1 /* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
2 All rights reserved.
3
4
5 Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
6
7 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
8
9 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.
10
11 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
12
13 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.
14 */
15 #define _CRT_SECURE_NO_WARNINGS
16
17 #include "LinearMath/btConvexHullComputer.h"
18 #include "vhacdMesh.h"
19 #include <fstream>
20 #include <iosfwd>
21 #include <iostream>
22 #include <stdio.h>
23 #include <stdlib.h>
24 #include <string>
25
26 namespace VHACD
27 {
Mesh()28 Mesh::Mesh()
29 {
30 m_diag = 1.0;
31 }
~Mesh()32 Mesh::~Mesh()
33 {
34 }
ComputeVolume() const35 double Mesh::ComputeVolume() const
36 {
37 const size_t nV = GetNPoints();
38 const size_t nT = GetNTriangles();
39 if (nV == 0 || nT == 0)
40 {
41 return 0.0;
42 }
43
44 Vec3<double> bary(0.0, 0.0, 0.0);
45 for (size_t v = 0; v < nV; v++)
46 {
47 bary += GetPoint(v);
48 }
49 bary /= static_cast<double>(nV);
50
51 Vec3<double> ver0, ver1, ver2;
52 double totalVolume = 0.0;
53 for (int t = 0; t < nT; t++)
54 {
55 const Vec3<int>& tri = GetTriangle(t);
56 ver0 = GetPoint(tri[0]);
57 ver1 = GetPoint(tri[1]);
58 ver2 = GetPoint(tri[2]);
59 totalVolume += ComputeVolume4(ver0, ver1, ver2, bary);
60 }
61 return totalVolume / 6.0;
62 }
63
ComputeConvexHull(const double * const pts,const size_t nPts)64 void Mesh::ComputeConvexHull(const double* const pts,
65 const size_t nPts)
66 {
67 ResizePoints(0);
68 ResizeTriangles(0);
69 btConvexHullComputer ch;
70 ch.compute(pts, 3 * sizeof(double), (int)nPts, -1.0, -1.0);
71 for (int v = 0; v < ch.vertices.size(); v++)
72 {
73 AddPoint(Vec3<double>(ch.vertices[v].getX(), ch.vertices[v].getY(), ch.vertices[v].getZ()));
74 }
75 const int nt = ch.faces.size();
76 for (int t = 0; t < nt; ++t)
77 {
78 const btConvexHullComputer::Edge* sourceEdge = &(ch.edges[ch.faces[t]]);
79 int a = sourceEdge->getSourceVertex();
80 int b = sourceEdge->getTargetVertex();
81 const btConvexHullComputer::Edge* edge = sourceEdge->getNextEdgeOfFace();
82 int c = edge->getTargetVertex();
83 while (c != a)
84 {
85 AddTriangle(Vec3<int>(a, b, c));
86 edge = edge->getNextEdgeOfFace();
87 b = c;
88 c = edge->getTargetVertex();
89 }
90 }
91 }
Clip(const Plane & plane,SArray<Vec3<double>> & positivePart,SArray<Vec3<double>> & negativePart) const92 void Mesh::Clip(const Plane& plane,
93 SArray<Vec3<double> >& positivePart,
94 SArray<Vec3<double> >& negativePart) const
95 {
96 const size_t nV = GetNPoints();
97 if (nV == 0)
98 {
99 return;
100 }
101 double d;
102 for (size_t v = 0; v < nV; v++)
103 {
104 const Vec3<double>& pt = GetPoint(v);
105 d = plane.m_a * pt[0] + plane.m_b * pt[1] + plane.m_c * pt[2] + plane.m_d;
106 if (d > 0.0)
107 {
108 positivePart.PushBack(pt);
109 }
110 else if (d < 0.0)
111 {
112 negativePart.PushBack(pt);
113 }
114 else
115 {
116 positivePart.PushBack(pt);
117 negativePart.PushBack(pt);
118 }
119 }
120 }
IsInside(const Vec3<double> & pt) const121 bool Mesh::IsInside(const Vec3<double>& pt) const
