glc_geomtools.cpp

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/****************************************************************************

 This file is part of the GLC-lib library.
 Copyright (C) 2005-2008 Laurent Ribon (laumaya@users.sourceforge.net)
 Version 2.0.0 Beta 1, packaged on April 2010.

 http://glc-lib.sourceforge.net

 GLC-lib is free software; you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation; either version 2 of the License, or
 (at your option) any later version.

 GLC-lib is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.

 You should have received a copy of the GNU General Public License
 along with GLC-lib; if not, write to the Free Software
 Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA

*****************************************************************************/


#include "glc_geomtools.h"
#include "glc_matrix4x4.h"

#include <QtGlobal>

//Tools Functions

// Test if a polygon is convex
bool glc::polygon2DIsConvex(const QList<GLC_Point2d>& vertices)
{
        bool isConvex= true;
        const int size= vertices.size();
        if (vertices.size() > 3)
        {
                GLC_Point2d s0(vertices.at(0));
                GLC_Point2d s1(vertices.at(1));
                GLC_Point2d s2(vertices.at(2));
                const bool openAngle= ((s1.getX() - s0.getX()) * (s2.getY() - s0.getY()) - (s2.getX() - s0.getX()) * (s1.getY() - s0.getY())) < 0.0;

                int i= 3;
                while ((i < size) && isConvex)
                {
                        s0= s1;
                        s1= s2;
                        s2= vertices.at(i);
                        isConvex= openAngle == (((s1.getX() - s0.getX()) * (s2.getY() - s0.getY()) - (s2.getX() - s0.getX()) * (s1.getY() - s0.getY())) < 0.0);
                        ++i;
                }
        }

        return isConvex;
}

bool glc::polygonIsConvex(QList<GLuint>* pIndexList, const QList<float>& bulkList)
{
        bool isConvex= true;
        const int size= pIndexList->size();
        GLuint currentIndex;
        GLC_Vector3d v0;
        GLC_Vector3d v1;
        int i= 0;
        while ((i < size) && isConvex)
        {
                currentIndex= pIndexList->at(i);
                v0.setVect(bulkList.at(currentIndex * 3), bulkList.at(currentIndex * 3 + 1), bulkList.at(currentIndex * 3 + 2));
                currentIndex= pIndexList->at((i + 1) % size);
                v1.setVect(bulkList.at(currentIndex * 3), bulkList.at(currentIndex * 3 + 1), bulkList.at(currentIndex * 3 + 2));
                isConvex= (v0.angleWithVect(v1) < glc::PI);
                ++i;
        }
        return isConvex;
}
// find intersection between two 2D segments
QVector<GLC_Point2d> glc::findIntersection(const GLC_Point2d& s1p1, const GLC_Point2d& s1p2, const GLC_Point2d& s2p1, const GLC_Point2d& s2p2)
{
        const GLC_Vector2d D0= s1p2 - s1p1;
        const GLC_Vector2d D1= s2p2 - s2p1;
        // The QVector of result points
        QVector<GLC_Point2d> result;

        const GLC_Vector2d E(s2p1 - s1p1);
        double kross= D0 ^ D1;
        double sqrKross= kross * kross;
        const double sqrLen0= D0.getX() * D0.getX() + D0.getY() * D0.getY();
        const double sqrLen1= D1.getX() * D1.getX() + D1.getY() * D1.getY();
        // Test if the line are nor parallel
        if (sqrKross > (EPSILON * sqrLen0 * sqrLen1))
        {
                const double s= (E ^ D1) / kross;
                if ((s < 0.0) || (s > 1.0))
                {
                        // Intersection of lines is not a point on segment s1p1 + s * DO
                        return result; // Return empty QVector
                }
                const double t= (E ^ D0) / kross;

                if ((t < 0.0) || (t > 1.0))
                {
                        // Intersection of lines is not a point on segment s2p1 + t * D1
                        return result; // Return empty QVector
                }

                // Intersection of lines is a point on each segment
                result << (s1p1 + (D0 * s));
                return result; // Return a QVector of One Point
        }

        // Lines of the segments are parallel
        const double sqrLenE= E.getX() * E.getX() + E.getY() * E.getY();
        kross= E ^ D0;
        sqrKross= kross * kross;
        if (sqrKross > (EPSILON * sqrLen0 * sqrLenE))
        {
                // Lines of the segments are different
                return result; // Return empty QVector
        }

