1105 lines
26 KiB
C++
1105 lines
26 KiB
C++
#ifndef __SEGMENTATOR
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#define __SEGMENTATOR
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/////need vertex-face topology in case of extended marching cubes
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//#ifdef _EXTENDED_MARCH
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// #include <vcg/simplex/vertex/with/afvn.h>
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// #include <vcg/simplex/face/with/afavfnfmrt.h>
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//#else
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#include <vcg/simplex/vertex/with/afvn.h>
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#include <vcg/simplex/face/with/afavfnfmrt.h>
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//#endif
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#include <sim/particle/with/basic_physics.h>
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#include <sim/methods/mass_spring/triangle.h>
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#include <vcg/complex/trimesh/base.h>
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#include <vcg/complex/trimesh/allocate.h>
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#include <vcg/complex/trimesh/update/topology.h>
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#include <vcg/complex/trimesh/update/normal.h>
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#include <vcg/complex/trimesh/update/bounding.h>
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#include <vcg/complex/trimesh/update/edges.h>
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#include <vcg/complex/trimesh/refine.h>
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#include <vcg/complex/trimesh/create/platonic.h>
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#include <volume_dataset.h>
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#include <vcg/complex/trimesh/create/resampler.h>
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#include <vcg/space/point3.h>
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#include <vcg/space/box3.h>
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#include <sim/pde_integrator.h>
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#include <partial_container.h>
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#include <vector>
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#include <time.h>
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#include <math.h>
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#include <collision_detection.h>
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#include <vcg/complex/trimesh/smooth.h>
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#include <vcg/simplex/face/topology.h>
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#include <vcg/complex/trimesh/update/topology.h>
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//#include <mymarchingCubes.h>
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class Segmentator{
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public:
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struct DummyEdge;
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struct DummyTetra;
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struct MyFace;
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//#ifdef _EXTENDED_MARCH
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// struct MyVertex: public ParticleBasic<vcg::VertexAFVNf<DummyEdge,MyFace,DummyTetra> >
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//#else
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struct MyVertex: public ParticleBasic<vcg::VertexAFVNf<DummyEdge,MyFace,DummyTetra> >
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//#endif
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{
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public:
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bool blocked;//optimize after with vertex flags
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bool stopped;
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MyVertex()
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{
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blocked=false;
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stopped=false;
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Acc()=Point3f(0,0,0);
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Vel()=Point3f(0,0,0);
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ClearFlags();
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//__super::
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//neeed call of the super class
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}
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void UpdateAcceleration()
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{
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if ((!blocked)&&(!stopped))
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{
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Acc()=(IntForce()+ExtForce())/Mass();
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}
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else
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{
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Acc()=Point3f(0,0,0);
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Vel()=Point3f(0,0,0);
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}
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}
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void Reset()
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{
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IntForce()=Point3f(0.f,0.f,0.f);
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}
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void SetRestPos()
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{
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RPos()=P();
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}
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};
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///this class implements the deformable triangle in a mass spring system
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struct MyFace : public TriangleMassSpring< vcg::FaceAFAVFNFMRT<MyVertex,DummyEdge,MyFace> >
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{
