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TAPs 0.7.7.3
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TAPs 0.7.7.3
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00001 /****************************************************************************** 00002 TAPsGridGenerator_ForTheDefModBasedOnMSS.hpp 00003 ******************************************************************************/ 00014 /****************************************************************************** 00015 SUKITTI PUNAK (07/22/2007) 00016 UPDATE (01/07/2010) 00017 ******************************************************************************/ 00018 #ifndef TAPs_GRID_GENERATOR_HPP 00019 #define TAPs_GRID_GENERATOR_HPP 00020 00021 #include "../Core/TAPsLib.hpp" 00022 #include "../OpenGLModel/TAPsModel.hpp" 00023 #include "../OpenGLModel/TAPsOpenGLModelList.hpp" 00024 00025 //============================================================================= 00026 // DEFINES / CHOICES 00027 //============================================================================= 00028 //----------------------------------------------------------------------------- 00029 #define TAPs_GRID_GENERATOR_BY_SOFTWARE 00030 #define TAPs_GRID_GENERATOR_BY_HARDWARE 00031 //----------------------------------------------------------------------------- 00032 //============================================================================= 00033 00034 //============================================================================= 00035 // TAPs in TIPS 00036 //#define TAPs_IN_TIPS 00037 #ifdef TAPs_IN_TIPS 00038 //#include <TIPS_MyMod/lib/mesh/polymesh.h> 00039 #include <TIPS/lib/haptic/mesh.h> 00040 #endif // TAPs_IN_TIPS 00041 //============================================================================= 00042 00043 BEGIN_NAMESPACE_TAPs 00044 //============================================================================= 00045 // Forward Declaration 00046 //----------------------------------------------------------------------------- 00047 //----------------------------------------------------------------------------- 00048 //============================================================================= 00049 00050 //============================================================================= 00051 // Class GridGenerator 00052 //----------------------------------------------------------------------------- 00053 template <typename T> 00054 class GridGenerator { 00055 public: 00056 //--------------------------------------------------------------- 00058 GridGenerator ( 00059 OpenGL::Model<T> * pModel = NULL, 00060 bool useSoftware = false, 00061 bool genInversely = false, 00062 bool useDefaultIntpValue = false, 00063 //bool useDefaultIntpValue = true, //!< Use default global interpolation value 00064 T defaultIntpValue = 0.5 00065 ); 00067 ~GridGenerator (); 00068 //--------------------------------------------------------------- 00069 // Operation(s) 00070 bool ReGenerateGrids (); 00071 bool GenerateGridsWithDimension ( 00072 T iGridWidth, T iGridHeight, T iGridDepth, 00073 Vector3<T> * lowPoint = NULL, 00074 Vector3<T> * highPoint = NULL 00075 ); 00076 bool GenerateGridsWithSize ( 00077 int iNumOfXSlices, int iNumOfYSlices, int iNumOfZSlices, 00078 Vector3<T> * lowPoint = NULL, 00079 Vector3<T> * highPoint = NULL 00080 ); 00081 00082 //* 00083 // DEBUG for Checking Marching Cubes Tables 00084 bool GenerateDefinedGrids2x2x2 ( 00085 unsigned char config = 1, 00086 int iNumOfXSlices = 2, int iNumOfYSlices = 2, int iNumOfZSlices = 2, 00087 Vector3<T> * lowPoint = NULL, 00088 Vector3<T> * highPoint = NULL 00089 ); // flags of cube's vertices 00090 //*/ 00091 00092 //--------------------------------------------------------------- 