],h[3],s[3],q[3]; + REAL a,f,u,v; + + vector(e1,v1,v0); + vector(e2,v2,v0); + crossProduct(h,d,e2); + a = innerProduct(e1,h); + + if (a > -0.00001 && a < 0.00001) + return(false); + + f = 1/a; + vector(s,p,v0); + u = f * (innerProduct(s,h)); + + if (u < 0.0 || u > 1.0) + return(false); + + crossProduct(q,s,e1); + v = f * innerProduct(d,q); + if (v < 0.0 || u + v > 1.0) + return(false); + // at this stage we can compute t to find out where + // the intersection point is on the line + t = f * innerProduct(e2,q); + if (t > 0) // ray intersection + return(true); + else // this means that there is a line intersection + // but not a ray intersection + return (false); +} + + +inline REAL det(const REAL *p1,const REAL *p2,const REAL *p3) +{ + return p1[0]*p2[1]*p3[2] + p2[0]*p3[1]*p1[2] + p3[0]*p1[1]*p2[2] -p1[0]*p3[1]*p2[2] - p2[0]*p1[1]*p3[2] - p3[0]*p2[1]*p1[2]; +} + + +REAL fm_computeMeshVolume(const REAL *vertices,uint32_t tcount,const uint32_t *indices) +{ + REAL volume = 0; + + for (uint32_t i=0; i= 0.0f) && (bCROSScp >= 0.0f) && (cCROSSap >= 0.0f)); +} + + +REAL fm_areaPolygon2d(uint32_t pcount,const REAL *points,uint32_t pstride) +{ + int32_t n = (int32_t)pcount; + + REAL A=0.0f; + for(int32_t p=n-1,q=0; q= y) || (y2 < y && y1 >= y) ) + { + if (x1+(y-y1)/(y2-y1)*(x2-x1)= 3 ) + { + const REAL *prev = fm_getPoint(points,pstride,pcount-1); + const REAL *current = points; + const REAL *next = fm_getPoint(points,pstride,1); + REAL *dest = _dest; + + for (uint32_t i=0; i class Rect3d +{ +public: + Rect3d(void) { }; + + Rect3d(const T *bmin,const T *bmax) + { + + mMin[0] = bmin[0]; + mMin[1] = bmin[1]; + mMin[2] = bmin[2]; + + mMax[0] = bmax[0]; + mMax[1] = bmax[1]; + mMax[2] = bmax[2]; + + } + + void SetMin(const T *bmin) + { + mMin[0] = bmin[0]; + mMin[1] = bmin[1]; + mMin[2] = bmin[2]; + } + + void SetMax(const T *bmax) + { + mMax[0] = bmax[0]; + mMax[1] = bmax[1]; + mMax[2] = bmax[2]; + } + + void SetMin(T x,T y,T z) + { + mMin[0] = x; + mMin[1] = y; + mMin[2] = z; + } + + void SetMax(T x,T y,T z) + { + mMax[0] = x; + mMax[1] = y; + mMax[2] = z; + } + + T mMin[3]; + T mMax[3]; +}; + +#endif + +void splitRect(uint32_t axis, + const Rect3d &source, + Rect3d &b1, + Rect3d &b2, + const REAL *midpoint) +{ + switch ( axis ) + { + case 0: + b1.SetMin(source.mMin); + b1.SetMax( midpoint[0], source.mMax[1], source.mMax[2] ); + + b2.SetMin( midpoint[0], source.mMin[1], source.mMin[2] ); + b2.SetMax(source.mMax); + + break; + case 1: + b1.SetMin(source.mMin); + b1.SetMax( source.mMax[0], midpoint[1], source.mMax[2] ); + + b2.SetMin( source.mMin[0], midpoint[1], source.mMin[2] ); + b2.SetMax(source.mMax); + + break; + case 2: + b1.SetMin(source.mMin); + b1.SetMax( source.mMax[0], source.mMax[1], midpoint[2] ); + + b2.SetMin( source.mMin[0], source.mMin[1], midpoint[2] ); + b2.SetMax(source.mMax); + + break; + } +} + +bool fm_computeSplitPlane(uint32_t vcount, + const REAL *vertices, + uint32_t /* tcount */, + const uint32_t * /* indices */, + REAL *plane) +{ + + REAL sides[3]; + REAL matrix[16]; + + fm_computeBestFitOBB( vcount, vertices, sizeof(REAL)*3, sides, matrix ); + + REAL bmax[3]; + REAL bmin[3]; + + bmax[0] = sides[0]*0.5f; + bmax[1] = sides[1]*0.5f; + bmax[2] = sides[2]*0.5f; + + bmin[0] = -bmax[0]; + bmin[1] = -bmax[1]; + bmin[2] = -bmax[2]; + + + REAL dx = sides[0]; + REAL dy = sides[1]; + REAL dz = sides[2]; + + + uint32_t axis = 0; + + if ( dy > dx ) + { + axis = 1; + } + + if ( dz > dx && dz > dy ) + { + axis = 2; + } + + REAL p1[3]; + REAL p2[3]; + REAL p3[3]; + + p3[0] = p2[0] = p1[0] = bmin[0] + dx*0.5f; + p3[1] = p2[1] = p1[1] = bmin[1] + dy*0.5f; + p3[2] = p2[2] = p1[2] = bmin[2] + dz*0.5f; + + Rect3d b(bmin,bmax); + + Rect3d b1,b2; + + splitRect(axis,b,b1,b2,p1); + + + switch ( axis ) + { + case 0: + p2[1] = bmin[1]; + p2[2] = bmin[2]; + + if ( dz > dy ) + { + p3[1] = bmax[1]; + p3[2] = bmin[2]; + } + else + { + p3[1] = bmin[1]; + p3[2] = bmax[2]; + } + + break; + case 1: + p2[0] = bmin[0]; + p2[2] = bmin[2]; + + if ( dx > dz ) + { + p3[0] = bmax[0]; + p3[2] = bmin[2]; + } + else + { + p3[0] = bmin[0]; + p3[2] = bmax[2]; + } + + break; + case 2: + p2[0] = bmin[0]; + p2[1] = bmin[1]; + + if ( dx > dy ) + { + p3[0] = bmax[0]; + p3[1] = bmin[1]; + } + else + { + p3[0] = bmin[0]; + p3[1] = bmax[1]; + } + + break; + } + + REAL tp1[3]; + REAL tp2[3]; + REAL tp3[3]; + + fm_transform(matrix,p1,tp1); + fm_transform(matrix,p2,tp2); + fm_transform(matrix,p3,tp3); + + plane[3] = fm_computePlane(tp1,tp2,tp3,plane); + + return true; + +} + +#pragma warning(disable:4100) + +void fm_nearestPointInTriangle(const REAL * /*nearestPoint*/,const REAL * /*p1*/,const REAL * /*p2*/,const REAL * /*p3*/,REAL * /*nearest*/) +{ + +} + +static REAL Partial(const REAL *a,const REAL *p) +{ + return (a[0]*p[1]) - (p[0]*a[1]); +} + +REAL fm_areaTriangle(const REAL *p0,const REAL *p1,const REAL *p2) +{ + REAL A = Partial(p0,p1); + A+= Partial(p1,p2); + A+= Partial(p2,p0); + return A*0.5f; +} + +void fm_subtract(const REAL *A,const REAL *B,REAL *diff) // compute A-B and store the result in 'diff' +{ + diff[0] = A[0]-B[0]; + diff[1] = A[1]-B[1]; + diff[2] = A[2]-B[2]; +} + + +void fm_multiplyTransform(const REAL *pA,const REAL *pB,REAL *pM) +{ + + REAL a = pA[0*4+0] * pB[0*4+0] + pA[0*4+1] * pB[1*4+0] + pA[0*4+2] * pB[2*4+0] + pA[0*4+3] * pB[3*4+0]; + REAL b = pA[0*4+0] * pB[0*4+1] + pA[0*4+1] * pB[1*4+1] + pA[0*4+2] * pB[2*4+1] + pA[0*4+3] * pB[3*4+1]; + REAL c = pA[0*4+0] * pB[0*4+2] + pA[0*4+1] * pB[1*4+2] + pA[0*4+2] * pB[2*4+2] + pA[0*4+3] * pB[3*4+2]; + REAL d = pA[0*4+0] * pB[0*4+3] + pA[0*4+1] * pB[1*4+3] + pA[0*4+2] * pB[2*4+3] + pA[0*4+3] * pB[3*4+3]; + + REAL e = pA[1*4+0] * pB[0*4+0] + pA[1*4+1] * pB[1*4+0] + pA[1*4+2] * pB[2*4+0] + pA[1*4+3] * pB[3*4+0]; + REAL f = pA[1*4+0] * pB[0*4+1] + pA[1*4+1] * pB[1*4+1] + pA[1*4+2] * pB[2*4+1] + pA[1*4+3] * pB[3*4+1]; + REAL g = pA[1*4+0] * pB[0*4+2] + pA[1*4+1] * pB[1*4+2] + pA[1*4+2] * pB[2*4+2] + pA[1*4+3] * pB[3*4+2]; + REAL h = pA[1*4+0] * pB[0*4+3] + pA[1*4+1] * pB[1*4+3] + pA[1*4+2] * pB[2*4+3] + pA[1*4+3] * pB[3*4+3]; + + REAL i = pA[2*4+0] * pB[0*4+0] + pA[2*4+1] * pB[1*4+0] + pA[2*4+2] * pB[2*4+0] + pA[2*4+3] * pB[3*4+0]; + REAL j = pA[2*4+0] * pB[0*4+1] + pA[2*4+1] * pB[1*4+1] + pA[2*4+2] * pB[2*4+1] + pA[2*4+3] * pB[3*4+1]; + REAL k = pA[2*4+0] * pB[0*4+2] + pA[2*4+1] * pB[1*4+2] + pA[2*4+2] * pB[2*4+2] + pA[2*4+3] * pB[3*4+2]; + REAL l = pA[2*4+0] * pB[0*4+3] + pA[2*4+1] * pB[1*4+3] + pA[2*4+2] * pB[2*4+3] + pA[2*4+3] * pB[3*4+3]; + + REAL m = pA[3*4+0] * pB[0*4+0] + pA[3*4+1] * pB[1*4+0] + pA[3*4+2] * pB[2*4+0] + pA[3*4+3] * pB[3*4+0]; + REAL n = pA[3*4+0] * pB[0*4+1] + pA[3*4+1] * pB[1*4+1] + pA[3*4+2] * pB[2*4+1] + pA[3*4+3] * pB[3*4+1]; + REAL o = pA[3*4+0] * pB[0*4+2] + pA[3*4+1] * pB[1*4+2] + pA[3*4+2] * pB[2*4+2] + pA[3*4+3] * pB[3*4+2]; + REAL p = pA[3*4+0] * pB[0*4+3] + pA[3*4+1] * pB[1*4+3] + pA[3*4+2] * pB[2*4+3] + pA[3*4+3] * pB[3*4+3]; + + pM[0] = a; pM[1] = b; pM[2] = c; pM[3] = d; + + pM[4] = e; pM[5] = f; pM[6] = g; pM[7] = h; + + pM[8] = i; pM[9] = j; pM[10] = k; pM[11] = l; + + pM[12] = m; pM[13] = n; pM[14] = o; pM[15] = p; +} + +void fm_multiply(REAL *A,REAL scaler) +{ + A[0]*=scaler; + A[1]*=scaler; + A[2]*=scaler; +} + +void fm_add(const REAL *A,const REAL *B,REAL *sum) +{ + sum[0] = A[0]+B[0]; + sum[1] = A[1]+B[1]; + sum[2] = A[2]+B[2]; +} + +void fm_copy3(const REAL *source,REAL *dest) +{ + dest[0] = source[0]; + dest[1] = source[1]; + dest[2] = source[2]; +} + + +uint32_t fm_copyUniqueVertices(uint32_t vcount,const REAL *input_vertices,REAL *output_vertices,uint32_t tcount,const uint32_t *input_indices,uint32_t *output_indices) +{ + uint32_t ret = 0; + + REAL *vertices = (REAL *)malloc(sizeof(REAL)*vcount*3); + memcpy(vertices,input_vertices,sizeof(REAL)*vcount*3); + REAL *dest = output_vertices; + + uint32_t *reindex = (uint32_t *)malloc(sizeof(uint32_t)*vcount); + memset(reindex,0xFF,sizeof(uint32_t)*vcount); + + uint32_t icount = tcount*3; + + for (uint32_t i=0; i 0 ) + { + uint32_t i1 = indices[0]; + uint32_t i2 = indices[1]; + uint32_t i3 = indices[2]; + const REAL *p1 = &vertices[i1*3]; + const REAL *p2 = &vertices[i2*3]; + const REAL *p3 = &vertices[i3*3]; + REAL plane[4]; + plane[3] = fm_computePlane(p1,p2,p3,plane); + const uint32_t *scan = &indices[3]; + for (uint32_t i=1; i= dmin && dot <= dmax ) + { + ret = true; // then the plane equation is for practical purposes identical. + } + } +#endif + return ret; +} + + +void fm_initMinMax(REAL bmin[3],REAL bmax[3]) +{ + bmin[0] = FLT_MAX; + bmin[1] = FLT_MAX; + bmin[2] = FLT_MAX; + + bmax[0] = -FLT_MAX; + bmax[1] = -FLT_MAX; + bmax[2] = -FLT_MAX; +} + +void fm_inflateMinMax(REAL bmin[3], REAL bmax[3], REAL ratio) +{ + REAL inflate = fm_distance(bmin, bmax)*0.5f*ratio; + + bmin[0] -= inflate; + bmin[1] -= inflate; + bmin[2] -= inflate; + + bmax[0] += inflate; + bmax[1] += inflate; + bmax[2] += inflate; +} + +#ifndef TESSELATE_H + +#define TESSELATE_H + +typedef std::vector< uint32_t > UintVector; + +class Myfm_Tesselate : public fm_Tesselate +{ +public: + virtual ~Myfm_Tesselate(void) + { + + } + + const uint32_t * tesselate(fm_VertexIndex *vindex,uint32_t tcount,const uint32_t *indices,float longEdge,uint32_t maxDepth,uint32_t &outcount) + { + const uint32_t *ret = 0; + + mMaxDepth = maxDepth; + mLongEdge = longEdge*longEdge; + mLongEdgeD = mLongEdge; + mVertices = vindex; + + if ( mVertices->isDouble() ) + { + uint32_t vcount = mVertices->getVcount(); + double *vertices = (double *)malloc(sizeof(double)*vcount*3); + memcpy(vertices,mVertices->getVerticesDouble(),sizeof(double)*vcount*3); + + for (uint32_t i=0; igetVcount(); + float *vertices = (float *)malloc(sizeof(float)*vcount*3); + memcpy(vertices,mVertices->getVerticesFloat(),sizeof(float)*vcount*3); + + + for (uint32_t i=0; i mLongEdge || l2 > mLongEdge || l3 > mLongEdge ) + split = true; + + } + + if ( split ) + { + uint32_t edge; + + if ( l1 >= l2 && l1 >= l3 ) + edge = 0; + else if ( l2 >= l1 && l2 >= l3 ) + edge = 1; + else + edge = 2; + + float splits[3]; + + switch ( edge ) + { + case 0: + { + fm_lerp(p1,p2,splits,0.5f); + tesselate(p1,splits,p3, recurse+1 ); + tesselate(splits,p2,p3, recurse+1 ); + } + break; + case 1: + { + fm_lerp(p2,p3,splits,0.5f); + tesselate(p1,p2,splits, recurse+1 ); + tesselate(p1,splits,p3, recurse+1 ); + } + break; + case 2: + { + fm_lerp(p3,p1,splits,0.5f); + tesselate(p1,p2,splits, recurse+1 ); + tesselate(splits,p2,p3, recurse+1 ); + } + break; + } + } + else + { + bool newp; + + uint32_t i1 = mVertices->getIndex(p1,newp); + uint32_t i2 = mVertices->getIndex(p2,newp); + uint32_t i3 = mVertices->getIndex(p3,newp); + + mIndices.push_back(i1); + mIndices.push_back(i2); + mIndices.push_back(i3); + } + + } + + void tesselate(const double *p1,const double *p2,const double *p3,uint32_t recurse) + { + bool split = false; + double l1,l2,l3; + + l1 = l2 = l3 = 0; + + if ( recurse < mMaxDepth ) + { + l1 = fm_distanceSquared(p1,p2); + l2 = fm_distanceSquared(p2,p3); + l3 = fm_distanceSquared(p3,p1); + + if ( l1 > mLongEdgeD || l2 > mLongEdgeD || l3 > mLongEdgeD ) + split = true; + + } + + if ( split ) + { + uint32_t edge; + + if ( l1 >= l2 && l1 >= l3 ) + edge = 0; + else if ( l2 >= l1 && l2 >= l3 ) + edge = 1; + else + edge = 2; + + double splits[3]; + + switch ( edge ) + { + case 0: + { + fm_lerp(p1,p2,splits,0.5); + tesselate(p1,splits,p3, recurse+1 ); + tesselate(splits,p2,p3, recurse+1 ); + } + break; + case 1: + { + fm_lerp(p2,p3,splits,0.5); + tesselate(p1,p2,splits, recurse+1 ); + tesselate(p1,splits,p3, recurse+1 ); + } + break; + case 2: + { + fm_lerp(p3,p1,splits,0.5); + tesselate(p1,p2,splits, recurse+1 ); + tesselate(splits,p2,p3, recurse+1 ); + } + break; + } + } + else + { + bool newp; + + uint32_t i1 = mVertices->getIndex(p1,newp); + uint32_t i2 = mVertices->getIndex(p2,newp); + uint32_t i3 = mVertices->getIndex(p3,newp); + + mIndices.push_back(i1); + mIndices.push_back(i2); + mIndices.push_back(i3); + } + + } + +private: + float mLongEdge; + double mLongEdgeD; + fm_VertexIndex *mVertices; + UintVector mIndices; + uint32_t mMaxDepth; +}; + +fm_Tesselate * fm_createTesselate(void) +{ + Myfm_Tesselate *m = new Myfm_Tesselate; + return static_cast< fm_Tesselate * >(m); +} + +void fm_releaseTesselate(fm_Tesselate *t) +{ + Myfm_Tesselate *m = static_cast< Myfm_Tesselate *>(t); + delete m; +} + +#endif + + +#ifndef RAY_ABB_INTERSECT + +#define RAY_ABB_INTERSECT + +//! Integer representation of a floating-point value. +#define IR(x) ((uint32_t&)x) + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** +* A method to compute a ray-AABB intersection. +* Original code by Andrew Woo, from "Graphics Gems", Academic Press, 1990 +* Optimized code by Pierre Terdiman, 2000 (~20-30% faster on my Celeron 500) +* Epsilon value added by Klaus Hartmann. (discarding it saves a few cycles only) +* +* Hence this version is faster as well as more robust than the original one. +* +* Should work provided: +* 1) the integer representation of 0.0f is 0x00000000 +* 2) the sign bit of the float is the most significant one +* +* Report bugs: p.terdiman@codercorner.com +* +* \param aabb [in] the axis-aligned bounding box +* \param origin [in] ray origin +* \param dir [in] ray direction +* \param coord [out] impact coordinates +* \return true if ray intersects AABB +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +#define RAYAABB_EPSILON 0.00001f +bool fm_intersectRayAABB(const float MinB[3],const float MaxB[3],const float origin[3],const float dir[3],float coord[3]) +{ + bool Inside = true; + float MaxT[3]; + MaxT[0]=MaxT[1]=MaxT[2]=-1.0f; + + // Find candidate planes. + for(uint32_t i=0;i<3;i++) + { + if(origin[i] < MinB[i]) + { + coord[i] = MinB[i]; + Inside = false; + + // Calculate T distances to candidate planes + if(IR(dir[i])) MaxT[i] = (MinB[i] - origin[i]) / dir[i]; + } + else if(origin[i] > MaxB[i]) + { + coord[i] = MaxB[i]; + Inside = false; + + // Calculate T distances to candidate planes + if(IR(dir[i])) MaxT[i] = (MaxB[i] - origin[i]) / dir[i]; + } + } + + // Ray origin inside bounding box + if(Inside) + { + coord[0] = origin[0]; + coord[1] = origin[1]; + coord[2] = origin[2]; + return true; + } + + // Get largest of the maxT's for final choice of intersection + uint32_t WhichPlane = 0; + if(MaxT[1] > MaxT[WhichPlane]) WhichPlane = 1; + if(MaxT[2] > MaxT[WhichPlane]) WhichPlane = 2; + + // Check final candidate actually inside box + if(IR(MaxT[WhichPlane])&0x80000000) return false; + + for(uint32_t i=0;i<3;i++) + { + if(i!=WhichPlane) + { + coord[i] = origin[i] + MaxT[WhichPlane] * dir[i]; +#ifdef RAYAABB_EPSILON + if(coord[i] < MinB[i] - RAYAABB_EPSILON || coord[i] > MaxB[i] + RAYAABB_EPSILON) return false; +#else + if(coord[i] < MinB[i] || coord[i] > MaxB[i]) return false; +#endif + } + } + return true; // ray hits box +} + +bool fm_intersectLineSegmentAABB(const float bmin[3],const float bmax[3],const float p1[3],const float p2[3],float intersect[3]) +{ + bool ret = false; + + float dir[3]; + dir[0] = p2[0] - p1[0]; + dir[1] = p2[1] - p1[1]; + dir[2] = p2[2] - p1[2]; + float dist = fm_normalize(dir); + if ( dist > RAYAABB_EPSILON ) + { + ret = fm_intersectRayAABB(bmin,bmax,p1,dir,intersect); + if ( ret ) + { + float d = fm_distanceSquared(p1,intersect); + if ( d > (dist*dist) ) + { + ret = false; + } + } + } + return ret; +} + +#endif + +#ifndef OBB_TO_AABB + +#define OBB_TO_AABB + +#pragma warning(disable:4100) + +void fm_OBBtoAABB(const float /*obmin*/[3],const float /*obmax*/[3],const float /*matrix*/[16],float /*abmin*/[3],float /*abmax*/[3]) +{ + assert(0); // not yet implemented. +} + + +const REAL * computePos(uint32_t index,const REAL *vertices,uint32_t vstride) +{ + const char *tmp = (const char *)vertices; + tmp+=(index*vstride); + return (const REAL*)tmp; +} + +void computeNormal(uint32_t index,REAL *normals,uint32_t nstride,const REAL *normal) +{ + char *tmp = (char *)normals; + tmp+=(index*nstride); + REAL *dest = (REAL *)tmp; + dest[0]+=normal[0]; + dest[1]+=normal[1]; + dest[2]+=normal[2]; +} + +void fm_computeMeanNormals(uint32_t vcount, // the number of vertices + const REAL *vertices, // the base address of the vertex position data. + uint32_t vstride, // the stride between position data. + REAL *normals, // the base address of the destination for mean vector normals + uint32_t nstride, // the stride between normals + uint32_t tcount, // the number of triangles + const uint32_t *indices) // the triangle indices +{ + + // Step #1 : Zero out the vertex normals + char *dest = (char *)normals; + for (uint32_t i=0; ixmax[0]) + Copy(xmax,caller_p); + if (caller_p[1]ymax[1]) + Copy(ymax,caller_p); + if (caller_p[2]zmax[2]) + Copy(zmax,caller_p); + scan+=pstride; + } + } + + /* Set xspan = distance between the 2 points xmin & xmax (squared) */ + REAL dx = xmax[0] - xmin[0]; + REAL dy = xmax[1] - xmin[1]; + REAL dz = xmax[2] - xmin[2]; + REAL xspan = dx*dx + dy*dy + dz*dz; + +/* Same for y & z spans */ + dx = ymax[0] - ymin[0]; + dy = ymax[1] - ymin[1]; + dz = ymax[2] - ymin[2]; + REAL yspan = dx*dx + dy*dy + dz*dz; + + dx = zmax[0] - zmin[0]; + dy = zmax[1] - zmin[1]; + dz = zmax[2] - zmin[2]; + REAL zspan = dx*dx + dy*dy + dz*dz; + + /* Set points dia1 & dia2 to the maximally separated pair */ + Copy(dia1,xmin); + Copy(dia2,xmax); /* assume xspan biggest */ + REAL maxspan = xspan; + + if (yspan>maxspan) + { + maxspan = yspan; + Copy(dia1,ymin); + Copy(dia2,ymax); + } + + if (zspan>maxspan) + { + maxspan = zspan; + Copy(dia1,zmin); + Copy(dia2,zmax); + } + + + /* dia1,dia2 is a diameter of initial sphere */ + /* calc initial center */ + center[0] = (dia1[0]+dia2[0])*0.5f; + center[1] = (dia1[1]+dia2[1])*0.5f; + center[2] = (dia1[2]+dia2[2])*0.5f; + + /* calculate initial radius**2 and radius */ + + dx = dia2[0]-center[0]; /* x component of radius vector */ + dy = dia2[1]-center[1]; /* y component of radius vector */ + dz = dia2[2]-center[2]; /* z component of radius vector */ + + radius2 = dx*dx + dy*dy + dz*dz; + radius = REAL(sqrt(radius2)); + + /* SECOND PASS: increment current sphere */ + { + const char *scan = (const char *)points; + for (uint32_t i=0; i radius2) /* do r**2 test first */ + { /* this point is outside of current sphere */ + REAL old_to_p = REAL(sqrt(old_to_p_sq)); + /* calc radius of new sphere */ + radius = (radius + old_to_p) * 0.5f; + radius2 = radius*radius; /* for next r**2 compare */ + REAL old_to_new = old_to_p - radius; + /* calc center of new sphere */ + REAL recip = 1.0f /old_to_p; + REAL cx = (radius*center[0] + old_to_new*caller_p[0]) * recip; + REAL cy = (radius*center[1] + old_to_new*caller_p[1]) * recip; + REAL cz = (radius*center[2] + old_to_new*caller_p[2]) * recip; + Set(center,cx,cy,cz); + scan+=pstride; + } + } + } + return radius; +} + + +void fm_computeBestFitCapsule(uint32_t vcount,const REAL *points,uint32_t pstride,REAL &radius,REAL &height,REAL matrix[16],bool bruteForce) +{ + REAL sides[3]; + REAL omatrix[16]; + fm_computeBestFitOBB(vcount,points,pstride,sides,omatrix,bruteForce); + + int32_t axis = 0; + if ( sides[0] > sides[1] && sides[0] > sides[2] ) + axis = 0; + else if ( sides[1] > sides[0] && sides[1] > sides[2] ) + axis = 1; + else + axis = 2; + + REAL localTransform[16]; + + REAL maxDist = 0; + REAL maxLen = 0; + + switch ( axis ) + { + case 0: + { + fm_eulerMatrix(0,0,FM_PI/2,localTransform); + fm_matrixMultiply(localTransform,omatrix,matrix); + + const uint8_t *scan = (const uint8_t *)points; + for (uint32_t i=0; i maxDist ) + { + maxDist = dist; + } + REAL l = (REAL) fabs(t[0]); + if ( l > maxLen ) + { + maxLen = l; + } + scan+=pstride; + } + } + height = sides[0]; + break; + case 1: + { + fm_eulerMatrix(0,FM_PI/2,0,localTransform); + fm_matrixMultiply(localTransform,omatrix,matrix); + + const uint8_t *scan = (const uint8_t *)points; + for (uint32_t i=0; i maxDist ) + { + maxDist = dist; + } + REAL l = (REAL) fabs(t[1]); + if ( l > maxLen ) + { + maxLen = l; + } + scan+=pstride; + } + } + height = sides[1]; + break; + case 2: + { + fm_eulerMatrix(FM_PI/2,0,0,localTransform); + fm_matrixMultiply(localTransform,omatrix,matrix); + + const uint8_t *scan = (const uint8_t *)points; + for (uint32_t i=0; i maxDist ) + { + maxDist = dist; + } + REAL l = (REAL) fabs(t[2]); + if ( l > maxLen ) + { + maxLen = l; + } + scan+=pstride; + } + } + height = sides[2]; + break; + } + radius = (REAL)sqrt(maxDist); + height = (maxLen*2)-(radius*2); +} + + +//************* Triangulation + +#ifndef TRIANGULATE_H + +#define TRIANGULATE_H + +typedef uint32_t TU32; + +class TVec +{ +public: + TVec(double _x,double _y,double _z) { x = _x; y = _y; z = _z; }; + TVec(void) { }; + + double x; + double y; + double z; +}; + +typedef std::vector< TVec > TVecVector; +typedef std::vector< TU32 > TU32Vector; + +class CTriangulator +{ +public: + /// Default constructor + CTriangulator(); + + /// Default destructor + virtual ~CTriangulator(); + + /// Triangulates the contour + void triangulate(TU32Vector &indices); + + /// Returns the given point in the triangulator array + inline TVec get(const TU32 id) { return mPoints[id]; } + + virtual void reset(void) + { + mInputPoints.clear(); + mPoints.clear(); + mIndices.clear(); + } + + virtual void addPoint(double x,double y,double z) + { + TVec v(x,y,z); + // update bounding box... + if ( mInputPoints.empty() ) + { + mMin = v; + mMax = v; + } + else + { + if ( x < mMin.x ) mMin.x = x; + if ( y < mMin.y ) mMin.y = y; + if ( z < mMin.z ) mMin.z = z; + + if ( x > mMax.x ) mMax.x = x; + if ( y > mMax.y ) mMax.y = y; + if ( z > mMax.z ) mMax.z = z; + } + mInputPoints.push_back(v); + } + + // Triangulation happens in 2d. We could inverse transform the polygon around the normal direction, or we just use the two most signficant axes + // Here we find the two longest axes and use them to triangulate. Inverse transforming them would introduce more doubleing point error and isn't worth it. + virtual uint32_t * triangulate(uint32_t &tcount,double epsilon) + { + uint32_t *ret = 0; + tcount = 0; + mEpsilon = epsilon; + + if ( !mInputPoints.empty() ) + { + mPoints.clear(); + + double dx = mMax.x - mMin.x; // locate the first, second and third longest edges and store them in i1, i2, i3 + double dy = mMax.y - mMin.y; + double dz = mMax.z - mMin.z; + + uint32_t i1,i2,i3; + + if ( dx > dy && dx > dz ) + { + i1 = 0; + if ( dy > dz ) + { + i2 = 1; + i3 = 2; + } + else + { + i2 = 2; + i3 = 1; + } + } + else if ( dy > dx && dy > dz ) + { + i1 = 1; + if ( dx > dz ) + { + i2 = 0; + i3 = 2; + } + else + { + i2 = 2; + i3 = 0; + } + } + else + { + i1 = 2; + if ( dx > dy ) + { + i2 = 0; + i3 = 1; + } + else + { + i2 = 1; + i3 = 0; + } + } + + uint32_t pcount = (uint32_t)mInputPoints.size(); + const double *points = &mInputPoints[0].x; + for (uint32_t i=0; i 2;) + { + if (0 >= (count--)) + return; + + int32_t u = v; + if (nv <= u) + u = 0; + v = u + 1; + if (nv <= v) + v = 0; + int32_t w = v + 1; + if (nv <= w) + w = 0; + + if (_snip(u, v, w, nv, V)) + { + int32_t a, b, c, s, t; + a = V[u]; + b = V[v]; + c = V[w]; + if ( flipped ) + { + indices.push_back(a); + indices.push_back(b); + indices.push_back(c); + } + else + { + indices.push_back(c); + indices.push_back(b); + indices.push_back(a); + } + m++; + for (s = v, t = v + 1; t < nv; s++, t++) + V[s] = V[t]; + nv--; + count = 2 * nv; + } + } + + free(V); +} + +/// Returns the area of the contour +double CTriangulator::_area() +{ + int32_t n = (uint32_t)mPoints.size(); + double A = 0.0f; + for (int32_t p = n - 1, q = 0; q < n; p = q++) + { + const TVec &pval = mPoints[p]; + const TVec &qval = mPoints[q]; + A += pval.x * qval.y - qval.x * pval.y; + } + A*=0.5f; + return A; +} + +bool CTriangulator::_snip(int32_t u, int32_t v, int32_t w, int32_t n, int32_t *V) +{ + int32_t p; + + const TVec &A = mPoints[ V[u] ]; + const TVec &B = mPoints[ V[v] ]; + const TVec &C = mPoints[ V[w] ]; + + if (mEpsilon > (((B.x - A.x) * (C.y - A.y)) - ((B.y - A.y) * (C.x - A.x))) ) + return false; + + for (p = 0; p < n; p++) + { + if ((p == u) || (p == v) || (p == w)) + continue; + const TVec &P = mPoints[ V[p] ]; + if (_insideTriangle(A, B, C, P)) + return false; + } + return true; +} + +/// Tests if a point is inside the given triangle +bool CTriangulator::_insideTriangle(const TVec& A, const TVec& B, const TVec& C,const TVec& P) +{ + double ax, ay, bx, by, cx, cy, apx, apy, bpx, bpy, cpx, cpy; + double cCROSSap, bCROSScp, aCROSSbp; + + ax = C.x - B.x; ay = C.y - B.y; + bx = A.x - C.x; by = A.y - C.y; + cx = B.x - A.x; cy = B.y - A.y; + apx = P.x - A.x; apy = P.y - A.y; + bpx = P.x - B.x; bpy = P.y - B.y; + cpx = P.x - C.x; cpy = P.y - C.y; + + aCROSSbp = ax * bpy - ay * bpx; + cCROSSap = cx * apy - cy * apx; + bCROSScp = bx * cpy - by * cpx; + + return ((aCROSSbp >= 0.0f) && (bCROSScp >= 0.0f) && (cCROSSap >= 0.0f)); +} + +class Triangulate : public fm_Triangulate +{ +public: + Triangulate(void) + { + mPointsFloat = 0; + mPointsDouble = 0; + } + + virtual ~Triangulate(void) + { + reset(); + } + void reset(void) + { + free(mPointsFloat); + free(mPointsDouble); + mPointsFloat = 0; + mPointsDouble = 0; + } + + virtual const double * triangulate3d(uint32_t pcount, + const double *_points, + uint32_t vstride, + uint32_t &tcount, + bool consolidate, + double epsilon) + { + reset(); + + double *points = (double *)malloc(sizeof(double)*pcount*3); + if ( consolidate ) + { + pcount = fm_consolidatePolygon(pcount,_points,vstride,points,1-epsilon); + } + else + { + double *dest = points; + for (uint32_t i=0; i= 3 ) + { + CTriangulator ct; + for (uint32_t i=0; i(t); +} + +void fm_releaseTriangulate(fm_Triangulate *t) +{ + Triangulate *tt = static_cast< Triangulate *>(t); + delete tt; +} + +#endif + +bool validDistance(const REAL *p1,const REAL *p2,REAL epsilon) +{ + bool ret = true; + + REAL dx = p1[0] - p2[0]; + REAL dy = p1[1] - p2[1]; + REAL dz = p1[2] - p2[2]; + REAL dist = dx*dx+dy*dy+dz*dz; + if ( dist < (epsilon*epsilon) ) + { + ret = false; + } + return ret; +} + +bool fm_isValidTriangle(const REAL *p1,const REAL *p2,const REAL *p3,REAL epsilon) +{ + bool ret = false; + + if ( validDistance(p1,p2,epsilon) && + validDistance(p1,p3,epsilon) && + validDistance(p2,p3,epsilon) ) + { + + REAL area = fm_computeArea(p1,p2,p3); + if ( area > epsilon ) + { + REAL _vertices[3*3],vertices[64*3]; + + _vertices[0] = p1[0]; + _vertices[1] = p1[1]; + _vertices[2] = p1[2]; + + _vertices[3] = p2[0]; + _vertices[4] = p2[1]; + _vertices[5] = p2[2]; + + _vertices[6] = p3[0]; + _vertices[7] = p3[1]; + _vertices[8] = p3[2]; + + uint32_t pcount = fm_consolidatePolygon(3,_vertices,sizeof(REAL)*3,vertices,1-epsilon); + if ( pcount == 3 ) + { + ret = true; + } + } + } + return ret; +} + + +void fm_multiplyQuat(const REAL *left,const REAL *right,REAL *quat) +{ + REAL a,b,c,d; + + a = left[3]*right[3] - left[0]*right[0] - left[1]*right[1] - left[2]*right[2]; + b = left[3]*right[0] + right[3]*left[0] + left[1]*right[2] - right[1]*left[2]; + c = left[3]*right[1] + right[3]*left[1] + left[2]*right[0] - right[2]*left[0]; + d = left[3]*right[2] + right[3]*left[2] + left[0]*right[1] - right[0]*left[1]; + + quat[3] = a; + quat[0] = b; + quat[1] = c; + quat[2] = d; +} + +bool fm_computeCentroid(uint32_t vcount, // number of input data points + const REAL *points, // starting address of points array. + REAL *center) + +{ + bool ret = false; + if ( vcount ) + { + center[0] = 0; + center[1] = 0; + center[2] = 0; + const REAL *p = points; + for (uint32_t i=0; i class Vec3 +{ +public: + Vec3(void) + { + + } + Vec3(Type _x,Type _y,Type _z) + { + x = _x; + y = _y; + z = _z; + } + Type x; + Type y; + Type z; +}; +#endif + +void fm_transformAABB(const REAL bmin[3],const REAL bmax[3],const REAL matrix[16],REAL tbmin[3],REAL tbmax[3]) +{ + Vec3 box[8]; + box[0] = Vec3< REAL >( bmin[0], bmin[1], bmin[2] ); + box[1] = Vec3< REAL >( bmax[0], bmin[1], bmin[2] ); + box[2] = Vec3< REAL >( bmax[0], bmax[1], bmin[2] ); + box[3] = Vec3< REAL >( bmin[0], bmax[1], bmin[2] ); + box[4] = Vec3< REAL >( bmin[0], bmin[1], bmax[2] ); + box[5] = Vec3< REAL >( bmax[0], bmin[1], bmax[2] ); + box[6] = Vec3< REAL >( bmax[0], bmax[1], bmax[2] ); + box[7] = Vec3< REAL >( bmin[0], bmax[1], bmax[2] ); + // transform all 8 corners of the box and then recompute a new AABB + for (unsigned int i=0; i<8; i++) + { + Vec3< REAL > &p = box[i]; + fm_transform(matrix,&p.x,&p.x); + if ( i == 0 ) + { + tbmin[0] = tbmax[0] = p.x; + tbmin[1] = tbmax[1] = p.y; + tbmin[2] = tbmax[2] = p.z; + } + else + { + if ( p.x < tbmin[0] ) tbmin[0] = p.x; + if ( p.y < tbmin[1] ) tbmin[1] = p.y; + if ( p.z < tbmin[2] ) tbmin[2] = p.z; + if ( p.x > tbmax[0] ) tbmax[0] = p.x; + if ( p.y > tbmax[1] ) tbmax[1] = p.y; + if ( p.z > tbmax[2] ) tbmax[2] = p.z; + } + } +} + +REAL fm_normalizeQuat(REAL n[4]) // normalize this quat +{ + REAL dx = n[0]*n[0]; + REAL dy = n[1]*n[1]; + REAL dz = n[2]*n[2]; + REAL dw = n[3]*n[3]; + + REAL dist = dx*dx+dy*dy+dz*dz+dw*dw; + + dist = (REAL)sqrt(dist); + + REAL recip = 1.0f / dist; + + n[0]*=recip; + n[1]*=recip; + n[2]*=recip; + n[3]*=recip; + + return dist; +} + + +}; // end of namespace diff --git a/src/VHACD-ASYNC.cpp b/src/VHACD-ASYNC.cpp new file mode 100644 index 0000000..5a2f6be --- /dev/null +++ b/src/VHACD-ASYNC.cpp @@ -0,0 +1,334 @@ +#include "../public/VHACD.h" +#include +#include +#include +#include +#include +#include +#include +#include + +#define ENABLE_ASYNC 1 + +#define HACD_ALLOC(x) malloc(x) +#define HACD_FREE(x) free(x) +#define HACD_ASSERT(x) assert(x) + +namespace VHACD +{ + +class MyHACD_API : public VHACD::IVHACD, public VHACD::IVHACD::IUserCallback, VHACD::IVHACD::IUserLogger +{ +public: + MyHACD_API(void) + { + mVHACD = VHACD::CreateVHACD(); + } + + virtual ~MyHACD_API(void) + { + releaseHACD(); + Cancel(); + mVHACD->Release(); + } + + + virtual bool Compute(const double* const _points, + const uint32_t countPoints, + const uint32_t* const _triangles, + const uint32_t countTriangles, + const Parameters& _desc) final + { +#if ENABLE_ASYNC + Cancel(); // if we previously had a solution running; cancel it. + releaseHACD(); + + // We need to copy the input vertices and triangles into our own buffers so we can operate + // on them safely from the background thread. + mVertices = (double *)HACD_ALLOC(sizeof(double)*countPoints * 3); + mIndices = (uint32_t *)HACD_ALLOC(sizeof(uint32_t)*countTriangles * 3); + memcpy(mVertices, _points, sizeof(double)*countPoints * 3); + memcpy(mIndices, _triangles, sizeof(uint32_t)*countTriangles * 3); + mRunning = true; + mThread = new std::thread([this, countPoints, countTriangles, _desc]() + { + ComputeNow(mVertices, countPoints, mIndices, countTriangles, _desc); + mRunning = false; + }); +#else + releaseHACD(); + ComputeNow(_points, countPoints, _triangles, countTriangles, _desc); +#endif + return true; + } + + bool ComputeNow(const double* const points, + const uint32_t countPoints, + const uint32_t* const triangles, + const uint32_t countTriangles, + const Parameters& _desc) + { + uint32_t ret = 0; + + mHullCount = 0; + mCallback = _desc.m_callback; + mLogger = _desc.m_logger; + + IVHACD::Parameters desc = _desc; + // Set our intercepting callback interfaces if non-null + desc.m_callback = desc.m_callback ? this : nullptr; + desc.m_logger = desc.m_logger ? this : nullptr; + + if ( countPoints ) + { + bool ok = mVHACD->Compute(points, countPoints, triangles, countTriangles, desc); + if (ok) + { + ret = mVHACD->GetNConvexHulls(); + mHulls = new IVHACD::ConvexHull[ret]; + for (uint32_t i = 0; i < ret; i++) + { + VHACD::IVHACD::ConvexHull vhull; + mVHACD->GetConvexHull(i, vhull); + VHACD::IVHACD::ConvexHull h; + h.m_nPoints = vhull.m_nPoints; + h.m_points = (double *)HACD_ALLOC(sizeof(double) * 3 * h.m_nPoints); + memcpy(h.m_points, vhull.m_points, sizeof(double) * 3 * h.m_nPoints); + h.m_nTriangles = vhull.m_nTriangles; + h.m_triangles = (uint32_t *)HACD_ALLOC(sizeof(uint32_t) * 3 * h.m_nTriangles); + memcpy(h.m_triangles, vhull.m_triangles, sizeof(uint32_t) * 3 * h.m_nTriangles); + h.m_volume = vhull.m_volume; + h.m_center[0] = vhull.m_center[0]; + h.m_center[1] = vhull.m_center[1]; + h.m_center[2] = vhull.m_center[2]; + mHulls[i] = h; + if (mCancel) + { + ret = 0; + break; + } + } + } + } + + mHullCount = ret; + return ret ? true : false; + } + + void releaseHull(VHACD::IVHACD::ConvexHull &h) + { + HACD_FREE((void *)h.m_triangles); + HACD_FREE((void *)h.m_points); + h.m_triangles = nullptr; + h.m_points = nullptr; + } + + virtual void GetConvexHull(const uint32_t index, VHACD::IVHACD::ConvexHull& ch) const final + { + if ( index < mHullCount ) + { + ch = mHulls[index]; + } + } + + void releaseHACD(void) // release memory associated with the last HACD request + { + for (uint32_t i=0; iCancel(); // Set the cancel signal to the base VHACD + } + if (mThread) + { + mThread->join(); // Wait for the thread to fully exit before we delete the instance + delete mThread; + mThread = nullptr; + Log("Convex Decomposition thread canceled\n"); + } + mCancel = false; // clear the cancel semaphore + } + + virtual bool Compute(const float* const points, + const uint32_t countPoints, + const uint32_t* const triangles, + const uint32_t countTriangles, + const Parameters& params) final + { + + double *vertices = (double *)HACD_ALLOC(sizeof(double)*countPoints * 3); + const float *source = points; + double *dest = vertices; + for (uint32_t i = 0; i < countPoints; i++) + { + dest[0] = source[0]; + dest[1] = source[1]; + dest[2] = source[2]; + dest += 3; + source += 3; + } + + bool ret = Compute(vertices, countPoints, triangles, countTriangles, params); + HACD_FREE(vertices); + return ret; + } + + virtual uint32_t GetNConvexHulls() const final + { + processPendingMessages(); + return mHullCount; + } + + virtual void Clean(void) final // release internally allocated memory + { + Cancel(); + releaseHACD(); + mVHACD->Clean(); + } + + virtual void Release(void) final // release IVHACD + { + delete this; + } + + virtual bool OCLInit(void* const oclDevice, + IVHACD::IUserLogger* const logger = 0) final + { + return mVHACD->OCLInit(oclDevice, logger); + } + + virtual bool OCLRelease(IVHACD::IUserLogger* const logger = 0) final + { + return mVHACD->OCLRelease(logger); + } + + virtual void Update(const double overallProgress, + const double stageProgress, + const double operationProgress, + const char* const stage, + const char* const operation) final + { + mMessageMutex.lock(); + mHaveUpdateMessage = true; + mOverallProgress = overallProgress; + mStageProgress = stageProgress; + mOperationProgress = operationProgress; + mStage = std::string(stage); + mOperation = std::string(operation); + mMessageMutex.unlock(); + } + + virtual void Log(const char* const msg) final + { + mMessageMutex.lock(); + mHaveLogMessage = true; + mMessage = std::string(msg); + mMessageMutex.unlock(); + } + + virtual bool IsReady(void) const final + { + processPendingMessages(); + return !mRunning; + } + + // As a convenience for the calling application we only send it update and log messages from it's own main + // thread. This reduces the complexity burden on the caller by making sure it only has to deal with log + // messages in it's main application thread. + void processPendingMessages(void) const + { + // If we have a new update message and the user has specified a callback we send the message and clear the semaphore + if (mHaveUpdateMessage && mCallback) + { + mMessageMutex.lock(); + mCallback->Update(mOverallProgress, mStageProgress, mOperationProgress, mStage.c_str(), mOperation.c_str()); + mHaveUpdateMessage = false; + mMessageMutex.unlock(); + } + // If we have a new log message and the user has specified a callback we send the message and clear the semaphore + if (mHaveLogMessage && mLogger) + { + mMessageMutex.lock(); + mLogger->Log(mMessage.c_str()); + mHaveLogMessage = false; + mMessageMutex.unlock(); + } + } + + // Will compute the center of mass of the convex hull decomposition results and return it + // in 'centerOfMass'. Returns false if the center of mass could not be computed. + virtual bool ComputeCenterOfMass(double centerOfMass[3]) const + { + bool ret = false; + + centerOfMass[0] = 0; + centerOfMass[1] = 0; + centerOfMass[2] = 0; + + if (mVHACD && IsReady() ) + { + ret = mVHACD->ComputeCenterOfMass(centerOfMass); + } + return ret; + } + +private: + double *mVertices{ nullptr }; + uint32_t *mIndices{ nullptr }; + std::atomic< uint32_t> mHullCount{ 0 }; + VHACD::IVHACD::ConvexHull *mHulls{ nullptr }; + VHACD::IVHACD::IUserCallback *mCallback{ nullptr }; + VHACD::IVHACD::IUserLogger *mLogger{ nullptr }; + VHACD::IVHACD *mVHACD{ nullptr }; + std::thread *mThread{ nullptr }; + std::atomic< bool > mRunning{ false }; + std::atomic mCancel{ false }; + + // Thread safe caching mechanism for messages and update status. + // This is so that caller always gets messages in his own thread + // Member variables are marked as 'mutable' since the message dispatch function + // is called from const query methods. + mutable std::mutex mMessageMutex; + mutable std::atomic< bool > mHaveUpdateMessage{ false }; + mutable std::atomic< bool > mHaveLogMessage{ false }; + mutable double mOverallProgress{ 0 }; + mutable double mStageProgress{ 0 }; + mutable double mOperationProgress{ 0 }; + mutable std::string mStage; + mutable std::string mOperation; + mutable std::string mMessage; +}; + +IVHACD* CreateVHACD_ASYNC(void) +{ + MyHACD_API *m = new MyHACD_API; + return static_cast(m); +} + + +}; // end of VHACD namespace + diff --git a/src/VHACD.cpp b/src/VHACD.cpp index 5783efc..b35ee04 100644 --- a/src/VHACD.cpp +++ b/src/VHACD.cpp @@ -13,44 +13,50 @@ 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 +#include #include -#include #include -#include #include +#include #if _OPENMP #include #endif // _OPENMP #include "../public/VHACD.h" #include "btConvexHullComputer.h" +#include "vhacdICHull.h" #include "vhacdMesh.h" -#include "vhacdVolume.h" -#include "vhacdTimer.h" -#include "vhacdVector.h" #include "vhacdSArray.h" -#include "vhacdICHull.h" +#include "vhacdTimer.h" #include "vhacdVHACD.h" +#include "vhacdVector.h" +#include "vhacdVolume.h" +#include "FloatMath.h" -#define MAX(a,b) (((a)>(b))?(a):(b)) -#define MIN(a,b) (((a)<(b))?(a):(b)) -#define ABS(a) (((a)<0) ? -(a) : (a)) -#define ZSGN(a) (((a)<0) ? -1 : (a)>0 ? 1 : 0) +#define MAX(a, b) (((a) > (b)) ? (a) : (b)) +#define MIN(a, b) (((a) < (b)) ? (a) : (b)) +#define ABS(a) (((a) < 0) ? -(a) : (a)) +#define ZSGN(a) (((a) < 0) ? -1 : (a) > 0 ? 1 : 0) #define MAX_DOUBLE (1.79769e+308) +#ifdef _MSC_VER +#pragma warning(disable:4267 4100 4244 4456) +#endif + #ifdef USE_SSE #include -const int SIMD_WIDTH = 4; -inline int FindMinimumElement(const float *const d, float *const m, const int n) +const int32_t SIMD_WIDTH = 4; +inline int32_t FindMinimumElement(const float* const d, float* const _, const int32_t n) { // Min within vectors __m128 min_i = _mm_set1_ps(-1.0f); __m128 min_v = _mm_set1_ps(std::numeric_limits::max()); - for (int i = 0; i <= n - SIMD_WIDTH; i += SIMD_WIDTH) - { + for (int32_t i = 0; i <= n - SIMD_WIDTH; i += SIMD_WIDTH) { const __m128 data = _mm_load_ps(&d[i]); const __m128 pred = _mm_cmplt_ps(data, min_v); @@ -59,23 +65,21 @@ inline int FindMinimumElement(const float *const d, float *const m, const int n) } /* Min within vector */ - const __m128 min1 = _mm_shuffle_ps(min_v, min_v, _MM_SHUFFLE(1,0,3,2)); + const __m128 min1 = _mm_shuffle_ps(min_v, min_v, _MM_SHUFFLE(1, 0, 3, 2)); const __m128 min2 = _mm_min_ps(min_v, min1); - const __m128 min3 = _mm_shuffle_ps(min2, min2, _MM_SHUFFLE(0,1,0,1)); + const __m128 min3 = _mm_shuffle_ps(min2, min2, _MM_SHUFFLE(0, 1, 0, 1)); const __m128 min4 = _mm_min_ps(min2, min3); float min_d = _mm_cvtss_f32(min4); // Min index - const int min_idx = __builtin_ctz(_mm_movemask_ps(_mm_cmpeq_ps(min_v, min4))); - int ret = min_i[min_idx] + min_idx; + const int32_t min_idx = __builtin_ctz(_mm_movemask_ps(_mm_cmpeq_ps(min_v, min4))); + int32_t ret = min_i[min_idx] + min_idx; // Trailing elements - for (int i = (n & ~(SIMD_WIDTH - 1)); i < n; ++i) - { - if (d[i] < min_d) - { - min_d = d[i]; - ret = i; + for (int32_t i = (n & ~(SIMD_WIDTH - 1)); i < n; ++i) { + if (d[i] < min_d) { + min_d = d[i]; + ret = i; } } @@ -83,16 +87,14 @@ inline int FindMinimumElement(const float *const d, float *const m, const int n) return ret; } -inline int FindMinimumElement(const float *const d, float *const m, const int begin, const int end) +inline int32_t FindMinimumElement(const float* const d, float* const m, const int32_t begin, const int32_t end) { // Leading elements - int min_i = -1; + int32_t min_i = -1; float min_d = std::numeric_limits::max(); - const int aligned = (begin & ~(SIMD_WIDTH - 1)) + ((begin & (SIMD_WIDTH - 1)) ? SIMD_WIDTH : 0); - for (int i = begin; i < std::min(end, aligned); ++i) - { - if (d[i] < min_d) - { + const int32_t aligned = (begin & ~(SIMD_WIDTH - 1)) + ((begin & (SIMD_WIDTH - 1)) ? SIMD_WIDTH : 0); + for (int32_t i = begin; i < std::min(end, aligned); ++i) { + if (d[i] < min_d) { min_d = d[i]; min_i = i; } @@ -100,30 +102,26 @@ inline int FindMinimumElement(const float *const d, float *const m, const int be // Middle and trailing elements float r_m = std::numeric_limits::max(); - const int n = end - aligned; - const int r_i = (n > 0) ? FindMinimumElement(&d[aligned], &r_m, n) : 0; + const int32_t n = end - aligned; + const int32_t r_i = (n > 0) ? FindMinimumElement(&d[aligned], &r_m, n) : 0; // Pick the lowest - if (r_m < min_d) - { + if (r_m < min_d) { *m = r_m; return r_i + aligned; } - else - { + else { *m = min_d; return min_i; } } #else -inline int FindMinimumElement(const float *const d, float *const m, const int begin, const int end) +inline int32_t FindMinimumElement(const float* const d, float* const m, const int32_t begin, const int32_t end) { - int idx = -1; + int32_t idx = -1; float min = (std::numeric_limits::max)(); - for (size_t i = begin; i < end; ++i) - { - if (d[i] < min) - { + for (size_t i = begin; i < size_t(end); ++i) { + if (d[i] < min) { idx = i; min = d[i]; } @@ -134,21 +132,20 @@ inline int FindMinimumElement(const float *const d, float *const m, const int be } #endif - //#define OCL_SOURCE_FROM_FILE #ifndef OCL_SOURCE_FROM_FILE -const char * oclProgramSource = "\ +const char* oclProgramSource = "\ __kernel void ComputePartialVolumes(__global short4 * voxels, \ - const int numVoxels, \ + const int32_t numVoxels, \ const float4 plane, \ const float4 minBB, \ const float4 scale, \ __local uint4 * localPartialVolumes, \ __global uint4 * partialVolumes) \ { \ - int localId = get_local_id(0); \ - int groupSize = get_local_size(0); \ - int i0 = get_global_id(0) << 2; \ + int32_t localId = get_local_id(0); \ + int32_t groupSize = get_local_size(0); \ + int32_t i0 = get_global_id(0) << 2; \ float4 voxel; \ uint4 v; \ voxel = convert_float4(voxels[i0]); \ @@ -161,7 +158,7 @@ __kernel void ComputePartialVolumes(__global short4 * voxels, v.s3 = (dot(plane, mad(scale, voxel, minBB)) >= 0.0f) * (i0 + 3 < numVoxels);\ localPartialVolumes[localId] = v; \ barrier(CLK_LOCAL_MEM_FENCE); \ - for (int i = groupSize >> 1; i > 0; i >>= 1) \ + for (int32_t i = groupSize >> 1; i > 0; i >>= 1) \ { \ if (localId < i) \ { \ @@ -175,13 +172,13 @@ __kernel void ComputePartialVolumes(__global short4 * voxels, } \ } \ __kernel void ComputePartialSums(__global uint4 * data, \ - const int dataSize, \ + const int32_t dataSize, \ __local uint4 * partialSums) \ { \ - int globalId = get_global_id(0); \ - int localId = get_local_id(0); \ - int groupSize = get_local_size(0); \ - int i; \ + int32_t globalId = get_global_id(0); \ + int32_t localId = get_local_id(0); \ + int32_t groupSize = get_local_size(0); \ + int32_t i; \ if (globalId < dataSize) \ { \ partialSums[localId] = data[globalId]; \ @@ -206,1460 +203,1387 @@ __kernel void ComputePartialSums(__global uint4 * data, }"; #endif //OCL_SOURCE_FROM_FILE -namespace VHACD +namespace VHACD { +IVHACD* CreateVHACD(void) +{ + return new VHACD(); +} +bool VHACD::OCLInit(void* const oclDevice, IUserLogger* const logger) { - IVHACD * CreateVHACD(void) - { - return new VHACD(); - } - bool VHACD::OCLInit(void * const oclDevice, - IUserLogger * const logger) - { #ifdef CL_VERSION_1_1 - m_oclDevice = (cl_device_id *) oclDevice; - cl_int error; - m_oclContext = clCreateContext(NULL, 1, m_oclDevice, NULL, NULL, &error); - if (error != CL_SUCCESS) - { - if (logger) - { - logger->Log("Couldn't create context\n"); - } - return false; + m_oclDevice = (cl_device_id*)oclDevice; + cl_int error; + m_oclContext = clCreateContext(NULL, 1, m_oclDevice, NULL, NULL, &error); + if (error != CL_SUCCESS) { + if (logger) { + logger->Log("Couldn't create context\n"); } + return false; + } #ifdef OCL_SOURCE_FROM_FILE - std::string cl_files = OPENCL_CL_FILES; - // read kernal from file + std::string cl_files = OPENCL_CL_FILES; +// read kernal from file #ifdef _WIN32 - std::replace(cl_files.begin(), cl_files.end(), '/', '\\'); + std::replace(cl_files.begin(), cl_files.end(), '/', '\\'); #endif // _WIN32 - - FILE * program_handle = fopen(cl_files.c_str(), "rb"); - fseek(program_handle, 0, SEEK_END); - size_t program_size = ftell(program_handle); - rewind(program_handle); - char * program_buffer = new char [program_size + 1]; - program_buffer[program_size] = '\0'; - fread(program_buffer, sizeof(char), program_size, program_handle); - fclose(program_handle); - // create program - m_oclProgram = clCreateProgramWithSource(m_oclContext, 1, (const char**)&program_buffer, &program_size, &error); - delete[] program_buffer; + + FILE* program_handle = fopen(cl_files.c_str(), "rb"); + fseek(program_handle, 0, SEEK_END); + size_t program_size = ftell(program_handle); + rewind(program_handle); + char* program_buffer = new char[program_size + 1]; + program_buffer[program_size] = '\0'; + fread(program_buffer, sizeof(char), program_size, program_handle); + fclose(program_handle); + // create program + m_oclProgram = clCreateProgramWithSource(m_oclContext, 1, (const char**)&program_buffer, &program_size, &error); + delete[] program_buffer; #else - size_t program_size = strlen(oclProgramSource); - m_oclProgram = clCreateProgramWithSource(m_oclContext, 1, (const char**)&oclProgramSource, &program_size, &error); + size_t program_size = strlen(oclProgramSource); + m_oclProgram = clCreateProgramWithSource(m_oclContext, 1, (const char**)&oclProgramSource, &program_size, &error); #endif - if (error != CL_SUCCESS) - { - if (logger) - { - logger->Log("Couldn't create program\n"); - } - return false; - } - - /* Build program */ - error = clBuildProgram(m_oclProgram, 1, m_oclDevice, "-cl-denorms-are-zero", NULL, NULL); - if (error != CL_SUCCESS) - { - size_t log_size; - /* Find Size of log and print to std output */ - clGetProgramBuildInfo(m_oclProgram, *m_oclDevice, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size); - char * program_log = new char [log_size + 2]; - program_log[log_size ] = '\n'; - program_log[log_size + 1] = '\0'; - clGetProgramBuildInfo(m_oclProgram, *m_oclDevice, CL_PROGRAM_BUILD_LOG, log_size + 1, program_log, NULL); - if (logger) - { - logger->Log("Couldn't build program\n"); - logger->Log(program_log); - } - delete[] program_log; - return false; + if (error != CL_SUCCESS) { + if (logger) { + logger->Log("Couldn't create program\n"); } + return false; + } - delete[] m_oclQueue; - delete[] m_oclKernelComputePartialVolumes; - delete[] m_oclKernelComputeSum; - m_oclQueue = new cl_command_queue[m_ompNumProcessors]; - m_oclKernelComputePartialVolumes = new cl_kernel[m_ompNumProcessors]; - m_oclKernelComputeSum = new cl_kernel[m_ompNumProcessors]; - + /* Build program */ + error = clBuildProgram(m_oclProgram, 1, m_oclDevice, "-cl-denorms-are-zero", NULL, NULL); + if (error != CL_SUCCESS) { + size_t log_size; + /* Find Size of log and print to std output */ + clGetProgramBuildInfo(m_oclProgram, *m_oclDevice, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size); + char* program_log = new char[log_size + 2]; + program_log[log_size] = '\n'; + program_log[log_size + 1] = '\0'; + clGetProgramBuildInfo(m_oclProgram, *m_oclDevice, CL_PROGRAM_BUILD_LOG, log_size + 1, program_log, NULL); + if (logger) { + logger->Log("Couldn't build program\n"); + logger->Log(program_log); + } + delete[] program_log; + return false; + } - const char nameKernelComputePartialVolumes[] = "ComputePartialVolumes"; - const char nameKernelComputeSum[] = "ComputePartialSums"; - for (int k = 0; k < m_ompNumProcessors; ++k) - { - m_oclKernelComputePartialVolumes[k] = clCreateKernel(m_oclProgram, nameKernelComputePartialVolumes, &error); - if (error != CL_SUCCESS) - { - if (logger) - { - logger->Log("Couldn't create kernel\n"); - } - return false; - } - m_oclKernelComputeSum[k] = clCreateKernel(m_oclProgram, nameKernelComputeSum, &error); - if (error != CL_SUCCESS) - { - if (logger) - { - logger->Log("Couldn't create kernel\n"); - } - return