From e32edad4a2863b7f728f1b89711ae0aeac95b9be Mon Sep 17 00:00:00 2001 From: Eric Haines Date: Sat, 9 Apr 2016 17:12:59 -0400 Subject: [PATCH] initial checkins, minor fixes --- README.md | 4 + Volume_07/Number_2/Sunday2002/errata.txt | 15 + Volume_07/Number_3/Steed2002/readme.txt | 2 +- Volume_08/Number_1/Guigue2003/addendum.html | 225 + Volume_08/Number_1/Guigue2003/readme.txt | 57 + Volume_08/Number_1/Low2003/_readme.txt | 25 + Volume_08/Number_1/Low2003/checker_gray.rgb | Bin 0 -> 13568 bytes Volume_08/Number_1/Low2003/common.cpp | 153 + Volume_08/Number_1/Low2003/common.h | 177 + Volume_08/Number_1/Low2003/gltx.c | 240 + Volume_08/Number_1/Low2003/gltx.h | 49 + Volume_08/Number_1/Low2003/kl_camcalib.cpp | 575 + Volume_08/Number_1/Low2003/kl_camcalib.h | 89 + .../Number_1/Low2003/kl_convexhull2d.cpp | 386 + Volume_08/Number_1/Low2003/kl_convexhull2d.h | 32 + Volume_08/Number_1/Low2003/kl_minquad.cpp | 637 + Volume_08/Number_1/Low2003/kl_minquad.h | 67 + Volume_08/Number_1/Low2003/kl_optifrustum.cpp | 350 + Volume_08/Number_1/Low2003/kl_optifrustum.h | 60 + Volume_08/Number_1/Low2003/lights.dat | 16 + Volume_08/Number_1/Low2003/readme.txt | 43 + Volume_08/Number_1/Low2003/teapot.dli | 2980 ++ Volume_08/Number_1/Low2003/test.cpp | 299 + Volume_08/Number_1/Low2003/test.dsp | 162 + Volume_08/Number_1/Low2003/test.dsw | 29 + Volume_08/Number_1/Low2003/trimodel.cpp | 564 + Volume_08/Number_1/Low2003/trimodel.h | 90 + Volume_08/Number_1/Shen2003/readme.txt | 37 + Volume_08/Number_1/Shen2003/tri_tri.c | 392 + .../Shen2003/tri_tri_test/Src/Generation.cpp | 107 + .../Shen2003/tri_tri_test/Src/Performance.cpp | 83 + .../Number_1/Shen2003/tri_tri_test/Test.dsw | 41 + .../Shen2003/tri_tri_test/bin/Generation.exe | Bin 0 -> 61440 bytes .../Shen2003/tri_tri_test/bin/Performance.exe | Bin 0 -> 61440 bytes .../tri_tri_test/data/intersected.txt | 30000 ++++++++++++++++ .../Shen2003/tri_tri_test/data/separated.txt | 30000 ++++++++++++++++ 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Volume_08/Number_1/Low2003/common.cpp create mode 100644 Volume_08/Number_1/Low2003/common.h create mode 100644 Volume_08/Number_1/Low2003/gltx.c create mode 100644 Volume_08/Number_1/Low2003/gltx.h create mode 100644 Volume_08/Number_1/Low2003/kl_camcalib.cpp create mode 100644 Volume_08/Number_1/Low2003/kl_camcalib.h create mode 100644 Volume_08/Number_1/Low2003/kl_convexhull2d.cpp create mode 100644 Volume_08/Number_1/Low2003/kl_convexhull2d.h create mode 100644 Volume_08/Number_1/Low2003/kl_minquad.cpp create mode 100644 Volume_08/Number_1/Low2003/kl_minquad.h create mode 100644 Volume_08/Number_1/Low2003/kl_optifrustum.cpp create mode 100644 Volume_08/Number_1/Low2003/kl_optifrustum.h create mode 100644 Volume_08/Number_1/Low2003/lights.dat create mode 100644 Volume_08/Number_1/Low2003/readme.txt create mode 100644 Volume_08/Number_1/Low2003/teapot.dli create mode 100644 Volume_08/Number_1/Low2003/test.cpp create mode 100644 Volume_08/Number_1/Low2003/test.dsp create mode 100644 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Volume_08/Number_1/Shen2003/tri_tri_test/include/stopwatch.h create mode 100644 Volume_08/Number_1/Shen2003/tri_tri_test/include/tri_tri.c create mode 100644 Volume_08/Number_1/Shen2003/tri_tri_test/project/Generation.dsp create mode 100644 Volume_08/Number_1/Shen2003/tri_tri_test/project/Generation.dsw create mode 100644 Volume_08/Number_1/Shen2003/tri_tri_test/project/Performance.dsp create mode 100644 Volume_08/Number_1/Shen2003/tri_tri_test/project/Performance.dsw create mode 100644 Volume_09/Number_1/Mahovsky2004/readme.txt diff --git a/README.md b/README.md index e7c2f2a..f1769c3 100644 --- a/README.md +++ b/README.md @@ -51,6 +51,10 @@ The following articles have related code; look in the corresponding folder by Vo * Steed, Anthony, ["Pseudo-Shadowed Cursors for 3D Interaction,"](http://www.tandfonline.com/doi/abs/10.1080/10867651.2002.10487562) *journal of graphics tools*, 7(3):19-25, 2002. [**Code**](Volume_07/Number_3/Steed2002) +* Low, Kok-Lim, and Adrian Ilie, ["Computing a View Frustum to Maximize an Object's Image Area,"](http://www.tandfonline.com/doi/abs/10.1080/10867651.2003.10487578) *journal of graphics tools*, 8(1):3-15, 2003. [**Code**](Volume_08/Number_1/Low2003) + +* Shen, Hao, Pheng Ann Heng, and Zesheng Tang, ["A Fast Triangle-Triangle Overlap Test Using Signed Distances,"](http://www.tandfonline.com/doi/abs/10.1080/10867651.2003.10487579) *journal of graphics tools*, 8(1):17-24, 2003. [**Code**](Volume_08/Number_1/Shen2003) + * Guigue, Philippe, and Olivier Devillers, ["Fast and Robust Triangle-Triangle Overlap Test Using Orientation Predicates,"](http://www.tandfonline.com/doi/abs/10.1080/10867651.2003.10487580) *journal of graphics tools*, 8(1):25-32, 2003. [**Code**](Volume_08/Number_1/Guigue2003) * Lewiner, Thomas, Hélio Lopes, Antônio Wilson Vieira, and Geovan Tavares, ["Efficient Implementation of Marching Cubes' Cases with Topological Guarantees,"](http://www.tandfonline.com/doi/abs/10.1080/10867651.2003.10487582) *journal of graphics tools*, 8(2):1-15, 2003. [**Code, partial tables**](Volume_08/Number_2/Lewiner2003) diff --git a/Volume_07/Number_2/Sunday2002/errata.txt b/Volume_07/Number_2/Sunday2002/errata.txt new file mode 100644 index 0000000..0f60a54 --- /dev/null +++ b/Volume_07/Number_2/Sunday2002/errata.txt @@ -0,0 +1,15 @@ +Errata + +The following errors were introduced during the typesetting process: + +Page 11, section 3, sentence 1: The reference to [O’Rourke98] is spurious; the sentence should only cite [Goldman94]. + +Page 11, section 3, sentence 3: The sentence starting with "We improve this..." should read: + +"We improve this by using the fact that projecting the polygon to two dimensions reduces its area by a constant factor; for example, projection onto the xy-plane reduces the area by nz." +Page 12, top line: The two numbers "1 sqrt(3)" are incorrect; the first should be "1/sqrt(3)" and the second "sqrt(3)". Thus the sentence should read: + +"...for this is 1 / sqrt(3), the largest factor by which one multiplies is sqrt(3); hence ..." +Page 12, third paragraph, first sentence: The sentence starting with "We call this normal vector..." should read: + +We call this normal vector, nw = (nwx, nwy, nwz), with the projected areas ... \ No newline at end of file diff --git a/Volume_07/Number_3/Steed2002/readme.txt b/Volume_07/Number_3/Steed2002/readme.txt index d4123c5..8acdc87 100644 --- a/Volume_07/Number_3/Steed2002/readme.txt +++ b/Volume_07/Number_3/Steed2002/readme.txt @@ -6,4 +6,4 @@ A pre-compiled Windows executable is available in the following archive: pseudo_ Follow-up -Since the original paper was written for JGT, Everitt and Kilgard published their paper “Practical and Robust Stenciled Shadow Volumes for Hardware-Accelerated Rendering”. Their z-fail approach was adopted in the above example program as it simplified the code which otherwise had to deal with capping the shadow volumes on the near clipping plane since the infinite slab would often intersect the view plane window. To use the z-fail approach the “infinite slabs” are now large enough that they extend beyond the scene, but are not clipped by the far clipping plane. \ No newline at end of file +Since the original paper was written for JGT, Everitt and Kilgard published their paper "Practical and Robust Stenciled Shadow Volumes for Hardware-Accelerated Rendering". Their z-fail approach was adopted in the above example program as it simplified the code which otherwise had to deal with capping the shadow volumes on the near clipping plane since the infinite slab would often intersect the view plane window. To use the z-fail approach the "infinite slabs" are now large enough that they extend beyond the scene, but are not clipped by the far clipping plane. \ No newline at end of file diff --git a/Volume_08/Number_1/Guigue2003/addendum.html b/Volume_08/Number_1/Guigue2003/addendum.html new file mode 100644 index 0000000..b825126 --- /dev/null +++ b/Volume_08/Number_1/Guigue2003/addendum.html @@ -0,0 +1,225 @@ + + + +Fast Ray-Triangle Intersection Test using Orientation Determinants + + + +

+
Fast Ray-Triangle Intersection Test Using Orientation Determinants

+
Philippe Guigue, Olivier Devillers

+
+ +Addendum to +Fast and robust triangle-triangle overlap test using orientation predicates. jgt 8(1), 2003 + +
+
+ +

Abstract:

+

+We describe in the following how the value of orientation determinants +can be used to obtain an efficient solution for the ray/triangle intersection problem. +

+This problem can be stated as follow: given a triangle abc, and a +ray r(t) = o + tdir defined by its +origin point o, and a direction vector dir, decide whether +the ray and the triangle intersect, and if so, compute the barycentric +coordinates (u,v) of the intersection point, +r(t) = (1 - u - v)a + ub+ vc. +

+The structure of the algorithm is identical to the algorithm +presented by Möller and Trumbore (Fast, Minimum +Storage Ray-Triangle Intersection, Journal of graphics tools, 2(1):21--28, 1997), +i.e. it performs in the same order the same rejection +tests on the barycentric coordinates of the intersection point between the ray and +the supporting plane of the triangle. +The algorithms differ only in the way these barycentric coordinates are calculated. + +

Source Code:

Downloadable +C code contains the routine:

+ + + + +
int ray_triangle_intersection(
 double orig[3], double dir[3], +
+double a[3], double b[3], double c[3],
+double *t, double *u, double *v) + +
+
+The routine returns 1 if the ray defined by its +origin point orig and a direction vector dir +intersects the triangle having vertices a, b and +c. +If an intersection exists, the triplet (t,u,v), such that +orig + t*dir = (1-u-v)*a + u*b + v*c +is returned. The code includes two versions of the intersection test: one that culls efficiently all backfacing triangles, and one that performs the test on two-sided triangles. +

Revision history: +
+
+ + + + + + + +
May 2005Program creation.

+ +

Preliminaries:

+Given four three-dimensional points +a=(a_x,a_y,a_z), +b=(b_x,b_y,b_z), +c=(c_x,c_y,c_z), and +p=(p_x,p_y,p_z), we define the determinant +
+
+ +
+ + + + + + + + +
[a,b,c,p] := - + + + + +
|a_xb_xc_xp_x|
|a_yb_yc_yp_y|
|a_zb_zc_zp_z|
|1111|
= (p - a).((b-a) x (c - a))
+
+
+The sign of [a,b,c,d] has two geometric interpretations, each correponding to a right-hand rule. It tells whether vertex d is above, below, or on a plane through a, b, and c, where above is the direction of a right-handed screw at a that turns from b toward c. +Equivalently, it tells whether a screw directed along the ray ab turns in the direction of cd. +In either interpretation, the result is zero iff the four points are coplanar. +

+The value of [a,b,c,d] gives 6 times the signed volume of the tetrahedron abcd.
+

+Given a triangle abc and a point p that belongs to the plane of abc, +the barycentric coordinates of p +are the three scalar values (u,v,w) such that +
+
+

+p=wa + ub + vc.
+
+It is well known that the signed areas of the triangles abp, acp , and bcp are proportional to the barycentric coordinates v, u, and w of p (cf. Mathworld, Barycentric Coordinates). +The proportionality factor for all three values is then given by the area of the triangle abc. +If A(abc) denotes the signed area of the triangle abc, we then have

+
u = A(cap) / A(abc)

+
v = A(abp) / A(abc)

+
w = A(bcp) / A(abc)

+
+Moreover, if p belongs to the triangle abc, its barycentric coordinates must fulfill +u≥0, v≥0, w≥0 and u+v+w=1, which is equivalent +to u≥ 0, v≥0 and u+v≤1. +
+
+ +
+
+

Description of the Algorithm:

+ +Given a triangle abc, and a ray r(t) = o + +tdir, defined by its origin point o and a direction vector dir, +let i be the intersection point between the ray and the triangle's supporting plane. +The cases where the ray direction is coplanar with the plane of abc +is not handled by the algorithm. It can however be easily detected (see Step 1 of the algorithm) and handled by a specialized two-dimensional routine.
+
+ +Let q be any point on the ray. The volume +of the three tetrahedra oqab, oqac, and +oqbc are proportional to the areas of the triangles abi, +aci, and bci, and therefore give the unnormalized +barycentric coordinates of i (cf. Ray Jones, Intersecting a Ray and a Triangle with Plucker Coordinates, Ray Tracing News, 13(1), July 2000 ). +
+More precisely, if V(abcd) denotes the signed volume of the tetrahedron abcd, we have

+
V(oqac) = 1 / 3 . A(cai) . (ho - hq)

+
V(oqab) = - 1 / 3 . A(abi) . (ho - hq)

+where hp denotes the signed distance from p to the plane of abc.

+ + +Hence, since the value of the determinant [abcd] gives 6 times the signed volume of the tetrahedron abcd, +the barycentric coordinates u and v of the point i are respectively equal to

+ +
u = [o,q,a,c] / ( 2 . (ho - hq) . A(abc))
+and +
v = -[o,q,a,b] / ( 2 . (ho - hq) . A(abc)).
+
+
+With, q = o + dir, and 2 . (ho - hq) . A(abc) = 6 ( V(abco) - V(abcq) ) = + [a,b,c,o] - [a,b,c,q] = - [a,b,c,dir], we finally obtain +
+
+
u= [o,q,a,c] / - [a,b,c,dir]
+and +
v= -[o,q,a,b] / - [a,b,c,dir].
+
+
+The value ray parameter t such that r(t) = +i is also proportional to the volume of the tetrahedron abco +with the same proportionality factor, that is t = +V(abcoabco) - V(abcq) ) = [a,b,c,o] / - +[a,b,c,dir]. + + +
+
+
+The step of the algorithm are as follows: + + +
+
+Step 1:   Compute the normalizing factor D = -dir . N, where +N = (c - a) x (b - a), is the non-normalized normal of the triangle abc. +If its value is zero, the ray is parallel to the plane of the triangle. +If its value is positive, the ray's origin sees the front face of the triangle, if it is negative +the ray's origin sees its back face. +We assume wlog in the following that D > 0 (the case where D < 0 is handled similarly but with opposite signs, +the case where D = 0 is rejected by the current implementation of the algorithm). +
+
+Step 2:   Compute the non-normalized V coordinate and test bounds. +To do so, the algorithm computes the determinant V = -[o,o + dir,a,b]. +If V < 0 or V > D, the ray misses the triangle. +
+
+Step 3:   Compute the non-normalized U coordinate and test bounds. +This is done by computing the determinant U = [o,o + dir,a,c]. +If U < 0 or U + V > D, the ray misses the triangle. +
+
+Step 4:   Return the normalized values. +In this last step, the algorithm computes the determinant T = [a,b,c,o]. +If T / D ≥ 0, the algorithm then returns the triplet ( U / D, V / D, T / D), +otherwise, the ray misses the triangle. +
+
+ + +

Implementation:

+ +The computation of the two first determinants [o,o + dir,a,b] and [o,o + dir,a,c] +can be optimized by computing the invariant parts consisting of 2 x 2 subdeterminants only once. +

+For [o, o + dir,a,X], expansion by 2 x 2 determinants gives the vector +dir x (a - o), and reduces the two determinants to a cross-product and +a dot product.
+Since [a,b,c,o] = o . N, the computation of the last determinant reduces +to a dot product.
+The whole intersection algorithm thus computes, as in [jgt97], two cross-product and four dot products +in the worst case (i.e. when the ray intersect the triangle). +

