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253 lines
8.5 KiB
253 lines
8.5 KiB
// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2022 Vladimir S. FONOV <vladimir.fonov@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla Public License
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// v. 2.0. If a copy of the MPL was not distributed with this file, You can
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// obtain one at http://mozilla.org/MPL/2.0/
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#include "fast_find_intersections.h"
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#include "AABB.h"
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#include "tri_tri_intersect.h"
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#include "triangle_triangle_intersect_shared_edge.h"
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#include "triangle_triangle_intersect_shared_vertex.h"
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#include <stdio.h>
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template <
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typename DerivedV1,
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typename DerivedF1,
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typename DerivedV2,
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typename DerivedF2,
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typename DerivedIF,
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typename DerivedEV,
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typename DerivedEE,
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typename DerivedEI>
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IGL_INLINE bool igl::fast_find_intersections(
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const igl::AABB<DerivedV1,3> & tree,
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const Eigen::MatrixBase<DerivedV1> & V1,
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const Eigen::MatrixBase<DerivedF1> & F1,
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const Eigen::MatrixBase<DerivedV2> & V2,
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const Eigen::MatrixBase<DerivedF2> & F2,
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const bool detect_only,
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const bool first_only,
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Eigen::PlainObjectBase<DerivedIF> & IF,
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Eigen::PlainObjectBase<DerivedEV> & EV,
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Eigen::PlainObjectBase<DerivedEE> & EE,
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Eigen::PlainObjectBase<DerivedEI> & EI)
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{
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constexpr bool stinker = false;
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using AABBTree=igl::AABB<DerivedV1,3>;
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using Scalar=typename DerivedV1::Scalar;
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static_assert(
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std::is_same<Scalar,typename DerivedV2::Scalar>::value,
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"V1 and V2 must have the same scalar type");
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static_assert(
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std::is_same<Scalar,typename DerivedEV::Scalar>::value,
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"V1 and EV must have the same scalar type");
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using RowVector3S=Eigen::Matrix<Scalar,1,3>;
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if(first_only){ assert(detect_only && "first_only must imply detect_only"); }
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// Determine if V1,F1 and V2,F2 point to the same data
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const bool self_test = (&V1 == &V2) && (&F1 == &F2);
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if(stinker){ printf("%s\n",self_test?"🍎&(V1,F1) == 🍎&(V2,F2)":"🍎≠🍊"); }
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int num_if = 0;
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int num_ee = 0;
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const auto append_intersection =
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[&IF,&EV,&EE,&EI,&detect_only,&num_if,&num_ee](
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const int f1,
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const int f2,
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const bool coplanar,
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const RowVector3S & v1,
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const RowVector3S & v2)
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{
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if(!coplanar && !detect_only)
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{
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if(num_ee >= EE.rows())
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{
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EE.conservativeResize(2*EE.rows()+1,2);
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EI.conservativeResize(EE.rows());
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EV.conservativeResize(2*EE.rows(),3);
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}
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EI(num_ee) = num_if;
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EV.row(2*num_ee+0) = v1;
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EV.row(2*num_ee+1) = v2;
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EE.row(num_ee) << 2*num_ee+0, 2*num_ee+1;
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num_ee++;
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}
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if(num_if >= IF.rows())
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{
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IF.conservativeResize(2*IF.rows()+1,2);
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}
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IF.row(num_if++) << f1,f2;
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};
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// Returns corner in ith face opposite of shared edge; -1 otherwise
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const auto shared_edge = [&F1](const int f, const int g)->int
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{
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for(int c = 0;c<3;c++)
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{
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int s = F1(f,(c+1)%3);
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int d = F1(f,(c+2)%3);
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for(int e = 0;e<3;e++)
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{
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// Find in opposite direction on jth face
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if(F1(g,e) == d && F1(g,(e+1)%3) == s)
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{
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return c;
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}
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}
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}
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return -1;
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};
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// Returns corner of shared vertex in ith face; -1 otherwise
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const auto shared_vertex = [&F1](const int f, const int g, int & sf, int & sg)->bool
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{
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for(sf = 0;sf<3;sf++)
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{
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for(sg = 0;sg<3;sg++)
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{
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if(F1(g,sg) == F1(f,sf))
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{
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return true;
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}
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}
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}
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return false;
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};
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RowVector3S dummy;
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for(int f2 = 0; f2<F2.rows(); ++f2)
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{
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if(stinker){ printf("f2: %d\n",f2); }
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Eigen::AlignedBox<Scalar,3> box;
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box.extend( V2.row( F2(f2,0) ).transpose() );
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box.extend( V2.row( F2(f2,1) ).transpose() );
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box.extend( V2.row( F2(f2,2) ).transpose() );
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std::vector<const AABBTree*> candidates;
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tree.append_intersecting_leaves(box, candidates);
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for(const auto * candidate : candidates)
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{
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const int f1 = candidate->m_primitive;
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if(stinker){ printf(" f1: %d\n",f1); }
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bool found_intersection = false;
