From cb07ba0d68eeb57bae1cb60f387483ff720cc29d Mon Sep 17 00:00:00 2001 From: Teravus Ovares Date: Sat, 10 Nov 2007 19:13:52 +0000 Subject: * Moves the Meshmerizer to a separate plugin * Experimental. Linux Prebuild needs testing. * One more update after this to remove the ODEMeshing directory.... --- OpenSim/Region/Physics/Meshing/Extruder.cs | 83 ++++++ OpenSim/Region/Physics/Meshing/HelperTypes.cs | 306 ++++++++++++++++++++ OpenSim/Region/Physics/Meshing/Mesh.cs | 213 ++++++++++++++ OpenSim/Region/Physics/Meshing/Meshmerizer.cs | 393 ++++++++++++++++++++++++++ OpenSim/Region/Physics/Meshing/SimpleHull.cs | 363 ++++++++++++++++++++++++ OpenSim/Region/Physics/Meshing/Simplex.cs | 198 +++++++++++++ 6 files changed, 1556 insertions(+) create mode 100644 OpenSim/Region/Physics/Meshing/Extruder.cs create mode 100644 OpenSim/Region/Physics/Meshing/HelperTypes.cs create mode 100644 OpenSim/Region/Physics/Meshing/Mesh.cs create mode 100644 OpenSim/Region/Physics/Meshing/Meshmerizer.cs create mode 100644 OpenSim/Region/Physics/Meshing/SimpleHull.cs create mode 100644 OpenSim/Region/Physics/Meshing/Simplex.cs (limited to 'OpenSim/Region/Physics/Meshing') diff --git a/OpenSim/Region/Physics/Meshing/Extruder.cs b/OpenSim/Region/Physics/Meshing/Extruder.cs new file mode 100644 index 0000000..63d727f --- /dev/null +++ b/OpenSim/Region/Physics/Meshing/Extruder.cs @@ -0,0 +1,83 @@ +using System; +using System.Collections.Generic; +using System.Text; + +namespace OpenSim.Region.Physics.Meshing +{ + class Extruder + { + public float startParameter; + public float stopParameter; + public Manager.PhysicsVector size; + + public Mesh Extrude(Mesh m) + { + // Currently only works for iSteps=1; + Mesh result = new Mesh(); + + Mesh workingPlus = m.Clone(); + Mesh workingMinus = m.Clone(); + + foreach (Vertex v in workingPlus.vertices) + { + if (v == null) + continue; + + v.Z = +.5f; + v.X *= size.X; + v.Y *= size.Y; + v.Z *= size.Z; + } + + foreach (Vertex v in workingMinus.vertices) + { + if (v == null) + continue; + + v.Z = -.5f; + v.X *= size.X; + v.Y *= size.Y; + v.Z *= size.Z; + } + + foreach (Triangle t in workingMinus.triangles) + { + t.invertNormal(); + } + + result.Append(workingMinus); + result.Append(workingPlus); + + int iLastNull = 0; + for (int i = 0; i < workingPlus.vertices.Count; i++) + { + int iNext = (i + 1); + + if (workingPlus.vertices[i] == null) // Can't make a simplex here + { + iLastNull = i+1; + continue; + } + + if (i == workingPlus.vertices.Count-1) // End of list + { + iNext = iLastNull; + } + + if (workingPlus.vertices[iNext] == null) // Null means wrap to begin of last segment + { + iNext = iLastNull; + } + + Triangle tSide; + tSide = new Triangle(workingPlus.vertices[i], workingMinus.vertices[i], workingPlus.vertices[iNext]); + result.Add(tSide); + + tSide = new Triangle(workingPlus.vertices[iNext], workingMinus.vertices[i], workingMinus.vertices[iNext]); + result.Add(tSide); + } + + return result; + } + } +} diff --git a/OpenSim/Region/Physics/Meshing/HelperTypes.cs b/OpenSim/Region/Physics/Meshing/HelperTypes.cs new file mode 100644 index 0000000..9e75826 --- /dev/null +++ b/OpenSim/Region/Physics/Meshing/HelperTypes.cs @@ -0,0 +1,306 @@ +/* +* Copyright (c) Contributors, http://opensimulator.org/ +* See CONTRIBUTORS.TXT for a full list of copyright holders. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* * Neither the name of the OpenSim Project nor the +* names of its contributors may be used to endorse or promote products +* derived from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS AS IS AND ANY +* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY +* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +*/ + +using System; +using System.Collections.Generic; +using System.Diagnostics; +using System.Globalization; +using OpenSim.Framework.Console; +using OpenSim.Region.Physics.Manager; + +using OpenSim.Region.Physics.Meshing; + +public class Vertex : PhysicsVector, IComparable +{ + public Vertex(float x, float y, float z) + : base(x, y, z) + { + } + + public Vertex(PhysicsVector