+Nevertheless, our implementation yields to an optimized version of the algorithm described in [jgt97] + in the case when the triangle normal is known. +Indeed, a cross-product can be saved if the normal is supplied. +This normal must however be non normalized, that is, it must equal the cross-product +of (c - a) and (b - a). + + \ No newline at end of file diff --git a/Volume_08/Number_1/Guigue2003/readme.txt b/Volume_08/Number_1/Guigue2003/readme.txt new file mode 100644 index 0000000..d63230a --- /dev/null +++ b/Volume_08/Number_1/Guigue2003/readme.txt @@ -0,0 +1,57 @@ +From https://web.archive.org/web/20120118225810/http://jgt.akpeters.com/papers/GuigueDevillers03/ + +Fast and Robust Triangle-Triangle Overlap Test using Orientation Predicates + +Philippe Guigue and Olivier Devillers +INRIA Sophia-Antipolis + +This paper appears in issue Volume 8, Number 1. +Purchase this issue from the akpeters.com web site. + + +Abstract + +This paper presents an algorithm for determining whether two triangles in three dimensions intersect. The general scheme is identical to the one proposed by Möller. The main difference is that our algorithm relies exclusively on the sign of 4 x 4 determinants and does not need any intermediate explicit constructions which are source of numerical errors. Besides the fact that the resulting code is more reliable than existing methods, it is also more efficient. The source code is available online. + +Author Information + +Philippe Guigue, INRIA Sophia-Antipolis, BP 93, 2004 Route des Lucioles06902 Sophia-Antipolis Cedex, France Philippe.Guigue@sophia.inria.fr + +Olivier Devillers, INRIA Sophia-Antipolis, BP 93, 2004 Route des Lucioles06902 Sophia-Antipolis Cedex, France Olivier.Devillers@sophia.inria.fr + + +Editor’s Note + +This is one of two simultaneous triangle-triangle overlap papers in this issue; see also Shen, Heng and Tang 03. This paper has also been chosen for inclusion in the book Graphics Tools—The JGT Editors’ Choice; see addendum below. + + +Source Code + +Downloadable C source code is available here: triangle_triangle_intersection.c (19K HTML text). It contains three routines: + +tri_tri_overlap_test_3d(), the three-dimensional predicate described in the paper + +tri_tri_overlap_test_2d(), the two-dimensional predicate + +tri_tri_intersection_test_3d(), the version that computes the line segment of intersection if the triangles do overlap and are not coplanar. + + +Revision history + +July 2002 +Program creation. +October 2002 +Added optimizations. +January 2003 +Added version that computes the line of intersection. +June 2003 +Bug fix. Thanks to Tushar Udeshi for pointing it out! +December 2003 +Bug fix. +Addendum + + +A Ray-Triangle Intersection Test + +As part of the inclusion of this paper in the book Graphics Tools—The JGT Editors’ Choice, the authors discuss how the value of determinants introduced in the paper can be used to obtain an efficient solution for the ray-triangle intersection problem, and provide source code. See: Fast Ray-Triangle Intersection Test Using Orientation Determinants + diff --git a/Volume_08/Number_1/Low2003/_readme.txt b/Volume_08/Number_1/Low2003/_readme.txt new file mode 100644 index 0000000..9c0656c --- /dev/null +++ b/Volume_08/Number_1/Low2003/_readme.txt @@ -0,0 +1,25 @@ +Computing a View Frustum to Maximize an Object’s Image Area + +Kok-Lim Low and Adrian Ilie +University of North Carolina at Chapel Hill + +This paper appears in issue Volume 8, Number 1. +Purchase this issue from the akpeters.com web site. + + +Abstract + +This paper presents a method to compute a view frustum for a 3D object viewed from a given viewpoint, such that the object is completely enclosed in the frustum and the object’s image area is also near-maximal in the given 2D rectangular viewing region. This optimization can be used to improve the resolution of shadow maps and texture maps for projective texture mapping. Instead of doing the optimization in 3D space to find a good view frustum, our method uses a 2D approach. The basic idea of our approach is as follows. First, from the given viewpoint, a conveniently-computed view frustum is used to project the 3D vertices of the object to their corresponding 2D image points. A tight 2D bounding quadrilateral is then computed to enclose these 2D image points. Next, considering the projective warp between the bounding quadrilateral and the rectangular viewing region, our method applies a technique of camera calibration to compute a new view frustum that generates an image that covers the viewing region as much as possible. + + +Author Information + +Kok-Lim Low, Dept of Computer Science, UNC Chapel Hill, CB #3175, Sitterson Hall, Chapel Hill, NC 27599-3175 lowk@cs.unc.edu + +Adrian Ilie, Dept of Computer Science, UNC Chapel Hill, CB #3175, Sitterson Hall, Chapel Hill, NC 27599-3175 adyilie@cs.unc.edu + + +Source Code + +Downloadable C/C++ source code is available here: lowk_jgt_src.zip (63K zip archive). Several files from Numerical Recipes in C (http://numerical.recipes/) are needed as well, see the readme.txt file for details. + diff --git a/Volume_08/Number_1/Low2003/checker_gray.rgb b/Volume_08/Number_1/Low2003/checker_gray.rgb new file mode 100644 index 0000000000000000000000000000000000000000..f0dfac3cbf6ec0a696b881319b27096c80a03571 GIT binary patch literal 13568 zcmeI#<@XeIAIIVE4=}I*#oC$KnO(Y5%2vWw%2q-#DZ2nMDO(9!DO)L9%2vWw%2vWw z%EpUx-~WP7?tAu}>+GC;wy*PfKbVST6&0a!MW_g&a`?|@)8?;%gR+5r2K4*yPx;sX zZh?ZoR)}arSNb!8iOgmRYeR^3paC7}#ifj88Vgt%LhOv!grph` z=|pcXV;s|2$f^*El}KnucLp+w$;@RL>qAJZ(}>RWVF=@y!6H_Nkh$%wNPBuPh|x@8 z9?RJfLa7Fg=|W$IGJ%;aW=#m?Dx`FvCxaQoROYjSjUm+9ktQ6(DGcLwX7Lu^giw16 zGWO(X&fz*9;6*;>*AVLLL{kptR4(TZp5$%54WaIql-P@7IG5{rkeB#`-$JNYlV%)3 zKZbKBPw@`lg;0Mh%IwXtoW~73#LIlj?;$kUndThIXesl`4V$NAjI z!@R<0{1HN`F@x=M1jm9-ifW zehi`MHq>E1PT)dr=22eb3;qhB*>1Gr2+rhc?&Uc?;HMCpZ%bYF=R_{z79QhuzU1!^ zTI^11j^r$^;Xa<{Lw*jS<#yEL08Zj!Zsl>_;43zT(5k>59L3pO%l*8-NBj~(>+Pw} zft<`G+{P2U$=9~6X+hJ1rUgw4nie!IXj;&;plLzVNYhBuNYhBuNYhBuNYhBuNYhx; 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+ static char buffer[1024]; + va_start( args, format ); + vsprintf( buffer, format, args ); + va_end( args ); + + fprintf( stderr, "\n%s - %s.\n\n", errloc, buffer ); + exit( 1 ); +} + + +void error_exit( const char *srcfile, int lineNum, char *format, ... ) + // outputs an error message to the stderr and exits program. +{ + va_list args; + static char buffer[1024]; + va_start( args, format ); + vsprintf( buffer, format, args ); + va_end( args ); + + fprintf( stderr, "\nABORT at \"%s\", line %d\nERROR: %s.\n\n", srcfile, lineNum, buffer ); + exit( 1 ); +} + + +void show_warning( const char *srcfile, int lineNum, char *format, ... ) + // outputs a warning message to the stderr. +{ + va_list args; + static char buffer[1024]; + va_start( args, format ); + vsprintf( buffer, format, args ); + va_end( args ); + + fprintf( stderr, "\nWARNING at \"%s\", line %d\nISSUE: %s.\n\n", srcfile, lineNum, buffer ); +} + + + +void copy4double( const double src[4], double dest[4] ) +{ + dest[0] = src[0]; + dest[1] = src[1]; + dest[2] = src[2]; + dest[3] = src[3]; +} + + +void copy3double( const double src[3], double dest[3] ) +{ + dest[0] = src[0]; + dest[1] = src[1]; + dest[2] = src[2]; +} + + +void copy2double( const double src[2], double dest[2] ) +{ + dest[0] = src[0]; + dest[1] = src[1]; +} + + +void copy4float( const float src[4], float dest[4] ) +{ + dest[0] = src[0]; + dest[1] = src[1]; + dest[2] = src[2]; + dest[3] = src[3]; +} + + +void copy3float( const float src[3], float dest[3] ) +{ + dest[0] = src[0]; + dest[1] = src[1]; + dest[2] = src[2]; +} + + +void copy2float( const float src[2], float dest[2] ) +{ + dest[0] = src[0]; + dest[1] = src[1]; +} + + +double random01( void ) + // returns a random value in the range 0.0 to 1.0. +{ + return ( (double) rand() ) / RAND_MAX; +} + + +double random_in_range( double min, double max ) + // returns a random value in the range min to max. +{ + return random01() * (max - min) + min; +} + + +double get_curr_real_time( void ) + // returns time in seconds (plus fraction of a second) since midnight (00:00:00), + // January 1, 1970, coordinated universal time (UTC). + // Up to millisecond precision. +{ +#ifdef _WIN32 + + struct _timeb timebuffer; + _ftime( &timebuffer ); + +#else + + struct timeb timebuffer; + ftime( &timebuffer ); + +#endif + + return timebuffer.time + timebuffer.millitm / 1000.0; +} + + +double get_curr_cpu_time( void ) + // returns cpu time in seconds (plus fraction of a second) since the + // start of the current process. +{ + return ((double) clock() ) / CLOCKS_PER_SEC; +} + + +void delay_real_time( int milliseconds ) + // pause process for the number of specified milliseconds. +{ + double stopTime = get_curr_real_time() + ( milliseconds / 1000.0 ); + + while ( get_curr_real_time() < stopTime ) + { + // do nothing + } +} \ No newline at end of file diff --git a/Volume_08/Number_1/Low2003/common.h b/Volume_08/Number_1/Low2003/common.h new file mode 100644 index 0000000..f444806 --- /dev/null +++ b/Volume_08/Number_1/Low2003/common.h @@ -0,0 +1,177 @@ +#ifndef _COMMON_H_ +#define _COMMON_H_ + +#include +#include + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#define M_PI_2 1.57079632679489661923 +#endif + +// ========= OLD FUNCTIONS (avoid using) ========= + +extern void error_exit( const char *errloc, char *format, ... ); + // outputs an error message to the stderr and exits program. + +extern void copy4double( const double src[4], double dest[4] ); + +extern void copy3double( const double src[3], double dest[3] ); + +extern void copy2double( const double src[2], double dest[2] ); + +extern void copy4float( const float src[4], float dest[4] ); + +extern void copy3float( const float src[3], float dest[3] ); + +extern void copy2float( const float src[2], float dest[2] ); + +extern double random01( void ); + // returns a random value in the range 0.0 to 1.0. + +extern double random_in_range( double min, double max ); + // returns a random value in the range min to max. + + + +// ========= NEW FUNCTIONS ========= + +extern void error_exit( const char *srcfile, int lineNum, char *format, ... ); + // outputs an error message to the stderr and exits program. + +extern void show_warning( const char *srcfile, int lineNum, char *format, ... ); + // outputs a warning message to the stderr. + + +extern double get_curr_real_time( void ); + // returns time in seconds (plus fraction of a second) since midnight (00:00:00), + // January 1, 1970, coordinated universal time (UTC). + // Up to millisecond precision. + +extern double get_curr_cpu_time( void ); + // returns cpu time in seconds (plus fraction of a second) since the + // start of the current process. + +extern void delay_real_time( int milliseconds ); + // pause process for the number of specified milliseconds. + + +inline void *checked_malloc( size_t size ) + // same as malloc(), but checks for out-of-memory. +{ + void *p = malloc( size ); + if ( p == NULL ) error_exit( __FILE__, __LINE__, "Cannot allocate memory" ); + return p; +} + + +inline double fsqr( double f ) + // returns the square of f. +{ + return ( f * f ); +} + + +template +inline void copyArray( Type1 dest[], const Type2 src[], size_t size ) +{ + for ( size_t i = 0; i < size; i++ ) dest[i] = src[i]; +} + + +template +inline void copyArray4( Type1 dest[4], const Type2 src[4] ) +{ + dest[0] = src[0]; + dest[1] = src[1]; + dest[2] = src[2]; + dest[3] = src[3]; +} + + +template +inline void copyArray3( Type1 dest[3], const Type2 src[3] ) +{ + dest[0] = src[0]; + dest[1] = src[1]; + dest[2] = src[2]; +} + + +template +inline void copyArray2( Type1 dest[2], const Type2 src[2] ) +{ + dest[0] = src[0]; + dest[1] = src[1]; +} + + +template +inline Type min2( Type a, Type b ) +{ + if ( a < b ) return a; else return b; +} + + +template +inline Type max2( Type a, Type b ) +{ + if ( a > b ) return a; else return b; +} + + +template +inline Type min3( Type a, Type b, Type c ) +{ + Type t = a; + if ( b < t ) t = b; + if ( c < t ) t = c; + return t; +} + + +template +inline Type max3( Type a, Type b, Type c ) +{ + Type t = a; + if ( b > t ) t = b; + if ( c > t ) t = c; + return t; +} + + +inline double uniformRandom( void ) + // returns a random value in the range [0, 1] from a uniform distribution. +{ + return ((double)rand()) / RAND_MAX; +} + + +inline double uniformRandom( double min, double max ) + // returns a random value in the range [min, max] from a uniform distribution. +{ + return ( ((double)rand()) / RAND_MAX ) * (max - min) + min; +} + + +inline double normalRandom( void ) + // return a random number from a normal distribution with mean=0 and s.d.=1. +{ + double R1 = ((double)(rand() + 1)) / (RAND_MAX + 1); + double R2 = ((double)(rand() + 1)) / (RAND_MAX + 1); + + return sqrt( -2 * log( R1 ) ) * cos( 2 * M_PI * R2 ); +} + + +inline double normalRandom( double mean, double stddev ) + // return a random number from a normal distribution with mean and stddev. +{ + double R1 = ((double)(rand() + 1)) / (RAND_MAX + 1); + double R2 = ((double)(rand() + 1)) / (RAND_MAX + 1); + + return normalRandom() * stddev + mean; +} + + +#endif diff --git a/Volume_08/Number_1/Low2003/gltx.c b/Volume_08/Number_1/Low2003/gltx.c new file mode 100644 index 0000000..909a93c --- /dev/null +++ b/Volume_08/Number_1/Low2003/gltx.c @@ -0,0 +1,240 @@ +/* + * Simple SGI .rgb (IRIS RGB) image file reader ripped off from + * texture.c (written by David Blythe). See the SIGGRAPH '96 + * Advanced OpenGL course notes. + */ + + +/* includes */ +#include +#include +#include +#include +#include "gltx.h" + + +/* private typedefs */ +typedef struct _rawImageRec { + unsigned short imagic; + unsigned short type; + unsigned short dim; + unsigned short sizeX, sizeY, sizeZ; + unsigned long min, max; + unsigned long wasteBytes; + char name[80]; + unsigned long colorMap; + FILE *file; + unsigned char *tmp, *tmpR, *tmpG, *tmpB; + unsigned long rleEnd; + GLuint *rowStart; + GLint *rowSize; +} rawImageRec; + + +/* private functions */ +static void ConvertShort(unsigned short *array, long length) +{ + unsigned long b1, b2; + unsigned char *ptr; + + ptr = (unsigned char *)array; + while (length--) { + b1 = *ptr++; + b2 = *ptr++; + *array++ = (b1 << 8) | (b2); + } +} + +static void ConvertLong(GLuint *array, long length) +{ + unsigned long b1, b2, b3, b4; + unsigned char *ptr; + + ptr = (unsigned char *)array; + while (length--) { + b1 = *ptr++; + b2 = *ptr++; + b3 = *ptr++; + b4 = *ptr++; + *array++ = (b1 << 24) | (b2 << 16) | (b3 << 8) | (b4); + } +} + +static rawImageRec *RawImageOpen(char *fileName) +{ + union { + int testWord; + char testByte[4]; + } endianTest; + rawImageRec *raw; + GLenum swapFlag; + int x; + + endianTest.testWord = 1; + if (endianTest.testByte[0] == 1) { + swapFlag = GL_TRUE; + } else { + swapFlag = GL_FALSE; + } + + raw = (rawImageRec *)malloc(sizeof(rawImageRec)); + if (raw == NULL) { + return NULL; + } + if ((raw->file = fopen(fileName, "rb")) == NULL) { + return NULL; + } + + fread(raw, 1, 12, raw->file); + + if (swapFlag) { + ConvertShort(&raw->imagic, 6); + } + + raw->tmp = (unsigned char *)malloc(raw->sizeX*256); + raw->tmpR = (unsigned char *)malloc(raw->sizeX*256); + raw->tmpG = (unsigned char *)malloc(raw->sizeX*256); + raw->tmpB = (unsigned char *)malloc(raw->sizeX*256); + if (raw->tmp == NULL || raw->tmpR == NULL || raw->tmpG == NULL || + raw->tmpB == NULL) { + return NULL; + } + + if ((raw->type & 0xFF00) == 0x0100) { + x = raw->sizeY * raw->sizeZ * sizeof(GLuint); + raw->rowStart = (GLuint *)malloc(x); + raw->rowSize = (GLint *)malloc(x); + if (raw->rowStart == NULL || raw->rowSize == NULL) { + return NULL; + } + raw->rleEnd = 512 + (2 * x); + fseek(raw->file, 512, SEEK_SET); + fread(raw->rowStart, 1, x, raw->file); + fread(raw->rowSize, 1, x, raw->file); + if (swapFlag) { + ConvertLong(raw->rowStart, x/sizeof(GLuint)); + ConvertLong((GLuint *)raw->rowSize, x/sizeof(GLint)); + } + } + return raw; +} + +static void RawImageClose(rawImageRec *raw) +{ + + fclose(raw->file); + free(raw->tmp); + free(raw->tmpR); + free(raw->tmpG); + free(raw->tmpB); + + free(raw); +} + +static void RawImageGetRow(rawImageRec *raw, unsigned char *buf, int y, int z) +{ + unsigned char *iPtr, *oPtr, pixel; + int count; + + if ((raw->type & 0xFF00) == 0x0100) { + fseek(raw->file, raw->rowStart[y+z*raw->sizeY], SEEK_SET); + fread(raw->tmp, 1, (unsigned int)raw->rowSize[y+z*raw->sizeY], + raw->file); + + iPtr = raw->tmp; + oPtr = buf; + while (1) { + pixel = *iPtr++; + count = (int)(pixel & 0x7F); + if (!count) { + return; + } + if (pixel & 0x80) { + while (count--) { + *oPtr++ = *iPtr++; + } + } else { + pixel = *iPtr++; + while (count--) { + *oPtr++ = pixel; + } + } + } + } else { + fseek(raw->file, 512+(y*raw->sizeX)+(z*raw->sizeX*raw->sizeY), + SEEK_SET); + fread(buf, 1, raw->sizeX, raw->file); + } +} + +static void +RawImageGetData(rawImageRec *raw, GLTXimage *image) +{ + unsigned char *ptr; + int i, j; + + image->data = (unsigned char *)malloc((raw->sizeX+1)*(raw->sizeY+1)*4); + if (image->data == NULL) { + return; + } + + ptr = image->data; + for (i = 0; i < raw->sizeY; i++) { + RawImageGetRow(raw, raw->tmpR, i, 0); + RawImageGetRow(raw, raw->tmpG, i, 1); + RawImageGetRow(raw, raw->tmpB, i, 2); + for (j = 0; j < raw->sizeX; j++) { + *ptr++ = *(raw->tmpR + j); + *ptr++ = *(raw->tmpG + j); + *ptr++ = *(raw->tmpB + j); + } + } +} + + + +/* public functions */ + +/* gltxDelete: Deletes a texture image + * + * image - properly initialized GLTXimage structure + */ +void +gltxDelete(GLTXimage* image) +{ + assert(image); + + free(image->data); + free(image); +} + +/* gltxReadRGB: Reads and returns data from an IRIS RGB image file. + * + * filename - name of the IRIS RGB file to read data from + */ +GLTXimage* +gltxReadRGB(char *filename) +{ + rawImageRec *raw; + GLTXimage* image; + + raw = RawImageOpen(filename); + if(!raw) { + fprintf(stderr, "gltxReadRGB() failed: can't open image file \"%s\".\n", + filename); + return NULL; + } + image = (GLTXimage*)malloc(sizeof(GLTXimage)); + if (image == NULL) { + fprintf(stderr, "gltxReadRGB() failed: insufficient memory.\n"); + return NULL; + } + + image->width = raw->sizeX; + image->height = raw->sizeY; + image->components = raw->sizeZ; + RawImageGetData(raw, image); + RawImageClose(raw); + + return image; +} diff --git a/Volume_08/Number_1/Low2003/gltx.h b/Volume_08/Number_1/Low2003/gltx.h new file mode 100644 index 0000000..5b7ab9c --- /dev/null +++ b/Volume_08/Number_1/Low2003/gltx.h @@ -0,0 +1,49 @@ +/* + * Simple SGI .rgb (IRIS RGB) image file reader ripped off from + * texture.c (written by David Blythe). See the SIGGRAPH '96 + * Advanced OpenGL course notes. + */ + +#ifndef _GLTX_H_ +#define _GLTX_H_ + +/* includes */ +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/* typedefs */ + +/* GLTXimage: Structure containing a texture image */ +typedef struct { + GLuint width; /* width of image */ + GLuint height; /* height of image */ + GLuint components; /* number of components in image */ + GLubyte* data; /* image data */ +} GLTXimage; + + +/* gltxDelete: Deletes a texture image + * + * image - properly initialized GLTXimage structure + */ +void +gltxDelete(GLTXimage* image); + + +/* gltxReadRGB: Reads and returns data from an IRIS RGB image file. + * + * name - name of the IRIS RGB file to read data from + */ +GLTXimage* +gltxReadRGB(char *name); + + +#ifdef __cplusplus +} +#endif + + +#endif diff --git a/Volume_08/Number_1/Low2003/kl_camcalib.cpp b/Volume_08/Number_1/Low2003/kl_camcalib.cpp new file mode 100644 index 0000000..17fd36d --- /dev/null +++ b/Volume_08/Number_1/Low2003/kl_camcalib.cpp @@ -0,0 +1,575 @@ +#include +#include +#include +#include "kl_camcalib.h" + + +#ifdef __cplusplus +extern "C" { +#endif + +#include "nrutil.h" + +extern void dsvdcmp(double **a, int m, int n, double w[], double **v); + +#ifdef __cplusplus +} +#endif + + + +static double sqr( double a ) +{ + return a * a; +} + + + +void convToOpenGLMats( double *const *intMat, double *const *extMat, + double nearPlaneDist, double farPlaneDist, + int viewportWidth, int viewportHeight, + double projectionMat[16], double modelviewMat[16] ) + // Convert a 3x3 intrinsic matrix to a OpenGL PROJECTION matrix, + // and a 3x4 extrinsic matrix to a OpenGL MODELVIEW matrix. + // INPUT: + // - intMat[1..3][1..3] -- the intrinsic matrix. + // - extMat[1..3][1..4] -- the extrinsic matrix. + // - nearPlaneDist -- distance to near clipping plane ( > 0 ). + // - farPlaneDist -- distance to far clipping plane ( > nearPlaneDist ). + // - viewportWidth -- width of viewport in pixels. + // - viewportHeight -- height of viewport in pixels. + // OUTPUT: + // - projectionMat[0..15] -- OpenGL PROJECTION matrix. + // - modelviewMat[0..15] -- OpenGL MODELVIEW matrix. +{ + + modelviewMat[0] = extMat[1][1]; + modelviewMat[1] = extMat[2][1]; + modelviewMat[2] = extMat[3][1]; + modelviewMat[3] = 0; + modelviewMat[4] = extMat[1][2]; + modelviewMat[5] = extMat[2][2]; + modelviewMat[6] = extMat[3][2]; + modelviewMat[7] = 0; + modelviewMat[8] = extMat[1][3]; + modelviewMat[9] = extMat[2][3]; + modelviewMat[10] = extMat[3][3]; + modelviewMat[11] = 0; + modelviewMat[12] = extMat[1][4]; + modelviewMat[13] = extMat[2][4]; + modelviewMat[14] = extMat[3][4]; + modelviewMat[15] = 1; + + + projectionMat[0] = -2 * intMat[1][1] / viewportWidth; + projectionMat[1] = 0; + projectionMat[2] = 0; + projectionMat[3] = 0; + projectionMat[4] = 0; + projectionMat[5] = -2 * intMat[2][2] / viewportHeight; + projectionMat[6] = 0; + projectionMat[7] = 0; + projectionMat[8] = 1 - 2 * intMat[1][3] / viewportWidth; + projectionMat[9] = 1 - 2 * intMat[2][3] / viewportHeight; + //projectionMat[10] = -( farPlaneDist + nearPlaneDist ) / ( farPlaneDist - nearPlaneDist ); + projectionMat[10] = -( farPlaneDist + nearPlaneDist ) / ( farPlaneDist - nearPlaneDist ); + projectionMat[11] = -1; + projectionMat[12] = 0; + projectionMat[13] = 0; + //projectionMat[14] = -2 * farPlaneDist * nearPlaneDist / ( farPlaneDist - nearPlaneDist ); + projectionMat[14] = -2 * farPlaneDist * nearPlaneDist / ( farPlaneDist - nearPlaneDist ); + projectionMat[15] = 0; +} + + + +void reprojectionError( double *const *pt3D, double *const *pt2D, + int numPoints, double *const *intMat, double *const *extMat, + double *pixelError, double *totalError ) + // Re-project the 3D points using the input intrinsic and extrinsic matrices, + // and find their pixel errors from the input 2D points. + // INPUT: + // - pt3D[1..numPoints][1..3] -- 3D coordinates of 3D points. + // - pt2D[1..numPoints][1..2] -- 2D pixel coordinates of image points. + // - numPoints -- number of pair-correspondences (must be at least 4). + // - intMat[1..3][1..3] -- the intrinsic matrix. + // - extMat[1..3][1..4] -- the extrinsic matrix. + // OUTPUT: + // - pixelError[1..numPoints] -- pixel error of each re-projected 3D point. + // - totalError -- sum of all pixel errors. +{ + + double **M = dmatrix( 1, 3, 1, 4 ); + + int i, j, k; + + for ( i = 1; i <= 3; i++ ) + for ( j = 1; j <= 4; j++ ) + { + M[i][j] = 0; + for ( k = 1; k <= 3; k++ ) M[i][j] += intMat[i][k] * extMat[k][j]; + } + + + *totalError = 0; + + for ( i = 1; i <= numPoints; i++ ) + { + double x = M[1][1]*pt3D[i][1] + M[1][2]*pt3D[i][2] + M[1][3]*pt3D[i][3] + M[1][4]; + double y = M[2][1]*pt3D[i][1] + M[2][2]*pt3D[i][2] + M[2][3]*pt3D[i][3] + M[2][4]; + double w = M[3][1]*pt3D[i][1] + M[3][2]*pt3D[i][2] + M[3][3]*pt3D[i][3] + M[3][4]; + + x /= w; + y /= w; + + pixelError[i] = sqrt( sqr( x - pt2D[i][1] ) + sqr( y - pt2D[i][2] ) ); + + (*totalError) += pixelError[i]; + } + + free_dmatrix( M, 1, 3, 1, 4 ); +} + + + +void compIntExtMats( const double camPos[], double *const *pt3D, double *const *pt2D, + int numPoints, double **intMat, double **extMat ) + // Compute the 3x3 intrinsic matrix and the 3x4 extrinsic matrix given that + // the camera's COP position is known. + // INPUT: + // - camPos[1..3] -- camera's COP position. + // - pt3D[1..numPoints][1..3] -- 3D coordinates of 3D points. + // - pt2D[1..numPoints][1..2] -- 2D pixel coordinates of image points. + // - numPoints -- number of pair-correspondences (must be at least 4). + // OUTPUT: + // - intMat[1..3][1..3] -- the intrinsic matrix. + // - extMat[1..3][1..4] -- the extrinsic matrix. +{ + if ( numPoints < 4 ) + { + fprintf( stderr, "compIntExtMats: must have at least 4 pair-correspondences.