515 lines
11 KiB
C++
515 lines
11 KiB
C++
/*************************************************************************/
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/* quick_hull.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "quick_hull.h"
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#include "map.h"
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uint32_t QuickHull::debug_stop_after=0xFFFFFFFF;
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Error QuickHull::build(const Vector<Vector3>& p_points, Geometry::MeshData &r_mesh) {
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static const real_t over_tolerance = 0.0001;
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/* CREATE AABB VOLUME */
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Rect3 aabb;
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for(int i=0;i<p_points.size();i++) {
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if (i==0) {
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aabb.pos=p_points[i];
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} else {
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aabb.expand_to(p_points[i]);
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}
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}
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if (aabb.size==Vector3()) {
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return ERR_CANT_CREATE;
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}
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Vector<bool> valid_points;
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valid_points.resize(p_points.size());
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Set<Vector3> valid_cache;
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for(int i=0;i<p_points.size();i++) {
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Vector3 sp = p_points[i].snapped(0.0001);
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if (valid_cache.has(sp)) {
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valid_points[i]=false;
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//print_line("INVALIDATED: "+itos(i));
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}else {
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valid_points[i]=true;
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valid_cache.insert(sp);
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}
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}
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/* CREATE INITIAL SIMPLEX */
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int longest_axis = aabb.get_longest_axis_index();
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//first two vertices are the most distant
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int simplex[4];
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{
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real_t max,min;
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for(int i=0;i<p_points.size();i++) {
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if (!valid_points[i])
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continue;
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real_t d = p_points[i][longest_axis];
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if (i==0 || d < min) {
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simplex[0]=i;
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min=d;
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}
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if (i==0 || d > max) {
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simplex[1]=i;
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max=d;
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}
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}
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}
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//third vertex is one most further away from the line
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{
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real_t maxd;
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Vector3 rel12 = p_points[simplex[0]] - p_points[simplex[1]];
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for(int i=0;i<p_points.size();i++) {
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if (!valid_points[i])
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continue;
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Vector3 n = rel12.cross(p_points[simplex[0]]-p_points[i]).cross(rel12).normalized();
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real_t d = Math::abs(n.dot(p_points[simplex[0]])-n.dot(p_points[i]));
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if (i==0 || d>maxd) {
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maxd=d;
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simplex[2]=i;
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}
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}
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}
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//fourth vertex is the one most further away from the plane
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{
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real_t maxd;
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Plane p(p_points[simplex[0]],p_points[simplex[1]],p_points[simplex[2]]);
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for(int i=0;i<p_points.size();i++) {
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if (!valid_points[i])
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continue;
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real_t d = Math::abs(p.distance_to(p_points[i]));
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if (i==0 || d>maxd) {
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maxd=d;
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simplex[3]=i;
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}
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}
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}
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//compute center of simplex, this is a point always warranted to be inside
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Vector3 center;
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for(int i=0;i<4;i++) {
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center+=p_points[simplex[i]];
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}
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center/=4.0;
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//add faces
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List<Face> faces;
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for(int i=0;i<4;i++) {
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static const int face_order[4][3]={
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{0,1,2},
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{0,1,3},
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{0,2,3},
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{1,2,3}
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};
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Face f;
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for(int j=0;j<3;j++) {
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f.vertices[j]=simplex[face_order[i][j]];
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}
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Plane p(p_points[f.vertices[0]],p_points[f.vertices[1]],p_points[f.vertices[2]]);
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if (p.is_point_over(center)) {
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//flip face to clockwise if facing inwards
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SWAP( f.vertices[0], f.vertices[1] );
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p=-p;
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}
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f.plane = p;
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faces.push_back(f);
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}
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/* COMPUTE AVAILABLE VERTICES */
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for(int i=0;i<p_points.size();i++) {
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if (i==simplex[0])
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continue;
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if (i==simplex[1])