v) + : base(v.X, v.Y, v.Z) + { + } + + public Vertex Clone() + { + return new Vertex(X, Y, Z); + } + + public static Vertex FromAngle(double angle) + { + return new Vertex((float)Math.Cos(angle), (float)Math.Sin(angle), 0.0f); + } + + + public virtual bool Equals(Vertex v, float tolerance) + { + PhysicsVector diff = this - v; + float d = diff.length(); + if (d < tolerance) + return true; + + return false; + } + + + public int CompareTo(Vertex other) + { + if (X < other.X) + return -1; + + if (X > other.X) + return 1; + + if (Y < other.Y) + return -1; + + if (Y > other.Y) + return 1; + + if (Z < other.Z) + return -1; + + if (Z > other.Z) + return 1; + + return 0; + } + + public static bool operator >(Vertex me, Vertex other) + { + return me.CompareTo(other) > 0; + } + + public static bool operator <(Vertex me, Vertex other) + { + return me.CompareTo(other) < 0; + } + public String ToRaw() + { + // Why this stuff with the number formatter? + // Well, the raw format uses the english/US notation of numbers + // where the "," separates groups of 1000 while the "." marks the border between 1 and 10E-1. + // The german notation uses these characters exactly vice versa! + // The Float.ToString() routine is a localized one, giving different results depending on the country + // settings your machine works with. Unusable for a machine readable file format :-( + NumberFormatInfo nfi = new NumberFormatInfo(); + nfi.NumberDecimalSeparator = "."; + nfi.NumberDecimalDigits = 3; + + String s1 = X.ToString("N2", nfi) + " " + Y.ToString("N2", nfi) + " " + Z.ToString("N2", nfi); + + return s1; + } + +} + +public class Triangle +{ + public Vertex v1; + public Vertex v2; + public Vertex v3; + + private float radius_square; + private float cx; + private float cy; + + public Triangle(Vertex _v1, Vertex _v2, Vertex _v3) + { + v1 = _v1; + v2 = _v2; + v3 = _v3; + + CalcCircle(); + } + + public bool isInCircle(float x, float y) + { + float dx, dy; + float dd; + + dx = x - cx; + dy = y - cy; + + dd = dx*dx + dy*dy; + if (dd < radius_square) + return true; + else + return false; + } + + public bool isDegraded() + { + // This means, the vertices of this triangle are somewhat strange. + // They either line up or at least two of them are identical + return (radius_square == 0.0); + } + + private void CalcCircle() + { + // Calculate the center and the radius of a circle given by three points p1, p2, p3 + // It is assumed, that the triangles vertices are already set correctly + double p1x, p2x, p1y, p2y, p3x, p3y; + + // Deviation of this routine: + // A circle has the general equation (M-p)^2=r^2, where M and p are vectors + // this gives us three equations f(p)=r^2, each for one point p1, p2, p3 + // putting respectively two equations together gives two equations + // f(p1)=f(p2) and f(p1)=f(p3) + // bringing all constant terms to one side brings them to the form + // M*v1=c1 resp.M*v2=c2 where v1=(p1-p2) and v2=(p1-p3) (still vectors) + // and c1, c2 are scalars (Naming conventions like the variables below) + // Now using the equations that are formed by the components of the vectors + // and isolate Mx lets you make one equation that only holds My + // The rest is straight forward and eaasy :-) + // + + /* helping variables for temporary results */ + double c1, c2; + double v1x, v1y, v2x, v2y; + + double z, n; + + double rx, ry; + + // Readout the three points, the triangle consists of + p1x = v1.X; + p1y = v1.Y; + + p2x = v2.X; + p2y = v2.Y; + + p3x = v3.X; + p3y = v3.Y; + + /* calc helping values first */ + c1 = (p1x*p1x + p1y*p1y - p2x*p2x - p2y*p2y)/2; + c2 = (p1x*p1x + p1y*p1y - p3x*p3x - p3y*p3y)/2; + + v1x = p1x - p2x; + v1y = p1y - p2y; + + v2x = p1x - p3x; + v2y = p1y - p3y; + + z = (c1*v2x - c2*v1x); + n = (v1y*v2x - v2y*v1x); + + if (n == 0.0) // This is no triangle, i.e there are (at least) two points at the same location + { + radius_square = 0.0f; + return; + } + + cy = (float) (z/n); + + if (v2x != 0.0) + { + cx = (float) ((c2 - v2y*cy)/v2x); + } + else if (v1x != 0.0) + { + cx = (float) ((c1 - v1y*cy)/v1x); + } + else + { + Debug.Assert(false, "Malformed