\n" ); + exit(1); + } + + int i, j; + + double **new_pt3D = dmatrix( 1, numPoints, 1, 3 ); + + for ( i = 1; i <= numPoints; i++ ) + for ( j = 1; j <= 3; j++ ) + new_pt3D[i][j] = pt3D[i][j] - camPos[j]; + + double **P = dmatrix( 1, 3, 1, 3 ); // 3x3 projection matrix + + // Compute a 3x3 projection matrix. + compProjMatFromOrig( new_pt3D, pt2D, numPoints, P ); + + // Compute camera parameters. + double ox = P[1][1]*P[3][1] + P[1][2]*P[3][2] + P[1][3]*P[3][3]; + double oy = P[2][1]*P[3][1] + P[2][2]*P[3][2] + P[2][3]*P[3][3]; + + double a = -sqrt( P[1][1]*P[1][1] + P[1][2]*P[1][2] + P[1][3]*P[1][3] - ox*ox ); + double b = -sqrt( P[2][1]*P[2][1] + P[2][2]*P[2][2] + P[2][3]*P[2][3] - oy*oy ); + + double r11 = ( P[1][1] - ox * P[3][1] ) / a; + double r12 = ( P[1][2] - ox * P[3][2] ) / a; + double r13 = ( P[1][3] - ox * P[3][3] ) / a; + double r21 = ( P[2][1] - oy * P[3][1] ) / b; + double r22 = ( P[2][2] - oy * P[3][2] ) / b; + double r23 = ( P[2][3] - oy * P[3][3] ) / b; + double r31 = P[3][1]; + double r32 = P[3][2]; + double r33 = P[3][3]; + + // Test if all 3D points have -ve Z in camera coordinate system. + // If not, then negate all rij. + + for ( i = 1; i <= numPoints; i++ ) + { + double Zcam = r31*new_pt3D[i][1] + r32*new_pt3D[i][2] + r33*new_pt3D[i][3]; + if ( Zcam >= 0.0 ) break; + } + + if ( i <= numPoints ) + { + r11 *= -1; + r12 *= -1; + r13 *= -1; + r21 *= -1; + r22 *= -1; + r23 *= -1; + r31 *= -1; + r32 *= -1; + r33 *= -1; + } + + + // intMat = [ a 0 ox; 0 b oy; 0 0 1 ] + + intMat[1][1] = a; + intMat[1][2] = 0; + intMat[1][3] = ox; + intMat[2][1] = 0; + intMat[2][2] = b; + intMat[2][3] = oy; + intMat[3][1] = 0; + intMat[3][2] = 0; + intMat[3][3] = 1; + + + // extMat = [ r11 r12 r13 t1; r21 r22 r23 t2; r31 r32 r33 t3 ] + + extMat[1][1] = r11; + extMat[1][2] = r12; + extMat[1][3] = r13; + extMat[1][4] = r11*(-camPos[1]) + r12*(-camPos[2]) + r13*(-camPos[3]); + extMat[2][1] = r21; + extMat[2][2] = r22; + extMat[2][3] = r23; + extMat[2][4] = r21*(-camPos[1]) + r22*(-camPos[2]) + r23*(-camPos[3]); + extMat[3][1] = r31; + extMat[3][2] = r32; + extMat[3][3] = r33; + extMat[3][4] = r31*(-camPos[1]) + r32*(-camPos[2]) + r33*(-camPos[3]); + + + free_dmatrix( P, 1, 3, 1, 3 ); + free_dmatrix( new_pt3D, 1, numPoints, 1, 3 ); +} + + + + +void compProjMatFromOrig( double *const *pt3D, double *const *pt2D, + int numPoints, double **projMat ) + // Compute the 3x3 projection matrix given that the camera is already at the origin. + // INPUT: + // - pt3D[1..numPoints][1..3] -- 3D coordinates of 3D points. + // - pt2D[1..numPoints][1..2] -- 2D pixel coordinates of image points. + // - numPoints -- number of pair-correspondences (must be at least 4). + // OUTPUT: + // - projMat[1..3][1..3] -- the projection matrix (up to an arbitrary sign). +{ + +// Solve for vector M in the homogeneous system A*M=0. +// Vector M contains the 9 entries of the projection matrix. + + if ( numPoints < 4 ) + { + fprintf( stderr, "compProjMatFromOrig: must have at least 4 pair-correspondences.\n" ); + exit(1); + } + + int i; + + // Setup matrix A. + double **A = dmatrix( 1, 2 * numPoints + 1, 1, 9 ); + + for ( i = 1; i <= numPoints; i++ ) + { + A[2*i-1][1] = pt3D[i][1]; + A[2*i-1][2] = pt3D[i][2]; + A[2*i-1][3] = pt3D[i][3]; + A[2*i-1][4] = 0; + A[2*i-1][5] = 0; + A[2*i-1][6] = 0; + A[2*i-1][7] = -pt2D[i][1] * pt3D[i][1]; + A[2*i-1][8] = -pt2D[i][1] * pt3D[i][2]; + A[2*i-1][9] = -pt2D[i][1] * pt3D[i][3]; + + A[2*i][1] = 0; + A[2*i][2] = 0; + A[2*i][3] = 0; + A[2*i][4] = pt3D[i][1]; + A[2*i][5] = pt3D[i][2]; + A[2*i][6] = pt3D[i][3]; + A[2*i][7] = -pt2D[i][2] * pt3D[i][1]; + A[2*i][8] = -pt2D[i][2] * pt3D[i][2]; + A[2*i][9] = -pt2D[i][2] * pt3D[i][3]; + } + + A[2 * numPoints + 1][1] = 0; + A[2 * numPoints + 1][2] = 0; + A[2 * numPoints + 1][3] = 0; + A[2 * numPoints + 1][4] = 0; + A[2 * numPoints + 1][5] = 0; + A[2 * numPoints + 1][6] = 0; + A[2 * numPoints + 1][7] = 0; + A[2 * numPoints + 1][8] = 0; + A[2 * numPoints + 1][9] = 0; + + + double *W = dvector( 1, 9 ); // will store the sigular values. + double **V = dmatrix( 1, 9, 1, 9 ); + + // Singular-Value Decompose A into U*W*transpose(V). U will be stored in A. + dsvdcmp( A, 2 * numPoints + 1, 9, W, V ); + + // Look for the smallest singular value in W. + double minw = W[1]; + int minw_index = 1; + + for ( i = 2; i <= 9; i++ ) + if ( W[i] < minw ) + { + minw = W[i]; + minw_index = i; + } + + // The column of V corresponding to the smallest singular value is the + // closest solution to A*M=0. + + projMat[1][1] = V[1][minw_index]; + projMat[1][2] = V[2][minw_index]; + projMat[1][3] = V[3][minw_index]; + projMat[2][1] = V[4][minw_index]; + projMat[2][2] = V[5][minw_index]; + projMat[2][3] = V[6][minw_index]; + projMat[3][1] = V[7][minw_index]; + projMat[3][2] = V[8][minw_index]; + projMat[3][3] = V[9][minw_index]; + + // Scale projMat so that its last row has magnitude 1. + + double last_row_len = sqrt( sqr( projMat[3][1] ) + sqr( projMat[3][2] ) + + sqr( projMat[3][3] ) ); + + projMat[1][1] /= last_row_len; + projMat[1][2] /= last_row_len; + projMat[1][3] /= last_row_len; + projMat[2][1] /= last_row_len; + projMat[2][2] /= last_row_len; + projMat[2][3] /= last_row_len; + projMat[3][1] /= last_row_len; + projMat[3][2] /= last_row_len; + projMat[3][3] /= last_row_len; + + + free_dmatrix( V, 1, 9, 1, 9 ); + free_dvector( W, 1, 9 ); + free_dmatrix( A, 1, 2 * numPoints+1, 1, 9 ); +} + + + + +void compIntExtMats( double *const *pt3D, double *const *pt2D, + int numPoints, double **intMat, double **extMat ) + // Compute the 3x3 intrinsic matrix and the 3x4 extrinsic matrix given that + // the camera's COP position is unknown. + // INPUT: + // - pt3D[1..numPoints][1..3] -- 3D coordinates of 3D points. + // - pt2D[1..numPoints][1..2] -- 2D pixel coordinates of image points. + // - numPoints -- number of pair-correspondences (must be at least 6). + // OUTPUT: + // - intMat[1..3][1..3] -- the intrinsic matrix. + // - extMat[1..3][1..4] -- the extrinsic matrix. +{ + if ( numPoints < 6 ) + { + fprintf( stderr, "compIntExtMats: must have at least 6 pair-correspondences.\n" ); + exit(1); + } + + int i; + + double **P = dmatrix( 1, 3, 1, 4 ); // 3x4 projection matrix + + // Compute a 3x4 projection matrix. + compProjMatFromCam( pt3D, pt2D, numPoints, P ); + + // Compute camera parameters. + double ox = P[1][1]*P[3][1] + P[1][2]*P[3][2] + P[1][3]*P[3][3]; + double oy = P[2][1]*P[3][1] + P[2][2]*P[3][2] + P[2][3]*P[3][3]; + + double a = -sqrt( P[1][1]*P[1][1] + P[1][2]*P[1][2] + P[1][3]*P[1][3] - ox*ox ); + double b = -sqrt( P[2][1]*P[2][1] + P[2][2]*P[2][2] + P[2][3]*P[2][3] - oy*oy ); + + double r11 = ( P[1][1] - ox * P[3][1] ) / a; + double r12 = ( P[1][2] - ox * P[3][2] ) / a; + double r13 = ( P[1][3] - ox * P[3][3] ) / a; + double r21 = ( P[2][1] - oy * P[3][1] ) / b; + double r22 = ( P[2][2] - oy * P[3][2] ) / b; + double r23 = ( P[2][3] - oy * P[3][3] ) / b; + double r31 = P[3][1]; + double r32 = P[3][2]; + double r33 = P[3][3]; + + double t3 = P[3][4]; + double t1 = (P[1][4] - ox * t3 ) / a; + double t2 = (P[2][4] - oy * t3 ) / b; + + + // Test if all 3D points have -ve Z in camera coordinate system. + // If not, then negate all rij and ti. + + for ( i = 1; i <= numPoints; i++ ) + { + double Zcam = r31*pt3D[i][1] + r32*pt3D[i][2] + r33*pt3D[i][3] + t3; + if ( Zcam >= 0.0 ) break; + } + + if ( i <= numPoints ) + { + r11 *= -1; + r12 *= -1; + r13 *= -1; + r21 *= -1; + r22 *= -1; + r23 *= -1; + r31 *= -1; + r32 *= -1; + r33 *= -1; + t1 *= -1; + t2 *= -1; + t3 *= -1; + } + + + // intMat = [ a 0 ox; 0 b oy; 0 0 1 ] + + intMat[1][1] = a; + intMat[1][2] = 0; + intMat[1][3] = ox; + intMat[2][1] = 0; + intMat[2][2] = b; + intMat[2][3] = oy; + intMat[3][1] = 0; + intMat[3][2] = 0; + intMat[3][3] = 1; + + + // extMat = [ r11 r12 r13 t1; r21 r22 r23 t2; r31 r32 r33 t3 ] + + extMat[1][1] = r11; + extMat[1][2] = r12; + extMat[1][3] = r13; + extMat[1][4] = t1; + extMat[2][1] = r21; + extMat[2][2] = r22; + extMat[2][3] = r23; + extMat[2][4] = t2; + extMat[3][1] = r31; + extMat[3][2] = r32; + extMat[3][3] = r33; + extMat[3][4] = t3; + + + free_dmatrix( P, 1, 3, 1, 4 ); +} + + + + +void compProjMatFromCam( double *const *pt3D, double *const *pt2D, + int numPoints, double **projMat ) + // Compute the 3x4 projection matrix given that the camera's position is unknown. + // INPUT: + // - pt3D[1..numPoints][1..3] -- 3D coordinates of 3D points. + // - pt2D[1..numPoints][1..2] -- 2D pixel coordinates of image points. + // - numPoints -- number of pair-correspondences (must be at least 6). + // OUTPUT: + // - projMat[1..3][1..4] -- the projection matrix (up to an arbitrary sign). +{ + +// Solve for vector M in the homogeneous system A*M=0. +// Vector M contains the 12 entries of the projection matrix. + + if ( numPoints < 6 ) + { + fprintf( stderr, "compProjMatFromCam: must have at least 6 pair-correspondences.\n" ); + exit(1); + } + + int i; + + // Setup matrix A. + double **A = dmatrix( 1, 2*numPoints, 1, 12 ); + + for ( i = 1; i <= numPoints; i++ ) + { + A[2*i-1][1] = pt3D[i][1]; + A[2*i-1][2] = pt3D[i][2]; + A[2*i-1][3] = pt3D[i][3]; + A[2*i-1][4] = 1; + A[2*i-1][5] = 0; + A[2*i-1][6] = 0; + A[2*i-1][7] = 0; + A[2*i-1][8] = 0; + A[2*i-1][9] = -pt2D[i][1] * pt3D[i][1]; + A[2*i-1][10] = -pt2D[i][1] * pt3D[i][2]; + A[2*i-1][11] = -pt2D[i][1] * pt3D[i][3]; + A[2*i-1][12] = -pt2D[i][1]; + + A[2*i][1] = 0; + A[2*i][2] = 0; + A[2*i][3] = 0; + A[2*i][4] = 0; + A[2*i][5] = pt3D[i][1]; + A[2*i][6] = pt3D[i][2]; + A[2*i][7] = pt3D[i][3]; + A[2*i][8] = 1; + A[2*i][9] = -pt2D[i][2] * pt3D[i][1]; + A[2*i][10] = -pt2D[i][2] * pt3D[i][2]; + A[2*i][11] = -pt2D[i][2] * pt3D[i][3]; + A[2*i][12] = -pt2D[i][2]; + } + + + double *W = dvector( 1, 12 ); // will store the sigular values. + double **V = dmatrix( 1, 12, 1, 12 ); + + // Singular-Value Decompose A into U*W*transpose(V). U will be stored in A. + dsvdcmp( A, 2 * numPoints, 12, W, V ); + + // Look for the smallest singular value in W. + double minw = W[1]; + int minw_index = 1; + + for ( i = 2; i <= 12; i++ ) + if ( W[i] < minw ) + { + minw = W[i]; + minw_index = i; + } + + // The column of V corresponding to the smallest singular value is the + // closest solution to A*M=0. + + projMat[1][1] = V[1][minw_index]; + projMat[1][2] = V[2][minw_index]; + projMat[1][3] = V[3][minw_index]; + projMat[1][4] = V[4][minw_index]; + projMat[2][1] = V[5][minw_index]; + projMat[2][2] = V[6][minw_index]; + projMat[2][3] = V[7][minw_index]; + projMat[2][4] = V[8][minw_index]; + projMat[3][1] = V[9][minw_index]; + projMat[3][2] = V[10][minw_index]; + projMat[3][3] = V[11][minw_index]; + projMat[3][4] = V[12][minw_index]; + + // Scale projMat so that its last row has magnitude 1. + + double last_row_len = sqrt( sqr( projMat[3][1] ) + sqr( projMat[3][2] ) + + sqr( projMat[3][3] ) ); + + projMat[1][1] /= last_row_len; + projMat[1][2] /= last_row_len; + projMat[1][3] /= last_row_len; + projMat[1][4] /= last_row_len; + projMat[2][1] /= last_row_len; + projMat[2][2] /= last_row_len; + projMat[2][3] /= last_row_len; + projMat[2][4] /= last_row_len; + projMat[3][1] /= last_row_len; + projMat[3][2] /= last_row_len; + projMat[3][3] /= last_row_len; + projMat[3][4] /= last_row_len; + + + free_dmatrix( V, 1, 12, 1, 12 ); + free_dvector( W, 1, 12 ); + free_dmatrix( A, 1, 2*numPoints, 1, 12 ); +} + diff --git a/Volume_08/Number_1/Low2003/kl_camcalib.h b/Volume_08/Number_1/Low2003/kl_camcalib.h new file mode 100644 index 0000000..160c27b --- /dev/null +++ b/Volume_08/Number_1/Low2003/kl_camcalib.h @@ -0,0 +1,89 @@ +#ifndef _KL_CAMCALIB_H_ +#define _KL_CAMCALIB_H_ + + +void compIntExtMats( double *const *pt3D, double *const *pt2D, + int numPoints, double **intMat, double **extMat ); + // Compute the 3x3 intrinsic matrix and the 3x4 extrinsic matrix given that + // the camera's COP position is unknown. + // INPUT: + // - pt3D[1..numPoints][1..3] -- 3D coordinates of 3D points. + // - pt2D[1..numPoints][1..2] -- 2D pixel coordinates of image points. + // - numPoints -- number of pair-correspondences (must be at least 6). + // OUTPUT: + // - intMat[1..3][1..3] -- the intrinsic matrix. + // - extMat[1..3][1..4] -- the extrinsic matrix. + + +void compIntExtMats( const double camPos[], double *const *pt3D, double *const *pt2D, + int numPoints, double **intMat, double **extMat ); + // Compute the 3x3 intrinsic matrix and the 3x4 extrinsic matrix given that + // the camera's COP position is known. + // INPUT: + // - camPos[1..3] -- camera's COP position. + // - pt3D[1..numPoints][1..3] -- 3D coordinates of 3D points. + // - pt2D[1..numPoints][1..2] -- 2D pixel coordinates of image points. + // - numPoints -- number of pair-correspondences (must be at least 4). + // OUTPUT: + // - intMat[1..3][1..3] -- the intrinsic matrix. + // - extMat[1..3][1..4] -- the extrinsic matrix. + + +void compProjMatFromCam( double *const *pt3D, double *const *pt2D, + int numPoints, double **projMat ); + // Compute the 3x4 projection matrix given that the camera's position is unknown. + // INPUT: + // - pt3D[1..numPoints][1..3] -- 3D coordinates of 3D points. + // - pt2D[1..numPoints][1..2] -- 2D pixel coordinates of image points. + // - numPoints -- number of pair-correspondences (must be at least 6). + // OUTPUT: + // - projMat[1..3][1..4] -- the projection matrix (up to an arbitrary sign). + + +void compProjMatFromOrig( double *const *pt3D, double *const *pt2D, + int numPoints, double **projMat ); + // Compute the 3x3 projection matrix given that the camera is already at the origin. + // INPUT: + // - pt3D[1..numPoints][1..3] -- 3D coordinates of 3D points. + // - pt2D[1..numPoints][1..2] -- 2D pixel coordinates of image points. + // - numPoints -- number of pair-correspondences (must be at least 4). + // OUTPUT: + // - projMat[1..3][1..3] -- the projection matrix (up to an arbitrary sign). + + +void reprojectionError( double *const *pt3D, double *const *pt2D, + int numPoints, double *const *intMat, double *const *extMat, + double *pixelError, double *totalError ); + // Re-project the 3D points using the input intrinsic and extrinsic matrices, + // and find their pixel errors from the input 2D points. + // INPUT: + // - pt3D[1..numPoints][1..3] -- 3D coordinates of 3D points. + // - pt2D[1..numPoints][1..2] -- 2D pixel coordinates of image points. + // - numPoints -- number of pair-correspondences (must be at least 4). + // - intMat[1..3][1..3] -- the intrinsic matrix. + // - extMat[1..3][1..4] -- the extrinsic matrix. + // OUTPUT: + // - pixelError[1..numPoints] -- pixel error of each re-projected 3D point. + // - totalError -- sum of all pixel errors. + + +void convToOpenGLMats( double *const *intMat, double *const *extMat, + double nearPlaneDist, double farPlaneDist, + int viewportWidth, int viewportHeight, + double projectionMat[16], double modelviewMat[16] ); + // Convert a 3x3 intrinsic matrix to a OpenGL PROJECTION matrix, + // and a 3x4 extrinsic matrix to a OpenGL MODELVIEW matrix. + // INPUT: + // - intMat[1..3][1..3] -- the intrinsic matrix. + // - extMat[1..3][1..4] -- the extrinsic matrix. + // - nearPlaneDist -- distance to near clipping plane ( > 0 ). + // - farPlaneDist -- distance to far clipping plane ( > nearPlaneDist ). + // - viewportWidth -- width of viewport in pixels. + // - viewportHeight -- height of viewport in pixels. + // OUTPUT: + // - projectionMat[0..15] -- OpenGL PROJECTION matrix. + // - modelviewMat[0..15] -- OpenGL MODELVIEW matrix. + + + +#endif diff --git a/Volume_08/Number_1/Low2003/kl_convexhull2d.cpp b/Volume_08/Number_1/Low2003/kl_convexhull2d.cpp new file mode 100644 index 0000000..01a6262 --- /dev/null +++ b/Volume_08/Number_1/Low2003/kl_convexhull2d.cpp @@ -0,0 +1,386 @@ +#include +#include +#include +#include +#include +#include "kl_convexhull2d.h" + +#define SAME_POINT_THRESHOLD 0.000001 + + +static +void *checked_malloc( size_t size ) + // same as malloc(), but checks for out-of-memory. +{ + void *p = malloc( size ); + if ( p == NULL ) + { + fprintf( stderr, "Cannot allocate memory\n." ); + exit( 1 ); + } + return p; +} + + +static +bool SamePoint( const double p1[2], const double p2[2] ) +{ + return ( fabs( p1[0] - p2[0] ) <= SAME_POINT_THRESHOLD ) && + ( fabs( p1[1] - p2[1] ) <= SAME_POINT_THRESHOLD ); +} + + + +static +void PartialHull( const double inPoints2D[], const int subsetID[], int subsetIDSize, + int point1ID, int point2ID, int point3ID, int **partialHull, int *partialHullSize ) +{ + if ( subsetIDSize <= 0 ) + { + *partialHullSize = 2; + *partialHull = (int *) checked_malloc( sizeof(int) * 2 ); + (*partialHull)[0] = point1ID; + (*partialHull)[1] = point2ID; + return; + } + else + { + // FIND POINTS THAT ARE ON THE OUTSIDE OF + // THE POINT1-POINT2 LINE SEGMENT OR THE POINT2-POINT3 LINE SEGMENT + + double NA[2]; // vector perpendicular to point1-point2 line segment (pointing outside) + NA[0] = inPoints2D[ 2*point2ID+1 ] - inPoints2D[ 2*point1ID+1 ]; + NA[1] = inPoints2D[ 2*point1ID ] - inPoints2D[ 2*point2ID ]; + + double NB[2]; // vector perpendicular to point2-point3 line segment (pointing outside) + NB[0] = inPoints2D[ 2*point3ID+1 ] - inPoints2D[ 2*point2ID+1 ]; + NB[1] = inPoints2D[ 2*point2ID ] - inPoints2D[ 2*point3ID ]; + + double midpointA[2]; // midpoint between point1 & point2 + midpointA[0] = 0.5 * ( inPoints2D[ 2*point1ID ] + inPoints2D[ 2*point2ID ] ); + midpointA[1] = 0.5 * ( inPoints2D[ 2*point1ID+1 ] + inPoints2D[ 2*point2ID+1] ); + + double midpointB[2]; // midpoint between point2 & point3 + midpointB[0] = 0.5 * ( inPoints2D[ 2*point2ID ] + inPoints2D[ 2*point3ID ] ); + midpointB[1] = 0.5 * ( inPoints2D[ 2*point2ID+1 ] + inPoints2D[ 2*point3ID+1] ); + + // front of array are points on the outside of the point1-point2 line segment; + // back of array are points on the outside of the point2-point3 line segment. + int *outsidePoints = (int *) checked_malloc( sizeof(int) * subsetIDSize ); + int numOutsidePointsA = 0; + int numOutsidePointsB = 0; + + // outside point furthest from point1-point2 line segment + double maxDistA = 0.0; + int maxDistIDA = 0; + int maxDistIDPosInOutsidePointsA = 0; + + // outside point furthest from point2-point3 line segment + double maxDistB = 0.0; + int maxDistIDB = 0; + int maxDistIDPosInOutsidePointsB = 0; + + + // check whether each point is outside + // point1-point2 line segment or point2-point3 line segment + + for ( int i = 0; i < subsetIDSize; i++ ) + { + if ( SamePoint( &inPoints2D[ 2*subsetID[i] ], &inPoints2D[ 2*point2ID ] ) ) continue; + + double distA = ( inPoints2D[ 2*subsetID[i] ] - midpointA[0] ) * NA[0] + + ( inPoints2D[ 2*subsetID[i]+1 ] - midpointA[1] ) * NA[1]; + + if ( distA > 0.0 ) + { + if ( distA > maxDistA ) + { + maxDistA = distA; + maxDistIDA = subsetID[i]; + maxDistIDPosInOutsidePointsA = numOutsidePointsA; + } + + outsidePoints[ numOutsidePointsA ] = subsetID[i]; + numOutsidePointsA++; + } + else + { + double distB = ( inPoints2D[ 2*subsetID[i] ] - midpointB[0] ) * NB[0] + + ( inPoints2D[ 2*subsetID[i]+1 ] - midpointB[1] ) * NB[1]; + + if ( distB > 0.0 ) + { + if ( distB > maxDistB ) + { + maxDistB = distB; + maxDistIDB = subsetID[i]; + maxDistIDPosInOutsidePointsB = subsetIDSize - 1 - numOutsidePointsB; + } + + outsidePoints[ subsetIDSize - 1 - numOutsidePointsB ] = subsetID[i]; + numOutsidePointsB++; + } + } + } + + + // when no points are outside both segments + + if ( numOutsidePointsA + numOutsidePointsB == 0 ) + { + *partialHullSize = 2; + *partialHull = (int *) checked_malloc( sizeof(int) * 2 ); + (*partialHull)[0] = point1ID; + (*partialHull)[1] = point2ID; + free( outsidePoints ); + return; + } + + + int *partialHullA; + int partialHullASize; + + if ( numOutsidePointsA == 0 ) + { + // when no points are outside point1-point2 line segment + partialHullASize = 1; + partialHullA = (int *) checked_malloc( sizeof(int) * 1 ); + partialHullA[0] = point1ID; + } + else + { + // when some points are outside point1-point2 line segment + outsidePoints[ maxDistIDPosInOutsidePointsA ] = outsidePoints[ numOutsidePointsA - 1 ]; + numOutsidePointsA--; + PartialHull( inPoints2D, outsidePoints, numOutsidePointsA, point1ID, maxDistIDA, point2ID, + &partialHullA, &partialHullASize ); + } + + + int *partialHullB; + int partialHullBSize; + + if ( numOutsidePointsB == 0 ) + { + // when no points are outside point2-point3 line segment + partialHullBSize = 1; + partialHullB = (int *) checked_malloc( sizeof(int) * 1 ); + partialHullB[0] = point2ID; + } + else + { + // when some points are outside point2-point3 line segment + outsidePoints[ maxDistIDPosInOutsidePointsB ] = outsidePoints[ subsetIDSize - numOutsidePointsB ]; + numOutsidePointsB--; + PartialHull( inPoints2D, &outsidePoints[ subsetIDSize - numOutsidePointsB ], + numOutsidePointsB, point2ID, maxDistIDB, point3ID, + &partialHullB, &partialHullBSize ); + } + + // combine 2 partial hulls + *partialHullSize = partialHullASize + partialHullBSize; + *partialHull = (int *) checked_malloc( sizeof(int) * (*partialHullSize) ); + memcpy( *partialHull, partialHullA, sizeof(int) * partialHullASize ); + memcpy( (*partialHull) + partialHullASize, partialHullB, sizeof(int) * partialHullBSize ); + + free( partialHullA ); + free( partialHullB ); + free( outsidePoints ); + return; + } +} + + + + +void kl_ConvexHull2D( const double inPoints2D[], int numInPoints2D, int **hull, int *hullSize ) +{ + if ( numInPoints2D <= 0 ) + { + *hullSize = 0; + *hull = NULL; + return; + } + else if ( numInPoints2D == 1 ) + { + *hullSize = 1; + *hull = (int *) checked_malloc( sizeof(int) * 1 ); + (*hull)[0] = 0; + return; + } + else if ( numInPoints2D == 2 ) + { + *hullSize = 2; + *hull = (int *) checked_malloc( sizeof(int) * 2 ); + (*hull)[0] = 0; + (*hull)[1] = 1; + return; + } + else + { + int i; + + // FIND LEFTMOST AND RIGHTMOST POINTS + int leftID = 0, rightID = 0; + double leftX = inPoints2D[0], rightX = inPoints2D[0]; + + for ( i = 1; i < numInPoints2D; i++ ) + { + if ( inPoints2D[2*i] < leftX ) + { + leftID = i; + leftX = inPoints2D[2*i]; + } + else if ( inPoints2D[2*i] > rightX ) + { + rightID = i; + rightX = inPoints2D[2*i]; + } + } + + + double N[2]; // vector perpendicular to left-right line segment (pointing down) + N[0] = inPoints2D[ 2*rightID+1 ] - inPoints2D[ 2*leftID+1 ]; + N[1] = inPoints2D[ 2*leftID ] - inPoints2D[ 2*rightID ]; + + double midpoint[2]; // midpoint between leftmost & rightmost points + midpoint[0] = 0.5 * ( inPoints2D[ 2*leftID ] + inPoints2D[ 2*rightID ] ); + midpoint[1] = 0.5 * ( inPoints2D[ 2*leftID+1 ] + inPoints2D[ 2*rightID+1] ); + + // front of array are points below the left-right line segment; + // back of array are points above the left-right line segment; + int *outsidePoints = (int *) checked_malloc( sizeof(int) * numInPoints2D ); + int numOutsidePointsA = 0; + int numOutsidePointsB = 0; + + // point furthest below the left-right line segment + double maxDistA = 0.0; + int maxDistIDA = 0; + int maxDistIDPosInOutsidePointsA = 0; + + // point furthest above the left-right line segment + double maxDistB = 0.0; + int maxDistIDB = 0; + int maxDistIDPosInOutsidePointsB = 0; + + + // check whether each point is below or above the left-right line segment + + for ( i = 0; i < numInPoints2D; i++ ) + { + if ( i == leftID || i == rightID ) continue; + if ( SamePoint( &inPoints2D[ 2*i ], &inPoints2D[ 2*leftID ] ) || + SamePoint( &inPoints2D[ 2*i ], &inPoints2D[ 2*rightID ] ) ) continue; + + double dist = ( inPoints2D[ 2*i ] - midpoint[0] ) * N[0] + + ( inPoints2D[ 2*i+1 ] - midpoint[1] ) * N[1]; + + if ( dist > 0.0 ) + { + // point is below left-right line segment + if ( dist > maxDistA ) + { + maxDistA = dist; + maxDistIDA = i; + maxDistIDPosInOutsidePointsA = numOutsidePointsA; + } + + outsidePoints[ numOutsidePointsA ] = i; + numOutsidePointsA++; + } + else if ( dist < 0.0 ) + { + dist = -dist; + + // point is above left-right line segment + if ( dist > maxDistB ) + { + maxDistB = dist; + maxDistIDB = i; + maxDistIDPosInOutsidePointsB = numInPoints2D - 1 - numOutsidePointsB; + } + + outsidePoints[ numInPoints2D - 1 - numOutsidePointsB ] = i; + numOutsidePointsB++; + } + } + + + // when no points are outside both segments + + if ( numOutsidePointsA + numOutsidePointsB == 0 ) + { + *hullSize = 2; + *hull = (int *) checked_malloc( sizeof(int) * 2 ); + (*hull)[0] = leftID; + (*hull)[1] = rightID; + free( outsidePoints ); + return; + } + + + int *partialHullA; + int partialHullASize; + + if ( numOutsidePointsA == 0 ) + { + // when no points are below the left-right line segment + partialHullASize = 1; + partialHullA = (int *) checked_malloc( sizeof(int) * 1 ); + partialHullA[0] = leftID; + } + else + { + // when some points are below the left-right line segment + outsidePoints[ maxDistIDPosInOutsidePointsA ] = outsidePoints[ numOutsidePointsA - 1 ]; + numOutsidePointsA--; + PartialHull( inPoints2D, outsidePoints, numOutsidePointsA, leftID, maxDistIDA, rightID, + &partialHullA, &partialHullASize ); + } + + + int *partialHullB; + int partialHullBSize; + + if ( numOutsidePointsB == 0 ) + { + // when no points are above the left-right line segment + partialHullBSize = 1; + partialHullB = (int *) checked_malloc( sizeof(int) * 1 ); + partialHullB[0] = rightID; + } + else + { + // when some points are above the left-right line segment + outsidePoints[ maxDistIDPosInOutsidePointsB ] = outsidePoints[ numInPoints2D - numOutsidePointsB ]; + numOutsidePointsB--; + PartialHull( inPoints2D, &outsidePoints[ numInPoints2D - numOutsidePointsB ], + numOutsidePointsB, rightID, maxDistIDB, leftID, + &partialHullB, &partialHullBSize ); + } + + // combine 2 partial hulls + *hullSize = partialHullASize + partialHullBSize; + *hull = (int *) checked_malloc( sizeof(int) * (*hullSize) ); + memcpy( *hull, partialHullA, sizeof(int) * partialHullASize ); + memcpy( (*hull) + partialHullASize, partialHullB, sizeof(int) * partialHullBSize ); + + free( partialHullA ); + free( partialHullB ); + free( outsidePoints ); + return; + } +} + + + + +void kl_FreeHull2D( int *hull ) +{ + free( hull ); +} + + + + +#undef SAME_POINT_THRESHOLD diff --git a/Volume_08/Number_1/Low2003/kl_convexhull2d.h b/Volume_08/Number_1/Low2003/kl_convexhull2d.h new file mode 100644 index 0000000..d5f9406 --- /dev/null +++ b/Volume_08/Number_1/Low2003/kl_convexhull2d.h @@ -0,0 +1,32 @@ +#ifndef _KL_CONVEXHULL2D_H_ +#define _KL_CONVEXHULL2D_H_ + +extern void kl_ConvexHull2D( const double inPoints2D[], int numInPoints2D, + int **hull, int *hullSize ); +// PURPOSE: +// Computes (using QuickHull approach) and returns a 2D convex hull. +// +// INPUTS: +// inPoints2D[0..2*numInPoint2D-1] -- Array of input 2D points. +// Coordinates of point i (0 <= i <= numInPoint2D-1) is stored in +// inPoints2D[2*i] and inPoints2D[2*i+1]. +// numInPoints2D -- Number of input 2D points. +// +// OUTPUTS: +// (*hull)[0..