diff --git a/CHANGELOG.md b/CHANGELOG.md index 3aa6c65..5de9953 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -18,8 +18,13 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0 ### Added +- Added simplified borders to map_mesh function. +- Added fixed points to map_mesh function. + ### Changed +- Fixed point welding bug in map_mesh function. +- Changed example_isolines to work with the new compas_viewer. - GA for cibuildwheel, bring back the tessagon test. ### Removed diff --git a/CMakeLists.txt b/CMakeLists.txt index a633087..beff9ad 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -4,7 +4,7 @@ project(compas_libigl LANGUAGES CXX) set(CMAKE_CXX_STANDARD 20) set(CMAKE_CXX_EXTENSIONS OFF) -option(ENABLE_PRECOMPILED_HEADERS "Enable precompiled headers" OFF) +option(ENABLE_PRECOMPILED_HEADERS "Enable precompiled headers" ON) option(MULTITHREADED_COMPILATION "Enable multi-threaded compilation (Ninja only)" ON) if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) diff --git a/docs/examples/example_isolines.py b/docs/examples/example_isolines.py index 843a9f0..2356cde 100644 --- a/docs/examples/example_isolines.py +++ b/docs/examples/example_isolines.py @@ -53,6 +53,7 @@ for i, isolines in enumerate(isolines): color = cmap(values[i], minval, maxval) - viewer.scene.add(isolines, linecolor=color, linewidth=3) + for isoline in isolines: + viewer.scene.add(isoline, linecolor=color, linewidth=3) viewer.show() diff --git a/docs/examples/example_mapping_patterns.py b/docs/examples/example_mapping_patterns.py index 58b4a1c..64db92b 100644 --- a/docs/examples/example_mapping_patterns.py +++ b/docs/examples/example_mapping_patterns.py @@ -1,6 +1,7 @@ from pathlib import Path from compas.colors import Color +from compas.geometry import Point from compas.datastructures import Mesh from compas_viewer import Viewer from compas_viewer.config import Config @@ -15,16 +16,31 @@ mesh = Mesh.from_obj(Path(__file__).parent.parent.parent / "data" / "minimal_surface.obj") + + for vertex in mesh.vertices(): x, y, z = mesh.vertex_attributes(vertex, "xyz") # type: ignore mesh.vertex_attributes(vertex, "xyz", [x, -z, y]) # ============================================================================== -# Mapping: 3D Mesh, 2D Pattern, UV +# Get Lowest and Highest points # ============================================================================== -mesh_mapped = map_pattern_to_mesh("ZigZag", mesh, clip_boundaries=True, tolerance=1e-6, pattern_u=16, pattern_v=16) +aabb = mesh.aabb() +fixed_vertices = [] + + +for vertex in mesh.vertices(): + x, y, z = mesh.vertex_attributes(vertex, "xyz") # type: ignore + if abs(z-aabb.zmin) < 1e-3 or abs(z-aabb.zmax) < 1e-3: + fixed_vertices.append(vertex) + +# ============================================================================== +# Mapping: 3D Mesh, 2D Pattern, UV +# ============================================================================== +mesh_mapped0 = map_pattern_to_mesh("ZigZag", mesh, clip_boundaries=True, tolerance=1e-6, pattern_u=16, pattern_v=16, simplify_borders=True, fixed_vertices=fixed_vertices) +mesh_mapped1 = map_pattern_to_mesh("ZigZag", mesh, clip_boundaries=True, tolerance=1e-6, pattern_u=16, pattern_v=16, simplify_borders=False) # ============================================================================== # Viewer # ============================================================================== @@ -35,7 +51,11 @@ viewer = Viewer(config=config) -# viewer.scene.add(mesh, name="mesh", show_faces=False, linecolor=Color.grey(), opacity=0.2) -viewer.scene.add(mesh_mapped, name="mesh_mapped", facecolor=Color.red()) +viewer.scene.add(mesh, name="mesh", show_faces=False, linecolor=Color.grey(), opacity=0.2) +viewer.scene.add(mesh_mapped0, name="mesh_mapped0", facecolor=Color.red(), show_points=True) +# viewer.scene.add(mesh_mapped1, name="mesh_mapped1", facecolor=Color.blue(), show_points=True, show_faces=False) + +for p in fixed_vertices: + viewer.scene.add(mesh.vertex_point(p), pointcolor=Color.red(), pointsize=10) viewer.show() diff --git a/mesh_flattened.json b/mesh_flattened.json index 61e1512..bfe98c8 100644 --- a/mesh_flattened.json +++ b/mesh_flattened.json @@ -1 +1 @@ -[{"dtype": "compas.datastructures/Mesh", "data": {"attributes": {}, "default_vertex_attributes": {"x": 0.0, "y": 0.0, "z": 0.0}, "default_edge_attributes": {}, "default_face_attributes": {}, "vertex": {"0": {"x": -0.255, "y": -0.34, "z": 0}, "1": {"x": -0.255, "y": -0.319125, "z": 0}, "2": {"x": -0.255, "y": -0.29825, "z": 0}, "3": {"x": -0.255, "y": -0.27737500000000004, "z": 0}, "4": {"x": -0.255, "y": -0.2565, "z": 0}, "5": {"x": -0.2351875, "y": -0.34, "z": 0}, "6": {"x": -0.2351875, "y": -0.319125, "z": 0}, "7": {"x": -0.2351875, "y": -0.29825, "z": 0}, "8": {"x": -0.2351875, "y": -0.27737500000000004, "z": 0}, "9": {"x": -0.2351875, "y": -0.2565, "z": 0}, "10": {"x": -0.21537499999999998, "y": -0.34, "z": 0}, "11": {"x": 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{}, "38624": {}, "38625": {}, "38626": {}, "38627": {}, "38628": {}, "38629": {}, "38630": {}, "38631": {}, "38632": {}, "38633": {}, "38634": {}, "38635": {}, "38636": {}, "38637": {}, "38638": {}, "38639": {}, "38640": {}, "38641": {}, "38642": {}, "38643": {}, "38644": {}, "38645": {}, "38646": {}, "38647": {}, "38648": {}, "38649": {}, "38650": {}, "38651": {}, "38652": {}, "38653": {}, "38654": {}, "38655": {}}, "edgedata": {}, "max_vertex": 19886, "max_face": 38655}, "inheritance": [], "guid": "6ad42157-1bbd-4b31-91cf-c0eccfda2556"}] \ No newline at end of file diff --git a/src/compas_libigl/mapping.py b/src/compas_libigl/mapping.py index b1b5cf5..434dd89 100644 --- a/src/compas_libigl/mapping.py +++ b/src/compas_libigl/mapping.py @@ -26,7 +26,7 @@ from compas_libigl._types_std import VectorVectorInt # noqa: F401 -def map_mesh(target_mesh, pattern_mesh, clip_boundaries=True, tolerance=1e-6): +def map_mesh(target_mesh, pattern_mesh, clip_boundaries=True, simplify_borders=True, fixed_vertices=None, tolerance=1e-6): """ Map a 2D pattern mesh onto a 3D target. @@ -36,10 +36,18 @@ def map_mesh(target_mesh, pattern_mesh, clip_boundaries=True, tolerance=1e-6): A tuple of (vertices, faces) representing the target mesh. pattern_mesh : tuple[list[list[float]], list[list[int]]] A tuple of (vertices, faces) representing the pattern mesh. - clip_boundaries : bool + clip_boundaries : bool, optional Whether to clip the pattern mesh to the boundaries of the target mesh. - tolerance : float + Default is True. + simplify_borders : bool, optional + Whether to simplify the border of the pattern mesh. + Default is True. + fixed_vertices : list[list[float]], optional + A list of fixed points on the target mesh. + Default is None. + tolerance : float, optional The tolerance for point comparison, to remove duplicates. + Default is 1e-6. Returns ------- @@ -61,16 +69,30 @@ def map_mesh(target_mesh, pattern_mesh, clip_boundaries=True, tolerance=1e-6): f_numpy = np.array(f, dtype=np.int32) pattern_v_numpy = np.array(pv, dtype=np.float64) + # Handle fixed_vertices - provide empty array if None + + fixed_vertices_vectorint = VectorInt() + if fixed_vertices is None: + fixed_vertices_vectorint = VectorInt() + else: + fixed_vertices_vectorint = VectorInt(fixed_vertices) + + # Convert pattern_f from Python list to VectorVectorInt which is expected by C++ code + + pattern_f_vec = VectorVectorInt() + for face in pf: + pattern_f_vec.append(face) + # Perform the mapping pv_numpy_copy, pf_numpy_cleaned, p_normals, pattern_is_boundary, pattern_groups = _mapping.map_mesh_with_automatic_parameterization( - v_numpy, f_numpy, pattern_v_numpy, pf, clip_boundaries, tolerance + v_numpy, f_numpy, pattern_v_numpy, pattern_f_vec, clip_boundaries, simplify_borders, fixed_vertices_vectorint, tolerance ) # Return the result as a tuple return pv_numpy_copy, pf_numpy_cleaned, p_normals, pattern_is_boundary, pattern_groups -def map_pattern_to_mesh(name, mesh, clip_boundaries=True, tolerance=1e-6, pattern_u=16, pattern_v=16): +def map_pattern_to_mesh(name, mesh, clip_boundaries=True, tolerance=1e-6, pattern_u=16, pattern_v=16, simplify_borders=True, fixed_vertices=None): """ Map a 2D pattern mesh onto a 3D target. @@ -100,14 +122,24 @@ def map_pattern_to_mesh(name, mesh, clip_boundaries=True, tolerance=1e-6, patter mesh : compas.datastructures.Mesh The target mesh. - clip_boundaries : bool + clip_boundaries : bool, optional Whether to clip the pattern mesh to the boundaries of the target mesh. - tolerance : float + Default is True. + tolerance : float, optional The tolerance for point comparison, to remove duplicates. - pattern_u : int + Default is 1e-6. + pattern_u : int, optional The number of pattern vertices in the u direction. - pattern_v : int + Default is 16. + pattern_v : int, optional The number of pattern vertices in the v direction. + Default is 16. + simplify_borders : bool, optional + Whether to simplify the border of the pattern mesh. + Default is True. + fixed_vertices : list[list[float]], optional + A list of fixed points on the target mesh. + Default is None. Returns ------- @@ -165,6 +197,8 @@ def map_pattern_to_mesh(name, mesh, clip_boundaries=True, tolerance=1e-6, patter pf = tessagon_mesh["face_list"] v, f = mesh.to_vertices_and_faces() - mapped_vertices, mapped_faces, mapped_normals, mapped_is_boundary, mapped_groups = map_mesh((v, f), (pv, pf), clip_boundaries=clip_boundaries, tolerance=tolerance) + mapped_vertices, mapped_faces, mapped_normals, mapped_is_boundary, mapped_groups = map_mesh( + (v, f), (pv, pf), clip_boundaries=clip_boundaries, simplify_borders=simplify_borders, fixed_vertices=fixed_vertices, tolerance=tolerance + ) return Mesh.from_vertices_and_faces(mapped_vertices, mapped_faces) diff --git a/src/mapping.cpp b/src/mapping.cpp index 38b23a4..28a4073 100644 --- a/src/mapping.cpp +++ b/src/mapping.cpp @@ -1,6 +1,5 @@ #include "mapping.hpp" - // Custom hash function for tuple struct TupleHash { std::size_t operator()(const std::tuple& t) const { @@ -11,18 +10,17 @@ struct TupleHash { }; std::tuple grid_key(double x, double y, double tolerance) { + double cell_size = tolerance * 10.0; return { - static_cast(std::floor(x / tolerance)), - static_cast(std::floor(y / tolerance)) + static_cast(std::floor(x / cell_size)), + static_cast(std::floor(y / cell_size)) }; } -bool is_same_point(double x1, double y1, double z1, - double x2, double y2, double z2, - double tol) { - return std::abs(x1 - x2) < tol && - std::abs(y1 - y2) < tol && - std::abs(z1 - z2) < tol; +bool is_same_point(double x1, double y1, double x2, double y2, double tol) { + double dx = x1 - x2; + double dy = y1 - y2; + return (dx*dx + dy*dy) < (tol*tol); } std::vector> map_mesh_cropped( @@ -95,7 +93,7 @@ std::vector> map_mesh_cropped( C << v(f(faceID, 2), 0), v(f(faceID, 2), 1), v(f(faceID, 2), 2); } - // Update pattern vertex position through