Changeset 1420

Timestamp:

09/20/06 13:37:29 (18 years ago)

Author:

mattausch

Message:

corrected raycasting bug for triangles because of ill defined triangles

Location:

GTP/trunk/Lib/Vis/Preprocessing/src

Files:

• Exporter.cpp (modified) (3 diffs)
• HierarchyManager.cpp (modified) (1 diff)
• Mesh.cpp (modified) (2 diffs)
• Polygon3.cpp (modified) (7 diffs)
• Polygon3.h (modified) (1 diff)
• Triangle3.cpp (modified) (6 diffs)
• Triangle3.h (modified) (1 diff)
• Vector3.cpp (modified) (2 diffs)
• Vector3.h (modified) (1 diff)
• ViewCellsManager.cpp (modified) (2 diffs)
• VrmlExporter.cpp (modified) (2 diffs)
• X3dParser.cpp (modified) (3 diffs)

GTP/trunk/Lib/Vis/Preprocessing/src/Exporter.cpp

@@ -152 +152 @@
         }
 
+        // reset to filled
         SetFilled();
 
@@ -266 +267 @@
                 {
                 case Intersectable::TRIANGLE_INTERSECTABLE:
-                        {
+                        {cout << "y";
                                 TriangleIntersectable *ti = dynamic_cast<TriangleIntersectable *>(obj);
                                 polys.push_back(new Polygon3(ti->GetItem()));
@@ -272 +273 @@
                         }
                 case Intersectable::MESH_INSTANCE:
-                        {
+                        {cout << "x";
                                 MeshInstance *mi = dynamic_cast<MeshInstance *>(obj);
                                 ExportMesh(mi->GetMesh());

GTP/trunk/Lib/Vis/Preprocessing/src/HierarchyManager.cpp

@@ -283 +283 @@
         cout << "\nfinished in " << TimeDiff(startTime, GetTime()) * 1e-3 << " secs" << endl;
 
-        cout << "here5 " << GetViewSpaceBox() << endl;
-        cout << "here6 " << GetObjectSpaceBox() << endl;
+#if _DEBUG
+        cout << "view space: " << GetViewSpaceBox() << endl;
+        cout << "object space:  " << GetObjectSpaceBox() << endl;
+#endif
+
         mHierarchyStats.Stop();
         mVspTree->mVspStats.Stop();

GTP/trunk/Lib/Vis/Preprocessing/src/Mesh.cpp

@@ -521 +521 @@
 
 
+static void PrintFace(const Mesh *mesh, const int idx, ostream &app)
+{
+        Face *face = mesh->mFaces[idx];
+
+        VertexIndexContainer::iterator it, it_end = face->mVertexIndices.end();
+
+        cout << "face " << idx << endl;
+        for (it = face->mVertexIndices.begin(); it != it_end; ++ it)
+        {
+                cout << (*it) << ": " << mesh->mVertices[*it] << " ";
+        }
+        cout << endl;
+}
+
+
 void Mesh::Print(ostream &app) const
 {
@@ -531 +546 @@
         app << endl;
 
-        /*FaceContainer::const_iterator fit, fit_end = mVertices.end();
-
-        for (vit = mVertices.begin(); vit != vit_end; ++ vit)
+        for (int i = 0; i < (int)mFaces.size(); ++ i)
         {
-                app << (*vit);
-        }
-        app << endl;*/
+                PrintFace(this, i, app);
+        }
 }
 

GTP/trunk/Lib/Vis/Preprocessing/src/Polygon3.cpp

@@ -43 +43 @@
 {       
         mVertices.reserve(face->mVertexIndices.size());
-        
         VertexIndexContainer::iterator it, it_end = face->mVertexIndices.end();
 
-        for (it = face->mVertexIndices.begin(); it != it_end;  ++ it)
+        for (it = face->mVertexIndices.begin(); it != it_end; ++ it)
         {
                 mVertices.push_back(parentMesh->mVertices[*it]);
@@ -69 +68 @@
         VertexContainer::iterator it, it_end = mVertices.end();
 
-        for (it = mVertices.begin(); it != it_end;  ++ it)
-        {
-                cout << (*it) << " ";
-        }cout<<endl<<endl;
+        //for (it = mVertices.begin(); it != it_end;  ++ it){cout << (*it) << " ";}cout<<endl<<endl;
         //cout << "poly n: " << GetNormal() << " t normal: " << tri.GetNormal() << endl;
 }
@@ -267 +263 @@
 }
 
+
 bool Polygon3::Valid(const float epsilon) const
 {
@@ -272 +269 @@
                 return false;
 
