modify some files

3rdparty/tinynurbs/core/basis.h

@@ -15,15 +15,16 @@
 namespace tinynurbs
 {
 
-/**
+    /**
      * Find the span of the given parameter in the knot vector.
      * @param[in] degree Degree of the curve.
      * @param[in] knots Knot vector of the curve.
      * @param[in] u Parameter value.
      * @return Span index into the knot vector such that (span - 1) < u <= span
-*/
+     */
-template <typename T> int findSpan(unsigned int degree, const std::vector<T> &knots, T u)
+    template <typename T>
-{
+    int findSpan(unsigned int degree, const std::vector<T> &knots, T u)
+    {
         // index of last control point
         int n = static_cast<int>(knots.size()) - degree - 2;
         assert(n >= 0);
@@ -61,9 +62,9 @@ template <typename T> int findSpan(unsigned int degree, const std::vector<T> &kn
             mid = (int)std::floor((low + high) / 2.0);
         }
         return mid;
-}
+    }
 
-/**
+    /**
      * Compute a single B-spline basis function
      * @param[in] i The ith basis function to compute.
      * @param[in] deg Degree of the basis function.
@@ -71,8 +72,9 @@ template <typename T> int findSpan(unsigned int degree, const std::vector<T> &kn
      * @param[in] u Parameter to evaluate the basis functions at.
      * @return The value of the ith basis function at u.
      */
-template <typename T> T bsplineOneBasis(int i, unsigned int deg, const std::vector<T> &U, T u)
+    template <typename T>
-{
+    T bsplineOneBasis(int i, unsigned int deg, const std::vector<T> &U, T u)
+    {
         int m = static_cast<int>(U.size()) - 1;
         // Special case
         if ((i == 0 && close(u, U[0])) || (i == m - deg - 1 && close(u, U[m])))
@@ -113,9 +115,9 @@ template <typename T> T bsplineOneBasis(int i, unsigned int deg, const std::vect
             }
         }
         return N[0];
-}
+    }
 
-/**
+    /**
      * Compute all non-zero B-spline basis functions
      * @param[in] deg Degree of the basis function.
      * @param[in] span Index obtained from findSpan() corresponding the u and knots.
@@ -123,9 +125,9 @@ template <typename T> T bsplineOneBasis(int i, unsigned int deg, const std::vect
      * @param[in] u Parameter to evaluate the basis functions at.
      * @return N Values of (deg+1) non-zero basis functions.
      */
-template <typename T>
+    template <typename T>
-std::vector<T> bsplineBasis(unsigned int deg, int span, const std::vector<T> &knots, T u)
+    std::vector<T> bsplineBasis(unsigned int deg, int span, const std::vector<T> &knots, T u)
-{
+    {
         std::vector<T> N;
         N.resize(deg + 1, T(0));
         std::vector<T> left, right;
@@ -149,9 +151,9 @@ std::vector<T> bsplineBasis(unsigned int deg, int span, const std::vector<T> &kn
             N[j] = saved;
         }
         return N;
-}
+    }
 
-/**
+    /**
      * Compute all non-zero derivatives of B-spline basis functions
      * @param[in] deg Degree of the basis function.
      * @param[in] span Index obtained from findSpan() corresponding the u and knots.
@@ -160,10 +162,10 @@ std::vector<T> bsplineBasis(unsigned int deg, int span, const std::vector<T> &kn
      * @param[in] num_ders Number of derivatives to compute (num_ders <= deg)
      * @return ders Values of non-zero derivatives of basis functions.
      */
-template <typename T>
+    template <typename T>
-array2<T> bsplineDerBasis(unsigned int deg, int span, const std::vector<T> &knots, T u,
+    array2<T> bsplineDerBasis(unsigned int deg, int span, const std::vector<T> &knots, T u,
                               int num_ders)
-{
+    {
         std::vector<T> left, right;
         left.resize(deg + 1, 0.0);
         right.resize(deg + 1, 0.0);
@@ -269,7 +271,7 @@ array2<T> bsplineDerBasis(unsigned int deg, int span, const std::vector<T> &knot
         }
 
         return ders;
-}
+    }
 
 } // namespace tinynurbs
 

README.md

@@ -4,12 +4,18 @@
 
 **STL**, **Libigl**, **Eigen**  and the dependencies of the **igl::opengl::glfw::Viewer (OpenGL, glad and GLFW)**. The  CMake build system will automatically download libigl and its dependencies using CMake FetchContent, thus requiring no setup on your part. 
 
