732 lines
28 KiB
C++
732 lines
28 KiB
C++
/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
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All rights reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
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3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "vhacdICHull.h"
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#include <limits>
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#ifdef _MSC_VER
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#pragma warning(disable:4456 4706)
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#endif
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namespace VHACD {
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const double ICHull::sc_eps = 1.0e-15;
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const int32_t ICHull::sc_dummyIndex = std::numeric_limits<int32_t>::max();
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ICHull::ICHull()
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{
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m_isFlat = false;
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}
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bool ICHull::AddPoints(const Vec3<double>* points, size_t nPoints)
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{
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if (!points) {
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return false;
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}
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CircularListElement<TMMVertex>* vertex = NULL;
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for (size_t i = 0; i < nPoints; i++) {
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vertex = m_mesh.AddVertex();
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vertex->GetData().m_pos.X() = points[i].X();
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vertex->GetData().m_pos.Y() = points[i].Y();
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vertex->GetData().m_pos.Z() = points[i].Z();
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vertex->GetData().m_name = static_cast<int32_t>(i);
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}
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return true;
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}
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bool ICHull::AddPoint(const Vec3<double>& point, int32_t id)
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{
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if (AddPoints(&point, 1)) {
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m_mesh.m_vertices.GetData().m_name = id;
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return true;
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}
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return false;
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}
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ICHullError ICHull::Process()
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{
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uint32_t addedPoints = 0;
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if (m_mesh.GetNVertices() < 3) {
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return ICHullErrorNotEnoughPoints;
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}
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if (m_mesh.GetNVertices() == 3) {
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m_isFlat = true;
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CircularListElement<TMMTriangle>* t1 = m_mesh.AddTriangle();
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CircularListElement<TMMTriangle>* t2 = m_mesh.AddTriangle();
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CircularListElement<TMMVertex>* v0 = m_mesh.m_vertices.GetHead();
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CircularListElement<TMMVertex>* v1 = v0->GetNext();
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CircularListElement<TMMVertex>* v2 = v1->GetNext();
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// Compute the normal to the plane
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Vec3<double> p0 = v0->GetData().m_pos;
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Vec3<double> p1 = v1->GetData().m_pos;
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Vec3<double> p2 = v2->GetData().m_pos;
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m_normal = (p1 - p0) ^ (p2 - p0);
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m_normal.Normalize();
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t1->GetData().m_vertices[0] = v0;
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t1->GetData().m_vertices[1] = v1;
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t1->GetData().m_vertices[2] = v2;
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t2->GetData().m_vertices[0] = v1;
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t2->GetData().m_vertices[1] = v2;
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t2->GetData().m_vertices[2] = v2;
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return ICHullErrorOK;
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}
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if (m_isFlat) {
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m_mesh.m_edges.Clear();
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m_mesh.m_triangles.Clear();
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m_isFlat = false;
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}
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if (m_mesh.GetNTriangles() == 0) // we have to create the first polyhedron
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{
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ICHullError res = DoubleTriangle();
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if (res != ICHullErrorOK) {
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return res;
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}
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else {
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addedPoints += 3;
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}
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}
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CircularList<TMMVertex>& vertices = m_mesh.GetVertices();
