void Compute_Leaves( SWIFT_BV* piece )
{
int i;
if( piece == mesh->Root() ) {
leaves.Destroy();
leaves.Create( num_leaves );
leaves.Set_Length( 0 );
}
if( piece->Is_Leaf() ) {
leaves.Add( piece );
} else {
for( i = 0; i < piece->Num_Children(); i++ ) {
Compute_Leaves( piece->Children()[i] );
}
}
}
int Convex_Pieces_CB( Togl *togl, int argc, const char *argv[] )
{
if( argv[2][0] == 'A' || argv[2][0] == 'a' ) {
// Want to draw all pieces
int i;
which_cps.Set_Length( which_cps.Max_Length() );
for( i = 0; i < which_cps.Length(); i++ ) {
which_cps[i] = i;
}
} else {
// Parse the string to determine which ones to draw
long upper, lower;
const char* str = argv[2];
char* endp;
int i;
SWIFT_Array<int> which_cps_back = which_cps;
which_cps.Set_Length( 0 );
while( *str != '\0' && which_cps.Length() != which_cps.Max_Length() ) {
if( isdigit( *str ) ) {
// Read the next segment
lower = strtol( str, &endp, 10 );
str = endp;
if( lower < 0 ) {
lower = 0;
}
if( lower >= which_cps.Max_Length() ) {
lower = which_cps.Max_Length()-1;
}
upper = lower;
if( *str == '-' ) {
str++;
if( isdigit( *str ) ) {
upper = strtol( str, &endp, 10 );
str = endp;
if( upper < 0 ) {
upper = 0;
}
if( upper >= which_cps.Max_Length() ) {
upper = which_cps.Max_Length()-1;
}
if( upper < lower ) {
int j = lower;
lower = upper;
upper = j;
}
} else {
cerr << "Error: Expecting number after '-'" << endl;
which_cps = which_cps_back;
break;
}
}
// Save the segment
for( i = lower; i <= upper &&
which_cps.Length() != which_cps.Max_Length(); i++
) {
which_cps.Add( i );
}
// Done this segment
if( *str == ',' ) {
str++;
} else {
// Assume that we found the end of the list
break;
}
} else {
break;
}
}
}
Togl_PostRedisplay( t );
return TCL_OK;
}
int Decompose_Cresting_BFS( SWIFT_Tri_Mesh* m, SWIFT_Array<int>& piece_ids,
SWIFT_Array< SWIFT_Array<int> >& mfs,
SWIFT_Array< SWIFT_Array<SWIFT_Tri_Face> >& vfs )
{
// Start performing BFS on the dual graph maintaining a convex hull along
// the way.
cerr << endl << "Starting cresting BFS decomposition" << endl;
const unsigned int max_faces_in_a_chull = (m->Num_Vertices() - 2) << 1;
int i, j, k, l;
int created_faces = 0;
int front, id;
bool add_children;
SWIFT_Tri_Edge* e;
SWIFT_Tri_Vertex* v;
SWIFT_Array<SWIFT_Tri_Face*> qfs; // The queue
SWIFT_Array<SWIFT_Tri_Face*> qfs_parents;
SWIFT_Array<int> qmap;
SWIFT_Array<int> qmap_idx;
SWIFT_Array<SWIFT_Tri_Face*> mark_failed;
SWIFT_Array<SWIFT_Tri_Face> chull;
SWIFT_Array<SWIFT_Tri_Face*> cfs;
SWIFT_Array<bool> fallowed;
SWIFT_Array<bool> cvs;
SWIFT_Array<int> cvs_idx;
SWIFT_Array<int> addedfs;
SWIFT_Array<int> temp_mfs_1d;
SWIFT_Array< SWIFT_Array<int> > temp_mfs_2d;
// The priority queue
SWIFT_Array<int> lengths( m->Num_Faces() );
SWIFT_Array<int> bmap( m->Num_Faces() );
SWIFT_Array<int> fmap( m->Num_Faces() );
qfs.Create( m->Num_Faces() );
qfs_parents.Create( m->Num_Faces() );
qmap.Create( m->Num_Faces() );
qmap_idx.Create( m->Num_Faces() );
mark_failed.Create( m->Num_Faces() );
chull.Create( max_faces_in_a_chull );
