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17 | #include<osgShadow/ConvexPolyhedron> |
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18 | #include<osg/Group> |
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19 | #include<osg/Geode> |
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20 | #include<osgDB/WriteFile> |
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21 | |
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22 | #include<cassert> |
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23 | #include<deque> |
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24 | #include<algorithm> |
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25 | #include<iterator> |
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26 | |
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27 | #include <stdio.h> |
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28 | #include <string.h> |
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29 | |
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30 | using namespace osgShadow; |
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31 | |
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32 | |
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33 | #if defined( DEBUG ) || defined( _DEBUG ) || defined( _DEBUG_ ) |
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34 | |
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35 | |
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36 | |
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37 | |
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38 | |
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39 | |
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40 | |
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41 | |
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42 | |
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43 | |
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44 | #endif |
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45 | |
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46 | #if MAKE_CHECKS |
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47 | |
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48 | #define WARN OSG_WARN |
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49 | |
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50 | #define CONVEX_POLYHEDRON_CHECK_COHERENCY 1 |
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51 | #define CONVEX_POLYHEDRON_WARN_ON_INCOHERENT_DATA 2 |
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52 | #define CONVEX_POLYHEDRON_DUMP_ON_INCOHERENT_DATA 2 |
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53 | #define CONVEX_POLYHEDRON_WARN_ON_BAD_POLYGON 1 |
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54 | #define CONVEX_POLYHEDRON_DUMP_ON_BAD_POLYGON 1 |
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55 | #define CONVEX_POLYHEDRON_WARN_ON_CONCAVE_POLYGON 1 |
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56 | #define CONVEX_POLYHEDRON_DUMP_ON_CONCAVE_POLYGON 1 |
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57 | #define CONVEX_POLYHEDRON_WARN_ON_INCORRECT_FACE_CUT 1 |
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58 | #define CONVEX_POLYHEDRON_DUMP_ON_INCORRECT_FACE_CUT 1 |
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59 | |
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60 | |
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61 | #else |
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62 | |
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63 | #define WARN OSG_WARN |
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64 | |
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65 | #define CONVEX_POLYHEDRON_CHECK_COHERENCY 0 |
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66 | #define CONVEX_POLYHEDRON_WARN_ON_INCOHERENT_DATA 0 |
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67 | #define CONVEX_POLYHEDRON_DUMP_ON_INCOHERENT_DATA 0 |
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68 | #define CONVEX_POLYHEDRON_WARN_ON_BAD_POLYGON 0 |
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69 | #define CONVEX_POLYHEDRON_DUMP_ON_BAD_POLYGON 0 |
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70 | #define CONVEX_POLYHEDRON_WARN_ON_CONCAVE_POLYGON 0 |
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71 | #define CONVEX_POLYHEDRON_DUMP_ON_CONCAVE_POLYGON 0 |
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72 | #define CONVEX_POLYHEDRON_WARN_ON_INCORRECT_FACE_CUT 0 |
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73 | #define CONVEX_POLYHEDRON_DUMP_ON_INCORRECT_FACE_CUT 0 |
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74 | |
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75 | #endif |
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76 | |
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77 | const osg::Matrix & ConvexPolyhedron::defaultMatrix = *(osg::Matrix*)NULL; |
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78 | static const double epsi = pow( 2.0, -20.0 ); |
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79 | static const double plane_hull_tolerance = 1.0e-5; |
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80 | static const double point_plane_tolerance = 0; |
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81 | static const double point_point_tolerance = 0; |
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82 | static const double point_point_equivalence = 0; |
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83 | |
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84 | |
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85 | |
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86 | namespace |
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87 | { |
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88 | typedef std::vector< double > Distances; |
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89 | typedef std::vector< osg::Vec4d > Points; |
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90 | |
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91 | |
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92 | struct FaceDistances |
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93 | { |
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94 | ConvexPolyhedron::Faces::iterator itr; |
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95 | Points points; |
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96 | Distances distances; |
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97 | int below, above, on; |
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98 | }; |
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99 | } |
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100 | |
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101 | ConvexPolyhedron::ConvexPolyhedron( const osg::Matrix& matrix, |
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102 | const osg::Matrix& inverse, |
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103 | const osg::BoundingBox& bb ) |
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104 | { |
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105 | setToBoundingBox( bb ); |
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106 | |
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107 | if( &matrix != &defaultMatrix && &inverse != &defaultMatrix ) |
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108 | transform( matrix, inverse ); |
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109 | else if( &matrix != &defaultMatrix && &inverse == &defaultMatrix ) |
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110 | transform( matrix, osg::Matrix::inverse( matrix ) ); |
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111 | else if( &matrix == &defaultMatrix && &inverse != &defaultMatrix ) |
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112 | transform( osg::Matrix::inverse( inverse ), matrix ); |
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113 | } |
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114 | |
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115 | void ConvexPolyhedron::setToUnitFrustum(bool withNear, bool withFar) |
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116 | { |
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117 | const osg::Vec3d v000(-1.0,-1.0,-1.0); |
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118 | const osg::Vec3d v010(-1.0,1.0,-1.0); |
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119 | const osg::Vec3d v001(-1.0,-1.0,1.0); |
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120 | const osg::Vec3d v011(-1.0,1.0,1.0); |
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121 | const osg::Vec3d v100(1.0,-1.0,-1.0); |
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122 | const osg::Vec3d v110(1.0,1.0,-1.0); |
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123 | const osg::Vec3d v101(1.0,-1.0,1.0); |
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124 | const osg::Vec3d v111(1.0,1.0,1.0); |
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125 | |
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126 | _faces.clear(); |
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127 | |
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128 | { |
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129 | Face& face = createFace(); |
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130 | face.name = "left"; |
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131 | face.plane.set(1.0,0.0,0.0,1.0); |
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132 | face.vertices.push_back(v000); |
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133 | face.vertices.push_back(v001); |
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134 | face.vertices.push_back(v011); |
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135 | face.vertices.push_back(v010); |
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136 | } |
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137 | |
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138 | { |
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139 | Face& face = createFace(); |
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140 | face.name = "right"; |
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141 | face.plane.set(-1.0,0.0,0.0,1.0); |
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142 | face.vertices.push_back(v100); |
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143 | face.vertices.push_back(v110); |
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144 | face.vertices.push_back(v111); |
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145 | face.vertices.push_back(v101); |
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146 | } |
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147 | |
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148 | { |
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149 | Face& face = createFace(); |
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150 | face.name = "bottom"; |
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151 | face.plane.set(0.0,1.0,0.0,1.0); |
