vcglib/vcg/complex/algorithms/parametrization/tangent_field_operators.h

/****************************************************************************
* VCGLib                                                            o o     *
* Visual and Computer Graphics Library                            o     o   *
*                                                                _   O  _   *
* Copyright(C) 2004                                                \/)\/    *
* Visual Computing Lab                                            /\/|      *
* ISTI - Italian National Research Council                           |      *
*                                                                    \      *
* All rights reserved.                                                      *
*                                                                           *
* This program is free software; you can redistribute it and/or modify      *   
* it under the terms of the GNU General Public License as published by      *
* the Free Software Foundation; either version 2 of the License, or         *
* (at your option) any later version.                                       *
*                                                                           *
* This program is distributed in the hope that it will be useful,           *
* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
* for more details.                                                         *
*                                                                           *
****************************************************************************/
#include <vcg/math/matrix33.h>
#include <vcg/math/histogram.h>
#include <vcg/complex/algorithms/update/curvature.h>
#include <vcg/complex/algorithms/update/flag.h>
#include <vcg/simplex/face/topology.h>
#include <vcg/complex/algorithms/update/bounding.h>

#ifndef VCG_TANGENT_FIELD_OPERATORS
#define VCG_TANGENT_FIELD_OPERATORS

namespace vcg {
	namespace tri{

		template <class MeshType>
		class CrossField
		{
			typedef typename MeshType::FaceType FaceType;
			typedef typename MeshType::VertexType VertexType;
			typedef typename MeshType::CoordType CoordType;
			typedef typename MeshType::ScalarType ScalarType;

		private:
			static ScalarType Sign(ScalarType a){return (ScalarType)((a>0)?+1:-1);}

		public:

            static CoordType FollowDirection(const FaceType &f0,
                                            const  FaceType &f1,
                                            const  CoordType &dir0)
			{
				///first it rotate dir to match with f1
				CoordType dirR=vcg::tri::CrossField<MeshType>::Rotate(f0,f1,dir0);
				///then get the closest upf to K*PI/2 rotations
				CoordType dir1=f1.cPD1();
				CoordType ret=vcg::tri::CrossField<MeshType>::K_PI(dir1,dirR,f1.cN());
				return ret;
			}

            static void SetVertCrossFromCurvature(MeshType &mesh)
			{
				vcg::tri::UpdateTopology<MeshType>::FaceFace(mesh);
				vcg::tri::UpdateTopology<MeshType>::VertexFace(mesh);
				vcg::tri::UpdateBounding<MeshType>::Box(mesh);

				//set as selected high curvature value
				vcg::tri::UpdateCurvature<MeshType>::PrincipalDirectionsNormalCycles(mesh);
				NormalizePerVertImportanceVal(mesh);
				///save the curvature value
				std::vector<ScalarType> K1,K2;
				K1.resize(mesh.vert.size());
				K2.resize(mesh.vert.size());
				for (int j=0;j<mesh.vert.size();j++)
				{
					VertexType *v=&mesh.vert[j];
					if(v->IsD())continue;
					K1[j]=v->K1();
					K2[j]=v->K2();
				}
				///then find multiscale curvature directions
				vcg::tri::UpdateCurvature<MeshType>::PrincipalDirectionsPCA(mesh,mesh.bbox.Diag()/200.0);
				///and save back importance val
				for (int j=0;j<mesh.vert.size();j++)
				{
					VertexType *v=&mesh.vert[j];
					if(v->IsD())continue;
					v->K1()=K1[j];
					v->K2()=K2[j];
				}

				///set normal according to curvature
				for (int j=0;j<mesh.vert.size();j++)
				{
					VertexType *v=&mesh.vert[j];
					if(v->IsD())continue;
					CoordType N0=v->N();
					v->N()=v->PD1()^v->PD2();
					v->N().Normalize();
					if (N0*v->N()<0)
						v->N()=-v->N();
				}
			}