00093 // Grid Info Accessor(s) 00094 //inline Vector3<T> GetGridDimension () { return Vector3<T>( m_atGridDimension ) }; 00095 //inline Vector3<T> GetGridSize () { return Vector3<T>( m_atGridSize ) }; 00096 inline T GetGridDimensionX () const { return m_atGridDimension[0]; } 00097 inline T GetGridDimensionY () const { return m_atGridDimension[1]; } 00098 inline T GetGridDimensionZ () const { return m_atGridDimension[2]; } 00099 inline int GetGridSizeX () const { return m_auiGridSize[0]; } 00100 inline int GetGridSizeY () const { return m_auiGridSize[1]; } 00101 inline int GetGridSizeZ () const { return m_auiGridSize[2]; } 00102 inline Vector3<T> GetAABBMinPt () const { return Vector3<T>( m_tAABBMin ); } 00103 inline Vector3<T> GetAABBMaxPt () const { return Vector3<T>( m_tAABBMax ); } 00104 //------------- 00105 //inline void SetGridDimensionX ( T v ) { m_atGridDimension[0] = v; ... } 00106 //inline void SetGridDimensionY ( T v ) { m_atGridDimension[1] = v; ... } 00107 //inline void SetGridDimensionZ ( T v ) { m_atGridDimension[2] = v; ... } 00108 //inline void SetGridSizeX ( T v ) { m_auiGridSize[0] = v; ... } 00109 //inline void SetGridSizeY ( T v ) { m_auiGridSize[1] = v; ... } 00110 //inline void SetGridSizeZ ( T v ) { m_auiGridSize[2] = v; ... } 00111 //--------------------------------------------------------------- 00112 00113 //=============================================================== 00114 // Adjustable Parameters -- User Interaction 00115 //--------------------------------------------------------------- 00116 bool DoesGridGeneratorUseSoftware () const { return m_bUseSoftwareToGenGrid; } 00117 bool DoesGridGeneratorUseHardware () const { return !m_bUseSoftwareToGenGrid; } 00118 void SetGridGeneratorToUseSoftware () { m_bUseSoftwareToGenGrid = true; } 00119 void SetGridGeneratorToUseHardware () { m_bUseSoftwareToGenGrid = false; } 00120 //--------------------------------------------------------------- 00121 bool DoesGridGeneratorGenerateGridInversely () const { return m_bGenGridInversely; } 00122 bool DoesGridGeneratorGenerateGridNormally () const { return !m_bGenGridInversely; } 00123 void SetGridGeneratorToGenerateGridInversely () { m_bGenGridInversely = true; } 00124 void SetGridGeneratorToGenerateGridNormally () { m_bGenGridInversely = false; } 00125 //--------------------------------------------------------------- 00142 bool DoesGridGeneratorUseDefaultIntpVal () const { return m_bUseDefaultIntpVal; } 00143 bool DoesGridGeneratorUseMeshOffsetForIntpVal () const { return !m_bUseDefaultIntpVal; } 00144 void SetGridGeneratorUseDefaultIntpVal () { m_bUseDefaultIntpVal = true; } 00145 void SetGridGeneratorUseMeshOffsetForIntpVal () { m_bUseDefaultIntpVal = false; } 00146 void GetDefaultIntpVal () const { return m_tDefaultIntpVal; } 00147 void SetDefaultIntpVal ( T val ) { m_tDefaultIntpVal = val; } 00148 //--------------------------------------------------------------- 00149 //=============================================================== 00150 00151 //--------------------------------------------------------------- 00152 OpenGL::Model<T> * GetModelUseToGenGrid () const { return m_pModel; } 00153 void SetModelUseToGenGrid ( OpenGL::Model<T> * pModel ) { 00154 if ( m_pModel != pModel ) { 00155 DeleteGrids(); 00156 m_atGridDimension[0] = m_atGridDimension[1] = m_atGridDimension[2] = 0; 00157 m_auiGridSize[0] = m_auiGridSize[1] = m_auiGridSize[2] = 0; 00158 } 00159 } 00160 //--------------------------------------------------------------- 00161 void DeleteGrids (); // delete all grid info 00162 //--------------------------------------------------------------- 00163 inline bool IsGridGenerated () { return m_atVertexPosition != NULL; } 