411 lines
12 KiB
C++
411 lines
12 KiB
C++
#ifndef BALL_PIVOTING_H
|
|
#define BALL_PIVOTING_H
|
|
|
|
#include "advancing_front.h"
|
|
#include <vcg/space/index/kdtree/kdtree.h>
|
|
|
|
#include <vcg/complex/algorithms/closest.h>
|
|
|
|
/* Ball pivoting algorithm:
|
|
1) the vertices used in the new mesh are marked as visited
|
|
2) the border vertices of the new mesh are marked as border
|
|
3) the vector nb is used to keep track of the number of borders a vertex belongs to
|
|
4) usedBit flag is used to select the points in the mesh already processed
|
|
|
|
*/
|
|
namespace vcg {
|
|
namespace tri {
|
|
|
|
template <class MESH> class BallPivoting: public AdvancingFront<MESH> {
|
|
public:
|
|
typedef typename MESH::VertexType VertexType;
|
|
typedef typename MESH::FaceType FaceType;
|
|
typedef typename MESH::ScalarType ScalarType;
|
|
typedef typename MESH::VertexIterator VertexIterator;
|
|
typedef typename MESH::VertexType::CoordType Point3x;
|
|
|
|
float radius; //radius of the ball
|
|
float min_edge; //min length of an edge
|
|
float max_edge; //min length of an edge
|
|
float max_angle; //max angle between 2 faces (cos(angle) actually)
|
|
|
|
public:
|
|
|
|
// if radius ==0 an autoguess for the ball pivoting radius is attempted
|
|
// otherwise the passed value (in absolute mesh units) is used.
|
|
|
|
BallPivoting(MESH &_mesh, float _radius = 0,
|
|
float minr = 0.2, float angle = M_PI/2):
|
|
|
|
AdvancingFront<MESH>(_mesh), radius(_radius),
|
|
min_edge(minr), max_edge(1.8), max_angle(cos(angle)),
|
|
last_seed(-1) {
|
|
|
|
//compute bbox
|
|
baricenter = Point3x(0, 0, 0);
|
|
UpdateBounding<MESH>::Box(_mesh);
|
|
for(VertexIterator vi=this->mesh.vert.begin();vi!=this->mesh.vert.end();++vi)
|
|
if( !(*vi).IsD() ) baricenter += (*vi).P();
|
|
|
|
baricenter /= this->mesh.vn;
|
|
|
|
assert(this->mesh.vn > 3);
|
|
if(radius == 0) // radius ==0 means that an auto guess should be attempted.
|
|
radius = sqrt((this->mesh.bbox.Diag()*this->mesh.bbox.Diag())/this->mesh.vn);
|
|
|
|
|
|
min_edge *= radius;
|
|
max_edge *= radius;
|
|
|
|
VertexConstDataWrapper<MESH> ww(this->mesh);
|
|
tree = new KdTree<ScalarType>(ww);
|
|
// tree->setMaxNofNeighbors(16);
|
|
|
|
usedBit = VertexType::NewBitFlag();
|
|
UpdateFlags<MESH>::VertexClear(this->mesh,usedBit);
|
|
UpdateFlags<MESH>::VertexClearV(this->mesh);
|
|
|
|
for(int i = 0; i < (int)this->mesh.face.size(); i++) {
|
|
FaceType &f = this->mesh.face[i];
|
|
if(f.IsD()) continue;
|
|
for(int k = 0; k < 3; k++) {
|
|
Mark(f.V(k));
|
|
}
|
|
}
|
|
}
|
|
|
|
~BallPivoting() {
|
|
VertexType::DeleteBitFlag(usedBit);
|
|
delete tree;
|
|
}
|
|
|
|
bool Seed(int &v0, int &v1, int &v2) {
|
|
//get a sphere of neighbours
|
|
while(++last_seed < (int)(this->mesh.vert.size())) {
|
|
std::vector<VertexType *> targets;
|
|
VertexType &seed = this->mesh.vert[last_seed];
|
|
if(seed.IsD() || seed.IsUserBit(usedBit)) continue;
|
|
|
|
seed.SetUserBit(usedBit);
|
|
|
|
typename KdTree<ScalarType>::PriorityQueue pq;