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// go to the first added and not processed vertex
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while (!(vertices.GetHead()->GetPrev()->GetData().m_tag)) {
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vertices.Prev();
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}
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while (!vertices.GetData().m_tag) // not processed
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{
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vertices.GetData().m_tag = true;
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if (ProcessPoint()) {
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addedPoints++;
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CleanUp(addedPoints);
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vertices.Next();
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if (!GetMesh().CheckConsistancy()) {
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size_t nV = m_mesh.GetNVertices();
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CircularList<TMMVertex>& vertices = m_mesh.GetVertices();
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for (size_t v = 0; v < nV; ++v) {
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if (vertices.GetData().m_name == sc_dummyIndex) {
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vertices.Delete();
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break;
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}
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vertices.Next();
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}
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return ICHullErrorInconsistent;
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}
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}
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}
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if (m_isFlat) {
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SArray<CircularListElement<TMMTriangle>*> trianglesToDuplicate;
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size_t nT = m_mesh.GetNTriangles();
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for (size_t f = 0; f < nT; f++) {
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TMMTriangle& currentTriangle = m_mesh.m_triangles.GetHead()->GetData();
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if (currentTriangle.m_vertices[0]->GetData().m_name == sc_dummyIndex || currentTriangle.m_vertices[1]->GetData().m_name == sc_dummyIndex || currentTriangle.m_vertices[2]->GetData().m_name == sc_dummyIndex) {
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m_trianglesToDelete.PushBack(m_mesh.m_triangles.GetHead());
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for (int32_t k = 0; k < 3; k++) {
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for (int32_t h = 0; h < 2; h++) {
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if (currentTriangle.m_edges[k]->GetData().m_triangles[h] == m_mesh.m_triangles.GetHead()) {
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currentTriangle.m_edges[k]->GetData().m_triangles[h] = 0;
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break;
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}
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}
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}
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}
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else {
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trianglesToDuplicate.PushBack(m_mesh.m_triangles.GetHead());
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}
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m_mesh.m_triangles.Next();
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}
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size_t nE = m_mesh.GetNEdges();
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for (size_t e = 0; e < nE; e++) {
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TMMEdge& currentEdge = m_mesh.m_edges.GetHead()->GetData();
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if (currentEdge.m_triangles[0] == 0 && currentEdge.m_triangles[1] == 0) {
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m_edgesToDelete.PushBack(m_mesh.m_edges.GetHead());
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}
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m_mesh.m_edges.Next();
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}
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size_t nV = m_mesh.GetNVertices();
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CircularList<TMMVertex>& vertices = m_mesh.GetVertices();
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for (size_t v = 0; v < nV; ++v) {
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if (vertices.GetData().m_name == sc_dummyIndex) {
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vertices.Delete();
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}
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else {
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vertices.GetData().m_tag = false;
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vertices.Next();
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}
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}
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CleanEdges();
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CleanTriangles();
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CircularListElement<TMMTriangle>* newTriangle;
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for (size_t t = 0; t < trianglesToDuplicate.Size(); t++) {
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newTriangle = m_mesh.AddTriangle();
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newTriangle->GetData().m_vertices[0] = trianglesToDuplicate[t]->GetData().m_vertices[1];
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newTriangle->GetData().m_vertices[1] = trianglesToDuplicate[t]->GetData().m_vertices[0];
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newTriangle->GetData().m_vertices[2] = trianglesToDuplicate[t]->GetData().m_vertices[2];
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}
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}