-        //TODO: remove for performance
-#if 0
-        if (1)
+        // matt: removed for performance issues
+#if _DEBUG
+        if (0)
         {
                 // check if area exceeds certain size
@@ -291 +288 @@
                 for (it = mVertices.begin(); it != it_end; ++it)
                 {
-                        if (EpsilonEqualV3(vtx, *it, 0.0001))
+                        if (EpsilonEqualV3(vtx, *it, epsilon))
                         {
-                                //Debug << "Malformed vertices:\n" << *this << endl;
+                                //cout << "Malformed vertices:\n" << *this << endl;
                                 return false;
                         }
@@ -590 +587 @@
         const int n = (int)mesh.mVertices.size();
 
+
         /////////////
     //-- add the vertices to the mesh
@@ -609 +607 @@
         poly.Triangulate(indices);
 
+        //if (indices.size() < 3) return; // something is wrong
+        
         // add indices of triangle strip
-        for (int i = n; i < (int)indices.size() + n; i += 3)
-        {
-                Face *face = new Face(indices[i], 
-                                                          indices[i + 1], 
-                                                          indices[i + 2]);
+        for (int i = 0; i < (int)indices.size(); i += 3)
+        {
+                Face *face = new Face(indices[i] + n, 
+                                                          indices[i + 1] + n, 
+                                                          indices[i + 2] + n);
                 mesh.AddFace(face);
         }

GTP/trunk/Lib/Vis/Preprocessing/src/Polygon3.h

@@ -174 +174 @@
         //s << setprecision(6) << "Polygon:\n";
         for (it = A.mVertices.begin(); it != A.mVertices.end(); ++it)
-                s << *it << endl;
+                s << *it << " ";
         
         return s;

GTP/trunk/Lib/Vis/Preprocessing/src/Triangle3.cpp

@@ -31 +31 @@
 int Triangle3::CastRay(const Ray &ray, float &t, const float nearestT, Vector3 &normal) const
 {
-        /*VertexContainer vertices;
+#if 0
+        VertexContainer vertices;
         vertices.push_back(mVertices[0]);
         vertices.push_back(mVertices[1]);
@@ -40 +41 @@
         int dummy = poly.CastRay(ray, t, nearestT);
 
-         cout << "polyversion code: " << dummy << " t: " << t << " nearestT: " << nearestT << endl;
-return dummy;*/
-        /////////////////////////////////////////////
-        // specialised ray casting version
+        cout << "polyversion code: " << dummy << " t: " << t << " nearestT: " << nearestT << endl;
+        return dummy;
+#endif
+        
+        //////////////
+        // specialised triangle ray casting version
 
+        ///////////
         //-- calc ray-plane intersection
         
@@ -51 +55 @@
     const Vector3 v = mVertices[2] - mVertices[1];
 
-    normal = Normalize(CrossProd(v, u)); // cross product
+        // cross product
+    normal = Normalize(CrossProd(v, u));
 
-    const Vector3 dir = ray.GetDir(); // ray direction vector
+        // ray direction vector
+    const Vector3 dir = ray.GetDir();
     const Vector3 w0 = ray.GetLoc() - mVertices[1];
 
@@ -64 +70 @@
         {   
                 // ray is parallel to triangle plane
-        if (a == 0) // ray lies in triangle plane
+        if (a == 0)
                 {
+                        // ray lies in triangle plane
             return Ray::INTERSECTION_OUT_OF_LIMITS;
                 }
         else
                 {
-                        return Ray::NO_INTERSECTION; // ray disjoint from plane
+                        // ray disjoint from plane
+                        return Ray::NO_INTERSECTION;
                 }
     }
@@ -87 +95 @@
         }
 
-        ///////////////////////////////////////////////
+        /////////////////
     //-- found intersection point
         //-- check if it is inside triangle
   
         const Vector3 pt = ray.GetLoc() + t * dir; 
+
+        if (!pt.CheckValidity())
+        {
+                cout << "tr: " << *this << endl;
+                cout << "v: " << pt << " t: " << t << " a: " << a << " b: " << b << " n: " << normal << endl;
+        }
 
         const Vector3 w = pt - mVertices[1];
@@ -157 +171 @@
 
 
+bool Triangle3::CheckValidity() const
+{
+        return !(
+                EpsilonEqualV3(mVertices[0], mVertices[1]) ||
+                EpsilonEqualV3(mVertices[0], mVertices[2]) ||
+                EpsilonEqualV3(mVertices[1], mVertices[2])
+                );
 }
+
+}

GTP/trunk/Lib/Vis/Preprocessing/src/Triangle3.h

@@ -35 +35 @@
          friend istream& operator>> (istream &s, Triangle3 &A);
 