|
|
tree->doQueryK(seed.P(),16,pq);
|
|
int nn = pq.getNofElements();
|
|
for(int i=0;i<nn;++i)
|
|
{
|
|
VertexType *vp = &this->mesh.vert[pq.getIndex(i)];
|
|
if(Distance(seed.P(),vp->cP()) > 2*radius) continue;
|
|
targets.push_back(vp);
|
|
}
|
|
|
|
int n = targets.size();
|
|
if(n<3) continue;
|
|
|
|
bool success = true;
|
|
//find the closest visited or boundary
|
|
for(int i = 0; i < n; i++) {
|
|
VertexType &v = *(targets[i]);
|
|
if(v.IsV()) {
|
|
success = false;
|
|
break;
|
|
}
|
|
}
|
|
if(!success) continue;
|
|
|
|
VertexType *vv0, *vv1, *vv2;
|
|
success = false;
|
|
//find a triplet that does not contains any other point
|
|
Point3x center;
|
|
for(int i = 0; i < n; i++) {
|
|
vv0 = targets[i];
|
|
if(vv0->IsD()) continue;
|
|
Point3x &p0 = vv0->P();
|
|
|
|
for(int k = i+1; k < n; k++) {
|
|
vv1 = targets[k];
|
|
if(vv1->IsD()) continue;
|
|
Point3x &p1 = vv1->P();
|
|
float d2 = (p1 - p0).Norm();
|
|
if(d2 < min_edge || d2 > max_edge) continue;
|
|
|
|
for(int j = k+1; j < n; j++) {
|
|
vv2 = targets[j];
|
|
if(vv2->IsD()) continue;
|
|
Point3x &p2 = vv2->P();
|
|
float d1 = (p2 - p0).Norm();
|
|
if(d1 < min_edge || d1 > max_edge) continue;
|
|
float d0 = (p2 - p1).Norm();
|
|
if(d0 < min_edge || d0 > max_edge) continue;
|
|
|
|
Point3x normal = (p1 - p0)^(p2 - p0);
|
|
if(normal.dot(p0 - baricenter) < 0) continue;
|
|
/* if(use_normals) {
|
|
if(normal * vv0->N() < 0) continue;
|
|
if(normal * vv1->N() < 0) continue;
|
|
if(normal * vv2->N() < 0) continue;
|
|
}*/
|
|
|
|
if(!FindSphere(p0, p1, p2, center)) {
|
|
continue;
|
|
}
|
|
|
|
//check no other point inside
|
|
int t;
|
|
for(t = 0; t < n; t++) {
|
|
ScalarType rr= Distance(center, targets[t]->P());
|
|
if( rr < radius - min_edge)
|
|
break;
|
|
}
|
|
if(t < n) {
|
|
continue;
|
|
}
|
|
|
|
//check on the other side there is not a surface
|
|
Point3x opposite = center + normal*(((center - p0).dot(normal))*2/normal.SquaredNorm());
|
|
for(t = 0; t < n; t++) {
|
|
VertexType &v = *(targets[t]);
|
|
if((v.IsV()) && (opposite - v.P()).Norm() <= radius)
|
|
break;
|
|
}
|
|
if(t < n) {
|
|
continue;
|
|
}
|
|
success = true;
|
|
i = k = j = n;
|
|
}
|
|
}
|
|
}
|
|
|
|
if(!success) { //see bad luck above
|
|
continue;
|
|
}
|
|
Mark(vv0);
|
|
Mark(vv1);
|
|
Mark(vv2);
|
|
|
|
v0 = tri::Index(this->mesh,vv0);
|
|
v1 = tri::Index(this->mesh,vv1);
|
|
v2 = tri::Index(this->mesh,vv2);
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// Given an edge select a new vertex, mark as Visited and mark as usedBit all neighbours (less than min_edge)
|
|
int Place(FrontEdge &edge, typename AdvancingFront<MESH>::ResultIterator &touch) {
|
|
Point3x v0 = this->mesh.vert[edge.v0].P();
|
|
Point3x v1 = this->mesh.vert[edge.v1].P();
|
|
Point3x v2 = this->mesh.vert[edge.v2].P();
|
|
/* TODO why using the face normals everything goes wrong? should be
|
|
exactly the same................................................
|
|
|
|
Point3x &normal = mesh.face[edge.face].N(); ?