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public:
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bool intersected;
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float kdihedral;
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ScalarType AreaRep;
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int _Mark;
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CoordType old_N;
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MyFace()
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{
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intersected=false;
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ClearFlags();
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}
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bool NormInversion()
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{
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return (((old_N*NormalizedNormal())<0)||(Normal().Norm()<0.01));
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}
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void Init ( double k, double mass,float k_dihedral )
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{
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__super::Init(k,mass);
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kdihedral=k_dihedral;
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AreaRep=((V(1)->RPos() - V(0)->RPos()) ^ (V(2)->RPos() - V(0)->RPos())).Norm();
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SetS();
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ComputeNormal();
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old_N=Normal();
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old_N.Normalize();
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}
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bool IsActive()
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{
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return((!(((V(0)->blocked)||(V(0)->stopped))&&
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((V(1)->blocked)||(V(1)->stopped))&&
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((V(2)->blocked)||(V(2)->stopped))))&&(!intersected));
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}
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bool HaveVertexActive()
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{
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return((V(0)->blocked==false)||(V(1)->blocked==false)||(V(2)->blocked==false));
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}
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bool IsBlocked()
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{
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return((V(0)->blocked)&&(V(1)->blocked)&&(V(2)->blocked));
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}
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double DiedralAngle(int edge)
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{
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MyFace *fopp=FFp(edge);
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CoordType norm1=NormalizedNormal();
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CoordType norm2=fopp->NormalizedNormal();
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return (norm1*norm2);
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}
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int &Mark()
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{return (_Mark);}
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///return the bounding box of the simplex
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vcg::Box3<float> BBox()
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{
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vcg::Box3<float> bb;
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GetBBox(bb);
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return (bb);
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}
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ScalarType ForceValue(ScalarType l0,ScalarType l1)
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{
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ScalarType diff=(l0-l1);
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if (diff>0)//compression
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return ((diff/(l1))*_k)+(diff *_k);
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else
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return (diff *_k);
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}
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///update of the internal forces using the dihedral angle
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bool Update ( void )
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{
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if (!IsD())//&&(!intersected))//if this face is not deleted
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{
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for (int i=0;i<3;i++)
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{
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if (!IsBorder(i))
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{
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MyFace *fopp=FFp(i);
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MyFace *myAddr=this;
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assert(!fopp->IsD());
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assert(fopp!=this);
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if ((fopp<myAddr)&&(!fopp->intersected))//test do not duplicate updates per edge
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{
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/////updateing spring force
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//ScalarType stretch;
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//CoordType direction;
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//stretch=ForceValue(L(i),(V(i)->P()-V((i+1)%3)->P()).Norm());
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//direction=(V(i)->P()-V((i+1)%3)->P());
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//direction.Normalize();
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//V(i)-> IntForce()+=direction*(stretch)/2.f-DampFactor(i);
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//V((i+1)%3)-> IntForce()+=direction*(-stretch)/2.f-DampFactor(i);