triangle"); /* Both terms zero means nothing good */ + } + + rx = (p1x - cx); + ry = (p1y - cy); + + radius_square = (float) (rx*rx + ry*ry); + } + + public List GetSimplices() + { + List result = new List(); + Simplex s1 = new Simplex(v1, v2); + Simplex s2 = new Simplex(v2, v3); + Simplex s3 = new Simplex(v3, v1); + + result.Add(s1); + result.Add(s2); + result.Add(s3); + + return result; + } + + public override String ToString() + { + NumberFormatInfo nfi = new NumberFormatInfo(); + nfi.CurrencyDecimalDigits = 2; + nfi.CurrencyDecimalSeparator = "."; + + String s1 = "<" + v1.X.ToString(nfi) + "," + v1.Y.ToString(nfi) + "," + v1.Z.ToString(nfi) + ">"; + String s2 = "<" + v2.X.ToString(nfi) + "," + v2.Y.ToString(nfi) + "," + v2.Z.ToString(nfi) + ">"; + String s3 = "<" + v3.X.ToString(nfi) + "," + v3.Y.ToString(nfi) + "," + v3.Z.ToString(nfi) + ">"; + + return s1 + ";" + s2 + ";" + s3; + } + + public PhysicsVector getNormal() + { + // Vertices + + // Vectors for edges + PhysicsVector e1; + PhysicsVector e2; + + e1 = new PhysicsVector(v1.X - v2.X, v1.Y - v2.Y, v1.Z - v2.Z); + e2 = new PhysicsVector(v1.X - v3.X, v1.Y - v3.Y, v1.Z - v3.Z); + + // Cross product for normal + PhysicsVector n = PhysicsVector.cross(e1, e2); + + // Length + float l = n.length(); + + // Normalized "normal" + n = n / l; + + return n; + } + + public void invertNormal() + { + Vertex vt; + vt = v1; + v1 = v2; + v2 = vt; + } + + // Dumps a triangle in the "raw faces" format, blender can import. This is for visualisation and + // debugging purposes + public String ToStringRaw() + { + String output = v1.ToRaw() + " " + v2.ToRaw() + " " +v3.ToRaw(); + return output; + } +} \ No newline at end of file diff --git a/OpenSim/Region/Physics/Meshing/Mesh.cs b/OpenSim/Region/Physics/Meshing/Mesh.cs new file mode 100644 index 0000000..fd4ce4e --- /dev/null +++ b/OpenSim/Region/Physics/Meshing/Mesh.cs @@ -0,0 +1,213 @@ +using System; +using System.IO; +using System.Collections.Generic; +using System.Text; + +using System.Runtime.InteropServices; + + +using OpenSim.Region.Physics.Manager; + +namespace OpenSim.Region.Physics.Meshing +{ + public class Mesh : IMesh + { + public List vertices; + public List triangles; + + public float[] normals; + + public Mesh() + { + vertices = new List(); + triangles = new List(); + } + + public Mesh Clone() + { + Mesh result = new Mesh(); + + foreach (Vertex v in vertices) + { + if (v == null) + result.vertices.Add(null); + else + result.vertices.Add(v.Clone()); + } + + foreach (Triangle t in triangles) + { + int iV1, iV2, iV3; + iV1 = this.vertices.IndexOf(t.v1); + iV2 = this.vertices.IndexOf(t.v2); + iV3 = this.vertices.IndexOf(t.v3); + + Triangle newT = new Triangle(result.vertices[iV1], result.vertices[iV2], result.vertices[iV3]); + result.Add(newT); + } + + return result; + } + + + + public void Add(Triangle triangle) + { + int i; + i = vertices.IndexOf(triangle.v1); + if (i < 0) + throw new ArgumentException("Vertex v1 not known to mesh"); + i = vertices.IndexOf(triangle.v2); + if (i < 0) + throw new ArgumentException("Vertex v2 not known to mesh"); + i = vertices.IndexOf(triangle.v3); + if (i < 0) + throw new ArgumentException("Vertex v3 not known to mesh"); + + triangles.Add(triangle); + } + + public void Add(Vertex v) + { + vertices.Add(v); + } + + public void Remove(Vertex v) + { + int i; + + // First, remove all triangles that are build on v + for (i = 0; i < triangles.Count; i++) + { + Triangle t = triangles[i]; + if (t.v1 == v || t.v2 == v || t.v3 == v) + { + triangles.RemoveAt(i); + i--; + } + } + + // Second remove v itself + vertices.Remove(v); + } + + public void RemoveTrianglesOutside(SimpleHull hull) + { + int i; + + for (i = 0; i < triangles.Count; i++) + { + Triangle t = triangles[i]; + Vertex v1 = t.v1; + Vertex v2 = t.v2; + Vertex v3 = t.v3; + PhysicsVector m = v1 + v2 + v3; + m /= 3.0f; + if (!hull.IsPointIn(new Vertex(m))) + { + triangles.RemoveAt(i); + i--; + } + } + } + + + public void Add(List lv) + { + foreach (Vertex v in lv) + { + vertices.Add(v); + } + } + + public List getVertexList() + { + List result = new List(); + foreach (Vertex v in vertices) + { + result.Add(v); + } + return result; + } + + public float[] getVertexListAsFloatLocked() + { + float[] result = new float[vertices.Count * 3]; + for (int i = 0; i < vertices.Count; i++) + { + Vertex v = vertices[i]; + if (v == null) + continue; + result[3 * i + 0] = v.X; + result[3 * i + 1] = v.Y; + result[3 * i + 2] = v.Z; + } + GCHandle.Alloc(result, GCHandleType.Pinned); + return result; + } + + public int[] getIndexListAsInt() + { + int[] result = new int[triangles.Count * 3]; + for (int i = 0; i < triangles.Count; i++) + { + Triangle t = triangles[i]; + result[3 * i + 0] = vertices.IndexOf(t.v1); + result[3 * i + 1] = vertices.IndexOf(t.v2); + result[3 * i + 2] = vertices.IndexOf(t.v3); + } + return result; + } + + public int[] getIndexListAsIntLocked() + { + int[] result = getIndexListAsInt(); + GCHandle.Alloc(result, GCHandleType.Pinned); + return result; + } + + + public void Append(Mesh newMesh) + { + foreach (Vertex v in newMesh.vertices) + vertices.Add(v); + + foreach (Triangle t in newMesh.triangles) + Add(t); + + } + + // Do a linear transformation of mesh. + public void TransformLinear(float[,] matrix, float[] offset) + { + foreach (Vertex v in vertices) + { + if (v == null) + continue; + float x, y, z; + x = v.X * matrix[0, 0] + v.Y * matrix[1, 0] + v.Z * matrix[2, 0]; + y = v.X * matrix[0, 1] + v.Y * matrix[1, 1] + v.Z * matrix[2, 1]; + z = v.X * matrix[0, 2] + v.Y * matrix[1, 2] + v.Z * matrix[2, 2]; + v.X = x + offset[0]; + v.Y = y + offset[1]; + v.Z = z + offset[2]; + } + } + + public void DumpRaw(String path, String name, String title) + { + if (path == null) + return; + String fileName = name + "_" + title + ".raw"; + String completePath = Path.Combine(path, fileName); + StreamWriter sw = new StreamWriter(completePath); + foreach (Triangle t in triangles) + { + String s = t.ToStringRaw(); + sw.WriteLine(s); + } + sw.Close(); + } + } + +} diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs new file mode 100644 index 0000000..da4ee58 --- /dev/null +++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs @@ -0,0 +1,393 @@ +/* +* Copyright (c) Contributors, http://opensimulator.org/ +* See CONTRIBUTORS.TXT for a full list of copyright holders. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* * Neither the name of the OpenSim Project nor the +* names of its contributors may be used to endorse or promote products +* derived from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS AS IS AND ANY +* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY +* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +*/ + +using System; +using System.IO; +using System.Globalization; +using System.Diagnostics; +using System.Collections.Generic; +using System.Runtime.InteropServices; +using OpenSim.Framework; +using OpenSim.Framework.Console; +using OpenSim.Region.Physics.Manager; + +namespace OpenSim.Region.Physics.Meshing +{ + + public class MeshmerizerPlugin : IMeshingPlugin + { + public MeshmerizerPlugin() + { + } + + public string GetName() + { + return "Meshmerizer"; + } + + public IMesher GetMesher() + { + return new Meshmerizer(); + } + } + + public class Meshmerizer : IMesher + { + // Setting baseDir to a path will enable the dumping of raw files + // raw files can be imported by blender so a visual inspection of the results can be done + // const string baseDir = "rawFiles"; + const string baseDir = null; + + static void IntersectionParameterPD(PhysicsVector p1, PhysicsVector r1, PhysicsVector p2, PhysicsVector r2, ref float lambda, ref float mu) + { + // p1, p2, points on the straight + // r1, r2, directional vectors of the straight. Not necessarily of length 1! + // note, that l, m can be scaled such, that the range 0..1 is mapped to the area between two points, + // thus allowing to decide whether an intersection is between two points + + float r1x = r1.X; + float r1y = r1.Y; + float r2x = r2.X; + float r2y = r2.Y; + + float denom = r1y*r2x - r1x*r2y; + + if (denom == 0.0) + { + lambda = Single.NaN; + mu = Single.NaN; + return; + } + + float p1x = p1.X; + float p1y = p1.Y; + float p2x = p2.X; + float p2y = p2.Y; + lambda = (-p2x * r2y + p1x * r2y + (p2y - p1y) * r2x) / denom; + mu = (-p2x * r1y + p1x * r1y + (p2y - p1y) * r1x) / denom; + + } + + private static List FindInfluencedTriangles(List triangles, Vertex v) + { + List influenced = new List(); + foreach (Triangle t in triangles) + { + if (t.isInCircle(v.X, v.Y)) + { + influenced.Add(t); + } + } + return influenced; + } + + + private static void InsertVertices(List vertices, int usedForSeed, List triangles) + { + // This is a variant of the delaunay algorithm + // each time a new vertex is inserted, all triangles that are influenced by it are deleted + // and replaced by new ones including the new vertex + // It is not very time efficient but easy to implement. + + int iCurrentVertex; + int iMaxVertex = vertices.Count; + for (iCurrentVertex = usedForSeed; iCurrentVertex < iMaxVertex; iCurrentVertex++) + { + // Background: A triangle mesh fulfills the delaunay condition if (iff!) + // each circumlocutory circle (i.e. the circle that touches all three corners) + // of each triangle is empty of other vertices. + // Obviously a single (seeding) triangle fulfills this condition. + // If we now add one vertex, we need to reconstruct all triangles, that + // do not fulfill this condition with respect to the new triangle + + // Find the triangles that are influenced by the new vertex + Vertex v=vertices[iCurrentVertex]; + if (v == null) + continue; // Null is polygon stop marker. Ignore it + List influencedTriangles=FindInfluencedTriangles(triangles, v); + + List simplices = new List(); + + // Reconstruction phase. First step, dissolve each triangle into it's simplices, + // i.e. it's "border lines" + // Goal is to find "inner" borders and delete them, while the hull gets conserved. + // Inner borders are special in the way that they always come twice, which is how we detect them + foreach (Triangle t in influencedTriangles) + { + List newSimplices = t.GetSimplices(); + simplices.AddRange(newSimplices); + triangles.Remove(t); + } + // Now sort the simplices. That will make identical ones reside side by side in the list + simplices.Sort(); + + // Look for duplicate simplices here. + // Remember, they are directly side by side in the list right now, + // So we only check directly neighbours + int iSimplex; + List innerSimplices = new List(); + for (iSimplex = 1; iSimplex < simplices.Count; iSimplex++) // Startindex=1, so we can refer backwards + { + if (simplices[iSimplex - 1].CompareTo(simplices[iSimplex]) == 0) + { + innerSimplices.Add(simplices[iSimplex - 1]); + innerSimplices.Add(simplices[iSimplex]); + } + } + + foreach (Simplex s in innerSimplices) + { + simplices.Remove(s); + } + + // each simplex still in the list belongs to the hull of the region in question + // The new vertex (yes, we still deal with verices here :-) ) forms a triangle + // with each of these simplices. Build the new triangles and add them to the list + foreach (Simplex s in simplices) + { + Triangle t = new Triangle(s.v1, s.v2, vertices[iCurrentVertex]); + if (!t.isDegraded()) + { + triangles.Add(t); + } + } + } + + } + + + static Mesh CreateBoxMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size) + // Builds the z (+ and -) surfaces of a box shaped prim + { + UInt16 hollowFactor = primShape.ProfileHollow; + UInt16 profileBegin = primShape.ProfileBegin; + UInt16 profileEnd = primShape.ProfileEnd; + + // Procedure: This is based on the fact that the upper (plus) and lower (minus) Z-surface + // of a block are basically the same + // They may be warped differently but the shape is identical + // So we only create one surface as a model and derive both plus and minus surface of the block from it + // This is done in a model space where the block spans from -.5 to +.5 in X and Y + // The mapping to Scene space is done later during the "extrusion" phase + + // Base + Vertex MM = new Vertex(-0.5f, -0.5f, 0.0f); + Vertex PM = new Vertex(+0.5f, -0.5f, 0.0f); + Vertex MP = new Vertex(-0.5f, +0.5f, 0.0f); + Vertex PP = new Vertex(+0.5f, +0.5f, 