        // Lines of the segments are the same. Need to test for overlap of segments.
        const double s0= (D0 * E) / sqrLen0;
        const double s1= (D0 * D1) / sqrLen0;
        const double sMin= qMin(s0, s1);
        const double sMax= qMax(s0, s1);
        QVector<double> overlaps= findIntersection(0.0, 1.0, sMin, sMax);
        const int iMax= overlaps.size();
        for (int i= 0; i < iMax; ++i)
        {
                result.append(s1p1 + (D0 * overlaps[i]));
        }
        return result;
}

// return true if there is an intersection between 2 segments
bool glc::isIntersected(const GLC_Point2d& s1p1, const GLC_Point2d& s1p2, const GLC_Point2d& s2p1, const GLC_Point2d& s2p2)
{
        const GLC_Vector2d D0= s1p2 - s1p1;
        const GLC_Vector2d D1= s2p2 - s2p1;

        const GLC_Vector2d E(s2p1 - s1p1);
        double kross= D0 ^ D1;
        double sqrKross= kross * kross;
        const double sqrLen0= D0.getX() * D0.getX() + D0.getY() * D0.getY();
        const double sqrLen1= D1.getX() * D1.getX() + D1.getY() * D1.getY();
        // Test if the line are nor parallel
        if (sqrKross > (EPSILON * sqrLen0 * sqrLen1))
        {
                const double s= (E ^ D1) / kross;
                if ((s < 0.0) || (s > 1.0))
                {
                        // Intersection of lines is not a point on segment s1p1 + s * DO
                        return false;
                }
                const double t= (E ^ D0) / kross;

                if ((t < 0.0) || (t > 1.0))
                {
                        // Intersection of lines is not a point on segment s2p1 + t * D1
                        return false;
                }

                // Intersection of lines is a point on each segment
                return true;
        }

        // Lines of the segments are parallel
        const double sqrLenE= E.getX() * E.getX() + E.getY() * E.getY();
        kross= E ^ D0;
        sqrKross= kross * kross;
        if (sqrKross > (EPSILON * sqrLen0 * sqrLenE))
        {
                // Lines of the segments are different
                return false;
        }

        // Lines of the segments are the same. Need to test for overlap of segments.
        const double s0= (D0 * E) / sqrLen0;
        const double s1= s0 + (D0 * D1) / sqrLen0;
        const double sMin= qMin(s0, s1);
        const double sMax= qMax(s0, s1);
        if (findIntersection(0.0, 1.0, sMin, sMax).size() == 0) return false; else return true;

}

// return true if there is an intersection between a ray and a segment
bool glc::isIntersectedRaySegment(const GLC_Point2d& s1p1, const GLC_Vector2d& s1p2, const GLC_Point2d& s2p1, const GLC_Point2d& s2p2)
{
        const GLC_Vector2d D0= s1p2 - s1p1;
        const GLC_Vector2d D1= s2p2 - s2p1;

        const GLC_Vector2d E(s2p1 - s1p1);
        double kross= D0 ^ D1;
        double sqrKross= kross * kross;
        const double sqrLen0= D0.getX() * D0.getX() + D0.getY() * D0.getY();
        const double sqrLen1= D1.getX() * D1.getX() + D1.getY() * D1.getY();
        // Test if the line are nor parallel
        if (sqrKross > (EPSILON * sqrLen0 * sqrLen1))
        {
                const double s= (E ^ D1) / kross;
                if ((s < 0.0))
                {
                        // Intersection of lines is not a point on segment s1p1 + s * DO
                        return false;
                }
                const double t= (E ^ D0) / kross;

                if ((t < 0.0) || (t > 1.0))
                {
                        // Intersection of lines is not a point on segment s2p1 + t * D1
                        return false;
                }

                // Intersection of lines is a point on each segment
                return true;
        }

        // Lines of the segments are parallel
        const double sqrLenE= E.getX() * E.getX() + E.getY() * E.getY();
        kross= E ^ D0;
        sqrKross= kross * kross;
        if (sqrKross > (EPSILON * sqrLen0 * sqrLenE))
        {
                // Lines of are different
                return false;
        }
        else return true;

}

// find intersection of two intervals [u0, u1] and [v0, v1]
QVector<double> glc::findIntersection(const double& u0, const double& u1, const double& v0, const double& v1)
{
        //Q_ASSERT((u0 < u1) and (v0 < v1));
        QVector<double> result;
        if (u1 < v0 || u0 > v1) return result; // Return empty QVector

        if (u1 > v0)
        {
                if (u0 < v1)
                {
                        if (u0 < v0) result.append(v0); else result.append(u0);
                        if (u1 > v1) result.append(v1); else result.append(u1);
                        return result;
                }
                else // u0 == v1
                {
                        result.append(u0);
                        return result;
                }
        }
        else // u1 == v0
        {
                result.append(u1);
                return result;
        }
}

