Examples with IntersectionPoint maspack.collision.IntersectionPoint used on opensource projects

Example 6 with IntersectionPoint

use of maspack.collision.IntersectionPoint in project artisynth_core by artisynth.

the class SurfaceMeshIntersector method printFaceMips.

private void printFaceMips(Face face) {
    HalfEdge he0 = face.firstHalfEdge();
    HalfEdge he = he0;
    do {
        EdgeInfo einfo = myEdgeInfos.get(he.getPrimary());
        System.out.println("  " + he.vertexStr() + " " + (he == he.getPrimary() ? ">" : "<"));
        NumberFormat fmt = new NumberFormat("%3d");
        if (einfo != null) {
            int kstart = 0;
            int kinc = 1;
            int kend = einfo.numMips();
            if (he.getPrimary() != he) {
                kstart = einfo.numMips() - 1;
                kinc = -1;
                kend = -1;
            }
            for (int k = kstart; k != kend; k += kinc) {
                IntersectionPoint p = einfo.getMip(k);
                boolean entering = (p.findSegmentFace(face.getMesh()) == face);
                System.out.println("   " + fmt.format(p.contourIndex) + " " + p.toString("%12.8f") + " " + getContourIndex(p.contour) + " " + (entering ? "E" : "X") + " " + (p.isCoincident() ? "C" : " "));
            }
        }
        he = he.getNext();
    } while (he != he0);
}

Example 7 with IntersectionPoint

use of maspack.collision.IntersectionPoint in project artisynth_core by artisynth.

the class SurfaceMeshIntersector method findCoincidentBounds.

int[] findCoincidentBounds(IntersectionPoint p, EdgeInfo einfo) {
    int k = einfo.indexOfMip(p);
    int lo = k;
    while (lo > 0 && einfo.getMip(lo - 1).primaryCoincident == p.primaryCoincident) {
        lo--;
    }
    int hi = k;
    while (hi < einfo.numMips() - 1 && einfo.getMip(hi + 1).primaryCoincident == p.primaryCoincident) {
        hi++;
    }
    return new int[] { lo, hi };
}

Example 8 with IntersectionPoint

use of maspack.collision.IntersectionPoint in project artisynth_core by artisynth.

the class SurfaceMeshIntersector method toString.

/**
 * Comprehensive string representation of a mesh intersection point,
 * showing most relevant information. Used for debugging.
 *
 * The string contains the following information:
 *
 * 1) index of the point with respect to the contour
 * 2) the degeneracy code for the intersection (as a two digit hex number)
 * 3) 'C' if the point is coincident, or ' ' otherwise
 * 4) the point's edge and face, if edge belongs to mesh, or
 *    the point's face and edge
 * 5) the segment faces of the point with respect to the mesh and the
 *    other mesh (or blank if this is the last point of an open contour)
 * 6) the point's coordinates
 */
public String toString(IntersectionPoint p, RigidTransform3d T) {
    NumberFormat ifmt = new NumberFormat("%3d");
    NumberFormat dfmt = new NumberFormat("%2x");
    int dgen = p.getDegeneracies();
    String dstr = (dgen != 0 ? dfmt.format(dgen) : "  ");
    String prefix = ifmt.format(p.contourIndex) + " " + dstr + " " + (p.isCoincident() ? "C " : "  ");
    if (p.edge.getHead().getMesh() == myMesh0) {
        prefix += ("E" + pad(p.edge.faceStr(), 10) + "F" + pad("" + p.face.getIndex(), 10));
    } else {
        prefix += ("F" + pad("" + p.face.getIndex(), 10) + "E" + pad(p.edge.faceStr(), 10));
    }
    int idx = p.contourIndex;
    Face face0 = p.contour.findSegmentFace(idx, myMesh0);
    Face face1 = p.contour.findSegmentFace(idx, myMesh1);
    String faceStr0 = (face0 != null ? " F" + face0.getIndex() : "NULL");
    String faceStr1 = (face1 != null ? " F" + face1.getIndex() : "NULL");
    prefix += (" " + pad(faceStr0, 6) + pad(faceStr1, 6) + " ");
    Point3d pnt = new Point3d();
    pnt.transform(T, p);
    String str = prefix + pnt.toString("%g");
    return str;
}

Example 9 with IntersectionPoint

use of maspack.collision.IntersectionPoint in project artisynth_core by artisynth.

the class SurfaceMeshIntersector method nextEdgeXip.

// Triangulation code:
IntersectionPoint nextEdgeXip(IntersectionPoint mip, HalfEdge edge, boolean clockwise, boolean debug) {
    // tailToHead means that we are moving in the tail to head
    // direction with respect to the edge associated with mips
    boolean tailToHead = (edge.getPrimary() == edge);
    if (clockwise) {
        tailToHead = !tailToHead;
    }
    HalfEdge pedge = edge.getPrimary();
    EdgeInfo einfo = myEdgeInfos.get(pedge);
    int k = einfo.indexOfXip(mip);
    if (tailToHead) {
        if (k < einfo.numXips() - 1) {
            return einfo.getXip(k + 1);
        }
    } else {
        if (k > 0) {
            return einfo.getXip(k - 1);
        }
    }
    return null;
}

Example 10 with IntersectionPoint

use of maspack.collision.IntersectionPoint in project artisynth_core by artisynth.

the class SurfaceMeshIntersector method traceFacePolygon.