|
|
*/
|
|
|
|
Point3x normal = ((v1 - v0)^(v2 - v0)).Normalize();
|
|
Point3x middle = (v0 + v1)/2;
|
|
Point3x center;
|
|
|
|
if(!FindSphere(v0, v1, v2, center)) {
|
|
// assert(0);
|
|
return -1;
|
|
}
|
|
|
|
Point3x start_pivot = center - middle;
|
|
Point3x axis = (v1 - v0);
|
|
|
|
ScalarType axis_len = axis.SquaredNorm();
|
|
if(axis_len > 4*radius*radius) {
|
|
return -1;
|
|
}
|
|
axis.Normalize();
|
|
|
|
// r is the radius of the thorus of all possible spheres passing throug v0 and v1
|
|
ScalarType r = sqrt(radius*radius - axis_len/4);
|
|
|
|
|
|
typename KdTree<ScalarType>::PriorityQueue pq;
|
|
tree->doQueryK(middle,16,pq);
|
|
int nn = pq.getNofElements();
|
|
if(nn==0) return -1;
|
|
|
|
VertexType *candidate = NULL;
|
|
ScalarType min_angle = M_PI;
|
|
//
|
|
// Loop over all the nearest vertexes and choose the best one according the ball pivoting strategy.
|
|
//
|
|
for (int i = 0; i < nn; i++) {
|
|
int vInd = pq.getIndex(i);
|
|
VertexType *v = &this->mesh.vert[vInd];
|
|
if(Distance(middle,v->cP()) > r + radius) continue;
|
|
|
|
// this should always be true IsB => IsV , IsV => IsU
|
|
if(v->IsB()) assert(v->IsV());
|
|
if(v->IsV()) assert(v->IsUserBit(usedBit));
|
|
|
|
|
|
if(v->IsUserBit(usedBit) && !(v->IsB())) continue;
|
|
if(vInd == edge.v0 || vInd == edge.v1 || vInd == edge.v2) continue;
|
|
|
|
Point3x p = this->mesh.vert[vInd].P();
|
|
|
|
/* Find the sphere through v0, p, v1 (store center on end_pivot */
|
|
if(!FindSphere(v0, p, v1, center)) {
|
|
continue;
|
|
}
|
|
|
|
/* Angle between old center and new center */
|
|
ScalarType alpha = OrientedAngleRad(start_pivot, center - middle, axis);
|
|
|
|
/* adding a small bias to already chosen vertices.
|
|
doesn't solve numerical problems, but helps. */
|
|
// if(this->mesh.vert[id].IsB()) alpha -= 0.001;
|
|
|
|
/* Sometimes alpha might be little less then M_PI while it should be 0,
|
|
by numerical errors: happens for example pivoting
|
|
on the diagonal of a square. */
|
|
|
|
/* if(alpha > 2*M_PI - 0.8) {
|
|
// Angle between old center and new *point*
|
|
//TODO is this really overshooting? shouldbe enough to alpha -= 2*M_PI
|
|
Point3x proj = p - axis * (axis * p - axis * middle);
|
|
ScalarType beta = angle(start_pivot, proj - middle, axis);
|
|
|
|
if(alpha > beta) alpha -= 2*M_PI;
|
|
} */
|
|
if(candidate == NULL || alpha < min_angle) {
|
|
candidate = v;
|
|
min_angle = alpha;
|
|
}
|
|
}
|
|
if(min_angle >= M_PI - 0.1) {
|
|
return -1;
|
|
}
|
|
|
|
if(candidate == NULL) {
|
|
return -1;
|
|
}
|
|
if(!candidate->IsB()) {
|
|
assert((candidate->P() - v0).Norm() > min_edge);
|
|
assert((candidate->P() - v1).Norm() > min_edge);
|
|
}
|
|
|
|
int candidateIndex = tri::Index(this->mesh,candidate);
|
|
assert(candidateIndex != edge.v0 && candidateIndex != edge.v1);
|
|
|
|
Point3x newnormal = ((candidate->P() - v0)^(v1 - v0)).Normalize();
|
|
if(normal.dot(newnormal) < max_angle || this->nb[candidateIndex] >= 2) {
|
|
return -1;
|
|
}
|
|
|
|
//test if id is in some border (to return touch
|
|
for(std::list<FrontEdge>::iterator k = this->front.begin(); k != this->front.end(); k++)
|
|
{
|
|
if((*k).v0 == candidateIndex)
|
|
{
|
|
touch.first = AdvancingFront<MESH>::FRONT;
|
|
touch.second = k;
|
|
}
|
|
}
|
|
for(std::list<FrontEdge>::iterator k = this->deads.begin(); k != this->deads.end(); k++)
|
|
{
|
|
if((*k).v0 == candidateIndex)
|
|
{
|
|
touch.first = AdvancingFront<MESH>::DEADS;
|
|
touch.second = k;
|
|
}
|
|
}
|
|
|
|
//mark vertices close to candidate
|
|
Mark(candidate);
|
|
return candidateIndex;
|
|
}
|
|
|
|
private:
|
|
int last_seed; //used for new seeds when front is empty
|
|
int usedBit; //use to detect if a vertex has been already processed.
