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contact_target_adf.cpp
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contact_target_adf.cpp
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/*
* contact_target_adf.cpp
* sensitive couture
*
* Created by Nobuyuki Umetani on 7/26/10.
* Copyright 2010 The University of Tokyo and Columbia University. All rights reserved.
*
*/
#include <iostream>
#include <assert.h>
#include <math.h>
#include <vector>
#if defined(__APPLE__) && defined(__MACH__)
#include <GLUT/glut.h>
#else
#include <GL/glut.h>
#endif
#include "delfem/vector3d.h"
#include "contact_target.h"
/*
static inline double Length3D(const double p0[3], const double p1[3]){
return sqrt( (p1[0]-p0[0])*(p1[0]-p0[0]) + (p1[1]-p0[1])*(p1[1]-p0[1]) + (p1[2]-p0[2])*(p1[2]-p0[2]) );
}
static inline double Length3D(const double v[3]){
return sqrt( v[0]*v[0] + v[1]*v[1] + v[2]*v[2] );
}
*/
CContactTarget3D_AdaptiveDistanceField3D::CContactTarget3D_AdaptiveDistanceField3D(){
this->is_show_cage = false;
// this->is_show_cage = true;
this->nIsoTri_ = 0;
this->aIsoTri_ = 0;
this->aIsoEdge_ = 0;
color_[0] = 1.0;
color_[1] = 1.0;
color_[2] = 1.0;
}
CContactTarget3D_AdaptiveDistanceField3D::~CContactTarget3D_AdaptiveDistanceField3D()
{
if( this->aIsoTri_ != 0 ){ delete[] this->aIsoTri_; }
if( this->aIsoEdge_ != 0 ){ delete[] this->aIsoEdge_; }
}
void CContactTarget3D_AdaptiveDistanceField3D::SetUp
(const CContactTarget3D& ct,
double bb[6])
{
aNode.reserve(1024*64);
aNode.resize(1);
CNode no;
{
no.cent_[0] = (bb[0]+bb[1])*0.5;
no.cent_[1] = (bb[2]+bb[3])*0.5;
no.cent_[2] = (bb[4]+bb[5])*0.5;
no.hw_ = (bb[1]-bb[0]) > (bb[3]-bb[2]) ? (bb[1]-bb[0])*0.5 : (bb[3]-bb[2])*0.5;
no.hw_ = no.hw_ > (bb[5]-bb[4])*0.5 ? no.hw_ : (bb[5]-bb[4])*0.5;
no.hw_ *= 1.1234;
no.SetCornerDist(ct);
no.MakeChildTree(ct,aNode,no.hw_*(0.99/64.0),no.hw_*(1.01/4.0));
// no.MakeChildTree(ct,aNode,no.hw_*(0.99/128.0),no.hw_*(1.01/4.0));
// no.MakeChildTree(ct,aNode,no.hw_*(0.99/32.0),no.hw_*(1.01/4.0));
}
aNode[0] = no;
std::cout << "ADF Oct-tree Node Size : " << aNode.size() << std::endl;
////
dist_min = no.dists_[0];
dist_max = dist_min;
for(unsigned int ino=0;ino<aNode.size();ino++){
for(unsigned int i=0;i<8;i++){
const double dist = aNode[ino].dists_[i];
dist_min = ( dist < dist_min ) ? dist : dist_min;
dist_max = ( dist > dist_max ) ? dist : dist_max;
}
}
std::cout << "dist min max" << dist_min << " " << dist_max << std::endl;
if( aIsoTri_ != 0 ){ delete aIsoTri_; aIsoTri_ = 0; }
nIsoTri_ = 0;
}
void CContactTarget3D_AdaptiveDistanceField3D::Draw() const {
// std::cout << "ADF" << aNode.size() << std::endl;
const bool is_lighting = ::glIsEnabled(GL_LIGHTING);
::glDisable(GL_LIGHTING);
if( aNode.size() > 0 && is_show_cage ){
aNode[0].DrawThisAndChild_Wire(aNode);
}
if( this->nIsoTri_ != 0 ){
::glColor3dv(color_);
::glEnableClientState(GL_VERTEX_ARRAY);
::glVertexPointer(3 , GL_DOUBLE, 0 , aIsoTri_);
::glDrawArrays(GL_TRIANGLES, 0 , nIsoTri_*3);
::glDisableClientState(GL_VERTEX_ARRAY);
}
if( this->aIsoEdge_ != 0 ){
::glColor3d(0,0,0);
::glEnableClientState(GL_VERTEX_ARRAY);
::glVertexPointer(3 , GL_DOUBLE, 0 , aIsoEdge_);
::glDrawArrays(GL_LINES, 0 , nIsoTri_*6);
::glDisableClientState(GL_VERTEX_ARRAY);
}
if( is_lighting ){ ::glEnable(GL_LIGHTING); }
}
// return penetration depth (inside is positive)
double CContactTarget3D_AdaptiveDistanceField3D::Projection
(double px, double py, double pz,
double n[3]) const // normal outward
{
const CNode& no = aNode[0];
if( fabs(px-no.cent_[0]) > no.hw_ || fabs(py-no.cent_[1]) > no.hw_ || fabs(pz-no.cent_[2]) > no.hw_ ){
n[0] = no.cent_[0]-px;
n[1] = no.cent_[1]-py;
n[2] = no.cent_[2]-pz;
const double invlen = 1.0/Com::Length3D(n);
for(unsigned int i=0;i<3;i++){ n[0] *= invlen; }
return -no.hw_;
}
return no.FindDistNormal(px,py,pz, n, aNode);
}
void CContactTarget3D_AdaptiveDistanceField3D::BuildIsoSurface_MarchingCube(){
std::vector<double> aTri;
aTri.reserve(1024*32);
aNode[0].GenerateIsoSurface(aTri,aNode);
if( this->aIsoTri_ != 0 ) delete aIsoTri_;
aIsoTri_ = new double [aTri.size()];
for(unsigned int i=0;i<aTri.size();i++){ aIsoTri_[i] = aTri[i]; }
nIsoTri_ = aTri.size()/9;
}
void CContactTarget3D_AdaptiveDistanceField3D::BuildMarchingCubeEdge(){
if( nIsoTri_ == 0 ){ this->BuildIsoSurface_MarchingCube(); }
if( this->aIsoEdge_ != 0 ){ delete aIsoEdge_; }
aIsoEdge_ = new double [nIsoTri_*18];
for(unsigned int itri=0;itri<nIsoTri_;itri++){
for(unsigned int i=0;i<3;i++){
aIsoEdge_[itri*18+0 +i] = aIsoTri_[itri*9+0+i];
aIsoEdge_[itri*18+3 +i] = aIsoTri_[itri*9+3+i];
aIsoEdge_[itri*18+6 +i] = aIsoTri_[itri*9+3+i];
aIsoEdge_[itri*18+9 +i] = aIsoTri_[itri*9+6+i];
aIsoEdge_[itri*18+12+i] = aIsoTri_[itri*9+6+i];
aIsoEdge_[itri*18+15+i] = aIsoTri_[itri*9+0+i];
}
}
}
CContactTarget3D_AdaptiveDistanceField3D::CNode::CNode()
{
cent_[0] = 0; cent_[1] = 0; cent_[2] = 0;
hw_ = 0;
