//-----------------------------------------------------------------------------
// Sample distances to the mesh in the entire bounding box
void ImplicitMesh::Initialize()
{
// First, delete old data grid
delete mData;
mData = NULL;
// Create new grid
Vector3<float> dim = (mBox.pMax - mBox.pMin) / mMeshSampling;
mData = new Volume<float>(ceil(dim[0]), ceil(dim[1]), ceil(dim[2]));
// Setup progress bar
unsigned int totalSamples = mData->GetDimX()*mData->GetDimY()*mData->GetDimZ();
unsigned int currentSample = 0;
unsigned int reportFreq = totalSamples / 30;
// Start sampling...
std::cerr << "Computing distances to mesh [";
int i, j, k;
i = 0;
for(float x = mBox.pMin[0]; x < mBox.pMax[0]-0.5*mMeshSampling; x += mMeshSampling, i++) {
j = 0;
for(float y = mBox.pMin[1]; y < mBox.pMax[1]-0.5*mMeshSampling; y += mMeshSampling, j++) {
k = 0;
for(float z = mBox.pMin[2]; z < mBox.pMax[2]-0.5*mMeshSampling; z += mMeshSampling, k++) {
mData->SetValue(i,j,k, DistanceToPoint(x,y,z, *mSourceMesh));
currentSample++;
if (currentSample % reportFreq == 0)
std::cerr << "=";
}
}
}
std::cerr << "] done" << std::endl;
SimpleMesh dilatedMesh = *mSourceMesh;
dilatedMesh.Initialize();
dilatedMesh.Dilate(0.0001);
std::cerr << "Determining inside/outside [";
i = 0;
currentSample = 0;
for(float x = mBox.pMin[0]; x < mBox.pMax[0]-0.5*mMeshSampling; x += mMeshSampling, i++) {
j = 0;
for(float y = mBox.pMin[1]; y < mBox.pMax[1]-0.5*mMeshSampling; y += mMeshSampling, j++) {
k = 0;
for(float z = mBox.pMin[2]; z < mBox.pMax[2]-0.5*mMeshSampling; z += mMeshSampling, k++) {
float distance = DistanceToPoint(x,y,z, dilatedMesh);
if (mData->GetValue(i,j,k) - distance < 0)
mData->SetValue(i,j,k, -mData->GetValue(i,j,k));
currentSample++;
if (currentSample % reportFreq == 0)
std::cerr << "=";
}
}
}
std::cerr << "] done" << std::endl;
Implicit::Update();
}
bool readObjFile(SimpleMesh<Vector, Face3>& mesh,
const std::string& fileName)
{
// Attempt to read file.
std::ifstream file(fileName.c_str());
if(!file)
{
std::cerr << "Error reading file!" << std::endl;
return false;
}
// Clear the mesh data structure.
mesh = SimpleMesh<Vector, Face3>();
// Fill the mesh data structure.
std::string line;
while ( std::getline(file, line) )
{
std::stringstream ss;
ss << line;
char type;
ss >> type;
if(type=='v')
{
double x, y, z;
ss >> x >> y >> z;
mesh.vertices().push_back(Vector(x, y, z));
}
if(type=='f')
{
size_t a, b, c;
ss >> a >> b >> c;
mesh.faces().push_back(Face3(a-1, b-1, c-1));
}
static void SC_drawSimpleMeshRange(RsSimpleMesh vsm, uint32_t start, uint32_t len)
{
GET_TLS();
SimpleMesh *sm = static_cast<SimpleMesh *>(vsm);
rsc->setupCheck();
sm->renderRange(rsc, start, len);
}
static void SC_drawSimpleMesh(RsSimpleMesh vsm)
{
GET_TLS();
SimpleMesh *sm = static_cast<SimpleMesh *>(vsm);
rsc->setupCheck();
sm->render(rsc);
}
float ImplicitMesh::DistanceToPoint(float x, float y, float z, const SimpleMesh & mesh) const{
// just loop over all faces and take the min distance.
