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319 lines
11 KiB
319 lines
11 KiB
// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2014 Alec Jacobson <alecjacobson@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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#ifndef IGL_SIGNED_DISTANCE_H
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#define IGL_SIGNED_DISTANCE_H
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#include "igl_inline.h"
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#include "AABB.h"
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#include "WindingNumberAABB.h"
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#include "fast_winding_number.h"
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#include <Eigen/Core>
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#include <vector>
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namespace igl
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{
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enum SignedDistanceType
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{
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// Use fast pseudo-normal test [Bærentzen & Aanæs 2005]
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SIGNED_DISTANCE_TYPE_PSEUDONORMAL = 0,
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// Use winding number [Jacobson, Kavan Sorking-Hornug 2013]
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SIGNED_DISTANCE_TYPE_WINDING_NUMBER = 1,
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SIGNED_DISTANCE_TYPE_DEFAULT = 2,
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SIGNED_DISTANCE_TYPE_UNSIGNED = 3,
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// Use Fast winding number [Barill, Dickson, Schmidt, Levin, Jacobson 2018]
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SIGNED_DISTANCE_TYPE_FAST_WINDING_NUMBER = 4,
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NUM_SIGNED_DISTANCE_TYPE = 5
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};
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// Computes signed distance to a mesh
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//
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// Inputs:
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// P #P by 3 list of query point positions
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// V #V by 3 list of vertex positions
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// F #F by ss list of triangle indices, ss should be 3 unless sign_type ==
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// SIGNED_DISTANCE_TYPE_UNSIGNED
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// sign_type method for computing distance _sign_ S
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// lower_bound lower bound of distances needed {std::numeric_limits::min}
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// upper_bound lower bound of distances needed {std::numeric_limits::max}
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// Outputs:
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// S #P list of smallest signed distances
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// I #P list of facet indices corresponding to smallest distances
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// C #P by 3 list of closest points
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// N #P by 3 list of closest normals (only set if
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// sign_type=SIGNED_DISTANCE_TYPE_PSEUDONORMAL)
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//
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// Known bugs: This only computes distances to triangles. So unreferenced
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// vertices and degenerate triangles are ignored.
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template <
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typename DerivedP,
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typename DerivedV,
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typename DerivedF,
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typename DerivedS,
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typename DerivedI,
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typename DerivedC,
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typename DerivedN>
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IGL_INLINE void signed_distance(
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const Eigen::MatrixBase<DerivedP> & P,
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const Eigen::MatrixBase<DerivedV> & V,
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const Eigen::MatrixBase<DerivedF> & F,
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const SignedDistanceType sign_type,
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const typename DerivedV::Scalar lower_bound,
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const typename DerivedV::Scalar upper_bound,
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Eigen::PlainObjectBase<DerivedS> & S,
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Eigen::PlainObjectBase<DerivedI> & I,
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Eigen::PlainObjectBase<DerivedC> & C,
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Eigen::PlainObjectBase<DerivedN> & N);
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// Computes signed distance to a mesh, with default bounds
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//
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// Inputs:
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// P #P by 3 list of query point positions
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// V #V by 3 list of vertex positions
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// F #F by ss list of triangle indices, ss should be 3 unless sign_type ==
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// SIGNED_DISTANCE_TYPE_UNSIGNED
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// sign_type method for computing distance _sign_ S
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// Outputs:
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// S #P list of smallest signed distances
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// I #P list of facet indices corresponding to smallest distances
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// C #P by 3 list of closest points
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// N #P by 3 list of closest normals (only set if
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// sign_type=SIGNED_DISTANCE_TYPE_PSEUDONORMAL)
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template <
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typename DerivedP,
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typename DerivedV,
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typename DerivedF,
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typename DerivedS,
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typename DerivedI,
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typename DerivedC,
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typename DerivedN>
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IGL_INLINE void signed_distance(
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const Eigen::MatrixBase<DerivedP> & P,
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const Eigen::MatrixBase<DerivedV> & V,
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const Eigen::MatrixBase<DerivedF> & F,
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const SignedDistanceType sign_type,
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Eigen::PlainObjectBase<DerivedS> & S,
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Eigen::PlainObjectBase<DerivedI> & I,
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Eigen::PlainObjectBase<DerivedC> & C,
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Eigen::PlainObjectBase<DerivedN> & N);
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// Computes signed distance to mesh using pseudonormal with precomputed AABB tree and edge/vertice normals
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//
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// Inputs:
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// tree AABB acceleration tree (see AABB.h)
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// F #F by 3 list of triangle indices
