IceIndexedTriangle.cpp
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1 
8 
11 // Precompiled Header
12 #include "Stdafx.h"
13 
14 using namespace IceMaths;
15 
17 
25 
28 
33 {
34  Swap(mVRef[1], mVRef[2]);
35 }
36 
38 
43 float IndexedTriangle::Area(const Point* verts) const
45 {
46  if(!verts) return 0.0f;
47  const Point& p0 = verts[0];
48  const Point& p1 = verts[1];
49  const Point& p2 = verts[2];
50  return ((p0-p1)^(p0-p2)).Magnitude() * 0.5f;
51 }
52 
54 
59 float IndexedTriangle::Perimeter(const Point* verts) const
61 {
62  if(!verts) return 0.0f;
63  const Point& p0 = verts[0];
64  const Point& p1 = verts[1];
65  const Point& p2 = verts[2];
66  return p0.Distance(p1)
67  + p0.Distance(p2)
68  + p1.Distance(p2);
69 }
70 
72 
77 float IndexedTriangle::Compacity(const Point* verts) const
79 {
80  if(!verts) return 0.0f;
81  float P = Perimeter(verts);
82  if(P==0.0f) return 0.0f;
83  return (4.0f*PI*Area(verts)/(P*P));
84 }
85 
87 
92 void IndexedTriangle::Normal(const Point* verts, Point& normal) const
94 {
95  if(!verts) return;
96 
97  const Point& p0 = verts[mVRef[0]];
98  const Point& p1 = verts[mVRef[1]];
99  const Point& p2 = verts[mVRef[2]];
100  normal = ((p2-p1)^(p0-p1)).Normalize();
101 }
102 
104 
109 void IndexedTriangle::DenormalizedNormal(const Point* verts, Point& normal) const
111 {
112  if(!verts) return;
113 
114  const Point& p0 = verts[mVRef[0]];
115  const Point& p1 = verts[mVRef[1]];
116  const Point& p2 = verts[mVRef[2]];
117  normal = ((p2-p1)^(p0-p1));
118 }
119 
121 
126 void IndexedTriangle::Center(const Point* verts, Point& center) const
128 {
129  if(!verts) return;
130 
131  const Point& p0 = verts[mVRef[0]];
132  const Point& p1 = verts[mVRef[1]];
133  const Point& p2 = verts[mVRef[2]];
134  center = (p0+p1+p2)*INV3;
135 }
136 
138 
143 void IndexedTriangle::CenteredNormal(const Point* verts, Point& normal) const
145 {
146  if(!verts) return;
147 
148  const Point& p0 = verts[mVRef[0]];
149  const Point& p1 = verts[mVRef[1]];
150  const Point& p2 = verts[mVRef[2]];
151  Point Center = (p0+p1+p2)*INV3;
152  normal = Center + ((p2-p1)^(p0-p1)).Normalize();
153 }
154 
156 
161 void IndexedTriangle::RandomPoint(const Point* verts, Point& random) const
163 {
164  if(!verts) return;
165 
166  // Random barycentric coords
167  float Alpha = UnitRandomFloat();
168  float Beta = UnitRandomFloat();
169  float Gamma = UnitRandomFloat();
170  float OneOverTotal = 1.0f / (Alpha + Beta + Gamma);
171  Alpha *= OneOverTotal;
172  Beta *= OneOverTotal;
173  Gamma *= OneOverTotal;
174 
175  const Point& p0 = verts[mVRef[0]];
176  const Point& p1 = verts[mVRef[1]];
177  const Point& p2 = verts[mVRef[2]];
178  random = Alpha*p0 + Beta*p1 + Gamma*p2;
179 }
180 
182 
188 bool IndexedTriangle::IsVisible(const Point* verts, const Point& source) const
190 {
191  // Checkings
192  if(!verts) return false;
193 
194  const Point& p0 = verts[mVRef[0]];
195  const Point& p1 = verts[mVRef[1]];
196  const Point& p2 = verts[mVRef[2]];
197 
198  // Compute denormalized normal
199  Point Normal = (p2 - p1)^(p0 - p1);