// uses normals to determine direction and resulting sign (negative inside)
std::pair<float, bool> pr((std::numeric_limits<float>::max)(), true);
const std::vector<SimpleMesh::Vertex>& verts = mesh.GetVerts();
const std::vector<SimpleMesh::Face>& faces = mesh.GetFaces();
Vector3<float> p(x,y,z);
for(unsigned int i=0; i<faces.size(); i++){
const SimpleMesh::Vertex &v1 = verts.at(faces.at(i).v1);
const SimpleMesh::Vertex &v2 = verts.at(faces.at(i).v2);
const SimpleMesh::Vertex &v3 = verts.at(faces.at(i).v3);
std::pair<float, bool> pt = DistanceSquared(p, v1.pos, v2.pos, v3.pos);
if(pt.first < pr.first)
pr = pt;
}
pr.first = std::sqrt(pr.first);
return pr.first; //pr.second ? pr.first : -pr.first;
}
void Implicit::Update()
{
if (mVisualizationMode == Curvature) {
if(typeid(*mMesh) == typeid(SimpleMesh)) {
SimpleMesh * ptr = static_cast<SimpleMesh*>(mMesh);
std::vector<SimpleMesh::Vertex>& verts = ptr->GetVerts();
Matrix4x4<float> M = GetTransform().Transpose();
// Compute curvature of implicit geometry and assign to the vertex property
for(unsigned int i=0; i < verts.size(); i++){
const Vector3<float> vObject = verts.at(i).pos;
// Transform vertex position to world space
Vector4<float> vWorld = GetTransform() * Vector4<float>(vObject[0],vObject[1],vObject[2],1);
// Get curvature in world space
verts.at(i).curvature = GetCurvature(vWorld[0], vWorld[1], vWorld[2]);
// Get gradient in world space (used for lighting)
Vector3<float> nWorld = GetGradient(vWorld[0], vWorld[1], vWorld[2]);
// Transform gradient to object space
Vector4<float> nObject = M * Vector4<float>(nWorld[0],nWorld[1],nWorld[2],0);
verts.at(i).normal = Vector3<float>(nObject[0], nObject[1], nObject[2]).Normalize();
}
ptr->mAutoMinMax = mAutoMinMax;
ptr->mMinCMap = mMinCMap;
ptr->mMaxCMap = mMaxCMap;
ptr->SetVisualizationMode(Mesh::CurvatureVertex);
ptr->Update();
}
else {
std::cerr << "No Curvature visualization mode implemented for mesh type: " << typeid(*mMesh).name() << std::endl;
}
}
}
bool ManualSegmentationTools::segmentMeshWitAABox(GenericIndexedMesh* origMesh,
GenericIndexedCloudPersist* origVertices,
MeshCutterParams& ioParams,
GenericProgressCallback* progressCb/*=0*/)
{
if (!origMesh
|| !origVertices
|| origMesh->size() == 0
|| origVertices->size() < 3
|| ioParams.bbMin.x >= ioParams.bbMax.x
|| ioParams.bbMin.y >= ioParams.bbMax.y
|| ioParams.bbMin.z >= ioParams.bbMax.z)
{
//invalid input parameters
return false;
}
if (origMesh->size() > c_realIndexMask)
{
//too many triangles!