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152 | face.vertices.push_back(v000); |
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153 | face.vertices.push_back(v100); |
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154 | face.vertices.push_back(v101); |
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155 | face.vertices.push_back(v001); |
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156 | } |
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157 | |
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158 | { |
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159 | Face& face = createFace(); |
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160 | face.name = "top"; |
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161 | face.plane.set(0.0,-1.0,0.0,1.0); |
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162 | face.vertices.push_back(v010); |
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163 | face.vertices.push_back(v011); |
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164 | face.vertices.push_back(v111); |
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165 | face.vertices.push_back(v110); |
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166 | } |
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167 | |
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168 | if (withNear) |
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169 | { |
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170 | Face& face = createFace(); |
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171 | face.name = "near"; |
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172 | face.plane.set(0.0,0.0,1.0,1.0); |
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173 | face.vertices.push_back(v000); |
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174 | face.vertices.push_back(v010); |
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175 | face.vertices.push_back(v110); |
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176 | face.vertices.push_back(v100); |
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177 | } |
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178 | |
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179 | if (withFar) |
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180 | { |
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181 | Face& face = createFace(); |
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182 | face.name = "far"; |
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183 | face.plane.set(0.0,0.0,-1.0,1.0); |
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184 | face.vertices.push_back(v001); |
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185 | face.vertices.push_back(v101); |
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186 | face.vertices.push_back(v111); |
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187 | face.vertices.push_back(v011); |
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188 | } |
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189 | } |
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190 | |
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191 | void ConvexPolyhedron::setToBoundingBox(const osg::BoundingBox& bb) |
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192 | { |
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193 | _faces.clear(); |
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194 | |
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195 | |
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196 | if( bb._min[0] >= bb._max[0] || |
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197 | bb._min[1] >= bb._max[1] || |
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198 | bb._min[2] >= bb._max[2] ) return; |
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199 | |
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200 | const osg::Vec3d v000(bb.xMin(),bb.yMin(), bb.zMin()); |
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201 | const osg::Vec3d v010(bb.xMin(),bb.yMax(), bb.zMin()); |
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202 | const osg::Vec3d v001(bb.xMin(),bb.yMin(), bb.zMax()); |
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203 | const osg::Vec3d v011(bb.xMin(),bb.yMax(), bb.zMax()); |
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204 | const osg::Vec3d v100(bb.xMax(),bb.yMin(), bb.zMin()); |
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205 | const osg::Vec3d v110(bb.xMax(),bb.yMax(), bb.zMin()); |
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206 | const osg::Vec3d v101(bb.xMax(),bb.yMin(), bb.zMax()); |
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207 | const osg::Vec3d v111(bb.xMax(),bb.yMax(), bb.zMax()); |
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208 | |
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209 | |
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210 | |
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211 | { |
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212 | Face& face = createFace(); |
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213 | face.name = "xMin"; |
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214 | face.plane.set(1.0,0.0,0.0,-bb.xMin()); |
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215 | face.vertices.push_back(v000); |
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216 | face.vertices.push_back(v001); |
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217 | face.vertices.push_back(v011); |
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218 | face.vertices.push_back(v010); |
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219 | } |
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220 | |
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221 | { |
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222 | Face& face = createFace(); |
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223 | face.name = "xMax"; |
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224 | face.plane.set(-1.0,0.0,0.0,bb.xMax()); |
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225 | face.vertices.push_back(v100); |
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226 | face.vertices.push_back(v110); |
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227 | face.vertices.push_back(v111); |
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228 | face.vertices.push_back(v101); |
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229 | } |
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230 | |
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231 | { |
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232 | Face& face = createFace(); |
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233 | face.name = "yMin"; |
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234 | face.plane.set(0.0,1.0,0.0,-bb.yMin()); |
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235 | face.vertices.push_back(v000); |
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236 | face.vertices.push_back(v100); |
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237 | face.vertices.push_back(v101); |
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238 | face.vertices.push_back(v001); |
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239 | } |
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240 | |
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241 | { |
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242 | Face& face = createFace(); |
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243 | face.name = "yMax"; |
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244 | face.plane.set(0.0,-1.0,0.0,bb.yMax()); |
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245 | face.vertices.push_back(v010); |
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246 | face.vertices.push_back(v011); |
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247 | face.vertices.push_back(v111); |
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248 | face.vertices.push_back(v110); |
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249 | } |
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250 | { |
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251 | Face& face = createFace(); |
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252 | face.name = "zMin"; |
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253 | face.plane.set(0.0,0.0,1.0,-bb.zMin()); |
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254 | face.vertices.push_back(v000); |
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255 | face.vertices.push_back(v010); |
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256 | face.vertices.push_back(v110); |
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257 | face.vertices.push_back(v100); |
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258 | } |
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259 | |
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260 | { |
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261 | Face& face = createFace(); |
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262 | face.name = "zMax"; |
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263 | face.plane.set(0.0,0.0,-1.0,bb.zMax()); |
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264 | face.vertices.push_back(v001); |
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265 | face.vertices.push_back(v101); |
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266 | face.vertices.push_back(v111); |
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267 | face.vertices.push_back(v011); |
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268 | } |
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269 | } |
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270 | |
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271 | void ConvexPolyhedron::transform(const osg::Matrix& matrix, const osg::Matrix& inverse) |
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272 | { |
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273 | bool requires_infinite_plane_clip = false; |
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274 | |
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275 | ConvexPolyhedron cp = *this; |
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276 | for(Faces::iterator itr = _faces.begin(); |
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277 | itr != _faces.end() && !requires_infinite_plane_clip; |
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278 | ++itr) |
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279 | { |
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280 | Face& face = *itr; |
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281 | face.plane.transformProvidingInverse(inverse); |
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282 | for(Vertices::iterator vitr = face.vertices.begin(); |
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283 | vitr != face.vertices.end(); |
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284 | ++vitr) |
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285 | { |
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286 | osg::Vec4d v( *vitr, 1.0 ); |
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287 | v = v * matrix; |