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// FN #F by 3 list of triangle normals
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// VN #V by 3 list of vertex normals (ANGLE WEIGHTING)
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// EN #E by 3 list of edge normals (UNIFORM WEIGHTING)
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// EMAP #F*3 mapping edges in F to E
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// q Query point
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// Returns signed distance to mesh
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//
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template <
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typename DerivedV,
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typename DerivedF,
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typename DerivedFN,
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typename DerivedVN,
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typename DerivedEN,
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typename DerivedEMAP,
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typename Derivedq>
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IGL_INLINE typename DerivedV::Scalar signed_distance_pseudonormal(
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const AABB<DerivedV,3> & tree,
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const Eigen::MatrixBase<DerivedV> & V,
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const Eigen::MatrixBase<DerivedF> & F,
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const Eigen::MatrixBase<DerivedFN> & FN,
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const Eigen::MatrixBase<DerivedVN> & VN,
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const Eigen::MatrixBase<DerivedEN> & EN,
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const Eigen::MatrixBase<DerivedEMAP> & EMAP,
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const Eigen::MatrixBase<Derivedq> & q);
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template <
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typename DerivedP,
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typename DerivedV,
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typename DerivedF,
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typename DerivedFN,
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typename DerivedVN,
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typename DerivedEN,
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typename DerivedEMAP,
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typename DerivedS,
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typename DerivedI,
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typename DerivedC,
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typename DerivedN>
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IGL_INLINE void signed_distance_pseudonormal(
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const Eigen::MatrixBase<DerivedP> & P,
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const Eigen::MatrixBase<DerivedV> & V,
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const Eigen::MatrixBase<DerivedF> & F,
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const AABB<DerivedV,3> & tree,
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const Eigen::MatrixBase<DerivedFN> & FN,
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const Eigen::MatrixBase<DerivedVN> & VN,
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const Eigen::MatrixBase<DerivedEN> & EN,
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const Eigen::MatrixBase<DerivedEMAP> & EMAP,
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Eigen::PlainObjectBase<DerivedS> & S,
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Eigen::PlainObjectBase<DerivedI> & I,
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Eigen::PlainObjectBase<DerivedC> & C,
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Eigen::PlainObjectBase<DerivedN> & N);
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// Outputs:
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// s sign
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// sqrd squared distance
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// i closest primitive
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// c closest point
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// n normal
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template <
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typename DerivedV,
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typename DerivedF,
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typename DerivedFN,
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typename DerivedVN,
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typename DerivedEN,
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typename DerivedEMAP,
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typename Derivedq,
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typename Scalar,
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typename Derivedc,
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typename Derivedn>
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IGL_INLINE void signed_distance_pseudonormal(
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const AABB<DerivedV,3> & tree,
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const Eigen::MatrixBase<DerivedV> & V,
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const Eigen::MatrixBase<DerivedF> & F,
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const Eigen::MatrixBase<DerivedFN> & FN,
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const Eigen::MatrixBase<DerivedVN> & VN,
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const Eigen::MatrixBase<DerivedEN> & EN,
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const Eigen::MatrixBase<DerivedEMAP> & EMAP,
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const Eigen::MatrixBase<Derivedq> & q,
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Scalar & s,
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Scalar & sqrd,
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int & i,
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Eigen::PlainObjectBase<Derivedc> & c,
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Eigen::PlainObjectBase<Derivedn> & n);
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template <
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typename DerivedV,
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typename DerivedE,
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typename DerivedEN,
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typename DerivedVN,
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typename Derivedq,
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typename Scalar,
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typename Derivedc,
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typename Derivedn>
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IGL_INLINE void signed_distance_pseudonormal(
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const AABB<DerivedV,2> & tree,
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const Eigen::MatrixBase<DerivedV> & V,
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const Eigen::MatrixBase<DerivedE> & E,
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const Eigen::MatrixBase<DerivedEN> & EN,
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const Eigen::MatrixBase<DerivedVN> & VN,
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const Eigen::MatrixBase<Derivedq> & q,
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Scalar & s,
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Scalar & sqrd,
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int & i,
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Eigen::PlainObjectBase<Derivedc> & c,
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Eigen::PlainObjectBase<Derivedn> & n);
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// Inputs:
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// tree AABB acceleration tree (see cgal/point_mesh_squared_distance.h)
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// hier Winding number evaluation hierarchy
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// q Query point
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// Returns signed distance to mesh