00164 //--------------------------------------------------------------- 00165 // For Vertex Flag 00166 static enum VertexFlag { 00167 UNSET = 0, 00168 OUTSIDE_MODEL, 00169 RIGHT_OUTSIDE_BOUNDARY, 00170 ON_BOUNDARY, 00171 RIGHT_INSIDE_BOUNDARY, 00172 INSIDE_MODEL, 00173 DUMMY 00174 }; 00175 //--------------------------------------------------------------- 00176 // Data Accessor(s) 00180 inline T **** const ReturnPtrToVertexPositionData () { return m_atVertexPosition; } 00181 inline T const **** const ReturnPtrToVertexPositionData () const { return m_atVertexPosition; } 00185 inline T **** const ReturnPtrToVertexNormalData () { return m_atVertexNormal; } 00186 inline T const **** const ReturnPtrToVertexNormalData () const { return m_atVertexNormal; } 00190 inline VertexFlag *** const ReturnPtrToVertexFlagData () { return m_abVertexFlag1; } 00191 inline VertexFlag const *** const ReturnPtrToVertexFlagData () const { return m_abVertexFlag1; } 00195 inline T **** const ReturnPtrToVertexInterpolationData () { return m_atVertexInterpolation; } 00196 inline T const **** const ReturnPtrToVertexInterpolationData () const { return m_atVertexInterpolation; } 00197 #ifdef TAPs_GRID_WITH_TWO_INTERPOLATIONS 00198 inline T **** const ReturnPtrToVertexInterpolationDataToo () { return m_atVertexInterpolationToo; } 00199 inline T const **** const ReturnPtrToVertexInterpolationDataToo () const { return m_atVertexInterpolationToo; } 00200 #endif 00201 //--------------------------------------------------------------- 00202 private: 00203 //=============================================================== 00204 // MEMBER FUNCTION(s) 00205 //--------------------------------------------------------------- 00206 void FindBoundingBoxDimension ( Vector3<T> * lowPoint, Vector3<T> * highPoint ); 00207 //----------------------------------------------------- 00208 00209 //============================================================================= 00210 // TAPs in TIPS 00211 #ifdef TAPs_IN_TIPS 00212 public: 00213 void GenerateGridsInTIPS (); 00214 private: 00215 void GenerateGridsForPositionInTIPS ( Vector3<T> pts[8] ); 00216 #ifdef TAPs_GRID_GENERATOR_BY_SOFTWARE 00217 void SetGridPtsToInOutBoundary_SW_InTIPS(); 00218 void SetAllGridPtsToInOut_SW_InTIPs(); 00219 #endif // #ifdef TAPs_GRID_GENERATOR_BY_SOFTWARE 00220 #ifdef TAPs_GRID_GENERATOR_BY_HARDWARE 00221 void SetAllGridPtsToInOut_HW_InTIPs(); 00222 #endif // #ifdef TAPs_GRID_GENERATOR_BY_HARDWARE 00223 void SetVertexInterpolationDataInTIPS (); 00224 #endif // #ifdef TAPs_IN_TIPS 00225 //============================================================================= 00226 void GenerateGrids (); 00227 // 00228 void GenerateGridsForPosition (); 00229 void GenerateGridsForNormal (); 00230 void GenerateGridsForFlag1 (); 00231 void GenerateGridsForVertexInterpolation (); 00232 // 00233 void AllocateGridsForPosition (); 00234 void AllocateGridsForNormal (); 00235 void AllocateGridsForFlag1 (); 00236 void AllocateGridsForVertexInterpolation (); 00237 // 00238 void DeleteGridsForPosition (); 00239 void DeleteGridsForNormal (); 00240 void DeleteGridsForFlag1 (); 00241 void DeleteGridsForVertexInterpolation (); 00242 //----------------------------------------------------- 00243 // Sampling grid point values by Software 00244 #ifdef TAPs_GRID_GENERATOR_BY_SOFTWARE 00245 void SetGridPointsToInsideOutsideModelBoundary_SW (); 00246 void SetGridPointsToInsideOutsideModelBoundary_SW ( OpenGL::PolygonalModel<T> * pPModel ); // NOT IMPLEMENTED YET! 00247 void SetGridPointsToInsideOutsideModelBoundary_SW ( OpenGL::XPolygonalModel<T> * pXPModel ); 00248 void SetGridPointsToInsideOutsideModelBoundary_SW ( OpenGL::HalfEdgeModel<T> * pHEModel ); // NOT