barycentric interpolation + // Update pattern vertex position through barycentric interpolation, comment this out if you keep 2D pattern pattern_v.row(id) = A * L(0, 0) + B * L(0, 1) + C * L(0, 2); // If normals are requested, interpolate them using the same barycentric coordinates @@ -164,6 +162,8 @@ bool paths_intersect(const Clipper2Lib::PathsD& paths1, const Clipper2Lib::Paths } + + std::tuple>, std::vector, std::vector> eigen_to_clipper ( Eigen::Ref flattned_target_uv, Eigen::Ref target_f, @@ -171,9 +171,19 @@ std::tuple>, std::vector Eigen::Ref pattern_v, const std::vector>& pattern_f, bool clip_boundaries, + bool simplify_borders, + std::vector& fixed_vertices, double tolerance ) { + + //////////////////////////////////////////////////////////////////////////////////////// + // Fixed points + //////////////////////////////////////////////////////////////////////////////////////// + Clipper2Lib::PathD fixed; + for (const auto &point_id : fixed_vertices){ + fixed.emplace_back(Clipper2Lib::PointD(flattned_target_uv(point_id, 0), flattned_target_uv(point_id, 1))); + } //////////////////////////////////////////////////////////////////////////////////////// // Get Boundary polygon of a Mesh as Clipper Path. @@ -215,21 +225,18 @@ std::tuple>, std::vector path.emplace_back(pattern_v(point_id, 0), pattern_v(point_id, 1)); paths.emplace_back(path); + if (!clip_boundaries){ + patterns_to_keep.push_back(paths); + continue; + } + // Get bounds of current pattern polygon Clipper2Lib::RectD pattern_bounds = Clipper2Lib::GetBounds(paths); // Check if the pattern bounds intersect with boundary bounds if (!pattern_bounds.Intersects(boundary_bounds)) continue; - - // Check if Elements are inside the boundary - // Clipper2Lib::PointD corners[] = { - // {pattern_bounds.left, pattern_bounds.top}, // Top-left - // {pattern_bounds.right, pattern_bounds.top}, // Top-right - // {pattern_bounds.right, pattern_bounds.bottom}, // Bottom-right - // {pattern_bounds.left, pattern_bounds.bottom} // Bottom-left - // }; - + bool is_rect_inside_polygon = false; size_t num_corners_in_polygon = 0; for (const auto& corner : paths[0]) { @@ -239,8 +246,6 @@ std::tuple>, std::vector is_rect_inside_polygon = true; bool has_collision = paths_intersect(paths, boundary); - - // check if the point is not in a hole bool is_rect_outside_polygon_hole = true; for (size_t i = 1; i < boundary.size(); i++) { @@ -272,12 +277,10 @@ std::tuple>, std::vector // Fully enclosed polygons are added to the keep list // Other polygons edges are intersected with the boundary - if (num_corners_in_polygon == paths[0].size() && !is_hole_in_polygon){ + if (num_corners_in_polygon == paths[0].size() && !is_hole_in_polygon){ // patterns_to_keep.push_back(paths); - }else if (clip_boundaries){ - if (paths_intersect(paths, boundary) || is_hole_in_polygon){ - patterns_to_cut.push_back(paths); - } + }else if(num_corners_in_polygon > 0 || paths_intersect(paths, boundary) || is_hole_in_polygon){ + patterns_to_cut.push_back(paths); } @@ -288,10 +291,70 @@ std::tuple>, std::vector std::vector solutions; for (const auto &subject : patterns_to_cut){ Clipper2Lib::PathsD solution = Clipper2Lib::Intersect(subject, boundary, Clipper2Lib::FillRule::NonZero, 8); - if (solution.size() == 0) + + if (solution.size() == 0){ + // If no intersection is found, skip this polygon continue; + }else if (solution.size() > 1 || !simplify_borders){ + // Highly likely we do not consider polygons with holes, we do not simplify them. + solutions.push_back(solution); + }else{ + // After boolean intersection the pattern is merged with boundary polygons. This