From 106cea6b3f164a61b67011091f65febbc7c59f5f Mon Sep 17 00:00:00 2001 From: Jeremy Hu Date: Mon, 26 Dec 2016 18:09:01 +0930 Subject: [PATCH] Implement convex hull algorithm. --- README.md | 6 +- build/dust3d.pro | 6 +- screenshot/dust3d_convex_hull.png | Bin 0 -> 331436 bytes src/bmesh.c | 47 +++++- src/convexhull.c | 238 ++++++++++++++++++++++++++++++ src/convexhull.h | 14 ++ src/vector3d.c | 16 +- src/vector3d.h | 1 + 8 files changed, 315 insertions(+), 13 deletions(-) create mode 100644 screenshot/dust3d_convex_hull.png create mode 100644 src/convexhull.c create mode 100644 src/convexhull.h diff --git a/README.md b/README.md index 566e8d89..c5410bb8 100644 --- a/README.md +++ b/README.md @@ -36,7 +36,7 @@ Two caps and many strips composites a cylinder. Almost all 3D editor have a infinite grid ground, I just made a finite one, in the future, I should expand the grid outside of the screen to make it infinite. Now, for just beginning, I think it's a not bad start. -- [ ] Implement B-Mesh algorithm (Dec 18, 2016 ~ Dec 25, 2016) +- [ ] Implement B-Mesh algorithm (Dec 18, 2016 ~ Dec 26, 2016) *Drawing Skeletal Shape Balls* Draw shape ball is easy, no need to rotate, I just need scale it along the ball's radius. Draw the cylinder which connects two shape balls is more difficult, I need do some math to rotate it. [Here](http://www.thjsmith.com/40/cylinder-between-two-points-opengl-c) described it. @@ -54,8 +54,8 @@ I created the test nodes's geometry information from Blender. Here is the render When I am implementing the B-Mesh algorithm, I am also think in the future, how to create a library of bunch of initial base models. There is a paper [the Skeleton of a Closed 3D Shape](http://www1.idc.ac.il/icgf/GraphicsSeminar2006/DCGskeleton06.pdf) described how to generate skeleton from mesh, this is the reverse progress of what I am doing, I think it can resolve the problem of insufficient initial base models, I can generate from tons of existed models. *Convex Hull* -After finish the rotation at the two connected bones, I need implement [3D Convex Hull](https://en.wikipedia.org/wiki/Convex_hull) algorithm at joint ball. - +After finish the rotation at the two connected bones, I need implement 3D Convex Hull algorithm at the joint ball, there are so many methods to get the convex hull, I found the [Gift wrapping](http://dccg.upc.edu/people/vera/wp-content/uploads/2014/11/GA2014-ConvexHulls3D-Roger-Hernando.pdf) is the most strait-forward one, though is not the most efficient one. + - [ ] Export Wavefront .obj - [ ] Render B-Mesh result - [ ] Design UI for monster parts configuration diff --git 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zQ}o`Gh(o8}`~1^&&-oiJezxvq82WTwT>i)V*S$2|FaP4Db%2%T{K>e?IrIPDzc$2v d@O)|2l5<7qPYziFtAIaW9rpdA?DNy#{eM`U(Om!l literal 0 HcmV?d00001 diff --git a/src/bmesh.c b/src/bmesh.c index b81ad1df..b66ad86e 100644 --- a/src/bmesh.c +++ b/src/bmesh.c @@ -6,6 +6,7 @@ #include "bmesh.h" #include "array.h" #include "matrix.h" +#include "convexhull.h" #include "draw.h" #define BMESH_STEP_DISTANCE 0.4 @@ -245,6 +246,7 @@ static int bmeshGenerateInbetweenBallsBetween(bmesh *bm, generateYZfromBoneDirection(&boneDirection, &localYaxis, &localZaxis); + /* glColor3f(0.0, 0.0, 0.0); drawDebugPrintf("<%f,%f,%f> <%f,%f,%f> <%f,%f,%f>", localYaxis.x, @@ -256,7 +258,8 @@ static int bmeshGenerateInbetweenBallsBetween(bmesh *bm, boneDirection.x, boneDirection.y, boneDirection.z); - + */ + distance = vec3Length(&boneDirection); if (distance > BMESH_STEP_DISTANCE) { float offset; @@ -485,7 +488,7 @@ static bmeshBall *bmeshFindBallForConvexHull(bmesh *bm, bmeshBall *root, bmeshBallIterator iterator; bmeshBall *child; float distance = vec3Distance(&root->position, &ball->position); - if (distance >= root->radius) { + if (distance > root->radius) { return ball; } child = bmeshGetBallFirstChild(bm, ball, &iterator); @@ -502,11 +505,51 @@ static int bmeshStichFrom(bmesh *bm, bmeshBall *ball) { bmeshBall *child; bmeshBall *ballForConvexHull; if (BMESH_BALL_TYPE_ROOT == ball->type) { + convexHull *hull = convexHullCreate(); + if (!hull) { + fprintf(stderr, "%s:convexHullCreate failed.