IMPLEMENTED YET! 00249 void SetAllGridPointsToInsideOutsideModel_SW (); 00250 #endif 00251 //----------------------------------------------------- 00252 // Sampling grid point values by Hardware (OpenGL) 00253 #ifdef TAPs_GRID_GENERATOR_BY_HARDWARE 00254 void SetAllGridPointsToInsideOutsideModel_HW (); 00255 void SetAllGridPointsToInsideOutsideModel_HW ( OpenGL::PolygonalModel<T> * pPModel ); // NOT IMPLEMENTED YET! 00256 void SetAllGridPointsToInsideOutsideModel_HW ( OpenGL::XPolygonalModel<T> * pXPModel ); 00257 void SetAllGridPointsToInsideOutsideModel_HW ( OpenGL::HalfEdgeModel<T> * pHEModel ); // NOT IMPLEMENTED YET! 00258 #endif 00259 00260 public: 00261 //=============================================================== 00262 // DEBUG BY DRAWING 00263 // Check SetGridPointsToInsideOutsideModelBoundary_SW ( OpenGL::XPolygonalModel<T> * pXPModel ) 00264 void DRAW_SetGridPointsToInsideOutsideModelBoundary_SW ( OpenGL::XPolygonalModel<T> * pXPModel ); 00265 //=============================================================== 00266 private: 00267 00268 //----------------------------------------------------- 00269 // Clear extra right outside points from the generated grid data 00270 void ClearExtraRightOutsidePoints (); 00271 //----------------------------------------------------- 00272 // Inverse Points -- Outside <--> Inside & Empty becomes Inside 00273 void InverseInsideOutside (); 00274 //----------------------------------------------------- 00275 // This one makes the grid generator uses the passed default value 00276 // for the global interpolation value. 00277 void SetVertexInterpolationData ( T tDefaultVal ); 00278 // 00279 // This one makes the grid generator uses either the (already set) 00280 // default value or uses randomly generated values for interpolation 00281 // values. 00282 void SetVertexInterpolationData (); 00283 void SetVertexInterpolationData ( OpenGL::PolygonalModel<T> * pPModel ); // NOT IMPLEMENTED YET! 00284 void SetVertexInterpolationData ( OpenGL::XPolygonalModel<T> * pXPModel ); 00285 void SetVertexInterpolationData ( OpenGL::HalfEdgeModel<T> * pHEModel ); // NOT IMPLEMENTED YET! 00286 //--------------------------------------------------------------- 00287 //=============================================================== 00288 // DATA MEMBERs 00289 //--------------------------------------------------------------- 00290 T m_tAABBMin[3]; // For Bounding Box 00291 T m_tAABBMax[3]; // For Bounding Box 00292 //------------------------------------------- 00293 00294 //============================================================================= 00295 // TAPs in TIPS 00299 //----------------------- 00300 // 2---1 00301 // /| /| 00302 // 6-3-5-0 00303 // |/ |/ 00304 // 7---4 00305 // The default box is a cube center at (0,0,0). 00306 //----------------------- 00307 #ifdef TAPs_IN_TIPS 00308 Vector3<T> m_vBBPts[8]; 00309 std::vector< ::SurfLab::haptic::Mesh * > m_pTIPSMeshes; 00310 #endif // #ifdef TAPs_IN_TIPS 00311 //============================================================================= 00312 00313 //------------------------------------------- 00314 T m_atGridDimension[3]; // width, height, depth of each cell 00315 int m_auiGridSize[3]; // number of cells in x, y, and z 00316 00317 //=============================================================== 00318 // Adjustable Parameters -- User Interaction 00319 //--------------------------------------------------------------- 00320 bool m_bUseSoftwareToGenGrid; // if set use SW, else use HW 00321 bool m_bGenGridInversely; // if set grid points are generated inversely 00322 // e.g. outside pts become inside pts 00323 00324 // Fop Marching Cubes Algorithm 00325 bool m_bUseDefaultIntpVal; // all