treeDataTriSurface.C

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/*---------------------------------------------------------------------------*\
  =========                 |
  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
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    \\  /    A nd           | Copyright (C) 1991-2010 OpenCFD Ltd.
     \\/     M anipulation  |
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License
    This file is part of OpenFOAM.

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#include "treeDataTriSurface.H"
#include <meshTools/triSurfaceTools.H>
#include <meshTools/triangleFuncs.H>
#include "indexedOctree.H"

// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //

defineTypeNameAndDebug(Foam::treeDataTriSurface, 0);


// * * * * * * * * * * * * * Private Member Functions  * * * * * * * * * * * //

// Fast distance to triangle calculation. From
// "Distance Between Point and Trangle in 3D"
// David Eberly, Magic Software Inc. Aug. 2003.
// Works on function Q giving distance to point and tries to minimize this.
Foam::scalar Foam::treeDataTriSurface::nearestCoords
(
    const point& base,
    const point& E0,
    const point& E1,
    const scalar a,
    const scalar b,
    const scalar c,
    const point& P,
    scalar& s,
    scalar& t
)
{
    // distance vector
    const vector D(base - P);

    // Precalculate distance factors.
    const scalar d = E0 & D;
    const scalar e = E1 & D;

    // Do classification
    const scalar det = a*c - b*b;

    s = b*e - c*d;
    t = b*d - a*e;

    if (s+t < det)
    {
        if (s < 0)
        {
            if (t < 0)
            {
                //region 4
                if (e > 0)
                {
                    //min on edge t = 0
                    t = 0;
                    s = (d >= 0 ? 0 : (-d >= a ? 1 : -d/a));
                }
                else
                {
                    //min on edge s=0
                    s = 0;
                    t = (e >= 0 ? 0 : (-e >= c ? 1 : -e/c));
                }
            }
            else
            {
                //region 3. Min on edge s = 0
                s = 0;
                t = (e >= 0 ? 0 : (-e >= c ? 1 : -e/c));
            }
        }
        else if (t < 0)
        {
            //region 5
            t = 0;
            s = (d >= 0 ? 0 : (-d >= a ? 1 : -d/a));
        }
        else
        {
            //region 0
            const scalar invDet = 1/det;
            s *= invDet;
            t *= invDet;
        }
    }
    else
    {
        if (s < 0)
        {
            //region 2
            const scalar tmp0 = b + d;
            const scalar tmp1 = c + e;
            if (tmp1 > tmp0)
            {
                //min on edge s+t=1
                const scalar numer = tmp1 - tmp0;
                const scalar denom = a-2*b+c;
                s = (numer >= denom ? 1 : numer/denom);
                t = 1 - s;
            }
            else
            {
                //min on edge s=0
                s = 0;
                t = (tmp1 <= 0 ? 1 : (e >= 0 ? 0 : - e/c));
            }
        }
        else if (t < 0)
        {
            //region 6
            const scalar tmp0 = b + d;
            const scalar tmp1 = c + e;
            if (tmp1 > tmp0)
            {
                //min on edge s+t=1
                const scalar numer = tmp1 - tmp0;
                const scalar denom = a-2*b+c;
                s = (numer >= denom ? 1 : numer/denom);
                t = 1 - s;
            }
            else
            {
                //min on edge t=0
                t = 0;
                s = (tmp1 <= 0 ? 1 : (d >= 0 ? 0 : - d/a));
            }
        }
        else
        {
            //region 1
            const scalar numer = c+e-(b+d);
            if (numer <= 0)
            {
                s = 0;
            }
            else
            {
                const scalar denom = a-2*b+c;
                s = (numer >= denom ? 1 : numer/denom);
            }
        }
        t = 1 - s;
    }


    // Calculate distance.
    // Note: abs should not be needed but truncation error causes problems
    // with points very close to one of the triangle vertices.
    // (seen up to -9e-15). Alternatively add some small value.

    const scalar f = D & D;
    return Foam::mag(a*s*s + 2*b*s*t + c*t*t + 2*d*s + 2*e*t + f);
}


// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //

// Construct from components
Foam::treeDataTriSurface::treeDataTriSurface(const triSurface& surface)
:
    surface_(surface)
{}


// * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //

Foam::pointField Foam::treeDataTriSurface::points() const
{
    const pointField& points = surface_.points();

    pointField centres(surface_.size());

    forAll(surface_, triI)
    {
        centres[triI] = surface_[triI].centre(points);
    }
    return centres;
}


//- Get type of sample (inside/outside/mixed) w.r.t. surface.
Foam::label Foam::treeDataTriSurface::getVolumeType
(
    const indexedOctree<treeDataTriSurface>& tree,
    const point& sample
) const
{
    // Find nearest point
    const treeBoundBox& treeBb = tree.bb();

    pointIndexHit pHit = tree.findNearest
    (
        sample,
        max
        (
            Foam::sqr(GREAT),
            Foam::magSqr(treeBb.span())
        )
    );

    if (!pHit.hit())
    {
        FatalErrorIn("treeDataTriSurface::getVolumeType(..)")
            << "treeBb:" << treeBb
            << " sample:" << sample
            << " pHit:" << pHit
            << abort(FatalError);
    }

    triSurfaceTools::sideType t = triSurfaceTools::surfaceSide
    (
        surface_,
        sample,
        pHit.index(),
        pHit.hitPoint(),
        indexedOctree<treeDataTriSurface>::perturbTol()
    );

    if (t == triSurfaceTools::UNKNOWN)
    {
        return indexedOctree<treeDataTriSurface>::UNKNOWN;
    }
    else if (t == triSurfaceTools::INSIDE)
    {
        return indexedOctree<treeDataTriSurface>::INSIDE;
    }
    else if (t == triSurfaceTools::OUTSIDE)
    {
        return indexedOctree<treeDataTriSurface>::OUTSIDE;
    }
    else
    {
        FatalErrorIn("treeDataTriSurface::getVolumeType(..)")
            << "problem" << abort(FatalError);
        return indexedOctree<treeDataTriSurface>::UNKNOWN;
    }
}