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bool yes_shared_verted = false;
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bool yes_shared_edge = false;
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if(self_test)
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{
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// Skip self-test and direction f2>=f1 (assumes by symmetry we'll find
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// the other direction since we're testing all pairs)
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if(f1 >= f2)
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{
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if(stinker){ printf(" ⏭\n"); }
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continue;
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}
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const int c = shared_edge(f1,f2);
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yes_shared_edge = c != -1;
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if(yes_shared_edge)
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{
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if(stinker){ printf(" ⚠️ shared edge\n"); }
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if(stinker)
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{
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printf(" %d: %d %d %d\n",f1,F1(f1,0),F1(f1,1),F1(f1,2));
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printf(" %d: %d %d %d\n",f2,F1(f2,0),F1(f2,1),F1(f2,2));
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printf(" edge: %d %d\n",F1(f1,(c+1)%3),F1(f1,(c+2)%3));
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}
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found_intersection = igl::triangle_triangle_intersect_shared_edge(
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V1,F1,f1,c,V1.row(F1(f1,c)),f2,1e-8);
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if(found_intersection)
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{
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append_intersection(f1,f2,true,dummy,dummy);
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}
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}else
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{
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int sf,sg;
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yes_shared_verted = shared_vertex(f1,f2,sf,sg);
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if(yes_shared_verted)
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{
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if(stinker){ printf(" ⚠️ shared vertex\n"); }
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// Just to be sure. c≠sf
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const int c = (sf+1)%3;
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assert(F1(f1,sf) == F1(f2,sg));
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found_intersection = igl::triangle_triangle_intersect_shared_vertex(
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V1,F1,f1,sf,c,V1.row(F1(f1,c)),f2,sg,1e-14);
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if(found_intersection && detect_only)
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{
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append_intersection(f1,f2,true,dummy,dummy);
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}
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}
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}
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}
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if(
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!self_test ||
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(!yes_shared_verted && !yes_shared_edge) ||
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(yes_shared_verted && found_intersection && !detect_only))
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{
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bool coplanar = false;
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RowVector3S v1,v2;
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const bool tt_found_intersection =
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igl::tri_tri_intersection_test_3d(
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V2.row(F2(f2,0)),V2.row(F2(f2,1)),V2.row(F2(f2,2)),
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V1.row(F1(f1,0)),V1.row(F1(f1,1)),V1.row(F1(f1,2)),
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coplanar,
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v1,v2);
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if(found_intersection && !tt_found_intersection)
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{
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// We failed to find the edge. Mark it as an intersection but don't
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// include edge.
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append_intersection(f1,f2,true,dummy,dummy);
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}else if(tt_found_intersection)
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{
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found_intersection = true;
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append_intersection(f1,f2,false,v1,v2);
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}
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}
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if(stinker) { printf(" %s\n",found_intersection? "☠️":"❌"); }
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if(num_if && first_only) { break; }
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}
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if(num_if && first_only) { break; }
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}
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if(!detect_only)
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{
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EV.conservativeResize(2*num_ee,3);
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EE.conservativeResize(num_ee,2);
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EI.conservativeResize(num_ee,1);
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}
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IF.conservativeResize(num_if,2);
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return IF.rows();
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}
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template <
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typename DerivedV1,
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typename DerivedF1,
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typename DerivedV2,
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typename DerivedF2,
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typename DerivedIF,
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typename DerivedEV,
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typename DerivedEE,
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typename DerivedEI>
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IGL_INLINE bool igl::fast_find_intersections(
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const Eigen::MatrixBase<DerivedV1> & V1,
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const Eigen::MatrixBase<DerivedF1> & F1,
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const Eigen::MatrixBase<DerivedV2> & V2,
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const Eigen::MatrixBase<DerivedF2> & F2,
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const bool detect_only,
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const bool first_only,
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Eigen::PlainObjectBase<DerivedIF> & IF,
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Eigen::PlainObjectBase<DerivedEV> & EV,
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Eigen::PlainObjectBase<DerivedEE> & EE,
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Eigen::PlainObjectBase<DerivedEI> & EI)
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{
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igl::AABB<DerivedV1,3> tree1;
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tree1.init(V1,F1);
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return fast_find_intersections(
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tree1,V1,F1,V2,F2,detect_only,first_only,IF,EV,EE,EI);
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}
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#ifdef IGL_STATIC_LIBRARY
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// Explicit template instantiation
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// generated by autoexplicit.sh
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template bool igl::fast_find_intersections<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<int, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<int, -1, -1, 0, -1, -1>, Eigen::Matrix<int, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<int, -1, -1, 0, -1, -1>, Eigen::Matrix<int, -1, 1, 0, -1, 1> >(Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::MatrixBase<Eigen::Matrix<int, -1, -1, 0, -1, -1> > const&, Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::MatrixBase<Eigen::Matrix<int, -1, -1, 0, -1, -1> > const&, bool, bool, Eigen::PlainObjectBase<Eigen::Matrix<int, -1, -1, 0, -1, -1> >&, Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> >&, Eigen::PlainObjectBase<Eigen::Matrix<int, -1, -1, 0, -1, -1> >&, Eigen::PlainObjectBase<Eigen::Matrix<int, -1, 1, 0, -1, 1> >&);
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#endif
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