libsofa1-dev 1.0~beta4-10ubuntu2 / usr / include / sofa / component / mapping / ImplicitSurfaceMapping.inl

/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4      *
*                (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS                    *
*                                                                             *
* This library is free software; you can redistribute it and/or modify it     *
* under the terms of the GNU Lesser General Public License as published by    *
* the Free Software Foundation; either version 2.1 of the License, or (at     *
* your option) any later version.                                             *
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details.                                                           *
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* You should have received a copy of the GNU Lesser General Public License    *
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA.          *
*******************************************************************************
*                               SOFA :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_COMPONENT_MAPPING_IMPLICITSURFACEMAPPING_INL
#define SOFA_COMPONENT_MAPPING_IMPLICITSURFACEMAPPING_INL

#include <sofa/component/mapping/ImplicitSurfaceMapping.h>
#include <sofa/core/Mapping.inl>
#include <sofa/helper/rmath.h>
#include <map>
#include <list>



namespace sofa
{

namespace component
{

namespace mapping
{

using namespace sofa::defaulttype;
using namespace sofa::helper;

template <class In, class Out>
void ImplicitSurfaceMapping<In,Out>::init()
{
	core::Mapping<In,Out>::init();
	topology::MeshTopology::init();
}

template <class In, class Out>
void ImplicitSurfaceMapping<In,Out>::parse(core::objectmodel::BaseObjectDescription* arg)
{
    this->Inherit::parse(arg);
     if ( arg->getAttribute("minx") || arg->getAttribute("miny") || arg->getAttribute("minz"))
       this->setGridMin(atof(arg->getAttribute("minx","-100.0")),
			atof(arg->getAttribute("miny","-100.0")),
			atof(arg->getAttribute("minz","-100.0")));
     if (arg->getAttribute("maxx") || arg->getAttribute("maxy") || arg->getAttribute("maxz"))
       this->setGridMax(atof(arg->getAttribute("maxx","100.0")),
			atof(arg->getAttribute("maxy","100.0")),
			atof(arg->getAttribute("maxz","100.0")));
}

template<class Real>
Real sqr(Real r)
{
	return r*r;
}

template <class In, class Out>
void ImplicitSurfaceMapping<In,Out>::apply( OutVecCoord& out, const InVecCoord& in )
{
	InReal invStep = (InReal)(1/mStep.getValue());
	out.resize(0);
	clear();
	if (in.size()==0) return;
	InReal xmin, xmax;
	InReal ymin, ymax;
	xmin = xmax = in[0][0]*invStep;
	ymin = ymax = in[0][1]*invStep;
	const InReal r = (InReal)(getRadius() / mStep.getValue());
	std::map<int, std::list< InCoord > > sortParticles;
	for (unsigned int ip=0; ip<in.size(); ip++)
	{
		InCoord c0 = in[ip];
		if (c0[0] < (*mGridMin.beginEdit())[0] || c0[0] > (*mGridMax.beginEdit())[0] ||
		    c0[1] < (*mGridMin.beginEdit())[1] || c0[1] > (*mGridMax.beginEdit())[1] ||
		    c0[2] < (*mGridMin.beginEdit())[2] || c0[2] > (*mGridMax.beginEdit())[2])
			continue;
		InCoord c = c0 * invStep;
		if (c[0] < xmin)
			xmin = c[0];
		else if (c[0] > xmax)
			xmax = c[0];
		if (c[1] < ymin)
			ymin = c[1];
		else if (c[1] > ymax)
			ymax = c[1];
		int z0 = rceil(c[2]-r);
		int z1 = rfloor(c[2]+r);
		for (int z = z0; z < z1; ++z)
			sortParticles[z].push_back(c);
	}

	const int z0 = sortParticles.begin()->first - 1;
	const int nz = sortParticles.rbegin()->first - z0 + 2;
	const int y0 = rceil(ymin-r) - 1;
	const int ny = rfloor(ymax+r) - y0 + 2;
	const int x0 = rceil(xmin-r) - 1;
	const int nx = rfloor(xmax+r) - x0 + 2;

	(*planes.beginEdit()).resize(2*nx*ny);
	P0 = (*planes.beginEdit()).begin()+0;
	P1 = (*planes.beginEdit()).begin()+nx*ny;

	//////// MARCHING CUBE ////////
	
	const OutReal isoval = (OutReal) getIsoValue();

	const int dx = 1;
	const int dy = nx;
	//const int dz = nx*ny;

	int x,y,z,i,mk;
	const int *tri;

	OutReal r2 = (OutReal)sqr(r);
	// First plane is all zero
	z = 0;
	newPlane();
	for (z=1;z<nz;z++)
	{
		newPlane();
		
