public static AxisAlignedBox3d BoundsT(IMesh mesh, IEnumerable <int> triangleIndices, Func <Vector3d, Vector3d> TransformF = null)
{
AxisAlignedBox3d bounds = AxisAlignedBox3d.Empty;
if (TransformF == null)
{
foreach (int tid in triangleIndices)
{
Index3i tri = mesh.GetTriangle(tid);
for (int j = 0; j < 3; ++j)
{
bounds.Contain(mesh.GetVertex(tri[j]));
}
}
}
else
{
foreach (int tid in triangleIndices)
{
Index3i tri = mesh.GetTriangle(tid);
for (int j = 0; j < 3; ++j)
{
bounds.Contain(TransformF(mesh.GetVertex(tri[j])));
}
}
}
return(bounds);
}
public AxisAlignedBox3d Bounds()
{
Vector3d o = Radius * Vector3d.One, p0 = Segment.P0, p1 = Segment.P1;
AxisAlignedBox3d box = new AxisAlignedBox3d(p0 - o, p0 + o);
box.Contain(p1 - o);
box.Contain(p1 + o);
return(box);
}
int split_point_set_sorted(int[] pt_indices, Vector3d[] positions,
int iStart, int iCount, int depth, int minIndexCount,
boxes_set leafs, boxes_set nodes, out AxisAlignedBox3d box)
{
box = AxisAlignedBox3d.Empty;
int iBox = -1;
if (iCount < minIndexCount)
{
// append new points box
iBox = leafs.iBoxCur++;
leafs.box_to_index.insert(leafs.iIndicesCur, iBox);
leafs.index_list.insert(iCount, leafs.iIndicesCur++);
for (int i = 0; i < iCount; ++i)
{
leafs.index_list.insert(pt_indices[iStart + i], leafs.iIndicesCur++);
box.Contain(points.GetVertex(pt_indices[iStart + i]));
}
leafs.box_centers.insert(box.Center, iBox);
leafs.box_extents.insert(box.Extents, iBox);
return(-(iBox + 1));
}
AxisComp c = new AxisComp()
{
Axis = depth % 3
};
Array.Sort(positions, pt_indices, iStart, iCount, c);
int mid = iCount / 2;
int n0 = mid;
int n1 = iCount - mid;
// create child boxes
AxisAlignedBox3d box1;
int child0 = split_point_set_sorted(pt_indices, positions, iStart, n0, depth + 1, minIndexCount, leafs, nodes, out box);
int child1 = split_point_set_sorted(pt_indices, positions, iStart + mid, n1, depth + 1, minIndexCount, leafs, nodes, out box1);
box.Contain(box1);
// append new box
iBox = nodes.iBoxCur++;
nodes.box_to_index.insert(nodes.iIndicesCur, iBox);
nodes.index_list.insert(child0, nodes.iIndicesCur++);
nodes.index_list.insert(child1, nodes.iIndicesCur++);
nodes.box_centers.insert(box.Center, iBox);
nodes.box_extents.insert(box.Extents, iBox);
return(iBox);
}
public AxisAlignedBox3d GetBounds()
{
AxisAlignedBox3d box = AxisAlignedBox3d.Empty;
for (int i = 0; i < Vertices.Length; ++i)
box.Contain(Mesh.GetVertex(Vertices[i]));
return box;
}
public AxisAlignedBox3d Bounds()
{
AxisAlignedBox3d box = A.Bounds();
box.Contain(B.Bounds());
box.Expand(0.25 * box.MaxDim);
return(box);
}
public static AxisAlignedBox3d Bounds(IEnumerable <DMesh3> meshes)
{
AxisAlignedBox3d bounds = AxisAlignedBox3d.Empty;
foreach (DMesh3 mesh in meshes)
{
bounds.Contain(mesh.CachedBounds);
}
return(bounds);
}
/// <summary>
/// compute axis-aligned bounds of set of points after transforming into frame f
/// </summary>
public static AxisAlignedBox3d BoundsInFrame(IEnumerable <Vector3d> values, Frame3f f)
{
AxisAlignedBox3d box = AxisAlignedBox3d.Empty;
foreach (Vector3d v in values)
{
box.Contain(f.ToFrameP(v));
}
return(box);
}
public static AxisAlignedBox3d Bounds <T>(IEnumerable <T> values, Func <T, Vector3d> PositionF)
{
AxisAlignedBox3d box = AxisAlignedBox3d.Empty;
foreach (T t in values)
{
box.Contain(PositionF(t));
}
return(box);
}
public static AxisAlignedBox3d Bounds(IEnumerable <Vector3d> positions)
{
AxisAlignedBox3d box = AxisAlignedBox3d.Empty;
foreach (Vector3d v in positions)
