471 lines
17 KiB
C++
471 lines
17 KiB
C++
/****************************************************************************
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* VCGLib o o *
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* Visual and Computer Graphics Library o o *
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* _ O _ *
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* Copyright(C) 2004 \/)\/ *
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* Visual Computing Lab /\/| *
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* ISTI - Italian National Research Council | *
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* \ *
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* All rights reserved. *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
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* for more details. *
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* *
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****************************************************************************/
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#ifndef __VCGLIB_FACE_DISTANCE
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#define __VCGLIB_FACE_DISTANCE
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#include <vcg/math/base.h>
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#include <vcg/space/point3.h>
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#include <vcg/space/segment3.h>
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#include <vcg/space/distance3.h>
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namespace vcg {
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namespace face{
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/*
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Basic Wrapper for getting point-triangular face distance
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distance is unsigned;
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return true if the closest point <q> on <f> is nearer than the passed <dist>;
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return false otherwiswe (and q is not valid)
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This wrapper requires that your face has
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- Per Face Flags well initialized
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- Per Face EdgePlane component initialized.
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Initialization must be done with:
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tri::UpdateEdges<MeshType>::Set(yourMesh);
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*/
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template <class FaceType>
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bool PointDistanceEP( const FaceType &f,
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const vcg::Point3<typename FaceType::ScalarType> & q,
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typename FaceType::ScalarType & dist,
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vcg::Point3<typename FaceType::ScalarType> & p )
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{
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typedef typename FaceType::ScalarType ScalarType;
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const ScalarType EPS = ScalarType( 0.000001);
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ScalarType b,b0,b1,b2;
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ScalarType d = SignedDistancePlanePoint( f.cPlane(), q );
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if( d>dist || d<-dist ) return false;
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Point3<ScalarType> t = f.cPlane().Direction();
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p = q - t*d; // p is the projection of q on the face plane
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// Now Choose the best plane and test to see if p is inside the triangle
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switch( f.cFlags() & (FaceType::NORMX|FaceType::NORMY|FaceType::NORMZ) )
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{
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case FaceType::NORMX:
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b0 = f.cEdge(1)[1]*(p[2] - f.cP(1)[2]) - f.cEdge(1)[2]*(p[1] - f.cP(1)[1]);
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if(b0<=0)
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{
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b0 = PSDist(q,f.cV(1)->cP(),f.cV(2)->cP(),p);
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if(dist>b0) { dist = b0; return true; }
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else return false;
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}
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b1 = f.cEdge(2)[1]*(p[2] - f.cP(2)[2]) - f.cEdge(2)[2]*(p[1] - f.cP(2)[1]);
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if(b1<=0)
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{
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b1 = PSDist(q,f.cV(2)->cP(),f.cV(0)->cP(),p);
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if(dist>b1) { dist = b1; return true; }
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else return false;
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}
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b2 = f.cEdge(0)[1]*(p[2] - f.cP(0)[2]) - f.cEdge(0)[2]*(p[1] - f.cP(0)[1]);
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if(b2<=0)
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{
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b2 = PSDist(q,f.cV(0)->cP(),f.cV(1)->cP(),p);
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if(dist>b2) { dist = b2; return true; }
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else return false;
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}
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// if all these tests failed the projection p should be inside.
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// Some further tests for more robustness...
