417 lines
16 KiB
C
417 lines
16 KiB
C
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/* ADMesh -- process triangulated solid meshes
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* Copyright (C) 1995, 1996 Anthony D. Martin <amartin@engr.csulb.edu>
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* Copyright (C) 2013, 2014 several contributors, see AUTHORS
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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*
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* Questions, comments, suggestions, etc to
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* https://github.com/admesh/admesh/issues
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*/
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#ifndef __admesh_stl__
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#define __admesh_stl__
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#include <stdio.h>
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#include <stdint.h>
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#include <stddef.h>
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#include <vector>
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#include <Eigen/Geometry>
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// Size of the binary STL header, free form.
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#define LABEL_SIZE 80
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// Binary STL, length of the "number of faces" counter.
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#define NUM_FACET_SIZE 4
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// Binary STL, sizeof header + number of faces.
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#define HEADER_SIZE 84
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#define STL_MIN_FILE_SIZE 284
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#define ASCII_LINES_PER_FACET 7
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typedef Eigen::Matrix<float, 3, 1, Eigen::DontAlign> stl_vertex;
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typedef Eigen::Matrix<float, 3, 1, Eigen::DontAlign> stl_normal;
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typedef Eigen::Matrix<int, 3, 1, Eigen::DontAlign> stl_triangle_vertex_indices;
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static_assert(sizeof(stl_vertex) == 12, "size of stl_vertex incorrect");
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static_assert(sizeof(stl_normal) == 12, "size of stl_normal incorrect");
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typedef std::function<void(int current, int total, bool& cancel, std::string& model_id, std::string& code)> ImportstlProgressFn;
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typedef enum {
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eNormal, // normal face
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eSmallOverhang, // small overhang
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eSmallHole, // face with small hole
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eExteriorAppearance, // exterior appearance
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eMaxNumFaceTypes
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}EnumFaceTypes;
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struct stl_facet {
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stl_normal normal;
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stl_vertex vertex[3];
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char extra[2];
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stl_facet rotated(const Eigen::Quaternion<float, Eigen::DontAlign> &rot) const {
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stl_facet out;
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out.normal = rot * this->normal;
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out.vertex[0] = rot * this->vertex[0];
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out.vertex[1] = rot * this->vertex[1];
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out.vertex[2] = rot * this->vertex[2];
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return out;
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}
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};
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#define SIZEOF_STL_FACET 50
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static_assert(offsetof(stl_facet, normal) == 0, "stl_facet.normal has correct offset");
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static_assert(offsetof(stl_facet, vertex) == 12, "stl_facet.vertex has correct offset");
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static_assert(offsetof(stl_facet, extra ) == 48, "stl_facet.extra has correct offset");
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static_assert(sizeof(stl_facet) >= SIZEOF_STL_FACET, "size of stl_facet incorrect");
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typedef enum {binary, ascii, inmemory} stl_type;
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struct stl_neighbors {
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stl_neighbors() { reset(); }
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void reset() {
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neighbor[0] = -1;
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neighbor[1] = -1;
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neighbor[2] = -1;
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which_vertex_not[0] = -1;
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which_vertex_not[1] = -1;
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which_vertex_not[2] = -1;
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}
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int num_neighbors() const { return 3 - ((this->neighbor[0] == -1) + (this->neighbor[1] == -1) + (this->neighbor[2] == -1)); }
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// Index of a neighbor facet.
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int neighbor[3];
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// Index of an opposite vertex at the neighbor face.
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char which_vertex_not[3];
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};
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struct stl_stats {
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stl_stats() {}
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void reset_header(int size) {
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header.clear();
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header.resize(size +1);
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}
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std::vector<char> header;
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stl_type type = (stl_type)0;
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// Should always match the number of facets stored inside stl_file::facet_start.
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uint32_t number_of_facets = 0;
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// Bounding box.
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stl_vertex max = stl_vertex::Zero();
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stl_vertex min = stl_vertex::Zero();
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stl_vertex size = stl_vertex::Zero();
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float bounding_diameter = 0.f;
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float shortest_edge = 0.f;
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// After repair, the volume shall always be positive.
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float volume = -1.f;
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// Number of face edges connected to another face.
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// Don't use this statistics after repair, use the connected_facets_1/2/3_edge instead!
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int connected_edges = 0;
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// Faces with >=1, >=2 and 3 edges connected to another face.
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int connected_facets_1_edge = 0;
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int connected_facets_2_edge = 0;
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int connected_facets_3_edge = 0;
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// Faces with 1, 2 and 3 open edges after exact chaining, but before repair.
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int facets_w_1_bad_edge = 0;
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int facets_w_2_bad_edge = 0;
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int facets_w_3_bad_edge = 0;
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// Number of faces read form an STL file.
