public void Apply()
{
Vector3d Origin = BendPlane.Origin;
Vector3d BendAxis1 = BendPlane.Z;
float sideSign = (BendAngle > 0) ? 1 : -1;
MeshVertexSelection vertices = new MeshVertexSelection(Mesh);
foreach (int vid in Mesh.VertexIndices())
{
Vector3d v = Mesh.GetVertex(vid);
float sign = BendPlane.DistanceToPlaneSigned((Vector3f)v, 1);
if (sign * sideSign > 0)
{
vertices.Select(vid);
}
}
Quaterniond rotation = Quaterniond.AxisAngleD(BendPlane.X, -BendAngle);
foreach (int vid in vertices)
{
Vector3d v = Mesh.GetVertex(vid);
Vector3d vNew = rotation * (v - Origin) + Origin;
Mesh.SetVertex(vid, vNew);
}
}
public override fMesh MakeGeometry(AxisGizmoFlags widget)
{
switch (widget)
{
case AxisGizmoFlags.AxisTranslateY:
if (MyAxisTranslateY == null)
{
Radial3DArrowGenerator arrowGen = new Radial3DArrowGenerator()
{
HeadLength = 2.0f, TipRadius = 0.1f, StickLength = 1.5f, Clockwise = true
};
DMesh3 mesh = arrowGen.Generate().MakeDMesh();
MeshNormals.QuickCompute(mesh);
MeshTransforms.Translate(mesh, 0.5 * Vector3d.AxisY);
DMesh3 flip = new DMesh3(mesh);
MeshTransforms.Rotate(flip, Vector3d.Zero, Quaterniond.AxisAngleD(Vector3d.AxisX, 180));
MeshEditor.Append(mesh, flip);
MyAxisTranslateY = new fMesh(mesh);
}
return(MyAxisTranslateY);
default:
return(null);
}
}
public GridDistanceField()
{
Origin = -100 * Vector3d.One;
Rotation = Quaterniond.AxisAngleD(Vector3d.AxisX, 45) * Quaterniond.AxisAngleD(Vector3d.AxisZ, 45);
CellSize = 8.0f;
Radius = 1.0f;
}
void update_hole_mesh()
{
CappedCylinderGenerator cylgen = new CappedCylinderGenerator()
{
BaseRadius = 0.5f, TopRadius = 0.5f, Height = 1, Slices = this.subdivisions,
Clockwise = true
};
DMesh3 mesh = cylgen.Generate().MakeDMesh();
MeshTransforms.Rotate(mesh, Vector3d.Zero, Quaterniond.AxisAngleD(Vector3d.AxisX, 90));
CavityPreviewSO.ReplaceMesh(mesh, true);
}
/// <summary>
/// Cut through-hole either vertically or horizontally.
///
/// One current failure mode is if we get more than two ray-hits, which
/// can happen due pathological cases or unexpected mesh shape. Currently
/// trying to handle the pathological cases (ie ray hits adjacent triangles cases)
/// via sorting, not sure if this works spectacularly well.
///
/// </summary>
protected bool CutThroughHole(DMesh3 mesh, HoleInfo hi, Vector3d translate)
{
Vector3d basePoint = CombinedBounds.Center - CombinedBounds.Extents.y * Vector3d.AxisY + translate;
// do we need to compute spatial DS for each hole? not super efficient...
DMeshAABBTree3 spatial = new DMeshAABBTree3(mesh, true);
Vector3d origin = Vector3d.Zero;
Vector3d direction = Vector3d.One;
if (hi.IsVertical)
{
direction = Vector3d.AxisY;
origin = basePoint + new Vector3d(hi.XZOffset.x, 0, hi.XZOffset.y) - 100 * direction;
}
else
{
origin = basePoint + hi.Height * Vector3d.AxisY;
direction = Quaterniond.AxisAngleD(Vector3d.AxisY, hi.AroundAngle) * Vector3d.AxisX;
}
// Find upper and lower triangles that contain center-points of
// holes we want to cut. This is the most error-prone part
// because we depend on ray-hits, which is not very reliable...