false; + delete[] m_oclQueue; + delete[] m_oclKernelComputePartialVolumes; + delete[] m_oclKernelComputeSum; + m_oclQueue = new cl_command_queue[m_ompNumProcessors]; + m_oclKernelComputePartialVolumes = new cl_kernel[m_ompNumProcessors]; + m_oclKernelComputeSum = new cl_kernel[m_ompNumProcessors]; + + const char nameKernelComputePartialVolumes[] = "ComputePartialVolumes"; + const char nameKernelComputeSum[] = "ComputePartialSums"; + for (int32_t k = 0; k < m_ompNumProcessors; ++k) { + m_oclKernelComputePartialVolumes[k] = clCreateKernel(m_oclProgram, nameKernelComputePartialVolumes, &error); + if (error != CL_SUCCESS) { + if (logger) { + logger->Log("Couldn't create kernel\n"); } + return false; } - - error = clGetKernelWorkGroupInfo(m_oclKernelComputePartialVolumes[0], - *m_oclDevice, - CL_KERNEL_WORK_GROUP_SIZE, - sizeof(size_t), - &m_oclWorkGroupSize, - NULL); - size_t workGroupSize = 0; - error = clGetKernelWorkGroupInfo(m_oclKernelComputeSum[0], - *m_oclDevice, - CL_KERNEL_WORK_GROUP_SIZE, - sizeof(size_t), - &workGroupSize, - NULL); - if (error != CL_SUCCESS) - { - if (logger) - { - logger->Log("Couldn't query work group info\n"); + m_oclKernelComputeSum[k] = clCreateKernel(m_oclProgram, nameKernelComputeSum, &error); + if (error != CL_SUCCESS) { + if (logger) { + logger->Log("Couldn't create kernel\n"); } return false; } + } - if (workGroupSize < m_oclWorkGroupSize) - { - m_oclWorkGroupSize = workGroupSize; + error = clGetKernelWorkGroupInfo(m_oclKernelComputePartialVolumes[0], + *m_oclDevice, + CL_KERNEL_WORK_GROUP_SIZE, + sizeof(size_t), + &m_oclWorkGroupSize, + NULL); + size_t workGroupSize = 0; + error = clGetKernelWorkGroupInfo(m_oclKernelComputeSum[0], + *m_oclDevice, + CL_KERNEL_WORK_GROUP_SIZE, + sizeof(size_t), + &workGroupSize, + NULL); + if (error != CL_SUCCESS) { + if (logger) { + logger->Log("Couldn't query work group info\n"); } + return false; + } - for (int k = 0; k < m_ompNumProcessors; ++k) - { - m_oclQueue[k] = clCreateCommandQueue(m_oclContext, *m_oclDevice, 0 /*CL_QUEUE_PROFILING_ENABLE*/, &error); - if (error != CL_SUCCESS) - { - if (logger) - { - logger->Log("Couldn't create queue\n"); - } - return false; + if (workGroupSize < m_oclWorkGroupSize) { + m_oclWorkGroupSize = workGroupSize; + } + + for (int32_t k = 0; k < m_ompNumProcessors; ++k) { + m_oclQueue[k] = clCreateCommandQueue(m_oclContext, *m_oclDevice, 0 /*CL_QUEUE_PROFILING_ENABLE*/, &error); + if (error != CL_SUCCESS) { + if (logger) { + logger->Log("Couldn't create queue\n"); } + return false; } - return true; + } + return true; #else //CL_VERSION_1_1 - return false; + return false; #endif //CL_VERSION_1_1 - } - bool VHACD::OCLRelease(IUserLogger * const logger) - { +} +bool VHACD::OCLRelease(IUserLogger* const logger) +{ #ifdef CL_VERSION_1_1 - cl_int error; - if (m_oclKernelComputePartialVolumes) - { - for (int k = 0; k < m_ompNumProcessors; ++k) - { - error = clReleaseKernel(m_oclKernelComputePartialVolumes[k]); - if (error != CL_SUCCESS) - { - if (logger) - { - logger->Log("Couldn't release kernal\n"); - } - return false; + cl_int error; + if (m_oclKernelComputePartialVolumes) { + for (int32_t k = 0; k < m_ompNumProcessors; ++k) { + error = clReleaseKernel(m_oclKernelComputePartialVolumes[k]); + if (error != CL_SUCCESS) { + if (logger) { + logger->Log("Couldn't release kernal\n"); } + return false; } - delete[] m_oclKernelComputePartialVolumes; } - if (m_oclKernelComputeSum) - { - for (int k = 0; k < m_ompNumProcessors; ++k) - { - error = clReleaseKernel(m_oclKernelComputeSum[k]); - if (error != CL_SUCCESS) - { - if (logger) - { - logger->Log("Couldn't release kernal\n"); - } - return false; + delete[] m_oclKernelComputePartialVolumes; + } + if (m_oclKernelComputeSum) { + for (int32_t k = 0; k < m_ompNumProcessors; ++k) { + error = clReleaseKernel(m_oclKernelComputeSum[k]); + if (error != CL_SUCCESS) { + if (logger) { + logger->Log("Couldn't release kernal\n"); } + return false; } - delete[] m_oclKernelComputeSum; } - if (m_oclQueue) - { - for (int k = 0; k < m_ompNumProcessors; ++k) - { - error = clReleaseCommandQueue(m_oclQueue[k]); - if (error != CL_SUCCESS) - { - if (logger) - { - logger->Log("Couldn't release queue\n"); - } - return false; + delete[] m_oclKernelComputeSum; + } + if (m_oclQueue) { + for (int32_t k = 0; k < m_ompNumProcessors; ++k) { + error = clReleaseCommandQueue(m_oclQueue[k]); + if (error != CL_SUCCESS) { + if (logger) { + logger->Log("Couldn't release queue\n"); } + return false; } - delete[] m_oclQueue; } - error = clReleaseProgram(m_oclProgram); - if (error != CL_SUCCESS) - { - if (logger) - { - logger->Log("Couldn't release program\n"); - } - return false; + delete[] m_oclQueue; + } + error = clReleaseProgram(m_oclProgram); + if (error != CL_SUCCESS) { + if (logger) { + logger->Log("Couldn't release program\n"); } - error = clReleaseContext(m_oclContext); - if (error != CL_SUCCESS) - { - if (logger) - { - logger->Log("Couldn't release context\n"); - } - return false; + return false; + } + error = clReleaseContext(m_oclContext); + if (error != CL_SUCCESS) { + if (logger) { + logger->Log("Couldn't release context\n"); } - - return true; -#else //CL_VERSION_1_1 return false; + } + + return true; +#else //CL_VERSION_1_1 + return false; #endif //CL_VERSION_1_1 +} +void VHACD::ComputePrimitiveSet(const Parameters& params) +{ + if (GetCancel()) { + return; } - void VHACD::ComputePrimitiveSet(const Parameters & params) - { - if (GetCancel()) - { - return; - } - m_timer.Tic(); + m_timer.Tic(); - m_stage = "Compute primitive set"; - m_operation = "Convert volume to pset"; + m_stage = "Compute primitive set"; + m_operation = "Convert volume to pset"; - std::ostringstream msg; - if (params.m_logger) - { - msg << "+ " << m_stage << std::endl; - params.m_logger->Log(msg.str().c_str()); - } + std::ostringstream msg; + if (params.m_logger) { + msg << "+ " << m_stage << std::endl; + params.m_logger->Log(msg.str().c_str()); + } - Update(0.0, 0.0, params); - if (params.m_mode == 0) - { - VoxelSet * vset = new VoxelSet; - m_volume->Convert(*vset); - m_pset = vset; - } - else - { - TetrahedronSet * tset = new TetrahedronSet; - m_volume->Convert(*tset); - m_pset = tset; - } - - delete m_volume; - m_volume = 0; + Update(0.0, 0.0, params); + if (params.m_mode == 0) { + VoxelSet* vset = new VoxelSet; + m_volume->Convert(*vset); + m_pset = vset; + } + else { + TetrahedronSet* tset = new TetrahedronSet; + m_volume->Convert(*tset); + m_pset = tset; + } - if (params.m_logger) - { - msg.str(""); - msg << "\t # primitives " <GetNPrimitives() << std::endl; - msg << "\t # inside surface " <GetNPrimitivesInsideSurf() << std::endl; - msg << "\t # on surface " <GetNPrimitivesOnSurf() << std::endl; - params.m_logger->Log(msg.str().c_str()); - } + delete m_volume; + m_volume = 0; - m_overallProgress = 15.0; - Update(100.0, 100.0, params); - m_timer.Toc(); - if (params.m_logger) - { - msg.str(""); - msg << "\t time " << m_timer.GetElapsedTime() / 1000.0 << "s" << std::endl; - params.m_logger->Log(msg.str().c_str()); - } + if (params.m_logger) { + msg.str(""); + msg << "\t # primitives " << m_pset->GetNPrimitives() << std::endl; + msg << "\t # inside surface " << m_pset->GetNPrimitivesInsideSurf() << std::endl; + msg << "\t # on surface " << m_pset->GetNPrimitivesOnSurf() << std::endl; + params.m_logger->Log(msg.str().c_str()); } - bool VHACD::Compute(const double * const points, - const unsigned int stridePoints, - const unsigned int nPoints, - const int * const triangles, - const unsigned int strideTriangles, - const unsigned int nTriangles, - const Parameters & params) - { - return ComputeACD(points, stridePoints, nPoints, triangles, strideTriangles, nTriangles, params); - } - bool VHACD::Compute(const float * const points, - const unsigned int stridePoints, - const unsigned int nPoints, - const int * const triangles, - const unsigned int strideTriangles, - const unsigned int nTriangles, - const Parameters & params) - { - return ComputeACD(points, stridePoints, nPoints, triangles, strideTriangles, nTriangles, params); + + m_overallProgress = 15.0; + Update(100.0, 100.0, params); + m_timer.Toc(); + if (params.m_logger) { + msg.str(""); + msg << "\t time " << m_timer.GetElapsedTime() / 1000.0 << "s" << std::endl; + params.m_logger->Log(msg.str().c_str()); } - double ComputePreferredCuttingDirection(const PrimitiveSet * const tset, Vec3 & dir) - { - double ex = tset->GetEigenValue(AXIS_X); - double ey = tset->GetEigenValue(AXIS_Y); - double ez = tset->GetEigenValue(AXIS_Z); - double vx = (ey - ez)*(ey - ez); - double vy = (ex - ez)*(ex - ez); - double vz = (ex - ey)*(ex - ey); - if (vx < vy && vx < vz) - { - double e = ey*ey + ez*ez; - dir[0] = 1.0; - dir[1] = 0.0; - dir[2] = 0.0; - return (e == 0.0) ? 0.0 : 1.0 - vx / e; - } - else if (vy < vx && vy < vz) - { - double e = ex*ex + ez*ez; - dir[0] = 0.0; - dir[1] = 1.0; - dir[2] = 0.0; - return (e == 0.0) ? 0.0 : 1.0 - vy / e; - } - else - { - double e = ex*ex + ey*ey; - dir[0] = 0.0; - dir[1] = 0.0; - dir[2] = 1.0; - return (e == 0.0) ? 0.0 : 1.0 - vz / e; - } +} +bool VHACD::Compute(const double* const points, const uint32_t nPoints, + const uint32_t* const triangles,const uint32_t nTriangles, const Parameters& params) +{ + return ComputeACD(points, nPoints, triangles, nTriangles, params); +} +bool VHACD::Compute(const float* const points,const uint32_t nPoints, + const uint32_t* const triangles,const uint32_t nTriangles, const Parameters& params) +{ + return ComputeACD(points, nPoints, triangles, nTriangles, params); +} +double ComputePreferredCuttingDirection(const PrimitiveSet* const tset, Vec3& dir) +{ + double ex = tset->GetEigenValue(AXIS_X); + double ey = tset->GetEigenValue(AXIS_Y); + double ez = tset->GetEigenValue(AXIS_Z); + double vx = (ey - ez) * (ey - ez); + double vy = (ex - ez) * (ex - ez); + double vz = (ex - ey) * (ex - ey); + if (vx < vy && vx < vz) { + double e = ey * ey + ez * ez; + dir[0] = 1.0; + dir[1] = 0.0; + dir[2] = 0.0; + return (e == 0.0) ? 0.0 : 1.0 - vx / e; } - void ComputeAxesAlignedClippingPlanes(const VoxelSet & vset, - const short downsampling, - SArray & planes) - { - const Vec3 minV = vset.GetMinBBVoxels(); - const Vec3 maxV = vset.GetMaxBBVoxels(); - Vec3 pt; - Plane plane; - const short i0 = minV[0]; - const short i1 = maxV[0]; - plane.m_a = 1.0; - plane.m_b = 0.0; - plane.m_c = 0.0; + else if (vy < vx && vy < vz) { + double e = ex * ex + ez * ez; + dir[0] = 0.0; + dir[1] = 1.0; + dir[2] = 0.0; + return (e == 0.0) ? 0.0 : 1.0 - vy / e; + } + else { + double e = ex * ex + ey * ey; + dir[0] = 0.0; + dir[1] = 0.0; + dir[2] = 1.0; + return (e == 0.0) ? 0.0 : 1.0 - vz / e; + } +} +void ComputeAxesAlignedClippingPlanes(const VoxelSet& vset, const short downsampling, SArray& planes) +{ + const Vec3 minV = vset.GetMinBBVoxels(); + const Vec3 maxV = vset.GetMaxBBVoxels(); + Vec3 pt; + Plane plane; + const short i0 = minV[0]; + const short i1 = maxV[0]; + plane.m_a = 1.0; + plane.m_b = 0.0; + plane.m_c = 0.0; + plane.m_axis = AXIS_X; + for (short i = i0; i <= i1; i += downsampling) { + pt = vset.GetPoint(Vec3(i + 0.5, 0.0, 0.0)); + plane.m_d = -pt[0]; + plane.m_index = i; + planes.PushBack(plane); + } + const short j0 = minV[1]; + const short j1 = maxV[1]; + plane.m_a = 0.0; + plane.m_b = 1.0; + plane.m_c = 0.0; + plane.m_axis = AXIS_Y; + for (short j = j0; j <= j1; j += downsampling) { + pt = vset.GetPoint(Vec3(0.0, j + 0.5, 0.0)); + plane.m_d = -pt[1]; + plane.m_index = j; + planes.PushBack(plane); + } + const short k0 = minV[2]; + const short k1 = maxV[2]; + plane.m_a = 0.0; + plane.m_b = 0.0; + plane.m_c = 1.0; + plane.m_axis = AXIS_Z; + for (short k = k0; k <= k1; k += downsampling) { + pt = vset.GetPoint(Vec3(0.0, 0.0, k + 0.5)); + plane.m_d = -pt[2]; + plane.m_index = k; + planes.PushBack(plane); + } +} +void ComputeAxesAlignedClippingPlanes(const TetrahedronSet& tset, const short downsampling, SArray& planes) +{ + const Vec3 minV = tset.GetMinBB(); + const Vec3 maxV = tset.GetMaxBB(); + const double scale = tset.GetSacle(); + const short i0 = 0; + const short j0 = 0; + const short k0 = 0; + const short i1 = static_cast((maxV[0] - minV[0]) / scale + 0.5); + const short j1 = static_cast((maxV[1] - minV[1]) / scale + 0.5); + const short k1 = static_cast((maxV[2] - minV[2]) / scale + 0.5); + + Plane plane; + plane.m_a = 1.0; + plane.m_b = 0.0; + plane.m_c = 0.0; + plane.m_axis = AXIS_X; + for (short i = i0; i <= i1; i += downsampling) { + double x = minV[0] + scale * i; + plane.m_d = -x; + plane.m_index = i; + planes.PushBack(plane); + } + plane.m_a = 0.0; + plane.m_b = 1.0; + plane.m_c = 0.0; + plane.m_axis = AXIS_Y; + for (short j = j0; j <= j1; j += downsampling) { + double y = minV[1] + scale * j; + plane.m_d = -y; + plane.m_index = j; + planes.PushBack(plane); + } + plane.m_a = 0.0; + plane.m_b = 0.0; + plane.m_c = 1.0; + plane.m_axis = AXIS_Z; + for (short k = k0; k <= k1; k += downsampling) { + double z = minV[2] + scale * k; + plane.m_d = -z; + plane.m_index = k; + planes.PushBack(plane); + } +} +void RefineAxesAlignedClippingPlanes(const VoxelSet& vset, const Plane& bestPlane, const short downsampling, + SArray& planes) +{ + const Vec3 minV = vset.GetMinBBVoxels(); + const Vec3 maxV = vset.GetMaxBBVoxels(); + Vec3 pt; + Plane plane; + + if (bestPlane.m_axis == AXIS_X) { + const short i0 = MAX(minV[0], bestPlane.m_index - downsampling); + const short i1 = MIN(maxV[0], bestPlane.m_index + downsampling); + plane.m_a = 1.0; + plane.m_b = 0.0; + plane.m_c = 0.0; plane.m_axis = AXIS_X; - for(short i = i0; i <= i1; i += downsampling) - { - pt = vset.GetPoint(Vec3(i + 0.5, 0.0, 0.0)); - plane.m_d = -pt[0]; + for (short i = i0; i <= i1; ++i) { + pt = vset.GetPoint(Vec3(i + 0.5, 0.0, 0.0)); + plane.m_d = -pt[0]; plane.m_index = i; planes.PushBack(plane); } - const short j0 = minV[1]; - const short j1 = maxV[1]; - plane.m_a = 0.0; - plane.m_b = 1.0; - plane.m_c = 0.0; + } + else if (bestPlane.m_axis == AXIS_Y) { + const short j0 = MAX(minV[1], bestPlane.m_index - downsampling); + const short j1 = MIN(maxV[1], bestPlane.m_index + downsampling); + plane.m_a = 0.0; + plane.m_b = 1.0; + plane.m_c = 0.0; plane.m_axis = AXIS_Y; - for(short j = j0; j <= j1; j += downsampling) - { - pt = vset.GetPoint(Vec3(0.0, j + 0.5, 0.0)); - plane.m_d = -pt[1]; + for (short j = j0; j <= j1; ++j) { + pt = vset.GetPoint(Vec3(0.0, j + 0.5, 0.0)); + plane.m_d = -pt[1]; plane.m_index = j; planes.PushBack(plane); } - const short k0 = minV[2]; - const short k1 = maxV[2]; - plane.m_a = 0.0; - plane.m_b = 0.0; - plane.m_c = 1.0; + } + else { + const short k0 = MAX(minV[2], bestPlane.m_index - downsampling); + const short k1 = MIN(maxV[2], bestPlane.m_index + downsampling); + plane.m_a = 0.0; + plane.m_b = 0.0; + plane.m_c = 1.0; plane.m_axis = AXIS_Z; - for(short k = k0; k <= k1; k += downsampling) - { - pt = vset.GetPoint(Vec3(0.0, 0.0, k + 0.5)); - plane.m_d = -pt[2]; + for (short k = k0; k <= k1; ++k) { + pt = vset.GetPoint(Vec3(0.0, 0.0, k + 0.5)); + plane.m_d = -pt[2]; plane.m_index = k; planes.PushBack(plane); } } - void ComputeAxesAlignedClippingPlanes(const TetrahedronSet & tset, - const short downsampling, - SArray< Plane > & planes) - { - const Vec3 minV = tset.GetMinBB(); - const Vec3 maxV = tset.GetMaxBB(); - const double scale = tset.GetSacle(); - const short i0 = 0; - const short j0 = 0; - const short k0 = 0; - const short i1 = (short)((maxV[0] - minV[0]) / scale + 0.5); - const short j1 = (short)((maxV[1] - minV[1]) / scale + 0.5); - const short k1 = (short)((maxV[2] - minV[2]) / scale + 0.5); - - Plane plane; +} +void RefineAxesAlignedClippingPlanes(const TetrahedronSet& tset, const Plane& bestPlane, const short downsampling, + SArray& planes) +{ + const Vec3 minV = tset.GetMinBB(); + const Vec3 maxV = tset.GetMaxBB(); + const double scale = tset.GetSacle(); + Plane plane; + + if (bestPlane.m_axis == AXIS_X) { + const short i0 = MAX(0, bestPlane.m_index - downsampling); + const short i1 = static_cast(MIN((maxV[0] - minV[0]) / scale + 0.5, bestPlane.m_index + downsampling)); plane.m_a = 1.0; plane.m_b = 0.0; plane.m_c = 0.0; plane.m_axis = AXIS_X; - for (short i = i0; i <= i1; i += downsampling) - { + for (short i = i0; i <= i1; ++i) { double x = minV[0] + scale * i; plane.m_d = -x; plane.m_index = i; planes.PushBack(plane); } + } + else if (bestPlane.m_axis == AXIS_Y) { + const short j0 = MAX(0, bestPlane.m_index - downsampling); + const short j1 = static_cast(MIN((maxV[1] - minV[1]) / scale + 0.5, bestPlane.m_index + downsampling)); plane.m_a = 0.0; plane.m_b = 1.0; plane.m_c = 0.0; plane.m_axis = AXIS_Y; - for (short j = j0; j <= j1; j += downsampling) - { + for (short j = j0; j <= j1; ++j) { double y = minV[1] + scale * j; plane.m_d = -y; plane.m_index = j; planes.PushBack(plane); } + } + else { + const short k0 = MAX(0, bestPlane.m_index - downsampling); + const short k1 = static_cast(MIN((maxV[2] - minV[2]) / scale + 0.5, bestPlane.m_index + downsampling)); plane.m_a = 0.0; plane.m_b = 0.0; plane.m_c = 1.0; plane.m_axis = AXIS_Z; - for (short k = k0; k <= k1; k += downsampling) - { + for (short k = k0; k <= k1; ++k) { double z = minV[2] + scale * k; plane.m_d = -z; plane.m_index = k; planes.PushBack(plane); } } - void RefineAxesAlignedClippingPlanes(const VoxelSet & vset, - const Plane & bestPlane, - const short downsampling, - SArray & planes) - { - const Vec3 minV = vset.GetMinBBVoxels(); - const Vec3 maxV = vset.GetMaxBBVoxels(); - Vec3 pt; - Plane plane; +} +inline double ComputeLocalConcavity(const double volume, const double volumeCH) +{ + return fabs(volumeCH - volume) / volumeCH; +} +inline double ComputeConcavity(const double volume, const double volumeCH, const double volume0) +{ + return fabs(volumeCH - volume) / volume0; +} - if (bestPlane.m_axis == AXIS_X) - { - const short i0 = MAX(minV[0], bestPlane.m_index - downsampling); - const short i1 = MIN(maxV[0], bestPlane.m_index + downsampling); - plane.m_a = 1.0; - plane.m_b = 0.0; - plane.m_c = 0.0; - plane.m_axis = AXIS_X; - for (short i = i0; i <= i1; ++i) - { - pt = vset.GetPoint(Vec3(i + 0.5, 0.0, 0.0)); - plane.m_d = -pt[0]; - plane.m_index = i; - planes.PushBack(plane); - } - } - else if (bestPlane.m_axis == AXIS_Y) - { - const short j0 = MAX(minV[1], bestPlane.m_index - downsampling); - const short j1 = MIN(maxV[1], bestPlane.m_index + downsampling); - plane.m_a = 0.0; - plane.m_b = 1.0; - plane.m_c = 0.0; - plane.m_axis = AXIS_Y; - for (short j = j0; j <= j1; ++j) - { - pt = vset.GetPoint(Vec3(0.0, j + 0.5, 0.0)); - plane.m_d = -pt[1]; - plane.m_index = j; - planes.PushBack(plane); - } - } - else - { - const short k0 = MAX(minV[2], bestPlane.m_index - downsampling); - const short k1 = MIN(maxV[2], bestPlane.m_index + downsampling); - plane.m_a = 0.0; - plane.m_b = 0.0; - plane.m_c = 1.0; - plane.m_axis = AXIS_Z; - for (short k = k0; k <= k1; ++k) - { - pt = vset.GetPoint(Vec3(0.0, 0.0, k + 0.5)); - plane.m_d = -pt[2]; - plane.m_index = k; - planes.PushBack(plane); - } - } +//#define DEBUG_TEMP +void VHACD::ComputeBestClippingPlane(const PrimitiveSet* inputPSet, const double volume, const SArray& planes, + const Vec3& preferredCuttingDirection, const double w, const double alpha, const double beta, + const int32_t convexhullDownsampling, const double progress0, const double progress1, Plane& bestPlane, + double& minConcavity, const Parameters& params) +{ + if (GetCancel()) { + return; } - void RefineAxesAlignedClippingPlanes(const TetrahedronSet & tset, - const Plane & bestPlane, - const short downsampling, - SArray< Plane > & planes) - { - const Vec3 minV = tset.GetMinBB(); - const Vec3 maxV = tset.GetMaxBB(); - const double scale = tset.GetSacle(); - Plane plane; - - if (bestPlane.m_axis == AXIS_X) - { - const short i0 = MAX(0, bestPlane.m_index - downsampling); - const short i1 = (short)MIN((maxV[0] - minV[0]) / scale + 0.5, bestPlane.m_index + downsampling); - plane.m_a = 1.0; - plane.m_b = 0.0; - plane.m_c = 0.0; - plane.m_axis = AXIS_X; - for (short i = i0; i <= i1; ++i) - { - double x = minV[0] + scale * i; - plane.m_d = -x; - plane.m_index = i; - planes.PushBack(plane); - } - } - else if (bestPlane.m_axis == AXIS_Y) - { - const short j0 = MAX(0, bestPlane.m_index - downsampling); - const short j1 = (short)MIN((maxV[1] - minV[1]) / scale + 0.5, bestPlane.m_index + downsampling); - plane.m_a = 0.0; - plane.m_b = 1.0; - plane.m_c = 0.0; - plane.m_axis = AXIS_Y; - for (short j = j0; j <= j1; ++j) - { - double y = minV[1] + scale * j; - plane.m_d = -y; - plane.m_index = j; - planes.PushBack(plane); - } - } - else - { - const short k0 = MAX(0, bestPlane.m_index - downsampling); - const short k1 = (short)MIN((maxV[2] - minV[2]) / scale + 0.5, bestPlane.m_index + downsampling); - plane.m_a = 0.0; - plane.m_b = 0.0; - plane.m_c = 1.0; - plane.m_axis = AXIS_Z; - for (short k = k0; k <= k1; ++k) - { - double z = minV[2] + scale * k; - plane.m_d = -z; - plane.m_index = k; - planes.PushBack(plane); - } + char msg[256]; + size_t nPrimitives = inputPSet->GetNPrimitives(); + bool oclAcceleration = (nPrimitives > OCL_MIN_NUM_PRIMITIVES && params.m_oclAcceleration && params.m_mode == 0) ? true : false; + int32_t iBest = -1; + int32_t nPlanes = static_cast(planes.Size()); + bool cancel = false; + int32_t done = 0; + double minTotal = MAX_DOUBLE; + double minBalance = MAX_DOUBLE; + double minSymmetry = MAX_DOUBLE; + minConcavity = MAX_DOUBLE; + + SArray >* chPts = new SArray >[2 * m_ompNumProcessors]; + Mesh* chs = new Mesh[2 * m_ompNumProcessors]; + PrimitiveSet* onSurfacePSet = inputPSet->Create(); + inputPSet->SelectOnSurface(onSurfacePSet); + + PrimitiveSet** psets = 0; + if (!params.m_convexhullApproximation) { + psets = new PrimitiveSet*[2 * m_ompNumProcessors]; + for (int32_t i = 0; i < 2 * m_ompNumProcessors; ++i) { + psets[i] = inputPSet->Create(); } } - inline double ComputeLocalConcavity(const double volume, - const double volumeCH) - { - return fabs(volumeCH - volume) / volumeCH; - } - inline double ComputeConcavity(const double volume, - const double volumeCH, - const double volume0) - { - return fabs(volumeCH - volume) / volume0; - } -//#define DEBUG_TEMP - void VHACD::ComputeBestClippingPlane(const PrimitiveSet * inputPSet, - const double volume, - const SArray< Plane > & planes, - const Vec3 & preferredCuttingDirection, - const double w, - const double alpha, - const double beta, - const int convexhullDownsampling, - const double progress0, - const double progress1, - Plane & bestPlane, - double & minConcavity, - const Parameters & params) - { - if (GetCancel()) - { - return; - } - char msg[256]; - size_t nPrimitives = inputPSet->GetNPrimitives(); - bool oclAcceleration = (nPrimitives > OCL_MIN_NUM_PRIMITIVES && params.m_oclAcceleration && params.m_mode == 0) ? true : false; - int iBest = -1; - int nPlanes = (int) static_cast(planes.Size()); - bool cancel = false; - int done = 0; - double minTotal = MAX_DOUBLE; - double minBalance = MAX_DOUBLE; - double minSymmetry = MAX_DOUBLE; - minConcavity = MAX_DOUBLE; - - SArray< Vec3 > * chPts = new SArray< Vec3 >[2 * m_ompNumProcessors]; - Mesh * chs = new Mesh[2 * m_ompNumProcessors]; - PrimitiveSet * onSurfacePSet = inputPSet->Create(); - inputPSet->SelectOnSurface(onSurfacePSet); - - PrimitiveSet ** psets = 0; - if (!params.m_convexhullApproximation) - { - psets = new PrimitiveSet *[2 * m_ompNumProcessors]; - for (int i = 0; i < 2 * m_ompNumProcessors; ++i) - { - psets[i] = inputPSet->Create(); +#ifdef CL_VERSION_1_1 + // allocate OpenCL data structures + cl_mem voxels; + cl_mem* partialVolumes = 0; + size_t globalSize = 0; + size_t nWorkGroups = 0; + double unitVolume = 0.0; + if (oclAcceleration) { + VoxelSet* vset = (VoxelSet*)inputPSet; + const Vec3 minBB = vset->GetMinBB(); + const float fMinBB[4] = { (float)minBB[0], (float)minBB[1], (float)minBB[2], 1.0f }; + const float fSclae[4] = { (float)vset->GetScale(), (float)vset->GetScale(), (float)vset->GetScale(), 0.0f }; + const int32_t nVoxels = (int32_t)nPrimitives; + unitVolume = vset->GetUnitVolume(); + nWorkGroups = (nPrimitives + 4 * m_oclWorkGroupSize - 1) / (4 * m_oclWorkGroupSize); + globalSize = nWorkGroups * m_oclWorkGroupSize; + cl_int error; + voxels = clCreateBuffer(m_oclContext, + CL_MEM_READ_ONLY | CL_MEM_COPY_HOST_PTR, + sizeof(Voxel) * nPrimitives, + vset->GetVoxels(), + &error); + if (error != CL_SUCCESS) { + if (params.m_logger) { + params.m_logger->Log("Couldn't create buffer\n"); } + SetCancel(true); } -#ifdef CL_VERSION_1_1 - // allocate OpenCL data structures - cl_mem voxels; - cl_mem * partialVolumes = 0; - size_t globalSize = 0; - size_t nWorkGroups = 0; - double unitVolume = 0.0; - if (oclAcceleration) - { - VoxelSet * vset = (VoxelSet *)inputPSet; - const Vec3 minBB = vset->GetMinBB(); - const float fMinBB[4] = { (float)minBB[0], (float)minBB[1], (float)minBB[2], 1.0f }; - const float fSclae[4] = { (float)vset->GetScale(), (float)vset->GetScale(), (float)vset->GetScale(), 0.0f }; - const int nVoxels = (int)nPrimitives; - unitVolume = vset->GetUnitVolume(); - nWorkGroups = (nPrimitives + 4 * m_oclWorkGroupSize - 1) / (4 * m_oclWorkGroupSize); - globalSize = nWorkGroups * m_oclWorkGroupSize; - cl_int error; - voxels = clCreateBuffer(m_oclContext, - CL_MEM_READ_ONLY | CL_MEM_COPY_HOST_PTR, - sizeof(Voxel) * nPrimitives, - vset->GetVoxels(), + partialVolumes = new cl_mem[m_ompNumProcessors]; + for (int32_t i = 0; i < m_ompNumProcessors; ++i) { + partialVolumes[i] = clCreateBuffer(m_oclContext, + CL_MEM_WRITE_ONLY, + sizeof(uint32_t) * 4 * nWorkGroups, + NULL, &error); - if (error != CL_SUCCESS) - { - if (params.m_logger) - { + if (error != CL_SUCCESS) { + if (params.m_logger) { params.m_logger->Log("Couldn't create buffer\n"); } SetCancel(true); + break; } - - partialVolumes = new cl_mem[m_ompNumProcessors]; - for (int i = 0; i < m_ompNumProcessors; ++i) - { - partialVolumes[i] = clCreateBuffer(m_oclContext, - CL_MEM_WRITE_ONLY, - sizeof(unsigned int) * 4 * nWorkGroups, - NULL, - &error); - if (error != CL_SUCCESS) - { - if (params.m_logger) - { - params.m_logger->Log("Couldn't create buffer\n"); - } - SetCancel(true); - break; - } - error = clSetKernelArg(m_oclKernelComputePartialVolumes[i] , 0, sizeof(cl_mem), &voxels); - error |= clSetKernelArg(m_oclKernelComputePartialVolumes[i], 1, sizeof(unsigned int), &nVoxels); - error |= clSetKernelArg(m_oclKernelComputePartialVolumes[i], 3, sizeof(float) * 4, fMinBB); - error |= clSetKernelArg(m_oclKernelComputePartialVolumes[i], 4, sizeof(float) * 4, &fSclae); - error |= clSetKernelArg(m_oclKernelComputePartialVolumes[i], 5, sizeof(unsigned int) * 4 * m_oclWorkGroupSize, NULL); - error |= clSetKernelArg(m_oclKernelComputePartialVolumes[i], 6, sizeof(cl_mem), &(partialVolumes[i])); - error |= clSetKernelArg(m_oclKernelComputeSum[i] , 0, sizeof(cl_mem), &(partialVolumes[i])); - error |= clSetKernelArg(m_oclKernelComputeSum[i] , 2, sizeof(unsigned int) * 4 * m_oclWorkGroupSize, NULL); - if (error != CL_SUCCESS) - { - if (params.m_logger) - { - params.m_logger->Log("Couldn't kernel atguments \n"); - } - SetCancel(true); + error = clSetKernelArg(m_oclKernelComputePartialVolumes[i], 0, sizeof(cl_mem), &voxels); + error |= clSetKernelArg(m_oclKernelComputePartialVolumes[i], 1, sizeof(uint32_t), &nVoxels); + error |= clSetKernelArg(m_oclKernelComputePartialVolumes[i], 3, sizeof(float) * 4, fMinBB); + error |= clSetKernelArg(m_oclKernelComputePartialVolumes[i], 4, sizeof(float) * 4, &fSclae); + error |= clSetKernelArg(m_oclKernelComputePartialVolumes[i], 5, sizeof(uint32_t) * 4 * m_oclWorkGroupSize, NULL); + error |= clSetKernelArg(m_oclKernelComputePartialVolumes[i], 6, sizeof(cl_mem), &(partialVolumes[i])); + error |= clSetKernelArg(m_oclKernelComputeSum[i], 0, sizeof(cl_mem), &(partialVolumes[i])); + error |= clSetKernelArg(m_oclKernelComputeSum[i], 2, sizeof(uint32_t) * 4 * m_oclWorkGroupSize, NULL); + if (error != CL_SUCCESS) { + if (params.m_logger) { + params.m_logger->Log("Couldn't kernel atguments \n"); } + SetCancel(true); } } -#else // CL_VERSION_1_1 - oclAcceleration = false; + } +#else // CL_VERSION_1_1 + oclAcceleration = false; #endif // CL_VERSION_1_1 #ifdef DEBUG_TEMP - Timer timerComputeCost; - timerComputeCost.Tic(); + Timer timerComputeCost; + timerComputeCost.Tic(); #endif // DEBUG_TEMP - #if USE_THREAD == 1 && _OPENMP #pragma omp parallel for #endif - for (int x = 0; x < nPlanes; ++x) - { - int threadID = 0; + for (int32_t x = 0; x < nPlanes; ++x) { + int32_t threadID = 0; #if USE_THREAD == 1 && _OPENMP - threadID = omp_get_thread_num(); -#pragma omp flush (cancel) + threadID = omp_get_thread_num(); +#pragma omp flush(cancel) #endif - if (!cancel) - { - //Update progress - if (GetCancel()) - { - cancel = true; + if (!cancel) { + //Update progress + if (GetCancel()) { + cancel = true; #if USE_THREAD == 1 && _OPENMP -#pragma omp flush (cancel) +#pragma omp flush(cancel) #endif - } - Plane plane = planes[x]; + } + Plane plane = planes[x]; - if (oclAcceleration) - { + if (oclAcceleration) { #ifdef CL_VERSION_1_1 - const float fPlane[4] = { (float)plane.m_a, (float)plane.m_b, (float)plane.m_c, (float)plane.m_d }; - cl_int error = clSetKernelArg(m_oclKernelComputePartialVolumes[threadID], 2, sizeof(float) * 4, fPlane); - if (error != CL_SUCCESS) - { - if (params.m_logger) - { + const float fPlane[4] = { (float)plane.m_a, (float)plane.m_b, (float)plane.m_c, (float)plane.m_d }; + cl_int error = clSetKernelArg(m_oclKernelComputePartialVolumes[threadID], 2, sizeof(float) * 4, fPlane); + if (error != CL_SUCCESS) { + if (params.m_logger) { + params.m_logger->Log("Couldn't kernel atguments \n"); + } + SetCancel(true); + } + + error = clEnqueueNDRangeKernel(m_oclQueue[threadID], m_oclKernelComputePartialVolumes[threadID], + 1, NULL, &globalSize, &m_oclWorkGroupSize, 0, NULL, NULL); + if (error != CL_SUCCESS) { + if (params.m_logger) { + params.m_logger->Log("Couldn't run kernel \n"); + } + SetCancel(true); + } + int32_t nValues = (int32_t)nWorkGroups; + while (nValues > 1) { + error = clSetKernelArg(m_oclKernelComputeSum[threadID], 1, sizeof(int32_t), &nValues); + if (error != CL_SUCCESS) { + if (params.m_logger) { params.m_logger->Log("Couldn't kernel atguments \n"); } SetCancel(true); } - - error = clEnqueueNDRangeKernel(m_oclQueue[threadID], - m_oclKernelComputePartialVolumes[threadID], - 1, - NULL, - &globalSize, - &m_oclWorkGroupSize, - 0, - NULL, - NULL); - if (error != CL_SUCCESS) - { - if (params.m_logger) - { + size_t nWorkGroups = (nValues + m_oclWorkGroupSize - 1) / m_oclWorkGroupSize; + size_t globalSize = nWorkGroups * m_oclWorkGroupSize; + error = clEnqueueNDRangeKernel(m_oclQueue[threadID], m_oclKernelComputeSum[threadID], + 1, NULL, &globalSize, &m_oclWorkGroupSize, 0, NULL, NULL); + if (error != CL_SUCCESS) { + if (params.m_logger) { params.m_logger->Log("Couldn't run kernel \n"); } SetCancel(true); } - int nValues = (int)nWorkGroups; - while (nValues > 1) - { - error = clSetKernelArg(m_oclKernelComputeSum[threadID], 1, sizeof(int), &nValues); - if (error != CL_SUCCESS) - { - if (params.m_logger) - { - params.m_logger->Log("Couldn't kernel atguments \n"); - } - SetCancel(true); - } - size_t nWorkGroups = (nValues + m_oclWorkGroupSize - 1) / m_oclWorkGroupSize; - size_t globalSize = nWorkGroups * m_oclWorkGroupSize; - error = clEnqueueNDRangeKernel(m_oclQueue[threadID], - m_oclKernelComputeSum[threadID], - 1, - NULL, - &globalSize, - &m_oclWorkGroupSize, - 0, - NULL, - NULL); - if (error != CL_SUCCESS) - { - if (params.m_logger) - { - params.m_logger->Log("Couldn't run kernel \n"); - } - SetCancel(true); - } - nValues = (int)nWorkGroups; - } -#endif // CL_VERSION_1_1 + nValues = (int32_t)nWorkGroups; } +#endif // CL_VERSION_1_1 + } - Mesh & leftCH = chs[threadID]; - Mesh & rightCH = chs[threadID + m_ompNumProcessors]; - rightCH.ResizePoints(0); - leftCH.ResizePoints(0); - rightCH.ResizeTriangles(0); - leftCH.ResizeTriangles(0); + Mesh& leftCH = chs[threadID]; + Mesh& rightCH = chs[threadID + m_ompNumProcessors]; + rightCH.ResizePoints(0); + leftCH.ResizePoints(0); + rightCH.ResizeTriangles(0); + leftCH.ResizeTriangles(0); - // compute convex-hulls +// compute convex-hulls #ifdef TEST_APPROX_CH - double volumeLeftCH1; - double volumeRightCH1; + double volumeLeftCH1; + double volumeRightCH1; #endif //TEST_APPROX_CH - if (params.m_convexhullApproximation) - { - SArray< Vec3 > & leftCHPts = chPts[threadID]; - SArray< Vec3 > & rightCHPts = chPts[threadID + m_ompNumProcessors]; - rightCHPts.Resize(0); - leftCHPts.Resize(0); - onSurfacePSet->Intersect(plane, &rightCHPts, &leftCHPts, convexhullDownsampling * 32); - inputPSet->GetConvexHull().Clip(plane, rightCHPts, leftCHPts); - rightCH.ComputeConvexHull((double *)rightCHPts.Data(), rightCHPts.Size()); - leftCH.ComputeConvexHull((double *)leftCHPts.Data(), leftCHPts.Size()); + if (params.m_convexhullApproximation) { + SArray >& leftCHPts = chPts[threadID]; + SArray >& rightCHPts = chPts[threadID + m_ompNumProcessors]; + rightCHPts.Resize(0); + leftCHPts.Resize(0); + onSurfacePSet->Intersect(plane, &rightCHPts, &leftCHPts, convexhullDownsampling * 32); + inputPSet->GetConvexHull().Clip(plane, rightCHPts, leftCHPts); + rightCH.ComputeConvexHull((double*)rightCHPts.Data(), rightCHPts.Size()); + leftCH.ComputeConvexHull((double*)leftCHPts.Data(), leftCHPts.Size()); #ifdef TEST_APPROX_CH - Mesh leftCH1; - Mesh rightCH1; - VoxelSet right; - VoxelSet left; - onSurfacePSet->Clip(plane, &right, &left); - right.ComputeConvexHull(rightCH1, convexhullDownsampling); - left.ComputeConvexHull(leftCH1, convexhullDownsampling); - - volumeLeftCH1 = leftCH1.ComputeVolume(); - volumeRightCH1 = rightCH1.ComputeVolume(); + Mesh leftCH1; + Mesh rightCH1; + VoxelSet right; + VoxelSet left; + onSurfacePSet->Clip(plane, &right, &left); + right.ComputeConvexHull(rightCH1, convexhullDownsampling); + left.ComputeConvexHull(leftCH1, convexhullDownsampling); + + volumeLeftCH1 = leftCH1.ComputeVolume(); + volumeRightCH1 = rightCH1.ComputeVolume(); #endif //TEST_APPROX_CH - } - else - { - PrimitiveSet * const right = psets[threadID]; - PrimitiveSet * const left = psets[threadID + m_ompNumProcessors]; - onSurfacePSet->Clip(plane, right, left); - right->ComputeConvexHull(rightCH, convexhullDownsampling); - left->ComputeConvexHull(leftCH, convexhullDownsampling); - } - double volumeLeftCH = leftCH.ComputeVolume(); - double volumeRightCH = rightCH.ComputeVolume(); + } + else { + PrimitiveSet* const right = psets[threadID]; + PrimitiveSet* const left = psets[threadID + m_ompNumProcessors]; + onSurfacePSet->Clip(plane, right, left); + right->ComputeConvexHull(rightCH, convexhullDownsampling); + left->ComputeConvexHull(leftCH, convexhullDownsampling); + } + double volumeLeftCH = leftCH.ComputeVolume(); + double volumeRightCH = rightCH.ComputeVolume(); - // compute clipped volumes - double volumeLeft = 0.0; - double volumeRight = 0.0; - if (oclAcceleration) - { + // compute clipped volumes + double volumeLeft = 0.0; + double volumeRight = 0.0; + if (oclAcceleration) { #ifdef CL_VERSION_1_1 - unsigned int volumes[4]; - cl_int error = clEnqueueReadBuffer(m_oclQueue[threadID], - partialVolumes[threadID], - CL_TRUE, - 0, - sizeof(unsigned int) * 4, - volumes, - 0, - NULL, - NULL); - size_t nPrimitivesRight = volumes[0] + volumes[1] + volumes[2] + volumes[3]; - size_t nPrimitivesLeft = nPrimitives - nPrimitivesRight; - volumeRight = nPrimitivesRight * unitVolume; - volumeLeft = nPrimitivesLeft * unitVolume; - if (error != CL_SUCCESS) - { - if (params.m_logger) - { - params.m_logger->Log("Couldn't read buffer \n"); - } - SetCancel(true); + uint32_t volumes[4]; + cl_int error = clEnqueueReadBuffer(m_oclQueue[threadID], partialVolumes[threadID], CL_TRUE, + 0, sizeof(uint32_t) * 4, volumes, 0, NULL, NULL); + size_t nPrimitivesRight = volumes[0] + volumes[1] + volumes[2] + volumes[3]; + size_t nPrimitivesLeft = nPrimitives - nPrimitivesRight; + volumeRight = nPrimitivesRight * unitVolume; + volumeLeft = nPrimitivesLeft * unitVolume; + if (error != CL_SUCCESS) { + if (params.m_logger) { + params.m_logger->Log("Couldn't read buffer \n"); } -#endif // CL_VERSION_1_1 - } - else - { - inputPSet->ComputeClippedVolumes(plane, volumeRight, volumeLeft); + SetCancel(true); } - double concavityLeft = ComputeConcavity(volumeLeft, volumeLeftCH, m_volumeCH0); - double concavityRight = ComputeConcavity(volumeRight, volumeRightCH, m_volumeCH0); - double concavity = (concavityLeft + concavityRight); +#endif // CL_VERSION_1_1 + } + else { + inputPSet->ComputeClippedVolumes(plane, volumeRight, volumeLeft); + } + double concavityLeft = ComputeConcavity(volumeLeft, volumeLeftCH, m_volumeCH0); + double concavityRight = ComputeConcavity(volumeRight, volumeRightCH, m_volumeCH0); + double concavity = (concavityLeft + concavityRight); - // compute cost - double balance = alpha * fabs(volumeLeft - volumeRight) / m_volumeCH0; - double d = w * (preferredCuttingDirection[0] * plane.m_a + preferredCuttingDirection[1] * plane.m_b + preferredCuttingDirection[2] * plane.m_c); - double symmetry = beta * d; - double total = concavity + balance + symmetry; + // compute cost + double balance = alpha * fabs(volumeLeft - volumeRight) / m_volumeCH0; + double d = w * (preferredCuttingDirection[0] * plane.m_a + preferredCuttingDirection[1] * plane.m_b + preferredCuttingDirection[2] * plane.m_c); + double symmetry = beta * d; + double total = concavity + balance + symmetry; #if USE_THREAD == 1 && _OPENMP #pragma omp critical #endif + { + if (total < minTotal || (total == minTotal && x < iBest)) { + minConcavity = concavity; + minBalance = balance; + minSymmetry = symmetry; + bestPlane = plane; + minTotal = total; + iBest = x; + } + ++done; + if (!(done & 127)) // reduce update frequency { - if (total < minTotal || (total == minTotal && x < iBest)) - { - minConcavity = concavity; - minBalance = balance; - minSymmetry = symmetry; - bestPlane = plane; - minTotal = total; - iBest = x; - } - ++done; - if (!(done & 127)) // reduce update frequency - { - double progress = done * (progress1 - progress0) / nPlanes + progress0; - Update(m_stageProgress, progress, params); - } + double progress = done * (progress1 - progress0) / nPlanes + progress0; + Update(m_stageProgress, progress, params); } } } + } #ifdef DEBUG_TEMP - timerComputeCost.Toc(); - printf_s("Cost[%i] = %f\n", nPlanes, timerComputeCost.GetElapsedTime()); + timerComputeCost.Toc(); + printf_s("Cost[%i] = %f\n", nPlanes, timerComputeCost.GetElapsedTime()); #endif // DEBUG_TEMP #ifdef CL_VERSION_1_1 - if (oclAcceleration) - { - clReleaseMemObject(voxels); - for (int i = 0; i < m_ompNumProcessors; ++i) - { - clReleaseMemObject(partialVolumes[i]); - } - delete[] partialVolumes; + if (oclAcceleration) { + clReleaseMemObject(voxels); + for (int32_t i = 0; i < m_ompNumProcessors; ++i) { + clReleaseMemObject(partialVolumes[i]); } + delete[] partialVolumes; + } #endif // CL_VERSION_1_1 - if (psets) - { - for (int i = 0; i < 2 * m_ompNumProcessors; ++i) - { - delete psets[i]; - } - delete[] psets; - } - delete onSurfacePSet; - delete[] chPts; - delete[] chs; - if (params.m_logger) - { - sprintf(msg, "\n\t\t\t Best %04i T=%2.6f C=%2.6f B=%2.6f S=%2.6f (%1.1f, %1.1f, %1.1f, %3.3f)\n\n", iBest, minTotal, minConcavity, minBalance, minSymmetry, bestPlane.m_a, bestPlane.m_b, bestPlane.m_c, bestPlane.m_d); - params.m_logger->Log(msg); + if (psets) { + for (int32_t i = 0; i < 2 * m_ompNumProcessors; ++i) { + delete psets[i]; } + delete[] psets; + } + delete onSurfacePSet; + delete[] chPts; + delete[] chs; + if (params.m_logger) { + sprintf(msg, "\n\t\t\t Best %04i T=%2.6f C=%2.6f B=%2.6f S=%2.6f (%1.1f, %1.1f, %1.1f, %3.3f)\n\n", iBest, minTotal, minConcavity, minBalance, minSymmetry, bestPlane.m_a, bestPlane.m_b, bestPlane.m_c, bestPlane.m_d); + params.m_logger->Log(msg); + } +} +void VHACD::ComputeACD(const Parameters& params) +{ + if (GetCancel()) { + return; + } + m_timer.Tic(); + + m_stage = "Approximate Convex Decomposition"; + m_stageProgress = 0.0; + std::ostringstream msg; + if (params.m_logger) { + msg << "+ " << m_stage << std::endl; + params.m_logger->Log(msg.str().c_str()); } - void VHACD::ComputeACD(const Parameters & params) - { - if (GetCancel()) - { - return; - } - m_timer.Tic(); - m_stage = "Approximate Convex Decomposition"; - m_stageProgress = 0.0; - std::ostringstream msg; - if (params.m_logger) - { - msg << "+ " << m_stage << std::endl; + SArray parts; + SArray inputParts; + SArray temp; + inputParts.PushBack(m_pset); + m_pset = 0; + SArray planes; + SArray planesRef; + uint32_t sub = 0; + bool firstIteration = true; + m_volumeCH0 = 1.0; + + // Compute the decomposition depth based on the number of convex hulls being requested.. + uint32_t hullCount = 2; + uint32_t depth = 1; + while (params.m_maxConvexHulls > hullCount) + { + depth++; + hullCount *= 2; + } + // We must always increment the decomposition depth one higher than the maximum number of hulls requested. + // The reason for this is as follows. + // Say, for example, the user requests 32 convex hulls exactly. This would be a decomposition depth of 5. + // However, when we do that, we do *not* necessarily get 32 hulls as a result. This is because, during + // the recursive descent of the binary tree, one or more of the leaf nodes may have no concavity and + // will not be split. So, in this way, even with a decomposition depth of 5, you can produce fewer than + // 32 hulls. So, in this case, we would set the decomposition depth to 6 (producing up to as high as 64 convex hulls). + // Then, the merge step which combines over-described hulls down to the user requested amount, we will end up + // getting exactly 32 convex hulls as a result. + // We could just allow the artist to directly control the decomposition depth directly, but this would be a bit + // too complex and the preference is simply to let them specify how many hulls they want and derive the solution + // from that. + depth++; + + + while (sub++ < depth && inputParts.Size() > 0 && !m_cancel) { + msg.str(""); + msg << "Subdivision level " << sub; + m_operation = msg.str(); + + if (params.m_logger) { + msg.str(""); + msg << "\t Subdivision level " << sub << std::endl; params.m_logger->Log(msg.str().c_str()); } - SArray< PrimitiveSet * > parts; - SArray< PrimitiveSet * > inputParts; - SArray< PrimitiveSet * > temp; - inputParts.PushBack(m_pset); - m_pset = 0; - SArray< Plane > planes; - SArray< Plane > planesRef; - int sub = 0; - bool firstIteration = true; - m_volumeCH0 = 1.0; - while (sub++ < params.m_depth && inputParts.Size() > 0 && !m_cancel) - { - msg.str(""); - msg << "Subdivision level " << sub; - m_operation = msg.str(); + double maxConcavity = 0.0; + const size_t nInputParts = inputParts.Size(); + Update(m_stageProgress, 0.0, params); + for (size_t p = 0; p < nInputParts && !m_cancel; ++p) { + const double progress0 = p * 100.0 / nInputParts; + const double progress1 = (p + 0.75) * 100.0 / nInputParts; + const double progress2 = (p + 1.00) * 100.0 / nInputParts; + + Update(m_stageProgress, progress0, params); + + PrimitiveSet* pset = inputParts[p]; + inputParts[p] = 0; + double volume = pset->ComputeVolume(); + pset->ComputeBB(); + pset->ComputePrincipalAxes(); + if (params.m_pca) { + pset->AlignToPrincipalAxes(); + } - if (params.m_logger) - { - msg.str(""); - msg << "\t Subdivision level " << sub << std::endl; - params.m_logger->Log(msg.str().c_str()); + pset->ComputeConvexHull(pset->GetConvexHull()); + double volumeCH = fabs(pset->GetConvexHull().ComputeVolume()); + if (firstIteration) { + m_volumeCH0 = volumeCH; } - double maxConcavity = 0.0; - const size_t nInputParts = inputParts.Size(); - Update(m_stageProgress, 0.0, params); - for (size_t p = 0; p < nInputParts && !m_cancel; ++p) - { - const double progress0 = p * 100.0 / nInputParts; - const double progress1 = (p + 0.75) * 100.0 / nInputParts; - const double progress2 = (p + 1.00) * 100.0 / nInputParts; - - Update(m_stageProgress, progress0, params); - - - PrimitiveSet * pset = inputParts[p]; - inputParts[p] = 0; - double volume = pset->ComputeVolume(); - pset->ComputeBB(); - pset->ComputePrincipalAxes(); - if (params.m_pca) - { - pset->AlignToPrincipalAxes(); - } + double concavity = ComputeConcavity(volume, volumeCH, m_volumeCH0); + double error = 1.01 * pset->ComputeMaxVolumeError() / m_volumeCH0; - pset->ComputeConvexHull(pset->GetConvexHull()); - double volumeCH = fabs(pset->GetConvexHull().ComputeVolume()); - if (firstIteration) - { - m_volumeCH0 = volumeCH; - } + if (firstIteration) { + firstIteration = false; + } - double concavity = ComputeConcavity(volume, volumeCH, m_volumeCH0); - double error = 1.01 * pset->ComputeMaxVolumeError() / m_volumeCH0; + if (params.m_logger) { + msg.str(""); + msg << "\t -> Part[" << p + << "] C = " << concavity + << ", E = " << error + << ", VS = " << pset->GetNPrimitivesOnSurf() + << ", VI = " << pset->GetNPrimitivesInsideSurf() + << std::endl; + params.m_logger->Log(msg.str().c_str()); + } - if (firstIteration) - { - firstIteration = false; + if (concavity > params.m_concavity && concavity > error) { + Vec3 preferredCuttingDirection; + double w = ComputePreferredCuttingDirection(pset, preferredCuttingDirection); + planes.Resize(0); + if (params.m_mode == 0) { + VoxelSet* vset = (VoxelSet*)pset; + ComputeAxesAlignedClippingPlanes(*vset, params.m_planeDownsampling, planes); + } + else { + TetrahedronSet* tset = (TetrahedronSet*)pset; + ComputeAxesAlignedClippingPlanes(*tset, params.m_planeDownsampling, planes); } - - if (params.m_logger) - { + if (params.m_logger) { msg.str(""); - msg << "\t -> Part[" << p - << "] C = " << concavity - << ", E = " << error - << ", VS = " << pset->GetNPrimitivesOnSurf() - << ", VI = " << pset->GetNPrimitivesInsideSurf() - << std::endl; + msg << "\t\t [Regular sampling] Number of clipping planes " << planes.Size() << std::endl; params.m_logger->Log(msg.str().c_str()); } - if (concavity > params.m_concavity && concavity > error) - { - Vec3 preferredCuttingDirection; - double w = ComputePreferredCuttingDirection(pset, preferredCuttingDirection); - planes.Resize(0); - if (params.m_mode == 0) - { - VoxelSet * vset = (VoxelSet *) pset; - ComputeAxesAlignedClippingPlanes(*vset, params.m_planeDownsampling, planes); + Plane bestPlane; + double minConcavity = MAX_DOUBLE; + ComputeBestClippingPlane(pset, + volume, + planes, + preferredCuttingDirection, + w, + concavity * params.m_alpha, + concavity * params.m_beta, + params.m_convexhullDownsampling, + progress0, + progress1, + bestPlane, + minConcavity, + params); + if (!m_cancel && (params.m_planeDownsampling > 1 || params.m_convexhullDownsampling > 1)) { + planesRef.Resize(0); + + if (params.m_mode == 0) { + VoxelSet* vset = (VoxelSet*)pset; + RefineAxesAlignedClippingPlanes(*vset, bestPlane, params.m_planeDownsampling, planesRef); } - else - { - TetrahedronSet * tset = (TetrahedronSet *) pset; - ComputeAxesAlignedClippingPlanes(*tset, params.m_planeDownsampling, planes); + else { + TetrahedronSet* tset = (TetrahedronSet*)pset; + RefineAxesAlignedClippingPlanes(*tset, bestPlane, params.m_planeDownsampling, planesRef); } - if (params.m_logger) - { + if (params.m_logger) { msg.str(""); - msg << "\t\t [Regular sampling] Number of clipping planes " << planes.Size() << std::endl; + msg << "\t\t [Refining] Number of clipping planes " << planesRef.Size() << std::endl; params.m_logger->Log(msg.str().c_str()); } - - Plane bestPlane; - double minConcavity = MAX_DOUBLE; ComputeBestClippingPlane(pset, - volume, - planes, - preferredCuttingDirection, - w, - concavity * params.m_alpha, - concavity * params.m_beta, - params.m_convexhullDownsampling, - progress0, - progress1, - bestPlane, - minConcavity, - params); - if (!m_cancel && (params.m_planeDownsampling > 1 || params.m_convexhullDownsampling > 1)) - { - planesRef.Resize(0); - - if (params.m_mode == 0) - { - VoxelSet * vset = (VoxelSet *) pset; - RefineAxesAlignedClippingPlanes(*vset, bestPlane, params.m_planeDownsampling, planesRef); - } - else - { - TetrahedronSet * tset = (TetrahedronSet *) pset; - RefineAxesAlignedClippingPlanes(*tset, bestPlane, params.m_planeDownsampling, planesRef); - } - - if (params.m_logger) - { - msg.str(""); - msg << "\t\t [Refining] Number of clipping planes " << planesRef.Size() << std::endl; - params.m_logger->Log(msg.str().c_str()); - } - ComputeBestClippingPlane(pset, - volume, - planesRef, - preferredCuttingDirection, - w, - concavity * params.m_alpha, - concavity * params.m_beta, - 1, // convexhullDownsampling = 1 - progress1, - progress2, - bestPlane, - minConcavity, - params); - } - if (GetCancel()) - { - delete pset; // clean up - break; - } - else - { - if (maxConcavity < minConcavity) - { - maxConcavity = minConcavity; - } - PrimitiveSet * bestLeft = pset->Create(); - PrimitiveSet * bestRight = pset->Create(); - temp.PushBack(bestLeft); - temp.PushBack(bestRight); - pset->Clip(bestPlane, bestRight, bestLeft); - if (params.m_pca) - { - bestRight->RevertAlignToPrincipalAxes(); - bestLeft->RevertAlignToPrincipalAxes(); - } - delete