func (this *Mesh) TriangleUvFromPoint(faceIndex int, f *vec3.T) verb.UV {
tri := this.Faces[faceIndex]
p0 := this.Points[tri[0]]
p1 := this.Points[tri[1]]
p2 := this.Points[tri[2]]
uv0 := this.UVs[tri[0]]
uv1 := this.UVs[tri[1]]
uv2 := this.UVs[tri[2]]
f0 := vec3.Sub(&p0, f)
f1 := vec3.Sub(&p1, f)
f2 := vec3.Sub(&p2, f)
// calculate the areas and factors (order of parameters doesn't matter):
p1.Sub(&p0)
p2.Sub(&p0)
aVec := vec3.Cross(&p1, &p2)
a := aVec.Length()
a0Vec := vec3.Cross(&f1, &f2)
a1Vec := vec3.Cross(&f2, &f0)
a2Vec := vec3.Cross(&f0, &f1)
a0 := a0Vec.Length() / a
a1 := a1Vec.Length() / a
a2 := a2Vec.Length() / a
// find the uv corresponding to point f (uv1/uv2/uv3 are associated to p1/p2/p3):
return verb.UV{
a0*uv0[0] + a1*uv1[0] + a2*uv2[0],
a0*uv0[1] + a1*uv1[1] + a2*uv2[1],
}
}
func (this Line) SameSide(p0, p1 vec3.T) bool {
lineVec := vec3.Sub(&this[1], &this[0])
p0Vec := vec3.Sub(&p0, &this[0])
p1Vec := vec3.Sub(&p1, &this[0])
cp0 := vec3.Cross(&p0Vec, &lineVec)
cp1 := vec3.Cross(&p1Vec, &lineVec)
return vec3.Dot(&cp0, &cp1) >= 0
}
// Vec3Diff returns the rotation quaternion between two vectors.
func Vec3Diff(a, b *vec3.T) T {
cr := vec3.Cross(a, b)
sr := math.Sqrt(2 * (1 + vec3.Dot(a, b)))
oosr := 1 / sr
q := T{cr[0] * oosr, cr[1] * oosr, cr[2] * oosr, sr * 0.5}
return q.Normalized()
}
func (this Triangle) Plane() Plane {
v0, v1, v2 := this[0], this[1], this[2]
normal := vec3.Cross(v1.Sub(&v0), (v2.Sub(&v0)))
invNormal := normal.Scaled(-1)
offset := vec3.Dot(&invNormal, &v0)
return Plane{normal, offset}
}
// Determine if three points form a straight line within a given tolerance for their 2 * squared area
//
// * p2
// / \
// / \
// / \
// / \
// * p1 ---- * p3
//
// The area metric is 2 * the squared norm of the cross product of two edges, requiring no square roots and no divisions
//
// **params**
// + p1
// + p2
// + p3
// + The tolerance
//
// **returns**
// + Whether the triangle passes the test
//
func threePointsAreCollinear(p1, p2, p3 *vec3.T, tol float64) bool {
// find the area of the triangle without using a square root
p2mp1 := vec3.Sub(p2, p1)
p3mp1 := vec3.Sub(p3, p1)
norm := vec3.Cross(&p2mp1, &p3mp1)
area := vec3.Dot(&norm, &norm)
return area < tol
}
//
// Tessellate a NURBS surface on equal spaced intervals in the parametric domain
//
// **params**
// + NurbsSurfaceData object
// + number of divisions in the u direction
// + number of divisions in the v direction
//
// **returns**
// + MeshData object
//
func (this *NurbsSurface) tessellateNaive(divsU, divsV int) *Mesh {
if divsU < 1 {
divsU = 1
}
if divsV < 1 {
divsV = 1
}
//degreeU, degreeV := this.DegreeU, this.DegreeV
//controlPoints := this.ControlPoints
knotsU, knotsV := this.knotsU, this.knotsV
uSpan := knotsU[len(knotsU)-1] - knotsU[0]
vSpan := knotsV[len(knotsV)-1] - knotsV[0]
spanU := uSpan / float64(divsU)
spanV := vSpan / float64(divsV)
numPoints := (divsU + 1) * (divsV + 1)
points := make([]vec3.T, numPoints)
uvs := make([]UV, numPoints)
normals := make([]vec3.T, 0, numPoints)
var counter int
for i := 0; i <= divsU; i++ {
for j := 0; j <= divsV; j++ {
uv := UV{float64(i) * spanU, float64(j) * spanV}
uvs[counter] = uv
derivs := this.Derivatives(uv, 1)
pt := derivs[0][0]
points[counter] = pt
normal := vec3.Cross(&derivs[1][0], &derivs[0][1])
normals = append(normals, *normal.Normalize())
counter++
}
}
faces := make([]Tri, 0, 2*divsU*divsV)
for i := 0; i < divsU; i++ {
for j := 0; j < divsV; j++ {
ai := i*(divsV+1) + j
bi := (i+1)*(divsV+1) + j
ci := bi + 1
di := ai + 1
abc := Tri{ai, bi, ci}
acd := Tri{ai, ci, di}
faces = append(faces, abc, acd)
}
}
return &Mesh{faces, points, normals, uvs}
}
//
// Get triangle normal
//
// **params**
// + array of length 3 arrays of numbers representing the points
// + length 3 array of point indices for the triangle
//
// **returns**
// + a normal vector represented by an array of length 3
//
func TriangleNormal(points []vec3.T, tri *verb.Tri) vec3.T {
v0 := points[tri[0]]
v1 := points[tri[1]]
v2 := points[tri[2]]
v1.Sub(&v0)
v2.Sub(&v0)
n := vec3.Cross(&v1, &v2)
return *n.Normalize()
}
func (this *adaptiveRefinementNode) EvalSrf(uv UV) *SurfacePoint {
derivs := this.srf.Derivatives(uv, 1)
pt := derivs[0][0]
norm := vec3.Cross(&derivs[0][1], &derivs[1][0])
degen := true
for _, compon := range norm {
if math.Abs(compon) > this.tolerance {
degen = false
break
}
}
if !degen {
norm.Normalize()
}
return &SurfacePoint{uv, &pt, &norm, -1, degen}
}
// Cross returns the cross product of two vectors.