+
+
+## Platform
+
+The project could run both on Linux and Windows. 
+
 ## Compile
 ```
 mkdir build
 cd build
 cmake ..
-make
+make #if you are using visual studio, find the .sln project and build it. 
 ```
 
 ## Run

examples/example3_curve_curve_intersection/main.cpp

@@ -28,6 +28,25 @@ int main(int argc, char *argv[])
     crv1.degree = 2;
     crv1.weights = {1, 1, 1, 1, 1};
 
+    double param = 0.6;
+    tinynurbs::array2<double> ders = tinynurbs::bsplineDerBasis(crv1.degree, tinynurbs::findSpan(crv1.degree, crv1.knots, param), crv1.knots, param, 1);
+    std::cout << "row:" << ders.rows() << " col:" << ders.cols() << std::endl;
+    for (int i = 0; i < ders.rows(); i++)
+    {
+        for (int j = 0; j < ders.cols(); j++)
+        {
+            std::cout << ders(i, j) << " ";
+        }
+        std::cout << std::endl;
+    }
+
+    std::vector<double> basis = tinynurbs::bsplineBasis(crv1.degree, tinynurbs::findSpan(crv1.degree, crv1.knots, param), crv1.knots, param);
+    for (auto it : basis)
+    {
+        std::cout << it << std::endl;
+    }
+
+    /***
     ShowCurve_Igl(crv1, 5000, YELLOW);
     BVH_AABB bvh_curve1(11, 2, 100, crv1);
     // bvh_curve.Build_NurbsCurve(crv, bvh_curve.bvh_aabb_node, 0, 0, tstep);

include/newton.hpp

@@ -1,4 +1,15 @@
+/*
+ * @File Created: 2022-11-26, 17:43:27
+ * @Last Modified: 2022-11-26, 18:50:24
+ * @Author: forty-twoo
+ * @Copyright (c) 2022, Caiyue Li(li_caiyue@zju.edu.cn), All rights reserved.
+ */
+
 #ifndef NEWTON_H_
 #define NEWTON_H_
 
+#include "bvh.hpp"
+
+std::vector<double> newton_curve_curve(BVH_AABB_NodePtr boxPtr1, BVH_AABB_NodePtr boxPtr2, const double &eps, bool &isConvergence);
+
 #endif

include/show_libigl.hpp

@@ -21,7 +21,8 @@ extern igl::opengl::glfw::Viewer viewer;
 #define YELLOW Eigen ::RowVector3d(1, 1, 0)
 #define PINK Eigen ::RowVector3d(0.8, 0.2, 0.6)
 
-void ShowCurve_Igl(tinynurbs::RationalCurve<double> &curve, double sampleNum, Eigen::RowVector3d color) void ShowSurface_Igl(tinynurbs::RationalSurface<double> &surface, double sampleNumU, double sampleNumV, Eigen::RowVector3d color);
+void ShowCurve_Igl(tinynurbs::RationalCurve<double> &curve, double sampleNum, Eigen::RowVector3d color);
+void ShowSurface_Igl(tinynurbs::RationalSurface<double> &surface, double sampleNumU, double sampleNumV, Eigen::RowVector3d color);
 void ShowBVHNode_Igl(BVH_AABB_NodePtr bvhNode, Eigen::RowVector3d color);
 void ShowAABB_Igl(AABB bound, Eigen::RowVector3d color);
 

src/intersection.cpp

@@ -13,15 +13,6 @@ bool CurveCurveBVHIntersect(BVH_AABB_NodePtr &BoxPtr1, BVH_AABB_NodePtr &BoxPtr2
     AABB box1 = BoxPtr1->bound;
     AABB box2 = BoxPtr2->bound;
 
-    /*
-    std::cout << "Box1 : ";
-    box1.ShowAABB();
-    ShowAABB_Igl(box1, Eigen::RowVector3d(1, 0, 0));
-    std::cout << "Box2 : ";
-    box2.ShowAABB();
-    ShowAABB_Igl(box2, Eigen::RowVector3d(0, 0, 1));
-    */
-
     auto LineIntersect = [](double x1, double x2, double x1_, double x2_)
     {
         bool LIntersect = true;

src/newton.cpp

@@ -1 +1,31 @@
+/*
+ * @File Created: 2022-11-26, 17:43:34
+ * @Last Modified: 2022-11-26, 18:50:31
+ * @Author: forty-twoo
+ * @Copyright (c) 2022, Caiyue Li(li_caiyue@zju.edu.cn), All rights reserved.
+ */
+
 #include "newton.hpp"
+#include <Eigen/Core>
+
+std::vector<double> newton_curve_curve(BVH_AABB_NodePtr boxPtr1, BVH_AABB_NodePtr boxPtr2, const double &eps, bool &isConvergence)
+{
+    double param1_st = boxPtr1->param[0].first;
+    double param1_ed = boxPtr1->param[0].second;
+
+    double param2_st = boxPtr2->param[0].first;
+    double param2_ed = boxPtr2->param[0].second;
+
+    double t1 = (param1_st + param1_ed) / 2.0;
+    double t2 = (param2_st + param2_st) / 2.0;
+
+    Eigen::MatrixXd F(2, 2);
+
+    tinynurbs::RationalCurve<double> *crvPtr1 = boxPtr1->myBVH->NurbsCurvePtr;
+    tinynurbs::array2<double> der_Fx = tinynurbs::bsplineDerBasis(crvPtr1->degree, tinynurbs::findSpan(crvPtr1->degree, crvPtr1->knots, t1), crvPtr1->knots, t1, 1);
+    Eigen::Vector2d t(t1, t2);
+
+    Eigen::MatrixXd JacobinF(2, 2);
+
+    bool iterFlag = true;
+}