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

Example 16 with Face

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

the class MFreeFactory method generatePointLocations.

public static Point3d[] generatePointLocations(PolygonalMesh mesh, int[] res, int nPoints) {
    Vector3d centroid = new Vector3d();
    mesh.computeCentroid(centroid);
    RigidTransform3d trans = new RigidTransform3d();
    trans.setTranslation(centroid);
    OBB obb = PointDistributor.getTightOBB(mesh, trans);
    Vector3d widths = new Vector3d();
    obb.getWidths(widths);
    obb.getTransform(trans);
    int nx = res[0];
    int ny = res[1];
    int nz = res[2];
    double dx, dy, dz;
    double xOffset, yOffset, zOffset;
    if (nx == 1) {
        widths.x = 0;
        dx = 0;
    } else {
        dx = widths.x / (nx - 1);
    }
    if (ny == 1) {
        widths.y = 0;
        dy = 0;
    } else {
        dy = widths.y / (ny - 1);
    }
    if (nz == 1) {
        widths.z = 0;
        dz = 0;
    } else {
        dz = widths.z / (nz - 1);
    }
    xOffset = -widths.x / 2;
    yOffset = -widths.y / 2;
    zOffset = -widths.z / 2;
    // generate a grid of points that fall inside domain
    Point3d[][][] pnts = new Point3d[nx][ny][nz];
    // BVFeatureQuery query = new BVFeatureQuery();
    Vector3i sdres = new Vector3i(2 * nx, 2 * ny, 2 * nz);
    sdres.x = Math.min(sdres.x, 30);
    sdres.y = Math.min(sdres.y, 30);
    sdres.z = Math.min(sdres.z, 30);
    Logger.getSystemLogger().debug("Creating signed distance grid");
    List<Face> faces = mesh.getFaces();
    DistanceGrid sdgrid = new DistanceGrid(faces, 0.1, sdres, true);
    Logger.getSystemLogger().debug("done");
    double tol = 1e-15;
    Logger.getSystemLogger().debug("Generating " + nx + "x" + ny + "x" + nz + " points");
    double x, y, z;
    for (int i = 0; i < nx; i++) {
        x = xOffset + i * dx;
        for (int j = 0; j < ny; j++) {
            y = yOffset + j * dy;
            for (int k = 0; k < nz; k++) {
                z = zOffset + k * dz;
                Point3d pnt = new Point3d(x, y, z);
                pnt.transform(trans);
                double d = sdgrid.getLocalDistanceAndNormal(null, null, pnt);
                if (d < tol) {
                    pnts[i][j][k] = pnt;
                } else {
                    pnts[i][j][k] = null;
                }
            // InsideQuery rayTest = query.isInsideMesh(mesh, pnt, tol);
            // if (rayTest == InsideQuery.INSIDE) {
            // pnts[i][j][k] = pnt;
            // } else if (rayTest == InsideQuery.OUTSIDE) {
            // pnts[i][j][k] = null;
            // } else {
            // System.out.println("unsure");
            // }
            }
        }
    }
    Logger.getSystemLogger().debug("done.");
    Logger.getSystemLogger().debug("Farthest point sampling...");
    Point3dGridUtility pgu = new Point3dGridUtility(pnts);
    FastRadialMarcher marcher = new FastRadialMarcher(nx * ny * nz, pgu);
    marcher.initializeArrays();
    double[] dists = marcher.getDistance();
    // mark null points as having distance of -1 (never to be selected)
    for (int i = 0; i < nx; i++) {
        for (int j = 0; j < ny; j++) {
            for (int k = 0; k < nz; k++) {
                if (pnts[i][j][k] == null) {
                    dists[k + j * nz + i * ny * nz] = -1;
                }
            }
        }
    }
    // initialize heap to include all indices
    marcher.getDistanceHeap().setAll();
    // farthest-point sampling
    Point3d[] out = new Point3d[nPoints];
    int i, j, k;
    for (int idx = 0; idx < nPoints; idx++) {
        int farthest = 0;
        IndexedBinaryHeap dheap = marcher.getDistanceHeap();
        farthest = dheap.peek();
        // get next furthest
        int nextSample = farthest;
        // idx = i*ny*nz+j*nz+k
        k = nextSample % nz;
        j = ((nextSample - k) / nz) % ny;
        i = (nextSample - k - j * nz) / (ny * nz);
        out[idx] = pnts[i][j][k];
        // update distances to first point
        marcher.march(nextSample);
    }
    Logger.getSystemLogger().debug("done.");
    return out;
}

Example 17 with Face

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

the class RigidBody method getDistanceGrid.