+         /** Checks if this triangle is ill-defined.
+         */
+         bool CheckValidity() const;
 
          //////////////////////////////

GTP/trunk/Lib/Vis/Preprocessing/src/Vector3.cpp

@@ -2 +2 @@
 #include "Vector3.h"
 #include "Halton.h"
+#include "float.h"
+
 
 namespace GtpVisibilityPreprocessor {
@@ -253 +255 @@
 }
 
-}
+
+bool Vector3::CheckValidity() const
+{
+        return !(_isnan(x) || _isnan(y) || _isnan(z));
+         //return ((x != x) || (y != y) || (z != z));
+}
+
+}

GTP/trunk/Lib/Vis/Preprocessing/src/Vector3.h

@@ -98 +98 @@
   inline void Normalize();
   
+  /** Returns false if this vector has a nan component.
+  */
+  bool CheckValidity() const;
+
   /**
     ===> Using ArbitraryNormal() for constructing coord systems 

GTP/trunk/Lib/Vis/Preprocessing/src/ViewCellsManager.cpp

@@ -5097 +5097 @@
                         exporter->ExportBox(bbox);
                         exporter->SetFilled(); 
-
                                 
                         if (0 && mExportGeometry)
@@ -5112 +5111 @@
                         mHierarchyManager->ExportObjectSpaceHierarchy(exporter, objects, &bbox, false);
                         ExportViewCellsForViz(exporter, &bbox, GetClipPlane());
+
                         delete exporter;
                         cout << "finished in " << TimeDiff(starttime, GetTime()) * 1e-3f << " secs" << endl;

GTP/trunk/Lib/Vis/Preprocessing/src/VrmlExporter.cpp

@@ -125 +125 @@
           const Vector3 a = (*ri)->GetOrigin();
           const Vector3 b = (*ri)->mTerminationObject ? (*ri)->GetTermination() : a + 1000 * Normalize((*ri)->GetDir());
-          
+
+#if _DEBUG
           bool isnan = false;
-
-          if ((a[0] != a[0]) || (a[1] != a[1]) || (a[2] != a[2]))
+          if (!a.CheckValidity())
           {
                   cout << "error a"<<endl;
@@ -134 +134 @@
           }
 
-          if ((b[0] != b[0]) || (b[1] != b[1]) || (b[2] != b[2]))
+           if (!b.CheckValidity())
           {
                   cout << "error b"<<endl;
                   isnan = true;
           }
-
-          if (!isnan)
-          {
-                stream << a.x << " " << a.y << " " << a.z << " ,";
-                stream << b.x << " " << b.y << " " << b.z << " ,\n";
-          }
+          if (isnan)
+                  continue;
+#endif
+          stream << a.x << " " << a.y << " " << a.z << " ,";
+          stream << b.x << " " << b.y << " " << b.z << " ,\n";
   }
 

GTP/trunk/Lib/Vis/Preprocessing/src/X3dParser.cpp

@@ -231 +231 @@
         if (!mLoadMeshes)
         {
-                ////////////////////////////////////
+                ///////////////////
                 //-- load data as single triangles instead of whole meshes
 
@@ -249 +249 @@
                         Polygon3 poly(face, &tempMesh);
                         poly.Triangulate(triangles);
-
+                        
                         vector<Triangle3>::const_iterator tit, tit_end = triangles.end();
 
                         for (tit = triangles.begin(); tit != tit_end; ++ tit)
                         {
-                                TriangleIntersectable *ti = new TriangleIntersectable(*tit);
-                                cout << "t: " << (*tit) << endl;
-                                mCurrentNode->mGeometry.push_back(ti);
+                                if ((*tit).CheckValidity())
+                                {
+                                        TriangleIntersectable *ti = new TriangleIntersectable(*tit);
+                                        //cout << "t: " << (*tit) << endl;
+                                        mCurrentNode->mGeometry.push_back(ti);
+                                }
+                                else
+                                {
+                                        cout << "error tri:\n" << (*tit) << endl;
+                                }
                         }
 #if 0
@@ -262 +269 @@
                         Mesh *mesh = MeshManager::GetSingleton()->CreateResource();
 
-                        VertexIndexContainer::const_iterator vit, vit_end = face->mVertexIndices.end();
-
-                        int i = 0;
+                                
                         // dummy vertex indices container
                         VertexIndexContainer vcIndices;
+                        VertexIndexContainer::const_iterator vit, vit_end = face->mVertexIndices.end();
+                        int i = 0;
 
                         for (vit = face->mVertexIndices.begin(); vit != vit_end; ++ vit, ++ i)