0.0f); + + Meshing.SimpleHull outerHull = new SimpleHull(); + outerHull.AddVertex(MM); + outerHull.AddVertex(PM); + outerHull.AddVertex(PP); + outerHull.AddVertex(MP); + + // Deal with cuts now + if ((profileBegin != 0) || (profileEnd != 0)) + { + double fProfileBeginAngle = profileBegin / 50000.0 * 360.0; // In degree, for easier debugging and understanding + fProfileBeginAngle -= (90.0 + 45.0); // for some reasons, the SL client counts from the corner -X/-Y + double fProfileEndAngle = 360.0 - profileEnd / 50000.0 * 360.0; // Pathend comes as complement to 1.0 + fProfileEndAngle -= (90.0 + 45.0); + if (fProfileBeginAngle < fProfileEndAngle) + fProfileEndAngle -= 360.0; + + // Note, that we don't want to cut out a triangle, even if this is a + // good approximation for small cuts. Indeed we want to cut out an arc + // and we approximate this arc by a polygon chain + // Also note, that these vectors are of length 1.0 and thus their endpoints lay outside the model space + // So it can easily be subtracted from the outer hull + int iSteps = (int)(((fProfileBeginAngle - fProfileEndAngle) / 45.0) + .5); // how many steps do we need with approximately 45 degree + double dStepWidth=(fProfileBeginAngle-fProfileEndAngle)/iSteps; + + Vertex origin = new Vertex(0.0f, 0.0f, 0.0f); + + // Note the sequence of vertices here. It's important to have the other rotational sense than in outerHull + SimpleHull cutHull = new SimpleHull(); + cutHull.AddVertex(origin); + for (int i=0; i 0) + { + float hollowFactorF = (float) hollowFactor/(float) 50000; + Vertex IMM = new Vertex(-0.5f * hollowFactorF, -0.5f * hollowFactorF, 0.0f); + Vertex IPM = new Vertex(+0.5f * hollowFactorF, -0.5f * hollowFactorF, 0.0f); + Vertex IMP = new Vertex(-0.5f * hollowFactorF, +0.5f * hollowFactorF, 0.0f); + Vertex IPP = new Vertex(+0.5f * hollowFactorF, +0.5f * hollowFactorF, 0.0f); + + SimpleHull holeHull = new SimpleHull(); + + holeHull.AddVertex(IMM); + holeHull.AddVertex(IMP); + holeHull.AddVertex(IPP); + holeHull.AddVertex(IPM); + + SimpleHull hollowedHull = SimpleHull.SubtractHull(outerHull, holeHull); + + outerHull = hollowedHull; + + } + + Mesh m = new Mesh(); + + Vertex Seed1 = new Vertex(0.0f, -10.0f, 0.0f); + Vertex Seed2 = new Vertex(-10.0f, 10.0f, 0.0f); + Vertex Seed3 = new Vertex(10.0f, 10.0f, 0.0f); + + m.Add(Seed1); + m.Add(Seed2); + m.Add(Seed3); + + m.Add(new Triangle(Seed1, Seed2, Seed3)); + m.Add(outerHull.getVertices()); + + InsertVertices(m.vertices, 3, m.triangles); + m.DumpRaw(baseDir, primName, "Proto first Mesh"); + + m.Remove(Seed1); + m.Remove(Seed2); + m.Remove(Seed3); + m.DumpRaw(baseDir, primName, "Proto seeds removed"); + + m.RemoveTrianglesOutside(outerHull); + m.DumpRaw(baseDir, primName, "Proto outsides removed"); + + foreach (Triangle t in m.triangles) + { + PhysicsVector n = t.getNormal(); + if (n.Z < 0.0) + t.invertNormal(); + } + + Extruder extr = new Extruder(); + + extr.size = size; + + Mesh result = extr.Extrude(m); + result.DumpRaw(baseDir, primName, "Z extruded"); + return result; + } + + public static void CalcNormals(Mesh mesh) + { + int iTriangles = mesh.triangles.Count; + + mesh.normals = new float[iTriangles*3]; + + int i = 0; + foreach (Triangle t in mesh.triangles) + { + float ux, uy, uz; + float vx, vy, vz; + float wx, wy, wz; + + ux = t.v1.X; + uy = t.v1.Y; + uz = t.v1.Z; + + vx = t.v2.X; + vy = t.v2.Y; + vz = t.v2.Z; + + wx = t.v3.X; + wy = t.v3.Y; + wz = t.v3.Z; + + + // Vectors for edges + float e1x, e1y, e1z; + float e2x, e2y, e2z; + + e1x = ux - vx; + e1y = uy - vy; + e1z = uz - vz; + + e2x = ux - wx; + e2y = uy - wy; + e2z = uz - wz; + + + // Cross product for normal + float nx, ny, nz; + nx = e1y*e2z - e1z*e2y; + ny = e1z*e2x - e1x*e2z; + nz = e1x*e2y - e1y*e2x; + + // Length + float l = (float) Math.Sqrt(nx*nx + ny*ny + nz*nz); + + // Normalized "normal" + nx /= l; + ny /= l; + nz /= l; + + mesh.normals[i] = nx; + mesh.normals[i + 1] = ny; + mesh.normals[i + 2] = nz; + + i += 3; + } + } + + public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size) + { + Mesh mesh = null; + + switch (primShape.ProfileShape) + { + case ProfileShape.Square: + mesh=CreateBoxMesh(primName, primShape, size); + CalcNormals(mesh); + break; + default: + mesh = CreateBoxMesh(primName, primShape, size); + CalcNormals(mesh); + //Set default mesh to cube otherwise it'll return + // null and crash on the 'setMesh' method in the physics plugins. + //mesh = null; + break; + } + + return mesh; + } + } + +} diff --git a/OpenSim/Region/Physics/Meshing/SimpleHull.cs b/OpenSim/Region/Physics/Meshing/SimpleHull.cs new file mode 100644 index 0000000..c199949 --- /dev/null +++ b/OpenSim/Region/Physics/Meshing/SimpleHull.cs @@ -0,0 +1,363 @@ +using System; +using System.Collections.Generic; +using System.Text; + +using OpenSim.Framework.Console; + +namespace OpenSim.Region.Physics.Meshing +{ + // A simple hull is a set of vertices building up to simplices that border a region + // The word simple referes to the fact, that this class assumes, that all simplices + // do not intersect + // Simple hulls can be added and subtracted. + // Vertices can be checked to lie inside a hull + // Also note, that the sequence of the vertices is important and defines if the region that + // is defined by the hull lies inside or outside the simplex chain + public class SimpleHull + { + List vertices = new List(); + List holeVertices = new List(); // Only used, when the hull is hollow + + // Adds a vertex to the end of the list + public void AddVertex(Vertex v) { + vertices.Add(v); + } + + override public String ToString() + { + String result=""; + foreach (Vertex v in vertices) + { + result += "b:" + v.ToString() + "\n"; + } + + return result; + } + + + public List getVertices() { + List newVertices = new List(); + + newVertices.AddRange(vertices); + newVertices.Add(null); + newVertices.AddRange(holeVertices); + + return newVertices; + } + + public SimpleHull Clone() + { + SimpleHull result = new SimpleHull(); + foreach (Vertex v in vertices) + { + result.AddVertex(v.Clone()); + } + + foreach (Vertex v in this.holeVertices) + { + result.holeVertices.Add(v.Clone()); + } + + return result; + } + + public bool IsPointIn(Vertex v1) + { + int iCounter=0; + List simplices=buildSimplexList(); + foreach (Simplex s in simplices) + { + // Send a ray along the positive X-Direction + // Note, that this direction must correlate with the "below" interpretation + // of handling for the special cases below + Manager.PhysicsVector intersection = s.RayIntersect(v1, new Manager.PhysicsVector(1.0f, 0.0f, 0.0f), true); + + if (intersection == null) + continue; // No intersection. Done. More tests to follow otherwise + + // Did we hit the end of a simplex? + // Then this can be one of two special cases: + // 1. we go through a border exactly at a joint + // 2. we have just marginally touched a corner + // 3. we can slide along a border + // Solution: If the other vertex is "below" the ray, we don't count it + // Thus corners pointing down are counted twice, corners pointing up are not counted + // borders are counted once + if (intersection.IsIdentical(s.v1, 0.001f)) { + if (s.v2.Y < v1.Y) + continue; + } + // Do this for the other vertex two + if (intersection.IsIdentical(s.v2, 0.001f)) { + if (s.v1.Y buildSimplexList() { + + List result = new List(); + + // Not asserted but assumed: at least three vertices + for (int i=0; i simple = buildSimplexList(); + foreach (Simplex sTest in simple) + { + Manager.PhysicsVector vvTemp = Simplex.Intersect(sTest, s, -.001f, -.001f, 0.999f, .999f); + + Vertex vTemp=null; + if (vvTemp != null) + vTemp = new Vertex(vvTemp); + + if (vTemp!