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3x 3x 2x 1x 1x 1x 3x 3x 3x 3x 3x 3x 9x 9x 9x 3x 6x 3x 1x 3x 3x 3x 3x 3x 3x 9x 9x 3x 6x 3x 1x 3x 9x 9x 9x 9x 9x 9x 27x 27x 9x 18x 27x 27x 9x 18x 9x 1x 6x 1x 1x 1x 1x 1x 1x 1x 1x 1x 1x 1x 1x 1x 1x 1x 1x 1x 1x 1x 1x 1x 6x 12x 12x 12x 12x 12x 12x 12x 36x 36x 12x 12x 12x 12x 12x 12x 36x 36x 18x 18x 12x 12x 36x 36x 36x 36x 36x 36x 36x 14x 22x 36x 36x 13x 23x 9x 36x 12x 12x 36x 108x 108x 108x 108x 108x 108x 108x 108x 108x 324x 324x 118x 206x 108x 108x 54x 54x 108x 12x 6x 1x 1x 1x 1x 1x 1x 1x 12x 12x 12x 12x 12x 12x 36x 12x 12x 12x 144x 144x 144x 144x 144x 144x 432x 144x 144x 40x 40x 40x 1x 1x 1x 1x 1x 1x 1x 1x 6x 6x 4x 4x 4x 4x 4x 120x 4x 36x 4x 4x 4x 4x 4x 4x 1x 6x 6x 6x 6x 1x | import macro from 'vtk.js/Sources/macros';
import vtkCellArray from 'vtk.js/Sources/Common/Core/CellArray';
import vtkLine from 'vtk.js/Sources/Common/DataModel/Line';
import * as vtkMath from 'vtk.js/Sources/Common/Core/Math';
import vtkMatrixBuilder from 'vtk.js/Sources/Common/Core/MatrixBuilder';
import vtkOBBNode from 'vtk.js/Sources/Filters/General/OBBTree/OBBNode';
import vtkPoints from 'vtk.js/Sources/Common/Core/Points';
import { CellType } from 'vtk.js/Sources/Common/DataModel/CellTypes/Constants';
import vtkPolyData from 'vtk.js/Sources/Common/DataModel/PolyData';
import vtkTriangle from 'vtk.js/Sources/Common/DataModel/Triangle';
import {
getCellTriangles,
pushArray,
// eslint-disable-next-line import/named
} from 'vtk.js/Sources/Filters/General/OBBTree/helper';
import { vec4, mat4 } from 'gl-matrix';
const { vtkErrorMacro } = macro;
const VTK_DOUBLE_MAX = Number.MAX_SAFE_INTEGER;
// ----------------------------------------------------------------------------
// vtkOBBTree methods
// ----------------------------------------------------------------------------
function vtkOBBTree(publicAPI, model) {
// Set our classname
model.classHierarchy.push('vtkOBBTree');
/**
* Compute an OBB from the list of cells given. This used to be
* public but should not have been. A public call has been added
* so that the functionality can be accessed.
* @param {Array} cells
* @param {Array[3]} corner
* @param {Array[3]} max
* @param {Array[3]} mid
* @param {Array[3]} min
* @param {Array[3]} size
*/
function computeOBB(cells, corner, max, mid, min, size) {
model.OBBCount++;
model.pointsList = [];
//
// Compute mean & moments
//
const numCells = cells.length;
const mean = [0, 0, 0];
let totMass = 0.0;
const a0 = [0, 0, 0];
const a1 = [0, 0, 0];
const a2 = [0, 0, 0];
let a = [0, 0, 0, 0, 0, 0, 0, 0, 0];
const dp0 = [0, 0, 0];
const dp1 = [0, 0, 0];
const c = [0, 0, 0];
let triMass = 0;
if (!model.dataset.getCells()) {
model.dataset.buildCells();
}
for (let i = 0; i < numCells; i++) {
const cellId = cells[i];
const type = model.dataset.getCells().getCellType(cellId);
const ptIds = model.dataset.getCellPoints(cellId).cellPointIds;
const numPts = ptIds.length;
for (let j = 0; j < numPts - 2; j++) {
const cellsIds = getCellTriangles(ptIds, type, j);
const pId = cellsIds.ptId0;
const qId = cellsIds.ptId1;
const rId = cellsIds.ptId2;
Iif (pId < 0) {
// eslint-disable-next-line no-continue
continue;
}
const p = [];
const q = [];
const r = [];
model.dataset.getPoints().getPoint(pId, p);
model.dataset.getPoints().getPoint(qId, q);
model.dataset.getPoints().getPoint(rId, r);
// p, q, and r are the oriented triangle points.
// Compute the components of the moment of inertia tensor.
for (let k = 0; k < 3; k++) {
// two edge vectors
dp0[k] = q[k] - p[k];
dp1[k] = r[k] - p[k];
// centroid
c[k] = (p[k] + q[k] + r[k]) / 3;
}
const xp = vtkMath.cross(dp0, dp1, []);
triMass = 0.5 * vtkMath.norm(xp);
totMass += triMass;
for (let k = 0; k < 3; k++) {
mean[k] += triMass * c[k];
}
// on-diagonal terms
a0[0] +=
(triMass *
(9 * c[0] * c[0] + p[0] * p[0] + q[0] * q[0] + r[0] * r[0])) /
12;
a1[1] +=
(triMass *
(9 * c[1] * c[1] + p[1] * p[1] + q[1] * q[1] + r[1] * r[1])) /
12;
a2[2] +=
(triMass *
(9 * c[2] * c[2] + p[2] * p[2] + q[2] * q[2] + r[2] * r[2])) /
12;
// off-diagonal terms
a0[1] +=
(triMass *
(9 * c[0] * c[1] + p[0] * p[1] + q[0] * q[1] + r[0] * r[1])) /
12;
a0[2] +=
(triMass *
(9 * c[0] * c[2] + p[0] * p[2] + q[0] * q[2] + r[0] * r[2])) /
12;
a1[2] +=
(triMass *
(9 * c[1] * c[2] + p[1] * p[2] + q[1] * q[2] + r[1] * r[2])) /
12;
} // end foreach triangle
// While computing cell moments, gather all the cell's
// point coordinates into a single list.
