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

Example 6 with BVNode

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

the class MFreeFactory method findNodesContaining.

// public static ArrayList<MFreeElement3d> createPartitionedElements(
// MFreeShapeFunction fun,
// List<MFreeNode3d> nodes, DirectedGraph<int[],Integer> connectivityGraph) {
// 
// ArrayList<MFreeElement3d> elems =
// new ArrayList<MFreeElement3d>(connectivityGraph.numVertices());
// 
// for (Vertex<int[],Integer> vtx : connectivityGraph.getVertices()) {
// 
// int[] idxs = vtx.getData();
// if (idxs.length > 0) {
// MFreeNode3d[] enodes = new MFreeNode3d[idxs.length];
// for (int i = 0; i < idxs.length; i++) {
// enodes[i] = nodes.get(idxs[i]);
// }
// MFreeElement3d elem = new MFreeElement3d(fun, enodes);
// elem.setAllTermsActive(true);
// elems.add(elem);
// }
// }
// 
// return elems;
// 
// }
// public static ArrayList<MFreeElement3d> createPairedElements(
// MFreeShapeFunction fun,
// List<MFreeNode3d> nodes, boolean[][] iChart) {
// // elements from node pairs
// ArrayList<MFreeElement3d> elemList = new ArrayList<MFreeElement3d>();
// for (int i = 0; i < nodes.size(); i++) {
// MFreeNode3d nodeA = nodes.get(i);
// MFreeElement3d e = new MFreeElement3d(fun, new MFreeNode3d[] { nodeA });
// e.setTermActive(0, 0, true);
// elemList.add(e);
// for (int j = i + 1; j < nodes.size(); j++) {
// if (iChart[i][j]) {
// e =
// new MFreeElement3d(fun, new MFreeNode3d[] { nodeA, nodes.get(j) });
// e.setTermActive(0, 1, true);
// e.setTermActive(1, 0, true);
// e.setTermActive(0, 0, false);
// e.setTermActive(1, 1, false);
// elemList.add(e);
// }
// }
// }
// 
// return elemList;
// }
// 
// public static void createNodeMeshes(MFreeModel3d model,
// Collection<MFreeNode3d> nodes, PolygonalMesh surface) {
// 
// // set nodal influence regions
// PolygonalMesh icoSphere = MeshFactory.createIcosahedralSphere(1, 2);
// 
// if (nodes == null) {
// nodes = model.getNodes();
// }
// 
// HashMap<MFreeNode3d,PolygonalMesh> meshMap = new HashMap<MFreeNode3d,PolygonalMesh>();
// AffineTransform3d trans = new AffineTransform3d();
// for (MFreeNode3d node : nodes) {
// PolygonalMesh nmesh = null;
// if (node.isRadial()) {
// nmesh = new PolygonalMesh(icoSphere);
// double r = node.getInfluenceRadius();
// trans.setIdentity();
// trans.setTranslation(node.getRestPosition());
// trans.applyScaling(r, r, r);
// nmesh.transform(trans);
// 
// if (surface != null) {
// nmesh = MeshFactory.getIntersection(nmesh, surface);
// }
// meshMap.put(node, nmesh);
// }
// }
// 
// // I do this after generating all meshes so that isInDomain doesn't start
// // using the meshes before all are ready (speed issue)
// for (MFreeNode3d node : nodes) {
// PolygonalMesh nmesh = meshMap.get(node);
// if (nmesh != null) {
// node.setBoundaryMesh(nmesh);
// }
// // model.addMesh("node_" + node.getNumber(), nmesh);
// }
// }
// public static void createPairedElemMeshes(List<MFreeElement3d> elemList,
// BVTree nodeTree) {
// 
// // only intersections
// for (MFreeElement3d elem : elemList) {
// if (elem.numNodes() == 1) {
// elem.setBoundaryMesh(elem.getNode(0).getBoundaryMesh());
// } else {
// PolygonalMesh mesh =