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//normal and area based diadedral angle calcolus
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CoordType DirEdge=(V(i)->P()-V((i+1)%3)->P()).Normalize();
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fopp=FFp(i);
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CoordType Ver=(NormalizedNormal()^fopp->NormalizedNormal()).Normalize();
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ScalarType diaedral=DiedralAngle(i);
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ScalarType Force=(((-diaedral)+1.f)*kdihedral);
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CoordType VectF=NormalizedNormal()*(Force);
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if ((Ver*DirEdge)<=0)///convex
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{
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V((i+2)%3)->IntForce()+=VectF;
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fopp->V((FFi(i)+2)%3)->IntForce()+=VectF;///opposite vertex
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V(i)->IntForce()-=VectF;
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V((i+1)%3)->IntForce()-=VectF;
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}
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else ///non-convex
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{
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V((i+2)%3)->IntForce()-=VectF;
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fopp->V((FFi(i)+2)%3)->IntForce()-=VectF;///opposite vertex
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V(i)->IntForce()+=VectF;
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V((i+1)%3)->IntForce()+=VectF;
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}
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}
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}
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}
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return(__super::Update());
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}
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return true;
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///new
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}
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};
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struct MyTriMesh: public vcg::tri::TriMesh<std::vector<MyVertex>,std::vector<MyFace> >{};
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typedef Partial_Container<std::vector<MyVertex*>,MyVertex> Part_VertexContainer;
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typedef Partial_Container<std::vector<MyFace*>,MyFace> Part_FaceContainer;
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typedef PDEIntegrator<Part_FaceContainer,Part_VertexContainer,float> myIntegrator;
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typedef Collision_Detector<std::vector<MyFace> > Collision;
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////typedef Walker<MyTriMesh,MyTriMesh> MyWalk;
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//
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//#ifdef _EXTENDED_MARCH
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// typedef vcg::tri::ExtendedMarchingCubes<MyTriMesh, MyWalk> MarchingCubes;
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//#else
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// typedef vcg::tri::MarchingCubes<MyTriMesh, MyWalk> MarchingCubes;
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//#endif
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public:
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Point3f scale;
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//VolumetricDataset<int> d;
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/*MyTriMesh m;
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MyTriMesh new_m;*/
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MyTriMesh *m;
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MyTriMesh *new_m;
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Part_FaceContainer P_Faces;
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Part_VertexContainer P_Vertex;
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Part_VertexContainer V_Stopped;
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myIntegrator *TrINT;
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MyTriMesh::CoordType InitialBarycenter;
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float mass;
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float k_elanst;
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float k_dihedral;
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float edge_size;
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int tolerance;
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int gray_init;
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float time_stamp;
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float edge_precision;
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float edge_init;
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bool end_loop;
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bool refined;
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clock_t interval_reinit;
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clock_t interval_selfcollision;
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Collision *CollDet;
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//Volume_Dataset_Optimized<short> V;
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Volume_Dataset <short> V;
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vcg::Box3<float> bbox;
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char *inDir;
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char *outDir;
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//attention static members
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/*int BlockFlag;
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int StoppedFlag;*/
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Segmentator()
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{
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m=new MyTriMesh();
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CollDet=new Collision(m->face);
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}
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~Segmentator()
