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fixed const correctness for Inertia and some Stat functions + code cleaning

This commit is contained in:
Luigi Malomo 2021-11-17 15:12:21 +01:00
parent bd1b1a937b
commit 95f5550951
2 changed files with 75 additions and 72 deletions
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45
vcg/complex/algorithms/inertia.h
View File

@ -188,20 +188,21 @@ void CompFaceIntegrals(const FaceType &f)
It requires a watertight mesh with per face normals. It requires a watertight mesh with per face normals.
*/ */
void Compute(MeshType &m) void Compute(const MeshType &m)
{ {
tri::UpdateNormal<MeshType>::PerFaceNormalized(m);
double nx, ny, nz; double nx, ny, nz;
T0 = T1[X] = T1[Y] = T1[Z] T0 = T1[X] = T1[Y] = T1[Z]
= T2[X] = T2[Y] = T2[Z] = T2[X] = T2[Y] = T2[Z]
= TP[X] = TP[Y] = TP[Z] = 0; = TP[X] = TP[Y] = TP[Z] = 0;
for (auto fi=m.face.begin(); fi!=m.face.end();++fi) if(!(*fi).IsD() && vcg::DoubleArea(*fi)>std::numeric_limits<float>::min()) { for (auto fi=m.face.begin(); fi!=m.face.end();++fi) if(!(*fi).IsD() && vcg::DoubleArea(*fi)>std::numeric_limits<float>::min())
{
const FaceType &f=(*fi); const FaceType &f=(*fi);
const auto fn = vcg::NormalizedTriangleNormal(f);
nx = fabs(f.N()[0]); nx = fabs(fn[0]);
ny = fabs(f.N()[1]); ny = fabs(fn[1]);
nz = fabs(f.N()[2]); nz = fabs(fn[2]);
if (nx > ny && nx > nz) C = X; if (nx > ny && nx > nz) C = X;
else C = (ny > nz) ? Y : Z; else C = (ny > nz) ? Y : Z;
A = (C + 1) % 3; A = (C + 1) % 3;
@ -209,17 +210,17 @@ void Compute(MeshType &m)
CompFaceIntegrals(f); CompFaceIntegrals(f);
T0 += f.N()[X] * ((A == X) ? Fa : ((B == X) ? Fb : Fc)); T0 += fn[X] * ((A == X) ? Fa : ((B == X) ? Fb : Fc));
T1[A] += f.N()[A] * Faa; T1[A] += fn[A] * Faa;
T1[B] += f.N()[B] * Fbb; T1[B] += fn[B] * Fbb;
T1[C] += f.N()[C] * Fcc; T1[C] += fn[C] * Fcc;
T2[A] += f.N()[A] * Faaa; T2[A] += fn[A] * Faaa;
T2[B] += f.N()[B] * Fbbb; T2[B] += fn[B] * Fbbb;
T2[C] += f.N()[C] * Fccc; T2[C] += fn[C] * Fccc;
TP[A] += f.N()[A] * Faab; TP[A] += fn[A] * Faab;
TP[B] += f.N()[B] * Fbbc; TP[B] += fn[B] * Fbbc;
TP[C] += f.N()[C] * Fcca; TP[C] += fn[C] * Fcca;
} }
T1[X] /= 2; T1[Y] /= 2; T1[Z] /= 2; T1[X] /= 2; T1[Y] /= 2; T1[Z] /= 2;
@ -231,7 +232,7 @@ void Compute(MeshType &m)
Meaningful only if the mesh is watertight. Meaningful only if the mesh is watertight.
*/ */
ScalarType Mass() ScalarType Mass(void) const
{ {
return static_cast<ScalarType>(T0); return static_cast<ScalarType>(T0);
} }
@ -240,7 +241,7 @@ ScalarType Mass()
Meaningful only if the mesh is watertight. Meaningful only if the mesh is watertight.
*/ */
Point3<ScalarType> CenterOfMass() Point3<ScalarType> CenterOfMass(void) const
{ {
Point3<ScalarType> r; Point3<ScalarType> r;
r[X] = T1[X] / T0; r[X] = T1[X] / T0;
@ -248,7 +249,9 @@ Point3<ScalarType> CenterOfMass()
r[Z] = T1[Z] / T0; r[Z] = T1[Z] / T0;
return r; return r;
} }
void InertiaTensor(Matrix33<ScalarType> &J ){
void InertiaTensor(Matrix33<ScalarType> &J) const
{
Point3<ScalarType> r; Point3<ScalarType> r;
r[X] = T1[X] / T0; r[X] = T1[X] / T0;
r[Y] = T1[Y] / T0; r[Y] = T1[Y] / T0;
@ -270,7 +273,7 @@ void InertiaTensor(Matrix33<ScalarType> &J ){
} }
//void InertiaTensor(Matrix44<ScalarType> &J ) //void InertiaTensor(Matrix44<ScalarType> &J )
void InertiaTensor(Eigen::Matrix3d &J ) void InertiaTensor(Eigen::Matrix3d &J) const
{ {
J=Eigen::Matrix3d::Identity(); J=Eigen::Matrix3d::Identity();
Point3d r; Point3d r;
@ -299,7 +302,7 @@ void InertiaTensor(Eigen::Matrix3d &J )
The result is factored as eigenvalues and eigenvectors (as ROWS). The result is factored as eigenvalues and eigenvectors (as ROWS).
*/ */
void InertiaTensorEigen(Matrix33<ScalarType> &EV, Point3<ScalarType> &ev ) void InertiaTensorEigen(Matrix33<ScalarType> &EV, Point3<ScalarType> &ev) const
{ {
Eigen::Matrix3d it; Eigen::Matrix3d it;
InertiaTensor(it); InertiaTensor(it);

6
vcg/complex/algorithms/stat.h
View File

@ -239,18 +239,18 @@ public:
return barycenter/areaSum; return barycenter/areaSum;
} }
static ScalarType ComputeTetraMeshVolume(MeshType & m) static ScalarType ComputeTetraMeshVolume(const MeshType & m)
{ {
ScalarType V = 0; ScalarType V = 0;
ForEachTetra(m, [&V] (TetraType & t) { ForEachTetra(m, [&V] (const TetraType & t) {
V += Tetra::ComputeVolume(t); V += Tetra::ComputeVolume(t);
}); });
return V; return V;
} }
static ScalarType ComputeMeshVolume(MeshType & m) static ScalarType ComputeMeshVolume(const MeshType & m)
{ {
Inertia<MeshType> I(m); Inertia<MeshType> I(m);
return I.Mass(); return I.Mass();