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template <
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typename DerivedV,
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typename DerivedF,
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typename Derivedq>
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IGL_INLINE typename DerivedV::Scalar signed_distance_winding_number(
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const AABB<DerivedV,3> & tree,
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const Eigen::MatrixBase<DerivedV> & V,
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const Eigen::MatrixBase<DerivedF> & F,
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const igl::WindingNumberAABB<Derivedq,DerivedV,DerivedF> & hier,
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const Eigen::MatrixBase<Derivedq> & q);
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// Outputs:
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// s sign
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// sqrd squared distance
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// pp closest point and primitve
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template <
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typename DerivedV,
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typename DerivedF,
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typename Derivedq,
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typename Scalar,
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typename Derivedc>
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IGL_INLINE void signed_distance_winding_number(
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const AABB<DerivedV,3> & tree,
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const Eigen::MatrixBase<DerivedV> & V,
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const Eigen::MatrixBase<DerivedF> & F,
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const igl::WindingNumberAABB<Derivedq,DerivedV,DerivedF> & hier,
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const Eigen::MatrixBase<Derivedq> & q,
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Scalar & s,
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Scalar & sqrd,
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int & i,
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Eigen::PlainObjectBase<Derivedc> & c);
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template <
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typename DerivedV,
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typename DerivedF,
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typename Derivedq,
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typename Scalar,
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typename Derivedc>
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IGL_INLINE void signed_distance_winding_number(
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const AABB<DerivedV,2> & tree,
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const Eigen::MatrixBase<DerivedV> & V,
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const Eigen::MatrixBase<DerivedF> & F,
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const Eigen::MatrixBase<Derivedq> & q,
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Scalar & s,
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Scalar & sqrd,
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int & i,
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Eigen::PlainObjectBase<Derivedc> & c);
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// Calculates signed distance at query points P, using fast winding number
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// for sign.
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//
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// Usage:
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// VectorXd S;
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// VectorXd V, P; //where V is mesh vertices, P are query points
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// VectorXi F;
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// igl::FastWindingNumberBVH fwn_bvh;
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// igl::fast_winding_number(V.cast<float>(), F, 2, fwn_bvh);
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// igl::signed_distance_fast_winding_number(P,V,F,tree,fwn_bvh,S);
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//
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// Inputs:
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// P #P by 3 list of query point positions
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// V #V by 3 list of triangle indices
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// F #F by 3 list of triangle normals
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// tree AABB acceleration tree (see AABB.h)
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// bvh fast winding precomputation (see Fast_Winding_Number.h)
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// Outputs:
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// S #P list of signed distances of each point in P
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template <
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typename DerivedP,
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typename DerivedV,
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typename DerivedF,
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typename DerivedS>
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IGL_INLINE void signed_distance_fast_winding_number(
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const Eigen::MatrixBase<DerivedP> & P,
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const Eigen::MatrixBase<DerivedV> & V,
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const Eigen::MatrixBase<DerivedF> & F,
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const AABB<DerivedV,3> & tree,
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const igl::FastWindingNumberBVH & fwn_bvh,
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Eigen::PlainObjectBase<DerivedS> & S
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);
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// Calculates signed distance at query point q, using fast winding number
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// for sign.
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//
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// Inputs:
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// tree AABB acceleration tree (see AABB.h)
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// V #V by 3 list of triangle indices
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// F #F by 3 list of triangle normals
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// bvh fast winding precomputation (see Fast_Winding_Number.h)
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// q 1 by 3 list of query point positions
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// Outputs:
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// S #P list of signed distances of each point in P
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template <
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typename Derivedq,
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typename DerivedV,
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typename DerivedF>
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IGL_INLINE typename DerivedV::Scalar signed_distance_fast_winding_number(
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const Eigen::MatrixBase<Derivedq> & q,
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const Eigen::MatrixBase<DerivedV> & V,
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const Eigen::MatrixBase<DerivedF> & F,
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const AABB<DerivedV,3> & tree,
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const igl::FastWindingNumberBVH & fwn_bvh
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);
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}
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#ifndef IGL_STATIC_LIBRARY
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# include "signed_distance.cpp"
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#endif
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#endif
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