is often not wanted. + // Simplification is made by comparing polygon after boolean intersection and before. If the points lie on the initial polygon edges we keep them. + // Additionally we add an option to keep arbitrary points from a user given points or boundary valence points. + Clipper2Lib::PathsD simplified_paths{Clipper2Lib::PathD()}; + simplified_paths[0].reserve(subject[0].size()); + + for (const auto &p : solution[0]){ // iterate the points of the intersection polygon + + // First check if point is close to any vertex (corner) + bool point_added = false; + for(size_t i = 0; i < subject[0].size(); i++){ + double dx = p.x - subject[0][i].x; + double dy = p.y - subject[0][i].y; + if (dx*dx + dy*dy < tolerance*tolerance){ + simplified_paths[0].push_back(p); + point_added = true; + break; + } + } + + // Check if point is close to any fixed point + for(size_t i = 0; i < fixed.size(); i++){ + double fx = fixed[i].x; + double fy = fixed[i].y; + double dx = p.x - fx; + double dy = p.y - fy; + if (dx*dx + dy*dy < tolerance*tolerance){ + simplified_paths[0].push_back(p); + point_added = true; + break; + } + } + + // If not close to a vertex, check if close to any edge + if (!point_added) { + for(size_t i = 0; i < subject[0].size()-1; i++){ + if (Clipper2Lib::PerpendicDistFromLineSqrd(p, subject[0][i], subject[0][i+1]) < tolerance*tolerance){ + simplified_paths[0].push_back(p); + break; + } + } + // Also check the closing edge between last and first point + if (subject[0].size() > 1){ + size_t last = subject[0].size()-1; + if (Clipper2Lib::PerpendicDistFromLineSqrd(p, subject[0][last], subject[0][0]) < tolerance*tolerance){ + simplified_paths[0].push_back(p); + } + } + } + } + + if (simplified_paths[0].size() > 2) + solutions.push_back(simplified_paths); + } - solutions.push_back(solution); + } std::vector> unique_points; @@ -303,20 +366,37 @@ std::tuple>, std::vector groups.reserve(solutions.size() + patterns_to_keep.size()); is_boundary.reserve(solutions.size() + patterns_to_keep.size()); + // 9 bucket search to avoid rounding wrong rounded grid key, when the distance is close to the tolerance. auto find_or_add_point = [&](double x, double y) -> int { double z = 0.0; - auto key = grid_key(x, y, tolerance); - auto& bucket = grid_map[key]; - - for (int idx : bucket) { - const auto& pt = unique_points[idx]; - if (is_same_point(pt[0], pt[1], pt[2], x, y, z, tolerance)) - return idx; + + // Get the base grid key for this point + auto base_key = grid_key(x, y, tolerance); + + // Check the point's own cell and all neighboring cells + for (int di = -1; di <= 1; ++di) { + for (int dj = -1; dj <= 1; ++dj) { + // Create the neighboring grid key + auto neighbor_key = std::make_tuple(std::get<0>(base_key) + di, std::get<1>(base_key) + dj); + + // Check if this neighboring cell exists in our grid map + auto grid_it = grid_map.find(neighbor_key); + if (grid_it != grid_map.end()) { + // Check all points in this cell + for (int idx : grid_it->second) { + const auto& pt = unique_points[idx]; + if (is_same_point(pt[0], pt[1], x, y, tolerance)) + return idx; + } + } + } } - + + // If we get here, the point doesn't exist yet + // Add it to the grid using the base key int new_index = static_cast(unique_points.size()); unique_points.push_back({x, y, z}); - bucket.push_back(new_index); + grid_map[base_key].push_back(new_index); return new_index; }; @@ -360,16 +440,22 @@ std::tuple>, std::vector } + + std::tuple>, compas::RowMatrixXd, std::vector, std::vector> map_mesh_with_automatic_parameterization( Eigen::Ref target_v, Eigen::Ref target_f, Eigen::Ref pattern_v, const