for (let j = 0; j < numPts; j++) {
if (model.insertedPoints[ptIds[j]] !== model.OBBCount) {
model.insertedPoints[ptIds[j]] = model.OBBCount;
const pt = [];
model.dataset.getPoints().getPoint(ptIds[j], pt);
model.pointsList.push(pt);
}
} // for all points of this cell
} // end foreach cell
// normalize data
for (let i = 0; i < 3; i++) {
mean[i] /= totMass;
}
// matrix is symmetric
a1[0] = a0[1];
a2[0] = a0[2];
a2[1] = a1[2];
a = [a0[0], a0[1], a0[2], a1[0], a1[1], a1[2], a2[0], a2[1], a2[2]];
// get covariance from moments
for (let i = 0; i < 3; i++) {
for (let j = 0; j < 3; j++) {
a[i * 3 + j] = a[i * 3 + j] / totMass - mean[i] * mean[j];
}
}
//
// Extract axes (i.e., eigenvectors) from covariance matrix.
//
const v = [0, 0, 0, 0, 0, 0, 0, 0, 0];
vtkMath.jacobi(a, size, v);
max[0] = v[0];
max[1] = v[3];
max[2] = v[6];
mid[0] = v[1];
mid[1] = v[4];
mid[2] = v[7];
min[0] = v[2];
min[1] = v[5];
min[2] = v[8];
for (let i = 0; i < 3; i++) {
a[i] = mean[i] + max[i];
a[3 + i] = mean[i] + mid[i];
a[6 + i] = mean[i] + min[i];
}
//
// Create oriented bounding box by projecting points onto eigenvectors.
//
const tMin = [VTK_DOUBLE_MAX, VTK_DOUBLE_MAX, VTK_DOUBLE_MAX];
const tMax = [-VTK_DOUBLE_MAX, -VTK_DOUBLE_MAX, -VTK_DOUBLE_MAX];
const numPts = model.pointsList.length;
for (let ptId = 0; ptId < numPts; ptId++) {
const p = model.pointsList[ptId];
for (let i = 0; i < 3; i++) {
const out = vtkLine.distanceToLine(
p,
mean,
a.slice(3 * i, 3 * (i + 1)),
[]
);
if (out.t < tMin[i]) {
tMin[i] = out.t;
}
if (out.t > tMax[i]) {
tMax[i] = out.t;
}
}
} // for all points
for (let i = 0; i < 3; i++) {
corner[i] =
mean[i] + tMin[0] * max[i] + tMin[1] * mid[i] + tMin[2] * min[i];
max[i] *= tMax[0] - tMin[0];
mid[i] *= tMax[1] - tMin[1];
min[i] *= tMax[2] - tMin[2];
}
}
/**
* Build the OBB tree
* @param {Array} cells
* @param {vtkOBBNode} obbNode
* @param {Number} level
*/
function buildTree(cells, obbNode, level) {
const numCells = cells.length;
Iif (level > model.level) {
model.level = level;
}
const axes = obbNode.getAxes();
const corner = obbNode.getCorner();
const size = [0, 0, 0];
computeOBB(cells, corner, axes[0], axes[1], axes[2], size);
obbNode.setAxes(axes);
obbNode.setCorner(corner);
// Check whether to continue recursing; if so, create two children and
// assign cells to appropriate child.
Iif (level < model.maxLevel && numCells > model.numberOfCellsPerNode) {
let LHlist = [];
let RHlist = [];
const p = [0, 0, 0];
const n = [0, 0, 0];
// loop over three split planes to find acceptable one
for (let i = 0; i < 3; i++) {
// compute split point
p[i] = corner[i] + axes[0][i] / 2 + axes[1][i] / 2 + axes[2][i] / 2;
}
let splitPlane = 0;
let splitAcceptable = 0;
let bestRatio = 1;
let foundBestSplit = 0;
let bestPlane = 0;
for (; !splitAcceptable && splitPlane < 3; ) {
// compute split normal
for (let i = 0; i < 3; i++) {
n[i] = axes[splitPlane][i];
}
vtkMath.normalize(n);
// traverse cells, assigning to appropriate child list as necessary
for (let i = 0; i < numCells; i++) {
const cellId = cells[i];
const pointsIDs = model.dataset.getCellPoints(cellId).cellPointIds;
const cellPts = [];
pointsIDs.forEach((id) => {
const pt = [];
model.dataset.getPoints().getPoint(pointsIDs[id], pt);
cellPts.push(pt);
});
const c = [0, 0, 0];
const numPts = cellPts.length;
let negative = 0;
let positive = 0;
for (let j = 0; j < numPts; j++) {
const ptId = pointsIDs[j];
const x = model.dataset.getPoints().getPoint(ptId);
const val =
n[0] * (x[0] - p[0]) +
n[1] * (x[1] - p[1]) +
n[2] * (x[2] - p[2]);
c[0] += x[0];
c[1] += x[1];
c[2] += x[2];
if (val < 0.0) {
negative = 1;
} else {
positive = 1;
}
}
if (negative && positive) {
// Use centroid to decide straddle cases
c[0] /= numPts;
c[1] /= numPts;
c[2] /= numPts;
const val =
n[0] * (c[0] - p[0]) +
n[1] * (c[1] - p[1]) +
n[2] * (c[2] - p[2]);
if (val < 0.0) {
LHlist.push(cellId);
} else {
RHlist.push(cellId);
}
} else if (negative) {
LHlist.push(cellId);
} else {
RHlist.push(cellId);
}
} // for all cells