return false;
}
const double& epsilon = ioParams.epsilon;
const CCVector3d& bbMin = ioParams.bbMin;
const CCVector3d& bbMax = ioParams.bbMax;
//indexes of original triangle that are not modified bt copied "as is"
std::vector<unsigned> preservedTrianglesInside1; //insde (1)
std::vector<unsigned> preservedTrianglesInside2; //insde (2)
std::vector<unsigned> preservedTrianglesOutside; //outside
//inside meshes (swapped for each dimension)
ChunkedPointCloud* insideVertices1 = new ChunkedPointCloud;
SimpleMesh* insideMesh1 = new SimpleMesh(insideVertices1, true);
ChunkedPointCloud* insideVertices2 = new ChunkedPointCloud;
SimpleMesh* insideMesh2 = new SimpleMesh(insideVertices2, true);
//outside mesh (output)
ChunkedPointCloud* outsideVertices = 0;
SimpleMesh* outsideMesh = 0;
if (ioParams.generateOutsideMesh)
{
outsideVertices = new ChunkedPointCloud;
outsideMesh = new SimpleMesh(outsideVertices, true);
}
//pointers on input and output structures (will change for each dimension)
std::vector<unsigned>* preservedTrianglesInside = &preservedTrianglesInside1;
std::vector<unsigned>* formerPreservedTriangles = &preservedTrianglesInside2;
ChunkedPointCloud* insideVertices = insideVertices1;
SimpleMesh* insideMesh = insideMesh1;
GenericIndexedMesh* sourceMesh = origMesh;
GenericIndexedCloudPersist* sourceVertices = origVertices;
CCVector3d boxCenter = (ioParams.bbMin + ioParams.bbMax) / 2;
CCVector3d boxHalfSize = (ioParams.bbMax - ioParams.bbMin) / 2;
bool error = false;
//for each triangle
try
{
//for each plane
for (unsigned d = 0; d < 6; ++d)
{
//Extract the 'plane' information corresponding to the input box faces
//-X,+X,-Y,+Y,-Z,+Z
unsigned char Z = static_cast<unsigned char>(d / 2);
double planeCoord = ((d & 1) ? bbMax : bbMin).u[Z];
bool keepBelow = ((d & 1) ? true : false);
assert(preservedTrianglesInside && formerPreservedTriangles);
assert(insideVertices && insideMesh);
assert(sourceVertices && sourceMesh);
s_edgePoint.clear();
std::vector<unsigned> origTriIndexesMapInsideBackup;
if (ioParams.trackOrigIndexes)
{
origTriIndexesMapInsideBackup = ioParams.origTriIndexesMapInside;
ioParams.origTriIndexesMapInside.clear();
}
//look for original triangles
//(the first time they only come from the original mesh but afterwards
// they can come from the original mesh through the 'preserved' list
// or from the previous 'inside' mesh as we have to test those triangles
// against the new plane)
unsigned sourceTriCount = sourceMesh ? sourceMesh->size() : 0; //source: previous/original mesh
unsigned formerPreservedTriCount = static_cast<unsigned>(formerPreservedTriangles->size());
unsigned triCount = sourceTriCount + formerPreservedTriCount;
for (unsigned i = 0; i < triCount; ++i)
{
bool triangleIsOriginal = false;
unsigned souceTriIndex = 0;
const VerticesIndexes* tsi = 0;
if (i < sourceTriCount)
{
souceTriIndex = i;
triangleIsOriginal = (sourceMesh == origMesh);
tsi = sourceMesh->getTriangleVertIndexes(souceTriIndex);
}
else
{
souceTriIndex = (*formerPreservedTriangles)[i - sourceTriCount];
triangleIsOriginal = true;
tsi = origMesh->getTriangleVertIndexes(souceTriIndex);
}
//vertices indexes
unsigned vertIndexes[3] = { tsi->i1, tsi->i2, tsi->i3 };
if (triangleIsOriginal)
{
//we flag the vertices indexes as referring to the 'original' mesh
vertIndexes[0] |= c_origIndexFlag;
vertIndexes[1] |= c_origIndexFlag;
vertIndexes[2] |= c_origIndexFlag;
}
else
{
//we flag the vertices indexes as referring to the 'source' mesh
if ((vertIndexes[0] & c_origIndexFlag) == 0)
vertIndexes[0] |= c_srcIndexFlag;
if ((vertIndexes[1] & c_origIndexFlag) == 0)
vertIndexes[1] |= c_srcIndexFlag;
if ((vertIndexes[2] & c_origIndexFlag) == 0)
vertIndexes[2] |= c_srcIndexFlag;
}
//get the vertices (from the right source!)
CCVector3d V[3] = { CCVector3d::fromArray(( (vertIndexes[0] & c_origIndexFlag) ? origVertices : sourceVertices)->getPoint(vertIndexes[0] & c_realIndexMask)->u),
CCVector3d::fromArray(( (vertIndexes[1] & c_origIndexFlag) ? origVertices : sourceVertices)->getPoint(vertIndexes[1] & c_realIndexMask)->u),
CCVector3d::fromArray(( (vertIndexes[2] & c_origIndexFlag) ? origVertices : sourceVertices)->getPoint(vertIndexes[2] & c_realIndexMask)->u) };
if (d == 0)
{
//perform a triangle-box overlap test the first time!