			///fird a tranformation matrix to transform 
			///the 3D space to 2D tangent space specified 
			///by the cross field (where Z=0)
			static vcg::Matrix33<ScalarType> TransformationMatrix(const FaceType &f)
			{
				typedef typename FaceType::CoordType CoordType;
				typedef typename FaceType::ScalarType ScalarType;

				///transform to 3d
				CoordType axis0=f.cPD1();
				CoordType axis1=f.cPD2();//axis0^f.cN();
				CoordType axis2=f.cN();

				return (vcg::TransformationMatrix(axis0,axis1,axis2));
			}


			///transform a given angle in tangent space wrt X axis of
			///tangest space will return the corresponding 3D vector
			static CoordType TangentAngleToVect(const FaceType &f,const ScalarType &angle)
			{
				///find 2D vector
				vcg::Point2<ScalarType> axis2D=vcg::Point2<ScalarType>(cos(angle),sin(angle));
				CoordType axis3D=CoordType(axis2D.X(),axis2D.Y(),0);
				vcg::Matrix33<ScalarType> Trans=TransformationMatrix(f);
				vcg::Matrix33<ScalarType> InvTrans=Inverse(Trans);
				///then transform
				return (InvTrans*axis3D);
			}

			///find an angle with respect to dirX on the plane perpendiculr to DirZ
			///dirX and dirZ should be perpendicular
            static ScalarType TangentVectToAngle(const CoordType dirX,
				const CoordType dirZ,
				const CoordType &vect3D)
			{
				const CoordType dirY=dirX^dirZ;
				dirX.Normalize();
				dirY.Normalize();
				dirZ.Normalize();
				vcg::Matrix33<ScalarType> Trans=TransformationMatrix(dirX,dirY,dirZ);
				///trensform the vector to the reference frame by rotating it
				CoordType vect_transf=Trans*vect3D;

				///then put to zero to the Z coordinate
				vcg::Point2<ScalarType> axis2D=vcg::Point2<ScalarType>(vect_transf.X(),vect_transf.Y());
				axis2D.Normalize();

				///then find the angle with respact to axis 0
				ScalarType alpha=atan2(axis2D.Y(),axis2D.X());	////to sum up M_PI?
				if (alpha<0)
					alpha=(2*M_PI+alpha);
				if (alpha<0)
					alpha=0;
				return alpha;
			}

			///find an angle with respect to the tangent frame of given face
			static ScalarType VectToAngle(const FaceType &f,const CoordType &vect3D)
			{
				vcg::Matrix33<ScalarType> Trans=TransformationMatrix(f);

				///trensform the vector to the reference frame by rotating it
				CoordType vect_transf=Trans*vect3D;

				///then put to zero to the Z coordinate
				vcg::Point2<ScalarType> axis2D=vcg::Point2<ScalarType>(vect_transf.X(),vect_transf.Y());
				axis2D.Normalize();

				///then find the angle with respact to axis 0
				ScalarType alpha=atan2(axis2D.Y(),axis2D.X());	////to sum up M_PI?
				if (alpha<0)
					alpha=(2*M_PI+alpha);
				if (alpha<0)
					alpha=0;
				return alpha;
			}

			///return the 4 directiona of the cross field in 3D
			///given a first direction as input
			static void CrossVector(const CoordType &dir0,
				const CoordType &norm,
				CoordType axis[4])
			{
				axis[0]=dir0;
				axis[1]=norm^axis[0];
				axis[2]=-axis[0];
				axis[3]=-axis[1];
			}

			///return the 4 direction in 3D of 
			///the cross field of a given face
			static void CrossVector(const FaceType &f,
				CoordType axis[4])
			{
				CoordType dir0=f.cPD1();
				CoordType dir1=f.cPD2();
				axis[0]=dir0;
				axis[1]=dir1;
				axis[2]=-dir0;
				axis[3]=-dir1;
			}