// evaluate this split
const numInLHnode = LHlist.length;
const numInRHnode = RHlist.length;
const ratio = Math.abs((numInRHnode - numInLHnode) / numCells);
// see whether we've found acceptable split plane
if (ratio < 0.6 || foundBestSplit) {
// accept right off the bat
splitAcceptable = 1;
} else {
// not a great split try another
LHlist = [];
RHlist = [];
if (ratio < bestRatio) {
bestRatio = ratio;
bestPlane = splitPlane;
}
if (++splitPlane === 3 && bestRatio < 0.95) {
// at closing time, even the ugly ones look good
splitPlane = bestPlane;
foundBestSplit = 1;
}
} // try another split
} // for each split
if (splitAcceptable) {
// otherwise recursion terminates
const LHnode = vtkOBBNode.newInstance();
const RHnode = vtkOBBNode.newInstance();
obbNode.setKids([LHnode, RHnode]);
LHnode.setParent(obbNode);
RHnode.setParent(obbNode);
cells.length = 0;
buildTree(LHlist, LHnode, level + 1);
buildTree(RHlist, RHnode, level + 1);
} else {
// free up local objects
LHlist = [];
RHlist = [];
}
} // if should build tree
if (cells && model.retainCellLists) {
obbNode.setCells(cells);
} else Eif (cells) {
cells.length = 0;
}
}
function generatePolygons(obbNode, level, repLevel, points, cells) {
if (level === repLevel || (repLevel < 0 && obbNode.getKids())) {
let nbPoints = points.getNumberOfPoints();
const newPoints = [];
const newCells = [];
const cubeIds = [];
newPoints.push(...obbNode.getCorner());
cubeIds[0] = nbPoints++;
const x = [];
newPoints.push(
...vtkMath.add(obbNode.getCorner(), obbNode.getAxis(0), x)
);
cubeIds[1] = nbPoints++;
const y = [];
newPoints.push(
...vtkMath.add(obbNode.getCorner(), obbNode.getAxis(1), y)
);
cubeIds[2] = nbPoints++;
const xy = [];
newPoints.push(...vtkMath.add(x, obbNode.getAxis(1), xy));
cubeIds[3] = nbPoints++;
const z = [];
newPoints.push(
...vtkMath.add(obbNode.getCorner(), obbNode.getAxis(2), z)
);
cubeIds[4] = nbPoints++;
const xz = [];
newPoints.push(...vtkMath.add(x, obbNode.getAxis(2), xz));
cubeIds[5] = nbPoints++;
const yz = [];
newPoints.push(...vtkMath.add(y, obbNode.getAxis(2), yz));
cubeIds[6] = nbPoints++;
const xyz = [];
newPoints.push(...vtkMath.add(xy, obbNode.getAxis(2), xyz));
cubeIds[7] = nbPoints++;
newCells.push(4, cubeIds[0], cubeIds[2], cubeIds[3], cubeIds[1]);
newCells.push(4, cubeIds[0], cubeIds[1], cubeIds[5], cubeIds[4]);
newCells.push(4, cubeIds[0], cubeIds[4], cubeIds[6], cubeIds[2]);
newCells.push(4, cubeIds[1], cubeIds[3], cubeIds[7], cubeIds[5]);
newCells.push(4, cubeIds[4], cubeIds[5], cubeIds[7], cubeIds[6]);
newCells.push(4, cubeIds[2], cubeIds[6], cubeIds[7], cubeIds[3]);
points.setData(pushArray(points.getData(), newPoints));
cells.setData(pushArray(cells.getData(), newCells));
} else if ((level < repLevel || repLevel < 0) && obbNode.getKids()) {
generatePolygons(
obbNode.getKids()[0],
level + 1,
repLevel,
points,
cells
);
generatePolygons(
obbNode.getKids()[1],
level + 1,
repLevel,
points,
cells
);
}
}
/**
* Transform the whole OBB tree by using input transform
* @param {Transform} transform vtkjs Transform object
*/
publicAPI.transform = (transform) => {
// Setup matrix used to transform vectors
const matrix = mat4.create();
mat4.copy(matrix, transform.getMatrix());
matrix[12] = 0;
matrix[13] = 0;
matrix[14] = 0;
matrix[15] = 1;
const transformVector = vtkMatrixBuilder
.buildFromRadian()
.setMatrix(matrix);
const obbStack = new Array(model.level + 1);
obbStack[0] = model.tree;
let depth = 1;
while (depth > 0) {
depth -= 1;
const node = obbStack[depth];
const corner = node.getCorner();
const max = node.getAxis(0);
const mid = node.getAxis(1);
const min = node.getAxis(2);
transform.apply(corner);
transformVector.apply(max);
transformVector.apply(mid);
transformVector.apply(min);
node.setCorner(corner);
node.setAxes([max, mid, min]);
Iif (node.getKids() !== null) {
// push kids onto stack
obbStack[depth] = node.getKids()[0];
obbStack[depth + 1] = node.getKids()[1];
depth += 2;
}
}
};
/**
* Deep copy input node into class attribute tree
* @param {vtkOBBNode} tree