122 {
123 const size_t nV = GetNPoints();
124 const size_t nT = GetNTriangles();
125 if (nV == 0 || nT == 0)
126 {
127 return false;
128 }
129 Vec3<double> ver0, ver1, ver2;
130 double volume;
131 for (int t = 0; t < nT; t++)
132 {
133 const Vec3<int>& tri = GetTriangle(t);
134 ver0 = GetPoint(tri[0]);
135 ver1 = GetPoint(tri[1]);
136 ver2 = GetPoint(tri[2]);
137 volume = ComputeVolume4(ver0, ver1, ver2, pt);
138 if (volume < 0.0)
139 {
140 return false;
141 }
142 }
143 return true;
144 }
ComputeDiagBB()145 double Mesh::ComputeDiagBB()
146 {
147 const size_t nPoints = GetNPoints();
148 if (nPoints == 0)
149 return 0.0;
150 Vec3<double> minBB = m_points[0];
151 Vec3<double> maxBB = m_points[0];
152 double x, y, z;
153 for (size_t v = 1; v < nPoints; v++)
154 {
155 x = m_points[v][0];
156 y = m_points[v][1];
157 z = m_points[v][2];
158 if (x < minBB[0])
159 minBB[0] = x;
160 else if (x > maxBB[0])
161 maxBB[0] = x;
162 if (y < minBB[1])
163 minBB[1] = y;
164 else if (y > maxBB[1])
165 maxBB[1] = y;
166 if (z < minBB[2])
167 minBB[2] = z;
168 else if (z > maxBB[2])
169 maxBB[2] = z;
170 }
171 return (m_diag = (maxBB - minBB).GetNorm());
172 }
173
174 #ifdef VHACD_DEBUG_MESH
SaveVRML2(const std::string & fileName) const175 bool Mesh::SaveVRML2(const std::string& fileName) const
176 {
177 std::ofstream fout(fileName.c_str());
178 if (fout.is_open())
179 {
180 const Material material;
181
182 if (SaveVRML2(fout, material))
183 {
184 fout.close();
185 return true;
186 }
187 return false;
188 }
189 return false;
190 }
SaveVRML2(std::ofstream & fout,const Material & material) const191 bool Mesh::SaveVRML2(std::ofstream& fout, const Material& material) const
192 {
193 if (fout.is_open())
194 {
195 fout.setf(std::ios::fixed, std::ios::floatfield);
196 fout.setf(std::ios::showpoint);
197 fout.precision(6);
198 size_t nV = m_points.Size();
199 size_t nT = m_triangles.Size();
200 fout << "#VRML V2.0 utf8" << std::endl;
201 fout << "" << std::endl;
202 fout << "# Vertices: " << nV << std::endl;
203 fout << "# Triangles: " << nT << std::endl;
204 fout << "" << std::endl;
205 fout << "Group {" << std::endl;
206 fout << " children [" << std::endl;
207 fout << " Shape {" << std::endl;
208 fout << " appearance Appearance {" << std::endl;
209 fout << " material Material {" << std::endl;
210 fout << " diffuseColor " << material.m_diffuseColor[0] << " "
211 << material.m_diffuseColor[1] << " "
212 << material.m_diffuseColor[2] << std::endl;
213 fout << " ambientIntensity " << material.m_ambientIntensity << std::endl;
214 fout << " specularColor " << material.m_specularColor[0] << " "
215 << material.m_specularColor[1] << " "
216 << material.m_specularColor[2] << std::endl;
217 fout << " emissiveColor " << material.m_emissiveColor[0] << " "
218 << material.m_emissiveColor[1] << " "
219 << material.m_emissiveColor[2] << std::endl;
220 fout << " shininess " << material.m_shininess << std::endl;
221 fout << " transparency " << material.m_transparency << std::endl;
222 fout << " }" << std::endl;
223 fout << " }" << std::endl;
224 fout << " geometry IndexedFaceSet {" << std::endl;