|
|
Point3x baricenter;//used for the first seed.
|
|
KdTree<ScalarType> *tree;
|
|
|
|
|
|
/* returns the sphere touching p0, p1, p2 of radius r such that
|
|
the normal of the face points toward the center of the sphere */
|
|
|
|
bool FindSphere(const Point3x &p0, const Point3x &p1, const Point3x &p2, Point3x ¢er) {
|
|
//we want p0 to be always the smallest one.
|
|
Point3x p[3];
|
|
|
|
if(p0 < p1 && p0 < p2) {
|
|
p[0] = p0;
|
|
p[1] = p1;
|
|
p[2] = p2;
|
|
} else if(p1 < p0 && p1 < p2) {
|
|
p[0] = p1;
|
|
p[1] = p2;
|
|
p[2] = p0;
|
|
} else {
|
|
p[0] = p2;
|
|
p[1] = p0;
|
|
p[2] = p1;
|
|
}
|
|
Point3x q1 = p[1] - p[0];
|
|
Point3x q2 = p[2] - p[0];
|
|
|
|
Point3x up = q1^q2;
|
|
ScalarType uplen = up.Norm();
|
|
|
|
//the three points are aligned
|
|
if(uplen < 0.001*q1.Norm()*q2.Norm()) {
|
|
return false;
|
|
}
|
|
up /= uplen;
|
|
|
|
|
|
ScalarType a11 = q1.dot(q1);
|
|
ScalarType a12 = q1.dot(q2);
|
|
ScalarType a22 = q2.dot(q2);
|
|
|
|
ScalarType m = 4*(a11*a22 - a12*a12);
|
|
ScalarType l1 = 2*(a11*a22 - a22*a12)/m;
|
|
ScalarType l2 = 2*(a11*a22 - a12*a11)/m;
|
|
|
|
center = q1*l1 + q2*l2;
|
|
ScalarType circle_r = center.Norm();
|
|
if(circle_r > radius) {
|
|
return false; //need too big a sphere
|
|
}
|
|
|
|
ScalarType height = sqrt(radius*radius - circle_r*circle_r);
|
|
center += p[0] + up*height;
|
|
|
|
return true;
|
|
}
|
|
|
|
/* compute angle from p to q, using axis for orientation */
|
|
ScalarType OrientedAngleRad(Point3x p, Point3x q, Point3x &axis) {
|
|
p.Normalize();
|
|
q.Normalize();
|
|
Point3x vec = p^q;
|
|
ScalarType angle = acos(p.dot(q));
|
|
if(vec.dot(axis) < 0) angle = -angle;
|
|
if(angle < 0) angle += 2*M_PI;
|
|
return angle;
|
|
}
|
|
|
|
void Mark(VertexType *v) {
|
|
typename KdTree<ScalarType>::PriorityQueue pq;
|
|
tree->doQueryK(v->cP(),16,pq);
|
|
int n = pq.getNofElements();
|
|
for (int i = 0; i < n; i++) {
|
|
VertexType *vp = &this->mesh.vert[pq.getIndex(i)];
|
|
if(Distance(v->cP(),vp->cP())<min_edge)
|
|
vp->SetUserBit(usedBit);
|
|
}
|
|
v->SetV();
|
|
}
|
|
};
|
|
|
|
} //namespace tri
|
|
} //namespace vcg
|
|
#endif
|