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fixed const correctness for Inertia and some Stat functions + code cleaning

This commit is contained in:
Luigi Malomo 2021-11-17 15:12:21 +01:00
parent bd1b1a937b
commit 95f5550951
2 changed files with 75 additions and 72 deletions
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141
vcg/complex/algorithms/inertia.h
View File

@ -53,16 +53,16 @@ namespace vcg
template <class MeshType> template <class MeshType>
class Inertia class Inertia
{ {
typedef typename MeshType::VertexType VertexType; typedef typename MeshType::VertexType VertexType;
typedef typename MeshType::VertexPointer VertexPointer; typedef typename MeshType::VertexPointer VertexPointer;
typedef typename MeshType::VertexIterator VertexIterator; typedef typename MeshType::VertexIterator VertexIterator;
typedef typename MeshType::ScalarType ScalarType; typedef typename MeshType::ScalarType ScalarType;
typedef typename MeshType::FaceType FaceType; typedef typename MeshType::FaceType FaceType;
typedef typename MeshType::FacePointer FacePointer; typedef typename MeshType::FacePointer FacePointer;
typedef typename MeshType::FaceIterator FaceIterator; typedef typename MeshType::FaceIterator FaceIterator;
typedef typename MeshType::ConstFaceIterator ConstFaceIterator; typedef typename MeshType::ConstFaceIterator ConstFaceIterator;
typedef typename MeshType::FaceContainer FaceContainer; typedef typename MeshType::FaceContainer FaceContainer;
typedef typename MeshType::CoordType CoordType; typedef typename MeshType::CoordType CoordType;
private : private :
enum {X=0,Y=1,Z=2}; enum {X=0,Y=1,Z=2};
@ -188,50 +188,51 @@ void CompFaceIntegrals(const FaceType &f)
It requires a watertight mesh with per face normals. It requires a watertight mesh with per face normals.
*/ */
void Compute(MeshType &m) void Compute(const MeshType &m)
{ {
tri::UpdateNormal<MeshType>::PerFaceNormalized(m); double nx, ny, nz;
double nx, ny, nz;
T0 = T1[X] = T1[Y] = T1[Z] T0 = T1[X] = T1[Y] = T1[Z]
= T2[X] = T2[Y] = T2[Z] = T2[X] = T2[Y] = T2[Z]
= TP[X] = TP[Y] = TP[Z] = 0; = TP[X] = TP[Y] = TP[Z] = 0;
for (auto fi=m.face.begin(); fi!=m.face.end();++fi) if(!(*fi).IsD() && vcg::DoubleArea(*fi)>std::numeric_limits<float>::min()) { for (auto fi=m.face.begin(); fi!=m.face.end();++fi) if(!(*fi).IsD() && vcg::DoubleArea(*fi)>std::numeric_limits<float>::min())
const FaceType &f=(*fi); {
const FaceType &f=(*fi);
const auto fn = vcg::NormalizedTriangleNormal(f);
nx = fabs(f.N()[0]); nx = fabs(fn[0]);
ny = fabs(f.N()[1]); ny = fabs(fn[1]);
nz = fabs(f.N()[2]); nz = fabs(fn[2]);
if (nx > ny && nx > nz) C = X; if (nx > ny && nx > nz) C = X;
else C = (ny > nz) ? Y : Z; else C = (ny > nz) ? Y : Z;
A = (C + 1) % 3; A = (C + 1) % 3;
B = (A + 1) % 3; B = (A + 1) % 3;
CompFaceIntegrals(f); CompFaceIntegrals(f);
T0 += f.N()[X] * ((A == X) ? Fa : ((B == X) ? Fb : Fc)); T0 += fn[X] * ((A == X) ? Fa : ((B == X) ? Fb : Fc));
T1[A] += f.N()[A] * Faa; T1[A] += fn[A] * Faa;
T1[B] += f.N()[B] * Fbb; T1[B] += fn[B] * Fbb;
T1[C] += f.N()[C] * Fcc; T1[C] += fn[C] * Fcc;
T2[A] += f.N()[A] * Faaa; T2[A] += fn[A] * Faaa;
T2[B] += f.N()[B] * Fbbb; T2[B] += fn[B] * Fbbb;
T2[C] += f.N()[C] * Fccc; T2[C] += fn[C] * Fccc;
TP[A] += f.N()[A] * Faab; TP[A] += fn[A] * Faab;
TP[B] += f.N()[B] * Fbbc; TP[B] += fn[B] * Fbbc;
TP[C] += f.N()[C] * Fcca; TP[C] += fn[C] * Fcca;
} }
T1[X] /= 2; T1[Y] /= 2; T1[Z] /= 2; T1[X] /= 2; T1[Y] /= 2; T1[Z] /= 2;
T2[X] /= 3; T2[Y] /= 3; T2[Z] /= 3; T2[X] /= 3; T2[Y] /= 3; T2[Z] /= 3;
TP[X] /= 2; TP[Y] /= 2; TP[Z] /= 2; TP[X] /= 2; TP[Y] /= 2; TP[Z] /= 2;