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continue;
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if (i==simplex[2])
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continue;
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if (i==simplex[3])
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continue;
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if (!valid_points[i])
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continue;
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for(List<Face>::Element *E=faces.front();E;E=E->next()) {
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if (E->get().plane.distance_to(p_points[i]) > over_tolerance ) {
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E->get().points_over.push_back(i);
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break;
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}
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}
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}
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faces.sort(); // sort them, so the ones with points are in the back
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/* BUILD HULL */
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//poop face (while still remain)
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//find further away point
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//find lit faces
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//determine horizon edges
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//build new faces with horizon edges, them assign points side from all lit faces
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//remove lit faces
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uint32_t debug_stop = debug_stop_after;
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while(debug_stop>0 && faces.back()->get().points_over.size()) {
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debug_stop--;
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Face& f = faces.back()->get();
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//find vertex most outside
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int next=-1;
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real_t next_d=0;
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for(int i=0;i<f.points_over.size();i++) {
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real_t d = f.plane.distance_to(p_points[f.points_over[i]]);
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if (d > next_d) {
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next_d=d;
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next=i;
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}
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}
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ERR_FAIL_COND_V(next==-1,ERR_BUG);
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Vector3 v = p_points[f.points_over[next]];
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//find lit faces and lit edges
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List< List<Face>::Element* > lit_faces; //lit face is a death sentence
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Map<Edge,FaceConnect> lit_edges; //create this on the flight, should not be that bad for performance and simplifies code a lot
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for(List<Face>::Element *E=faces.front();E;E=E->next()) {
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if (E->get().plane.distance_to(v) >0 ) {
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lit_faces.push_back(E);
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for(int i=0;i<3;i++) {
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uint32_t a = E->get().vertices[i];
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uint32_t b = E->get().vertices[(i+1)%3];
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Edge e(a,b);
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Map<Edge,FaceConnect>::Element *F=lit_edges.find(e);
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if (!F) {
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F=lit_edges.insert(e,FaceConnect());
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}
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if (e.vertices[0]==a) {
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//left
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F->get().left=E;
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} else {
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F->get().right=E;
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}
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}
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}
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}
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//create new faces from horizon edges
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List< List<Face>::Element* > new_faces; //new faces
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for(Map<Edge,FaceConnect>::Element *E=lit_edges.front();E;E=E->next()) {
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FaceConnect& fc = E->get();
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if (fc.left && fc.right) {
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continue; //edge is uninteresting, not on horizont
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}
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//create new face!
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Face face;
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face.vertices[0]=f.points_over[next];
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face.vertices[1]=E->key().vertices[0];
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face.vertices[2]=E->key().vertices[1];
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Plane p(p_points[face.vertices[0]],p_points[face.vertices[1]],p_points[face.vertices[2]]);
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if (p.is_point_over(center)) {
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//flip face to clockwise if facing inwards
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SWAP( face.vertices[0], face.vertices[1] );
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p = -p;
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}
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face.plane = p;
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new_faces.push_back( faces.push_back(face) );
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}
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//distribute points into new faces
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for(List< List<Face>::Element* >::Element *F=lit_faces.front();F;F=F->next()) {
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Face &lf = F->get()->get();
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for(int i=0;i<lf.points_over.size();i++) {
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if (lf.points_over[i]==f.points_over[next]) //do not add current one
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continue;
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Vector3 p = p_points[lf.points_over[i]];
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for (List< List<Face>::Element* >::Element *E=new_faces.front();E;E=E->next()) {
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Face &f2 = E->get()->get();
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if (f2.plane.distance_to(p)>over_tolerance) {
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f2.points_over.push_back(lf.points_over[i]);
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break;
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}
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}
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}
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}
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//erase lit faces
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while(lit_faces.size()) {
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faces.erase(lit_faces.front()->get());
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lit_faces.pop_front();
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}
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//put faces that contain no points on the front