/**
 * Returns a signed distance grid that can be used with a
 * SignedDistanceCollider, or <code>null</code> if a grid is not available
 * (i.e., if {@link #hasDistanceGrid} returns <code>false</code>).
 * The number of divisons in the grid is controlled explicitly by the
 * property <code>distanceGridRes</code>, or, that is 0, by the property
 * <code>distanceGridMaxRes</code>. If both properties are 0, no grid is
 * available and <code>null</code> will be returned.
 *
 * @return signed distance grid, or <code>null</code> if a grid is
 * not available this RigidBody
 * @see #getDistanceGridMaxRes
 * @see #getDistanceGridRes
 */
public DistanceGrid getDistanceGrid() {
    if (mySDGrid == null || !mySDGridValid) {
        int maxRes = myDistanceGridMaxRes;
        if (!myDistanceGridRes.equals(Vector3i.ZERO) || maxRes > 0) {
            if (!myDistanceGridRes.equals(Vector3i.ZERO)) {
                mySDGrid = new DistanceGrid(myDistanceGridRes);
                maxRes = 0;
            } else {
                // resolution will be recomputed in computeFromFeatures
                mySDGrid = new DistanceGrid(new Vector3i(1, 1, 1));
            }
            mySDGrid.setDrawEdges(true);
            List<Face> faces = getMesh().getFaces();
            if (myDistanceGridOBB) {
                mySDGrid.computeFromFeaturesOBB(faces, myGridMargin, maxRes, /*signed=*/
                true);
            } else {
                mySDGrid.computeFromFeatures(faces, myGridMargin, /*TGL=*/
                null, maxRes, /*signed=*/
                true);
            }
            mySDGrid.setLocalToWorld(getPose());
        } else {
            mySDGrid = null;
        }
        // mySDGrid.smooth (0.33, -0.34, 2);
        mySDSurface = null;
        mySDGridValid = true;
    }
    return mySDGrid;
}

Example 18 with Face

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

the class MeshIntersectingProbe method trimFaces.

protected static PolygonalMesh trimFaces(PolygonalMesh mesh, HashMap<Vertex3d, Boolean> vtxIndicatorMap) {
    PolygonalMesh out = new PolygonalMesh();
    HashMap<Vertex3d, Vertex3d> vtxMap = new HashMap<Vertex3d, Vertex3d>(mesh.numVertices());
    for (Vertex3d vtx : mesh.getVertices()) {
        if (vtxIndicatorMap.get(vtx)) {
            Vertex3d nvtx = new Vertex3d(new Point3d(vtx.getPosition()));
            vtxMap.put(vtx, nvtx);
            out.addVertex(nvtx);
        }
    }
    for (Face face : mesh.getFaces()) {
        boolean add = true;
        for (Vertex3d vtx : face.getVertices()) {
            if (vtxIndicatorMap.get(vtx) == false) {
                add = false;
                break;
            }
        }
        if (add) {
            Vertex3d[] oldVtxs = face.getVertices();
            Vertex3d[] vtxs = new Vertex3d[face.numVertices()];
            for (int i = 0; i < vtxs.length; i++) {
                vtxs[i] = vtxMap.get(oldVtxs[i]);
            }
            out.addFace(vtxs);
        }
    }
    return out;
}

Example 19 with Face

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

the class MeshIntersectingProbe method getFaces.

/**
 * Returns a list of all faces that use this vertex
 */
public ArrayList<Face> getFaces(Vertex3d vtx) {
    Iterator<HalfEdge> hit = vtx.getIncidentHalfEdges();
    ArrayList<Face> faces = new ArrayList<Face>();
    while (hit.hasNext()) {
        HalfEdge he = hit.next();
        faces.add(he.getFace());
    }
    return faces;
}

Example 20 with Face

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

the class MeshIntersectingProbe method splitFace.

// splits a face at a point
private static ArrayList<Face> splitFace(PolygonalMesh mesh, Face face, Vertex3d vtx, double tol) {
    ArrayList<Face> newFaces = new ArrayList<Face>();
    Vertex3d[] verts = face.getVertices();
    // if the vtx is one of the corners, don't do anything
    for (Vertex3d v : verts) {
        if (v == vtx) {
            newFaces.add(face);
            return newFaces;
        }
    }
    if (!mesh.containsVertex(vtx)) {
        // transform to mesh coordinate system,
        // then add
        vtx.pnt.inverseTransform(mesh.getMeshToWorld());
        mesh.addVertex(vtx);
    }
    mesh.removeFace(face);
    Vertex3d v1, v2, v3;
    v1 = vtx;
    for (int i = 0; i < verts.length; i++) {
        int j = (i + 1) % verts.length;
        v2 = verts[i];
        v3 = verts[j];
        if (getSignedTriangleArea(v1.getWorldPoint(), v2.getWorldPoint(), v3.getWorldPoint(), face.getWorldNormal()) > tol) {
            newFaces.add(mesh.addFace(v1, v2, v3));
        }
    }
    return newFaces;
}