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return ICHullErrorOK;
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}
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ICHullError ICHull::Process(const uint32_t nPointsCH,
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const double minVolume)
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{
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uint32_t addedPoints = 0;
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if (nPointsCH < 3 || m_mesh.GetNVertices() < 3) {
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return ICHullErrorNotEnoughPoints;
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}
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if (m_mesh.GetNVertices() == 3) {
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m_isFlat = true;
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CircularListElement<TMMTriangle>* t1 = m_mesh.AddTriangle();
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CircularListElement<TMMTriangle>* t2 = m_mesh.AddTriangle();
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CircularListElement<TMMVertex>* v0 = m_mesh.m_vertices.GetHead();
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CircularListElement<TMMVertex>* v1 = v0->GetNext();
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CircularListElement<TMMVertex>* v2 = v1->GetNext();
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// Compute the normal to the plane
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Vec3<double> p0 = v0->GetData().m_pos;
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Vec3<double> p1 = v1->GetData().m_pos;
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Vec3<double> p2 = v2->GetData().m_pos;
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m_normal = (p1 - p0) ^ (p2 - p0);
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m_normal.Normalize();
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t1->GetData().m_vertices[0] = v0;
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t1->GetData().m_vertices[1] = v1;
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t1->GetData().m_vertices[2] = v2;
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t2->GetData().m_vertices[0] = v1;
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t2->GetData().m_vertices[1] = v0;
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t2->GetData().m_vertices[2] = v2;
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return ICHullErrorOK;
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}
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if (m_isFlat) {
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m_mesh.m_triangles.Clear();
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m_mesh.m_edges.Clear();
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m_isFlat = false;
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}
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if (m_mesh.GetNTriangles() == 0) // we have to create the first polyhedron
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{
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ICHullError res = DoubleTriangle();
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if (res != ICHullErrorOK) {
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return res;
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}
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else {
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addedPoints += 3;
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}
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}
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CircularList<TMMVertex>& vertices = m_mesh.GetVertices();
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while (!vertices.GetData().m_tag && addedPoints < nPointsCH) // not processed
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{
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if (!FindMaxVolumePoint((addedPoints > 4) ? minVolume : 0.0)) {
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break;
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}
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vertices.GetData().m_tag = true;
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if (ProcessPoint()) {
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addedPoints++;
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CleanUp(addedPoints);
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if (!GetMesh().CheckConsistancy()) {
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size_t nV = m_mesh.GetNVertices();
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CircularList<TMMVertex>& vertices = m_mesh.GetVertices();
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for (size_t v = 0; v < nV; ++v) {
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if (vertices.GetData().m_name == sc_dummyIndex) {
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vertices.Delete();
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break;
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}
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vertices.Next();
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}
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return ICHullErrorInconsistent;
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}
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vertices.Next();
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}
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}
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// delete remaining points
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while (!vertices.GetData().m_tag) {
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vertices.Delete();
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}
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if (m_isFlat) {
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SArray<CircularListElement<TMMTriangle>*> trianglesToDuplicate;
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size_t nT = m_mesh.GetNTriangles();
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for (size_t f = 0; f < nT; f++) {
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TMMTriangle& currentTriangle = m_mesh.m_triangles.GetHead()->GetData();