Ray3d ray1 = new Ray3d(origin, direction);
Ray3d ray2 = new Ray3d(origin + 10000 * direction, -direction);
if (hi.GroupIDFilters.a > 0)
{
spatial.TriangleFilterF = (tid) => {
return(mesh.GetTriangleGroup(tid) == hi.GroupIDFilters.a);
};
}
int hit_1 = spatial.FindNearestHitTriangle(ray1);
spatial.TriangleFilterF = null;
if (hi.GroupIDFilters.b > 0)
{
spatial.TriangleFilterF = (tid) => {
return(mesh.GetTriangleGroup(tid) == hi.GroupIDFilters.b);
};
}
int hit_2 = spatial.FindNearestHitTriangle(ray2);
spatial.TriangleFilterF = null;
if (hit_1 == DMesh3.InvalidID || hit_2 == DMesh3.InvalidID)
{
return(false);
}
if (hit_1 == hit_2)
{
return(false);
}
List <int> hitTris = new List <int>()
{
hit_1, hit_2
};
Frame3f projectFrame = new Frame3f(ray1.Origin, ray1.Direction);
int nVerts = 32;
if (hi.Vertices != 0)
{
nVerts = hi.Vertices;
}
double angleShiftRad = hi.AxisAngleD * MathUtil.Deg2Rad;
Polygon2d circle = Polygon2d.MakeCircle(hi.Radius, nVerts, angleShiftRad);
List <EdgeLoop> edgeLoops = new List <EdgeLoop>();
foreach (int hit_tid in hitTris)
{
try {
MeshInsertProjectedPolygon insert = new MeshInsertProjectedPolygon(mesh, circle, projectFrame, hit_tid)
{
SimplifyInsertion = true
};
if (insert.Insert())
{
// if we have extra edges just randomly collapse
EdgeLoop loop = insert.InsertedLoop;
if (loop.VertexCount > circle.VertexCount)
{
loop = simplify_loop(mesh, loop, circle.VertexCount);
}
edgeLoops.Add(loop);
}
else
{
f3.DebugUtil.Log("insert.Insert() failed!!");
return(false);
}
} catch (Exception e) {
// ignore this loop but we might already be in trouble...
f3.DebugUtil.Log("insert.Insert() threw exception for hole {0}!!", hi.nHole);
f3.DebugUtil.Log(e.Message);
}
}
if (edgeLoops.Count != 2)
{
return(false);
}
try {
MeshEditor editor = new MeshEditor(mesh);
EdgeLoop l0 = edgeLoops[0];
EdgeLoop l1 = edgeLoops[1];
l1.Reverse();
editor.StitchVertexLoops_NearestV(l0.Vertices, l1.Vertices);
// split edges around the holes we cut. This is helpful
// if we are going to do additional operations in these areas,
// as it gives us extra rings to work with
//MeshEdgeSelection edges = new MeshEdgeSelection(mesh);
//edges.SelectVertexEdges(l0.Vertices);
//edges.SelectVertexEdges(l1.Vertices);
//DMesh3.EdgeSplitInfo splitInfo;
//foreach ( int eid in edges )
// mesh.SplitEdge(eid, out splitInfo);
return(true);
} catch {
f3.DebugUtil.Log("stitch threw exception!");
return(false);
}
}
public static void test_Matrix3d()
{
{
Matrix3d Identity = new Matrix3d(true);
for (int r = 0; r < 3; ++r)
{
for (int c = 0; c < 3; ++c)
{
Util.gDevAssert((r == c) ? Identity[r, c] == 1 : Identity[r, c] == 0);
}
}
}
{
double[] buffer = new double[9] {
