diff options
Diffstat (limited to 'core/math/triangle_mesh.cpp')
| -rw-r--r-- | core/math/triangle_mesh.cpp | 568 |
1 files changed, 568 insertions, 0 deletions
diff --git a/core/math/triangle_mesh.cpp b/core/math/triangle_mesh.cpp new file mode 100644 index 0000000000..111ceca185 --- /dev/null +++ b/core/math/triangle_mesh.cpp @@ -0,0 +1,568 @@ +/*************************************************************************/ +/* triangle_mesh.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* http://www.godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ +#include "triangle_mesh.h"
+#include "sort.h"
+
+
+
+int TriangleMesh::_create_bvh(BVH*p_bvh,BVH** p_bb,int p_from,int p_size,int p_depth,int&max_depth,int&max_alloc) {
+
+
+ if (p_depth>max_depth) {
+ max_depth=p_depth;
+ }
+
+ if (p_size==1) {
+
+
+ return p_bb[p_from]-p_bvh;
+ } else if (p_size==0) {
+
+ return -1;
+ }
+
+
+ AABB aabb;
+ aabb=p_bb[p_from]->aabb;
+ for(int i=1;i<p_size;i++) {
+
+ aabb.merge_with(p_bb[p_from+i]->aabb);
+ }
+
+ int li=aabb.get_longest_axis_index();
+
+ switch(li) {
+
+ case Vector3::AXIS_X: {
+ SortArray<BVH*,BVHCmpX> sort_x;
+ sort_x.nth_element(0,p_size,p_size/2,&p_bb[p_from]);
+ //sort_x.sort(&p_bb[p_from],p_size);
+ } break;
+ case Vector3::AXIS_Y: {
+ SortArray<BVH*,BVHCmpY> sort_y;
+ sort_y.nth_element(0,p_size,p_size/2,&p_bb[p_from]);
+ //sort_y.sort(&p_bb[p_from],p_size);
+ } break;
+ case Vector3::AXIS_Z: {
+ SortArray<BVH*,BVHCmpZ> sort_z;
+ sort_z.nth_element(0,p_size,p_size/2,&p_bb[p_from]);
+ //sort_z.sort(&p_bb[p_from],p_size);
+
+ } break;
+ }
+
+
+ int left = _create_bvh(p_bvh,p_bb,p_from,p_size/2,p_depth+1,max_depth,max_alloc);
+ int right = _create_bvh(p_bvh,p_bb,p_from+p_size/2,p_size-p_size/2,p_depth+1,max_depth,max_alloc);
+
+ int index=max_alloc++;
+ BVH *_new = &p_bvh[index];
+ _new->aabb=aabb;
+ _new->center=aabb.pos+aabb.size*0.5;
+ _new->face_index=-1;
+ _new->left=left;
+ _new->right=right;
+
+ return index;
+
+}
+
+
+void TriangleMesh::create(const DVector<Vector3>& p_faces) {
+
+ valid=false;
+
+ int fc=p_faces.size();
+ ERR_FAIL_COND(!fc || ((fc%3) != 0));
+ fc/=3;
+ triangles.resize(fc);
+
+ bvh.resize(fc*3); //will never be larger than this (todo make better)
+ DVector<BVH>::Write bw = bvh.write();
+
+ {
+
+ //create faces and indices and base bvh
+ //except for the Set for repeated triangles, everything
+ //goes in-place.