if (!CCMiscTools::TriBoxOverlapd(boxCenter, boxHalfSize, V))
{
if (ioParams.generateOutsideMesh)
preservedTrianglesOutside.push_back(i);
continue;
}
}
//test the position of each vertex relatively to the current plane
//char relativePos[3] = { 1, 1, 1 };
//bool insideXY[3] = { false, false, false };
std::vector<unsigned char> insideLocalVertIndexes, outsideLocalVertIndexes;
for (unsigned char j = 0; j < 3; ++j)
{
const CCVector3d& v = V[j];
if (fabs(v.u[Z] - planeCoord) < epsilon)
{
//relativePos[j] = 0;
}
else
{
if (v.u[Z] < planeCoord)
{
insideLocalVertIndexes.push_back(j);
//relativePos[j] = -1;
}
else
{
//relativePos is already equal to 1
//relativePos[j] = 1;
outsideLocalVertIndexes.push_back(j);
}
}
}
//depending on the number of entities on the plane
//we'll process the triangles differently
bool isFullyInside = false;
bool isFullyOutside = false;
switch (insideLocalVertIndexes.size() + outsideLocalVertIndexes.size())
{
case 0: //all vertices 'in' the plane
{
//we arbitrarily decide that the triangle is inside!
isFullyInside = true;
}
break;
case 1: //2 vertices 'in' the plane
{
//the triangle is either on one side or another ;)
if (insideLocalVertIndexes.empty())
{
//the only vertex far from the plane is on the 'otuside'
isFullyOutside = true;
}
else
{
//the only vertex far from the plane is on the 'inside'
isFullyInside = true;
}
}
break;
case 2: //1 vertex 'in' the plane
{
//3 cases:
if (insideLocalVertIndexes.empty())
{
//the two vertices far from the plane are 'outside'
isFullyOutside = true;
}
else if (outsideLocalVertIndexes.empty())
{
//the two vertices far from the plane are 'inside'
isFullyInside = true;
}
else
{
//the two vertices far from the plane are on both sides
//the plane will cut through the edge connecting those two vertices
unsigned char iInside = insideLocalVertIndexes.front();
unsigned char iOuside = outsideLocalVertIndexes.front();
unsigned char iCenter = 3 - iInside - iOuside;
unsigned iCoutside, iCinside;
//we can now create one vertex and two new triangles
if (!ComputeEdgePoint(
V[iInside], vertIndexes[iInside],
V[iOuside], vertIndexes[iOuside],
iCoutside, iCinside,
planeCoord, Z,
outsideVertices, insideVertices)
|| !AddTriangle(
vertIndexes[iCenter],
vertIndexes[iInside],
keepBelow ? iCinside : iCoutside,
keepBelow ? insideMesh : outsideMesh,
((iCenter + 1) % 3) == iInside)
|| !AddTriangle(
vertIndexes[iCenter],
vertIndexes[iOuside],
keepBelow ? iCoutside : iCinside,
keepBelow ? outsideMesh : insideMesh,
((iCenter + 1) % 3) == iOuside))
{
//early stop
i = triCount;
error = true;
break;
}
//remember (origin) source triangle index
if (ioParams.trackOrigIndexes)
{
assert(triangleIsOriginal || souceTriIndex < origTriIndexesMapInsideBackup.size());
unsigned origTriIndex = triangleIsOriginal ? souceTriIndex : origTriIndexesMapInsideBackup[souceTriIndex];
//the source triangle is split in two so each side get one new triangle
ioParams.origTriIndexesMapInside.push_back(origTriIndex);
if (ioParams.generateOutsideMesh)
ioParams.origTriIndexesMapOutside.push_back(origTriIndex);
}
}
}
break;
case 3: //no vertex 'in' the plane
{
if (insideLocalVertIndexes.empty())
{
//all vertices are 'outside'
isFullyOutside = true;
}
else if (outsideLocalVertIndexes.empty())
{
//all vertices are 'inside'
isFullyInside = true;
}
else
{
//we have one vertex on one side and two on the other side
unsigned char iLeft, iRight1, iRight2;
bool leftIsInside = true;