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int original_num_facets = 0;
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// Number of edges connected one to another by snapping their end vertices.
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int edges_fixed = 0;
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// Number of faces removed because they were degenerated.
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int degenerate_facets = 0;
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// Total number of facets removed: Degenerate faces and unconnected faces.
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int facets_removed = 0;
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// Number of faces added by hole filling.
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int facets_added = 0;
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// Number of faces reversed because of negative volume or because one patch was connected to another patch with incompatible normals.
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int facets_reversed = 0;
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// Number of incompatible edges remaining after the patches were connected together and possibly their normals flipped.
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int backwards_edges = 0;
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// Number of triangles, which were flipped during the fixing process.
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int normals_fixed = 0;
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// Number of connected triangle patches.
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int number_of_parts = 0;
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void clear() { *this = stl_stats(); }
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};
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struct stl_file {
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stl_file() {}
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void clear() {
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this->facet_start.clear();
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this->neighbors_start.clear();
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this->stats.clear();
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}
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size_t memsize() const {
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return sizeof(*this) + sizeof(stl_facet) * facet_start.size() + sizeof(stl_neighbors) * neighbors_start.size();
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}
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char mw_data[256];
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std::vector<stl_facet> facet_start;
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std::vector<stl_neighbors> neighbors_start;
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// Statistics
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stl_stats stats;
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};
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struct FaceProperty
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{ // triangle face property
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EnumFaceTypes type;
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double area;
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// stl_normal normal;
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std::string to_string() const
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{
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std::string str;
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// skip normal type facet to improve performance
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if (type > eNormal && type < eMaxNumFaceTypes) {
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str += std::to_string(type);
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if (area != 0.f)
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str += " " + std::to_string(area);
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}
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return str;
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}
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void from_string(const std::string& str)
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{
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std::string val_str, area_str;
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do {
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if (str.empty())
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break;
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this->type = (EnumFaceTypes)std::atoi(str.c_str());
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if (this->type <= eNormal || this->type >= eMaxNumFaceTypes)
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break;
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size_t type_end_pos = str.find(" ");
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if (type_end_pos == std::string::npos) {
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this->area = 0.f;
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return;
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}
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area_str = str.substr(type_end_pos + 1);
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if (!area_str.empty())
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this->area = std::atof(area_str.c_str());
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else
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this->area = 0.f;
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return;
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} while (0);
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this->type = eNormal;
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this->area = 0.f;
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}
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};
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struct indexed_triangle_set
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{
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indexed_triangle_set(std::vector<stl_triangle_vertex_indices> indices_,
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std::vector<stl_vertex> vertices_) :indices(indices_), vertices(vertices_) {
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properties.resize(indices_.size());
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}
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indexed_triangle_set() {}
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void clear() { indices.clear(); vertices.clear(); properties.clear(); }
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size_t memsize() const {
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return sizeof(*this) + (sizeof(stl_triangle_vertex_indices) + sizeof(FaceProperty)) * indices.size() + sizeof(stl_vertex) * vertices.size();
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}
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std::vector<stl_triangle_vertex_indices> indices;
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std::vector<stl_vertex> vertices;
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std::vector<FaceProperty> properties;
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bool empty() const { return indices.empty() || vertices.empty(); }
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stl_vertex get_vertex(int facet_idx, int vertex_idx) const{
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return vertices[indices[facet_idx][vertex_idx]];
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}
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float facet_area(int facet_idx) const {
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return std::abs((get_vertex(facet_idx, 0) - get_vertex(facet_idx, 1))
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.cross(get_vertex(facet_idx, 0) - get_vertex(facet_idx, 2)).norm()) / 2;
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}
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FaceProperty& get_property(int face_idx) {
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if (properties.size() != indices.size()) {
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properties.clear();
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properties.resize(indices.size());
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}
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return properties[face_idx];
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}
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};
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extern bool stl_open(stl_file *stl, const char *file, ImportstlProgressFn stlFn = nullptr,int custom_header_length = 80);
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extern void stl_stats_out(stl_file *stl, FILE *file, char *input_file);
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extern bool stl_print_neighbors(stl_file *stl, char *file);