+
+ DVector<Vector3>::Read r = p_faces.read();
+ DVector<Triangle>::Write w = triangles.write();
+ Map<Vector3,int> db;
+
+ for(int i=0;i<fc;i++) {
+
+ Triangle&f=w[i];
+ const Vector3 *v=&r[i*3];
+
+ for(int j=0;j<3;j++) {
+
+ int vidx=-1;
+ Vector3 vs=v[j].snapped(0.0001);
+ Map<Vector3,int>::Element *E=db.find(vs);
+ if (E) {
+ vidx=E->get();
+ } else {
+ vidx=db.size();
+ db[vs]=vidx;
+ }
+
+ f.indices[j]=vidx;
+ if (j==0)
+ bw[i].aabb.pos=vs;
+ else
+ bw[i].aabb.expand_to(vs);
+ }
+
+ f.normal=Face3(r[i*3+0],r[i*3+1],r[i*3+2]).get_plane().get_normal();
+
+ bw[i].left=-1;
+ bw[i].right=-1;
+ bw[i].face_index=i;
+ bw[i].center=bw[i].aabb.pos+bw[i].aabb.size*0.5;
+ }
+
+ vertices.resize(db.size());
+ DVector<Vector3>::Write vw = vertices.write();
+ for (Map<Vector3,int>::Element *E=db.front();E;E=E->next()) {
+ vw[E->get()]=E->key();
+ }
+
+ }
+
+ DVector<BVH*> bwptrs;
+ bwptrs.resize(fc);
+ DVector<BVH*>::Write bwp = bwptrs.write();
+ for(int i=0;i<fc;i++) {
+
+ bwp[i]=&bw[i];
+ }
+
+ max_depth=0;
+ int max_alloc=fc;
+ int max=_create_bvh(bw.ptr(),bwp.ptr(),0,fc,1,max_depth,max_alloc);
+
+ bw=DVector<BVH>::Write(); //clearup
+ bvh.resize(max_alloc); //resize back
+
+ valid=true;
+
+}
+
+
+Vector3 TriangleMesh::get_area_normal(const AABB& p_aabb) const {
+
+ uint32_t* stack = (uint32_t*)alloca(sizeof(int)*max_depth);
+
+ enum {
+ TEST_AABB_BIT=0,
+ VISIT_LEFT_BIT=1,
+ VISIT_RIGHT_BIT=2,
+ VISIT_DONE_BIT=3,
+ VISITED_BIT_SHIFT=29,
+ NODE_IDX_MASK=(1<<VISITED_BIT_SHIFT)-1,
+ VISITED_BIT_MASK=~NODE_IDX_MASK,
+
+
+ };
+
+ int n_count=0;
+ Vector3 n;
+
+ //for(int i=0;i<max_depth;i++)
+ // stack[i]=0;
+
+ int level=0;
+
+ DVector<Triangle>::Read trianglesr = triangles.read();
+ DVector<Vector3>::Read verticesr=vertices.read();
+ DVector<BVH>::Read bvhr=bvh.read();
+
+ const Triangle *triangleptr=trianglesr.ptr();
+ const Vector3 *vertexptr=verticesr.ptr();
+ int pos=bvh.size()-1;
+ const BVH *bvhptr = bvhr.ptr();
+
+ stack[0]=pos;
+ while(true) {
+
+ uint32_t node = stack[level]&NODE_IDX_MASK;
+ const BVH &b = bvhptr[ node ];
+ bool done=false;
+
+ switch(stack[level]>>VISITED_BIT_SHIFT) {
+ case TEST_AABB_BIT: {
+
+
+ bool valid = b.aabb.intersects(p_aabb);
+ if (!valid) {
+
+ stack[level]=(VISIT_DONE_BIT<<VISITED_BIT_SHIFT)|node;
+
+ } else {
+
+ if (b.face_index>=0) {
+
+ const Triangle &s=triangleptr[ b.face_index ];
+ n+=s.normal;
+ n_count++;
+
+ stack[level]=(VISIT_DONE_BIT<<VISITED_BIT_SHIFT)|node;
+
+ } else {
+
+ stack[level]=(VISIT_LEFT_BIT<<VISITED_BIT_SHIFT)|node;
+ }
+ }
+
+ } continue;
+ case VISIT_LEFT_BIT: {
+
+ stack[level]=(VISIT_RIGHT_BIT<<VISITED_BIT_SHIFT)|node;
+ stack[level+1]=b.left|TEST_AABB_BIT;
+ level++;
+
+ } continue;
+ case VISIT_RIGHT_BIT: {
+
+ stack[level]=(VISIT_DONE_BIT<<VISITED_BIT_SHIFT)|node;