200 
201  // Backface culling
202  return (Normal | source) >= 0.0f;
203 
204 // Same as:
205 // Plane PL(verts[mVRef[0]], verts[mVRef[1]], verts[mVRef[2]]);
206 // return PL.Distance(source) > PL.d;
207 }
208 
210 
216 bool IndexedTriangle::BackfaceCulling(const Point* verts, const Point& source) const
218 {
219  // Checkings
220  if(!verts) return false;
221 
222  const Point& p0 = verts[mVRef[0]];
223  const Point& p1 = verts[mVRef[1]];
224  const Point& p2 = verts[mVRef[2]];
225 
226  // Compute base
227 // Point Base = (p0 + p1 + p2)*INV3;
228 
229  // Compute denormalized normal
230  Point Normal = (p2 - p1)^(p0 - p1);
231 
232  // Backface culling
233 // return (Normal | (source - Base)) >= 0.0f;
234  return (Normal | (source - p0)) >= 0.0f;
235 
236 // Same as: (but a bit faster)
237 // Plane PL(verts[mVRef[0]], verts[mVRef[1]], verts[mVRef[2]]);
238 // return PL.Distance(source)>0.0f;
239 }
240 
242 
248 float IndexedTriangle::ComputeOcclusionPotential(const Point* verts, const Point& view) const
250 {
251  if(!verts) return 0.0f;
252  // Occlusion potential: -(A * (N|V) / d^2)
253  // A = polygon area
254  // N = polygon normal
255  // V = view vector
256  // d = distance viewpoint-center of polygon
257 
258  float A = Area(verts);
259  Point N; Normal(verts, N);
260  Point C; Center(verts, C);
261  float d = view.Distance(C);
262  return -(A*(N|view))/(d*d);
263 }
264 
266 
272 bool IndexedTriangle::ReplaceVertex(udword oldref, udword newref)
274 {
275  if(mVRef[0]==oldref) { mVRef[0] = newref; return true; }
276  else if(mVRef[1]==oldref) { mVRef[1] = newref; return true; }
277  else if(mVRef[2]==oldref) { mVRef[2] = newref; return true; }
278  return false;
279 }
280 
282 
288 {
289  if(mVRef[0]==mVRef[1]) return true;
290  if(mVRef[1]==mVRef[2]) return true;
291  if(mVRef[2]==mVRef[0]) return true;
292  return false;
293 }
294 
296 
301 bool IndexedTriangle::HasVertex(udword ref) const
303 {
304  if(mVRef[0]==ref) return true;
305  if(mVRef[1]==ref) return true;
306  if(mVRef[2]==ref) return true;
307  return false;
308 }
309 
311 
317 bool IndexedTriangle::HasVertex(udword ref, udword* index) const
319 {
320  if(mVRef[0]==ref) { *index = 0; return true; }
321  if(mVRef[1]==ref) { *index = 1; return true; }
322  if(mVRef[2]==ref) { *index = 2; return true; }
323  return false;
324 }
325 
327 
333 ubyte IndexedTriangle::FindEdge(udword vref0, udword vref1) const
335 {
336  if(mVRef[0]==vref0 && mVRef[1]==vref1) return 0;
337  else if(mVRef[0]==vref1 && mVRef[1]==vref0) return 0;
338  else if(mVRef[0]==vref0 && mVRef[2]==vref1) return 1;
339  else if(mVRef[0]==vref1 && mVRef[2]==vref0) return 1;
340  else if(mVRef[1]==vref0 && mVRef[2]==vref1) return 2;
341  else if(mVRef[1]==vref1 && mVRef[2]==vref0) return 2;
342  return 0xff;
343 }
344 
346 
354 {
355  if(mVRef[0]==vref0 && mVRef[1]==vref1) return mVRef[2];
356  else if(mVRef[0]==vref1 && mVRef[1]==vref0) return mVRef[2];
357  else if(mVRef[0]==vref0 && mVRef[2]==vref1) return mVRef[1];
358  else if(mVRef[0]==vref1 && mVRef[2]==vref0) return mVRef[1];