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if( (b=std::min(b0,std::min(b1,b2)) ) < EPS*DoubleArea(f))
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{
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ScalarType bt;
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if(b==b0) bt = PSDist(q,f.cV(1)->cP(),f.cV(2)->cP(),p);
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else if(b==b1) bt = PSDist(q,f.cV(2)->cP(),f.cV(0)->cP(),p);
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else { assert(b==b2);
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bt = PSDist(q,f.cV(0)->cP(),f.cV(1)->cP(),p);
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}
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if(dist>bt) { dist = bt; return true; }
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else return false;
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}
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break;
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case FaceType::NORMY:
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b0 = f.cEdge(1)[2]*(p[0] - f.cP(1)[0]) - f.cEdge(1)[0]*(p[2] - f.cP(1)[2]);
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if(b0<=0)
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{
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b0 = PSDist(q,f.cV(1)->cP(),f.cV(2)->cP(),p);
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if(dist>b0) { dist = b0; return true; }
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else return false;
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}
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b1 = f.cEdge(2)[2]*(p[0] - f.cP(2)[0]) - f.cEdge(2)[0]*(p[2] - f.cP(2)[2]);
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if(b1<=0)
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{
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b1 = PSDist(q,f.cV(2)->cP(),f.cV(0)->cP(),p);
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if(dist>b1) { dist = b1; return true; }
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else return false;
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}
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b2 = f.cEdge(0)[2]*(p[0] - f.cP(0)[0]) - f.cEdge(0)[0]*(p[2] - f.cP(0)[2]);
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if(b2<=0)
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{
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b2 = PSDist(q,f.cV(0)->cP(),f.cV(1)->cP(),p);
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if(dist>b2) { dist = b2; return true; }
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else return false;
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}
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if( (b=math::Min<ScalarType>(b0,b1,b2)) < EPS*DoubleArea(f))
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{
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ScalarType bt;
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if(b==b0) bt = PSDist(q,f.cV(1)->cP(),f.cV(2)->cP(),p);
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else if(b==b1) bt = PSDist(q,f.cV(2)->cP(),f.cV(0)->cP(),p);
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else { assert(b==b2);
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bt = PSDist(q,f.cV(0)->cP(),f.cV(1)->cP(),p);
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}
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if(dist>bt) { dist = bt; return true; }
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else return false;
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}
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break;
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case FaceType::NORMZ:
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b0 = f.cEdge(1)[0]*(p[1] - f.cP(1)[1]) - f.cEdge(1)[1]*(p[0] - f.cP(1)[0]);
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if(b0<=0)
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{
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b0 = PSDist(q,f.cV(1)->cP(),f.cV(2)->cP(),p);
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if(dist>b0) { dist = b0; return true; }
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else return false;
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}
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b1 = f.cEdge(2)[0]*(p[1] - f.cP(2)[1]) - f.cEdge(2)[1]*(p[0] - f.cP(2)[0]);
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if(b1<=0)
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{
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b1 = PSDist(q,f.cV(2)->cP(),f.cV(0)->cP(),p);
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if(dist>b1) { dist = b1; return true; }
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else return false;
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}
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b2 = f.cEdge(0)[0]*(p[1] - f.cP(0)[1]) - f.cEdge(0)[1]*(p[0] - f.cP(0)[0]);
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if(b2<=0)
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{
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b2 = PSDist(q,f.cV(0)->cP(),f.cV(1)->cP(),p);
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if(dist>b2) { dist = b2; return true; }
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else return false;
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}
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if( (b=math::Min<ScalarType>(b0,b1,b2)) < EPS*DoubleArea(f))
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{
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ScalarType bt;
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if(b==b0) bt = PSDist(q,f.cV(1)->cP(),f.cV(2)->cP(),p);
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else if(b==b1) bt = PSDist(q,f.cV(2)->cP(),f.cV(0)->cP(),p);
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else { assert(b==b2);
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bt = PSDist(q,f.cV(0)->cP(),f.cV(1)->cP(),p);
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}
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if(dist>bt) { dist = bt; return true; }
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else return false;
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}
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break;
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} // end switch
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dist = ScalarType(fabs(d));
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return true;
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}
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template <class S>
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class PointDistanceEPFunctor {
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public:
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typedef S ScalarType;
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typedef Point3<ScalarType> QueryType;
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static inline const Point3<ScalarType> & Pos(const QueryType & qt) {return qt;}
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template <class FACETYPE, class SCALARTYPE>
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inline bool operator () (const FACETYPE & f, const Point3<SCALARTYPE> & p, SCALARTYPE & minDist, Point3<SCALARTYPE> & q) {
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const Point3<typename FACETYPE::ScalarType> fp = Point3<typename FACETYPE::ScalarType>::Construct(p);