pset; - } + volume, + planesRef, + preferredCuttingDirection, + w, + concavity * params.m_alpha, + concavity * params.m_beta, + 1, // convexhullDownsampling = 1 + progress1, + progress2, + bestPlane, + minConcavity, + params); } - else - { - if (params.m_pca) - { - pset->RevertAlignToPrincipalAxes(); + if (GetCancel()) { + delete pset; // clean up + break; + } + else { + if (maxConcavity < minConcavity) { + maxConcavity = minConcavity; + } + PrimitiveSet* bestLeft = pset->Create(); + PrimitiveSet* bestRight = pset->Create(); + temp.PushBack(bestLeft); + temp.PushBack(bestRight); + pset->Clip(bestPlane, bestRight, bestLeft); + if (params.m_pca) { + bestRight->RevertAlignToPrincipalAxes(); + bestLeft->RevertAlignToPrincipalAxes(); } - parts.PushBack(pset); + delete pset; } } - - Update(95.0*(1.0 - maxConcavity) / (1.0 - params.m_concavity), 100.0, params); - if (GetCancel()) - { - const size_t nTempParts = temp.Size(); - for (size_t p = 0; p < nTempParts; ++p) - { - delete temp[p]; + else { + if (params.m_pca) { + pset->RevertAlignToPrincipalAxes(); } - temp.Resize(0); + parts.PushBack(pset); } - else - { - inputParts = temp; - temp.Resize(0); - } - } - const size_t nInputParts = inputParts.Size(); - for (size_t p = 0; p < nInputParts; ++p) - { - parts.PushBack(inputParts[p]); } - if (GetCancel()) - { - const size_t nParts = parts.Size(); - for (size_t p = 0; p < nParts; ++p) - { - delete parts[p]; + Update(95.0 * (1.0 - maxConcavity) / (1.0 - params.m_concavity), 100.0, params); + if (GetCancel()) { + const size_t nTempParts = temp.Size(); + for (size_t p = 0; p < nTempParts; ++p) { + delete temp[p]; } - return; + temp.Resize(0); } + else { + inputParts = temp; + temp.Resize(0); + } + } + const size_t nInputParts = inputParts.Size(); + for (size_t p = 0; p < nInputParts; ++p) { + parts.PushBack(inputParts[p]); + } - m_overallProgress = 90.0; - Update(m_stageProgress, 100.0, params); + if (GetCancel()) { + const size_t nParts = parts.Size(); + for (size_t p = 0; p < nParts; ++p) { + delete parts[p]; + } + return; + } + m_overallProgress = 90.0; + Update(m_stageProgress, 100.0, params); + msg.str(""); + msg << "Generate convex-hulls"; + m_operation = msg.str(); + size_t nConvexHulls = parts.Size(); + if (params.m_logger) { msg.str(""); - msg << "Generate convex-hulls"; - m_operation = msg.str(); - size_t nConvexHulls = parts.Size(); - if (params.m_logger) - { - msg.str(""); - msg << "+ Generate " << nConvexHulls << " convex-hulls " << std::endl; - params.m_logger->Log(msg.str().c_str()); - } + msg << "+ Generate " << nConvexHulls << " convex-hulls " << std::endl; + params.m_logger->Log(msg.str().c_str()); + } - Update(m_stageProgress, 0.0, params); - m_convexHulls.Resize(0); - for (size_t p = 0; p < nConvexHulls && !m_cancel; ++p) - { - Update(m_stageProgress, p * 100.0 / nConvexHulls, params); - m_convexHulls.PushBack(new Mesh); - parts[p]->ComputeConvexHull(*m_convexHulls[p]); - size_t nv = m_convexHulls[p]->GetNPoints(); - double x, y, z; - for (size_t i = 0; i < nv; ++i) - { - Vec3 & pt = m_convexHulls[p]->GetPoint(i); - x = pt[0]; - y = pt[1]; - z = pt[2]; - pt[0] = m_rot[0][0] * x + m_rot[0][1] * y + m_rot[0][2] * z + m_barycenter[0]; - pt[1] = m_rot[1][0] * x + m_rot[1][1] * y + m_rot[1][2] * z + m_barycenter[1]; - pt[2] = m_rot[2][0] * x + m_rot[2][1] * y + m_rot[2][2] * z + m_barycenter[2]; - } + Update(m_stageProgress, 0.0, params); + m_convexHulls.Resize(0); + for (size_t p = 0; p < nConvexHulls && !m_cancel; ++p) { + Update(m_stageProgress, p * 100.0 / nConvexHulls, params); + m_convexHulls.PushBack(new Mesh); + parts[p]->ComputeConvexHull(*m_convexHulls[p]); + size_t nv = m_convexHulls[p]->GetNPoints(); + double x, y, z; + for (size_t i = 0; i < nv; ++i) { + Vec3& pt = m_convexHulls[p]->GetPoint(i); + x = pt[0]; + y = pt[1]; + z = pt[2]; + pt[0] = m_rot[0][0] * x + m_rot[0][1] * y + m_rot[0][2] * z + m_barycenter[0]; + pt[1] = m_rot[1][0] * x + m_rot[1][1] * y + m_rot[1][2] * z + m_barycenter[1]; + pt[2] = m_rot[2][0] * x + m_rot[2][1] * y + m_rot[2][2] * z + m_barycenter[2]; } + } - const size_t nParts = parts.Size(); - for (size_t p = 0; p < nParts; ++p) - { - delete parts[p]; - parts[p] = 0; - } - parts.Resize(0); + const size_t nParts = parts.Size(); + for (size_t p = 0; p < nParts; ++p) { + delete parts[p]; + parts[p] = 0; + } + parts.Resize(0); - if (GetCancel()) - { - const size_t nConvexHulls = m_convexHulls.Size(); - for (size_t p = 0; p < nConvexHulls; ++p) - { - delete m_convexHulls[p]; - } - m_convexHulls.Clear(); - return; + if (GetCancel()) { + const size_t nConvexHulls = m_convexHulls.Size(); + for (size_t p = 0; p < nConvexHulls; ++p) { + delete m_convexHulls[p]; } + m_convexHulls.Clear(); + return; + } - m_overallProgress = 95.0; - Update(100.0, 100.0, params); - m_timer.Toc(); - if (params.m_logger) - { - msg.str(""); - msg << "\t time " << m_timer.GetElapsedTime() / 1000.0 << "s" << std::endl; - params.m_logger->Log(msg.str().c_str()); - } + m_overallProgress = 95.0; + Update(100.0, 100.0, params); + m_timer.Toc(); + if (params.m_logger) { + msg.str(""); + msg << "\t time " << m_timer.GetElapsedTime() / 1000.0 << "s" << std::endl; + params.m_logger->Log(msg.str().c_str()); } - void AddPoints(const Mesh * const mesh, SArray< Vec3 > & pts) - { - const int n = (int) mesh->GetNPoints(); - for(int i = 0; i < n; ++i) - { - pts.PushBack(mesh->GetPoint(i)); - } +} +void AddPoints(const Mesh* const mesh, SArray >& pts) +{ + const int32_t n = (int32_t)mesh->GetNPoints(); + for (int32_t i = 0; i < n; ++i) { + pts.PushBack(mesh->GetPoint(i)); } - void ComputeConvexHull(const Mesh * const ch1, - const Mesh * const ch2, - SArray< Vec3 > & pts, - Mesh * const combinedCH) - { - pts.Resize(0); - AddPoints(ch1, pts); - AddPoints(ch2, pts); - - btConvexHullComputer ch; - ch.compute((double *)pts.Data(), 3 * sizeof(double), (int)pts.Size(), -1.0, -1.0); - combinedCH->ResizePoints (0); - combinedCH->ResizeTriangles(0); - for (int v = 0; v < ch.vertices.size(); v++) - { - combinedCH->AddPoint(Vec3(ch.vertices[v].getX(), ch.vertices[v].getY(), ch.vertices[v].getZ())); - } - const int nt = ch.faces.size(); - for (int t = 0; t < nt; ++t) - { - const btConvexHullComputer::Edge * sourceEdge = &(ch.edges[ch.faces[t]]); - int a = sourceEdge->getSourceVertex(); - int b = sourceEdge->getTargetVertex(); - const btConvexHullComputer::Edge * edge = sourceEdge->getNextEdgeOfFace(); - int c = edge->getTargetVertex(); - while (c != a) - { - combinedCH->AddTriangle(Vec3(a, b, c)); - edge = edge->getNextEdgeOfFace(); - b = c; - c = edge->getTargetVertex(); - } - } +} +void ComputeConvexHull(const Mesh* const ch1, const Mesh* const ch2, SArray >& pts, Mesh* const combinedCH) +{ + pts.Resize(0); + AddPoints(ch1, pts); + AddPoints(ch2, pts); + + btConvexHullComputer ch; + ch.compute((double*)pts.Data(), 3 * sizeof(double), (int32_t)pts.Size(), -1.0, -1.0); + combinedCH->ResizePoints(0); + combinedCH->ResizeTriangles(0); + for (int32_t v = 0; v < ch.vertices.size(); v++) { + combinedCH->AddPoint(Vec3(ch.vertices[v].getX(), ch.vertices[v].getY(), ch.vertices[v].getZ())); } - void VHACD::MergeConvexHulls(const Parameters & params) - { - if (GetCancel()) - { - return; + const int32_t nt = ch.faces.size(); + for (int32_t t = 0; t < nt; ++t) { + const btConvexHullComputer::Edge* sourceEdge = &(ch.edges[ch.faces[t]]); + int32_t a = sourceEdge->getSourceVertex(); + int32_t b = sourceEdge->getTargetVertex(); + const btConvexHullComputer::Edge* edge = sourceEdge->getNextEdgeOfFace(); + int32_t c = edge->getTargetVertex(); + while (c != a) { + combinedCH->AddTriangle(Vec3(a, b, c)); + edge = edge->getNextEdgeOfFace(); + b = c; + c = edge->getTargetVertex(); } - m_timer.Tic(); + } +} +void VHACD::MergeConvexHulls(const Parameters& params) +{ + if (GetCancel()) { + return; + } + m_timer.Tic(); - m_stage = "Merge Convex Hulls"; + m_stage = "Merge Convex Hulls"; - std::ostringstream msg; - if (params.m_logger) - { - msg << "+ " << m_stage << std::endl; - params.m_logger->Log(msg.str().c_str()); - } + std::ostringstream msg; + if (params.m_logger) { + msg << "+ " << m_stage << std::endl; + params.m_logger->Log(msg.str().c_str()); + } - size_t nConvexHulls = m_convexHulls.Size(); - int iteration = 0; - if (nConvexHulls > 1 && !m_cancel) - { - const size_t nConvexHulls0 = nConvexHulls; - const double threshold = params.m_gamma; - SArray< Vec3 > pts; - Mesh combinedCH; - bool iterate = true; - - // Populate the cost matrix - size_t idx = 0; - SArray costMatrix; - costMatrix.Resize(((nConvexHulls * nConvexHulls) - nConvexHulls) >> 1); - for (size_t p1 = 1; p1 < nConvexHulls; ++p1) - { - const float volume1 = m_convexHulls[p1]->ComputeVolume(); - for (size_t p2 = 0; p2 < p1; ++p2) - { - ComputeConvexHull(m_convexHulls[p1], m_convexHulls[p2], pts, &combinedCH); - costMatrix[idx++] = ComputeConcavity(volume1 + m_convexHulls[p2]->ComputeVolume(), combinedCH.ComputeVolume(), m_volumeCH0); - } + // Get the current number of convex hulls + size_t nConvexHulls = m_convexHulls.Size(); + // Iteration counter + int32_t iteration = 0; + // While we have more than at least one convex hull and the user has not asked us to cancel the operation + if (nConvexHulls > 1 && !m_cancel) + { + // Get the gamma error threshold for when to exit + SArray > pts; + Mesh combinedCH; + + // Populate the cost matrix + size_t idx = 0; + SArray costMatrix; + costMatrix.Resize(((nConvexHulls * nConvexHulls) - nConvexHulls) >> 1); + for (size_t p1 = 1; p1 < nConvexHulls; ++p1) + { + const float volume1 = m_convexHulls[p1]->ComputeVolume(); + for (size_t p2 = 0; p2 < p1; ++p2) + { + ComputeConvexHull(m_convexHulls[p1], m_convexHulls[p2], pts, &combinedCH); + costMatrix[idx++] = ComputeConcavity(volume1 + m_convexHulls[p2]->ComputeVolume(), combinedCH.ComputeVolume(), m_volumeCH0); } + } - // Until we cant merge below the maximum cost - size_t costSize = m_convexHulls.Size(); - while (!m_cancel) - { - msg.str(""); - msg << "Iteration " << iteration++; - m_operation = msg.str(); - - // Search for lowest cost - float bestCost = (std::numeric_limits::max)(); - const size_t addr = FindMinimumElement(costMatrix.Data(), &bestCost, 0, costMatrix.Size()); - - // Check if we should merge these hulls - if (bestCost >= threshold) - { - break; - } - - const size_t addrI = (static_cast(sqrt(1 + (8 * addr))) - 1) >> 1; - const size_t p1 = addrI + 1; - const size_t p2 = addr - ((addrI * (addrI + 1)) >> 1); - assert(p1 >= 0); - assert(p2 >= 0); - assert(p1 < costSize); - assert(p2 < costSize); - - if (params.m_logger) - { - msg.str(""); - msg << "\t\t Merging (" << p1 << ", " << p2 << ") " << bestCost << std::endl << std::endl; - params.m_logger->Log(msg.str().c_str()); - } + // Until we cant merge below the maximum cost + size_t costSize = m_convexHulls.Size(); + while (!m_cancel) + { + msg.str(""); + msg << "Iteration " << iteration++; + m_operation = msg.str(); - // Make the lowest cost row and column into a new hull - Mesh * cch = new Mesh; - ComputeConvexHull(m_convexHulls[p1], m_convexHulls[p2], pts, cch); - delete m_convexHulls[p2]; - m_convexHulls[p2] = cch; + // Search for lowest cost + float bestCost = (std::numeric_limits::max)(); + const size_t addr = FindMinimumElement(costMatrix.Data(), &bestCost, 0, costMatrix.Size()); + if ( (costSize-1) < params.m_maxConvexHulls) + { + break; + } + const size_t addrI = (static_cast(sqrt(1 + (8 * addr))) - 1) >> 1; + const size_t p1 = addrI + 1; + const size_t p2 = addr - ((addrI * (addrI + 1)) >> 1); + assert(p1 >= 0); + assert(p2 >= 0); + assert(p1 < costSize); + assert(p2 < costSize); + + if (params.m_logger) + { + msg.str(""); + msg << "\t\t Merging (" << p1 << ", " << p2 << ") " << bestCost << std::endl + << std::endl; + params.m_logger->Log(msg.str().c_str()); + } - delete m_convexHulls[p1]; - std::swap(m_convexHulls[p1], m_convexHulls[m_convexHulls.Size() - 1]); - m_convexHulls.PopBack(); + // Make the lowest cost row and column into a new hull + Mesh* cch = new Mesh; + ComputeConvexHull(m_convexHulls[p1], m_convexHulls[p2], pts, cch); + delete m_convexHulls[p2]; + m_convexHulls[p2] = cch; + + delete m_convexHulls[p1]; + std::swap(m_convexHulls[p1], m_convexHulls[m_convexHulls.Size() - 1]); + m_convexHulls.PopBack(); + + costSize = costSize - 1; + + // Calculate costs versus the new hull + size_t rowIdx = ((p2 - 1) * p2) >> 1; + const float volume1 = m_convexHulls[p2]->ComputeVolume(); + for (size_t i = 0; (i < p2) && (!m_cancel); ++i) + { + ComputeConvexHull(m_convexHulls[p2], m_convexHulls[i], pts, &combinedCH); + costMatrix[rowIdx++] = ComputeConcavity(volume1 + m_convexHulls[i]->ComputeVolume(), combinedCH.ComputeVolume(), m_volumeCH0); + } - costSize = costSize - 1; + rowIdx += p2; + for (size_t i = p2 + 1; (i < costSize) && (!m_cancel); ++i) + { + ComputeConvexHull(m_convexHulls[p2], m_convexHulls[i], pts, &combinedCH); + costMatrix[rowIdx] = ComputeConcavity(volume1 + m_convexHulls[i]->ComputeVolume(), combinedCH.ComputeVolume(), m_volumeCH0); + rowIdx += i; + assert(rowIdx >= 0); + } - // Calculate costs versus the new hull - size_t rowIdx = ((p2 - 1) * p2) >> 1; - const float volume1 = m_convexHulls[p2]->ComputeVolume(); - for (size_t i = 0;( i < p2) && (!m_cancel); ++i) - { - ComputeConvexHull(m_convexHulls[p2], m_convexHulls[i], pts, &combinedCH); - costMatrix[rowIdx++] = ComputeConcavity(volume1 + m_convexHulls[i]->ComputeVolume(), combinedCH.ComputeVolume(), m_volumeCH0); + // Move the top column in to replace its space + const size_t erase_idx = ((costSize - 1) * costSize) >> 1; + if (p1 < costSize) { + rowIdx = (addrI * p1) >> 1; + size_t top_row = erase_idx; + for (size_t i = 0; i < p1; ++i) { + if (i != p2) { + costMatrix[rowIdx] = costMatrix[top_row]; + } + ++rowIdx; + ++top_row; } - rowIdx += p2; - for (size_t i = p2 + 1; (i < costSize) && (!m_cancel); ++i) - { - ComputeConvexHull(m_convexHulls[p2], m_convexHulls[i], pts, &combinedCH); - costMatrix[rowIdx] = ComputeConcavity(volume1 + m_convexHulls[i]->ComputeVolume(), combinedCH.ComputeVolume(), m_volumeCH0); + ++top_row; + rowIdx += p1; + for (size_t i = p1 + 1; i < (costSize + 1); ++i) { + costMatrix[rowIdx] = costMatrix[top_row++]; rowIdx += i; assert(rowIdx >= 0); } - - // Move the top column in to replace its space - const size_t erase_idx = ((costSize - 1) * costSize) >> 1; - if (p1 < costSize) + } + costMatrix.Resize(erase_idx); + } + } + m_overallProgress = 99.0; + Update(100.0, 100.0, params); + m_timer.Toc(); + if (params.m_logger) { + msg.str(""); + msg << "\t time " << m_timer.GetElapsedTime() / 1000.0 << "s" << std::endl; + params.m_logger->Log(msg.str().c_str()); + } +} +void VHACD::SimplifyConvexHull(Mesh* const ch, const size_t nvertices, const double minVolume) +{ + if (nvertices <= 4) { + return; + } + ICHull icHull; + if (mRaycastMesh) + { + // We project these points onto the original source mesh to increase precision + // The voxelization process drops floating point precision so returned data points are not exactly lying on the + // surface of the original source mesh. + // The first step is we need to compute the bounding box of the mesh we are trying to build a convex hull for. + // From this bounding box, we compute the length of the diagonal to get a relative size and center for point projection + uint32_t nPoints = ch->GetNPoints(); + Vec3 *inputPoints = ch->GetPointsBuffer(); + Vec3 bmin(inputPoints[0]); + Vec3 bmax(inputPoints[1]); + for (uint32_t i = 1; i < nPoints; i++) + { + const Vec3 &p = inputPoints[i]; + p.UpdateMinMax(bmin, bmax); + } + Vec3 center; + double diagonalLength = center.GetCenter(bmin, bmax); // Get the center of the bounding box + // This is the error threshold for determining if we should use the raycast result data point vs. the voxelized result. + double pointDistanceThreshold = diagonalLength * 0.05; + // If a new point is within 1/100th the diagonal length of the bounding volume we do not add it. To do so would create a + // thin sliver in the resulting convex hull + double snapDistanceThreshold = diagonalLength * 0.01; + double snapDistanceThresholdSquared = snapDistanceThreshold*snapDistanceThreshold; + + // Allocate buffer for projected vertices + Vec3 *outputPoints = new Vec3[nPoints]; + uint32_t outCount = 0; + for (uint32_t i = 0; i < nPoints; i++) + { + Vec3 &inputPoint = inputPoints[i]; + Vec3 &outputPoint = outputPoints[outCount]; + // Compute the direction vector from the center of this mesh to the vertex + Vec3 dir = inputPoint - center; + // Normalize the direction vector. + dir.Normalize(); + // Multiply times the diagonal length of the mesh + dir *= diagonalLength; + // Add the center back in again to get the destination point + dir += center; + // By default the output point is equal to the input point + outputPoint = inputPoint; + double pointDistance; + if (mRaycastMesh->raycast(center.GetData(), dir.GetData(), inputPoint.GetData(), outputPoint.GetData(),&pointDistance) ) + { + // If the nearest intersection point is too far away, we keep the original source data point. + // Not all points lie directly on the original mesh surface + if (pointDistance > pointDistanceThreshold) { - rowIdx = (addrI * p1) >> 1; - size_t top_row = erase_idx; - for (size_t i = 0; i < p1; ++i) - { - if (i != p2) - { - costMatrix[rowIdx] = costMatrix[top_row]; - } - ++rowIdx; - ++top_row; - } - - ++top_row; - rowIdx += p1; - for (size_t i = p1 + 1; i < (costSize + 1); ++i) - { - costMatrix[rowIdx] = costMatrix[top_row++]; - rowIdx += i; - assert(rowIdx >= 0); - } + outputPoint = inputPoint; } - costMatrix.Resize(erase_idx); + } + // Ok, before we add this point, we do not want to create points which are extremely close to each other. + // This will result in tiny sliver triangles which are really bad for collision detection. + bool foundNearbyPoint = false; + for (uint32_t j = 0; j < outCount; j++) + { + // If this new point is extremely close to an existing point, we do not add it! + double squaredDistance = outputPoints[j].GetDistanceSquared(outputPoint); + if (squaredDistance < snapDistanceThresholdSquared ) + { + foundNearbyPoint = true; + break; + } + } + if (!foundNearbyPoint) + { + outCount++; } } - m_overallProgress = 99.0; - Update(100.0, 100.0, params); - m_timer.Toc(); - if (params.m_logger) - { - msg.str(""); - msg << "\t time " << m_timer.GetElapsedTime() / 1000.0 << "s" << std::endl; - params.m_logger->Log(msg.str().c_str()); - } + icHull.AddPoints(outputPoints, outCount); + delete[]outputPoints; } - void SimplifyConvexHull(Mesh * const ch, - const size_t nvertices, - const double minVolume) + else { - if (nvertices <= 4) - { - return; - } - ICHull icHull; icHull.AddPoints(ch->GetPointsBuffer(), ch->GetNPoints()); - icHull.Process((unsigned int)nvertices, minVolume); - TMMesh & mesh = icHull.GetMesh(); - const size_t nT = mesh.GetNTriangles(); - const size_t nV = mesh.GetNVertices(); - ch->ResizePoints(nV); - ch->ResizeTriangles(nT); - mesh.GetIFS(ch->GetPointsBuffer(), ch->GetTrianglesBuffer()); - } - void VHACD::SimplifyConvexHulls(const Parameters & params) - { - if (m_cancel || params.m_maxNumVerticesPerCH < 4) - { - return; - } - m_timer.Tic(); + } + icHull.Process((uint32_t)nvertices, minVolume); + TMMesh& mesh = icHull.GetMesh(); + const size_t nT = mesh.GetNTriangles(); + const size_t nV = mesh.GetNVertices(); + ch->ResizePoints(nV); + ch->ResizeTriangles(nT); + mesh.GetIFS(ch->GetPointsBuffer(), ch->GetTrianglesBuffer()); +} +void VHACD::SimplifyConvexHulls(const Parameters& params) +{ + if (m_cancel || params.m_maxNumVerticesPerCH < 4) { + return; + } + m_timer.Tic(); - m_stage = "Simplify convex-hulls"; - m_operation = "Simplify convex-hulls"; + m_stage = "Simplify convex-hulls"; + m_operation = "Simplify convex-hulls"; - std::ostringstream msg; - const size_t nConvexHulls = m_convexHulls.Size(); - if (params.m_logger) - { - msg << "+ Simplify " << nConvexHulls << " convex-hulls " << std::endl; - params.m_logger->Log(msg.str().c_str()); - } - - Update(0.0, 0.0, params); - for (size_t i = 0; i < nConvexHulls && !m_cancel; ++i) - { - if (params.m_logger) - { - msg.str(""); - msg << "\t\t Simplify CH[" << std::setfill('0') << std::setw(5) << i << "] " << m_convexHulls[i]->GetNPoints() << " V, " << m_convexHulls[i]->GetNTriangles() << " T" << std::endl; - params.m_logger->Log(msg.str().c_str()); - } - SimplifyConvexHull(m_convexHulls[i], params.m_maxNumVerticesPerCH, m_volumeCH0*params.m_minVolumePerCH); - } + std::ostringstream msg; + const size_t nConvexHulls = m_convexHulls.Size(); + if (params.m_logger) { + msg << "+ Simplify " << nConvexHulls << " convex-hulls " << std::endl; + params.m_logger->Log(msg.str().c_str()); + } - m_overallProgress = 100.0; - Update(100.0, 100.0, params); - m_timer.Toc(); - if (params.m_logger) - { + Update(0.0, 0.0, params); + for (size_t i = 0; i < nConvexHulls && !m_cancel; ++i) { + if (params.m_logger) { msg.str(""); - msg << "\t time " << m_timer.GetElapsedTime() / 1000.0 << "s" << std::endl; + msg << "\t\t Simplify CH[" << std::setfill('0') << std::setw(5) << i << "] " << m_convexHulls[i]->GetNPoints() << " V, " << m_convexHulls[i]->GetNTriangles() << " T" << std::endl; params.m_logger->Log(msg.str().c_str()); } + SimplifyConvexHull(m_convexHulls[i], params.m_maxNumVerticesPerCH, m_volumeCH0 * params.m_minVolumePerCH); + } + + m_overallProgress = 100.0; + Update(100.0, 100.0, params); + m_timer.Toc(); + if (params.m_logger) { + msg.str(""); + msg << "\t time " << m_timer.GetElapsedTime() / 1000.0 << "s" << std::endl; + params.m_logger->Log(msg.str().c_str()); } } +bool VHACD::ComputeCenterOfMass(double centerOfMass[3]) const +{ + bool ret = false; + + centerOfMass[0] = 0; + centerOfMass[1] = 0; + centerOfMass[2] = 0; + // Get number of convex hulls in the result + uint32_t hullCount = GetNConvexHulls(); + if (hullCount) // if we have results + { + ret = true; + double totalVolume = 0; + // Initialize the center of mass to zero + centerOfMass[0] = 0; + centerOfMass[1] = 0; + centerOfMass[2] = 0; + // Compute the total volume of all convex hulls + for (uint32_t i = 0; i < hullCount; i++) + { + ConvexHull ch; + GetConvexHull(i, ch); + totalVolume += ch.m_volume; + } + // compute the reciprocal of the total volume + double recipVolume = 1.0 / totalVolume; + // Add in the weighted by volume average of the center point of each convex hull + for (uint32_t i = 0; i < hullCount; i++) + { + ConvexHull ch; + GetConvexHull(i, ch); + double ratio = ch.m_volume*recipVolume; + centerOfMass[0] += ch.m_center[0] * ratio; + centerOfMass[1] += ch.m_center[1] * ratio; + centerOfMass[2] += ch.m_center[2] * ratio; + } + } + return ret; +} + +} // end of VHACD namespace \ No newline at end of file diff --git a/src/btAlignedAllocator.cpp b/src/btAlignedAllocator.cpp index 0fd995c..11d594f 100644 --- a/src/btAlignedAllocator.cpp +++ b/src/btAlignedAllocator.cpp @@ -15,189 +15,166 @@ subject to the following restrictions: #include "btAlignedAllocator.h" -///align a pointer to the provided alignment, upwards -template T* btAlignPointer(T* unalignedPtr, size_t alignment) -{ - - struct btConvertPointerSizeT - { - union - { - T* ptr; - size_t integer; - }; - }; - btConvertPointerSizeT converter; - - - const size_t bit_mask = ~(alignment - 1); - converter.ptr = unalignedPtr; - converter.integer += alignment-1; - converter.integer &= bit_mask; - return converter.ptr; -} +#ifdef _MSC_VER +#pragma warning(disable:4311 4302) +#endif -int gNumAlignedAllocs = 0; -int gNumAlignedFree = 0; -int gTotalBytesAlignedAllocs = 0;//detect memory leaks +int32_t gNumAlignedAllocs = 0; +int32_t gNumAlignedFree = 0; +int32_t gTotalBytesAlignedAllocs = 0; //detect memory leaks -static void *btAllocDefault(size_t size) +static void* btAllocDefault(size_t size) { - return malloc(size); + return malloc(size); } -static void btFreeDefault(void *ptr) +static void btFreeDefault(void* ptr) { - free(ptr); + free(ptr); } -static btAllocFunc *sAllocFunc = btAllocDefault; -static btFreeFunc *sFreeFunc = btFreeDefault; - - +static btAllocFunc* sAllocFunc = btAllocDefault; +static btFreeFunc* sFreeFunc = btFreeDefault; -#if defined (BT_HAS_ALIGNED_ALLOCATOR) +#if defined(BT_HAS_ALIGNED_ALLOCATOR) #include -static void *btAlignedAllocDefault(size_t size, int alignment) +static void* btAlignedAllocDefault(size_t size, int32_t alignment) { - return _aligned_malloc(size, (size_t)alignment); + return _aligned_malloc(size, (size_t)alignment); } -static void btAlignedFreeDefault(void *ptr) +static void btAlignedFreeDefault(void* ptr) { - _aligned_free(ptr); + _aligned_free(ptr); } #elif defined(__CELLOS_LV2__) #include -static inline void *btAlignedAllocDefault(size_t size, int alignment) +static inline void* btAlignedAllocDefault(size_t size, int32_t alignment) { - return memalign(alignment, size); + return memalign(alignment, size); } -static inline void btAlignedFreeDefault(void *ptr) +static inline void btAlignedFreeDefault(void* ptr) { - free(ptr); + free(ptr); } #else - - - - - -static inline void *btAlignedAllocDefault(size_t size, int alignment) +static inline void* btAlignedAllocDefault(size_t size, int32_t alignment) { - void *ret; - char *real; - real = (char *)sAllocFunc(size + sizeof(void *) + (alignment-1)); - if (real) { - ret = btAlignPointer(real + sizeof(void *),alignment); - *((void **)(ret)-1) = (void *)(real); - } else { - ret = (void *)(real); - } - return (ret); + void* ret; + char* real; + unsigned long offset; + + real = (char*)sAllocFunc(size + sizeof(void*) + (alignment - 1)); + if (real) { + offset = (alignment - (unsigned long)(real + sizeof(void*))) & (alignment - 1); + ret = (void*)((real + sizeof(void*)) + offset); + *((void**)(ret)-1) = (void*)(real); + } + else { + ret = (void*)(real); + } + return (ret); } -static inline void btAlignedFreeDefault(void *ptr) +static inline void btAlignedFreeDefault(void* ptr) { - void* real; + void* real; - if (ptr) { - real = *((void **)(ptr)-1); - sFreeFunc(real); - } + if (ptr) { + real = *((void**)(ptr)-1); + sFreeFunc(real); + } } #endif +static btAlignedAllocFunc* sAlignedAllocFunc = btAlignedAllocDefault; +static btAlignedFreeFunc* sAlignedFreeFunc = btAlignedFreeDefault; -static btAlignedAllocFunc *sAlignedAllocFunc = btAlignedAllocDefault; -static btAlignedFreeFunc *sAlignedFreeFunc = btAlignedFreeDefault; - -void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc) +void btAlignedAllocSetCustomAligned(btAlignedAllocFunc* allocFunc, btAlignedFreeFunc* freeFunc) { - sAlignedAllocFunc = allocFunc ? allocFunc : btAlignedAllocDefault; - sAlignedFreeFunc = freeFunc ? freeFunc : btAlignedFreeDefault; + sAlignedAllocFunc = allocFunc ? allocFunc : btAlignedAllocDefault; + sAlignedFreeFunc = freeFunc ? freeFunc : btAlignedFreeDefault; } -void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc) +void btAlignedAllocSetCustom(btAllocFunc* allocFunc, btFreeFunc* freeFunc) { - sAllocFunc = allocFunc ? allocFunc : btAllocDefault; - sFreeFunc = freeFunc ? freeFunc : btFreeDefault; + sAllocFunc = allocFunc ? allocFunc : btAllocDefault; + sFreeFunc = freeFunc ? freeFunc : btFreeDefault; } #ifdef BT_DEBUG_MEMORY_ALLOCATIONS //this generic allocator provides the total allocated number of bytes #include -void* btAlignedAllocInternal (size_t size, int alignment,int line,char* filename) +void* btAlignedAllocInternal(size_t size, int32_t alignment, int32_t line, char* filename) { - void *ret; - char *real; - - gTotalBytesAlignedAllocs += size; - gNumAlignedAllocs++; - - - real = (char *)sAllocFunc(size + 2*sizeof(void *) + (alignment-1)); - if (real) { - ret = (void*) btAlignPointer(real + 2*sizeof(void *), alignment); - *((void **)(ret)-1) = (void *)(real); - *((int*)(ret)-2) = size; - - } else { - ret = (void *)(real);//?? - } - - printf("allocation#%d at address %x, from %s,line %d, size %d\n",gNumAlignedAllocs,real, filename,line,size); - - int* ptr = (int*)ret; - *ptr = 12; - return (ret); + void* ret; + char* real; + unsigned long offset; + + gTotalBytesAlignedAllocs += size; + gNumAlignedAllocs++; + + real = (char*)sAllocFunc(size + 2 * sizeof(void*) + (alignment - 1)); + if (real) { + offset = (alignment - (unsigned long)(real + 2 * sizeof(void*))) & (alignment - 1); + ret = (void*)((real + 2 * sizeof(void*)) + offset); + *((void**)(ret)-1) = (void*)(real); + *((int32_t*)(ret)-2) = size; + } + else { + ret = (void*)(real); //?? + } + + printf("allocation#%d at address %x, from %s,line %d, size %d\n", gNumAlignedAllocs, real, filename, line, size); + + int32_t* ptr = (int32_t*)ret; + *ptr = 12; + return (ret); } -void btAlignedFreeInternal (void* ptr,int line,char* filename) +void btAlignedFreeInternal(void* ptr, int32_t line, char* filename) { - void* real; - gNumAlignedFree++; + void* real; + gNumAlignedFree++; - if (ptr) { - real = *((void **)(ptr)-1); - int size = *((int*)(ptr)-2); - gTotalBytesAlignedAllocs -= size; + if (ptr) { + real = *((void**)(ptr)-1); + int32_t size = *((int32_t*)(ptr)-2); + gTotalBytesAlignedAllocs -= size; - printf("free #%d at address %x, from %s,line %d, size %d\n",gNumAlignedFree,real, filename,line,size); + printf("free #%d at address %x, from %s,line %d, size %d\n", gNumAlignedFree, real, filename, line, size); - sFreeFunc(real); - } else - { - printf("NULL ptr\n"); - } + sFreeFunc(real); + } + else { + printf("NULL ptr\n"); + } } #else //BT_DEBUG_MEMORY_ALLOCATIONS -void* btAlignedAllocInternal (size_t size, int alignment) +void* btAlignedAllocInternal(size_t size, int32_t alignment) { - gNumAlignedAllocs++; - void* ptr; - ptr = sAlignedAllocFunc(size, alignment); -// printf("btAlignedAllocInternal %d, %x\n",size,ptr); - return ptr; + gNumAlignedAllocs++; + void* ptr; + ptr = sAlignedAllocFunc(size, alignment); + // printf("btAlignedAllocInternal %d, %x\n",size,ptr); + return ptr; } -void btAlignedFreeInternal (void* ptr) +void btAlignedFreeInternal(void* ptr) { - if (!ptr) - { - return; - } - - gNumAlignedFree++; -// printf("btAlignedFreeInternal %x\n",ptr); - sAlignedFreeFunc(ptr); + if (!ptr) { + return; + } + + gNumAlignedFree++; + // printf("btAlignedFreeInternal %x\n",ptr); + sAlignedFreeFunc(ptr); } #endif //BT_DEBUG_MEMORY_ALLOCATIONS - diff --git a/src/btConvexHullComputer.cpp b/src/btConvexHullComputer.cpp index c03c901..d3d749a 100644 --- a/src/btConvexHullComputer.cpp +++ b/src/btConvexHullComputer.cpp @@ -14,2738 +14,2466 @@ subject to the following restrictions: #include -#include "btConvexHullComputer.h" #include "btAlignedObjectArray.h" +#include "btConvexHullComputer.h" #include "btMinMax.h" #include "btVector3.h" #ifdef __GNUC__ - #include +#include #elif defined(_MSC_VER) - typedef __int32 int32_t; - typedef __int64 int64_t; - typedef unsigned __int32 uint32_t; - typedef unsigned __int64 uint64_t; +typedef __int32 int32_t; +typedef __int64 int64_t; +typedef unsigned __int32 uint32_t; +typedef unsigned __int64 uint64_t; #else - typedef int int32_t; - typedef long long int int64_t; - typedef unsigned int uint32_t; - typedef unsigned long long int uint64_t; +typedef int32_t int32_t; +typedef long long int32_t int64_t; +typedef uint32_t uint32_t; +typedef unsigned long long int32_t uint64_t; #endif +#ifdef _MSC_VER +#pragma warning(disable:4458) +#endif //The definition of USE_X86_64_ASM is moved into the build system. You can enable it manually by commenting out the following lines //#if (defined(__GNUC__) && defined(__x86_64__) && !defined(__ICL)) // || (defined(__ICL) && defined(_M_X64)) bug in Intel compiler, disable inline assembly // #define USE_X86_64_ASM //#endif - //#define DEBUG_CONVEX_HULL //#define SHOW_ITERATIONS #if defined(DEBUG_CONVEX_HULL) || defined(SHOW_ITERATIONS) - #include +#include #endif // Convex hull implementation based on Preparata and Hong // Ole Kniemeyer, MAXON Computer GmbH -class btConvexHullInternal -{ - public: - - class Point64 - { - public: - int64_t x; - int64_t y; - int64_t z; - - Point64(int64_t x, int64_t y, int64_t z): x(x), y(y), z(z) - { - } - - bool isZero() - { - return (x == 0) && (y == 0) && (z == 0); - } - - int64_t dot(const Point64& b) const - { - return x * b.x + y * b.y + z * b.z; - } - }; - - class Point32 - { - public: - int32_t x; - int32_t y; - int32_t z; - int index; - - Point32() - { - } - - Point32(int32_t x, int32_t y, int32_t z): x(x), y(y), z(z), index(-1) - { - } - - bool operator==(const Point32& b) const - { - return (x == b.x) && (y == b.y) && (z == b.z); - } - - bool operator!=(const Point32& b) const - { - return (x != b.x) || (y != b.y) || (z != b.z); - } - - bool isZero() - { - return (x == 0) && (y == 0) && (z == 0); - } - - Point64 cross(const Point32& b) const - { - return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x); - } - - Point64 cross(const Point64& b) const - { - return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x); - } - - int64_t dot(const Point32& b) const - { - return x * b.x + y * b.y + z * b.z; - } - - int64_t dot(const Point64& b) const - { - return x * b.x + y * b.y + z * b.z; - } - - Point32 operator+(const Point32& b) const - { - return Point32(x + b.x, y + b.y, z + b.z); - } - - Point32 operator-(const Point32& b) const - { - return Point32(x - b.x, y - b.y, z - b.z); - } - }; - - class Int128 - { - public: - uint64_t low; - uint64_t high; - - Int128() - { - } - - Int128(uint64_t low, uint64_t high): low(low), high(high) - { - } - - Int128(uint64_t low): low(low), high(0) - { - } - - Int128(int64_t value): low(value), high((value >= 0) ? 0 : (uint64_t) -1LL) - { - } - - static Int128 mul(int64_t a, int64_t b); - - static Int128 mul(uint64_t a, uint64_t b); - - Int128 operator-() const - { - return Int128((uint64_t) -(int64_t)low, ~high + (low == 0)); - } - - Int128 operator+(const Int128& b) const - { +class btConvexHullInternal { +public: + class Point64 { + public: + int64_t x; + int64_t y; + int64_t z; + + Point64(int64_t x, int64_t y, int64_t z) + : x(x) + , y(y) + , z(z) + { + } + + bool isZero() + { + return (x == 0) && (y == 0) && (z == 0); + } + + int64_t dot(const Point64& b) const + { + return x * b.x + y * b.y + z * b.z; + } + }; + + class Point32 { + public: + int32_t x; + int32_t y; + int32_t z; + int32_t index; + + Point32() + { + } + + Point32(int32_t x, int32_t y, int32_t z) + : x(x) + , y(y) + , z(z) + , index(-1) + { + } + + bool operator==(const Point32& b) const + { + return (x == b.x) && (y == b.y) && (z == b.z); + } + + bool operator!=(const Point32& b) const + { + return (x != b.x) || (y != b.y) || (z != b.z); + } + + bool isZero() + { + return (x == 0) && (y == 0) && (z == 0); + } + + Point64 cross(const Point32& b) const + { + return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x); + } + + Point64 cross(const Point64& b) const + { + return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x); + } + + int64_t dot(const Point32& b) const + { + return x * b.x + y * b.y + z * b.z; + } + + int64_t dot(const Point64& b) const + { + return x * b.x + y * b.y + z * b.z; + } + + Point32 operator+(const Point32& b) const + { + return Point32(x + b.x, y + b.y, z + b.z); + } + + Point32 operator-(const Point32& b) const + { + return Point32(x - b.x, y - b.y, z - b.z); + } + }; + + class Int128 { + public: + uint64_t low; + uint64_t high; + + Int128() + { + } + + Int128(uint64_t low, uint64_t high) + : low(low) + , high(high) + { + } + + Int128(uint64_t low) + : low(low) + , high(0) + { + } + + Int128(int64_t value) + : low(value) + , high((value >= 0) ? 0 : (uint64_t)-1LL) + { + } + + static Int128 mul(int64_t a, int64_t b); + + static Int128 mul(uint64_t a, uint64_t b); + + Int128 operator-() const + { + return Int128((uint64_t) - (int64_t)low, ~high + (low == 0)); + } + + Int128 operator+(const Int128& b) const + { #ifdef USE_X86_64_ASM - Int128 result; - __asm__ ("addq %[bl], %[rl]\n\t" - "adcq %[bh], %[rh]\n\t" - : [rl] "=r" (result.low), [rh] "=r" (result.high) - : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high) - : "cc" ); - return result; + Int128 result; + __asm__("addq %[bl], %[rl]\n\t" + "adcq %[bh], %[rh]\n\t" + : [rl] "=r"(result.low), [rh] "=r"(result.high) + : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high) + : "cc"); + return result; #else - uint64_t lo = low + b.low; - return Int128(lo, high + b.high + (lo < low)); + uint64_t lo = low + b.low; + return Int128(lo, high + b.high + (lo < low)); #endif - } + } - Int128 operator-(const Int128& b) const - { + Int128 operator-(const Int128& b) const + { #ifdef USE_X86_64_ASM - Int128 result; - __asm__ ("subq %[bl], %[rl]\n\t" - "sbbq %[bh], %[rh]\n\t" - : [rl] "=r" (result.low), [rh] "=r" (result.high) - : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high) - : "cc" ); - return result; + Int128 result; + __asm__("subq %[bl], %[rl]\n\t" + "sbbq %[bh], %[rh]\n\t" + : [rl] "=r"(result.low), [rh] "=r"(result.high) + : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high) + : "cc"); + return result; #else - return *this + -b; + return *this + -b; #endif - } + } - Int128& operator+=(const Int128& b) - { + Int128& operator+=(const Int128& b) + { #ifdef USE_X86_64_ASM - __asm__ ("addq %[bl], %[rl]\n\t" - "adcq %[bh], %[rh]\n\t" - : [rl] "=r" (low), [rh] "=r" (high) - : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high) - : "cc" ); + __asm__("addq %[bl], %[rl]\n\t" + "adcq %[bh], %[rh]\n\t" + : [rl] "=r"(low), [rh] "=r"(high) + : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high) + : "cc"); #else - uint64_t lo = low + b.low; - if (lo < low) - { - ++high; - } - low = lo; - high += b.high; + uint64_t lo = low + b.low; + if (lo < low) { + ++high; + } + low = lo; + high += b.high; #endif - return *this; - } - - Int128& operator++() - { - if (++low == 0) - { - ++high; - } - return *this; - } - - Int128 operator*(int64_t b) const; - - btScalar toScalar() const - { - return ((int64_t) high >= 0) ? btScalar(high) * (btScalar(0x100000000LL) * btScalar(0x100000000LL)) + btScalar(low) - : -(-*this).toScalar(); - } - - int getSign() const - { - return ((int64_t) high < 0) ? -1 : (high || low) ? 1 : 0; - } - - bool operator<(const Int128& b) const - { - return (high < b.high) || ((high == b.high) && (low < b.low)); - } - - int ucmp(const Int128&b) const - { - if (high < b.high) - { - return -1; - } - if (high > b.high) - { - return 1; - } - if (low < b.low) - { - return -1; - } - if (low > b.low) - { - return 1; - } - return 0; - } - }; - - - class Rational64 - { - private: - uint64_t m_numerator; - uint64_t m_denominator; - int sign; - - public: - Rational64(int64_t numerator, int64_t denominator) - { - if (numerator > 0) - { - sign = 1; - m_numerator = (uint64_t) numerator; - } - else if (numerator < 0) - { - sign = -1; - m_numerator = (uint64_t) -numerator; - } - else - { - sign = 0; - m_numerator = 0; - } - if (denominator > 0) - { - m_denominator = (uint64_t) denominator; - } - else if (denominator < 0) - { - sign = -sign; - m_denominator = (uint64_t) -denominator; - } - else - { - m_denominator = 0; - } - } - - bool isNegativeInfinity() const - { - return (sign < 0) && (m_denominator == 0); - } - - bool isNaN() const - { - return (sign == 0) && (m_denominator == 0); - } - - int compare(const Rational64& b) const; - - btScalar toScalar() const - { - return sign * ((m_denominator == 0) ? SIMD_INFINITY : (btScalar) m_numerator / m_denominator); - } - }; - - - class Rational128 - { - private: - Int128 numerator; - Int128 denominator; - int sign; - bool isInt64; - - public: - Rational128(int64_t value) - { - if (value > 0) - { - sign = 1; - this->numerator = value; - } - else if (value < 0) - { - sign = -1; - this->numerator = -value; - } - else - { - sign = 0; - this->numerator = (uint64_t) 0; - } - this->denominator = (uint64_t) 1; - isInt64 = true; - } - - Rational128(const Int128& numerator, const Int128& denominator) - { - sign = numerator.getSign(); - if (sign >= 0) - { - this->numerator = numerator; - } - else - { - this->numerator = -numerator; - } - int dsign = denominator.getSign(); - if (dsign >= 0) - { - this->denominator = denominator; - } - else - { - sign = -sign; - this->denominator = -denominator; - } - isInt64 = false; - } - - int compare(const Rational128& b) const; - - int compare(int64_t b) const; - - btScalar toScalar() const - { - return sign * ((denominator.getSign() == 0) ? SIMD_INFINITY : numerator.toScalar() / denominator.toScalar()); - } - }; - - class PointR128 - { - public: - Int128 x; - Int128 y; - Int128 z; - Int128 denominator; - - PointR128() - { - } - - PointR128(Int128 x, Int128 y, Int128 z, Int128 denominator): x(x), y(y), z(z), denominator(denominator) - { - } - - btScalar xvalue() const - { - return x.toScalar() / denominator.toScalar(); - } - - btScalar yvalue() const - { - return y.toScalar() / denominator.toScalar(); - } - - btScalar zvalue() const - { - return z.toScalar() / denominator.toScalar(); - } - }; - - - class Edge; - class Face; - - class Vertex - { - public: - Vertex* next; - Vertex* prev; - Edge* edges; - Face* firstNearbyFace; - Face* lastNearbyFace; - PointR128 point128; - Point32 point; - int copy; - - Vertex(): next(NULL), prev(NULL), edges(NULL), firstNearbyFace(NULL), lastNearbyFace(NULL), copy(-1) - { - } + return *this; + } + + Int128& operator++() + { + if (++low == 0) { + ++high; + } + return *this; + } + + Int128 operator*(int64_t b) const; + + btScalar toScalar() const + { + return ((int64_t)high >= 0) ? btScalar(high) * (btScalar(0x100000000LL) * btScalar(0x100000000LL)) + btScalar(low) + : -(-*this).toScalar(); + } + + int32_t getSign() const + { + return ((int64_t)high < 0) ? -1 : (high || low) ? 1 : 0; + } + + bool operator<(const Int128& b) const + { + return (high < b.high) || ((high == b.high) && (low < b.low)); + } + + int32_t ucmp(const Int128& b) const + { + if (high < b.high) { + return -1; + } + if (high > b.high) { + return 1; + } + if (low < b.low) { + return -1; + } + if (low > b.low) { + return 1; + } + return 0; + } + }; + + class Rational64 { + private: + uint64_t m_numerator; + uint64_t m_denominator; + int32_t sign; + + public: + Rational64(int64_t numerator, int64_t denominator) + { + if (numerator > 0) { + sign = 1; + m_numerator = (uint64_t)numerator; + } + else if (numerator < 0) { + sign = -1; + m_numerator = (uint64_t)-numerator; + } + else { + sign = 0; + m_numerator = 0; + } + if (denominator > 0) { + m_denominator = (uint64_t)denominator; + } + else if (denominator < 0) { + sign = -sign; + m_denominator = (uint64_t)-denominator; + } + else { + m_denominator = 0; + } + } + + bool isNegativeInfinity() const + { + return (sign < 0) && (m_denominator == 0); + } + + bool isNaN() const + { + return (sign == 0) && (m_denominator == 0); + } + + int32_t compare(const Rational64& b) const; + + btScalar toScalar() const + { + return sign * ((m_denominator == 0) ? SIMD_INFINITY : (btScalar)m_numerator / m_denominator); + } + }; + + class Rational128 { + private: + Int128 numerator; + Int128 denominator; + int32_t sign; + bool isInt64; + + public: + Rational128(int64_t value) + { + if (value > 0) { + sign = 1; + this->numerator = value; + } + else if (value < 0) { + sign = -1; + this->numerator = -value; + } + else { + sign = 0; + this->numerator = (uint64_t)0; + } + this->denominator = (uint64_t)1; + isInt64 = true; + } + + Rational128(const Int128& numerator, const Int128& denominator) + { + sign = numerator.getSign(); + if (sign >= 0) { + this->numerator = numerator; + } + else { + this->numerator = -numerator; + } + int32_t dsign = denominator.getSign(); + if (dsign >= 0) { + this->denominator = denominator; + } + else { + sign = -sign; + this->denominator = -denominator; + } + isInt64 = false; + } + + int32_t compare(const Rational128& b) const; + + int32_t compare(int64_t b) const; + + btScalar toScalar() const + { + return sign * ((denominator.getSign() == 0) ? SIMD_INFINITY : numerator.toScalar() / denominator.toScalar()); + } + }; + + class PointR128 { + public: + Int128 x; + Int128 y; + Int128 z; + Int128 denominator; + + PointR128() + { + } + + PointR128(Int128 x, Int128 y, Int128 z, Int128 denominator) + : x(x) + , y(y) + , z(z) + , denominator(denominator) + { + } + + btScalar xvalue() const + { + return x.toScalar() / denominator.toScalar(); + } + + btScalar yvalue() const + { + return y.toScalar() / denominator.toScalar(); + } + + btScalar zvalue() const + { + return z.toScalar() / denominator.toScalar(); + } + }; + + class Edge; + class Face; + + class Vertex { + public: + Vertex* next; + Vertex* prev; + Edge* edges; + Face* firstNearbyFace; + Face* lastNearbyFace; + PointR128 point128; + Point32 point; + int32_t copy; + + Vertex() + : next(NULL) + , prev(NULL) + , edges(NULL) + , firstNearbyFace(NULL) + , lastNearbyFace(NULL) + , copy(-1) + { + } #ifdef DEBUG_CONVEX_HULL - void print() - { - printf("V%d (%d, %d, %d)", point.index, point.x, point.y, point.z); - } + void print() + { + printf("V%d (%d, %d, %d)", point.index, point.x, point.y, point.z); + } - void printGraph(); + void printGraph(); #endif - Point32 operator-(const Vertex& b) const - { - return point - b.point; - } - - Rational128 dot(const Point64& b) const - { - return (point.index >= 0) ? Rational128(point.dot(b)) - : Rational128(point128.x * b.x + point128.y * b.y + point128.z * b.z, point128.denominator); - } - - btScalar xvalue() const - { - return (point.index >= 0) ? btScalar(point.x) : point128.xvalue(); - } - - btScalar yvalue() const - { - return (point.index >= 0) ? btScalar(point.y) : point128.yvalue(); - } - - btScalar zvalue() const - { - return (point.index >= 0) ? btScalar(point.z) : point128.zvalue(); - } - - void receiveNearbyFaces(Vertex* src) - { - if (lastNearbyFace) - { - lastNearbyFace->nextWithSameNearbyVertex = src->firstNearbyFace; - } - else - { - firstNearbyFace = src->firstNearbyFace; - } - if (src->lastNearbyFace) - { - lastNearbyFace = src->lastNearbyFace; - } - for (Face* f = src->firstNearbyFace; f; f = f->nextWithSameNearbyVertex) - { - btAssert(f->nearbyVertex == src); - f->nearbyVertex = this; - } - src->firstNearbyFace = NULL; - src->lastNearbyFace = NULL; - } - }; - - - class Edge - { - public: - Edge* next; - Edge* prev; - Edge* reverse; - Vertex* target; - Face* face; - int copy; - - ~Edge() - { - next = NULL; - prev = NULL; - reverse = NULL; - target = NULL; - face = NULL; - } - - void link(Edge* n) - { - btAssert(reverse->target == n->reverse->target); - next = n; - n->prev = this; - } + Point32 operator-(const Vertex& b) const + { + return point - b.point; + } + + Rational128 dot(const Point64& b) const + { + return (point.index >= 0) ? Rational128(point.dot(b)) + : Rational128(point128.x * b.x + point128.y * b.y + point128.z * b.z, point128.denominator); + } + + btScalar xvalue() const + { + return (point.index >= 0) ? btScalar(point.x) : point128.xvalue(); + } + + btScalar yvalue() const + { + return (point.index >= 0) ? btScalar(point.y) : point128.yvalue(); + } + + btScalar zvalue() const + { + return (point.index >= 0) ? btScalar(point.z) : point128.zvalue(); + } + + void receiveNearbyFaces(Vertex* src) + { + if (lastNearbyFace) { + lastNearbyFace->nextWithSameNearbyVertex = src->firstNearbyFace; + } + else { + firstNearbyFace = src->firstNearbyFace; + } + if (src->lastNearbyFace) { + lastNearbyFace = src->lastNearbyFace; + } + for (Face* f = src->firstNearbyFace; f; f = f->nextWithSameNearbyVertex) { + btAssert(f->nearbyVertex == src); + f->nearbyVertex = this; + } + src->firstNearbyFace = NULL; + src->lastNearbyFace = NULL; + } + }; + + class Edge { + public: + Edge* next; + Edge* prev; + Edge* reverse; + Vertex* target; + Face* face; + int32_t copy; + + ~Edge() + { + next = NULL; + prev = NULL; + reverse = NULL; + target = NULL; + face = NULL; + } + + void link(Edge* n) + { + btAssert(reverse->target == n->reverse->target); + next = n; + n->prev = this; + } #ifdef DEBUG_CONVEX_HULL - void print() - { - printf("E%p : %d -> %d, n=%p p=%p (0 %d\t%d\t%d) -> (%d %d %d)", this, reverse->target->point.index, target->point.index, next, prev, - reverse->target->point.x, reverse->target->point.y, reverse->target->point.z, target->point.x, target->point.y, target->point.z); - } + void print() + { + printf("E%p : %d -> %d, n=%p p=%p (0 %d\t%d\t%d) -> (%d %d %d)", this, reverse->target->point.index, target->point.index, next, prev, + reverse->target->point.x, reverse->target->point.y, reverse->target->point.z, target->point.x, target->point.y, target->point.z); + } #endif - }; - - class Face - { - public: - Face* next; - Vertex* nearbyVertex; - Face* nextWithSameNearbyVertex; - Point32 origin; - Point32 dir0; - Point32 dir1; - - Face(): next(NULL), nearbyVertex(NULL), nextWithSameNearbyVertex(NULL) - { - } - - void init(Vertex* a, Vertex* b, Vertex* c) - { - nearbyVertex = a; - origin = a->point; - dir0 = *b - *a; - dir1 = *c - *a; - if (a->lastNearbyFace) - { - a->lastNearbyFace->nextWithSameNearbyVertex = this; - } - else - { - a->firstNearbyFace = this; - } - a->lastNearbyFace = this; - } - - Point64 getNormal() - { - return dir0.cross(dir1); - } - }; - - template