			///return the 4 direction in 3D of 
			///the cross field of a given face
			static void CrossVector(const VertexType &v,
				CoordType axis[4])
			{
				CoordType dir0=v.cPD1();
				CoordType dir1=v.cPD2();
				axis[0]=dir0;
				axis[1]=dir1;
				axis[2]=-dir0;
				axis[3]=-dir1;
			}

			///return a specific direction given an integer 0..3
			///considering the reference direction of the cross field
			static CoordType CrossVector(const FaceType &f,
				const int &index)
			{
				assert((index>=0)&&(index<4));
				CoordType axis[4];
				CrossVector(f,axis);
				return axis[index];
			}

			///return a specific direction given an integer 0..3
			///considering the reference direction of the cross field
			static CoordType CrossVector(const VertexType &v,
				const int &index)
			{
				assert((index>=0)&&(index<4));
				CoordType axis[4];
                CrossVector(v,axis);
				return axis[index];
			}

			///set the cross field of a given face
			static void SetCrossVector(FaceType &f,
				CoordType dir0,
				CoordType dir1)
			{
				f.PD1()=dir0;
				f.PD2()=dir1;
			}

			///set the face cross vector from vertex one
			static void SetFaceCrossVectorFromVert(FaceType &f)
			{
				const CoordType &t0=f.V(0)->PD1();
				const CoordType &t1=f.V(1)->PD1();
				const CoordType &t2=f.V(2)->PD1();
				const CoordType &N0=f.V(0)->N();
				const CoordType &N1=f.V(0)->N();
				const CoordType &N2=f.V(0)->N();
				const CoordType &NF=f.N();
				const CoordType bary=CoordType(0.33333,0.33333,0.33333);
				CoordType tF0,tF1;
				tF0=InterpolateCrossField(t0,t1,t2,N0,N1,N2,NF,bary);
				tF1=NF^tF0;
				tF0.Normalize();
				tF1.Normalize();
				SetCrossVector(f,tF0,tF1);
			}

			static void SetFaceCrossVectorFromVert(MeshType &mesh)
			{
                for (unsigned int i=0;i<mesh.face.size();i++)
				{
					FaceType *f=&mesh.face[i];
					if (f->IsD())continue;
					SetFaceCrossVectorFromVert(*f);
				}
			}

			///set the face cross vector from vertex one
			static void SetVertCrossVectorFromFace(VertexType &v)
			{
				std::vector<FaceType *> faceVec;
				vcg::face::VFStarVF(&v,faceVec);
				std::vector<CoordType> TangVect;
				std::vector<CoordType> Norms;
                for (unsigned int i=0;i<faceVec.size();i++)
				{
					TangVect.push_back(faceVec[i]->PD1());
					Norms.push_back(faceVec[i]->N());
				}
				std::vector<ScalarType> Weights(TangVect.size(),1.0/(ScalarType)TangVect.size());
				CoordType NRef=v.N();
				CoordType N0=faceVec[0]->N();
				CoordType DirRef=faceVec[0]->PD1();
				///find the rotation matrix that maps between normals
				vcg::Matrix33<ScalarType> rotation=vcg::RotationMatrix(N0,NRef);
				DirRef=rotation*DirRef;

				CoordType tF1=InterpolateCrossField(TangVect,Weights,Norms,NRef,DirRef);
				tF1.Normalize();
				CoordType tF2=NRef^tF1;
				tF2.Normalize();
				v.PD1()=tF1;
				v.PD2()=tF2;
			}

			static void SetVertCrossVectorFromFace(MeshType &mesh)
			{
                for (unsigned int i=0;i<mesh.vert.size();i++)
				{
					VertexType *v=&mesh.vert[i];
					if (v->IsD())continue;
					SetVertCrossVectorFromFace(*v);
				}
			}

			///rotate a given vector from the tangent space
			///of f0 to the tangent space of f1 by considering the difference of normals
			static CoordType Rotate(const FaceType &f0,const FaceType &f1,const CoordType &dir3D)
			{
				CoordType N0=f0.cN();
				CoordType N1=f1.cN();