func Cross(a, b *T) T {
a3 := a.Vec3DividedByW()
b3 := b.Vec3DividedByW()
c3 := vec3.Cross(&a3, &b3)
return T{c3[0], c3[1], c3[2], 1}
}
// Compute the derivatives at a point on a NURBS surface
//
// **params**
// + NurbsSurfaceData object representing the surface
// + u parameter
// + v parameter
//
// **returns**
// + a Vector represented by an array of length (dim)
func (this *NurbsSurface) Normal(uv UV) vec3.T {
derivs := this.Derivatives(uv, 1)
return vec3.Cross(&derivs[1][0], &derivs[0][1])
}
//
// Divide a NURBS surface int equal spaced intervals in the parametric domain as AdaptiveRefinementNodes
//
// **params**
// + NurbsSurfaceData object
// + SurfaceDivideOptions object
//
// **returns**
// + MeshData object
//
func (this *NurbsSurface) adaptiveDivisions(options *adaptiveRefinementOptions) []*adaptiveRefinementNode {
if options == nil {
options = &defaultAdaptiveRefinementOptions
}
minU := (len(this.controlPoints) - 1) * 2
minV := (len(this.controlPoints[0]) - 1) * 2
var divsU, divsV int
if options.MinDivsU > minU {
divsU = options.MinDivsU
} else {
divsU = minU
}
if options.MinDivsU > minV {
divsV = options.MinDivsV
} else {
divsV = minV
}
// get necessary intervals
umax := this.knotsU[len(this.knotsU)-1]
umin := this.knotsU[0]
vmax := this.knotsV[len(this.knotsV)-1]
vmin := this.knotsV[0]
du := (umax - umin) / float64(divsU)
dv := (vmax - vmin) / float64(divsV)
pts := make([][]*SurfacePoint, divsV+1)
// 1) evaluate all of the corners
for i := range pts {
ptrow := make([]*SurfacePoint, divsU+1)
for j := range ptrow {
uv := UV{umin + du*float64(j), vmin + dv*float64(i)}
// todo: make this faster by specifying n,m
ds := this.Derivatives(uv, 1)
norm := vec3.Cross(&ds[0][1], &ds[1][0])
norm.Normalize()
degen := true
for _, compon := range norm {
if math.Abs(compon) > Tolerance {
degen = false
break
}
}
ptrow[j] = &SurfacePoint{uv, &ds[0][0], &norm, -1, degen}
}
pts[i] = ptrow
}
divs := make([]*adaptiveRefinementNode, divsU*divsV)
// 2) make all of the nodes
var divsI int
for i := 0; i < divsV; i++ {
for j := 0; j < divsU; j++ {
corners := [4]*SurfacePoint{
pts[divsV-i-1][j],
pts[divsV-i-1][j+1],
pts[divsV-i][j+1],
pts[divsV-i][j],
}
divs[divsI] = newAdaptiveRefinementNode(this, &corners, nil)
divsI++
}
}
if !options.Refine {
return divs
}
// 3) assign all of the neighbors and divide
for i := 0; i < divsV; i++ {
for j := 0; j < divsU; j++ {
ci := i*divsU + j
n := north(ci, i, j, divsU, divsV, divs)
e := east(ci, i, j, divsU, divsV, divs)
s := south(ci, i, j, divsU, divsV, divs)
w := west(ci, i, j, divsU, divsV, divs)
divs[ci].Neighbors = [4]*adaptiveRefinementNode{s, e, n, w}
divs[ci].Divide(options)
}
}
return divs
}
// Generate the control points, weights, and knots of a revolved surface
// (Corresponds to Algorithm A7.1 from Piegl & Tiller)
//
// **params**
// + center of the rotation axis
// + axis of the rotation axis
// + angle to revolve around axis
// + degree of the generatrix
// + control points of the generatrix
// + weights of the generatrix
//
// **returns**
// + an object with the following properties: controlPoints, weights, knots, degree
func RevolvedSurface(profile *verb.NurbsCurve, center *vec3.T, axis *vec3.T, theta float64) *verb.NurbsSurface {