359  else if(mVRef[1]==vref0 && mVRef[2]==vref1) return mVRef[0];
360  else if(mVRef[1]==vref1 && mVRef[2]==vref0) return mVRef[0];
361  return INVALID_ID;
362 }
363 
365 
376 void IndexedTriangle::GetVRefs(ubyte edgenb, udword& vref0, udword& vref1, udword& vref2) const
378 {
379  if(edgenb==0)
380  {
381  vref0 = mVRef[0];
382  vref1 = mVRef[1];
383  vref2 = mVRef[2];
384  }
385  else if(edgenb==1)
386  {
387  vref0 = mVRef[0];
388  vref1 = mVRef[2];
389  vref2 = mVRef[1];
390  }
391  else if(edgenb==2)
392  {
393  vref0 = mVRef[1];
394  vref1 = mVRef[2];
395  vref2 = mVRef[0];
396  }
397 }
398 
400 
405 float IndexedTriangle::MinEdgeLength(const Point* verts) const
407 {
408  if(!verts) return 0.0f;
409 
410  float Min = MAX_FLOAT;
411  float Length01 = verts[0].Distance(verts[1]);
412  float Length02 = verts[0].Distance(verts[2]);
413  float Length12 = verts[1].Distance(verts[2]);
414  if(Length01 < Min) Min = Length01;
415  if(Length02 < Min) Min = Length02;
416  if(Length12 < Min) Min = Length12;
417  return Min;
418 }
419 
421 
426 float IndexedTriangle::MaxEdgeLength(const Point* verts) const
428 {
429  if(!verts) return 0.0f;
430 
431  float Max = MIN_FLOAT;
432  float Length01 = verts[0].Distance(verts[1]);
433  float Length02 = verts[0].Distance(verts[2]);
434  float Length12 = verts[1].Distance(verts[2]);
435  if(Length01 > Max) Max = Length01;
436  if(Length02 > Max) Max = Length02;
437  if(Length12 > Max) Max = Length12;
438  return Max;
439 }
440 
442 
449 void IndexedTriangle::ComputePoint(const Point* verts, float u, float v, Point& pt, udword* nearvtx) const
451 {
452  // Checkings
453  if(!verts) return;
454 
455  // Get face in local or global space
456  const Point& p0 = verts[mVRef[0]];
457  const Point& p1 = verts[mVRef[1]];
458  const Point& p2 = verts[mVRef[2]];
459 
460  // Compute point coordinates
461  pt = (1.0f - u - v)*p0 + u*p1 + v*p2;
462 
463  // Compute nearest vertex if needed
464  if(nearvtx)
465  {
466  // Compute distance vector
467  Point d(p0.SquareDistance(pt), // Distance^2 from vertex 0 to point on the face
468  p1.SquareDistance(pt), // Distance^2 from vertex 1 to point on the face
469  p2.SquareDistance(pt)); // Distance^2 from vertex 2 to point on the face
470 
471  // Get smallest distance
472  *nearvtx = mVRef[d.SmallestAxis()];
473  }
474 }
475 
476  //**************************************
477  // Angle between two vectors (in radians)
478  // we use this formula
479  // uv = |u||v| cos(u,v)
480  // u ^ v = w
481  // |w| = |u||v| |sin(u,v)|
482  //**************************************
483  float Angle(const Point& u, const Point& v)
484  {
485  float NormU = u.Magnitude(); // |u|
486  float NormV = v.Magnitude(); // |v|
487  float Product = NormU*NormV; // |u||v|
488  if(Product==0.0f) return 0.0f;
489  float OneOverProduct = 1.0f / Product;
490 
491  // Cosinus
492  float Cosinus = (u|v) * OneOverProduct;
493 
494  // Sinus
495  Point w = u^v;
496  float NormW = w.Magnitude();
497 
498  float AbsSinus = NormW * OneOverProduct;
499 
500  // Remove degeneracy
501  if(AbsSinus > 1.0f) AbsSinus = 1.0f;