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if (currentTriangle.m_vertices[0]->GetData().m_name == sc_dummyIndex || currentTriangle.m_vertices[1]->GetData().m_name == sc_dummyIndex || currentTriangle.m_vertices[2]->GetData().m_name == sc_dummyIndex) {
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m_trianglesToDelete.PushBack(m_mesh.m_triangles.GetHead());
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for (int32_t k = 0; k < 3; k++) {
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for (int32_t h = 0; h < 2; h++) {
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if (currentTriangle.m_edges[k]->GetData().m_triangles[h] == m_mesh.m_triangles.GetHead()) {
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currentTriangle.m_edges[k]->GetData().m_triangles[h] = 0;
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break;
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}
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}
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}
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}
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else {
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trianglesToDuplicate.PushBack(m_mesh.m_triangles.GetHead());
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}
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m_mesh.m_triangles.Next();
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}
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size_t nE = m_mesh.GetNEdges();
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for (size_t e = 0; e < nE; e++) {
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TMMEdge& currentEdge = m_mesh.m_edges.GetHead()->GetData();
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if (currentEdge.m_triangles[0] == 0 && currentEdge.m_triangles[1] == 0) {
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m_edgesToDelete.PushBack(m_mesh.m_edges.GetHead());
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}
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m_mesh.m_edges.Next();
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}
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size_t nV = m_mesh.GetNVertices();
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CircularList<TMMVertex>& vertices = m_mesh.GetVertices();
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for (size_t v = 0; v < nV; ++v) {
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if (vertices.GetData().m_name == sc_dummyIndex) {
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vertices.Delete();
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}
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else {
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vertices.GetData().m_tag = false;
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vertices.Next();
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}
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}
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CleanEdges();
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CleanTriangles();
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CircularListElement<TMMTriangle>* newTriangle;
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for (size_t t = 0; t < trianglesToDuplicate.Size(); t++) {
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newTriangle = m_mesh.AddTriangle();
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newTriangle->GetData().m_vertices[0] = trianglesToDuplicate[t]->GetData().m_vertices[1];
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newTriangle->GetData().m_vertices[1] = trianglesToDuplicate[t]->GetData().m_vertices[0];
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newTriangle->GetData().m_vertices[2] = trianglesToDuplicate[t]->GetData().m_vertices[2];
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}
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}
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return ICHullErrorOK;
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}
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bool ICHull::FindMaxVolumePoint(const double minVolume)
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{
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CircularList<TMMVertex>& vertices = m_mesh.GetVertices();
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CircularListElement<TMMVertex>* vMaxVolume = 0;
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CircularListElement<TMMVertex>* vHeadPrev = vertices.GetHead()->GetPrev();
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double maxVolume = minVolume;
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double volume = 0.0;
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while (!vertices.GetData().m_tag) // not processed
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{
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if (ComputePointVolume(volume, false)) {
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if (maxVolume < volume) {
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maxVolume = volume;
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vMaxVolume = vertices.GetHead();
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}
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vertices.Next();
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}
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}
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CircularListElement<TMMVertex>* vHead = vHeadPrev->GetNext();
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vertices.GetHead() = vHead;
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if (!vMaxVolume) {
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return false;
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}
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if (vMaxVolume != vHead) {
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Vec3<double> pos = vHead->GetData().m_pos;
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int32_t id = vHead->GetData().m_name;
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vHead->GetData().m_pos = vMaxVolume->GetData().m_pos;
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vHead->GetData().m_name = vMaxVolume->GetData().m_name;
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vMaxVolume->GetData().m_pos = pos;
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vHead->GetData().m_name = id;