class DMul - { - private: - static uint32_t high(uint64_t value) - { - return (uint32_t) (value >> 32); - } - - static uint32_t low(uint64_t value) - { - return (uint32_t) value; - } - - static uint64_t mul(uint32_t a, uint32_t b) - { - return (uint64_t) a * (uint64_t) b; - } - - static void shlHalf(uint64_t& value) - { - value <<= 32; - } - - static uint64_t high(Int128 value) - { - return value.high; - } - - static uint64_t low(Int128 value) - { - return value.low; - } - - static Int128 mul(uint64_t a, uint64_t b) - { - return Int128::mul(a, b); - } - - static void shlHalf(Int128& value) - { - value.high = value.low; - value.low = 0; - } - - public: - - static void mul(UWord a, UWord b, UWord& resLow, UWord& resHigh) - { - UWord p00 = mul(low(a), low(b)); - UWord p01 = mul(low(a), high(b)); - UWord p10 = mul(high(a), low(b)); - UWord p11 = mul(high(a), high(b)); - UWord p0110 = UWord(low(p01)) + UWord(low(p10)); - p11 += high(p01); - p11 += high(p10); - p11 += high(p0110); - shlHalf(p0110); - p00 += p0110; - if (p00 < p0110) - { - ++p11; - } - resLow = p00; - resHigh = p11; - } - }; - - private: - - class IntermediateHull - { - public: - Vertex* minXy; - Vertex* maxXy; - Vertex* minYx; - Vertex* maxYx; - - IntermediateHull(): minXy(NULL), maxXy(NULL), minYx(NULL), maxYx(NULL) - { - } - - void print(); - }; - - enum Orientation {NONE, CLOCKWISE, COUNTER_CLOCKWISE}; - - template class PoolArray - { - private: - T* array; - int size; - - public: - PoolArray* next; - - PoolArray(int size): size(size), next(NULL) - { - array = (T*) btAlignedAlloc(sizeof(T) * size, 16); - } - - ~PoolArray() - { - btAlignedFree(array); - } - - T* init() - { - T* o = array; - for (int i = 0; i < size; i++, o++) - { - o->next = (i+1 < size) ? o + 1 : NULL; - } - return array; - } - }; - - template class Pool - { - private: - PoolArray* arrays; - PoolArray* nextArray; - T* freeObjects; - int arraySize; - - public: - Pool(): arrays(NULL), nextArray(NULL), freeObjects(NULL), arraySize(256) - { - } - - ~Pool() - { - while (arrays) - { - PoolArray* p = arrays; - arrays = p->next; - p->~PoolArray(); - btAlignedFree(p); - } - } - - void reset() - { - nextArray = arrays; - freeObjects = NULL; - } - - void setArraySize(int arraySize) - { - this->arraySize = arraySize; - } - - T* newObject() - { - T* o = freeObjects; - if (!o) - { - PoolArray* p = nextArray; - if (p) - { - nextArray = p->next; - } - else - { - p = new(btAlignedAlloc(sizeof(PoolArray), 16)) PoolArray(arraySize); - p->next = arrays; - arrays = p; - } - o = p->init(); - } - freeObjects = o->next; - return new(o) T(); - }; - - void freeObject(T* object) - { - object->~T(); - object->next = freeObjects; - freeObjects = object; - } - }; - - btVector3 scaling; - btVector3 center; - Pool vertexPool; - Pool edgePool; - Pool facePool; - btAlignedObjectArray originalVertices; - int mergeStamp; - int minAxis; - int medAxis; - int maxAxis; - int usedEdgePairs; - int maxUsedEdgePairs; - - static Orientation getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t); - Edge* findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot); - void findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1); - - Edge* newEdgePair(Vertex* from, Vertex* to); - - void removeEdgePair(Edge* edge) - { - Edge* n = edge->next; - Edge* r = edge->reverse; - - btAssert(edge->target && r->target); - - if (n != edge) - { - n->prev = edge->prev; - edge->prev->next = n; - r->target->edges = n; - } - else - { - r->target->edges = NULL; - } - - n = r->next; - - if (n != r) - { - n->prev = r->prev; - r->prev->next = n; - edge->target->edges = n; - } - else - { - edge->target->edges = NULL; - } - - edgePool.freeObject(edge); - edgePool.freeObject(r); - usedEdgePairs--; - } - - void computeInternal(int start, int end, IntermediateHull& result); - - bool mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1); - - void merge(IntermediateHull& h0, IntermediateHull& h1); - - btVector3 toBtVector(const Point32& v); - - btVector3 getBtNormal(Face* face); - - bool shiftFace(Face* face, btScalar amount, btAlignedObjectArray stack); - - public: - Vertex* vertexList; - - void compute(const void* coords, bool doubleCoords, int stride, int count); - - btVector3 getCoordinates(const Vertex* v); - - btScalar shrink(btScalar amount, btScalar clampAmount); + }; + + class Face { + public: + Face* next; + Vertex* nearbyVertex; + Face* nextWithSameNearbyVertex; + Point32 origin; + Point32 dir0; + Point32 dir1; + + Face() + : next(NULL) + , nearbyVertex(NULL) + , nextWithSameNearbyVertex(NULL) + { + } + + void init(Vertex* a, Vertex* b, Vertex* c) + { + nearbyVertex = a; + origin = a->point; + dir0 = *b - *a; + dir1 = *c - *a; + if (a->lastNearbyFace) { + a->lastNearbyFace->nextWithSameNearbyVertex = this; + } + else { + a->firstNearbyFace = this; + } + a->lastNearbyFace = this; + } + + Point64 getNormal() + { + return dir0.cross(dir1); + } + }; + + template + class DMul { + private: + static uint32_t high(uint64_t value) + { + return (uint32_t)(value >> 32); + } + + static uint32_t low(uint64_t value) + { + return (uint32_t)value; + } + + static uint64_t mul(uint32_t a, uint32_t b) + { + return (uint64_t)a * (uint64_t)b; + } + + static void shlHalf(uint64_t& value) + { + value <<= 32; + } + + static uint64_t high(Int128 value) + { + return value.high; + } + + static uint64_t low(Int128 value) + { + return value.low; + } + + static Int128 mul(uint64_t a, uint64_t b) + { + return Int128::mul(a, b); + } + + static void shlHalf(Int128& value) + { + value.high = value.low; + value.low = 0; + } + + public: + static void mul(UWord a, UWord b, UWord& resLow, UWord& resHigh) + { + UWord p00 = mul(low(a), low(b)); + UWord p01 = mul(low(a), high(b)); + UWord p10 = mul(high(a), low(b)); + UWord p11 = mul(high(a), high(b)); + UWord p0110 = UWord(low(p01)) + UWord(low(p10)); + p11 += high(p01); + p11 += high(p10); + p11 += high(p0110); + shlHalf(p0110); + p00 += p0110; + if (p00 < p0110) { + ++p11; + } + resLow = p00; + resHigh = p11; + } + }; + +private: + class IntermediateHull { + public: + Vertex* minXy; + Vertex* maxXy; + Vertex* minYx; + Vertex* maxYx; + + IntermediateHull() + : minXy(NULL) + , maxXy(NULL) + , minYx(NULL) + , maxYx(NULL) + { + } + + void print(); + }; + + enum Orientation { NONE, + CLOCKWISE, + COUNTER_CLOCKWISE }; + + template + class PoolArray { + private: + T* array; + int32_t size; + + public: + PoolArray* next; + + PoolArray(int32_t size) + : size(size) + , next(NULL) + { + array = (T*)btAlignedAlloc(sizeof(T) * size, 16); + } + + ~PoolArray() + { + btAlignedFree(array); + } + + T* init() + { + T* o = array; + for (int32_t i = 0; i < size; i++, o++) { + o->next = (i + 1 < size) ? o + 1 : NULL; + } + return array; + } + }; + + template + class Pool { + private: + PoolArray* arrays; + PoolArray* nextArray; + T* freeObjects; + int32_t arraySize; + + public: + Pool() + : arrays(NULL) + , nextArray(NULL) + , freeObjects(NULL) + , arraySize(256) + { + } + + ~Pool() + { + while (arrays) { + PoolArray* p = arrays; + arrays = p->next; + p->~PoolArray(); + btAlignedFree(p); + } + } + + void reset() + { + nextArray = arrays; + freeObjects = NULL; + } + + void setArraySize(int32_t arraySize) + { + this->arraySize = arraySize; + } + + T* newObject() + { + T* o = freeObjects; + if (!o) { + PoolArray* p = nextArray; + if (p) { + nextArray = p->next; + } + else { + p = new (btAlignedAlloc(sizeof(PoolArray), 16)) PoolArray(arraySize); + p->next = arrays; + arrays = p; + } + o = p->init(); + } + freeObjects = o->next; + return new (o) T(); + }; + + void freeObject(T* object) + { + object->~T(); + object->next = freeObjects; + freeObjects = object; + } + }; + + btVector3 scaling; + btVector3 center; + Pool vertexPool; + Pool edgePool; + Pool facePool; + btAlignedObjectArray originalVertices; + int32_t mergeStamp; + int32_t minAxis; + int32_t medAxis; + int32_t maxAxis; + int32_t usedEdgePairs; + int32_t maxUsedEdgePairs; + + static Orientation getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t); + Edge* findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot); + void findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1); + + Edge* newEdgePair(Vertex* from, Vertex* to); + + void removeEdgePair(Edge* edge) + { + Edge* n = edge->next; + Edge* r = edge->reverse; + + btAssert(edge->target && r->target); + + if (n != edge) { + n->prev = edge->prev; + edge->prev->next = n; + r->target->edges = n; + } + else { + r->target->edges = NULL; + } + + n = r->next; + + if (n != r) { + n->prev = r->prev; + r->prev->next = n; + edge->target->edges = n; + } + else { + edge->target->edges = NULL; + } + + edgePool.freeObject(edge); + edgePool.freeObject(r); + usedEdgePairs--; + } + + void computeInternal(int32_t start, int32_t end, IntermediateHull& result); + + bool mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1); + + void merge(IntermediateHull& h0, IntermediateHull& h1); + + btVector3 toBtVector(const Point32& v); + + btVector3 getBtNormal(Face* face); + + bool shiftFace(Face* face, btScalar amount, btAlignedObjectArray stack); + +public: + Vertex* vertexList; + + void compute(const void* coords, bool doubleCoords, int32_t stride, int32_t count); + + btVector3 getCoordinates(const Vertex* v); + + btScalar shrink(btScalar amount, btScalar clampAmount); }; - btConvexHullInternal::Int128 btConvexHullInternal::Int128::operator*(int64_t b) const { - bool negative = (int64_t) high < 0; - Int128 a = negative ? -*this : *this; - if (b < 0) - { - negative = !negative; - b = -b; - } - Int128 result = mul(a.low, (uint64_t) b); - result.high += a.high * (uint64_t) b; - return negative ? -result : result; + bool negative = (int64_t)high < 0; + Int128 a = negative ? -*this : *this; + if (b < 0) { + negative = !negative; + b = -b; + } + Int128 result = mul(a.low, (uint64_t)b); + result.high += a.high * (uint64_t)b; + return negative ? -result : result; } btConvexHullInternal::Int128 btConvexHullInternal::Int128::mul(int64_t a, int64_t b) { - Int128 result; - + Int128 result; + #ifdef USE_X86_64_ASM - __asm__ ("imulq %[b]" - : "=a" (result.low), "=d" (result.high) - : "0"(a), [b] "r"(b) - : "cc" ); - return result; - + __asm__("imulq %[b]" + : "=a"(result.low), "=d"(result.high) + : "0"(a), [b] "r"(b) + : "cc"); + return result; + #else - bool negative = a < 0; - if (negative) - { - a = -a; - } - if (b < 0) - { - negative = !negative; - b = -b; - } - DMul::mul((uint64_t) a, (uint64_t) b, result.low, result.high); - return negative ? -result : result; + bool negative = a < 0; + if (negative) { + a = -a; + } + if (b < 0) { + negative = !negative; + b = -b; + } + DMul::mul((uint64_t)a, (uint64_t)b, result.low, result.high); + return negative ? -result : result; #endif } btConvexHullInternal::Int128 btConvexHullInternal::Int128::mul(uint64_t a, uint64_t b) { - Int128 result; + Int128 result; #ifdef USE_X86_64_ASM - __asm__ ("mulq %[b]" - : "=a" (result.low), "=d" (result.high) - : "0"(a), [b] "r"(b) - : "cc" ); + __asm__("mulq %[b]" + : "=a"(result.low), "=d"(result.high) + : "0"(a), [b] "r"(b) + : "cc"); #else - DMul::mul(a, b, result.low, result.high); + DMul::mul(a, b, result.low, result.high); #endif - return result; + return result; } -int btConvexHullInternal::Rational64::compare(const Rational64& b) const +int32_t btConvexHullInternal::Rational64::compare(const Rational64& b) const { - if (sign != b.sign) - { - return sign - b.sign; - } - else if (sign == 0) - { - return 0; - } + if (sign != b.sign) { + return sign - b.sign; + } + else if (sign == 0) { + return 0; + } - // return (numerator * b.denominator > b.numerator * denominator) ? sign : (numerator * b.denominator < b.numerator * denominator) ? -sign : 0; +// return (numerator * b.denominator > b.numerator * denominator) ? sign : (numerator * b.denominator < b.numerator * denominator) ? -sign : 0; #ifdef USE_X86_64_ASM - int result; - int64_t tmp; - int64_t dummy; - __asm__ ("mulq %[bn]\n\t" - "movq %%rax, %[tmp]\n\t" - "movq %%rdx, %%rbx\n\t" - "movq %[tn], %%rax\n\t" - "mulq %[bd]\n\t" - "subq %[tmp], %%rax\n\t" - "sbbq %%rbx, %%rdx\n\t" // rdx:rax contains 128-bit-difference "numerator*b.denominator - b.numerator*denominator" - "setnsb %%bh\n\t" // bh=1 if difference is non-negative, bh=0 otherwise - "orq %%rdx, %%rax\n\t" - "setnzb %%bl\n\t" // bl=1 if difference if non-zero, bl=0 if it is zero - "decb %%bh\n\t" // now bx=0x0000 if difference is zero, 0xff01 if it is negative, 0x0001 if it is positive (i.e., same sign as difference) - "shll $16, %%ebx\n\t" // ebx has same sign as difference - : "=&b"(result), [tmp] "=&r"(tmp), "=a"(dummy) - : "a"(denominator), [bn] "g"(b.numerator), [tn] "g"(numerator), [bd] "g"(b.denominator) - : "%rdx", "cc" ); - return result ? result ^ sign // if sign is +1, only bit 0 of result is inverted, which does not change the sign of result (and cannot result in zero) - // if sign is -1, all bits of result are inverted, which changes the sign of result (and again cannot result in zero) - : 0; + int32_t result; + int64_t tmp; + int64_t dummy; + __asm__("mulq %[bn]\n\t" + "movq %%rax, %[tmp]\n\t" + "movq %%rdx, %%rbx\n\t" + "movq %[tn], %%rax\n\t" + "mulq %[bd]\n\t" + "subq %[tmp], %%rax\n\t" + "sbbq %%rbx, %%rdx\n\t" // rdx:rax contains 128-bit-difference "numerator*b.denominator - b.numerator*denominator" + "setnsb %%bh\n\t" // bh=1 if difference is non-negative, bh=0 otherwise + "orq %%rdx, %%rax\n\t" + "setnzb %%bl\n\t" // bl=1 if difference if non-zero, bl=0 if it is zero + "decb %%bh\n\t" // now bx=0x0000 if difference is zero, 0xff01 if it is negative, 0x0001 if it is positive (i.e., same sign as difference) + "shll $16, %%ebx\n\t" // ebx has same sign as difference + : "=&b"(result), [tmp] "=&r"(tmp), "=a"(dummy) + : "a"(denominator), [bn] "g"(b.numerator), [tn] "g"(numerator), [bd] "g"(b.denominator) + : "%rdx", "cc"); + return result ? result ^ sign // if sign is +1, only bit 0 of result is inverted, which does not change the sign of result (and cannot result in zero) + // if sign is -1, all bits of result are inverted, which changes the sign of result (and again cannot result in zero) + : 0; #else - return sign * Int128::mul(m_numerator, b.m_denominator).ucmp(Int128::mul(m_denominator, b.m_numerator)); + return sign * Int128::mul(m_numerator, b.m_denominator).ucmp(Int128::mul(m_denominator, b.m_numerator)); #endif } -int btConvexHullInternal::Rational128::compare(const Rational128& b) const +int32_t btConvexHullInternal::Rational128::compare(const Rational128& b) const { - if (sign != b.sign) - { - return sign - b.sign; - } - else if (sign == 0) - { - return 0; - } - if (isInt64) - { - return -b.compare(sign * (int64_t) numerator.low); - } - - Int128 nbdLow, nbdHigh, dbnLow, dbnHigh; - DMul::mul(numerator, b.denominator, nbdLow, nbdHigh); - DMul::mul(denominator, b.numerator, dbnLow, dbnHigh); - - int cmp = nbdHigh.ucmp(dbnHigh); - if (cmp) - { - return cmp * sign; - } - return nbdLow.ucmp(dbnLow) * sign; + if (sign != b.sign) { + return sign - b.sign; + } + else if (sign == 0) { + return 0; + } + if (isInt64) { + return -b.compare(sign * (int64_t)numerator.low); + } + + Int128 nbdLow, nbdHigh, dbnLow, dbnHigh; + DMul::mul(numerator, b.denominator, nbdLow, nbdHigh); + DMul::mul(denominator, b.numerator, dbnLow, dbnHigh); + + int32_t cmp = nbdHigh.ucmp(dbnHigh); + if (cmp) { + return cmp * sign; + } + return nbdLow.ucmp(dbnLow) * sign; } -int btConvexHullInternal::Rational128::compare(int64_t b) const +int32_t btConvexHullInternal::Rational128::compare(int64_t b) const { - if (isInt64) - { - int64_t a = sign * (int64_t) numerator.low; - return (a > b) ? 1 : (a < b) ? -1 : 0; - } - if (b > 0) - { - if (sign <= 0) - { - return -1; - } - } - else if (b < 0) - { - if (sign >= 0) - { - return 1; - } - b = -b; - } - else - { - return sign; - } - - return numerator.ucmp(denominator * b) * sign; + if (isInt64) { + int64_t a = sign * (int64_t)numerator.low; + return (a > b) ? 1 : (a < b) ? -1 : 0; + } + if (b > 0) { + if (sign <= 0) { + return -1; + } + } + else if (b < 0) { + if (sign >= 0) { + return 1; + } + b = -b; + } + else { + return sign; + } + + return numerator.ucmp(denominator * b) * sign; } - btConvexHullInternal::Edge* btConvexHullInternal::newEdgePair(Vertex* from, Vertex* to) { - btAssert(from && to); - Edge* e = edgePool.newObject(); - Edge* r = edgePool.newObject(); - e->reverse = r; - r->reverse = e; - e->copy = mergeStamp; - r->copy = mergeStamp; - e->target = to; - r->target = from; - e->face = NULL; - r->face = NULL; - usedEdgePairs++; - if (usedEdgePairs > maxUsedEdgePairs) - { - maxUsedEdgePairs = usedEdgePairs; - } - return e; + btAssert(from && to); + Edge* e = edgePool.newObject(); + Edge* r = edgePool.newObject(); + e->reverse = r; + r->reverse = e; + e->copy = mergeStamp; + r->copy = mergeStamp; + e->target = to; + r->target = from; + e->face = NULL; + r->face = NULL; + usedEdgePairs++; + if (usedEdgePairs > maxUsedEdgePairs) { + maxUsedEdgePairs = usedEdgePairs; + } + return e; } bool btConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1) { - Vertex* v0 = h0.maxYx; - Vertex* v1 = h1.minYx; - if ((v0->point.x == v1->point.x) && (v0->point.y == v1->point.y)) - { - btAssert(v0->point.z < v1->point.z); - Vertex* v1p = v1->prev; - if (v1p == v1) - { - c0 = v0; - if (v1->edges) - { - btAssert(v1->edges->next == v1->edges); - v1 = v1->edges->target; - btAssert(v1->edges->next == v1->edges); - } - c1 = v1; - return false; - } - Vertex* v1n = v1->next; - v1p->next = v1n; - v1n->prev = v1p; - if (v1 == h1.minXy) - { - if ((v1n->point.x < v1p->point.x) || ((v1n->point.x == v1p->point.x) && (v1n->point.y < v1p->point.y))) - { - h1.minXy = v1n; - } - else - { - h1.minXy = v1p; - } - } - if (v1 == h1.maxXy) - { - if ((v1n->point.x > v1p->point.x) || ((v1n->point.x == v1p->point.x) && (v1n->point.y > v1p->point.y))) - { - h1.maxXy = v1n; - } - else - { - h1.maxXy = v1p; - } - } - } - - v0 = h0.maxXy; - v1 = h1.maxXy; - Vertex* v00 = NULL; - Vertex* v10 = NULL; - int32_t sign = 1; - - for (int side = 0; side <= 1; side++) - { - int32_t dx = (v1->point.x - v0->point.x) * sign; - if (dx > 0) - { - while (true) - { - int32_t dy = v1->point.y - v0->point.y; - - Vertex* w0 = side ? v0->next : v0->prev; - if (w0 != v0) - { - int32_t dx0 = (w0->point.x - v0->point.x) * sign; - int32_t dy0 = w0->point.y - v0->point.y; - if ((dy0 <= 0) && ((dx0 == 0) || ((dx0 < 0) && (dy0 * dx <= dy * dx0)))) - { - v0 = w0; - dx = (v1->point.x - v0->point.x) * sign; - continue; - } - } - - Vertex* w1 = side ? v1->next : v1->prev; - if (w1 != v1) - { - int32_t dx1 = (w1->point.x - v1->point.x) * sign; - int32_t dy1 = w1->point.y - v1->point.y; - int32_t dxn = (w1->point.x - v0->point.x) * sign; - if ((dxn > 0) && (dy1 < 0) && ((dx1 == 0) || ((dx1 < 0) && (dy1 * dx < dy * dx1)))) - { - v1 = w1; - dx = dxn; - continue; - } - } - - break; - } - } - else if (dx < 0) - { - while (true) - { - int32_t dy = v1->point.y - v0->point.y; - - Vertex* w1 = side ? v1->prev : v1->next; - if (w1 != v1) - { - int32_t dx1 = (w1->point.x - v1->point.x) * sign; - int32_t dy1 = w1->point.y - v1->point.y; - if ((dy1 >= 0) && ((dx1 == 0) || ((dx1 < 0) && (dy1 * dx <= dy * dx1)))) - { - v1 = w1; - dx = (v1->point.x - v0->point.x) * sign; - continue; - } - } - - Vertex* w0 = side ? v0->prev : v0->next; - if (w0 != v0) - { - int32_t dx0 = (w0->point.x - v0->point.x) * sign; - int32_t dy0 = w0->point.y - v0->point.y; - int32_t dxn = (v1->point.x - w0->point.x) * sign; - if ((dxn < 0) && (dy0 > 0) && ((dx0 == 0) || ((dx0 < 0) && (dy0 * dx < dy * dx0)))) - { - v0 = w0; - dx = dxn; - continue; - } - } - - break; - } - } - else - { - int32_t x = v0->point.x; - int32_t y0 = v0->point.y; - Vertex* w0 = v0; - Vertex* t; - while (((t = side ? w0->next : w0->prev) != v0) && (t->point.x == x) && (t->point.y <= y0)) - { - w0 = t; - y0 = t->point.y; - } - v0 = w0; - - int32_t y1 = v1->point.y; - Vertex* w1 = v1; - while (((t = side ? w1->prev : w1->next) != v1) && (t->point.x == x) && (t->point.y >= y1)) - { - w1 = t; - y1 = t->point.y; - } - v1 = w1; - } - - if (side == 0) - { - v00 = v0; - v10 = v1; - - v0 = h0.minXy; - v1 = h1.minXy; - sign = -1; - } - } - - v0->prev = v1; - v1->next = v0; - - v00->next = v10; - v10->prev = v00; - - if (h1.minXy->point.x < h0.minXy->point.x) - { - h0.minXy = h1.minXy; - } - if (h1.maxXy->point.x >= h0.maxXy->point.x) - { - h0.maxXy = h1.maxXy; - } - - h0.maxYx = h1.maxYx; - - c0 = v00; - c1 = v10; - - return true; + Vertex* v0 = h0.maxYx; + Vertex* v1 = h1.minYx; + if ((v0->point.x == v1->point.x) && (v0->point.y == v1->point.y)) { + btAssert(v0->point.z < v1->point.z); + Vertex* v1p = v1->prev; + if (v1p == v1) { + c0 = v0; + if (v1->edges) { + btAssert(v1->edges->next == v1->edges); + v1 = v1->edges->target; + btAssert(v1->edges->next == v1->edges); + } + c1 = v1; + return false; + } + Vertex* v1n = v1->next; + v1p->next = v1n; + v1n->prev = v1p; + if (v1 == h1.minXy) { + if ((v1n->point.x < v1p->point.x) || ((v1n->point.x == v1p->point.x) && (v1n->point.y < v1p->point.y))) { + h1.minXy = v1n; + } + else { + h1.minXy = v1p; + } + } + if (v1 == h1.maxXy) { + if ((v1n->point.x > v1p->point.x) || ((v1n->point.x == v1p->point.x) && (v1n->point.y > v1p->point.y))) { + h1.maxXy = v1n; + } + else { + h1.maxXy = v1p; + } + } + } + + v0 = h0.maxXy; + v1 = h1.maxXy; + Vertex* v00 = NULL; + Vertex* v10 = NULL; + int32_t sign = 1; + + for (int32_t side = 0; side <= 1; side++) { + int32_t dx = (v1->point.x - v0->point.x) * sign; + if (dx > 0) { + while (true) { + int32_t dy = v1->point.y - v0->point.y; + + Vertex* w0 = side ? v0->next : v0->prev; + if (w0 != v0) { + int32_t dx0 = (w0->point.x - v0->point.x) * sign; + int32_t dy0 = w0->point.y - v0->point.y; + if ((dy0 <= 0) && ((dx0 == 0) || ((dx0 < 0) && (dy0 * dx <= dy * dx0)))) { + v0 = w0; + dx = (v1->point.x - v0->point.x) * sign; + continue; + } + } + + Vertex* w1 = side ? v1->next : v1->prev; + if (w1 != v1) { + int32_t dx1 = (w1->point.x - v1->point.x) * sign; + int32_t dy1 = w1->point.y - v1->point.y; + int32_t dxn = (w1->point.x - v0->point.x) * sign; + if ((dxn > 0) && (dy1 < 0) && ((dx1 == 0) || ((dx1 < 0) && (dy1 * dx < dy * dx1)))) { + v1 = w1; + dx = dxn; + continue; + } + } + + break; + } + } + else if (dx < 0) { + while (true) { + int32_t dy = v1->point.y - v0->point.y; + + Vertex* w1 = side ? v1->prev : v1->next; + if (w1 != v1) { + int32_t dx1 = (w1->point.x - v1->point.x) * sign; + int32_t dy1 = w1->point.y - v1->point.y; + if ((dy1 >= 0) && ((dx1 == 0) || ((dx1 < 0) && (dy1 * dx <= dy * dx1)))) { + v1 = w1; + dx = (v1->point.x - v0->point.x) * sign; + continue; + } + } + + Vertex* w0 = side ? v0->prev : v0->next; + if (w0 != v0) { + int32_t dx0 = (w0->point.x - v0->point.x) * sign; + int32_t dy0 = w0->point.y - v0->point.y; + int32_t dxn = (v1->point.x - w0->point.x) * sign; + if ((dxn < 0) && (dy0 > 0) && ((dx0 == 0) || ((dx0 < 0) && (dy0 * dx < dy * dx0)))) { + v0 = w0; + dx = dxn; + continue; + } + } + + break; + } + } + else { + int32_t x = v0->point.x; + int32_t y0 = v0->point.y; + Vertex* w0 = v0; + Vertex* t; + while (((t = side ? w0->next : w0->prev) != v0) && (t->point.x == x) && (t->point.y <= y0)) { + w0 = t; + y0 = t->point.y; + } + v0 = w0; + + int32_t y1 = v1->point.y; + Vertex* w1 = v1; + while (((t = side ? w1->prev : w1->next) != v1) && (t->point.x == x) && (t->point.y >= y1)) { + w1 = t; + y1 = t->point.y; + } + v1 = w1; + } + + if (side == 0) { + v00 = v0; + v10 = v1; + + v0 = h0.minXy; + v1 = h1.minXy; + sign = -1; + } + } + + v0->prev = v1; + v1->next = v0; + + v00->next = v10; + v10->prev = v00; + + if (h1.minXy->point.x < h0.minXy->point.x) { + h0.minXy = h1.minXy; + } + if (h1.maxXy->point.x >= h0.maxXy->point.x) { + h0.maxXy = h1.maxXy; + } + + h0.maxYx = h1.maxYx; + + c0 = v00; + c1 = v10; + + return true; } -void btConvexHullInternal::computeInternal(int start, int end, IntermediateHull& result) +void btConvexHullInternal::computeInternal(int32_t start, int32_t end, IntermediateHull& result) { - int n = end - start; - switch (n) - { - case 0: - result.minXy = NULL; - result.maxXy = NULL; - result.minYx = NULL; - result.maxYx = NULL; - return; - case 2: - { - Vertex* v = originalVertices[start]; - Vertex* w = v + 1; - if (v->point != w->point) - { - int32_t dx = v->point.x - w->point.x; - int32_t dy = v->point.y - w->point.y; - - if ((dx == 0) && (dy == 0)) - { - if (v->point.z > w->point.z) - { - Vertex* t = w; - w = v; - v = t; - } - btAssert(v->point.z < w->point.z); - v->next = v; - v->prev = v; - result.minXy = v; - result.maxXy = v; - result.minYx = v; - result.maxYx = v; - } - else - { - v->next = w; - v->prev = w; - w->next = v; - w->prev = v; - - if ((dx < 0) || ((dx == 0) && (dy < 0))) - { - result.minXy = v; - result.maxXy = w; - } - else - { - result.minXy = w; - result.maxXy = v; - } - - if ((dy < 0) || ((dy == 0) && (dx < 0))) - { - result.minYx = v; - result.maxYx = w; - } - else - { - result.minYx = w; - result.maxYx = v; - } - } - - Edge* e = newEdgePair(v, w); - e->link(e); - v->edges = e; - - e = e->reverse; - e->link(e); - w->edges = e; - - return; - } - } - // lint -fallthrough - case 1: - { - Vertex* v = originalVertices[start]; - v->edges = NULL; - v->next = v; - v->prev = v; - - result.minXy = v; - result.maxXy = v; - result.minYx = v; - result.maxYx = v; - - return; - } - } - - int split0 = start + n / 2; - Point32 p = originalVertices[split0-1]->point; - int split1 = split0; - while ((split1 < end) && (originalVertices[split1]->point == p)) - { - split1++; - } - computeInternal(start, split0, result); - IntermediateHull hull1; - computeInternal(split1, end, hull1); + int32_t n = end - start; + switch (n) { + case 0: + result.minXy = NULL; + result.maxXy = NULL; + result.minYx = NULL; + result.maxYx = NULL; + return; + case 2: { + Vertex* v = originalVertices[start]; + Vertex* w = v + 1; + if (v->point != w->point) { + int32_t dx = v->point.x - w->point.x; + int32_t dy = v->point.y - w->point.y; + + if ((dx == 0) && (dy == 0)) { + if (v->point.z > w->point.z) { + Vertex* t = w; + w = v; + v = t; + } + btAssert(v->point.z < w->point.z); + v->next = v; + v->prev = v; + result.minXy = v; + result.maxXy = v; + result.minYx = v; + result.maxYx = v; + } + else { + v->next = w; + v->prev = w; + w->next = v; + w->prev = v; + + if ((dx < 0) || ((dx == 0) && (dy < 0))) { + result.minXy = v; + result.maxXy = w; + } + else { + result.minXy = w; + result.maxXy = v; + } + + if ((dy < 0) || ((dy == 0) && (dx < 0))) { + result.minYx = v; + result.maxYx = w; + } + else { + result.minYx = w; + result.maxYx = v; + } + } + + Edge* e = newEdgePair(v, w); + e->link(e); + v->edges = e; + + e = e->reverse; + e->link(e); + w->edges = e; + + return; + } + } + // lint -fallthrough + case 1: { + Vertex* v = originalVertices[start]; + v->edges = NULL; + v->next = v; + v->prev = v; + + result.minXy = v; + result.maxXy = v; + result.minYx = v; + result.maxYx = v; + + return; + } + } + + int32_t split0 = start + n / 2; + Point32 p = originalVertices[split0 - 1]->point; + int32_t split1 = split0; + while ((split1 < end) && (originalVertices[split1]->point == p)) { + split1++; + } + computeInternal(start, split0, result); + IntermediateHull hull1; + computeInternal(split1, end, hull1); #ifdef DEBUG_CONVEX_HULL - printf("\n\nMerge\n"); - result.print(); - hull1.print(); + printf("\n\nMerge\n"); + result.print(); + hull1.print(); #endif - merge(result, hull1); + merge(result, hull1); #ifdef DEBUG_CONVEX_HULL - printf("\n Result\n"); - result.print(); + printf("\n Result\n"); + result.print(); #endif } #ifdef DEBUG_CONVEX_HULL void btConvexHullInternal::IntermediateHull::print() { - printf(" Hull\n"); - for (Vertex* v = minXy; v; ) - { - printf(" "); - v->print(); - if (v == maxXy) - { - printf(" maxXy"); - } - if (v == minYx) - { - printf(" minYx"); - } - if (v == maxYx) - { - printf(" maxYx"); - } - if (v->next->prev != v) - { - printf(" Inconsistency"); - } - printf("\n"); - v = v->next; - if (v == minXy) - { - break; - } - } - if (minXy) - { - minXy->copy = (minXy->copy == -1) ? -2 : -1; - minXy->printGraph(); - } + printf(" Hull\n"); + for (Vertex* v = minXy; v;) { + printf(" "); + v->print(); + if (v == maxXy) { + printf(" maxXy"); + } + if (v == minYx) { + printf(" minYx"); + } + if (v == maxYx) { + printf(" maxYx"); + } + if (v->next->prev != v) { + printf(" Inconsistency"); + } + printf("\n"); + v = v->next; + if (v == minXy) { + break; + } + } + if (minXy) { + minXy->copy = (minXy->copy == -1) ? -2 : -1; + minXy->printGraph(); + } } void btConvexHullInternal::Vertex::printGraph() { - print(); - printf("\nEdges\n"); - Edge* e = edges; - if (e) - { - do - { - e->print(); - printf("\n"); - e = e->next; - } while (e != edges); - do - { - Vertex* v = e->target; - if (v->copy != copy) - { - v->copy = copy; - v->printGraph(); - } - e = e->next; - } while (e != edges); - } + print(); + printf("\nEdges\n"); + Edge* e = edges; + if (e) { + do { + e->print(); + printf("\n"); + e = e->next; + } while (e != edges); + do { + Vertex* v = e->target; + if (v->copy != copy) { + v->copy = copy; + v->printGraph(); + } + e = e->next; + } while (e != edges); + } } #endif btConvexHullInternal::Orientation btConvexHullInternal::getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t) { - btAssert(prev->reverse->target == next->reverse->target); - if (prev->next == next) - { - if (prev->prev == next) - { - Point64 n = t.cross(s); - Point64 m = (*prev->target - *next->reverse->target).cross(*next->target - *next->reverse->target); - btAssert(!m.isZero()); - int64_t dot = n.dot(m); - btAssert(dot != 0); - return (dot > 0) ? COUNTER_CLOCKWISE : CLOCKWISE; - } - return COUNTER_CLOCKWISE; - } - else if (prev->prev == next) - { - return CLOCKWISE; - } - else - { - return NONE; - } + btAssert(prev->reverse->target == next->reverse->target); + if (prev->next == next) { + if (prev->prev == next) { + Point64 n = t.cross(s); + Point64 m = (*prev->target - *next->reverse->target).cross(*next->target - *next->reverse->target); + btAssert(!m.isZero()); + int64_t dot = n.dot(m); + btAssert(dot != 0); + return (dot > 0) ? COUNTER_CLOCKWISE : CLOCKWISE; + } + return COUNTER_CLOCKWISE; + } + else if (prev->prev == next) { + return CLOCKWISE; + } + else { + return NONE; + } } btConvexHullInternal::Edge* btConvexHullInternal::findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot) { - Edge* minEdge = NULL; + Edge* minEdge = NULL; #ifdef DEBUG_CONVEX_HULL - printf("find max edge for %d\n", start->point.index); + printf("find max edge for %d\n", start->point.index); #endif - Edge* e = start->edges; - if (e) - { - do - { - if (e->copy > mergeStamp) - { - Point32 t = *e->target - *start; - Rational64 cot(t.dot(sxrxs), t.dot(rxs)); + Edge* e = start->edges; + if (e) { + do { + if (e->copy > mergeStamp) { + Point32 t = *e->target - *start; + Rational64 cot(t.dot(sxrxs), t.dot(rxs)); #ifdef DEBUG_CONVEX_HULL - printf(" Angle is %f (%d) for ", (float) btAtan(cot.toScalar()), (int) cot.isNaN()); - e->print(); + printf(" Angle is %f (%d) for ", (float)btAtan(cot.toScalar()), (int32_t)cot.isNaN()); + e->print(); #endif - if (cot.isNaN()) - { - btAssert(ccw ? (t.dot(s) < 0) : (t.dot(s) > 0)); - } - else - { - int cmp; - if (minEdge == NULL) - { - minCot = cot; - minEdge = e; - } - else if ((cmp = cot.compare(minCot)) < 0) - { - minCot = cot; - minEdge = e; - } - else if ((cmp == 0) && (ccw == (getOrientation(minEdge, e, s, t) == COUNTER_CLOCKWISE))) - { - minEdge = e; - } - } + if (cot.isNaN()) { + btAssert(ccw ? (t.dot(s) < 0) : (t.dot(s) > 0)); + } + else { + int32_t cmp; + if (minEdge == NULL) { + minCot = cot; + minEdge = e; + } + else if ((cmp = cot.compare(minCot)) < 0) { + minCot = cot; + minEdge = e; + } + else if ((cmp == 0) && (ccw == (getOrientation(minEdge, e, s, t) == COUNTER_CLOCKWISE))) { + minEdge = e; + } + } #ifdef DEBUG_CONVEX_HULL - printf("\n"); + printf("\n"); #endif - } - e = e->next; - } while (e != start->edges); - } - return minEdge; + } + e = e->next; + } while (e != start->edges); + } + return minEdge; } void btConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1) { - Edge* start0 = e0; - Edge* start1 = e1; - Point32 et0 = start0 ? start0->target->point : c0->point; - Point32 et1 = start1 ? start1->target->point : c1->point; - Point32 s = c1->point - c0->point; - Point64 normal = ((start0 ? start0 : start1)->target->point - c0->point).cross(s); - int64_t dist = c0->point.dot(normal); - btAssert(!start1 || (start1->target->point.dot(normal) == dist)); - Point64 perp = s.cross(normal); - btAssert(!perp.isZero()); - + Edge* start0 = e0; + Edge* start1 = e1; + Point32 et0 = start0 ? start0->target->point : c0->point; + Point32 et1 = start1 ? start1->target->point : c1->point; + Point32 s = c1->point - c0->point; + Point64 normal = ((start0 ? start0 : start1)->target->point - c0->point).cross(s); + int64_t dist = c0->point.dot(normal); + btAssert(!start1 || (start1->target->point.dot(normal) == dist)); + Point64 perp = s.cross(normal); + btAssert(!perp.isZero()); + #ifdef DEBUG_CONVEX_HULL - printf(" Advancing %d %d (%p %p, %d %d)\n", c0->point.index, c1->point.index, start0, start1, start0 ? start0->target->point.index : -1, start1 ? start1->target->point.index : -1); + printf(" Advancing %d %d (%p %p, %d %d)\n", c0->point.index, c1->point.index, start0, start1, start0 ? start0->target->point.index : -1, start1 ? start1->target->point.index : -1); #endif - int64_t maxDot0 = et0.dot(perp); - if (e0) - { - while (e0->target != stop0) - { - Edge* e = e0->reverse->prev; - if (e->target->point.dot(normal) < dist) - { - break; - } - btAssert(e->target->point.dot(normal) == dist); - if (e->copy == mergeStamp) - { - break; - } - int64_t dot = e->target->point.dot(perp); - if (dot <= maxDot0) - { - break; - } - maxDot0 = dot; - e0 = e; - et0 = e->target->point; - } - } - - int64_t maxDot1 = et1.dot(perp); - if (e1) - { - while (e1->target != stop1) - { - Edge* e = e1->reverse->next; - if (e->target->point.dot(normal) < dist) - { - break; - } - btAssert(e->target->point.dot(normal) == dist); - if (e->copy == mergeStamp) - { - break; - } - int64_t dot = e->target->point.dot(perp); - if (dot <= maxDot1) - { - break; - } - maxDot1 = dot; - e1 = e; - et1 = e->target->point; - } - } + int64_t maxDot0 = et0.dot(perp); + if (e0) { + while (e0->target != stop0) { + Edge* e = e0->reverse->prev; + if (e->target->point.dot(normal) < dist) { + break; + } + btAssert(e->target->point.dot(normal) == dist); + if (e->copy == mergeStamp) { + break; + } + int64_t dot = e->target->point.dot(perp); + if (dot <= maxDot0) { + break; + } + maxDot0 = dot; + e0 = e; + et0 = e->target->point; + } + } + + int64_t maxDot1 = et1.dot(perp); + if (e1) { + while (e1->target != stop1) { + Edge* e = e1->reverse->next; + if (e->target->point.dot(normal) < dist) { + break; + } + btAssert(e->target->point.dot(normal) == dist); + if (e->copy == mergeStamp) { + break; + } + int64_t dot = e->target->point.dot(perp); + if (dot <= maxDot1) { + break; + } + maxDot1 = dot; + e1 = e; + et1 = e->target->point; + } + } #ifdef DEBUG_CONVEX_HULL - printf(" Starting at %d %d\n", et0.index, et1.index); + printf(" Starting at %d %d\n", et0.index, et1.index); #endif - int64_t dx = maxDot1 - maxDot0; - if (dx > 0) - { - while (true) - { - int64_t dy = (et1 - et0).dot(s); - - if (e0 && (e0->target != stop0)) - { - Edge* f0 = e0->next->reverse; - if (f0->copy > mergeStamp) - { - int64_t dx0 = (f0->target->point - et0).dot(perp); - int64_t dy0 = (f0->target->point - et0).dot(s); - if ((dx0 == 0) ? (dy0 < 0) : ((dx0 < 0) && (Rational64(dy0, dx0).compare(Rational64(dy, dx)) >= 0))) - { - et0 = f0->target->point; - dx = (et1 - et0).dot(perp); - e0 = (e0 == start0) ? NULL : f0; - continue; - } - } - } - - if (e1 && (e1->target != stop1)) - { - Edge* f1 = e1->reverse->next; - if (f1->copy > mergeStamp) - { - Point32 d1 = f1->target->point - et1; - if (d1.dot(normal) == 0) - { - int64_t dx1 = d1.dot(perp); - int64_t dy1 = d1.dot(s); - int64_t dxn = (f1->target->point - et0).dot(perp); - if ((dxn > 0) && ((dx1 == 0) ? (dy1 < 0) : ((dx1 < 0) && (Rational64(dy1, dx1).compare(Rational64(dy, dx)) > 0)))) - { - e1 = f1; - et1 = e1->target->point; - dx = dxn; - continue; - } - } - else - { - btAssert((e1 == start1) && (d1.dot(normal) < 0)); - } - } - } - - break; - } - } - else if (dx < 0) - { - while (true) - { - int64_t dy = (et1 - et0).dot(s); - - if (e1 && (e1->target != stop1)) - { - Edge* f1 = e1->prev->reverse; - if (f1->copy > mergeStamp) - { - int64_t dx1 = (f1->target->point - et1).dot(perp); - int64_t dy1 = (f1->target->point - et1).dot(s); - if ((dx1 == 0) ? (dy1 > 0) : ((dx1 < 0) && (Rational64(dy1, dx1).compare(Rational64(dy, dx)) <= 0))) - { - et1 = f1->target->point; - dx = (et1 - et0).dot(perp); - e1 = (e1 == start1) ? NULL : f1; - continue; - } - } - } - - if (e0 && (e0->target != stop0)) - { - Edge* f0 = e0->reverse->prev; - if (f0->copy > mergeStamp) - { - Point32 d0 = f0->target->point - et0; - if (d0.dot(normal) == 0) - { - int64_t dx0 = d0.dot(perp); - int64_t dy0 = d0.dot(s); - int64_t dxn = (et1 - f0->target->point).dot(perp); - if ((dxn < 0) && ((dx0 == 0) ? (dy0 > 0) : ((dx0 < 0) && (Rational64(dy0, dx0).compare(Rational64(dy, dx)) < 0)))) - { - e0 = f0; - et0 = e0->target->point; - dx = dxn; - continue; - } - } - else - { - btAssert((e0 == start0) && (d0.dot(normal) < 0)); - } - } - } - - break; - } - } + int64_t dx = maxDot1 - maxDot0; + if (dx > 0) { + while (true) { + int64_t dy = (et1 - et0).dot(s); + + if (e0 && (e0->target != stop0)) { + Edge* f0 = e0->next->reverse; + if (f0->copy > mergeStamp) { + int64_t dx0 = (f0->target->point - et0).dot(perp); + int64_t dy0 = (f0->target->point - et0).dot(s); + if ((dx0 == 0) ? (dy0 < 0) : ((dx0 < 0) && (Rational64(dy0, dx0).compare(Rational64(dy, dx)) >= 0))) { + et0 = f0->target->point; + dx = (et1 - et0).dot(perp); + e0 = (e0 == start0) ? NULL : f0; + continue; + } + } + } + + if (e1 && (e1->target != stop1)) { + Edge* f1 = e1->reverse->next; + if (f1->copy > mergeStamp) { + Point32 d1 = f1->target->point - et1; + if (d1.dot(normal) == 0) { + int64_t dx1 = d1.dot(perp); + int64_t dy1 = d1.dot(s); + int64_t dxn = (f1->target->point - et0).dot(perp); + if ((dxn > 0) && ((dx1 == 0) ? (dy1 < 0) : ((dx1 < 0) && (Rational64(dy1, dx1).compare(Rational64(dy, dx)) > 0)))) { + e1 = f1; + et1 = e1->target->point; + dx = dxn; + continue; + } + } + else { + btAssert((e1 == start1) && (d1.dot(normal) < 0)); + } + } + } + + break; + } + } + else if (dx < 0) { + while (true) { + int64_t dy = (et1 - et0).dot(s); + + if (e1 && (e1->target != stop1)) { + Edge* f1 = e1->prev->reverse; + if (f1->copy > mergeStamp) { + int64_t dx1 = (f1->target->point - et1).dot(perp); + int64_t dy1 = (f1->target->point - et1).dot(s); + if ((dx1 == 0) ? (dy1 > 0) : ((dx1 < 0) && (Rational64(dy1, dx1).compare(Rational64(dy, dx)) <= 0))) { + et1 = f1->target->point; + dx = (et1 - et0).dot(perp); + e1 = (e1 == start1) ? NULL : f1; + continue; + } + } + } + + if (e0 && (e0->target != stop0)) { + Edge* f0 = e0->reverse->prev; + if (f0->copy > mergeStamp) { + Point32 d0 = f0->target->point - et0; + if (d0.dot(normal) == 0) { + int64_t dx0 = d0.dot(perp); + int64_t dy0 = d0.dot(s); + int64_t dxn = (et1 - f0->target->point).dot(perp); + if ((dxn < 0) && ((dx0 == 0) ? (dy0 > 0) : ((dx0 < 0) && (Rational64(dy0, dx0).compare(Rational64(dy, dx)) < 0)))) { + e0 = f0; + et0 = e0->target->point; + dx = dxn; + continue; + } + } + else { + btAssert((e0 == start0) && (d0.dot(normal) < 0)); + } + } + } + + break; + } + } #ifdef DEBUG_CONVEX_HULL - printf(" Advanced edges to %d %d\n", et0.index, et1.index); + printf(" Advanced edges to %d %d\n", et0.index, et1.index); #endif } - void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1) { - if (!h1.maxXy) - { - return; - } - if (!h0.maxXy) - { - h0 = h1; - return; - } - - mergeStamp--; - - Vertex* c0 = NULL; - Edge* toPrev0 = NULL; - Edge* firstNew0 = NULL; - Edge* pendingHead0 = NULL; - Edge* pendingTail0 = NULL; - Vertex* c1 = NULL; - Edge* toPrev1 = NULL; - Edge* firstNew1 = NULL; - Edge* pendingHead1 = NULL; - Edge* pendingTail1 = NULL; - Point32 prevPoint; - - if (mergeProjection(h0, h1, c0, c1)) - { - Point32 s = *c1 - *c0; - Point64 normal = Point32(0, 0, -1).cross(s); - Point64 t = s.cross(normal); - btAssert(!t.isZero()); - - Edge* e = c0->edges; - Edge* start0 = NULL; - if (e) - { - do - { - int64_t dot = (*e->target - *c0).dot(normal); - btAssert(dot <= 0); - if ((dot == 0) && ((*e->target - *c0).dot(t) > 0)) - { - if (!start0 || (getOrientation(start0, e, s, Point32(0, 0, -1)) == CLOCKWISE)) - { - start0 = e; - } - } - e = e->next; - } while (e != c0->edges); - } - - e = c1->edges; - Edge* start1 = NULL; - if (e) - { - do - { - int64_t dot = (*e->target - *c1).dot(normal); - btAssert(dot <= 0); - if ((dot == 0) && ((*e->target - *c1).dot(t) > 0)) - { - if (!start1 || (getOrientation(start1, e, s, Point32(0, 0, -1)) == COUNTER_CLOCKWISE)) - { - start1 = e; - } - } - e = e->next; - } while (e != c1->edges); - } - - if (start0 || start1) - { - findEdgeForCoplanarFaces(c0, c1, start0, start1, NULL, NULL); - if (start0) - { - c0 = start0->target; - } - if (start1) - { - c1 = start1->target; - } - } - - prevPoint = c1->point; - prevPoint.z++; - } - else - { - prevPoint = c1->point; - prevPoint.x++; - } - - Vertex* first0 = c0; - Vertex* first1 = c1; - bool firstRun = true; - - while (true) - { - Point32 s = *c1 - *c0; - Point32 r = prevPoint - c0->point; - Point64 rxs = r.cross(s); - Point64 sxrxs = s.cross(rxs); - + if (!h1.maxXy) { + return; + } + if (!h0.maxXy) { + h0 = h1; + return; + } + + mergeStamp--; + + Vertex* c0 = NULL; + Edge* toPrev0 = NULL; + Edge* firstNew0 = NULL; + Edge* pendingHead0 = NULL; + Edge* pendingTail0 = NULL; + Vertex* c1 = NULL; + Edge* toPrev1 = NULL; + Edge* firstNew1 = NULL; + Edge* pendingHead1 = NULL; + Edge* pendingTail1 = NULL; + Point32 prevPoint; + + if (mergeProjection(h0, h1, c0, c1)) { + Point32 s = *c1 - *c0; + Point64 normal = Point32(0, 0, -1).cross(s); + Point64 t = s.cross(normal); + btAssert(!t.isZero()); + + Edge* e = c0->edges; + Edge* start0 = NULL; + if (e) { + do { + int64_t dot = (*e->target - *c0).dot(normal); + btAssert(dot <= 0); + if ((dot == 0) && ((*e->target - *c0).dot(t) > 0)) { + if (!start0 || (getOrientation(start0, e, s, Point32(0, 0, -1)) == CLOCKWISE)) { + start0 = e; + } + } + e = e->next; + } while (e != c0->edges); + } + + e = c1->edges; + Edge* start1 = NULL; + if (e) { + do { + int64_t dot = (*e->target - *c1).dot(normal); + btAssert(dot <= 0); + if ((dot == 0) && ((*e->target - *c1).dot(t) > 0)) { + if (!start1 || (getOrientation(start1, e, s, Point32(0, 0, -1)) == COUNTER_CLOCKWISE)) { + start1 = e; + } + } + e = e->next; + } while (e != c1->edges); + } + + if (start0 || start1) { + findEdgeForCoplanarFaces(c0, c1, start0, start1, NULL, NULL); + if (start0) { + c0 = start0->target; + } + if (start1) { + c1 = start1->target; + } + } + + prevPoint = c1->point; + prevPoint.z++; + } + else { + prevPoint = c1->point; + prevPoint.x++; + } + + Vertex* first0 = c0; + Vertex* first1 = c1; + bool firstRun = true; + + while (true) { + Point32 s = *c1 - *c0; + Point32 r = prevPoint - c0->point; + Point64 rxs = r.cross(s); + Point64 sxrxs = s.cross(rxs); + #ifdef DEBUG_CONVEX_HULL - printf("\n Checking %d %d\n", c0->point.index, c1->point.index); + printf("\n Checking %d %d\n", c0->point.index, c1->point.index); #endif - Rational64 minCot0(0, 0); - Edge* min0 = findMaxAngle(false, c0, s, rxs, sxrxs, minCot0); - Rational64 minCot1(0, 0); - Edge* min1 = findMaxAngle(true, c1, s, rxs, sxrxs, minCot1); - if (!min0 && !min1) - { - Edge* e = newEdgePair(c0, c1); - e->link(e); - c0->edges = e; - - e = e->reverse; - e->link(e); - c1->edges = e; - return; - } - else - { - int cmp = !min0 ? 1 : !min1 ? -1 : minCot0.compare(minCot1); + Rational64 minCot0(0, 0); + Edge* min0 = findMaxAngle(false, c0, s, rxs, sxrxs, minCot0); + Rational64 minCot1(0, 0); + Edge* min1 = findMaxAngle(true, c1, s, rxs, sxrxs, minCot1); + if (!min0 && !min1) { + Edge* e = newEdgePair(c0, c1); + e->link(e); + c0->edges = e; + + e = e->reverse; + e->link(e); + c1->edges = e; + return; + } + else { + int32_t cmp = !min0 ? 