vertices will have the same default interpolation value 00326 T m_tDefaultIntpVal; // default interpolation value for each vertex 00327 //--------------------------------------------------------------- 00328 //=============================================================== 00329 00330 //--------------------------------------------------------------- 00331 // Unmanaged Pointer(s) 00332 OpenGL::Model<T> * m_pModel; // pointer to a model 00333 //--------------------------------------------------------------- 00334 // Managed Pointer(s) 00335 //T *** tempData; // temp data 00336 //----------------------------------------------------- 00337 // Vertex Attributes 00341 T **** m_atVertexPosition; // vertex position 00342 T **** m_atVertexNormal; // vertex normal 00343 VertexFlag *** m_abVertexFlag1; // vertex flag1 00344 // See enum VertexFlag above 00354 T **** m_atVertexInterpolation; // interpolation value (pos) 00355 #ifdef TAPs_GRID_WITH_TWO_INTERPOLATIONS 00356 T **** m_atVertexInterpolationToo; // interpolation value (neg) 00357 #endif 00358 //--------------------------------------------------------------- 00359 //============================================================================= 00360 //----------------------------------------------------------------------------- 00361 // With OpenGL 00362 #if defined(__gl_h_) || defined(__GL_H__) 00363 public: 00364 //--------------------------------------------------------------- 00365 // DrawByOpenGL 00366 // GLenum drawStyle; GLU_FILL, GLU_LINE, GLU_SILHOUETTE, and GLU_POINT 00367 // Expensive Drawing, since it draws each particles using sphere. 00368 virtual void DrawByOpenGL ( 00369 GLenum drawStyle = GLU_LINE, 00370 Vector4<T> color = Vector4<T>( 0.77, 0.85, 0.75, 0.75 ) 00371 ); 00372 //--------------------------------------------------------------- 00373 virtual void DrawBoundingBoxByOpenGL ( 00374 Vector4<T> color = Vector4<T>( 0, 0, 1, 0.5 ) ); 00375 //--------------------------------------------------------------- 00376 virtual void DrawAsPointsByOpenGL ( 00377 Vector4<T> color = Vector4<T>( 0.77, 0.85, 0.75, 0.75 ) 00378 ); 00379 //--------------------------------------------------------------- 00380 virtual void DrawAsBoxesByOpenGL ( 00381 Vector4<T> color = Vector4<T>( 0.77, 0.85, 0.75, 0.75 ) 00382 ); 00383 //--------------------------------------------------------------- 00384 virtual void DrawAllOuterPointsByOpenGL ( 00385 Vector4<T> color = Vector4<T>( 1, 0, 0, 0.5 ) ); 00386 //--------------------------------------------------------------- 00387 virtual void DrawAllInnerPointsByOpenGL ( 00388 Vector4<T> color = Vector4<T>( 0, 1, 0, 0.5 ) ); 00389 //--------------------------------------------------------------- 00403 virtual void DrawAPlaneByOpenGL ( int drawDirection = 2, 00404 Vector4<T> color = Vector4<T>( 0, 1, 0, 0.5 ) ); 00405 // virtual void DrawAPlaneByOpenGL ( int planeNo, int drawDirection = 2, 00406 // Vector4<T> color = Vector4<T>( 0, 1, 0, 0.5 ) ); 00407 //--------------------------------------------------------------- 00408 // virtual void DrawAPlaneByOpenGL ( 00409 // int planeNo, 00410 // int plane = 1 // 2: xy-, 0: yz-, 1: xz-plane 00411 // ); 00412 00413 00414 /* 00415 //--------------------------------------------------------------- 00416 // DEBUG 00417 int gMinNum[3], gMaxNum[3]; 00418 Vector3<T> vMin, vMax, vPos; 00419 Vector3<T> gridBoxCenterPt; 00420 T minMoveStep[3], maxMoveStep[3]; 00421 //--------------------------------------------------------------- 00422 //*/ 00423 00424 //============================================================================= 00425 // TAPs in TIPS 00426 #ifdef TAPs_IN_TIPS 00427 //------------------------------------------------------------------- 