// new PolygonalMesh(elem.getNode(0).getBoundaryMesh());
// for (int i = 1; i < elem.numNodes(); i++) {
// mesh =
// MeshFactory.getIntersection(mesh, elem
// .getNode(i).getBoundaryMesh());
// }
// mesh = (PolygonalMesh)convertToMFreeMesh(mesh, nodeTree, DEFAULT_TOLERANCE);
// elem.setBoundaryMesh(mesh);
// }
// }
// 
// }
// public static void createElemMeshes(
// MFreeModel3d model, Collection<MFreeElement3d> elemList, PolygonalMesh surface) {
// 
// if (elemList == null) {
// elemList = model.getElements();
// }
// 
// // pre-build BSP trees for all nodes
// HashMap<Integer,BSPTree> meshMap = new HashMap<Integer,BSPTree>();
// HashMap<BSPTree,MFreeNode3d> meshMapInv = new HashMap<BSPTree,MFreeNode3d>();
// 
// HashSet<MFreeNode3d> nodeset = new HashSet<>();
// for (MFreeElement3d elem : elemList) {
// for (MFreeNode3d node : elem.getNodes()) {
// nodeset.add(node);
// }
// }
// ArrayList<MFreeNode3d> nodes = new ArrayList<>(nodeset);
// 
// boolean[][] connectivityChart = buildIntersectionChart(nodes);
// DirectedGraph<int[],Integer> connectivityGraph = IntersectionFactory.buildConnectivityGraph(connectivityChart);
// 
// HashMap<int[],BSPTree> nullMap = new HashMap<int[],BSPTree>(1);
// for (int i = 0; i < nodes.size(); i++) {
// MFreeNode3d node = nodes.get(i);
// BSPTree tree = new BSPTree(node.getBoundaryMesh());
// meshMap.put(i, tree);
// meshMapInv.put(tree, node);
// }
// 
// DirectedGraph<BSPTree,BSPTree> meshGraph = connectivityGraph.exchangeData(nullMap, meshMap);
// IntersectionFactory.buildSpatialPartition(meshGraph, null);
// DirectedGraph<BSPTree,MFreeNode3d> nodeGraph = meshGraph.exchangeEdgeData(meshMapInv);
// Vertex<BSPTree,MFreeNode3d> root = nodeGraph.getVertex(0);
// 
// for (MFreeElement3d elem : elemList) {
// Vertex<BSPTree,MFreeNode3d> vtx = root;
// for (MFreeNode3d node : elem.getNodes()) {
// for (DirectedEdge<BSPTree,MFreeNode3d> edge : vtx.getForwardEdges()) {
// if (edge.getData() == node) {
// vtx = edge.traverseForwards();
// break;
// }
// }
// }
// 
// PolygonalMesh mesh = vtx.getData().generateMesh();
// if (mesh.numFaces() > 0) {
// elem.setBoundaryMesh(mesh);
// // model.addMesh("elem_" + elem.getNumber(), mesh);
// }
// 
// }
// }
// public static ArrayList<MFreeElement3d> findPairdElementsContaining(
// Point3d pnt, BVTree bvtree, double tol) {
// 
// ArrayList<MFreeElement3d> deps = new ArrayList<MFreeElement3d>();
// ArrayList<BVNode> bvNodes = new ArrayList<BVNode>(16);
// bvtree.intersectPoint(bvNodes, pnt);
// 
// if (bvNodes.size() == 0) {
// return deps;
// }
// 
// for (BVNode n : bvNodes) {
// Boundable[] elements = n.getElements();
// for (int i = 0; i < elements.length; i++) {
// MFreeElement3d elem = (MFreeElement3d)elements[i];
// 
// boolean isInside = true;
// for (MFreeNode3d node : elem.getNodes()) {
// if (!node.isInDomain(pnt, tol)) {
// isInside = false;
// break;
// }
// }
// if (isInside) {
// deps.add(elem);
// }
// }
// }
// return deps;
// }
// public static ArrayList<MFreeElement3d> findPartitionedElementsContaining(
// Point3d pnt, DirectedGraph<MFreeElement3d,MFreeNode3d> connectivity,
// BVTree bvtree, double tol) {
// 
// ArrayList<MFreeElement3d> deps = new ArrayList<MFreeElement3d>();