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{
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}
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private:
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/////return integer coordinete in volumetric dataset
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//Point3i MapToDataset(MyTriMesh::CoordType p)
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//{
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// MyTriMesh::ScalarType x=((MyTriMesh::ScalarType)p.V(0));
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// MyTriMesh::ScalarType y=((MyTriMesh::ScalarType)p.V(1));
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// MyTriMesh::ScalarType z=((MyTriMesh::ScalarType)p.V(2));
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// return Point3i((int)p.V(0),(int)p.V(1),(int)p.V(2));
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//}
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//
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///map to space coordinate from dataset coordinates
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MyTriMesh::CoordType MapToSpace(Point3i p)
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{
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MyTriMesh::ScalarType x=((MyTriMesh::ScalarType)p.V(0));
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MyTriMesh::ScalarType y=((MyTriMesh::ScalarType)p.V(1));
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MyTriMesh::ScalarType z=((MyTriMesh::ScalarType)p.V(2));
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return (MyTriMesh::CoordType(x,y,z));
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}
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#ifdef _TORUS
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///torus version
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/*float getColor(MyTriMesh::CoordType p)
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{
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static float ray=25.f;
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static float diameter=4.f;
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float dist=p.Norm();
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float difference=abs(ray-dist);
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float z=fabs(p.Z());
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if((difference<diameter)&&(z<diameter))
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return (100.f);
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else
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return (0.f);
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}*/
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bool InTorus(MyTriMesh::CoordType p)
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{
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static float ray=25.f;
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static float diameter=4.f;
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double fatt=(p.X()*p.X()+p.Y()*p.Y());
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double fatt1=(ray-math::Sqrt(fatt));
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double fatt2=fatt1*fatt1+p.Z()*p.Z();
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double conf=diameter*diameter;
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///now swap
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return (fatt2<=conf);
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}
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float getColor(MyTriMesh::CoordType p)
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{
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MyTriMesh::CoordType p1=MyTriMesh::CoordType(p.X(),p.Z(),p.Y());
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MyTriMesh::CoordType p2=MyTriMesh::CoordType(p.Z(),p.Y(),p.X());
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if (InTorus(p))//||InTorus(p1)||InTorus(p2))
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return (100.f);
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else
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return (0.f);
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}
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#else
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///return integer coordinete in volumetric dataset
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float getColor(MyTriMesh::CoordType p)
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{
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float lx=(p.V(0)-(int)p.V(0))*scale.V(0);//da rivedere bene per lo scale
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float ly=(p.V(1)-(int)p.V(1))*scale.V(1);//da rivedere bene per lo scale
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float lz=(p.V(2)-(int)p.V(2))*scale.V(2);//da rivedere bene per lo scale
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p=Scale(p);
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Point3i base=Point3i((int)p.V(0),(int)p.V(1),(int)p.V(2));
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float v[8];
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Point3i px;
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for (int i=0;i<8;i++)
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{
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px=base+Point3i((i%2),(i/4),((i/2)%2));
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v[i]=(float)V.getAt(px);
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}
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float color=lx*v[1]+v[0]+lz*v[0]*lx-v[0]*lx-ly*v[0]+ly*v[2]-lz*v[0]+ly*v[0]*lx-ly*lx*v[1]-ly*v[2]*lx
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-lz*ly*v[0]*lx+lz*ly*lx*v[1]+lz*ly*v[2]*lx-lz*ly*lx*v[3]+lz*ly*lx*v[4]-lz*ly*lx*v[5]-lz*ly*
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v[6]*lx+lz*ly*lx*v[7]+ly*lx*v[3]-lz*lx*v[1]+lz*ly*v[0]-lz*ly*v[2]-lz*lx*v[4]+lz*lx*v[5]-lz*ly*
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v[4]+lz*ly*v[6]+lz*v[4];
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return color;
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}
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#endif
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///maximixe the gradient of the movement