1 : !min1 ? -1 : minCot0.compare(minCot1); #ifdef DEBUG_CONVEX_HULL - printf(" -> Result %d\n", cmp); + printf(" -> Result %d\n", cmp); #endif - if (firstRun || ((cmp >= 0) ? !minCot1.isNegativeInfinity() : !minCot0.isNegativeInfinity())) - { - Edge* e = newEdgePair(c0, c1); - if (pendingTail0) - { - pendingTail0->prev = e; - } - else - { - pendingHead0 = e; - } - e->next = pendingTail0; - pendingTail0 = e; - - e = e->reverse; - if (pendingTail1) - { - pendingTail1->next = e; - } - else - { - pendingHead1 = e; - } - e->prev = pendingTail1; - pendingTail1 = e; - } - - Edge* e0 = min0; - Edge* e1 = min1; + if (firstRun || ((cmp >= 0) ? !minCot1.isNegativeInfinity() : !minCot0.isNegativeInfinity())) { + Edge* e = newEdgePair(c0, c1); + if (pendingTail0) { + pendingTail0->prev = e; + } + else { + pendingHead0 = e; + } + e->next = pendingTail0; + pendingTail0 = e; + + e = e->reverse; + if (pendingTail1) { + pendingTail1->next = e; + } + else { + pendingHead1 = e; + } + e->prev = pendingTail1; + pendingTail1 = e; + } + + Edge* e0 = min0; + Edge* e1 = min1; #ifdef DEBUG_CONVEX_HULL - printf(" Found min edges to %d %d\n", e0 ? e0->target->point.index : -1, e1 ? e1->target->point.index : -1); + printf(" Found min edges to %d %d\n", e0 ? e0->target->point.index : -1, e1 ? e1->target->point.index : -1); #endif - if (cmp == 0) - { - findEdgeForCoplanarFaces(c0, c1, e0, e1, NULL, NULL); - } - - if ((cmp >= 0) && e1) - { - if (toPrev1) - { - for (Edge* e = toPrev1->next, *n = NULL; e != min1; e = n) - { - n = e->next; - removeEdgePair(e); - } - } - - if (pendingTail1) - { - if (toPrev1) - { - toPrev1->link(pendingHead1); - } - else - { - min1->prev->link(pendingHead1); - firstNew1 = pendingHead1; - } - pendingTail1->link(min1); - pendingHead1 = NULL; - pendingTail1 = NULL; - } - else if (!toPrev1) - { - firstNew1 = min1; - } - - prevPoint = c1->point; - c1 = e1->target; - toPrev1 = e1->reverse; - } - - if ((cmp <= 0) && e0) - { - if (toPrev0) - { - for (Edge* e = toPrev0->prev, *n = NULL; e != min0; e = n) - { - n = e->prev; - removeEdgePair(e); - } - } - - if (pendingTail0) - { - if (toPrev0) - { - pendingHead0->link(toPrev0); - } - else - { - pendingHead0->link(min0->next); - firstNew0 = pendingHead0; - } - min0->link(pendingTail0); - pendingHead0 = NULL; - pendingTail0 = NULL; - } - else if (!toPrev0) - { - firstNew0 = min0; - } - - prevPoint = c0->point; - c0 = e0->target; - toPrev0 = e0->reverse; - } - } - - if ((c0 == first0) && (c1 == first1)) - { - if (toPrev0 == NULL) - { - pendingHead0->link(pendingTail0); - c0->edges = pendingTail0; - } - else - { - for (Edge* e = toPrev0->prev, *n = NULL; e != firstNew0; e = n) - { - n = e->prev; - removeEdgePair(e); - } - if (pendingTail0) - { - pendingHead0->link(toPrev0); - firstNew0->link(pendingTail0); - } - } - - if (toPrev1 == NULL) - { - pendingTail1->link(pendingHead1); - c1->edges = pendingTail1; - } - else - { - for (Edge* e = toPrev1->next, *n = NULL; e != firstNew1; e = n) - { - n = e->next; - removeEdgePair(e); - } - if (pendingTail1) - { - toPrev1->link(pendingHead1); - pendingTail1->link(firstNew1); - } - } - - return; - } - - firstRun = false; - } + if (cmp == 0) { + findEdgeForCoplanarFaces(c0, c1, e0, e1, NULL, NULL); + } + + if ((cmp >= 0) && e1) { + if (toPrev1) { + for (Edge *e = toPrev1->next, *n = NULL; e != min1; e = n) { + n = e->next; + removeEdgePair(e); + } + } + + if (pendingTail1) { + if (toPrev1) { + toPrev1->link(pendingHead1); + } + else { + min1->prev->link(pendingHead1); + firstNew1 = pendingHead1; + } + pendingTail1->link(min1); + pendingHead1 = NULL; + pendingTail1 = NULL; + } + else if (!toPrev1) { + firstNew1 = min1; + } + + prevPoint = c1->point; + c1 = e1->target; + toPrev1 = e1->reverse; + } + + if ((cmp <= 0) && e0) { + if (toPrev0) { + for (Edge *e = toPrev0->prev, *n = NULL; e != min0; e = n) { + n = e->prev; + removeEdgePair(e); + } + } + + if (pendingTail0) { + if (toPrev0) { + pendingHead0->link(toPrev0); + } + else { + pendingHead0->link(min0->next); + firstNew0 = pendingHead0; + } + min0->link(pendingTail0); + pendingHead0 = NULL; + pendingTail0 = NULL; + } + else if (!toPrev0) { + firstNew0 = min0; + } + + prevPoint = c0->point; + c0 = e0->target; + toPrev0 = e0->reverse; + } + } + + if ((c0 == first0) && (c1 == first1)) { + if (toPrev0 == NULL) { + pendingHead0->link(pendingTail0); + c0->edges = pendingTail0; + } + else { + for (Edge *e = toPrev0->prev, *n = NULL; e != firstNew0; e = n) { + n = e->prev; + removeEdgePair(e); + } + if (pendingTail0) { + pendingHead0->link(toPrev0); + firstNew0->link(pendingTail0); + } + } + + if (toPrev1 == NULL) { + pendingTail1->link(pendingHead1); + c1->edges = pendingTail1; + } + else { + for (Edge *e = toPrev1->next, *n = NULL; e != firstNew1; e = n) { + n = e->next; + removeEdgePair(e); + } + if (pendingTail1) { + toPrev1->link(pendingHead1); + pendingTail1->link(firstNew1); + } + } + + return; + } + + firstRun = false; + } } - static bool pointCmp(const btConvexHullInternal::Point32& p, const btConvexHullInternal::Point32& q) { - return (p.y < q.y) || ((p.y == q.y) && ((p.x < q.x) || ((p.x == q.x) && (p.z < q.z)))); + return (p.y < q.y) || ((p.y == q.y) && ((p.x < q.x) || ((p.x == q.x) && (p.z < q.z)))); } -void btConvexHullInternal::compute(const void* coords, bool doubleCoords, int stride, int count) +void btConvexHullInternal::compute(const void* coords, bool doubleCoords, int32_t stride, int32_t count) { - btVector3 min(btScalar(1e30), btScalar(1e30), btScalar(1e30)), max(btScalar(-1e30), btScalar(-1e30), btScalar(-1e30)); - const char* ptr = (const char*) coords; - if (doubleCoords) - { - for (int i = 0; i < count; i++) - { - const double* v = (const double*) ptr; - btVector3 p((btScalar) v[0], (btScalar) v[1], (btScalar) v[2]); - ptr += stride; - min.setMin(p); - max.setMax(p); - } - } - else - { - for (int i = 0; i < count; i++) - { - const float* v = (const float*) ptr; - btVector3 p(v[0], v[1], v[2]); - ptr += stride; - min.setMin(p); - max.setMax(p); - } - } - - btVector3 s = max - min; - maxAxis = s.maxAxis(); - minAxis = s.minAxis(); - if (minAxis == maxAxis) - { - minAxis = (maxAxis + 1) % 3; - } - medAxis = 3 - maxAxis - minAxis; - - s /= btScalar(10216); - if (((medAxis + 1) % 3) != maxAxis) - { - s *= -1; - } - scaling = s; - - if (s[0] != 0) - { - s[0] = btScalar(1) / s[0]; - } - if (s[1] != 0) - { - s[1] = btScalar(1) / s[1]; - } - if (s[2] != 0) - { - s[2] = btScalar(1) / s[2]; - } - - center = (min + max) * btScalar(0.5); - - btAlignedObjectArray points; - points.resize(count); - ptr = (const char*) coords; - if (doubleCoords) - { - for (int i = 0; i < count; i++) - { - const double* v = (const double*) ptr; - btVector3 p((btScalar) v[0], (btScalar) v[1], (btScalar) v[2]); - ptr += stride; - p = (p - center) * s; - points[i].x = (int32_t) p[medAxis]; - points[i].y = (int32_t) p[maxAxis]; - points[i].z = (int32_t) p[minAxis]; - points[i].index = i; - } - } - else - { - for (int i = 0; i < count; i++) - { - const float* v = (const float*) ptr; - btVector3 p(v[0], v[1], v[2]); - ptr += stride; - p = (p - center) * s; - points[i].x = (int32_t) p[medAxis]; - points[i].y = (int32_t) p[maxAxis]; - points[i].z = (int32_t) p[minAxis]; - points[i].index = i; - } - } - points.quickSort(pointCmp); - - vertexPool.reset(); - vertexPool.setArraySize(count); - originalVertices.resize(count); - for (int i = 0; i < count; i++) - { - Vertex* v = vertexPool.newObject(); - v->edges = NULL; - v->point = points[i]; - v->copy = -1; - originalVertices[i] = v; - } - - points.clear(); - - edgePool.reset(); - edgePool.setArraySize(6 * count); - - usedEdgePairs = 0; - maxUsedEdgePairs = 0; - - mergeStamp = -3; - - IntermediateHull hull; - computeInternal(0, count, hull); - vertexList = hull.minXy; + btVector3 min(btScalar(1e30), btScalar(1e30), btScalar(1e30)), max(btScalar(-1e30), btScalar(-1e30), btScalar(-1e30)); + const char* ptr = (const char*)coords; + if (doubleCoords) { + for (int32_t i = 0; i < count; i++) { + const double* v = (const double*)ptr; + btVector3 p((btScalar)v[0], (btScalar)v[1], (btScalar)v[2]); + ptr += stride; + min.setMin(p); + max.setMax(p); + } + } + else { + for (int32_t i = 0; i < count; i++) { + const float* v = (const float*)ptr; + btVector3 p(v[0], v[1], v[2]); + ptr += stride; + min.setMin(p); + max.setMax(p); + } + } + + btVector3 s = max - min; + maxAxis = s.maxAxis(); + minAxis = s.minAxis(); + if (minAxis == maxAxis) { + minAxis = (maxAxis + 1) % 3; + } + medAxis = 3 - maxAxis - minAxis; + + s /= btScalar(10216); + if (((medAxis + 1) % 3) != maxAxis) { + s *= -1; + } + scaling = s; + + if (s[0] != 0) { + s[0] = btScalar(1) / s[0]; + } + if (s[1] != 0) { + s[1] = btScalar(1) / s[1]; + } + if (s[2] != 0) { + s[2] = btScalar(1) / s[2]; + } + + center = (min + max) * btScalar(0.5); + + btAlignedObjectArray points; + points.resize(count); + ptr = (const char*)coords; + if (doubleCoords) { + for (int32_t i = 0; i < count; i++) { + const double* v = (const double*)ptr; + btVector3 p((btScalar)v[0], (btScalar)v[1], (btScalar)v[2]); + ptr += stride; + p = (p - center) * s; + points[i].x = (int32_t)p[medAxis]; + points[i].y = (int32_t)p[maxAxis]; + points[i].z = (int32_t)p[minAxis]; + points[i].index = i; + } + } + else { + for (int32_t i = 0; i < count; i++) { + const float* v = (const float*)ptr; + btVector3 p(v[0], v[1], v[2]); + ptr += stride; + p = (p - center) * s; + points[i].x = (int32_t)p[medAxis]; + points[i].y = (int32_t)p[maxAxis]; + points[i].z = (int32_t)p[minAxis]; + points[i].index = i; + } + } + points.quickSort(pointCmp); + + vertexPool.reset(); + vertexPool.setArraySize(count); + originalVertices.resize(count); + for (int32_t i = 0; i < count; i++) { + Vertex* v = vertexPool.newObject(); + v->edges = NULL; + v->point = points[i]; + v->copy = -1; + originalVertices[i] = v; + } + + points.clear(); + + edgePool.reset(); + edgePool.setArraySize(6 * count); + + usedEdgePairs = 0; + maxUsedEdgePairs = 0; + + mergeStamp = -3; + + IntermediateHull hull; + computeInternal(0, count, hull); + vertexList = hull.minXy; #ifdef DEBUG_CONVEX_HULL - printf("max. edges %d (3v = %d)", maxUsedEdgePairs, 3 * count); + printf("max. edges %d (3v = %d)", maxUsedEdgePairs, 3 * count); #endif } btVector3 btConvexHullInternal::toBtVector(const Point32& v) { - btVector3 p; - p[medAxis] = btScalar(v.x); - p[maxAxis] = btScalar(v.y); - p[minAxis] = btScalar(v.z); - return p * scaling; + btVector3 p; + p[medAxis] = btScalar(v.x); + p[maxAxis] = btScalar(v.y); + p[minAxis] = btScalar(v.z); + return p * scaling; } btVector3 btConvexHullInternal::getBtNormal(Face* face) { - return toBtVector(face->dir0).cross(toBtVector(face->dir1)).normalized(); + return toBtVector(face->dir0).cross(toBtVector(face->dir1)).normalized(); } btVector3 btConvexHullInternal::getCoordinates(const Vertex* v) { - btVector3 p; - p[medAxis] = v->xvalue(); - p[maxAxis] = v->yvalue(); - p[minAxis] = v->zvalue(); - return p * scaling + center; + btVector3 p; + p[medAxis] = v->xvalue(); + p[maxAxis] = v->yvalue(); + p[minAxis] = v->zvalue(); + return p * scaling + center; } btScalar btConvexHullInternal::shrink(btScalar amount, btScalar clampAmount) { - if (!vertexList) - { - return 0; - } - int stamp = --mergeStamp; - btAlignedObjectArray stack; - vertexList->copy = stamp; - stack.push_back(vertexList); - btAlignedObjectArray faces; - - Point32 ref = vertexList->point; - Int128 hullCenterX(0, 0); - Int128 hullCenterY(0, 0); - Int128 hullCenterZ(0, 0); - Int128 volume(0, 0); - - while (stack.size() > 0) - { - Vertex* v = stack[stack.size() - 1]; - stack.pop_back(); - Edge* e = v->edges; - if (e) - { - do - { - if (e->target->copy != stamp) - { - e->target->copy = stamp; - stack.push_back(e->target); - } - if (e->copy != stamp) - { - Face* face = facePool.newObject(); - face->init(e->target, e->reverse->prev->target, v); - faces.push_back(face); - Edge* f = e; - - Vertex* a = NULL; - Vertex* b = NULL; - do - { - if (a && b) - { - int64_t vol = (v->point - ref).dot((a->point - ref).cross(b->point - ref)); - btAssert(vol >= 0); - Point32 c = v->point + a->point + b->point + ref; - hullCenterX += vol * c.x; - hullCenterY += vol * c.y; - hullCenterZ += vol * c.z; - volume += vol; - } - - btAssert(f->copy != stamp); - f->copy = stamp; - f->face = face; - - a = b; - b = f->target; - - f = f->reverse->prev; - } while (f != e); - } - e = e->next; - } while (e != v->edges); - } - } - - if (volume.getSign() <= 0) - { - return 0; - } - - btVector3 hullCenter; - hullCenter[medAxis] = hullCenterX.toScalar(); - hullCenter[maxAxis] = hullCenterY.toScalar(); - hullCenter[minAxis] = hullCenterZ.toScalar(); - hullCenter /= 4 * volume.toScalar(); - hullCenter *= scaling; - - int faceCount = faces.size(); - - if (clampAmount > 0) - { - btScalar minDist = SIMD_INFINITY; - for (int i = 0; i < faceCount; i++) - { - btVector3 normal = getBtNormal(faces[i]); - btScalar dist = normal.dot(toBtVector(faces[i]->origin) - hullCenter); - if (dist < minDist) - { - minDist = dist; - } - } - - if (minDist <= 0) - { - return 0; - } - - amount = btMin(amount, minDist * clampAmount); - } - - unsigned int seed = 243703; - for (int i = 0; i < faceCount; i++, seed = 1664525 * seed + 1013904223) - { - btSwap(faces[i], faces[seed % faceCount]); - } - - for (int i = 0; i < faceCount; i++) - { - if (!shiftFace(faces[i], amount, stack)) - { - return -amount; - } - } - - return amount; + if (!vertexList) { + return 0; + } + int32_t stamp = --mergeStamp; + btAlignedObjectArray stack; + vertexList->copy = stamp; + stack.push_back(vertexList); + btAlignedObjectArray faces; + + Point32 ref = vertexList->point; + Int128 hullCenterX(0, 0); + Int128 hullCenterY(0, 0); + Int128 hullCenterZ(0, 0); + Int128 volume(0, 0); + + while (stack.size() > 0) { + Vertex* v = stack[stack.size() - 1]; + stack.pop_back(); + Edge* e = v->edges; + if (e) { + do { + if (e->target->copy != stamp) { + e->target->copy = stamp; + stack.push_back(e->target); + } + if (e->copy != stamp) { + Face* face = facePool.newObject(); + face->init(e->target, e->reverse->prev->target, v); + faces.push_back(face); + Edge* f = e; + + Vertex* a = NULL; + Vertex* b = NULL; + do { + if (a && b) { + int64_t vol = (v->point - ref).dot((a->point - ref).cross(b->point - ref)); + btAssert(vol >= 0); + Point32 c = v->point + a->point + b->point + ref; + hullCenterX += vol * c.x; + hullCenterY += vol * c.y; + hullCenterZ += vol * c.z; + volume += vol; + } + + btAssert(f->copy != stamp); + f->copy = stamp; + f->face = face; + + a = b; + b = f->target; + + f = f->reverse->prev; + } while (f != e); + } + e = e->next; + } while (e != v->edges); + } + } + + if (volume.getSign() <= 0) { + return 0; + } + + btVector3 hullCenter; + hullCenter[medAxis] = hullCenterX.toScalar(); + hullCenter[maxAxis] = hullCenterY.toScalar(); + hullCenter[minAxis] = hullCenterZ.toScalar(); + hullCenter /= 4 * volume.toScalar(); + hullCenter *= scaling; + + int32_t faceCount = faces.size(); + + if (clampAmount > 0) { + btScalar minDist = SIMD_INFINITY; + for (int32_t i = 0; i < faceCount; i++) { + btVector3 normal = getBtNormal(faces[i]); + btScalar dist = normal.dot(toBtVector(faces[i]->origin) - hullCenter); + if (dist < minDist) { + minDist = dist; + } + } + + if (minDist <= 0) { + return 0; + } + + amount = btMin(amount, minDist * clampAmount); + } + + uint32_t seed = 243703; + for (int32_t i = 0; i < faceCount; i++, seed = 1664525 * seed + 1013904223) { + btSwap(faces[i], faces[seed % faceCount]); + } + + for (int32_t i = 0; i < faceCount; i++) { + if (!shiftFace(faces[i], amount, stack)) { + return -amount; + } + } + + return amount; } bool btConvexHullInternal::shiftFace(Face* face, btScalar amount, btAlignedObjectArray stack) { - btVector3 origShift = getBtNormal(face) * -amount; - if (scaling[0] != 0) - { - origShift[0] /= scaling[0]; - } - if (scaling[1] != 0) - { - origShift[1] /= scaling[1]; - } - if (scaling[2] != 0) - { - origShift[2] /= scaling[2]; - } - Point32 shift((int32_t) origShift[medAxis], (int32_t) origShift[maxAxis], (int32_t) origShift[minAxis]); - if (shift.isZero()) - { - return true; - } - Point64 normal = face->getNormal(); + btVector3 origShift = getBtNormal(face) * -amount; + if (scaling[0] != 0) { + origShift[0] /= scaling[0]; + } + if (scaling[1] != 0) { + origShift[1] /= scaling[1]; + } + if (scaling[2] != 0) { + origShift[2] /= scaling[2]; + } + Point32 shift((int32_t)origShift[medAxis], (int32_t)origShift[maxAxis], (int32_t)origShift[minAxis]); + if (shift.isZero()) { + return true; + } + Point64 normal = face->getNormal(); #ifdef DEBUG_CONVEX_HULL - printf("\nShrinking face (%d %d %d) (%d %d %d) (%d %d %d) by (%d %d %d)\n", - face->origin.x, face->origin.y, face->origin.z, face->dir0.x, face->dir0.y, face->dir0.z, face->dir1.x, face->dir1.y, face->dir1.z, shift.x, shift.y, shift.z); + printf("\nShrinking face (%d %d %d) (%d %d %d) (%d %d %d) by (%d %d %d)\n", + face->origin.x, face->origin.y, face->origin.z, face->dir0.x, face->dir0.y, face->dir0.z, face->dir1.x, face->dir1.y, face->dir1.z, shift.x, shift.y, shift.z); #endif - int64_t origDot = face->origin.dot(normal); - Point32 shiftedOrigin = face->origin + shift; - int64_t shiftedDot = shiftedOrigin.dot(normal); - btAssert(shiftedDot <= origDot); - if (shiftedDot >= origDot) - { - return false; - } - - Edge* intersection = NULL; - - Edge* startEdge = face->nearbyVertex->edges; + int64_t origDot = face->origin.dot(normal); + Point32 shiftedOrigin = face->origin + shift; + int64_t shiftedDot = shiftedOrigin.dot(normal); + btAssert(shiftedDot <= origDot); + if (shiftedDot >= origDot) { + return false; + } + + Edge* intersection = NULL; + + Edge* startEdge = face->nearbyVertex->edges; #ifdef DEBUG_CONVEX_HULL - printf("Start edge is "); - startEdge->print(); - printf(", normal is (%lld %lld %lld), shifted dot is %lld\n", normal.x, normal.y, normal.z, shiftedDot); + printf("Start edge is "); + startEdge->print(); + printf(", normal is (%lld %lld %lld), shifted dot is %lld\n", normal.x, normal.y, normal.z, shiftedDot); #endif - Rational128 optDot = face->nearbyVertex->dot(normal); - int cmp = optDot.compare(shiftedDot); + Rational128 optDot = face->nearbyVertex->dot(normal); + int32_t cmp = optDot.compare(shiftedDot); #ifdef SHOW_ITERATIONS - int n = 0; + int32_t n = 0; #endif - if (cmp >= 0) - { - Edge* e = startEdge; - do - { + if (cmp >= 0) { + Edge* e = startEdge; + do { #ifdef SHOW_ITERATIONS - n++; + n++; #endif - Rational128 dot = e->target->dot(normal); - btAssert(dot.compare(origDot) <= 0); + Rational128 dot = e->target->dot(normal); + btAssert(dot.compare(origDot) <= 0); #ifdef DEBUG_CONVEX_HULL - printf("Moving downwards, edge is "); - e->print(); - printf(", dot is %f (%f %lld)\n", (float) dot.toScalar(), (float) optDot.toScalar(), shiftedDot); + printf("Moving downwards, edge is "); + e->print(); + printf(", dot is %f (%f %lld)\n", (float)dot.toScalar(), (float)optDot.toScalar(), shiftedDot); #endif - if (dot.compare(optDot) < 0) - { - int c = dot.compare(shiftedDot); - optDot = dot; - e = e->reverse; - startEdge = e; - if (c < 0) - { - intersection = e; - break; - } - cmp = c; - } - e = e->prev; - } while (e != startEdge); - - if (!intersection) - { - return false; - } - } - else - { - Edge* e = startEdge; - do - { + if (dot.compare(optDot) < 0) { + int32_t c = dot.compare(shiftedDot); + optDot = dot; + e = e->reverse; + startEdge = e; + if (c < 0) { + intersection = e; + break; + } + cmp = c; + } + e = e->prev; + } while (e != startEdge); + + if (!intersection) { + return false; + } + } + else { + Edge* e = startEdge; + do { #ifdef SHOW_ITERATIONS - n++; + n++; #endif - Rational128 dot = e->target->dot(normal); - btAssert(dot.compare(origDot) <= 0); + Rational128 dot = e->target->dot(normal); + btAssert(dot.compare(origDot) <= 0); #ifdef DEBUG_CONVEX_HULL - printf("Moving upwards, edge is "); - e->print(); - printf(", dot is %f (%f %lld)\n", (float) dot.toScalar(), (float) optDot.toScalar(), shiftedDot); + printf("Moving upwards, edge is "); + e->print(); + printf(", dot is %f (%f %lld)\n", (float)dot.toScalar(), (float)optDot.toScalar(), shiftedDot); #endif - if (dot.compare(optDot) > 0) - { - cmp = dot.compare(shiftedDot); - if (cmp >= 0) - { - intersection = e; - break; - } - optDot = dot; - e = e->reverse; - startEdge = e; - } - e = e->prev; - } while (e != startEdge); - - if (!intersection) - { - return true; - } - } + if (dot.compare(optDot) > 0) { + cmp = dot.compare(shiftedDot); + if (cmp >= 0) { + intersection = e; + break; + } + optDot = dot; + e = e->reverse; + startEdge = e; + } + e = e->prev; + } while (e != startEdge); + + if (!intersection) { + return true; + } + } #ifdef SHOW_ITERATIONS - printf("Needed %d iterations to find initial intersection\n", n); + printf("Needed %d iterations to find initial intersection\n", n); #endif - if (cmp == 0) - { - Edge* e = intersection->reverse->next; + if (cmp == 0) { + Edge* e = intersection->reverse->next; #ifdef SHOW_ITERATIONS - n = 0; + n = 0; #endif - while (e->target->dot(normal).compare(shiftedDot) <= 0) - { + while (e->target->dot(normal).compare(shiftedDot) <= 0) { #ifdef SHOW_ITERATIONS - n++; + n++; #endif - e = e->next; - if (e == intersection->reverse) - { - return true; - } + e = e->next; + if (e == intersection->reverse) { + return true; + } #ifdef DEBUG_CONVEX_HULL - printf("Checking for outwards edge, current edge is "); - e->print(); - printf("\n"); + printf("Checking for outwards edge, current edge is "); + e->print(); + printf("\n"); #endif - } + } #ifdef SHOW_ITERATIONS - printf("Needed %d iterations to check for complete containment\n", n); + printf("Needed %d iterations to check for complete containment\n", n); #endif - } - - Edge* firstIntersection = NULL; - Edge* faceEdge = NULL; - Edge* firstFaceEdge = NULL; + } + + Edge* firstIntersection = NULL; + Edge* faceEdge = NULL; + Edge* firstFaceEdge = NULL; #ifdef SHOW_ITERATIONS - int m = 0; + int32_t m = 0; #endif - while (true) - { + while (true) { #ifdef SHOW_ITERATIONS - m++; + m++; #endif #ifdef DEBUG_CONVEX_HULL - printf("Intersecting edge is "); - intersection->print(); - printf("\n"); + printf("Intersecting edge is "); + intersection->print(); + printf("\n"); #endif - if (cmp == 0) - { - Edge* e = intersection->reverse->next; - startEdge = e; + if (cmp == 0) { + Edge* e = intersection->reverse->next; + startEdge = e; #ifdef SHOW_ITERATIONS - n = 0; + n = 0; #endif - while (true) - { + while (true) { #ifdef SHOW_ITERATIONS - n++; + n++; #endif - if (e->target->dot(normal).compare(shiftedDot) >= 0) - { - break; - } - intersection = e->reverse; - e = e->next; - if (e == startEdge) - { - return true; - } - } + if (e->target->dot(normal).compare(shiftedDot) >= 0) { + break; + } + intersection = e->reverse; + e = e->next; + if (e == startEdge) { + return true; + } + } #ifdef SHOW_ITERATIONS - printf("Needed %d iterations to advance intersection\n", n); + printf("Needed %d iterations to advance intersection\n", n); #endif - } + } #ifdef DEBUG_CONVEX_HULL - printf("Advanced intersecting edge to "); - intersection->print(); - printf(", cmp = %d\n", cmp); + printf("Advanced intersecting edge to "); + intersection->print(); + printf(", cmp = %d\n", cmp); #endif - if (!firstIntersection) - { - firstIntersection = intersection; - } - else if (intersection == firstIntersection) - { - break; - } + if (!firstIntersection) { + firstIntersection = intersection; + } + else if (intersection == firstIntersection) { + break; + } - int prevCmp = cmp; - Edge* prevIntersection = intersection; - Edge* prevFaceEdge = faceEdge; + int32_t prevCmp = cmp; + Edge* prevIntersection = intersection; + Edge* prevFaceEdge = faceEdge; - Edge* e = intersection->reverse; + Edge* e = intersection->reverse; #ifdef SHOW_ITERATIONS - n = 0; + n = 0; #endif - while (true) - { + while (true) { #ifdef SHOW_ITERATIONS - n++; + n++; #endif - e = e->reverse->prev; - btAssert(e != intersection->reverse); - cmp = e->target->dot(normal).compare(shiftedDot); + e = e->reverse->prev; + btAssert(e != intersection->reverse); + cmp = e->target->dot(normal).compare(shiftedDot); #ifdef DEBUG_CONVEX_HULL - printf("Testing edge "); - e->print(); - printf(" -> cmp = %d\n", cmp); + printf("Testing edge "); + e->print(); + printf(" -> cmp = %d\n", cmp); #endif - if (cmp >= 0) - { - intersection = e; - break; - } - } + if (cmp >= 0) { + intersection = e; + break; + } + } #ifdef SHOW_ITERATIONS - printf("Needed %d iterations to find other intersection of face\n", n); + printf("Needed %d iterations to find other intersection of face\n", n); #endif - if (cmp > 0) - { - Vertex* removed = intersection->target; - e = intersection->reverse; - if (e->prev == e) - { - removed->edges = NULL; - } - else - { - removed->edges = e->prev; - e->prev->link(e->next); - e->link(e); - } + if (cmp > 0) { + Vertex* removed = intersection->target; + e = intersection->reverse; + if (e->prev == e) { + removed->edges = NULL; + } + else { + removed->edges = e->prev; + e->prev->link(e->next); + e->link(e); + } #ifdef DEBUG_CONVEX_HULL - printf("1: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z); + printf("1: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z); #endif - - Point64 n0 = intersection->face->getNormal(); - Point64 n1 = intersection->reverse->face->getNormal(); - int64_t m00 = face->dir0.dot(n0); - int64_t m01 = face->dir1.dot(n0); - int64_t m10 = face->dir0.dot(n1); - int64_t m11 = face->dir1.dot(n1); - int64_t r0 = (intersection->face->origin - shiftedOrigin).dot(n0); - int64_t r1 = (intersection->reverse->face->origin - shiftedOrigin).dot(n1); - Int128 det = Int128::mul(m00, m11) - Int128::mul(m01, m10); - btAssert(det.getSign() != 0); - Vertex* v = vertexPool.newObject(); - v->point.index = -1; - v->copy = -1; - v->point128 = PointR128(Int128::mul(face->dir0.x * r0, m11) - Int128::mul(face->dir0.x * r1, m01) - + Int128::mul(face->dir1.x * r1, m00) - Int128::mul(face->dir1.x * r0, m10) + det * shiftedOrigin.x, - Int128::mul(face->dir0.y * r0, m11) - Int128::mul(face->dir0.y * r1, m01) - + Int128::mul(face->dir1.y * r1, m00) - Int128::mul(face->dir1.y * r0, m10) + det * shiftedOrigin.y, - Int128::mul(face->dir0.z * r0, m11) - Int128::mul(face->dir0.z * r1, m01) - + Int128::mul(face->dir1.z * r1, m00) - Int128::mul(face->dir1.z * r0, m10) + det * shiftedOrigin.z, - det); - v->point.x = (int32_t) v->point128.xvalue(); - v->point.y = (int32_t) v->point128.yvalue(); - v->point.z = (int32_t) v->point128.zvalue(); - intersection->target = v; - v->edges = e; - - stack.push_back(v); - stack.push_back(removed); - stack.push_back(NULL); - } - - if (cmp || prevCmp || (prevIntersection->reverse->next->target != intersection->target)) - { - faceEdge = newEdgePair(prevIntersection->target, intersection->target); - if (prevCmp == 0) - { - faceEdge->link(prevIntersection->reverse->next); - } - if ((prevCmp == 0) || prevFaceEdge) - { - prevIntersection->reverse->link(faceEdge); - } - if (cmp == 0) - { - intersection->reverse->prev->link(faceEdge->reverse); - } - faceEdge->reverse->link(intersection->reverse); - } - else - { - faceEdge = prevIntersection->reverse->next; - } - - if (prevFaceEdge) - { - if (prevCmp > 0) - { - faceEdge->link(prevFaceEdge->reverse); - } - else if (faceEdge != prevFaceEdge->reverse) - { - stack.push_back(prevFaceEdge->target); - while (faceEdge->next != prevFaceEdge->reverse) - { - Vertex* removed = faceEdge->next->target; - removeEdgePair(faceEdge->next); - stack.push_back(removed); + + Point64 n0 = intersection->face->getNormal(); + Point64 n1 = intersection->reverse->face->getNormal(); + int64_t m00 = face->dir0.dot(n0); + int64_t m01 = face->dir1.dot(n0); + int64_t m10 = face->dir0.dot(n1); + int64_t m11 = face->dir1.dot(n1); + int64_t r0 = (intersection->face->origin - shiftedOrigin).dot(n0); + int64_t r1 = (intersection->reverse->face->origin - shiftedOrigin).dot(n1); + Int128 det = Int128::mul(m00, m11) - Int128::mul(m01, m10); + btAssert(det.getSign() != 0); + Vertex* v = vertexPool.newObject(); + v->point.index = -1; + v->copy = -1; + v->point128 = PointR128(Int128::mul(face->dir0.x * r0, m11) - Int128::mul(face->dir0.x * r1, m01) + + Int128::mul(face->dir1.x * r1, m00) - Int128::mul(face->dir1.x * r0, m10) + det * shiftedOrigin.x, + Int128::mul(face->dir0.y * r0, m11) - Int128::mul(face->dir0.y * r1, m01) + + Int128::mul(face->dir1.y * r1, m00) - Int128::mul(face->dir1.y * r0, m10) + det * shiftedOrigin.y, + Int128::mul(face->dir0.z * r0, m11) - Int128::mul(face->dir0.z * r1, m01) + + Int128::mul(face->dir1.z * r1, m00) - Int128::mul(face->dir1.z * r0, m10) + det * shiftedOrigin.z, + det); + v->point.x = (int32_t)v->point128.xvalue(); + v->point.y = (int32_t)v->point128.yvalue(); + v->point.z = (int32_t)v->point128.zvalue(); + intersection->target = v; + v->edges = e; + + stack.push_back(v); + stack.push_back(removed); + stack.push_back(NULL); + } + + if (cmp || prevCmp || (prevIntersection->reverse->next->target != intersection->target)) { + faceEdge = newEdgePair(prevIntersection->target, intersection->target); + if (prevCmp == 0) { + faceEdge->link(prevIntersection->reverse->next); + } + if ((prevCmp == 0) || prevFaceEdge) { + prevIntersection->reverse->link(faceEdge); + } + if (cmp == 0) { + intersection->reverse->prev->link(faceEdge->reverse); + } + faceEdge->reverse->link(intersection->reverse); + } + else { + faceEdge = prevIntersection->reverse->next; + } + + if (prevFaceEdge) { + if (prevCmp > 0) { + faceEdge->link(prevFaceEdge->reverse); + } + else if (faceEdge != prevFaceEdge->reverse) { + stack.push_back(prevFaceEdge->target); + while (faceEdge->next != prevFaceEdge->reverse) { + Vertex* removed = faceEdge->next->target; + removeEdgePair(faceEdge->next); + stack.push_back(removed); #ifdef DEBUG_CONVEX_HULL - printf("2: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z); + printf("2: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z); #endif - } - stack.push_back(NULL); - } - } - faceEdge->face = face; - faceEdge->reverse->face = intersection->face; - - if (!firstFaceEdge) - { - firstFaceEdge = faceEdge; - } - } + } + stack.push_back(NULL); + } + } + faceEdge->face = face; + faceEdge->reverse->face = intersection->face; + + if (!firstFaceEdge) { + firstFaceEdge = faceEdge; + } + } #ifdef SHOW_ITERATIONS - printf("Needed %d iterations to process all intersections\n", m); + printf("Needed %d iterations to process all intersections\n", m); #endif - if (cmp > 0) - { - firstFaceEdge->reverse->target = faceEdge->target; - firstIntersection->reverse->link(firstFaceEdge); - firstFaceEdge->link(faceEdge->reverse); - } - else if (firstFaceEdge != faceEdge->reverse) - { - stack.push_back(faceEdge->target); - while (firstFaceEdge->next != faceEdge->reverse) - { - Vertex* removed = firstFaceEdge->next->target; - removeEdgePair(firstFaceEdge->next); - stack.push_back(removed); + if (cmp > 0) { + firstFaceEdge->reverse->target = faceEdge->target; + firstIntersection->reverse->link(firstFaceEdge); + firstFaceEdge->link(faceEdge->reverse); + } + else if (firstFaceEdge != faceEdge->reverse) { + stack.push_back(faceEdge->target); + while (firstFaceEdge->next != faceEdge->reverse) { + Vertex* removed = firstFaceEdge->next->target; + removeEdgePair(firstFaceEdge->next); + stack.push_back(removed); #ifdef DEBUG_CONVEX_HULL - printf("3: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z); + printf("3: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z); #endif - } - stack.push_back(NULL); - } + } + stack.push_back(NULL); + } - btAssert(stack.size() > 0); - vertexList = stack[0]; + btAssert(stack.size() > 0); + vertexList = stack[0]; #ifdef DEBUG_CONVEX_HULL - printf("Removing part\n"); + printf("Removing part\n"); #endif #ifdef SHOW_ITERATIONS - n = 0; + n = 0; #endif - int pos = 0; - while (pos < stack.size()) - { - int end = stack.size(); - while (pos < end) - { - Vertex* kept = stack[pos++]; + int32_t pos = 0; + while (pos < stack.size()) { + int32_t end = stack.size(); + while (pos < end) { + Vertex* kept = stack[pos++]; #ifdef DEBUG_CONVEX_HULL - kept->print(); + kept->print(); #endif - bool deeper = false; - Vertex* removed; - while ((removed = stack[pos++]) != NULL) - { + bool deeper = false; + Vertex* removed; + while ((removed = stack[pos++]) != NULL) { #ifdef SHOW_ITERATIONS - n++; + n++; #endif - kept->receiveNearbyFaces(removed); - while (removed->edges) - { - if (!deeper) - { - deeper = true; - stack.push_back(kept); - } - stack.push_back(removed->edges->target); - removeEdgePair(removed->edges); - } - } - if (deeper) - { - stack.push_back(NULL); - } - } - } + kept->receiveNearbyFaces(removed); + while (removed->edges) { + if (!deeper) { + deeper = true; + stack.push_back(kept); + } + stack.push_back(removed->edges->target); + removeEdgePair(removed->edges); + } + } + if (deeper) { + stack.push_back(NULL); + } + } + } #ifdef SHOW_ITERATIONS - printf("Needed %d iterations to remove part\n", n); + printf("Needed %d iterations to remove part\n", n); #endif - stack.resize(0); - face->origin = shiftedOrigin; + stack.resize(0); + face->origin = shiftedOrigin; - return true; + return true; } - -static int getVertexCopy(btConvexHullInternal::Vertex* vertex, btAlignedObjectArray& vertices) +static int32_t getVertexCopy(btConvexHullInternal::Vertex* vertex, btAlignedObjectArray& vertices) { - int index = vertex->copy; - if (index < 0) - { - index = vertices.size(); - vertex->copy = index; - vertices.push_back(vertex); + int32_t index = vertex->copy; + if (index < 0) { + index = vertices.size(); + vertex->copy = index; + vertices.push_back(vertex); #ifdef DEBUG_CONVEX_HULL - printf("Vertex %d gets index *%d\n", vertex->point.index, index); + printf("Vertex %d gets index *%d\n", vertex->point.index, index); #endif - } - return index; + } + return index; } -btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, int stride, int count, btScalar shrink, btScalar shrinkClamp) +btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, int32_t stride, int32_t count, btScalar shrink, btScalar shrinkClamp) { - if (count <= 0) - { - vertices.clear(); - edges.clear(); - faces.clear(); - return 0; - } - - btConvexHullInternal hull; - hull.compute(coords, doubleCoords, stride, count); - - btScalar shift = 0; - if ((shrink > 0) && ((shift = hull.shrink(shrink, shrinkClamp)) < 0)) - { - vertices.clear(); - edges.clear(); - faces.clear(); - return shift; - } - - vertices.resize(0); - edges.resize(0); - faces.resize(0); - - btAlignedObjectArray oldVertices; - getVertexCopy(hull.vertexList, oldVertices); - int copied = 0; - while (copied < oldVertices.size()) - { - btConvexHullInternal::Vertex* v = oldVertices[copied]; - vertices.push_back(hull.getCoordinates(v)); - btConvexHullInternal::Edge* firstEdge = v->edges; - if (firstEdge) - { - int firstCopy = -1; - int prevCopy = -1; - btConvexHullInternal::Edge* e = firstEdge; - do - { - if (e->copy < 0) - { - int s = edges.size(); - edges.push_back(Edge()); - edges.push_back(Edge()); - Edge* c = &edges[s]; - Edge* r = &edges[s + 1]; - e->copy = s; - e->reverse->copy = s + 1; - c->reverse = 1; - r->reverse = -1; - c->targetVertex = getVertexCopy(e->target, oldVertices); - r->targetVertex = copied; + if (count <= 0) { + vertices.clear(); + edges.clear(); + faces.clear(); + return 0; + } + + btConvexHullInternal hull; + hull.compute(coords, doubleCoords, stride, count); + + btScalar shift = 0; + if ((shrink > 0) && ((shift = hull.shrink(shrink, shrinkClamp)) < 0)) { + vertices.clear(); + edges.clear(); + faces.clear(); + return shift; + } + + vertices.resize(0); + edges.resize(0); + faces.resize(0); + + btAlignedObjectArray oldVertices; + getVertexCopy(hull.vertexList, oldVertices); + int32_t copied = 0; + while (copied < oldVertices.size()) { + btConvexHullInternal::Vertex* v = oldVertices[copied]; + vertices.push_back(hull.getCoordinates(v)); + btConvexHullInternal::Edge* firstEdge = v->edges; + if (firstEdge) { + int32_t firstCopy = -1; + int32_t prevCopy = -1; + btConvexHullInternal::Edge* e = firstEdge; + do { + if (e->copy < 0) { + int32_t s = edges.size(); + edges.push_back(Edge()); + edges.push_back(Edge()); + Edge* c = &edges[s]; + Edge* r = &edges[s + 1]; + e->copy = s; + e->reverse->copy = s + 1; + c->reverse = 1; + r->reverse = -1; + c->targetVertex = getVertexCopy(e->target, oldVertices); + r->targetVertex = copied; #ifdef DEBUG_CONVEX_HULL - printf(" CREATE: Vertex *%d has edge to *%d\n", copied, c->getTargetVertex()); + printf(" CREATE: Vertex *%d has edge to *%d\n", copied, c->getTargetVertex()); #endif - } - if (prevCopy >= 0) - { - edges[e->copy].next = prevCopy - e->copy; - } - else - { - firstCopy = e->copy; - } - prevCopy = e->copy; - e = e->next; - } while (e != firstEdge); - edges[firstCopy].next = prevCopy - firstCopy; - } - copied++; - } - - for (int i = 0; i < copied; i++) - { - btConvexHullInternal::Vertex* v = oldVertices[i]; - btConvexHullInternal::Edge* firstEdge = v->edges; - if (firstEdge) - { - btConvexHullInternal::Edge* e = firstEdge; - do - { - if (e->copy >= 0) - { + } + if (prevCopy >= 0) { + edges[e->copy].next = prevCopy - e->copy; + } + else { + firstCopy = e->copy; + } + prevCopy = e->copy; + e = e->next; + } while (e != firstEdge); + edges[firstCopy].next = prevCopy - firstCopy; + } + copied++; + } + + for (int32_t i = 0; i < copied; i++) { + btConvexHullInternal::Vertex* v = oldVertices[i]; + btConvexHullInternal::Edge* firstEdge = v->edges; + if (firstEdge) { + btConvexHullInternal::Edge* e = firstEdge; + do { + if (e->copy >= 0) { #ifdef DEBUG_CONVEX_HULL - printf("Vertex *%d has edge to *%d\n", i, edges[e->copy].getTargetVertex()); + printf("Vertex *%d has edge to *%d\n", i, edges[e->copy].getTargetVertex()); #endif - faces.push_back(e->copy); - btConvexHullInternal::Edge* f = e; - do - { + faces.push_back(e->copy); + btConvexHullInternal::Edge* f = e; + do { #ifdef DEBUG_CONVEX_HULL - printf(" Face *%d\n", edges[f->copy].getTargetVertex()); + printf(" Face *%d\n", edges[f->copy].getTargetVertex()); #endif - f->copy = -1; - f = f->reverse->prev; - } while (f != e); - } - e = e->next; - } while (e != firstEdge); - } - } - - return shift; + f->copy = -1; + f = f->reverse->prev; + } while (f != e); + } + e = e->next; + } while (e != firstEdge); + } + } + + return shift; } - - - - - diff --git a/src/vhacdICHull.cpp b/src/vhacdICHull.cpp index ccb98eb..989587c 100644 --- a/src/vhacdICHull.cpp +++ b/src/vhacdICHull.cpp @@ -12,814 +12,720 @@ 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 #include "vhacdICHull.h" -namespace VHACD -{ - const double ICHull::sc_eps = 1.0e-15; - const int ICHull::sc_dummyIndex = std::numeric_limits::max(); - ICHull::ICHull() - { - m_isFlat = false; +#include + +#ifdef _MSC_VER +#pragma warning(disable:4456 4706) +#endif + + +namespace VHACD { +const double ICHull::sc_eps = 1.0e-15; +const int32_t ICHull::sc_dummyIndex = std::numeric_limits::max(); +ICHull::ICHull() +{ + m_isFlat = false; +} +bool ICHull::AddPoints(const Vec3* points, size_t nPoints) +{ + if (!points) { + return false; } - bool ICHull::AddPoints(const Vec3 * points, size_t nPoints) - { - if (!points) - { - return false; - } - CircularListElement * vertex = NULL; - for (size_t i = 0; i < nPoints; i++) - { - vertex = m_mesh.AddVertex(); - vertex->GetData().m_pos.X() = points[i].X(); - vertex->GetData().m_pos.Y() = points[i].Y(); - vertex->GetData().m_pos.Z() = points[i].Z(); - vertex->GetData().m_name = static_cast(i); - } - return true; + CircularListElement* vertex = NULL; + for (size_t i = 0; i < nPoints; i++) { + vertex = m_mesh.AddVertex(); + vertex->GetData().m_pos.X() = points[i].X(); + vertex->GetData().m_pos.Y() = points[i].Y(); + vertex->GetData().m_pos.Z() = points[i].Z(); + vertex->GetData().m_name = static_cast(i); } - bool ICHull::AddPoint(const Vec3 & point, int id) - { - if (AddPoints(&point, 1)) - { - m_mesh.m_vertices.GetData().m_name = id; - return true; - } - return false; + return true; +} +bool ICHull::AddPoint(const Vec3& point, int32_t id) +{ + if (AddPoints(&point, 1)) { + m_mesh.m_vertices.GetData().m_name = id; + return true; } + return false; +} - ICHullError ICHull::Process() +ICHullError ICHull::Process() +{ + uint32_t addedPoints = 0; + if (m_mesh.GetNVertices() < 3) { + return ICHullErrorNotEnoughPoints; + } + if (m_mesh.GetNVertices() == 3) { + m_isFlat = true; + CircularListElement* t1 = m_mesh.AddTriangle(); + CircularListElement* t2 = m_mesh.AddTriangle(); + CircularListElement* v0 = m_mesh.m_vertices.GetHead(); + CircularListElement* v1 = v0->GetNext(); + CircularListElement* v2 = v1->GetNext(); + // Compute the normal to the plane + Vec3 p0 = v0->GetData().m_pos; + Vec3 p1 = v1->GetData().m_pos; + Vec3 p2 = v2->GetData().m_pos; + m_normal = (p1 - p0) ^ (p2 - p0); + m_normal.Normalize(); + t1->GetData().m_vertices[0] = v0; + t1->GetData().m_vertices[1] = v1; + t1->GetData().m_vertices[2] = v2; + t2->GetData().m_vertices[0] = v1; + t2->GetData().m_vertices[1] = v2; + t2->GetData().m_vertices[2] = v2; + return ICHullErrorOK; + } + if (m_isFlat) { + m_mesh.m_edges.Clear(); + m_mesh.m_triangles.Clear(); + m_isFlat = false; + } + if (m_mesh.GetNTriangles() == 0) // we have to create the first polyhedron { - unsigned int addedPoints = 0; - if (m_mesh.GetNVertices() < 3) - { - return ICHullErrorNotEnoughPoints; + ICHullError res = DoubleTriangle(); + if (res != ICHullErrorOK) { + return res; } - if (m_mesh.GetNVertices() == 3) - { - m_isFlat = true; - CircularListElement * t1 = m_mesh.AddTriangle(); - CircularListElement * t2 = m_mesh.AddTriangle(); - CircularListElement * v0 = m_mesh.m_vertices.GetHead(); - CircularListElement * v1 = v0->GetNext(); - CircularListElement * v2 = v1->GetNext(); - // Compute the normal to the plane - Vec3 p0 = v0->GetData().m_pos; - Vec3 p1 = v1->GetData().m_pos; - Vec3 p2 = v2->GetData().m_pos; - m_normal = (p1-p0) ^ (p2-p0); - m_normal.Normalize(); - t1->GetData().m_vertices[0] = v0; - t1->GetData().m_vertices[1] = v1; - t1->GetData().m_vertices[2] = v2; - t2->GetData().m_vertices[0] = v1; - t2->GetData().m_vertices[1] = v2; - t2->GetData().m_vertices[2] = v2; - return ICHullErrorOK; + else { + addedPoints += 3; } - if (m_isFlat) - { - m_mesh.m_edges.Clear(); - m_mesh.m_triangles.Clear(); - m_isFlat = false; - } - if (m_mesh.GetNTriangles() == 0) // we have to create the first polyhedron - { - ICHullError res = DoubleTriangle(); - if (res != ICHullErrorOK) - { - return res; - } - else - { - addedPoints += 3; - } - } - CircularList & vertices = m_mesh.GetVertices(); - // go to the first added and not processed vertex - while (!(vertices.GetHead()->GetPrev()->GetData().m_tag)) - { - vertices.Prev(); - } - while (!vertices.GetData().m_tag) // not processed - { - vertices.GetData().m_tag = true; - if (ProcessPoint()) - { - addedPoints++; - CleanUp(addedPoints); - vertices.Next(); - if (!GetMesh().CheckConsistancy()) - { - size_t nV = m_mesh.GetNVertices(); - CircularList & vertices = m_mesh.GetVertices(); - for(size_t v = 0; v < nV; ++v) - { - if (vertices.GetData().m_name == sc_dummyIndex) - { - vertices.Delete(); - break; - } - vertices.Next(); + } + CircularList& vertices = m_mesh.GetVertices(); + // go to the first added and not processed vertex + while (!(vertices.GetHead()->GetPrev()->GetData().m_tag)) { + vertices.Prev(); + } + while (!vertices.GetData().m_tag) // not processed + { + vertices.GetData().m_tag = true; + if (ProcessPoint()) { + addedPoints++; + CleanUp(addedPoints); + vertices.Next(); + if (!GetMesh().CheckConsistancy()) { + size_t nV = m_mesh.GetNVertices(); + CircularList& vertices = m_mesh.GetVertices(); + for (size_t v = 0; v < nV; ++v) { + if (vertices.GetData().m_name == sc_dummyIndex) { + vertices.Delete(); + break; } - return ICHullErrorInconsistent; + vertices.Next(); } + return ICHullErrorInconsistent; } } - if (m_isFlat) - { - SArray< CircularListElement * > trianglesToDuplicate; - size_t nT = m_mesh.GetNTriangles(); - for(size_t f = 0; f < nT; f++) - { - TMMTriangle & currentTriangle = m_mesh.m_triangles.GetHead()->GetData(); - if( currentTriangle.m_vertices[0]->GetData().m_name == sc_dummyIndex || - currentTriangle.m_vertices[1]->GetData().m_name == sc_dummyIndex || - currentTriangle.m_vertices[2]->GetData().m_name == sc_dummyIndex ) - { - m_trianglesToDelete.PushBack(m_mesh.m_triangles.GetHead()); - for(int k = 0; k < 3; k++) - { - for(int h = 0; h < 2; h++) - { - if (currentTriangle.m_edges[k]->GetData().m_triangles[h] == m_mesh.m_triangles.GetHead()) - { - currentTriangle.m_edges[k]->GetData().m_triangles[h] = 0; - break; - } + } + if (m_isFlat) { + SArray*> trianglesToDuplicate; + size_t nT = m_mesh.GetNTriangles(); + for (size_t f = 0; f < nT; f++) { + TMMTriangle& currentTriangle = m_mesh.m_triangles.GetHead()->GetData(); + if (currentTriangle.m_vertices[0]->GetData().m_name == sc_dummyIndex || currentTriangle.m_vertices[1]->GetData().m_name == sc_dummyIndex || currentTriangle.m_vertices[2]->GetData().m_name == sc_dummyIndex) { + m_trianglesToDelete.PushBack(m_mesh.m_triangles.GetHead()); + for (int32_t k = 0; k < 3; k++) { + for (int32_t h = 0; h < 2; h++) { + if (currentTriangle.m_edges[k]->GetData().m_triangles[h] == m_mesh.m_triangles.GetHead()) { + currentTriangle.m_edges[k]->GetData().m_triangles[h] = 0; + break; } } } - else - { - trianglesToDuplicate.PushBack(m_mesh.m_triangles.GetHead()); - } - m_mesh.m_triangles.Next(); } - size_t nE = m_mesh.GetNEdges(); - for(size_t e = 0; e < nE; e++) - { - TMMEdge & currentEdge = m_mesh.m_edges.GetHead()->GetData(); - if( currentEdge.m_triangles[0] == 0 && currentEdge.m_triangles[1] == 0) - { - m_edgesToDelete.PushBack(m_mesh.m_edges.GetHead()); - } - m_mesh.m_edges.Next(); + else { + trianglesToDuplicate.PushBack(m_mesh.m_triangles.GetHead()); } - size_t nV = m_mesh.GetNVertices(); - CircularList & vertices = m_mesh.GetVertices(); - for(size_t v = 0; v < nV; ++v) - { - if (vertices.GetData().m_name == sc_dummyIndex) - { - vertices.Delete(); - } - else - { - vertices.GetData().m_tag = false; - vertices.Next(); - } + m_mesh.m_triangles.Next(); + } + size_t nE = m_mesh.GetNEdges(); + for (size_t e = 0; e < nE; e++) { + TMMEdge& currentEdge = m_mesh.m_edges.GetHead()->GetData(); + if (currentEdge.m_triangles[0] == 0 && currentEdge.m_triangles[1] == 0) { + m_edgesToDelete.PushBack(m_mesh.m_edges.GetHead()); } - CleanEdges(); - CleanTriangles(); - CircularListElement * newTriangle; - for(size_t t = 0; t < trianglesToDuplicate.Size(); t++) - { - newTriangle = m_mesh.AddTriangle(); - newTriangle->GetData().m_vertices[0] = trianglesToDuplicate[t]->GetData().m_vertices[1]; - newTriangle->GetData().m_vertices[1] = trianglesToDuplicate[t]->GetData().m_vertices[0]; - newTriangle->GetData().m_vertices[2] = trianglesToDuplicate[t]->GetData().m_vertices[2]; + m_mesh.m_edges.Next(); + } + size_t nV = m_mesh.GetNVertices(); + CircularList& vertices = m_mesh.GetVertices(); + for (size_t v = 0; v < nV; ++v) { + if (vertices.GetData().m_name == sc_dummyIndex) { + vertices.Delete(); } + else { + vertices.GetData().m_tag = false; + vertices.Next(); + } + } + CleanEdges(); + CleanTriangles(); + CircularListElement* newTriangle; + for (size_t t = 0; t < trianglesToDuplicate.Size(); t++) { + newTriangle = m_mesh.AddTriangle(); + newTriangle->GetData().m_vertices[0] = trianglesToDuplicate[t]->GetData().m_vertices[1]; + newTriangle->GetData().m_vertices[1] = trianglesToDuplicate[t]->GetData().m_vertices[0]; + newTriangle->GetData().m_vertices[2] = trianglesToDuplicate[t]->GetData().m_vertices[2]; } + } + return ICHullErrorOK; +} +ICHullError ICHull::Process(const uint32_t nPointsCH, + const double minVolume) +{ + uint32_t addedPoints = 0; + if (nPointsCH < 3 || m_mesh.GetNVertices() < 3) { + return ICHullErrorNotEnoughPoints; + } + if (m_mesh.GetNVertices() == 3) { + m_isFlat = true; + CircularListElement* t1 = m_mesh.AddTriangle(); + CircularListElement* t2 = m_mesh.AddTriangle(); + CircularListElement* v0 = m_mesh.m_vertices.GetHead(); + CircularListElement* v1 = v0->GetNext(); + CircularListElement* v2 = v1->GetNext(); + // Compute the normal to the plane + Vec3 p0 = v0->GetData().m_pos; + Vec3 p1 = v1->GetData().m_pos; + Vec3 p2 = v2->GetData().m_pos; + m_normal = (p1 - p0) ^ (p2 - p0); + m_normal.Normalize(); + t1->GetData().m_vertices[0] = v0; + t1->GetData().m_vertices[1] = v1; + t1->GetData().m_vertices[2] = v2; + t2->GetData().m_vertices[0] = v1; + t2->GetData().m_vertices[1] = v0; + t2->GetData().m_vertices[2] = v2; return ICHullErrorOK; } - ICHullError ICHull::Process(const unsigned int nPointsCH, - const double minVolume) - { - unsigned int addedPoints = 0; - if (nPointsCH < 3 || m_mesh.GetNVertices() < 3) - { - return ICHullErrorNotEnoughPoints; - } - if (m_mesh.GetNVertices() == 3) - { - m_isFlat = true; - CircularListElement * t1 = m_mesh.AddTriangle(); - CircularListElement * t2 = m_mesh.AddTriangle(); - CircularListElement * v0 = m_mesh.m_vertices.GetHead(); - CircularListElement * v1 = v0->GetNext(); - CircularListElement * v2 = v1->GetNext(); - // Compute the normal to the plane - Vec3 p0 = v0->GetData().m_pos; - Vec3 p1 = v1->GetData().m_pos; - Vec3 p2 = v2->GetData().m_pos; - m_normal = (p1-p0) ^ (p2-p0); - m_normal.Normalize(); - t1->GetData().m_vertices[0] = v0; - t1->GetData().m_vertices[1] = v1; - t1->GetData().m_vertices[2] = v2; - t2->GetData().m_vertices[0] = v1; - t2->GetData().m_vertices[1] = v0; - t2->GetData().m_vertices[2] = v2; - return ICHullErrorOK; - } - if (m_isFlat) - { - m_mesh.m_triangles.Clear(); - m_mesh.m_edges.Clear(); - m_isFlat = false; + if (m_isFlat) { + m_mesh.m_triangles.Clear(); + m_mesh.m_edges.Clear(); + m_isFlat = false; + } + + if (m_mesh.GetNTriangles() == 0) // we have to create the first polyhedron + { + ICHullError res = DoubleTriangle(); + if (res != ICHullErrorOK) { + return res; } - - if (m_mesh.GetNTriangles() == 0) // we have to create the first polyhedron - { - ICHullError res = DoubleTriangle(); - if (res != ICHullErrorOK) - { - return res; - } - else - { - addedPoints += 3; - } + else { + addedPoints += 3; } - CircularList & vertices = m_mesh.GetVertices(); - while (!vertices.GetData().m_tag && addedPoints < nPointsCH) // not processed - { - if (!FindMaxVolumePoint((addedPoints>4)?minVolume:0.0)) - { - break; - } - vertices.GetData().m_tag = true; - if (ProcessPoint()) - { - addedPoints++; - CleanUp(addedPoints); - if (!GetMesh().CheckConsistancy()) - { - size_t nV = m_mesh.GetNVertices(); - CircularList & vertices = m_mesh.GetVertices(); - for(size_t v = 0; v < nV; ++v) - { - if (vertices.GetData().m_name == sc_dummyIndex) - { - vertices.Delete(); - break; - } - vertices.Next(); + } + CircularList& vertices = m_mesh.GetVertices(); + while (!vertices.GetData().m_tag && addedPoints < nPointsCH) // not processed + { + if (!FindMaxVolumePoint((addedPoints > 4) ? minVolume : 0.0)) { + break; + } + vertices.GetData().m_tag = true; + if (ProcessPoint()) { + addedPoints++; + CleanUp(addedPoints); + if (!GetMesh().CheckConsistancy()) { + size_t nV = m_mesh.GetNVertices(); + CircularList& vertices = m_mesh.GetVertices(); + for (size_t v = 0; v < nV; ++v) { + if (vertices.GetData().m_name == sc_dummyIndex) { + vertices.Delete(); + break; } - return ICHullErrorInconsistent; + vertices.Next(); } - vertices.Next(); + return ICHullErrorInconsistent; } + vertices.Next(); } - // delete remaining points - while (!vertices.GetData().m_tag) - { - vertices.Delete(); - } - if (m_isFlat) - { - SArray< CircularListElement * > trianglesToDuplicate; - size_t nT = m_mesh.GetNTriangles(); - for(size_t f = 0; f < nT; f++) - { - TMMTriangle & currentTriangle = m_mesh.m_triangles.GetHead()->GetData(); - if( currentTriangle.m_vertices[0]->GetData().m_name == sc_dummyIndex || - currentTriangle.m_vertices[1]->GetData().m_name == sc_dummyIndex || - currentTriangle.m_vertices[2]->GetData().m_name == sc_dummyIndex ) - { - m_trianglesToDelete.PushBack(m_mesh.m_triangles.GetHead()); - for(int k = 0; k < 3; k++) - { - for(int h = 0; h < 2; h++) - { - if (currentTriangle.m_edges[k]->GetData().m_triangles[h] == m_mesh.m_triangles.GetHead()) - { - currentTriangle.m_edges[k]->GetData().m_triangles[h] = 0; - break; - } + } + // delete remaining points + while (!vertices.GetData().m_tag) { + vertices.Delete(); + } + if (m_isFlat) { + SArray*> trianglesToDuplicate; + size_t nT = m_mesh.GetNTriangles(); + for (size_t f = 0; f < nT; f++) { + TMMTriangle& currentTriangle = m_mesh.m_triangles.GetHead()->GetData(); + if (currentTriangle.m_vertices[0]->GetData().m_name == sc_dummyIndex || currentTriangle.m_vertices[1]->GetData().m_name == sc_dummyIndex || currentTriangle.m_vertices[2]->GetData().m_name == sc_dummyIndex) { + m_trianglesToDelete.PushBack(m_mesh.m_triangles.GetHead()); + for (int32_t k = 0; k < 3; k++) { + for (int32_t h = 0; h < 2; h++) { + if (currentTriangle.m_edges[k]->GetData().m_triangles[h] == m_mesh.m_triangles.GetHead()) { + currentTriangle.m_edges[k]->GetData().m_triangles[h] = 0; + break; } } } - else - { - trianglesToDuplicate.PushBack(m_mesh.m_triangles.GetHead()); - } - m_mesh.m_triangles.Next(); } - size_t nE = m_mesh.GetNEdges(); - for(size_t e = 0; e < nE; e++) - { - TMMEdge & currentEdge = m_mesh.m_edges.GetHead()->GetData(); - if( currentEdge.m_triangles[0] == 0 && currentEdge.m_triangles[1] == 0) - { - m_edgesToDelete.PushBack(m_mesh.m_edges.GetHead()); - } - m_mesh.m_edges.Next(); + else { + trianglesToDuplicate.PushBack(m_mesh.m_triangles.GetHead()); } - size_t nV = m_mesh.GetNVertices(); - CircularList & vertices = m_mesh.GetVertices(); - for(size_t v = 0; v < nV; ++v) - { - if (vertices.GetData().m_name == sc_dummyIndex) - { - vertices.Delete(); - } - else - { - vertices.GetData().m_tag = false; - vertices.Next(); - } - } - CleanEdges(); - CleanTriangles(); - CircularListElement * newTriangle; - for(size_t t = 0; t < trianglesToDuplicate.Size(); t++) - { - newTriangle = m_mesh.AddTriangle(); - newTriangle->GetData().m_vertices[0] = trianglesToDuplicate[t]->GetData().m_vertices[1]; - newTriangle->GetData().m_vertices[1] = trianglesToDuplicate[t]->GetData().m_vertices[0]; - newTriangle->GetData().m_vertices[2] = trianglesToDuplicate[t]->GetData().m_vertices[2]; + m_mesh.m_triangles.Next(); + } + size_t nE = m_mesh.GetNEdges(); + for (size_t e = 0; e < nE; e++) { + TMMEdge& currentEdge = m_mesh.m_edges.GetHead()->GetData(); + if (currentEdge.m_triangles[0] == 0 && currentEdge.m_triangles[1] == 0) { + m_edgesToDelete.PushBack(m_mesh.m_edges.GetHead()); } + m_mesh.m_edges.Next(); } - return ICHullErrorOK; - } - bool ICHull::FindMaxVolumePoint(const double minVolume) - { - CircularList & vertices = m_mesh.GetVertices(); - CircularListElement * vMaxVolume = 0; - CircularListElement * vHeadPrev = vertices.GetHead()->GetPrev(); - - double maxVolume = minVolume; - double volume = 0.0; - while (!vertices.GetData().m_tag) // not processed - { - if (ComputePointVolume(volume, false)) - { - if ( maxVolume < volume) - { - maxVolume = volume; - vMaxVolume = vertices.GetHead(); - } + size_t nV = m_mesh.GetNVertices(); + CircularList& vertices = m_mesh.GetVertices(); + for (size_t v = 0; v < nV; ++v) { + if (vertices.GetData().m_name == sc_dummyIndex) { + vertices.Delete(); + } + else { + vertices.GetData().m_tag = false; vertices.Next(); } } - CircularListElement * vHead = vHeadPrev->GetNext(); - vertices.GetHead() = vHead; - if (!vMaxVolume) - { - return false; - } - if (vMaxVolume != vHead) - { - Vec3 pos = vHead->GetData().m_pos; - int id = vHead->GetData().m_name; - vHead->GetData().m_pos = vMaxVolume->GetData().m_pos; - vHead->GetData().m_name = vMaxVolume->GetData().m_name; - vMaxVolume->GetData().m_pos = pos; - vHead->GetData().m_name = id; + CleanEdges(); + CleanTriangles(); + CircularListElement* newTriangle; + for (size_t t = 0; t < trianglesToDuplicate.Size(); t++) { + newTriangle = m_mesh.AddTriangle(); + newTriangle->GetData().m_vertices[0] = trianglesToDuplicate[t]->GetData().m_vertices[1]; + newTriangle->GetData().m_vertices[1] = trianglesToDuplicate[t]->GetData().m_vertices[0]; + newTriangle->GetData().m_vertices[2] = trianglesToDuplicate[t]->GetData().m_vertices[2]; } - return true; } - ICHullError ICHull::DoubleTriangle() + return ICHullErrorOK; +} +bool ICHull::FindMaxVolumePoint(const double minVolume) +{ + CircularList& vertices = m_mesh.GetVertices(); + CircularListElement* vMaxVolume = 0; + CircularListElement* vHeadPrev = vertices.GetHead()->GetPrev(); + + double maxVolume = minVolume; + double volume = 0.0; + while (!vertices.GetData().m_tag) // not processed { - // find three non colinear points - m_isFlat = false; - CircularList & vertices = m_mesh.GetVertices(); - CircularListElement * v0 = vertices.GetHead(); - while( Colinear(v0->GetData().m_pos, - v0->GetNext()->GetData().m_pos, - v0->GetNext()->GetNext()->GetData().m_pos)) - { - if ( (v0 = v0->GetNext()) == vertices.GetHead()) - { - return ICHullErrorCoplanarPoints; + if (ComputePointVolume(volume, false)) { + if (maxVolume < volume) { + maxVolume = volume; + vMaxVolume = vertices.GetHead(); } + vertices.Next(); + } + } + CircularListElement* vHead = vHeadPrev->GetNext(); + vertices.GetHead() = vHead; + if (!vMaxVolume) { + return false; + } + if (vMaxVolume != vHead) { + Vec3 pos = vHead->GetData().m_pos; + int32_t id = vHead->GetData().m_name; + vHead->GetData().m_pos = vMaxVolume->GetData().m_pos; + vHead->GetData().m_name = vMaxVolume->GetData().m_name; + vMaxVolume->GetData().m_pos = pos; + vHead->GetData().m_name = id; + } + return true; +} +ICHullError ICHull::DoubleTriangle() +{ + // find three non colinear points + m_isFlat = false; + CircularList& vertices = m_mesh.GetVertices(); + CircularListElement* v0 = vertices.GetHead(); + while (Colinear(v0->GetData().m_pos, + v0->GetNext()->GetData().m_pos, + v0->GetNext()->GetNext()->GetData().m_pos)) { + if ((v0 = v0->GetNext()) == vertices.GetHead()) { + return ICHullErrorCoplanarPoints; } - CircularListElement * v1 = v0->GetNext(); - CircularListElement * v2 = v1->GetNext(); - // mark points as processed - v0->GetData().m_tag = v1->GetData().m_tag = v2->GetData().m_tag = true; - - // create two triangles - CircularListElement * f0 = MakeFace(v0, v1, v2, 0); - MakeFace(v2, v1, v0, f0); + } + CircularListElement* v1 = v0->GetNext(); + CircularListElement* v2 = v1->GetNext(); + // mark points as processed + v0->GetData().m_tag = v1->GetData().m_tag = v2->GetData().m_tag = true; - // find a fourth non-coplanar point to form tetrahedron - CircularListElement * v3 = v2->GetNext(); - vertices.GetHead() = v3; + // create two triangles + CircularListElement* f0 = MakeFace(v0, v1, v2, 0); + MakeFace(v2, v1, v0, f0); - double vol = ComputeVolume4(v0->GetData().m_pos, v1->GetData().m_pos, v2->GetData().m_pos, v3->GetData().m_pos); - while (fabs(vol) < sc_eps && !v3->GetNext()->GetData().m_tag) - { - v3 = v3->GetNext(); - vol = ComputeVolume4(v0->GetData().m_pos, v1->GetData().m_pos, v2->GetData().m_pos, v3->GetData().m_pos); - } - if (fabs(vol) < sc_eps) - { - // compute the barycenter - Vec3 bary(0.0,0.0,0.0); - CircularListElement * vBary = v0; - do - { - bary += vBary->GetData().m_pos; - } - while ( (vBary = vBary->GetNext()) != v0); - bary /= static_cast(vertices.GetSize()); + // find a fourth non-coplanar point to form tetrahedron + CircularListElement* v3 = v2->GetNext(); + vertices.GetHead() = v3; - // Compute the normal to the plane - Vec3 p0 = v0->GetData().m_pos; - Vec3 p1 = v1->GetData().m_pos; - Vec3 p2 = v2->GetData().m_pos; - m_normal = (p1-p0) ^ (p2-p0); - m_normal.Normalize(); - // add dummy vertex placed at (bary + normal) - vertices.GetHead() = v2; - Vec3 newPt = bary + m_normal; - AddPoint(newPt, sc_dummyIndex); - m_isFlat = true; - return ICHullErrorOK; - } - else if (v3 != vertices.GetHead()) - { - TMMVertex temp; - temp.m_name = v3->GetData().m_name; - temp.m_pos = v3->GetData().m_pos; - v3->GetData().m_name = vertices.GetHead()->GetData().m_name; - v3->GetData().m_pos = vertices.GetHead()->GetData().m_pos; - vertices.GetHead()->GetData().m_name = temp.m_name; - vertices.GetHead()->GetData().m_pos = temp.m_pos; - } + double vol = ComputeVolume4(v0->GetData().m_pos, v1->GetData().m_pos, v2->GetData().m_pos, v3->GetData().m_pos); + while (fabs(vol) < sc_eps && !v3->GetNext()->GetData().m_tag) { + v3 = v3->GetNext(); + vol = ComputeVolume4(v0->GetData().m_pos, v1->GetData().m_pos, v2->GetData().m_pos, v3->GetData().m_pos); + } + if (fabs(vol) < sc_eps) { + // compute the barycenter + Vec3 bary(0.0, 0.0, 0.0); + CircularListElement* vBary = v0; + do { + bary += vBary->GetData().m_pos; + } while ((vBary = vBary->GetNext()) != v0); + bary /= static_cast(vertices.GetSize()); + + // Compute the normal to the plane + Vec3 p0 = v0->GetData().m_pos; + Vec3 p1 = v1->GetData().m_pos; + Vec3 p2 = v2->GetData().m_pos; + m_normal = (p1 - p0) ^ (p2 - p0); + m_normal.Normalize(); + // add dummy vertex placed at (bary + normal) + vertices.GetHead() = v2; + Vec3 newPt = bary + m_normal; + AddPoint(newPt, sc_dummyIndex); + m_isFlat = true; return ICHullErrorOK; } - CircularListElement * ICHull::MakeFace(CircularListElement * v0, - CircularListElement * v1, - CircularListElement * v2, - CircularListElement * fold) - { - CircularListElement * e0; - CircularListElement * e1; - CircularListElement * e2; - int index = 0; - if (!fold) // if first face to be created - { - e0 = m_mesh.AddEdge(); // create the three edges - e1 = m_mesh.AddEdge(); - e2 = m_mesh.AddEdge(); - } - else // otherwise re-use existing edges (in reverse order) - { - e0 = fold->GetData().m_edges[2]; - e1 = fold->GetData().m_edges[1]; - e2 = fold->GetData().m_edges[0]; - index = 1; - } - e0->GetData().m_vertices[0] = v0; e0->GetData().m_vertices[1] = v1; - e1->GetData().m_vertices[0] = v1; e1->GetData().m_vertices[1] = v2; - e2->GetData().m_vertices[0] = v2; e2->GetData().m_vertices[1] = v0; - // create the new face - CircularListElement * f = m_mesh.AddTriangle(); - f->GetData().m_edges[0] = e0; f->GetData().m_edges[1] = e1; f->GetData().m_edges[2] = e2; - f->GetData().m_vertices[0] = v0; f->GetData().m_vertices[1] = v1; f->GetData().m_vertices[2] = v2; - // link edges to face f - e0->GetData().m_triangles[index] = e1->GetData().m_triangles[index] = e2->GetData().m_triangles[index] = f; - return f; - } - CircularListElement * ICHull::MakeConeFace(CircularListElement * e, CircularListElement * p) + else if (v3 != vertices.GetHead()) { + TMMVertex temp; + temp.m_name = v3->GetData().m_name; + temp.m_pos = v3->GetData().m_pos; + v3->GetData().m_name = vertices.GetHead()->GetData().m_name; + v3->GetData().m_pos = vertices.GetHead()->GetData().m_pos; + vertices.GetHead()->GetData().m_name = temp.m_name; + vertices.GetHead()->GetData().m_pos = temp.m_pos; + } + return ICHullErrorOK; +} +CircularListElement* ICHull::MakeFace(CircularListElement* v0, + CircularListElement* v1, + CircularListElement* v2, + CircularListElement* fold) +{ + CircularListElement* e0; + CircularListElement* e1; + CircularListElement* e2; + int32_t index = 0; + if (!fold) // if first face to be created { - // create two new edges if they don't already exist - CircularListElement * newEdges[2]; - for(int i = 0; i < 2; ++i) - { - if ( !( newEdges[i] = e->GetData().m_vertices[i]->GetData().m_duplicate ) ) - { // if the edge doesn't exits add it and mark the vertex as duplicated - newEdges[i] = m_mesh.AddEdge(); - newEdges[i]->GetData().m_vertices[0] = e->GetData().m_vertices[i]; - newEdges[i]->GetData().m_vertices[1] = p; - e->GetData().m_vertices[i]->GetData().m_duplicate = newEdges[i]; - } + e0 = m_mesh.AddEdge(); // create the three edges + e1 = m_mesh.AddEdge(); + e2 = m_mesh.AddEdge(); + } + else // otherwise re-use existing edges (in reverse order) + { + e0 = fold->GetData().m_edges[2]; + e1 = fold->GetData().m_edges[1]; + e2 = fold->GetData().m_edges[0]; + index = 1; + } + e0->GetData().m_vertices[0] = v0; + e0->GetData().m_vertices[1] = v1; + e1->GetData().m_vertices[0] = v1; + e1->GetData().m_vertices[1] = v2; + e2->GetData().m_vertices[0] = v2; + e2->GetData().m_vertices[1] = v0; + // create the new face + CircularListElement* f = m_mesh.AddTriangle(); + f->GetData().m_edges[0] = e0; + f->GetData().m_edges[1] = e1; + f->GetData().m_edges[2] = e2; + f->GetData().m_vertices[0] = v0; + f->GetData().m_vertices[1] = v1; + f->GetData().m_vertices[2] = v2; + // link edges to face f + e0->GetData().m_triangles[index] = e1->GetData().m_triangles[index] = e2->GetData().m_triangles[index] = f; + return f; +} +CircularListElement* ICHull::MakeConeFace(CircularListElement* e, CircularListElement* p) +{ + // create two new edges if they don't already exist + CircularListElement* newEdges[2]; + for (int32_t i = 0; i < 2; ++i) { + if (!(newEdges[i] = e->GetData().m_vertices[i]->GetData().m_duplicate)) { // if the edge doesn't exits add it and mark the vertex as duplicated + newEdges[i] = m_mesh.AddEdge(); + newEdges[i]->GetData().m_vertices[0] = e->GetData().m_vertices[i]; + newEdges[i]->GetData().m_vertices[1] = p; + e->GetData().m_vertices[i]->GetData().m_duplicate = newEdges[i]; } - // make the new face - CircularListElement * newFace = m_mesh.AddTriangle(); - newFace->GetData().m_edges[0] = e; - newFace->GetData().m_edges[1] = newEdges[0]; - newFace->GetData().m_edges[2] = newEdges[1]; - MakeCCW(newFace, e, p); - for(int i=0; i < 2; ++i) - { - for(int j=0; j < 2; ++j) - { - if ( ! newEdges[i]->GetData().m_triangles[j] ) - { - newEdges[i]->GetData().m_triangles[j] = newFace; - break; - } + } + // make the new face + CircularListElement* newFace = m_mesh.AddTriangle(); + newFace->GetData().m_edges[0] = e; + newFace->GetData().m_edges[1] = newEdges[0]; + newFace->GetData().m_edges[2] = newEdges[1]; + MakeCCW(newFace, e, p); + for (int32_t i = 0; i < 2; ++i) { + for (int32_t j = 0; j < 2; ++j) { + if (!newEdges[i]->GetData().m_triangles[j]) { + newEdges[i]->GetData().m_triangles[j] = newFace; + break; } } - return newFace; } - bool ICHull::ComputePointVolume(double &totalVolume, bool markVisibleFaces) - { - // mark visible faces - CircularListElement * fHead = m_mesh.GetTriangles().GetHead(); - CircularListElement * f = fHead; - CircularList & vertices = m_mesh.GetVertices(); - CircularListElement * vertex0 = vertices.GetHead(); - bool visible = false; - Vec3 pos0 = Vec3(vertex0->GetData().m_pos.X(), - vertex0->GetData().m_pos.Y(), - vertex0->GetData().m_pos.Z()); - double vol = 0.0; - totalVolume = 0.0; - Vec3 ver0, ver1, ver2; - do - { - ver0.X() = f->GetData().m_vertices[0]->GetData().m_pos.X(); - ver0.Y() = f->GetData().m_vertices[0]->GetData().m_pos.Y(); - ver0.Z() = f->GetData().m_vertices[0]->GetData().m_pos.Z(); - ver1.X() = f->GetData().m_vertices[1]->GetData().m_pos.X(); - ver1.Y() = f->GetData().m_vertices[1]->GetData().m_pos.Y(); - ver1.Z() = f->GetData().m_vertices[1]->GetData().m_pos.Z(); - ver2.X() = f->GetData().m_vertices[2]->GetData().m_pos.X(); - ver2.Y() = f->GetData().m_vertices[2]->GetData().m_pos.Y(); - ver2.Z() = f->GetData().m_vertices[2]->GetData().m_pos.Z(); - vol = ComputeVolume4(ver0, ver1, ver2, pos0); - if ( vol < -sc_eps) - { - vol = fabs(vol); - totalVolume += vol; - if (markVisibleFaces) - { - f->GetData().m_visible = true; - m_trianglesToDelete.PushBack(f); - } - visible = true; - } - f = f->GetNext(); - } - while (f != fHead); - - if (m_trianglesToDelete.Size() == m_mesh.m_triangles.GetSize()) - { - for(size_t i = 0; i < m_trianglesToDelete.Size(); i++) - { - m_trianglesToDelete[i]->GetData().m_visible = false; + return newFace; +} +bool ICHull::ComputePointVolume(double& totalVolume, bool markVisibleFaces) +{ + // mark visible faces + CircularListElement* fHead = m_mesh.GetTriangles().GetHead(); + CircularListElement* f = fHead; + CircularList& vertices = m_mesh.GetVertices(); + CircularListElement* vertex0 = vertices.GetHead(); + bool visible = false; + Vec3 pos0 = Vec3(vertex0->GetData().m_pos.X(), + vertex0->GetData().m_pos.Y(), + vertex0->GetData().m_pos.Z()); + double vol = 0.0; + totalVolume = 0.0; + Vec3 ver0, ver1, ver2; + do { + ver0.X() = f->GetData().m_vertices[0]->GetData().m_pos.X(); + ver0.Y() = f->GetData().m_vertices[0]->GetData().m_pos.Y(); + ver0.Z() = f->GetData().m_vertices[0]->GetData().m_pos.Z(); + ver1.X() = f->GetData().m_vertices[1]->GetData().m_pos.X(); + ver1.Y() = f->GetData().m_vertices[1]->GetData().m_pos.Y(); + ver1.Z() = f->GetData().m_vertices[1]->GetData().m_pos.Z(); + ver2.X() = f->GetData().m_vertices[2]->GetData().m_pos.X(); + ver2.Y() = f->GetData().m_vertices[2]->GetData().m_pos.Y(); + ver2.Z() = f->GetData().m_vertices[2]->GetData().m_pos.Z(); + vol = ComputeVolume4(ver0, ver1, ver2, pos0); + if (vol < -sc_eps) { + vol = fabs(vol); + totalVolume += vol; + if (markVisibleFaces) { + f->GetData().m_visible = true; + m_trianglesToDelete.PushBack(f); } - visible = false; + visible = true; } - // if no faces visible from p then p is inside the hull - if (!visible && markVisibleFaces) - { - vertices.Delete(); - m_trianglesToDelete.Resize(0); - return false; + f = f->GetNext(); + } while (f != fHead); + + if (m_trianglesToDelete.Size() == m_mesh.m_triangles.GetSize()) { + for (size_t i = 0; i < m_trianglesToDelete.Size(); i++) { + m_trianglesToDelete[i]->GetData().m_visible = false; } - return true; + visible = false; } - bool ICHull::ProcessPoint() - { - double totalVolume = 0.0; - if (!ComputePointVolume(totalVolume, true)) - { - return false; - } - // Mark edges in interior of visible region for deletion. - // Create a new face based on each border edge - CircularListElement * v0 = m_mesh.GetVertices().GetHead(); - CircularListElement * eHead = m_mesh.GetEdges().GetHead(); - CircularListElement * e = eHead; - CircularListElement * tmp = 0; - int nvisible = 0; - m_edgesToDelete.Resize(0); - m_edgesToUpdate.Resize(0); - do - { - tmp = e->GetNext(); - nvisible = 0; - for(int k = 0; k < 2; k++) - { - if ( e->GetData().m_triangles[k]->GetData().m_visible ) - { - nvisible++; - } - } - if ( nvisible == 2) - { - m_edgesToDelete.PushBack(e); - } - else if ( nvisible == 1) - { - e->GetData().m_newFace = MakeConeFace(e, v0); - m_edgesToUpdate.PushBack(e); - } - e = tmp; - } - while (e != eHead); - return true; + // if no faces visible from p then p is inside the hull + if (!visible && markVisibleFaces) { + vertices.Delete(); + m_trianglesToDelete.Resize(0); + return false; } - bool ICHull::MakeCCW(CircularListElement * f, - CircularListElement * e, - CircularListElement * v) - { - // the visible face adjacent to e - CircularListElement * fv; - if (e->GetData().m_triangles[0]->GetData().m_visible) - { - fv = e->GetData().m_triangles[0]; - } - else - { - fv = e->GetData().m_triangles[1]; + return true; +} +bool ICHull::ProcessPoint() +{ + double totalVolume = 0.0; + if (!ComputePointVolume(totalVolume, true)) { + return false; + } + // Mark edges in interior of visible region for deletion. + // Create a new face based on each border edge + CircularListElement* v0 = m_mesh.GetVertices().GetHead(); + CircularListElement* eHead = m_mesh.GetEdges().GetHead(); + CircularListElement* e = eHead; + CircularListElement* tmp = 0; + int32_t nvisible = 0; + m_edgesToDelete.Resize(0); + m_edgesToUpdate.Resize(0); + do { + tmp = e->GetNext(); + nvisible = 0; + for (int32_t k = 0; k < 2; k++) { + if (e->GetData().m_triangles[k]->GetData().m_visible) { + nvisible++; + } } - - // set vertex[0] and vertex[1] to have the same orientation as the corresponding vertices of fv. - int i; // index of e->m_vertices[0] in fv - CircularListElement * v0 = e->GetData().m_vertices[0]; - CircularListElement * v1 = e->GetData().m_vertices[1]; - for(i = 0; fv->GetData().m_vertices[i] != v0; i++); - - if ( fv->GetData().m_vertices[(i+1) % 3] != e->GetData().m_vertices[1] ) - { - f->GetData().m_vertices[0] = v1; - f->GetData().m_vertices[1] = v0; + if (nvisible == 2) { + m_edgesToDelete.PushBack(e); } - else - { - f->GetData().m_vertices[0] = v0; - f->GetData().m_vertices[1] = v1; - // swap edges - CircularListElement * tmp = f->GetData().m_edges[0]; - f->GetData().m_edges[0] = f->GetData().m_edges[1]; - f->GetData().m_edges[1] = tmp; + else if (nvisible == 1) { + e->GetData().m_newFace = MakeConeFace(e, v0); + m_edgesToUpdate.PushBack(e); } - f->GetData().m_vertices[2] = v; - return true; + e = tmp; + } while (e != eHead); + return true; +} +bool ICHull::MakeCCW(CircularListElement* f, + CircularListElement* e, + CircularListElement* v) +{ + // the visible face adjacent to e + CircularListElement* fv; + if (e->GetData().m_triangles[0]->GetData().m_visible) { + fv = e->GetData().m_triangles[0]; } - bool ICHull::CleanUp(unsigned int & addedPoints) - { - bool r0 = CleanEdges(); - bool r1 = CleanTriangles(); - bool r2 = CleanVertices(addedPoints); - return r0 && r1 && r2; + else { + fv = e->GetData().m_triangles[1]; } - bool ICHull::CleanEdges() - { - // integrate the new faces into the data structure - CircularListElement * e; - const size_t ne_update = m_edgesToUpdate.Size(); - for (size_t i = 0; i < ne_update; ++i) - { - e = m_edgesToUpdate[i]; - if ( e->GetData().m_newFace ) - { - if ( e->GetData().m_triangles[0]->GetData().m_visible) - { - e->GetData().m_triangles[0] = e->GetData().m_newFace; - } - else - { - e->GetData().m_triangles[1] = e->GetData().m_newFace; - } - e->GetData().m_newFace = 0; - } - } - // delete edges maked for deletion - CircularList & edges = m_mesh.GetEdges(); - const size_t ne_delete = m_edgesToDelete.Size(); - for (size_t i = 0; i < ne_delete; ++i) - { - edges.Delete(m_edgesToDelete[i]); - } - m_edgesToDelete.Resize(0); - m_edgesToUpdate.Resize(0); - return true; + + // set vertex[0] and vertex[1] to have the same orientation as the corresponding vertices of fv. + int32_t i; // index of e->m_vertices[0] in fv + CircularListElement* v0 = e->GetData().m_vertices[0]; + CircularListElement* v1 = e->GetData().m_vertices[1]; + for (i = 0; fv->GetData().m_vertices[i] != v0; i++) + ; + + if (fv->GetData().m_vertices[(i + 1) % 3] != e->GetData().m_vertices[1]) { + f->GetData().m_vertices[0] = v1; + f->GetData().m_vertices[1] = v0; } - bool ICHull::CleanTriangles() - { - CircularList & triangles = m_mesh.GetTriangles(); - const size_t nt_delete = m_trianglesToDelete.Size(); - for (size_t i = 0; i < nt_delete; ++i) - { - triangles.Delete(m_trianglesToDelete[i]); - } - m_trianglesToDelete.Resize(0); - return true; + else { + f->GetData().m_vertices[0] = v0; + f->GetData().m_vertices[1] = v1; + // swap edges + CircularListElement* tmp = f->GetData().m_edges[0]; + f->GetData().m_edges[0] = f->GetData().m_edges[1]; + f->GetData().m_edges[1] = tmp; } - bool ICHull::CleanVertices(unsigned int & addedPoints) - { - // mark all vertices incident to some undeleted edge as on the hull - CircularList & edges = m_mesh.GetEdges(); - CircularListElement * e = edges.GetHead(); - size_t nE = edges.GetSize(); - for(size_t i = 0; i < nE; i++) - { - e->GetData().m_vertices[0]->GetData().m_onHull = true; - e->GetData().m_vertices[1]->GetData().m_onHull = true; - e = e->GetNext(); - } - // delete all the vertices that have been processed but are not on the hull - CircularList & vertices = m_mesh.GetVertices(); - CircularListElement * vHead = vertices.GetHead(); - CircularListElement * v = vHead; - v = v->GetPrev(); - do - { - if (v->GetData().m_tag && !v->GetData().m_onHull) - { - CircularListElement * tmp = v->GetPrev(); - vertices.Delete(v); - v = tmp; - addedPoints--; + f->GetData().m_vertices[2] = v; + return true; +} +bool ICHull::CleanUp(uint32_t& addedPoints) +{ + bool r0 = CleanEdges(); + bool r1 = CleanTriangles(); + bool r2 = CleanVertices(addedPoints); + return r0 && r1 && r2; +} +bool ICHull::CleanEdges() +{ + // integrate the new faces into the data structure + CircularListElement* e; + const size_t ne_update = m_edgesToUpdate.Size(); + for (size_t i = 0; i < ne_update; ++i) { + e = m_edgesToUpdate[i]; + if (e->GetData().m_newFace) { + if (e->GetData().m_triangles[0]->GetData().m_visible) { + e->GetData().m_triangles[0] = e->GetData().m_newFace; } - else - { - v->GetData().m_duplicate = 0; - v->GetData().m_onHull = false; - v = v->GetPrev(); + else { + e->GetData().m_triangles[1] = e->GetData().m_newFace; } - } - while (v->GetData().m_tag && v != vHead); - return true; + e->GetData().m_newFace = 0; + } } - void ICHull::Clear() - { - m_mesh.Clear(); - m_edgesToDelete.Resize(0); - m_edgesToUpdate.Resize(0); - m_trianglesToDelete.Resize(0); - m_isFlat = false; + // delete edges maked for deletion + CircularList& edges = m_mesh.GetEdges(); + const size_t ne_delete = m_edgesToDelete.Size(); + for (size_t i = 0; i < ne_delete; ++i) { + edges.Delete(m_edgesToDelete[i]); } - const ICHull & ICHull::operator=(ICHull & rhs) - { - if (&rhs != this) - { - m_mesh.Copy(rhs.m_mesh); - m_edgesToDelete = rhs.m_edgesToDelete; - m_edgesToUpdate = rhs.m_edgesToUpdate; - m_trianglesToDelete = rhs.m_trianglesToDelete; - m_isFlat = rhs.m_isFlat; - } - return (*this); - } - bool ICHull::IsInside(const Vec3 & pt0, const double eps) - { - const Vec3 pt(pt0.X(), pt0.Y(), pt0.Z()); - if (m_isFlat) - { - size_t nT = m_mesh.m_triangles.GetSize(); - Vec3 ver0, ver1, ver2, a, b, c; - double u,v; - for(size_t t = 0; t < nT; t++) - { - ver0.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.X(); - ver0.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Y(); - ver0.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Z(); - ver1.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.X(); - ver1.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Y(); - ver1.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Z(); - ver2.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.X(); - ver2.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Y(); - ver2.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Z(); - a = ver1 - ver0; - b = ver2 - ver0; - c = pt - ver0; - u = c * a; - v = c * b; - if ( u >= 0.0 && u <= 1.0 && v >= 0.0 && u+v <= 1.0) - { - return true; - } - m_mesh.m_triangles.Next(); + m_edgesToDelete.Resize(0); + m_edgesToUpdate.Resize(0); + return true; +} +bool ICHull::CleanTriangles() +{ + CircularList& triangles = m_mesh.GetTriangles(); + const size_t nt_delete = m_trianglesToDelete.Size(); + for (size_t i = 0; i < nt_delete; ++i) { + triangles.Delete(m_trianglesToDelete[i]); + } + m_trianglesToDelete.Resize(0); + return true; +} +bool ICHull::CleanVertices(uint32_t& addedPoints) +{ + // mark all vertices incident to some undeleted edge as on the hull + CircularList& edges = m_mesh.GetEdges(); + CircularListElement* e = edges.GetHead(); + size_t nE = edges.GetSize(); + for (size_t i = 0; i < nE; i++) { + e->GetData().m_vertices[0]->GetData().m_onHull = true; + e->GetData().m_vertices[1]->GetData().m_onHull = true; + e = e->GetNext(); + } + // delete all the vertices that have been processed but are not on the hull + CircularList& vertices = m_mesh.GetVertices(); + CircularListElement* vHead = vertices.GetHead(); + CircularListElement* v = vHead; + v = v->GetPrev(); + do { + if (v->GetData().m_tag && !v->GetData().m_onHull) { + CircularListElement* tmp = v->GetPrev(); + vertices.Delete(v); + v = tmp; + addedPoints--; + } + else { + v->GetData().m_duplicate = 0; + v->GetData().m_onHull = false; + v = v->GetPrev(); + } + } while (v->GetData().m_tag && v != vHead); + return true; +} +void ICHull::Clear() +{ + m_mesh.Clear(); + m_edgesToDelete.Resize(0); + m_edgesToUpdate.Resize(0); + m_trianglesToDelete.Resize(0); + m_isFlat = false; +} +const ICHull& ICHull::operator=(ICHull& rhs) +{ + if (&rhs != this) { + m_mesh.Copy(rhs.m_mesh); + m_edgesToDelete = rhs.m_edgesToDelete; + m_edgesToUpdate = rhs.m_edgesToUpdate; + m_trianglesToDelete = rhs.m_trianglesToDelete; + m_isFlat = rhs.m_isFlat; + } + return (*this); +} +bool ICHull::IsInside(const Vec3& pt0, const double eps) +{ + const Vec3 pt(pt0.X(), pt0.Y(), pt0.Z()); + if (m_isFlat) { + size_t nT = m_mesh.m_triangles.GetSize(); + Vec3 ver0, ver1, ver2, a, b, c; + double u, v; + for (size_t t = 0; t < nT; t++) { + ver0.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.X(); + ver0.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Y(); + ver0.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Z(); + ver1.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.X(); + ver1.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Y(); + ver1.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Z(); + ver2.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.X(); + ver2.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Y(); + ver2.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Z(); + a = ver1 - ver0; + b = ver2 - ver0; + c = pt - ver0; + u = c * a; + v = c * b; + if (u >= 0.0 && u <= 1.0 && v >= 0.0 && u + v <= 1.0) { + return true; } - return false; + m_mesh.m_triangles.Next(); } - else - { - size_t nT = m_mesh.m_triangles.GetSize(); - Vec3 ver0, ver1, ver2; - double vol; - for(size_t t = 0; t < nT; t++) - { - ver0.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.X(); - ver0.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Y(); - ver0.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Z(); - ver1.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.X(); - ver1.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Y(); - ver1.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Z(); - ver2.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.X(); - ver2.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Y(); - ver2.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Z(); - vol = ComputeVolume4(ver0, ver1, ver2, pt); - if ( vol < eps) - { - return false; - } - m_mesh.m_triangles.Next(); + return false; + } + else { + size_t nT = m_mesh.m_triangles.GetSize(); + Vec3 ver0, ver1, ver2; + double vol; + for (size_t t = 0; t < nT; t++) { + ver0.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.X(); + ver0.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Y(); + ver0.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Z(); + ver1.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.X(); + ver1.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Y(); + ver1.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Z(); + ver2.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.X(); + ver2.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Y(); + ver2.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Z(); + vol = ComputeVolume4(ver0, ver1, ver2, pt); + if (vol < eps) { + return false; } - return true; + m_mesh.m_triangles.Next(); } + return true; } } - +} diff --git a/src/vhacdManifoldMesh.cpp b/src/vhacdManifoldMesh.cpp index eefaea2..7aac9c0 100644 --- a/src/vhacdManifoldMesh.cpp +++ b/src/vhacdManifoldMesh.cpp @@ -13,225 +13,190 @@ 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 "vhacdManifoldMesh.h" -namespace VHACD -{ - TMMVertex::TMMVertex(void) - { - Initialize(); - } - void TMMVertex::Initialize() - { - m_name = 0; - m_id = 0; - m_duplicate = 0; - m_onHull = false; - m_tag = false; - } +namespace VHACD { +TMMVertex::TMMVertex(void) +{ + Initialize(); +} +void TMMVertex::Initialize() +{ + m_name = 0; + m_id = 0; + m_duplicate = 0; + m_onHull = false; + m_tag = false; +} - TMMVertex::~TMMVertex(void) - { +TMMVertex::~TMMVertex(void) +{ +} +TMMEdge::TMMEdge(void) +{ + Initialize(); +} +void TMMEdge::Initialize() +{ + m_id = 0; + m_triangles[0] = m_triangles[1] = m_newFace = 0; + m_vertices[0] = m_vertices[1] = 0; +} +TMMEdge::~TMMEdge(void) +{ +} +void TMMTriangle::Initialize() +{ + m_id = 0; + for (int32_t i = 0; i < 3; i++) { + m_edges[i] = 0; + m_vertices[0] = 0; } - TMMEdge::TMMEdge(void) - { - Initialize(); + m_visible = false; +} +TMMTriangle::TMMTriangle(void) +{ + Initialize(); +} +TMMTriangle::~TMMTriangle(void) +{ +} +TMMesh::TMMesh() +{ +} +TMMesh::~TMMesh(void) +{ +} +void TMMesh::GetIFS(Vec3* const points, Vec3* 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(); } - void TMMEdge::Initialize() - { - m_id = 0; - m_triangles[0] = m_triangles[1] = m_newFace = 0; - m_vertices[0] = m_vertices[1] = 0; + for (size_t f = 0; f < nT; f++) { + TMMTriangle& currentTriangle = m_triangles.GetData(); + triangles[f].X() = static_cast(currentTriangle.m_vertices[0]->GetData().m_id); + triangles[f].Y() = static_cast(currentTriangle.m_vertices[1]->GetData().m_id); + triangles[f].Z() = static_cast(currentTriangle.m_vertices[2]->GetData().m_id); + m_triangles.Next(); } - TMMEdge::~TMMEdge(void) - { +} +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(); } - void TMMTriangle::Initialize() - { - m_id = 0; - for(int i = 0; i < 3; i++) - { - m_edges[i] = 0; - m_vertices[0] = 0; - } - m_visible = false; + for (size_t e = 0; e < nE; e++) { + mesh.m_edges.GetData().m_id = e; + mesh.m_edges.Next(); } - TMMTriangle::TMMTriangle(void) - { - Initialize(); + for (size_t f = 0; f < nT; f++) { + mesh.m_triangles.GetData().m_id = f; + mesh.m_triangles.Next(); } - TMMTriangle::~TMMTriangle(void) - { + // copying data + m_vertices = mesh.m_vertices; + m_edges = mesh.m_edges; + m_triangles = mesh.m_triangles; + + // generate mapping + CircularListElement** vertexMap = new CircularListElement*[nV]; + CircularListElement** edgeMap = new CircularListElement*[nE]; + CircularListElement** triangleMap = new CircularListElement*[nT]; + for (size_t v = 0; v < nV; v++) { + vertexMap[v] = m_vertices.GetHead(); + m_vertices.Next(); } - TMMesh::TMMesh() - { + for (size_t e = 0; e < nE; e++) { + edgeMap[e] = m_edges.GetHead(); + m_edges.Next(); } - TMMesh::~TMMesh(void) - { + for (size_t f = 0; f < nT; f++) { + triangleMap[f] = m_triangles.GetHead(); + m_triangles.Next(); } - void TMMesh::GetIFS(Vec3 * const points, Vec3 * 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(currentTriangle.m_vertices[0]->GetData().m_id); - triangles[f].Y() = static_cast(currentTriangle.m_vertices[1]->GetData().m_id); - triangles[f].Z() = static_cast(currentTriangle.m_vertices[2]->GetData().m_id); - 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]; } } - 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; - - // generate mapping - CircularListElement ** vertexMap = new CircularListElement * [nV]; - CircularListElement ** edgeMap = new CircularListElement * [nE]; - CircularListElement ** triangleMap = new CircularListElement * [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(); + 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]; } - - // 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]; + if (nT > 0) { + for (int32_t 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(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 (int32_t 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(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 (int32_t 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(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]; - } + } + for (int32_t 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; - } - 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; - } + delete[] vertexMap; + delete[] edgeMap; + delete[] triangleMap; +} +bool TMMesh::CheckConsistancy() +{ + size_t nE = m_edges.GetSize(); + size_t nT = m_triangles.GetSize(); + for (size_t e = 0; e < nE; e++) { + for (int32_t 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_edges.Next(); + } + for (size_t f = 0; f < nT; f++) { + for (int32_t e = 0; e < 3; e++) { + int32_t found = 0; + for (int32_t k = 0; k < 2; k++) { + if (m_triangles.GetHead()->GetData().m_edges[e]->GetData().m_triangles[k] == m_triangles.GetHead()) { + found++; } } - m_triangles.Next(); + if (found != 1) { + return false; + } } - return true; + m_triangles.Next(); } + return true; +} } \ No newline at end of file diff --git a/src/vhacdMesh.cpp b/src/vhacdMesh.cpp index 7a219b4..5d03989 100644 --- a/src/vhacdMesh.cpp +++ b/src/vhacdMesh.cpp @@ -12,339 +12,365 @@ 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 -#include -#include -#include -#include -#include -#include #include "btConvexHullComputer.h" #include "vhacdMesh.h" +#include "FloatMath.h" +#include +#include +#include +#include +#include +#include + +namespace VHACD { +Mesh::Mesh() +{ + m_diag = 1.0; +} +Mesh::~Mesh() +{ +} -namespace VHACD +Vec3& Mesh::ComputeCenter(void) { - Mesh::Mesh() - { - m_diag = 1.0; + const size_t nV = GetNPoints(); + if (nV) + { + double center[3]; + uint32_t pcount = uint32_t(GetNPoints()); + const double *points = GetPoints(); + uint32_t tcount = uint32_t(GetNTriangles()); + const uint32_t *indices = (const uint32_t *)GetTriangles(); + FLOAT_MATH::fm_computeCentroid(pcount, points, tcount, indices, center); + m_center.X() = center[0]; + m_center.Y() = center[1]; + m_center.Z() = center[2]; + m_minBB = GetPoint(0); + m_maxBB = GetPoint(0); + for (size_t v = 1; v < nV; v++) + { + Vec3 p = GetPoint(v); + if (p.X() < m_minBB.X()) + { + m_minBB.X() = p.X(); + } + if (p.Y() < m_minBB.Y()) + { + m_minBB.Y() = p.Y(); + } + if (p.Z() < m_minBB.Z()) + { + m_minBB.Z() = p.Z(); + } + if (p.X() > m_maxBB.X()) + { + m_maxBB.X() = p.X(); + } + if (p.Y() > m_maxBB.Y()) + { + m_maxBB.Y() = p.Y(); + } + if (p.Z() > m_maxBB.Z()) + { + m_maxBB.Z() = p.Z(); + } + } + } + return m_center; +} + +double Mesh::ComputeVolume() const +{ + const size_t nV = GetNPoints(); + const size_t nT = GetNTriangles(); + if (nV == 0 || nT == 0) { + return 0.0; } - Mesh::~Mesh() - { + + Vec3 bary(0.0, 0.0, 0.0); + for (size_t v = 0; v < nV; v++) { + bary += GetPoint(v); } - double Mesh::ComputeVolume() const - { - const size_t nV = GetNPoints(); - const size_t nT = GetNTriangles(); - if (nV == 0 || nT == 0) - { - return 0.0; - } + bary /= static_cast(nV); - Vec3 bary(0.0, 0.0, 0.0); - for (size_t v = 0; v < nV; v++) - { - bary += GetPoint(v); - } - bary /= static_cast(nV); + Vec3 ver0, ver1, ver2; + double totalVolume = 0.0; + for (int32_t t = 0; t < int32_t(nT); t++) { + const Vec3& tri = GetTriangle(t); + ver0 = GetPoint(tri[0]); + ver1 = GetPoint(tri[1]); + ver2 = GetPoint(tri[2]); + totalVolume += ComputeVolume4(ver0, ver1, ver2, bary); + } + return totalVolume / 6.0; +} - Vec3 ver0, ver1, ver2; - double totalVolume = 0.0; - for(int t = 0; t < nT; t++) - { - const Vec3 & tri = GetTriangle(t); - ver0 = GetPoint(tri[0]); - ver1 = GetPoint(tri[1]); - ver2 = GetPoint(tri[2]); - totalVolume += ComputeVolume4(ver0, ver1, ver2, bary); +void Mesh::ComputeConvexHull(const double* const pts, + const size_t nPts) +{ + ResizePoints(0); + ResizeTriangles(0); + btConvexHullComputer ch; + ch.compute(pts, 3 * sizeof(double), (int32_t)nPts, -1.0, -1.0); + for (int32_t v = 0; v < ch.vertices.size(); v++) { + AddPoint(Vec3(ch.vertices[v].getX(), ch.vertices[v].getY(), ch.vertices[v].getZ())); + } + const int32_t nt = ch.faces.size(); + for (int32_t t = 0; t < nt; ++t) { + const btConvexHullComputer::Edge* sourceEdge = &(ch.edges[ch.faces[t]]); + int32_t a = sourceEdge->getSourceVertex(); + int32_t b = sourceEdge->getTargetVertex(); + const btConvexHullComputer::Edge* edge = sourceEdge->getNextEdgeOfFace(); + int32_t c = edge->getTargetVertex(); + while (c != a) { + AddTriangle(Vec3(a, b, c)); + edge = edge->getNextEdgeOfFace(); + b = c; + c = edge->getTargetVertex(); } - return totalVolume/6.0; } - - void Mesh::ComputeConvexHull(const double * const pts, - const size_t nPts) - { - ResizePoints(0); - ResizeTriangles(0); - btConvexHullComputer ch; - ch.compute(pts, 3 * sizeof(double), (int) nPts, -1.0, -1.0); - for (int v = 0; v < ch.vertices.size(); v++) - { - AddPoint(Vec3(ch.vertices[v].getX(), ch.vertices[v].getY(), ch.vertices[v].getZ())); +} +void Mesh::Clip(const Plane& plane, + SArray >& positivePart, + SArray >& negativePart) const +{ + const size_t nV = GetNPoints(); + if (nV == 0) { + return; + } + double d; + for (size_t v = 0; v < nV; v++) { + const Vec3& pt = GetPoint(v); + d = plane.m_a * pt[0] + plane.m_b * pt[1] + plane.m_c * pt[2] + plane.m_d; + if (d > 0.0) { + positivePart.PushBack(pt); } - const int nt = ch.faces.size(); - for (int t = 0; t < nt; ++t) - { - const btConvexHullComputer::Edge * sourceEdge = &(ch.edges[ch.faces[t]]); - int a = sourceEdge->getSourceVertex(); - int b = sourceEdge->getTargetVertex(); - const btConvexHullComputer::Edge * edge = sourceEdge->getNextEdgeOfFace(); - int c = edge->getTargetVertex(); - while (c != a) - { - AddTriangle(Vec3(a, b, c)); - edge = edge->getNextEdgeOfFace(); - b = c; - c = edge->getTargetVertex(); - } + else if (d < 0.0) { + negativePart.PushBack(pt); } - } - void Mesh::Clip(const Plane & plane, - SArray< Vec3 > & positivePart, - SArray< Vec3 > & negativePart) const - { - const size_t nV = GetNPoints(); - if (nV == 0) - { - return; - } - double d; - for (size_t v = 0; v < nV; v++) - { - const Vec3 & pt = GetPoint(v); - d = plane.m_a * pt[0] + plane.m_b * pt[1] + plane.m_c * pt[2] + plane.m_d; - if (d > 0.0) - { - positivePart.PushBack(pt); - } - else if (d < 0.0) - { - negativePart.PushBack(pt); - } - else - { - positivePart.PushBack(pt); - negativePart.PushBack(pt); - } + else { + positivePart.PushBack(pt); + negativePart.PushBack(pt); } } - bool Mesh::IsInside(const Vec3 & pt) const - { - const size_t nV = GetNPoints(); - const size_t nT = GetNTriangles(); - if (nV == 0 || nT == 0) - { +} +bool Mesh::IsInside(const Vec3& pt) const +{ + const size_t nV = GetNPoints(); + const size_t nT = GetNTriangles(); + if (nV == 0 || nT == 0) { + return false; + } + Vec3 ver0, ver1, ver2; + double volume; + for (int32_t t = 0; t < int32_t(nT); t++) { + const Vec3& tri = GetTriangle(t); + ver0 = GetPoint(tri[0]); + ver1 = GetPoint(tri[1]); + ver2 = GetPoint(tri[2]); + volume = ComputeVolume4(ver0, ver1, ver2, pt); + if (volume < 0.0) { return false; } - Vec3 ver0, ver1, ver2; - double volume; - for (int t = 0; t < nT; t++) - { - const Vec3 & tri = GetTriangle(t); - ver0 = GetPoint(tri[0]); - ver1 = GetPoint(tri[1]); - ver2 = GetPoint(tri[2]); - volume = ComputeVolume4(ver0, ver1, ver2, pt); - if (volume < 0.0) - { - return false; - } - } - return true; } - double Mesh::ComputeDiagBB() - { - const size_t nPoints = GetNPoints(); - if (nPoints == 0) return 0.0; - Vec3< double > minBB = m_points[0]; - Vec3< double > maxBB = m_points[0]; - double x, y, z; - for (size_t v = 1; v < nPoints; v++) - { - x = m_points[v][0]; - y = m_points[v][1]; - z = m_points[v][2]; - if (x < minBB[0]) minBB[0] = x; - else if (x > maxBB[0]) maxBB[0] = x; - if (y < minBB[1]) minBB[1] = y; - else if (y > maxBB[1]) maxBB[1] = y; - if (z < minBB[2]) minBB[2] = z; - else if (z > maxBB[2]) maxBB[2] = z; - } - return (m_diag = (maxBB - minBB).GetNorm()); + return true; +} +double Mesh::ComputeDiagBB() +{ + const size_t nPoints = GetNPoints(); + if (nPoints == 0) + return 0.0; + Vec3 minBB = m_points[0]; + Vec3 maxBB = m_points[0]; + double x, y, z; + for (size_t v = 1; v < nPoints; v++) { + x = m_points[v][0]; + y = m_points[v][1]; + z = m_points[v][2]; + if (x < minBB[0]) + minBB[0] = x; + else if (x > maxBB[0]) + maxBB[0] = x; + if (y < minBB[1]) + minBB[1] = y; + else if (y > maxBB[1]) + maxBB[1] = y; + if (z < minBB[2]) + minBB[2] = z; + else if (z > maxBB[2]) + maxBB[2] = z; } + return (m_diag = (maxBB - minBB).GetNorm()); +} #ifdef VHACD_DEBUG_MESH - bool Mesh::SaveVRML2(const std::string & fileName) const - { - std::ofstream fout(fileName.c_str()); - if (fout.is_open()) - { - const Material material; +bool Mesh::SaveVRML2(const std::string& fileName) const +{ + std::ofstream fout(fileName.c_str()); + if (fout.is_open()) { + const Material material; - if (SaveVRML2(fout, material)) - { - fout.close(); - return true; - } - return false; + if (SaveVRML2(fout, material)) { + fout.close(); + return true; } return false; } - bool Mesh::SaveVRML2(std::ofstream & fout, const Material & material) const - { - if (fout.is_open()) - { - fout.setf(std::ios::fixed, std::ios::floatfield); - fout.setf(std::ios::showpoint); - fout.precision(6); - size_t nV = m_points.Size(); - size_t nT = m_triangles.Size(); - 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[0] << " " - << material.m_diffuseColor[1] << " " - << material.m_diffuseColor[2] << std::endl; - fout << " ambientIntensity " << material.m_ambientIntensity << std::endl; - fout << " specularColor " << material.m_specularColor[0] << " " - << material.m_specularColor[1] << " " - << material.m_specularColor[2] << std::endl; - fout << " emissiveColor " << material.m_emissiveColor[0] << " " - << material.m_emissiveColor[1] << " " - << material.m_emissiveColor[2] << 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 (nV > 0) - { - fout << " coord DEF co Coordinate {" << std::endl; - fout << " point [" << std::endl; - for (size_t v = 0; v < nV; v++) - { - fout << " " << m_points[v][0] << " " - << m_points[v][1] << " " - << m_points[v][2] << "," << std::endl; - } - fout << " ]" << std::endl; - fout << " }" << std::endl; + return false; +} +bool Mesh::SaveVRML2(std::ofstream& fout, const Material& material) const +{ + if (fout.is_open()) { + fout.setf(std::ios::fixed, std::ios::floatfield); + fout.setf(std::ios::showpoint); + fout.precision(6); + size_t nV = m_points.Size(); + size_t nT = m_triangles.Size(); + 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[0] << " " + << material.m_diffuseColor[1] << " " + << material.m_diffuseColor[2] << std::endl; + fout << " ambientIntensity " << material.m_ambientIntensity << std::endl; + fout << " specularColor " << material.m_specularColor[0] << " " + << material.m_specularColor[1] << " " + << material.m_specularColor[2] << std::endl; + fout << " emissiveColor " << material.m_emissiveColor[0] << " " + << material.m_emissiveColor[1] << " " + << material.m_emissiveColor[2] << 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 (nV > 0) { + fout << " coord DEF co Coordinate {" << std::endl; + fout << " point [" << std::endl; + for (size_t v = 0; v < nV; v++) { + fout << " " << m_points[v][0] << " " + << m_points[v][1] << " " + << m_points[v][2] << "," << std::endl; } - if (nT > 0) - { - fout << " coordIndex [ " << std::endl; - for (size_t f = 0; f < nT; f++) - { - fout << " " << m_triangles[f][0] << ", " - << m_triangles[f][1] << ", " - << m_triangles[f][2] << ", -1," << std::endl; - } - fout << " ]" << std::endl; + fout << " ]" << std::endl; + fout << " }" << std::endl; + } + if (nT > 0) { + fout << " coordIndex [ " << std::endl; + for (size_t f = 0; f < nT; f++) { + fout << " " << m_triangles[f][0] << ", " + << m_triangles[f][1] << ", " + << m_triangles[f][2] << ", -1," << std::endl; } - fout << " }" << std::endl; - fout << " }" << std::endl; - fout << " ]" << std::endl; - fout << "}" << std::endl; - return true; + fout << " ]" << std::endl; } - return false; + fout << " }" << std::endl; + fout << " }" << std::endl; + fout << " ]" << std::endl; + fout << "}" << std::endl; + return true; } - bool Mesh::SaveOFF(const std::string & fileName) const - { - std::ofstream fout(fileName.c_str()); - if (fout.is_open()) - { - size_t nV = m_points.Size(); - size_t nT = m_triangles.Size(); - fout << "OFF" << std::endl; - fout << nV << " " << nT << " " << 0 << std::endl; - for (size_t v = 0; v < nV; v++) - { - fout << m_points[v][0] << " " - << m_points[v][1] << " " - << m_points[v][2] << std::endl; - } - for (size_t f = 0; f < nT; f++) - { - fout << "3 " << m_triangles[f][0] << " " - << m_triangles[f][1] << " " - << m_triangles[f][2] << std::endl; - } - fout.close(); - return true; + return false; +} +bool Mesh::SaveOFF(const std::string& fileName) const +{ + std::ofstream fout(fileName.c_str()); + if (fout.is_open()) { + size_t nV = m_points.Size(); + size_t nT = m_triangles.Size(); + fout << "OFF" << std::endl; + fout << nV << " " << nT << " " << 0 << std::endl; + for (size_t v = 0; v < nV; v++) { + fout << m_points[v][0] << " " + << m_points[v][1] << " " + << m_points[v][2] << std::endl; } - return false; + for (size_t f = 0; f < nT; f++) { + fout << "3 " << m_triangles[f][0] << " " + << m_triangles[f][1] << " " + << m_triangles[f][2] << std::endl; + } + fout.close(); + return true; } + return false; +} - bool Mesh::LoadOFF(const std::string & fileName, bool invert) - { - FILE * fid = fopen(fileName.c_str(), "r"); - if (fid) - { - const std::string strOFF("OFF"); - char temp[1024]; - fscanf(fid, "%s", temp); - if (std::string(temp) != strOFF) - { - fclose(fid); - return false; +bool Mesh::LoadOFF(const std::string& fileName, bool invert) +{ + FILE* fid = fopen(fileName.c_str(), "r"); + if (fid) { + const std::string strOFF("OFF"); + char temp[1024]; + fscanf(fid, "%s", temp); + if (std::string(temp) != strOFF) { + fclose(fid); + return false; + } + else { + int32_t nv = 0; + int32_t nf = 0; + int32_t ne = 0; + fscanf(fid, "%i", &nv); + fscanf(fid, "%i", &nf); + fscanf(fid, "%i", &ne); + m_points.Resize(nv); + m_triangles.Resize(nf); + Vec3 coord; + float x, y, z; + for (int32_t p = 0; p < nv; p++) { + fscanf(fid, "%f", &x); + fscanf(fid, "%f", &y); + fscanf(fid, "%f", &z); + m_points[p][0] = x; + m_points[p][1] = y; + m_points[p][2] = z; } - else - { - int nv = 0; - int nf = 0; - int ne = 0; - fscanf(fid, "%i", &nv); - fscanf(fid, "%i", &nf); - fscanf(fid, "%i", &ne); - m_points.Resize(nv); - m_triangles.Resize(nf); - Vec3 coord; - float x, y, z; - for (int p = 0; p < nv; p++) - { - fscanf(fid, "%f", &x); - fscanf(fid, "%f", &y); - fscanf(fid, "%f", &z); - m_points[p][0] = x; - m_points[p][1] = y; - m_points[p][2] = z; - } - int i, j, k, s; - for (int t = 0; t < nf; ++t) { - fscanf(fid, "%i", &s); - if (s == 3) - { - fscanf(fid, "%i", &i); - fscanf(fid, "%i", &j); - fscanf(fid, "%i", &k); - m_triangles[t][0] = i; - if (invert) - { - m_triangles[t][1] = k; - m_triangles[t][2] = j; - } - else - { - m_triangles[t][1] = j; - m_triangles[t][2] = k; - } + int32_t i, j, k, s; + for (int32_t t = 0; t < nf; ++t) { + fscanf(fid, "%i", &s); + if (s == 3) { + fscanf(fid, "%i", &i); + fscanf(fid, "%i", &j); + fscanf(fid, "%i", &k); + m_triangles[t][0] = i; + if (invert) { + m_triangles[t][1] = k; + m_triangles[t][2] = j; } - else // Fix me: support only triangular meshes - { - for (int h = 0; h < s; ++h) fscanf(fid, "%i", &s); + else { + m_triangles[t][1] = j; + m_triangles[t][2] = k; } } - fclose(fid); + else // Fix me: support only triangular meshes + { + for (int32_t h = 0; h < s; ++h) + fscanf(fid, "%i", &s); + } } + fclose(fid); } - else - { - return false; - } - return true; } + else { + return false; + } + return true; +} #endif // VHACD_DEBUG_MESH - } diff --git a/src/vhacdRaycastMesh.cpp b/src/vhacdRaycastMesh.cpp new file mode 100644 index 0000000..e8b9435 --- /dev/null +++ b/src/vhacdRaycastMesh.cpp @@ -0,0 +1,208 @@ +#include "vhacdRaycastMesh.h" +#include +#include + +namespace RAYCAST_MESH +{ + +/* a = b - c */ +#define vector(a,b,c) \ + (a)[0] = (b)[0] - (c)[0]; \ + (a)[1] = (b)[1] - (c)[1]; \ + (a)[2] = (b)[2] - (c)[2]; + +#define