} }
/*! \brief Return the Volume (or mass) of the mesh. /*! \brief Return the Volume (or mass) of the mesh.
Meaningful only if the mesh is watertight. Meaningful only if the mesh is watertight.
*/ */
ScalarType Mass() ScalarType Mass(void) const
{ {
return static_cast<ScalarType>(T0); return static_cast<ScalarType>(T0);
} }
@ -240,15 +241,17 @@ ScalarType Mass()
Meaningful only if the mesh is watertight. Meaningful only if the mesh is watertight.
*/ */
Point3<ScalarType> CenterOfMass() Point3<ScalarType> CenterOfMass(void) const
{ {
Point3<ScalarType> r; Point3<ScalarType> r;
r[X] = T1[X] / T0; r[X] = T1[X] / T0;
r[Y] = T1[Y] / T0; r[Y] = T1[Y] / T0;
r[Z] = T1[Z] / T0; r[Z] = T1[Z] / T0;
return r; return r;
} }
void InertiaTensor(Matrix33<ScalarType> &J ){
void InertiaTensor(Matrix33<ScalarType> &J) const
{
Point3<ScalarType> r; Point3<ScalarType> r;
r[X] = T1[X] / T0; r[X] = T1[X] / T0;
r[Y] = T1[Y] / T0; r[Y] = T1[Y] / T0;
@ -270,27 +273,27 @@ void InertiaTensor(Matrix33<ScalarType> &J ){
} }
//void InertiaTensor(Matrix44<ScalarType> &J ) //void InertiaTensor(Matrix44<ScalarType> &J )
void InertiaTensor(Eigen::Matrix3d &J ) void InertiaTensor(Eigen::Matrix3d &J) const
{ {
J=Eigen::Matrix3d::Identity(); J=Eigen::Matrix3d::Identity();
Point3d r; Point3d r;
r[X] = T1[X] / T0; r[X] = T1[X] / T0;
r[Y] = T1[Y] / T0; r[Y] = T1[Y] / T0;
r[Z] = T1[Z] / T0; r[Z] = T1[Z] / T0;
/* compute inertia tensor */ /* compute inertia tensor */
J(X,X) = (T2[Y] + T2[Z]); J(X,X) = (T2[Y] + T2[Z]);
J(Y,Y) = (T2[Z] + T2[X]); J(Y,Y) = (T2[Z] + T2[X]);
J(Z,Z) = (T2[X] + T2[Y]); J(Z,Z) = (T2[X] + T2[Y]);
J(X,Y) = J(Y,X) = - TP[X]; J(X,Y) = J(Y,X) = - TP[X];
J(Y,Z) = J(Z,Y) = - TP[Y]; J(Y,Z) = J(Z,Y) = - TP[Y];
J(Z,X) = J(X,Z) = - TP[Z]; J(Z,X) = J(X,Z) = - TP[Z];
J(X,X) -= T0 * (r[Y]*r[Y] + r[Z]*r[Z]); J(X,X) -= T0 * (r[Y]*r[Y] + r[Z]*r[Z]);
J(Y,Y) -= T0 * (r[Z]*r[Z] + r[X]*r[X]); J(Y,Y) -= T0 * (r[Z]*r[Z] + r[X]*r[X]);
J(Z,Z) -= T0 * (r[X]*r[X] + r[Y]*r[Y]); J(Z,Z) -= T0 * (r[X]*r[X] + r[Y]*r[Y]);
J(X,Y) = J(Y,X) += T0 * r[X] * r[Y]; J(X,Y) = J(Y,X) += T0 * r[X] * r[Y];
J(Y,Z) = J(Z,Y) += T0 * r[Y] * r[Z]; J(Y,Z) = J(Z,Y) += T0 * r[Y] * r[Z];
J(Z,X) = J(X,Z) += T0 * r[Z] * r[X]; J(Z,X) = J(X,Z) += T0 * r[Z] * r[X];
} }
@ -299,7 +302,7 @@ void InertiaTensor(Eigen::Matrix3d &J )
The result is factored as eigenvalues and eigenvectors (as ROWS). The result is factored as eigenvalues and eigenvectors (as ROWS).
*/ */
void InertiaTensorEigen(Matrix33<ScalarType> &EV, Point3<ScalarType> &ev ) void InertiaTensorEigen(Matrix33<ScalarType> &EV, Point3<ScalarType> &ev) const
{ {
Eigen::Matrix3d it; Eigen::Matrix3d it;
InertiaTensor(it); InertiaTensor(it);
@ -376,7 +379,7 @@ static void Covariance(const MeshType & m, vcg::Point3<ScalarType> & bary, vcg::
} }
}; // end class Inertia }; // end class Inertia
} // end namespace tri } // end namespace tri
} // end namespace vcg } // end namespace vcg

6
vcg/complex/algorithms/stat.h
View File

@ -239,18 +239,18 @@ public:
return barycenter/areaSum; return barycenter/areaSum;
} }
static ScalarType ComputeTetraMeshVolume(MeshType & m) static ScalarType ComputeTetraMeshVolume(const MeshType & m)
{ {
ScalarType V = 0; ScalarType V = 0;
ForEachTetra(m, [&V] (TetraType & t) { ForEachTetra(m, [&V] (const TetraType & t) {
V += Tetra::ComputeVolume(t); V += Tetra::ComputeVolume(t);
}); });
return V; return V;
} }
static ScalarType ComputeMeshVolume(MeshType & m) static ScalarType ComputeMeshVolume(const MeshType & m)
{ {
Inertia<MeshType> I(m); Inertia<MeshType> I(m);
return I.Mass(); return I.Mass();