* @returns
*/
publicAPI.deepCopy = (tree) => {
Iif (!tree) {
return;
}
publicAPI.setLevel(tree.getLevel());
publicAPI.setRetainCellLists(tree.getRetainCellLists());
publicAPI.setDataset(tree.getDataset());
publicAPI.setAutomatic(tree.getAutomatic());
publicAPI.setNumberOfCellsPerNode(tree.getNumberOfCellsPerNode());
publicAPI.setTolerance(tree.getTolerance());
const root = tree.getTree();
if (root) {
model.tree = vtkOBBNode.newInstance();
model.tree.deepCopy(root);
}
};
/**
* A method to compute the OBB of a dataset without having to go through the
* Execute method; It does set
* @param {vtkPolyData} input
* @param {Array[3]} corner
* @param {Array[3]} max
* @param {Array[3]} mid
* @param {Array[3]} min
* @param {Array[3]} size
*/
publicAPI.computeOBBFromDataset = (input, corner, max, mid, min, size) => {
Iif (!input) {
return;
}
const numPts = input.getPoints().getNumberOfPoints();
const numCells = input.getNumberOfCells();
Iif (numPts < 1 || numCells < 1) {
vtkErrorMacro("Can't compute OBB - no data available!");
return;
}
model.dataset = input;
model.OBBCount = 0;
model.insertedPoints = Array.from({ length: numPts }, (_) => 0);
model.pointsList = [];
const cellList = Array.from({ length: numCells }, (_, i) => i);
computeOBB(cellList, corner, max, mid, min, size);
};
/**
* Returns true if nodeB and nodeA are disjoint after optional
* transformation of nodeB with matrix XformBtoA
* @param {vtkOBBNode} nodeA
* @param {vtkOBBNode} nodeB
* @param {mat4} XformBtoA
*/
publicAPI.disjointOBBNodes = (nodeA, nodeB, XformBtoA) => {
Iif (!nodeA || !nodeB) {
return 5; // A and B are disjoint
}
const input = new Array(4);
const output = new Array(4);
const eps = model.tolerance;
const pA = nodeA;
let pB = vtkOBBNode.newInstance();
const dotAB = [0, 0, 0, 0, 0, 0, 0, 0, 0];
Iif (XformBtoA) {
// Here we assume that XformBtoA is an orthogonal matrix
input[0] = nodeB.getCorner()[0];
input[1] = nodeB.getCorner()[1];
input[2] = nodeB.getCorner()[2];
input[3] = 1.0;
vec4.transformMat4(output, input, XformBtoA);
pB.setCorner([
output[0] / output[3],
output[1] / output[3],
output[2] / output[3],
]);
// Clean this up when the bug input MultiplyVectors is fixed!
for (let ii = 0; ii < 3; ii++) {
pB.getAxis(0)[ii] = nodeB.getCorner()[ii] + nodeB.getAxis(0)[ii];
pB.getAxis(1)[ii] = nodeB.getCorner()[ii] + nodeB.getAxis(1)[ii];
pB.getAxis(2)[ii] = nodeB.getCorner()[ii] + nodeB.getAxis(2)[ii];
}
for (let ii = 0; ii < 3; ii++) {
input[0] = pB.getAxis(ii)[0];
input[1] = pB.getAxis(ii)[1];
input[2] = pB.getAxis(ii)[2];
input[3] = 1.0;
vec4.transformMat4(output, input, XformBtoA);
pB.getAxis(ii)[0] = output[0] / output[3];
pB.getAxis(ii)[1] = output[1] / output[3];
pB.getAxis(ii)[2] = output[2] / output[3];
}
for (let ii = 0; ii < 3; ii++) {
pB.getAxis(0)[ii] = pB.getAxis(0)[ii] - pB.getCorner()[ii];
pB.getAxis(1)[ii] = pB.getAxis(1)[ii] - pB.getCorner()[ii];
pB.getAxis(2)[ii] = pB.getAxis(2)[ii] - pB.getCorner()[ii];
}
} else {
pB = nodeB;
}
const centerA = [0, 0, 0];
const centerB = [0, 0, 0];
const AtoB = [0, 0, 0];
for (let ii = 0; ii < 3; ii++) {
centerA[ii] =
pA.getCorner()[ii] +
0.5 * (pA.getAxis(0)[ii] + pA.getAxis(1)[ii] + pA.getAxis(2)[ii]);
centerB[ii] =
pB.getCorner()[ii] +
0.5 * (pB.getAxis(0)[ii] + pB.getAxis(1)[ii] + pB.getAxis(2)[ii]);
AtoB[ii] = centerB[ii] - centerA[ii];
}
// Project maximal and minimal corners onto line between centers
let rangeAmin = vtkMath.dot(pA.getCorner(), AtoB);
let rangeAmax = rangeAmin;
let rangeBmin = vtkMath.dot(pB.getCorner(), AtoB);
let rangeBmax = rangeBmin;
let dotA = 0;
let dotB = 0;
for (let ii = 0; ii < 3; ii++) {
// compute A range
dotA = vtkMath.dot(pA.getAxis(ii), AtoB);
if (dotA > 0) {
rangeAmax += dotA;
} else {
rangeAmin += dotA;
}
// compute B range
dotB = vtkMath.dot(pB.getAxis(ii), AtoB);
if (dotB > 0) {
rangeBmax += dotB;
} else {
rangeBmin += dotB;
}
}
Iif (rangeAmax + eps < rangeBmin || rangeBmax + eps < rangeAmin) {
return 1; // A and B are Disjoint by the 1st test.
