void SplitTriangle(Triangle t, int splitEdge, int point, Connectivity connectivity)
{
int a = t.edges[splitEdge].a;
int b = t.edges[splitEdge].b;
int c = t.edges[(splitEdge + 1) % 3].b;
var list = t.Node.List;
t.Pull();
connectivity.Remove(t);
Triangle nt1 = new Triangle(mesh, a, point, c);
Triangle nt2 = new Triangle(mesh, point, b, c);
nt1.vispoints = t.vispoints;
nt1.height = t.height;
nt1.highest = t.highest;
nt2.vispoints = new List <int> (t.vispoints);
nt2.height = t.height;
nt2.highest = t.highest;
list.AddFirst(nt1.Node);
list.AddFirst(nt2.Node);
connectivity.Add(nt1);
connectivity.Add(nt2);
}
public FaceSet GetHull()
{
FindExtremePoints();
FaceSet faces = FindSimplex();
var connectivity = new Connectivity(faces);
var dupPoints = new HashSet <int> ();
for (int i = 0; i < mesh.verts.Length; i++)
{
for (var f = faces.First; f != null; f = f.Next)
{
if (f.IsDup(i))
{
dupPoints.Add(i);
break;
}
}
if (dupPoints.Contains(i))
{
continue;
}
for (var f = faces.First; f != null; f = f.Next)
{
f.AddPoint(i);
}
}
//Debug.Log($"[Quickhull] dupPoints: {dupPoints.Count}");
//for (var f = faces.First; f != null; f = f.Next) {
// Debug.Log ($"[Quickhull] GetHull {f.vispoints.Count} {f.highest} {f.height}");
//}
FaceSet finalFaces = new FaceSet(mesh);
int iter = 0;
BinaryWriter bw = null;
var donePoints = new HashSet <int> ();
while (faces.Count > 0)
{
//Debug.Log ($"[Quickhull] iteration {iter}");
if (dump_faces)
{
bw = new BinaryWriter(File.Open($"/tmp/quickhull-{iter:D5}.bin", FileMode.Create));
mesh.Write(bw);
faces.Write(bw);
finalFaces.Write(bw);
}
iter++;
//int nvis = 0;
//for (var nf = faces.First; nf != null; nf = nf.Next) {
// nvis += nf.vispoints.Count;
//}
var f = faces.Pop();
//Debug.Log ($"[Quickhull] total vis {nvis} f.vis {f.vispoints.Count} faces {faces.Count}");
if (f.vispoints.Count < 1)
{
finalFaces.Add(f);
continue;
}
int point = f.vispoints[f.highest];
//Debug.Log ($"[Quickhull] height {f.height}");
var litFaces = connectivity.LightFaces(f, point);
if (dump_faces)
{
bw.Write(point);
litFaces.Write(bw);
}
//Debug.Log ($"[Quickhull] final:{finalFaces.Count} faces:{faces.Count} lit:{litFaces.Count}");
connectivity.Remove(litFaces);
var horizonEdges = litFaces.FindOuterEdges();
var newFaces = new FaceSet(mesh);
foreach (Edge e in horizonEdges)
{
if (e.TouchesPoint(point))
{
var t = connectivity[e.reverse];
int splitEdge = t.TouchedEdge(point);
//Debug.Log ($"[Quickhull] point on edge {splitEdge} {faces.Contains (t)} {finalFaces.Contains (t)} {litFaces.Contains (t)}");
if (splitEdge >= 0)
{
SplitTriangle(t, splitEdge, point, connectivity);
}
}
else
{
var tri = new Triangle(mesh, e.a, e.b, point);
newFaces.Add(tri);
connectivity.Add(tri);
}
}
donePoints.Clear();
for (var lf = litFaces.First; lf != null; lf = lf.Next)
{
for (int j = 0; j < lf.vispoints.Count; j++)
{
int p = lf.vispoints[j];
if (donePoints.Contains(p))
{
continue;
}
donePoints.Add(p);
for (var nf = newFaces.First; nf != null; nf = nf.Next)
{
if (nf.IsDup(p))
{
dupPoints.Add(p);
p = -1;
break;
}
}
if (p < 0)
{
continue;
}
for (var nf = newFaces.First; nf != null; nf = nf.Next)
{
nf.AddPoint(p);
}
}
}
//Debug.Log($"[Quickhull] dupPoints: {dupPoints.Count}");
if (dump_faces)
{
newFaces.Write(bw);
}
Triangle next;
for (var nf = newFaces.First; nf != null; nf = next)
{
next = nf.Next;
if (nf.vispoints.Count > 0)
{
faces.Add(nf);
}
else
{
finalFaces.Add(nf);
}
}
if (dump_faces)
{
bw.Close();
}
if (connectivity.error)
{
var vis = new HashSet <int> ();
for (var lf = litFaces.First; lf != null; lf = lf.Next)
{
for (int i = 0; i < lf.vispoints.Count; i++)
{
vis.Add(lf.vispoints[i]);
}
}
Debug.Log($"[Quickhull] {litFaces.Count} {vis.Count}");
for (var lf = litFaces.First; lf != null; lf = lf.Next)
{
float dist1 = float.PositiveInfinity;
float dist2 = float.PositiveInfinity;
for (int i = 0; i < 3; i++)
{
float d = lf.edges[i].Distance(point);
if (d < dist1)
{
dist1 = d;
}
d = (mesh.verts[point] - mesh.verts[lf.edges[i].a]).magnitude;
if (d < dist2)
{
dist2 = d;
}
}
Debug.Log($" h:{lf.Dist(point)} d1:{dist1} d2:{dist2} {lf.edges[0].TouchesPoint(point)} {lf.edges[1].TouchesPoint(point)} {lf.edges[2].TouchesPoint(point)}");
}
break;
}
}
if (dump_faces && !connectivity.error)
{
bw = new BinaryWriter(File.Open($"/tmp/quickhull-{iter++:D5}.bin", FileMode.Create));
mesh.Write(bw);
faces.Write(bw);
finalFaces.Write(bw);
bw.Write((int)-1);
bw.Write((int)0);
bw.Write((int)0);
bw.Close();
}
error = connectivity.error;
return(finalFaces);
}