cfs.Create( max_faces_in_a_chull );
fallowed.Create( m->Num_Faces() );
cvs.Create( m->Num_Vertices() );
cvs_idx.Create( m->Num_Vertices() );
addedfs.Create( m->Num_Faces() );
temp_mfs_1d.Create( m->Num_Faces() );
temp_mfs_2d.Create( m->Num_Faces() );
vfs.Create( m->Num_Faces() );
piece_ids.Create( m->Num_Faces() );
Prepare_Mesh_For_Decomposition( m );
cvs_idx.Set_Length( 0 );
qmap_idx.Set_Length( 0 );
for( i = 0; i < m->Num_Vertices(); i++ ) {
cvs[i] = false;
}
for( i = 0; i < m->Num_Faces(); i++ ) {
fallowed[i] = true;
piece_ids[i] = -1;
qmap[i] = -1;
bmap[i] = fmap[i] = i;
if( m->Faces()[i].Edge1().Unmarked() ||
m->Faces()[i].Edge2().Unmarked() ||
m->Faces()[i].Edge3().Unmarked()
) {
lengths[i] = 0;
qmap_idx.Add( i );
} else {
lengths[i] = -1;
}
}
id = 0;
// Calculate distances for each face and create priority queue
if( !qmap_idx.Empty() ) {
// This is a convex object
for( i = 0; i < qmap_idx.Max_Length(); i++ ) {
if( m->Faces()[qmap_idx[i]].Edge1().Twin() != NULL ) {
k = m->Face_Id(
m->Faces()[qmap_idx[i]].Edge1().Twin()->Adj_Face() );
if( lengths[k] == -1 ) {
lengths[k] = lengths[qmap_idx[i]]+1;
qmap_idx.Add( k );
}
}
if( m->Faces()[qmap_idx[i]].Edge2().Twin() != NULL ) {
k = m->Face_Id(
m->Faces()[qmap_idx[i]].Edge2().Twin()->Adj_Face() );
if( lengths[k] == -1 ) {
lengths[k] = lengths[qmap_idx[i]]+1;
qmap_idx.Add( k );
}
}
if( m->Faces()[qmap_idx[i]].Edge3().Twin() != NULL ) {
k = m->Face_Id(
m->Faces()[qmap_idx[i]].Edge3().Twin()->Adj_Face() );
if( lengths[k] == -1 ) {
lengths[k] = lengths[qmap_idx[i]]+1;
qmap_idx.Add( k );
}
}
}
Build_Heap( lengths, bmap, fmap );
}
qmap_idx.Set_Length( 0 );
// Process the priority queue by doing BFS
while( !lengths.Empty() ) {
i = bmap[0];
// Unset all the qmappings
for( j = 0; j < qmap_idx.Length(); j++ ) {
qmap[qmap_idx[j]] = -1;
}
qmap_idx.Set_Length( 0 );
qfs.Set_Length( 0 );
qfs_parents.Set_Length( 0 );
front = 0;
if( m->Faces()[i].Edge1().Marked() &&
m->Faces()[i].Edge1().Twin()->Adj_Face()->Unmarked()
) {
j = m->Face_Id( m->Faces()[i].Edge1().Twin()->Adj_Face() );
qmap_idx.Add( j );
qmap[j] = qfs.Length();
qfs.Add( m->Faces()(j) );
m->Faces()(j)->Mark();
qfs_parents.Add( m->Faces()(i) );
}
if( m->Faces()[i].Edge2().Marked() &&
m->Faces()[i].Edge2().Twin()->Adj_Face()->Unmarked()
) {
j = m->Face_Id( m->Faces()[i].Edge2().Twin()->Adj_Face() );
qmap_idx.Add( j );
qmap[j] = qfs.Length();
qfs.Add( m->Faces()(j) );
m->Faces()(j)->Mark();
qfs_parents.Add( m->Faces()(i) );
}
if( m->Faces()[i].Edge3().Marked() &&
m->Faces()[i].Edge3().Twin()->Adj_Face()->Unmarked()
) {
j = m->Face_Id( m->Faces()[i].Edge3().Twin()->Adj_Face() );
qmap_idx.Add( j );
qmap[j] = qfs.Length();
qfs.Add( m->Faces()(j) );
m->Faces()(j)->Mark();
qfs_parents.Add( m->Faces()(i) );
}
mark_failed.Set_Length( 0 );
temp_mfs_1d.Set_Length( 0 );
Create_First_Face( m->Faces()(i), chull, cfs );
// Unset all the vertex membership flags
for( j = 0; j < cvs_idx.Length(); j++ ) {
cvs[cvs_idx[j]] = false;
}
cvs_idx.Set_Length( 0 );