				///find the rotation matrix that maps between normals
				vcg::Matrix33<ScalarType> rotation=vcg::RotationMatrix(N0,N1);
				CoordType rotated=rotation*dir3D;
				return rotated;
			}

			// returns the 90 deg rotation of a (around n) most similar to target b
			/// a and b should be in the same plane orthogonal to N
			static CoordType K_PI(const CoordType &a, const CoordType &b, const CoordType &n)
			{
				CoordType c = (a^n).normalized();
				ScalarType scorea = a*b;
				ScalarType scorec = c*b;
				if (fabs(scorea)>=fabs(scorec)) return a*Sign(scorea); else return c*Sign(scorec);
			}

			///interpolate cross field with barycentric coordinates
			static CoordType InterpolateCrossField(const CoordType &t0,
				const CoordType &t1,
				const CoordType &t2,
				const CoordType &n0,
				const CoordType &n1,
				const CoordType &n2,
				const CoordType &target_n,
				const CoordType &bary)
			{
				vcg::Matrix33<ScalarType> R0=vcg::RotationMatrix(n0,target_n);
				vcg::Matrix33<ScalarType> R1=vcg::RotationMatrix(n1,target_n);
				vcg::Matrix33<ScalarType> R2=vcg::RotationMatrix(n2,target_n);
				///rotate
				CoordType trans0=R0*t0;
				CoordType trans1=R1*t1;
				CoordType trans2=R2*t2;
				///normalize it
				trans0.Normalize();
				trans1.Normalize();
				trans2.Normalize();
				///k_PI/2 rotation
				trans1=K_PI(trans1,trans0,target_n);
				trans2=K_PI(trans2,trans0,target_n);
				trans1.Normalize();
				trans2.Normalize();

				CoordType sum = trans0*bary.X() + trans1 * bary.Y() + trans2 * bary.Z();
				return sum;
			}

			///interpolate cross field with barycentric coordinates using normalized weights
            static  CoordType InterpolateCrossField(const std::vector<CoordType> &TangVect,
				const std::vector<ScalarType> &Weight,
				const std::vector<CoordType> &Norms,
                const CoordType &BaseNorm,
                const CoordType &BaseDir)
			{
				CoordType sum = CoordType(0,0,0);
                for (unsigned int i=0;i<TangVect.size();i++)
				{
					CoordType N1=Norms[i];
					///find the rotation matrix that maps between normals
					vcg::Matrix33<ScalarType> rotation=vcg::RotationMatrix(N1,BaseNorm);
					CoordType rotated=rotation*TangVect[i];
					CoordType Tdir=K_PI(rotated,BaseDir,BaseNorm);
					Tdir.Normalize();
					sum+=(Tdir*Weight[i]);
				}
				sum.Normalize();
				return sum;
			}

			///interpolate cross field with scalar weight
			static typename FaceType::CoordType InterpolateCrossFieldLine(const typename FaceType::CoordType &t0,
				const typename FaceType::CoordType &t1,
				const typename FaceType::CoordType &n0,
				const typename FaceType::CoordType &n1,
				const typename FaceType::CoordType &target_n,
				const typename FaceType::ScalarType &weight)
			{
				vcg::Matrix33<ScalarType> R0=vcg::RotationMatrix(n0,target_n);
				vcg::Matrix33<ScalarType> R1=vcg::RotationMatrix(n1,target_n);
				CoordType trans0=R0*t0;
				CoordType trans1=R1*t1;
				//CoordType trans0=t0;//R0*t0;
				//CoordType trans1=t1;//R1*t1;
				trans0.Normalize();
				trans1.Normalize();
				trans1=K_PI(trans1,trans0,target_n);
				trans1.Normalize();
				CoordType sum = trans0*weight + trans1 * (1.0-weight);
				return sum;
			}