\n", __FUNCTION__); + return -1; + } for (child = bmeshGetBallFirstChild(bm, ball, &iterator); child; child = bmeshGetBallNextChild(bm, ball, &iterator)) { + vec3 z, y; + quad q; + int vertexIndices[4]; + ballForConvexHull = bmeshFindBallForConvexHull(bm, ball, child); + + vec3Scale(&ballForConvexHull->localYaxis, ballForConvexHull->radius, &y); + vec3Scale(&ballForConvexHull->localZaxis, ballForConvexHull->radius, &z); + vec3Sub(&ballForConvexHull->position, &y, &q.pt[0]); + vec3Add(&q.pt[0], &z, &q.pt[0]); + vec3Sub(&ballForConvexHull->position, &y, &q.pt[1]); + vec3Sub(&q.pt[1], &z, &q.pt[1]); + vec3Add(&ballForConvexHull->position, &y, &q.pt[2]); + vec3Sub(&q.pt[2], &z, &q.pt[2]); + vec3Add(&ballForConvexHull->position, &y, &q.pt[3]); + vec3Add(&q.pt[3], &z, &q.pt[3]); + + vertexIndices[0] = convexHullAddVertex(hull, &q.pt[0]); + vertexIndices[1] = convexHullAddVertex(hull, &q.pt[1]); + vertexIndices[2] = convexHullAddVertex(hull, &q.pt[2]); + vertexIndices[3] = convexHullAddVertex(hull, &q.pt[3]); } + convexHullGenerate(hull); + + glPushMatrix(); + { + int triIndex; + glColor3f(1.0, 1.0, 1.0); + for (triIndex = 0; triIndex < convexHullGetTriangleNum(hull); + ++triIndex) { + triangle *tri = (triangle *)convexHullGetTriangle(hull, triIndex); + drawTriangle(tri); + } + } + glPopMatrix(); + + convexHullDestroy(hull); } for (child = bmeshGetBallFirstChild(bm, ball, &iterator); child; diff --git a/src/convexhull.c b/src/convexhull.c new file mode 100644 index 00000000..b2a46c51 --- /dev/null +++ b/src/convexhull.c @@ -0,0 +1,238 @@ +#include +#include +#include +#include "convexhull.h" +#include "array.h" +#include "draw.h" + +// +// Implement Gift wrapping method which describled in http://dccg.upc.edu/people/vera/wp-content/uploads/2014/11/GA2014-ConvexHulls3D-Roger-Hernando.pdf +// +// +// Translate from Danielhst's lua version https://github.com/danielhst/3d-Hull-gift-wrap/blob/master/giftWrap.lua +// + +struct convexHull { + array *vertexArray; + array *openEdgeArray; + array *triangleArray; + int nextEdgeIndex; + unsigned int *openEdgeExistMap; +}; + +typedef struct { + int firstVertex; + int secondVertex; +} edge; + +convexHull *convexHullCreate(void) { + convexHull *hull = (convexHull *)calloc(1, sizeof(convexHull)); + if (!hull) { + fprintf(stderr, "%s:Insufficient memory.\n", __FUNCTION__); + return 0; + } + hull->vertexArray = arrayCreate(sizeof(vec3)); + if (!hull->vertexArray) { + fprintf(stderr, "%s:arrayCreate failed.\n", __FUNCTION__); + return 0; + } + hull->openEdgeArray = arrayCreate(sizeof(edge)); + if (!hull->openEdgeArray) { + fprintf(stderr, "%s:arrayCreate failed.\n", __FUNCTION__); + return 0; + } + hull->triangleArray = arrayCreate(sizeof(triangle)); + if (!hull->triangleArray) { + fprintf(stderr, "%s:arrayCreate failed.\n", __FUNCTION__); + return 0; + } + return hull; +} + +void convexHullMarkEdgeAsExsits(convexHull *hull, int firstVertex, + int secondVertex) { + int mapIndex = firstVertex * arrayGetLength(hull->vertexArray) + secondVertex; + int unitIndex = mapIndex / (sizeof(unsigned int) * 8); + int unitOffset = mapIndex % (sizeof(unsigned int) * 8); + hull->openEdgeExistMap[unitIndex] |= (0x00000001 << unitOffset); +} + +int convexHullEdgeExsits(convexHull *hull, int firstVertex, + int secondVertex) { + int mapIndex = firstVertex * arrayGetLength(hull->vertexArray) + secondVertex; + int unitIndex = mapIndex / (sizeof(unsigned int) * 8); + int unitOffset = mapIndex % (sizeof(unsigned int) * 8); + return hull->openEdgeExistMap[unitIndex] & (0x00000001 << unitOffset); +} + +int convexHullAddVertex(convexHull *hull, vec3 *vertex) { + int newVertex = arrayGetLength(hull->vertexArray); + if (0 != arraySetLength(hull->vertexArray, newVertex + 1)) { + fprintf(stderr, "%s:arraySetLength failed.