if (insideLocalVertIndexes.size() == 1)
{
assert(outsideLocalVertIndexes.size() == 2);
iLeft = insideLocalVertIndexes.front();
iRight1 = outsideLocalVertIndexes[0];
iRight2 = outsideLocalVertIndexes[1];
leftIsInside = keepBelow;
}
else
{
assert(insideLocalVertIndexes.size() == 2);
iLeft = outsideLocalVertIndexes.front();
iRight1 = insideLocalVertIndexes[0];
iRight2 = insideLocalVertIndexes[1];
leftIsInside = !keepBelow;
}
//the plane cuts through the two edges having the 'single' vertex in common
//we are going to create 3 triangles
unsigned i1outside, i1inside;
unsigned i2outside, i2inside;
if ( !ComputeEdgePoint( V[iRight1], vertIndexes[iRight1],
V[iLeft], vertIndexes[iLeft],
i1outside, i1inside,
planeCoord, Z,
outsideVertices, insideVertices)
|| !ComputeEdgePoint( V[iRight2], vertIndexes[iRight2],
V[iLeft], vertIndexes[iLeft],
i2outside, i2inside,
planeCoord, Z,
outsideVertices, insideVertices)
|| !AddTriangle( vertIndexes[iLeft],
leftIsInside ? i1inside : i1outside,
leftIsInside ? i2inside : i2outside,
leftIsInside ? insideMesh : outsideMesh,
((iLeft + 1) % 3) == iRight1)
|| !AddTriangle( leftIsInside ? i1outside : i1inside,
leftIsInside ? i2outside : i2inside,
vertIndexes[iRight1],
leftIsInside ? outsideMesh : insideMesh,
((iRight2 + 1) % 3) == iRight1)
|| !AddTriangle( vertIndexes[iRight1],
leftIsInside ? i2outside : i2inside,
vertIndexes[iRight2],
leftIsInside ? outsideMesh : insideMesh,
((iRight2 + 1) % 3) == iRight1)
)
{
//early stop
i = triCount;
error = true;
break;
}
//remember (origin) source triangle index
if (ioParams.trackOrigIndexes)
{
assert(triangleIsOriginal || souceTriIndex < origTriIndexesMapInsideBackup.size());
unsigned origTriIndex = triangleIsOriginal ? souceTriIndex : origTriIndexesMapInsideBackup[souceTriIndex];
//each side gets at least one new triangle
ioParams.origTriIndexesMapInside.push_back(origTriIndex);
if (ioParams.generateOutsideMesh)
ioParams.origTriIndexesMapOutside.push_back(origTriIndex);
//the third triangle has been added either to the 'inside' or to the 'outside' mesh
if (!leftIsInside)
ioParams.origTriIndexesMapInside.push_back(origTriIndex);
else if (ioParams.generateOutsideMesh)
ioParams.origTriIndexesMapOutside.push_back(origTriIndex);
}
}
}
break;
}
if (isFullyInside || isFullyOutside)
{
//inverted selection?
if (!keepBelow)
std::swap(isFullyInside, isFullyOutside);
if (triangleIsOriginal)
{
if (isFullyInside)
preservedTrianglesInside->push_back(souceTriIndex);
else if (ioParams.generateOutsideMesh)
preservedTrianglesOutside.push_back(souceTriIndex);
}
else
{
//we import the former triangle
if (!AddTriangle(vertIndexes[0], vertIndexes[1], vertIndexes[2], isFullyInside ? insideMesh : outsideMesh, true))
{
//early stop
error = true;
break;
}
if (ioParams.trackOrigIndexes)
{
assert(souceTriIndex < origTriIndexesMapInsideBackup.size());
unsigned origTriIndex = origTriIndexesMapInsideBackup[souceTriIndex];
if (isFullyInside)
ioParams.origTriIndexesMapInside.push_back(origTriIndex);
else if (ioParams.generateOutsideMesh)
ioParams.origTriIndexesMapOutside.push_back(origTriIndex);
}
}
}
}
//end for each triangle
if ( !ImportSourceVertices(sourceVertices, insideMesh, insideVertices)
|| (ioParams.generateOutsideMesh && !ImportSourceVertices(sourceVertices, outsideMesh, outsideVertices))
)
{
//early stop
error = true;
break;
}
if (insideMesh->size() == 0 && preservedTrianglesInside->empty())
{
//no triangle inside!