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288 | |
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289 | if( v[3] <= 0 ) { |
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290 | requires_infinite_plane_clip = true; |
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291 | break; |
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292 | } |
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293 | |
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294 | vitr->set( v[0]/v[3], v[1]/v[3], v[2]/v[3] ); |
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295 | } |
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296 | } |
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297 | |
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298 | if( requires_infinite_plane_clip ) { |
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299 | *this = cp; |
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300 | transformClip( matrix, inverse ); |
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301 | |
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302 | } |
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303 | |
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304 | |
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305 | |
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306 | |
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307 | removeDuplicateVertices( ); |
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308 | |
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309 | checkCoherency( true, "ConvexPolyhedron::transform" ); |
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310 | } |
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311 | |
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312 | void ConvexPolyhedron::transformClip(const osg::Matrix& matrix, const osg::Matrix& inverse) |
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313 | { |
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314 | double tolerance = 0.00001; |
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315 | |
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316 | if( _faces.empty() ) return; |
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317 | |
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318 | |
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319 | ConvexPolyhedron cp( *this ); |
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320 | |
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321 | typedef std::vector< FaceDistances > FaceDistancesList; |
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322 | FaceDistancesList faceDistances; |
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323 | faceDistances.resize( _faces.size() ); |
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324 | |
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325 | double min = FLT_MAX, max = -FLT_MAX; |
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326 | |
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327 | FaceDistancesList::iterator fd = faceDistances.begin(); |
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328 | |
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329 | for( Faces::iterator itr = _faces.begin(); |
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330 | itr != _faces.end(); |
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331 | ++itr, ++fd ) |
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332 | { |
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333 | fd->itr = itr; |
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334 | fd->distances.reserve( itr->vertices.size() ); |
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335 | fd->on = 0; |
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336 | fd->above = 0; |
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337 | fd->below = 0; |
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338 | |
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339 | itr->plane.transformProvidingInverse(inverse); |
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340 | |
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341 | for( Vertices::iterator vitr = itr->vertices.begin(); |
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342 | vitr != itr->vertices.end(); |
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343 | ++vitr) |
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344 | { |
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345 | osg::Vec4d p( *vitr, 1.0 ); |
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346 | p = p * matrix; |
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347 | vitr->set( p[0]/p[3], p[1]/p[3], p[2]/p[3] ); |
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348 | |
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349 | double d = p[3]-tolerance; |
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350 | |
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351 | fd->points.push_back( p ); |
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352 | fd->distances.push_back( d ); |
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353 | if ( d>point_plane_tolerance ) ++fd->above; |
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354 | else if ( d<-point_plane_tolerance ) ++fd->below; |
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355 | else ++fd->on; |
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356 | min = osg::minimum( min, d ); |
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357 | max = osg::maximum( max, d ); |
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358 | } |
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359 | } |
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360 | |
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361 | if( max <= plane_hull_tolerance ) { |
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362 | _faces.clear(); |
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363 | return; |
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364 | } |
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365 | |
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366 | if( min >= -plane_hull_tolerance ) { |
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367 | return; |
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368 | } |
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369 | |
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370 | typedef std::pair<osg::Vec3d, osg::Vec3d> Edge; |
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371 | typedef std::set< Edge > Edges; |
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372 | Edges edges; |
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373 | |
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374 | for( FaceDistancesList::iterator fd = faceDistances.begin(); |
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375 | fd != faceDistances.end(); |
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376 | ++fd ) |
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377 | { |
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378 | if ( fd->below == 0 ) |
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379 | { |
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380 | continue; |
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381 | } |
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382 | |
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383 | if ( fd->above == 0 && fd->on == 0 ) |
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384 | { |
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385 | _faces.erase( fd->itr ); |
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386 | continue; |
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387 | } |
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388 | |
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389 | |
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390 | |
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391 | |
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392 | Face& face = *(fd->itr); |
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393 | Points& vertices = fd->points; |
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394 | Distances& distances = fd->distances; |
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395 | Vertices newFaceVertices; |
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396 | Vertices newVertices; |
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397 | |
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398 | for(unsigned int i=0; i < vertices.size(); ++i) |
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399 | { |
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400 | osg::Vec4d &va = vertices[i]; |
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401 | osg::Vec4d &vb = vertices[(i+1)%vertices.size()]; |
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402 | double &distance_a = distances[i]; |
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403 | double &distance_b = distances[(i+1)%vertices.size()]; |
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404 | |
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405 | |
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406 | if ( -point_plane_tolerance <= distance_a ) { |
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407 | |
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408 | osg::Vec3d v( vertices[i][0], vertices[i][1], vertices[i][2] ); |
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409 | v /= vertices[i][3]; |
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410 | |
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411 | if( newVertices.empty() || v != newVertices.back() ) |
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412 | newVertices.push_back( v ); |
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413 | |
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414 | if ( distance_a <= point_plane_tolerance ) { |
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415 | if( newFaceVertices.empty() || v != newFaceVertices.back() ) |
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416 | newFaceVertices.push_back( v ); |
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417 | } |
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418 | } |
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419 | |
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420 | |
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421 | if ( ( distance_a < -point_plane_tolerance && distance_b > point_plane_tolerance ) || |
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422 | ( distance_b < -point_plane_tolerance && distance_a > point_plane_tolerance ) ) |
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423 | { |
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424 | osg::Vec4d intersection; |
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425 | double da = fabs( distance_a ), db = fabs( distance_b ); |
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426 | |
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427 | |
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428 | if( da <= point_point_equivalence && da <= db ) { |