innerProduct(v,q) \ + ((v)[0] * (q)[0] + \ + (v)[1] * (q)[1] + \ + (v)[2] * (q)[2]) + +#define crossProduct(a,b,c) \ + (a)[0] = (b)[1] * (c)[2] - (c)[1] * (b)[2]; \ + (a)[1] = (b)[2] * (c)[0] - (c)[2] * (b)[0]; \ + (a)[2] = (b)[0] * (c)[1] - (c)[0] * (b)[1]; + + +static inline bool rayIntersectsTriangle(const double *p,const double *d,const double *v0,const double *v1,const double *v2,double &t) +{ + double e1[3],e2[3],h[3],s[3],q[3]; + double a,f,u,v; + + vector(e1,v1,v0); + vector(e2,v2,v0); + crossProduct(h,d,e2); + a = innerProduct(e1,h); + + if (a > -0.00001 && a < 0.00001) + return(false); + + f = 1/a; + vector(s,p,v0); + u = f * (innerProduct(s,h)); + + if (u < 0.0 || u > 1.0) + return(false); + + crossProduct(q,s,e1); + v = f * innerProduct(d,q); + if (v < 0.0 || u + v > 1.0) + return(false); + // at this stage we can compute t to find out where + // the intersection point is on the line + t = f * innerProduct(e2,q); + if (t > 0) // ray intersection + return(true); + else // this means that there is a line intersection + // but not a ray intersection + return (false); +} + +static double getPointDistance(const double *p1, const double *p2) +{ + double dx = p1[0] - p2[0]; + double dy = p1[1] - p2[1]; + double dz = p1[2] - p2[2]; + return sqrt(dx*dx + dy*dy + dz*dz); +} + +class MyRaycastMesh : public VHACD::RaycastMesh +{ +public: + + template + MyRaycastMesh(uint32_t vcount, + const T *vertices, + uint32_t tcount, + const uint32_t *indices) + { + mVcount = vcount; + mVertices = new double[mVcount * 3]; + for (uint32_t i = 0; i < mVcount; i++) + { + mVertices[i * 3 + 0] = vertices[0]; + mVertices[i * 3 + 1] = vertices[1]; + mVertices[i * 3 + 2] = vertices[2]; + vertices += 3; + } + mTcount = tcount; + mIndices = new uint32_t[mTcount * 3]; + for (uint32_t i = 0; i < mTcount; i++) + { + mIndices[i * 3 + 0] = indices[0]; + mIndices[i * 3 + 1] = indices[1]; + mIndices[i * 3 + 2] = indices[2]; + indices += 3; + } + } + + + ~MyRaycastMesh(void) + { + delete[]mVertices; + delete[]mIndices; + } + + virtual void release(void) + { + delete this; + } + + virtual bool raycast(const double *from, // The starting point of the raycast + const double *to, // The ending point of the raycast + const double *closestToPoint, // The point to match the nearest hit location (can just be the 'from' location of no specific point) + double *hitLocation, // The point where the ray hit nearest to the 'closestToPoint' location + double *hitDistance) final // The distance the ray traveled to the hit location + { + bool ret = false; + + double dir[3]; + + dir[0] = to[0] - from[0]; + dir[1] = to[1] - from[1]; + dir[2] = to[2] - from[2]; + + double distance = sqrt( dir[0]*dir[0] + dir[1]*dir[1]+dir[2]*dir[2] ); + if ( distance < 0.0000000001f ) return false; + double recipDistance = 1.0f / distance; + dir[0]*=recipDistance; + dir[1]*=recipDistance; + dir[2]*=recipDistance; + const uint32_t *indices = mIndices; + const double *vertices = mVertices; + double nearestDistance = distance; + + for (uint32_t tri=0; tri(m); + } + + RaycastMesh * RaycastMesh::createRaycastMesh(uint32_t vcount, // The number of vertices in the source triangle mesh + const float *vertices, // The array of vertex positions in the format x1,y1,z1..x2,y2,z2.. etc. + uint32_t tcount, // The number of triangles in the source triangle mesh + const uint32_t *indices) // The triangle indices in the format of i1,i2,i3 ... i4,i5,i6, ... + { + MyRaycastMesh *m = new MyRaycastMesh(vcount, vertices, tcount, indices); + return static_cast(m); + } + + +} // end of VHACD namespace \ No newline at end of file diff --git a/src/vhacdVolume.cpp b/src/vhacdVolume.cpp index 3681a77..a250e5a 100644 --- a/src/vhacdVolume.cpp +++ b/src/vhacdVolume.cpp @@ -12,817 +12,826 @@ 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 + +#include "btConvexHullComputer.h" +#include "vhacdVolume.h" #include -#include +#include #include #include -#include -#include "vhacdVolume.h" -#include "btConvexHullComputer.h" +#include -namespace VHACD -{ - /********************************************************/ - /* AABB-triangle overlap test code */ - /* by Tomas Akenine-Möller */ - /* Function: int triBoxOverlap(float boxcenter[3], */ - /* float boxhalfsize[3],float triverts[3][3]); */ - /* History: */ - /* 2001-03-05: released the code in its first version */ - /* 2001-06-18: changed the order of the tests, faster */ - /* */ - /* Acknowledgement: Many thanks to Pierre Terdiman for */ - /* suggestions and discussions on how to optimize code. */ - /* Thanks to David Hunt for finding a ">="-bug! */ - /********************************************************/ +#ifdef _MSC_VER +#pragma warning(disable:4458 4100) +#endif - #define X 0 - #define Y 1 - #define Z 2 - #define FINDMINMAX(x0,x1,x2,min,max) \ - min = max = x0; \ - if(x1max) max=x1;\ - if(x2max) max=x2; - #define AXISTEST_X01(a, b, fa, fb) \ - p0 = a*v0[Y] - b*v0[Z]; \ - p2 = a*v2[Y] - b*v2[Z]; \ - if(p0rad || max<-rad) return 0; +namespace VHACD { +/********************************************************/ +/* AABB-triangle overlap test code */ +/* by Tomas Akenine-M�ller */ +/* Function: int32_t triBoxOverlap(float boxcenter[3], */ +/* float boxhalfsize[3],float triverts[3][3]); */ +/* History: */ +/* 2001-03-05: released the code in its first version */ +/* 2001-06-18: changed the order of the tests, faster */ +/* */ +/* Acknowledgement: Many thanks to Pierre Terdiman for */ +/* suggestions and discussions on how to optimize code. */ +/* Thanks to David Hunt for finding a ">="-bug! */ +/********************************************************/ - #define AXISTEST_X2(a, b, fa, fb) \ - p0 = a*v0[Y] - b*v0[Z]; \ - p1 = a*v1[Y] - b*v1[Z]; \ - if(p0rad || max<-rad) return 0; +#define X 0 +#define Y 1 +#define Z 2 +#define FINDMINMAX(x0, x1, x2, min, max) \ + min = max = x0; \ + if (x1 < min) \ + min = x1; \ + if (x1 > max) \ + max = x1; \ + if (x2 < min) \ + min = x2; \ + if (x2 > max) \ + max = x2; - #define AXISTEST_Y02(a, b, fa, fb) \ - p0 = -a*v0[X] + b*v0[Z]; \ - p2 = -a*v2[X] + b*v2[Z]; \ - if(p0rad || max<-rad) return 0; +#define AXISTEST_X01(a, b, fa, fb) \ + p0 = a * v0[Y] - b * v0[Z]; \ + p2 = a * v2[Y] - b * v2[Z]; \ + if (p0 < p2) { \ + min = p0; \ + max = p2; \ + } \ + else { \ + min = p2; \ + max = p0; \ + } \ + rad = fa * boxhalfsize[Y] + fb * boxhalfsize[Z]; \ + if (min > rad || max < -rad) \ + return 0; - #define AXISTEST_Y1(a, b, fa, fb) \ - p0 = -a*v0[X] + b*v0[Z]; \ - p1 = -a*v1[X] + b*v1[Z]; \ - if(p0rad || max<-rad) return 0; +#define AXISTEST_X2(a, b, fa, fb) \ + p0 = a * v0[Y] - b * v0[Z]; \ + p1 = a * v1[Y] - b * v1[Z]; \ + if (p0 < p1) { \ + min = p0; \ + max = p1; \ + } \ + else { \ + min = p1; \ + max = p0; \ + } \ + rad = fa * boxhalfsize[Y] + fb * boxhalfsize[Z]; \ + if (min > rad || max < -rad) \ + return 0; - #define AXISTEST_Z12(a, b, fa, fb) \ - p1 = a*v1[X] - b*v1[Y]; \ - p2 = a*v2[X] - b*v2[Y]; \ - if(p2rad || max<-rad) return 0; +#define AXISTEST_Y02(a, b, fa, fb) \ + p0 = -a * v0[X] + b * v0[Z]; \ + p2 = -a * v2[X] + b * v2[Z]; \ + if (p0 < p2) { \ + min = p0; \ + max = p2; \ + } \ + else { \ + min = p2; \ + max = p0; \ + } \ + rad = fa * boxhalfsize[X] + fb * boxhalfsize[Z]; \ + if (min > rad || max < -rad) \ + return 0; - #define AXISTEST_Z0(a, b, fa, fb) \ - p0 = a*v0[X] - b*v0[Y]; \ - p1 = a*v1[X] - b*v1[Y]; \ - if(p0rad || max<-rad) return 0; +#define AXISTEST_Y1(a, b, fa, fb) \ + p0 = -a * v0[X] + b * v0[Z]; \ + p1 = -a * v1[X] + b * v1[Z]; \ + if (p0 < p1) { \ + min = p0; \ + max = p1; \ + } \ + else { \ + min = p1; \ + max = p0; \ + } \ + rad = fa * boxhalfsize[X] + fb * boxhalfsize[Z]; \ + if (min > rad || max < -rad) \ + return 0; - int PlaneBoxOverlap(const Vec3 & normal, - const Vec3 & vert, - const Vec3 & maxbox) - { - int q; - Vec3 vmin,vmax; - double v; - for(q=X;q<=Z;q++) - { - v=vert[q]; - if(normal[q]>0.0) - { - vmin[q]=-maxbox[q] - v; - vmax[q]= maxbox[q] - v; - } - else - { - vmin[q]= maxbox[q] - v; - vmax[q]=-maxbox[q] - v; - } - } - if(normal * vmin > 0.0) return 0; - if(normal * vmax >= 0.0) return 1; +#define AXISTEST_Z12(a, b, fa, fb) \ + p1 = a * v1[X] - b * v1[Y]; \ + p2 = a * v2[X] - b * v2[Y]; \ + if (p2 < p1) { \ + min = p2; \ + max = p1; \ + } \ + else { \ + min = p1; \ + max = p2; \ + } \ + rad = fa * boxhalfsize[X] + fb * boxhalfsize[Y]; \ + if (min > rad || max < -rad) \ + return 0; + +#define AXISTEST_Z0(a, b, fa, fb) \ + p0 = a * v0[X] - b * v0[Y]; \ + p1 = a * v1[X] - b * v1[Y]; \ + if (p0 < p1) { \ + min = p0; \ + max = p1; \ + } \ + else { \ + min = p1; \ + max = p0; \ + } \ + rad = fa * boxhalfsize[X] + fb * boxhalfsize[Y]; \ + if (min > rad || max < -rad) \ return 0; + +int32_t PlaneBoxOverlap(const Vec3& normal, + const Vec3& vert, + const Vec3& maxbox) +{ + int32_t q; + Vec3 vmin, vmax; + double v; + for (q = X; q <= Z; q++) { + v = vert[q]; + if (normal[q] > 0.0) { + vmin[q] = -maxbox[q] - v; + vmax[q] = maxbox[q] - v; + } + else { + vmin[q] = maxbox[q] - v; + vmax[q] = -maxbox[q] - v; + } } + if (normal * vmin > 0.0) + return 0; + if (normal * vmax >= 0.0) + return 1; + return 0; +} - int TriBoxOverlap(const Vec3 & boxcenter, - const Vec3 & boxhalfsize, - const Vec3 & triver0, - const Vec3 & triver1, - const Vec3 & triver2) - { - /* use separating axis theorem to test overlap between triangle and box */ - /* need to test for overlap in these directions: */ - /* 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle */ - /* we do not even need to test these) */ - /* 2) normal of the triangle */ - /* 3) crossproduct(edge from tri, {x,y,z}-directin) */ - /* this gives 3x3=9 more tests */ +int32_t TriBoxOverlap(const Vec3& boxcenter, + const Vec3& boxhalfsize, + const Vec3& triver0, + const Vec3& triver1, + const Vec3& triver2) +{ + /* use separating axis theorem to test overlap between triangle and box */ + /* need to test for overlap in these directions: */ + /* 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle */ + /* we do not even need to test these) */ + /* 2) normal of the triangle */ + /* 3) crossproduct(edge from tri, {x,y,z}-directin) */ + /* this gives 3x3=9 more tests */ - Vec3 v0,v1,v2; - double min,max,p0,p1,p2,rad,fex,fey,fez; // -NJMP- "d" local variable removed - Vec3 normal,e0,e1,e2; + Vec3 v0, v1, v2; + double min, max, p0, p1, p2, rad, fex, fey, fez; // -NJMP- "d" local variable removed + Vec3 normal, e0, e1, e2; - /* This is the fastest branch on Sun */ - /* move everything so that the boxcenter is in (0,0,0) */ + /* This is the fastest branch on Sun */ + /* move everything so that the boxcenter is in (0,0,0) */ - v0 = triver0 - boxcenter; - v1 = triver1 - boxcenter; - v2 = triver2 - boxcenter; + v0 = triver0 - boxcenter; + v1 = triver1 - boxcenter; + v2 = triver2 - boxcenter; - /* compute triangle edges */ - e0 = v1 - v0; /* tri edge 0 */ - e1 = v2 - v1; /* tri edge 1 */ - e2 = v0 - v2; /* tri edge 2 */ + /* compute triangle edges */ + e0 = v1 - v0; /* tri edge 0 */ + e1 = v2 - v1; /* tri edge 1 */ + e2 = v0 - v2; /* tri edge 2 */ - /* Bullet 3: */ - /* test the 9 tests first (this was faster) */ - fex = fabs(e0[X]); - fey = fabs(e0[Y]); - fez = fabs(e0[Z]); + /* Bullet 3: */ + /* test the 9 tests first (this was faster) */ + fex = fabs(e0[X]); + fey = fabs(e0[Y]); + fez = fabs(e0[Z]); - AXISTEST_X01(e0[Z], e0[Y], fez, fey); - AXISTEST_Y02(e0[Z], e0[X], fez, fex); - AXISTEST_Z12(e0[Y], e0[X], fey, fex); - - fex = fabs(e1[X]); - fey = fabs(e1[Y]); - fez = fabs(e1[Z]); + AXISTEST_X01(e0[Z], e0[Y], fez, fey); + AXISTEST_Y02(e0[Z], e0[X], fez, fex); + AXISTEST_Z12(e0[Y], e0[X], fey, fex); - AXISTEST_X01(e1[Z], e1[Y], fez, fey); - AXISTEST_Y02(e1[Z], e1[X], fez, fex); - AXISTEST_Z0(e1[Y], e1[X], fey, fex); + fex = fabs(e1[X]); + fey = fabs(e1[Y]); + fez = fabs(e1[Z]); - fex = fabs(e2[X]); - fey = fabs(e2[Y]); - fez = fabs(e2[Z]); + AXISTEST_X01(e1[Z], e1[Y], fez, fey); + AXISTEST_Y02(e1[Z], e1[X], fez, fex); + AXISTEST_Z0(e1[Y], e1[X], fey, fex); - AXISTEST_X2(e2[Z], e2[Y], fez, fey); - AXISTEST_Y1(e2[Z], e2[X], fez, fex); - AXISTEST_Z12(e2[Y], e2[X], fey, fex); + fex = fabs(e2[X]); + fey = fabs(e2[Y]); + fez = fabs(e2[Z]); - /* Bullet 1: */ - /* first test overlap in the {x,y,z}-directions */ - /* find min, max of the triangle each direction, and test for overlap in */ - /* that direction -- this is equivalent to testing a minimal AABB around */ - /* the triangle against the AABB */ + AXISTEST_X2(e2[Z], e2[Y], fez, fey); + AXISTEST_Y1(e2[Z], e2[X], fez, fex); + AXISTEST_Z12(e2[Y], e2[X], fey, fex); - /* test in X-direction */ - FINDMINMAX(v0[X],v1[X],v2[X],min,max); - if(min>boxhalfsize[X] || max<-boxhalfsize[X]) return 0; + /* Bullet 1: */ + /* first test overlap in the {x,y,z}-directions */ + /* find min, max of the triangle each direction, and test for overlap in */ + /* that direction -- this is equivalent to testing a minimal AABB around */ + /* the triangle against the AABB */ - /* test in Y-direction */ - FINDMINMAX(v0[Y],v1[Y],v2[Y],min,max); - if(min>boxhalfsize[Y] || max<-boxhalfsize[Y]) return 0; + /* test in X-direction */ + FINDMINMAX(v0[X], v1[X], v2[X], min, max); + if (min > boxhalfsize[X] || max < -boxhalfsize[X]) + return 0; - /* test in Z-direction */ - FINDMINMAX(v0[Z],v1[Z],v2[Z],min,max); - if(min>boxhalfsize[Z] || max<-boxhalfsize[Z]) return 0; + /* test in Y-direction */ + FINDMINMAX(v0[Y], v1[Y], v2[Y], min, max); + if (min > boxhalfsize[Y] || max < -boxhalfsize[Y]) + return 0; - /* Bullet 2: */ - /* test if the box intersects the plane of the triangle */ - /* compute plane equation of triangle: normal*x+d=0 */ - normal = e0 ^ e1; + /* test in Z-direction */ + FINDMINMAX(v0[Z], v1[Z], v2[Z], min, max); + if (min > boxhalfsize[Z] || max < -boxhalfsize[Z]) + return 0; - if(!PlaneBoxOverlap(normal,v0,boxhalfsize)) return 0; - return 1; /* box and triangle overlaps */ - } + /* Bullet 2: */ + /* test if the box intersects the plane of the triangle */ + /* compute plane equation of triangle: normal*x+d=0 */ + normal = e0 ^ e1; + + if (!PlaneBoxOverlap(normal, v0, boxhalfsize)) + return 0; + return 1; /* box and triangle overlaps */ +} - // Slightly modified version of Stan Melax's code for 3x3 matrix diagonalization (Thanks Stan!) - // source: http://www.melax.com/diag.html?attredirects=0 - void Diagonalize(const double (&A)[3][3], double (&Q)[3][3], double (&D)[3][3]) - { - // A must be a symmetric matrix. - // returns Q and D such that - // Diagonal matrix D = QT * A * Q; and A = Q*D*QT - const int maxsteps=24; // certainly wont need that many. - int k0, k1, k2; - double o[3], m[3]; - double q [4] = {0.0,0.0,0.0,1.0}; - double jr[4]; - double sqw, sqx, sqy, sqz; - double tmp1, tmp2, mq; - double AQ[3][3]; - double thet, sgn, t, c; - for(int i=0;i < maxsteps;++i) - { - // quat to matrix - sqx = q[0]*q[0]; - sqy = q[1]*q[1]; - sqz = q[2]*q[2]; - sqw = q[3]*q[3]; - Q[0][0] = ( sqx - sqy - sqz + sqw); - Q[1][1] = (-sqx + sqy - sqz + sqw); - Q[2][2] = (-sqx - sqy + sqz + sqw); - tmp1 = q[0]*q[1]; - tmp2 = q[2]*q[3]; - Q[1][0] = 2.0 * (tmp1 + tmp2); - Q[0][1] = 2.0 * (tmp1 - tmp2); - tmp1 = q[0]*q[2]; - tmp2 = q[1]*q[3]; - Q[2][0] = 2.0 * (tmp1 - tmp2); - Q[0][2] = 2.0 * (tmp1 + tmp2); - tmp1 = q[1]*q[2]; - tmp2 = q[0]*q[3]; - Q[2][1] = 2.0 * (tmp1 + tmp2); - Q[1][2] = 2.0 * (tmp1 - tmp2); +// Slightly modified version of Stan Melax's code for 3x3 matrix diagonalization (Thanks Stan!) +// source: http://www.melax.com/diag.html?attredirects=0 +void Diagonalize(const double (&A)[3][3], double (&Q)[3][3], double (&D)[3][3]) +{ + // A must be a symmetric matrix. + // returns Q and D such that + // Diagonal matrix D = QT * A * Q; and A = Q*D*QT + const int32_t maxsteps = 24; // certainly wont need that many. + int32_t k0, k1, k2; + double o[3], m[3]; + double q[4] = { 0.0, 0.0, 0.0, 1.0 }; + double jr[4]; + double sqw, sqx, sqy, sqz; + double tmp1, tmp2, mq; + double AQ[3][3]; + double thet, sgn, t, c; + for (int32_t i = 0; i < maxsteps; ++i) { + // quat to matrix + sqx = q[0] * q[0]; + sqy = q[1] * q[1]; + sqz = q[2] * q[2]; + sqw = q[3] * q[3]; + Q[0][0] = (sqx - sqy - sqz + sqw); + Q[1][1] = (-sqx + sqy - sqz + sqw); + Q[2][2] = (-sqx - sqy + sqz + sqw); + tmp1 = q[0] * q[1]; + tmp2 = q[2] * q[3]; + Q[1][0] = 2.0 * (tmp1 + tmp2); + Q[0][1] = 2.0 * (tmp1 - tmp2); + tmp1 = q[0] * q[2]; + tmp2 = q[1] * q[3]; + Q[2][0] = 2.0 * (tmp1 - tmp2); + Q[0][2] = 2.0 * (tmp1 + tmp2); + tmp1 = q[1] * q[2]; + tmp2 = q[0] * q[3]; + Q[2][1] = 2.0 * (tmp1 + tmp2); + Q[1][2] = 2.0 * (tmp1 - tmp2); - // AQ = A * Q - AQ[0][0] = Q[0][0]*A[0][0]+Q[1][0]*A[0][1]+Q[2][0]*A[0][2]; - AQ[0][1] = Q[0][1]*A[0][0]+Q[1][1]*A[0][1]+Q[2][1]*A[0][2]; - AQ[0][2] = Q[0][2]*A[0][0]+Q[1][2]*A[0][1]+Q[2][2]*A[0][2]; - AQ[1][0] = Q[0][0]*A[0][1]+Q[1][0]*A[1][1]+Q[2][0]*A[1][2]; - AQ[1][1] = Q[0][1]*A[0][1]+Q[1][1]*A[1][1]+Q[2][1]*A[1][2]; - AQ[1][2] = Q[0][2]*A[0][1]+Q[1][2]*A[1][1]+Q[2][2]*A[1][2]; - AQ[2][0] = Q[0][0]*A[0][2]+Q[1][0]*A[1][2]+Q[2][0]*A[2][2]; - AQ[2][1] = Q[0][1]*A[0][2]+Q[1][1]*A[1][2]+Q[2][1]*A[2][2]; - AQ[2][2] = Q[0][2]*A[0][2]+Q[1][2]*A[1][2]+Q[2][2]*A[2][2]; - // D = Qt * AQ - D[0][0] = AQ[0][0]*Q[0][0]+AQ[1][0]*Q[1][0]+AQ[2][0]*Q[2][0]; - D[0][1] = AQ[0][0]*Q[0][1]+AQ[1][0]*Q[1][1]+AQ[2][0]*Q[2][1]; - D[0][2] = AQ[0][0]*Q[0][2]+AQ[1][0]*Q[1][2]+AQ[2][0]*Q[2][2]; - D[1][0] = AQ[0][1]*Q[0][0]+AQ[1][1]*Q[1][0]+AQ[2][1]*Q[2][0]; - D[1][1] = AQ[0][1]*Q[0][1]+AQ[1][1]*Q[1][1]+AQ[2][1]*Q[2][1]; - D[1][2] = AQ[0][1]*Q[0][2]+AQ[1][1]*Q[1][2]+AQ[2][1]*Q[2][2]; - D[2][0] = AQ[0][2]*Q[0][0]+AQ[1][2]*Q[1][0]+AQ[2][2]*Q[2][0]; - D[2][1] = AQ[0][2]*Q[0][1]+AQ[1][2]*Q[1][1]+AQ[2][2]*Q[2][1]; - D[2][2] = AQ[0][2]*Q[0][2]+AQ[1][2]*Q[1][2]+AQ[2][2]*Q[2][2]; - o[0] = D[1][2]; - o[1] = D[0][2]; - o[2] = D[0][1]; - m[0] = fabs(o[0]); - m[1] = fabs(o[1]); - m[2] = fabs(o[2]); + // AQ = A * Q + AQ[0][0] = Q[0][0] * A[0][0] + Q[1][0] * A[0][1] + Q[2][0] * A[0][2]; + AQ[0][1] = Q[0][1] * A[0][0] + Q[1][1] * A[0][1] + Q[2][1] * A[0][2]; + AQ[0][2] = Q[0][2] * A[0][0] + Q[1][2] * A[0][1] + Q[2][2] * A[0][2]; + AQ[1][0] = Q[0][0] * A[0][1] + Q[1][0] * A[1][1] + Q[2][0] * A[1][2]; + AQ[1][1] = Q[0][1] * A[0][1] + Q[1][1] * A[1][1] + Q[2][1] * A[1][2]; + AQ[1][2] = Q[0][2] * A[0][1] + Q[1][2] * A[1][1] + Q[2][2] * A[1][2]; + AQ[2][0] = Q[0][0] * A[0][2] + Q[1][0] * A[1][2] + Q[2][0] * A[2][2]; + AQ[2][1] = Q[0][1] * A[0][2] + Q[1][1] * A[1][2] + Q[2][1] * A[2][2]; + AQ[2][2] = Q[0][2] * A[0][2] + Q[1][2] * A[1][2] + Q[2][2] * A[2][2]; + // D = Qt * AQ + D[0][0] = AQ[0][0] * Q[0][0] + AQ[1][0] * Q[1][0] + AQ[2][0] * Q[2][0]; + D[0][1] = AQ[0][0] * Q[0][1] + AQ[1][0] * Q[1][1] + AQ[2][0] * Q[2][1]; + D[0][2] = AQ[0][0] * Q[0][2] + AQ[1][0] * Q[1][2] + AQ[2][0] * Q[2][2]; + D[1][0] = AQ[0][1] * Q[0][0] + AQ[1][1] * Q[1][0] + AQ[2][1] * Q[2][0]; + D[1][1] = AQ[0][1] * Q[0][1] + AQ[1][1] * Q[1][1] + AQ[2][1] * Q[2][1]; + D[1][2] = AQ[0][1] * Q[0][2] + AQ[1][1] * Q[1][2] + AQ[2][1] * Q[2][2]; + D[2][0] = AQ[0][2] * Q[0][0] + AQ[1][2] * Q[1][0] + AQ[2][2] * Q[2][0]; + D[2][1] = AQ[0][2] * Q[0][1] + AQ[1][2] * Q[1][1] + AQ[2][2] * Q[2][1]; + D[2][2] = AQ[0][2] * Q[0][2] + AQ[1][2] * Q[1][2] + AQ[2][2] * Q[2][2]; + o[0] = D[1][2]; + o[1] = D[0][2]; + o[2] = D[0][1]; + m[0] = fabs(o[0]); + m[1] = fabs(o[1]); + m[2] = fabs(o[2]); - k0 = (m[0] > m[1] && m[0] > m[2])?0: (m[1] > m[2])? 1 : 2; // index of largest element of offdiag - k1 = (k0+1)%3; - k2 = (k0+2)%3; - if (o[k0]==0.0) - { - break; // diagonal already - } - thet = (D[k2][k2]-D[k1][k1])/(2.0*o[k0]); - sgn = (thet > 0.0)?1.0:-1.0; - thet *= sgn; // make it positive - t = sgn /(thet +((thet < 1.E6)?sqrt(thet*thet+1.0):thet)) ; // sign(T)/(|T|+sqrt(T^2+1)) - c = 1.0/sqrt(t*t+1.0); // c= 1/(t^2+1) , t=s/c - if(c==1.0) - { - break; // no room for improvement - reached machine precision. - } - jr[0 ] = jr[1] = jr[2] = jr[3] = 0.0; - jr[k0] = sgn*sqrt((1.0-c)/2.0); // using 1/2 angle identity sin(a/2) = sqrt((1-cos(a))/2) - jr[k0] *= -1.0; // since our quat-to-matrix convention was for v*M instead of M*v - jr[3 ] = sqrt(1.0 - jr[k0] * jr[k0]); - if(jr[3]==1.0) - { - break; // reached limits of floating point precision - } - q[0] = (q[3]*jr[0] + q[0]*jr[3] + q[1]*jr[2] - q[2]*jr[1]); - q[1] = (q[3]*jr[1] - q[0]*jr[2] + q[1]*jr[3] + q[2]*jr[0]); - q[2] = (q[3]*jr[2] + q[0]*jr[1] - q[1]*jr[0] + q[2]*jr[3]); - q[3] = (q[3]*jr[3] - q[0]*jr[0] - q[1]*jr[1] - q[2]*jr[2]); - mq = sqrt(q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]); - q[0] /= mq; - q[1] /= mq; - q[2] /= mq; - q[3] /= mq; + k0 = (m[0] > m[1] && m[0] > m[2]) ? 0 : (m[1] > m[2]) ? 1 : 2; // index of largest element of offdiag + k1 = (k0 + 1) % 3; + k2 = (k0 + 2) % 3; + if (o[k0] == 0.0) { + break; // diagonal already } - } - const double TetrahedronSet::EPS = 0.0000000000001; - VoxelSet::VoxelSet() - { - m_minBB[0] = m_minBB[1] = m_minBB[2] = 0.0; - m_minBBVoxels[0] = m_minBBVoxels[1] = m_minBBVoxels[2] = 0; - m_maxBBVoxels[0] = m_maxBBVoxels[1] = m_maxBBVoxels[2] = 1; - m_minBBPts[0] = m_minBBPts[1] = m_minBBPts[2] = 0; - m_maxBBPts[0] = m_maxBBPts[1] = m_maxBBPts[2] = 1; - m_barycenter[0] = m_barycenter[1] = m_barycenter[2] = 0; - m_barycenterPCA[0] = m_barycenterPCA[1] = m_barycenterPCA[2] = 0.0; - m_scale = 1.0; - m_unitVolume = 1.0; - m_numVoxelsOnSurface = 0; - m_numVoxelsInsideSurface = 0; - memset(m_Q, 0, sizeof(double) * 9); - memset(m_D, 0, sizeof(double) * 9); - } - VoxelSet::~VoxelSet(void) - { - } - void VoxelSet::ComputeBB() - { - const size_t nVoxels = m_voxels.Size(); - if (nVoxels == 0) return; - for(int h = 0; h < 3; ++h) - { - m_minBBVoxels[h] = m_voxels[0].m_coord[h]; - m_maxBBVoxels[h] = m_voxels[0].m_coord[h]; + thet = (D[k2][k2] - D[k1][k1]) / (2.0 * o[k0]); + sgn = (thet > 0.0) ? 1.0 : -1.0; + thet *= sgn; // make it positive + t = sgn / (thet + ((thet < 1.E6) ? sqrt(thet * thet + 1.0) : thet)); // sign(T)/(|T|+sqrt(T^2+1)) + c = 1.0 / sqrt(t * t + 1.0); // c= 1/(t^2+1) , t=s/c + if (c == 1.0) { + break; // no room for improvement - reached machine precision. } - Vec3 bary(0.0); - for(size_t p = 0; p < nVoxels; ++p) - { - for(int h = 0; h < 3; ++h) - { - bary[h] += m_voxels[p].m_coord[h]; - if (m_minBBVoxels[h] > m_voxels[p].m_coord[h]) m_minBBVoxels[h] = m_voxels[p].m_coord[h]; - if (m_maxBBVoxels[h] < m_voxels[p].m_coord[h]) m_maxBBVoxels[h] = m_voxels[p].m_coord[h]; - } + jr[0] = jr[1] = jr[2] = jr[3] = 0.0; + jr[k0] = sgn * sqrt((1.0 - c) / 2.0); // using 1/2 angle identity sin(a/2) = sqrt((1-cos(a))/2) + jr[k0] *= -1.0; // since our quat-to-matrix convention was for v*M instead of M*v + jr[3] = sqrt(1.0 - jr[k0] * jr[k0]); + if (jr[3] == 1.0) { + break; // reached limits of floating point precision } - bary /= (double) nVoxels; - for(int h = 0; h < 3; ++h) - { - m_minBBPts[h] = m_minBBVoxels[h] * m_scale + m_minBB[h]; - m_maxBBPts[h] = m_maxBBVoxels[h] * m_scale + m_minBB[h]; - m_barycenter[h] = (short) (bary[h] + 0.5); + q[0] = (q[3] * jr[0] + q[0] * jr[3] + q[1] * jr[2] - q[2] * jr[1]); + q[1] = (q[3] * jr[1] - q[0] * jr[2] + q[1] * jr[3] + q[2] * jr[0]); + q[2] = (q[3] * jr[2] + q[0] * jr[1] - q[1] * jr[0] + q[2] * jr[3]); + q[3] = (q[3] * jr[3] - q[0] * jr[0] - q[1] * jr[1] - q[2] * jr[2]); + mq = sqrt(q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]); + q[0] /= mq; + q[1] /= mq; + q[2] /= mq; + q[3] /= mq; + } +} +const double TetrahedronSet::EPS = 0.0000000000001; +VoxelSet::VoxelSet() +{ + m_minBB[0] = m_minBB[1] = m_minBB[2] = 0.0; + m_minBBVoxels[0] = m_minBBVoxels[1] = m_minBBVoxels[2] = 0; + m_maxBBVoxels[0] = m_maxBBVoxels[1] = m_maxBBVoxels[2] = 1; + m_minBBPts[0] = m_minBBPts[1] = m_minBBPts[2] = 0; + m_maxBBPts[0] = m_maxBBPts[1] = m_maxBBPts[2] = 1; + m_barycenter[0] = m_barycenter[1] = m_barycenter[2] = 0; + m_barycenterPCA[0] = m_barycenterPCA[1] = m_barycenterPCA[2] = 0.0; + m_scale = 1.0; + m_unitVolume = 1.0; + m_numVoxelsOnSurface = 0; + m_numVoxelsInsideSurface = 0; + memset(m_Q, 0, sizeof(double) * 9); + memset(m_D, 0, sizeof(double) * 9); +} +VoxelSet::~VoxelSet(void) +{ +} +void VoxelSet::ComputeBB() +{ + const size_t nVoxels = m_voxels.Size(); + if (nVoxels == 0) + return; + for (int32_t h = 0; h < 3; ++h) { + m_minBBVoxels[h] = m_voxels[0].m_coord[h]; + m_maxBBVoxels[h] = m_voxels[0].m_coord[h]; + } + Vec3 bary(0.0); + for (size_t p = 0; p < nVoxels; ++p) { + for (int32_t h = 0; h < 3; ++h) { + bary[h] += m_voxels[p].m_coord[h]; + if (m_minBBVoxels[h] > m_voxels[p].m_coord[h]) + m_minBBVoxels[h] = m_voxels[p].m_coord[h]; + if (m_maxBBVoxels[h] < m_voxels[p].m_coord[h]) + m_maxBBVoxels[h] = m_voxels[p].m_coord[h]; } } - void VoxelSet::ComputeConvexHull(Mesh & meshCH, const size_t sampling) const - { - const size_t CLUSTER_SIZE = 65536; - const size_t nVoxels = m_voxels.Size(); - if (nVoxels == 0) - return; + bary /= (double)nVoxels; + for (int32_t h = 0; h < 3; ++h) { + m_minBBPts[h] = m_minBBVoxels[h] * m_scale + m_minBB[h]; + m_maxBBPts[h] = m_maxBBVoxels[h] * m_scale + m_minBB[h]; + m_barycenter[h] = (short)(bary[h] + 0.5); + } +} +void VoxelSet::ComputeConvexHull(Mesh& meshCH, const size_t sampling) const +{ + const size_t CLUSTER_SIZE = 65536; + const size_t nVoxels = m_voxels.Size(); + if (nVoxels == 0) + return; - SArray< Vec3 > cpoints; + SArray > cpoints; - Vec3 * points = new Vec3[CLUSTER_SIZE]; - size_t p = 0; - size_t s = 0; - short i, j, k; - while (p < nVoxels) - { - size_t q = 0; - while (q < CLUSTER_SIZE && p < nVoxels) - { - if (m_voxels[p].m_data == PRIMITIVE_ON_SURFACE) - { - ++s; - if (s == sampling) - { - s = 0; - i = m_voxels[p].m_coord[0]; - j = m_voxels[p].m_coord[1]; - k = m_voxels[p].m_coord[2]; - Vec3 p0((i - 0.5) * m_scale, (j - 0.5) * m_scale, (k - 0.5) * m_scale); - Vec3 p1((i + 0.5) * m_scale, (j - 0.5) * m_scale, (k - 0.5) * m_scale); - Vec3 p2((i + 0.5) * m_scale, (j + 0.5) * m_scale, (k - 0.5) * m_scale); - Vec3 p3((i - 0.5) * m_scale, (j + 0.5) * m_scale, (k - 0.5) * m_scale); - Vec3 p4((i - 0.5) * m_scale, (j - 0.5) * m_scale, (k + 0.5) * m_scale); - Vec3 p5((i + 0.5) * m_scale, (j - 0.5) * m_scale, (k + 0.5) * m_scale); - Vec3 p6((i + 0.5) * m_scale, (j + 0.5) * m_scale, (k + 0.5) * m_scale); - Vec3 p7((i - 0.5) * m_scale, (j + 0.5) * m_scale, (k + 0.5) * m_scale); - points[q++] = p0 + m_minBB; - points[q++] = p1 + m_minBB; - points[q++] = p2 + m_minBB; - points[q++] = p3 + m_minBB; - points[q++] = p4 + m_minBB; - points[q++] = p5 + m_minBB; - points[q++] = p6 + m_minBB; - points[q++] = p7 + m_minBB; - } + Vec3* points = new Vec3[CLUSTER_SIZE]; + size_t p = 0; + size_t s = 0; + short i, j, k; + while (p < nVoxels) { + size_t q = 0; + while (q < CLUSTER_SIZE && p < nVoxels) { + if (m_voxels[p].m_data == PRIMITIVE_ON_SURFACE) { + ++s; + if (s == sampling) { + s = 0; + i = m_voxels[p].m_coord[0]; + j = m_voxels[p].m_coord[1]; + k = m_voxels[p].m_coord[2]; + Vec3 p0((i - 0.5) * m_scale, (j - 0.5) * m_scale, (k - 0.5) * m_scale); + Vec3 p1((i + 0.5) * m_scale, (j - 0.5) * m_scale, (k - 0.5) * m_scale); + Vec3 p2((i + 0.5) * m_scale, (j + 0.5) * m_scale, (k - 0.5) * m_scale); + Vec3 p3((i - 0.5) * m_scale, (j + 0.5) * m_scale, (k - 0.5) * m_scale); + Vec3 p4((i - 0.5) * m_scale, (j - 0.5) * m_scale, (k + 0.5) * m_scale); + Vec3 p5((i + 0.5) * m_scale, (j - 0.5) * m_scale, (k + 0.5) * m_scale); + Vec3 p6((i + 0.5) * m_scale, (j + 0.5) * m_scale, (k + 0.5) * m_scale); + Vec3 p7((i - 0.5) * m_scale, (j + 0.5) * m_scale, (k + 0.5) * m_scale); + points[q++] = p0 + m_minBB; + points[q++] = p1 + m_minBB; + points[q++] = p2 + m_minBB; + points[q++] = p3 + m_minBB; + points[q++] = p4 + m_minBB; + points[q++] = p5 + m_minBB; + points[q++] = p6 + m_minBB; + points[q++] = p7 + m_minBB; } - ++p; - } - btConvexHullComputer ch; - ch.compute((double *)points, 3 * sizeof(double), (int)q, -1.0, -1.0); - for (int v = 0; v < ch.vertices.size(); v++) - { - cpoints.PushBack(Vec3(ch.vertices[v].getX(), ch.vertices[v].getY(), ch.vertices[v].getZ())); } + ++p; } - delete[] points; - - points = cpoints.Data(); btConvexHullComputer ch; - ch.compute((double *)points, 3 * sizeof(double), (int)cpoints.Size(), -1.0, -1.0); - meshCH.ResizePoints(0); - meshCH.ResizeTriangles(0); - for (int v = 0; v < ch.vertices.size(); v++) - { - meshCH.AddPoint(Vec3(ch.vertices[v].getX(), ch.vertices[v].getY(), ch.vertices[v].getZ())); - } - const int nt = ch.faces.size(); - for (int t = 0; t < nt; ++t) - { - const btConvexHullComputer::Edge * sourceEdge = &(ch.edges[ch.faces[t]]); - int a = sourceEdge->getSourceVertex(); - int b = sourceEdge->getTargetVertex(); - const btConvexHullComputer::Edge * edge = sourceEdge->getNextEdgeOfFace(); - int c = edge->getTargetVertex(); - while (c != a) - { - meshCH.AddTriangle(Vec3(a, b, c)); - edge = edge->getNextEdgeOfFace(); - b = c; - c = edge->getTargetVertex(); - } + ch.compute((double*)points, 3 * sizeof(double), (int32_t)q, -1.0, -1.0); + for (int32_t v = 0; v < ch.vertices.size(); v++) { + cpoints.PushBack(Vec3(ch.vertices[v].getX(), ch.vertices[v].getY(), ch.vertices[v].getZ())); } } - void VoxelSet::GetPoints(const Voxel & voxel, - Vec3 * const pts) const - { - short i = voxel.m_coord[0]; - short j = voxel.m_coord[1]; - short k = voxel.m_coord[2]; - pts[0][0] = (i - 0.5) * m_scale + m_minBB[0]; - pts[1][0] = (i + 0.5) * m_scale + m_minBB[0]; - pts[2][0] = (i + 0.5) * m_scale + m_minBB[0]; - pts[3][0] = (i - 0.5) * m_scale + m_minBB[0]; - pts[4][0] = (i - 0.5) * m_scale + m_minBB[0]; - pts[5][0] = (i + 0.5) * m_scale + m_minBB[0]; - pts[6][0] = (i + 0.5) * m_scale + m_minBB[0]; - pts[7][0] = (i - 0.5) * m_scale + m_minBB[0]; - pts[0][1] = (j - 0.5) * m_scale + m_minBB[1]; - pts[1][1] = (j - 0.5) * m_scale + m_minBB[1]; - pts[2][1] = (j + 0.5) * m_scale + m_minBB[1]; - pts[3][1] = (j + 0.5) * m_scale + m_minBB[1]; - pts[4][1] = (j - 0.5) * m_scale + m_minBB[1]; - pts[5][1] = (j - 0.5) * m_scale + m_minBB[1]; - pts[6][1] = (j + 0.5) * m_scale + m_minBB[1]; - pts[7][1] = (j + 0.5) * m_scale + m_minBB[1]; - pts[0][2] = (k - 0.5) * m_scale + m_minBB[2]; - pts[1][2] = (k - 0.5) * m_scale + m_minBB[2]; - pts[2][2] = (k - 0.5) * m_scale + m_minBB[2]; - pts[3][2] = (k - 0.5) * m_scale + m_minBB[2]; - pts[4][2] = (k + 0.5) * m_scale + m_minBB[2]; - pts[5][2] = (k + 0.5) * m_scale + m_minBB[2]; - pts[6][2] = (k + 0.5) * m_scale + m_minBB[2]; - pts[7][2] = (k + 0.5) * m_scale + m_minBB[2]; + delete[] points; + + points = cpoints.Data(); + btConvexHullComputer ch; + ch.compute((double*)points, 3 * sizeof(double), (int32_t)cpoints.Size(), -1.0, -1.0); + meshCH.ResizePoints(0); + meshCH.ResizeTriangles(0); + for (int32_t v = 0; v < ch.vertices.size(); v++) { + meshCH.AddPoint(Vec3(ch.vertices[v].getX(), ch.vertices[v].getY(), ch.vertices[v].getZ())); } - void VoxelSet::Intersect(const Plane & plane, - SArray< Vec3 > * const positivePts, - SArray< Vec3 > * const negativePts, - const size_t sampling) const - { - const size_t nVoxels = m_voxels.Size(); - if (nVoxels == 0) return; - const double d0 = m_scale; - double d; - Vec3 pts[8]; - Vec3 pt; - Voxel voxel; - size_t sp = 0; - size_t sn = 0; - for (size_t v = 0; v < nVoxels; ++v) - { - voxel = m_voxels[v]; - pt = GetPoint(voxel); - d = plane.m_a * pt[0] + plane.m_b * pt[1] + plane.m_c * pt[2] + plane.m_d; -// if (d >= 0.0 && d <= d0) positivePts->PushBack(pt); -// else if (d < 0.0 && -d <= d0) negativePts->PushBack(pt); - if (d >= 0.0) - { - if (d <= d0) - { + const int32_t nt = ch.faces.size(); + for (int32_t t = 0; t < nt; ++t) { + const btConvexHullComputer::Edge* sourceEdge = &(ch.edges[ch.faces[t]]); + int32_t a = sourceEdge->getSourceVertex(); + int32_t b = sourceEdge->getTargetVertex(); + const btConvexHullComputer::Edge* edge = sourceEdge->getNextEdgeOfFace(); + int32_t c = edge->getTargetVertex(); + while (c != a) { + meshCH.AddTriangle(Vec3(a, b, c)); + edge = edge->getNextEdgeOfFace(); + b = c; + c = edge->getTargetVertex(); + } + } +} +void VoxelSet::GetPoints(const Voxel& voxel, + Vec3* const pts) const +{ + short i = voxel.m_coord[0]; + short j = voxel.m_coord[1]; + short k = voxel.m_coord[2]; + pts[0][0] = (i - 0.5) * m_scale + m_minBB[0]; + pts[1][0] = (i + 0.5) * m_scale + m_minBB[0]; + pts[2][0] = (i + 0.5) * m_scale + m_minBB[0]; + pts[3][0] = (i - 0.5) * m_scale + m_minBB[0]; + pts[4][0] = (i - 0.5) * m_scale + m_minBB[0]; + pts[5][0] = (i + 0.5) * m_scale + m_minBB[0]; + pts[6][0] = (i + 0.5) * m_scale + m_minBB[0]; + pts[7][0] = (i - 0.5) * m_scale + m_minBB[0]; + pts[0][1] = (j - 0.5) * m_scale + m_minBB[1]; + pts[1][1] = (j - 0.5) * m_scale + m_minBB[1]; + pts[2][1] = (j + 0.5) * m_scale + m_minBB[1]; + pts[3][1] = (j + 0.5) * m_scale + m_minBB[1]; + pts[4][1] = (j - 0.5) * m_scale + m_minBB[1]; + pts[5][1] = (j - 0.5) * m_scale + m_minBB[1]; + pts[6][1] = (j + 0.5) * m_scale + m_minBB[1]; + pts[7][1] = (j + 0.5) * m_scale + m_minBB[1]; + pts[0][2] = (k - 0.5) * m_scale + m_minBB[2]; + pts[1][2] = (k - 0.5) * m_scale + m_minBB[2]; + pts[2][2] = (k - 0.5) * m_scale + m_minBB[2]; + pts[3][2] = (k - 0.5) * m_scale + m_minBB[2]; + pts[4][2] = (k + 0.5) * m_scale + m_minBB[2]; + pts[5][2] = (k + 0.5) * m_scale + m_minBB[2]; + pts[6][2] = (k + 0.5) * m_scale + m_minBB[2]; + pts[7][2] = (k + 0.5) * m_scale + m_minBB[2]; +} +void VoxelSet::Intersect(const Plane& plane, + SArray >* const positivePts, + SArray >* const negativePts, + const size_t sampling) const +{ + const size_t nVoxels = m_voxels.Size(); + if (nVoxels == 0) + return; + const double d0 = m_scale; + double d; + Vec3 pts[8]; + Vec3 pt; + Voxel voxel; + size_t sp = 0; + size_t sn = 0; + for (size_t v = 0; v < nVoxels; ++v) { + voxel = m_voxels[v]; + pt = GetPoint(voxel); + d = plane.m_a * pt[0] + plane.m_b * pt[1] + plane.m_c * pt[2] + plane.m_d; + // if (d >= 0.0 && d <= d0) positivePts->PushBack(pt); + // else if (d < 0.0 && -d <= d0) negativePts->PushBack(pt); + if (d >= 0.0) { + if (d <= d0) { + GetPoints(voxel, pts); + for (int32_t k = 0; k < 8; ++k) { + positivePts->PushBack(pts[k]); + } + } + else { + if (++sp == sampling) { + // positivePts->PushBack(pt); GetPoints(voxel, pts); - for (int k = 0; k < 8; ++k) - { + for (int32_t k = 0; k < 8; ++k) { positivePts->PushBack(pts[k]); } + sp = 0; } - else - { - if (++sp == sampling) - { -// positivePts->PushBack(pt); - GetPoints(voxel, pts); - for (int k = 0; k < 8; ++k) - { - positivePts->PushBack(pts[k]); - } - sp = 0; - } + } + } + else { + if (-d <= d0) { + GetPoints(voxel, pts); + for (int32_t k = 0; k < 8; ++k) { + negativePts->PushBack(pts[k]); } } - else - { - if (-d <= d0) - { + else { + if (++sn == sampling) { + // negativePts->PushBack(pt); GetPoints(voxel, pts); - for (int k = 0; k < 8; ++k) - { + for (int32_t k = 0; k < 8; ++k) { negativePts->PushBack(pts[k]); } - } - else - { - if (++sn == sampling) - { -// negativePts->PushBack(pt); - GetPoints(voxel, pts); - for (int k = 0; k < 8; ++k) - { - negativePts->PushBack(pts[k]); - } - sn = 0; - } + sn = 0; } } } } - void VoxelSet::ComputeExteriorPoints(const Plane & plane, - const Mesh & mesh, - SArray< Vec3 > * const exteriorPts) const - { - const size_t nVoxels = m_voxels.Size(); - if (nVoxels == 0) return; - double d; - Vec3 pt; - Vec3 pts[8]; - Voxel voxel; - for (size_t v = 0; v < nVoxels; ++v) - { - voxel = m_voxels[v]; - pt = GetPoint(voxel); - d = plane.m_a * pt[0] + plane.m_b * pt[1] + plane.m_c * pt[2] + plane.m_d; - if (d >= 0.0) - { - if (!mesh.IsInside(pt)) - { - GetPoints(voxel, pts); - for (int k = 0; k < 8; ++k) - { - exteriorPts->PushBack(pts[k]); - } +} +void VoxelSet::ComputeExteriorPoints(const Plane& plane, + const Mesh& mesh, + SArray >* const exteriorPts) const +{ + const size_t nVoxels = m_voxels.Size(); + if (nVoxels == 0) + return; + double d; + Vec3 pt; + Vec3 pts[8]; + Voxel voxel; + for (size_t v = 0; v < nVoxels; ++v) { + voxel = m_voxels[v]; + pt = GetPoint(voxel); + d = plane.m_a * pt[0] + plane.m_b * pt[1] + plane.m_c * pt[2] + plane.m_d; + if (d >= 0.0) { + if (!mesh.IsInside(pt)) { + GetPoints(voxel, pts); + for (int32_t k = 0; k < 8; ++k) { + exteriorPts->PushBack(pts[k]); } } } } - void VoxelSet::ComputeClippedVolumes(const Plane & plane, - double & positiveVolume, - double & negativeVolume) const - { - negativeVolume = 0.0; - positiveVolume = 0.0; - const size_t nVoxels = m_voxels.Size(); - if (nVoxels == 0) return; - double d; - Vec3 pt; - size_t nPositiveVoxels = 0; - for (size_t v = 0; v < nVoxels; ++v) - { - pt = GetPoint(m_voxels[v]); - d = plane.m_a * pt[0] + plane.m_b * pt[1] + plane.m_c * pt[2] + plane.m_d; - nPositiveVoxels += (d >= 0.0); - } - size_t nNegativeVoxels = nVoxels - nPositiveVoxels; - positiveVolume = m_unitVolume * nPositiveVoxels; - negativeVolume = m_unitVolume * nNegativeVoxels; +} +void VoxelSet::ComputeClippedVolumes(const Plane& plane, + double& positiveVolume, + double& negativeVolume) const +{ + negativeVolume = 0.0; + positiveVolume = 0.0; + const size_t nVoxels = m_voxels.Size(); + if (nVoxels == 0) + return; + double d; + Vec3 pt; + size_t nPositiveVoxels = 0; + for (size_t v = 0; v < nVoxels; ++v) { + pt = GetPoint(m_voxels[v]); + d = plane.m_a * pt[0] + plane.m_b * pt[1] + plane.m_c * pt[2] + plane.m_d; + nPositiveVoxels += (d >= 0.0); } - void VoxelSet::SelectOnSurface(PrimitiveSet * const onSurfP) const - { - VoxelSet * const onSurf = (VoxelSet *)onSurfP; - const size_t nVoxels = m_voxels.Size(); - if (nVoxels == 0) return; + size_t nNegativeVoxels = nVoxels - nPositiveVoxels; + positiveVolume = m_unitVolume * nPositiveVoxels; + negativeVolume = m_unitVolume * nNegativeVoxels; +} +void VoxelSet::SelectOnSurface(PrimitiveSet* const onSurfP) const +{ + VoxelSet* const onSurf = (VoxelSet*)onSurfP; + const size_t nVoxels = m_voxels.Size(); + if (nVoxels == 0) + return; - for (int h = 0; h < 3; ++h) - { - onSurf->m_minBB[h] = m_minBB[h]; - } - onSurf->m_voxels.Resize(0); - onSurf->m_scale = m_scale; - onSurf->m_unitVolume = m_unitVolume; - onSurf->m_numVoxelsOnSurface = 0; - onSurf->m_numVoxelsInsideSurface = 0; - Voxel voxel; - for (size_t v = 0; v < nVoxels; ++v) - { - voxel = m_voxels[v]; - if (voxel.m_data == PRIMITIVE_ON_SURFACE) - { - onSurf->m_voxels.PushBack(voxel); - ++onSurf->m_numVoxelsOnSurface; - } + for (int32_t h = 0; h < 3; ++h) { + onSurf->m_minBB[h] = m_minBB[h]; + } + onSurf->m_voxels.Resize(0); + onSurf->m_scale = m_scale; + onSurf->m_unitVolume = m_unitVolume; + onSurf->m_numVoxelsOnSurface = 0; + onSurf->m_numVoxelsInsideSurface = 0; + Voxel voxel; + for (size_t v = 0; v < nVoxels; ++v) { + voxel = m_voxels[v]; + if (voxel.m_data == PRIMITIVE_ON_SURFACE) { + onSurf->m_voxels.PushBack(voxel); + ++onSurf->m_numVoxelsOnSurface; } } - void VoxelSet::Clip(const Plane & plane, - PrimitiveSet * const positivePartP, - PrimitiveSet * const negativePartP) const - { - VoxelSet * const positivePart = (VoxelSet *) positivePartP; - VoxelSet * const negativePart = (VoxelSet *) negativePartP; - const size_t nVoxels = m_voxels.Size(); - if (nVoxels == 0) return; +} +void VoxelSet::Clip(const Plane& plane, + PrimitiveSet* const positivePartP, + PrimitiveSet* const negativePartP) const +{ + VoxelSet* const positivePart = (VoxelSet*)positivePartP; + VoxelSet* const negativePart = (VoxelSet*)negativePartP; + const size_t nVoxels = m_voxels.Size(); + if (nVoxels == 0) + return; - for(int h = 0; h < 3; ++h) - { - negativePart->m_minBB[h] = positivePart->m_minBB[h] = m_minBB[h]; - } - positivePart->m_voxels.Resize(0); - negativePart->m_voxels.Resize(0); - positivePart->m_voxels.Allocate(nVoxels); - negativePart->m_voxels.Allocate(nVoxels); - negativePart->m_scale = positivePart->m_scale = m_scale; - negativePart->m_unitVolume = positivePart->m_unitVolume = m_unitVolume; - negativePart->m_numVoxelsOnSurface = positivePart->m_numVoxelsOnSurface = 0; - negativePart->m_numVoxelsInsideSurface = positivePart->m_numVoxelsInsideSurface = 0; + for (int32_t h = 0; h < 3; ++h) { + negativePart->m_minBB[h] = positivePart->m_minBB[h] = m_minBB[h]; + } + positivePart->m_voxels.Resize(0); + negativePart->m_voxels.Resize(0); + positivePart->m_voxels.Allocate(nVoxels); + negativePart->m_voxels.Allocate(nVoxels); + negativePart->m_scale = positivePart->m_scale = m_scale; + negativePart->m_unitVolume = positivePart->m_unitVolume = m_unitVolume; + negativePart->m_numVoxelsOnSurface = positivePart->m_numVoxelsOnSurface = 0; + negativePart->m_numVoxelsInsideSurface = positivePart->m_numVoxelsInsideSurface = 0; - double d; - Vec3 pt; - Voxel voxel; - const double d0 = m_scale; - for(size_t v = 0; v < nVoxels; ++v) - { - voxel = m_voxels[v]; - pt = GetPoint(voxel); - d = plane.m_a * pt[0] + plane.m_b * pt[1] + plane.m_c * pt[2] + plane.m_d; - if (d >= 0.0) - { - if (voxel.m_data == PRIMITIVE_ON_SURFACE || d <= d0) - { - voxel.m_data = PRIMITIVE_ON_SURFACE; - positivePart->m_voxels.PushBack(voxel); - ++positivePart->m_numVoxelsOnSurface; - } - else - { - positivePart->m_voxels.PushBack(voxel); - ++positivePart->m_numVoxelsInsideSurface; - } + double d; + Vec3 pt; + Voxel voxel; + const double d0 = m_scale; + for (size_t v = 0; v < nVoxels; ++v) { + voxel = m_voxels[v]; + pt = GetPoint(voxel); + d = plane.m_a * pt[0] + plane.m_b * pt[1] + plane.m_c * pt[2] + plane.m_d; + if (d >= 0.0) { + if (voxel.m_data == PRIMITIVE_ON_SURFACE || d <= d0) { + voxel.m_data = PRIMITIVE_ON_SURFACE; + positivePart->m_voxels.PushBack(voxel); + ++positivePart->m_numVoxelsOnSurface; } - else - { - if (voxel.m_data == PRIMITIVE_ON_SURFACE || -d <= d0) - { - voxel.m_data = PRIMITIVE_ON_SURFACE; - negativePart->m_voxels.PushBack(voxel); - ++negativePart->m_numVoxelsOnSurface; - } - else - { - negativePart->m_voxels.PushBack(voxel); - ++negativePart->m_numVoxelsInsideSurface; - } + else { + positivePart->m_voxels.PushBack(voxel); + ++positivePart->m_numVoxelsInsideSurface; } } - } - void VoxelSet::Convert(Mesh & mesh, const VOXEL_VALUE value) const - { - const size_t nVoxels = m_voxels.Size(); - if (nVoxels == 0) - return; - Voxel voxel; - Vec3 pts[8]; - for(size_t v = 0; v < nVoxels; ++v) - { - voxel = m_voxels[v]; - if (voxel.m_data == value) - { - GetPoints(voxel, pts); - int s = (int) mesh.GetNPoints(); - for (int k = 0; k < 8; ++k) - { - mesh.AddPoint(pts[k]); - } - mesh.AddTriangle(Vec3(s + 0, s + 2, s + 1)); - mesh.AddTriangle(Vec3(s + 0, s + 3, s + 2)); - mesh.AddTriangle(Vec3(s + 4, s + 5, s + 6)); - mesh.AddTriangle(Vec3(s + 4, s + 6, s + 7)); - mesh.AddTriangle(Vec3(s + 7, s + 6, s + 2)); - mesh.AddTriangle(Vec3(s + 7, s + 2, s + 3)); - mesh.AddTriangle(Vec3(s + 4, s + 1, s + 5)); - mesh.AddTriangle(Vec3(s + 4, s + 0, s + 1)); - mesh.AddTriangle(Vec3(s + 6, s + 5, s + 1)); - mesh.AddTriangle(Vec3(s + 6, s + 1, s + 2)); - mesh.AddTriangle(Vec3(s + 7, s + 0, s + 4)); - mesh.AddTriangle(Vec3(s + 7, s + 3, s + 0)); + else { + if (voxel.m_data == PRIMITIVE_ON_SURFACE || -d <= d0) { + voxel.m_data = PRIMITIVE_ON_SURFACE; + negativePart->m_voxels.PushBack(voxel); + ++negativePart->m_numVoxelsOnSurface; + } + else { + negativePart->m_voxels.PushBack(voxel); + ++negativePart->m_numVoxelsInsideSurface; } } } - void VoxelSet::ComputePrincipalAxes() - { - const size_t nVoxels = m_voxels.Size(); - if (nVoxels == 0) - return; - m_barycenterPCA[0] = m_barycenterPCA[1] = m_barycenterPCA[2] = 0.0; - for(size_t v = 0; v < nVoxels; ++v) - { - Voxel & voxel = m_voxels[v]; - m_barycenterPCA[0] += voxel.m_coord[0]; - m_barycenterPCA[1] += voxel.m_coord[1]; - m_barycenterPCA[2] += voxel.m_coord[2]; - } - m_barycenterPCA /= (double) nVoxels; - - - double covMat[3][3] = {{0.0, 0.0, 0.0}, - {0.0, 0.0, 0.0}, - {0.0, 0.0, 0.0}}; - double x, y, z; - for(size_t v = 0; v < nVoxels; ++v) - { - Voxel & voxel = m_voxels[v]; - x = voxel.m_coord[0] - m_barycenter[0]; - y = voxel.m_coord[1] - m_barycenter[1]; - z = voxel.m_coord[2] - m_barycenter[2]; - covMat[0][0] += x*x; - covMat[1][1] += y*y; - covMat[2][2] += z*z; - covMat[0][1] += x*y; - covMat[0][2] += x*z; - covMat[1][2] += y*z; +} +void VoxelSet::Convert(Mesh& mesh, const VOXEL_VALUE value) const +{ + const size_t nVoxels = m_voxels.Size(); + if (nVoxels == 0) + return; + Voxel voxel; + Vec3 pts[8]; + for (size_t v = 0; v < nVoxels; ++v) { + voxel = m_voxels[v]; + if (voxel.m_data == value) { + GetPoints(voxel, pts); + int32_t s = (int32_t)mesh.GetNPoints(); + for (int32_t k = 0; k < 8; ++k) { + mesh.AddPoint(pts[k]); + } + mesh.AddTriangle(Vec3(s + 0, s + 2, s + 1)); + mesh.AddTriangle(Vec3(s + 0, s + 3, s + 2)); + mesh.AddTriangle(Vec3(s + 4, s + 5, s + 6)); + mesh.AddTriangle(Vec3(s + 4, s + 6, s + 7)); + mesh.AddTriangle(Vec3(s + 7, s + 6, s + 2)); + mesh.AddTriangle(Vec3(s + 7, s + 2, s + 3)); + mesh.AddTriangle(Vec3(s + 4, s + 1, s + 5)); + mesh.AddTriangle(Vec3(s + 4, s + 0, s + 1)); + mesh.AddTriangle(Vec3(s + 6, s + 5, s + 1)); + mesh.AddTriangle(Vec3(s + 6, s + 1, s + 2)); + mesh.AddTriangle(Vec3(s + 7, s + 0, s + 4)); + mesh.AddTriangle(Vec3(s + 7, s + 3, s + 0)); } - covMat[0][0] /= nVoxels; - covMat[1][1] /= nVoxels; - covMat[2][2] /= nVoxels; - covMat[0][1] /= nVoxels; - covMat[0][2] /= nVoxels; - covMat[1][2] /= nVoxels; - covMat[1][0] = covMat[0][1]; - covMat[2][0] = covMat[0][2]; - covMat[2][1] = covMat[1][2]; - Diagonalize(covMat, m_Q, m_D); } - Volume::Volume() - { - m_dim [0] = m_dim [1] = m_dim [2] = 0 ; - m_minBB[0] = m_minBB[1] = m_minBB[2] = 0.0; - m_maxBB[0] = m_maxBB[1] = m_maxBB[2] = 1.0; - m_numVoxelsOnSurface = 0; - m_numVoxelsInsideSurface = 0; - m_numVoxelsOutsideSurface = 0; - m_scale = 1.0; - m_data = 0; - } - Volume::~Volume(void) - { - delete [] m_data; - } - void Volume::Allocate() - { - delete [] m_data; - size_t size = m_dim[0] * m_dim[1] * m_dim[2]; - m_data = new unsigned char [size]; - memset(m_data, PRIMITIVE_UNDEFINED, sizeof(unsigned char) * size); +} +void VoxelSet::ComputePrincipalAxes() +{ + const size_t nVoxels = m_voxels.Size(); + if (nVoxels == 0) + return; + m_barycenterPCA[0] = m_barycenterPCA[1] = m_barycenterPCA[2] = 0.0; + for (size_t v = 0; v < nVoxels; ++v) { + Voxel& voxel = m_voxels[v]; + m_barycenterPCA[0] += voxel.m_coord[0]; + m_barycenterPCA[1] += voxel.m_coord[1]; + m_barycenterPCA[2] += voxel.m_coord[2]; } - void Volume::Free() - { - delete [] m_data; - m_data = 0; + m_barycenterPCA /= (double)nVoxels; + + double covMat[3][3] = { { 0.0, 0.0, 0.0 }, + { 0.0, 0.0, 0.0 }, + { 0.0, 0.0, 0.0 } }; + double x, y, z; + for (size_t v = 0; v < nVoxels; ++v) { + Voxel& voxel = m_voxels[v]; + x = voxel.m_coord[0] - m_barycenter[0]; + y = voxel.m_coord[1] - m_barycenter[1]; + z = voxel.m_coord[2] - m_barycenter[2]; + covMat[0][0] += x * x; + covMat[1][1] += y * y; + covMat[2][2] += z * z; + covMat[0][1] += x * y; + covMat[0][2] += x * z; + covMat[1][2] += y * z; } - void Volume::FillOutsideSurface(const size_t i0, - const size_t j0, - const size_t k0, - const size_t i1, - const size_t j1, - const size_t k1) - { - const short neighbours[6][3] = {{ 1, 0, 0}, - { 0, 1, 0}, - { 0, 0, 1}, - {-1, 0, 0}, - { 0, -1, 0}, - { 0, 0, -1}}; - std::queue< Vec3 > fifo; - Vec3 current; - short a, b, c; - for(size_t i = i0; i < i1; ++i) - { - for(size_t j = j0; j < j1; ++j) - { - for(size_t k = k0; k < k1; ++k) - { - - if (GetVoxel(i, j, k) == PRIMITIVE_UNDEFINED) - { - current[0] = (short) i; - current[1] = (short) j; - current[2] = (short) k; - fifo.push(current); - GetVoxel(current[0], current[1], current[2]) = PRIMITIVE_OUTSIDE_SURFACE; - ++m_numVoxelsOutsideSurface; - while (fifo.size() > 0) - { - current = fifo.front(); - fifo.pop(); - for (int h = 0; h < 6; ++h) - { - a = current[0] + neighbours[h][0]; - b = current[1] + neighbours[h][1]; - c = current[2] + neighbours[h][2]; - if ( a < 0 || a >= (int) m_dim[0] || - b < 0 || b >= (int) m_dim[1] || - c < 0 || c >= (int) m_dim[2] ) - { - continue; - } - unsigned char & v = GetVoxel(a, b, c); - if (v == PRIMITIVE_UNDEFINED) - { - v = PRIMITIVE_OUTSIDE_SURFACE; - ++m_numVoxelsOutsideSurface; - fifo.push(Vec3(a, b, c)); - } + covMat[0][0] /= nVoxels; + covMat[1][1] /= nVoxels; + covMat[2][2] /= nVoxels; + covMat[0][1] /= nVoxels; + covMat[0][2] /= nVoxels; + covMat[1][2] /= nVoxels; + covMat[1][0] = covMat[0][1]; + covMat[2][0] = covMat[0][2]; + covMat[2][1] = covMat[1][2]; + Diagonalize(covMat, m_Q, m_D); +} +Volume::Volume() +{ + m_dim[0] = m_dim[1] = m_dim[2] = 0; + m_minBB[0] = m_minBB[1] = m_minBB[2] = 0.0; + m_maxBB[0] = m_maxBB[1] = m_maxBB[2] = 1.0; + m_numVoxelsOnSurface = 0; + m_numVoxelsInsideSurface = 0; + m_numVoxelsOutsideSurface = 0; + m_scale = 1.0; + m_data = 0; +} +Volume::~Volume(void) +{ + delete[] m_data; +} +void Volume::Allocate() +{ + delete[] m_data; + size_t size = m_dim[0] * m_dim[1] * m_dim[2]; + m_data = new unsigned char[size]; + memset(m_data, PRIMITIVE_UNDEFINED, sizeof(unsigned char) * size); +} +void Volume::Free() +{ + delete[] m_data; + m_data = 0; +} +void Volume::FillOutsideSurface(const size_t i0, + const size_t j0, + const size_t k0, + const size_t i1, + const size_t j1, + const size_t k1) +{ + const short neighbours[6][3] = { { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 }, + { -1, 0, 0 }, + { 0, -1, 0 }, + { 0, 0, -1 } }; + std::queue > fifo; + Vec3 current; + short a, b, c; + for (size_t i = i0; i < i1; ++i) { + for (size_t j = j0; j < j1; ++j) { + for (size_t k = k0; k < k1; ++k) { + + if (GetVoxel(i, j, k) == PRIMITIVE_UNDEFINED) { + current[0] = (short)i; + current[1] = (short)j; + current[2] = (short)k; + fifo.push(current); + GetVoxel(current[0], current[1], current[2]) = PRIMITIVE_OUTSIDE_SURFACE; + ++m_numVoxelsOutsideSurface; + while (fifo.size() > 0) { + current = fifo.front(); + fifo.pop(); + for (int32_t h = 0; h < 6; ++h) { + a = current[0] + neighbours[h][0]; + b = current[1] + neighbours[h][1]; + c = current[2] + neighbours[h][2]; + if (a < 0 || a >= (int32_t)m_dim[0] || b < 0 || b >= (int32_t)m_dim[1] || c < 0 || c >= (int32_t)m_dim[2]) { + continue; + } + unsigned char& v = GetVoxel(a, b, c); + if (v == PRIMITIVE_UNDEFINED) { + v = PRIMITIVE_OUTSIDE_SURFACE; + ++m_numVoxelsOutsideSurface; + fifo.push(Vec3(a, b, c)); } } } @@ -830,881 +839,788 @@ namespace VHACD } } } - void Volume::FillInsideSurface() - { - const size_t i0 = m_dim[0]; - const size_t j0 = m_dim[1]; - const size_t k0 = m_dim[2]; - for(size_t i = 0; i < i0; ++i) - { - for(size_t j = 0; j < j0; ++j) - { - for(size_t k = 0; k < k0; ++k) - { - unsigned char & v = GetVoxel(i, j, k); - if (v == PRIMITIVE_UNDEFINED) - { - v = PRIMITIVE_INSIDE_SURFACE; - ++m_numVoxelsInsideSurface; - } +} +void Volume::FillInsideSurface() +{ + const size_t i0 = m_dim[0]; + const size_t j0 = m_dim[1]; + const size_t k0 = m_dim[2]; + for (size_t i = 0; i < i0; ++i) { + for (size_t j = 0; j < j0; ++j) { + for (size_t k = 0; k < k0; ++k) { + unsigned char& v = GetVoxel(i, j, k); + if (v == PRIMITIVE_UNDEFINED) { + v = PRIMITIVE_INSIDE_SURFACE; + ++m_numVoxelsInsideSurface; } } } } - void Volume::Convert(Mesh & mesh, const VOXEL_VALUE value) const - { - const size_t i0 = m_dim[0]; - const size_t j0 = m_dim[1]; - const size_t k0 = m_dim[2]; - for(size_t i = 0; i < i0; ++i) - { - for(size_t j = 0; j < j0; ++j) - { - for(size_t k = 0; k < k0; ++k) - { - const unsigned char & voxel = GetVoxel(i, j, k); - if (voxel == value) - { - Vec3 p0((i-0.5) * m_scale, (j-0.5) * m_scale, (k-0.5) * m_scale); - Vec3 p1((i+0.5) * m_scale, (j-0.5) * m_scale, (k-0.5) * m_scale); - Vec3 p2((i+0.5) * m_scale, (j+0.5) * m_scale, (k-0.5) * m_scale); - Vec3 p3((i-0.5) * m_scale, (j+0.5) * m_scale, (k-0.5) * m_scale); - Vec3 p4((i-0.5) * m_scale, (j-0.5) * m_scale, (k+0.5) * m_scale); - Vec3 p5((i+0.5) * m_scale, (j-0.5) * m_scale, (k+0.5) * m_scale); - Vec3 p6((i+0.5) * m_scale, (j+0.5) * m_scale, (k+0.5) * m_scale); - Vec3 p7((i-0.5) * m_scale, (j+0.5) * m_scale, (k+0.5) * m_scale); - int s = (int) mesh.GetNPoints(); - mesh.AddPoint(p0 + m_minBB); - mesh.AddPoint(p1 + m_minBB); - mesh.AddPoint(p2 + m_minBB); - mesh.AddPoint(p3 + m_minBB); - mesh.AddPoint(p4 + m_minBB); - mesh.AddPoint(p5 + m_minBB); - mesh.AddPoint(p6 + m_minBB); - mesh.AddPoint(p7 + m_minBB); - mesh.AddTriangle(Vec3(s + 0, s + 2, s + 1)); - mesh.AddTriangle(Vec3(s + 0, s + 3, s + 2)); - mesh.AddTriangle(Vec3(s + 4, s + 5, s + 6)); - mesh.AddTriangle(Vec3(s + 4, s + 6, s + 7)); - mesh.AddTriangle(Vec3(s + 7, s + 6, s + 2)); - mesh.AddTriangle(Vec3(s + 7, s + 2, s + 3)); - mesh.AddTriangle(Vec3(s + 4, s + 1, s + 5)); - mesh.AddTriangle(Vec3(s + 4, s + 0, s + 1)); - mesh.AddTriangle(Vec3(s + 6, s + 5, s + 1)); - mesh.AddTriangle(Vec3(s + 6, s + 1, s + 2)); - mesh.AddTriangle(Vec3(s + 7, s + 0, s + 4)); - mesh.AddTriangle(Vec3(s + 7, s + 3, s + 0)); - } +} +void Volume::Convert(Mesh& mesh, const VOXEL_VALUE value) const +{ + const size_t i0 = m_dim[0]; + const size_t j0 = m_dim[1]; + const size_t k0 = m_dim[2]; + for (size_t i = 0; i < i0; ++i) { + for (size_t j = 0; j < j0; ++j) { + for (size_t k = 0; k < k0; ++k) { + const unsigned char& voxel = GetVoxel(i, j, k); + if (voxel == value) { + Vec3 p0((i - 0.5) * m_scale, (j - 0.5) * m_scale, (k - 0.5) * m_scale); + Vec3 p1((i + 0.5) * m_scale, (j - 0.5) * m_scale, (k - 0.5) * m_scale); + Vec3 p2((i + 0.5) * m_scale, (j + 0.5) * m_scale, (k - 0.5) * m_scale); + Vec3 p3((i - 0.5) * m_scale, (j + 0.5) * m_scale, (k - 0.5) * m_scale); + Vec3 p4((i - 0.5) * m_scale, (j - 0.5) * m_scale, (k + 0.5) * m_scale); + Vec3 p5((i + 0.5) * m_scale, (j - 0.5) * m_scale, (k + 0.5) * m_scale); + Vec3 p6((i + 0.5) * m_scale, (j + 0.5) * m_scale, (k + 0.5) * m_scale); + Vec3 p7((i - 0.5) * m_scale, (j + 0.5) * m_scale, (k + 0.5) * m_scale); + int32_t s = (int32_t)mesh.GetNPoints(); + mesh.AddPoint(p0 + m_minBB); + mesh.AddPoint(p1 + m_minBB); + mesh.AddPoint(p2 + m_minBB); + mesh.AddPoint(p3 + m_minBB); + mesh.AddPoint(p4 + m_minBB); + mesh.AddPoint(p5 + m_minBB); + mesh.AddPoint(p6 + m_minBB); + mesh.AddPoint(p7 + m_minBB); + mesh.AddTriangle(Vec3(s + 0, s + 2, s + 1)); + mesh.AddTriangle(Vec3(s + 0, s + 3, s + 2)); + mesh.AddTriangle(Vec3(s + 4, s + 5, s + 6)); + mesh.AddTriangle(Vec3(s + 4, s + 6, s + 7)); + mesh.AddTriangle(Vec3(s + 7, s + 6, s + 2)); + mesh.AddTriangle(Vec3(s + 7, s + 2, s + 3)); + mesh.AddTriangle(Vec3(s + 4, s + 1, s + 5)); + mesh.AddTriangle(Vec3(s + 4, s + 0, s + 1)); + mesh.AddTriangle(Vec3(s + 6, s + 5, s + 1)); + mesh.AddTriangle(Vec3(s + 6, s + 1, s + 2)); + mesh.AddTriangle(Vec3(s + 7, s + 0, s + 4)); + mesh.AddTriangle(Vec3(s + 7, s + 3, s + 0)); } } } } - void Volume::Convert(VoxelSet & vset) const - { - for(int h = 0; h < 3; ++h) - { - vset.m_minBB[h] = m_minBB[h]; - } - vset.m_voxels.Allocate(m_numVoxelsInsideSurface + m_numVoxelsOnSurface); - vset.m_scale = m_scale; - vset.m_unitVolume = m_scale * m_scale * m_scale; - const short i0 = (short) m_dim[0]; - const short j0 = (short) m_dim[1]; - const short k0 = (short) m_dim[2]; - Voxel voxel; - vset.m_numVoxelsOnSurface = 0; - vset.m_numVoxelsInsideSurface = 0; - for(short i = 0; i < i0; ++i) - { - for(short j = 0; j < j0; ++j) - { - for(short k = 0; k < k0; ++k) - { - const unsigned char & value = GetVoxel(i, j, k); - if (value == PRIMITIVE_INSIDE_SURFACE) - { - voxel.m_coord[0] = i; - voxel.m_coord[1] = j; - voxel.m_coord[2] = k; - voxel.m_data = PRIMITIVE_INSIDE_SURFACE; - vset.m_voxels.PushBack(voxel); - ++vset.m_numVoxelsInsideSurface; - } - else if (value == PRIMITIVE_ON_SURFACE) - { - voxel.m_coord[0] = i; - voxel.m_coord[1] = j; - voxel.m_coord[2] = k; - voxel.m_data = PRIMITIVE_ON_SURFACE; - vset.m_voxels.PushBack(voxel); - ++vset.m_numVoxelsOnSurface; - } +} +void Volume::Convert(VoxelSet& vset) const +{ + for (int32_t h = 0; h < 3; ++h) { + vset.m_minBB[h] = m_minBB[h]; + } + vset.m_voxels.Allocate(m_numVoxelsInsideSurface + m_numVoxelsOnSurface); + vset.m_scale = m_scale; + vset.m_unitVolume = m_scale * m_scale * m_scale; + const short i0 = (short)m_dim[0]; + const short j0 = (short)m_dim[1]; + const short k0 = (short)m_dim[2]; + Voxel voxel; + vset.m_numVoxelsOnSurface = 0; + vset.m_numVoxelsInsideSurface = 0; + for (short i = 0; i < i0; ++i) { + for (short j = 0; j < j0; ++j) { + for (short k = 0; k < k0; ++k) { + const unsigned char& value = GetVoxel(i, j, k); + if (value == PRIMITIVE_INSIDE_SURFACE) { + voxel.m_coord[0] = i; + voxel.m_coord[1] = j; + voxel.m_coord[2] = k; + voxel.m_data = PRIMITIVE_INSIDE_SURFACE; + vset.m_voxels.PushBack(voxel); + ++vset.m_numVoxelsInsideSurface; + } + else if (value == PRIMITIVE_ON_SURFACE) { + voxel.m_coord[0] = i; + voxel.m_coord[1] = j; + voxel.m_coord[2] = k; + voxel.m_data = PRIMITIVE_ON_SURFACE; + vset.m_voxels.PushBack(voxel); + ++vset.m_numVoxelsOnSurface; } } } } +} - void Volume::Convert(TetrahedronSet & tset) const - { - tset.m_tetrahedra.Allocate(5 * (m_numVoxelsInsideSurface + m_numVoxelsOnSurface)); - tset.m_scale = m_scale; - const short i0 = (short) m_dim[0]; - const short j0 = (short) m_dim[1]; - const short k0 = (short) m_dim[2]; - tset.m_numTetrahedraOnSurface = 0; - tset.m_numTetrahedraInsideSurface = 0; - Tetrahedron tetrahedron; - for(short i = 0; i < i0; ++i) - { - for(short j = 0; j < j0; ++j) - { - for(short k = 0; k < k0; ++k) - { - const unsigned char & value = GetVoxel(i, j, k); - if (value == PRIMITIVE_INSIDE_SURFACE || value == PRIMITIVE_ON_SURFACE) - { - tetrahedron.m_data = value; - Vec3 p1((i-0.5) * m_scale + m_minBB[0], (j-0.5) * m_scale + m_minBB[1], (k-0.5) * m_scale + m_minBB[2]); - Vec3 p2((i+0.5) * m_scale + m_minBB[0], (j-0.5) * m_scale + m_minBB[1], (k-0.5) * m_scale + m_minBB[2]); - Vec3 p3((i+0.5) * m_scale + m_minBB[0], (j+0.5) * m_scale + m_minBB[1], (k-0.5) * m_scale + m_minBB[2]); - Vec3 p4((i-0.5) * m_scale + m_minBB[0], (j+0.5) * m_scale + m_minBB[1], (k-0.5) * m_scale + m_minBB[2]); - Vec3 p5((i-0.5) * m_scale + m_minBB[0], (j-0.5) * m_scale + m_minBB[1], (k+0.5) * m_scale + m_minBB[2]); - Vec3 p6((i+0.5) * m_scale + m_minBB[0], (j-0.5) * m_scale + m_minBB[1], (k+0.5) * m_scale + m_minBB[2]); - Vec3 p7((i+0.5) * m_scale + m_minBB[0], (j+0.5) * m_scale + m_minBB[1], (k+0.5) * m_scale + m_minBB[2]); - Vec3 p8((i-0.5) * m_scale + m_minBB[0], (j+0.5) * m_scale + m_minBB[1], (k+0.5) * m_scale + m_minBB[2]); +void Volume::Convert(TetrahedronSet& tset) const +{ + tset.m_tetrahedra.Allocate(5 * (m_numVoxelsInsideSurface + m_numVoxelsOnSurface)); + tset.m_scale = m_scale; + const short i0 = (short)m_dim[0]; + const short j0 = (short)m_dim[1]; + const short k0 = (short)m_dim[2]; + tset.m_numTetrahedraOnSurface = 0; + tset.m_numTetrahedraInsideSurface = 0; + Tetrahedron tetrahedron; + for (short i = 0; i < i0; ++i) { + for (short j = 0; j < j0; ++j) { + for (short k = 0; k < k0; ++k) { + const unsigned char& value = GetVoxel(i, j, k); + if (value == PRIMITIVE_INSIDE_SURFACE || value == PRIMITIVE_ON_SURFACE) { + tetrahedron.m_data = value; + Vec3 p1((i - 0.5) * m_scale + m_minBB[0], (j - 0.5) * m_scale + m_minBB[1], (k - 0.5) * m_scale + m_minBB[2]); + Vec3 p2((i + 0.5) * m_scale + m_minBB[0], (j - 0.5) * m_scale + m_minBB[1], (k - 0.5) * m_scale + m_minBB[2]); + Vec3 p3((i + 0.5) * m_scale + m_minBB[0], (j + 0.5) * m_scale + m_minBB[1], (k - 0.5) * m_scale + m_minBB[2]); + Vec3 p4((i - 0.5) * m_scale + m_minBB[0], (j + 0.5) * m_scale + m_minBB[1], (k - 0.5) * m_scale + m_minBB[2]); + Vec3 p5((i - 0.5) * m_scale + m_minBB[0], (j - 0.5) * m_scale + m_minBB[1], (k + 0.5) * m_scale + m_minBB[2]); + Vec3 p6((i + 0.5) * m_scale + m_minBB[0], (j - 0.5) * m_scale + m_minBB[1], (k + 0.5) * m_scale + m_minBB[2]); + Vec3 p7((i + 0.5) * m_scale + m_minBB[0], (j + 0.5) * m_scale + m_minBB[1], (k + 0.5) * m_scale + m_minBB[2]); + Vec3 p8((i - 0.5) * m_scale + m_minBB[0], (j + 0.5) * m_scale + m_minBB[1], (k + 0.5) * m_scale + m_minBB[2]); - tetrahedron.m_pts[0] = p2; - tetrahedron.m_pts[1] = p4; - tetrahedron.m_pts[2] = p7; - tetrahedron.m_pts[3] = p5; - tset.m_tetrahedra.PushBack(tetrahedron); + tetrahedron.m_pts[0] = p2; + tetrahedron.m_pts[1] = p4; + tetrahedron.m_pts[2] = p7; + tetrahedron.m_pts[3] = p5; + tset.m_tetrahedra.PushBack(tetrahedron); - tetrahedron.m_pts[0] = p6; - tetrahedron.m_pts[1] = p2; - tetrahedron.m_pts[2] = p7; - tetrahedron.m_pts[3] = p5; - tset.m_tetrahedra.PushBack(tetrahedron); + tetrahedron.m_pts[0] = p6; + tetrahedron.m_pts[1] = p2; + tetrahedron.m_pts[2] = p7; + tetrahedron.m_pts[3] = p5; + tset.m_tetrahedra.PushBack(tetrahedron); - tetrahedron.m_pts[0] = p3; - tetrahedron.m_pts[1] = p4; - tetrahedron.m_pts[2] = p7; - tetrahedron.m_pts[3] = p2; - tset.m_tetrahedra.PushBack(tetrahedron); + tetrahedron.m_pts[0] = p3; + tetrahedron.m_pts[1] = p4; + tetrahedron.m_pts[2] = p7; + tetrahedron.m_pts[3] = p2; + tset.m_tetrahedra.PushBack(tetrahedron); - tetrahedron.m_pts[0] = p1; - tetrahedron.m_pts[1] = p4; - tetrahedron.m_pts[2] = p2; - tetrahedron.m_pts[3] = p5; - tset.m_tetrahedra.PushBack(tetrahedron); + tetrahedron.m_pts[0] = p1; + tetrahedron.m_pts[1] = p4; + tetrahedron.m_pts[2] = p2; + tetrahedron.m_pts[3] = p5; + tset.m_tetrahedra.PushBack(tetrahedron); - tetrahedron.m_pts[0] = p8; - tetrahedron.m_pts[1] = p5; - tetrahedron.m_pts[2] = p7; - tetrahedron.m_pts[3] = p4; - tset.m_tetrahedra.PushBack(tetrahedron); - if (value == PRIMITIVE_INSIDE_SURFACE) - { - tset.m_numTetrahedraInsideSurface += 5; - } - else - { - tset.m_numTetrahedraOnSurface += 5; - } + tetrahedron.m_pts[0] = p8; + tetrahedron.m_pts[1] = p5; + tetrahedron.m_pts[2] = p7; + tetrahedron.m_pts[3] = p4; + tset.m_tetrahedra.PushBack(tetrahedron); + if (value == PRIMITIVE_INSIDE_SURFACE) { + tset.m_numTetrahedraInsideSurface += 5; + } + else { + tset.m_numTetrahedraOnSurface += 5; } } } } } +} - - void Volume::AlignToPrincipalAxes(double (&rot)[3][3]) const - { - const short i0 = (short) m_dim[0]; - const short j0 = (short) m_dim[1]; - const short k0 = (short) m_dim[2]; - Vec3 barycenter(0.0); - size_t nVoxels = 0; - for(short i = 0; i < i0; ++i) - { - for(short j = 0; j < j0; ++j) - { - for(short k = 0; k < k0; ++k) - { - const unsigned char & value = GetVoxel(i, j, k); - if (value == PRIMITIVE_INSIDE_SURFACE || value == PRIMITIVE_ON_SURFACE) - { - barycenter[0] += i; - barycenter[1] += j; - barycenter[2] += k; - ++nVoxels; - } +void Volume::AlignToPrincipalAxes(double (&rot)[3][3]) const +{ + const short i0 = (short)m_dim[0]; + const short j0 = (short)m_dim[1]; + const short k0 = (short)m_dim[2]; + Vec3 barycenter(0.0); + size_t nVoxels = 0; + for (short i = 0; i < i0; ++i) { + for (short j = 0; j < j0; ++j) { + for (short k = 0; k < k0; ++k) { + const unsigned char& value = GetVoxel(i, j, k); + if (value == PRIMITIVE_INSIDE_SURFACE || value == PRIMITIVE_ON_SURFACE) { + barycenter[0] += i; + barycenter[1] += j; + barycenter[2] += k; + ++nVoxels; } } } - barycenter /= (double) nVoxels; + } + barycenter /= (double)nVoxels; - double covMat[3][3] = {{0.0, 0.0, 0.0}, - {0.0, 0.0, 0.0}, - {0.0, 0.0, 0.0}}; - double x, y, z; - for(short i = 0; i < i0; ++i) - { - for(short j = 0; j < j0; ++j) - { - for(short k = 0; k < k0; ++k) - { - const unsigned char & value = GetVoxel(i, j, k); - if (value == PRIMITIVE_INSIDE_SURFACE || value == PRIMITIVE_ON_SURFACE) - { - x = i - barycenter[0]; - y = j - barycenter[1]; - z = k - barycenter[2]; - covMat[0][0] += x*x; - covMat[1][1] += y*y; - covMat[2][2] += z*z; - covMat[0][1] += x*y; - covMat[0][2] += x*z; - covMat[1][2] += y*z; - } + double covMat[3][3] = { { 0.0, 0.0, 0.0 }, + { 0.0, 0.0, 0.0 }, + { 0.0, 0.0, 0.0 } }; + double x, y, z; + for (short i = 0; i < i0; ++i) { + for (short j = 0; j < j0; ++j) { + for (short k = 0; k < k0; ++k) { + const unsigned char& value = GetVoxel(i, j, k); + if (value == PRIMITIVE_INSIDE_SURFACE || value == PRIMITIVE_ON_SURFACE) { + x = i - barycenter[0]; + y = j - barycenter[1]; + z = k - barycenter[2]; + covMat[0][0] += x * x; + covMat[1][1] += y * y; + covMat[2][2] += z * z; + covMat[0][1] += x * y; + covMat[0][2] += x * z; + covMat[1][2] += y * z; } } } - covMat[1][0] = covMat[0][1]; - covMat[2][0] = covMat[0][2]; - covMat[2][1] = covMat[1][2]; - double D[3][3]; - Diagonalize(covMat, rot, D); - } - TetrahedronSet::TetrahedronSet() - { - m_minBB[0] = m_minBB[1] = m_minBB[2] = 0.0; - m_maxBB[0] = m_maxBB[1] = m_maxBB[2] = 1.0; - m_barycenter[0] = m_barycenter[1] = m_barycenter[2] = 0.0; - m_scale = 1.0; - m_numTetrahedraOnSurface = 0; - m_numTetrahedraInsideSurface = 0; - memset(m_Q, 0, sizeof(double) * 9); - memset(m_D, 0, sizeof(double) * 9); } - TetrahedronSet::~TetrahedronSet(void) - { - } - void TetrahedronSet::ComputeBB() - { - const size_t nTetrahedra = m_tetrahedra.Size(); - if (nTetrahedra == 0) return; + covMat[1][0] = covMat[0][1]; + covMat[2][0] = covMat[0][2]; + covMat[2][1] = covMat[1][2]; + double D[3][3]; + Diagonalize(covMat, rot, D); +} +TetrahedronSet::TetrahedronSet() +{ + m_minBB[0] = m_minBB[1] = m_minBB[2] = 0.0; + m_maxBB[0] = m_maxBB[1] = m_maxBB[2] = 1.0; + m_barycenter[0] = m_barycenter[1] = m_barycenter[2] = 0.0; + m_scale = 1.0; + m_numTetrahedraOnSurface = 0; + m_numTetrahedraInsideSurface = 0; + memset(m_Q, 0, sizeof(double) * 9); + memset(m_D, 0, sizeof(double) * 9); +} +TetrahedronSet::~TetrahedronSet(void) +{ +} +void TetrahedronSet::ComputeBB() +{ + const size_t nTetrahedra = m_tetrahedra.Size(); + if (nTetrahedra == 0) + return; - for(int h = 0; h < 3; ++h) - { - m_minBB[h] = m_maxBB[h] = m_tetrahedra[0].m_pts[0][h]; - m_barycenter[h] = 0.0; - } - for(size_t p = 0; p < nTetrahedra; ++p) - { - for(int i = 0; i < 4; ++i) - { - for(int h = 0; h < 3; ++h) - { - if (m_minBB[h] > m_tetrahedra[p].m_pts[i][h]) m_minBB[h] = m_tetrahedra[p].m_pts[i][h]; - if (m_maxBB[h] < m_tetrahedra[p].m_pts[i][h]) m_maxBB[h] = m_tetrahedra[p].m_pts[i][h]; - m_barycenter[h] += m_tetrahedra[p].m_pts[i][h]; - } + for (int32_t h = 0; h < 3; ++h) { + m_minBB[h] = m_maxBB[h] = m_tetrahedra[0].m_pts[0][h]; + m_barycenter[h] = 0.0; + } + for (size_t p = 0; p < nTetrahedra; ++p) { + for (int32_t i = 0; i < 4; ++i) { + for (int32_t h = 0; h < 3; ++h) { + if (m_minBB[h] > m_tetrahedra[p].m_pts[i][h]) + m_minBB[h] = m_tetrahedra[p].m_pts[i][h]; + if (m_maxBB[h] < m_tetrahedra[p].m_pts[i][h]) + m_maxBB[h] = m_tetrahedra[p].m_pts[i][h]; + m_barycenter[h] += m_tetrahedra[p].m_pts[i][h]; } } - m_barycenter /= (double) (4*nTetrahedra); } - void TetrahedronSet::ComputeConvexHull(Mesh & meshCH, const size_t sampling) const - { - const size_t CLUSTER_SIZE = 65536; - const size_t nTetrahedra = m_tetrahedra.Size(); - if (nTetrahedra == 0) return; + m_barycenter /= (double)(4 * nTetrahedra); +} +void TetrahedronSet::ComputeConvexHull(Mesh& meshCH, const size_t sampling) const +{ + const size_t CLUSTER_SIZE = 65536; + const size_t nTetrahedra = m_tetrahedra.Size(); + if (nTetrahedra == 0) + return; - SArray< Vec3 > cpoints; + SArray > cpoints; - Vec3 * points = new Vec3[CLUSTER_SIZE]; - size_t p = 0; - while (p < nTetrahedra) - { - size_t q = 0; - size_t s = 0; - while (q < CLUSTER_SIZE && p < nTetrahedra) - { - if (m_tetrahedra[p].m_data == PRIMITIVE_ON_SURFACE) - { - ++s; - if (s == sampling) - { - s = 0; - for (int a = 0; a < 4; ++a) - { - points[q++] = m_tetrahedra[p].m_pts[a]; - for (int xx = 0; xx < 3; ++xx) - { - assert(m_tetrahedra[p].m_pts[a][xx] + EPS >= m_minBB[xx]); - assert(m_tetrahedra[p].m_pts[a][xx] <= m_maxBB[xx] + EPS); - } + Vec3* points = new Vec3[CLUSTER_SIZE]; + size_t p = 0; + while (p < nTetrahedra) { + size_t q = 0; + size_t s = 0; + while (q < CLUSTER_SIZE && p < nTetrahedra) { + if (m_tetrahedra[p].m_data == PRIMITIVE_ON_SURFACE) { + ++s; + if (s == sampling) { + s = 0; + for (int32_t a = 0; a < 4; ++a) { + points[q++] = m_tetrahedra[p].m_pts[a]; + for (int32_t xx = 0; xx < 3; ++xx) { + assert(m_tetrahedra[p].m_pts[a][xx] + EPS >= m_minBB[xx]); + assert(m_tetrahedra[p].m_pts[a][xx] <= m_maxBB[xx] + EPS); } } } - ++p; - } - btConvexHullComputer ch; - ch.compute((double *)points, 3 * sizeof(double), (int)q, -1.0, -1.0); - for (int v = 0; v < ch.vertices.size(); v++) - { - cpoints.PushBack(Vec3(ch.vertices[v].getX(), ch.vertices[v].getY(), ch.vertices[v].getZ())); } + ++p; } - delete[] points; - - points = cpoints.Data(); btConvexHullComputer ch; - ch.compute((double *)points, 3 * sizeof(double), (int)cpoints.Size(), -1.0, -1.0); - meshCH.ResizePoints(0); - meshCH.ResizeTriangles(0); - for (int v = 0; v < ch.vertices.size(); v++) - { - meshCH.AddPoint(Vec3(ch.vertices[v].getX(), ch.vertices[v].getY(), ch.vertices[v].getZ())); - } - const int nt = ch.faces.size(); - for (int t = 0; t < nt; ++t) - { - const btConvexHullComputer::Edge * sourceEdge = &(ch.edges[ch.faces[t]]); - int a = sourceEdge->getSourceVertex(); - int b = sourceEdge->getTargetVertex(); - const btConvexHullComputer::Edge * edge = sourceEdge->getNextEdgeOfFace(); - int c = edge->getTargetVertex(); - while (c != a) - { - meshCH.AddTriangle(Vec3(a, b, c)); - edge = edge->getNextEdgeOfFace(); - b = c; - c = edge->getTargetVertex(); - } + ch.compute((double*)points, 3 * sizeof(double), (int32_t)q, -1.0, -1.0); + for (int32_t v = 0; v < ch.vertices.size(); v++) { + cpoints.PushBack(Vec3(ch.vertices[v].getX(), ch.vertices[v].getY(), ch.vertices[v].getZ())); } } - inline bool TetrahedronSet::Add(Tetrahedron & tetrahedron) - { - double v = ComputeVolume4(tetrahedron.m_pts[0], tetrahedron.m_pts[1], tetrahedron.m_pts[2], tetrahedron.m_pts[3]); + delete[] points; - const double EPS = 0.0000000001; - if (fabs(v) < EPS) - { - return false; - } - else if ( v < 0.0) - { - Vec3 tmp = tetrahedron.m_pts[0]; - tetrahedron.m_pts[0] = tetrahedron.m_pts[1]; - tetrahedron.m_pts[1] = tmp; + points = cpoints.Data(); + btConvexHullComputer ch; + ch.compute((double*)points, 3 * sizeof(double), (int32_t)cpoints.Size(), -1.0, -1.0); + meshCH.ResizePoints(0); + meshCH.ResizeTriangles(0); + for (int32_t v = 0; v < ch.vertices.size(); v++) { + meshCH.AddPoint(Vec3(ch.vertices[v].getX(), ch.vertices[v].getY(), ch.vertices[v].getZ())); + } + const int32_t nt = ch.faces.size(); + for (int32_t t = 0; t < nt; ++t) { + const btConvexHullComputer::Edge* sourceEdge = &(ch.edges[ch.faces[t]]); + int32_t a = sourceEdge->getSourceVertex(); + int32_t b = sourceEdge->getTargetVertex(); + const btConvexHullComputer::Edge* edge = sourceEdge->getNextEdgeOfFace(); + int32_t c = edge->getTargetVertex(); + while (c != a) { + meshCH.AddTriangle(Vec3(a, b, c)); + edge = edge->getNextEdgeOfFace(); + b = c; + c = edge->getTargetVertex(); } + } +} +inline bool TetrahedronSet::Add(Tetrahedron& tetrahedron) +{ + double v = ComputeVolume4(tetrahedron.m_pts[0], tetrahedron.m_pts[1], tetrahedron.m_pts[2], tetrahedron.m_pts[3]); - for(int a = 0; a < 4; ++a) - { - for(int xx = 0; xx < 3; ++xx) - { - assert(tetrahedron.m_pts[a][xx] + EPS >= m_minBB[xx]); - assert(tetrahedron.m_pts[a][xx] <= m_maxBB[xx] + EPS); - } - } - m_tetrahedra.PushBack(tetrahedron); - return true; + const double EPS = 0.0000000001; + if (fabs(v) < EPS) { + return false; + } + else if (v < 0.0) { + Vec3 tmp = tetrahedron.m_pts[0]; + tetrahedron.m_pts[0] = tetrahedron.m_pts[1]; + tetrahedron.m_pts[1] = tmp; } - void TetrahedronSet::AddClippedTetrahedra(const Vec3 (&pts) [10], const int nPts) - { - const int tetF[4][3] = {{0, 1, 2}, {2, 1, 3}, {3, 1, 0}, {3, 0, 2}}; - if(nPts < 4) - { - return; + for (int32_t a = 0; a < 4; ++a) { + for (int32_t xx = 0; xx < 3; ++xx) { + assert(tetrahedron.m_pts[a][xx] + EPS >= m_minBB[xx]); + assert(tetrahedron.m_pts[a][xx] <= m_maxBB[xx] + EPS); } - else if (nPts == 4) - { - Tetrahedron tetrahedron; - tetrahedron.m_data = PRIMITIVE_ON_SURFACE; - tetrahedron.m_pts[0] = pts[0]; - tetrahedron.m_pts[1] = pts[1]; - tetrahedron.m_pts[2] = pts[2]; - tetrahedron.m_pts[3] = pts[3]; - if (Add(tetrahedron)) - { - ++m_numTetrahedraOnSurface; - } + } + m_tetrahedra.PushBack(tetrahedron); + return true; +} + +void TetrahedronSet::AddClippedTetrahedra(const Vec3 (&pts)[10], const int32_t nPts) +{ + const int32_t tetF[4][3] = { { 0, 1, 2 }, { 2, 1, 3 }, { 3, 1, 0 }, { 3, 0, 2 } }; + if (nPts < 4) { + return; + } + else if (nPts == 4) { + Tetrahedron tetrahedron; + tetrahedron.m_data = PRIMITIVE_ON_SURFACE; + tetrahedron.m_pts[0] = pts[0]; + tetrahedron.m_pts[1] = pts[1]; + tetrahedron.m_pts[2] = pts[2]; + tetrahedron.m_pts[3] = pts[3]; + if (Add(tetrahedron)) { + ++m_numTetrahedraOnSurface; } - else if (nPts == 5) - { - const int tet[15][4] = { {0, 1, 2, 3}, {1, 2, 3, 4}, {0, 2, 3, 4}, {0, 1, 3, 4}, {0, 1, 2, 4},}; - const int rem[5] = { 4, 0, 1, 2, 3}; - double maxVol = 0.0; - int h0 = -1; - Tetrahedron tetrahedron0; - tetrahedron0.m_data = PRIMITIVE_ON_SURFACE; - for(int h = 0; h < 5; ++h) - { - double v = ComputeVolume4(pts[tet[h][0]], pts[tet[h][1]], pts[tet[h][2]], pts[tet[h][3]]); - if ( v > maxVol) - { - h0 = h; - tetrahedron0.m_pts[0] = pts[tet[h][0]]; - tetrahedron0.m_pts[1] = pts[tet[h][1]]; - tetrahedron0.m_pts[2] = pts[tet[h][2]]; - tetrahedron0.m_pts[3] = pts[tet[h][3]]; - maxVol = v; - } - else if (-v > maxVol) - { - h0 = h; - tetrahedron0.m_pts[0] = pts[tet[h][1]]; - tetrahedron0.m_pts[1] = pts[tet[h][0]]; - tetrahedron0.m_pts[2] = pts[tet[h][2]]; - tetrahedron0.m_pts[3] = pts[tet[h][3]]; - maxVol = -v; - } - } - if (h0 == -1) return; - if (Add(tetrahedron0)) - { - ++m_numTetrahedraOnSurface; - } - else - { - return; - } - int a = rem[h0]; - maxVol = 0.0; - int h1 = -1; - Tetrahedron tetrahedron1; - tetrahedron1.m_data = PRIMITIVE_ON_SURFACE; - for (int h = 0; h < 4; ++h) - { - double v = ComputeVolume4(pts[a], tetrahedron0.m_pts[tetF[h][0]], tetrahedron0.m_pts[tetF[h][1]], tetrahedron0.m_pts[tetF[h][2]]); - if ( v > maxVol) - { - h1 = h; - tetrahedron1.m_pts[0] = pts[a]; - tetrahedron1.m_pts[1] = tetrahedron0.m_pts[tetF[h][0]]; - tetrahedron1.m_pts[2] = tetrahedron0.m_pts[tetF[h][1]]; - tetrahedron1.m_pts[3] = tetrahedron0.m_pts[tetF[h][2]]; - maxVol = v; - } + } + else if (nPts == 5) { + const int32_t tet[15][4] = { + { 0, 1, 2, 3 }, { 1, 2, 3, 4 }, { 0, 2, 3, 4 }, { 0, 1, 3, 4 }, { 0, 1, 2, 4 }, + }; + const int32_t rem[5] = { 4, 0, 1, 2, 3 }; + double maxVol = 0.0; + int32_t h0 = -1; + Tetrahedron tetrahedron0; + tetrahedron0.m_data = PRIMITIVE_ON_SURFACE; + for (int32_t h = 0; h < 5; ++h) { + double v = ComputeVolume4(pts[tet[h][0]], pts[tet[h][1]], pts[tet[h][2]], pts[tet[h][3]]); + if (v > maxVol) { + h0 = h; + tetrahedron0.m_pts[0] = pts[tet[h][0]]; + tetrahedron0.m_pts[1] = pts[tet[h][1]]; + tetrahedron0.m_pts[2] = pts[tet[h][2]]; + tetrahedron0.m_pts[3] = pts[tet[h][3]]; + maxVol = v; } - if (h1 == -1 && Add(tetrahedron1)) - { - ++m_numTetrahedraOnSurface; + else if (-v > maxVol) { + h0 = h; + tetrahedron0.m_pts[0] = pts[tet[h][1]]; + tetrahedron0.m_pts[1] = pts[tet[h][0]]; + tetrahedron0.m_pts[2] = pts[tet[h][2]]; + tetrahedron0.m_pts[3] = pts[tet[h][3]]; + maxVol = -v; } } - else if (nPts == 6) - { - - const int tet[15][4] = {{2,3,4,5}, {1,3,4,5}, {1,2,4,5}, {1,2,3,5}, {1,2,3,4}, - {0,3,4,5}, {0,2,4,5}, {0,2,3,5}, {0,2,3,4}, {0,1,4,5}, - {0,1,3,5}, {0,1,3,4}, {0,1,2,5}, {0,1,2,4}, {0,1,2,3}}; - const int rem[15][2] = {{0,1}, {0,2}, {0,3}, {0,4}, {0,5}, - {1,2}, {1,3}, {1,4}, {1,5}, {2,3}, - {2,4}, {2,5}, {3,4}, {3,5}, {4,5} }; - double maxVol = 0.0; - int h0 = -1; - Tetrahedron tetrahedron0; - tetrahedron0.m_data = PRIMITIVE_ON_SURFACE; - for(int h = 0; h < 15; ++h) - { - double v = ComputeVolume4(pts[tet[h][0]], pts[tet[h][1]], pts[tet[h][2]], pts[tet[h][3]]); - if ( v > maxVol) - { - h0 = h; - tetrahedron0.m_pts[0] = pts[tet[h][0]]; - tetrahedron0.m_pts[1] = pts[tet[h][1]]; - tetrahedron0.m_pts[2] = pts[tet[h][2]]; - tetrahedron0.m_pts[3] = pts[tet[h][3]]; - maxVol = v; - } - else if (-v > maxVol) - { - h0 = h; - tetrahedron0.m_pts[0] = pts[tet[h][1]]; - tetrahedron0.m_pts[1] = pts[tet[h][0]]; - tetrahedron0.m_pts[2] = pts[tet[h][2]]; - tetrahedron0.m_pts[3] = pts[tet[h][3]]; - maxVol = -v; - } + if (h0 == -1) + return; + if (Add(tetrahedron0)) { + ++m_numTetrahedraOnSurface; + } + else { + return; + } + int32_t a = rem[h0]; + maxVol = 0.0; + int32_t h1 = -1; + Tetrahedron tetrahedron1; + tetrahedron1.m_data = PRIMITIVE_ON_SURFACE; + for (int32_t h = 0; h < 4; ++h) { + double v = ComputeVolume4(pts[a], tetrahedron0.m_pts[tetF[h][0]], tetrahedron0.m_pts[tetF[h][1]], tetrahedron0.m_pts[tetF[h][2]]); + if (v > maxVol) { + h1 = h; + tetrahedron1.m_pts[0] = pts[a]; + tetrahedron1.m_pts[1] = tetrahedron0.m_pts[tetF[h][0]]; + tetrahedron1.m_pts[2] = tetrahedron0.m_pts[tetF[h][1]]; + tetrahedron1.m_pts[3] = tetrahedron0.m_pts[tetF[h][2]]; + maxVol = v; } - if (h0 == -1) return; - if (Add(tetrahedron0)) - { - ++m_numTetrahedraOnSurface; + } + if (h1 == -1 && Add(tetrahedron1)) { + ++m_numTetrahedraOnSurface; + } + } + else if (nPts == 6) { + + const int32_t tet[15][4] = { { 2, 3, 4, 5 }, { 1, 3, 4, 5 }, { 1, 2, 4, 5 }, { 1, 2, 3, 5 }, { 1, 2, 3, 4 }, + { 0, 3, 4, 5 }, { 0, 2, 4, 5 }, { 0, 2, 3, 5 }, { 0, 2, 3, 4 }, { 0, 1, 4, 5 }, + { 0, 1, 3, 5 }, { 0, 1, 3, 4 }, { 0, 1, 2, 5 }, { 0, 1, 2, 4 }, { 0, 1, 2, 3 } }; + const int32_t rem[15][2] = { { 0, 1 }, { 0, 2 }, { 0, 3 }, { 0, 4 }, { 0, 5 }, + { 1, 2 }, { 1, 3 }, { 1, 4 }, { 1, 5 }, { 2, 3 }, + { 2, 4 }, { 2, 5 }, { 3, 4 }, { 3, 5 }, { 4, 5 } }; + double maxVol = 0.0; + int32_t h0 = -1; + Tetrahedron tetrahedron0; + tetrahedron0.m_data = PRIMITIVE_ON_SURFACE; + for (int32_t h = 0; h < 15; ++h) { + double v = ComputeVolume4(pts[tet[h][0]], pts[tet[h][1]], pts[tet[h][2]], pts[tet[h][3]]); + if (v > maxVol) { + h0 = h; + tetrahedron0.m_pts[0] = pts[tet[h][0]]; + tetrahedron0.m_pts[1] = pts[tet[h][1]]; + tetrahedron0.m_pts[2] = pts[tet[h][2]]; + tetrahedron0.m_pts[3] = pts[tet[h][3]]; + maxVol = v; } - else - { - return; + else if (-v > maxVol) { + h0 = h; + tetrahedron0.m_pts[0] = pts[tet[h][1]]; + tetrahedron0.m_pts[1] = pts[tet[h][0]]; + tetrahedron0.m_pts[2] = pts[tet[h][2]]; + tetrahedron0.m_pts[3] = pts[tet[h][3]]; + maxVol = -v; } + } + if (h0 == -1) + return; + if (Add(tetrahedron0)) { + ++m_numTetrahedraOnSurface; + } + else { + return; + } - int a0 = rem[h0][0]; - int a1 = rem[h0][1]; - int h1 = -1; - Tetrahedron tetrahedron1; - tetrahedron1.m_data = PRIMITIVE_ON_SURFACE; - maxVol = 0.0; - for (int h = 0; h < 4; ++h) - { - double v = ComputeVolume4(pts[a0], tetrahedron0.m_pts[tetF[h][0]], tetrahedron0.m_pts[tetF[h][1]], tetrahedron0.m_pts[tetF[h][2]]); - if ( v > maxVol) - { - h1 = h; - tetrahedron1.m_pts[0] = pts[a0]; - tetrahedron1.m_pts[1] = tetrahedron0.m_pts[tetF[h][0]]; - tetrahedron1.m_pts[2] = tetrahedron0.m_pts[tetF[h][1]]; - tetrahedron1.m_pts[3] = tetrahedron0.m_pts[tetF[h][2]]; - maxVol = v; - } - } - if (h1 != -1 && Add(tetrahedron1)) - { - ++m_numTetrahedraOnSurface; + int32_t a0 = rem[h0][0]; + int32_t a1 = rem[h0][1]; + int32_t h1 = -1; + Tetrahedron tetrahedron1; + tetrahedron1.m_data = PRIMITIVE_ON_SURFACE; + maxVol = 0.0; + for (int32_t h = 0; h < 4; ++h) { + double v = ComputeVolume4(pts[a0], tetrahedron0.m_pts[tetF[h][0]], tetrahedron0.m_pts[tetF[h][1]], tetrahedron0.m_pts[tetF[h][2]]); + if (v > maxVol) { + h1 = h; + tetrahedron1.m_pts[0] = pts[a0]; + tetrahedron1.m_pts[1] = tetrahedron0.m_pts[tetF[h][0]]; + tetrahedron1.m_pts[2] = tetrahedron0.m_pts[tetF[h][1]]; + tetrahedron1.m_pts[3] = tetrahedron0.m_pts[tetF[h][2]]; + maxVol = v; } - else - { - h1 = -1; + } + if (h1 != -1 && Add(tetrahedron1)) { + ++m_numTetrahedraOnSurface; + } + else { + h1 = -1; + } + maxVol = 0.0; + int32_t h2 = -1; + Tetrahedron tetrahedron2; + tetrahedron2.m_data = PRIMITIVE_ON_SURFACE; + for (int32_t h = 0; h < 4; ++h) { + double v = ComputeVolume4(pts[a0], tetrahedron0.m_pts[tetF[h][0]], tetrahedron0.m_pts[tetF[h][1]], tetrahedron0.m_pts[tetF[h][2]]); + if (h == h1) + continue; + if (v > maxVol) { + h2 = h; + tetrahedron2.m_pts[0] = pts[a1]; + tetrahedron2.m_pts[1] = tetrahedron0.m_pts[tetF[h][0]]; + tetrahedron2.m_pts[2] = tetrahedron0.m_pts[tetF[h][1]]; + tetrahedron2.m_pts[3] = tetrahedron0.m_pts[tetF[h][2]]; + maxVol = v; } - maxVol = 0.0; - int h2 = -1; - Tetrahedron tetrahedron2; - tetrahedron2.m_data = PRIMITIVE_ON_SURFACE; - for (int h = 0; h < 4; ++h) - { - double v = ComputeVolume4(pts[a0], tetrahedron0.m_pts[tetF[h][0]], tetrahedron0.m_pts[tetF[h][1]], tetrahedron0.m_pts[tetF[h][2]]); - if (h == h1) continue; - if ( v > maxVol) - { - h2 = h; + } + if (h1 != -1) { + for (int32_t h = 0; h < 4; ++h) { + double v = ComputeVolume4(pts[a1], tetrahedron1.m_pts[tetF[h][0]], tetrahedron1.m_pts[tetF[h][1]], tetrahedron1.m_pts[tetF[h][2]]); + if (h == 1) + continue; + if (v > maxVol) { + h2 = h; tetrahedron2.m_pts[0] = pts[a1]; - tetrahedron2.m_pts[1] = tetrahedron0.m_pts[tetF[h][0]]; - tetrahedron2.m_pts[2] = tetrahedron0.m_pts[tetF[h][1]]; - tetrahedron2.m_pts[3] = tetrahedron0.m_pts[tetF[h][2]]; - maxVol = v; + tetrahedron2.m_pts[1] = tetrahedron1.m_pts[tetF[h][0]]; + tetrahedron2.m_pts[2] = tetrahedron1.m_pts[tetF[h][1]]; + tetrahedron2.m_pts[3] = tetrahedron1.m_pts[tetF[h][2]]; + maxVol = v; } } - if (h1 != -1) - { - for (int h = 0; h < 4; ++h) - { - double v = ComputeVolume4(pts[a1], tetrahedron1.m_pts[tetF[h][0]], tetrahedron1.m_pts[tetF[h][1]], tetrahedron1.m_pts[tetF[h][2]]); - if (h == 1) continue; - if ( v > maxVol) - { - h2 = h; - tetrahedron2.m_pts[0] = pts[a1]; - tetrahedron2.m_pts[1] = tetrahedron1.m_pts[tetF[h][0]]; - tetrahedron2.m_pts[2] = tetrahedron1.m_pts[tetF[h][1]]; - tetrahedron2.m_pts[3] = tetrahedron1.m_pts[tetF[h][2]]; - maxVol = v; - } - } - } - if (h2 != -1 && Add(tetrahedron2)) - { - ++m_numTetrahedraOnSurface; - } } - else - { - assert(0); + if (h2 != -1 && Add(tetrahedron2)) { + ++m_numTetrahedraOnSurface; } } + else { + assert(0); + } +} + +void TetrahedronSet::Intersect(const Plane& plane, + SArray >* const positivePts, + SArray >* const negativePts, + const size_t sampling) const +{ + const size_t nTetrahedra = m_tetrahedra.Size(); + if (nTetrahedra == 0) + return; +} +void TetrahedronSet::ComputeExteriorPoints(const Plane& plane, + const Mesh& mesh, + SArray >* const exteriorPts) const +{ +} +void TetrahedronSet::ComputeClippedVolumes(const Plane& plane, + double& positiveVolume, + double& negativeVolume) const +{ + const size_t nTetrahedra = m_tetrahedra.Size(); + if (nTetrahedra == 0) + return; +} - void TetrahedronSet::Intersect(const Plane & plane, - SArray< Vec3 > * const positivePts, - SArray< Vec3 > * const negativePts, - const size_t sampling) const - { - const size_t nTetrahedra = m_tetrahedra.Size(); - if (nTetrahedra == 0) return; +void TetrahedronSet::SelectOnSurface(PrimitiveSet* const onSurfP) const +{ + TetrahedronSet* const onSurf = (TetrahedronSet*)onSurfP; + const size_t nTetrahedra = m_tetrahedra.Size(); + if (nTetrahedra == 0) + return; + onSurf->m_tetrahedra.Resize(0); + onSurf->m_scale = m_scale; + onSurf->m_numTetrahedraOnSurface = 0; + onSurf->m_numTetrahedraInsideSurface = 0; + onSurf->m_barycenter = m_barycenter; + onSurf->m_minBB = m_minBB; + onSurf->m_maxBB = m_maxBB; + for (int32_t i = 0; i < 3; ++i) { + for (int32_t j = 0; j < 3; ++j) { + onSurf->m_Q[i][j] = m_Q[i][j]; + onSurf->m_D[i][j] = m_D[i][j]; + } } - void TetrahedronSet::ComputeExteriorPoints(const Plane & plane, - const Mesh & mesh, - SArray< Vec3 > * const exteriorPts) const - { + Tetrahedron tetrahedron; + for (size_t v = 0; v < nTetrahedra; ++v) { + tetrahedron = m_tetrahedra[v]; + if (tetrahedron.m_data == PRIMITIVE_ON_SURFACE) { + onSurf->m_tetrahedra.PushBack(tetrahedron); + ++onSurf->m_numTetrahedraOnSurface; + } } - void TetrahedronSet::ComputeClippedVolumes(const Plane & plane, - double & positiveVolume, - double & negativeVolume) const - { - const size_t nTetrahedra = m_tetrahedra.Size(); - if (nTetrahedra == 0) return; +} +void TetrahedronSet::Clip(const Plane& plane, + PrimitiveSet* const positivePartP, + PrimitiveSet* const negativePartP) const +{ + TetrahedronSet* const positivePart = (TetrahedronSet*)positivePartP; + TetrahedronSet* const negativePart = (TetrahedronSet*)negativePartP; + const size_t nTetrahedra = m_tetrahedra.Size(); + if (nTetrahedra == 0) + return; + positivePart->m_tetrahedra.Resize(0); + negativePart->m_tetrahedra.Resize(0); + positivePart->m_tetrahedra.Allocate(nTetrahedra); + negativePart->m_tetrahedra.Allocate(nTetrahedra); + negativePart->m_scale = positivePart->m_scale = m_scale; + negativePart->m_numTetrahedraOnSurface = positivePart->m_numTetrahedraOnSurface = 0; + negativePart->m_numTetrahedraInsideSurface = positivePart->m_numTetrahedraInsideSurface = 0; + negativePart->m_barycenter = m_barycenter; + positivePart->m_barycenter = m_barycenter; + negativePart->m_minBB = m_minBB; + positivePart->m_minBB = m_minBB; + negativePart->m_maxBB = m_maxBB; + positivePart->m_maxBB = m_maxBB; + for (int32_t i = 0; i < 3; ++i) { + for (int32_t j = 0; j < 3; ++j) { + negativePart->m_Q[i][j] = positivePart->m_Q[i][j] = m_Q[i][j]; + negativePart->m_D[i][j] = positivePart->m_D[i][j] = m_D[i][j]; + } } - void TetrahedronSet::SelectOnSurface(PrimitiveSet * const onSurfP) const - { - TetrahedronSet * const onSurf = (TetrahedronSet *)onSurfP; - const size_t nTetrahedra = m_tetrahedra.Size(); - if (nTetrahedra == 0) return; - onSurf->m_tetrahedra.Resize(0); - onSurf->m_scale = m_scale; - onSurf->m_numTetrahedraOnSurface = 0; - onSurf->m_numTetrahedraInsideSurface = 0; - onSurf->m_barycenter = m_barycenter; - onSurf->m_minBB = m_minBB; - onSurf->m_maxBB = m_maxBB; - for (int i = 0; i < 3; ++i) - { - for (int j = 0; j < 3; ++j) - { - onSurf->m_Q[i][j] = m_Q[i][j]; - onSurf->m_D[i][j] = m_D[i][j]; + Tetrahedron tetrahedron; + double delta, alpha; + int32_t sign[4]; + int32_t npos, nneg; + Vec3 posPts[10]; + Vec3 negPts[10]; + Vec3 P0, P1, M; + const Vec3 n(plane.m_a, plane.m_b, plane.m_c); + const int32_t edges[6][2] = { { 0, 1 }, { 0, 2 }, { 0, 3 }, { 1, 2 }, { 1, 3 }, { 2, 3 } }; + double dist; + for (size_t v = 0; v < nTetrahedra; ++v) { + tetrahedron = m_tetrahedra[v]; + npos = nneg = 0; + for (int32_t i = 0; i < 4; ++i) { + dist = plane.m_a * tetrahedron.m_pts[i][0] + plane.m_b * tetrahedron.m_pts[i][1] + plane.m_c * tetrahedron.m_pts[i][2] + plane.m_d; + if (dist > 0.0) { + sign[i] = 1; + posPts[npos] = tetrahedron.m_pts[i]; + ++npos; } - } - Tetrahedron tetrahedron; - for (size_t v = 0; v < nTetrahedra; ++v) - { - tetrahedron = m_tetrahedra[v]; - if (tetrahedron.m_data == PRIMITIVE_ON_SURFACE) - { - onSurf->m_tetrahedra.PushBack(tetrahedron); - ++onSurf->m_numTetrahedraOnSurface; - } - } - } - void TetrahedronSet::Clip(const Plane & plane, - PrimitiveSet * const positivePartP, - PrimitiveSet * const negativePartP) const - { - TetrahedronSet * const positivePart = (TetrahedronSet *)positivePartP; - TetrahedronSet * const negativePart = (TetrahedronSet *)negativePartP; - const size_t nTetrahedra = m_tetrahedra.Size(); - if (nTetrahedra == 0) return; - positivePart->m_tetrahedra.Resize(0); - negativePart->m_tetrahedra.Resize(0); - positivePart->m_tetrahedra.Allocate(nTetrahedra); - negativePart->m_tetrahedra.Allocate(nTetrahedra); - negativePart->m_scale = positivePart->m_scale = m_scale; - negativePart->m_numTetrahedraOnSurface = positivePart->m_numTetrahedraOnSurface = 0; - negativePart->m_numTetrahedraInsideSurface = positivePart->m_numTetrahedraInsideSurface = 0; - negativePart->m_barycenter = m_barycenter; - positivePart->m_barycenter = m_barycenter; - negativePart->m_minBB = m_minBB; - positivePart->m_minBB = m_minBB; - negativePart->m_maxBB = m_maxBB; - positivePart->m_maxBB = m_maxBB; - for(int i = 0; i < 3; ++i) - { - for(int j = 0; j < 3; ++j) - { - negativePart->m_Q[i][j] = positivePart->m_Q[i][j] = m_Q[i][j]; - negativePart->m_D[i][j] = positivePart->m_D[i][j] = m_D[i][j]; + else { + sign[i] = -1; + negPts[nneg] = tetrahedron.m_pts[i]; + ++nneg; } } - Tetrahedron tetrahedron; - double delta, alpha; - int sign[4]; - int npos, nneg; - Vec3 posPts[10]; - Vec3 negPts[10]; - Vec3 P0, P1, M; - const Vec3 n(plane.m_a, plane.m_b, plane.m_c); - const int edges [6][2]= {{0, 1}, {0, 2}, {0, 3}, {1, 2}, {1, 3}, {2, 3}}; - double dist; - for(size_t v = 0; v < nTetrahedra; ++v) - { - tetrahedron = m_tetrahedra[v]; - npos = nneg = 0; - for(int i = 0; i < 4; ++i) - { - dist = plane.m_a * tetrahedron.m_pts[i][0] + plane.m_b * tetrahedron.m_pts[i][1] + plane.m_c * tetrahedron.m_pts[i][2] + plane.m_d; - if (dist > 0.0) - { - sign[i] = 1; - posPts[npos] = tetrahedron.m_pts[i]; - ++npos; - } - else - { - sign[i] = -1; - negPts[nneg] = tetrahedron.m_pts[i]; - ++nneg; - } + if (npos == 4) { + positivePart->Add(tetrahedron); + if (tetrahedron.m_data == PRIMITIVE_ON_SURFACE) { + ++positivePart->m_numTetrahedraOnSurface; } - - if (npos == 4) - { - positivePart->Add(tetrahedron); - if (tetrahedron.m_data == PRIMITIVE_ON_SURFACE) - { - ++positivePart->m_numTetrahedraOnSurface; - } - else - { - ++positivePart->m_numTetrahedraInsideSurface; - } + else { + ++positivePart->m_numTetrahedraInsideSurface; } - else if (nneg == 4) - { - negativePart->Add(tetrahedron); - if (tetrahedron.m_data == PRIMITIVE_ON_SURFACE) - { - ++negativePart->m_numTetrahedraOnSurface; - } - else - { - ++negativePart->m_numTetrahedraInsideSurface; - } + } + else if (nneg == 4) { + negativePart->Add(tetrahedron); + if (tetrahedron.m_data == PRIMITIVE_ON_SURFACE) { + ++negativePart->m_numTetrahedraOnSurface; } - else - { - int nnew = 0; - for(int j = 0; j < 6; ++j) - { - if ( sign[ edges[j][0] ] * sign[ edges[j][1] ] == -1) - { - P0 = tetrahedron.m_pts[edges[j][0]]; - P1 = tetrahedron.m_pts[edges[j][1]]; - delta = (P0-P1) * n; - alpha = - (plane.m_d + (n * P1)) / delta; - assert(alpha >= 0.0 && alpha <= 1.0); - M = alpha * P0 + (1-alpha) * P1; - for(int xx = 0; xx < 3; ++xx) - { - assert(M[xx] + EPS >= m_minBB[xx]); - assert(M[xx] <= m_maxBB[xx] + EPS); - } - posPts[npos++] = M; - negPts[nneg++] = M; - ++nnew; + else { + ++negativePart->m_numTetrahedraInsideSurface; + } + } + else { + int32_t nnew = 0; + for (int32_t j = 0; j < 6; ++j) { + if (sign[edges[j][0]] * sign[edges[j][1]] == -1) { + P0 = tetrahedron.m_pts[edges[j][0]]; + P1 = tetrahedron.m_pts[edges[j][1]]; + delta = (P0 - P1) * n; + alpha = -(plane.m_d + (n * P1)) / delta; + assert(alpha >= 0.0 && alpha <= 1.0); + M = alpha * P0 + (1 - alpha) * P1; + for (int32_t xx = 0; xx < 3; ++xx) { + assert(M[xx] + EPS >= m_minBB[xx]); + assert(M[xx] <= m_maxBB[xx] + EPS); } + posPts[npos++] = M; + negPts[nneg++] = M; + ++nnew; } - negativePart->AddClippedTetrahedra(negPts, nneg); - positivePart->AddClippedTetrahedra(posPts, npos); } + negativePart->AddClippedTetrahedra(negPts, nneg); + positivePart->AddClippedTetrahedra(posPts, npos); } } - void TetrahedronSet::Convert(Mesh & mesh, const VOXEL_VALUE value) const - { - const size_t nTetrahedra = m_tetrahedra.Size(); - if (nTetrahedra == 0) - return; - for(size_t v = 0; v < nTetrahedra; ++v) - { - const Tetrahedron & tetrahedron = m_tetrahedra[v]; - if (tetrahedron.m_data == value) - { - int s = (int) mesh.GetNPoints(); - mesh.AddPoint(tetrahedron.m_pts[0]); - mesh.AddPoint(tetrahedron.m_pts[1]); - mesh.AddPoint(tetrahedron.m_pts[2]); - mesh.AddPoint(tetrahedron.m_pts[3]); - mesh.AddTriangle(Vec3(s + 0, s + 1, s + 2)); - mesh.AddTriangle(Vec3(s + 2, s + 1, s + 3)); - mesh.AddTriangle(Vec3(s + 3, s + 1, s + 0)); - mesh.AddTriangle(Vec3(s + 3, s + 0, s + 2)); - } +} +void TetrahedronSet::Convert(Mesh& mesh, const VOXEL_VALUE value) const +{ + const size_t nTetrahedra = m_tetrahedra.Size(); + if (nTetrahedra == 0) + return; + for (size_t v = 0; v < nTetrahedra; ++v) { + const Tetrahedron& tetrahedron = m_tetrahedra[v]; + if (tetrahedron.m_data == value) { + int32_t s = (int32_t)mesh.GetNPoints(); + mesh.AddPoint(tetrahedron.m_pts[0]); + mesh.AddPoint(tetrahedron.m_pts[1]); + mesh.AddPoint(tetrahedron.m_pts[2]); + mesh.AddPoint(tetrahedron.m_pts[3]); + mesh.AddTriangle(Vec3(s + 0, s + 1, s + 2)); + mesh.AddTriangle(Vec3(s + 2, s + 1, s + 3)); + mesh.AddTriangle(Vec3(s + 3, s + 1, s + 0)); + mesh.AddTriangle(Vec3(s + 3, s + 0, s + 2)); } } - const double TetrahedronSet::ComputeVolume() const - { - const size_t nTetrahedra = m_tetrahedra.Size(); - if (nTetrahedra == 0) - return 0.0; - double volume = 0.0; - for(size_t v = 0; v < nTetrahedra; ++v) - { - const Tetrahedron & tetrahedron = m_tetrahedra[v]; - volume += fabs(ComputeVolume4(tetrahedron.m_pts[0], tetrahedron.m_pts[1], tetrahedron.m_pts[2], tetrahedron.m_pts[3])); - } - return volume / 6.0; +} +const double TetrahedronSet::ComputeVolume() const +{ + const size_t nTetrahedra = m_tetrahedra.Size(); + if (nTetrahedra == 0) + return 0.0; + double volume = 0.0; + for (size_t v = 0; v < nTetrahedra; ++v) { + const Tetrahedron& tetrahedron = m_tetrahedra[v]; + volume += fabs(ComputeVolume4(tetrahedron.m_pts[0], tetrahedron.m_pts[1], tetrahedron.m_pts[2], tetrahedron.m_pts[3])); } - const double TetrahedronSet::ComputeMaxVolumeError() const - { - const size_t nTetrahedra = m_tetrahedra.Size(); - if (nTetrahedra == 0) - return 0.0; - double volume = 0.0; - for(size_t v = 0; v < nTetrahedra; ++v) - { - const Tetrahedron & tetrahedron = m_tetrahedra[v]; - if (tetrahedron.m_data == PRIMITIVE_ON_SURFACE) - { - volume += fabs(ComputeVolume4(tetrahedron.m_pts[0], tetrahedron.m_pts[1], tetrahedron.m_pts[2], tetrahedron.m_pts[3])); - } + return volume / 6.0; +} +const double TetrahedronSet::ComputeMaxVolumeError() const +{ + const size_t nTetrahedra = m_tetrahedra.Size(); + if (nTetrahedra == 0) + return 0.0; + double volume = 0.0; + for (size_t v = 0; v < nTetrahedra; ++v) { + const Tetrahedron& tetrahedron = m_tetrahedra[v]; + if (tetrahedron.m_data == PRIMITIVE_ON_SURFACE) { + volume += fabs(ComputeVolume4(tetrahedron.m_pts[0], tetrahedron.m_pts[1], tetrahedron.m_pts[2], tetrahedron.m_pts[3])); } - return volume / 6.0; } - void TetrahedronSet::RevertAlignToPrincipalAxes() - { - const size_t nTetrahedra = m_tetrahedra.Size(); - if (nTetrahedra == 0) - return; - double x, y, z; - for(size_t v = 0; v < nTetrahedra; ++v) - { - Tetrahedron & tetrahedron = m_tetrahedra[v]; - for(int i = 0; i < 4; ++i) - { - x = tetrahedron.m_pts[i][0] - m_barycenter[0]; - y = tetrahedron.m_pts[i][1] - m_barycenter[1]; - z = tetrahedron.m_pts[i][2] - m_barycenter[2]; - tetrahedron.m_pts[i][0] = m_Q[0][0] * x + m_Q[0][1] * y + m_Q[0][2] * z + m_barycenter[0]; - tetrahedron.m_pts[i][1] = m_Q[1][0] * x + m_Q[1][1] * y + m_Q[1][2] * z + m_barycenter[1]; - tetrahedron.m_pts[i][2] = m_Q[2][0] * x + m_Q[2][1] * y + m_Q[2][2] * z + m_barycenter[2]; - } + return volume / 6.0; +} +void TetrahedronSet::RevertAlignToPrincipalAxes() +{ + const size_t nTetrahedra = m_tetrahedra.Size(); + if (nTetrahedra == 0) + return; + double x, y, z; + for (size_t v = 0; v < nTetrahedra; ++v) { + Tetrahedron& tetrahedron = m_tetrahedra[v]; + for (int32_t i = 0; i < 4; ++i) { + x = tetrahedron.m_pts[i][0] - m_barycenter[0]; + y = tetrahedron.m_pts[i][1] - m_barycenter[1]; + z = tetrahedron.m_pts[i][2] - m_barycenter[2]; + tetrahedron.m_pts[i][0] = m_Q[0][0] * x + m_Q[0][1] * y + m_Q[0][2] * z + m_barycenter[0]; + tetrahedron.m_pts[i][1] = m_Q[1][0] * x + m_Q[1][1] * y + m_Q[1][2] * z + m_barycenter[1]; + tetrahedron.m_pts[i][2] = m_Q[2][0] * x + m_Q[2][1] * y + m_Q[2][2] * z + m_barycenter[2]; } - ComputeBB(); } - void TetrahedronSet::ComputePrincipalAxes() - { - const size_t nTetrahedra = m_tetrahedra.Size(); - if (nTetrahedra == 0) - return; - double covMat[3][3] = {{0.0, 0.0, 0.0}, - {0.0, 0.0, 0.0}, - {0.0, 0.0, 0.0}}; - double x, y, z; - for(size_t v = 0; v < nTetrahedra; ++v) - { - Tetrahedron & tetrahedron = m_tetrahedra[v]; - for(int i = 0; i < 4; ++i) - { - x = tetrahedron.m_pts[i][0] - m_barycenter[0]; - y = tetrahedron.m_pts[i][1] - m_barycenter[1]; - z = tetrahedron.m_pts[i][2] - m_barycenter[2]; - covMat[0][0] += x*x; - covMat[1][1] += y*y; - covMat[2][2] += z*z; - covMat[0][1] += x*y; - covMat[0][2] += x*z; - covMat[1][2] += y*z; - } + ComputeBB(); +} +void TetrahedronSet::ComputePrincipalAxes() +{ + const size_t nTetrahedra = m_tetrahedra.Size(); + if (nTetrahedra == 0) + return; + double covMat[3][3] = { { 0.0, 0.0, 0.0 }, + { 0.0, 0.0, 0.0 }, + { 0.0, 0.0, 0.0 } }; + double x, y, z; + for (size_t v = 0; v < nTetrahedra; ++v) { + Tetrahedron& tetrahedron = m_tetrahedra[v]; + for (int32_t i = 0; i < 4; ++i) { + x = tetrahedron.m_pts[i][0] - m_barycenter[0]; + y = tetrahedron.m_pts[i][1] - m_barycenter[1]; + z = tetrahedron.m_pts[i][2] - m_barycenter[2]; + covMat[0][0] += x * x; + covMat[1][1] += y * y; + covMat[2][2] += z * z; + covMat[0][1] += x * y; + covMat[0][2] += x * z; + covMat[1][2] += y * z; } - double n = nTetrahedra * 4.0; - covMat[0][0] /= n; - covMat[1][1] /= n; - covMat[2][2] /= n; - covMat[0][1] /= n; - covMat[0][2] /= n; - covMat[1][2] /= n; - covMat[1][0] = covMat[0][1]; - covMat[2][0] = covMat[0][2]; - covMat[2][1] = covMat[1][2]; - Diagonalize(covMat, m_Q, m_D); } - void TetrahedronSet::AlignToPrincipalAxes() - { - const size_t nTetrahedra = m_tetrahedra.Size(); - if (nTetrahedra == 0) - return; - double x, y, z; - for(size_t v = 0; v < nTetrahedra; ++v) - { - Tetrahedron & tetrahedron = m_tetrahedra[v]; - for(int i = 0; i < 4; ++i) - { - x = tetrahedron.m_pts[i][0] - m_barycenter[0]; - y = tetrahedron.m_pts[i][1] - m_barycenter[1]; - z = tetrahedron.m_pts[i][2] - m_barycenter[2]; - tetrahedron.m_pts[i][0] = m_Q[0][0] * x + m_Q[1][0] * y + m_Q[2][0] * z + m_barycenter[0]; - tetrahedron.m_pts[i][1] = m_Q[0][1] * x + m_Q[1][1] * y + m_Q[2][1] * z + m_barycenter[1]; - tetrahedron.m_pts[i][2] = m_Q[0][2] * x + m_Q[1][2] * y + m_Q[2][2] * z + m_barycenter[2]; - } + double n = nTetrahedra * 4.0; + covMat[0][0] /= n; + covMat[1][1] /= n; + covMat[2][2] /= n; + covMat[0][1] /= n; + covMat[0][2] /= n; + covMat[1][2] /= n; + covMat[1][0] = covMat[0][1]; + covMat[2][0] = covMat[0][2]; + covMat[2][1] = covMat[1][2]; + Diagonalize(covMat, m_Q, m_D); +} +void TetrahedronSet::AlignToPrincipalAxes() +{ + const size_t nTetrahedra = m_tetrahedra.Size(); + if (nTetrahedra == 0) + return; + double x, y, z; + for (size_t v = 0; v < nTetrahedra; ++v) { + Tetrahedron& tetrahedron = m_tetrahedra[v]; + for (int32_t i = 0; i < 4; ++i) { + x = tetrahedron.m_pts[i][0] - m_barycenter[0]; + y = tetrahedron.m_pts[i][1] - m_barycenter[1]; + z = tetrahedron.m_pts[i][2] - m_barycenter[2]; + tetrahedron.m_pts[i][0] = m_Q[0][0] * x + m_Q[1][0] * y + m_Q[2][0] * z + m_barycenter[0]; + tetrahedron.m_pts[i][1] = m_Q[0][1] * x + m_Q[1][1] * y + m_Q[2][1] * z + m_barycenter[1]; + tetrahedron.m_pts[i][2] = m_Q[0][2] * x + m_Q[1][2] * y + m_Q[2][2] * z + m_barycenter[2]; } - ComputeBB(); } + ComputeBB(); +} } -