+ stack[level+1]=b.right|TEST_AABB_BIT;
+ level++;
+ } continue;
+ case VISIT_DONE_BIT: {
+
+ if (level==0) {
+ done=true;
+ break;
+ } else
+ level--;
+
+ } continue;
+ }
+
+
+ if (done)
+ break;
+ }
+
+
+ if (n_count>0)
+ n/=n_count;
+
+ return n;
+
+}
+
+
+bool TriangleMesh::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_point, Vector3 &r_normal) const {
+
+
+ uint32_t* stack = (uint32_t*)alloca(sizeof(int)*max_depth);
+
+ enum {
+ TEST_AABB_BIT=0,
+ VISIT_LEFT_BIT=1,
+ VISIT_RIGHT_BIT=2,
+ VISIT_DONE_BIT=3,
+ VISITED_BIT_SHIFT=29,
+ NODE_IDX_MASK=(1<<VISITED_BIT_SHIFT)-1,
+ VISITED_BIT_MASK=~NODE_IDX_MASK,
+
+
+ };
+
+ Vector3 n = (p_end-p_begin).normalized();
+ real_t d=1e10;
+ bool inters=false;
+
+ //for(int i=0;i<max_depth;i++)
+ // stack[i]=0;
+
+ int level=0;
+ //AABB ray_aabb;
+ //ray_aabb.pos=p_begin;
+ //ray_aabb.expand_to(p_end);
+
+
+ DVector<Triangle>::Read trianglesr = triangles.read();
+ DVector<Vector3>::Read verticesr=vertices.read();
+ DVector<BVH>::Read bvhr=bvh.read();
+
+ const Triangle *triangleptr=trianglesr.ptr();
+ const Vector3 *vertexptr=verticesr.ptr();
+ int pos=bvh.size()-1;
+ const BVH *bvhptr = bvhr.ptr();
+
+ stack[0]=pos;
+ while(true) {
+
+ uint32_t node = stack[level]&NODE_IDX_MASK;
+ const BVH &b = bvhptr[ node ];
+ bool done=false;
+
+ switch(stack[level]>>VISITED_BIT_SHIFT) {
+ case TEST_AABB_BIT: {
+
+
+ bool valid = b.aabb.intersects_segment(p_begin,p_end);
+// bool valid = b.aabb.intersects(ray_aabb);
+
+ if (!valid) {
+
+ stack[level]=(VISIT_DONE_BIT<<VISITED_BIT_SHIFT)|node;
+
+ } else {
+
+ if (b.face_index>=0) {
+
+ const Triangle &s=triangleptr[ b.face_index ];
+ Face3 f3(vertexptr[ s.indices[0] ],vertexptr[ s.indices[1] ],vertexptr[ s.indices[2] ]);
+
+
+ Vector3 res;
+
+ if (f3.intersects_segment(p_begin,p_end,&res)) {
+
+
+ float nd = n.dot(res);
+ if (nd<d) {
+
+ d=nd;
+ r_point=res;
+ r_normal=f3.get_plane().get_normal();
+ inters=true;
+ }
+
+ }
+
+ stack[level]=(VISIT_DONE_BIT<<VISITED_BIT_SHIFT)|node;
+
+ } else {
+
+ stack[level]=(VISIT_LEFT_BIT<<VISITED_BIT_SHIFT)|node;
+ }
+ }
+
+ } continue;
+ case VISIT_LEFT_BIT: {
+
+ stack[level]=(VISIT_RIGHT_BIT<<VISITED_BIT_SHIFT)|node;
+ stack[level+1]=b.left|TEST_AABB_BIT;
+ level++;
+
+ } continue;
+ case VISIT_RIGHT_BIT: {
+
+ stack[level]=(VISIT_DONE_BIT<<VISITED_BIT_SHIFT)|node;
+ stack[level+1]=b.right|TEST_AABB_BIT;
+ level++;
+ } continue;
+ case VISIT_DONE_BIT: {
+
+ if (level==0) {
+ done=true;
+ break;
+ } else
+ level--;
+
+ } continue;
+ }
+
+
+ if (done)
+ break;
+ }
+
+
+ if (inters) {
+
+ if (n.dot(r_normal)>0)
+ r_normal=-r_normal;
+ }
+
+ return inters;
+}
+
+
+bool TriangleMesh::intersect_ray(const Vector3& p_begin,const Vector3& p_dir,Vector3 &r_point, Vector3 &r_normal) const {