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429 | intersection = va; |
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430 | } else if( db <= point_point_equivalence && db <= da ) { |
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431 | intersection = vb; |
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432 | } else { |
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433 | double dab4 = 0.25 * ( da + db ); |
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434 | if( dab4 < da && dab4 < db ) { |
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435 | intersection = (vb*distance_a - va*distance_b)/(distance_a-distance_b); |
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436 | } else { |
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437 | osg::Vec4d v = (vb - va)/(distance_a-distance_b); |
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438 | if( da < db ) |
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439 | intersection = va + v * distance_a; |
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440 | else |
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441 | intersection = vb + v * distance_b; |
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442 | } |
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443 | } |
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444 | |
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445 | |
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446 | osg::Vec3d v( intersection[0], intersection[1], intersection[2] ); |
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447 | v /= intersection[3]; |
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448 | |
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449 | if( newVertices.empty() || v != newVertices.back() ) |
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450 | newVertices.push_back( v ); |
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451 | |
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452 | if( newFaceVertices.empty() || v != newFaceVertices.back() ) |
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453 | newFaceVertices.push_back( v ); |
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454 | } |
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455 | } |
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456 | |
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457 | if( newVertices.size() && newVertices.front() == newVertices.back() ) |
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458 | newVertices.pop_back(); |
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459 | |
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460 | if( newFaceVertices.size() && newFaceVertices.front() == newFaceVertices.back() ) |
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461 | newFaceVertices.pop_back(); |
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462 | |
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463 | if( newFaceVertices.size() == 1 ) { |
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464 | WARN |
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465 | << "ConvexPolyhedron::transformClip - Slicing face polygon returns " |
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466 | << newFaceVertices.size() |
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467 | << " points. Should be 2 (usually) or 1 (rarely)." |
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468 | << std::endl; |
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469 | |
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470 | } else if( newFaceVertices.size() == 2 ) { |
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471 | if( newFaceVertices[0] < newFaceVertices[1] ) { |
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472 | edges.insert( Edge( newFaceVertices[0], newFaceVertices[1] ) ); |
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473 | } else { |
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474 | edges.insert( Edge( newFaceVertices[1], newFaceVertices[0] ) ); |
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475 | } |
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476 | } else if( newFaceVertices.size() > 2 ) { |
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477 | |
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478 | #if CONVEX_POLYHEDRON_WARN_ON_INCORRECT_FACE_CUT |
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479 | |
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480 | |
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481 | |
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482 | |
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483 | |
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484 | |
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485 | WARN |
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486 | << "ConvexPolyhedron::transformClip - Slicing face polygon returns " |
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487 | << newFaceVertices.size() |
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488 | << " points. Should be 2 (usually) or 1 (rarely)." |
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489 | << std::endl; |
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490 | #endif |
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491 | |
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492 | #if CONVEX_POLYHEDRON_DUMP_ON_INCORRECT_FACE_CUT |
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493 | dumpGeometry( &face, NULL, &cp ); |
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494 | #endif |
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495 | |
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496 | |
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497 | |
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498 | |
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499 | |
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500 | unsigned i0 = 0, i1 = newFaceVertices.size() - 1; |
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501 | unsigned j0 = 0, j1 = newVertices.size() - 1; |
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502 | |
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503 | for( ; i0 < newFaceVertices.size(); i1 = i0++, j1 = j0++ ) { |
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504 | while( newFaceVertices[i0] != newVertices[j0] ) j1 = j0++; |
---|
505 | if( newFaceVertices[i1] == newVertices[j1] ) |
---|
506 | { |
---|
507 | if( newFaceVertices[i0] < newFaceVertices[i1] ) { |
---|
508 | edges.insert( Edge( newFaceVertices[i0], newFaceVertices[i1] ) ); |
---|
509 | } else { |
---|
510 | edges.insert( Edge( newFaceVertices[i1], newFaceVertices[i0] ) ); |
---|
511 | } |
---|
512 | } |
---|
513 | } |
---|
514 | } |
---|
515 | |
---|
516 | if( newVertices.size() >= 3 ) { |
---|
517 | |
---|
518 | #if ( CONVEX_POLYHEDRON_WARN_ON_CONCAVE_POLYGON || CONVEX_POLYHEDRON_DUMP_ON_CONCAVE_POLYGON ) |
---|
519 | int convex = isFacePolygonConvex( face ); |
---|
520 | face.vertices.swap( newVertices ); |
---|
521 | if( convex && !isFacePolygonConvex( face ) ) { |
---|
522 | #if CONVEX_POLYHEDRON_WARN_ON_CONCAVE_POLYGON |
---|
523 | WARN << "ConvexPolyhedron::transformClip - polygon output non convex." |
---|
524 | << " This may lead to other issues in ConvexPolyhedron math" << std::endl; |
---|
525 | #endif |
---|
526 | #if CONVEX_POLYHEDRON_DUMP_ON_CONCAVE_POLYGON |
---|
527 | dumpGeometry( &face, NULL, &cp ); |
---|
528 | #endif |
---|
529 | } |
---|
530 | #else |
---|
531 | face.vertices.swap( newVertices ); |
---|
532 | #endif |
---|
533 | } else |
---|
534 | _faces.erase( fd->itr ); |
---|
535 | } |
---|
536 | |
---|
537 | osg::Vec3d center( 0, 0, 0 ); |
---|
538 | unsigned count = 0; |
---|
539 | for( Faces::iterator itr = _faces.begin(); |
---|
540 | itr != _faces.end(); |
---|
541 | ++itr ) |
---|
542 | { |
---|
543 | for( Vertices::iterator vitr = itr->vertices.begin(); |
---|
544 | vitr != itr->vertices.end(); |
---|
545 | ++vitr ) |
---|
546 | { |
---|
547 | center += *vitr; |
---|
548 | count ++; |
---|
549 | } |
---|
550 | } |
---|
551 | |
---|
552 | center /= count; |
---|
553 | |
---|
554 | |
---|
555 | if ( edges.size() > 1 ) |
---|
556 | { |
---|
557 | Face face; |
---|
558 | face.name = "Almost infinite plane"; |
---|
559 | |
---|
560 | std::deque< osg::Vec3d > vertices; |
---|
561 | |
---|
562 | Edges::iterator itr = edges.begin(); |
---|
563 | vertices.push_back( itr->first ); |
---|
564 | vertices.push_back( itr->second ); |
---|
565 | edges.erase( itr++ ); |
---|
566 | |
---|
567 | for( unsigned int vertices_size = 0; |
---|
568 | vertices_size < vertices.size(); ) |
---|
569 | { |
---|
570 | vertices_size = vertices.size(); |
---|
571 | for( itr = edges.begin(); itr != edges.end(); ) |
---|
572 | { |
---|
573 | bool not_added = false; |
---|
574 | |
---|
575 | if( itr->first == vertices.back() ) |
---|
576 | vertices.push_back( itr->second ); |
---|
577 | else if ( itr->first == vertices.front() ) |
---|
578 | vertices.push_front( itr->second ); |
---|
579 | else if ( itr->second == vertices.back() ) |
---|
580 | vertices.push_back( itr->first ); |
---|
581 | else if ( itr->second == vertices.front() ) |
---|
582 | vertices.push_front( itr->first ); |
---|
583 | else |
---|
584 | not_added = true; |
---|
585 | |
---|
586 | if( not_added ) |
---|
587 | ++itr; |
---|
588 | else |
---|
589 | edges.erase( itr++ ); |
---|
590 | } |
---|
591 | } |
---|
592 | |
---|
593 | #if CONVEX_POLYHEDRON_WARN_ON_BAD_POLYGON |
---|
594 | if( !edges.empty() ) { |
---|
595 | WARN |
---|
596 | << "ConvexPolyhedron::transformClip - Building new face polygon - " |
---|
597 | << "Found edges not matching former polygon ends" |
---|
598 | << std::endl; |
---|
599 | } |
---|
600 | #endif |
---|
601 | |
---|
602 | std::copy(vertices.begin(), vertices.end(), std::back_inserter(face.vertices)); |
---|
603 | |
---|
604 | face.plane.set( vertices[0], vertices[1], vertices[2] ); |
---|
605 | |
---|
606 | if( face.plane.distance( center ) < 0.0 ) face.plane.flip(); |
---|
607 | |
---|
608 | _faces.push_back(face); |
---|
609 | |
---|
610 | |
---|
611 | if( face.vertices.front() == face.vertices.back() ) |
---|
612 | face.vertices.pop_back(); |
---|
613 | else { |
---|
614 | #if CONVEX_POLYHEDRON_WARN_ON_BAD_POLYGON |
---|
615 | WARN |
---|
616 | << "ConvexPolyhedron::transformClip - Building new face polygon - " |
---|
617 | << " Polygon not properly closed." |
---|
618 | << std::endl; |
---|
619 | #endif |
---|
620 | #if CONVEX_POLYHEDRON_DUMP_ON_BAD_POLYGON |
---|
621 | dumpGeometry( &_faces.back(), NULL, &cp ); |
---|
622 | #endif |
---|
623 | } |
---|
624 | |
---|
625 | #if ( CONVEX_POLYHEDRON_WARN_ON_CONCAVE_POLYGON || CONVEX_POLYHEDRON_DUMP_ON_CONCAVE_POLYGON ) |
---|
626 | if( !isFacePolygonConvex( face ) ) { |
---|
627 | #if CONVEX_POLYHEDRON_WARN_ON_CONCAVE_POLYGON |
---|
628 | WARN << "ConvexPolyhedron::transformClip - new face polygon non convex." |
---|
629 | << " This may lead to other issues in ConvexPolyhedron math" << std::endl; |
---|
630 | #endif |
---|
631 | #if CONVEX_POLYHEDRON_DUMP_ON_CONCAVE_POLYGON |
---|
632 | ConvexPolyhedron cp; |
---|
633 | cp.createFace() = face; |
---|
634 | cp.dumpGeometry( ); |
---|