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MyTriMesh::CoordType Gradient(MyTriMesh::CoordType p,float h=0.01f)
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{
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float value=getColor(p);
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MyTriMesh::CoordType h0=MyTriMesh::CoordType(h,0,0);
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MyTriMesh::CoordType h1=MyTriMesh::CoordType(0,h,0);
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MyTriMesh::CoordType h2=MyTriMesh::CoordType(0,0,h);
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float dx=(getColor(p+h0)-value)/h;
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/*dx=v[1]+lz*v[0]-v[0]*lx+ly*v[0]-ly*v[1]-ly*v[2]
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-lz*ly*v[0]+lz*ly*v[1]+lz*ly*v[2]-lz*ly*v[3]+lz*ly*v[4]-lz*ly*v[5]-lz*ly*
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v[6]+lz*ly*v[7]+ly*v[3]-lz*v[1]-lz*v[4]+lz*v[5]-lz*ly*v[4]+lz*ly*v[6]+lz*v[4];
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dy=-v[0]+v[2]+v[0]*lx-lx*v[1]-v[2]*lx
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-lz*v[0]*lx+lz*lx*v[1]+lz*v[2]*lx-lz*lx*v[3]+lz*lx*v[4]-lz*lx*v[5]-lz*v[6]*lx+lz*ly*lx*v[7]+ly*lx*v[3]-lz*lx*v[1]+lz*ly*v[0]-lz*ly*v[2]-lz*lx*v[4]+lz*lx*v[5]-lz*ly*
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v[4]+lz*ly*v[6]+lz*v[4];*/
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float dy=(getColor(p+h1)-value)/h;
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float dz=(getColor(p+h2)-value)/h;
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MyTriMesh::CoordType ret=MyTriMesh::CoordType(dx,dy,dz);
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return (ret);
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}
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///scale the coordinates of a point
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MyTriMesh::CoordType UnScale(MyTriMesh::CoordType p)
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{
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MyTriMesh::ScalarType x=(p.V(0))*scale.V(0);
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MyTriMesh::ScalarType y=(p.V(1))*scale.V(1);
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MyTriMesh::ScalarType z=(p.V(2))*scale.V(2);
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return (MyTriMesh::CoordType(x,y,z));
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}
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///scale the coordinates of a point
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MyTriMesh::CoordType Scale(MyTriMesh::CoordType p)
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{
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MyTriMesh::ScalarType x=(p.V(0))/scale.V(0);
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MyTriMesh::ScalarType y=(p.V(1))/scale.V(1);
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MyTriMesh::ScalarType z=(p.V(2))/scale.V(2);
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return (MyTriMesh::CoordType(x,y,z));
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}
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///return true if a coordinate is out of limits
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bool OutOfLimits(MyTriMesh::CoordType p)
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{
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Point3f test=p;
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Point3f max=BBox().max-Point3f(1.f,1.f,1.f);//last change
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Point3f min=BBox().min;//+Point3f(1.f,1.f,1.f);//last change
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for (int i=0;i<3;i++)
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{
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if(((test.V(i)>=max.V(i))||(test.V(i)<=min.V(i))))
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return true;
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}
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return false;
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}
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bool IsBlocked(MyVertex *v)
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{
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//return ((v->Flags()& BlockFlag!=0));
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return (v->blocked);
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}
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void SetBlocked(MyVertex *v)
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{
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//v->Flags()|= BlockFlag;
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v->blocked=true;
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//v->SetS();//for refine
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}
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void SetBlockedFace(MyFace *f)
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{
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SetBlocked(f->V(0));
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SetBlocked(f->V(1));
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SetBlocked(f->V(2));
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}
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void SetIntersectedFace(MyFace *f)
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{
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f->intersected=true;
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f->ClearS();
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SetBlockedFace(f);
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//if ((!f->intersected)&&(!f->IsD()))
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//{
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// f->intersected=true;
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// /////detach from Face-Face Topology
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// for (int i=0;i<3;i++)
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// if (!f->IsBorder(i))
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// vcg::face::FFDetach<MyFace>(*f,i);
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// f->SetD();
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// m->fn--;
|
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//}