1, 2, 3, 4, 5, 6, 7, 8, 9
};
Matrix3d M = new Matrix3d(buffer);
for (int r = 0; r < 3; ++r)
{
for (int c = 0; c < 3; ++c)
{
Util.gDevAssert(M[r, c] == buffer[r * 3 + c]);
}
}
for (int k = 0; k < 9; ++k)
{
Util.gDevAssert(M[k] == buffer[k]);
}
Matrix3d M2 = new Matrix3d(new Vector3d(1, 2, 3), new Vector3d(4, 5, 6), new Vector3d(7, 8, 9), true);
Util.gDevAssert(M.EpsilonEqual(M2, 0));
Matrix3d M3 = new Matrix3d(new Vector3d(1, 4, 7), new Vector3d(2, 5, 8), new Vector3d(3, 6, 9), false);
Util.gDevAssert(M.EpsilonEqual(M3, 0));
Util.gDevAssert(M.Transpose().Transpose().EpsilonEqual(M, 0));
Util.gDevAssert(M.EpsilonEqual(new Matrix3d(M.ToBuffer()), 0));
Matrix3d Det = new Matrix3d(6, 1, 1, 4, -2, 5, 2, 8, 7);
Util.gDevAssert(Det.Determinant == -306);
Matrix3d Mult = M * M;
Matrix3d MultResult = new Matrix3d(30, 36, 42, 66, 81, 96, 102, 126, 150);
Util.gDevAssert(Mult.EpsilonEqual(MultResult, 0));
Matrix3d Mult2 = new Matrix3d(M * M.Column(0), M * M.Column(1), M * M.Column(2), false);
Util.gDevAssert(Mult2.EpsilonEqual(MultResult, 0));
}
{
Random r = new Random(31337);
Vector3d[] axes = TestUtil.RandomPoints3(100, r, Vector3d.Zero);
double[] angles = TestUtil.RandomScalars(100, r, new Interval1d(-180, 180));
Vector3d[] testPts = TestUtil.RandomPoints3(100, r, Vector3d.Zero, 10);
for (int k = 0; k < angles.Length; ++k)
{
Vector3d axis = axes[k].Normalized;
double angle = angles[k];
Vector3d pt = testPts[k];
Matrix3d MRotAxis = Matrix3d.AxisAngleD(axis, angle);
Quaterniond QRotAxis = Quaterniond.AxisAngleD(axis, angle);
Util.gDevAssert(
(MRotAxis * pt).EpsilonEqual(QRotAxis * pt, 100 * MathUtil.Epsilon));
Matrix3d QRotAxisM = QRotAxis.ToRotationMatrix();
Util.gDevAssert(MRotAxis.EpsilonEqual(QRotAxisM, 10 * MathUtil.Epsilon));
Quaterniond QuatCons = new Quaterniond(MRotAxis);
Util.gDevAssert(
(QuatCons * pt).EpsilonEqual(QRotAxis * pt, 100 * MathUtil.Epsilon));
// test 3x3 SVD
Matrix3d tmpM = MRotAxis;
tmpM[0, 0] += 0.0001; tmpM[1, 1] -= 0.0001; tmpM[0, 2] += 0.1;
SingularValueDecomposition fullsvd = new SingularValueDecomposition(3, 3, 999);
uint result = fullsvd.Solve(tmpM.ToBuffer(), -1);
double[] U = new double[9], V = new double[9], S = new double[3];
fullsvd.GetU(U); fullsvd.GetV(V);
fullsvd.GetSingularValues(S);
Matrix3d MU = new Matrix3d(U), MV = new Matrix3d(V);
Matrix3d Sdiag = new Matrix3d(S[0], S[1], S[2]);
// U is eigenvectors of ATA, V is eigenvectors of AAT
Vector3d rRight = Vector3d.Zero, rLeft = Vector3d.Zero;
Matrix3d ATA = tmpM.Transpose() * tmpM, AAT = tmpM * tmpM.Transpose();
for (int j = 0; j < 3; ++j)
{
double eval = Sdiag[j, j] * Sdiag[j, j];
Vector3d right_evec = MV.Column(j);