635 | #endif |
---|
636 | } |
---|
637 | #endif |
---|
638 | } |
---|
639 | |
---|
640 | |
---|
641 | |
---|
642 | |
---|
643 | removeDuplicateVertices( ); |
---|
644 | |
---|
645 | checkCoherency( true, "ConvexPolyhedron::transformClip" ); |
---|
646 | } |
---|
647 | |
---|
648 | bool ConvexPolyhedron::mergeFaces |
---|
649 | ( const Face & face0, const Face & face1, Face & face ) |
---|
650 | { |
---|
651 | typedef std::pair< osg::Vec3d, osg::Vec3d > Edge; |
---|
652 | typedef std::set<Edge> Edges; |
---|
653 | Edges edges; |
---|
654 | |
---|
655 | for(unsigned int i=0; i<face0.vertices.size(); ++i) |
---|
656 | { |
---|
657 | const osg::Vec3d* va = &face0.vertices[i]; |
---|
658 | const osg::Vec3d* vb = &face0.vertices[(i+1)%face0.vertices.size()]; |
---|
659 | if( *vb == *va ) continue; |
---|
660 | if( *vb < *va ) std::swap( va, vb ); |
---|
661 | edges.insert( Edge( *va, *vb ) ); |
---|
662 | } |
---|
663 | |
---|
664 | bool intersection = false; |
---|
665 | for(unsigned int i=0; i<face1.vertices.size(); ++i) |
---|
666 | { |
---|
667 | const osg::Vec3d* va = &face1.vertices[i]; |
---|
668 | const osg::Vec3d* vb = &face1.vertices[(i+1)%face1.vertices.size()]; |
---|
669 | if( *vb == *va ) continue; |
---|
670 | if( *vb < *va ) std::swap( va, vb ); |
---|
671 | Edge edge( *va, *vb ); |
---|
672 | Edges::iterator itr = edges.find( edge ); |
---|
673 | if( itr == edges.end() ) |
---|
674 | edges.insert( edge ); |
---|
675 | else { |
---|
676 | edges.erase( itr ); |
---|
677 | intersection = true; |
---|
678 | } |
---|
679 | } |
---|
680 | |
---|
681 | if( intersection ) |
---|
682 | face.vertices.clear(); |
---|
683 | |
---|
684 | if( intersection && edges.size() > 1 ) |
---|
685 | { |
---|
686 | std::deque< osg::Vec3d > vertices; |
---|
687 | |
---|
688 | Edges::iterator itr = edges.begin(); |
---|
689 | vertices.push_back( itr->first ); |
---|
690 | vertices.push_back( itr->second ); |
---|
691 | edges.erase( itr++ ); |
---|
692 | |
---|
693 | for( unsigned int vertices_size = 0; |
---|
694 | vertices_size < vertices.size(); ) |
---|
695 | { |
---|
696 | vertices_size = vertices.size(); |
---|
697 | for( itr = edges.begin(); itr != edges.end(); ) |
---|
698 | { |
---|
699 | bool not_added = false; |
---|
700 | |
---|
701 | if( itr->first == vertices.back() ) |
---|
702 | vertices.push_back( itr->second ); |
---|
703 | else if ( itr->first == vertices.front() ) |
---|
704 | vertices.push_front( itr->second ); |
---|
705 | else if ( itr->second == vertices.back() ) |
---|
706 | vertices.push_back( itr->first ); |
---|
707 | else if ( itr->second == vertices.front() ) |
---|
708 | vertices.push_front( itr->first ); |
---|
709 | else |
---|
710 | not_added = true; |
---|
711 | |
---|
712 | if( not_added ) |
---|
713 | ++itr; |
---|
714 | else |
---|
715 | edges.erase( itr++ ); |
---|
716 | } |
---|
717 | } |
---|
718 | |
---|
719 | #if CONVEX_POLYHEDRON_WARN_ON_BAD_POLYGON |
---|
720 | if( !edges.empty() ) { |
---|
721 | WARN |
---|
722 | << "ConvexPolyhedron::mergeFaces - Building new face polygon - " |
---|
723 | << "Found edges not matching former polygon ends." |
---|
724 | << std::endl; |
---|
725 | } |
---|
726 | #endif |
---|
727 | |
---|
728 | |
---|
729 | if( vertices.front() == vertices.back() ) |
---|
730 | vertices.pop_back(); |
---|
731 | else { |
---|
732 | #if CONVEX_POLYHEDRON_WARN_ON_BAD_POLYGON |
---|
733 | WARN |
---|
734 | << "ConvexPolyhedron::mergeFaces - Building new face polygon - " |
---|
735 | << " Polygon not properly closed." |
---|
736 | << std::endl; |
---|
737 | #endif |
---|
738 | #if CONVEX_POLYHEDRON_DUMP_ON_BAD_POLYGON |
---|
739 | #endif |
---|
740 | } |
---|
741 | |
---|
742 | #if 1 // Resulting plane will be the same as face0 |
---|
743 | face.plane = face0.plane; |
---|
744 | |
---|
745 | std::copy(vertices.begin(), vertices.end(), std::back_inserter(face.vertices)); |
---|
746 | |
---|
747 | #else // Compute resulting plane as average of faces (not a good idea) |
---|
748 | osg::Vec3d normal = face0.plane.getNormal() + face1.plane.getNormal(); |
---|
749 | normal.normalize(); |
---|
750 | |
---|
751 | osg::Vec3d center; |
---|
752 | for( unsigned int i = 0; i < vertices.size(); ++i ) |
---|
753 | { |
---|
754 | center += vertices[i]; |
---|
755 | face.vertices.push_back( vertices[i] ); |
---|
756 | } |
---|
757 | center /= vertices.size(); |
---|
758 | |
---|
759 | face.plane.set( normal, center ); |
---|
760 | #endif |
---|
761 | |
---|
762 | face.name = face0.name + " + " + face1.name; |
---|
763 | |
---|
764 | |
---|
765 | |
---|
766 | |
---|
767 | } |
---|
768 | return intersection; |
---|
769 | } |
---|
770 | |
---|
771 | void ConvexPolyhedron::mergeCoplanarFaces |
---|
772 | ( const double & dot_tolerance, const double & delta_tolerance ) |
---|
773 | { |
---|
774 | for(Faces::iterator itr0 = _faces.begin(); |
---|
775 | itr0 != _faces.end(); |
---|
776 | ++itr0 ) |
---|
777 | { |
---|
778 | double tolerance = delta_tolerance; |
---|
779 | for( unsigned i = 0; i < itr0->vertices.size(); ++i ) { |
---|
780 | tolerance = osg::maximum( tolerance, |
---|
781 | fabs( itr0->plane.distance( itr0->vertices[i] ) ) ); |
---|
782 | } |
---|
783 | |
---|
784 | for(Faces::iterator itr1 = _faces.begin(); |
---|
785 | itr1 != _faces.end(); |
---|
786 | ) |
---|
787 | { |
---|
788 | if( itr1 == itr0 ) { |
---|
789 | ++itr1; |
---|
790 | continue; |
---|
791 | } |
---|
792 | |
---|
793 | bool attempt_merge = true; |
---|
794 | for( unsigned i = 0; i < itr1->vertices.size(); ++i ) { |
---|
795 | if( fabs( itr0->plane.distance( itr1->vertices[i] ) ) > tolerance ) |
---|
796 | { |
---|
797 | attempt_merge = false; |
---|
798 | break; |
---|
799 | } |
---|
800 | } |
---|
801 | |
---|
802 | if( !attempt_merge && |
---|
803 | 1.0 - itr0->plane.getNormal() * itr1->plane.getNormal() < dot_tolerance && |
---|
804 | fabs( itr0->plane.ptr()[3] - itr1->plane.ptr()[3] ) < delta_tolerance ) |
---|
805 | attempt_merge = true; |
---|
806 | |
---|
807 | if( attempt_merge && mergeFaces( *itr0, *itr1, *itr0 ) ) |
---|
808 | itr1 = _faces.erase( itr1 ); |
---|
809 | else |
---|
810 | ++itr1; |
---|
811 | } |
---|
812 | } |
---|
813 | } |
---|
814 | |
---|
815 | void ConvexPolyhedron::removeDuplicateVertices( void ) |
---|
816 | { |
---|
817 | #if 1 |
---|
818 | |
---|
819 | |
---|
820 | |
---|
821 | typedef std::map< osg::Vec3f, osg::Vec4d > Points; |
---|
822 | typedef std::set< osg::Vec3d > VertexSet; |
---|
823 | |
---|
824 | VertexSet vertexSet; |
---|
825 | Points points; |
---|
826 | |
---|
827 | for( Faces::iterator itr = _faces.begin(); |
---|
828 | itr != _faces.end(); |
---|
829 | ++itr ) |
---|
830 | { |
---|
831 | for( Vertices::iterator vitr = itr->vertices.begin(); |
---|
832 | vitr != itr->vertices.end(); |
---|
833 | ++vitr ) |
---|
834 | { |
---|
835 | vertexSet.insert( *vitr ); |
---|
836 | } |
---|
837 | } |
---|
838 | |
---|
839 | for( VertexSet::iterator vitr = vertexSet.begin(); |
---|
840 | vitr != vertexSet.end(); |
---|
841 | ++vitr ) |
---|
842 | { |
---|
843 | points[ *vitr ] += osg::Vec4d( *vitr, 1.0 ); |
---|
844 | } |
---|
845 | |
---|
846 | for( Points::iterator itr = points.begin(); |
---|
847 | itr != points.end(); |
---|
848 | ++itr ) |
---|
849 | { |
---|
850 | if( itr->second[3] > 1.0 ) |
---|
851 | itr->second /= itr->second[3]; |
---|
852 | } |
---|
853 | |
---|
854 | for( Faces::iterator itr = _faces.begin(); |
---|
855 | itr != _faces.end(); |
---|
856 | ++itr ) |
---|
857 | { |
---|
858 | for( Vertices::iterator vitr = itr->vertices.begin(); |
---|
859 | vitr != itr->vertices.end(); |
---|
860 | ++vitr ) |
---|
861 | { |
---|
862 | osg::Vec4d &v = points[ *vitr ]; |
---|
863 | *vitr = osg::Vec3d( v[0], v[1], v[2] ); |
---|
864 | } |
---|
865 | } |
---|
866 | #endif |
---|
867 | |
---|
868 | for( Faces::iterator itr = _faces.begin(); |
---|
869 | itr != _faces.end(); |
---|
870 | ) |
---|
871 | { |
---|
872 | assert( itr->vertices.size() > 0 ); |
---|
873 | |
---|
874 | osg::Vec3d prev = itr->vertices.back(); |
---|
875 | |
---|
876 | for( Vertices::iterator vitr = itr->vertices.begin(); |
---|
877 | vitr != itr->vertices.end(); |
---|
878 | ) |
---|
879 | { |
---|
880 | if( *vitr == prev ) { |
---|
881 | vitr = itr->vertices.erase( vitr ); |
---|
882 | } else { |
---|
883 | prev = *vitr; |
---|
884 | ++vitr; |
---|
885 | } |
---|
886 | } |
---|
887 | |
---|
888 | if( itr->vertices.size() < 3 ) |
---|
889 | itr = _faces.erase( itr ); |
---|
890 | else |
---|
891 | ++itr; |
---|
892 | } |
---|
893 | |
---|
894 | mergeCoplanarFaces(); |
---|
895 | |
---|
896 | #if 1 |
---|
897 | |
---|
898 | |
---|
899 | typedef std::map<osg::Vec3d,int> VertexCounter; |
---|
900 | VertexCounter vertexCounter; |
---|
901 | |
---|
902 | for( Faces::iterator itr = _faces.begin(); |
---|
903 | itr != _faces.end(); |
---|
904 | ++itr) |
---|
905 | { |
---|
906 | for( Vertices::iterator vitr = itr->vertices.begin(); |
---|
907 | vitr != itr->vertices.end(); |
---|
908 | ++vitr ) |
---|
909 | { |
---|
910 | ++vertexCounter[ *vitr ]; |
---|
911 | } |
---|
912 | } |
---|
913 | |
---|
914 | for( Faces::iterator itr = _faces.begin(); |
---|
915 | itr != _faces.end(); |
---|
916 | ) |
---|
917 | { |
---|
918 | for( Vertices::iterator vitr = itr->vertices.begin(); |
---|
919 | vitr != itr->vertices.end(); |
---|
920 | ) |
---|
921 | { |
---|
922 | if( vertexCounter[ *vitr ] == 2 ) { |
---|
923 | #if 0 // Sanity check if we could remove this point without changing poly shape |
---|
924 | |
---|
925 | Vertices::iterator next = ( vitr + 1 == itr->vertices.end() ? |
---|
926 | itr->vertices.begin() : |
---|
927 | vitr + 1 ); |
---|
928 | |
---|
929 | Vertices::iterator prev = ( vitr == itr->vertices.begin() ? |
---|
930 | itr->vertices.end() - 1 : |
---|
931 | vitr - 1 ); |
---|
932 | |
---|
933 | |
---|
934 | osg::Vec3d va = *vitr - *prev; |
---|
935 | osg::Vec3d vb = *next - *vitr; |
---|
936 | |
---|
937 | double da = va.normalize(); |
---|
938 | double db = vb.normalize(); |
---|
939 | |
---|
940 | if( 0.001 < da && 0.001 < db ) |
---|
941 | { |
---|
942 | double dot = va * vb, limit = cos( 0.01 ); |
---|
943 | if( dot < limit ) { |
---|
944 | WARN << "ConvexPolyhedron::removeDuplicateVertices" |
---|
945 | << " - removed mid point connecting two non colinear edges." |
---|
946 | << " Angle(deg): " << osg::RadiansToDegrees( acos( dot ) ) |
---|
947 | << " Length1: " << da |
---|
948 | << " Length2: " << db |
---|
949 | << std::endl; |
---|
950 | } |
---|
951 | } else { |
---|
952 | if( da == 0.0 || db == 0.0 ) |
---|
953 | WARN << "ConvexPolyhedron::removeDuplicateVertices" |
---|
954 | << " - removed degenerated mid point connecting two edges" |
---|
955 | << std::endl; |
---|
956 | |
---|
957 | } |
---|
958 | #endif |
---|
959 | vitr = itr->vertices.erase( vitr ); |
---|
960 | } else { |
---|
961 | ++vitr; |
---|
962 | } |
---|
963 | } |
---|
964 | |
---|
965 | if( itr->vertices.size() < 3 ) |
---|
966 | itr = _faces.erase( itr ); |
---|
967 | else |
---|
968 | ++itr; |
---|
969 | } |
---|
970 | #endif |
---|
971 | |
---|
972 | checkCoherency( false, "Leave ConvexPolyhedron::removeDuplicateVertices" ); |
---|
973 | } |
---|
974 | |
---|
975 | int ConvexPolyhedron::pointsColinear |
---|
976 | ( const osg::Vec3d & a, const osg::Vec3d & b, const osg::Vec3d & c, |
---|
977 | const double & dot_tolerance, const double & delta_tolerance ) |
---|
978 | { |
---|