// Mark the first three vertices as added to the hull
cvs_idx.Add( m->Vertex_Id( m->Faces()[i].Edge1().Origin() ) );
cvs_idx.Add( m->Vertex_Id( m->Faces()[i].Edge2().Origin() ) );
cvs_idx.Add( m->Vertex_Id( m->Faces()[i].Edge3().Origin() ) );
cvs[cvs_idx[0]] = true;
cvs[cvs_idx[1]] = true;
cvs[cvs_idx[2]] = true;
// Add the first face
piece_ids[i] = id;
m->Faces()[i].Mark();
temp_mfs_1d.Add( i );
l = 1;
addedfs.Set_Length( 1 );
addedfs[0] = i;
fallowed[i] = false;
// The strategy here is a bit different from that of DFS. Whatever
// is at the front of the queue is tested for validity and if so, it
// is added and the unmarked neighbors are placed at the end of the
// queue.
while( front < qfs.Length() ) {
if( qmap[ m->Face_Id( qfs[front] ) ] >= 0 ) {
if( qfs[front]->Edge1().Twin() != NULL &&
qfs_parents[front] == qfs[front]->Edge1().Twin()->Adj_Face()
) {
e = qfs[front]->Edge1().Twin();
v = qfs[front]->Edge3().Origin();
} else if( qfs[front]->Edge2().Twin() != NULL &&
qfs_parents[front] == qfs[front]->Edge2().Twin()->Adj_Face()
) {
e = qfs[front]->Edge2().Twin();
v = qfs[front]->Edge1().Origin();
} else {
e = qfs[front]->Edge3().Twin();
v = qfs[front]->Edge2().Origin();
}
add_children = Add_To_Convex_Hull( m, chull, cfs, fallowed,
cvs, addedfs,
qfs[front], e, v );
if( add_children ) {
// Add the face to the current piece
cvs_idx.Add( m->Vertex_Id( v ) );
// Mark all the faces that were added to the chull
for( j = l; j < addedfs.Length(); j++ ) {
fallowed[addedfs[j]] = false;
if( piece_ids[addedfs[j]] == -1 ) {
// Remove faces that were added if they exist in q
if( qmap[addedfs[j]] == -1 ) {
qmap_idx.Add( addedfs[j] );
}
qmap[addedfs[j]] = -2;
piece_ids[addedfs[j]] = id;
temp_mfs_1d.Add( addedfs[j] );
Delete_From_Heap( lengths, bmap, fmap,
fmap[addedfs[j]] );
}
}
l = addedfs.Length();
}
} else {
add_children = true;
}
if( add_children ) {
// Expand the front by adding unmarked neighbors to the queue
if( qfs[front]->Edge1().Marked() &&
qfs[front]->Edge1().Twin()->Adj_Face()->Unmarked()
) {
j = m->Face_Id( qfs[front]->Edge1().Twin()->Adj_Face() );
if( qmap[j] == -2 ) {
qmap[j] = -1;
} else {
qmap[j] = qfs.Length();
qmap_idx.Add( j );
}
qfs.Add( m->Faces()(j) );
m->Faces()(j)->Mark();
qfs_parents.Add( qfs[front] );
}
if( qfs[front]->Edge2().Marked() &&
qfs[front]->Edge2().Twin()->Adj_Face()->Unmarked()
) {
j = m->Face_Id( qfs[front]->Edge2().Twin()->Adj_Face() );
if( qmap[j] == -2 ) {
qmap[j] = -1;
} else {
qmap[j] = qfs.Length();
qmap_idx.Add( j );
}
qfs.Add( m->Faces()(j) );
m->Faces()(j)->Mark();
qfs_parents.Add( qfs[front] );
}
if( qfs[front]->Edge3().Marked() &&
qfs[front]->Edge3().Twin()->Adj_Face()->Unmarked()
) {
j = m->Face_Id( qfs[front]->Edge3().Twin()->Adj_Face() );
if( qmap[j] == -2 ) {
qmap[j] = -1;
} else {
qmap[j] = qfs.Length();
qmap_idx.Add( j );
}
qfs.Add( m->Faces()(j) );
m->Faces()(j)->Mark();
qfs_parents.Add( qfs[front] );
}
} else {
mark_failed.Add( qfs[front] );
}
front++;
}
// Unmark all the failed faces.