502  if(AbsSinus < -1.0f) AbsSinus = -1.0f;
503 
504  if(Cosinus>=0.0f) return asinf(AbsSinus);
505  else return (PI-asinf(AbsSinus));
506  }
507 
509 
515 float IndexedTriangle::Angle(const IndexedTriangle& tri, const Point* verts) const
517 {
518  // Checkings
519  if(!verts) return 0.0f;
520 
521  // Compute face normals
522  Point n0, n1;
523  Normal(verts, n0);
524  tri.Normal(verts, n1);
525 
526  // Compute angle
527  float dp = n0|n1;
528  if(dp>1.0f) return 0.0f;
529  if(dp<-1.0f) return PI;
530  return acosf(dp);
531 
532 // return ::Angle(n0,n1);
533 }
534 
536 
541 bool IndexedTriangle::Equal(const IndexedTriangle& tri) const
543 {
544  // Test all vertex references
545  return (HasVertex(tri.mVRef[0]) &&
546  HasVertex(tri.mVRef[1]) &&
547  HasVertex(tri.mVRef[2]));
548 }
bool BackfaceCulling(const Point *verts, const Point &source) const
float MinEdgeLength(const Point *verts) const
float Area(const Point *verts) const
void Normal(const Point *verts, Point &normal) const
float Angle(const IndexedTriangle &tri, const Point *verts) const
udword mVRef[3]
Vertex-references.
Definition: OPC_IceHook.h:41
inline_ float Magnitude() const
Computes magnitude.
Definition: OPC_IceHook.h:220
w
float ComputeOcclusionPotential(const Point *verts, const Point &view) const
void RandomPoint(const Point *verts, Point &random) const
unsigned int udword
sizeof(udword) must be 4
Definition: IceTypes.h:65
void Center(const Point *verts, Point &center) const
float MaxEdgeLength(const Point *verts) const
unsigned char ubyte
sizeof(ubyte) must be 1
Definition: IceTypes.h:61
#define MAX_FLOAT
max possible float value
Definition: IceTypes.h:130
#define PI
PI.
Definition: IceTypes.h:32
bool HasVertex(udword ref) const
bool ReplaceVertex(udword oldref, udword newref)
float Compacity(const Point *verts) const
inline_ float UnitRandomFloat()
Returns a unit random floating-point value.
Definition: IceRandom.h:19
void CenteredNormal(const Point *verts, Point &normal) const
ubyte FindEdge(udword vref0, udword vref1) const
float Perimeter(const Point *verts) const
void ComputePoint(const Point *verts, float u, float v, Point &pt, udword *nearvtx=null) const
bool IsVisible(const Point *verts, const Point &source) const
bool Equal(const IndexedTriangle &tri) const
#define INV3
1/3
Definition: IceTypes.h:45
void GetVRefs(ubyte edgenb, udword &vref0, udword &vref1, udword &vref2) const
udword OppositeVertex(udword vref0, udword vref1) const
#define INVALID_ID
Invalid dword ID (counterpart of null pointers)
Definition: IceTypes.h:92
#define MIN_FLOAT
min possible loat value
Definition: IceTypes.h:131
inline_ float SquareDistance(const Point &b) const
Computes square distance to another point.
Definition: OPC_IceHook.h:318
void DenormalizedNormal(const Point *verts, Point &normal) const
inline_ float Distance(const Point &b) const
Computes distance to another point.
Definition: OPC_IceHook.h:312
*inline_ void Swap(udword &x, udword &y)
Definition: IceUtils.h:99


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sat Apr 13 2019 02:14:22