break;
}
if (d < 5)
{
//clear the source mesh and swap the buffers
if (insideMesh == insideMesh1)
{
assert(sourceMesh == insideMesh2 || sourceMesh == origMesh);
insideMesh2->clear(false);
insideVertices2->clear();
sourceMesh = insideMesh1;
sourceVertices = insideVertices1;
insideMesh = insideMesh2;
insideVertices = insideVertices2;
preservedTrianglesInside2.clear();
preservedTrianglesInside = &preservedTrianglesInside2;
formerPreservedTriangles = &preservedTrianglesInside1;
}
else
{
assert(sourceMesh == insideMesh1 || sourceMesh == origMesh);
insideMesh1->clear(false);
insideVertices1->clear();
sourceMesh = insideMesh2;
sourceVertices = insideVertices2;
insideMesh = insideMesh1;
insideVertices = insideVertices1;
preservedTrianglesInside1.clear();
preservedTrianglesInside = &preservedTrianglesInside1;
formerPreservedTriangles = &preservedTrianglesInside2;
}
}
}
//end for each plane
//now add the remaining triangles
}
catch (const std::bad_alloc&)
{
//not enough memory
error = true;
}
//free some memory
s_edgePoint.clear();
formerPreservedTriangles->clear();
if (!error)
{
//import the 'preserved' (original) triangles
if ( !MergeOldTriangles( origMesh, origVertices,
insideMesh, insideVertices,
*preservedTrianglesInside,
ioParams.trackOrigIndexes ? &ioParams.origTriIndexesMapInside : 0)
|| ( ioParams.generateOutsideMesh
&& !MergeOldTriangles( origMesh, origVertices,
outsideMesh, outsideVertices,
preservedTrianglesOutside,
ioParams.trackOrigIndexes ? &ioParams.origTriIndexesMapOutside : 0))
)
{
error = true;
}
}
if (insideMesh == insideMesh1)
{
delete insideMesh2;
insideMesh2 = 0;
insideVertices2 = 0;
}
else
{
delete insideMesh1;
insideMesh1 = 0;
insideVertices1 = 0;
}
if (error)
{
delete insideMesh;
if (outsideMesh)
delete outsideMesh;
return false;
}
if (insideMesh)
{
insideMesh->resize(insideMesh->size());
}
if (outsideMesh)
{
outsideMesh->resize(outsideMesh->size());
}
ioParams.insideMesh = insideMesh;
ioParams.outsideMesh = outsideMesh;
return true;
}
GenericIndexedMesh* ManualSegmentationTools::segmentMesh(GenericIndexedMesh* theMesh, ReferenceCloud* pointIndexes, bool pointsWillBeInside, GenericProgressCallback* progressCb, GenericIndexedCloud* destCloud, unsigned indexShift)
{
if (!theMesh || !pointIndexes || !pointIndexes->getAssociatedCloud())
return 0;
//by default we try a fast process (but with a higher memory consumption)
unsigned numberOfPoints = pointIndexes->getAssociatedCloud()->size();
unsigned numberOfIndexes = pointIndexes->size();
//we determine for each point if it is used in the output mesh or not
//(and we compute its new index by the way: 0 means that the point is not used, otherwise its index will be newPointIndexes-1)
std::vector<unsigned> newPointIndexes;
{
try
{
newPointIndexes.resize(numberOfPoints,0);
}
catch (const std::bad_alloc&)
{
return 0; //not enough memory
}
for (unsigned i=0; i<numberOfIndexes; ++i)
{
assert(pointIndexes->getPointGlobalIndex(i) < numberOfPoints);
newPointIndexes[pointIndexes->getPointGlobalIndex(i)] = i+1;
}
}
//negative array for the case where input points are "outside"
if (!pointsWillBeInside)
{
unsigned newIndex = 0;
for (unsigned i=0;i<numberOfPoints;++i)
newPointIndexes[i] = (newPointIndexes[i] == 0 ? ++newIndex : 0);
}
//create resulting mesh
SimpleMesh* newMesh = 0;
{
unsigned numberOfTriangles = theMesh->size();
//progress notification
NormalizedProgress* nprogress = 0;
if (progressCb)
{
progressCb->reset();
progressCb->setMethodTitle("Extract mesh");
char buffer[256];
sprintf(buffer,"New vertex number: %u",numberOfIndexes);
nprogress = new NormalizedProgress(progressCb,numberOfTriangles);
progressCb->setInfo(buffer);
progressCb->start();
}
newMesh = new SimpleMesh(destCloud ? destCloud : pointIndexes->getAssociatedCloud());
unsigned count = 0;
theMesh->placeIteratorAtBegining();
for (unsigned i=0; i<numberOfTriangles; ++i)
{
bool triangleIsOnTheRightSide = true;
const VerticesIndexes* tsi = theMesh->getNextTriangleVertIndexes(); //DGM: getNextTriangleVertIndexes is faster for mesh groups!