// return true if the segment is in polygon cone
bool glc::segmentInCone(const GLC_Point2d& V0, const GLC_Point2d& V1, const GLC_Point2d& VM, const GLC_Point2d& VP)
{
        // assert: VM, V0, VP are not collinear
        const GLC_Vector2d diff(V1 - V0);
        const GLC_Vector2d edgeL(VM - V0);
        const GLC_Vector2d edgeR(VP - V0);
        if ((edgeR ^ edgeL) > 0)
        {
                // Vertex is convex
                return (((diff ^ edgeR) < 0.0) && ((diff ^ edgeL) > 0.0));
        }
        else
        {
                // Vertex is reflex
                return (((diff ^ edgeR) < 0.0) || ((diff ^ edgeL) > 0.0));
        }
}

// Return true if the segment is a polygon diagonal
bool glc::isDiagonal(const QList<GLC_Point2d>& polygon, const int i0, const int i1)
{
        const int size= polygon.size();
        int iM= (i0 - 1) % size;
        if (iM < 0) iM= size - 1;
        int iP= (i0 + 1) % size;

        if (!segmentInCone(polygon[i0], polygon[i1], polygon[iM], polygon[iP]))
        {
                return false;
        }

        int j0= 0;
        int j1= size - 1;
        // test segment <polygon[i0], polygon[i1]> to see if it is a diagonal
        while (j0 < size)
        {
                if (j0 != i0 && j0 != i1 && j1 != i0 && j1 != i1)
                {
                        if (isIntersected(polygon[i0], polygon[i1], polygon[j0], polygon[j1]))
                                return false;
                }

                j1= j0;
                ++j0;
        }

        return true;
}

// Triangulate a polygon
void glc::triangulate(QList<GLC_Point2d>& polygon, QList<int>& index, QList<int>& tList)
{
        const int size= polygon.size();
        if (size == 3)
        {
                tList << index[0] << index[1] << index[2];
                return;
        }
        int i0= 0;
        int i1= 1;
        int i2= 2;
        while(i0 < size)
        {
                if (isDiagonal(polygon, i0, i2))
                {
                        // Add the triangle before removing the ear.
                        tList << index[i0] << index[i1] << index[i2];
                        // Remove the ear from polygon and index lists
                        polygon.removeAt(i1);
                        index.removeAt(i1);
                        // recurse to the new polygon
                        triangulate(polygon, index, tList);
                        return;
                }
                ++i0;
                i1= (i1 + 1) % size;
                i2= (i2 + 1) % size;
        }
}

// return true if the polygon is couterclockwise ordered
bool glc::isCounterclockwiseOrdered(const QList<GLC_Point2d>& polygon)
{
        const int size= polygon.size();
        int j0= 0;
        int j1= size - 1;
        // test segment <polygon[i0], polygon[i1]> to see if it is a diagonal
        while (j0 < size)
        {
                GLC_Vector2d perp((polygon[j0] - polygon[j1]).perp());
                int j2= 0;
                int j3= size - 1;
                bool isIntersect= false;
                // Application of perp vector
                GLC_Point2d moy((polygon[j0] + polygon[j1]) * 0.5);
                while (j2 < size && !isIntersect)
                {
                        if(j2 != j0 && j3 != j1)
                        {
                                if (isIntersectedRaySegment(moy, (perp + moy), polygon[j2], polygon[j3]))
                                        isIntersect= true;
                        }
                        j3= j2;
                        ++j2;
                }
                if(!isIntersect) return false;
                j1= j0;
                ++j0;
        }

        return true;

}

// Triangulate a no convex polygon
void glc::triangulatePolygon(QList<GLuint>* pIndexList, const QList<float>& bulkList)
{
        int size= pIndexList->size();
        if (polygonIsConvex(pIndexList, bulkList))
        {
                QList<GLuint> indexList(*pIndexList);
                pIndexList->clear();
                for (int i= 0; i < size - 2; ++i)
                {
                        pIndexList->append(indexList.at(0));
                        pIndexList->append(indexList.at(i + 1));
                        pIndexList->append(indexList.at(i + 2));
                }
        }
        else
        {
                // Get the polygon vertice
                QList<GLC_Point3d> originPoints;
                QHash<int, int> indexMap;