			///return the difference of two cross field, values between [0,0.5]
			static typename FaceType::ScalarType DifferenceCrossField(const typename FaceType::CoordType &t0,
				const typename FaceType::CoordType &t1,
				const typename FaceType::CoordType &n)
			{
				CoordType trans0=t0;
				CoordType trans1=K_PI(t1,t0,n);
				ScalarType diff = 1-fabs(trans0*trans1);
				return diff;
			}

			///return the difference of two cross field, values between [0,0.5]
			static typename FaceType::ScalarType DifferenceCrossField(const typename vcg::Point2<ScalarType> &t0,
				const typename vcg::Point2<ScalarType> &t1)
			{
				CoordType t03D=CoordType(t0.X(),t0.Y(),0);
				CoordType t13D=CoordType(t1.X(),t1.Y(),0);
				CoordType trans0=t03D;
				CoordType n=CoordType(0,0,1);
				CoordType trans1=K_PI(t13D,t03D,n);
				ScalarType diff = 1-fabs(trans0*trans1);
				return diff;
			}

			///compute the mismatch between 2 directions 
			///each one si perpendicular to its own normal
            static int MissMatchByCross(const CoordType &dir0,
				const CoordType &dir1,
				const CoordType &N0,
				const CoordType &N1)
			{
				CoordType dir0Rot=Rotate(dir0,N0,N1);
				CoordType dir1Rot=dir1;

				dir0Rot.Normalize();
				dir1Rot.Normalize();

				ScalarType angle_diff=VectToAngle(dir0Rot,N0,dir1Rot);

				ScalarType step=M_PI/2.0;
                int i=(int)floor((angle_diff/step)+0.5);
                int k=0;
                if (i>=0)
					k=i%4;
				else
                    k=(-(3*i))%4;
                return k;
			}

			///compute the mismatch between 2 faces
            static int MissMatchByCross(const FaceType &f0,
				const FaceType &f1)
			{
				CoordType dir0=CrossVector(f0,0);
				CoordType dir1=CrossVector(f1,0);

				CoordType dir1Rot=Rotate(f1,f0,dir1);
				dir1Rot.Normalize();

				ScalarType angle_diff=VectToAngle(f0,dir1Rot);

				ScalarType step=M_PI/2.0;
				int i=(int)floor((angle_diff/step)+0.5);
				int k=0;
				if (i>=0)
					k=i%4;
				else
					k=(-(3*i))%4;
				return k;
			}


			///return true if a given vertex is singular,
			///return also the missmatch
            static bool IsSingularByCross(const VertexType &v,int &missmatch)
			{
				typedef typename VertexType::FaceType FaceType;
				///check that is on border..
				if (v.IsB())return false;

				std::vector<FaceType*> faces;
				//SortedFaces(v,faces);
				vcg::face::VFOrderedStarVF_FF(v,faces);

				missmatch=0;
                for (unsigned int i=0;i<faces.size();i++)
				{
					FaceType *curr_f=faces[i];
					FaceType *next_f=faces[(i+1)%faces.size()];

					///find the current missmatch
                    missmatch+=MissMatchByCross(*curr_f,*next_f);

				}
				missmatch=missmatch%4;
				return(missmatch!=0);
			}

			///select singular vertices
            static void SelectSingularByCross(MeshType &mesh)
			{
                for (unsigned int i=0;i<mesh.vert.size();i++)
				{
					if (mesh.vert[i].IsD())continue;
                    if (mesh.vert[i].IsB())continue;

					int missmatch;                   
                    if (IsSingularByCross(mesh.vert[i],missmatch))
						mesh.vert[i].SetS();
					else
						mesh.vert[i].ClearS();

				}
			}


            static void GradientToCross(const FaceType &f,
                                        const vcg::Point2<ScalarType> &UV0,
                                        const vcg::Point2<ScalarType> &UV1,
                                        const vcg::Point2<ScalarType> &UV2,
                            CoordType &dirU,
                            CoordType &dirV)
            {
                ///compute non normalized normal
                CoordType n  =  f.cN();