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Point3<typename FACETYPE::ScalarType> fq;
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typename FACETYPE::ScalarType md = (typename FACETYPE::ScalarType)(minDist);
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const bool ret = PointDistanceEP(f, fp, md, fq);
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minDist = (SCALARTYPE)(md);
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q = Point3<SCALARTYPE>::Construct(fq);
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return (ret);
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}
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};
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template <class S>
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class PointNormalDistanceFunctor {
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public:
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typedef typename S::ScalarType ScalarType;
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typedef S QueryType;
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static inline const Point3<ScalarType> & Pos(const QueryType & qt) {return qt.P();}
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static ScalarType & Alpha(){static ScalarType alpha = 1.0; return alpha;}
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static ScalarType & Beta (){static ScalarType beta = 1.0; return beta;}
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static ScalarType & Gamma(){static ScalarType gamma = 1.0; return gamma;}
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static ScalarType & InterPoint(){static ScalarType interpoint= 1.0; return interpoint;}
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template <class FACETYPE, class SCALARTYPE>
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inline bool operator () (const FACETYPE &f, const typename FACETYPE::VertexType &p,
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SCALARTYPE & minDist,Point3<SCALARTYPE> & q)
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{
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const Point3<typename FACETYPE::ScalarType> fp = Point3<typename FACETYPE::ScalarType>::Construct(p.cP());
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const Point3<typename FACETYPE::ScalarType> fn = Point3<typename FACETYPE::ScalarType>::Construct(p.cN());
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Point3<typename FACETYPE::ScalarType> fq;
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typename FACETYPE::ScalarType md = (typename FACETYPE::ScalarType)(minDist);
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const bool ret=PointDistance(f,fp,md,fq);
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SCALARTYPE dev=InterPoint()*(pow((ScalarType)(1-f.cN().dot(fn)),(ScalarType)Beta())/(Gamma()*md+0.1));
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if (md+dev < minDist){
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minDist = (SCALARTYPE)(md+dev);
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q = Point3<SCALARTYPE>::Construct(fq);
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//q.N() = f.N();
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return (ret);
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}
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return false;
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}
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};
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/// BASIC VERSION of the Point-face distance that does not require the EdgePlane Additional data.
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/// Given a face and a point, returns the closest point of the face to p.
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template <class FaceType>
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bool PointDistanceBase(
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const FaceType &f, /// the face to be tested
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const vcg::Point3<typename FaceType::ScalarType> & q, /// the point tested
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typename FaceType::ScalarType & dist, /// bailout distance. It must be initialized with the max admittable value.
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vcg::Point3<typename FaceType::ScalarType> & p )
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{
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typedef typename FaceType::ScalarType ScalarType;
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if(f.cN()==Point3<ScalarType>(0,0,0)) // to correctly manage the case of degenerate triangles we consider them as segments.
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{
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Box3<ScalarType> bb;
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f.GetBBox(bb);
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Segment3<ScalarType> degenTri(bb.min,bb.max);
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Point3<ScalarType> closest;
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ScalarType d;
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if(bb.Diag()>0)
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vcg::SegmentPointDistance<ScalarType>(degenTri,q,closest,d);
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else // very degenerate triangle (just a point)
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{
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closest = bb.min;
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d=Distance(q,closest);
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}
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if( d>dist) return false;
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dist=d;
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p=closest;
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assert(!math::IsNAN(dist));
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return true;
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}
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Plane3<ScalarType,true> fPlane;
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fPlane.Init(f.cP(0),f.cN());
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const ScalarType EPS = ScalarType( 0.000001);
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ScalarType b,b0,b1,b2;
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// Calcolo distanza punto piano
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ScalarType d = SignedDistancePlanePoint( fPlane, q );
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if( d>dist || d<-dist ) // Risultato peggiore: niente di fatto
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return false;
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// Projection of query point onto the triangle plane
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p = q - fPlane.Direction()*d;
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Point3<ScalarType> fEdge[3];
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fEdge[0] = f.cP(1); fEdge[0] -= f.cP(0);
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fEdge[1] = f.cP(2); fEdge[1] -= f.cP(1);
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fEdge[2] = f.cP(0); fEdge[2] -= f.cP(2);
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/*
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This piece of code is part of the EdgePlane initialization structure: note that the edges are scaled!.