ichilds_[0] = -1; ichilds_[1] = -1; ichilds_[2] = -1; ichilds_[3] = -1;
ichilds_[4] = -1; ichilds_[5] = -1; ichilds_[6] = -1; ichilds_[7] = -1;
dists_[0] = 0; dists_[1] = 0; dists_[2] = 0; dists_[3] = 0;
dists_[4] = 0; dists_[5] = 0; dists_[6] = 0; dists_[7] = 0;
}
CContactTarget3D_AdaptiveDistanceField3D::CNode::CNode(const CNode& no)
{
cent_[0] = no.cent_[0];
cent_[1] = no.cent_[1];
cent_[2] = no.cent_[2];
hw_ = no.hw_;
////
ichilds_[0] = no.ichilds_[0]; ichilds_[1] = no.ichilds_[1]; ichilds_[2] = no.ichilds_[2]; ichilds_[3] = no.ichilds_[3];
ichilds_[4] = no.ichilds_[4]; ichilds_[5] = no.ichilds_[5]; ichilds_[6] = no.ichilds_[6]; ichilds_[7] = no.ichilds_[7];
////
dists_[0] = no.dists_[0]; dists_[1] = no.dists_[1]; dists_[2] = no.dists_[2]; dists_[3] = no.dists_[3];
dists_[4] = no.dists_[4]; dists_[5] = no.dists_[5]; dists_[6] = no.dists_[6]; dists_[7] = no.dists_[7];
}
void CContactTarget3D_AdaptiveDistanceField3D::CNode::SetCornerDist(const CContactTarget3D& ct)
{
double n[3];
dists_[0] = ct.Projection(cent_[0]-hw_, cent_[1]-hw_, cent_[2]-hw_, n);
dists_[1] = ct.Projection(cent_[0]+hw_, cent_[1]-hw_, cent_[2]-hw_, n);
dists_[2] = ct.Projection(cent_[0]+hw_, cent_[1]+hw_, cent_[2]-hw_, n);
dists_[3] = ct.Projection(cent_[0]-hw_, cent_[1]+hw_, cent_[2]-hw_, n);
dists_[4] = ct.Projection(cent_[0]-hw_, cent_[1]-hw_, cent_[2]+hw_, n);
dists_[5] = ct.Projection(cent_[0]+hw_, cent_[1]-hw_, cent_[2]+hw_, n);
dists_[6] = ct.Projection(cent_[0]+hw_, cent_[1]+hw_, cent_[2]+hw_, n);
dists_[7] = ct.Projection(cent_[0]-hw_, cent_[1]+hw_, cent_[2]+hw_, n);
}
void CContactTarget3D_AdaptiveDistanceField3D::CNode::Draw_Wire() const
{
::glLineWidth(1);
::glColor3d(0,0,0);
::glBegin(GL_LINES);
::glVertex3d(cent_[0]-hw_, cent_[1]-hw_, cent_[2]-hw_);
::glVertex3d(cent_[0]+hw_, cent_[1]-hw_, cent_[2]-hw_);
::glVertex3d(cent_[0]+hw_, cent_[1]-hw_, cent_[2]-hw_);
::glVertex3d(cent_[0]+hw_, cent_[1]+hw_, cent_[2]-hw_);
::glVertex3d(cent_[0]+hw_, cent_[1]+hw_, cent_[2]-hw_);
::glVertex3d(cent_[0]-hw_, cent_[1]+hw_, cent_[2]-hw_);
::glVertex3d(cent_[0]-hw_, cent_[1]+hw_, cent_[2]-hw_);
::glVertex3d(cent_[0]-hw_, cent_[1]-hw_, cent_[2]-hw_);
////
::glVertex3d(cent_[0]-hw_, cent_[1]-hw_, cent_[2]+hw_);
::glVertex3d(cent_[0]+hw_, cent_[1]-hw_, cent_[2]+hw_);
::glVertex3d(cent_[0]+hw_, cent_[1]-hw_, cent_[2]+hw_);
::glVertex3d(cent_[0]+hw_, cent_[1]+hw_, cent_[2]+hw_);
::glVertex3d(cent_[0]+hw_, cent_[1]+hw_, cent_[2]+hw_);
::glVertex3d(cent_[0]-hw_, cent_[1]+hw_, cent_[2]+hw_);
::glVertex3d(cent_[0]-hw_, cent_[1]+hw_, cent_[2]+hw_);
::glVertex3d(cent_[0]-hw_, cent_[1]-hw_, cent_[2]+hw_);
////
::glVertex3d(cent_[0]-hw_, cent_[1]-hw_, cent_[2]-hw_);
::glVertex3d(cent_[0]-hw_, cent_[1]-hw_, cent_[2]+hw_);
::glVertex3d(cent_[0]+hw_, cent_[1]-hw_, cent_[2]-hw_);
::glVertex3d(cent_[0]+hw_, cent_[1]-hw_, cent_[2]+hw_);
::glVertex3d(cent_[0]+hw_, cent_[1]+hw_, cent_[2]-hw_);
::glVertex3d(cent_[0]+hw_, cent_[1]+hw_, cent_[2]+hw_);
::glVertex3d(cent_[0]-hw_, cent_[1]+hw_, cent_[2]-hw_);
::glVertex3d(cent_[0]-hw_, cent_[1]+hw_, cent_[2]+hw_);
::glEnd();
}
void CContactTarget3D_AdaptiveDistanceField3D::CNode::DrawThisAndChild_Wire(const std::vector<CNode>& aNo) const
{
// std::cout << "ichild " << ichilds_[0] << " " << ichilds_[1] << " " << ichilds_[2] << " " << ichilds_[3] << std::endl;
if( ichilds_[0] == -1 ){
Draw_Wire();
return;
}
aNo[ichilds_[0]].DrawThisAndChild_Wire(aNo);
aNo[ichilds_[1]].DrawThisAndChild_Wire(aNo);
aNo[ichilds_[2]].DrawThisAndChild_Wire(aNo);
aNo[ichilds_[3]].DrawThisAndChild_Wire(aNo);
aNo[ichilds_[4]].DrawThisAndChild_Wire(aNo);
aNo[ichilds_[5]].DrawThisAndChild_Wire(aNo);
aNo[ichilds_[6]].DrawThisAndChild_Wire(aNo);
aNo[ichilds_[7]].DrawThisAndChild_Wire(aNo);
}
void CContactTarget3D_AdaptiveDistanceField3D::CNode::MakeChildTree
(const CContactTarget3D& ct, std::vector<CNode>& aNo, double min_hw, double max_hw)
{
if ( hw_*0.5 < min_hw) {
ichilds_[0] = -1;
return;
}
double n[3];
////Edges
const double va100 = ct.Projection(cent_[0], cent_[1]-hw_,cent_[2]-hw_,n);
const double va210 = ct.Projection(cent_[0]+hw_,cent_[1], cent_[2]-hw_,n);
const double va120 = ct.Projection(cent_[0], cent_[1]+hw_,cent_[2]-hw_,n);
const double va010 = ct.Projection(cent_[0]-hw_,cent_[1], cent_[2]-hw_,n);
const double va001 = ct.Projection(cent_[0]-hw_,cent_[1]-hw_,cent_[2], n);
const double va201 = ct.Projection(cent_[0]+hw_,cent_[1]-hw_,cent_[2], n);
const double va221 = ct.Projection(cent_[0]+hw_,cent_[1]+hw_,cent_[2], n);
const double va021 = ct.Projection(cent_[0]-hw_,cent_[1]+hw_,cent_[2], n);
const double va102 = ct.Projection(cent_[0], cent_[1]-hw_,cent_[2]+hw_, n);
const double va212 = ct.Projection(cent_[0]+hw_,cent_[1], cent_[2]+hw_, n);
const double va122 = ct.Projection(cent_[0], cent_[1]+hw_,cent_[2]+hw_, n);
const double va012 = ct.Projection(cent_[0]-hw_,cent_[1], cent_[2]+hw_, n);
////Faces