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}
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return true;
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}
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ICHullError ICHull::DoubleTriangle()
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{
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// find three non colinear points
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m_isFlat = false;
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CircularList<TMMVertex>& vertices = m_mesh.GetVertices();
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CircularListElement<TMMVertex>* v0 = vertices.GetHead();
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while (Colinear(v0->GetData().m_pos,
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v0->GetNext()->GetData().m_pos,
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v0->GetNext()->GetNext()->GetData().m_pos)) {
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if ((v0 = v0->GetNext()) == vertices.GetHead()) {
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return ICHullErrorCoplanarPoints;
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}
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}
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CircularListElement<TMMVertex>* v1 = v0->GetNext();
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CircularListElement<TMMVertex>* v2 = v1->GetNext();
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// mark points as processed
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v0->GetData().m_tag = v1->GetData().m_tag = v2->GetData().m_tag = true;
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// create two triangles
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CircularListElement<TMMTriangle>* f0 = MakeFace(v0, v1, v2, 0);
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MakeFace(v2, v1, v0, f0);
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// find a fourth non-coplanar point to form tetrahedron
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CircularListElement<TMMVertex>* v3 = v2->GetNext();
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vertices.GetHead() = v3;
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double vol = ComputeVolume4(v0->GetData().m_pos, v1->GetData().m_pos, v2->GetData().m_pos, v3->GetData().m_pos);
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while (fabs(vol) < sc_eps && !v3->GetNext()->GetData().m_tag) {
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v3 = v3->GetNext();
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vol = ComputeVolume4(v0->GetData().m_pos, v1->GetData().m_pos, v2->GetData().m_pos, v3->GetData().m_pos);
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}
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if (fabs(vol) < sc_eps) {
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// compute the barycenter
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Vec3<double> bary(0.0, 0.0, 0.0);
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CircularListElement<TMMVertex>* vBary = v0;
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do {
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bary += vBary->GetData().m_pos;
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} while ((vBary = vBary->GetNext()) != v0);
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bary /= static_cast<double>(vertices.GetSize());
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// Compute the normal to the plane
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Vec3<double> p0 = v0->GetData().m_pos;
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Vec3<double> p1 = v1->GetData().m_pos;
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Vec3<double> p2 = v2->GetData().m_pos;
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m_normal = (p1 - p0) ^ (p2 - p0);
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m_normal.Normalize();
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// add dummy vertex placed at (bary + normal)
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vertices.GetHead() = v2;
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Vec3<double> newPt = bary + m_normal;
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AddPoint(newPt, sc_dummyIndex);
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m_isFlat = true;
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return ICHullErrorOK;
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}
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else if (v3 != vertices.GetHead()) {
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TMMVertex temp;
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temp.m_name = v3->GetData().m_name;
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temp.m_pos = v3->GetData().m_pos;
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v3->GetData().m_name = vertices.GetHead()->GetData().m_name;
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v3->GetData().m_pos = vertices.GetHead()->GetData().m_pos;
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vertices.GetHead()->GetData().m_name = temp.m_name;
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vertices.GetHead()->GetData().m_pos = temp.m_pos;
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}
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return ICHullErrorOK;
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}
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CircularListElement<TMMTriangle>* ICHull::MakeFace(CircularListElement<TMMVertex>* v0,
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CircularListElement<TMMVertex>* v1,
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CircularListElement<TMMVertex>* v2,
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CircularListElement<TMMTriangle>* fold)
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{
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CircularListElement<TMMEdge>* e0;
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CircularListElement<TMMEdge>* e1;
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CircularListElement<TMMEdge>* e2;
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int32_t index = 0;
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if (!fold) // if first face to be created
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{