		// Compute the data
		const std::list<InCoord>& particles = sortParticles[z0+z];
		for (typename std::list<InCoord>::const_iterator it = particles.begin(); it != particles.end(); ++it)
		{
			InCoord c = *it;
			int cx0 = rceil(c[0]-r);
			int cx1 = rfloor(c[0]+r);
			int cy0 = rceil(c[1]-r);
			int cy1 = rfloor(c[1]+r);
			OutCoord dp2;
			dp2[2] = (OutReal)sqr(z0+z-c[2]);
			i = (cx0-x0)+(cy0-y0)*nx;
			for (int y = cy0 ; y <= cy1 ; y++)
			{
				dp2[1] = (OutReal)sqr(y-c[1]);
				int ix = i;
				for (int x = cx0 ; x <= cx1 ; x++, ix++)
				{
					dp2[0] = (OutReal)sqr(x-c[0]);
					OutReal d2 = dp2[0]+dp2[1]+dp2[2];
					if (d2 < r2)
					{
						// Soft object field function from the Wyvill brothers
						// See http://astronomy.swin.edu.au/~pbourke/modelling/implicitsurf/
						d2 /= r2;
						(P1+ix)->data += (1 + (-4*d2*d2*d2 + 17*d2*d2 - 22*d2)/9);
					}
				}
				i += nx;
			}
		}
		
		i=0;
		int edgecube[12];
		const int edgepts[12] = {0,1,0,1,0,1,0,1,2,2,2,2};
		typename std::vector<CubeData>::iterator base = (*planes.beginEdit()).begin();
		int ip0 = P0-base;
		int ip1 = P1-base;
		edgecube[0]  = (ip0   -dy);
		edgecube[1]  = (ip0      );
		edgecube[2]  = (ip0      );
		edgecube[3]  = (ip0-dx   );
		edgecube[4]  = (ip1   -dy);
		edgecube[5]  = (ip1      );
		edgecube[6]  = (ip1      );
		edgecube[7]  = (ip1-dx   );
		edgecube[8]  = (ip1-dx-dy);
		edgecube[9]  = (ip1-dy   );
		edgecube[10] = (ip1      );
		edgecube[11] = (ip1-dx   );

		// First line is all zero
		{
			y=0;
			x=0;
			i+=nx;
		}
		for(y=1;y<ny;y++)
		{
			// First column is all zero
			x=0;
			++i;

			for(x=1;x<nx;x++)
			{
				if (((P1+i)->data>isoval)^((P1+i-dx)->data>isoval))
				{
					(P1+i)->p[0] = addPoint<0>(out, x0+x,y0+y,z0+z,(P1+i)->data,(P1+i-dx)->data,isoval);
				}
				if (((P1+i)->data>isoval)^((P1+i-dy)->data>isoval))
				{
					(P1+i)->p[1] = addPoint<1>(out, x0+x,y0+y,z0+z,(P1+i)->data,(P1+i-dy)->data,isoval);
				}
				if (((P1+i)->data>isoval)^((P0+i)->data>isoval))
				{
					(P1+i)->p[2] = addPoint<2>(out, x0+x,y0+y,z0+z,(P1+i)->data,(P0+i)->data,isoval);
				}

				// All points should now be created

				if ((P0+i-dx-dy)->data > isoval) mk = 1; else mk=0;
				if ((P0+i   -dy)->data > isoval) mk|= 2;
				if ((P0+i      )->data > isoval) mk|= 4;
				if ((P0+i-dx   )->data > isoval) mk|= 8;
				if ((P1+i-dx-dy)->data > isoval) mk|= 16;
				if ((P1+i   -dy)->data > isoval) mk|= 32;
				if ((P1+i      )->data > isoval) mk|= 64;
				if ((P1+i-dx   )->data > isoval) mk|= 128;

				tri=sofa::helper::MarchingCubeTriTable[mk];
				while (*tri>=0)
				{
					typename std::vector<CubeData>::iterator b = base+i;
					if (addFace((b+edgecube[tri[0]])->p[edgepts[tri[0]]],
					            (b+edgecube[tri[1]])->p[edgepts[tri[1]]],
					            (b+edgecube[tri[2]])->p[edgepts[tri[2]]], out.size())<0)
					{
						serr << "  mk=0x"<<std::hex<<mk<<std::dec<<" p1="<<tri[0]<<" p2="<<tri[1]<<" p3="<<tri[2]<<sendl;
						for (int e=0;e<12;e++) serr << "  e"<<e<<"="<<(b+edgecube[e])->p[edgepts[e]];
						serr<<sendl;
					}
					tri+=3;
				}
				++i;
			}
		}
	}
	//        sout << out.size() << " points, "<<seqTriangles.getValue().size()<<" faces."<<sendl;
}

template <class In, class Out>
void ImplicitSurfaceMapping<In,Out>::newPlane()
{
	CubeData c;
	c.p[0] = -1;
	c.p[1] = -1;
	c.p[2] = -1;
	c.data = 0;
	typename std::vector<CubeData>::iterator P = P0;
	P0 = P1;
	P1 = P;
	int n = planes.getValue().size()/2;
	for (int i=0;i<n;++i,++P)
		*P = c;
	//plane0.swap(plane1);
	//plane1.fill(c);
}


template <class In, class Out>
void ImplicitSurfaceMapping<In,Out>::applyJ( OutVecDeriv& /*out*/, const InVecDeriv& /*in*/ )
{
}

} // namespace mapping

} // namespace component

} // namespace sofa

#endif