225 fout << " ccw TRUE" << std::endl;
226 fout << " solid TRUE" << std::endl;
227 fout << " convex TRUE" << std::endl;
228 if (nV > 0)
229 {
230 fout << " coord DEF co Coordinate {" << std::endl;
231 fout << " point [" << std::endl;
232 for (size_t v = 0; v < nV; v++)
233 {
234 fout << " " << m_points[v][0] << " "
235 << m_points[v][1] << " "
236 << m_points[v][2] << "," << std::endl;
237 }
238 fout << " ]" << std::endl;
239 fout << " }" << std::endl;
240 }
241 if (nT > 0)
242 {
243 fout << " coordIndex [ " << std::endl;
244 for (size_t f = 0; f < nT; f++)
245 {
246 fout << " " << m_triangles[f][0] << ", "
247 << m_triangles[f][1] << ", "
248 << m_triangles[f][2] << ", -1," << std::endl;
249 }
250 fout << " ]" << std::endl;
251 }
252 fout << " }" << std::endl;
253 fout << " }" << std::endl;
254 fout << " ]" << std::endl;
255 fout << "}" << std::endl;
256 return true;
257 }
258 return false;
259 }
SaveOFF(const std::string & fileName) const260 bool Mesh::SaveOFF(const std::string& fileName) const
261 {
262 std::ofstream fout(fileName.c_str());
263 if (fout.is_open())
264 {
265 size_t nV = m_points.Size();
266 size_t nT = m_triangles.Size();
267 fout << "OFF" << std::endl;
268 fout << nV << " " << nT << " " << 0 << std::endl;
269 for (size_t v = 0; v < nV; v++)
270 {
271 fout << m_points[v][0] << " "
272 << m_points[v][1] << " "
273 << m_points[v][2] << std::endl;
274 }
275 for (size_t f = 0; f < nT; f++)
276 {
277 fout << "3 " << m_triangles[f][0] << " "
278 << m_triangles[f][1] << " "
279 << m_triangles[f][2] << std::endl;
280 }
281 fout.close();
282 return true;
283 }
284 return false;
285 }
286
LoadOFF(const std::string & fileName,bool invert)287 bool Mesh::LoadOFF(const std::string& fileName, bool invert)
288 {
289 FILE* fid = fopen(fileName.c_str(), "r");
290 if (fid)
291 {
292 const std::string strOFF("OFF");
293 char temp[1024];
294 fscanf(fid, "%s", temp);
295 if (std::string(temp) != strOFF)
296 {
297 fclose(fid);
298 return false;
299 }
300 else
301 {
302 int nv = 0;
303 int nf = 0;
304 int ne = 0;
305 fscanf(fid, "%i", &nv);
306 fscanf(fid, "%i", &nf);
307 fscanf(fid, "%i", &ne);
308 m_points.Resize(nv);
309 m_triangles.Resize(nf);
310 Vec3<double> coord;
311 float x, y, z;
312 for (int p = 0; p < nv; p++)
313 {
314 fscanf(fid, "%f", &x);
315 fscanf(fid, "%f", &y);
316 fscanf(fid, "%f", &z);
317 m_points[p][0] = x;
318 m_points[p][1] = y;
319 m_points[p][2] = z;
320 }
321 int i, j, k, s;
322 for (int t = 0; t < nf; ++t)
323 {
324 fscanf(fid, "%i", &s);
325 if (s == 3)
326 {
327 fscanf(fid, "%i", &i);
328 fscanf(fid, "%i", &j);
329 fscanf(fid, "%i", &k);
330 m_triangles[t][0] = i;
331 if (invert)
332 {
333 m_triangles[t][1] = k;
334 m_triangles[t][2] = j;
335 }
336 else
337 {
338 m_triangles[t][1] = j;
339 m_triangles[t][2] = k;
340 }
341 }
342 else // Fix me: support only triangular meshes
343 {
344 for (int h = 0; h < s; ++h)
345 fscanf(fid, "%i", &s);
346 }
347 }
348 fclose(fid);
349 }
350 }
351 else
352 {
353 return false;
354 }
355 return true;
356 }
357 #endif // VHACD_DEBUG_MESH
358 } // namespace VHACD
359