prof_controlPoints := profile.ControlPoints()
prof_weights := profile.Weights()
var narcs int
var knotsU []float64
switch {
case theta <= math.Pi/2:
{ // less than 90
narcs = 1
knotsU = make([]float64, 6+2*(narcs-1))
}
case theta <= math.Pi:
{ // between 90 and 180
narcs = 2
knotsU = make([]float64, 6+2*(narcs-1))
knotsU[3], knotsU[4] = 0.5, 0.5
}
case theta <= 3*math.Pi/2:
{ // between 180 and 270
narcs = 3
knotsU = make([]float64, 6+2*(narcs-1))
knotsU[3], knotsU[4] = 1/3, 1/3
knotsU[5], knotsU[6] = 2/3, 2/3
}
default:
{ // between 270 and 360
narcs = 4
knotsU = make([]float64, 6+2*(narcs-1))
knotsU[3], knotsU[4] = 1/4, 1/4
knotsU[5], knotsU[6] = 1/2, 1/2
knotsU[7], knotsU[8] = 3/4, 3/4
}
}
dtheta := theta / float64(narcs) // divide the interval into several points
j := 3 + 2*(narcs-1)
// initialize the start and end knots
// keep in mind that we only return the knot vector for thes
for i := 0; i < 3; i++ {
knotsU[j+i] = 1
}
// do some initialization
wm := math.Cos(dtheta / 2)
sines, cosines := make([]float64, narcs+1), make([]float64, narcs+1)
controlPoints := make([][]vec3.T, 2*narcs+1)
for i := range controlPoints {
controlPoints[i] = make([]vec3.T, len(prof_controlPoints))
}
weights := make([][]float64, 2*narcs+1)
for i := range weights {
weights[i] = make([]float64, len(prof_controlPoints))
}
// initialize the sines and cosines
var angle float64
for i := 1; i <= narcs; i++ {
angle += dtheta
cosines[i] = math.Cos(angle)
sines[i] = math.Sin(angle)
}
// for each pt in the generatrix
// i.e. for each row of the 2d knot vectors
for j := range prof_controlPoints {
// get the closest point of the generatrix point on the axis
O := rayClosestPoint(prof_controlPoints[j], center, axis)
// X is the vector from the axis to generatrix control pt
X := vec3.Sub(&prof_controlPoints[j], &O)
// radius at that height
r := X.Length()
// Y is perpendicular to X and axis, and complete the coordinate system
Y := vec3.Cross(axis, &X)
if r > internal.Epsilon {
X.Scale(1 / r)
Y.Scale(1 / r)
}
// the first row of controlPoints and weights is just the generatrix
controlPoints[0][j] = prof_controlPoints[j]
P0 := prof_controlPoints[j]
weights[0][j] = prof_weights[j]
// store T0 as the Y vector
var T0 = Y
var index int
// proceed around the circle
for i := 1; i <= narcs; i++ {
// O + r * cos(theta) * X + r * sin(theta) * Y
// rotated generatrix pt
var P2 vec3.T
if r == 0 {
P2 = O
} else {
xCompon := X.Scaled(r * cosines[i])
yCompon := Y.Scaled(r * sines[i])
offset := xCompon.Add(&yCompon)
P2 = vec3.Add(&O, offset)
}
controlPoints[index+2][j] = P2
weights[index+2][j] = prof_weights[j]
// construct the vector tangent to the rotation
temp0 := Y.Scaled(cosines[i])
temp1 := X.Scaled(sines[i])
T2 := temp0.Sub(&temp1)
// construct the next control pt
if r == 0 {
controlPoints[index+1][j] = O
} else {
T0Norm := T0.Normalized()
T2Norm := T2.Normalized()
inters := intersect.Rays(&P0, &T0Norm, &P2, &T2Norm)
T0Scaled := T0.Scaled(inters.U0)
P1 := T0Scaled.Add(&P0)
controlPoints[index+1][j] = *P1
}
weights[index+1][j] = wm * prof_weights[j]
index += 2
if i < narcs {
P0 = P2
T0 = *T2
}
}
}
return verb.NewNurbsSurfaceUnchecked(2, profile.Degree(), controlPoints, weights, knotsU, profile.Knots())
}