|
|
}
|
|
|
|
bool IsStopped(MyVertex *v)
|
|
{
|
|
//return ((v->Flags()& StoppedFlag!=0));
|
|
return (v->stopped);
|
|
}
|
|
|
|
void SetStopped(MyVertex *v)
|
|
{
|
|
//v->Flags()|= StoppedFlag;
|
|
v->stopped=true;
|
|
V_Stopped.push_back(v);
|
|
}
|
|
|
|
void ClearStopped(MyVertex *v)
|
|
{
|
|
//v->Flags()&= ~StoppedFlag;
|
|
v->stopped=false;
|
|
}
|
|
|
|
/////re-set physical pararmeters on the mesh
|
|
//void InitPhysParam(float k_elanst,float mass,float k_dihedral)
|
|
//{
|
|
// for (unsigned int i=0;i<m->face.size();i++)
|
|
// {
|
|
// if (!m->face[i].IsD())
|
|
// m->face[i].Init(k_elanst,mass,k_dihedral);
|
|
// }
|
|
//}
|
|
|
|
///set the initial mesh of deformable object
|
|
void InitMesh(MyTriMesh *m)
|
|
{
|
|
m->Clear();
|
|
|
|
vcg::tri::Icosahedron<MyTriMesh>(*m);
|
|
|
|
vcg::tri::UpdateTopology<MyTriMesh>::FaceFace(*m);
|
|
|
|
/* P_Vertex.clear();
|
|
P_Faces.clear();*/
|
|
|
|
for (unsigned int i=0;i<m->vert.size();i++)
|
|
{
|
|
m->vert[i].P()=UnScale(m->vert[i].P());///last change
|
|
m->vert[i].P()+=InitialBarycenter;
|
|
m->vert[i].SetRestPos();
|
|
// m.vert[i].P()=UnScale(m.vert[i].P());
|
|
// P_Vertex.push_back(&m.vert[i]);
|
|
}
|
|
|
|
vcg::tri::UpdateNormals<MyTriMesh>::PerVertexNormalized(*m);
|
|
|
|
}
|
|
|
|
|
|
///return true if the gray level of the vertex v differ from graylevel less than tolerance
|
|
bool InTolerance(MyTriMesh::VertexType *v)
|
|
{
|
|
return (fabs(getColor(v->P())-(float)gray_init)<(float)tolerance);
|
|
}
|
|
|
|
///add to the vertex v a containing force basing on diffence from tolerance
|
|
MyTriMesh::CoordType ContainingForce(MyTriMesh::VertexType *v)
|
|
{
|
|
//float dinstance=fabs((FindGrayMedia(v))-gray_init);
|
|
float dinstance=fabs((getColor(v->P()))-(float)gray_init);
|
|
assert(dinstance<=tolerance);
|
|
MyTriMesh::CoordType ret=(-v->N()*((dinstance)/(float)tolerance));
|
|
return (ret);
|
|
}
|
|
|
|
///find the gradient factor
|
|
MyTriMesh::CoordType GradientFactor(MyTriMesh::VertexType *v)
|
|
{
|
|
MyTriMesh::CoordType value=Gradient(v->P());
|
|
/*float d0=getColor(v->P()+value);
|
|
float d1=getColor(v->P()-value);
|
|
if ((fabs(d0-(float)gray_init))>(fabs(d1-(float)gray_init)))
|
|
return (-value);
|
|
else */
|
|
return (value*(gray_init-getColor(v->P())));
|
|
}
|
|
|
|
///add the external forces to the deformable mesh
|
|
|
|
void AddExtForces()
|
|
{
|
|
Part_VertexContainer::iterator vi;
|
|
/*PartialUpdateNormals();*/
|
|
end_loop=true;
|
|
for (vi=P_Vertex.begin();vi<P_Vertex.end();++vi)
|
|
{
|
|
if (!(*vi).IsD())
|
|
{
|
|
if (OutOfLimits((*vi).P()))
|
|
{
|
|
SetBlocked(&*vi);
|
|
(*vi).ExtForce()=MyTriMesh::CoordType(0,0,0);
|
|
}
|
|
else
|
|
if ((!IsBlocked(&*vi))&&(!IsStopped(&*vi)))
|
|
{
|
|
end_loop=false;
|
|
if (!InTolerance(&*vi))
|
|
{
|
|
SetBlocked(&*vi);
|
|
(*vi).ExtForce()=MyTriMesh::CoordType(0,0,0);
|
|
}
|
|
else
|
|
{
|
|
MyTriMesh::CoordType Inflating=(*vi).N();
|
|
MyTriMesh::CoordType Containing0=ContainingForce(&*vi);
|
|
if (Containing0.Norm()>1)
|
|
Containing0.Normalize();
|
|
Containing0*=0.75;
|
|
(*vi).ExtForce()=Inflating+Containing0;/*+Containing1+Containing0*/;
|
|
}
|
|
}
|
|
else
|
|
(*vi).ExtForce()=MyTriMesh::CoordType(0,0,0);
|
|
}
|
|
}
|
|
}
|
|
|
|
///reinit the partial integration vectors that describe active vertices
|
|
void Reinit_PVectors()
|
|
{
|
|
V_Stopped.clear();
|
|
P_Vertex.clear();
|
|
MyTriMesh::VertexIterator vi;
|
|
|
|
for (vi=m->vert.begin();vi<m->vert.end();vi++)
|
|
{
|
|
if ((!vi->IsD())&&(!vi->blocked))
|
|
P_Vertex.push_back(&(*vi));
|
|
if ((!vi->IsD())&&((*vi).stopped)&&(!vi->blocked))///to see
|
|
V_Stopped.push_back(&(*vi));
|
|
}
|
|
|
|
P_Faces.clear();
|
|
MyTriMesh::FaceIterator fi;
|
|
for (fi=m->face.begin();fi<m->face.end();fi++)
|
|
{
|
|
if ((!fi->IsD())&&(!fi->IsBlocked())&&(!fi->intersected))
|
|
P_Faces.push_back(&(*fi));
|
|
}
|
|
}
|
|
|
|
///erase the stopped entities from the partial containers
|
|
void Refresh_PVectors()
|
|
{
|
|
Part_FaceContainer P_FacesAux;
|
|
Part_VertexContainer P_VertexAux;
|
|
P_FacesAux.clear();
|
|
P_VertexAux.clear();
|
|
|
|
unsigned int i=0;
|
|
///as first control normal inversion
|
|
for (i=0;i<P_Faces.size();i++)
|
|
if (P_Faces[i]->NormInversion())//if one step inversion the block vertices
|
|
SetIntersectedFace(P_Faces[i]);
|
|
else
|
|
P_Faces[i]->old_N=NormalizedNormal<MyFace>(*P_Faces[i]);
|
|
|
|
for (i=0;i<P_Vertex.size();i++)
|
|
if ((!P_Vertex[i]->IsD())&&(!P_Vertex[i]->blocked))//&&(!P_Vertex[i]->stopped))
|
|
P_VertexAux.push_back(P_Vertex[i]);
|
|
|
|
for (i=0;i<P_Faces.size();i++)
|
|
if ((!P_Faces[i]->IsD())&&(!P_Faces[i]->intersected)&&(!P_Faces[i]->IsBlocked()))//&&(!P_Faces[i]->IsActive()))//&&(!P_Faces[i]->IsBlocked()))
|
|
P_FacesAux.push_back(P_Faces[i]);
|
|
|
|
P_Faces.clear();
|
|
P_Vertex.clear();
|
|
|
|
P_Faces=P_FacesAux;
|
|
P_Vertex=P_VertexAux;
|
|
}
|
|
|
|
///add the new elements on partial vectors when allocate space for new vertices
|
|
void AddNewElements(MyTriMesh::VertexIterator vi,MyTriMesh::FaceIterator fi)
|
|
{
|
|
while (vi!=m->vert.end())
|
|
{
|
|
if ((!(*vi).IsD())&&(!(*vi).blocked)&&(!(*vi).stopped))
|
|
P_Vertex.push_back(&(*vi));
|
|
vi++;
|
|
}
|
|
while (fi!=m->face.end())
|
|
{
|
|
if ((!(*fi).IsD())&&((*fi).IsActive()))
|
|
P_Faces.push_back(&(*fi));
|
|
fi++;
|
|
}
|
|
}
|
|
|
|
///verify and eventually stop the vertices of the mesh
|
|
void VerifyForces()
|
|
{
|
|
float proj;
|
|
Part_VertexContainer::iterator vi;
|
|
for (vi=P_Vertex.begin();vi<P_Vertex.end();++vi)
|
|
{
|
|
if (!IsStopped(&*vi))
|
|
{
|
|
MyTriMesh::CoordType accn=(*vi).Acc();
|
|
proj=accn*(*vi).N();
|
|
if ((proj)<=0)
|
|
SetStopped(&*vi);
|
|
}
|
|
}
|
|
}
|
|
|
|
bool TimeReinit()
|
|
{
|
|
static clock_t time=0;
|
|
clock_t elapsedsecs=abs(time-clock());
|
|
if (elapsedsecs>interval_reinit)
|
|
{
|
|
time=clock();
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
bool TimeSelfIntersection()
|
|
{
|
|
static clock_t time=0;
|
|
clock_t elapsedsecs=abs(time-clock());
|
|
if (elapsedsecs>interval_selfcollision)
|
|
{
|
|
time=clock();
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
|
|
void PartialUpdateNormals()
|
|
{
|
|
/*vcg::tri::UpdateNormals<MyTriMesh>::PerFaceNormalized(*m);
|
|
vcg::tri::UpdateNormals<MyTriMesh>::PerVertexNormalized(*m);*/
|
|
Part_FaceContainer::iterator fi;
|
|
for (fi=P_Faces.begin();fi<P_Faces.end();++fi)
|
|
if (!(*fi).IsD())
|
|
(*fi).ComputeNormalizedNormal();
|
|
|
|