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if(nx>ny && nx>nz) { f.Flags() |= FaceType::NORMX; d = 1/f.Plane().Direction()[0]; }
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else if(ny>nz) { f.Flags() |= FaceType::NORMY; d = 1/f.Plane().Direction()[1]; }
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else { f.Flags() |= FaceType::NORMZ; d = 1/f.Plane().Direction()[2]; }
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f.Edge(0)*=d; f.Edge(1)*=d;f.Edge(2)*=d;
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So we must apply the same scaling according to the plane orientation, eg in the case of NORMX
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scaleFactor= 1/fPlane.Direction()[0];
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fEdge[0]*=d; fEdge[1]*=d;fEdge[2]*=d;
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*/
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int bestAxis;
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if(fabs(f.cN()[0])>fabs(f.cN()[1]))
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{
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if(fabs(f.cN()[0])>fabs(f.cN()[2])) bestAxis = 0;
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else bestAxis = 2;
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} else {
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if(fabs(f.cN()[1])>fabs(f.cN()[2])) bestAxis=1; /* 1 > 0 ? 2 */
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else bestAxis=2; /* 2 > 1 ? 2 */
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}
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ScalarType scaleFactor;
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switch( bestAxis )
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{
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case 0: /************* X AXIS **************/
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scaleFactor= 1/fPlane.Direction()[0];
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fEdge[0]*=scaleFactor; fEdge[1]*=scaleFactor; fEdge[2]*=scaleFactor;
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b0 = fEdge[1][1]*(p[2] - f.cP(1)[2]) - fEdge[1][2]*(p[1] - f.cP(1)[1]);
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if(b0<=0)
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{
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b0 = PSDist(q,f.cV(1)->cP(),f.cV(2)->cP(),p);
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if(dist>b0) { dist = b0; return true; }
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else return false;
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}
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b1 = fEdge[2][1]*(p[2] - f.cP(2)[2]) - fEdge[2][2]*(p[1] - f.cP(2)[1]);
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if(b1<=0)
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{
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b1 = PSDist(q,f.cV(2)->cP(),f.cV(0)->cP(),p);
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if(dist>b1) { dist = b1; return true; }
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else return false;
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}
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b2 = fEdge[0][1]*(p[2] - f.cP(0)[2]) - fEdge[0][2]*(p[1] - f.cP(0)[1]);
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if(b2<=0)
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{
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b2 = PSDist(q,f.cV(0)->cP(),f.cV(1)->cP(),p);
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if(dist>b2) { dist = b2; return true; }
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else return false;
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}
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// sono tutti e tre > 0 quindi dovrebbe essere dentro;
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// per sicurezza se il piu' piccolo dei tre e' < epsilon (scalato rispetto all'area della faccia
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// per renderlo dimension independent.) allora si usa ancora la distanza punto
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// segmento che e' piu robusta della punto piano, e si fa dalla parte a cui siamo piu'
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// vicini (come prodotto vettore)
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// Nota: si potrebbe rendere un pochino piu' veloce sostituendo Area()
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// con il prodotto vettore dei due edge in 2d lungo il piano migliore.
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if( (b=vcg::math::Min<ScalarType>(b0,b1,b2)) < EPS*DoubleArea(f))
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{
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ScalarType bt;
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if(b==b0) bt = PSDist(q,f.cV(1)->cP(),f.cV(2)->cP(),p);
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else if(b==b1) bt = PSDist(q,f.cV(2)->cP(),f.cV(0)->cP(),p);
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else if(b==b2) bt = PSDist(q,f.cV(0)->cP(),f.cV(1)->cP(),p);
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//printf("Warning area:%g %g %g %g thr:%g bt:%g\n",Area(), b0,b1,b2,EPSILON*Area(),bt);
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if(dist>bt) { dist = bt; return true; }
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else return false;
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}
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break;