{
box.Contain(v);
}
return(box);
}
/// <summary>
/// compute axis-aligned bounds of set of points after transforming
/// </summary>
public static AxisAlignedBox3d Bounds(IEnumerable <Vector3d> values, TransformSequence xform)
{
AxisAlignedBox3d box = AxisAlignedBox3d.Empty;
foreach (Vector3d v in values)
{
box.Contain(xform.TransformP(v));
}
return(box);
}
public AxisAlignedBox3d GetBoundingBox()
{
AxisAlignedBox3d box = AxisAlignedBox3d.Empty;
foreach (Vector3d v in vertices)
{
box.Contain(v);
}
return(box);
}
public static AxisAlignedBox3d Bounds(IPointSet source)
{
AxisAlignedBox3d bounds = AxisAlignedBox3d.Empty;
foreach (int vid in source.VertexIndices())
{
bounds.Contain(source.GetVertex(vid));
}
return(bounds);
}
public static AxisAlignedBox3d BoundsV(IMesh mesh, IEnumerable <int> vertexIndices, Func <Vector3d, Vector3d> TransformF = null)
{
AxisAlignedBox3d bounds = AxisAlignedBox3d.Empty;
if (TransformF == null)
{
foreach (int vid in vertexIndices)
{
bounds.Contain(mesh.GetVertex(vid));
}
}
else
{
foreach (int vid in vertexIndices)
{
bounds.Contain(TransformF(mesh.GetVertex(vid)));
}
}
return(bounds);
}
public static AxisAlignedBox3d Bounds(DMesh3 mesh, Func <Vector3d, Vector3d> TransformF)
{
AxisAlignedBox3d bounds = AxisAlignedBox3d.Empty;
if (TransformF == null)
{
foreach (Vector3d v in mesh.Vertices())
{
bounds.Contain(v);
}
}
else
{
foreach (Vector3d v in mesh.Vertices())
{
Vector3d vT = TransformF(v);
bounds.Contain(ref vT);
}
}
return(bounds);
}
public static AxisAlignedBox3d Bounds(IMesh mesh, Func <Vector3d, Vector3d> TransformF)
{
AxisAlignedBox3d bounds = AxisAlignedBox3d.Empty;
if (TransformF == null)
{
foreach (int vID in mesh.VertexIndices())
{
bounds.Contain(mesh.GetVertex(vID));
}
}
else
{
foreach (int vID in mesh.VertexIndices())
{
Vector3d vT = TransformF(mesh.GetVertex(vID));
bounds.Contain(ref vT);
}
}
return(bounds);
}
public AxisAlignedBox3d GetBoundingBox()
{
// [RMS] problem w/ readonly because vector is a class...
//AxisAlignedBox3d box = AxisAlignedBox3d.Empty;
AxisAlignedBox3d box = new AxisAlignedBox3d(false);
foreach (Vector3d v in vertices)
{
box.Contain(v);
}
return(box);
}
/// <summary>
/// calculate extents of mesh along axes of frame, with optional transform
/// </summary>
public static AxisAlignedBox3d BoundsInFrame(DMesh3 mesh, Frame3f frame, Func <Vector3d, Vector3d> TransformF = null)
{
AxisAlignedBox3d bounds = AxisAlignedBox3d.Empty;
if (TransformF == null)
{
foreach (Vector3d v in mesh.Vertices())
{
Vector3d fv = frame.ToFrameP(v);
bounds.Contain(ref fv);
}
}
else
{
foreach (Vector3d v in mesh.Vertices())
{
Vector3d vT = TransformF(v);
Vector3d fv = frame.ToFrameP(ref vT);
bounds.Contain(ref fv);
}
}
return(bounds);
}
public AxisAlignedBox3d GetBounds()
{
if (vertices.Count == 0)
{
return(AxisAlignedBox3d.Empty);
}
AxisAlignedBox3d box = new AxisAlignedBox3d(vertices[0]);
for (int i = 1; i < vertices.Count; ++i)
{
box.Contain(vertices[i]);
}
return(box);
}
// AABB of transformed AABB (corners)
public static AxisAlignedBox3d Bounds(ref AxisAlignedBox3d boxIn, Func <Vector3d, Vector3d> TransformF)
{
if (TransformF == null)
{
return(boxIn);
}
AxisAlignedBox3d box = new AxisAlignedBox3d(TransformF(boxIn.Corner(0)));
for (int i = 1; i < 8; ++i)
{
box.Contain(TransformF(boxIn.Corner(i)));
}
return(box);
}
public AxisAlignedBox3d ToAABB()
{
// [TODO] probably more efficient way to do this...at minimum can move center-shift
// to after the containments...