rRight[j] = (ATA * right_evec - eval * right_evec).Length;
Vector3d left_evec = MU.Column(j);
rLeft[j] = (AAT * left_evec - eval * left_evec).Length;
}
Util.gDevAssert(rRight.Length < MathUtil.ZeroTolerancef && rLeft.Length < MathUtil.ZeroTolerancef);
// [RMS] if U or V contains a reflection, we need to get rid of it
if (MU.Determinant < 0)
{
MU *= -1;
Sdiag *= -1;
}
if (MV.Determinant < 0)
{
MV *= -1;
Sdiag *= -1;
}
Matrix3d MRecons = MU * Sdiag * MV.Transpose();
Util.gDevAssert((tmpM * pt).EpsilonEqual(MRecons * pt, 1000 * MathUtil.Epsilon));
Quaterniond qU = new Quaterniond(MU);
Util.gDevAssert((MU * pt).EpsilonEqual(qU * pt, 100 * MathUtil.Epsilon));
Quaterniond qV = new Quaterniond(MV.Transpose());
Util.gDevAssert((MV.Transpose() * pt).EpsilonEqual(qV * pt, 100 * MathUtil.Epsilon));
Vector3d ptQ = qU * (Sdiag * (qV * pt));
Util.gDevAssert((tmpM * pt).EpsilonEqual(ptQ, 1000 * MathUtil.Epsilon));
Matrix3d MQRecons = qU.ToRotationMatrix() * Sdiag * qV.ToRotationMatrix();
Util.gDevAssert((tmpM * pt).EpsilonEqual(MQRecons * pt, 1000 * MathUtil.Epsilon));
// U is eigenvectors of ATA, V is eigenvectors of AAT
Vector3d qRight = Vector3d.Zero, qLeft = Vector3d.Zero;
for (int j = 0; j < 3; ++j)
{
double eval = Sdiag[j, j] * Sdiag[j, j];
Vector3d right_evec = qV.Conjugate().ToRotationMatrix().Column(j);
qRight[j] = (ATA * right_evec - eval * right_evec).Length;
Vector3d left_evec = qU.ToRotationMatrix().Column(j);
qLeft[j] = (AAT * left_evec - eval * left_evec).Length;
}
Util.gDevAssert(qRight.Length < MathUtil.ZeroTolerancef && qLeft.Length < MathUtil.ZeroTolerancef);
double fast_eps = 0.001;
FastQuaternionSVD svd = new FastQuaternionSVD(tmpM, MathUtil.Epsilon, 4);
Matrix3d QQRecons = svd.ReconstructMatrix();
Util.gDevAssert((tmpM * pt).EpsilonEqual(QQRecons * pt, fast_eps));
Matrix3d svdS = new Matrix3d(svd.S[0], svd.S[1], svd.S[2]);
Matrix3d QQRecons2 =
svd.U.ToRotationMatrix() * svdS * svd.V.Conjugate().ToRotationMatrix();
Util.gDevAssert((tmpM * pt).EpsilonEqual(QQRecons2 * pt, fast_eps));
Vector3d ptQSVD = svd.U * (svdS * (svd.V.Conjugate() * pt));
Util.gDevAssert((tmpM * pt).EpsilonEqual(ptQSVD, fast_eps));
// U is eigenvectors of ATA, V is eigenvectors of AAT
Vector3d qqRight = Vector3d.Zero, qqLeft = Vector3d.Zero;
for (int j = 0; j < 3; ++j)
{
double eval = svdS[j, j] * svdS[j, j];
Vector3d right_evec = svd.V.ToRotationMatrix().Column(j);
qqRight[j] = (ATA * right_evec - eval * right_evec).Length;
Vector3d left_evec = svd.U.ToRotationMatrix().Column(j);
qqLeft[j] = (AAT * left_evec - eval * left_evec).Length;
}
Util.gDevAssert(qqRight.Length < fast_eps && qqLeft.Length < fast_eps);
}
}
}