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case 1: /************* Y AXIS **************/
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scaleFactor= 1/fPlane.Direction()[1];
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fEdge[0]*=scaleFactor; fEdge[1]*=scaleFactor; fEdge[2]*=scaleFactor;
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b0 = fEdge[1][2]*(p[0] - f.cP(1)[0]) - fEdge[1][0]*(p[2] - f.cP(1)[2]);
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if(b0<=0)
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{
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b0 = PSDist(q,f.cV(1)->cP(),f.cV(2)->cP(),p);
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if(dist>b0) { dist = b0; return true; }
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else return false;
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}
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b1 = fEdge[2][2]*(p[0] - f.cP(2)[0]) - fEdge[2][0]*(p[2] - f.cP(2)[2]);
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if(b1<=0)
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{
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b1 = PSDist(q,f.cV(2)->cP(),f.cV(0)->cP(),p);
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if(dist>b1) { dist = b1; return true; }
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else return false;
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}
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b2 = fEdge[0][2]*(p[0] - f.cP(0)[0]) - fEdge[0][0]*(p[2] - f.cP(0)[2]);
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if(b2<=0)
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{
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b2 = PSDist(q,f.cV(0)->cP(),f.cV(1)->cP(),p);
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if(dist>b2) { dist = b2; return true; }
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else return false;
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}
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if( (b=vcg::math::Min<ScalarType>(b0,b1,b2)) < EPS*DoubleArea(f))
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{
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ScalarType bt;
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if(b==b0) bt = PSDist(q,f.cV(1)->cP(),f.cV(2)->cP(),p);
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else if(b==b1) bt = PSDist(q,f.cV(2)->cP(),f.cV(0)->cP(),p);
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else if(b==b2) bt = PSDist(q,f.cV(0)->cP(),f.cV(1)->cP(),p);
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//printf("Warning area:%g %g %g %g thr:%g bt:%g\n",Area(), b0,b1,b2,EPSILON*Area(),bt);
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if(dist>bt) { dist = bt; return true; }
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else return false;
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}
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break;
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case 2: /************* Z AXIS **************/
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scaleFactor= 1/fPlane.Direction()[2];
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fEdge[0]*=scaleFactor; fEdge[1]*=scaleFactor; fEdge[2]*=scaleFactor;
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|
|
|
b0 = fEdge[1][0]*(p[1] - f.cP(1)[1]) - fEdge[1][1]*(p[0] - f.cP(1)[0]);
|
|
if(b0<=0)
|
|
{
|
|
b0 = PSDist(q,f.cV(1)->cP(),f.cV(2)->cP(),p);
|
|
if(dist>b0) { dist = b0; return true; }
|
|
else return false;
|
|
}
|
|
b1 = fEdge[2][0]*(p[1] - f.cP(2)[1]) - fEdge[2][1]*(p[0] - f.cP(2)[0]);
|
|
if(b1<=0)
|
|
{
|
|
b1 = PSDist(q,f.cV(2)->cP(),f.cV(0)->cP(),p);
|
|
if(dist>b1) { dist = b1; return true; }
|
|
else return false;
|
|
}
|
|
b2 = fEdge[0][0]*(p[1] - f.cP(0)[1]) - fEdge[0][1]*(p[0] - f.cP(0)[0]);
|
|
if(b2<=0)
|
|
{
|
|
b2 = PSDist(q,f.cV(0)->cP(),f.cV(1)->cP(),p);
|
|
if(dist>b2) { dist = b2; return true; }
|
|
else return false;
|
|
}
|
|
if( (b=vcg::math::Min<ScalarType>(b0,b1,b2)) < EPS*DoubleArea(f))
|
|
{
|
|
ScalarType bt;
|
|
if(b==b0) bt = PSDist(q,f.cV(1)->cP(),f.cV(2)->cP(),p);
|
|
else if(b==b1) bt = PSDist(q,f.cV(2)->cP(),f.cV(0)->cP(),p);
|
|
else if(b==b2) bt = PSDist(q,f.cV(0)->cP(),f.cV(1)->cP(),p);
|
|
//printf("Warning area:%g %g %g %g thr:%g bt:%g\n",Area(), b0,b1,b2,EPSILON*Area(),bt);
|
|
|
|
if(dist>bt) { dist = bt; return true; }
|
|
else return false;
|
|
}
|
|
break;
|
|
default: assert(0); // if you get this assert it means that you forgot to set the required UpdateFlags<MeshType>::FaceProjection(m);
|
|
|
|
}
|
|
|
|
dist = ScalarType(fabs(d));
|
|
//dist = Distance(p,q);
|
|
return true;
|
|
}
|
|
|
|
template <class S>
|
|
class PointDistanceBaseFunctor {
|
|
public:
|
|
typedef S ScalarType;
|
|
typedef Point3<ScalarType> QueryType;
|
|
|
|
static inline const Point3<ScalarType> & Pos(const Point3<ScalarType> & qt) {return qt;}
|
|
template <class FACETYPE, class SCALARTYPE>
|
|
inline bool operator () (const FACETYPE & f, const Point3<SCALARTYPE> & p, SCALARTYPE & minDist, Point3<SCALARTYPE> & q) {
|
|
const Point3<typename FACETYPE::ScalarType> fp = Point3<typename FACETYPE::ScalarType>::Construct(p);
|
|
Point3<typename FACETYPE::ScalarType> fq;
|
|
typename FACETYPE::ScalarType md = (typename FACETYPE::ScalarType)(minDist);
|
|
const bool ret = PointDistanceBase(f, fp, md, fq);
|
|
minDist = (SCALARTYPE)(md);
|
|
q = Point3<SCALARTYPE>::Construct(fq);
|
|
return (ret);
|
|
}
|
|
};
|
|
|
|
|
|
|
|
} // end namespace face
|
|
|
|
} // end namespace vcg
|
|
|
|
|
|
#endif
|
|
|