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extern bool stl_write_ascii(stl_file *stl, const char *file, const char *label);
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extern bool stl_write_binary(stl_file *stl, const char *file, const char *label);
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extern void stl_check_facets_exact(stl_file *stl);
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extern void stl_check_facets_nearby(stl_file *stl, float tolerance);
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extern void stl_remove_unconnected_facets(stl_file *stl);
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extern void stl_write_vertex(stl_file *stl, int facet, int vertex);
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extern void stl_write_facet(stl_file *stl, char *label, int facet);
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extern void stl_write_neighbor(stl_file *stl, int facet);
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extern bool stl_write_quad_object(stl_file *stl, char *file);
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extern void stl_verify_neighbors(stl_file *stl);
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extern void stl_fill_holes(stl_file *stl);
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extern void stl_fix_normal_directions(stl_file *stl);
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extern void stl_fix_normal_values(stl_file *stl);
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extern void stl_reverse_all_facets(stl_file *stl);
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extern void stl_translate(stl_file *stl, float x, float y, float z);
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extern void stl_translate_relative(stl_file *stl, float x, float y, float z);
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extern void stl_scale_versor(stl_file *stl, const stl_vertex &versor);
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inline void stl_scale(stl_file *stl, float factor) { stl_scale_versor(stl, stl_vertex(factor, factor, factor)); }
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extern void stl_rotate_x(stl_file *stl, float angle);
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extern void stl_rotate_y(stl_file *stl, float angle);
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extern void stl_rotate_z(stl_file *stl, float angle);
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extern void stl_mirror_xy(stl_file *stl);
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extern void stl_mirror_yz(stl_file *stl);
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extern void stl_mirror_xz(stl_file *stl);
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extern float get_area(stl_facet* facet);
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extern void stl_get_size(stl_file *stl);
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// the following function is not used
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/*
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template<typename T>
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extern void stl_transform(stl_file *stl, T *trafo3x4)
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{
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Eigen::Matrix<T, 3, 3, Eigen::DontAlign> trafo3x3;
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for (int i = 0; i < 3; ++i)
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{
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for (int j = 0; j < 3; ++j)
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{
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trafo3x3(i, j) = (i * 4) + j;
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}
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}
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Eigen::Matrix<T, 3, 3, Eigen::DontAlign> r = trafo3x3.inverse().transpose();
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for (uint32_t i_face = 0; i_face < stl->stats.number_of_facets; ++ i_face) {
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stl_facet &face = stl->facet_start[i_face];
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for (int i_vertex = 0; i_vertex < 3; ++ i_vertex) {
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stl_vertex &v_dst = face.vertex[i_vertex];
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stl_vertex v_src = v_dst;
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v_dst(0) = T(trafo3x4[0] * v_src(0) + trafo3x4[1] * v_src(1) + trafo3x4[2] * v_src(2) + trafo3x4[3]);
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v_dst(1) = T(trafo3x4[4] * v_src(0) + trafo3x4[5] * v_src(1) + trafo3x4[6] * v_src(2) + trafo3x4[7]);
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v_dst(2) = T(trafo3x4[8] * v_src(0) + trafo3x4[9] * v_src(1) + trafo3x4[10] * v_src(2) + trafo3x4[11]);
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}
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face.normal = (r * face.normal.template cast<T>()).template cast<float>().eval();
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}
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stl_get_size(stl);
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}
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*/
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template<typename T>
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inline void stl_transform(stl_file *stl, const Eigen::Transform<T, 3, Eigen::Affine, Eigen::DontAlign>& t)
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{
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const Eigen::Matrix<T, 3, 3, Eigen::DontAlign> r = t.matrix().template block<3, 3>(0, 0).inverse().transpose();
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for (size_t i = 0; i < stl->stats.number_of_facets; ++ i) {
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stl_facet &f = stl->facet_start[i];
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for (size_t j = 0; j < 3; ++j)
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f.vertex[j] = (t * f.vertex[j].template cast<T>()).template cast<float>().eval();
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f.normal = (r * f.normal.template cast<T>()).template cast<float>().eval();
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}
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stl_get_size(stl);
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}
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template<typename T>
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inline void stl_transform(stl_file *stl, const Eigen::Matrix<T, 3, 3, Eigen::DontAlign>& m)
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|
{
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|
const Eigen::Matrix<T, 3, 3, Eigen::DontAlign> r = m.inverse().transpose();
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for (size_t i = 0; i < stl->stats.number_of_facets; ++ i) {
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stl_facet &f = stl->facet_start[i];
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for (size_t j = 0; j < 3; ++j)
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f.vertex[j] = (m * f.vertex[j].template cast<T>()).template cast<float>().eval();
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f.normal = (r * f.normal.template cast<T>()).template cast<float>().eval();
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||
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|
}
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||
|
|
|
||
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stl_get_size(stl);
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename V>
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|
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inline void its_translate(indexed_triangle_set &its, const V v)
|
||
|
|
{
|
||
|
|
for (stl_vertex &v_dst : its.vertices)
|
||
|
|
v_dst += v;
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename T>
|
||
|
|
inline void its_transform(indexed_triangle_set &its, T *trafo3x4)
|
||
|
|
{
|
||
|
|
for (stl_vertex &v_dst : its.vertices) {
|
||
|
|
stl_vertex v_src = v_dst;
|
||
|
|
v_dst(0) = T(trafo3x4[0] * v_src(0) + trafo3x4[1] * v_src(1) + trafo3x4[2] * v_src(2) + trafo3x4[3]);
|
||
|
|
v_dst(1) = T(trafo3x4[4] * v_src(0) + trafo3x4[5] * v_src(1) + trafo3x4[6] * v_src(2) + trafo3x4[7]);
|
||
|
|
v_dst(2) = T(trafo3x4[8] * v_src(0) + trafo3x4[9] * v_src(1) + trafo3x4[10] * v_src(2) + trafo3x4[11]);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename T>
|
||
|
|
inline void its_transform(indexed_triangle_set &its, const Eigen::Transform<T, 3, Eigen::Affine, Eigen::DontAlign>& t, bool fix_left_handed = false)
|
||
|
|
{
|
||
|
|
//const Eigen::Matrix<double, 3, 3, Eigen::DontAlign> r = t.matrix().template block<3, 3>(0, 0);
|
||
|
|
for (stl_vertex &v : its.vertices)
|
||
|
|
v = (t * v.template cast<T>()).template cast<float>().eval();
|
||
|
|
if (fix_left_handed && t.matrix().block(0, 0, 3, 3).determinant() < 0.)