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for (List< List<Face>::Element* >::Element *E=new_faces.front();E;E=E->next()) {
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Face &f2 = E->get()->get();
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if (f2.points_over.size()==0) {
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faces.move_to_front(E->get());
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}
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}
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//whew, done with iteration, go next
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}
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/* CREATE MESHDATA */
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//make a map of edges again
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Map<Edge,RetFaceConnect> ret_edges;
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List<Geometry::MeshData::Face> ret_faces;
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for(List<Face>::Element *E=faces.front();E;E=E->next()) {
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Geometry::MeshData::Face f;
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f.plane = E->get().plane;
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for(int i=0;i<3;i++) {
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f.indices.push_back(E->get().vertices[i]);
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}
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List<Geometry::MeshData::Face>::Element *F = ret_faces.push_back(f);
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for(int i=0;i<3;i++) {
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uint32_t a = E->get().vertices[i];
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uint32_t b = E->get().vertices[(i+1)%3];
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Edge e(a,b);
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Map<Edge,RetFaceConnect>::Element *G=ret_edges.find(e);
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if (!G) {
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G=ret_edges.insert(e,RetFaceConnect());
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}
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if (e.vertices[0]==a) {
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//left
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G->get().left=F;
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} else {
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G->get().right=F;
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}
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}
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}
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//fill faces
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for (List<Geometry::MeshData::Face>::Element *E=ret_faces.front();E;E=E->next()) {
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Geometry::MeshData::Face& f = E->get();
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for(int i=0;i<f.indices.size();i++) {
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uint32_t a = E->get().indices[i];
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uint32_t b = E->get().indices[(i+1)%f.indices.size()];
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Edge e(a,b);
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Map<Edge,RetFaceConnect>::Element *F=ret_edges.find(e);
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ERR_CONTINUE(!F);
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List<Geometry::MeshData::Face>::Element *O = F->get().left == E ? F->get().right : F->get().left;
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ERR_CONTINUE(O==E);
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ERR_CONTINUE(O==NULL);
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if (O->get().plane.is_almost_like(f.plane)) {
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//merge and delete edge and contiguous face, while repointing edges (uuugh!)
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int ois = O->get().indices.size();
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int merged=0;
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for(int j=0;j<ois;j++) {
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//search a
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if (O->get().indices[j]==a) {
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//append the rest
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for(int k=0;k<ois;k++) {
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int idx = O->get().indices[(k+j)%ois];
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int idxn = O->get().indices[(k+j+1)%ois];
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if (idx==b && idxn==a) {//already have b!
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break;
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}
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if (idx!=a) {
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f.indices.insert(i+1,idx);
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i++;
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merged++;
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}
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Edge e2(idx,idxn);
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Map<Edge,RetFaceConnect>::Element *F2=ret_edges.find(e2);
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ERR_CONTINUE(!F2);
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//change faceconnect, point to this face instead
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if (F2->get().left == O)
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F2->get().left=E;
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else if (F2->get().right == O)
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F2->get().right=E;
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}
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break;
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}
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}
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ret_edges.erase(F); //remove the edge
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ret_faces.erase(O); //remove the face
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}
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}
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}
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//fill mesh
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r_mesh.faces.clear();
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r_mesh.faces.resize(ret_faces.size());
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//print_line("FACECOUNT: "+itos(r_mesh.faces.size()));
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int idx=0;
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for (List<Geometry::MeshData::Face>::Element *E=ret_faces.front();E;E=E->next()) {
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r_mesh.faces[idx++]=E->get();
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}
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r_mesh.edges.resize(ret_edges.size());
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idx=0;
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for(Map<Edge,RetFaceConnect>::Element *E=ret_edges.front();E;E=E->next()) {
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Geometry::MeshData::Edge e;
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e.a=E->key().vertices[0];
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e.b=E->key().vertices[1];
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r_mesh.edges[idx++]=e;
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}
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r_mesh.vertices=p_points;
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//r_mesh.optimize_vertices();
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/*
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print_line("FACES: "+itos(r_mesh.faces.size()));
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print_line("EDGES: "+itos(r_mesh.edges.size()));
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print_line("VERTICES: "+itos(r_mesh.vertices.size()));
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*/
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return OK;
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}
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