00428 //----------------------------------------------------- 00429 // Draw Fns 00430 void Draw8PtBoxByOpenGL ( 00431 T r = 0.8, T g = 0.8, T b = 0.5, T a = 0.25 ); 00432 void Draw8PtBoxCellsByOpenGL ( 00433 T r = 1.0, T g = 1.0, T b = 1.0, T a = 0.5 ); 00434 //----------------------------------------------------- 00435 // Get/Set Fns 00436 void GetGridSize( int &x, int &y, int &z ) const { 00437 x = m_auiGridSize[0]; 00438 y = m_auiGridSize[1]; 00439 z = m_auiGridSize[2]; 00440 } 00441 void GetGridWidth( T &x, T &y, T &z ) const { 00442 x = (m_vBBPts[0] - m_vBBPts[3]).Length(); 00443 y = (m_vBBPts[2] - m_vBBPts[3]).Length(); 00444 z = (m_vBBPts[7] - m_vBBPts[3]).Length(); 00445 } 00446 void GetCellDimension( T &x, T &y, T &z ) const { 00447 x = m_atGridDimension[0]; 00448 y = m_atGridDimension[1]; 00449 z = m_atGridDimension[2]; 00450 } 00451 void SetGridSize( int x, int y, int z ) { 00452 int minSize = 3; 00453 if ( x < minSize ) x = minSize; 00454 if ( y < minSize ) y = minSize; 00455 if ( z < minSize ) z = minSize; 00456 m_auiGridSize[0] = x; 00457 m_auiGridSize[1] = y; 00458 m_auiGridSize[2] = z; 00459 //------------------- 00460 m_atGridDimension[0] = (m_vBBPts[0] - m_vBBPts[3]).Length() / (x-1.0); 00461 m_atGridDimension[1] = (m_vBBPts[2] - m_vBBPts[3]).Length() / (y-1.0); 00462 m_atGridDimension[2] = (m_vBBPts[7] - m_vBBPts[3]).Length() / (z-1.0); 00463 } 00464 void SetGridWidth( T x, T y, T z ) { 00465 int minWidth = 0.001; 00466 if ( x < minWidth ) x = minWidth; 00467 if ( y < minWidth ) y = minWidth; 00468 if ( z < minWidth ) z = minWidth; 00469 T halfX = static_cast<T>( x / 2.0 ); 00470 T halfY = static_cast<T>( y / 2.0 ); 00471 T halfZ = static_cast<T>( z / 2.0 ); 00472 m_vBBPts[0].SetXYZ( halfX, -halfY, -halfZ ); 00473 m_vBBPts[1].SetXYZ( halfX, halfY, -halfZ ); 00474 m_vBBPts[2].SetXYZ( -halfX, halfY, -halfZ ); 00475 m_vBBPts[3].SetXYZ( -halfX, -halfY, -halfZ ); 00476 m_vBBPts[4].SetXYZ( halfX, -halfY, halfZ ); 00477 m_vBBPts[5].SetXYZ( halfX, halfY, halfZ ); 00478 m_vBBPts[6].SetXYZ( -halfX, halfY, halfZ ); 00479 m_vBBPts[7].SetXYZ( -halfX, -halfY, halfZ ); 00480 //------------------- 00481 m_atGridDimension[0] = (m_vBBPts[0] - m_vBBPts[3]).Length() / (m_auiGridSize[0]-1.0); 00482 m_atGridDimension[1] = (m_vBBPts[2] - m_vBBPts[3]).Length() / (m_auiGridSize[1]-1.0); 00483 m_atGridDimension[2] = (m_vBBPts[7] - m_vBBPts[3]).Length() / (m_auiGridSize[2]-1.0); 00484 } 00485 //------------------------------------------------------------------- 00486 #endif // #ifdef TAPs_IN_TIPS 00487 //============================================================================= 00488 00489 //--------------------------------------------------------------- 00490 static GLuint g_uiDisplayList; // for OpenGL drawing 00491 static GLenum g_eDrawStyle; // for OpenGL drawing 00492 #endif 00493 //----------------------------------------------------------------------------- 00494 //============================================================================= 00495 }; // End Class GridGenerator 00496 //============================================================================= 00497 END_NAMESPACE_TAPs 00498 //----------------------------------------------------------------------------- 00499 // Include definition if TAPs_USE_EXPORT is not defined 00500 //#if !defined( TAPs_USE_EXPORT ) 00501 #include "TAPsGridGenerator_ForTheDefModBasedOnMSS.cpp" 00502 //#endif 00503 //----------------------------------------------------------------------------- 00504 #endif // TAPs_GRID_GENERATOR_IN_TIPS_HPP 00505 //34567890123456789012345678901234567890123456789012345678901234567890123456789 00506 //--+----1----+----2----+----3----+----4----+----5----+----6----+----7----+----
1.7.4 