+
+
+ uint32_t* stack = (uint32_t*)alloca(sizeof(int)*max_depth);
+
+ enum {
+ TEST_AABB_BIT=0,
+ VISIT_LEFT_BIT=1,
+ VISIT_RIGHT_BIT=2,
+ VISIT_DONE_BIT=3,
+ VISITED_BIT_SHIFT=29,
+ NODE_IDX_MASK=(1<<VISITED_BIT_SHIFT)-1,
+ VISITED_BIT_MASK=~NODE_IDX_MASK,
+
+
+ };
+
+ Vector3 n = p_dir;
+ real_t d=1e20;
+ bool inters=false;
+
+ //for(int i=0;i<max_depth;i++)
+ // stack[i]=0;
+
+ int level=0;
+
+ DVector<Triangle>::Read trianglesr = triangles.read();
+ DVector<Vector3>::Read verticesr=vertices.read();
+ DVector<BVH>::Read bvhr=bvh.read();
+
+ const Triangle *triangleptr=trianglesr.ptr();
+ const Vector3 *vertexptr=verticesr.ptr();
+ int pos=bvh.size()-1;
+ const BVH *bvhptr = bvhr.ptr();
+
+ stack[0]=pos;
+ while(true) {
+
+ uint32_t node = stack[level]&NODE_IDX_MASK;
+ const BVH &b = bvhptr[ node ];
+ bool done=false;
+
+ switch(stack[level]>>VISITED_BIT_SHIFT) {
+ case TEST_AABB_BIT: {
+
+
+ bool valid = b.aabb.intersects_ray(p_begin,p_dir);
+ if (!valid) {
+
+ stack[level]=(VISIT_DONE_BIT<<VISITED_BIT_SHIFT)|node;
+
+ } else {
+
+ if (b.face_index>=0) {
+
+ const Triangle &s=triangleptr[ b.face_index ];
+ Face3 f3(vertexptr[ s.indices[0] ],vertexptr[ s.indices[1] ],vertexptr[ s.indices[2] ]);
+
+
+ Vector3 res;
+
+ if (f3.intersects_ray(p_begin,p_dir,&res)) {
+
+
+ float nd = n.dot(res);
+ if (nd<d) {
+
+ d=nd;
+ r_point=res;
+ r_normal=f3.get_plane().get_normal();
+ inters=true;
+ }
+
+ }
+
+ stack[level]=(VISIT_DONE_BIT<<VISITED_BIT_SHIFT)|node;
+
+ } else {
+
+ stack[level]=(VISIT_LEFT_BIT<<VISITED_BIT_SHIFT)|node;
+ }
+ }
+
+ } continue;
+ case VISIT_LEFT_BIT: {
+
+ stack[level]=(VISIT_RIGHT_BIT<<VISITED_BIT_SHIFT)|node;
+ stack[level+1]=b.left|TEST_AABB_BIT;
+ level++;
+
+ } continue;
+ case VISIT_RIGHT_BIT: {
+
+ stack[level]=(VISIT_DONE_BIT<<VISITED_BIT_SHIFT)|node;
+ stack[level+1]=b.right|TEST_AABB_BIT;
+ level++;
+ } continue;
+ case VISIT_DONE_BIT: {
+
+ if (level==0) {
+ done=true;
+ break;
+ } else
+ level--;
+
+ } continue;
+ }
+
+
+ if (done)
+ break;
+ }
+
+
+ if (inters) {
+
+ if (n.dot(r_normal)>0)
+ r_normal=-r_normal;
+ }
+
+ return inters;
+}
+
+bool TriangleMesh::is_valid() const {
+
+ return valid;
+}
+
+DVector<Face3> TriangleMesh::get_faces() const {
+
+ if (!valid)
+ return DVector<Face3>();
+
+ DVector<Face3> faces;
+ int ts = triangles.size();
+ faces.resize(triangles.size());
+
+ DVector<Face3>::Write w=faces.write();
+ DVector<Triangle>::Read r = triangles.read();
+ DVector<Vector3>::Read rv = vertices.read();
+
+ for(int i=0;i<ts;i++) {
+ for(int j=0;j<3;j++) {
+ w[i].vertex[j]=rv[r[i].indices[j]];
+ }
+ }
+
+ w = DVector<Face3>::Write();
+ return faces;
+}
+
+TriangleMesh::TriangleMesh() {
+
+ valid=false;
+ max_depth=0;
+}
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