const double va101 = ct.Projection(cent_[0], cent_[1]-hw_, cent_[2], n);
const double va211 = ct.Projection(cent_[0]+hw_,cent_[1], cent_[2], n);
const double va121 = ct.Projection(cent_[0], cent_[1]+hw_, cent_[2], n);
const double va011 = ct.Projection(cent_[0]-hw_,cent_[1], cent_[2], n);
const double va110 = ct.Projection(cent_[0], cent_[1], cent_[2]-hw_, n);
const double va112 = ct.Projection(cent_[0], cent_[1], cent_[2]+hw_, n);
////Center
const double va111 = ct.Projection(cent_[0], cent_[1], cent_[2], n);
if ( hw_*0.5 > max_hw ) goto MAKE_CHILDS;
double min_dist;
{
min_dist = fabs(va111);
min_dist = ( fabs(va100) < min_dist ) ? fabs(va100) : min_dist;
min_dist = ( fabs(va210) < min_dist ) ? fabs(va210) : min_dist;
min_dist = ( fabs(va120) < min_dist ) ? fabs(va120) : min_dist;
min_dist = ( fabs(va010) < min_dist ) ? fabs(va010) : min_dist;
min_dist = ( fabs(va001) < min_dist ) ? fabs(va001) : min_dist;
min_dist = ( fabs(va201) < min_dist ) ? fabs(va201) : min_dist;
min_dist = ( fabs(va221) < min_dist ) ? fabs(va221) : min_dist;
min_dist = ( fabs(va021) < min_dist ) ? fabs(va021) : min_dist;
min_dist = ( fabs(va101) < min_dist ) ? fabs(va101) : min_dist;
min_dist = ( fabs(va211) < min_dist ) ? fabs(va211) : min_dist;
min_dist = ( fabs(va121) < min_dist ) ? fabs(va121) : min_dist;
min_dist = ( fabs(va011) < min_dist ) ? fabs(va011) : min_dist;
min_dist = ( fabs(va102) < min_dist ) ? fabs(va102) : min_dist;
min_dist = ( fabs(va212) < min_dist ) ? fabs(va212) : min_dist;
min_dist = ( fabs(va122) < min_dist ) ? fabs(va122) : min_dist;
min_dist = ( fabs(va012) < min_dist ) ? fabs(va012) : min_dist;
min_dist = ( fabs(va110) < min_dist ) ? fabs(va110) : min_dist;
min_dist = ( fabs(va112) < min_dist ) ? fabs(va112) : min_dist;
}
if( min_dist > hw_*1.8 ){ // there is no mesh inside
ichilds_[0] = -1; // no-child
return;
}
{
if( min_dist < min_hw ) goto MAKE_CHILDS;
}
{
double t = min_hw*0.8;
if( fabs(va100-(dists_[0]+dists_[1])*0.5)>t ) goto MAKE_CHILDS;
if( fabs(va210-(dists_[1]+dists_[2])*0.5)>t ) goto MAKE_CHILDS;
if( fabs(va120-(dists_[2]+dists_[3])*0.5)>t ) goto MAKE_CHILDS;
if( fabs(va010-(dists_[3]+dists_[0])*0.5)>t ) goto MAKE_CHILDS;
if( fabs(va102-(dists_[4]+dists_[5])*0.5)>t ) goto MAKE_CHILDS;
if( fabs(va212-(dists_[5]+dists_[6])*0.5)>t ) goto MAKE_CHILDS;
if( fabs(va122-(dists_[6]+dists_[7])*0.5)>t ) goto MAKE_CHILDS;
if( fabs(va012-(dists_[7]+dists_[4])*0.5)>t ) goto MAKE_CHILDS;
if( fabs(va001-(dists_[0]+dists_[4])*0.5)>t ) goto MAKE_CHILDS;
if( fabs(va201-(dists_[1]+dists_[5])*0.5)>t ) goto MAKE_CHILDS;
if( fabs(va221-(dists_[2]+dists_[6])*0.5)>t ) goto MAKE_CHILDS;
if( fabs(va021-(dists_[3]+dists_[7])*0.5)>t ) goto MAKE_CHILDS;
if( fabs(va101-(dists_[0]+dists_[1]+dists_[4]+dists_[5])*0.25)>t ) goto MAKE_CHILDS;
if( fabs(va211-(dists_[1]+dists_[2]+dists_[5]+dists_[6])*0.25)>t ) goto MAKE_CHILDS;
if( fabs(va121-(dists_[2]+dists_[3]+dists_[6]+dists_[7])*0.25)>t ) goto MAKE_CHILDS;
if( fabs(va011-(dists_[3]+dists_[0]+dists_[7]+dists_[4])*0.25)>t ) goto MAKE_CHILDS;
if( fabs(va110-(dists_[0]+dists_[1]+dists_[2]+dists_[3])*0.25)>t ) goto MAKE_CHILDS;
if( fabs(va112-(dists_[4]+dists_[5]+dists_[6]+dists_[7])*0.25)>t ) goto MAKE_CHILDS;
if( fabs(va111-(dists_[0]+dists_[1]+dists_[2]+dists_[3]+dists_[4]+dists_[5]+dists_[6]+dists_[7])*0.125)>t ) goto MAKE_CHILDS;
}
ichilds_[0] = -1; // no-child
return;
MAKE_CHILDS:
const unsigned int nchild0 = aNo.size();
aNo.resize(aNo.size()+8);
{ // left-bottom
ichilds_[0] = nchild0;
CNode no;
no.cent_[0]=cent_[0]-hw_*0.5; no.cent_[1]=cent_[1]-hw_*0.5; no.cent_[2]=cent_[2]-hw_*0.5;
no.hw_ = hw_*0.5;
no.dists_[0]=dists_[0]; no.dists_[1]=va100; no.dists_[2]=va110; no.dists_[3]=va010;
no.dists_[4]=va001; no.dists_[5]=va101; no.dists_[6]=va111; no.dists_[7]=va011;
no.MakeChildTree(ct, aNo,min_hw,max_hw);
aNo[ichilds_[0]] = no;
}
{ // right-bottom
ichilds_[1] = nchild0+1;
CNode no;
no.cent_[0]=cent_[0]+hw_*0.5; no.cent_[1]=cent_[1]-hw_*0.5; no.cent_[2]=cent_[2]-hw_*0.5;
no.hw_ = hw_*0.5;
no.dists_[0]=va100; no.dists_[1]=dists_[1]; no.dists_[2]=va210; no.dists_[3]=va110;
no.dists_[4]=va101; no.dists_[5]=va201; no.dists_[6]=va211; no.dists_[7]=va111;
no.MakeChildTree(ct, aNo,min_hw,max_hw);
aNo[ichilds_[1]] = no;
}
{ // right-top
ichilds_[2] = nchild0+2;
CNode no;
no.cent_[0]=cent_[0]+hw_*0.5; no.cent_[1]=cent_[1]+hw_*0.5; no.cent_[2]=cent_[2]-hw_*0.5;
no.hw_ = hw_*0.5;
no.dists_[0]=va110; no.dists_[1]=va210; no.dists_[2]=dists_[2]; no.dists_[3]=va120;
no.dists_[4]=va111; no.dists_[5]=va211; no.dists_[6]=va221; no.dists_[7]=va121;
no.MakeChildTree(ct, aNo,min_hw,max_hw);
aNo[ichilds_[2]] = no;
}
{ // left-top
ichilds_[3] = nchild0+3;
CNode no;
no.cent_[0]=cent_[0]-hw_*0.5; no.cent_[1]=cent_[1]+hw_*0.5; no.cent_[2]=cent_[2]-hw_*0.5;
no.hw_ = hw_*0.5;
no.dists_[0]=va010; no.dists_[1]=va110; no.dists_[2]=va120; no.dists_[3]=dists_[3];
