void Scene_polyhedron_item::compute_elements()
{
v_poly.resize(0);
v_edge.resize(0);
normal_flat.resize(0);
normal_smooth.resize(0);
Polyhedron& polyhedron =*poly;
//FACETS
typedef Polyhedron::Traits Kernel;
typedef Kernel::Point_3 Point;
typedef Kernel::Vector_3 Vector;
typedef Polyhedron::Facet_iterator Facet_iterator;
typedef Polyhedron::Halfedge_around_facet_circulator HF_circulator;
Facet_iterator f;
for(f = polyhedron.facets_begin();
f != polyhedron.facets_end();
f++)
{
// If Flat shading: 1 normal per polygon
Vector n = CGAL::Polygon_mesh_processing::compute_face_normal(f, polyhedron);
normal_flat.push_back(n.x()); normal_flat.push_back(n.y()); normal_flat.push_back(n.z());
normal_flat.push_back(n.x()); normal_flat.push_back(n.y()); normal_flat.push_back(n.z());
normal_flat.push_back(n.x()); normal_flat.push_back(n.y()); normal_flat.push_back(n.z());
// revolve around current face to get vertices
HF_circulator he = f->facet_begin();
HF_circulator end = he;
CGAL_For_all(he,end)
{
Vector n = CGAL::Polygon_mesh_processing::compute_vertex_normal(he->vertex(), polyhedron);
normal_smooth.push_back(n.x()); normal_smooth.push_back(n.y()); normal_smooth.push_back(n.z());
const Point& p = he->vertex()->point();
v_poly.push_back(p.x()); v_poly.push_back(p.y()); v_poly.push_back(p.z());
}
}
void geometryUtils::subdivide_create_center_vertex(Polyhedron& P, Facet_iterator f) {
Vector_3 vec(0.0, 0.0, 0.0);
std::size_t order = 0;
HF_circulator h = f->facet_begin();
do {
vec = vec + (h->vertex()->point() - CGAL::ORIGIN);
++order;
} while (++h != f->facet_begin());
CGAL_assertion(order >= 3); // guaranteed by definition of polyhedron
Point_3 center = CGAL::ORIGIN + (vec / static_cast<double> (order));
Halfedge_handle new_center = P.create_center_vertex(f->halfedge());
new_center->vertex()->point() = center;
}
void CGALDelaunay::TriangulateUsingCGAL(vector<Vertex_handle> * DelaunayTriangulationVertices, vector<vector<float> > * PointsToBeInserted, Triangulation * T, vector<float> *bufferPointer, vector<float> *colorPointer, int*totalVertices)
{
//CHECK TO SEE IF THE POINT TO ADD NEEDS TO BE EITHER MODIFIED OR ADDED
//ROS_INFO("SIZE OF DELAUNAY VERTICES:%i", DelaunayTriangulationVertices->size());
//ROS_INFO("SIZE OF VERTICES to be added:%i", PointsToBeInserted->size());
for(int i = 0;i<PointsToBeInserted->size();i++)
{
vector<float> currentPoint = PointsToBeInserted->at(i);
T->insert(Point(currentPoint[0],currentPoint[1], currentPoint[2]));
}
//CONVERT DELAUNAY TRIANGULATION TO CONVEX HULL
Polyhedron_3 chull;
CGAL::convex_hull_3_to_polyhedron_3(*T, chull);
int count = 0;
int vec3Order[] = {0,1,2};
vector<float> emptyVector;
*bufferPointer = emptyVector;
*colorPointer = emptyVector;
for( Polyhedron_3::Facet_iterator fit = chull.facets_begin(); fit != chull.facets_end(); ++fit){
vector<Point> currentFacet;
HF_circulator h = fit->facet_begin();
size_t order = 0;
vector<vector<float> > TriangleVec;
do
{
Point currentPoint = h->vertex()->point();
vector<float> tempVec;
tempVec.push_back(currentPoint.x());
tempVec.push_back(currentPoint.y());
tempVec.push_back(currentPoint.z());
TriangleVec.push_back(tempVec);
}
while(++h != fit->facet_begin());
BufferActions::addVec3ToBuffer(vec3Order, bufferPointer, &TriangleVec, 3);