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e0 = m_mesh.AddEdge(); // create the three edges
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e1 = m_mesh.AddEdge();
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e2 = m_mesh.AddEdge();
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}
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else // otherwise re-use existing edges (in reverse order)
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{
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e0 = fold->GetData().m_edges[2];
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e1 = fold->GetData().m_edges[1];
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e2 = fold->GetData().m_edges[0];
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index = 1;
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}
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e0->GetData().m_vertices[0] = v0;
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e0->GetData().m_vertices[1] = v1;
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e1->GetData().m_vertices[0] = v1;
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e1->GetData().m_vertices[1] = v2;
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e2->GetData().m_vertices[0] = v2;
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e2->GetData().m_vertices[1] = v0;
|
|
// create the new face
|
|
CircularListElement<TMMTriangle>* f = m_mesh.AddTriangle();
|
|
f->GetData().m_edges[0] = e0;
|
|
f->GetData().m_edges[1] = e1;
|
|
f->GetData().m_edges[2] = e2;
|
|
f->GetData().m_vertices[0] = v0;
|
|
f->GetData().m_vertices[1] = v1;
|
|
f->GetData().m_vertices[2] = v2;
|
|
// link edges to face f
|
|
e0->GetData().m_triangles[index] = e1->GetData().m_triangles[index] = e2->GetData().m_triangles[index] = f;
|
|
return f;
|
|
}
|
|
CircularListElement<TMMTriangle>* ICHull::MakeConeFace(CircularListElement<TMMEdge>* e, CircularListElement<TMMVertex>* p)
|
|
{
|
|
// create two new edges if they don't already exist
|
|
CircularListElement<TMMEdge>* newEdges[2];
|
|
for (int32_t i = 0; i < 2; ++i) {
|
|
if (!(newEdges[i] = e->GetData().m_vertices[i]->GetData().m_duplicate)) { // if the edge doesn't exits add it and mark the vertex as duplicated
|
|
newEdges[i] = m_mesh.AddEdge();
|
|
newEdges[i]->GetData().m_vertices[0] = e->GetData().m_vertices[i];
|
|
newEdges[i]->GetData().m_vertices[1] = p;
|
|
e->GetData().m_vertices[i]->GetData().m_duplicate = newEdges[i];
|
|
}
|
|
}
|
|
// make the new face
|
|
CircularListElement<TMMTriangle>* newFace = m_mesh.AddTriangle();
|
|
newFace->GetData().m_edges[0] = e;
|
|
newFace->GetData().m_edges[1] = newEdges[0];
|
|
newFace->GetData().m_edges[2] = newEdges[1];
|
|
MakeCCW(newFace, e, p);
|
|
for (int32_t i = 0; i < 2; ++i) {
|
|
for (int32_t j = 0; j < 2; ++j) {
|
|
if (!newEdges[i]->GetData().m_triangles[j]) {
|
|
newEdges[i]->GetData().m_triangles[j] = newFace;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
return newFace;
|
|
}
|
|
bool ICHull::ComputePointVolume(double& totalVolume, bool markVisibleFaces)
|
|
{
|
|
// mark visible faces
|
|
CircularListElement<TMMTriangle>* fHead = m_mesh.GetTriangles().GetHead();
|
|
CircularListElement<TMMTriangle>* f = fHead;
|
|
CircularList<TMMVertex>& vertices = m_mesh.GetVertices();
|
|
CircularListElement<TMMVertex>* vertex0 = vertices.GetHead();
|
|
bool visible = false;
|
|
Vec3<double> pos0 = Vec3<double>(vertex0->GetData().m_pos.X(),
|
|
vertex0->GetData().m_pos.Y(),
|
|
vertex0->GetData().m_pos.Z());
|
|
double vol = 0.0;
|
|
totalVolume = 0.0;
|
|
Vec3<double> ver0, ver1, ver2;
|
|
do {
|
|
ver0.X() = f->GetData().m_vertices[0]->GetData().m_pos.X();
|
|
ver0.Y() = f->GetData().m_vertices[0]->GetData().m_pos.Y();
|
|
ver0.Z() = f->GetData().m_vertices[0]->GetData().m_pos.Z();
|
|
ver1.X() = f->GetData().m_vertices[1]->GetData().m_pos.X();
|
|
ver1.Y() = f->GetData().m_vertices[1]->GetData().m_pos.Y();
|
|
ver1.Z() = f->GetData().m_vertices[1]->GetData().m_pos.Z();
|
|
ver2.X() = f->GetData().m_vertices[2]->GetData().m_pos.X();
|
|
ver2.Y() = f->GetData().m_vertices[2]->GetData().m_pos.Y();
|
|
ver2.Z() = f->GetData().m_vertices[2]->GetData().m_pos.Z();
|
|
vol = ComputeVolume4(ver0, ver1, ver2, pos0);
|
|
if (vol < -sc_eps) {
|
|
vol = fabs(vol);
|
|
totalVolume += vol;
|
|
if (markVisibleFaces) {
|
|
f->GetData().m_visible = true;
|
|
m_trianglesToDelete.PushBack(f);
|
|
}
|
|
visible = true;
|
|
}
|
|
f = f->GetNext();
|
|
} while (f != fHead);
|
|
|
|
if (m_trianglesToDelete.Size() == m_mesh.m_triangles.GetSize()) {
|
|
for (size_t i = 0; i < m_trianglesToDelete.Size(); i++) {
|
|
m_trianglesToDelete[i]->GetData().m_visible = false;
|
|
}
|
|
visible = false;
|
|
}
|
|
// if no faces visible from p then p is inside the hull
|
|
if (!visible && markVisibleFaces) {
|
|
vertices.Delete();
|
|
m_trianglesToDelete.Resize(0);
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
bool ICHull::ProcessPoint()
|
|
{
|
|
double totalVolume = 0.0;
|
|
if (!ComputePointVolume(totalVolume, true)) {
|
|
return false;
|
|
}
|
|
// Mark edges in interior of visible region for deletion.
|
|
// Create a new face based on each border edge
|
|
CircularListElement<TMMVertex>* v0 = m_mesh.GetVertices().GetHead();
|
|
CircularListElement<TMMEdge>* eHead = m_mesh.GetEdges().GetHead();
|
|
CircularListElement<TMMEdge>* e = eHead;
|
|
CircularListElement<TMMEdge>* tmp = 0;
|
|
int32_t nvisible = 0;
|
|
m_edgesToDelete.Resize(0);
|
|
m_edgesToUpdate.Resize(0);
|
|
do {
|
|
tmp = e->GetNext();
|
|
nvisible = 0;
|
|
for (int32_t k = 0; k < 2; k++) {
|
|
if (e->GetData().m_triangles[k]->GetData().m_visible) {
|
|
nvisible++;
|
|
}
|
|
}
|
|
if (nvisible == 2) {
|
|
m_edgesToDelete.PushBack(e);
|
|
}
|
|
else if (nvisible == 1) {
|
|
e->GetData().m_newFace = MakeConeFace(e, v0);
|
|
m_edgesToUpdate.PushBack(e);
|
|
}
|
|
e = tmp;
|
|
} while (e != eHead);
|
|
return true;
|
|
}
|
|
bool ICHull::MakeCCW(CircularListElement<TMMTriangle>* f,
|
|
CircularListElement<TMMEdge>* e,
|
|
CircularListElement<TMMVertex>* v)
|
|
{
|
|
// the visible face adjacent to e
|
|
CircularListElement<TMMTriangle>* fv;
|
|
if (e->GetData().m_triangles[0]->GetData().m_visible) {
|
|
fv = e->GetData().m_triangles[0];
|
|
}
|
|
else {
|
|
fv = e->GetData().m_triangles[1];
|
|
}
|
|
|
|
// set vertex[0] and vertex[1] to have the same orientation as the corresponding vertices of fv.