no.dists_[4]=va011; no.dists_[5]=va111; no.dists_[6]=va121; no.dists_[7]=va021;
no.MakeChildTree(ct, aNo,min_hw,max_hw);
aNo[ichilds_[3]] = no;
}
{ // left-bottom
ichilds_[4] = nchild0+4;
CNode no;
no.cent_[0]=cent_[0]-hw_*0.5; no.cent_[1]=cent_[1]-hw_*0.5; no.cent_[2]=cent_[2]+hw_*0.5;
no.hw_ = hw_*0.5;
no.dists_[0]=va001; no.dists_[1]=va101; no.dists_[2]=va111; no.dists_[3]=va011;
no.dists_[4]=dists_[4]; no.dists_[5]=va102; no.dists_[6]=va112; no.dists_[7]=va012;
no.MakeChildTree(ct, aNo,min_hw,max_hw);
aNo[ichilds_[4]] = no;
}
{ // right-bottom
ichilds_[5] = nchild0+5;
CNode no;
no.cent_[0]=cent_[0]+hw_*0.5; no.cent_[1]=cent_[1]-hw_*0.5; no.cent_[2]=cent_[2]+hw_*0.5;
no.hw_ = hw_*0.5;
no.dists_[0]=va101; no.dists_[1]=va201; no.dists_[2]=va211; no.dists_[3]=va111;
no.dists_[4]=va102; no.dists_[5]=dists_[5]; no.dists_[6]=va212; no.dists_[7]=va112;
no.MakeChildTree(ct, aNo,min_hw,max_hw);
aNo[ichilds_[5]] = no;
}
{ // right-top
ichilds_[6] = nchild0+6;
CNode no;
no.cent_[0]=cent_[0]+hw_*0.5; no.cent_[1]=cent_[1]+hw_*0.5; no.cent_[2]=cent_[2]+hw_*0.5;
no.hw_ = hw_*0.5;
no.dists_[0]=va111; no.dists_[1]=va211; no.dists_[2]=va221; no.dists_[3]=va121;
no.dists_[4]=va112; no.dists_[5]=va212; no.dists_[6]=dists_[6]; no.dists_[7]=va122;
no.MakeChildTree(ct, aNo,min_hw,max_hw);
aNo[ichilds_[6]] = no;
}
{ // left-top
ichilds_[7] = nchild0+7;
CNode no;
no.cent_[0]=cent_[0]-hw_*0.5; no.cent_[1]=cent_[1]+hw_*0.5; no.cent_[2]=cent_[2]+hw_*0.5;
no.hw_ = hw_*0.5;
no.dists_[0]=va011; no.dists_[1]=va111; no.dists_[2]=va121; no.dists_[3]=va021;
no.dists_[4]=va012; no.dists_[5]=va112; no.dists_[6]=va122; no.dists_[7]=dists_[7];
no.MakeChildTree(ct, aNo,min_hw,max_hw);
aNo[ichilds_[7]] = no;
}
// std::cout << "built" << ichilds_[0] << " " << ichilds_[1] << " " << ichilds_[2] << " " << ichilds_[3] << std::endl;
return;
}
double CContactTarget3D_AdaptiveDistanceField3D::CNode::FindDistNormal
(double px, double py, double pz,
double n[3],
const std::vector<CNode>& aNo) const // normal outward
{
if( fabs(px-cent_[0]) >= hw_
|| fabs(py-cent_[1]) >= hw_
|| fabs(pz-cent_[2]) >= hw_ )
{
n[0] = px-cent_[0];
n[1] = py-cent_[1];
n[2] = pz-cent_[2];
const double dist = sqrt(n[0]*n[0]+n[1]*n[1]+n[2]*n[2]);
const double inv_dist = 1.0/dist;
n[0] *= inv_dist;
n[1] *= inv_dist;
n[2] *= inv_dist;
return -dist;
// return dist;
}
if( ichilds_[0] == -1 ){
const double rx = (px-cent_[0])/hw_;
const double ry = (py-cent_[1])/hw_;
const double rz = (pz-cent_[2])/hw_;
double dist =
( (1-rx)*(1-ry)*(1-rz)*dists_[0]
+(1+rx)*(1-ry)*(1-rz)*dists_[1]
+(1+rx)*(1+ry)*(1-rz)*dists_[2]
+(1-rx)*(1+ry)*(1-rz)*dists_[3]
+(1-rx)*(1-ry)*(1+rz)*dists_[4]
+(1+rx)*(1-ry)*(1+rz)*dists_[5]
+(1+rx)*(1+ry)*(1+rz)*dists_[6]
+(1-rx)*(1+ry)*(1+rz)*dists_[7] )*0.125;
////
n[0] =
(-(1-ry)*(1-rz)*dists_[0]
+(1-ry)*(1-rz)*dists_[1]
+(1+ry)*(1-rz)*dists_[2]
-(1+ry)*(1-rz)*dists_[3]
-(1-ry)*(1+rz)*dists_[4]
+(1-ry)*(1+rz)*dists_[5]
+(1+ry)*(1+rz)*dists_[6]
-(1+ry)*(1+rz)*dists_[7] );
////
n[1] =
(-(1-rx)*(1-rz)*dists_[0]
-(1+rx)*(1-rz)*dists_[1]
+(1+rx)*(1-rz)*dists_[2]
+(1-rx)*(1-rz)*dists_[3]
-(1-rx)*(1+rz)*dists_[4]
-(1+rx)*(1+rz)*dists_[5]
+(1+rx)*(1+rz)*dists_[6]
+(1-rx)*(1+rz)*dists_[7] );
////
n[2] =
(-(1-rx)*(1-ry)*dists_[0]
-(1+rx)*(1-ry)*dists_[1]
-(1+rx)*(1+ry)*dists_[2]
-(1-rx)*(1+ry)*dists_[3]
+(1-rx)*(1-ry)*dists_[4]
+(1+rx)*(1-ry)*dists_[5]
+(1+rx)*(1+ry)*dists_[6]
+(1-rx)*(1+ry)*dists_[7] );
////
const double invlen = 1.0/Com::Length3D(n);
n[0] *= -invlen;
n[1] *= -invlen;
n[2] *= -invlen;
return dist;
}
if( px<cent_[0] ){
if( py<cent_[1] ){
if( pz<cent_[2] ){ return aNo[ichilds_[0]].FindDistNormal(px,py,pz, n, aNo); }
else{ return aNo[ichilds_[4]].FindDistNormal(px,py,pz, n, aNo); }
}
else{
if( pz<cent_[2] ){ return aNo[ichilds_[3]].FindDistNormal(px,py,pz, n, aNo); }
else{ return aNo[ichilds_[7]].FindDistNormal(px,py,pz, n, aNo); }
}
}
else{
if( py<cent_[1] ){
if( pz<cent_[2] ){ return aNo[ichilds_[1]].FindDistNormal(px,py,pz, n, aNo); }
else{ return aNo[ichilds_[5]].FindDistNormal(px,py,pz, n, aNo); }
}
else{
if( pz<cent_[2] ){ return aNo[ichilds_[2]].FindDistNormal(px,py,pz, n, aNo); }
else{ return aNo[ichilds_[6]].FindDistNormal(px,py,pz, n, aNo); }
}
}
}
const int edgeTable[256]={
0x0 , 0x109, 0x203, 0x30a, 0x406, 0x50f, 0x605, 0x70c,
0x80c, 0x905, 0xa0f, 0xb06, 0xc0a, 0xd03, 0xe09, 0xf00,
0x190, 0x99 , 0x393, 0x29a, 0x596, 0x49f, 0x795, 0x69c,
0x99c, 0x895, 0xb9f, 0xa96, 0xd9a, 0xc93, 0xf99, 0xe90,
0x230, 0x339, 0x33 , 0x13a, 0x636, 0x73f, 0x435, 0x53c,
0xa3c, 0xb35, 0x83f, 0x936, 0xe3a, 0xf33, 0xc39, 0xd30,
0x3a0, 0x2a9, 0x1a3, 0xaa , 0x7a6, 0x6af, 0x5a5, 0x4ac,
0xbac, 0xaa5, 0x9af, 0x8a6, 0xfaa, 0xea3, 0xda9, 0xca0,
0x460, 0x569, 0x663, 0x76a, 0x66 , 0x16f, 0x265, 0x36c,
0xc6c, 0xd65, 0xe6f, 0xf66, 0x86a, 0x963, 0xa69, 0xb60,
0x5f0, 0x4f9, 0x7f3, 0x6fa, 0x1f6, 0xff , 0x3f5, 0x2fc,
0xdfc, 0xcf5, 0xfff, 0xef6, 0x9fa, 0x8f3, 0xbf9, 0xaf0,