}
// now check for a separation plane parallel to the faces of B
for (let ii = 0; ii < 3; ii++) {
// plane is normal to pB.getAxis(ii)
// computing B range is easy...
rangeBmin = vtkMath.dot(pB.getCorner(), pB.getAxis(ii));
rangeBmax = rangeBmin;
rangeBmax += vtkMath.dot(pB.getAxis(ii), pB.getAxis(ii));
// compute A range...
rangeAmin = vtkMath.dot(pA.getCorner(), pB.getAxis(ii));
rangeAmax = rangeAmin;
for (let jj = 0; jj < 3; jj++) {
// (note: we are saving all 9 dotproducts for future use)
dotA = vtkMath.dot(pB.getAxis(ii), pA.getAxis(jj));
dotAB[ii * 3 + jj] = dotA;
if (dotA > 0) {
rangeAmax += dotA;
} else {
rangeAmin += dotA;
}
}
Iif (rangeAmax + eps < rangeBmin || rangeBmax + eps < rangeAmin) {
return 2; // A and B are Disjoint by the 3rd test.
}
}
// now check for a separation plane parallel to the faces of A
for (let ii = 0; ii < 3; ii++) {
// plane is normal to pA.getAxis(ii)
// computing A range is easy...
rangeAmin = vtkMath.dot(pA.getCorner(), pA.getAxis(ii));
rangeAmax = rangeAmin;
rangeAmax += vtkMath.dot(pA.getAxis(ii), pA.getAxis(ii));
// compute B range...
rangeBmin = vtkMath.dot(pB.getCorner(), pA.getAxis(ii));
rangeBmax = rangeBmin;
for (let jj = 0; jj < 3; jj++) {
// (note: we are using the 9 dotproducts computed earlier)
dotB = dotAB[jj * 3 + ii];
if (dotB > 0) {
rangeBmax += dotB;
} else {
rangeBmin += dotB;
}
}
Iif (rangeAmax + eps < rangeBmin || rangeBmax + eps < rangeAmin) {
return 3; // A and B are Disjoint by the 2nd test.
}
}
// Bad luck: now we must look for a separation plane parallel
// to one edge from A and one edge from B.
for (let ii = 0; ii < 3; ii++) {
for (let jj = 0; jj < 3; jj++) {
// the plane is normal to pA.getAxis(ii) X pB.getAxis(jj)
vtkMath.cross(pA.getAxis(ii), pB.getAxis(jj), AtoB);
rangeAmin = vtkMath.dot(pA.getCorner(), AtoB);
rangeAmax = rangeAmin;
rangeBmin = vtkMath.dot(pB.getCorner(), AtoB);
rangeBmax = rangeBmin;
for (let kk = 0; kk < 3; kk++) {
// compute A range
dotA = vtkMath.dot(pA.getAxis(kk), AtoB);
if (dotA > 0) {
rangeAmax += dotA;
} else {
rangeAmin += dotA;
}
// compute B range
dotB = vtkMath.dot(pB.getAxis(kk), AtoB);
if (dotB > 0) {
rangeBmax += dotB;
} else {
rangeBmin += dotB;
}
}
Iif (rangeAmax + eps < rangeBmin || rangeBmax + eps < rangeAmin) {
return 4; // A and B are Disjoint by the 4th test.
}
}
}
// if we fall through to here, the OBB's overlap
return 0;
};
/**
* Intersect this OBBTree with OBBTreeB (as transformed) and
* call processing function for each intersecting leaf node pair.
* If the processing function returns a negative integer, terminate.
* For each intersecting leaf node pair, call callback.
* OBBTreeB is optionally transformed by XformBtoA before testing
* @param {vtkOBBTree} obbTreeB
* @param {mat4|null|undefined} XformBtoA
* @param {function|null|undefined} callback Compared function that takes in argument:
* nodeA (vtkOBBNode), nodeB (vtkOBBNode), XForm (mat4), arg
*/
publicAPI.intersectWithOBBTree = (
obbTreeB,
XformBtoA,
onIntersect = () => -1
) => {
let maxDepth = model.level;
let minDepth = obbTreeB.getLevel();
Iif (minDepth > maxDepth) {
minDepth = maxDepth;
maxDepth = obbTreeB.getLevel();
}
const maxStackDepth = 3 * minDepth + 2 * (maxDepth - minDepth) + 1;
const OBBStackA = new Array(maxStackDepth);
const OBBStackB = new Array(maxStackDepth);
OBBStackA[0] = model.tree;
OBBStackB[0] = obbTreeB.getTree();
let depth = 1;
let count = 0;
let returnValue = 0;
// simulate recursion without overhead of real recursion.
while (depth > 0 && returnValue > -1) {
depth--;
const nodeA = OBBStackA[depth];
const nodeB = OBBStackB[depth];
if (!publicAPI.disjointOBBNodes(nodeA, nodeB, XformBtoA)) {
// Collision
if (!nodeA.getKids()) {
if (!nodeB.getKids()) {
returnValue = onIntersect(nodeA, nodeB, XformBtoA);
count += Math.abs(returnValue);
} else E{
// A is a leaf, but B goes deeper.
OBBStackA[depth] = nodeA;
OBBStackB[depth] = nodeB.getKids()[0];
OBBStackA[depth + 1] = nodeA;
OBBStackB[depth + 1] = nodeB.getKids()[1];
depth += 2;
}
} else Eif (!nodeB.getKids()) {
// B is a leaf, but A goes deeper.
OBBStackB[depth] = nodeB;
OBBStackA[depth] = nodeA.getKids()[0];
OBBStackB[depth + 1] = nodeB;
OBBStackA[depth + 1] = nodeA.getKids()[1];
depth += 2;
} else {
// neither A nor B are leaves. Go to the next level.