|
|
int32_t i; // index of e->m_vertices[0] in fv
|
|
CircularListElement<TMMVertex>* v0 = e->GetData().m_vertices[0];
|
|
CircularListElement<TMMVertex>* v1 = e->GetData().m_vertices[1];
|
|
for (i = 0; fv->GetData().m_vertices[i] != v0; i++)
|
|
;
|
|
|
|
if (fv->GetData().m_vertices[(i + 1) % 3] != e->GetData().m_vertices[1]) {
|
|
f->GetData().m_vertices[0] = v1;
|
|
f->GetData().m_vertices[1] = v0;
|
|
}
|
|
else {
|
|
f->GetData().m_vertices[0] = v0;
|
|
f->GetData().m_vertices[1] = v1;
|
|
// swap edges
|
|
CircularListElement<TMMEdge>* tmp = f->GetData().m_edges[0];
|
|
f->GetData().m_edges[0] = f->GetData().m_edges[1];
|
|
f->GetData().m_edges[1] = tmp;
|
|
}
|
|
f->GetData().m_vertices[2] = v;
|
|
return true;
|
|
}
|
|
bool ICHull::CleanUp(uint32_t& addedPoints)
|
|
{
|
|
bool r0 = CleanEdges();
|
|
bool r1 = CleanTriangles();
|
|
bool r2 = CleanVertices(addedPoints);
|
|
return r0 && r1 && r2;
|
|
}
|
|
bool ICHull::CleanEdges()
|
|
{
|
|
// integrate the new faces into the data structure
|
|
CircularListElement<TMMEdge>* e;
|
|
const size_t ne_update = m_edgesToUpdate.Size();
|
|
for (size_t i = 0; i < ne_update; ++i) {
|
|
e = m_edgesToUpdate[i];
|
|
if (e->GetData().m_newFace) {
|
|
if (e->GetData().m_triangles[0]->GetData().m_visible) {
|
|
e->GetData().m_triangles[0] = e->GetData().m_newFace;
|
|
}
|
|
else {
|
|
e->GetData().m_triangles[1] = e->GetData().m_newFace;
|
|
}
|
|
e->GetData().m_newFace = 0;
|
|
}
|
|
}
|
|
// delete edges maked for deletion
|
|
CircularList<TMMEdge>& edges = m_mesh.GetEdges();
|
|
const size_t ne_delete = m_edgesToDelete.Size();
|
|
for (size_t i = 0; i < ne_delete; ++i) {
|
|
edges.Delete(m_edgesToDelete[i]);
|
|
}
|
|
m_edgesToDelete.Resize(0);
|
|
m_edgesToUpdate.Resize(0);
|
|
return true;
|
|
}
|
|
bool ICHull::CleanTriangles()
|
|
{
|
|
CircularList<TMMTriangle>& triangles = m_mesh.GetTriangles();
|
|
const size_t nt_delete = m_trianglesToDelete.Size();
|
|
for (size_t i = 0; i < nt_delete; ++i) {
|
|
triangles.Delete(m_trianglesToDelete[i]);
|
|
}
|
|
m_trianglesToDelete.Resize(0);
|
|
return true;
|
|
}
|
|
bool ICHull::CleanVertices(uint32_t& addedPoints)
|
|
{
|
|
// mark all vertices incident to some undeleted edge as on the hull
|
|
CircularList<TMMEdge>& edges = m_mesh.GetEdges();
|
|
CircularListElement<TMMEdge>* e = edges.GetHead();
|
|
size_t nE = edges.GetSize();
|
|
for (size_t i = 0; i < nE; i++) {
|
|
e->GetData().m_vertices[0]->GetData().m_onHull = true;
|
|
e->GetData().m_vertices[1]->GetData().m_onHull = true;
|
|
e = e->GetNext();
|
|
}
|
|
// delete all the vertices that have been processed but are not on the hull
|
|
CircularList<TMMVertex>& vertices = m_mesh.GetVertices();
|
|
CircularListElement<TMMVertex>* vHead = vertices.GetHead();
|
|
CircularListElement<TMMVertex>* v = vHead;
|
|
v = v->GetPrev();
|
|
do {
|
|