0x650, 0x759, 0x453, 0x55a, 0x256, 0x35f, 0x55 , 0x15c,
0xe5c, 0xf55, 0xc5f, 0xd56, 0xa5a, 0xb53, 0x859, 0x950,
0x7c0, 0x6c9, 0x5c3, 0x4ca, 0x3c6, 0x2cf, 0x1c5, 0xcc ,
0xfcc, 0xec5, 0xdcf, 0xcc6, 0xbca, 0xac3, 0x9c9, 0x8c0,
0x8c0, 0x9c9, 0xac3, 0xbca, 0xcc6, 0xdcf, 0xec5, 0xfcc,
0xcc , 0x1c5, 0x2cf, 0x3c6, 0x4ca, 0x5c3, 0x6c9, 0x7c0,
0x950, 0x859, 0xb53, 0xa5a, 0xd56, 0xc5f, 0xf55, 0xe5c,
0x15c, 0x55 , 0x35f, 0x256, 0x55a, 0x453, 0x759, 0x650,
0xaf0, 0xbf9, 0x8f3, 0x9fa, 0xef6, 0xfff, 0xcf5, 0xdfc,
0x2fc, 0x3f5, 0xff , 0x1f6, 0x6fa, 0x7f3, 0x4f9, 0x5f0,
0xb60, 0xa69, 0x963, 0x86a, 0xf66, 0xe6f, 0xd65, 0xc6c,
0x36c, 0x265, 0x16f, 0x66 , 0x76a, 0x663, 0x569, 0x460,
0xca0, 0xda9, 0xea3, 0xfaa, 0x8a6, 0x9af, 0xaa5, 0xbac,
0x4ac, 0x5a5, 0x6af, 0x7a6, 0xaa , 0x1a3, 0x2a9, 0x3a0,
0xd30, 0xc39, 0xf33, 0xe3a, 0x936, 0x83f, 0xb35, 0xa3c,
0x53c, 0x435, 0x73f, 0x636, 0x13a, 0x33 , 0x339, 0x230,
0xe90, 0xf99, 0xc93, 0xd9a, 0xa96, 0xb9f, 0x895, 0x99c,
0x69c, 0x795, 0x49f, 0x596, 0x29a, 0x393, 0x99 , 0x190,
0xf00, 0xe09, 0xd03, 0xc0a, 0xb06, 0xa0f, 0x905, 0x80c,
0x70c, 0x605, 0x50f, 0x406, 0x30a, 0x203, 0x109, 0x0 };
const int triTable[256][16] =
{
{-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{0, 8, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{0, 1, 9, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{1, 8, 3, 9, 8, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{1, 2, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{0, 8, 3, 1, 2, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{9, 2, 10, 0, 2, 9, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{2, 8, 3, 2, 10, 8, 10, 9, 8, -1, -1, -1, -1, -1, -1, -1},
{3, 11, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{0, 11, 2, 8, 11, 0, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{1, 9, 0, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{1, 11, 2, 1, 9, 11, 9, 8, 11, -1, -1, -1, -1, -1, -1, -1},
{3, 10, 1, 11, 10, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{0, 10, 1, 0, 8, 10, 8, 11, 10, -1, -1, -1, -1, -1, -1, -1},
{3, 9, 0, 3, 11, 9, 11, 10, 9, -1, -1, -1, -1, -1, -1, -1},
{9, 8, 10, 10, 8, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{4, 7, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{4, 3, 0, 7, 3, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{0, 1, 9, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{4, 1, 9, 4, 7, 1, 7, 3, 1, -1, -1, -1, -1, -1, -1, -1},
{1, 2, 10, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{3, 4, 7, 3, 0, 4, 1, 2, 10, -1, -1, -1, -1, -1, -1, -1},
{9, 2, 10, 9, 0, 2, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1},
{2, 10, 9, 2, 9, 7, 2, 7, 3, 7, 9, 4, -1, -1, -1, -1},
{8, 4, 7, 3, 11, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{11, 4, 7, 11, 2, 4, 2, 0, 4, -1, -1, -1, -1, -1, -1, -1},
{9, 0, 1, 8, 4, 7, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1},
{4, 7, 11, 9, 4, 11, 9, 11, 2, 9, 2, 1, -1, -1, -1, -1},
{3, 10, 1, 3, 11, 10, 7, 8, 4, -1, -1, -1, -1, -1, -1, -1},
{1, 11, 10, 1, 4, 11, 1, 0, 4, 7, 11, 4, -1, -1, -1, -1},
{4, 7, 8, 9, 0, 11, 9, 11, 10, 11, 0, 3, -1, -1, -1, -1},
{4, 7, 11, 4, 11, 9, 9, 11, 10, -1, -1, -1, -1, -1, -1, -1},
{9, 5, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{9, 5, 4, 0, 8, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{0, 5, 4, 1, 5, 0, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{8, 5, 4, 8, 3, 5, 3, 1, 5, -1, -1, -1, -1, -1, -1, -1},
{1, 2, 10, 9, 5, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{3, 0, 8, 1, 2, 10, 4, 9, 5, -1, -1, -1, -1, -1, -1, -1},
{5, 2, 10, 5, 4, 2, 4, 0, 2, -1, -1, -1, -1, -1, -1, -1},
{2, 10, 5, 3, 2, 5, 3, 5, 4, 3, 4, 8, -1, -1, -1, -1},
{9, 5, 4, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{0, 11, 2, 0, 8, 11, 4, 9, 5, -1, -1, -1, -1, -1, -1, -1},
{0, 5, 4, 0, 1, 5, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1},
{2, 1, 5, 2, 5, 8, 2, 8, 11, 4, 8, 5, -1, -1, -1, -1},
{10, 3, 11, 10, 1, 3, 9, 5, 4, -1, -1, -1, -1, -1, -1, -1},
{4, 9, 5, 0, 8, 1, 8, 10, 1, 8, 11, 10, -1, -1, -1, -1},
{5, 4, 0, 5, 0, 11, 5, 11, 10, 11, 0, 3, -1, -1, -1, -1},
{5, 4, 8, 5, 8, 10, 10, 8, 11, -1, -1, -1, -1, -1, -1, -1},
{9, 7, 8, 5, 7, 9, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{9, 3, 0, 9, 5, 3, 5, 7, 3, -1, -1, -1, -1, -1, -1, -1},
{0, 7, 8, 0, 1, 7, 1, 5, 7, -1, -1, -1, -1, -1, -1, -1},
{1, 5, 3, 3, 5, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{9, 7, 8, 9, 5, 7, 10, 1, 2, -1, -1, -1, -1, -1, -1, -1},
{10, 1, 2, 9, 5, 0, 5, 3, 0, 5, 7, 3, -1, -1, -1, -1},
{8, 0, 2, 8, 2, 5, 8, 5, 7, 10, 5, 2, -1, -1, -1, -1},
{2, 10, 5, 2, 5, 3, 3, 5, 7, -1, -1, -1, -1, -1, -1, -1},
{7, 9, 5, 7, 8, 9, 3, 11, 2, -1, -1, -1, -1, -1, -1, -1},
{9, 5, 7, 9, 7, 2, 9, 2, 0, 2, 7, 11, -1, -1, -1, -1},
{2, 3, 11, 0, 1, 8, 1, 7, 8, 1, 5, 7, -1, -1, -1, -1},
{11, 2, 1, 11, 1, 7, 7, 1, 5, -1, -1, -1, -1, -1, -1, -1},
{9, 5, 8, 8, 5, 7, 10, 1, 3, 10, 3, 11, -1, -1, -1, -1},