=null) { + + Manager.PhysicsVector diff=(s.v1-vTemp); + float distTemp=diff.length(); + + if (bestIntersection==null || distTemp + { + public Vertex v1; + public Vertex v2; + + public Simplex(Vertex _v1, Vertex _v2) + { + v1 = _v1; + v2 = _v2; + } + + public int CompareTo(Simplex other) + { + + Vertex lv1, lv2, ov1, ov2, temp; + + lv1 = v1; + lv2 = v2; + ov1 = other.v1; + ov2 = other.v2; + + if (lv1 > lv2) + { + temp = lv1; + lv1 = lv2; + lv2 = temp; + } + + if (ov1 > ov2) + { + temp = ov1; + ov1 = ov2; + ov2 = temp; + } + + if (lv1 > ov1) + { + return 1; + } + if (lv1 < ov1) + { + return -1; + } + + if (lv2 > ov2) + { + return 1; + } + if (lv2 < ov2) + { + return -1; + } + + return 0; + } + + private static void intersectParameter(PhysicsVector p1, PhysicsVector r1, PhysicsVector p2, PhysicsVector r2, ref float lambda, ref float mu) + { + // Intersects two straights + // p1, p2, points on the straight + // r1, r2, directional vectors of the straight. Not necessarily of length 1! + // note, that l, m can be scaled such, that the range 0..1 is mapped to the area between two points, + // thus allowing to decide whether an intersection is between two points + + float r1x = r1.X; + float r1y = r1.Y; + float r2x = r2.X; + float r2y = r2.Y; + + float denom = r1y*r2x - r1x*r2y; + + float p1x = p1.X; + float p1y = p1.Y; + float p2x = p2.X; + float p2y = p2.Y; + + float z1=-p2x * r2y + p1x * r2y + (p2y - p1y) * r2x; + float z2=-p2x * r1y + p1x * r1y + (p2y - p1y) * r1x; + + if (denom == 0.0f) // Means the straights are parallel. Either no intersection or an infinite number of them + { + if (z1==0.0f) {// Means they are identical -> many, many intersections + lambda = Single.NaN; + mu = Single.NaN; + } else { + lambda = Single.PositiveInfinity; + mu = Single.PositiveInfinity; + } + return; + + } + + + + lambda = z1 / denom; + mu = z2 / denom; + + } + + + // Intersects the simplex with another one. + // the borders are used to deal with float inaccuracies + // As a rule of thumb, the borders are + // lowerBorder1 : 0.0 + // lowerBorder2 : 0.0 + // upperBorder1 : 1.0 + // upperBorder2 : 1.0 + // Set these to values near the given parameters (e.g. 0.001 instead of 1 to exclude simplex starts safely, or to -0.001 to include them safely) + public static PhysicsVector Intersect( + Simplex s1, + Simplex s2, + float lowerBorder1, + float lowerBorder2, + float upperBorder1, + float upperBorder2) + { + PhysicsVector firstSimplexDirection = s1.v2 - s1.v1; + PhysicsVector secondSimplexDirection = s2.v2 - s2.v1; + + float lambda = 0.0f; + float mu = 0.0f; + + // Give us the parameters of an intersection. This subroutine does *not* take the constraints + // (intersection must be between v1 and v2 and it must be in the positive direction of the ray) + // into account. We do that afterwards. + intersectParameter(s1.v1, firstSimplexDirection, s2.v1, secondSimplexDirection, ref lambda, ref mu); + + if (Single.IsInfinity(lambda)) // Special case. No intersection at all. directions parallel. + return null; + + if (Single.IsNaN(lambda)) // Special case. many, many intersections. + return null; + + if (lambda > upperBorder1) // We're behind v2 + return null; + + if (lambda < lowerBorder1) + return null; + + if (mu < lowerBorder2) // outside simplex 2 + return null; + + if (mu > upperBorder2) // outside simplex 2 + return null; + + return s1.v1 + lambda * firstSimplexDirection; + + } + + // Intersects the simplex with a ray. The ray is defined as all p=origin + lambda*direction + // where lambda >= 0 + public PhysicsVector RayIntersect(Vertex origin, PhysicsVector direction, bool bEndsIncluded) + { + PhysicsVector simplexDirection = v2 - v1; + + float lambda = 0.0f; + float mu = 0.0f; + + // Give us the parameters of an intersection. This subroutine does *not* take the constraints + // (intersection must be between v1 and v2 and it must be in the positive direction of the ray) + // into account. We do that afterwards. + intersectParameter(v1, simplexDirection, origin, direction, ref lambda, ref mu); + + if (Single.IsInfinity(lambda)) // Special case. No intersection at all. directions parallel. + return null; + + if (Single.IsNaN(lambda)) // Special case. many, many intersections. + return null; + + if (mu < 0.0) // We're on the wrong side of the ray + return null; + + if (lambda > 1.0) // We're behind v2 + return null; + + if (lambda == 1.0 && !bEndsIncluded) + return null; // The end of the simplices are not included + + if (lambda < 0.0f) // we're before v1; + return null; + + return this.v1 + lambda * simplexDirection; + + } + + + } +} \ No newline at end of file -- cgit v1.1