Part_VertexContainer::iterator vi;
|
|
|
|
for (vi=P_Vertex.begin();vi<P_Vertex.end();++vi)
|
|
if( !(*vi).IsD() && (*vi).IsRW() )
|
|
(*vi).N() = MyVertex::NormalType(0.f,0.f,0.f);
|
|
|
|
for(fi=P_Faces.begin();fi!=P_Faces.end();++fi)
|
|
if( !(*fi).IsD() && (*fi).IsR() )
|
|
{
|
|
MyFace::NormalType t = (*fi).N();
|
|
for(int j=0; j<3; ++j)
|
|
if( !(*fi).V(j)->IsD() && (*fi).V(j)->IsRW() )
|
|
(*fi).V(j)->N() += t;
|
|
}
|
|
|
|
for(vi=P_Vertex.begin();vi!=P_Vertex.end();++vi)
|
|
if( !(*vi).IsD() && (*vi).IsRW() )
|
|
(*vi).N().Normalize();
|
|
|
|
//MyTriMesh::FaceIterator fi;
|
|
//for (fi=m->face.begin();fi!=m->face.end();++fi)
|
|
// if ((!(*fi).IsD())&&(!(*fi).intersected))
|
|
// (*fi).ComputeNormalizedNormal();
|
|
|
|
/////update only on active vertices
|
|
//Part_VertexContainer::iterator vi;
|
|
//for (vi=P_Vertex.begin();vi<P_Vertex.end();++vi)
|
|
// if( !(*vi).IsD() && (*vi).IsRW() )
|
|
// (*vi).N() = MyVertex::NormalType(0.f,0.f,0.f);
|
|
|
|
//for(fi=m->face.begin();fi!=m->face.end();++fi)
|
|
// if( !(*fi).IsD() && (*fi).IsR() &&(!(*fi).intersected))//(!(*fi).IsBlocked())&&
|
|
// {
|
|
// MyFace::NormalType t = (*fi).N();
|
|
// for(int j=0; j<3; ++j)
|
|
// if( !(*fi).V(j)->IsD() && (*fi).V(j)->IsRW())//&& (!(*fi).V(j)->blocked))
|
|
// (*fi).V(j)->N() += t;
|
|
// }
|
|
|
|
//for(vi=P_Vertex.begin();vi!=P_Vertex.end();++vi)
|
|
// if( !(*vi).IsD() && (*vi).IsRW() )
|
|
// (*vi).N().Normalize();
|
|
|
|
}
|
|
|
|
//bool SelectToRefine()
|
|
//{
|
|
// MyTriMesh::FaceIterator fi;
|
|
// for (fi=m->face.begin();pfi<m->face.end();++pfi)
|
|
// {
|
|
// if (((*fi).QualityFace()<0.1f))
|
|
// fi->ClearS();
|
|
// }
|
|
//}
|
|
|
|
template<class MESH_TYPE>
|
|
struct MyMidPoint:vcg::MidPoint<MESH_TYPE>
|
|
{
|
|
void operator()(typename MESH_TYPE::VertexType &nv, face::Pos<typename MESH_TYPE::FaceType> ep){
|
|
|
|
nv.P()= (ep.f->V(ep.z)->P()+ep.f->V1(ep.z)->P())/2.0;
|
|
nv.RPos()=(ep.f->V(ep.z)->RPos()+ep.f->V1(ep.z)->RPos())/2.0;
|
|
|
|
if( MESH_TYPE::HasPerVertexNormal())
|
|
nv.N()= (ep.f->V(ep.z)->N()+ep.f->V1(ep.z)->N()).Normalize();
|
|
|
|
if( MESH_TYPE::HasPerVertexColor())
|
|
nv.C().lerp(ep.f->V(ep.z)->C(),ep.f->V1(ep.z)->C(),.5f);
|
|
}
|
|
};
|
|
|
|
///refine the mesh and re-update eventually
|
|
void RefineStep(float _edge_size)
|
|
{
|
|
MyTriMesh::VertexIterator vinit=m->vert.begin();
|
|
MyTriMesh::FaceIterator finit=m->face.begin();
|
|
MyTriMesh::VertexIterator vend=m->vert.end();
|
|
MyTriMesh::FaceIterator fend=m->face.end();
|
|
|
|
// bool to_refine=SelectToRefine();
|
|
|
|
/*if (to_refine)*/
|
|
//refined=vcg::Refine(*m,MidPoint<MyTriMesh>(),_edge_size,true);
|
|
refined=vcg::Refine(*m,MyMidPoint<MyTriMesh>(),_edge_size,true);
|
|
/*else
|
|
refined=false;*/
|
|
|
|
if (refined)
|
|
{
|
|
|
|
MyTriMesh::VertexIterator vinit2=m->vert.begin();
|
|
MyTriMesh::FaceIterator finit2=m->face.begin();
|
|
|
|
if ((vinit2!=vinit)||(finit2!=finit))
|
|
{
|
|
Reinit_PVectors();
|
|
CollDet->RefreshElements();
|
|
}
|
|
else
|
|
{
|
|
AddNewElements(vend,fend);
|
|
CollDet->UpdateStep<Part_FaceContainer>(P_Faces);
|
|
}
|
|
/*vcg::tri::UpdateNormals<MyTriMesh>::PerFaceNormalized(*m);
|
|
vcg::tri::UpdateNormals<MyTriMesh>::PerVertexNormalized(*m);*/
|
|
|
|
PartialUpdateNormals();
|
|
PartialReinitPhysicMesh();
|
|
|
|
//#ifdef _DEBUG
|
|
// vcg::tri::UpdateTopology<MyTriMesh>::TestFaceFace(*m);
|
|
//#endif
|
|
|
|
//CollDet->RefreshElements();
|
|
}
|
|
}
|
|
|
|
///reset vertex position and unblock them
|
|
void PartialReinitPhysicMesh()
|
|
{
|
|
Part_FaceContainer::iterator pfi;
|
|
|
|
Part_VertexContainer::iterator pvi;
|
|
for (pvi=P_Vertex.begin();pvi<P_Vertex.end();++pvi)
|
|
if(!(*pvi).IsD())
|
|
(*pvi).SetRestPos();
|
|
|
|
for (pfi=P_Faces.begin();pfi<P_Faces.end();++pfi)
|
|
if((!(*pfi).IsD())&&((!(*pfi).intersected)))
|
|
(*pfi).Init(k_elanst,mass,k_dihedral);
|
|
|
|
|
|
/*MyTriMesh::VertexIterator pvi;
|
|
MyTriMesh::FaceIterator pfi;
|
|
|
|
for (pvi=m->vert.begin();pvi<m->vert.end();++pvi)
|
|
if(!(*pvi).IsD())
|
|
(*pvi).SetRestPos();
|
|
|
|
for (pfi=m->face.begin();pfi<m->face.end();++pfi)
|
|
if((!(*pfi).IsD())&&((!(*pfi).intersected)))
|
|
(*pfi).Init(k_elanst,mass,k_dihedral);
|
|
|
|
PartialUpdateNormals();*/
|
|
|
|
/*for (MyTriMesh::VertexIterator vi=m.vert.begin();vi<m.vert.end();vi++)
|
|
ClearStopped(&*vi);*/
|
|
}
|
|
|
|
///clear the stopped vertex
|
|
void ClearStopped()
|
|
{
|
|
//for (MyTriMesh::VertexIterator vi=m.vert.begin();vi<m.vert.end();vi++)
|
|
// ClearStopped(&*vi);
|
|
|
|
Part_VertexContainer::iterator vi;
|
|
for (vi=V_Stopped.begin();vi<V_Stopped.end();++vi)
|
|
{
|
|
ClearStopped(&*vi);
|
|
}
|
|
V_Stopped.clear();
|
|
}
|
|
|
|
///do one step of controls for self collision detetction
|
|
void CollisionDetection()
|
|
{
|
|
CollDet->UpdateStep<Part_FaceContainer>(P_Faces);
|
|
std::vector<MyFace*> coll=CollDet->computeSelfIntersection();
|
|
for (std::vector<MyFace*>::iterator it=coll.begin();it<coll.end();it++)
|
|
{
|
|
if (!(*it)->IsD())
|
|
{
|
|
SetBlockedFace(*it);
|
|
SetIntersectedFace(*it);
|
|
}
|
|
}
|
|
}
|
|
|
|
public:
|
|
|
|
///set the initial barycenter where the triangle mesh start to expand
|
|
//void SetInitialBarycenter(MyTriMesh::CoordType b)
|
|
//{
|
|
// InitialBarycenter=b;
|
|
// gray_init=getColor(b);
|
|
// /*InitMesh(m);*/
|
|
//}
|
|
|
|
///set the input output directory of images
|
|
void LoadFromDir(char *in, char *out)
|
|
{
|
|
inDir=in;
|
|
outDir=out;
|
|
|
|
//caso optimized
|
|
/*V.LoadJpg(inDir,outDir);
|
|
|
|
V.Init(1000,outDir);*/
|
|
|
|
V.LoadJpg(inDir);
|
|
bbox=vcg::Box3<float>(MapToSpace((V.Min())),(MapToSpace(V.Max())));
|
|
}
|
|
|
|
///set the input
|
|
void LoadFromRaw(char *inDir)
|
|
{
|
|
/*V.LoadRaw(inDir);
|
|
bbox=vcg::Box3<float>(MapToSpace((V.Min())),(MapToSpace(V.Max())));*/
|
|
}
|
|
|
|
///set parameters for segmentation
|
|
void SetSegmentParameters(int tol,float Mass=0.5f,float K_elanst=0.2f,float Dihedral=0.2f,float Time_stamp=0.2f,
|
|
float Edge_precision=4.f,Point3f ScaleFactor=Point3f(1.f,1.f,1.f),
|
|
clock_t _interval=2000,clock_t _interval2=250)
|
|
{
|
|
mass=Mass;
|
|
k_elanst=K_elanst;
|
|
tolerance=tol;
|
|
|
|
interval_reinit=_interval;
|
|
interval_selfcollision=_interval2;
|
|
|
|
edge_size=16.f;
|
|
edge_init=edge_size;
|
|
edge_precision=Edge_precision;
|
|
time_stamp=Time_stamp;
|
|
k_dihedral=Dihedral;
|
|
scale=ScaleFactor;
|
|
bbox=vcg::Box3<float>(UnScale(MapToSpace(V.Min())),(UnScale(MapToSpace(V.Max()))));//last change!
