compiled with new version of spatial hashing
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@ -9,42 +9,47 @@ template <class ContSimplex>
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class Collision_Detector{
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public:
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typedef typename ContSimplex::value_type SimplexType;
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typedef typename ContSimplex::value_type* SimplexPointer;
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typedef typename ContSimplex::iterator SimplexIterator;
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typedef typename SimplexType::CoordType Point3x;
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typedef typename Point3x::ScalarType ScalarType;
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typedef SpatialHashTable<SimplexType> HashingTable;
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Collision_Detector(ContSimplex & r_):_simplex(r_){};
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~Collision_Detector(){};
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typedef typename ContSimplex::value_type SimplexType;
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typedef typename ContSimplex::value_type* SimplexPointer;
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typedef typename ContSimplex::iterator SimplexIterator;
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typedef typename SimplexType::CoordType CoordType;
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typedef typename CoordType::ScalarType ScalarType;
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typedef typename vcg::Box3<ScalarType> Box3x;
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ContSimplex & _simplex;
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HashingTable *HTable;
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std::set<Point3i> vactive;
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typedef DynamicSpatialHashTable<SimplexType,float> HashingTable;
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int active;
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Collision_Detector(ContSimplex & r_):_simplex(r_){};
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~Collision_Detector(){};
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ContSimplex & _simplex;
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HashingTable *HTable;
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std::set<Point3i> vactive;
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int active;
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//control if two faces share an edge
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bool ShareEdge(SimplexType *f0,SimplexType *f1)
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{
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assert((!f0->IsD())&&(!f1->IsD()));
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for (int i=0;i<3;i++)
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if (f0->FFp(i)==f1)
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return (true);
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if (f0->FFp(i)==f1)
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return (true);
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return(false);
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}
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///initialize the box for collision detection and the dimension of a cell
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void Init(Point3x _min,Point3x _max,ScalarType _l)
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void Init(CoordType _min,CoordType _max,ScalarType _l)
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{
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HTable=new HashingTable();
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HTable->Init(_min,_max,_l);
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Box3x bb(_min,_max);
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CoordType d=((_max-_min)/_l);
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vcg::Point3i dim;
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dim.Import<ScalarType>(d);
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HTable->InitEmpty(bb,dim);
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}
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//control if two faces share a vertex
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@ -58,7 +63,7 @@ public:
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return(false);
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}
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//test real intersection between faces
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bool TestRealIntersection(SimplexType *f0,SimplexType *f1)
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{
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@ -66,9 +71,14 @@ public:
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if ((!f0->IsActive())&&(!f1->IsActive()))
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return false;
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//no adiacent faces
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if ((f0!=f1)&& (!ShareEdge(f0,f1))
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&& (!ShareVertex(f0,f1)))
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return (vcg::Intersection<SimplexType>((*f0),(*f1)));
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assert(f0!=f1);
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if ((f0!=f1)&& (!ShareEdge(f0,f1))&&!ShareVertex(f0,f1))
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{
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//vcg::Segment3<ScalarType> segm;
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//bool copl=false;
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return (vcg::Intersection<SimplexType>((*f0),(*f1)));//,copl,segm))
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//return ((copl)||(segm.Length()>0.001));
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}
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return false;
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}
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@ -76,49 +86,34 @@ public:
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void RefreshElements()
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{
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HTable->Clear();
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vactive.clear();///new
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vactive.clear();
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HTable->tempMark=0;
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for (SimplexIterator si=_simplex.begin();si<_simplex.end();++si)
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{
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if (!(*si).IsD())
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{
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(*si).Mark()=0;
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if (!(*si).IsActive())
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HTable->AddElem(&*si);
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///new now
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else
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(*si).HMark()=0;
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vcg::Box3i cells=HTable->Add(&*si);
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if ((*si).IsActive())
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{
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std::vector<Point3i> cells=HTable->AddElem(&*si);
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for(std::vector<Point3i>::iterator it=cells.begin();it<cells.end();it++)
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vactive.insert(*it);
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vcg::Box3i cells=HTable->Add(&*si);
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for (int x=cells.min.X(); x<=cells.max.X();x++)
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for (int y=cells.min.Y(); y<=cells.max.Y();y++)
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for (int z=cells.min.Z(); z<=cells.max.Z();z++)
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vactive.insert(vcg::Point3i(x,y,z));
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}
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///end new now