\n", __FUNCTION__); + return -1; + } + *((vec3 *)arrayGetItem(hull->vertexArray, newVertex)) = *vertex; + return newVertex; +} + +int convexHullAddOpenEdgeNoCheck(convexHull *hull, int firstVertex, + int secondVertex) { + edge *e; + int newEdge = arrayGetLength(hull->openEdgeArray); + if (firstVertex < 0 || secondVertex < 0) { + fprintf(stderr, "%s:Invalid params(firstVertex:%d secondVertex:%d).\n", + __FUNCTION__, firstVertex, secondVertex); + return -1; + } + if (0 != arraySetLength(hull->openEdgeArray, newEdge + 1)) { + fprintf(stderr, "%s:arraySetLength failed.\n", __FUNCTION__); + return -1; + } + e = (edge *)arrayGetItem(hull->openEdgeArray, newEdge); + memset(e, 0, sizeof(edge)); + e->firstVertex = firstVertex; + e->secondVertex = secondVertex; + return 0; +} + +int convexHullAddEdge(convexHull *hull, int p1, int p2) { + convexHullMarkEdgeAsExsits(hull, p1, p2); + if (!convexHullEdgeExsits(hull, p2, p1)) { + return convexHullAddOpenEdgeNoCheck(hull, p2, p1); + } + return 0; +} + +int convexHullAddTriangle(convexHull *hull, int firstVertex, int secondVertex, + int thirdVertex) { + triangle *tri; + int newTri = arrayGetLength(hull->triangleArray); + if (0 != arraySetLength(hull->triangleArray, newTri + 1)) { + fprintf(stderr, "%s:arraySetLength failed.\n", __FUNCTION__); + return -1; + } + tri = (triangle *)arrayGetItem(hull->triangleArray, newTri); + memset(tri, 0, sizeof(triangle)); + tri->pt[0] = *((vec3 *)arrayGetItem(hull->vertexArray, firstVertex)); + tri->pt[1] = *((vec3 *)arrayGetItem(hull->vertexArray, secondVertex)); + tri->pt[2] = *((vec3 *)arrayGetItem(hull->vertexArray, thirdVertex)); + return 0; +} + +static void convexHullReleaseForGenerate(convexHull *hull) { + free(hull->openEdgeExistMap); + hull->openEdgeExistMap = 0; +} + +void convexHullDestroy(convexHull *hull) { + arrayDestroy(hull->vertexArray); + arrayDestroy(hull->openEdgeArray); + arrayDestroy(hull->triangleArray); + convexHullReleaseForGenerate(hull); + free(hull); +} + +static int convexHullPrepareForGenerate(convexHull *hull) { + free(hull->openEdgeExistMap); + hull->openEdgeExistMap = (unsigned int *)calloc( + arrayGetLength(hull->vertexArray) * arrayGetLength(hull->vertexArray) / + (sizeof(unsigned int) * 8) + 1, + sizeof(unsigned int)); + if (!hull->openEdgeExistMap) { + fprintf(stderr, "%s:Insufficient memory.\n", __FUNCTION__); + return -1; + } + hull->nextEdgeIndex = 0; + return 0; +} + +int convexHullGetLower(convexHull *hull) { + int index = 0; + int i; + for (i = 1; i < arrayGetLength(hull->vertexArray); ++i) { + vec3 *pI = (vec3 *)arrayGetItem(hull->vertexArray, i); + vec3 *pIndex = (vec3 *)arrayGetItem(hull->vertexArray, index); + if (pI->z < pIndex->z) { + index = i; + } else if (pI->z == pIndex->z) { + if (pI->y < pIndex->y) { + index = i; + } else if (pI->x < pIndex->x) { + index = i; + } + } + } + return index; +} + +int convexHullGetNextVertex(convexHull *hull, int p1Index, int p2Index) { + vec3 pCorner = {1, 1, 0}; + vec3 *p1 = (vec3 *)arrayGetItem(hull->vertexArray, p1Index); + vec3 *p2 = p2Index < 0 ? &pCorner : (vec3 *)arrayGetItem(hull->vertexArray, + p2Index); + vec3 edge; + int candidateIndex = -1; + int i; + vec3Sub(p2, p1, &edge); + vec3Normalize(&edge); + for (i = 0; i < arrayGetLength(hull->vertexArray); ++i) { + if (i != p1Index && i != p2Index) { + if (-1 == candidateIndex) { + candidateIndex = 0; + } else { + vec3 v, proj, candidate, canProj, cross; + vec3Sub((vec3 *)arrayGetItem(hull->vertexArray, i), p1, &v); + vec3ProjectOver(&v, &edge, &proj); + vec3Sub(&v, &proj, &v); + vec3Sub((vec3 *)arrayGetItem(hull->vertexArray, + candidateIndex), p1, &candidate); + vec3ProjectOver(&candidate, &edge, &canProj); + vec3Sub(&candidate, &canProj, &candidate); + vec3CrossProduct(&candidate, &v, &cross); + if (vec3DotProduct(&cross, &edge) > 0) { + candidateIndex = i; + } + } + } + } + return candidateIndex; +} + +int convexHullGenerate(convexHull *hull) { + int index1, index2, index3; + convexHullReleaseForGenerate(hull); + if (0 != convexHullPrepareForGenerate(hull)) { + fprintf(stderr, "%s:convexHullPrepareForGenerate failed.\n", __FUNCTION__); + return -1; + } + index1 = convexHullGetLower(hull); + index2 = convexHullGetNextVertex(hull, index1, -1); + convexHullAddEdge(hull, index2, index1); + //glColor3f(0.0, 0.0, 0.0); + //drawDebugPrintf("edgeLength:%d", arrayGetLength(hull->openEdgeArray)); + while (hull->nextEdgeIndex < arrayGetLength(hull->openEdgeArray)) { + edge *e = (edge *)arrayGetItem(hull->openEdgeArray, hull->nextEdgeIndex++); + index1 = e->firstVertex; + index2 = e->secondVertex; + if (convexHullEdgeExsits(hull, index1, index2)) { + continue; + } + convexHullMarkEdgeAsExsits(hull, index1, index2); + index3 = convexHullGetNextVertex(hull, index1, index2); + //drawDebugPrintf("%d,%d,%d", index1, index2, index3); + convexHullAddTriangle(hull, index1, index2, index3); + convexHullAddEdge(hull, index1, index2); + convexHullAddEdge(hull, index2, index3); + convexHullAddEdge(hull, index3, index1); + } + return 0; +} + +int convexHullGetTriangleNum(convexHull *hull) { + return arrayGetLength(hull->triangleArray); +} + +triangle *convexHullGetTriangle(convexHull *hull, int index) { + triangle *tri = (triangle *)arrayGetItem(hull->triangleArray, index); + return tri; +} diff --git a/src/convexhull.h b/src/convexhull.h new file mode 100644 index 00000000..ae31c37b --- /dev/null +++ b/src/convexhull.h @@ -0,0 +1,14 @@ +#ifndef CONVEX_HULL_H +#define CONVEX_HULL_H +#include "vector3d.h" +#include "draw.h" + +typedef struct convexHull convexHull; +convexHull *convexHullCreate(void); +int convexHullAddVertex(convexHull *hull, vec3 *vertex); +void convexHullDestroy(convexHull *hull); +int convexHullGenerate(convexHull *hull); +int convexHullGetTriangleNum(convexHull *hull); +triangle *convexHullGetTriangle(convexHull *hull, int index); + +#endif diff --git a/src/vector3d.c b/src/vector3d.c index 35d4ea49..450d6f7a 100644 --- a/src/vector3d.c +++ b/src/vector3d.c @@ -105,23 +105,27 @@ float vec3Angle(vec3 *a, vec3 *b) { float angle; vec3 p; float distance; - float dot; float acosParam; - float acosVal; vec3Sub(a, b, &p); distance = vec3Length(&p); if (0 == distance) { return 0; } - dot = vec3DotProduct(a, b); - acosParam = dot / distance; + acosParam = vec3DotProduct(a, b) / distance; if (acosParam < -1) { acosParam = -1; } if (acosParam > 1) { acosParam = 1; } - acosVal = acos(acosParam); - angle = 180 / M_PI * acosVal; + angle = 180 / M_PI * acos(acosParam); return angle; } + +void vec3ProjectOver(vec3 *a, vec3 *over, vec3 *result) { + float length = vec3DotProduct(a, over); + result->x = length * over->x; + result->y = length * over->y; + result->z = length * over->z; +} + diff --git a/src/vector3d.h b/src/vector3d.h index 45cd8c39..e35ea8a2 100644 --- a/src/vector3d.h +++ b/src/vector3d.h @@ -24,6 +24,7 @@ float vec3Distance(vec3 *a, vec3 *b); void vec3Normal(vec3 *a, vec3 *b, vec3 *c, vec3 *normal); void vec3RotateAlong(vec3 *a, float angle, vec3 *axis, vec3 *result); float vec3Angle(vec3 *a, vec3 *b); +void vec3ProjectOver(vec3 *a, vec3 *over, vec3 *result); #ifdef __cplusplus }