(*hullSize)-1] -- Array of IDs of points on the convex hull. +// Each ID ranges from 0 to (numInPoints2D-1). +// Points on convex hull are listed in counter-clockwise order. +// *hullSize -- Number of points on the convex hull. +// + + +extern void kl_FreeHull2D( int *hull ); +// PURPOSE: +// Frre up memory allocated to the output of KL_ConvexHull2D(). +// +// INPUTS: +// hull -- pointer to the memory allocated for the array of IDs +// of points on the convex hull. + + +#endif diff --git a/Volume_08/Number_1/Low2003/kl_minquad.cpp b/Volume_08/Number_1/Low2003/kl_minquad.cpp new file mode 100644 index 0000000..22f7b4a --- /dev/null +++ b/Volume_08/Number_1/Low2003/kl_minquad.cpp @@ -0,0 +1,637 @@ +#include +#include +#include +#include +#include +#include "kl_convexhull2d.h" +#include "kl_minquad.h" + + +#define DET_THRESHOLD 0.0000001 +#define INTERSECT_THRESHOLD 0.00001 +#define FLATNESS_THRESHOLD 0.0000001 + + +static +void *checked_malloc( size_t size ) + // same as malloc(), but checks for out-of-memory. +{ + void *p = malloc( size ); + if ( p == NULL ) + { + fprintf( stderr, "Cannot allocate memory\n." ); + exit( 1 ); + } + return p; +} + + +static +double fsqr( double f ) + // returns the square of f. +{ + return ( f * f ); +} + + +static +double SqrDist( double v1[2], double v2[2] ) + // returns square of the distance between 2 points +{ + return fsqr( v1[0] - v2[0] ) + fsqr( v1[1] - v2[1] ); +} + + + +static +double TriangleArea( const double p1[2], const double p2[2], const double p3[2] ) +{ + return fabs( 0.5 * ( (p2[0] - p1[0]) * (p3[1] - p1[1]) - + (p3[0] - p1[0]) * (p2[1] - p1[1]) ) ); +} + + + +static +bool EdgeForwardExtIntersection( const double edgeA[2][2], const double edgeB[2][2], + double intersection[2] ) +{ + double vecA[2] = { edgeA[1][0] - edgeA[0][0], edgeA[1][1] - edgeA[0][1] }; + double vecB[2] = { edgeB[1][0] - edgeB[0][0], edgeB[1][1] - edgeB[0][1] }; + + double a = vecA[0]; + double b = -vecB[0]; + double c = vecA[1]; + double d = -vecB[1]; + + double det = a * d - b * c; + + if ( fabs( det ) >= DET_THRESHOLD ) + { + double E[2] = { edgeB[0][0] - edgeA[0][0], edgeB[0][1] - edgeA[0][1] }; + double tA = ( d * E[0] - b * E[1] ) / det; + // return true iff intersection is at the edges' forward extensions + if ( tA > INTERSECT_THRESHOLD ) + { + intersection[0] = edgeA[0][0] + tA * vecA[0]; + intersection[1] = edgeA[0][1] + tA * vecA[1]; + return true; + } + else + return false; + } + else + { + if ( TriangleArea( edgeA[0], edgeA[1], edgeB[0] ) > FLATNESS_THRESHOLD && + TriangleArea( edgeA[0], edgeA[1], edgeB[1] ) > FLATNESS_THRESHOLD ) + { + // CASE 1: Parallel edges, and edges' extensions do not intersect + return false; + } + else + { + // CASE 2: Parallel edges, and edges' extensions intersect + // Use midpoint of edgeA[1] and edgeB[1] + intersection[0] = 0.5 * ( edgeA[1][0] + edgeB[1][0] ); + intersection[1] = 0.5 * ( edgeA[1][1] + edgeB[1][1] ); + return true; + } + } +} + + + +typedef struct EdgeNode +{ + double p1[2]; + double p2[2]; + bool hasIntersection; + double intersection[2]; + double area; + EdgeNode *prev; + EdgeNode *next; + int heapIndex; +} +EdgeNode; + + + +// ******************** HEAP (BEGIN) ******************************************** + +typedef struct Heap +{ + EdgeNode **A; // array of pointers to EdgeNode + int heapSize; + int arraySize; +} +Heap; + +static int HeapParent( int i ) { return (i-1)/2; } +static int HeapLeft( int i ) { return 2*i+1; } +static int HeapRight( int i ) { return 2*i+2; } + +static void Heapify( Heap *h, int i ) +{ + int L = HeapLeft( i ); + int R = HeapRight( i ); + int smallest = i; + if ( L < h->heapSize && h->A[L]->area < h->A[i]->area ) smallest = L; + if ( R < h->heapSize && h->A[R]->area < h->A[smallest]->area ) smallest = R; + if ( smallest != i ) + { + EdgeNode *tmp = h->A[i]; + h->A[i] = h->A[smallest]; + h->A[smallest] = tmp; + h->A[i]->heapIndex = i; + h->A[smallest]->heapIndex = smallest; + Heapify( h, smallest ); + } +} + +static Heap *BuildHeap( EdgeNode *listHead, int listSize ) +{ + Heap *heap = (Heap *) checked_malloc( sizeof(Heap) ); + heap->A = (EdgeNode **) checked_malloc( sizeof(EdgeNode *) * listSize ); + heap->arraySize = listSize; + heap->heapSize = listSize; + + EdgeNode *node = listHead; + int i; + + for ( i = 0; i < listSize; i++, node = node->next ) + { + heap->A[i] = node; + node->heapIndex = i; + } + + for ( i = HeapParent( listSize - 1 ); i >= 0; i-- ) Heapify( heap, i ); + + return heap; +} + +static void DeleteHeap( Heap *heap ) +{ + free( heap->A ); + free( heap ); +} + +static EdgeNode *HeapExtractMinAreaNode( Heap *heap ) +{ + if ( heap->heapSize <= 0 ) return NULL; + EdgeNode *minAreaNode = heap->A[0]; + heap->A[0] = heap->A[ heap->heapSize - 1 ]; + heap->A[0]->heapIndex = 0; + (heap->heapSize)--; + Heapify( heap, 0 ); + return minAreaNode; +} + +static void UpdateHeap( Heap *h, int i ) +{ + int k = i; + while ( k > 0 && h->A[k]->area < h->A[ HeapParent(k) ]->area ) + { + int ParentIndex = HeapParent(k); + EdgeNode *tmp = h->A[k]; + h->A[k] = h->A[ ParentIndex ]; + h->A[ ParentIndex ] = tmp; + h->A[k]->heapIndex = k; + h->A[ ParentIndex ]->heapIndex = ParentIndex; + k = ParentIndex; + } + + if ( k == i ) Heapify( h, i ); +} + +// ******************** HEAP (END) ******************************************** + + +static +void FindMinQuad( const double inPoints2D[], const int hull[], int hullSize, + double outPoints2D[8] ) +{ + EdgeNode *edgeBuf = (EdgeNode *) checked_malloc( sizeof(EdgeNode) * hullSize ); + int i; + + for ( i = 0; i < hullSize; i++ ) + { + edgeBuf[i].p1[0] = inPoints2D[ 2*hull[i] ]; + edgeBuf[i].p1[1] = inPoints2D[ 2*hull[i]+1 ]; + edgeBuf[i].p2[0] = inPoints2D[ 2*hull[(i+1)%hullSize] ]; + edgeBuf[i].p2[1] = inPoints2D[ 2*hull[(i+1)%hullSize]+1 ]; + edgeBuf[i].prev = &edgeBuf[ (i-1+hullSize)%hullSize ]; + edgeBuf[i].next = &edgeBuf[ (i+1)%hullSize ]; + } + + for ( i = 0; i < hullSize; i++ ) + { + double edgeA[2][2] = { { edgeBuf[i].prev->p1[0], edgeBuf[i].prev->p1[1] }, + { edgeBuf[i].prev->p2[0], edgeBuf[i].prev->p2[1] } }; + double edgeB[2][2] = { { edgeBuf[i].next->p2[0], edgeBuf[i].next->p2[1] }, + { edgeBuf[i].next->p1[0], edgeBuf[i].next->p1[1] } }; + + edgeBuf[i].hasIntersection = + EdgeForwardExtIntersection( edgeA, edgeB, edgeBuf[i].intersection ); + + if ( edgeBuf[i].hasIntersection ) + edgeBuf[i].area = TriangleArea( edgeBuf[i].p1, edgeBuf[i].intersection, edgeBuf[i].p2 ); + else + edgeBuf[i].area = DBL_MAX; + } + + + // REDUCE CONVEX HULL TO A QUAD + + EdgeNode *listHead = edgeBuf; + int numSides = hullSize; + + // Build Heap + Heap *heap = BuildHeap( listHead, numSides ); + + while ( numSides > 4 ) + { + // find edge node with minimum triangle area + EdgeNode *minAreaNode = HeapExtractMinAreaNode( heap ); + + // delete the edge node from circular list + EdgeNode *prev = minAreaNode->prev; + EdgeNode *next = minAreaNode->next; + if ( listHead == minAreaNode ) listHead = next; + prev->p2[0] = minAreaNode->intersection[0]; + prev->p2[1] = minAreaNode->intersection[1]; + prev->next = next; + next->p1[0] = minAreaNode->intersection[0]; + next->p1[1] = minAreaNode->intersection[1]; + next->prev = prev; + + { // update previous node + double edgeA[2][2] = { { prev->prev->p1[0], prev->prev->p1[1] }, + { prev->prev->p2[0], prev->prev->p2[1] } }; + double edgeB[2][2] = { { prev->next->p2[0], prev->next->p2[1] }, + { prev->next->p1[0], prev->next->p1[1] } }; + + prev->hasIntersection = EdgeForwardExtIntersection( edgeA, edgeB, prev->intersection ); + + if ( prev->hasIntersection ) + prev->area = TriangleArea( prev->p1, prev->intersection, prev->p2 ); + else + prev->area = DBL_MAX; + + // Update heap, since area in previous node has changed + UpdateHeap( heap, prev->heapIndex ); + } + + { // update next node + double edgeA[2][2] = { { next->prev->p1[0], next->prev->p1[1] }, + { next->prev->p2[0], next->prev->p2[1] } }; + double edgeB[2][2] = { { next->next->p2[0], next->next->p2[1] }, + { next->next->p1[0], next->next->p1[1] } }; + + next->hasIntersection = EdgeForwardExtIntersection( edgeA, edgeB, next->intersection ); + + if ( next->hasIntersection ) + next->area = TriangleArea( next->p1, next->intersection, next->p2 ); + else + next->area = DBL_MAX; + + // Update heap, since area in next node has changed + UpdateHeap( heap, next->heapIndex ); + } + + numSides--; + } + + + // copy result to output + EdgeNode *node = listHead; + for ( i = 0; i < 4; i++, node = node->next ) + { + outPoints2D[ 2*i ] = node->p1[0]; + outPoints2D[ 2*i+1 ] = node->p1[1]; + } + + DeleteHeap( heap ); + free( edgeBuf ); +} + + + +bool kl_MinQuad( const double inPoints2D[], const int convexhull[], int hullSize, double outPoints2D[8] ) +{ + if ( hullSize < 3 ) + { + return false; + } + + else if ( hullSize == 3 ) + { + // create a parallelogram with the longest edge of triangle as a diagonal + + double v[3][2]; + for ( int i = 0; i < 3; i++ ) + { + v[i][0] = inPoints2D[ 2 * convexhull[i] ]; + v[i][1] = inPoints2D[ 2 * convexhull[i] + 1]; + } + + // find longest triangle edge + double sqrLen[3]; + sqrLen[0] = SqrDist( v[0], v[1] ); + sqrLen[1] = SqrDist( v[1], v[2] ); + sqrLen[2] = SqrDist( v[2], v[0] ); + + if ( sqrLen[0] >= sqrLen[1] && sqrLen[0] >= sqrLen[2] ) + { + // edge 0 is longest + outPoints2D[2*0+0] = v[0][0]; + outPoints2D[2*0+1] = v[0][1]; + outPoints2D[2*1+0] = v[1][0] - v[2][0] + v[0][0]; + outPoints2D[2*1+1] = v[1][1] - v[2][1] + v[0][1]; + outPoints2D[2*2+0] = v[1][0]; + outPoints2D[2*2+1] = v[1][1]; + outPoints2D[2*3+0] = v[2][0]; + outPoints2D[2*3+1] = v[2][1]; + } + else if ( sqrLen[1] >= sqrLen[2] ) + { + // edge 1 is longest + outPoints2D[2*0+0] = v[0][0]; + outPoints2D[2*0+1] = v[0][1]; + outPoints2D[2*1+0] = v[1][0]; + outPoints2D[2*1+1] = v[1][1]; + outPoints2D[2*2+0] = v[2][0] - v[0][0] + v[1][0]; + outPoints2D[2*2+1] = v[2][1] - v[0][1] + v[1][1]; + outPoints2D[2*3+0] = v[2][0]; + outPoints2D[2*3+1] = v[2][1]; + } + else + { + // edge 2 is longest + outPoints2D[2*0+0] = v[0][0]; + outPoints2D[2*0+1] = v[0][1]; + outPoints2D[2*1+0] = v[1][0]; + outPoints2D[2*1+1] = v[1][1]; + outPoints2D[2*2+0] = v[2][0]; + outPoints2D[2*2+1] = v[2][1]; + outPoints2D[2*3+0] = v[0][0] - v[1][0] + v[2][0]; + outPoints2D[2*3+1] = v[0][1] - v[1][1] + v[2][1]; + } + return true; + } + + else if ( hullSize == 4 ) + { + for ( int i = 0; i < 4; i++ ) + { + outPoints2D[2*i] = inPoints2D[ 2 * convexhull[i] ]; + outPoints2D[2*i+1] = inPoints2D[ 2 * convexhull[i] + 1]; + } + return true; + } + + else + { + FindMinQuad( inPoints2D, convexhull, hullSize, outPoints2D ); + return true; + } +} + + + +bool kl_MinQuad( const double inPoints2D[], int numInPoints2D, double outPoints2D[8] ) +{ + int *convexhull; + int hullSize; + kl_ConvexHull2D( inPoints2D, numInPoints2D, &convexhull, &hullSize ); + bool result = kl_MinQuad( inPoints2D, convexhull, hullSize, outPoints2D ); + free( convexhull ); + return result; +} + + + + + +// ********************* ANOTHER MINQUAD HEURISTICS. EXPERIMENTAL ********************* + +static +void FindMinQuad2( const double inPoints2D[], const int hull[], int hullSize, + double outPoints2D[8] ) +{ + EdgeNode *edgeBuf = (EdgeNode *) checked_malloc( sizeof(EdgeNode) * hullSize ); + int i; + + for ( i = 0; i < hullSize; i++ ) + { + edgeBuf[i].p1[0] = inPoints2D[ 2*hull[i] ]; + edgeBuf[i].p1[1] = inPoints2D[ 2*hull[i]+1 ]; + edgeBuf[i].p2[0] = inPoints2D[ 2*hull[(i+1)%hullSize] ]; + edgeBuf[i].p2[1] = inPoints2D[ 2*hull[(i+1)%hullSize]+1 ]; + edgeBuf[i].prev = &edgeBuf[ (i-1+hullSize)%hullSize ]; + edgeBuf[i].next = &edgeBuf[ (i+1)%hullSize ]; + } + + for ( i = 0; i < hullSize; i++ ) + { + double edgeA[2][2] = { { edgeBuf[i].prev->p1[0], edgeBuf[i].prev->p1[1] }, + { edgeBuf[i].prev->p2[0], edgeBuf[i].prev->p2[1] } }; + double edgeB[2][2] = { { edgeBuf[i].next->p2[0], edgeBuf[i].next->p2[1] }, + { edgeBuf[i].next->p1[0], edgeBuf[i].next->p1[1] } }; + + edgeBuf[i].hasIntersection = + EdgeForwardExtIntersection( edgeA, edgeB, edgeBuf[i].intersection ); + + if ( edgeBuf[i].hasIntersection ) + edgeBuf[i].area = TriangleArea( edgeBuf[i].p1, edgeBuf[i].intersection, edgeBuf[i].p2 ); + else + edgeBuf[i].area = DBL_MAX; + } + + // REDUCE CONVEX HULL TO A QUAD + + EdgeNode *listHead = edgeBuf; + int numSides = hullSize; + + while ( numSides > 4 ) + { + // find edge node with minimum additional squared edge length + double minSqrLen = DBL_MAX; + EdgeNode *minSqrLenEdgeNode = NULL; + EdgeNode *node = listHead; + + for ( int i = 0; i < numSides; i++, node = node->next ) + { + if ( !node->hasIntersection ) continue; + double oldPrevSqrLen = fsqr( node->prev->p2[0] - node->prev->p1[0] ) + + fsqr( node->prev->p2[1] - node->prev->p1[1] ); + double newPrevSqrLen = fsqr( node->intersection[0] - node->prev->p1[0] ) + + fsqr( node->intersection[1] - node->prev->p1[1] ); + double oldNextSqrLen = fsqr( node->next->p2[0] - node->next->p1[0] ) + + fsqr( node->next->p2[1] - node->next->p1[1] ); + double newNextSqrLen = fsqr( node->next->p2[0] - node->intersection[0] ) + + fsqr( node->next->p2[1] - node->intersection[1] ); + double addSqrLen = newPrevSqrLen - oldPrevSqrLen + newNextSqrLen - oldNextSqrLen; + + if ( addSqrLen < minSqrLen ) + { + minSqrLen = addSqrLen; + minSqrLenEdgeNode = node; + } + } + + // delete the edge node from circular list + EdgeNode *prev = minSqrLenEdgeNode->prev; + EdgeNode *next = minSqrLenEdgeNode->next; + if ( listHead == minSqrLenEdgeNode ) listHead = next; + prev->p2[0] = minSqrLenEdgeNode->intersection[0]; + prev->p2[1] = minSqrLenEdgeNode->intersection[1]; + prev->next = next; + next->p1[0] = minSqrLenEdgeNode->intersection[0]; + next->p1[1] = minSqrLenEdgeNode->intersection[1]; + next->prev = prev; + + + { // update previous node + + double edgeA[2][2] = { { prev->prev->p1[0], prev->prev->p1[1] }, + { prev->prev->p2[0], prev->prev->p2[1] } }; + double edgeB[2][2] = { { prev->next->p2[0], prev->next->p2[1] }, + { prev->next->p1[0], prev->next->p1[1] } }; + + prev->hasIntersection = EdgeForwardExtIntersection( edgeA, edgeB, prev->intersection ); + + if ( prev->hasIntersection ) + prev->area = TriangleArea( prev->p1, prev->intersection, prev->p2 ); + else + prev->area = DBL_MAX; + } + + { // update next node + + double edgeA[2][2] = { { next->prev->p1[0], next->prev->p1[1] }, + { next->prev->p2[0], next->prev->p2[1] } }; + double edgeB[2][2] = { { next->next->p2[0], next->next->p2[1] }, + { next->next->p1[0], next->next->p1[1] } }; + + next->hasIntersection = EdgeForwardExtIntersection( edgeA, edgeB, next->intersection ); + + if ( next->hasIntersection ) + next->area = TriangleArea( next->p1, next->intersection, next->p2 ); + else + next->area = DBL_MAX; + } + + numSides--; + } + + + // copy result to output + EdgeNode *node = listHead; + for ( i = 0; i < 4; i++, node = node->next ) + { + outPoints2D[ 2*i ] = node->p1[0]; + outPoints2D[ 2*i+1 ] = node->p1[1]; + } + + free( edgeBuf ); +} + + + +bool kl_MinQuad2( const double inPoints2D[], const int convexhull[], int hullSize, double outPoints2D[8] ) +{ + if ( hullSize < 3 ) + { + return false; + } + + else if ( hullSize == 3 ) + { + // create a parallelogram with the longest edge of triangle as a diagonal + + double v[3][2]; + for ( int i = 0; i < 3; i++ ) + { + v[i][0] = inPoints2D[ 2 * convexhull[i] ]; + v[i][1] = inPoints2D[ 2 * convexhull[i] + 1]; + } + + // find longest triangle edge + double sqrLen[3]; + sqrLen[0] = SqrDist( v[0], v[1] ); + sqrLen[1] = SqrDist( v[1], v[2] ); + sqrLen[2] = SqrDist( v[2], v[0] ); + + if ( sqrLen[0] >= sqrLen[1] && sqrLen[0] >= sqrLen[2] ) + { + // edge 0 is longest + outPoints2D[2*0+0] = v[0][0]; + outPoints2D[2*0+1] = v[0][1]; + outPoints2D[2*1+0] = v[1][0] - v[2][0] + v[0][0]; + outPoints2D[2*1+1] = v[1][1] - v[2][1] + v[0][1]; + outPoints2D[2*2+0] = v[1][0]; + outPoints2D[2*2+1] = v[1][1]; + outPoints2D[2*3+0] = v[2][0]; + outPoints2D[2*3+1] = v[2][1]; + } + else if ( sqrLen[1] >= sqrLen[2] ) + { + // edge 1 is longest + outPoints2D[2*0+0] = v[0][0]; + outPoints2D[2*0+1] = v[0][1]; + outPoints2D[2*1+0] = v[1][0]; + outPoints2D[2*1+1] = v[1][1]; + outPoints2D[2*2+0] = v[2][0] - v[0][0] + v[1][0]; + outPoints2D[2*2+1] = v[2][1] - v[0][1] + v[1][1]; + outPoints2D[2*3+0] = v[2][0]; + outPoints2D[2*3+1] = v[2][1]; + } + else + { + // edge 2 is longest + outPoints2D[2*0+0] = v[0][0]; + outPoints2D[2*0+1] = v[0][1]; + outPoints2D[2*1+0] = v[1][0]; + outPoints2D[2*1+1] = v[1][1]; + outPoints2D[2*2+0] = v[2][0]; + outPoints2D[2*2+1] = v[2][1]; + outPoints2D[2*3+0] = v[0][0] - v[1][0] + v[2][0]; + outPoints2D[2*3+1] = v[0][1] - v[1][1] + v[2][1]; + } + return true; + } + + else if ( hullSize == 4 ) + { + for ( int i = 0; i < 4; i++ ) + { + outPoints2D[2*i] = inPoints2D[ 2 * convexhull[i] ]; + outPoints2D[2*i+1] = inPoints2D[ 2 * convexhull[i] + 1]; + } + return true; + } + + else + { + FindMinQuad2( inPoints2D, convexhull, hullSize, outPoints2D ); + return true; + } +} + + + +bool kl_MinQuad2( const double inPoints2D[], int numInPoints2D, double outPoints2D[8] ) +{ + int *convexhull; + int hullSize; + kl_ConvexHull2D( inPoints2D, numInPoints2D, &convexhull, &hullSize ); + bool result = kl_MinQuad2( inPoints2D, convexhull, hullSize, outPoints2D ); + free( convexhull ); + return result; +} + + +#undef DET_THRESHOLD +#undef INTERSECT_THRESHOLD +#undef FLATNESS_THRESHOLD + diff --git a/Volume_08/Number_1/Low2003/kl_minquad.h b/Volume_08/Number_1/Low2003/kl_minquad.h new file mode 100644 index 0000000..478d664 --- /dev/null +++ b/Volume_08/Number_1/Low2003/kl_minquad.h @@ -0,0 +1,67 @@ +#ifndef _KL_MINQUAD_H_ +#define _KL_MINQUAD_H_ + + +extern bool kl_MinQuad( const double inPoints2D[], int numInPoints2D, double outPoints2D[8] ); +// PURPOSE: +// Returns the approximate minimum-area enclosing quadrilateral. +// It uses the following heuristics: +// In each iteration, remove the edge that adds the smallest area to the enclosing polygon. +// Repeat until enclosing polygon has only 4 sides. +// +// INPUTS: +// inPoints2D[0..2*numInPoint2D-1] -- Array of input 2D points. +// Coordinates of point i (0 <= i <= numInPoint2D-1) is stored in +// inPoints2D[2*i] and inPoints2D[2*i+1]. +// numInPoints2D -- Number of input 2D points. +// +// OUTPUTS: +// outPoints2D[0..7] -- Array of 2D points of the 4 corners of the +// approximate minimum-area enclosing quadrilateral. +// They are listed in counter-clockwise order. +// +// RETURNED VALUE: +// True iff minimum-area enclosing quadrilateral is successfully computed. + + + + +extern bool kl_MinQuad( const double inPoints2D[], const int convexhull[], int hullSize, double outPoints2D[8] ); +// PURPOSE: +// Returns the approximate minimum-area enclosing quadrilateral of a 2D convex hull. +// It uses the following heuristics: +// In each iteration, remove the edge that adds the smallest area to the enclosing polygon. +// Repeat until enclosing polygon has only 4 sides. +// +// INPUTS: +// inPoints2D[] -- Array of input 2D points, referenced by convexhull[]. +// Coordinates of point i (0 <= i <= numInPoint2D-1) is stored in +// inPoints2D[2*i] and inPoints2D[2*i+1]. +// convexhull[0..hullSize-1] -- Array of IDs of points on the convex hull. +// Points on convex hull are listed in counter-clockwise order. +// hullSize -- Number of points on the convex hull. + +// +// OUTPUTS: +// outPoints2D[0..7] -- Array of 2D points of the 4 corners of the +// approximate minimum-area enclosing quadrilateral. +// They are listed in counter-clockwise order. +// +// RETURNED VALUE: +// True iff minimum-area enclosing quadrilateral is successfully computed. + + + + +// ********************* ANOTHER MINQUAD HEURISTICS. EXPERIMENTAL ********************* + +extern bool kl_MinQuad2( const double inPoints2D[], int numInPoints2D, double outPoints2D[8] ); +extern bool kl_MinQuad2( const double inPoints2D[], const int convexhull[], int hullSize, double outPoints2D[8] ); +// returns the approximate minimum-area enclosing quadrilateral. +// It uses the following heuristics: +// In each iteration, remove the edge that adds the smallest sum of squared edge lengths +// to the enclosing polygon. +// Repeat until enclosing polygon has only 4 sides. + + +#endif \ No newline at end of file diff --git a/Volume_08/Number_1/Low2003/kl_optifrustum.cpp b/Volume_08/Number_1/Low2003/kl_optifrustum.cpp new file mode 100644 index 0000000..134583f --- /dev/null +++ b/Volume_08/Number_1/Low2003/kl_optifrustum.cpp @@ -0,0 +1,350 @@ +#include +#include +#include +#include +#include +#include +#include "kl_convexhull2d.h" +#include "kl_minquad.h" +#include "kl_camcalib.h" +#include "kl_optifrustum.h" + + +#ifdef __cplusplus +extern "C" { +#endif + +#include "nrutil.h" + +#ifdef __cplusplus +} +#endif + + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + + +static +void *checked_malloc( size_t size ) + // same as malloc(), but checks for out-of-memory. +{ + void *p = malloc( size ); + if ( p == NULL ) + { + fprintf( stderr, "Cannot allocate memory\n." ); + exit( 1 ); + } + return p; +} + + +static +double fsqr( double f ) + // returns the square of f. +{ + return ( f * f ); +} + + +static +double sqrDist3( const double p1[3], const double p2[3] ) + // returns square of the distance between 2 points +{ + return fsqr( p1[0] - p2[0] ) + fsqr( p1[1] - p2[1] ) + fsqr( p1[2] - p2[2] ); +} + + +static +double sqrDist2( const double p1[2], const double p2[2] ) + // returns square of the distance between 2 points +{ + return fsqr( p1[0] - p2[0] ) + fsqr( p1[1] - p2[1] ); +} + + + +static +void CompBoundingBox( const double *pt, int numPts, double min_xyz[3], double max_xyz[3] ) +{ + min_xyz[0] = FLT_MAX; + min_xyz[1] = FLT_MAX; + min_xyz[2] = FLT_MAX; + max_xyz[0] = -FLT_MAX; + max_xyz[1] = -FLT_MAX; + max_xyz[2] = -FLT_MAX; + + for ( int i = 0; i < numPts; i++ ) + { + if ( pt[3*i+0] < min_xyz[0] ) min_xyz[0] = pt[3*i+0]; + if ( pt[3*i+1] < min_xyz[1] ) min_xyz[1] = pt[3*i+1]; + if ( pt[3*i+2] < min_xyz[2] ) min_xyz[2] = pt[3*i+2]; + if ( pt[3*i+0] > max_xyz[0] ) max_xyz[0] = pt[3*i+0]; + if ( pt[3*i+1] > max_xyz[1] ) max_xyz[1] = pt[3*i+1]; + if ( pt[3*i+2] > max_xyz[2] ) max_xyz[2] = pt[3*i+2]; + } +} + + + + +void kl_BoundingSphere( const double inPoints3D[],int numInPoints3D, + double sphereCenter[3], double *sphereRadius ) +{ + double min_xyz[3], max_xyz[3]; + CompBoundingBox( inPoints3D, numInPoints3D, min_xyz, max_xyz ); + + sphereCenter[0] = 0.5 * (max_xyz[0] + min_xyz[0]); + sphereCenter[1] = 0.5 * (max_xyz[1] + min_xyz[1]); + sphereCenter[2] = 0.5 * (max_xyz[2] + min_xyz[2]); + + *sphereRadius = sqrt( sqrDist3( sphereCenter, min_xyz ) ); +} + + +//============================================================================================ + + +static +void mat16dMult( double mo[16], const double m1[16], const double m2[16] ) + // mo = m1 x m2. +{ + double M1[4][4], M2[4][4], MO[4][4]; + int i, j, k; + + for ( i = 0; i < 4; i++ ) + for ( j = 0; j < 4; j++ ) + { + M1[i][j] = m1[ j * 4 + i ]; + M2[i][j] = m2[ j * 4 + i ]; + } + + for ( i = 0; i < 4; i++ ) + for ( j = 0; j < 4; j++ ) + { + double sum = 0.0; + for ( k = 0; k < 4; k++ ) + sum += M1[i][k] * M2[k][j]; + MO[i][j] = sum; + } + + for ( i = 0; i < 4; i++ ) + for ( j = 0; j < 4; j++ ) + mo[ j * 4 + i ] = MO[i][j]; +} + + + +static +void MyGluProject( const double obj[3], const GLdouble mat[16], const GLint viewport[4], + double winxy[2] ) +{ + double tmp[4]; + tmp[0] = mat[0]*obj[0] + mat[4]*obj[1] + mat[8]*obj[2] + mat[12]; + tmp[1] = mat[1]*obj[0] + mat[5]*obj[1] + mat[9]*obj[2] + mat[13]; + tmp[3] = mat[3]*obj[0] + mat[7]*obj[1] + mat[11]*obj[2] + mat[15]; + tmp[0] /= tmp[3]; + tmp[1] /= tmp[3]; + winxy[0] = (tmp[0] + 1.0) * ( viewport[2] / 2.0 ) + viewport[0]; + winxy[1] = (tmp[1] + 1.0) * ( viewport[3] / 2.0 ) + viewport[1]; +} + + + +//============================================================================================ + + +static +void CompUpVector( const double eye[3], const double lookat[3], double upvec[3] ) +{ + double frontvec[3] = { lookat[0] - eye[0], lookat[1] - eye[1], lookat[2] - eye[2] }; + + if ( frontvec[0] != 0.0 || frontvec[1] != 0.0 ) + { + upvec[0] = frontvec[1]; + upvec[1] = -frontvec[0]; + upvec[2] = 0.0; + } + else + { + upvec[0] = 0.0; + upvec[1] = 1.0; + upvec[2] = 0.0; + } +} + + +static +void SetUpPerspective( const double eye[3], const double sphereCenter[3], double sphereRadius, + double viewport_width, double viewport_height ) +{ + double dist = sqrt( sqrDist3( eye, sphereCenter ) ); + double fovy, zNear, zFar;; + + if ( dist <= sphereRadius + 1.0E-4 ) + { + fovy = 89.0; + zNear = sphereRadius / 100.0; + zFar = dist + sphereRadius; + } + else + { + fovy = 2.0 * asin( sphereRadius / dist ) / M_PI * 180.0; + zNear = dist - sphereRadius; + zFar = dist + sphereRadius; + } + + gluPerspective( fovy, viewport_width / viewport_height, zNear, zFar ); + +// Note that not all points will appear in the viewport if the viewport is much taller +// than it is wide. But this does not affect the final optmized frustum. +} + + + +void kl_OptiFrustum( const double inPoints3D[],int numInPoints3D, + const double sphereCenter[3], double sphereRadius, + const double viewpoint[3], + int viewportWidth, int viewportHeight, + GLdouble optiProjectionMat[16], GLdouble optiModelviewMat[16], + GLdouble convProjectionMat[16], GLdouble convModelviewMat[16], + double minEnclosingQuad[8] ) +{ +// Save current OpenGL matrix mode, viewport and matrices + GLint orig_mat_mode; + GLdouble orig_projection[16], orig_modelview[16]; + GLint orig_viewport[4]; + glGetIntegerv( GL_MATRIX_MODE, &orig_mat_mode ); + glGetDoublev( GL_PROJECTION_MATRIX, orig_projection ); + glGetDoublev( GL_MODELVIEW_MATRIX, orig_modelview ); + glGetIntegerv( GL_VIEWPORT, orig_viewport ); + +// Set up viewport and symmetric perspective frustum + glViewport( 0, 0, viewportWidth, viewportHeight ); + glMatrixMode( GL_PROJECTION ); + glLoadIdentity(); + SetUpPerspective( viewpoint, sphereCenter, sphereRadius, viewportWidth, viewportHeight ); + glMatrixMode( GL_MODELVIEW ); + glLoadIdentity(); + double up_vec[3]; + CompUpVector( viewpoint, sphereCenter, up_vec ); + gluLookAt( viewpoint[0], viewpoint[1], viewpoint[2], + sphereCenter[0], sphereCenter[1], sphereCenter[2], up_vec[0], up_vec[1], up_vec[2] ); + +// Read back the 2 transformation matrices and viewport from OpenGL + GLdouble conv_projection[16], conv_modelview[16]; + GLint conv_viewport[4]; + glGetDoublev( GL_PROJECTION_MATRIX, conv_projection ); + glGetDoublev( GL_MODELVIEW_MATRIX, conv_modelview ); + glGetIntegerv( GL_VIEWPORT, conv_viewport ); + +// Restore saved OpenGL matrices, viewport and matrix mode + glViewport( orig_viewport[0], orig_viewport[1], orig_viewport[2], orig_viewport[3] ); + glMatrixMode( GL_PROJECTION ); + glLoadMatrixd( orig_projection ); + glMatrixMode( GL_MODELVIEW ); + glLoadMatrixd( orig_modelview ); + glMatrixMode( orig_mat_mode ); + + +// Project 3D points to 2D image points + int numPoints2D = numInPoints3D; + double *points2D = (double *) checked_malloc( sizeof(double) * 2 * numPoints2D ); + + GLdouble conv_mat[16]; + mat16dMult( conv_mat, conv_projection, conv_modelview ); // concat 2 matrices + int i; + for ( i = 0; i < numInPoints3D; i++ ) + MyGluProject( &inPoints3D[3*i], conv_mat, conv_viewport, &points2D[2*i] ); + +// Compute approx. smallest enclosing quadrilateral of the 2D image points + double minQuad[8]; + kl_MinQuad( points2D, numPoints2D, minQuad ); + + free( points2D ); + + +// Find the longer dimension of the viewport and put it as the first edge + double vpCornersW[8] = { 0.5, 0.5, viewportWidth-0.5, 0.5, + viewportWidth-0.5, viewportHeight-0.5, 0.5, viewportHeight-0.5 }; + double vpCornersH[8] = { viewportWidth-0.5, 0.5, viewportWidth-0.5, viewportHeight-0.5, + 0.5, viewportHeight-0.5, 0.5, 0.5 }; + double *vpCorners; + if ( viewportWidth > viewportHeight ) vpCorners = vpCornersW; else vpCorners = vpCornersH; + + +// Find the longest 2 opposite edges of the quadrilateral and put them as the first and third edges + double qLen[4]; + qLen[0] = sqrt( sqrDist2( &minQuad[0], &minQuad[2] ) ); + qLen[1] = sqrt( sqrDist2( &minQuad[2], &minQuad[4] ) ); + qLen[2] = sqrt( sqrDist2( &minQuad[4], &minQuad[6] ) ); + qLen[3] = sqrt( sqrDist2( &minQuad[6], &minQuad[0] ) ); + + if ( qLen[1] + qLen[3] > qLen[0] + qLen[2] ) + { + double x0 = minQuad[0]; + double y0 = minQuad[1]; + for ( int i = 0; i < 6; i++ ) minQuad[i] = minQuad[i+2]; + minQuad[6] = x0; + minQuad[7] = y0; + } + + +// Project 2D quadrilateral into 3D + double quad3D[3*4]; + for ( i = 0; i < 4; i++ ) + { + gluUnProject( minQuad[2*i], minQuad[2*i+1], 0.5, + conv_modelview, conv_projection, conv_viewport, + &quad3D[3*i+0], &quad3D[3*i+1], &quad3D[3*i+2] ); + } + + +// Set up matrices to solve for camera parameters + + double **pt3D = dmatrix( 1, 4, 1, 3 ); + double **pt2D = dmatrix( 1, 4, 1, 2 ); + double **intMat = dmatrix( 1, 3, 1, 3 ); + double **extMat = dmatrix( 1, 3, 1, 4 ); + + for ( i = 0; i < 4; i++ ) + { + pt3D[i+1][1] = quad3D[3*i+0]; + pt3D[i+1][2] = quad3D[3*i+1]; + pt3D[i+1][3] = quad3D[3*i+2]; + pt2D[i+1][1] = vpCorners[2*i+0]; + pt2D[i+1][2] = vpCorners[2*i+1]; + } + + compIntExtMats( viewpoint - 1, pt3D, pt2D, 4, intMat, extMat ); + + double xformSphereZ; + xformSphereZ = extMat[3][1] * sphereCenter[0] + extMat[3][2] * sphereCenter[1] + + extMat[3][3] * sphereCenter[2] + extMat[3][4]; + + double zNear = -xformSphereZ - sphereRadius; + if ( zNear <= 0.0 ) zNear = sphereRadius / 100.0; + double zFar = zNear + 2.0 * sphereRadius; + + convToOpenGLMats( intMat, extMat, zNear, zFar, + viewportWidth, viewportHeight, optiProjectionMat, optiModelviewMat ); + + free_dmatrix( extMat, 1, 3, 1, 4 ); + free_dmatrix( intMat, 1, 3, 1, 3 ); + free_dmatrix( pt3D, 1, 4, 1, 3 ); + free_dmatrix( pt2D, 1, 4, 1, 2 ); + + +// Copy to optional outputs + if ( convProjectionMat != NULL ) + for ( i = 0; i < 16; i++ ) convProjectionMat[i] = conv_projection[i]; + + if ( convModelviewMat != NULL ) + for ( i = 0; i < 16; i++ ) convModelviewMat[i] = conv_modelview[i]; + + if ( minEnclosingQuad != NULL ) + for ( i = 0; i < 8; i++ ) minEnclosingQuad[i] = minQuad[i]; +} + + diff --git a/Volume_08/Number_1/Low2003/kl_optifrustum.h b/Volume_08/Number_1/Low2003/kl_optifrustum.h new file mode 100644 index 0000000..df985ce --- /dev/null +++ b/Volume_08/Number_1/Low2003/kl_optifrustum.h @@ -0,0 +1,60 @@ +#ifndef _KL_OPTIFRUSTUM_H_ +#define _KL_OPTIFRUSTUM_H_ + +#include + + +extern void kl_BoundingSphere( const double inPoints3D[],int numInPoints3D, + double sphereCenter[3], double *sphereRadius ); +// PURPOSE: +// Computes a bounding sphere of the input 3D points. +// +// INPUTS: +// inPoints3D[0..3*numInPoint3D-1] -- Array of input 3D points. +// Coordinates of point i (0 <= i <= numInPoint3D-1) is stored in +// inPoints3D[3*i], inPoints2D[3*i+1] and inPoints2D[3*i+2] +// numInPoints3D -- Number of input 3D points. +// +// OUTPUTS: +// sphereCenter[0..2] -- 3D coordinates of the center of the bounding sphere. +// *sphereRadius -- Radius of the bounding sphere. + + + +extern void kl_OptiFrustum( const double inPoints3D[],int numInPoints3D, + const double sphereCenter[3], double sphereRadius, + const double viewpoint[3], + int viewportWidth, int viewportHeight, + GLdouble optiProjectionMat[16], GLdouble optiModelviewMat[16], + GLdouble *convProjectionMat = NULL, GLdouble *convModelviewMat = NULL, + double *minEnclosingQuad = NULL ); +// PURPOSE: +// Computes a frustum to maximize the image area of the input object. +// +// INPUTS: +// inPoints3D[0..3*numInPoint3D-1] -- Array of input 3D points of the object's vertices. +// Coordinates of point i (0 <= i <= numInPoint3D-1) is stored in +// inPoints3D[3*i], inPoints2D[3*i+1] and inPoints2D[3*i+2] +// numInPoints3D -- Number of input 3D points. +// sphereCenter[0..2] -- 3D coordinates of the center of a bounding sphere. +// sphereRadius -- Radius of the bounding sphere. +// viewpoint[0..2] -- 3D coordinates of the viewpoint (eye). +// viewportWidth -- width of viewport in pixels. +// viewportHeight -- height of viewport in pixels. +// +// OUTPUTS: +// projectionMat[0..15] -- OpenGL projection matrix of the optimized frustum. +// modelviewMat[0..15] -- OpenGL model-view matrix of the optimized frustum. +// +// OPTIONAL OUTPUTS: +// convProjectionMat[0..15] -- the intermediate OpenGL projection matrix used to +// derive the minimum-enclosing quadrilateral. Pass in a NULL pointer +// if output is not needed. +// convModelviewMat[0..15] -- the intermediate OpenGL modelview matrix used to +// derive the minimum-enclosing quadrilateral. Pass in a NULL pointer +// if output is not needed. +// minEnclosingQuad[0..8] -- the 2D positions of the 4 corners of the minimum-enclosing quadrilateral. +// Pass in a NULL pointer if output is not needed. + + +#endif \ No newline at end of file diff --git a/Volume_08/Number_1/Low2003/lights.dat b/Volume_08/Number_1/Low2003/lights.dat new file mode 100644 index 0000000..a4ec4ee --- /dev/null +++ b/Volume_08/Number_1/Low2003/lights.dat @@ -0,0 +1,16 @@ +3 + +0.3 0.3 0.3 1.0 +0.8 0.8 0.8 1.0 +0.0 0.0 0.0 1.0 +-1.0 -1.0 1.0 0.0 + +0.3 0.3 0.3 1.0 +0.8 0.8 0.8 1.0 +0.0 0.0 0.0 1.0 +1.0 -1.0 0.0 0.0 + +0.3 0.3 0.3 1.0 +0.8 0.8 0.8 1.0 +0.0 0.0 0.0 1.0 +-1.0 1.0 0.0 0.0 diff --git a/Volume_08/Number_1/Low2003/readme.txt b/Volume_08/Number_1/Low2003/readme.txt new file mode 100644 index 0000000..d3a4ff9 --- /dev/null +++ b/Volume_08/Number_1/Low2003/readme.txt @@ -0,0 +1,43 @@ + +This package contains the C/C++ source code implementing the algorithm +described in the JGT paper "Computing a View Frustum to Maximize an Object's Image Area", by Kok-Lim Low and Adrian Ilie. + +You are free to use and distribute the code. There is no guarantee that +the code will work correctly as described. The authors are not +responsible for any consequences as a result of its use. + + +The essential files are: + + * kl_camcalib.h + * kl_camcalib.cpp + * kl_convexhull2d.h + * kl_convexhull2d.cpp + * kl_minquad.h + * kl_minquad.cpp + * kl_optifrustum.h + * kl_optifrustum.cpp + + +Also essential are the followings files from Numerical Recipes in C. +They are not included in this package. + + * nrutil.h + * nrutil.c + * dsvdcmp.c + * dpythag.c + + +The only routines the user will call are inside "kl_optifrustum.h". +The function kl_BoundingSphere() is used to compute a bounding sphere. +This bounding sphere (or any other bounding sphere) is then passed to +the function kl_OptiFrustum() to compute the optimized frustum. +kl_OptiFrustum() uses the OpenGL API, so OpenGL must be initialized +before calling kl_OptiFrustum(). + +The user can try the test program included in this package. +When the program is running, press 'M' to cycle through the different +views of the model. + +3-25-2003 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b/Volume_08/Number_1/Low2003/test.cpp new file mode 100644 index 0000000..114ba3e --- /dev/null +++ b/Volume_08/Number_1/Low2003/test.cpp @@ -0,0 +1,299 @@ +#include +#include +#include +#include +#include +#include "common.h" +#include "trimodel.h" +#include "kl_convexhull2d.h" +#include "kl_minquad.h" +#include "kl_optifrustum.h" + + +// scene model +static char *sceneFile = "teapot.dli"; +static double sceneScaleFact = 1.0; +static TM_Model *scene; +static GLfloat sceneRadius; +static TM_DList *sceneDList; + +// lights file +static char *lightFile = "lights.dat"; +static GLint numLights; +static GLfloat lightPos[8][4]; +static GLenum lightID[8] = { GL_LIGHT0, GL_LIGHT1, GL_LIGHT2, GL_LIGHT3, + GL_LIGHT4, GL_LIGHT5, GL_LIGHT6, GL_LIGHT7 }; + + +static GLint win_width = 1024, win_height = 768; + + +static bool drawScene = true; +static bool texMap = true; +static bool wire = false; +static bool hasLighting = true; +static bool backfaceCulling = true; +static int drawMode = 0; // 0 -- user, 1 -- convenient, 2 -- optimized + + +static int numPoints = 0; +static double *points3D = NULL; +static double sphereCenter[3]; +static double sphereRadius; + +static double nearPlane, farPlane; +static double fovy; + +static double eye[3] = { 0.0, 2.0, 2.0 }; +static double minQuad[8]; + + + +static double sqrDist3( const double p1[3], const double p2[3] ) + // returns square of the distance between 2 points +{ + return fsqr( p1[0] - p2[0] ) + fsqr( p1[1] - p2[1] ) + fsqr( p1[2] - p2[2] ); +} + + + +static void InitLights( void ) +{ + FILE *fp = fopen( lightFile, "r" ); + if ( fp == NULL ) error_exit( "InitLights()", "Cannot read \"%s\"", lightFile ); + + float am[4], di[4], sp[4], pos[4]; + + if ( fscanf( fp, "%d", &numLights ) < 1 ) + error_exit( "InitLights()", "Invalid file \"%s\"", lightFile ); + + if ( numLights > 8 ) + error_exit( "InitLights()", "Too many lights (max = 8)" ); + + for ( int i = 0; i < numLights; i++ ) + { + if ( fscanf( fp, "%f %f %f %f", &am[0], &am[1], &am[2], &am[3] ) < 4 ) + error_exit( "InitLights()", "Invalid file \"%s\"", lightFile ); + if ( fscanf( fp, "%f %f %f %f", &di[0], &di[1], &di[2], &di[3] ) < 4 ) + error_exit( "InitLights()", "Invalid file \"%s\"", lightFile ); + if ( fscanf( fp, "%f %f %f %f", &sp[0], &sp[1], &sp[2], &sp[3] ) < 4 ) + error_exit( "InitLights()", "Invalid file \"%s\"", lightFile ); + if ( fscanf( fp, "%f %f %f %f", &pos[0], &pos[1], &pos[2], &pos[3] ) < 4 ) + error_exit( "InitLights()", "Invalid file \"%s\"", lightFile ); + + glLightfv( lightID[i], GL_AMBIENT, am ); + glLightfv( lightID[i], GL_DIFFUSE, di ); + glLightfv( lightID[i], GL_SPECULAR, sp ); + + lightPos[i][0] = pos[0]; + lightPos[i][1] = pos[1]; + lightPos[i][2] = pos[2]; + lightPos[i][3] = pos[3]; + + glEnable( lightID[i] ); + } + + glLightModeli( GL_LIGHT_MODEL_TWO_SIDE, GL_TRUE ); + + fclose( fp ); +} + + + +static void init( void ) +{ + scene = TM_ReadModel( sceneFile, sceneScaleFact ); + sceneRadius = 0.5 * sqrt( fsqr(scene->dim_xyz[0]) + + fsqr(scene->dim_xyz[1]) + fsqr(scene->dim_xyz[2]) ); + sceneDList = TM_MakeOGLDList( scene, true ); + + + numPoints = 3 * scene->numTris; + points3D = (double *) checked_malloc( 3 * numPoints * sizeof( double ) ); + + for ( int tc = 0; tc < scene->numTris; tc++ ) + { + for ( int vc = 0; vc < 3; vc++ ) + { + points3D[9*tc+3*vc+0] = scene->tri[tc].v[vc][0]; + points3D[9*tc+3*vc+1] = scene->tri[tc].v[vc][1]; + points3D[9*tc+3*vc+2] = scene->tri[tc].v[vc][2]; + } + } + + fprintf( stderr, "Number of points = %d\n", numPoints ); + + // Compute bounding sphere + kl_BoundingSphere( points3D, numPoints, sphereCenter, &sphereRadius ); + + eye[0] *= sphereRadius; + eye[1] *= sphereRadius; + eye[2] *= sphereRadius; + + double dist = sqrt( sqrDist3( eye, sphereCenter ) ); + fovy = 2.0 * asin( sphereRadius / dist ) / M_PI * 180.0; + nearPlane = dist - sphereRadius; + farPlane = dist + sphereRadius; + + glEnable( GL_DEPTH_TEST ); + glDisable( GL_DITHER ); + glDisable( GL_LIGHTING ); + glDisable( GL_BLEND ); + glDisable( GL_TEXTURE_2D ); + + InitLights(); +} + + + +static void display( void ) +{ + static double opti_modelview[16], opti_projection[16]; + static double conv_modelview[16], conv_projection[16]; + + glViewport( 0, 0, win_width, win_height ); + glEnable( GL_DEPTH_TEST ); + + if ( drawMode == 1 || drawMode == 2 ) + kl_OptiFrustum( points3D, numPoints, sphereCenter, sphereRadius, + eye, win_width, win_height, opti_projection, opti_modelview, + conv_projection, conv_modelview, minQuad ); + + if ( drawMode == 2 ) + { + printf( "Optimized frustum.\n" ); + glMatrixMode( GL_PROJECTION ); + glLoadMatrixd( opti_projection ); + glMatrixMode( GL_MODELVIEW ); + glLoadMatrixd( opti_modelview ); + } + else if ( drawMode == 1 ) + { + printf( "Intermediate \"convenient\" frustum, with approx minimal-enclosing quadrilateral.\n" ); + glMatrixMode( GL_PROJECTION ); + glLoadMatrixd( conv_projection ); + glMatrixMode( GL_MODELVIEW ); + glLoadMatrixd( conv_modelview ); + } + else if ( drawMode == 0 ) + { + printf( "User-defined frustum.\n" ); + glMatrixMode( GL_PROJECTION ); + glLoadIdentity(); + gluPerspective( fovy, (GLdouble) win_width / (GLdouble) win_height, nearPlane, farPlane ); + glMatrixMode( GL_MODELVIEW ); + glLoadIdentity(); + gluLookAt( eye[0], eye[1], eye[2], sphereCenter[0], sphereCenter[1], sphereCenter[2], + 0.0, -1.0, 0.0 ); + } + + glPushAttrib( GL_ALL_ATTRIB_BITS ); + + glClearColor( 0.0F, 0.1F, 0.15F, 0.0F ); + glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT ); + glColor3f( 1.0, 1.0, 1.0 ); + + if ( hasLighting ) + for ( int i = 0; i < numLights; i++ ) glLightfv( lightID[i], GL_POSITION, lightPos[i] ); + + if ( drawScene ) TM_DrawModel( sceneDList, texMap, hasLighting, wire, false, backfaceCulling ); + + + if ( drawMode == 1 ) + { + glPushAttrib( GL_ALL_ATTRIB_BITS ); + glDisable( GL_DEPTH_TEST ); + glMatrixMode( GL_PROJECTION ); + glLoadIdentity(); + gluOrtho2D( 0, win_width, 0, win_height ); + glMatrixMode( GL_MODELVIEW ); + glLoadIdentity(); + + glLineWidth( 3.0 ); + glBegin( GL_LINE_LOOP ); + glColor3f( 1.0, 0.0, 0.0 ); + glVertex2dv( &minQuad[0] ); + glColor3f( 0.0, 1.0, 0.0 ); + glVertex2dv( &minQuad[2] ); + glColor3f( 0.0, 0.0, 1.0 ); + glVertex2dv( &minQuad[4] ); + glColor3f( 1.0, 1.0, 1.0 ); + glVertex2dv( &minQuad[6] ); + + glEnd(); + glPopAttrib(); + } + + glPopAttrib(); + + glutSwapBuffers(); + + printf( "Press 'm' to change view.\n" ); +} + + +static void reshape( int width, int height ) +{ + win_width = width; + win_height = height; +} + + + +static void keyboard( unsigned char key, int x, int y ) +{ + int modi = glutGetModifiers(); + + switch ( key ) + { + case 'q': + case 'Q': + exit( 0 ); + break; + case 't': + case 'T': + texMap = !texMap; + break; + case 'w': + case 'W': + wire = !wire; + break; + case 'l': + case 'L': + hasLighting = !hasLighting; + break; + + case 'c': + case 'C': + backfaceCulling = !backfaceCulling; + break; + + case 'm': + case 'M': + drawMode = (drawMode + 1) % 3; + break; + + default: + return; + } + + glutPostRedisplay(); +} + + + +int main( int argc, char** argv ) +{ + glutInit( &argc, argv ); + glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE ); + + glutInitWindowSize( win_width, win_height ); + glutCreateWindow( "" ); + glutReshapeFunc( reshape ); + glutDisplayFunc( display ); + glutKeyboardFunc( keyboard ); + init(); + + glutMainLoop(); + return 0; +} diff --git a/Volume_08/Number_1/Low2003/test.dsp b/Volume_08/Number_1/Low2003/test.dsp new file mode 100644 index 0000000..6efce57 --- /dev/null +++ b/Volume_08/Number_1/Low2003/test.dsp @@ -0,0 +1,162 @@ +# Microsoft Developer Studio Project File - Name="test" - Package Owner=<4> +# Microsoft Developer Studio Generated Build File, Format Version 6.00 +# ** DO NOT EDIT ** + +# TARGTYPE "Win32 (x86) Console Application" 0x0103 + +CFG=test - Win32 Debug +!MESSAGE This is not a valid makefile. To build this project using NMAKE, +!MESSAGE use the Export Makefile command and run +!MESSAGE +!MESSAGE NMAKE /f "test.mak". +!MESSAGE +!MESSAGE You can specify a configuration when running NMAKE +!MESSAGE by defining the macro CFG on the command line. For example: +!MESSAGE +!MESSAGE NMAKE /f "test.mak" CFG="test - Win32 Debug" +!MESSAGE +!MESSAGE Possible choices for configuration are: +!MESSAGE +!MESSAGE "test - Win32 Release" (based on "Win32 (x86) Console Application") +!MESSAGE "test - Win32 Debug" (based on "Win32 (x86) Console Application") +!MESSAGE + +# Begin Project +# PROP AllowPerConfigDependencies 0 +# PROP Scc_ProjName "" +# PROP Scc_LocalPath "" +CPP=cl.exe +RSC=rc.exe + +!IF "$(CFG)" == "test - Win32 Release" + +# PROP BASE Use_MFC 0 +# PROP BASE Use_Debug_Libraries 0 +# PROP BASE Output_Dir "Release" +# PROP BASE Intermediate_Dir "Release" +# PROP BASE Target_Dir "" +# PROP Use_MFC 0 +# PROP Use_Debug_Libraries 0 +# PROP Output_Dir "Release" +# PROP Intermediate_Dir "Release" +# PROP Ignore_Export_Lib 0 +# PROP Target_Dir "" +# ADD BASE CPP /nologo /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_CONSOLE" /D "_MBCS" /YX /FD /c +# ADD CPP /nologo /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_CONSOLE" /D "_MBCS" /YX /FD /c +# ADD BASE RSC /l 0x409 /d "NDEBUG" +# ADD RSC /l 0x409 /d "NDEBUG" +BSC32=bscmake.exe +# ADD BASE BSC32 /nologo +# ADD BSC32 /nologo +LINK32=link.exe +# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /machine:I386 +# ADD LINK32 opengl32.lib glu32.lib glut32.