Examples with BVFeatureQuery maspack.geometry.BVFeatureQuery used on opensource projects

Example 1 with BVFeatureQuery

use of maspack.geometry.BVFeatureQuery in project artisynth_core by artisynth.

the class MeshCollider method getContactPlaneInfo.

/**
 * Get information about a specific region of intersections.
 */
static void getContactPlaneInfo(ContactPlane region, PolygonalMesh mesh0, PolygonalMesh mesh1, double pointTol) {
    Vector3d sectnormal = new Vector3d(), tmpnormal = new Vector3d();
    BVFeatureQuery query = new BVFeatureQuery();
    RigidTransform3d trans0 = mesh0.getMeshToWorld();
    RigidTransform3d trans1 = mesh1.getMeshToWorld();
    // calculate a weighted average of the face normals
    for (TriTriIntersection isect : region.intersections) {
        region.points = new ArrayList<Point3d>();
        region.points.add(isect.points[0]);
        region.points.add(isect.points[1]);
        double length = isect.points[0].distance(isect.points[1]);
        tmpnormal.transform(trans0, isect.face0.getNormal());
        tmpnormal.negate();
        sectnormal.scaledAdd(length, tmpnormal, sectnormal);
        tmpnormal.transform(trans1, isect.face1.getNormal());
        sectnormal.scaledAdd(length, tmpnormal, sectnormal);
    }
    // calculate the weighted intersection center
    Point3d center = new Point3d();
    double weight = 0;
    for (TriTriIntersection isect : region.intersections) {
        double length = isect.points[0].distance(isect.points[1]);
        center.scaledAdd(length, isect.points[0], center);
        center.scaledAdd(length, isect.points[1], center);
        weight += 2 * length;
    }
    center.scale(1.0 / weight);
    region.centroid = center;
    // calculate the weighted normal
    Vector3d cp0 = new Vector3d(), cp1 = new Vector3d();
    region.normal.setZero();
    for (TriTriIntersection isect : region.intersections) {
        cp0.sub(isect.points[0], center);
        cp1.sub(isect.points[1], center);
        tmpnormal.cross(cp0, cp1);
        if (tmpnormal.dot(sectnormal) < 0)
            tmpnormal.negate();
        region.normal.add(tmpnormal);
    }
    if (region.normal.dot(sectnormal) < 0)
        region.normal.negate();
    // handle degenerate cases
    if (region.normal.containsNaN() || region.normal.norm() < EPS) {
        region.normal.setZero();
        Point3d p0 = new Point3d();
        Point3d p1 = new Point3d();
        Vector3d c0 = new Vector3d();
        Vector3d c1 = new Vector3d();
        for (TriTriIntersection isect : region.intersections) {
            for (Point3d p : isect.points) {
                p0.inverseTransform(trans0, p);
                p1.inverseTransform(trans1, p);
                Vertex3d u0 = isect.face0.getVertex(0);
                Vertex3d u1 = isect.face0.getVertex(1);
                Vertex3d u2 = isect.face0.getVertex(2);
                Vertex3d v0 = isect.face1.getVertex(0);
                Vertex3d v1 = isect.face1.getVertex(1);
                Vertex3d v2 = isect.face1.getVertex(2);
                getCoordinates(c0, u0.pnt, u1.pnt, u2.pnt, p0);
                getCoordinates(c1, v0.pnt, v1.pnt, v2.pnt, p1);
                int[] type0 = classifyPoint(c0);
                int[] type1 = classifyPoint(c1);
                if (type0[0] == 2) {
                    if (type1[0] == 2) {
                        // vertex,vertex
                        region.normal.add(vertexVertexNormal(trans0, trans1, isect.face0, isect.face1, type0[1], type1[1]));
                    } else if (type1[0] == 1) {
                        // vertex,edge
                        region.normal.add(vertexEdgeNormal(trans0, trans1, isect.face0, isect.face1, type0[1], type1[1]));
                    } else {
                        // vertex,face
                        region.normal.add(vertexFaceNormal(trans0, trans1, isect.face0, isect.face1, type0[1]));
                    }
                } else if (type0[0] == 1) {
                    if (type1[0] == 2) {
                        // edge,vertex
                        region.normal.sub(vertexEdgeNormal(trans1, trans0, isect.face1, isect.face0, type1[1], type0[1]));
                    } else if (type1[0] == 1) {
                        // edge,edge
                        region.normal.add(edgeEdgeNormal(trans0, trans1, isect.face0, isect.face1, type0[1], type1[1]));
                    } else {
                        // edge,face
                        region.normal.add(edgeFaceNormal(trans0, trans1, isect.face0, isect.face1, type0[1]));
                    }
                } else {
                    if (type1[0] == 2) {
                        // face,vertex
                        region.normal.sub(vertexFaceNormal(trans1, trans0, isect.face1, isect.face0, type1[1]));
                    } else if (type1[0] == 1) {
                        // face,edge
                        region.normal.sub(edgeFaceNormal(trans1, trans0, isect.face1, isect.face0, type1[1]));
                    } else {
                        // face,face
                        region.normal.add(faceFaceNormal(trans0, trans1, isect.face0, isect.face1));
                    }
                }
            }
        }
    }
    region.normal.normalize();
    // calculate the contact depth for the region