// Check if any point on triangle is inside cubeBb.
bool Foam::treeDataTriSurface::overlaps
(
    const label index,
    const treeBoundBox& cubeBb
) const
{
    const pointField& points = surface_.points();
    const labelledTri& f = surface_[index];

    // Triangle points
    const point& p0 = points[f[0]];
    const point& p1 = points[f[1]];
    const point& p2 = points[f[2]];

    treeBoundBox triBb(p0, p0);
    triBb.min() = min(triBb.min(), p1);
    triBb.min() = min(triBb.min(), p2);

    triBb.max() = max(triBb.max(), p1);
    triBb.max() = max(triBb.max(), p2);

    //- For testing: robust one
    //return cubeBb.overlaps(triBb);

    //- Exact test of triangle intersecting bb

    // Quick rejection. If whole bounding box of tri is outside cubeBb then
    // there will be no intersection.
    if (!cubeBb.overlaps(triBb))
    {
        return false;
    }

    // Check if one or more triangle point inside
    if (cubeBb.contains(p0) || cubeBb.contains(p1) || cubeBb.contains(p2))
    {
        // One or more points inside
        return true;
    }

    // Now we have the difficult case: all points are outside but connecting
    // edges might go through cube. Use fast intersection of bounding box.

    //return triangleFuncs::intersectBbExact(p0, p1, p2, cubeBb);
    return triangleFuncs::intersectBb(p0, p1, p2, cubeBb);
}


// Calculate nearest point to sample. Updates (if any) nearestDistSqr, minIndex,
// nearestPoint.
void Foam::treeDataTriSurface::findNearest
(
    const labelList& indices,
    const point& sample,

    scalar& nearestDistSqr,
    label& minIndex,
    point& nearestPoint
) const
{
    const pointField& points = surface_.points();

    forAll(indices, i)
    {
        label index = indices[i];
        const labelledTri& f = surface_[index];

        // Triangle points
        const point& p0 = points[f[0]];
        const point& p1 = points[f[1]];
        const point& p2 = points[f[2]];


        //
        //point triBbMin = min(p0, min(p1, p2));
        //point triBbMax = max(p0, max(p1, p2));
        //
        //if
        //(
        //    indexedOctree<treeDataTriSurface>::intersects
        //    (
        //        triBbMin,
        //        triBbMax,
        //        nearestDistSqr,
        //        sample
        //    )
        //)
        {
            // Get spanning vectors of triangle
            vector base(p1);
            vector E0(p0 - p1);
            vector E1(p2 - p1);

            scalar a(E0& E0);
            scalar b(E0& E1);
            scalar c(E1& E1);

            // Get nearest point in s,t coordinates (s is along E0, t is along
            // E1)
            scalar s;
            scalar t;

            scalar distSqr = nearestCoords
            (
                base,
                E0,
                E1,
                a,
                b,
                c,
                sample,

                s,
                t
            );

            if (distSqr < nearestDistSqr)
            {
                nearestDistSqr = distSqr;
                minIndex = index;
                nearestPoint = base + s*E0 + t*E1;
            }
        }
    }
}


// Calculate nearest point to line. Updates (if any) nearestDistSqr, minIndex,
// nearestPoint.
void Foam::treeDataTriSurface::findNearest
(
    const labelList& indices,
    const linePointRef& ln,

    treeBoundBox& tightest,
    label& minIndex,
    point& linePoint,
    point& nearestPoint
) const
{
    notImplemented
    (
        "treeDataTriSurface::findNearest(const labelList&"
        ", const linePointRef&, treeBoundBox&, label&, point&, point&) const"
    );
}


bool Foam::treeDataTriSurface::intersects
(
    const label index,
    const point& start,
    const point& end,
    point& intersectionPoint
) const
{
    const pointField& points = surface_.points();

    const labelledTri& f = surface_[index];

    // Do quick rejection test
    treeBoundBox triBb(points[f[0]], points[f[0]]);
    triBb.min() = min(triBb.min(), points[f[1]]);
    triBb.max() = max(triBb.max(), points[f[1]]);
    triBb.min() = min(triBb.min(), points[f[2]]);
    triBb.max() = max(triBb.max(), points[f[2]]);

    const direction startBits(triBb.posBits(start));
    const direction endBits(triBb.posBits(end));

    if ((startBits & endBits) != 0)
    {
        // start and end in same block outside of triBb.
        return false;
    }

    const triPointRef tri(points[f[0]], points[f[1]], points[f[2]]);

    const vector dir(end - start);

    // Use relative tolerance (from octree) to determine intersection.

    pointHit inter = tri.intersection
    (
        start,
        dir,
        intersection::HALF_RAY,
        indexedOctree<treeDataTriSurface>::perturbTol()
    );

    if (inter.hit() && inter.distance() <= 1)
    {
        // Note: no extra test on whether intersection is in front of us
        // since using half_ray.
        intersectionPoint = inter.hitPoint();

        return true;
    }
    else
    {
        return false;
    }


    //- Using exact intersections
    //pointHit info = f.tri(points).intersectionExact(start, end);
    //
    //if (info.hit())
    //{
    //    intersectionPoint = info.hitPoint();
    //}
    //return info.hit();
}


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