|
||
|
|
for (stl_triangle_vertex_indices &i : its.indices)
|
||
|
|
std::swap(i[0], i[1]);
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename T>
|
||
|
|
inline void its_transform(indexed_triangle_set &its, const Eigen::Matrix<T, 3, 3, Eigen::DontAlign>& m, bool fix_left_handed = false)
|
||
|
|
{
|
||
|
|
for (stl_vertex &v : its.vertices)
|
||
|
|
v = (m * v.template cast<T>()).template cast<float>().eval();
|
||
|
|
if (fix_left_handed && m.determinant() < 0.)
|
||
|
|
for (stl_triangle_vertex_indices &i : its.indices)
|
||
|
|
std::swap(i[0], i[1]);
|
||
|
|
}
|
||
|
|
|
||
|
|
extern void its_rotate_x(indexed_triangle_set &its, float angle);
|
||
|
|
extern void its_rotate_y(indexed_triangle_set &its, float angle);
|
||
|
|
extern void its_rotate_z(indexed_triangle_set &its, float angle);
|
||
|
|
|
||
|
|
extern void stl_generate_shared_vertices(stl_file *stl, indexed_triangle_set &its);
|
||
|
|
extern bool its_write_obj(const indexed_triangle_set &its, const char *file);
|
||
|
|
extern bool its_write_off(const indexed_triangle_set &its, const char *file);
|
||
|
|
extern bool its_write_vrml(const indexed_triangle_set &its, const char *file);
|
||
|
|
|
||
|
|
extern bool stl_write_dxf(stl_file *stl, const char *file, char *label);
|
||
|
|
inline void stl_calculate_normal(stl_normal &normal, stl_facet *facet) {
|
||
|
|
normal = (facet->vertex[1] - facet->vertex[0]).cross(facet->vertex[2] - facet->vertex[0]);
|
||
|
|
}
|
||
|
|
inline void stl_normalize_vector(stl_normal &normal) {
|
||
|
|
double length = normal.cast<double>().norm();
|
||
|
|
if (length < 0.000000000001)
|
||
|
|
normal = stl_normal::Zero();
|
||
|
|
else
|
||
|
|
normal *= float(1.0 / length);
|
||
|
|
}
|
||
|
|
extern void stl_calculate_volume(stl_file *stl);
|
||
|
|
|
||
|
|
extern void stl_repair(stl_file *stl, bool fixall_flag, bool exact_flag, bool tolerance_flag, float tolerance, bool increment_flag, float increment, bool nearby_flag, int iterations, bool remove_unconnected_flag, bool fill_holes_flag, bool normal_directions_flag, bool normal_values_flag, bool reverse_all_flag, bool verbose_flag);
|
||
|
|
|
||
|
|
extern void stl_allocate(stl_file *stl);
|
||
|
|
extern void stl_read(stl_file *stl, int first_facet, bool first, ImportstlProgressFn stlFn = nullptr);
|
||
|
|
extern void stl_facet_stats(stl_file *stl, stl_facet facet, bool &first);
|
||
|
|
extern void stl_reallocate(stl_file *stl);
|
||
|
|
extern void stl_add_facet(stl_file *stl, const stl_facet *new_facet);
|
||
|
|
|
||
|
|
// Validate the mesh, assert on error.
|
||
|
|
extern bool stl_validate(const stl_file *stl);
|
||
|
|
extern bool stl_validate(const stl_file *stl, const indexed_triangle_set &its);
|
||
|
|
|
||
|
|
#endif
|