{5, 7, 0, 5, 0, 9, 7, 11, 0, 1, 0, 10, 11, 10, 0, -1},
{11, 10, 0, 11, 0, 3, 10, 5, 0, 8, 0, 7, 5, 7, 0, -1},
{11, 10, 5, 7, 11, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{10, 6, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{0, 8, 3, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{9, 0, 1, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{1, 8, 3, 1, 9, 8, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1},
{1, 6, 5, 2, 6, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{1, 6, 5, 1, 2, 6, 3, 0, 8, -1, -1, -1, -1, -1, -1, -1},
{9, 6, 5, 9, 0, 6, 0, 2, 6, -1, -1, -1, -1, -1, -1, -1},
{5, 9, 8, 5, 8, 2, 5, 2, 6, 3, 2, 8, -1, -1, -1, -1},
{2, 3, 11, 10, 6, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{11, 0, 8, 11, 2, 0, 10, 6, 5, -1, -1, -1, -1, -1, -1, -1},
{0, 1, 9, 2, 3, 11, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1},
{5, 10, 6, 1, 9, 2, 9, 11, 2, 9, 8, 11, -1, -1, -1, -1},
{6, 3, 11, 6, 5, 3, 5, 1, 3, -1, -1, -1, -1, -1, -1, -1},
{0, 8, 11, 0, 11, 5, 0, 5, 1, 5, 11, 6, -1, -1, -1, -1},
{3, 11, 6, 0, 3, 6, 0, 6, 5, 0, 5, 9, -1, -1, -1, -1},
{6, 5, 9, 6, 9, 11, 11, 9, 8, -1, -1, -1, -1, -1, -1, -1},
{5, 10, 6, 4, 7, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{4, 3, 0, 4, 7, 3, 6, 5, 10, -1, -1, -1, -1, -1, -1, -1},
{1, 9, 0, 5, 10, 6, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1},
{10, 6, 5, 1, 9, 7, 1, 7, 3, 7, 9, 4, -1, -1, -1, -1},
{6, 1, 2, 6, 5, 1, 4, 7, 8, -1, -1, -1, -1, -1, -1, -1},
{1, 2, 5, 5, 2, 6, 3, 0, 4, 3, 4, 7, -1, -1, -1, -1},
{8, 4, 7, 9, 0, 5, 0, 6, 5, 0, 2, 6, -1, -1, -1, -1},
{7, 3, 9, 7, 9, 4, 3, 2, 9, 5, 9, 6, 2, 6, 9, -1},
{3, 11, 2, 7, 8, 4, 10, 6, 5, -1, -1, -1, -1, -1, -1, -1},
{5, 10, 6, 4, 7, 2, 4, 2, 0, 2, 7, 11, -1, -1, -1, -1},
{0, 1, 9, 4, 7, 8, 2, 3, 11, 5, 10, 6, -1, -1, -1, -1},
{9, 2, 1, 9, 11, 2, 9, 4, 11, 7, 11, 4, 5, 10, 6, -1},
{8, 4, 7, 3, 11, 5, 3, 5, 1, 5, 11, 6, -1, -1, -1, -1},
{5, 1, 11, 5, 11, 6, 1, 0, 11, 7, 11, 4, 0, 4, 11, -1},
{0, 5, 9, 0, 6, 5, 0, 3, 6, 11, 6, 3, 8, 4, 7, -1},
{6, 5, 9, 6, 9, 11, 4, 7, 9, 7, 11, 9, -1, -1, -1, -1},
{10, 4, 9, 6, 4, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{4, 10, 6, 4, 9, 10, 0, 8, 3, -1, -1, -1, -1, -1, -1, -1},
{10, 0, 1, 10, 6, 0, 6, 4, 0, -1, -1, -1, -1, -1, -1, -1},
{8, 3, 1, 8, 1, 6, 8, 6, 4, 6, 1, 10, -1, -1, -1, -1},
{1, 4, 9, 1, 2, 4, 2, 6, 4, -1, -1, -1, -1, -1, -1, -1},
{3, 0, 8, 1, 2, 9, 2, 4, 9, 2, 6, 4, -1, -1, -1, -1},
{0, 2, 4, 4, 2, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{8, 3, 2, 8, 2, 4, 4, 2, 6, -1, -1, -1, -1, -1, -1, -1},
{10, 4, 9, 10, 6, 4, 11, 2, 3, -1, -1, -1, -1, -1, -1, -1},
{0, 8, 2, 2, 8, 11, 4, 9, 10, 4, 10, 6, -1, -1, -1, -1},
{3, 11, 2, 0, 1, 6, 0, 6, 4, 6, 1, 10, -1, -1, -1, -1},
{6, 4, 1, 6, 1, 10, 4, 8, 1, 2, 1, 11, 8, 11, 1, -1},
{9, 6, 4, 9, 3, 6, 9, 1, 3, 11, 6, 3, -1, -1, -1, -1},
{8, 11, 1, 8, 1, 0, 11, 6, 1, 9, 1, 4, 6, 4, 1, -1},
{3, 11, 6, 3, 6, 0, 0, 6, 4, -1, -1, -1, -1, -1, -1, -1},
{6, 4, 8, 11, 6, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{7, 10, 6, 7, 8, 10, 8, 9, 10, -1, -1, -1, -1, -1, -1, -1},
{0, 7, 3, 0, 10, 7, 0, 9, 10, 6, 7, 10, -1, -1, -1, -1},
{10, 6, 7, 1, 10, 7, 1, 7, 8, 1, 8, 0, -1, -1, -1, -1},
{10, 6, 7, 10, 7, 1, 1, 7, 3, -1, -1, -1, -1, -1, -1, -1},
{1, 2, 6, 1, 6, 8, 1, 8, 9, 8, 6, 7, -1, -1, -1, -1},
{2, 6, 9, 2, 9, 1, 6, 7, 9, 0, 9, 3, 7, 3, 9, -1},
{7, 8, 0, 7, 0, 6, 6, 0, 2, -1, -1, -1, -1, -1, -1, -1},
{7, 3, 2, 6, 7, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{2, 3, 11, 10, 6, 8, 10, 8, 9, 8, 6, 7, -1, -1, -1, -1},
{2, 0, 7, 2, 7, 11, 0, 9, 7, 6, 7, 10, 9, 10, 7, -1},
{1, 8, 0, 1, 7, 8, 1, 10, 7, 6, 7, 10, 2, 3, 11, -1},
{11, 2, 1, 11, 1, 7, 10, 6, 1, 6, 7, 1, -1, -1, -1, -1},
{8, 9, 6, 8, 6, 7, 9, 1, 6, 11, 6, 3, 1, 3, 6, -1},
{0, 9, 1, 11, 6, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{7, 8, 0, 7, 0, 6, 3, 11, 0, 11, 6, 0, -1, -1, -1, -1},
{7, 11, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{7, 6, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{3, 0, 8, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{0, 1, 9, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{8, 1, 9, 8, 3, 1, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1},
{10, 1, 2, 6, 11, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{1, 2, 10, 3, 0, 8, 6, 11, 7, -1, -1, -1, -1, -1, -1, -1},
{2, 9, 0, 2, 10, 9, 6, 11, 7, -1, -1, -1, -1, -1, -1, -1},
{6, 11, 7, 2, 10, 3, 10, 8, 3, 10, 9, 8, -1, -1, -1, -1},
{7, 2, 3, 6, 2, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{7, 0, 8, 7, 6, 0, 6, 2, 0, -1, -1, -1, -1, -1, -1, -1},
{2, 7, 6, 2, 3, 7, 0, 1, 9, -1, -1, -1, -1, -1, -1, -1},
{1, 6, 2, 1, 8, 6, 1, 9, 8, 8, 7, 6, -1, -1, -1, -1},
{10, 7, 6, 10, 1, 7, 1, 3, 7, -1, -1, -1, -1, -1, -1, -1},
{10, 7, 6, 1, 7, 10, 1, 8, 7, 1, 0, 8, -1, -1, -1, -1},
{0, 3, 7, 0, 7, 10, 0, 10, 9, 6, 10, 7, -1, -1, -1, -1},