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}
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//UpdateStep(); commented now
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}
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}
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/////put active cells on apposite structure
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//void UpdateStep()
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//{
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// vactive.clear();
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// for (SimplexIterator si=_simplex.begin();si<_simplex.end();++si)
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// {
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// if ((((!(*si).IsD()))&&(*si).IsActive()))
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// {
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// std::vector<Point3i> cells=HTable->addSimplex(&*si);
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// for(std::vector<Point3i>::iterator it=cells.begin();it<cells.end();it++)
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// vactive.insert(*it);
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// }
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// }
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//}
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///put active cells on apposite structure
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template <class Container_Type>
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void UpdateStep(Container_Type &simplex)
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void UpdateStep(Container_Type &simplex)
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{
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vactive.clear();
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HTable->UpdateTmark();
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@ -126,35 +121,16 @@ public:
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{
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if ((!(*si).IsD())&&((*si).IsActive()))
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{
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std::vector<Point3i> cells=HTable->AddElem(&*si);
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for(std::vector<Point3i>::iterator it=cells.begin();it<cells.end();it++)
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vactive.insert(*it);
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vcg::Box3i cells=HTable->Add(&*si);
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for (int x=cells.min.X();x<=cells.max.X();x++)
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for (int y=cells.min.Y();y<=cells.max.Y();y++)
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for (int z=cells.min.Z();z<=cells.max.Z();z++)
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vactive.insert(vcg::Point3i(x,y,x));
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}
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}
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}
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/////put active cells on apposite structure
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//void AddElements(typename ContSimplex::iterator newSimplex)
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//{
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// while (newSimplex!=_simplex.end())
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// {
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// if (!(*newSimplex).IsD())
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// {
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// if (!(*newSimplex).IsActive())
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// HTable->addSimplex(&*newSimplex);
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// ///new now
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// else
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// {
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// std::vector<Point3i> cells=HTable->addSimplex(&*newSimplex);
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// for(std::vector<Point3i>::iterator it=cells.begin();it<cells.end();it++)
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// vactive.insert(*it);
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// }
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// ///end new now
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// }
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// newSimplex++;
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// }
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//}
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///control the real self intersection in the mesh and returns the elements that intersect with someone
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std::vector<SimplexType*> computeSelfIntersection()
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@ -162,28 +138,30 @@ public:
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std::vector<SimplexType*> ret;
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std::set<Point3i>::iterator act;
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for (act=vactive.begin();act!=vactive.end();act++)
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{
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Point3i p=*act;
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HashingTable::IteHtable I;
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if (HTable->numElemCell(p,I)>=2)
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{
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std::vector<SimplexType*> inCell;
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inCell.clear();
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HTable->getInCellUpdated(p,inCell);
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int nelem=inCell.size();
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if (nelem>=2)
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{
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Point3i p=*act;
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HashingTable::IteHtable I;
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if (HTable->numElemCell(p,I)>=2)
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{
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std::vector<SimplexType*> inCell;
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HTable->getAtCell(p,inCell);
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int nelem=inCell.size();
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if (nelem>=2)
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{
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//test combinations of elements
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for (int i=0;i<nelem-1;i++)
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for (int j=i+1;j<nelem;j++)
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if ((!inCell[i]->IsD())&&(!inCell[j]->IsD())&&(TestRealIntersection(inCell[i],inCell[j])))
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{
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ret.push_back(inCell[i]);
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ret.push_back(inCell[j]);
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}
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}
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}
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//test combinations of elements
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for (int i=0;i<nelem-1;i++)
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for (int j=i+1;j<nelem;j++)
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if ((!inCell[i]->IsD())&&(!inCell[j]->IsD())&&(TestRealIntersection(inCell[i],inCell[j])))
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{
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ret.push_back(inCell[i]);
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ret.push_back(inCell[j]);
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}
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}
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return ret;
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}
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}
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return ret;
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}
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};
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