    boolean foundPenetratingVertice = false;
    Point3d p = new Point3d();
    Point3d nearest = new Point3d();
    Vector3d diff = new Vector3d();
    Vector2d coords = new Vector2d();
    Vertex3d v;
    Face nf;
    Point3d plocal = new Point3d();
    LinkedHashSet<Vertex3d> regionvertices0 = new LinkedHashSet<Vertex3d>();
    LinkedHashSet<Vertex3d> regionvertices1 = new LinkedHashSet<Vertex3d>();
    region.depth = 0;
    for (TriTriIntersection isect : region.intersections) {
        for (int i = 0; i < 3; i++) {
            // face0 vertex depths
            v = isect.face0.getVertex(i);
            p.transform(trans0, v.pnt);
            plocal.inverseTransform(trans1, p);
            plocal.sub(isect.face1.getVertex(0).pnt);
            if (plocal.dot(isect.face1.getNormal()) <= 0) {
                regionvertices0.add(v);
            }
            // face1 vertex depths
            v = isect.face1.getVertex(i);
            p.transform(trans1, v.pnt);
            plocal.inverseTransform(trans0, p);
            plocal.sub(isect.face0.getVertex(0).pnt);
            if (plocal.dot(isect.face0.getNormal()) <= 0) {
                regionvertices1.add(v);
            }
        }
    }
    for (Vertex3d v0 : regionvertices0) {
        p.transform(trans0, v0.pnt);
        // XXX Sanchez, Jun 22, 2014
        // Changed to isInside.  Sometimes a vertex is outside
        // the mesh but determined to be "penetrating" due to
        // normal (e.g. when nearest to an edge)
        // nf = myQuery.nearestFaceToPoint (nearest, coords, mesh1, p);
        boolean inside = query.isInsideOrientedMesh(mesh1, p, 0);
        if (inside) {
            query.getFaceForInsideOrientedTest(nearest, coords);
            nearest.transform(trans1);
            diff.sub(p, nearest);
            diff.inverseTransform(trans1);
            foundPenetratingVertice = true;
            // -diff.dot (nf.getNormal());
            double dist = diff.norm();
            if (dist > region.depth)
                region.depth = dist;
        }
    }
    for (Vertex3d v1 : regionvertices1) {
        p.transform(trans1, v1.pnt);
        // nf = myQuery.nearestFaceToPoint (nearest, coords, mesh0, p);
        boolean inside = query.isInsideOrientedMesh(mesh0, p, 0);
        if (inside) {
            query.getFaceForInsideOrientedTest(nearest, coords);
            nearest.transform(trans0);
            diff.sub(p, nearest);
            diff.inverseTransform(trans0);
            foundPenetratingVertice = true;
            // -diff.dot (nf.getNormal());
            double dist = diff.norm();
            if (dist > region.depth)
                region.depth = dist;
        }
    }
    if (!foundPenetratingVertice) {
        double min = Double.POSITIVE_INFINITY, max = Double.NEGATIVE_INFINITY;
        for (int i = 0; i < region.points.size(); i++) {
            double d = region.points.get(i).dot(region.normal);
            if (d < min)
                min = d;
            if (d > max)
                max = d;
        }
        region.depth = max - min;
    }
    // eliminate redundant points
    // use point tolerance
    region.points.clear();
    for (TriTriIntersection isect : region.intersections) {
        for (Point3d pcandidate : isect.points) {
            boolean add = true;
            for (Point3d other : region.points) if (pcandidate.epsilonEquals(other, pointTol)) {
                add = false;
                break;
            }
            if (add) {
                region.points.add(pcandidate);
            }
        }
    }
    // take extrema along n axes
    if (numextremaaxes > 0) {
        // final ArrayList<Vector3d> axes = new ArrayList<Vector3d>();
        Vector3d crosszup = new Vector3d(0, 0, 1);
        crosszup.cross(region.normal, crosszup);
        double crosszupnorm = crosszup.norm();
        RigidTransform3d normtoworld;
        if (crosszup.norm() > EPS) {
            normtoworld = new RigidTransform3d(new Vector3d(), new AxisAngle(crosszup, Math.asin(crosszupnorm)));
        } else {
            normtoworld = new RigidTransform3d();
        }
        boolean[] keep = new boolean[region.points.size()];
        for (int j = 0; j < region.points.size(); j++) keep[j] = false;
        Vector3d offset = new Vector3d();
        Vector3d axis = new Vector3d();
        for (int i = 0; i < numextremaaxes; i++) {
            double min = Double.POSITIVE_INFINITY, max = Double.NEGATIVE_INFINITY;
            int mini = 0, maxi = 0;
            double angle = Math.PI * i / numextremaaxes;
            axis.set(Math.cos(angle), Math.sin(angle), 0);
            axis.transform(normtoworld);
            for (int j = 0; j < region.points.size(); j++) {
                offset.sub(region.points.get(j), center);
                double dot = offset.dot(axis);
                if (dot < min) {
                    min = dot;
                    mini = j;
                }
                if (dot > max) {
                    max = dot;
                    maxi = j;
                }
            }
            keep[mini] = true;
            keep[maxi] = true;
        }
        for (int j = (region.points.size() - 1); j >= 0; j--) {
            if (!keep[j])
                region.points.remove(j);
        }
    }
}