int newVertexIndexes[3];
//VERSION: WE KEEP THE TRIANGLE ONLY IF ITS 3 VERTICES ARE INSIDE
for (uchar j=0;j <3; ++j)
{
const unsigned& currentVertexFlag = newPointIndexes[tsi->i[j]];
//if the vertex is rejected, we discard this triangle
if (currentVertexFlag == 0)
{
triangleIsOnTheRightSide = false;
break;
}
newVertexIndexes[j] = currentVertexFlag-1;
}
//if we keep the triangle
if (triangleIsOnTheRightSide)
{
if (count == newMesh->size() && !newMesh->reserve(newMesh->size() + 1000)) //auto expand mesh size
{
//stop process
delete newMesh;
newMesh = 0;
break;
}
++count;
newMesh->addTriangle( indexShift + newVertexIndexes[0],
indexShift + newVertexIndexes[1],
indexShift + newVertexIndexes[2] );
}
if (nprogress && !nprogress->oneStep())
{
//cancel process
break;
}
}
if (nprogress)
{
delete nprogress;
nprogress = 0;
}
if (newMesh)
{
if (newMesh->size() == 0)
{
delete newMesh;
newMesh = 0;
}
else if (count < newMesh->size())
{
newMesh->resize(count); //should always be ok as count<maxNumberOfTriangles
}
}
}
return newMesh;
}
GenericIndexedMesh* Neighbourhood::triangulateFromQuadric(unsigned nStepX, unsigned nStepY)
{
if (nStepX<2 || nStepY<2)
return 0;
//qaudric fit
const PointCoordinateType* Q = getQuadric(); //Q: Z = a + b.X + c.Y + d.X^2 + e.X.Y + f.Y^2
if (!Q)
return 0;
const PointCoordinateType& a = Q[0];
const PointCoordinateType& b = Q[1];
const PointCoordinateType& c = Q[2];
const PointCoordinateType& d = Q[3];
const PointCoordinateType& e = Q[4];
const PointCoordinateType& f = Q[5];
const uchar X = m_quadricEquationDirections.x;
const uchar Y = m_quadricEquationDirections.y;
const uchar Z = m_quadricEquationDirections.z;
//gravity center (should be ok if the quadric is ok)
const CCVector3* G = getGravityCenter();
assert(G);
//bounding box
CCVector3 bbMin, bbMax;
m_associatedCloud->getBoundingBox(bbMin,bbMax);
CCVector3 bboxDiag = bbMax - bbMin;
//Sample points on Quadric and triangulate them!