                QList<int> face;
                GLC_Point3d currentPoint;
                int delta= 0;
                for (int i= 0; i < size; ++i)
                {
                        const int currentIndex= pIndexList->at(i);
                        currentPoint= GLC_Point3d(bulkList.at(currentIndex * 3), bulkList.at(currentIndex * 3 + 1), bulkList.at(currentIndex * 3 + 2));
                        if (!originPoints.contains(currentPoint))
                        {
                                originPoints.append(GLC_Point3d(bulkList.at(currentIndex * 3), bulkList.at(currentIndex * 3 + 1), bulkList.at(currentIndex * 3 + 2)));
                                indexMap.insert(i - delta, currentIndex);
                                face.append(i - delta);
                        }
                        else
                        {
                                qDebug() << "Multi points";
                                ++delta;
                        }
                }
                // Values of PindexList must be reset
                pIndexList->clear();

                // Update size
                size= size - delta;

                // Check new size
                if (size < 3) return;

                //-------------- Change frame to mach polygon plane
                        // Compute face normal
                        const GLC_Point3d point1(originPoints[0]);
                        const GLC_Point3d point2(originPoints[1]);
                        const GLC_Point3d point3(originPoints[2]);

                        const GLC_Vector3d edge1(point2 - point1);
                        const GLC_Vector3d edge2(point3 - point2);

                        GLC_Vector3d polygonPlaneNormal(edge1 ^ edge2);
                        polygonPlaneNormal.normalize();

                        // Create the transformation matrix
                        GLC_Matrix4x4 transformation;

                        GLC_Vector3d rotationAxis(polygonPlaneNormal ^ Z_AXIS);
                        if (!rotationAxis.isNull())
                        {
                                const double angle= acos(polygonPlaneNormal * Z_AXIS);
                                transformation.setMatRot(rotationAxis, angle);
                        }

                        QList<GLC_Point2d> polygon;
                        // Transform polygon vertexs
                        for (int i=0; i < size; ++i)
                        {
                                originPoints[i]= transformation * originPoints[i];
                                // Create 2d vector
                                polygon << originPoints[i].toVector2d(Z_AXIS);
                        }
                        // Create the index
                        QList<int> index= face;

                        QList<int> tList;
                        const bool faceIsCounterclockwise= isCounterclockwiseOrdered(polygon);

                        if(!faceIsCounterclockwise)
                        {
                                //qDebug() << "face Is Not Counterclockwise";
                                const int max= size / 2;
                                for (int i= 0; i < max; ++i)
                                {
                                        polygon.swap(i, size - 1 -i);
                                        int temp= face[i];
                                        face[i]= face[size - 1 - i];
                                        face[size - 1 - i]= temp;
                                }
                        }

                        triangulate(polygon, index, tList);
                        size= tList.size();
                        for (int i= 0; i < size; i+= 3)
                        {
                                // Avoid normal problem
                                if (faceIsCounterclockwise)
                                {
                                        pIndexList->append(indexMap.value(face[tList[i]]));
                                        pIndexList->append(indexMap.value(face[tList[i + 1]]));
                                        pIndexList->append(indexMap.value(face[tList[i + 2]]));
                                }
                                else
                                {
                                        pIndexList->append(indexMap.value(face[tList[i + 2]]));
                                        pIndexList->append(indexMap.value(face[tList[i + 1]]));
                                        pIndexList->append(indexMap.value(face[tList[i]]));
                                }
                        }
                        Q_ASSERT(size == pIndexList->size());
        }

}

bool glc::lineIntersectPlane(const GLC_Line3d& line, const GLC_Plane& plane, GLC_Point3d* pPoint)
{
        const GLC_Vector3d n= plane.normal();
        const GLC_Point3d p= line.startingPoint();
        const GLC_Vector3d d= line.direction();

        const double denominator= d * n;
        if (qFuzzyCompare(fabs(denominator), 0.0))
        {
                qDebug() << " glc::lineIntersectPlane : Line parallel to the plane";
                // The line is parallel to the plane
                return false;
        }
        else
        {
                // The line intersect the plane by one point
                const double t= -((n * p) + plane.coefD()) / denominator;
                (*pPoint)= p + (t * d);

                return true;
        }
}

GLC_Point3d glc::project(const GLC_Point3d& point, const GLC_Line3d& line)
{
        // Create the plane from the point with normal define by the line direction
        const GLC_Plane plane(line.direction().normalize(), point);
        GLC_Point3d intersection;
        const bool intersect= lineIntersectPlane(line, plane, &intersection);
        Q_ASSERT(intersect == true);
        return intersection;
}