Example 2 with BVFeatureQuery

use of maspack.geometry.BVFeatureQuery in project artisynth_core by artisynth.

the class NagataDistanceTest method computeNearestPoint.

public void computeNearestPoint(Point3d near, Vector3d normal, Point3d pos, boolean debug) {
    // //TriangleIntersector ti = new TriangleIntersector();
    BVFeatureQuery query = new BVFeatureQuery();
    // //OBBTree obbTree = myBaseMesh.getObbtree();
    // Vector2d svec = new Vector2d();
    // query.nearestFaceToPoint (near, svec, myBaseMesh, pos);
    // //obbTree.nearestFace (pos, normal, near, svec, ti);
    // svec.x = svec.x + svec.y; // convert to eta, zeta
    // svec.y = svec.y;
    // myInterp.nearestPointOnFace (
    // near, normal, face, myBaseMesh, svec, pos, 1e-8);
    myInterp.debug = debug;
    myInterp.nearestPointOnMesh(near, normal, myBaseMesh, pos, 1e-8, query);
// //myInterp.distanceToCurve (near, myCurvePos, myCurveDir, pos, 1e-8);
// myInterp.nearestPoint (near, normal, pos, eta, zeta, 1e-8);
}

Example 3 with BVFeatureQuery

use of maspack.geometry.BVFeatureQuery in project artisynth_core by artisynth.

the class SkinMeshBody method createPointAttachment.

public PointSkinAttachment createPointAttachment(Point pnt) {
    if (!(getMesh() instanceof PolygonalMesh)) {
        return null;
    }
    PolygonalMesh mesh = (PolygonalMesh) getMesh();
    if (!mesh.isTriangular()) {
        return null;
    }
    // Find nearest face to the point; we'll need this to
    // estimate a basePosition for the attachments from the
    // start by find
    BVFeatureQuery query = new BVFeatureQuery();
    Point3d near = new Point3d();
    Vector2d uv = new Vector2d();
    Face face = query.nearestFaceToPoint(near, uv, mesh, pnt.getPosition());
    // Create a new PointSkinAttachment
    MeshDistCalc dcalc = new MeshDistCalc();
    dcalc.computeDistancesAndWeights(pnt.getPosition(), myLastSigma);
    PointSkinAttachment a = dcalc.computeDisplacementAttachment();
    a.setSkinMesh(this);
    // Now estimate the basePosition from the face vertices
    Point3d basePos = new Point3d();
    Vertex3d[] vtxs = face.getTriVertices();
    double[] wgts = new double[] { 1 - uv.x - uv.y, uv.x, uv.y };
    for (int i = 0; i < vtxs.length; i++) {
        PointSkinAttachment va = (PointSkinAttachment) myVertexAttachments.get(vtxs[i].getIndex());
        basePos.scaledAdd(wgts[i], va.getBasePosition());
    }
    a.setBasePosition(basePos);
    a.setPoint(pnt);
    return a;
}