OBBStackA[depth] = nodeA.getKids()[0];
OBBStackB[depth] = nodeB.getKids()[0];
OBBStackA[depth + 1] = nodeA.getKids()[1];
OBBStackB[depth + 1] = nodeB.getKids()[0];
OBBStackA[depth + 2] = nodeA.getKids()[0];
OBBStackB[depth + 2] = nodeB.getKids()[1];
OBBStackA[depth + 3] = nodeA.getKids()[1];
OBBStackB[depth + 3] = nodeB.getKids()[1];
depth += 4;
}
}
}
return count;
};
publicAPI.triangleIntersectsNode = (nodeA, p0, p1, p2, XformBtoA) => {
const eps = model.tolerance;
const pA = nodeA;
const pB = [[...p0], [...p1], [...p2]];
Iif (XformBtoA) {
// Here we assume that XformBtoA is an orthogonal matrix
const input = [0, 0, 0, 1];
const output = [];
for (let ii = 0; ii < 3; ii++) {
input[0] = pB[ii][0];
input[1] = pB[ii][1];
input[2] = pB[ii][2];
vec4.transformMat4(output, input, XformBtoA);
pB[ii][0] = output[0] / output[3];
pB[ii][1] = output[1] / output[3];
pB[ii][2] = output[2] / output[3];
}
}
// now check for a separation plane parallel to the triangle
const v0 = [];
const v1 = [];
for (let ii = 0; ii < 3; ii++) {
// plane is normal to the triangle
v0[ii] = pB[1][ii] - pB[0][ii];
v1[ii] = pB[2][ii] - pB[0][ii];
}
const xprod = vtkMath.cross(v0, v1, []);
// computing B range is easy...
let rangeBmax = vtkMath.dot(pB[0], xprod);
let rangeBmin = rangeBmax;
// compute A range...
let rangeAmax = vtkMath.dot(pA.getCorner(), xprod);
let rangeAmin = rangeAmax;
let dotA;
for (let jj = 0; jj < 3; jj++) {
dotA = vtkMath.dot(xprod, pA.getAxis(jj));
if (dotA > 0) {
rangeAmax += dotA;
} else {
rangeAmin += dotA;
}
}
Iif (rangeAmax + eps < rangeBmin || rangeBmax + eps < rangeAmin) {
return 0; // A and B are Disjoint by the 1st test.
}
// now check for a separation plane parallel to the faces of A
for (let ii = 0; ii < 3; ii++) {
// plane is normal to pA->Axes[ii]
// computing A range is easy...
rangeAmax = vtkMath.dot(pA.getCorner(), pA.getAxis(ii));
rangeAmin = rangeAmax;
rangeAmax += vtkMath.dot(pA.getAxis(ii), pA.getAxis(ii));
// compute B range...
rangeBmax = vtkMath.dot(pB[0], pA.getAxis(ii));
rangeBmin = rangeBmax;
let dotB = vtkMath.dot(pB[1], pA.getAxis(ii));
if (dotB > rangeBmax) {
rangeBmax = dotB;
} else {
rangeBmin = dotB;
}
dotB = vtkMath.dot(pB[2], pA.getAxis(ii));
if (dotB > rangeBmax) {
rangeBmax = dotB;
} else if (dotB < rangeBmin) {
rangeBmin = dotB;
}
Iif (rangeAmax + eps < rangeBmin || rangeBmax + eps < rangeAmin) {
return 0; // A and B are Disjoint by the 2nd test.
}
}
// Bad luck: now we must look for a separation plane parallel
// to one edge from A and one edge from B.
const AtoB = [];
let dotB;
for (let ii = 0; ii < 3; ii++) {
for (let jj = 0; jj < 3; jj++) {
// the plane is normal to pA->Axes[ii] X (pB[jj+1]-pB[jj])
v0[0] = pB[(jj + 1) % 3][0] - pB[jj][0];
v0[1] = pB[(jj + 1) % 3][1] - pB[jj][1];
v0[2] = pB[(jj + 1) % 3][2] - pB[jj][2];
vtkMath.cross(pA.getAxis(ii), v0, AtoB);
rangeAmax = vtkMath.dot(pA.getCorner(), AtoB);
rangeAmin = rangeAmax;
rangeBmax = vtkMath.dot(pB[jj], AtoB);
rangeBmin = rangeBmax;
for (let kk = 0; kk < 3; kk++) {
// compute A range
dotA = vtkMath.dot(pA.getAxis(kk), AtoB);
if (dotA > 0) {
rangeAmax += dotA;
} else {
rangeAmin += dotA;
}
}
// compute B range
dotB = vtkMath.dot(pB[(jj + 2) % 3], AtoB);
if (dotB > rangeBmax) {
rangeBmax = dotB;
} else {
rangeBmin = dotB;
}
Iif (rangeAmax + eps < rangeBmin || rangeBmax + eps < rangeAmin) {
return 0; // A and B are Disjoint by the 3rd test.