{7, 6, 10, 7, 10, 8, 8, 10, 9, -1, -1, -1, -1, -1, -1, -1},
{6, 8, 4, 11, 8, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{3, 6, 11, 3, 0, 6, 0, 4, 6, -1, -1, -1, -1, -1, -1, -1},
{8, 6, 11, 8, 4, 6, 9, 0, 1, -1, -1, -1, -1, -1, -1, -1},
{9, 4, 6, 9, 6, 3, 9, 3, 1, 11, 3, 6, -1, -1, -1, -1},
{6, 8, 4, 6, 11, 8, 2, 10, 1, -1, -1, -1, -1, -1, -1, -1},
{1, 2, 10, 3, 0, 11, 0, 6, 11, 0, 4, 6, -1, -1, -1, -1},
{4, 11, 8, 4, 6, 11, 0, 2, 9, 2, 10, 9, -1, -1, -1, -1},
{10, 9, 3, 10, 3, 2, 9, 4, 3, 11, 3, 6, 4, 6, 3, -1},
{8, 2, 3, 8, 4, 2, 4, 6, 2, -1, -1, -1, -1, -1, -1, -1},
{0, 4, 2, 4, 6, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{1, 9, 0, 2, 3, 4, 2, 4, 6, 4, 3, 8, -1, -1, -1, -1},
{1, 9, 4, 1, 4, 2, 2, 4, 6, -1, -1, -1, -1, -1, -1, -1},
{8, 1, 3, 8, 6, 1, 8, 4, 6, 6, 10, 1, -1, -1, -1, -1},
{10, 1, 0, 10, 0, 6, 6, 0, 4, -1, -1, -1, -1, -1, -1, -1},
{4, 6, 3, 4, 3, 8, 6, 10, 3, 0, 3, 9, 10, 9, 3, -1},
{10, 9, 4, 6, 10, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{4, 9, 5, 7, 6, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{0, 8, 3, 4, 9, 5, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1},
{5, 0, 1, 5, 4, 0, 7, 6, 11, -1, -1, -1, -1, -1, -1, -1},
{11, 7, 6, 8, 3, 4, 3, 5, 4, 3, 1, 5, -1, -1, -1, -1},
{9, 5, 4, 10, 1, 2, 7, 6, 11, -1, -1, -1, -1, -1, -1, -1},
{6, 11, 7, 1, 2, 10, 0, 8, 3, 4, 9, 5, -1, -1, -1, -1},
{7, 6, 11, 5, 4, 10, 4, 2, 10, 4, 0, 2, -1, -1, -1, -1},
{3, 4, 8, 3, 5, 4, 3, 2, 5, 10, 5, 2, 11, 7, 6, -1},
{7, 2, 3, 7, 6, 2, 5, 4, 9, -1, -1, -1, -1, -1, -1, -1},
{9, 5, 4, 0, 8, 6, 0, 6, 2, 6, 8, 7, -1, -1, -1, -1},
{3, 6, 2, 3, 7, 6, 1, 5, 0, 5, 4, 0, -1, -1, -1, -1},
{6, 2, 8, 6, 8, 7, 2, 1, 8, 4, 8, 5, 1, 5, 8, -1},
{9, 5, 4, 10, 1, 6, 1, 7, 6, 1, 3, 7, -1, -1, -1, -1},
{1, 6, 10, 1, 7, 6, 1, 0, 7, 8, 7, 0, 9, 5, 4, -1},
{4, 0, 10, 4, 10, 5, 0, 3, 10, 6, 10, 7, 3, 7, 10, -1},
{7, 6, 10, 7, 10, 8, 5, 4, 10, 4, 8, 10, -1, -1, -1, -1},
{6, 9, 5, 6, 11, 9, 11, 8, 9, -1, -1, -1, -1, -1, -1, -1},
{3, 6, 11, 0, 6, 3, 0, 5, 6, 0, 9, 5, -1, -1, -1, -1},
{0, 11, 8, 0, 5, 11, 0, 1, 5, 5, 6, 11, -1, -1, -1, -1},
{6, 11, 3, 6, 3, 5, 5, 3, 1, -1, -1, -1, -1, -1, -1, -1},
{1, 2, 10, 9, 5, 11, 9, 11, 8, 11, 5, 6, -1, -1, -1, -1},
{0, 11, 3, 0, 6, 11, 0, 9, 6, 5, 6, 9, 1, 2, 10, -1},
{11, 8, 5, 11, 5, 6, 8, 0, 5, 10, 5, 2, 0, 2, 5, -1},
{6, 11, 3, 6, 3, 5, 2, 10, 3, 10, 5, 3, -1, -1, -1, -1},
{5, 8, 9, 5, 2, 8, 5, 6, 2, 3, 8, 2, -1, -1, -1, -1},
{9, 5, 6, 9, 6, 0, 0, 6, 2, -1, -1, -1, -1, -1, -1, -1},
{1, 5, 8, 1, 8, 0, 5, 6, 8, 3, 8, 2, 6, 2, 8, -1},
{1, 5, 6, 2, 1, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{1, 3, 6, 1, 6, 10, 3, 8, 6, 5, 6, 9, 8, 9, 6, -1},
{10, 1, 0, 10, 0, 6, 9, 5, 0, 5, 6, 0, -1, -1, -1, -1},
{0, 3, 8, 5, 6, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{10, 5, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{11, 5, 10, 7, 5, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{11, 5, 10, 11, 7, 5, 8, 3, 0, -1, -1, -1, -1, -1, -1, -1},
{5, 11, 7, 5, 10, 11, 1, 9, 0, -1, -1, -1, -1, -1, -1, -1},
{10, 7, 5, 10, 11, 7, 9, 8, 1, 8, 3, 1, -1, -1, -1, -1},
{11, 1, 2, 11, 7, 1, 7, 5, 1, -1, -1, -1, -1, -1, -1, -1},
{0, 8, 3, 1, 2, 7, 1, 7, 5, 7, 2, 11, -1, -1, -1, -1},
{9, 7, 5, 9, 2, 7, 9, 0, 2, 2, 11, 7, -1, -1, -1, -1},
{7, 5, 2, 7, 2, 11, 5, 9, 2, 3, 2, 8, 9, 8, 2, -1},
{2, 5, 10, 2, 3, 5, 3, 7, 5, -1, -1, -1, -1, -1, -1, -1},
{8, 2, 0, 8, 5, 2, 8, 7, 5, 10, 2, 5, -1, -1, -1, -1},
{9, 0, 1, 5, 10, 3, 5, 3, 7, 3, 10, 2, -1, -1, -1, -1},
{9, 8, 2, 9, 2, 1, 8, 7, 2, 10, 2, 5, 7, 5, 2, -1},
{1, 3, 5, 3, 7, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{0, 8, 7, 0, 7, 1, 1, 7, 5, -1, -1, -1, -1, -1, -1, -1},
{9, 0, 3, 9, 3, 5, 5, 3, 7, -1, -1, -1, -1, -1, -1, -1},
{9, 8, 7, 5, 9, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{5, 8, 4, 5, 10, 8, 10, 11, 8, -1, -1, -1, -1, -1, -1, -1},
{5, 0, 4, 5, 11, 0, 5, 10, 11, 11, 3, 0, -1, -1, -1, -1},
{0, 1, 9, 8, 4, 10, 8, 10, 11, 10, 4, 5, -1, -1, -1, -1},
{10, 11, 4, 10, 4, 5, 11, 3, 4, 9, 4, 1, 3, 1, 4, -1},
{2, 5, 1, 2, 8, 5, 2, 11, 8, 4, 5, 8, -1, -1, -1, -1},
{0, 4, 11, 0, 11, 3, 4, 5, 11, 2, 11, 1, 5, 1, 11, -1},
{0, 2, 5, 0, 5, 9, 2, 11, 5, 4, 5, 8, 11, 8, 5, -1},
{9, 4, 5, 2, 11, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{2, 5, 10, 3, 5, 2, 3, 4, 5, 3, 8, 4, -1, -1, -1, -1},
{5, 10, 2, 5, 2, 4, 4, 2, 0, -1, -1, -1, -1, -1, -1, -1},
{3, 10, 2, 3, 5, 10, 3, 8, 5, 4, 5, 8, 0, 1, 9, -1},
{5, 10, 2, 5, 2, 4, 1, 9, 2, 9, 4, 2, -1, -1, -1, -1},
{8, 4, 5, 8, 5, 3, 3, 5, 1, -1, -1, -1, -1, -1, -1, -1},
{0, 4, 5, 1, 0, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{8, 4, 5, 8, 5, 3, 9, 0, 5, 0, 3, 5, -1, -1, -1, -1},
{9, 4, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{4, 11, 7, 4, 9, 11, 9, 10, 11, -1, -1, -1, -1, -1, -1, -1},
{0, 8, 3, 4, 9, 7, 9, 11, 7, 9, 10, 11, -1, -1, -1, -1},
{1, 10, 11, 1, 11, 4, 1, 4, 0, 7, 4, 11, -1, -1, -1, -1},