Vertex3dList traceFacePolygon(IntersectionPoint mip0, Face face, PenetrationRegion region, boolean clockwise, Polygon3dCalc calc, HashSet<IntersectionPoint> visitedMips, HashMap<Vertex3d, Vertex3d> vertexMap) {
    Vertex3dList poly = new Vertex3dList(/*closed=*/
    true);
    PolygonalMesh mesh = (PolygonalMesh) face.getMesh();
    int meshNum = (region.myMesh == myMesh0 ? 0 : 1);
    // = getPointEdge (mip0, face);
    HalfEdge edge;
    // XXX handle coincident points in nearestInsideMip
    IntersectionPoint mip = mip0;
    boolean debug = isDebugFace(face);
    if (debug) {
        System.out.println("TRACE face poly " + face.getIndex() + " clockwise=" + clockwise);
    }
    Vertex3d firstVtx = null;
    Vertex3d curVtx = null;
    do {
        IntersectionContour c = mip.contour;
        if (debug) {
            System.out.println(" entering " + mip.toString("%12.7f") + " " + mip.isCoincident());
            System.out.println(" visiting " + mip.contourIndex + " on " + getContourIndex(mip.contour));
        }
        if (!visitedMips.add(mip)) {
            System.out.println("faceMips for " + face.getIndex() + ":");
            printFaceXips(face);
            for (IntersectionContour con : myContours) {
                System.out.println("contour " + getContourIndex(con) + ":");
                for (IntersectionPoint p : con) {
                    System.out.println(toString(p));
                }
            }
            throw new InternalErrorException("Mip " + mip.contourIndex + " already visited on face " + face.getIndex() + " mesh0=" + (mesh == myMesh0));
        }
        // while ((segFace=c.findSegmentFace(k, mesh)) == face) {
        while (traceFaceContinue(mip, face, meshNum)) {
            if (mip.myVertex != curVtx) {
                curVtx = mip.myVertex;
                poly.add(curVtx);
                if (debug) {
                    System.out.println(" ADD " + mip.contourIndex + " " + curVtx.pnt.toString("%20.16f"));
                }
                if (firstVtx == null) {
                    firstVtx = curVtx;
                }
            }
            mip = mip.next();
        }
        if (mip.myVertex != curVtx) {
            curVtx = mip.myVertex;
            poly.add(curVtx);
            if (debug) {
                System.out.println(" ADD " + mip.contourIndex + " " + curVtx.pnt.toString("%20.16f"));
            }
        }
        if (debug) {
            System.out.println(" exiting at " + mip.contourIndex);
        }
        visitedMips.add(mip);
        edge = getExtendedPointEdge(mip, face);
        EdgeInfo einfo = myEdgeInfos.get(edge.getPrimary());
        int mi0 = einfo.normalizedIndexOfXip(mip, edge, clockwise);
        IntersectionPoint nextMip = null;
        while (nextMip == null) {
            for (int mi = mi0 + 1; mi < einfo.numXips(); mi++) {
                IntersectionPoint p = einfo.getXip(mi, edge, clockwise);
                int emptyMark;
                if (debug) {
                    System.out.println(" mip " + p.contourIndex + " mark=" + p.getEmptyMark(meshNum));
                }
                if ((emptyMark = p.getEmptyMark(meshNum)) != 0) {
                    if (p.findSegmentFace(mesh) != face) {
                        if ((emptyMark & IntersectionPoint.EMPTY_PROJECTED) != 0) {
                            if (p.myVertex != curVtx) {
                                curVtx = p.myVertex;
                                poly.add(curVtx);
                                if (debug) {
                                    System.out.println(" ADD P(a) " + p.contourIndex + " " + curVtx.pnt.toString("%20.16f"));
                                }
                            }
                        }
                    } else {
                        if ((emptyMark & IntersectionPoint.EMPTY_END) != 0) {
                            nextMip = p;
                            break;
                        } else if ((emptyMark & IntersectionPoint.EMPTY_BEGIN) != 0) {
                            // the empty polygon will be discarded.
                            if (debug) {
                                System.out.println("SUB POLY inside empty region, mip " + p.contourIndex + " on " + getContourIndex(p.contour));
                            }
                            poly.clear();
                            return poly;
                        }
                    }
                } else {
                    nextMip = p;
                    break;
                }
            }
            if (!useEmptySegmentProjection) {
                if (edge.opposite != null && !region.myFaces.contains(edge.opposite.getFace())) {
                    curVtx = addEmptyFaceVertices(poly, edge, mip, nextMip, region, curVtx, clockwise, debug);
                }
            }
            if (nextMip == null) {
                Vertex3d newVtx = getNewVertex(edge, vertexMap, clockwise);
                if (newVtx != curVtx && newVtx != firstVtx) {
                    // only add if unique from previously added vertices
                    curVtx = newVtx;
                    poly.add(curVtx);
                    if (debug) {
                        Vertex3d oldVtx = (clockwise ? edge.getTail() : edge.getHead());
                        System.out.println(" ADD vtx(a) " + oldVtx.getIndex() + ":" + oldVtx.getWorldPoint().toString("%20.16f"));
                    }
                }
                edge = getNextEdge(edge, clockwise);
                einfo = myEdgeInfos.get(edge.getPrimary());
                mip = null;
                mi0 = -1;
            }
        }
        mip = nextMip;
    } while (mip != mip0);
    if (debug) {
        System.out.println("TRACE face poly end, size=" + poly.size());
    }
    // check if we added an extra vertex when the mesh was closed
    if (poly.get(0) == poly.get(poly.size() - 1)) {
        poly.remove(poly.getNode(poly.size() - 1));
    }
    if (clockwise) {
        if (debug) {
            System.out.println("reversing");
        }
        poly.reverse();
    }
    return poly;
}