979 | osg::Vec3d va = b - a; |
---|
980 | osg::Vec3d vb = c - b; |
---|
981 | |
---|
982 | double da = va.normalize(); |
---|
983 | double db = vb.normalize(); |
---|
984 | |
---|
985 | if( delta_tolerance >= da || delta_tolerance >= db ) |
---|
986 | return -1; |
---|
987 | |
---|
988 | if( 1.0 - fabs( va * vb ) <= dot_tolerance ) |
---|
989 | return 1; |
---|
990 | |
---|
991 | return 0; |
---|
992 | } |
---|
993 | |
---|
994 | int ConvexPolyhedron::isFacePolygonConvex( Face & face, bool ignoreColinearVertices ) |
---|
995 | { |
---|
996 | int positive = 0, negative = 0, colinear = 0; |
---|
997 | for( unsigned int i = 0; i < face.vertices.size(); ++i ) |
---|
998 | { |
---|
999 | osg::Vec3d va = face.vertices[i]; |
---|
1000 | osg::Vec3d vb = face.vertices[(i+1)%face.vertices.size()]; |
---|
1001 | osg::Vec3d vc = face.vertices[(i+2)%face.vertices.size()]; |
---|
1002 | |
---|
1003 | |
---|
1004 | #if ( CONVEX_POLYHEDRON_WARN_ON_INCOHERENT_DATA > 1 || CONVEX_POLYHEDRON_WARN_ON_CONCAVE_POLYGON ) |
---|
1005 | double dist = fabs( face.plane.distance( va ) ); |
---|
1006 | if( dist > 0.0001 ) |
---|
1007 | { |
---|
1008 | WARN << "ConvexPolyhedron::isFacePolygonConvex - plane point too far from plane (" << dist <<")" << std::endl; |
---|
1009 | } |
---|
1010 | #endif |
---|
1011 | |
---|
1012 | |
---|
1013 | va -= face.plane.getNormal() * face.plane.distance( va ); |
---|
1014 | vb -= face.plane.getNormal() * face.plane.distance( vb ); |
---|
1015 | vc -= face.plane.getNormal() * face.plane.distance( vc ); |
---|
1016 | |
---|
1017 | if( pointsColinear( va, vb, vc ) ) { |
---|
1018 | colinear++; |
---|
1019 | } else { |
---|
1020 | double side =( ( vc - vb ) ^ ( vb - va ) ) * face.plane.getNormal(); |
---|
1021 | |
---|
1022 | if( side < 0 ) negative++; |
---|
1023 | if( side > 0 ) positive++; |
---|
1024 | } |
---|
1025 | } |
---|
1026 | |
---|
1027 | if( !ignoreColinearVertices && colinear > 0 ) |
---|
1028 | return 0; |
---|
1029 | |
---|
1030 | if( !negative && !positive ) |
---|
1031 | return 0; |
---|
1032 | |
---|
1033 | if( (negative + colinear) == static_cast<int>(face.vertices.size()) ) |
---|
1034 | return -( negative + colinear ); |
---|
1035 | |
---|
1036 | if( (positive + colinear) == static_cast<int>(face.vertices.size()) ) |
---|
1037 | return +( positive + colinear ); |
---|
1038 | |
---|
1039 | return 0; |
---|
1040 | } |
---|
1041 | |
---|
1042 | bool ConvexPolyhedron::checkCoherency |
---|
1043 | ( bool checkForNonConvexPolys, const char * errorPrefix ) |
---|
1044 | { |
---|
1045 | bool result = true; |
---|
1046 | bool convex = true; |
---|
1047 | |
---|
1048 | #if CONVEX_POLYHEDRON_CHECK_COHERENCY |
---|
1049 | |
---|
1050 | if( !errorPrefix ) errorPrefix = "ConvexPolyhedron"; |
---|
1051 | |
---|
1052 | typedef std::pair<osg::Vec3d, osg::Vec3d> Edge; |
---|
1053 | typedef std::map<Edge,int> EdgeCounter; |
---|
1054 | typedef std::map<osg::Vec3d,int> VertexCounter; |
---|
1055 | |
---|
1056 | EdgeCounter edgeCounter; |
---|
1057 | VertexCounter vertexCounter; |
---|
1058 | |
---|
1059 | for( Faces::iterator itr = _faces.begin(); |
---|
1060 | itr != _faces.end(); |
---|
1061 | ++itr) |
---|
1062 | { |
---|
1063 | Face& face = *itr; |
---|
1064 | |
---|
1065 | if( checkForNonConvexPolys && !isFacePolygonConvex( face ) ) { |
---|
1066 | convex = false; |
---|
1067 | #if ( 1 < CONVEX_POLYHEDRON_WARN_ON_INCOHERENT_DATA || CONVEX_POLYHEDRON_WARN_ON_CONCAVE_POLYGON ) |
---|
1068 | WARN << errorPrefix << |
---|
1069 | " - coherency fail - face polygon concave" << std::endl; |
---|
1070 | #endif |
---|
1071 | #if ( 1 < CONVEX_POLYHEDRON_DUMP_ON_INCOHERENT_DATA || CONVEX_POLYHEDRON_DUMP_ON_CONCAVE_POLYGON ) |
---|
1072 | dumpGeometry( &face ); |
---|
1073 | #endif |
---|
1074 | } |
---|
1075 | |
---|
1076 | Vertices& vertices = face.vertices; |
---|
1077 | for(unsigned int i=0; i<vertices.size(); ++i) |
---|
1078 | { |
---|
1079 | osg::Vec3d& a = vertices[ i ]; |
---|
1080 | osg::Vec3d& b = vertices[ (i+1) % vertices.size()]; |
---|
1081 | ++vertexCounter[ a ]; |
---|
1082 | if (a<b) |
---|
1083 | ++edgeCounter[Edge(a,b)]; |
---|
1084 | else |
---|
1085 | ++edgeCounter[Edge(b,a)]; |
---|
1086 | } |
---|
1087 | } |
---|
1088 | |
---|
1089 | |
---|
1090 | for( EdgeCounter::iterator itr = edgeCounter.begin(); |
---|
1091 | itr != edgeCounter.end(); |
---|
1092 | ++itr) |
---|
1093 | { |
---|
1094 | const Edge &e = itr->first; |
---|
1095 | |
---|
1096 | if( e.first.isNaN() ) { |
---|
1097 | result = false; |
---|
1098 | #if ( 1 < CONVEX_POLYHEDRON_WARN_ON_INCOHERENT_DATA ) |
---|
1099 | WARN << errorPrefix << |
---|
1100 | " - coherency fail - Vertex is NaN." << std::endl; |
---|
1101 | #endif |
---|
1102 | } |
---|
1103 | |
---|
1104 | if( e.second.isNaN() ) { |
---|
1105 | result = false; |
---|
1106 | #if ( 1 < CONVEX_POLYHEDRON_WARN_ON_INCOHERENT_DATA ) |
---|
1107 | WARN << errorPrefix << |
---|
1108 | " - coherency fail - Vertex is NaN." << std::endl; |
---|
1109 | #endif |
---|
1110 | } |
---|
1111 | |
---|
1112 | if( e.first == e.second ) { |
---|
1113 | result = false; |
---|
1114 | #if ( 1 < CONVEX_POLYHEDRON_WARN_ON_INCOHERENT_DATA ) |
---|
1115 | WARN << errorPrefix << |
---|
1116 | " - coherency fail - Edge with identical vertices." << std::endl; |
---|
1117 | #endif |
---|
1118 | } |
---|
1119 | |
---|
1120 | if( vertexCounter[ e.first ] < 3 ) { |
---|
1121 | result = false; |
---|
1122 | #if ( 1 < CONVEX_POLYHEDRON_WARN_ON_INCOHERENT_DATA ) |
---|
1123 | WARN << errorPrefix << |
---|
1124 | " - coherency fail - Vertex present " << vertexCounter[ e.first ] << " times" << std::endl; |
---|
1125 | #endif |
---|
1126 | } |
---|
1127 | |
---|
1128 | if( vertexCounter[ e.second ] < 3 ) { |
---|
1129 | result = false; |
---|
1130 | #if ( 1 < CONVEX_POLYHEDRON_WARN_ON_INCOHERENT_DATA ) |
---|
1131 | WARN << errorPrefix << |
---|
1132 | " - coherency fail - Vertex present " << vertexCounter[ e.second ] << " times" << std::endl; |
---|
1133 | #endif |
---|
1134 | } |
---|
1135 | |
---|
1136 | if( itr->second != 2 ) { |
---|
1137 | result = false; |
---|
1138 | #if ( 1 < CONVEX_POLYHEDRON_WARN_ON_INCOHERENT_DATA ) |
---|
1139 | WARN << errorPrefix << |
---|
1140 | " - coherency fail - Edge present " << itr->second << " times" << std::endl; |
---|
1141 | #endif |
---|
1142 | } |
---|
1143 | } |
---|
1144 | |
---|
1145 | #if ( 1 == CONVEX_POLYHEDRON_WARN_ON_INCOHERENT_DATA ) |
---|
1146 | if( !convex ) |
---|
1147 | WARN << errorPrefix |
---|
1148 | << " - coherency fail - non convex output" << std::endl; |
---|
1149 | |
---|
1150 | if ( !result ) |
---|
1151 | WARN << errorPrefix |
---|
1152 | << " - coherency fail - incoherent output" << std::endl; |
---|
1153 | #endif |
---|
1154 | |
---|
1155 | #if ( 1 == CONVEX_POLYHEDRON_DUMP_ON_INCOHERENT_DATA ) |
---|
1156 | if( !result || !convex ) |
---|
1157 | dumpGeometry( ); |
---|
1158 | #endif |
---|
1159 | |
---|
1160 | #if ( 1 < CONVEX_POLYHEDRON_DUMP_ON_INCOHERENT_DATA ) |
---|
1161 | if( !result ) |
---|
1162 | dumpGeometry( ); |
---|
1163 | #endif |
---|
1164 | |
---|
1165 | |
---|
1166 | #endif // CONVEX_POLYHEDRON_CHECK_COHERENCY |
---|
1167 | return result && convex; |
---|
1168 | } |
---|
1169 | |
---|
1170 | osg::BoundingBox ConvexPolyhedron::computeBoundingBox( const osg::Matrix & m ) const |
---|
1171 | { |
---|
1172 | osg::BoundingBox bb; |
---|
1173 | |
---|
1174 | if( &m != &defaultMatrix ) { |
---|
1175 | for( Faces::const_iterator itr = _faces.begin(); itr != _faces.end(); ++itr ) |
---|
1176 | for( Vertices::const_iterator vitr = itr->vertices.begin(); |
---|
1177 | vitr != itr->vertices.end(); |
---|
1178 | ++vitr ) |
---|
1179 | bb.expandBy( *vitr * m ); |
---|
1180 | } else { |
---|
1181 | for( Faces::const_iterator itr = _faces.begin(); itr != _faces.end(); ++itr ) |
---|
1182 | for( Vertices::const_iterator vitr = itr->vertices.begin(); |
---|
1183 | vitr != itr->vertices.end(); |
---|
1184 | ++vitr ) |
---|
1185 | bb.expandBy( *vitr ); |
---|
1186 | } |
---|
1187 | |
---|
1188 | return bb; |
---|
1189 | } |
---|
1190 | |
---|
1191 | void ConvexPolyhedron::cut(const osg::Polytope & polytope) |
---|
1192 | { |
---|
1193 | const char * apc[6] = { "left", "right", "bottom", "top", "near", "far" }; |
---|
1194 | char ac[16]; |
---|
1195 | int i = 0; |
---|
1196 | |
---|
1197 | for(osg::Polytope::PlaneList::const_iterator itr = polytope.getPlaneList().begin(); |
---|
1198 | itr != polytope.getPlaneList().end(); |
---|
1199 | ++itr) |
---|
1200 | { |
---|
1201 | const char* arg; |
---|
1202 | if (i < 6) { |
---|
1203 | arg = apc[i]; |
---|
1204 | } else { |
---|
1205 | sprintf(ac, "%d", i); |
---|
1206 | arg = ac; |
---|
1207 | } |
---|
1208 | cut(*itr, std::string( arg ) ); |
---|
1209 | |
---|
1210 | i++; |
---|
1211 | } |
---|
1212 | |
---|
1213 | removeDuplicateVertices(); |
---|
1214 | } |
---|
1215 | |
---|
1216 | void ConvexPolyhedron::cut(const ConvexPolyhedron& polytope) |
---|
1217 | { |
---|
1218 | for(Faces::const_iterator itr = polytope._faces.begin(); |
---|
1219 | itr != polytope._faces.end(); |
---|
1220 | ++itr) |
---|
1221 | { |
---|
1222 | cut(itr->plane, itr->name); |
---|
1223 | } |
---|
1224 | |
---|
1225 | removeDuplicateVertices(); |
---|
1226 | } |
---|
1227 | |
---|
1228 | void ConvexPolyhedron::cut(const osg::Plane& plane, const std::string& name) |
---|
1229 | { |
---|
1230 | if( _faces.empty() ) return; |
---|
1231 | |
---|
1232 | ConvexPolyhedron cp( *this ); |
---|
1233 | |
---|
1234 | typedef std::vector< FaceDistances > FaceDistancesList; |
---|
1235 | FaceDistancesList faceDistances; |
---|
1236 | faceDistances.resize( _faces.size() ); |
---|
1237 | |
---|
1238 | double min = FLT_MAX, max = -FLT_MAX; |
---|
1239 | |
---|
1240 | FaceDistancesList::iterator fd = faceDistances.begin(); |
---|
1241 | |
---|
1242 | for( Faces::iterator itr = _faces.begin(); |
---|
1243 | itr != _faces.end(); |
---|
1244 | ++itr, ++fd ) |
---|
1245 | { |
---|
1246 | fd->itr = itr; |
---|
1247 | fd->distances.reserve( itr->vertices.size() ); |
---|
1248 | fd->on = 0; |
---|
1249 | fd->above = 0; |
---|
1250 | fd->below = 0; |
---|
1251 | |
---|
1252 | #if 0 // Skip if cutting plane the same as one of faces |
---|
1253 | if( plane.ptr()[0] ) == itr->plane.ptr()[0] && |
---|
1254 | plane.ptr()[1] ) == itr->plane.ptr()[1] && |
---|
1255 | plane.ptr()[2] ) == itr->plane.ptr()[2] && |
---|
1256 | #else // check plane using less precise float values |
---|
1257 | if( float( plane.ptr()[0] ) == float( itr->plane.ptr()[0] ) && |
---|
1258 | float( plane.ptr()[1] ) == float( itr->plane.ptr()[1] ) && |
---|
1259 | float( plane.ptr()[2] ) == float( itr->plane.ptr()[2] ) && |
---|
1260 | #endif |
---|
1261 | plane_hull_tolerance >= fabs( float( plane.ptr()[3] )- float( itr->plane.ptr()[3] ) ) ) |
---|
1262 | return; |
---|
1263 | |
---|
1264 | for( Vertices::iterator vitr = itr->vertices.begin(); |
---|
1265 | vitr != itr->vertices.end(); |
---|
1266 | ++vitr) |
---|
1267 | { |
---|
1268 | double d = plane.distance( *vitr ); |
---|
1269 | |
---|
1270 | fd->distances.push_back( d ); |
---|
1271 | if ( d>point_plane_tolerance ) ++fd->above; |
---|
1272 | else if ( d<-point_plane_tolerance ) ++fd->below; |
---|
1273 | else ++fd->on; |
---|
1274 | min = osg::minimum( min, d ); |
---|
1275 | max = osg::maximum( max, d ); |
---|
1276 | } |
---|
1277 | } |
---|
1278 | |
---|
1279 | if( max <= plane_hull_tolerance ) { |