Example 4 with BVFeatureQuery

use of maspack.geometry.BVFeatureQuery in project artisynth_core by artisynth.

the class FemMeshComp method createPointAttachment.

public PointFem3dAttachment createPointAttachment(Point pnt) {
    if (!(getMesh() instanceof PolygonalMesh)) {
        return null;
    }
    PolygonalMesh mesh = (PolygonalMesh) getMesh();
    if (!mesh.isTriangular()) {
        return null;
    }
    // Find nearest face to the point. The vertices of this face will be used
    // to find the nodes and weight for the attachment.
    BVFeatureQuery query = new BVFeatureQuery();
    Point3d near = new Point3d();
    Vector2d uv = new Vector2d();
    Face face = query.nearestFaceToPoint(near, uv, mesh, pnt.getPosition());
    Vertex3d[] vtxs = face.getTriVertices();
    double[] wgts = new double[] { 1 - uv.x - uv.y, uv.x, uv.y };
    HashMap<FemNode, Double> nodeWeights = new HashMap<FemNode, Double>();
    for (int i = 0; i < vtxs.length; i++) {
        PointAttachment va = myVertexAttachments.get(vtxs[i].getIndex());
        if (va instanceof PointParticleAttachment) {
            PointParticleAttachment ppa = (PointParticleAttachment) va;
            FemNode node = (FemNode) ppa.getParticle();
            accumulateNodeWeights(node, wgts[i], nodeWeights);
        } else if (va instanceof PointFem3dAttachment) {
            PointFem3dAttachment pfa = (PointFem3dAttachment) va;
            for (int k = 0; k < pfa.numMasters(); k++) {
                FemNode node = pfa.getNodes()[k];
                double w = pfa.getCoordinate(k);
                accumulateNodeWeights(node, w * wgts[i], nodeWeights);
            }
        }
    }
    // Create a new PointFem3dAttachment
    PointFem3dAttachment ax = new PointFem3dAttachment(pnt);
    VectorNd weightVec = new VectorNd();
    for (Double d : nodeWeights.values()) {
        weightVec.append(d);
    }
    ax.setFromNodes(nodeWeights.keySet(), weightVec);
    return ax;
}

Example 5 with BVFeatureQuery

use of maspack.geometry.BVFeatureQuery in project artisynth_core by artisynth.

the class IntersectionFactory method buildIntersectionChart.

public static boolean[][] buildIntersectionChart(PolygonalMesh[] meshList, double tol) {
    int n = meshList.length;
    boolean[][] out = new boolean[n][n];
    ArrayList<TriTriIntersection> intersections = new ArrayList<TriTriIntersection>();
    // TriangleIntersector ti = new TriangleIntersector();
    BVFeatureQuery query = new BVFeatureQuery();
    BVIntersector intersector = new BVIntersector();
    for (int i = 0; i < n; i++) {
        PolygonalMesh mesh1 = meshList[i];
        out[i][i] = true;
        for (int j = i + 1; j < n; j++) {
            PolygonalMesh mesh2 = meshList[j];
            boolean intersects = false;
            // }
            if (intersector.intersectMeshMesh(intersections, mesh1, mesh2)) {
                intersects = true;
                intersections.clear();
            } else if (query.isInsideOrientedMesh(mesh1, mesh2.getVertex(0).getPosition(), tol) || query.isInsideOrientedMesh(mesh2, mesh1.getVertex(0).getPosition(), tol)) {
                intersects = true;
            }
            out[i][j] = intersects;
            out[j][i] = intersects;
        }
    }
    return out;
}