if (v->GetData().m_tag && !v->GetData().m_onHull) {
|
|
CircularListElement<TMMVertex>* tmp = v->GetPrev();
|
|
vertices.Delete(v);
|
|
v = tmp;
|
|
addedPoints--;
|
|
}
|
|
else {
|
|
v->GetData().m_duplicate = 0;
|
|
v->GetData().m_onHull = false;
|
|
v = v->GetPrev();
|
|
}
|
|
} while (v->GetData().m_tag && v != vHead);
|
|
return true;
|
|
}
|
|
void ICHull::Clear()
|
|
{
|
|
m_mesh.Clear();
|
|
m_edgesToDelete.Resize(0);
|
|
m_edgesToUpdate.Resize(0);
|
|
m_trianglesToDelete.Resize(0);
|
|
m_isFlat = false;
|
|
}
|
|
const ICHull& ICHull::operator=(ICHull& rhs)
|
|
{
|
|
if (&rhs != this) {
|
|
m_mesh.Copy(rhs.m_mesh);
|
|
m_edgesToDelete = rhs.m_edgesToDelete;
|
|
m_edgesToUpdate = rhs.m_edgesToUpdate;
|
|
m_trianglesToDelete = rhs.m_trianglesToDelete;
|
|
m_isFlat = rhs.m_isFlat;
|
|
}
|
|
return (*this);
|
|
}
|
|
bool ICHull::IsInside(const Vec3<double>& pt0, const double eps)
|
|
{
|
|
const Vec3<double> pt(pt0.X(), pt0.Y(), pt0.Z());
|
|
if (m_isFlat) {
|
|
size_t nT = m_mesh.m_triangles.GetSize();
|
|
Vec3<double> ver0, ver1, ver2, a, b, c;
|
|
double u, v;
|
|
for (size_t t = 0; t < nT; t++) {
|
|
ver0.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.X();
|
|
ver0.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Y();
|
|
ver0.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Z();
|
|
ver1.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.X();
|
|
ver1.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Y();
|
|
ver1.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Z();
|
|
ver2.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.X();
|
|
ver2.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Y();
|
|
ver2.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Z();
|
|
a = ver1 - ver0;
|
|
b = ver2 - ver0;
|
|
c = pt - ver0;
|
|
u = c * a;
|
|
v = c * b;
|
|
if (u >= 0.0 && u <= 1.0 && v >= 0.0 && u + v <= 1.0) {
|
|
return true;
|
|
}
|
|
m_mesh.m_triangles.Next();
|
|
}
|
|
return false;
|
|
}
|
|
else {
|
|
size_t nT = m_mesh.m_triangles.GetSize();
|
|
Vec3<double> ver0, ver1, ver2;
|
|
double vol;
|
|
for (size_t t = 0; t < nT; t++) {
|
|
ver0.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.X();
|
|
ver0.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Y();
|
|
ver0.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Z();
|
|
ver1.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.X();
|
|
ver1.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Y();
|
|
ver1.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Z();
|
|
ver2.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.X();
|
|
ver2.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Y();
|
|
ver2.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Z();
|
|
vol = ComputeVolume4(ver0, ver1, ver2, pt);
|
|
if (vol < eps) {
|
|
return false;
|
|
}
|
|
m_mesh.m_triangles.Next();
|
|
}
|
|
return true;
|
|
}
|
|
}
|
|
}
|