---|
1280 | _faces.clear(); |
---|
1281 | return; |
---|
1282 | } |
---|
1283 | |
---|
1284 | if( min >= -plane_hull_tolerance ) { |
---|
1285 | return; |
---|
1286 | } |
---|
1287 | |
---|
1288 | typedef std::pair<osg::Vec3d, osg::Vec3d> Edge; |
---|
1289 | typedef std::set< Edge > Edges; |
---|
1290 | Edges edges; |
---|
1291 | |
---|
1292 | for( FaceDistancesList::iterator fd = faceDistances.begin(); |
---|
1293 | fd != faceDistances.end(); |
---|
1294 | ++fd ) |
---|
1295 | { |
---|
1296 | if ( fd->below == 0 ) |
---|
1297 | { |
---|
1298 | continue; |
---|
1299 | } |
---|
1300 | |
---|
1301 | if ( fd->above == 0 && fd->on == 0 ) |
---|
1302 | { |
---|
1303 | _faces.erase( fd->itr ); |
---|
1304 | continue; |
---|
1305 | } |
---|
1306 | |
---|
1307 | |
---|
1308 | |
---|
1309 | |
---|
1310 | Face& face = *(fd->itr); |
---|
1311 | Vertices& vertices = face.vertices; |
---|
1312 | Distances& distances = fd->distances; |
---|
1313 | Vertices newFaceVertices; |
---|
1314 | Vertices newVertices; |
---|
1315 | |
---|
1316 | |
---|
1317 | for(unsigned int i=0; i < vertices.size(); ++i) |
---|
1318 | { |
---|
1319 | osg::Vec3d &va = vertices[i]; |
---|
1320 | osg::Vec3d &vb = vertices[(i+1)%vertices.size()]; |
---|
1321 | double &distance_a = distances[i]; |
---|
1322 | double &distance_b = distances[(i+1)%vertices.size()]; |
---|
1323 | |
---|
1324 | |
---|
1325 | if ( -point_plane_tolerance <= distance_a ) { |
---|
1326 | |
---|
1327 | if( newVertices.empty() || vertices[i] != newVertices.back() ) |
---|
1328 | newVertices.push_back( vertices[i] ); |
---|
1329 | |
---|
1330 | if ( distance_a <= point_plane_tolerance ) { |
---|
1331 | if( newFaceVertices.empty() || vertices[i] != newFaceVertices.back() ) |
---|
1332 | newFaceVertices.push_back( vertices[i] ); |
---|
1333 | } |
---|
1334 | } |
---|
1335 | |
---|
1336 | |
---|
1337 | if ( ( distance_a < -point_plane_tolerance && distance_b > point_plane_tolerance ) || |
---|
1338 | ( distance_b < -point_plane_tolerance && distance_a > point_plane_tolerance ) ) |
---|
1339 | { |
---|
1340 | osg::Vec3d intersection; |
---|
1341 | double da = fabs( distance_a ), db = fabs( distance_b ); |
---|
1342 | |
---|
1343 | |
---|
1344 | if( da <= point_point_equivalence && da <= db ) { |
---|
1345 | intersection = va; |
---|
1346 | } else if( db <= point_point_equivalence && db <= da ) { |
---|
1347 | intersection = vb; |
---|
1348 | } else { |
---|
1349 | double dab4 = 0.25 * ( da + db ); |
---|
1350 | if( dab4 < da && dab4 < db ) { |
---|
1351 | intersection = (vb*distance_a - va*distance_b)/(distance_a-distance_b); |
---|
1352 | } else { |
---|
1353 | osg::Vec3d v = (vb - va)/(distance_a-distance_b); |
---|
1354 | if( da < db ) |
---|
1355 | intersection = va + v * distance_a; |
---|
1356 | else |
---|
1357 | intersection = vb + v * distance_b; |
---|
1358 | } |
---|
1359 | } |
---|
1360 | |
---|
1361 | if( newVertices.empty() || intersection != newVertices.back() ) |
---|
1362 | newVertices.push_back( intersection ); |
---|
1363 | |
---|
1364 | if( newFaceVertices.empty() || intersection != newFaceVertices.back() ) |
---|
1365 | newFaceVertices.push_back( intersection ); |
---|
1366 | } |
---|
1367 | } |
---|
1368 | |
---|
1369 | if( newVertices.size() && newVertices.front() == newVertices.back() ) |
---|
1370 | newVertices.pop_back(); |
---|
1371 | |
---|
1372 | if( newFaceVertices.size() && newFaceVertices.front() == newFaceVertices.back() ) |
---|
1373 | newFaceVertices.pop_back(); |
---|
1374 | |
---|
1375 | if( newFaceVertices.size() == 1 ) { |
---|
1376 | WARN |
---|
1377 | << "ConvexPolyhedron::cut - Slicing face polygon returns " |
---|
1378 | << newFaceVertices.size() |
---|
1379 | << " points. Should be 2 (usually) or 1 (rarely)." |
---|
1380 | << std::endl; |
---|
1381 | |
---|
1382 | } else if( newFaceVertices.size() == 2 ) { |
---|
1383 | if( newFaceVertices[0] < newFaceVertices[1] ) { |
---|
1384 | edges.insert( Edge( newFaceVertices[0], newFaceVertices[1] ) ); |
---|
1385 | } else { |
---|
1386 | edges.insert( Edge( newFaceVertices[1], newFaceVertices[0] ) ); |
---|
1387 | } |
---|
1388 | } else if( newFaceVertices.size() > 2 ) { |
---|
1389 | |
---|
1390 | #if CONVEX_POLYHEDRON_WARN_ON_INCORRECT_FACE_CUT |
---|
1391 | |
---|
1392 | |
---|
1393 | |
---|
1394 | |
---|
1395 | |
---|
1396 | |
---|
1397 | WARN |
---|
1398 | << "ConvexPolyhedron::cut - Slicing face polygon returns " |
---|
1399 | << newFaceVertices.size() |
---|
1400 | << " points. Should be 2 (usually) or 1 (rarely)." |
---|
1401 | << std::endl; |
---|
1402 | #endif |
---|
1403 | |
---|
1404 | #if CONVEX_POLYHEDRON_DUMP_ON_INCORRECT_FACE_CUT |
---|
1405 | dumpGeometry( &face, &plane ); |
---|
1406 | #endif |
---|
1407 | |
---|
1408 | |
---|
1409 | |
---|
1410 | |
---|
1411 | |
---|
1412 | unsigned i0 = 0, i1 = newFaceVertices.size() - 1; |
---|
1413 | unsigned j0 = 0, j1 = newVertices.size() - 1; |
---|
1414 | |
---|
1415 | for( ; i0 < newFaceVertices.size(); i1 = i0++, j1 = j0++ ) { |
---|
1416 | while( newFaceVertices[i0] != newVertices[j0] ) j1 = j0++; |
---|
1417 | if( newFaceVertices[i1] == newVertices[j1] ) |
---|
1418 | { |
---|
1419 | if( newFaceVertices[i0] < newFaceVertices[i1] ) { |
---|
1420 | edges.insert( Edge( newFaceVertices[i0], newFaceVertices[i1] ) ); |
---|
1421 | } else { |
---|
1422 | edges.insert( Edge( newFaceVertices[i1], newFaceVertices[i0] ) ); |
---|
1423 | } |
---|
1424 | } |
---|
1425 | } |
---|
1426 | } |
---|
1427 | |
---|
1428 | if( newVertices.size() >= 3 ) { |
---|
1429 | #if ( CONVEX_POLYHEDRON_WARN_ON_CONCAVE_POLYGON || CONVEX_POLYHEDRON_DUMP_ON_CONCAVE_POLYGON ) |
---|
1430 | int convex = isFacePolygonConvex( face ); |
---|
1431 | vertices.swap( newVertices ); |
---|
1432 | if( convex && !isFacePolygonConvex( face ) ) { |
---|
1433 | #if CONVEX_POLYHEDRON_WARN_ON_CONCAVE_POLYGON |
---|
1434 | WARN << "ConvexPolyhedron::cut - polygon output non convex." |
---|
1435 | << " This may lead to other issues in ConvexPolyhedron math" << std::endl; |
---|
1436 | #endif |
---|
1437 | #if CONVEX_POLYHEDRON_DUMP_ON_CONCAVE_POLYGON |
---|
1438 | dumpGeometry( &face, &plane, &cp ); |
---|
1439 | #endif |
---|
1440 | } |
---|
1441 | #else |
---|
1442 | vertices.swap( newVertices ); |
---|
1443 | #endif |
---|
1444 | } else |
---|
1445 | _faces.erase( fd->itr ); |
---|
1446 | } |
---|
1447 | |
---|
1448 | if ( edges.size() > 1 ) |
---|
1449 | { |
---|
1450 | Face face; |
---|
1451 | face.name = name; |
---|
1452 | face.plane = plane; |
---|
1453 | |
---|
1454 | std::deque< osg::Vec3d > vertices; |
---|
1455 | |
---|
1456 | Edges::iterator itr = edges.begin(); |
---|
1457 | vertices.push_back( itr->first ); |
---|
1458 | vertices.push_back( itr->second ); |
---|
1459 | edges.erase( itr++ ); |
---|
1460 | |
---|
1461 | for( unsigned int vertices_size = 0; |
---|
1462 | vertices_size < vertices.size(); ) |
---|
1463 | { |
---|
1464 | vertices_size = vertices.size(); |
---|
1465 | for( itr = edges.begin(); itr != edges.end(); ) |
---|
1466 | { |
---|
1467 | bool not_added = false; |
---|
1468 | |
---|
1469 | if( itr->first == vertices.back() ) |
---|
1470 | vertices.push_back( itr->second ); |
---|
1471 | else if ( itr->first == vertices.front() ) |
---|
1472 | vertices.push_front( itr->second ); |
---|
1473 | else if ( itr->second == vertices.back() ) |
---|
1474 | vertices.push_back( itr->first ); |
---|
1475 | else if ( itr->second == vertices.front() ) |
---|
1476 | vertices.push_front( itr->first ); |
---|
1477 | else |
---|
1478 | not_added = true; |
---|
1479 | |
---|
1480 | if( not_added ) |
---|
1481 | ++itr; |
---|
1482 | else |
---|
1483 | edges.erase( itr++ ); |
---|
1484 | } |
---|
1485 | } |
---|
1486 | |
---|
1487 | #if CONVEX_POLYHEDRON_WARN_ON_BAD_POLYGON |
---|
1488 | if( !edges.empty() ) { |
---|
1489 | WARN |
---|
1490 | << "ConvexPolyhedron::cut - Building new face polygon - " |
---|
1491 | << "Found edges not matching former polygon ends" |
---|
1492 | << std::endl; |
---|
1493 | } |
---|
1494 | #endif |
---|
1495 | |
---|
1496 | std::copy(vertices.begin(), vertices.end(), std::back_inserter(face.vertices)); |
---|
1497 | |
---|
1498 | _faces.push_back(face); |
---|
1499 | |
---|
1500 | |
---|
1501 | if( face.vertices.front() == face.vertices.back() ) |
---|
1502 | face.vertices.pop_back(); |
---|
1503 | else { |
---|
1504 | #if CONVEX_POLYHEDRON_WARN_ON_BAD_POLYGON |
---|
1505 | WARN |
---|
1506 | << "ConvexPolyhedron::cut - Building new face polygon - " |
---|
1507 | << " Polygon not properly closed." |
---|
1508 | << std::endl; |
---|
1509 | #endif |
---|
1510 | #if CONVEX_POLYHEDRON_DUMP_ON_BAD_POLYGON |
---|
1511 | dumpGeometry( &_faces.back(), &plane, &cp ); |
---|
1512 | #endif |
---|
1513 | } |
---|
1514 | |
---|
1515 | #if ( CONVEX_POLYHEDRON_WARN_ON_CONCAVE_POLYGON || CONVEX_POLYHEDRON_DUMP_ON_CONCAVE_POLYGON ) |
---|
1516 | if( !isFacePolygonConvex( face ) ) { |
---|
1517 | #if CONVEX_POLYHEDRON_DUMP_ON_CONCAVE_POLYGON |
---|
1518 | ConvexPolyhedron cp; |
---|
1519 | cp.createFace() = face; |
---|
1520 | cp.dumpGeometry( ); |
---|
1521 | #endif |
---|
1522 | #if CONVEX_POLYHEDRON_WARN_ON_CONCAVE_POLYGON |
---|
1523 | WARN << "ConvexPolyhedron::cut - new face polygon non convex." |
---|
1524 | << " This may lead to other issues in ConvexPolyhedron math" << std::endl; |
---|
1525 | #endif |
---|
1526 | } |
---|
1527 | #endif |
---|
1528 | } |
---|
1529 | |
---|
1530 | |
---|
1531 | } |
---|
1532 | |
---|
1533 | void ConvexPolyhedron::extrude( const osg::Vec3d & offset ) |
---|
1534 | { |
---|
1535 | if( offset.length2() == 0 ) return; |
---|
1536 | |
---|
1537 | typedef std::pair<osg::Vec3d, osg::Vec3d> Edge; |
---|
1538 | typedef std::vector<Face*> EdgeFaces; |
---|
1539 | typedef std::map<Edge, EdgeFaces> EdgeMap; |
---|
1540 | |
---|
1541 | EdgeMap edgeMap; |
---|
1542 | |
---|
1543 | |
---|
1544 | for(Faces::iterator itr = _faces.begin(); |
---|
1545 | itr != _faces.end(); |
---|
1546 | ++itr) |
---|
1547 | { |
---|
1548 | Face& face = *itr; |
---|
1549 | for(unsigned int i=0; i<face.vertices.size(); ++i) |
---|
1550 | { |
---|
1551 | osg::Vec3d& va = face.vertices[i]; |
---|
1552 | osg::Vec3d& vb = face.vertices[(i+1)%face.vertices.size()]; |
---|
1553 | if (va < vb) edgeMap[Edge(va,vb)].push_back(&face); |
---|
1554 | else edgeMap[Edge(vb,va)].push_back(&face); |
---|
1555 | } |
---|
1556 | } |
---|
1557 | |
---|
1558 | |
---|
1559 | for(Faces::iterator itr = _faces.begin(); |
---|
1560 | itr != _faces.end(); |
---|
1561 | ++itr) |
---|
1562 | { |
---|
1563 | Face& face = *itr; |
---|
1564 | |
---|
1565 | double dotOffset = face.plane.dotProductNormal( offset ); |
---|
1566 | |
---|
1567 | if( dotOffset >= 0 ) continue; |
---|
1568 | |
---|
1569 | face.plane.ptr()[3] -= dotOffset; |
---|
1570 | for(unsigned int i=0; i<face.vertices.size(); ++i) |
---|
1571 | { |
---|
1572 | face.vertices[i] += offset; |
---|
1573 | } |
---|
1574 | } |
---|
1575 | |
---|
1576 | typedef std::set< Edge > SilhouetteEdges; |
---|
1577 | typedef std::map< Face*, SilhouetteEdges > SilhouetteFaces; |
---|
1578 | SilhouetteFaces silhouetteFaces; |
---|
1579 | |
---|
1580 | int new_face_counter = 0; |
---|
1581 | |
---|
1582 | |
---|
1583 | for(EdgeMap::iterator eitr = edgeMap.begin(); |
---|
1584 | eitr != edgeMap.end(); |
---|
1585 | ++eitr) |
---|
1586 | { |
---|
1587 | const Edge& edge = eitr->first; |
---|