Vector3d extAxis0 = Extent.x * AxisX;
Vector3d extAxis1 = Extent.y * AxisY;
Vector3d extAxis2 = Extent.z * AxisZ;
AxisAlignedBox3d result = new AxisAlignedBox3d(Center - extAxis0 - extAxis1 - extAxis2);
result.Contain(Center + extAxis0 - extAxis1 - extAxis2);
result.Contain(Center + extAxis0 + extAxis1 - extAxis2);
result.Contain(Center - extAxis0 + extAxis1 - extAxis2);
result.Contain(Center - extAxis0 - extAxis1 + extAxis2);
result.Contain(Center + extAxis0 - extAxis1 + extAxis2);
result.Contain(Center + extAxis0 + extAxis1 + extAxis2);
result.Contain(Center - extAxis0 + extAxis1 + extAxis2);
return(result);
}
protected virtual DMesh3 BuildMesh_TolerantWeld(STLSolid solid, double weld_tolerance)
{
var builder = new DMesh3Builder();
builder.AppendNewMesh(false, false, false, false);
DVectorArray3f vertices = solid.Vertices;
int N = vertices.Count;
int[] mapV = new int[N];
AxisAlignedBox3d bounds = AxisAlignedBox3d.Empty;
for (int i = 0; i < N; ++i)
{
bounds.Contain(vertices[i]);
}
// [RMS] because we are only searching within tiny radius, there is really no downside to
// using lots of bins here, except memory usage. If we don't, and the mesh has a ton of triangles
// very close together (happens all the time on big meshes!), then this step can start
// to take an *extremely* long time!
int num_bins = 256;
if (N > 100000)
{
num_bins = 512;
}
if (N > 1000000)
{
num_bins = 1024;
}
if (N > 2000000)
{
num_bins = 2048;
}
if (N > 5000000)
{
num_bins = 4096;
}
var uniqueV = new PointHashGrid3d <int>(bounds.MaxDim / (float)num_bins, -1);
var pos = new Vector3f[N];
for (int vi = 0; vi < N; ++vi)
{
Vector3f v = vertices[vi];
var pair = uniqueV.FindNearestInRadius(v, weld_tolerance, (vid) =>
{
return(v.Distance(pos[vid]));
});
if (pair.Key == -1)
{
int vid = builder.AppendVertex(v.x, v.y, v.z);
uniqueV.InsertPoint(vid, v);
mapV[vi] = vid;
pos[vid] = v;
}
else
{
mapV[vi] = pair.Key;
}
}
append_mapped_triangles(solid, builder, mapV);
return(builder.Meshes[0]);
}
int split_point_set_midpoint(int[] pt_indices, Vector3d[] positions,
int iStart, int iCount, int depth, int minIndexCount,
boxes_set leafs, boxes_set nodes, out AxisAlignedBox3d box)
{
box = AxisAlignedBox3d.Empty;
int iBox = -1;
if (iCount < minIndexCount)
{
// append new points box
iBox = leafs.iBoxCur++;
leafs.box_to_index.insert(leafs.iIndicesCur, iBox);
leafs.index_list.insert(iCount, leafs.iIndicesCur++);
for (int i = 0; i < iCount; ++i)
{
leafs.index_list.insert(pt_indices[iStart + i], leafs.iIndicesCur++);
box.Contain(points.GetVertex(pt_indices[iStart + i]));
}
leafs.box_centers.insert(box.Center, iBox);
leafs.box_extents.insert(box.Extents, iBox);
return(-(iBox + 1));
}
//compute interval along an axis and find midpoint
int axis = depth % 3;
Interval1d interval = Interval1d.Empty;
for (int i = 0; i < iCount; ++i)
{
interval.Contain(positions[iStart + i][axis]);
}
double midpoint = interval.Center;
int n0, n1;
if (Math.Abs(interval.a - interval.b) > MathUtil.ZeroTolerance)
{
// we have to re-sort the centers & indices lists so that centers < midpoint
// are first, so that we can recurse on the two subsets. We walk in from each side,
// until we find two out-of-order locations, then we swap them.
int l = 0;
int r = iCount - 1;
while (l < r)
{
// [RMS] is <= right here? if v.axis == midpoint, then this loop
// can get stuck unless one of these has an equality test. But
// I did not think enough about if this is the right thing to do...
while (positions[iStart + l][axis] <= midpoint)
{
l++;
}
while (positions[iStart + r][axis] > midpoint)
{
r--;
}
if (l >= r)
{
break; //done!
}
//swap
Vector3d tmpc = positions[iStart + l]; positions[iStart + l] = positions[iStart + r]; positions[iStart + r] = tmpc;
int tmpt = pt_indices[iStart + l]; pt_indices[iStart + l] = pt_indices[iStart + r]; pt_indices[iStart + r] = tmpt;
}
n0 = l;
n1 = iCount - n0;
Debug.Assert(n0 >= 1 && n1 >= 1);
}
else
{
// interval is near-empty, so no point trying to do sorting, just split half and half
n0 = iCount / 2;
n1 = iCount - n0;
}
// create child boxes
AxisAlignedBox3d box1;
int child0 = split_point_set_midpoint(pt_indices, positions, iStart, n0, depth + 1, minIndexCount, leafs, nodes, out box);
int child1 = split_point_set_midpoint(pt_indices, positions, iStart + n0, n1, depth + 1, minIndexCount, leafs, nodes, out box1);
box.Contain(box1);
// append new box
iBox = nodes.iBoxCur++;
nodes.box_to_index.insert(nodes.iIndicesCur, iBox);
nodes.index_list.insert(child0, nodes.iIndicesCur++);
nodes.index_list.insert(child1, nodes.iIndicesCur++);
nodes.box_centers.insert(box.Center, iBox);
nodes.box_extents.insert(box.Extents, iBox);
return(iBox);
}