std::vector>& pattern_f, bool clip_boundaries, + bool simplify_borders, + std::vector& fixed_vertices, double tolerance) { + + // Compute target mesh UV parameterization using LSCM Eigen::MatrixXd target_uv; @@ -397,10 +483,10 @@ std::tuple>, compas::RowMatrix double scale_factor = 1.0 / std::max(size(0), size(1)); // Scale to fit in a 0-1 box while maintaining aspect ratio target_uv *= scale_factor; - // Clip the pattern - auto [clipped_pattern_v, clipped_pattern_f, clipped_pattern_is_boundary, clipped_pattern_groups] = eigen_to_clipper(target_uv, target_f, pattern_v, pattern_f, clip_boundaries, tolerance); + - // return std::make_tuple(clipped_pattern_v, clipped_pattern_f); // Comment this out to see 2d cropped pattern + // Clip the pattern + auto [clipped_pattern_v, clipped_pattern_f, clipped_pattern_is_boundary, clipped_pattern_groups] = eigen_to_clipper(target_uv, target_f, pattern_v, pattern_f, clip_boundaries, simplify_borders, fixed_vertices, tolerance); Eigen::MatrixXd clipped_pattern_uv; clipped_pattern_uv.setZero(); @@ -420,15 +506,13 @@ std::tuple>, compas::RowMatrix clipped_pattern_uv, pattern_normals); - return std::make_tuple(clipped_pattern_v, result, pattern_normals, clipped_pattern_is_boundary, clipped_pattern_groups); } - +// Define the nanobind module at global scope NB_MODULE(_mapping, m) { - m.def( "map_mesh_with_automatic_parameterization", &map_mesh_with_automatic_parameterization, @@ -438,5 +522,8 @@ NB_MODULE(_mapping, m) "pattern_v"_a, "pattern_f"_a, "clip_boundaries"_a, - "tolerance"_a); + "simplify_borders"_a, + "fixed_vertices"_a, + "tolerance"_a + ); } \ No newline at end of file diff --git a/src/mapping.hpp b/src/mapping.hpp index 6f1436e..17378e7 100644 --- a/src/mapping.hpp +++ b/src/mapping.hpp @@ -19,6 +19,7 @@ #include #include #include +#include /** * Map a 2D already croppedpattern mesh onto a 3D target mesh using AABB tree-based mapping. @@ -72,6 +73,8 @@ bool paths_intersect(const Clipper2Lib::PathsD& paths1, const Clipper2Lib::Paths * @param pattern_v The pattern mesh vertex coordinates. * @param pattern_f The pattern mesh face indices. * @param clip_boundaries Whether to clip the pattern mesh to the boundaries of the target mesh. + * @param simplify_borders Whether to simplify the border of the pattern mesh. + * @param fixed_vertices fixed points on the target mesh * @param tolerance The tolerance for point comparison, to remove duplicates. * @return A tuple of the clipped pattern mesh vertex coordinates and face indices. */ @@ -82,6 +85,8 @@ std::tuple>, std::vector Eigen::Ref pattern_v, const std::vector>& pattern_f, bool clip_boundaries, + bool simplify_borders, + std::vector& fixed_vertices, double tolerance = 1e-6 ) ; @@ -95,6 +100,9 @@ std::tuple>, std::vector * @param pattern_v #V x 3 matrix of pattern mesh vertex coordinates * @param pattern_f vector of vectors of int of pattern mesh triangle indices * @param clip_boundaries whether to clip the pattern mesh to the boundaries of the target mesh + * @param simplify_borders whether to simplify the border of the pattern mesh + * @param fixed_vertices fixed points on the target mesh + * @param tolerance tolerance for point comparison, to remove duplicates * @return A tuple containing the mapped pattern vertices, faces, and vertex normal vectors. */ std::tuple>, compas::RowMatrixXd, std::vector, std::vector> map_mesh_with_automatic_parameterization( @@ -103,5 +111,7 @@ std::tuple>, compas::RowMatrix Eigen::Ref pattern_v, const std::vector>& pattern_f, bool clip_boundaries, + bool simplify_borders, + std::vector& fixed_vertices, double tolerance = 1e-6 ); \ No newline at end of file