//**********************************************************************************
//test of polyhedron intersection callable from python shell
bool do_Polyhedras_Intersect(const shared_ptr<Shape>& cm1,const shared_ptr<Shape>& cm2,const State& state1,const State& state2){
const Se3r& se31=state1.se3;
const Se3r& se32=state2.se3;
Polyhedra* A = static_cast<Polyhedra*>(cm1.get());
Polyhedra* B = static_cast<Polyhedra*>(cm2.get());
//move and rotate 1st the CGAL structure Polyhedron
Matrix3r rot_mat = (se31.orientation).toRotationMatrix();
Vector3r trans_vec = se31.position;
Transformation t_rot_trans(rot_mat(0,0),rot_mat(0,1),rot_mat(0,2), trans_vec[0],rot_mat(1,0),rot_mat(1,1),rot_mat(1,2),trans_vec[1],rot_mat(2,0),rot_mat(2,1),rot_mat(2,2),trans_vec[2],1.);
Polyhedron PA = A->GetPolyhedron();
std::transform( PA.points_begin(), PA.points_end(), PA.points_begin(), t_rot_trans);
//move and rotate 2st the CGAL structure Polyhedron
rot_mat = (se32.orientation).toRotationMatrix();
trans_vec = se32.position;
t_rot_trans = Transformation(rot_mat(0,0),rot_mat(0,1),rot_mat(0,2), trans_vec[0],rot_mat(1,0),rot_mat(1,1),rot_mat(1,2),trans_vec[1],rot_mat(2,0),rot_mat(2,1),rot_mat(2,2),trans_vec[2],1.);
Polyhedron PB = B->GetPolyhedron();
std::transform( PB.points_begin(), PB.points_end(), PB.points_begin(), t_rot_trans);
//calculate plane equations
std::transform( PA.facets_begin(), PA.facets_end(), PA.planes_begin(),Plane_equation());
std::transform( PB.facets_begin(), PB.facets_end(), PB.planes_begin(),Plane_equation());
//call test
return do_intersect(PA,PB);
}
int main() {
Point_3 p( 1, 0, 0);
Point_3 q( 0, 1, 0);
Point_3 r( 0, 0, 1);
Point_3 s( 0, 0, 0);
Polyhedron P;
P.make_tetrahedron( p, q, r, s);
std::transform( P.facets_begin(), P.facets_end(), P.planes_begin(),
Plane_equation());
CGAL::set_pretty_mode( std::cout);
std::copy( P.planes_begin(), P.planes_end(),
std::ostream_iterator<Plane_3>( std::cout, "\n"));
return 0;
}
// Add semantics to Interior room polyhedra
void set_semantic_InteriorLoD4(Polyhedron& polyhe) {
std::transform( polyhe.facets_begin(), polyhe.facets_end(),polyhe.planes_begin(),Plane_Newel_equation());
for (Polyhedron::Facet_iterator fIt = polyhe.facets_begin(); fIt != polyhe.facets_end(); ++fIt) { // Iterate over faces
Kernel::FT z = fIt->plane().orthogonal_vector().z();
if (z <= -HORIZONTAL_ANGLE_RANGE) fIt->semanticBLA = "FloorSurface";
else if (z >= HORIZONTAL_ANGLE_RANGE) fIt->semanticBLA = "CeilingSurface";
else fIt->semanticBLA = "InteriorWallSurface";
} }
void mergeCoplanar(Polyhedron& p,bool step2) {
int facetsBefore = p.size_of_facets();
p.normalize_border();
if(!p.size_of_border_halfedges()) {
// Calculate normals only once in advace! so all tris should be coplanar with the original
std::transform( p.facets_begin(), p.facets_end(),p.planes_begin(),Plane_equation()); // Calculate plane equations (only works on tri<- = bs)=true
bool coplanarFound = true;
std::vector<Polyhedron::Halfedge_handle> skipHEs;
while (coplanarFound) {
coplanarFound = false; // Set coplanarFound false
int percCount = 1;
for (Polyhedron::Halfedge_iterator hit = p.halfedges_begin(); hit != p.halfedges_end(); ++hit,++percCount){ // Loop through all halfedges
if (is_coplanar(hit,true)){ // If coplanar and equals semantics
Polyhedron::Halfedge_handle removeMe = hit;
while (CGAL::circulator_size(removeMe->vertex_begin()) < 3) // Mover handle to beginning of linestring
removeMe = removeMe->next();
bool jcnh = false;
if (!step2) jcnh = joinCreatesNoHole (hit);
else jcnh = joinCreatesNoHole2(hit);
if (jcnh){ // If no holes will be created
std::cout << "\rFacets before/after: "<<facetsBefore<<" -> "<< p.size_of_facets()<<". ("<<100*percCount/p.size_of_halfedges()<<"%)";
while (CGAL::circulator_size(removeMe->opposite()->vertex_begin()) < 3) // Join vertexes until at the other end of linestring
if (removeMe->facet_degree()>3 && removeMe->opposite()->facet_degree()>3)
removeMe = (p.join_vertex(removeMe))->next()->opposite();
else // One of the faces turned into a triangle ->remove center vertex
break;
if (CGAL::circulator_size(removeMe->opposite()->vertex_begin()) < 3) // Remove remained of the border
p.erase_center_vertex(removeMe->opposite()); // if two segments remain remove center point
else
p.join_facet(removeMe); // if one segment remains join facets
coplanarFound = true;
break;
} else { // simplify border, but how to do this safely? not optimal solution implemented. Should do: add inward offseted point of intersection etc.