PointCoordinateType spanX = bboxDiag.u[X];
PointCoordinateType spanY = bboxDiag.u[Y];
PointCoordinateType stepX = spanX/(nStepX-1);
PointCoordinateType stepY = spanY/(nStepY-1);
ChunkedPointCloud* vertices = new ChunkedPointCloud();
if (!vertices->reserve(nStepX*nStepY))
{
delete vertices;
return 0;
}
SimpleMesh* quadMesh = new SimpleMesh(vertices,true);
if (!quadMesh->reserve((nStepX-1)*(nStepY-1)*2))
{
delete quadMesh;
return 0;
}
for (unsigned x=0; x<nStepX; ++x)
{
CCVector3 P;
P.x = bbMin[X] + stepX * x - G->u[X];
for (unsigned y=0; y<nStepY; ++y)
{
P.y = bbMin[Y] + stepY * y - G->u[Y];
P.z = a+b*P.x+c*P.y+d*P.x*P.x+e*P.x*P.y+f*P.y*P.y;
CCVector3 Pc;
Pc.u[X] = P.x;
Pc.u[Y] = P.y;
Pc.u[Z] = P.z;
Pc += *G;
vertices->addPoint(Pc);
if (x>0 && y>0)
{
unsigned iA = (x-1) * nStepY + y-1;
unsigned iB = iA+1;
unsigned iC = iA+nStepY;
unsigned iD = iB+nStepY;
quadMesh->addTriangle(iA,iC,iB);
quadMesh->addTriangle(iB,iC,iD);
}
}
}
return quadMesh;
}
void Implicit::Render()
{
// Draw bounding box for debugging
Bbox b = GetBoundingBox();
Vector3<float> & v0 = b.pMin;
Vector3<float> & v1 = b.pMax;
if(mSelected) {
glLineWidth(2.0f);
glColor3f(0.8f,0.8f,0.8f);
}
else glColor3f(0.1f,0.1f,0.1f);
glBegin(GL_LINE_STRIP);
glVertex3f(v0[0], v0[1], v0[2]);
glVertex3f(v1[0], v0[1], v0[2]);
glVertex3f(v1[0], v1[1], v0[2]);
glVertex3f(v0[0], v1[1], v0[2]);
glVertex3f(v0[0], v0[1], v0[2]);
glEnd();
glBegin(GL_LINE_STRIP);
glVertex3f(v0[0], v0[1], v1[2]);
glVertex3f(v1[0], v0[1], v1[2]);
glVertex3f(v1[0], v1[1], v1[2]);
glVertex3f(v0[0], v1[1], v1[2]);
glVertex3f(v0[0], v0[1], v1[2]);
glEnd();
glBegin(GL_LINES);
glVertex3f(v0[0], v0[1], v0[2]);
glVertex3f(v0[0], v0[1], v1[2]);
glVertex3f(v1[0], v0[1], v0[2]);
glVertex3f(v1[0], v0[1], v1[2]);
glVertex3f(v0[0], v1[1], v0[2]);
glVertex3f(v0[0], v1[1], v1[2]);
glVertex3f(v1[0], v1[1], v0[2]);
glVertex3f(v1[0], v1[1], v1[2]);
glEnd();
glLineWidth(1.0f);
glPushMatrix();
glMultMatrixf(mTransform.ToGLMatrix().GetArrayPtr());
Geometry * mesh = dynamic_cast<Geometry *>(mMesh);
if (mesh == NULL)
std::cerr << "Error: implicit geometry not triangulated, add call to triangulate()" << std::endl;
else {
mesh->SetShowNormals(mShowNormals);
mesh->SetWireframe(mWireframe);
mesh->SetOpacity(mOpacity);
mesh->Render();
}
if (mVisualizationMode == Gradients) {
if(typeid(*mMesh) == typeid(SimpleMesh)){
SimpleMesh * ptr = static_cast<SimpleMesh*>(mMesh);
const std::vector<SimpleMesh::Vertex>& verts = ptr->GetVerts();
glDisable(GL_LIGHTING);
Matrix4x4<float> M = GetTransform().Transpose();
glColor3f(0, 0, 1);
glBegin(GL_LINES);
for(unsigned int i=0; i < verts.size(); i++){
const Vector3<float> vObject = verts.at(i).pos;
// Transform vertex position to world space
Vector4<float> vWorld = GetTransform() * Vector4<float>(vObject[0],vObject[1],vObject[2],1);
// Get gradient in world space
Vector3<float> nWorld = GetGradient(vWorld[0], vWorld[1], vWorld[2]);
// Transform gradient to object space
Vector4<float> nObject = M * Vector4<float>(nWorld[0],nWorld[1],nWorld[2],0);
Vector3<float> n = Vector3<float>(nObject[0], nObject[1], nObject[2]);
glVertex3fv(vObject.GetArrayPtr());
glVertex3fv((vObject + n*0.1).GetArrayPtr());
}
glEnd();
}
else {
std::cerr << "No Gradient visualization mode implemented for mesh type: " << typeid(*mMesh).name() << std::endl;
}
}
glPopMatrix();
GLObject::Render();
}
static void SC_updateSimpleMesh(RsSimpleMesh mesh)
{
GET_TLS();
SimpleMesh *sm = static_cast<SimpleMesh *>(mesh);
sm->uploadAll(rsc);
}