}
}
}
// if we fall through to here, the OBB overlaps the triangle.
return 1;
};
/**
*
* @param {*} info must be an object with { obbTree1, intersectionLines }
* @param {*} node0
* @param {*} node1
* @param {*} transform
* @returns the number of intersection lines found
*/
publicAPI.findTriangleIntersections = (info, node0, node1, transform) => {
// Set up local structures to hold Impl array information
// vtkOBBTree* obbTree1 = info->OBBTree1;
// vtkCellArray* intersectionLines = info->IntersectionLines;
// vtkIdTypeArray* intersectionSurfaceId = info->SurfaceId;
// vtkIdTypeArray* intersectionCellIds0 = info->CellIds[0];
// vtkIdTypeArray* intersectionCellIds1 = info->CellIds[1];
// vtkPointLocator* pointMerger = info->PointMerger;
// double tolerance = info->Tolerance;
const mesh0 = publicAPI.getDataset();
const mesh1 = info.obbTree1.getDataset();
const pointOffset = info.intersectionLines.getPoints().getNumberOfPoints();
const intersectionPoints = [];
const intersectionLines = [];
// The number of cells in OBBTree
const numCells0 = node0.getCells().length;
for (let id0 = 0; id0 < numCells0; id0++) {
const cellId0 = node0.getCells()[id0];
const type0 = mesh0.getCellType(cellId0);
// Make sure the cell is a triangle
if (type0 === CellType.VTK_TRIANGLE) {
const { cellPointIds: triPtIds0 } = mesh0.getCellPoints(cellId0);
const triPts0 = [[], [], []];
for (let id = 0; id < triPtIds0.length; id++) {
mesh0.getPoints().getPoint(triPtIds0[id], triPts0[id]);
}
if (
info.obbTree1.triangleIntersectsNode(
node1,
triPts0[0],
triPts0[1],
triPts0[2],
transform
)
) {
const numCells1 = node1.getCells().length;
for (let id1 = 0; id1 < numCells1; id1++) {
const cellId1 = node1.getCells()[id1];
const type1 = mesh1.getCellType(cellId1);
if (type1 === CellType.VTK_TRIANGLE) {
// See if the two cells actually intersect. If they do,
// add an entry into the intersection maps and add an
// intersection line.
const { cellPointIds: triPtIds1 } = mesh1.getCellPoints(cellId1);
const triPts1 = [[], [], []];
for (let id = 0; id < triPtIds1.length; id++) {
mesh1.getPoints().getPoint(triPtIds1[id], triPts1[id]);
}
const {
intersect,
coplanar,
pt1: outpt0,
pt2: outpt1,
// surfaceId,
} = vtkTriangle.intersectWithTriangle(
...triPts0,
...triPts1,
model.tolerance
);
if (intersect && !coplanar) {
const pointId = intersectionPoints.length / 3;
intersectionPoints.push(...outpt0, ...outpt1);
intersectionLines.push(
2,
pointOffset + pointId,
pointOffset + pointId + 1
);
}
// If actual intersection, add point and cell to edge, line,
// and surface maps!
/*
if (coplanar) {
// Coplanar triangle intersection is not handled.
// This intersection will not be included in the output. TODO
// vtkDebugMacro(<<"Coplanar");
intersects = false;
continue;
}
if (intersects)
{
vtkIdType lineId = info.intersectionLines->GetNumberOfCells();
vtkIdType ptId0, ptId1;
int unique[2];
unique[0] = pointMerger->InsertUniquePoint(outpt0, ptId0);
unique[1] = pointMerger->InsertUniquePoint(outpt1, ptId1);
int addline = 1;
if (ptId0 == ptId1)
{
addline = 0;
}
if (ptId0 == ptId1 && surfaceid[0] != surfaceid[1])
{
intersectionSurfaceId->InsertValue(ptId0, 3);
}
else
{
if (unique[0])
{
intersectionSurfaceId->InsertValue(ptId0, surfaceid[0]);
}
else
{
if (intersectionSurfaceId->GetValue(ptId0) != 3)
{
intersectionSurfaceId->InsertValue(ptId0, surfaceid[0]);
}
}
if (unique[1])
{
intersectionSurfaceId->InsertValue(ptId1, surfaceid[1]);
}
else
{
if (intersectionSurfaceId->GetValue(ptId1) != 3)
{
intersectionSurfaceId->InsertValue(ptId1, surfaceid[1]);
}
}
}
info->IntersectionPtsMap[0]->insert(std::make_pair(ptId0, cellId0));
info->IntersectionPtsMap[1]->insert(std::make_pair(ptId0, cellId1));
info->IntersectionPtsMap[0]->insert(std::make_pair(ptId1, cellId0));
info->IntersectionPtsMap[1]->insert(std::make_pair(ptId1, cellId1));
// Check to see if duplicate line. Line can only be a duplicate
// line if both points are not unique and they don't
// equal each other
if (!unique[0] && !unique[1] && ptId0 != ptId1)
{
vtkSmartPointer<vtkPolyData> lineTest = vtkSmartPointer<vtkPolyData>::New();
lineTest->SetPoints(pointMerger->GetPoints());
lineTest->SetLines(intersectionLines);
lineTest->BuildLinks();
int newLine = info->CheckLine(lineTest, ptId0, ptId1);
if (newLine == 0)
{
addline = 0;
}
}
if (addline)
{
// If the line is new and does not consist of two identical
// points, add the line to the intersection and update
// mapping information
intersectionLines->InsertNextCell(2);
intersectionLines->InsertCellPoint(ptId0);
intersectionLines->InsertCellPoint(ptId1);
intersectionCellIds0->InsertNextValue(cellId0);
intersectionCellIds1->InsertNextValue(cellId1);
info->PointCellIds[0]->InsertValue(ptId0, cellId0);
info->PointCellIds[0]->InsertValue(ptId1, cellId0);
info->PointCellIds[1]->InsertValue(ptId0, cellId1);
info->PointCellIds[1]->InsertValue(ptId1, cellId1);
info->IntersectionMap[0]->insert(std::make_pair(cellId0, lineId));
info->IntersectionMap[1]->insert(std::make_pair(cellId1, lineId));
// Check which edges of cellId0 and cellId1 outpt0 and
// outpt1 are on, if any.