BufferActions::addVec3ToBuffer(vec3Order, colorPointer, &TriangleVec, 3);
count += 3;
}
*totalVertices= count;
}
void
Scene_polyhedron_item::compute_normals_and_vertices(void) const
{
positions_facets.resize(0);
positions_lines.resize(0);
positions_feature_lines.resize(0);
normals_flat.resize(0);
normals_gouraud.resize(0);
//Facets
typedef Polyhedron::Traits Kernel;
typedef Kernel::Point_3 Point;
typedef Kernel::Vector_3 Vector;
typedef Polyhedron::Facet_iterator Facet_iterator;
typedef Polyhedron::Halfedge_around_facet_circulator HF_circulator;
Facet_iterator f = poly->facets_begin();
for(f = poly->facets_begin();
f != poly->facets_end();
f++)
{
if (f == boost::graph_traits<Polyhedron>::null_face())
continue;
if(!is_triangle(f->halfedge(),*poly))
{
triangulate_facet(f);
}
else
{
int i=0;
HF_circulator he = f->facet_begin();
HF_circulator end = he;
CGAL_For_all(he,end)
{
// If Flat shading:1 normal per polygon added once per vertex
Vector n = CGAL::Polygon_mesh_processing::compute_face_normal(f, *poly);
normals_flat.push_back(n.x());
normals_flat.push_back(n.y());
normals_flat.push_back(n.z());
//// If Gouraud shading: 1 normal per vertex
n = CGAL::Polygon_mesh_processing::compute_vertex_normal(he->vertex(), *poly);
normals_gouraud.push_back(n.x());
normals_gouraud.push_back(n.y());
normals_gouraud.push_back(n.z());
//position
const Point& p = he->vertex()->point();
positions_facets.push_back(p.x());
positions_facets.push_back(p.y());
positions_facets.push_back(p.z());
positions_facets.push_back(1.0);
i = (i+1) %3;
}
}
}
void
Scene_polyhedron_item::compute_normals_and_vertices(void) const
{
positions_facets.resize(0);
positions_lines.resize(0);
positions_feature_lines.resize(0);
normals_flat.resize(0);
normals_gouraud.resize(0);
number_of_null_length_edges = 0;
number_of_degenerated_faces = 0;
//Facets
typedef Polyhedron::Traits Kernel;
typedef Kernel::Point_3 Point;
typedef Kernel::Vector_3 Vector;
typedef Polyhedron::Facet_iterator Facet_iterator;
typedef Polyhedron::Halfedge_around_facet_circulator HF_circulator;
self_intersect = CGAL::Polygon_mesh_processing::does_self_intersect(*poly);
Facet_iterator f = poly->facets_begin();
for(f = poly->facets_begin();
f != poly->facets_end();
f++)
{
if(!is_triangle(f->halfedge(),*poly))
{
is_triangulated = false;
triangulate_facet(f);
}
else
{
int i=0;
HF_circulator he = f->facet_begin();
HF_circulator end = he;
CGAL_For_all(he,end)
{
// If Flat shading:1 normal per polygon added once per vertex
Vector n = CGAL::Polygon_mesh_processing::compute_face_normal(f, *poly);
normals_flat.push_back(n.x());
normals_flat.push_back(n.y());
normals_flat.push_back(n.z());
//// If Gouraud shading: 1 normal per vertex
n = CGAL::Polygon_mesh_processing::compute_vertex_normal(he->vertex(), *poly);
normals_gouraud.push_back(n.x());
normals_gouraud.push_back(n.y());
normals_gouraud.push_back(n.z());
//position
const Point& p = he->vertex()->point();
positions_facets.push_back(p.x());
positions_facets.push_back(p.y());
positions_facets.push_back(p.z());
positions_facets.push_back(1.0);
i = (i+1) %3;
}
if(CGAL::Polygon_mesh_processing::is_degenerated(f,
*poly,
get(CGAL::vertex_point, *poly),
poly->traits()))
number_of_degenerated_faces++;
}
}