                CoordType p0 =f.cP(1) - f.cP(0);
                CoordType p1 =f.cP(2) - f.cP(1);
                CoordType p2 =f.cP(0) - f.cP(2);

                CoordType t[3];
                t[0] =  -(p0 ^ n);
                t[1] =  -(p1 ^ n);
                t[2] =  -(p2 ^ n);

                dirU = t[1]*UV0.X() + t[2]*UV1.X() + t[0]*UV2.X();
                dirV = t[1]*UV0.Y() + t[2]*UV1.Y() + t[0]*UV2.Y();
            }


            static void MakeDirectionFaceCoherent(MeshType &mesh)
            {
                vcg::tri::UpdateFlags<MeshType>::FaceClearS(mesh);

                std::deque<FaceType*> d;
                //std::vector<bool> done(mesh.face.size(), false);
                //for (int i=0; i<(int)mesh.face.size(); i++)
                //    mesh.face[i].ClearS();

                for (int i=0; i<(int)mesh.face.size(); i++)
                {
                    if (mesh.face[i].IsD())continue;
                    if (mesh.face[i].IsS())continue;
                    mesh.face[i].SetS();
                    d.push_back(&mesh.face[i]);
                    break;
                }

                while (!d.empty())
                {
                     while (!d.empty())
                     {
                       FaceType* f0 = d.at(0);
                       d.pop_front();

                        for (int k=0; k<3; k++)
                        {
                           FaceType* f1 = f0->FFp(k);
                           if (f1->IsS())continue;
                           if (f1->IsD())continue;
                           if (f1==f0)continue;
                           CoordType dir0=f0->PD1();
                           CoordType dir1=f1->PD1();
                           CoordType dir0Rot=Rotate(*f0,*f1,dir0);
                           dir0Rot.Normalize();
                           CoordType targD=K_PI(dir1,dir0Rot,f1->N());
                           f1->PD1()=targD;
                           f1->PD2()=f1->N()^targD;
                           //f1->PD2()=f1->N()^targD;
                           f1->PD2().Normalize();
                           f1->SetS();
                           d.push_back(f1);

                       }
                     }

                     // d is empty: now put first non done element in it
                     for (int i=0; i<(int)mesh.face.size(); i++)
                     {
                         if (mesh.face[i].IsD())continue;
                         if (mesh.face[i].IsS())continue;
                         mesh.face[i].SetS();
                         assert(0);
                         d.push_back(&mesh.face[i]);
                         break;
                     }
                }
                vcg::tri::UpdateFlags<MeshType>::FaceClearS(mesh);
            }

			///transform curvature to UV space
			static vcg::Point2<ScalarType> CrossToUV(FaceType &f)
			{
				typedef typename FaceType::ScalarType ScalarType;
				typedef typename FaceType::CoordType CoordType;

				CoordType Curv=CrossVector(f,0);
				Curv.Normalize();

				CoordType bary3d=(f.P(0)+f.P(1)+f.P(2))/3.0;
				vcg::Point2<ScalarType> Uv0=f.V(0)->T().P();
				vcg::Point2<ScalarType> Uv1=f.V(1)->T().P();
				vcg::Point2<ScalarType> Uv2=f.V(2)->T().P();
				vcg::Point2<ScalarType> baryUV=(Uv0+Uv1+Uv2)/3.0;
				CoordType direct3d=bary3d+Curv;
				CoordType baryCoordsUV;
				vcg::InterpolationParameters<FaceType,ScalarType>(f,direct3d,baryCoordsUV);
				vcg::Point2<ScalarType> curvUV=baryCoordsUV.X()*Uv0+
					baryCoordsUV.Y()*Uv1+
					baryCoordsUV.Z()*Uv2-baryUV;
				curvUV.Normalize();
				return curvUV;
            }

		};///end class
	} //End Namespace Tri
} // End Namespace vcg
#endif