{3, 1, 4, 3, 4, 8, 1, 10, 4, 7, 4, 11, 10, 11, 4, -1},
{4, 11, 7, 9, 11, 4, 9, 2, 11, 9, 1, 2, -1, -1, -1, -1},
{9, 7, 4, 9, 11, 7, 9, 1, 11, 2, 11, 1, 0, 8, 3, -1},
{11, 7, 4, 11, 4, 2, 2, 4, 0, -1, -1, -1, -1, -1, -1, -1},
{11, 7, 4, 11, 4, 2, 8, 3, 4, 3, 2, 4, -1, -1, -1, -1},
{2, 9, 10, 2, 7, 9, 2, 3, 7, 7, 4, 9, -1, -1, -1, -1},
{9, 10, 7, 9, 7, 4, 10, 2, 7, 8, 7, 0, 2, 0, 7, -1},
{3, 7, 10, 3, 10, 2, 7, 4, 10, 1, 10, 0, 4, 0, 10, -1},
{1, 10, 2, 8, 7, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{4, 9, 1, 4, 1, 7, 7, 1, 3, -1, -1, -1, -1, -1, -1, -1},
{4, 9, 1, 4, 1, 7, 0, 8, 1, 8, 7, 1, -1, -1, -1, -1},
{4, 0, 3, 7, 4, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{4, 8, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{9, 10, 8, 10, 11, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{3, 0, 9, 3, 9, 11, 11, 9, 10, -1, -1, -1, -1, -1, -1, -1},
{0, 1, 10, 0, 10, 8, 8, 10, 11, -1, -1, -1, -1, -1, -1, -1},
{3, 1, 10, 11, 3, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{1, 2, 11, 1, 11, 9, 9, 11, 8, -1, -1, -1, -1, -1, -1, -1},
{3, 0, 9, 3, 9, 11, 1, 2, 9, 2, 11, 9, -1, -1, -1, -1},
{0, 2, 11, 8, 0, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{3, 2, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{2, 3, 8, 2, 8, 10, 10, 8, 9, -1, -1, -1, -1, -1, -1, -1},
{9, 10, 2, 0, 9, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{2, 3, 8, 2, 8, 10, 0, 1, 8, 1, 10, 8, -1, -1, -1, -1},
{1, 10, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{1, 3, 8, 9, 1, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{0, 9, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{0, 3, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}
};
const double phexflg[8][3] = {
{ -1, -1, -1 },
{ +1, -1, -1 },
{ +1, +1, -1 },
{ -1, +1, -1 },
{ -1, -1, +1 },
{ +1, -1, +1 },
{ +1, +1, +1 },
{ -1, +1, +1 },
};
void VertexInterp
(double pIntp[3],
const double cent_[3], double hw_,
unsigned int ind0, unsigned int ind1,
double dist0, double dist1)
{
const double p0[3] = {
cent_[0]+hw_*phexflg[ind0][0],
cent_[1]+hw_*phexflg[ind0][1],
cent_[2]+hw_*phexflg[ind0][2] };
const double p1[3] = {
cent_[0]+hw_*phexflg[ind1][0],
cent_[1]+hw_*phexflg[ind1][1],
cent_[2]+hw_*phexflg[ind1][2] };
const double r0 = +dist1/(dist1-dist0);
const double r1 = -dist0/(dist1-dist0);
pIntp[0] = p0[0]*r0 + p1[0]*r1;
pIntp[1] = p0[1]*r0 + p1[1]*r1;
pIntp[2] = p0[2]*r0 + p1[2]*r1;
}
void CContactTarget3D_AdaptiveDistanceField3D::CNode::GenerateIsoSurface
(std::vector<double>& aTri,
const std::vector<CNode>& aNo) const
{
if( this->ichilds_[0] != -1 ){ // Evaluate Child Node
for(unsigned int i=0;i<8;i++){ aNo[ichilds_[i]].GenerateIsoSurface(aTri,aNo); }
return;
}
// Evaluate Dis Node
int cubeindex = 0;
{
if( dists_[0] < 0 ) cubeindex |= 1;
if( dists_[1] < 0 ) cubeindex |= 2;
if( dists_[2] < 0 ) cubeindex |= 4;
if( dists_[3] < 0 ) cubeindex |= 8;
if( dists_[4] < 0 ) cubeindex |= 16;
if( dists_[5] < 0 ) cubeindex |= 32;
if( dists_[6] < 0 ) cubeindex |= 64;
if( dists_[7] < 0 ) cubeindex |= 128;
}
// std::cout << "Cube Index" << cubeindex << std::endl;
double vertlist[12][3];
if (edgeTable[cubeindex] & 1) VertexInterp(vertlist[0], cent_,hw_, 0,1, dists_[0],dists_[1]);
if (edgeTable[cubeindex] & 2) VertexInterp(vertlist[1], cent_,hw_, 1,2, dists_[1],dists_[2]);
if (edgeTable[cubeindex] & 4) VertexInterp(vertlist[2], cent_,hw_, 2,3, dists_[2],dists_[3]);
if (edgeTable[cubeindex] & 8) VertexInterp(vertlist[3], cent_,hw_, 3,0, dists_[3],dists_[0]);
if (edgeTable[cubeindex] & 16) VertexInterp(vertlist[4], cent_,hw_, 4,5, dists_[4],dists_[5]);
if (edgeTable[cubeindex] & 32) VertexInterp(vertlist[5], cent_,hw_, 5,6, dists_[5],dists_[6]);
if (edgeTable[cubeindex] & 64) VertexInterp(vertlist[6], cent_,hw_, 6,7, dists_[6],dists_[7]);
if (edgeTable[cubeindex] & 128) VertexInterp(vertlist[7], cent_,hw_, 7,4, dists_[7],dists_[4]);
if (edgeTable[cubeindex] & 256) VertexInterp(vertlist[8], cent_,hw_, 0,4, dists_[0],dists_[4]);
if (edgeTable[cubeindex] & 512) VertexInterp(vertlist[9], cent_,hw_, 1,5, dists_[1],dists_[5]);
if (edgeTable[cubeindex] & 1024) VertexInterp(vertlist[10], cent_,hw_, 2,6, dists_[2],dists_[6]);
if (edgeTable[cubeindex] & 2048) VertexInterp(vertlist[11], cent_,hw_, 3,7, dists_[3],dists_[7]);
for( unsigned int i=0;triTable[cubeindex][i]!=-1;i+=3 ){
const unsigned int ind0 = aTri.size();
aTri.resize(ind0+9);
aTri[ind0+0] = vertlist[triTable[cubeindex][i ]][0];
aTri[ind0+1] = vertlist[triTable[cubeindex][i ]][1];
aTri[ind0+2] = vertlist[triTable[cubeindex][i ]][2];
aTri[ind0+3] = vertlist[triTable[cubeindex][i+1]][0];
aTri[ind0+4] = vertlist[triTable[cubeindex][i+1]][1];
aTri[ind0+5] = vertlist[triTable[cubeindex][i+1]][2];
aTri[ind0+6] = vertlist[triTable[cubeindex][i+2]][0];
aTri[ind0+7] = vertlist[triTable[cubeindex][i+2]][1];
aTri[ind0+8] = vertlist[triTable[cubeindex][i+2]][2];
}
}