shape_trimesh.hpp

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#pragma once
 
#include "igl_wrapper.hpp"
#include "sdf_calculator.hpp"
#include "shape.hpp"
#include "stl_model.hpp"
#include "stl_reader.hpp"
#include <iostream>
#include <string>
 
namespace netdem {
 
class TriMesh : public Shape {
public:
  VecXT<Vec3d> vertices;
 
  VecXT<Vec3i> facets;
 
  VecXT<VecXT<int>> vertices_neighs;
 
  bool use_linked_patches{false};
 
  int num_cells{8};
 
  VecXT<VecXT<int>> linked_vertices;
 
  SDFCalculator sdf_calculator;
 
  bool enable_debugging{false};
 
  TriMesh();
 
  nlohmann::json PackJson() override;
 
  void InitFromJson(nlohmann::json const &js) override;
 
  void InitFromSTL(std::string const &file);
 
  void InitFromOFF(std::string const &file);
 
  void InitFromSTL(STLModel const &stl_model);
 
  void Init();
 
  void AlignAxes();
 
  void Decimate(int num_nodes);
 
  void MakeConvex();
 
  void UpdateSurfaceNodes() override;
 
  void UpdateShapeProperties() override;
 
  void SetSize(double d) override;
 
  Shape *Clone() const override;
 
  STLModel GetSTLModel(int num_nodes = 200) override;
 
  Vec3d SupportPoint(Vec3d const &dir) override;
 
  VecXT<Vec3d> SupportPoints(Vec3d const &dir) override;
 
  Vec3d SupportPoint_HillClimb(Vec3d const &dir);
 
  VecXT<Vec3d> SupportPoints_HillClimb(Vec3d const &dir);
 
  void SupportPoints_HillClimbCheckCoplane(int vert_id, Vec3d const &max_pos,
                                           VecXT<int> *const vert_id_list,
                                           Vec3d const &dir);
 
  Vec3d SupportPoint_Sweep(Vec3d const &dir);
 
  VecXT<Vec3d> SupportPoints_Sweep(Vec3d const &dir);
 
  Vec3d SupportPoint_LinkedVertices(Vec3d const &dir);
 
  VecXT<Vec3d> SupportPoints_LinkedVertices(Vec3d const &dir);
 
  double SignedDistance(Vec3d const &pos) const override;
 
  Vec3d SurfacePoint(Vec3d const &pos) override;
 
  int ClosestFacet(Vec3d const &pos);
 
  void Print() override;
 
  void SaveNormalPatchesSpherical(std::string const &file);
 
  void SaveNormalPatchesCubic(std::string const &file);
 
private:
  void UpdateVerticesNeighs();
 
  void UpdateLinkedVertices();
 
  void UpdateLinkedVerticesSub(int vid);
 
  VecXT<Vec3d> ComputeNormalPatch(int vid);
 
  void SortNormalPatchVertices(VecXT<Vec3d> *const normals);
 
  VecXT<Vec3d> ComputeCartesianProject(const VecXT<Vec3d> &normals);
 
  VecXT<Vec3d> ComputeCartesianProject(const Vec3d &v1, const Vec3d &v2);
 
  bool ContainCorner(Vec3d const &corner, const VecXT<Vec3d> &normals);
 
  bool Find(const VecXT<int> &vert_id_list, int id);
};
 
} // namespace netdem