// ArrayList<BVNode> bvNodes = new ArrayList<BVNode>(16);
// bvtree.intersectPoint(bvNodes, pnt);
// 
// if (bvNodes.size() == 0) {
// return deps;
// }
// 
// for (BVNode n : bvNodes) {
// Boundable[] elements = n.getElements();
// for (int i = 0; i < elements.length; i++) {
// MFreeElement3d elem = (MFreeElement3d)elements[i];
// 
// boolean isInside = true;
// for (MFreeNode3d node : elem.getNodes()) {
// if (!node.isInDomain(pnt, tol)) {
// isInside = false;
// break;
// }
// }
// 
// // exclude deeper intersections
// if (isInside) {
// Vertex<MFreeElement3d,MFreeNode3d> vtx =
// connectivity.findVertex(elem);
// for (DirectedEdge<MFreeElement3d,MFreeNode3d> edge : vtx
// .getForwardEdges()) {
// MFreeNode3d node = edge.getData();
// if (node.isInDomain(pnt, tol)) {
// isInside = false;
// break;
// }
// }
// }
// if (isInside) {
// deps.add(elem);
// }
// }
// }
// return deps;
// }
// public static DirectedGraph<MFreeElement3d,MFreeNode3d> convertConnectivity(
// List<MFreeNode3d> nodes, List<MFreeElement3d> elems,
// DirectedGraph<int[],Integer> graph) {
// 
// DirectedGraph<MFreeElement3d,MFreeNode3d> out = graph.cloneStructure();
// 
// // copy over nodes
// for (int i = 0; i < graph.numDirectedEdges(); i++) {
// DirectedEdge<int[],Integer> idxEdge = graph.getDirectedEdge(i);
// DirectedEdge<MFreeElement3d,MFreeNode3d> nodeEdge =
// out.getDirectedEdge(i);
// nodeEdge.setData(nodes.get(idxEdge.getData()));
// }
// 
// // fill in vertices by traversing along edges
// Vertex<MFreeElement3d,MFreeNode3d> base = out.getVertex(0);
// for (MFreeElement3d elem : elems) {
// MFreeNode3d[] nodeArray = elem.getNodes();
// Vertex<MFreeElement3d,MFreeNode3d> elemVtx =
// out.traverseEdgesForward(base, nodeArray);
// elemVtx.setData(elem);
// }
// 
// return out;
// 
// }
// public static ArrayList<MFreeElement3d> findPairedElementsContaining(
// Point3d pnt, BVTree bvtree, double tol) {
// 
// ArrayList<MFreeElement3d> deps = new ArrayList<MFreeElement3d>();
// ArrayList<BVNode> bvNodes = new ArrayList<BVNode>(16);
// bvtree.intersectPoint(bvNodes, pnt);
// 
// if (bvNodes.size() == 0) {
// return deps;
// }
// 
// for (BVNode n : bvNodes) {
// Boundable[] elements = n.getElements();
// for (int i = 0; i < elements.length; i++) {
// MFreeElement3d elem = (MFreeElement3d)elements[i];
// 
// boolean isInside = true;
// for (MFreeNode3d node : elem.getNodes()) {
// if (!node.isInDomain(pnt, tol)) {
// isInside = false;
// break;
// }
// }
// if (isInside) {
// deps.add(elem);
// }
// }
// }
// return deps;
// }
private static MFreeNode3d[] findNodesContaining(Point3d pnt, BVTree bvtree, double tol) {
    DynamicArray<MFreeNode3d> deps = new DynamicArray<>(MFreeNode3d.class);
    ArrayList<BVNode> bvNodes = new ArrayList<BVNode>(16);
    bvtree.intersectPoint(bvNodes, pnt);
    if (bvNodes.size() == 0) {
        return deps.getArray();
    }
    for (BVNode n : bvNodes) {
        Boundable[] elements = n.getElements();
        for (int i = 0; i < elements.length; i++) {
            RestNode rnode = (RestNode) elements[i];
            MFreeNode3d node = rnode.getNode();
            if (node.isInDomain(pnt, tol)) {
                deps.add(node);
            }
        }
    }
    return deps.getArray();
}