|
|
}
|
|
|
|
|
|
///init the segmentation of the mesh
|
|
void InitSegmentation(MyTriMesh::CoordType b)
|
|
{
|
|
InitialBarycenter=b;
|
|
gray_init=getColor(b);
|
|
|
|
TrINT= new myIntegrator(P_Faces,P_Vertex);
|
|
|
|
TrINT->SetPDESolver(PDESolvers::EULER_METHOD);
|
|
|
|
InitMesh(m);
|
|
|
|
//init the mesh with new
|
|
Reinit_PVectors();
|
|
|
|
PartialReinitPhysicMesh();
|
|
|
|
CollDet->Init(bbox.min,bbox.max,5.f);
|
|
}
|
|
|
|
///return the bounding box of the mesh
|
|
vcg::Box3<float>& BBox()
|
|
{
|
|
return (bbox);
|
|
}
|
|
|
|
///one step of moving for the deformable object
|
|
void Step(float t,float _edge_size)
|
|
{
|
|
if (m->face.size()!=0)
|
|
{
|
|
AddExtForces();
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|
TrINT->Step(t);
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|
PartialUpdateNormals();
|
|
VerifyForces();
|
|
Refresh_PVectors();
|
|
if (end_loop)
|
|
{
|
|
ClearStopped();
|
|
Reinit_PVectors();
|
|
PartialReinitPhysicMesh();
|
|
RefineStep(_edge_size);
|
|
/*ReinitPhysicMesh();*/
|
|
}
|
|
if (TimeSelfIntersection())
|
|
CollisionDetection();
|
|
}
|
|
}
|
|
|
|
void Smooth()
|
|
{
|
|
//ScaleLaplacianSmooth<MyTriMesh>(*m,1,0.5);
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|
vcg::tri::UpdateTopology<MyTriMesh>::VertexFace(*m);
|
|
PasoDobleSmooth<MyTriMesh>(*m,1);
|
|
}
|
|
|
|
void AutoStep()
|
|
{
|
|
refined=false;
|
|
Step(time_stamp,edge_size);
|
|
//test on 80% of the vertex blocked
|
|
if ((((float)P_Vertex.size()/(float)m->vn)<0.2)&&(end_loop)&&(!refined)&&(edge_size>edge_precision))
|
|
{
|
|
edge_size/=2.f;
|
|
if (edge_size<edge_precision)
|
|
edge_size=edge_precision;
|
|
time_stamp/=2.f;
|
|
}
|
|
}
|
|
|
|
//void MarchingCubeExtraction()
|
|
//{
|
|
// /*
|
|
// new_m = new MyTriMesh();
|
|
// mcE.Extract(gray_init,&V,vcg::Point3i(2,2,2),*new_m);*/
|
|
//
|
|
// MC_Extractor<MyTriMesh> mcE;
|
|
// mcE.Extract(gray_init,V,vcg::Point3i(256,256,100),*m,gray_init);
|
|
// //mcE.Extract(gray_init,V,vcg::Point3i(512,512,240),*m,gray_init);
|
|
// //mcE.Extract(gray_init,V,vcg::Point3i(128,128,60),*m,gray_init);
|
|
//}
|
|
|
|
///set as deleted intersected vertices
|
|
void ClearIntersectedFaces()
|
|
{
|
|
MyTriMesh::FaceIterator fi;
|
|
for (fi=m->face.begin();fi<m->face.end();fi++)
|
|
#ifdef _TORUS
|
|
if (((*fi).intersected==true))///||((*fi).HaveVertexActive()))
|
|
{
|
|
m->fn--;
|
|
(*fi).SetD();
|
|
}
|
|
#else
|
|
if (((*fi).intersected==true))//||((*fi).HaveVertexActive()))
|
|
{
|
|
m->fn--;
|
|
(*fi).SetD();
|
|
}
|
|
#endif
|
|
}
|
|
|
|
///first version
|
|
void Resample()
|
|
{
|
|
ClearIntersectedFaces();
|
|
new_m=new MyTriMesh();
|
|
vcg::tri::UpdateBounding<MyTriMesh>::Box(*m);
|
|
#ifdef _TORUS
|
|
vcg::trimesh::Resampler<MyTriMesh,MyTriMesh>::Resample<vcg::trimesh::RES::MMarchingCubes>(*m,*new_m,
|
|
Point3i((int) edge_precision,(int) edge_precision,(int) edge_precision),edge_init);
|
|
#else
|
|
vcg::trimesh::Resampler<MyTriMesh,MyTriMesh>::Resample<vcg::trimesh::RES::MMarchingCubes>(*m,*new_m,
|
|
Point3i((int) edge_precision/2.0,(int) edge_precision/2.0,(int) edge_precision/2.0),edge_size*2.f);
|
|
#endif
|
|
// delete(new_m0);
|
|
delete(m);
|
|
|
|
m=new_m;
|
|
Reinit_PVectors();
|
|
PartialReinitPhysicMesh();
|
|
|
|
CollDet->Init(bbox.min,bbox.max,5.f);
|
|
}
|
|
|
|
};
|
|
#endif |