if (std::find(skipHEs.begin(), skipHEs.end(),hit)!=skipHEs.end()) { // Skip if hit in skipList
while (CGAL::circulator_size(removeMe->opposite()->vertex_begin()) < 3) { // Join vertexes until at the other end of linestring
if (removeMe->facet_degree()>3 && removeMe->opposite()->facet_degree()>3)
if (triDoesNotIntersectFacet(removeMe)) // if tri reMe,reME->prev does not intersect left or right facet
removeMe = (p.join_vertex(removeMe))->next()->opposite(); // remove removeME
else {
skipHEs.push_back(removeMe);
skipHEs.push_back(removeMe->opposite());
removeMe = removeMe->prev(); // move removeME one halfedge back
}
else break; // stop if only a triangle remains or at other end
}
skipHEs.push_back(removeMe);
skipHEs.push_back(removeMe->opposite());
} } } } } }
//if (!step2) mergeCoplanar(p,true);
//else
std::cout << "\rFacets before/after: "<<facetsBefore<<" -> "<< p.size_of_facets()<<". (100%)"<<std::endl;
}
void set_semantic_AABB_C2V(Polyhedron& exteriorPolyhe,PolVector& polyVec) {
if (exteriorPolyhe.is_pure_triangle()) {
std::transform( exteriorPolyhe.facets_begin(), exteriorPolyhe.facets_end(),exteriorPolyhe.planes_begin(),Plane_equation());
std::vector<std::string> semList;
std::vector<std::shared_ptr<AAbbTree>> treeList;
// Build Trees. One for each semantic
for(PolVector::iterator pvIt = polyVec.begin();pvIt!=polyVec.end();++pvIt) {// Get AABB trees of all semantics
if (pvIt->is_pure_triangle()) {
std::string semP = pvIt->facets_begin()->semanticBLA;
std::vector<std::string>::iterator strIt = std::find(semList.begin(), semList.end(),semP);
if (strIt==semList.end()) { // If new sematic
semList.push_back(semP); // Add sem
std::shared_ptr<AAbbTree> tree = std::make_shared<AAbbTree>(pvIt->facets_begin(),pvIt->facets_end()); // Create tree
tree->accelerate_distance_queries(); // accelerate
treeList.push_back(tree); // Add tree
} else // If not new
treeList[strIt-semList.begin()]->insert(pvIt->facets_begin(),pvIt->facets_end()); // Append to tree
} else std::cerr << "ERROR: Not pure triangle (set_semantic_AABB2C2V)" << std::endl;
}
// For each facet calculate the least distance to each tree
std::string semListStr = boost::algorithm::join((semList), " ");
int percCount = 1;
Polyhedron::Facet_iterator exfIt; // Iterate over exterior faces
for (exfIt = exteriorPolyhe.facets_begin(); exfIt != exteriorPolyhe.facets_end(); ++exfIt,++percCount) {
std::cout << "\r"<<semListStr<<". ("<<100*percCount/exteriorPolyhe.size_of_facets()<<"%)";
Vector_3 orthVec = exfIt->plane().orthogonal_vector();
normalizeVector(orthVec); //if (!normalizeVector(ortVec)) continue;
std::vector<distSemFace> dsfList(semList.size());
Point_3 centerPoint = comp_facetCentroid(exfIt); // Compute centroid
std::vector<Kernel::FT> leastSemDistances;
for (int intIt=0;intIt<(int)treeList.size();++intIt) { // Loop over all trees
AAbbTree::Point_and_primitive_id pp = treeList[intIt]->closest_point_and_primitive(centerPoint);
dsfList[intIt].dist = CGAL::squared_distance(centerPoint,pp.first); // Store distance semantic and facet for each tree
dsfList[intIt].sem = semList[intIt];
dsfList[intIt].fh = pp.second;
}
std::sort(dsfList.begin(),dsfList.end(),by_dist());
exfIt->leastSqDistance = dsfList[0].dist; // least sqrt distance
if (exfIt->isMinkFacet = dsfList[0].dist > SEMANTIC_DISTANCE_THRESHOLD) {
exfIt->semanticBLA = TO_DIST_SEMANTIC; // Default semantic if too distant
continue;
} else
exfIt->semanticBLA = dsfList[0].sem; // Semantics of closest
Vector_3 faceNormal;
Kernel::FT faceSqArea;
double minAngle = 10;
Kernel::FT maxArea= 0;
for (std::vector<distSemFace>::iterator slIt = dsfList.begin();slIt != dsfList.end();++slIt)// HANDLE ANYTHING AS LESS IMPORTANT
if (slIt->dist < dsfList[0].dist+OVERLAP_DIST_THRESHOLD) { // Check if Equidistant
pointVector facetPoints = comp_facetPoints(exfIt);
CGAL::normal_vector_newell_3(facetPoints.begin(),facetPoints.end(),faceNormal); // Calculate normal vector, ortVec set to zero in newell
double angle = comp_angle(orthVec,faceNormal);
if (angle!=-1 && angle < minAngle+OVERLAP_ANGLE_THRESHOLD) {
if (minAngle >= angle+OVERLAP_ANGLE_THRESHOLD) exfIt->equidistSems.clear();
if (angle < minAngle) minAngle = angle;
faceSqArea = comp_facetSquaredArea(facetPoints);
if (faceSqArea>maxArea-OVERLAP_AREA_THRESHOLD) {
if (maxArea<=faceSqArea-OVERLAP_AREA_THRESHOLD) exfIt->equidistSems.clear();
if (faceSqArea>maxArea) maxArea = faceSqArea;
exfIt->equidistSems.push_back(slIt->sem); // Add equidist semantics
}
}
}
}
std::cout << "\r"<<semListStr<<". (100%)" << std::endl;
}else std::cerr << "ERROR: Not pure triangle (set_semantic_AABB2C2V)" << std::endl;
}