Example 7 with BVNode

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

the class MFreeModel3d method findNearestNode.

/**
 * Finds the nearest node to a specified point that is within
 * a specified maximum distance. If no node is within the
 * specified maximum distance, <code>null</code> is returned.
 *
 * @param pnt Point for which the nearest node should be located
 * @param maxDist Maximum distance that the node must be from the
 * point. If <code>maxDist</code> &lt; 0, then <code>null</code>
 * will be returned.
 * @return Nearest point within the prescribed distance, or <code>null</code>
 * if there is no such point
 */
public FemNode3d findNearestNode(Point3d pnt, double maxDist) {
    if (maxDist < 0) {
        return null;
    }
    BVTree bvtree = getElementBVTree();
    ArrayList<BVNode> nodes = new ArrayList<BVNode>();
    bvtree.intersectSphere(nodes, pnt, maxDist);
    FemNode3d nearest = null;
    double dist = 1 + 2 * maxDist;
    for (BVNode n : nodes) {
        Boundable[] elements = n.getElements();
        for (int i = 0; i < elements.length; i++) {
            FemElement3d e = (FemElement3d) elements[i];
            for (int k = 0; k < e.numNodes(); k++) {
                double d = e.getNodes()[k].getPosition().distance(pnt);
                if (d < dist && d <= maxDist) {
                    dist = d;
                    nearest = e.getNodes()[k];
                }
            }
        }
    }
    return nearest;
}

Example 8 with BVNode

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

the class MFreeMuscleModel method computeAverageFiberDirection.

public static boolean computeAverageFiberDirection(Vector3d dir, Point3d pos, double rad, PolylineMesh mesh) {
    BVTree bvh = mesh.getBVTree();
    ArrayList<BVNode> nodes = new ArrayList<BVNode>();
    Matrix3d cov = new Matrix3d();
    SVDecomposition3d svd = new SVDecomposition3d();
    Vector3d tmp = new Vector3d();
    Matrix3d tmp2 = new Matrix3d();
    bvh.intersectSphere(nodes, pos, rad);
    dir.setZero();
    int nsegs = 0;
    // for computing sign of direction vector
    Vector3d segmentSum = new Vector3d();
    // System.out.println("p=[");
    for (BVNode n : nodes) {
        Boundable[] elements = n.getElements();
        for (int i = 0; i < elements.length; i++) {
            LineSegment seg = (LineSegment) elements[i];
            seg = getSegmentInsideSphere(seg, pos, rad);
            if (seg != null) {
                tmp.sub(seg.myVtx1.pnt, seg.myVtx0.pnt);
                if (tmp.norm() >= 1e-8 * rad) {
                    // System.out.println(seg.myVtx0.getPosition() + " " +
                    // seg.myVtx1.getPosition());
                    nsegs++;
                    // prepare to average directions using SVD
                    computeCov(tmp2, tmp);
                    cov.add(tmp2);
                    segmentSum.add(tmp);
                }
            }
        }
    }
    if (nsegs > 0) {
        // we are technically including both +/- directions, so
        // we have twice the number of points
        cov.scale(2.0 / (2.0 * nsegs - 1));
        try {
            svd.factor(cov);
        } catch (Exception e) {
        // System.err.println(e.getMessage());
        }
        // principal components
        tmp2 = svd.getU();
        tmp2.getColumn(0, dir);
        dir.normalize();
        // most line segments
        if (dir.dot(segmentSum) < 0) {
            dir.scale(-1);
        }
        return true;
    } else {
        return false;
    }
}

Example 9 with BVNode

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

the class MeshIntersectingProbe method findNextFace.