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /machine:I386 + +!ELSEIF "$(CFG)" == "test - Win32 Debug" + +# PROP BASE Use_MFC 0 +# PROP BASE Use_Debug_Libraries 1 +# PROP BASE Output_Dir "Debug" +# PROP BASE Intermediate_Dir "Debug" +# PROP BASE Target_Dir "" +# PROP Use_MFC 0 +# PROP Use_Debug_Libraries 1 +# PROP Output_Dir "Debug" +# PROP Intermediate_Dir "Debug" +# PROP Ignore_Export_Lib 0 +# PROP Target_Dir "" +# ADD BASE CPP /nologo /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_CONSOLE" /D "_MBCS" /YX /FD /GZ /c +# ADD CPP /nologo /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_CONSOLE" /D "_MBCS" /YX /FD /GZ /c +# ADD BASE RSC /l 0x409 /d "_DEBUG" +# ADD RSC /l 0x409 /d "_DEBUG" +BSC32=bscmake.exe +# ADD BASE BSC32 /nologo +# ADD BSC32 /nologo +LINK32=link.exe +# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /debug /machine:I386 /pdbtype:sept +# ADD LINK32 opengl32.lib glu32.lib glut32.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /debug /machine:I386 /pdbtype:sept + +!ENDIF + +# Begin Target + +# Name "test - Win32 Release" +# Name "test - Win32 Debug" +# Begin Source File + +SOURCE=.\common.cpp +# End Source File +# Begin Source File + +SOURCE=.\common.h +# End Source File +# Begin Source File + +SOURCE=.\dpythag.c +# End Source File +# Begin Source File + +SOURCE=.\dsvdcmp.c +# End Source File +# Begin Source File + +SOURCE=.\gltx.c +# End Source File +# Begin Source File + +SOURCE=.\gltx.h +# End Source File +# Begin Source File + +SOURCE=.\kl_camcalib.cpp +# End Source File +# Begin Source File + +SOURCE=.\kl_camcalib.h +# End Source File +# Begin Source File + +SOURCE=.\kl_convexhull2d.cpp +# End Source File +# Begin Source File + +SOURCE=.\kl_convexhull2d.h +# End Source File +# Begin Source File + +SOURCE=.\kl_minquad.cpp +# End Source File +# Begin Source File + +SOURCE=.\kl_minquad.h +# End Source File +# Begin Source File + +SOURCE=.\kl_optifrustum.cpp +# End Source File +# Begin Source File + +SOURCE=.\kl_optifrustum.h +# End Source File +# Begin Source File + +SOURCE=.\nrutil.c +# End Source File +# Begin Source File + +SOURCE=.\nrutil.h +# End Source File +# Begin Source File + +SOURCE=.\test.cpp +# End Source File +# Begin Source File + +SOURCE=.\trimodel.cpp +# End Source File +# Begin Source File + +SOURCE=.\trimodel.h +# End Source File +# End Target +# End Project diff --git a/Volume_08/Number_1/Low2003/test.dsw b/Volume_08/Number_1/Low2003/test.dsw new file mode 100644 index 0000000..b5c03bc --- /dev/null +++ b/Volume_08/Number_1/Low2003/test.dsw @@ -0,0 +1,29 @@ +Microsoft Developer Studio Workspace File, Format Version 6.00 +# WARNING: DO NOT EDIT OR DELETE THIS WORKSPACE FILE! + +############################################################################### + +Project: "test"=.\test.dsp - Package Owner=<4> + +Package=<5> +{{{ +}}} + +Package=<4> +{{{ +}}} + +############################################################################### + +Global: + +Package=<5> +{{{ +}}} + +Package=<3> +{{{ +}}} + +############################################################################### + diff --git a/Volume_08/Number_1/Low2003/trimodel.cpp b/Volume_08/Number_1/Low2003/trimodel.cpp new file mode 100644 index 0000000..021115b --- /dev/null +++ b/Volume_08/Number_1/Low2003/trimodel.cpp @@ -0,0 +1,564 @@ +#include +#include +#include +#include +#include +#include +#include +#include "common.h" +#include "gltx.h" +#include "trimodel.h" + +#define MAX_PATH_LEN 1023 +#define MAX_FILE_LEN 255 + + +// use OpenGL's default material +static const TM_Material DefaultMat = { { 0.2, 0.2, 0.2 }, + { 0.8, 0.8, 0.8 }, + { 0.0, 0.0, 0.0 }, + { 0.0, 0.0, 0.0 }, + 0.0, 0.0, NULL }; + + + +static void GetPathName( char *path, const char *path_file ) + // extract path name from a full-path filename +{ + int len = strlen( path_file ); + int i, j; + + // find the rightmost slash + for ( i = len-1; i >= 0; i-- ) + { + if ( path_file[i] == '/' || path_file[i] == '\\' ) break; + } + + if ( i >= MAX_PATH_LEN ) error_exit( __FILE__, __LINE__, "Path name too long" ); + + // if there is no slash + if ( i < 0 ) + { + path[0] = '\0'; + return; + } + + // copy path name + for( j = 0; j <= i; j++ ) path[j] = path_file[j]; + path[j] = '\0'; +} + + + +static void InitModel( TM_Model *model ) +{ + model->numTris = 0; + model->tri = NULL; + model->numMats = 0; + model->mat = NULL; + model->numTexEnvs = 0; + model->tex = NULL; + model->numTexImages = 0; + model->image = NULL; +} + + + +static GLTXimage *ReadTexture( const char *path, const char *file ) +{ + char pathfile[ MAX_PATH_LEN + MAX_FILE_LEN + 1 ]; + + if ( strlen( path ) + strlen( file ) > MAX_PATH_LEN + MAX_FILE_LEN ) + error_exit( __FILE__, __LINE__, "Path name too long" ); + + strcpy( pathfile, path ); + strcat( pathfile, file ); + + GLTXimage *img = gltxReadRGB( pathfile ); + + if ( img == NULL ) error_exit( __FILE__, __LINE__, "Cannot read image file \"%s\"", pathfile ); + if ( img->components != 3 ) + error_exit( __FILE__, __LINE__, "\"%s\" is not a 3-component RGB image", pathfile ); + + return img; +} + + + +static void CompBoundingBox( TM_Model *model ) +{ + model->min_xyz[0] = FLT_MAX; + model->min_xyz[1] = FLT_MAX; + model->min_xyz[2] = FLT_MAX; + model->max_xyz[0] = -FLT_MAX; + model->max_xyz[1] = -FLT_MAX; + model->max_xyz[2] = -FLT_MAX; + + for ( int i = 0; i < model->numTris; i++ ) + { + TM_Triangle *tri = &model->tri[i]; + + for ( int k = 0; k < 3; k++ ) + { + if ( tri->v[k][0] < model->min_xyz[0] ) model->min_xyz[0] = tri->v[k][0]; + if ( tri->v[k][1] < model->min_xyz[1] ) model->min_xyz[1] = tri->v[k][1]; + if ( tri->v[k][2] < model->min_xyz[2] ) model->min_xyz[2] = tri->v[k][2]; + if ( tri->v[k][0] > model->max_xyz[0] ) model->max_xyz[0] = tri->v[k][0]; + if ( tri->v[k][1] > model->max_xyz[1] ) model->max_xyz[1] = tri->v[k][1]; + if ( tri->v[k][2] > model->max_xyz[2] ) model->max_xyz[2] = tri->v[k][2]; + } + } + + model->dim_xyz[0] = model->max_xyz[0] - model->min_xyz[0]; + model->dim_xyz[1] = model->max_xyz[1] - model->min_xyz[1]; + model->dim_xyz[2] = model->max_xyz[2] - model->min_xyz[2]; + model->center[0] = 0.5 * (model->max_xyz[0] + model->min_xyz[0]); + model->center[1] = 0.5 * (model->max_xyz[1] + model->min_xyz[1]); + model->center[2] = 0.5 * (model->max_xyz[2] + model->min_xyz[2]); +} + + + + +TM_Model *TM_ReadModel( const char *pathfile, double scaleFact ) +{ + char badfile[] = "Invalid input model file"; + char buf[ MAX_FILE_LEN + 1 ]; + char path[ MAX_PATH_LEN + 1 ]; + + // allocate a TM_Model + TM_Model *model = (TM_Model *) checked_malloc( sizeof(TM_Model) ); + InitModel( model ); + + // open input file + FILE *fp = fopen( pathfile, "r" ); + if ( fp == NULL ) + error_exit( __FILE__, __LINE__, "Cannot open input model file \"%s\"", pathfile ); + + // read number of texture files + if ( fscanf( fp, "%d", &model->numTexImages ) < 1 ) + error_exit( __FILE__, __LINE__, badfile ); + + fprintf( stderr, "Number of texture image files = %d\n", model->numTexImages ); + + // allocate array to store images + model->image = (GLTXimage **) checked_malloc( sizeof(GLTXimage *) * model->numTexImages ); + + int i, j; + + // read textures + GetPathName( path, pathfile ); // assume image files in same directory as model file + + for ( i = 0; i < model->numTexImages; i++ ) + { + // read texture filename + if ( fscanf( fp, "%d \"%s", &j, buf ) < 2 ) error_exit( __FILE__, __LINE__, badfile ); + buf[ strlen( buf ) - 1 ] = '\0'; + + fprintf( stderr, "Texture file %d = \"%s%s\"\n", j, path, buf ); + + model->image[i] = ReadTexture( path, buf ); + } + + + // read display list + + int triCount = 0; + int matCount = 0; + int texEnvCount = 0; + + TM_Triangle *trilist = NULL; + TM_Material *matlist = NULL; + TM_TexEnv *texlist = NULL; + + while ( !feof( fp ) ) + { + if ( fscanf( fp, "%s", buf ) < 1 ) break; + + switch( buf[0] ) + { + case 'P': // polygon/triangle + { + TM_Triangle *tri = (TM_Triangle *) checked_malloc( sizeof(TM_Triangle) ); + + // add node to front of linked-list + tri->next = trilist; + trilist = tri; + + for ( int k = 0; k < 3; k++ ) + { + int m = fscanf( fp, "%lf %lf %lf %f %f %f %f %f", + &tri->v[k][0], &tri->v[k][1], &tri->v[k][2], + &tri->n[k][0], &tri->n[k][1], &tri->n[k][2], + &tri->t[k][0], &tri->t[k][1] ); + + if ( m < 8 ) error_exit( __FILE__, __LINE__, badfile ); + + // scale model + tri->v[k][0] *= scaleFact; + tri->v[k][1] *= scaleFact; + tri->v[k][2] *= scaleFact; + } + + // if no material has been read, then use the default material + if ( matCount <= 0 ) + { + TM_Material *mat = (TM_Material *) checked_malloc( sizeof(TM_Material) ); + + *mat = DefaultMat; + + // add node to front of linked-list + mat->next = matlist; + matlist = mat; + + matCount++; + } + + tri->mat = matCount - 1; + tri->tex = texEnvCount - 1; + + triCount++; + break; + } + + case 'M': // material + { + TM_Material *mat = (TM_Material *) checked_malloc( sizeof(TM_Material) ); + + // add node to front of linked-list + mat->next = matlist; + matlist = mat; + + int m = fscanf( fp, "%f %f %f %f %f %f %f %f %f %f %f %f %f %f", + &mat->am[0], &mat->am[1], &mat->am[2], + &mat->di[0], &mat->di[1], &mat->di[2], + &mat->sp[0], &mat->sp[1], &mat->sp[2], + &mat->em[0], &mat->em[1], &mat->em[2], + &mat->sh, &mat->tr ); + + if ( m < 14 ) error_exit( __FILE__, __LINE__, badfile ); + + matCount++; + break; + } + + case 'T': // texture binding + { + TM_TexEnv *tex = (TM_TexEnv *) checked_malloc( sizeof(TM_TexEnv) ); + + // add node to front of linked-list + tex->next = texlist; + texlist = tex; + + int m = fscanf( fp, "%d %d %d %d", + &tex->texImage, &tex->wrapS, &tex->wrapT, &tex->model ); + if ( m < 4 ) error_exit( __FILE__, __LINE__, badfile ); + + m = fscanf( fp, "%f %f %f", + &tex->blend[0], &tex->blend[1], &tex->blend[2] ); + if ( m < 3 ) error_exit( __FILE__, __LINE__, badfile ); + + texEnvCount++; + break; + } + + default: + { + error_exit( __FILE__, __LINE__, badfile ); + break; + } + } + } + + fclose( fp ); + + fprintf( stderr, "Number of triangles read = %d\n", triCount ); + fprintf( stderr, "Number of materials read = %d\n", matCount ); + fprintf( stderr, "Number of texture environments read = %d\n", texEnvCount ); + + // allocate memory for arrays in model + model->tri = (TM_Triangle *) checked_malloc( sizeof(TM_Triangle) * triCount ); + model->mat = (TM_Material *) checked_malloc( sizeof(TM_Material) * matCount ); + model->tex = (TM_TexEnv *) checked_malloc( sizeof(TM_TexEnv) * texEnvCount ); + + model->numTris = triCount; + model->numMats = matCount; + model->numTexEnvs = texEnvCount; + + // transfer items from linked-lists to arrays, and deallocate linked-lists + for ( i = triCount - 1; i >= 0; i-- ) + { + model->tri[i] = *trilist; + free( trilist ); + trilist = model->tri[i].next; + model->tri[i].next = NULL; + } + + for ( i = matCount - 1; i >= 0; i-- ) + { + model->mat[i] = *matlist; + free( matlist ); + matlist = model->mat[i].next; + model->mat[i].next = NULL; + } + + for ( i = texEnvCount - 1; i >= 0; i-- ) + { + model->tex[i] = *texlist; + free( texlist ); + texlist = model->tex[i].next; + model->tex[i].next = NULL; + } + + CompBoundingBox( model ); + + return model; +} + + + +void TM_DeleteModel( TM_Model *model ) +{ + for ( int i = 0; i < model->numTexImages; i++ ) gltxDelete( model->image[i] ); + free( model->tri ); + free( model->mat ); + free( model->tex ); + free( model->image ); + free( model ); +} + + + +TM_DList *TM_MakeOGLDList( const TM_Model *model, bool mipmap ) +{ + TM_DList *dlist = (TM_DList *) checked_malloc( sizeof(TM_DList) ); + + dlist->numTexIDs = model->numTexImages; + dlist->oglTexID = (GLuint *) checked_malloc( sizeof(GLuint) * dlist->numTexIDs ); + + int i; + + // create OpenGL texture objects + + glPixelStorei( GL_UNPACK_ALIGNMENT, 1 ); + + for ( i = 0; i < dlist->numTexIDs; i++ ) + { + glGenTextures( 1, &dlist->oglTexID[i] ); + if ( dlist->oglTexID[i] == 0 ) + error_exit( __FILE__, __LINE__, "Cannot create texture object" ); + + glBindTexture( GL_TEXTURE_2D, dlist->oglTexID[i] ); + + if ( mipmap ) + { + int k = gluBuild2DMipmaps( GL_TEXTURE_2D, 3, model->image[i]->width, model->image[i]->height, + GL_RGB, GL_UNSIGNED_BYTE, model->image[i]->data ); + if ( k != 0 ) error_exit( __FILE__, __LINE__, "Cannot create mipmap" ); + } + else + glTexImage2D( GL_TEXTURE_2D, 0, GL_RGB, model->image[i]->width, model->image[i]->height, + 0, GL_RGB, GL_UNSIGNED_BYTE, model->image[i]->data ); + } + + + // create OpenGL display list + + dlist->oglDList = glGenLists( 1 ); + if ( dlist->oglDList == 0 ) + error_exit( __FILE__, __LINE__, "Cannot create display list" ); + + glNewList( dlist->oglDList, GL_COMPILE ); + + bool textured = true; + bool glBeginEnded = true; + + int currTexEnv = -2; // any dummy integer less than -1 + int currMat = -1; // any dummy integer less than 0 + + + for ( i = 0; i < model->numTris; i++ ) + { + TM_Triangle *tri = &model->tri[i]; + + // set texture + if ( tri->tex != currTexEnv ) + { + if ( !glBeginEnded ) + { + glEnd(); + glBeginEnded = true; + } + + if ( tri->tex < 0 || model->tex[ tri->tex ].texImage < 0 ) + { + if ( textured ) + { + glPushAttrib( GL_TEXTURE_BIT | GL_ENABLE_BIT ); + glDisable( GL_TEXTURE_2D ); + textured = false; + } + } + else + { + TM_TexEnv *tex = &model->tex[ tri->tex ]; + + if ( !textured ) + { + glPopAttrib(); + textured = true; + } + + if ( tex->model == TM_TEX_MODULATE ) + glTexEnvf( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE ); + else if ( tex->model == TM_TEX_DECAL ) + glTexEnvf( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL ); + else if ( tex->model == TM_TEX_BLEND ) + { + float blend[4]; + copyArray3( blend, tex->blend ); + blend[3] = 1.0; + + glTexEnvf( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_BLEND ); + glTexEnvfv( GL_TEXTURE_ENV, GL_TEXTURE_ENV_COLOR, blend ); + } + + glBindTexture( GL_TEXTURE_2D, dlist->oglTexID[ tex->texImage ] ); + + if ( tex->wrapS == TM_TEX_REPEAT ) + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT ); + else + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP ); + + if ( tex->wrapT == TM_TEX_REPEAT ) + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT ); + else + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP ); + + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR ); + + if ( mipmap ) + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, + GL_LINEAR_MIPMAP_LINEAR ); + else + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR ); + } + + currTexEnv = tri->tex; + } + + // set material + if ( tri->mat != currMat ) + { + if ( !glBeginEnded ) + { + glEnd(); + glBeginEnded = true; + } + + assert( tri->mat >= 0 ); + + TM_Material *mat = &model->mat[ tri->mat ]; + + float am[4], di[4], sp[4], em[4]; + copyArray3( am, mat->am ); + copyArray3( di, mat->di ); + copyArray3( sp, mat->sp ); + copyArray3( em, mat->em ); + am[3] = 1.0F - mat->tr; + di[3] = 1.0F - mat->tr; + sp[3] = 1.0F - mat->tr; + em[3] = 1.0F - mat->tr; + + glColor4fv( di ); + + glMaterialfv( GL_FRONT_AND_BACK, GL_AMBIENT, am ); + glMaterialfv( GL_FRONT_AND_BACK, GL_DIFFUSE, di ); + glMaterialfv( GL_FRONT_AND_BACK, GL_SPECULAR, sp ); + glMaterialfv( GL_FRONT_AND_BACK, GL_EMISSION, em ); + glMaterialf( GL_FRONT_AND_BACK, GL_SHININESS, 128.0 * mat->sh ); + + currMat = tri->mat; + } + + // draw triangle + if ( glBeginEnded ) + { + glBegin( GL_TRIANGLES ); + glBeginEnded = false; + } + + for ( int j = 0; j < 3; j++ ) + { + if ( textured ) glTexCoord2fv( tri->t[j] ); + glNormal3fv( tri->n[j] ); + glVertex3dv( tri->v[j] ); + } + } + + if ( !glBeginEnded ) + { + glEnd(); + glBeginEnded = true; + } + + if ( !textured ) + { + glPopAttrib(); + textured = true; + } + + glEndList(); + + return dlist; +} + + + +void TM_DeleteOGLDList( TM_DList *dlist ) +{ + glDeleteLists( dlist->oglDList, 1 ); + glDeleteTextures( dlist->numTexIDs, dlist->oglTexID ); + free( dlist->oglTexID ); + free ( dlist ); +} + + + +void TM_DrawModel( const TM_DList *dlist, bool texMap, bool lighting, + bool wireframe, bool smooth, bool cullBackFaces ) +{ + glPushAttrib( GL_ALL_ATTRIB_BITS ); + + glDisable( GL_DITHER ); + + if ( cullBackFaces ) + glEnable( GL_CULL_FACE ); + else + glDisable( GL_CULL_FACE ); + + if ( smooth ) + glShadeModel( GL_SMOOTH ); + else + glShadeModel( GL_FLAT ); + + if ( texMap ) + glEnable( GL_TEXTURE_2D ); + else + glDisable( GL_TEXTURE_2D ); + + if ( lighting ) + glEnable( GL_LIGHTING ); + else + glDisable( GL_LIGHTING ); + + if ( wireframe ) + glPolygonMode( GL_FRONT_AND_BACK, GL_LINE ); + else + glPolygonMode( GL_FRONT_AND_BACK, GL_FILL ); + + glCallList( dlist->oglDList ); + + glPopAttrib(); +} + diff --git a/Volume_08/Number_1/Low2003/trimodel.h b/Volume_08/Number_1/Low2003/trimodel.h new file mode 100644 index 0000000..a8f40f3 --- /dev/null +++ b/Volume_08/Number_1/Low2003/trimodel.h @@ -0,0 +1,90 @@ +#ifndef _TRIMODEL_H_ +#define _TRIMODEL_H_ + +#include +#include "gltx.h" + +#define TM_TEX_REPEAT 0 +#define TM_TEX_CLAMP 1 +#define TM_TEX_MODULATE 0 +#define TM_TEX_DECAL 1 +#define TM_TEX_BLEND 2 + + +typedef struct TM_Material { + float am[3]; // ambient RGB + float di[3]; // diffuse RGB + float sp[3]; // specular RGB + float em[3]; // emission RGB + float sh; // shininess (0=rough, 1=shiny) + float tr; // transparency (0=opaque, 1=transparent) + TM_Material *next; // used only when in linked-list +} +TM_Material; + + +typedef struct TM_TexEnv { + int texImage; // index to array of texture images (-1 = no texture) + int wrapS; // 0=REPEAT or 1=CLAMP + int wrapT; // 0=REPEAT or 1=CLAMP + int model; // 0=MODULATE, 1=DECAL or 2=BLEND + float blend[3]; // Blend color RGB + TM_TexEnv *next; // used only when in linked-list +} +TM_TexEnv; + + +typedef struct TM_Triangle { + double v[3][3]; // 3 3D vertex coordinates + float n[3][3]; // 3 vertex normals + float t[3][2]; // 3 texture coordinates + int mat; // index to array of materials (>=0) + int tex; // index to array of texture-environments (-1 = no texture) + TM_Triangle *next; // used only when in linked-list +} +TM_Triangle; + + +typedef struct TM_Model { + int numTris; // number of triangles + TM_Triangle *tri; // array of triangles + int numMats; // number of materials + TM_Material *mat; // array of materials + int numTexEnvs; // number of texture-environments + TM_TexEnv *tex; // array of texture-environments + int numTexImages; // number of texture images + GLTXimage **image; // array of pointers to RGB image + + // some model's stats + double min_xyz[3]; // corner of bounding box with minimum x, y, z + double max_xyz[3]; // corner of bounding box with maximum x, y, z + double dim_xyz[3]; // dimensions of bounding box in x, y, z + double center[3]; // center of bounding box +} +TM_Model; + + +typedef struct TM_DList { + // OpenGL display list + int numTexIDs; // number of OpenGL texture objects + GLuint *oglTexID; // array of OpenGL texture objects' IDs + GLuint oglDList; // OpenGL display list ID +} +TM_DList; + + +extern TM_Model *TM_ReadModel( const char *pathfile, double scaleFact ); + +extern void TM_DeleteModel( TM_Model *model ); + +extern TM_DList *TM_MakeOGLDList( const TM_Model *model, bool mipmap ); + // Call this only after OpenGL has been initialized. + +extern void TM_DeleteOGLDList( TM_DList *dlist ); + // Call this only after OpenGL has been initialized. + +extern void TM_DrawModel( const TM_DList *dlist, bool texMap, bool lighting, + bool wireframe, bool smooth, bool cullBackFaces ); + // Call this only after OpenGL has been initialized. + +#endif diff --git a/Volume_08/Number_1/Shen2003/readme.txt b/Volume_08/Number_1/Shen2003/readme.txt new file mode 100644 index 0000000..74d684d --- /dev/null +++ b/Volume_08/Number_1/Shen2003/readme.txt @@ -0,0 +1,37 @@ +A Fast Triangle-Triangle Overlap Test Using Signed Distances + +Hao Shen and Zesheng Tang +Tsinghua University + +Pheng Ann Heng +The Chinese University of Hong Kong + +This paper appears in issue Volume 8, Number 1. +Purchase this issue from the akpeters.com web site. + + +Abstract + +A fast test for triangle-triangle intersection by computing signed vertex-plane distances (sufficient if one triangle is wholly to one side of the other) and sign line-line distances of selected edges (otherwise) is presented. This algorithm is faster than previously published algorithms and the code is available online. + + +Author Information + +Hao Shen, Dept of Computer Science & Technology, Tsinghua University100084 Beijing, China hshen@vis.cs.tsinghua.edu.cn + +Pheng Ann Heng, The Chinese University of Hong Kong, Dept of Computer Science & Engineering Shatin, Hong Kong pheng@cse.cuhk.edu.hk + +Zesheng Tang, Dept of Computer Science & Technology, Tsinghua University100084 Beijing, China ztang@must.edu.mo + + +Editor’s Note + +This is one of two simultaneous triangle-triangle overlap papers in this issue. See also Guigue and Devillers 03 + + +Source Code + +C source code of our triangle-triangle intersection algorithm is available here: tri_tri.c (12K HTML text). + +A test package, built using Microsoft Visual C++, is available here: tri_tri_test.zip (770K zip archive). In addition to C source code, this package also include the data set generator and testing data sets. Performance can be tested on the test data sets presented in the package. If you don’t want to use the presented data sets, use the generator to build new test data sets before testing. After adjusting the parameters defined in “./include/datatype.h” and rebuilding the “Performance” project, run “./bin/Performance.exe“ to watch the cost time of our algorithm or Möller's under different intersection ratio. + diff --git a/Volume_08/Number_1/Shen2003/tri_tri.c b/Volume_08/Number_1/Shen2003/tri_tri.c new file mode 100644 index 0000000..d0ac4e6 --- /dev/null +++ b/Volume_08/Number_1/Shen2003/tri_tri.c @@ -0,0 +1,392 @@ +/* Triangle/triangle intersection test routine, + * by Shen Hao, 2001. + * see article + * Hao Shen, Pheng Ann Heng and Zesheng Tang. + * "A Fast Triangle-Triangle Overlap Test Using Signed Distances" + * Journal of Graphics Tools, 8(1):3-15, 2003 + * + * updated from Moller97.c("Tomas Moller 97") + * About Moller97.c, see article "A Fast Triangle-Triangle Intersection Test", + * Journal of Graphics Tools, 2(2), 1997 + * + * + * updated: 2001-11-22 by Shen Hao + * Using a new theorem based on separating plane. + * How to find the separating plane is emphasis. + * + * int tri_tri_intersect(float V0[3],float V1[3],float V2[3], + * float U0[3],float U1[3],float U2[3]) + * + * parameters: vertices of triangle 1: V0,V1,V2 + * vertices of triangle 2: U0,U1,U2 + * result : returns 1 if the triangles intersect, otherwise 0 + * + * + * + * Assistant function copied from Moller97.c : 2001-11-20 by Shen Hao + * int coplanar_tri_tri(float N[3],float V0[3],float V1[3],float V2[3], + * float U0[3],float U1[3],float U2[3]) + * + * parameters: normal of the plane : N + * vertices of triangle 1: V0,V1,V2 + * vertices of triangle 2: U0,U1,U2 + * result : returns 1 if the triangles intersect, otherwise 0 + */ + +#include + +#define FABS(x) (x>=0?x:-x) /* implement as is fastest on your machine */ +/* #define FABS(x) ((float)fabs(x)) */ +/* if is true then we do a check: + if |dv|0)&&(d0*d2>0) ) + +/* whether signs of d0,d1 are same, and different from the sign of d2 */ +#define SIGN01_DIF_SIGN2(d0,d1,d2) \ + ( (d0>=0) && (d1>=0) && (d2< 0) || \ + (d0<=0) && (d1<=0) && (d2> 0) || \ + (d0> 0) && (d1> 0) && (d2<=0) || \ + (d0< 0) && (d1< 0) && (d2>=0) ) + + + +/* this edge to edge test is based on Franlin Antonio's gem: + "Faster Line Segment Intersection", in Graphics Gems III, + pp. 199-202 */ +#define EDGE_EDGE_TEST(V0,U0,U1) \ + Bx=U0[i0]-U1[i0]; \ + By=U0[i1]-U1[i1]; \ + Cx=V0[i0]-U0[i0]; \ + Cy=V0[i1]-U0[i1]; \ + f=Ay*Bx-Ax*By; \ + d=By*Cx-Bx*Cy; \ + if((f>0 && d>=0 && d<=f) || (f<0 && d<=0 && d>=f)) \ + { \ + e=Ax*Cy-Ay*Cx; \ + if(f>0) \ + { \ + if(e>=0 && e<=f) return 1; \ + } \ + else \ + { \ + if(e<=0 && e>=f) return 1; \ + } \ + } + +#define EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2) \ +{ \ + float Ax,Ay,Bx,By,Cx,Cy,e,d,f; \ + Ax=V1[i0]-V0[i0]; \ + Ay=V1[i1]-V0[i1]; \ + /* test edge U0,U1 against V0,V1 */ \ + EDGE_EDGE_TEST(V0,U0,U1); \ + /* test edge U1,U2 against V0,V1 */ \ + EDGE_EDGE_TEST(V0,U1,U2); \ + /* test edge U2,U1 against V0,V1 */ \ + EDGE_EDGE_TEST(V0,U2,U0); \ +} + +#define POINT_IN_TRI(V0,U0,U1,U2) \ +{ \ + float a,b,c,d0,d1,d2; \ + /* is