int isOnEdge = 0;
int m0p0 = 0, m0p1 = 0, m1p0 = 0, m1p1 = 0;
for (vtkIdType edgeId = 0; edgeId < 3; edgeId++)
{
isOnEdge = info->AddToPointEdgeMap(
0, ptId0, outpt0, mesh0, cellId0, edgeId, lineId, triPtIds0);
if (isOnEdge != -1)
{
m0p0++;
}
isOnEdge = info->AddToPointEdgeMap(
0, ptId1, outpt1, mesh0, cellId0, edgeId, lineId, triPtIds0);
if (isOnEdge != -1)
{
m0p1++;
}
isOnEdge = info->AddToPointEdgeMap(
1, ptId0, outpt0, mesh1, cellId1, edgeId, lineId, triPtIds1);
if (isOnEdge != -1)
{
m1p0++;
}
isOnEdge = info->AddToPointEdgeMap(
1, ptId1, outpt1, mesh1, cellId1, edgeId, lineId, triPtIds1);
if (isOnEdge != -1)
{
m1p1++;
}
}
// Special cases caught by tolerance and not from the Point
// Merger
if (m0p0 > 0 && m1p0 > 0)
{
intersectionSurfaceId->InsertValue(ptId0, 3);
}
if (m0p1 > 0 && m1p1 > 0)
{
intersectionSurfaceId->InsertValue(ptId1, 3);
}
}
// Add information about origin surface to std::maps for
// checks later
if (intersectionSurfaceId->GetValue(ptId0) == 1)
{
info->IntersectionPtsMap[0]->insert(std::make_pair(ptId0, cellId0));
}
else if (intersectionSurfaceId->GetValue(ptId0) == 2)
{
info->IntersectionPtsMap[1]->insert(std::make_pair(ptId0, cellId1));
}
else
{
info->IntersectionPtsMap[0]->insert(std::make_pair(ptId0, cellId0));
info->IntersectionPtsMap[1]->insert(std::make_pair(ptId0, cellId1));
}
if (intersectionSurfaceId->GetValue(ptId1) == 1)
{
info->IntersectionPtsMap[0]->insert(std::make_pair(ptId1, cellId0));
}
else if (intersectionSurfaceId->GetValue(ptId1) == 2)
{
info->IntersectionPtsMap[1]->insert(std::make_pair(ptId1, cellId1));
}
else
{
info->IntersectionPtsMap[0]->insert(std::make_pair(ptId1, cellId0));
info->IntersectionPtsMap[1]->insert(std::make_pair(ptId1, cellId1));
}
}
*/
}
}
}
}
}
if (intersectionPoints.length) {
const points = vtkPoints.newInstance();
points.setData(
pushArray(
info.intersectionLines.getPoints().getData(),
intersectionPoints
)
);
info.intersectionLines.setPoints(points);
const lines = vtkCellArray.newInstance();
lines.setData(
pushArray(
info.intersectionLines.getLines().getData(),
intersectionLines
)
);
info.intersectionLines.setLines(lines);
}
return intersectionLines.length / 3;
};
/**
* Create polygonal representation for OBB tree at specified level. If
* level < 0, then the leaf OBB nodes will be gathered. The aspect ratio (ar)
* and line diameter (d) are used to control the building of the
* representation. If a OBB node edge ratio's are greater than ar, then the
* dimension of the OBB is collapsed (OBB->plane->line). A "line" OBB will be
* represented either as two crossed polygons, or as a line, depending on
* the relative diameter of the OBB compared to the diameter (d).
* @param {Number} level Level of the representation
* @returns {vtkPolyData}
*/
publicAPI.generateRepresentation = (level) => {
if (!model.tree) {
vtkErrorMacro('No tree to generate representation for');
return null;
}
const points = vtkPoints.newInstance();
const polys = vtkCellArray.newInstance();
generatePolygons(model.tree, 0, level, points, polys);
const output = vtkPolyData.newInstance();
output.setPoints(points);
output.setPolys(polys);
return output;
};
publicAPI.buildLocator = () => {
Iif (model.dataset === null) {
vtkErrorMacro("Can't build OBB tree - no data available!");
return;
}
const numPts = model.dataset.getPoints().getNumberOfPoints();
const numCells = model.dataset.getNumberOfCells();
Iif (numPts < 1 || numCells < 1) {
vtkErrorMacro("Can't build OBB tree - no data available!");
return;
}
model.OBBCount = 0;
// Initialize an array of numPts elements set to value 0
model.insertedPoints = Array.from({ length: numPts }, (_) => 0);
model.pointsList = [];
const cellList = Array.from({ length: numCells }, (_, i) => i);
model.tree = vtkOBBNode.newInstance();
model.level = 0;
buildTree(cellList, model.tree, 0);
model.insertedPoints = [];
model.pointsList = [];
publicAPI.modified();
};
}
// ----------------------------------------------------------------------------
const DEFAULT_VALUES = {
tolerance: 0.01,
automatic: true,
numberOfCellsPerNode: 32,
dataset: null,
tree: null,
pointsList: [],
insertedPoints: [],
OBBCount: 0,
level: 8,
maxLevel: 8,
retainCellLists: 1,
};
// ----------------------------------------------------------------------------
export function extend(publicAPI, model, initialValues = {}) {
Object.assign(model, DEFAULT_VALUES, initialValues);
// Build VTK API
macro.setGet(publicAPI, model, [
'tolerance',
'automatic',
'numberOfCellsPerNode',
'dataset',
'tree',
'maxLevel',
'level',
'retainCellLists',
]);
// Make this a VTK object
macro.obj(publicAPI, model);
// Object specific methods
vtkOBBTree(publicAPI, model);
}
// ----------------------------------------------------------------------------
export const newInstance = macro.newInstance(extend, 'vtkOBBTree');
// ----------------------------------------------------------------------------
export default { newInstance, extend };
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