// does not add the vertex, goes in a loop around contour until we hit a face
private Face findNextFace(Point3d pnt, LinkedList<Point3d> contour, OBBTree obbt, Intersector2d ti, Vector3d vx, Vector3d vy, Point3d o, SplitStorage info) {
    Face face = null;
    Vector3d dir = new Vector3d();
    if (info.idx < contour.size() - 1) {
        dir.sub(contour.get(info.idx + 1), contour.get(info.idx));
    } else {
        dir.sub(contour.get(info.idx), contour.get(info.idx - 1));
    }
    dir.normalize();
    while (face == null && info.idx < contour.size() - 1) {
        Point3d pntNext = contour.get(info.idx + 1);
        Point2d pnt2d = Intersector2d.get2dCoordinate(pnt, vx, vy, o);
        Point2d pnt2dNext = Intersector2d.get2dCoordinate(pntNext, vx, vy, o);
        Vector2d diff2d = new Vector2d();
        ArrayList<BVNode> bvNodes = new ArrayList<BVNode>();
        // get close nodes
        obbt.intersectLineSegment(bvNodes, pnt, pntNext);
        double minDist = Double.MAX_VALUE;
        Point2d minPnt = null;
        for (BVNode node : bvNodes) {
            for (int i = 0; i < node.getNumElements(); i++) {
                Boundable ps = node.getElements()[i];
                if (ps instanceof Face) {
                    Face f = (Face) ps;
                    Vertex3d[] vtxs = f.getVertices();
                    Point2d p0 = Intersector2d.get2dCoordinate(vtxs[0].getWorldPoint(), vx, vy, o);
                    Point2d p1 = Intersector2d.get2dCoordinate(vtxs[1].getWorldPoint(), vx, vy, o);
                    Point2d p2 = Intersector2d.get2dCoordinate(vtxs[2].getWorldPoint(), vx, vy, o);
                    ArrayList<Point2d> points = new ArrayList<Point2d>();
                    ti.intersectTriangleLineSegment(p0, p1, p2, pnt2d, pnt2dNext, points);
                    // check points
                    for (Point2d p : points) {
                        diff2d.sub(p, pnt2d);
                        if (diff2d.norm() < minDist) {
                            face = f;
                            minDist = diff2d.norm();
                            minPnt = p;
                        }
                    }
                }
            }
        }
        if (face == null || minDist >= pnt2dNext.distance(pnt2d)) {
            face = null;
            // move to next point
            info.idx++;
            pnt = contour.get(info.idx);
            if (info.idx < contour.size() - 1) {
                dir.sub(contour.get(info.idx + 1), pnt);
            }
        } else {
            // snap to edge if within tolerance
            Point3d pos = Intersector2d.get3dCoordinate(minPnt, vx, vy, o);
            if (pos.distance(pnt) < ti.epsilon) {
                pos.set(pnt);
            }
            // check if we have to make a new vertex
            info.vtx = createOrGetVertex(pos, face.getVertices(), ti.epsilon);
        }
    }
    return face;
}

Example 10 with BVNode

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

the class MeshIntersectingProbe method findFaces.

// finds faces near a points
private ArrayList<Face> findFaces(Point3d p, OBBTree obbt, Vector3d vx, Vector3d vy, Point3d o, double tol) {
    ArrayList<Face> faces = new ArrayList<Face>();
    ArrayList<BVNode> nodes = new ArrayList<BVNode>();
    obbt.intersectPoint(nodes, p);
    Point2d p2d = Intersector2d.get2dCoordinate(p, vx, vy, o);
    Point3d uvw = new Point3d();
    for (BVNode obbn : nodes) {
        for (int i = 0; i < obbn.getNumElements(); i++) {
            Boundable ps = obbn.getElements()[i];
            if (ps instanceof Face) {
                Face f = (Face) ps;
                Vertex3d[] vtxs = f.getVertices();
                Point2d p0 = Intersector2d.get2dCoordinate(vtxs[0].getWorldPoint(), vx, vy, o);
                Point2d p1 = Intersector2d.get2dCoordinate(vtxs[1].getWorldPoint(), vx, vy, o);
                Point2d p2 = Intersector2d.get2dCoordinate(vtxs[2].getWorldPoint(), vx, vy, o);
                Intersector2d.getBarycentric(p2d, p0, p1, p2, uvw);
                if (uvw.x > -tol && uvw.y > -tol && uvw.z > -tol) {
                    faces.add(f);
                }
            }
        }
    }
    return faces;
}