T1 completly inside T2? */ \ + /* check if V0 is inside tri(U0,U1,U2) */ \ + a=U1[i1]-U0[i1]; \ + b=-(U1[i0]-U0[i0]); \ + c=-a*U0[i0]-b*U0[i1]; \ + d0=a*V0[i0]+b*V0[i1]+c; \ + \ + a=U2[i1]-U1[i1]; \ + b=-(U2[i0]-U1[i0]); \ + c=-a*U1[i0]-b*U1[i1]; \ + d1=a*V0[i0]+b*V0[i1]+c; \ + \ + a=U0[i1]-U2[i1]; \ + b=-(U0[i0]-U2[i0]); \ + c=-a*U2[i0]-b*U2[i1]; \ + d2=a*V0[i0]+b*V0[i1]+c; \ + if(d0*d1>0.0) \ + { \ + if(d0*d2>0.0) return 1; \ + } \ +} + +int coplanar_tri_tri(float N[3],float V0[3],float V1[3],float V2[3], + float U0[3],float U1[3],float U2[3]) +{ + float A[3]; + short i0,i1; + /* first project onto an axis-aligned plane, that maximizes the area */ + /* of the triangles, compute indices: i0,i1. */ + A[0]=FABS(N[0]); + A[1]=FABS(N[1]); + A[2]=FABS(N[2]); + if(A[0]>A[1]) + { + if(A[0]>A[2]) + { + i0=1; /* A[0] is greatest */ + i1=2; + } + else + { + i0=0; /* A[2] is greatest */ + i1=1; + } + } + else /* A[0]<=A[1] */ + { + if(A[2]>A[1]) + { + i0=0; /* A[2] is greatest */ + i1=1; + } + else + { + i0=0; /* A[1] is greatest */ + i1=2; + } + } + + /* test all edges of triangle 1 against the edges of triangle 2 */ + EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2); + EDGE_AGAINST_TRI_EDGES(V1,V2,U0,U1,U2); + EDGE_AGAINST_TRI_EDGES(V2,V0,U0,U1,U2); + + /* finally, test if tri1 is totally contained in tri2 or vice versa */ + POINT_IN_TRI(V0,U0,U1,U2); + POINT_IN_TRI(U0,V0,V1,V2); + + return 0; +} + + +int tri_tri_intersect(float V0[3],float V1[3],float V2[3], + float U0[3],float U1[3],float U2[3]) +{ + + float E1[3],E2[3]; + float N1[3],N2[3],d1,d2; + float tmp[3]; + float du0,du1,du2,dv0,dv1,dv2; + float N[3]; + float tdu0,tdu1,tdv0,tdv1; + float du01,du02; + /* flags of which vertex is single on one side of plane(U0,U1,U2), and plane(V0,V1,V2) */ + /* VV0 is the pointer to the single vertex in (V0,V1,V2) of the plane(U0,U1,U2) */ + /* UU0 is the pointer to the single vertex in (U0,U1,U2) of the plane(V0,V1,V2) */ + float *UU0,*UU1,*UU2,*VV0,*VV1,*VV2; + + /* compute plane equation of triangle(U0,U1,U2) */ + SUB(E1,U1,U0); + SUB(E2,U2,U0); + CROSS(N1,E1,E2); + d1=-DOT(N1,U0); + /* plane equation 1: N1.X+d1=0 */ + /* put V0,V1,V2 into plane equation 1 to compute signed distances to the plane*/ + dv0=DOT(N1,V0)+d1; + dv1=DOT(N1,V1)+d1; + dv2=DOT(N1,V2)+d1; + + /* coplanarity robustness check */ +#if USE_EPSILON_TEST==TRUE + if(FABS(dv0)=0) && (tdu1<=0)) + { + if ((tdv0>=0) && (tdv1<=0)) + { + SUB(E1,VV0,VV2); + SUB(E2,UU0,UU2); + CROSS(N,E1,E2); + SUB(tmp,UU0,VV0); + du02=DOT(N,tmp); +#if USE_EPSILON_TEST==TRUE + if (du02>EPSILON) +#else + if (du02>0) +#endif + return 0; + + SUB(E1,VV1,VV0); + SUB(E2,UU1,UU0); + CROSS(N,E1,E2); + SUB(tmp,UU0,VV0); + du01=DOT(N,tmp); +#if USE_EPSILON_TEST==TRUE + if (du01<-EPSILON) +#else + if (du01<0) +#endif + return 0; + } + else + { + SUB(E1,VV1,VV0); + SUB(E2,UU0,UU2); + CROSS(N,E1,E2); + SUB(tmp,UU0,VV0); + du02=DOT(N,tmp); +#if USE_EPSILON_TEST==TRUE + if (du02>EPSILON) +#else + if (du02>0) +#endif + return 0; + + SUB(E1,VV0,VV2); + SUB(E2,UU1,UU0); + CROSS(N,E1,E2); + SUB(tmp,UU0,VV0); + du01=DOT(N,tmp); +#if USE_EPSILON_TEST==TRUE + if (du01<-EPSILON) +#else + if (du01<0) +#endif + return 0; + } + } + else + { + if ((tdv0>=0) && (tdv1<=0)) + { + SUB(E1,VV0,VV2); + SUB(E2,UU1,UU0); + CROSS(N,E1,E2); + SUB(tmp,UU0,VV0); + du01=DOT(N,tmp); +#if USE_EPSILON_TEST==TRUE + if (du01>EPSILON) +#else + if (du01>0) +#endif + return 0; + + SUB(E1,VV1,VV0); + SUB(E2,UU0,UU2); + CROSS(N,E1,E2); + SUB(tmp,UU0,VV0); + du02=DOT(N,tmp); +#if USE_EPSILON_TEST==TRUE + if (du02<-EPSILON) +#else + if (du02<0) +#endif + return 0; + } + else + { + SUB(E1,VV1,VV0); + SUB(E2,UU1,UU0); + CROSS(N,E1,E2); + SUB(tmp,UU0,VV0); + du01=DOT(N,tmp); +#if USE_EPSILON_TEST==TRUE + if (du01>EPSILON) +#else + if (du01>0) +#endif + return 0; + + SUB(E1,VV0,VV2); + SUB(E2,UU0,UU2); + CROSS(N,E1,E2); + SUB(tmp,UU0,VV0); + du02=DOT(N,tmp); +#if USE_EPSILON_TEST==TRUE + if (du02<-EPSILON) +#else + if (du02<0) +#endif + return 0; + } + } + + return 1; +} \ No newline at end of file diff --git a/Volume_08/Number_1/Shen2003/tri_tri_test/Src/Generation.cpp b/Volume_08/Number_1/Shen2003/tri_tri_test/Src/Generation.cpp new file mode 100644 index 0000000..b2482f7 --- /dev/null +++ b/Volume_08/Number_1/Shen2003/tri_tri_test/Src/Generation.cpp @@ -0,0 +1,107 @@ +#include +#include +#include +#include "../include/datatype.h" + +#include "../include/moller97.c" +//#include "../include/tri_tri.c" +#include "../include/stopwatch.h" + +int Linear(float V0[3], float V1[3], float V2[3]) +{ + float N[3], E1[3], E2[3]; + SUB(E1,V1,V0); + SUB(E2,V2,V0); + CROSS(N,E1,E2); + if ( (FABS(N[0])>EPSILON) || (FABS(N[1])>EPSILON) || (FABS(N[2])>EPSILON) ) + return 0; + return 1; +} + +void Generate() +{ + int nCountIntersected = 0; + int nCountSeparated = 0; + int i; + int nResult; + FILE * lf1 = fopen("../data/intersected.txt", "w"); + if (lf1 == NULL) + { + printf("Can't generate the data file \"../data/intersected.txt\"!\n"); + return; + } + FILE * lf2 = fopen("../data/separated.txt", "w"); + if (lf2 == NULL) + { + printf("Can't generate the data file \"../data/separated.txt\"!\n"); + fclose(lf1); + return; + } + + float v0[3], v1[3], v2[3]; + float u0[3], u1[3], u2[3]; + srand((unsigned)time(NULL)); + + while ( (nCountIntersected +#include +#include +#include "../include/datatype.h" + +// switch to test moller's method or ours +#if TEST_MOLLER97==1 +#include "../include/moller97.c" +#else +#include "../include/tri_tri.c" +#endif + +#include "../include/stopwatch.h" + +void Test() +{ + float v0[PAIR_NUMBER][3], v1[PAIR_NUMBER][3], v2[PAIR_NUMBER][3]; + float u0[PAIR_NUMBER][3], u1[PAIR_NUMBER][3], u2[PAIR_NUMBER][3]; + int i, j; + int nResult, nNumber; + int nCount = 0; + __int64 time; + + // Load test data + FILE * lf1 = fopen("../data/intersected.txt", "r"); + if (lf1 == NULL) + { + printf("Make sure if the data sets has been generated successfully."); + return; + } + FILE * lf2 = fopen("../data/separated.txt", "r"); + if (lf1 == NULL) + { + printf("Make sure if the data sets has been generated successfully."); + fclose(lf1); + return; + } + + nNumber = PAIR_NUMBER * INTERSECTION_RATIO; + for (i=0; i + +Package=<5> +{{{ +}}} + +Package=<4> +{{{ +}}} + +############################################################################### + +Project: "Performance"=".\project\Performance.dsp" - Package Owner=<4> + +Package=<5> +{{{ +}}} + +Package=<4> +{{{ +}}} + +############################################################################### + +Global: + +Package=<5> +{{{ +}}} + +Package=<3> +{{{ +}}} + +############################################################################### + diff --git a/Volume_08/Number_1/Shen2003/tri_tri_test/bin/Generation.exe b/Volume_08/Number_1/Shen2003/tri_tri_test/bin/Generation.exe new file mode 100644 index 0000000000000000000000000000000000000000..f1a9ed44dec4b9b250805a2d35ea542ef042f791 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b/Volume_08/Number_1/Shen2003/tri_tri_test/include/Moller97.c @@ -0,0 +1,708 @@ +/* Triangle/triangle intersection test routine, + * by Tomas Moller, 1997. + * See article "A Fast Triangle-Triangle Intersection Test", + * Journal of Graphics Tools, 2(2), 1997 + * updated: 2001-06-20 (added line of intersection) + * + * int tri_tri_intersect(float V0[3],float V1[3],float V2[3], + * float U0[3],float U1[3],float U2[3]) + * + * parameters: vertices of triangle 1: V0,V1,V2 + * vertices of triangle 2: U0,U1,U2 + * result : returns 1 if the triangles intersect, otherwise 0 + * + * Here is a version withouts divisions (a little faster) + * int NoDivTriTriIsect(float V0[3],float V1[3],float V2[3], + * float U0[3],float U1[3],float U2[3]); + * + * This version computes the line of intersection as well (if they are not coplanar): + * int tri_tri_intersect_with_isectline(float V0[3],float V1[3],float V2[3], + * float U0[3],float U1[3],float U2[3],int *coplanar, + * float isectpt1[3],float isectpt2[3]); + * coplanar returns whether the tris are coplanar + * isectpt1, isectpt2 are the endpoints of the line of intersection + */ + +#include + +//#define FABS(x) ((float)fabs(x)) /* implement as is fastest on your machine */ +#define FABS(x) (x>=0?x:-x) /* implement as is fastest on your machine */ + +/* if USE_EPSILON_TEST is true then we do a check: + if |dv|b) \ + { \ + float c; \ + c=a; \ + a=b; \ + b=c; \ + } + +#define ISECT(VV0,VV1,VV2,D0,D1,D2,isect0,isect1) \ + isect0=VV0+(VV1-VV0)*D0/(D0-D1); \ + isect1=VV0+(VV2-VV0)*D0/(D0-D2); + + +#define COMPUTE_INTERVALS(VV0,VV1,VV2,D0,D1,D2,D0D1,D0D2,isect0,isect1) \ + if(D0D1>0.0f) \ + { \ + /* here we know that D0D2<=0.0 */ \ + /* that is D0, D1 are on the same side, D2 on the other or on the plane */ \ + ISECT(VV2,VV0,VV1,D2,D0,D1,isect0,isect1); \ + } \ + else if(D0D2>0.0f) \ + { \ + /* here we know that d0d1<=0.0 */ \ + ISECT(VV1,VV0,VV2,D1,D0,D2,isect0,isect1); \ + } \ + else if(D1*D2>0.0f || D0!=0.0f) \ + { \ + /* here we know that d0d1<=0.0 or that D0!=0.0 */ \ + ISECT(VV0,VV1,VV2,D0,D1,D2,isect0,isect1); \ + } \ + else if(D1!=0.0f) \ + { \ + ISECT(VV1,VV0,VV2,D1,D0,D2,isect0,isect1); \ + } \ + else if(D2!=0.0f) \ + { \ + ISECT(VV2,VV0,VV1,D2,D0,D1,isect0,isect1); \ + } \ + else \ + { \ + /* triangles are coplanar */ \ + return coplanar_tri_tri(N1,V0,V1,V2,U0,U1,U2); \ + } + + + +/* this edge to edge test is based on Franlin Antonio's gem: + "Faster Line Segment Intersection", in Graphics Gems III, + pp. 199-202 */ +#define EDGE_EDGE_TEST(V0,U0,U1) \ + Bx=U0[i0]-U1[i0]; \ + By=U0[i1]-U1[i1]; \ + Cx=V0[i0]-U0[i0]; \ + Cy=V0[i1]-U0[i1]; \ + f=Ay*Bx-Ax*By; \ + d=By*Cx-Bx*Cy; \ + if((f>0 && d>=0 && d<=f) || (f<0 && d<=0 && d>=f)) \ + { \ + e=Ax*Cy-Ay*Cx; \ + if(f>0) \ + { \ + if(e>=0 && e<=f) return 1; \ + } \ + else \ + { \ + if(e<=0 && e>=f) return 1; \ + } \ + } + +#define EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2) \ +{ \ + float Ax,Ay,Bx,By,Cx,Cy,e,d,f; \ + Ax=V1[i0]-V0[i0]; \ + Ay=V1[i1]-V0[i1]; \ + /* test edge U0,U1 against V0,V1 */ \ + EDGE_EDGE_TEST(V0,U0,U1); \ + /* test edge U1,U2 against V0,V1 */ \ + EDGE_EDGE_TEST(V0,U1,U2); \ + /* test edge U2,U1 against V0,V1 */ \ + EDGE_EDGE_TEST(V0,U2,U0); \ +} + +#define POINT_IN_TRI(V0,U0,U1,U2) \ +{ \ + float a,b,c,d0,d1,d2; \ + /* is T1 completly inside T2? */ \ + /* check if V0 is inside tri(U0,U1,U2) */ \ + a=U1[i1]-U0[i1]; \ + b=-(U1[i0]-U0[i0]); \ + c=-a*U0[i0]-b*U0[i1]; \ + d0=a*V0[i0]+b*V0[i1]+c; \ + \ + a=U2[i1]-U1[i1]; \ + b=-(U2[i0]-U1[i0]); \ + c=-a*U1[i0]-b*U1[i1]; \ + d1=a*V0[i0]+b*V0[i1]+c; \ + \ + a=U0[i1]-U2[i1]; \ + b=-(U0[i0]-U2[i0]); \ + c=-a*U2[i0]-b*U2[i1]; \ + d2=a*V0[i0]+b*V0[i1]+c; \ + if(d0*d1>0.0) \ + { \ + if(d0*d2>0.0) return 1; \ + } \ +} + +int coplanar_tri_tri(float N[3],float V0[3],float V1[3],float V2[3], + float U0[3],float U1[3],float U2[3]) +{ + float A[3]; + short i0,i1; + /* first project onto an axis-aligned plane, that maximizes the area */ + /* of the triangles, compute indices: i0,i1. */ + A[0]=FABS(N[0]); + A[1]=FABS(N[1]); + A[2]=FABS(N[2]); + if(A[0]>A[1]) + { + if(A[0]>A[2]) + { + i0=1; /* A[0] is greatest */ + i1=2; + } + else + { + i0=0; /* A[2] is greatest */ + i1=1; + } + } + else /* A[0]<=A[1] */ + { + if(A[2]>A[1]) + { + i0=0; /* A[2] is greatest */ + i1=1; + } + else + { + i0=0; /* A[1] is greatest */ + i1=2; + } + } + + /* test all edges of triangle 1 against the edges of triangle 2 */ + EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2); + EDGE_AGAINST_TRI_EDGES(V1,V2,U0,U1,U2); + EDGE_AGAINST_TRI_EDGES(V2,V0,U0,U1,U2); + + /* finally, test if tri1 is totally contained in tri2 or vice versa */ + POINT_IN_TRI(V0,U0,U1,U2); + POINT_IN_TRI(U0,V0,V1,V2); + + return 0; +} + + +int tri_tri_intersect(float V0[3],float V1[3],float V2[3], + float U0[3],float U1[3],float U2[3]) +{ + float E1[3],E2[3]; + float N1[3],N2[3],d1,d2; + float du0,du1,du2,dv0,dv1,dv2; + float D[3]; + float isect1[2], isect2[2]; + float du0du1,du0du2,dv0dv1,dv0dv2; + short index; + float vp0,vp1,vp2; + float up0,up1,up2; + float b,c,max; + + /* compute plane equation of triangle(V0,V1,V2) */ + SUB(E1,V1,V0); + SUB(E2,V2,V0); + CROSS(N1,E1,E2); + d1=-DOT(N1,V0); + /* plane equation 1: N1.X+d1=0 */ + + /* put U0,U1,U2 into plane equation 1 to compute signed distances to the plane*/ + du0=DOT(N1,U0)+d1; + du1=DOT(N1,U1)+d1; + du2=DOT(N1,U2)+d1; + + /* coplanarity robustness check */ +#if USE_EPSILON_TEST==TRUE + if(FABS(du0)0.0f && du0du2>0.0f) /* same sign on all of them + not equal 0 ? */ + return 0; /* no intersection occurs */ + + /* compute plane of triangle (U0,U1,U2) */ + SUB(E1,U1,U0); + SUB(E2,U2,U0); + CROSS(N2,E1,E2); + d2=-DOT(N2,U0); + /* plane equation 2: N2.X+d2=0 */ + + /* put V0,V1,V2 into plane equation 2 */ + dv0=DOT(N2,V0)+d2; + dv1=DOT(N2,V1)+d2; + dv2=DOT(N2,V2)+d2; + +#if USE_EPSILON_TEST==TRUE + if(FABS(dv0)0.0f && dv0dv2>0.0f) /* same sign on all of them + not equal 0 ? */ + return 0; /* no intersection occurs */ + + /* compute direction of intersection line */ + CROSS(D,N1,N2); + + /* compute and index to the largest component of D */ + max=FABS(D[0]); + index=0; + b=FABS(D[1]); + c=FABS(D[2]); + if(b>max) max=b,index=1; + if(c>max) max=c,index=2; + + /* this is the simplified projection onto L*/ + vp0=V0[index]; + vp1=V1[index]; + vp2=V2[index]; + + up0=U0[index]; + up1=U1[index]; + up2=U2[index]; + + /* compute interval for triangle 1 */ + COMPUTE_INTERVALS(vp0,vp1,vp2,dv0,dv1,dv2,dv0dv1,dv0dv2,isect1[0],isect1[1]); + + /* compute interval for triangle 2 */ + COMPUTE_INTERVALS(up0,up1,up2,du0,du1,du2,du0du1,du0du2,isect2[0],isect2[1]); + + SORT(isect1[0],isect1[1]); + SORT(isect2[0],isect2[1]); + + if(isect1[1]0.0f) \ + { \ + /* here we know that D0D2<=0.0 */ \ + /* that is D0, D1 are on the same side, D2 on the other or on the plane */ \ + A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \ + } \ + else if(D0D2>0.0f)\ + { \ + /* here we know that d0d1<=0.0 */ \ + A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \ + } \ + else if(D1*D2>0.0f || D0!=0.0f) \ + { \ + /* here we know that d0d1<=0.0 or that D0!=0.0 */ \ + A=VV0; B=(VV1-VV0)*D0; C=(VV2-VV0)*D0; X0=D0-D1; X1=D0-D2; \ + } \ + else if(D1!=0.0f) \ + { \ + A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \ + } \ + else if(D2!=0.0f) \ + { \ + A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \ + } \ + else \ + { \ + /* triangles are coplanar */ \ + return coplanar_tri_tri(N1,V0,V1,V2,U0,U1,U2); \ + } \ +} + + + +int NoDivTriTriIsect(float V0[3],float V1[3],float V2[3], + float U0[3],float U1[3],float U2[3]) +{ + float E1[3],E2[3]; + float N1[3],N2[3],d1,d2; + float du0,du1,du2,dv0,dv1,dv2; + float D[3]; + float isect1[2], isect2[2]; + float du0du1,du0du2,dv0dv1,dv0dv2; + short index; + float vp0,vp1,vp2; + float up0,up1,up2; + float bb,cc,max; + float a,b,c,x0,x1; + float d,e,f,y0,y1; + float xx,yy,xxyy,tmp; + + /* compute plane equation of triangle(V0,V1,V2) */ + SUB(E1,V1,V0); + SUB(E2,V2,V0); + CROSS(N1,E1,E2); + d1=-DOT(N1,V0); + /* plane equation 1: N1.X+d1=0 */ + + /* put U0,U1,U2 into plane equation 1 to compute signed distances to the plane*/ + du0=DOT(N1,U0)+d1; + du1=DOT(N1,U1)+d1; + du2=DOT(N1,U2)+d1; + + /* coplanarity robustness check */ +#if USE_EPSILON_TEST==TRUE + if(FABS(du0)0.0f && du0du2>0.0f) /* same sign on all of them + not equal 0 ? */ + return 0; /* no intersection occurs */ + + /* compute plane of triangle (U0,U1,U2) */ + SUB(E1,U1,U0); + SUB(E2,U2,U0); + CROSS(N2,E1,E2); + d2=-DOT(N2,U0); + /* plane equation 2: N2.X+d2=0 */ + + /* put V0,V1,V2 into plane equation 2 */ + dv0=DOT(N2,V0)+d2; + dv1=DOT(N2,V1)+d2; + dv2=DOT(N2,V2)+d2; + +#if USE_EPSILON_TEST==TRUE + if(FABS(dv0)0.0f && dv0dv2>0.0f) /* same sign on all of them + not equal 0 ? */ + return 0; /* no intersection occurs */ + + /* compute direction of intersection line */ + CROSS(D,N1,N2); + + /* compute and index to the largest component of D */ + max=(float)FABS(D[0]); + index=0; + bb=(float)FABS(D[1]); + cc=(float)FABS(D[2]); + if(bb>max) max=bb,index=1; + if(cc>max) max=cc,index=2; + + /* this is the simplified projection onto L*/ + vp0=V0[index]; + vp1=V1[index]; + vp2=V2[index]; + + up0=U0[index]; + up1=U1[index]; + up2=U2[index]; + + /* compute interval for triangle 1 */ + NEWCOMPUTE_INTERVALS(vp0,vp1,vp2,dv0,dv1,dv2,dv0dv1,dv0dv2,a,b,c,x0,x1); + + /* compute interval for triangle 2 */ + NEWCOMPUTE_INTERVALS(up0,up1,up2,du0,du1,du2,du0du1,du0du2,d,e,f,y0,y1); + + xx=x0*x1; + yy=y0*y1; + xxyy=xx*yy; + + tmp=a*xxyy; + isect1[0]=tmp+b*x1*yy; + isect1[1]=tmp+c*x0*yy; + + tmp=d*xxyy; + isect2[0]=tmp+e*xx*y1; + isect2[1]=tmp+f*xx*y0; + + SORT(isect1[0],isect1[1]); + SORT(isect2[0],isect2[1]); + + if(isect1[1]b) \ + { \ + float c; \ + c=a; \ + a=b; \ + b=c; \ + smallest=1; \ + } \ + else smallest=0; + + +void isect2(float VTX0[3],float VTX1[3],float VTX2[3],float VV0,float VV1,float VV2, + float D0,float D1,float D2,float *isect0,float *isect1,float isectpoint0[3],float isectpoint1[3]) +{ + float tmp=D0/(D0-D1); + float diff[3]; + *isect0=VV0+(VV1-VV0)*tmp; + SUB(diff,VTX1,VTX0); + MULT(diff,diff,tmp); + ADD(isectpoint0,diff,VTX0); + tmp=D0/(D0-D2); + *isect1=VV0+(VV2-VV0)*tmp; + SUB(diff,VTX2,VTX0); + MULT(diff,diff,tmp); + ADD(isectpoint1,VTX0,diff); +} + + +#if 0 +#define ISECT2(VTX0,VTX1,VTX2,VV0,VV1,VV2,D0,D1,D2,isect0,isect1,isectpoint0,isectpoint1) \ + tmp=D0/(D0-D1); \ + isect0=VV0+(VV1-VV0)*tmp; \ + SUB(diff,VTX1,VTX0); \ + MULT(diff,diff,tmp); \ + ADD(isectpoint0,diff,VTX0); \ + tmp=D0/(D0-D2); +/* isect1=VV0+(VV2-VV0)*tmp; \ */ +/* SUB(diff,VTX2,VTX0); \ */ +/* MULT(diff,diff,tmp); \ */ +/* ADD(isectpoint1,VTX0,diff); */ +#endif + +int compute_intervals_isectline(float VERT0[3],float VERT1[3],float VERT2[3], + float VV0,float VV1,float VV2,float D0,float D1,float D2, + float D0D1,float D0D2,float *isect0,float *isect1, + float isectpoint0[3],float isectpoint1[3]) +{ + if(D0D1>0.0f) + { + /* here we know that D0D2<=0.0 */ + /* that is D0, D1 are on the same side, D2 on the other or on the plane */ + isect2(VERT2,VERT0,VERT1,VV2,VV0,VV1,D2,D0,D1,isect0,isect1,isectpoint0,isectpoint1); + } + else if(D0D2>0.0f) + { + /* here we know that d0d1<=0.0 */ + isect2(VERT1,VERT0,VERT2,VV1,VV0,VV2,D1,D0,D2,isect0,isect1,isectpoint0,isectpoint1); + } + else if(D1*D2>0.0f || D0!=0.0f) + { + /* here we know that d0d1<=0.0 or that D0!=0.0 */ + isect2(VERT0,VERT1,VERT2,VV0,VV1,VV2,D0,D1,D2,isect0,isect1,isectpoint0,isectpoint1); + } + else if(D1!=0.0f) + { + isect2(VERT1,VERT0,VERT2,VV1,VV0,VV2,D1,D0,D2,isect0,isect1,isectpoint0,isectpoint1); + } + else if(D2!=0.0f) + { + isect2(VERT2,VERT0,VERT1,VV2,VV0,VV1,D2,D0,D1,isect0,isect1,isectpoint0,isectpoint1); + } + else + { + /* triangles are coplanar */ + return 1; + } + return 0; +} + +#define COMPUTE_INTERVALS_ISECTLINE(VERT0,VERT1,VERT2,VV0,VV1,VV2,D0,D1,D2,D0D1,D0D2,isect0,isect1,isectpoint0,isectpoint1) \ + if(D0D1>0.0f) \ + { \ + /* here we know that D0D2<=0.0 */ \ + /* that is D0, D1 are on the same side, D2 on the other or on the plane */ \ + isect2(VERT2,VERT0,VERT1,VV2,VV0,VV1,D2,D0,D1,&isect0,&isect1,isectpoint0,isectpoint1); \ + } +#if 0 + else if(D0D2>0.0f) \ + { \ + /* here we know that d0d1<=0.0 */ \ + isect2(VERT1,VERT0,VERT2,VV1,VV0,VV2,D1,D0,D2,&isect0,&isect1,isectpoint0,isectpoint1); \ + } \ + else if(D1*D2>0.0f || D0!=0.0f) \ + { \ + /* here we know that d0d1<=0.0 or that D0!=0.0 */ \ + isect2(VERT0,VERT1,VERT2,VV0,VV1,VV2,D0,D1,D2,&isect0,&isect1,isectpoint0,isectpoint1); \ + } \ + else if(D1!=0.0f) \ + { \ + isect2(VERT1,VERT0,VERT2,VV1,VV0,VV2,D1,D0,D2,&isect0,&isect1,isectpoint0,isectpoint1); \ + } \ + else if(D2!=0.0f) \ + { \ + isect2(VERT2,VERT0,VERT1,VV2,VV0,VV1,D2,D0,D1,&isect0,&isect1,isectpoint0,isectpoint1); \ + } \ + else \ + { \ + /* triangles are coplanar */ \ + coplanar=1; \ + return coplanar_tri_tri(N1,V0,V1,V2,U0,U1,U2); \ + } +#endif + +int tri_tri_intersect_with_isectline(float V0[3],float V1[3],float V2[3], + float U0[3],float U1[3],float U2[3],int *coplanar, + float isectpt1[3],float isectpt2[3]) +{ + float E1[3],E2[3]; + float N1[3],N2[3],d1,d2; + float du0,du1,du2,dv0,dv1,dv2; + float D[3]; + float isect1[2], isect2[2]; + float isectpointA1[3],isectpointA2[3]; + float isectpointB1[3],isectpointB2[3]; + float du0du1,du0du2,dv0dv1,dv0dv2; + short index; + float vp0,vp1,vp2; + float up0,up1,up2; + float b,c,max; + float tmp,diff[3]; + int smallest1,smallest2; + + /* compute plane equation of triangle(V0,V1,V2) */ + SUB(E1,V1,V0); + SUB(E2,V2,V0); + CROSS(N1,E1,E2); + d1=-DOT(N1,V0); + /* plane equation 1: N1.X+d1=0 */ + + /* put U0,U1,U2 into plane equation 1 to compute signed distances to the plane*/ + du0=DOT(N1,U0)+d1; + du1=DOT(N1,U1)+d1; + du2=DOT(N1,U2)+d1; + + /* coplanarity robustness check */ +#if USE_EPSILON_TEST==TRUE + if(FABS(du0)0.0f && du0du2>0.0f) /* same sign on all of them + not equal 0 ? */ + return 0; /* no intersection occurs */ + + /* compute plane of triangle (U0,U1,U2) */ + SUB(E1,U1,U0); + SUB(E2,U2,U0); + CROSS(N2,E1,E2); + d2=-DOT(N2,U0); + /* plane equation 2: N2.X+d2=0 */ + + /* put V0,V1,V2 into plane equation 2 */ + dv0=DOT(N2,V0)+d2; + dv1=DOT(N2,V1)+d2; + dv2=DOT(N2,V2)+d2; + +#if USE_EPSILON_TEST==TRUE + if(FABS(dv0)0.0f && dv0dv2>0.0f) /* same sign on all of them + not equal 0 ? */ + return 0; /* no intersection occurs */ + + /* compute direction of intersection line */ + CROSS(D,N1,N2); + + /* compute and index to the largest component of D */ + max=FABS(D[0]); + index=0; + b=FABS(D[1]); + c=FABS(D[2]); + if(b>max) max=b,index=1; + if(c>max) max=c,index=2; + + /* this is the simplified projection onto L*/ + vp0=V0[index]; + vp1=V1[index]; + vp2=V2[index]; + + up0=U0[index]; + up1=U1[index]; + up2=U2[index]; + + /* compute interval for triangle 1 */ + *coplanar=compute_intervals_isectline(V0,V1,V2,vp0,vp1,vp2,dv0,dv1,dv2, + dv0dv1,dv0dv2,&isect1[0],&isect1[1],isectpointA1,isectpointA2); + if(*coplanar) return coplanar_tri_tri(N1,V0,V1,V2,U0,U1,U2); + + + /* compute interval for triangle 2 */ + compute_intervals_isectline(U0,U1,U2,up0,up1,up2,du0,du1,du2, + du0du1,du0du2,&isect2[0],&isect2[1],isectpointB1,isectpointB2); + + SORT2(isect1[0],isect1[1],smallest1); + SORT2(isect2[0],isect2[1],smallest2); + + if(isect1[1]isect1[1]) + { + if(smallest1==0) { SET(isectpt2,isectpointA2); } + else { SET(isectpt2,isectpointA1); } + } + else + { + if(smallest2==0) { SET(isectpt2,isectpointB2); } + else { SET(isectpt2,isectpointB1); } + } + } + return 1; +} + diff --git a/Volume_08/Number_1/Shen2003/tri_tri_test/include/datatype.h b/Volume_08/Number_1/Shen2003/tri_tri_test/include/datatype.h new file mode 100644 index 0000000..d975f57 --- /dev/null +++ b/Volume_08/Number_1/Shen2003/tri_tri_test/include/datatype.h @@ -0,0 +1,11 @@ +#ifndef __DATATYPE_H__ +#define __DATATYPE_H__ + +#define PAIR_NUMBER 5000 +#define LOOP_NUMBER 1000 + +//define for test performance +#define TEST_MOLLER97 0 +#define INTERSECTION_RATIO 0.1 + +#endif //__DATATYPE_H__ \ No newline at end of file diff --git a/Volume_08/Number_1/Shen2003/tri_tri_test/include/stopwatch.h b/Volume_08/Number_1/Shen2003/tri_tri_test/include/stopwatch.h new file mode 100644 index 0000000..2dbe1ce --- /dev/null +++ b/Volume_08/Number_1/Shen2003/tri_tri_test/include/stopwatch.h @@ -0,0 +1,51 @@ +/* How to use class CStopwatch + +// Create a stopwatch timer (which defaults to the current time). +CStopwatch stopwatch; + +// Execute the code I want to profile here. + +// Get how much time has elapsed up to now. +__int64 qwElapsedTime = stopwatch.Now(); + +// qwElapsedTime indicates how long the profiled code +//executed in milliseconds + +*/ + +#ifndef __STOPWATCH_H__ +#define __STOPWATCH_H__ + +#include // MFC Automation classes + +#define MILLISECOND 1000 +#define MICROSECOND 1000000 + +class CStopwatch +{ +public: + CStopwatch() + { + QueryPerformanceFrequency(&m_liPerfFreq); + Start(); + } + + void Start() + { + QueryPerformanceCounter(&m_liPerfStart); + } + + __int64 Now(long PerSecond=MILLISECOND) // Returns # of microseconds since Start was called + { + QueryPerformanceCounter(&m_liPerfNow); + return(((m_liPerfNow.QuadPart - m_liPerfStart.QuadPart) * PerSecond) + / m_liPerfFreq.QuadPart); + } + +private: + LARGE_INTEGER m_liPerfFreq; // Counts per second + LARGE_INTEGER m_liPerfStart; // Starting count + LARGE_INTEGER m_liPerfNow; // Starting count +}; + +#endif //__STOPWATCH_H__ \ No newline at end of file diff --git a/Volume_08/Number_1/Shen2003/tri_tri_test/include/tri_tri.c b/Volume_08/Number_1/Shen2003/tri_tri_test/include/tri_tri.c new file mode 100644 index 0000000..b02cfc4 --- /dev/null +++ b/Volume_08/Number_1/Shen2003/tri_tri_test/include/tri_tri.c @@ -0,0 +1,387 @@ +/* Triangle/triangle intersection test routine, + * by Shen Hao, 2001. + * updated from Moller97.c("Tomas Moller 97") + * About Moller97.c, see article "A Fast Triangle-Triangle Intersection Test", + * Journal of Graphics Tools, 2(2), 1997 + * + * + * updated: 2001-11-22 by Shen Hao + * Using a new theorem based on separating plane. + * How to find the separating plane is emphasis. + * + * int tri_tri_intersect(float V0[3],float V1[3],float V2[3], + * float U0[3],float U1[3],float U2[3]) + * + * parameters: vertices of triangle 1: V0,V1,V2 + * vertices of triangle 2: U0,U1,U2 + * result : returns 1 if the triangles intersect, otherwise 0 + * + * + * + * Assistant function copied from Moller97.c : 2001-11-20 by Shen Hao + * int coplanar_tri_tri(float N[3],float V0[3],float V1[3],float V2[3], + * float U0[3],float U1[3],float U2[3]) + * + * parameters: normal of the plane : N + * vertices of triangle 1: V0,V1,V2 + * vertices of triangle 2: U0,U1,U2 + * result : returns 1 if the triangles intersect, otherwise 0 + */ + +#include + +#define FABS(x) (x>=0?x:-x) /* implement as is fastest on your machine */ +/* #define FABS(x) ((float)fabs(x)) */ +/* if is true then we do a check: + if |dv|0)&&(d0*d2>0) ) + +/* whether signs of d0,d1 are same, and different from the sign of d2 */ +#define SIGN01_DIF_SIGN2(d0,d1,d2) \ + ( (d0>=0) && (d1>=0) && (d2< 0) || \ + (d0<=0) && (d1<=0) && (d2> 0) || \ + (d0> 0) && (d1> 0) && (d2<=0) || \ + (d0< 0) && (d1< 0) && (d2>=0) ) + + + +/* this edge to edge test is based on Franlin Antonio's gem: + "Faster Line Segment Intersection", in Graphics Gems III, + pp. 199-202 */ +#define EDGE_EDGE_TEST(V0,U0,U1) \ + Bx=U0[i0]-U1[i0]; \ + By=U0[i1]-U1[i1]; \ + Cx=V0[i0]-U0[i0]; \ + Cy=V0[i1]-U0[i1]; \ + f=Ay*Bx-Ax*By; \ + d=By*Cx-Bx*Cy; \ + if((f>0 && d>=0 && d<=f) || (f<0 && d<=0 && d>=f)) \ + { \ + e=Ax*Cy-Ay*Cx; \ + if(f>0) \ + { \ + if(e>=0 && e<=f) return 1; \ + } \ + else \ + { \ + if(e<=0 && e>=f) return 1; \ + } \ + } + +#define EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2) \ +{ \ + float Ax,Ay,Bx,By,Cx,Cy,e,d,f; \ + Ax=V1[i0]-V0[i0]; \ + Ay=V1[i1]-V0[i1]; \ + /* test edge U0,U1 against V0,V1 */ \ + EDGE_EDGE_TEST(V0,U0,U1); \ + /* test edge U1,U2 against V0,V1 */ \ + EDGE_EDGE_TEST(V0,U1,U2); \ + /* test edge U2,U1 against V0,V1 */ \ + EDGE_EDGE_TEST(V0,U2,U0); \ +} + +#define POINT_IN_TRI(V0,U0,U1,U2) \ +{ \ + float a,b,c,d0,d1,d2; \ + /* is T1 completly inside T2? */ \ + /* check if V0 is inside tri(U0,U1,U2) */ \ + a=U1[i1]-U0[i1]; \ + b=-(U1[i0]-U0[i0]); \ + c=-a*U0[i0]-b*U0[i1]; \ + d0=a*V0[i0]+b*V0[i1]+c; \ + \ + a=U2[i1]-U1[i1]; \ + b=-(U2[i0]-U1[i0]); \ + c=-a*U1[i0]-b*U1[i1]; \ + d1=a*V0[i0]+b*V0[i1]+c; \ + \ + a=U0[i1]-U2[i1]; \ + b=-(U0[i0]-U2[i0]); \ + c=-a*U2[i0]-b*U2[i1]; \ + d2=a*V0[i0]+b*V0[i1]+c; \ + if(d0*d1>0.0) \ + { \ + if(d0*d2>0.0) return 1; \ + } \ +} + +int coplanar_tri_tri(float N[3],float V0[3],float V1[3],float V2[3], + float U0[3],float U1[3],float U2[3]) +{ + float A[3]; + short i0,i1; + /* first project onto an axis-aligned plane, that maximizes the area */ + /* of the triangles, compute indices: i0,i1. */ + A[0]=FABS(N[0]); + A[1]=FABS(N[1]); + A[2]=FABS(N[2]); + if(A[0]>A[1]) + { + if(A[0]>A[2]) + { + i0=1; /* A[0] is greatest */ + i1=2; + } + else + { + i0=0; /* A[2] is greatest */ + i1=1; + } + } + else /* A[0]<=A[1] */ + { + if(A[2]>A[1]) + { + i0=0; /* A[2] is greatest */ + i1=1; + } + else + { + i0=0; /* A[1] is greatest */ + i1=2; + } + } + + /* test all edges of triangle 1 against the edges of triangle 2 */ + EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2); + EDGE_AGAINST_TRI_EDGES(V1,V2,U0,U1,U2); + EDGE_AGAINST_TRI_EDGES(V2,V0,U0,U1,U2); + + /* finally, test if tri1 is totally contained in tri2 or vice versa */ + POINT_IN_TRI(V0,U0,U1,U2); + POINT_IN_TRI(U0,V0,V1,V2); + + return 0; +} + + +int tri_tri_intersect(float V0[3],float V1[3],float V2[3], + float U0[3],float U1[3],float U2[3]) +{ + + float E1[3],E2[3]; + float N1[3],N2[3],d1,d2; + float tmp[3]; + float du0,du1,du2,dv0,dv1,dv2; + float N[3]; + float tdu0,tdu1,tdv0,tdv1; + float du01,du02; + /* flags of which vertex is single on one side of plane(U0,U1,U2), and plane(V0,V1,V2) */ + /* VV0 is the pointer to the single vertex in (V0,V1,V2) of the plane(U0,U1,U2) */ + /* UU0 is the pointer to the single vertex in (U0,U1,U2) of the plane(V0,V1,V2) */ + float *UU0,*UU1,*UU2,*VV0,*VV1,*VV2; + + /* compute plane equation of triangle(U0,U1,U2) */ + SUB(E1,U1,U0); + SUB(E2,U2,U0); + CROSS(N1,E1,E2); + d1=-DOT(N1,U0); + /* plane equation 1: N1.X+d1=0 */ + /* put V0,V1,V2 into plane equation 1 to compute signed distances to the plane*/ + dv0=DOT(N1,V0)+d1; + dv1=DOT(N1,V1)+d1; + dv2=DOT(N1,V2)+d1; + + /* coplanarity robustness check */ +#if USE_EPSILON_TEST==TRUE + if(FABS(dv0)=0) && (tdu1<=0)) + { + if ((tdv0>=0) && (tdv1<=0)) + { + SUB(E1,VV0,VV2); + SUB(E2,UU0,UU2); + CROSS(N,E1,E2); + SUB(tmp,UU0,VV0); + du02=DOT(N,tmp); +#if USE_EPSILON_TEST==TRUE + if (du02>EPSILON) +#else + if (du02>0) +#endif + return 0; + + SUB(E1,VV1,VV0); + SUB(E2,UU1,UU0); + CROSS(N,E1,E2); + SUB(tmp,UU0,VV0); + du01=DOT(N,tmp); +#if USE_EPSILON_TEST==TRUE + if (du01<-EPSILON) +#else + if (du01<0) +#endif + return 0; + } + else + { + SUB(E1,VV1,VV0); + SUB(E2,UU0,UU2); + CROSS(N,E1,E2); + SUB(tmp,UU0,VV0); + du02=DOT(N,tmp); +#if USE_EPSILON_TEST==TRUE + if (du02>EPSILON) +#else + if (du02>0) +#endif + return 0; + + SUB(E1,VV0,VV2); + SUB(E2,UU1,UU0); + CROSS(N,E1,E2); + SUB(tmp,UU0,VV0); + du01=DOT(N,tmp); +#if USE_EPSILON_TEST==TRUE + if (du01<-EPSILON) +#else + if (du01<0) +#endif + return 0; + } + } + else + { + if ((tdv0>=0) && (tdv1<=0)) + { + SUB(E1,VV0,VV2); + SUB(E2,UU1,UU0); + CROSS(N,E1,E2); + SUB(tmp,UU0,VV0); + du01=DOT(N,tmp); +#if USE_EPSILON_TEST==TRUE + if (du01>EPSILON) +#else + if (du01>0) +#endif + return 0; + + SUB(E1,VV1,VV0); + SUB(E2,UU0,UU2); + CROSS(N,E1,E2); + SUB(tmp,UU0,VV0); + du02=DOT(N,tmp); +#if USE_EPSILON_TEST==TRUE + if (du02<-EPSILON) +#else + if (du02<0) +#endif + return 0; + } + else + { + SUB(E1,VV1,VV0); + SUB(E2,UU1,UU0); + CROSS(N,E1,E2); + SUB(tmp,UU0,VV0); + du01=DOT(N,tmp); +#if USE_EPSILON_TEST==TRUE + if (du01>EPSILON) +#else + if (du01>0) +#endif + return 0; + + SUB(E1,VV0,VV2); + SUB(E2,UU0,UU2); + CROSS(N,E1,E2); + SUB(tmp,UU0,VV0); + du02=DOT(N,tmp); +#if USE_EPSILON_TEST==TRUE + if (du02<-EPSILON) +#else + if (du02<0) +#endif + return 0; + } + } + + return 1; +} diff --git a/Volume_08/Number_1/Shen2003/tri_tri_test/project/Generation.dsp b/Volume_08/Number_1/Shen2003/tri_tri_test/project/Generation.dsp new file mode 100644 index 0000000..ed21250 --- /dev/null +++ b/Volume_08/Number_1/Shen2003/tri_tri_test/project/Generation.dsp @@ -0,0 +1,94 @@ +# Microsoft Developer Studio Project File - Name="Generation" - Package Owner=<4> +# Microsoft Developer Studio Generated Build File, Format Version 6.00 +# ** DO NOT EDIT ** + +# TARGTYPE "Win32 (x86) Console Application" 0x0103 + +CFG=Generation - Win32 Debug +!MESSAGE This is not a valid makefile. To build this project using NMAKE, +!MESSAGE use the Export Makefile command and run +!MESSAGE +!MESSAGE NMAKE /f "Generation.mak". +!MESSAGE +!MESSAGE You can specify a configuration when running NMAKE +!MESSAGE by defining the macro CFG on the command line. For example: +!MESSAGE +!MESSAGE NMAKE /f "Generation.mak" CFG="Generation - Win32 Debug" +!MESSAGE +!MESSAGE Possible choices for configuration are: +!MESSAGE +!MESSAGE "Generation - Win32 Release" (based on "Win32 (x86) Console Application") +!MESSAGE "Generation - Win32 Debug" (based on "Win32 (x86) Console Application") +!MESSAGE + +# Begin Project +# PROP AllowPerConfigDependencies 0 +# PROP Scc_ProjName "" +# PROP Scc_LocalPath "" +CPP=cl.exe +RSC=rc.exe + +!IF "$(CFG)" == "Generation - Win32 Release" + +# PROP BASE Use_MFC 0 +# PROP BASE Use_Debug_Libraries 0 +# PROP BASE Output_Dir "Release" +# PROP BASE Intermediate_Dir "Release" +# PROP BASE Target_Dir "" +# PROP Use_MFC 0 +# PROP Use_Debug_Libraries 0 +# PROP Output_Dir "Release" +# PROP Intermediate_Dir "Release" +# PROP Ignore_Export_Lib 0 +# PROP Target_Dir "" +# ADD BASE CPP /nologo /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_CONSOLE" /D "_MBCS" /YX /FD /c +# ADD CPP /nologo /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_CONSOLE" /D "_MBCS" /YX /FD /c +# ADD BASE RSC /l 0x804 /d "NDEBUG" +# ADD RSC /l 0x804 /d "NDEBUG" +BSC32=bscmake.exe +# ADD BASE BSC32 /nologo +# ADD BSC32 /nologo +LINK32=link.exe +# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /machine:I386 +# ADD LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /machine:I386 /out:"../bin/Generation.exe" + +!ELSEIF "$(CFG)" == "Generation - Win32 Debug" + +# PROP BASE Use_MFC 0 +# PROP BASE Use_Debug_Libraries 1 +# PROP BASE Output_Dir "Debug" +# PROP BASE Intermediate_Dir "Debug" +# PROP BASE Target_Dir "" +# PROP Use_MFC 0 +# PROP Use_Debug_Libraries 1 +# PROP Output_Dir "Debug" +# PROP Intermediate_Dir "Debug" +# PROP Ignore_Export_Lib 0 +# PROP Target_Dir "" +# ADD BASE CPP /nologo /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_CONSOLE" /D "_MBCS" /YX /FD /GZ /c +# ADD CPP /nologo /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_CONSOLE" /D "_MBCS" /YX /FD /GZ /c +# ADD BASE RSC /l 0x804 /d "_DEBUG" +# ADD RSC /l 0x804 /d "_DEBUG" +BSC32=bscmake.exe +# ADD BASE BSC32 /nologo +# ADD BSC32 /nologo +LINK32=link.exe +# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /debug /machine:I386 /pdbtype:sept +# ADD LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /debug /machine:I386 /out:"../bin/Generation.exe" /pdbtype:sept + +!ENDIF + +# Begin Target + +# Name "Generation - Win32 Release" +# Name "Generation - Win32 Debug" +# Begin Source File + +SOURCE=..\include\datatype.h +# End Source File +# Begin Source File + +SOURCE=..\Src\Generation.cpp +# End Source File +# End Target +# End Project diff --git a/Volume_08/Number_1/Shen2003/tri_tri_test/project/Generation.dsw b/Volume_08/Number_1/Shen2003/tri_tri_test/project/Generation.dsw new file mode 100644 index 0000000..0f44714 --- /dev/null +++ b/Volume_08/Number_1/Shen2003/tri_tri_test/project/Generation.dsw @@ -0,0 +1,29 @@ +Microsoft Developer Studio Workspace File, Format Version 6.00 +# WARNING: DO NOT EDIT OR DELETE THIS WORKSPACE FILE! + +############################################################################### + +Project: "Generation"=".\Generation.dsp" - Package Owner=<4> + +Package=<5> +{{{ +}}} + +Package=<4> +{{{ +}}} + +############################################################################### + +Global: + +Package=<5> +{{{ +}}} + +Package=<3> +{{{ +}}} + +############################################################################### + diff --git a/Volume_08/Number_1/Shen2003/tri_tri_test/project/Performance.dsp b/Volume_08/Number_1/Shen2003/tri_tri_test/project/Performance.dsp new file mode 100644 index 0000000..461c52a --- /dev/null +++ b/Volume_08/Number_1/Shen2003/tri_tri_test/project/Performance.dsp @@ -0,0 +1,94 @@ +# Microsoft Developer Studio Project File - Name="Performance" - Package Owner=<4> +# Microsoft Developer Studio Generated Build File, Format Version 6.00 +# ** DO NOT EDIT ** + +# TARGTYPE "Win32 (x86) Console Application" 0x0103 + +CFG=Performance - Win32 Debug +!MESSAGE This is not a valid makefile. To build this project using NMAKE, +!MESSAGE use the Export Makefile command and run +!MESSAGE +!MESSAGE NMAKE /f "Performance.mak". +!MESSAGE +!MESSAGE You can specify a configuration when running NMAKE +!MESSAGE by defining the macro CFG on the command line. For example: +!MESSAGE +!MESSAGE NMAKE /f "Performance.mak" CFG="Performance - Win32 Debug" +!MESSAGE +!MESSAGE Possible choices for configuration are: +!MESSAGE +!MESSAGE "Performance - Win32 Release" (based on "Win32 (x86) Console Application") +!MESSAGE "Performance - Win32 Debug" (based on "Win32 (x86) Console Application") +!MESSAGE + +# Begin Project +# PROP AllowPerConfigDependencies 0 +# PROP Scc_ProjName "" +# PROP Scc_LocalPath "" +CPP=cl.exe +RSC=rc.exe + +!IF "$(CFG)" == "Performance - Win32 Release" + +# PROP BASE Use_MFC 0 +# PROP BASE Use_Debug_Libraries 0 +# PROP BASE Output_Dir "Release" +# PROP BASE Intermediate_Dir "Release" +# PROP BASE Target_Dir "" +# PROP Use_MFC 0 +# PROP Use_Debug_Libraries 0 +# PROP Output_Dir "Release" +# PROP Intermediate_Dir "Release" +# PROP Ignore_Export_Lib 0 +# PROP Target_Dir "" +# ADD BASE CPP /nologo /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_CONSOLE" /D "_MBCS" /YX /FD /c +# ADD CPP /nologo /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_CONSOLE" /D "_MBCS" /YX /FD /c +# ADD BASE RSC /l 0x804 /d "NDEBUG" +# ADD RSC /l 0x804 /d "NDEBUG" +BSC32=bscmake.exe +# ADD BASE BSC32 /nologo +# ADD BSC32 /nologo +LINK32=link.exe +# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /machine:I386 +# ADD LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /machine:I386 /out:"../bin/Performance.exe" + +!ELSEIF "$(CFG)" == "Performance - Win32 Debug" + +# PROP BASE Use_MFC 0 +# PROP BASE Use_Debug_Libraries 1 +# PROP BASE Output_Dir "Debug" +# PROP BASE Intermediate_Dir "Debug" +# PROP BASE Target_Dir "" +# PROP Use_MFC 0 +# PROP Use_Debug_Libraries 1 +# PROP Output_Dir "Debug" +# PROP Intermediate_Dir "Debug" +# PROP Ignore_Export_Lib 0 +# PROP Target_Dir "" +# ADD BASE CPP /nologo /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_CONSOLE" /D "_MBCS" /YX /FD /GZ /c +# ADD CPP /nologo /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_CONSOLE" /D "_MBCS" /YX /FD /GZ /c +# ADD BASE RSC /l 0x804 /d "_DEBUG" +# ADD RSC /l 0x804 /d "_DEBUG" +BSC32=bscmake.exe +# ADD BASE BSC32 /nologo +# ADD BSC32 /nologo +LINK32=link.exe +# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /debug /machine:I386 /pdbtype:sept +# ADD LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /debug /machine:I386 /out:"../bin/Performance.exe" /pdbtype:sept + +!ENDIF + +# Begin Target + +# Name "Performance - Win32 Release" +# Name "Performance - Win32 Debug" +# Begin Source File + +SOURCE=..\include\datatype.h +# End Source File +# Begin Source File + +SOURCE=..\Src\Performance.cpp +# End Source File +# End Target +# End Project diff --git a/Volume_08/Number_1/Shen2003/tri_tri_test/project/Performance.dsw b/Volume_08/Number_1/Shen2003/tri_tri_test/project/Performance.dsw new file mode 100644 index 0000000..059a35d --- /dev/null +++ b/Volume_08/Number_1/Shen2003/tri_tri_test/project/Performance.dsw @@ -0,0 +1,29 @@ +Microsoft Developer Studio Workspace File, Format Version 6.00 +# WARNING: DO NOT EDIT OR DELETE THIS WORKSPACE FILE! + +############################################################################### + +Project: "Performance"=".\Performance.dsp" - Package Owner=<4> + +Package=<5> +{{{ +}}} + +Package=<4> +{{{ +}}} + +############################################################################### + +Global: + +Package=<5> +{{{ +}}} + +Package=<3> +{{{ +}}} + +############################################################################### + diff --git a/Volume_09/Number_1/Mahovsky2004/readme.txt b/Volume_09/Number_1/Mahovsky2004/readme.txt new file mode 100644 index 0000000..fc3dd59 --- /dev/null +++ b/Volume_09/Number_1/Mahovsky2004/readme.txt @@ -0,0 +1,41 @@ +Fast Ray-Axis Aligned Bounding Box Overlap Tests with Plücker Coordinates + +Jeffrey Mahovsky and Brian Wyvill +University of Calgary + +This paper appears in issue Volume 9, Number 1. +Purchase this issue from the akpeters.com web site. + + +Abstract + +Fast ray-axis aligned bounding box overlap tests can be performed by utilizing Plücker coordinates. This method tests the ray against the edges comprising the silhouette of the box instead of testing against individual faces. Projection of the edges onto a two-dimensional plane to generate the silhouette is not necessary, which simplifies the technique. The method is division-free and successive calculations are independent and consist simply of dot product operations, which permits vectorization. The method does not compute an intersection distance along the ray to the box, but this can be added as an additional step. Storage of Plücker coordinates is unnecessary, permitting integration into existing systems. Test results show the technique’s performance is up to 93% faster than traditional methods if an intersection distance is not needed. + + +Author Information + +Jeffrey Mahovsky, University of Calgary, Dept. of Computer Science, 2500 University Drive NW, Calgary, AB T2N 1N4, Canada mahovskj@cpsc.ucalgary.edu + +Brian Wyvill, University of Calgary, Department of Computer Science, 2500 University Drive NW, Calgary, AB T2N 1N4, Canada blob@cpsc.ucalgary.edu + + +Source Code + +Sample C++ source code implementing the algorithm is available here in two versions: + +Single precision: JGT-float.zip (60K zip archive) +Double precision: JGT-double.zip (60K zip archive) +In both archives the file JGT.cpp contains main() as well compilation instructions. The code has been tested under Microsoft Visual C++ .NET 2003 and Linux/g++. + + +BibTeX Entry + +@article{MahovskyWyvill04, + author = "Jeffrey Mahovsky and Brian Wyvill", + title = "Fast Ray-Axis Aligned Bounding Box Overlap Tests with Plücker Coordinates", + journal = "journal of graphics, gpu, and game tools", + volume = "9", + number = "1", + pages = "35-46", + year = "2004", +} \ No newline at end of file diff --git a/Volume_09/Number_1/Telea2004/readme.txt b/Volume_09/Number_1/Telea2004/readme.txt index 103fbbc..b1494a0 100644 --- a/Volume_09/Number_1/Telea2004/readme.txt +++ b/Volume_09/Number_1/Telea2004/readme.txt @@ -1 +1,37 @@ -See http://www.cs.rug.nl/svcg/Shapes/Inpainting for more information. \ No newline at end of file +See http://www.cs.rug.nl/svcg/Shapes/Inpainting for more information. + +An Image Inpainting Technique Based on the Fast Marching Method + +Alexandru Telea +Eindhoven University of Technology + +This paper appears in issue Volume 9, Number 1. +Purchase this issue from the akpeters.com web site. + + +Abstract + +Digital inpainting provides a means for reconstruction of small damaged portions of an image. Although the inpainting basics are straightforward, most inpainting techniques published in the literature are complex to understand and implement. We present here a new algorithm for digital inpainting based on the fast marching method for level set applications. Our algorithm is very simple to implement, fast, and produces nearly identical results to more complex, and usually slower, known methods. Source code is available online. + + +Author Information + +Alexandru Telea, Eindhoven University of Technology, Dept of Math & Computer Science, Den Dolech 25600 MB Eindhoven, Netherlands alext@win.tue.nl + + +Source Code + +Sample C++ source code for the inpainting technique and with demo images as used in the paper are available here: AFMM_Inpainting.zip (4.2M zip archive) + + +BibTeX Entry + +@article{Telea04, + author = "Alexandru Telea", + title = "An Image Inpainting Technique Based on the Fast Marching Method", + journal = "journal of graphics tools", + volume = "9", + number = "1", + pages = "23-34", + year = "2004", +} \ No newline at end of file diff --git a/Volume_09/Number_3/Ramsey2004/readme.txt b/Volume_09/Number_3/Ramsey2004/readme.txt index f0a7f19..bcd4a09 100644 --- a/Volume_09/Number_3/Ramsey2004/readme.txt +++ b/Volume_09/Number_3/Ramsey2004/readme.txt @@ -1,3 +1,32 @@ +Ray Bilinear Patch Intersections + +Shaun D. Ramsey and Charles Hansen +University of Utah, School Of Computing + +Kristin Potter +University of Utah + +Shaun D. Ramsey and Charles Hansen +University of Utah, School of Computing + +This paper appears in issue Volume 9, Number 3. +Purchase this issue from the akpeters.com web site. + + +Abstract + +Ray tracing and other techniques employ algorithms which require the intersection between a 3D parametric ray and an object to be computed. The object to intersect is typically a sphere, triangle, or polygon but many surface types are possible. In this work we consider intersections between rays and the simplest parametric surface, the bilinear patch. Unlike other surfaces, solving the ray-bilinear patch intersection with simple algebraic manipulations fails. We present a complete, efficient, robust, and graceful formulation to solve ray-bilinear patch intersections quickly. Source code is available online. + + +Author Information + +Shaun D. Ramsey, University of Utah, School Of Computing, 50 S. Central Campus Drive, 3190 MEB, Salt Lake City, UT 84112 ramsey@cs.utah.edu + +Kristin Potter, University of Utah, School of Computing, 50 S. Central Campus Drive, 3190 MEB, Salt Lake City, UT 84112 kpotter@cs.utah.edu + +Charles Hansen, University of Utah, School of Computing, 50 S. Central Campus Drive, 3190 MEB, Salt Lake City, UT 84112 hansen@cs.utah.edu + + Source Code Download the complete C++ source code and driver program in a zip archive: bilinear.zip (12K), or view the individual files: @@ -7,4 +36,17 @@ Bilinear source header: bilinear.h Bilinear source: bilinear.cc A vector class header: Vector.h Vector class source: Vector.cc -The ray bilinear patch intersection software is “Open Source“ according to the MIT License. \ No newline at end of file +The ray bilinear patch intersection software is “Open Source“ according to the MIT License. + + +BibTeX Entry + +@article{RamseyPotterHansen04, + author = "Shaun D. Ramsey and Kristin Potter and Charles Hansen", + title = "Ray Bilinear Patch Intersections", + journal = "journal of graphics, gpu, and game tools", + volume = "9", + number = "3", + pages = "41-47", + year = "2004", +} \ No newline at end of file diff --git a/Volume_09/Number_4/Piponi2004/readme.txt b/Volume_09/Number_4/Piponi2004/readme.txt index b45c869..255de9d 100644 --- a/Volume_09/Number_4/Piponi2004/readme.txt +++ b/Volume_09/Number_4/Piponi2004/readme.txt @@ -1,9 +1,42 @@ +Automatic Differentiation, C++ Templates, and Photogrammetry + +Dan Piponi +ESC Entertainment + +This paper appears in issue Volume 9, Number 4. +Purchase this issue from the akpeters.com web site. + + +Abstract + +Differential calculus is ubiquitous in digital movie production. We give a novel presentation of automatic differentiation, a method for computing derivatives of functions, that is not well known within the graphics community, and describe some applications of this method. In particular we describe the implementation of a photogrammetric reconstruction tool used on the post-production of Matrix Reloaded and Matrix Revolutions that was built using automatic differentiation. + + +Author Information + +Dan Piponi, 877 Walavista Avenue, Oakland, CA 94610 d.piponi@sigfpe.com + + Source Code This file contains sample C++ source code illustrating the methods in the paper: Adiff-1.0.tgz (4K gzipped tar archive) + Errata On page 46, line 4, the term f(X(3.0f)+d) should be: - f(Dual(3.0f)+d) \ No newline at end of file + f(Dual(3.0f)+d) + + +BibTeX Entry + +@article{Piponi04, + author = "Dan Piponi", + title = "Automatic Differentiation, C++ Templates, and Photogrammetry", + journal = "journal of graphics, gpu, and game tools", + volume = "9", + number = "4", + pages = "41-55", + year = "2004", +} \ No newline at end of file