1588 | const EdgeFaces& edgeFaces = eitr->second; |
---|
1589 | |
---|
1590 | if ( edgeFaces.size()==1 ) |
---|
1591 | { |
---|
1592 | |
---|
1593 | |
---|
1594 | assert( 0 ); |
---|
1595 | } |
---|
1596 | else if ( edgeFaces.size()==2 ) |
---|
1597 | { |
---|
1598 | #if 0 // Use float normal computations |
---|
1599 | osg::Vec3f vf( offset ); |
---|
1600 | double dotOffset0 = osg::Vec3f( edgeFaces[0]->plane.getNormal() ) * vf; |
---|
1601 | double dotOffset1 = osg::Vec3f( edgeFaces[1]->plane.getNormal() ) * vf; |
---|
1602 | #else |
---|
1603 | double dotOffset0 = edgeFaces[0]->plane.getNormal() * offset; |
---|
1604 | double dotOffset1 = edgeFaces[1]->plane.getNormal() * offset; |
---|
1605 | #endif |
---|
1606 | |
---|
1607 | if( (dotOffset0 == 0.0 && dotOffset1 < 0.0) || |
---|
1608 | (dotOffset1 == 0.0 && dotOffset0 < 0.0) ) |
---|
1609 | { |
---|
1610 | Face * face = ( dotOffset0 == 0 ? edgeFaces[0] : edgeFaces[1] ); |
---|
1611 | silhouetteFaces[ face ].insert( edge ); |
---|
1612 | } |
---|
1613 | |
---|
1614 | if( (dotOffset0 < 0.0 && dotOffset1 > 0.0) || |
---|
1615 | (dotOffset1 < 0.0 && dotOffset0 > 0.0) ) |
---|
1616 | { |
---|
1617 | Face & face = createFace(); |
---|
1618 | char ac[40] = "Side plane from edge extrude "; |
---|
1619 | sprintf(ac + strlen(ac), "%d", new_face_counter++); |
---|
1620 | face.name = ac; |
---|
1621 | |
---|
1622 | |
---|
1623 | face.vertices.push_back( edge.first ); |
---|
1624 | face.vertices.push_back( edge.second ); |
---|
1625 | |
---|
1626 | osg::Vec3d n = face.vertices[0] - face.vertices[1]; |
---|
1627 | n.normalize(); |
---|
1628 | n = ( n ^ offset ); |
---|
1629 | n.normalize(); |
---|
1630 | |
---|
1631 | if( n * ( edgeFaces[1]->plane.getNormal() + edgeFaces[0]->plane.getNormal() ) < 0 ) |
---|
1632 | { |
---|
1633 | n = -n; |
---|
1634 | std::swap( face.vertices[1], face.vertices[0] ); |
---|
1635 | } |
---|
1636 | |
---|
1637 | face.vertices.push_back( face.vertices[1] + offset ); |
---|
1638 | face.vertices.push_back( face.vertices[0] + offset ); |
---|
1639 | |
---|
1640 | face.plane.set( n,(face.vertices[0] + face.vertices[1] + |
---|
1641 | face.vertices[2] + face.vertices[3]) * .25 ); |
---|
1642 | } |
---|
1643 | } |
---|
1644 | else if( edgeFaces.size() > 2 ) |
---|
1645 | { |
---|
1646 | assert( 0 ); |
---|
1647 | |
---|
1648 | |
---|
1649 | } |
---|
1650 | } |
---|
1651 | |
---|
1652 | |
---|
1653 | for(SilhouetteFaces::iterator itr = silhouetteFaces.begin(); |
---|
1654 | itr != silhouetteFaces.end(); |
---|
1655 | ++itr) |
---|
1656 | { |
---|
1657 | SilhouetteEdges & edges = itr->second; |
---|
1658 | Vertices & vertices = itr->first->vertices; |
---|
1659 | Vertices newVertices; |
---|
1660 | |
---|
1661 | for( unsigned int i = 0; i < vertices.size(); i++ ) |
---|
1662 | { |
---|
1663 | osg::Vec3d |
---|
1664 | &va = vertices[ ( i + vertices.size() - 1 ) % vertices.size() ], |
---|
1665 | &vb = vertices[ i ], |
---|
1666 | &vc = vertices[ ( i + 1 ) % vertices.size() ]; |
---|
1667 | |
---|
1668 | Edge eab = va < vb ? Edge( va, vb ) : Edge( vb, va ); |
---|
1669 | Edge ebc = vb < vc ? Edge( vb, vc ) : Edge( vc, vb ); |
---|
1670 | |
---|
1671 | bool abFound = edges.find( eab ) != edges.end(); |
---|
1672 | bool bcFound = edges.find( ebc ) != edges.end(); |
---|
1673 | |
---|
1674 | if( abFound && bcFound ) { |
---|
1675 | newVertices.push_back( vb + offset ); |
---|
1676 | } else if( !abFound && !bcFound ) { |
---|
1677 | newVertices.push_back( vb ); |
---|
1678 | } else if( !abFound && bcFound ) { |
---|
1679 | newVertices.push_back( vb ); |
---|
1680 | newVertices.push_back( vb + offset ); |
---|
1681 | } else if( abFound && !bcFound ) { |
---|
1682 | newVertices.push_back( vb + offset ); |
---|
1683 | newVertices.push_back( vb ); |
---|
1684 | } |
---|
1685 | } |
---|
1686 | |
---|
1687 | vertices.swap( newVertices ); |
---|
1688 | } |
---|
1689 | |
---|
1690 | removeDuplicateVertices( ); |
---|
1691 | checkCoherency( true, "ConvexPolyhedron::extrude" ); |
---|
1692 | } |
---|
1693 | |
---|
1694 | void ConvexPolyhedron::translate( const osg::Vec3d & offset ) |
---|
1695 | { |
---|
1696 | for( Faces::iterator itr = _faces.begin(); itr != _faces.end(); ++itr ) |
---|
1697 | { |
---|
1698 | itr->plane.ptr()[3] -= itr->plane.dotProductNormal( offset ); |
---|
1699 | |
---|
1700 | for( Vertices::iterator vitr = itr->vertices.begin(); |
---|
1701 | vitr != itr->vertices.end(); |
---|
1702 | ++vitr ) |
---|
1703 | { |
---|
1704 | *vitr += offset; |
---|
1705 | } |
---|
1706 | } |
---|
1707 | } |
---|
1708 | |
---|
1709 | void ConvexPolyhedron::getPolytope(osg::Polytope& polytope) const |
---|
1710 | { |
---|
1711 | for(Faces::const_iterator itr = _faces.begin(); |
---|
1712 | itr != _faces.end(); |
---|
1713 | ++itr) |
---|
1714 | { |
---|
1715 | polytope.add(itr->plane); |
---|
1716 | } |
---|
1717 | } |
---|
1718 | |
---|
1719 | void ConvexPolyhedron::getPoints(Vertices& vertices) const |
---|
1720 | { |
---|
1721 | typedef std::set<osg::Vec3d> VerticesSet; |
---|
1722 | VerticesSet verticesSet; |
---|
1723 | for(Faces::const_iterator itr = _faces.begin(); |
---|
1724 | itr != _faces.end(); |
---|
1725 | ++itr) |
---|
1726 | { |
---|
1727 | const Face& face = *itr; |
---|
1728 | for(Vertices::const_iterator vitr = face.vertices.begin(); |
---|
1729 | vitr != face.vertices.end(); |
---|
1730 | ++vitr) |
---|
1731 | { |
---|
1732 | verticesSet.insert(*vitr); |
---|
1733 | } |
---|
1734 | } |
---|
1735 | |
---|
1736 | for(VerticesSet::iterator sitr = verticesSet.begin(); |
---|
1737 | sitr != verticesSet.end(); |
---|
1738 | ++sitr) |
---|
1739 | { |
---|
1740 | vertices.push_back(*sitr); |
---|
1741 | } |
---|
1742 | } |
---|
1743 | |
---|
1744 | osg::Geometry* ConvexPolyhedron::buildGeometry( const osg::Vec4d& colorOutline, |
---|
1745 | const osg::Vec4d& colorInside, |
---|
1746 | osg::Geometry* geometry ) const |
---|
1747 | { |
---|
1748 | if( !geometry ) { |
---|
1749 | geometry = new osg::Geometry; |
---|
1750 | } else { |
---|
1751 | geometry->getPrimitiveSetList( ).clear(); |
---|
1752 | } |
---|
1753 | |
---|
1754 | osg::Vec3dArray* vertices = new osg::Vec3dArray; |
---|
1755 | geometry->setVertexArray(vertices); |
---|
1756 | |
---|
1757 | osg::Vec4Array* colors = new osg::Vec4Array; |
---|
1758 | geometry->setColorArray(colors); |
---|
1759 | geometry->setColorBinding(osg::Geometry::BIND_PER_PRIMITIVE_SET); |
---|
1760 | |
---|
1761 | for(Faces::const_iterator itr = _faces.begin(); |
---|
1762 | itr != _faces.end(); |
---|
1763 | ++itr) |
---|
1764 | { |
---|
1765 | if( colorInside[3] > 0 ) { |
---|
1766 | geometry->addPrimitiveSet( new osg::DrawArrays( GL_TRIANGLE_FAN, |
---|
1767 | vertices->size(), itr->vertices.size() ) ); |
---|
1768 | |
---|
1769 | colors->push_back( colorInside ); |
---|
1770 | } |
---|
1771 | |
---|
1772 | if( colorOutline[3] > 0 ) { |
---|
1773 | geometry->addPrimitiveSet( new osg::DrawArrays( GL_LINE_LOOP, |
---|
1774 | vertices->size(), itr->vertices.size() ) ); |
---|
1775 | |
---|
1776 | colors->push_back( colorOutline ); |
---|
1777 | } |
---|
1778 | |
---|
1779 | vertices->insert |
---|
1780 | ( vertices->end(), itr->vertices.begin(), itr->vertices.end() ); |
---|
1781 | } |
---|
1782 | |
---|
1783 | osg::StateSet* stateset = geometry->getOrCreateStateSet(); |
---|
1784 | stateset->setMode(GL_LIGHTING, osg::StateAttribute::OFF); |
---|
1785 | stateset->setTextureMode(0, GL_TEXTURE_2D, osg::StateAttribute::OFF); |
---|
1786 | stateset->setTextureMode(1, GL_TEXTURE_2D, osg::StateAttribute::OFF); |
---|
1787 | |
---|
1788 | return geometry; |
---|
1789 | } |
---|
1790 | |
---|
1791 | bool ConvexPolyhedron::dumpGeometry |
---|
1792 | ( const Face * face, |
---|
1793 | const osg::Plane * plane, |
---|
1794 | ConvexPolyhedron * base, |
---|
1795 | const char * filename, |
---|
1796 | const osg::Vec4d& colorOutline, |
---|
1797 | const osg::Vec4d& colorInside, |
---|
1798 | const osg::Vec4d& faceColorOutline, |
---|
1799 | const osg::Vec4d& faceColorInside, |
---|
1800 | const osg::Vec4d& planeColorOutline, |
---|
1801 | const osg::Vec4d& planeColorInside, |
---|
1802 | const osg::Vec4d& baseColorOutline, |
---|
1803 | const osg::Vec4d& baseColorInside ) const |
---|
1804 | { |
---|
1805 | osg::Group * group = new osg::Group(); |
---|
1806 | osg::Geode * geode = new osg::Geode(); |
---|
1807 | geode->getOrCreateStateSet()->setMode( GL_BLEND, osg::StateAttribute::ON ); |
---|
1808 | geode->getOrCreateStateSet()->setMode( GL_CULL_FACE, osg::StateAttribute::OFF ); |
---|
1809 | geode->getOrCreateStateSet()->setMode( GL_DEPTH_TEST, osg::StateAttribute::OFF ); |
---|
1810 | |
---|
1811 | group->addChild( geode ); |
---|
1812 | |
---|
1813 | Vertices vertices; |
---|
1814 | getPoints( vertices ); |
---|
1815 | |
---|
1816 | osg::BoundingBox bb; |
---|
1817 | for( unsigned int i = 0; i < vertices.size(); i++ ) |
---|
1818 | bb.expandBy( vertices[i] ); |
---|
1819 | |
---|
1820 | ConvexPolyhedron cp( *this ), cpFace; |
---|
1821 | |
---|
1822 | for( Faces::iterator itr = cp._faces.begin(); itr != cp._faces.end(); ) |
---|
1823 | { |
---|
1824 | bool found = ( face && |
---|
1825 | itr->name == face->name && |
---|
1826 | itr->plane == face->plane && |
---|
1827 | itr->vertices == face->vertices ); |
---|
1828 | #if 1 |
---|
1829 | if( cp.isFacePolygonConvex( *itr ) < 0 ) |
---|
1830 | std::reverse( itr->vertices.begin(), itr->vertices.end() ); |
---|
1831 | #endif |
---|
1832 | |
---|
1833 | if( found ) { |
---|
1834 | cpFace.createFace() = *face; |
---|
1835 | itr = cp._faces.erase( itr ); |
---|
1836 | } else { |
---|
1837 | ++itr; |
---|
1838 | } |
---|
1839 | } |
---|
1840 | |
---|
1841 | osg::Geometry * geometry = cp.buildGeometry( colorOutline, colorInside ); |
---|
1842 | geometry->getOrCreateStateSet()->setMode( GL_CULL_FACE, osg::StateAttribute::ON ); |
---|
1843 | |
---|
1844 | geode->addDrawable( geometry ); |
---|
1845 | |
---|
1846 | if( face ) |
---|
1847 | geode->addDrawable( cpFace.buildGeometry( faceColorOutline, faceColorInside ) ); |
---|
1848 | |
---|
1849 | if( plane ) |
---|
1850 | { |
---|
1851 | ConvexPolyhedron cp; |
---|
1852 | Face & face = cp.createFace(); |
---|
1853 | face.plane = *plane; |
---|
1854 | |
---|
1855 | osg::Vec3d normal = face.plane.getNormal(); |
---|
1856 | osg::Vec3d side = fabs(normal.x()) < fabs(normal.y()) ? |
---|
1857 | osg::Vec3d(1.0, 0.0, 0.0) : |
---|
1858 | osg::Vec3d(0.0, 1.0, 0.0); |
---|
1859 | |
---|
1860 | osg::Vec3d v = normal ^ side; |
---|
1861 | v.normalize(); |
---|
1862 | v *= bb.radius(); |
---|
1863 | |
---|
1864 | osg::Vec3d u = v ^ normal; |
---|
1865 | u.normalize(); |
---|
1866 | u *= bb.radius(); |
---|
1867 | |
---|
1868 | osg::Vec3d c = bb.center(); |
---|
1869 | c -= face.plane.getNormal() * face.plane.distance( c ); |
---|
1870 | |
---|
1871 | face.vertices.push_back( c - u - v ); |
---|
1872 | face.vertices.push_back( c - u + v ); |
---|
1873 | face.vertices.push_back( c + u + v ); |
---|
1874 | face.vertices.push_back( c + u - v ); |
---|
1875 | |
---|
1876 | geode->addDrawable( cp.buildGeometry( planeColorOutline, planeColorInside ) ); |
---|
1877 | } |
---|
1878 | |
---|
1879 | if( base ) |
---|
1880 | geode->addDrawable( base->buildGeometry( baseColorOutline, baseColorInside ) ); |
---|
1881 | |
---|
1882 | return osgDB::writeNodeFile( *group, std::string( filename ) ); |
---|
1883 | } |
---|
1884 | |
---|