for( j = 0; j < mark_failed.Length(); j++ ) {
mark_failed[j]->Unmark();
}
// Copy the virtual faces for this piece
for( j = 0, k = 0; j < chull.Length(); j++ ) {
if( chull[j].Unmarked() && cfs[j] == NULL ) {
k++;
}
}
created_faces += k;
vfs[id].Create( k );
for( j = 0, k = 0; j < chull.Length(); j++ ) {
if( chull[j].Unmarked() && cfs[j] == NULL ) {
vfs[id][k].Set_Normal_N( chull[j].Normal() );
vfs[id][k].Set_Distance( chull[j].Distance() );
vfs[id][k].Edge1().Set_Direction_N(
chull[j].Edge1().Direction() );
vfs[id][k].Edge2().Set_Direction_N(
chull[j].Edge2().Direction() );
vfs[id][k].Edge3().Set_Direction_N(
chull[j].Edge3().Direction() );
vfs[id][k].Edge1().Set_Length( chull[j].Edge1().Length() );
vfs[id][k].Edge2().Set_Length( chull[j].Edge2().Length() );
vfs[id][k].Edge3().Set_Length( chull[j].Edge3().Length() );
vfs[id][k].Edge1().Set_Origin( chull[j].Edge1().Origin() );
vfs[id][k].Edge2().Set_Origin( chull[j].Edge2().Origin() );
vfs[id][k].Edge3().Set_Origin( chull[j].Edge3().Origin() );
vfs[id][k].Edge1().Set_Twin( chull[j].Edge1().Twin() );
vfs[id][k].Edge2().Set_Twin( chull[j].Edge2().Twin() );
vfs[id][k].Edge3().Set_Twin( chull[j].Edge3().Twin() );
chull[j].Edge1().Twin()->Set_Twin( vfs[id][k].Edge1P() );
chull[j].Edge2().Twin()->Set_Twin( vfs[id][k].Edge2P() );
chull[j].Edge3().Twin()->Set_Twin( vfs[id][k].Edge3P() );
k++;
}
}
// Copy the model faces for this piece
temp_mfs_2d[id].Copy_Length( temp_mfs_1d );
id++;
// Remove this face from the priority queue
Delete_From_Heap( lengths, bmap, fmap, fmap[i] );
}
temp_mfs_2d.Set_Length( id );
vfs.Set_Length( id );
// Unmark all the faces and edges
for( i = 0; i < m->Num_Faces(); i++ ) {
m->Faces()[i].Unmark();
m->Faces()[i].Edge1().Unmark();
m->Faces()[i].Edge2().Unmark();
m->Faces()[i].Edge3().Unmark();
}
// Copy the mfs
mfs.Copy_Length( temp_mfs_2d );
for( i = 0; i < temp_mfs_2d.Length(); i++ ) {
temp_mfs_2d[i].Nullify();
}
cerr << "Created " << id << " pieces" << endl;
cerr << "Original faces = " << m->Num_Faces() << endl;
cerr << "Created virtual faces = " << created_faces << endl << endl;
return id;
}
