From 3bccce8945dddf0166e2124f59d7efd25533406c Mon Sep 17 00:00:00 2001 From: Francois Protais Date: Tue, 21 Jul 2026 18:17:22 +0200 Subject: [PATCH 01/86] Initial doc version - compiling --- Documentation/doc/Documentation/packages.txt | 1 + .../Concepts/MeshDataStructure.h | 80 + .../Concepts/PolylinesDataStructure.h | 57 + .../Concepts/SurfaceDataStructure.h | 68 + .../doc/Mesh_smoothing_3/Doxyfile.in | 8 + .../doc/Mesh_smoothing_3/Mesh_smoothing_3.txt | 23 + .../Mesh_smoothing_3/PackageDescription.txt | 44 + .../doc/Mesh_smoothing_3/dependencies | 6 + .../doc/Mesh_smoothing_3/examples.txt | 4 + .../doc/Mesh_smoothing_3/fig/pkg-small.png | Bin 0 -> 9467 bytes .../examples/Mesh_smoothing_3/CMakeLists.txt | 9 + .../Mesh_smoothing_3/Cinolib/CMakeLists.txt | 14 + .../Cinolib/cinolib_smooth.cpp | 169 + .../alpha_wrap_improvement.cpp | 288 + .../examples/Mesh_smoothing_3/c3t3_smooth.cpp | 336 + .../examples/Mesh_smoothing_3/data/43149.off | 67722 +++++++ .../examples/Mesh_smoothing_3/data/bunny.mesh | 70784 +++++++ .../Mesh_smoothing_3/data/bunny_handles.txt | 5 + .../examples/Mesh_smoothing_3/data/cube.mesh | 142603 +++++++++++++++ .../data/cube_target_cuves.mesh | 18 + .../data/cube_target_points.txt | 1 + .../data/fandisk_kenshi_hexmesh.mesh | 4190 + .../Mesh_smoothing_3/data/sphere.mesh | 24279 +++ .../examples/Mesh_smoothing_3/data/stairs.off | 985 + .../examples/CGAL/CMakeLists.txt | 9 + .../examples/CGAL/cgal_c3t3_test.cpp | 336 + .../examples/CGAL/cgal_offset_computation.cpp | 288 + .../Mesh_smoothing_3/examples/CMakeLists.txt | 16 + .../examples/Cinolib/CMakeLists.txt | 14 + .../examples/Cinolib/cinolib_smooth.cpp | 169 + .../Mesh_smoothing_3/examples/README.md | 87 + .../examples/geogram/CMakeLists.txt | 16 + .../examples/geogram/geogram_smooth.cpp | 161 + .../geogram/geogram_smooth_custom.cpp | 228 + .../examples/libigl/CMakeLists.txt | 10 + .../libigl/libigl_handle_deformation.cpp | 90 + .../Mesh_smoothing_3/geogram/CMakeLists.txt | 16 + .../geogram/geogram_smooth.cpp | 161 + .../geogram/geogram_smooth_custom.cpp | 228 + .../Mesh_smoothing_3/libigl/CMakeLists.txt | 10 + .../libigl/libigl_handle_deformation.cpp | 90 + .../CGAL/Mesh_smoothing_3/Mesh_smoothing_3.h | 551 + .../CGAL/Mesh_smoothing_3/default_shapes.h | 216 + .../internal/Function_minimizer.h | 114 + .../internal/LBFGS-Lite/CMakeLists.txt | 16 + .../internal/LBFGS-Lite/LICENSE | 23 + .../internal/LBFGS-Lite/README.md | 46 + .../internal/LBFGS-Lite/include/lbfgs.hpp | 817 + .../internal/LBFGS-Lite/src/lbfgs_example.cpp | 88 + .../internal/Mesh_smoothing_3_impl.hpp | 799 + .../internal/Tetrahedral_mesh_smoother.h | 1582 + .../internal/math_functions.h | 51 + .../internal/predicates/predicates.h | 25 + .../internal/predicates/predicates_shewchuk.h | 1525 + .../internal/utils/colorized_text.h | 82 + .../internal/utils/log_time.h | 37 + .../Mesh_smoothing_3/mesh_representations.h | 344 + .../package_info/Mesh_smoothing_3/copyright | 1 + .../Mesh_smoothing_3/description.txt | 1 + .../package_info/Mesh_smoothing_3/license.txt | 1 + .../Mesh_smoothing_3/long_description.txt | 6 + .../package_info/Mesh_smoothing_3/maintainer | 0 62 files changed, 319948 insertions(+) create mode 100644 Mesh_smoothing_3/doc/Mesh_smoothing_3/Concepts/MeshDataStructure.h create mode 100644 Mesh_smoothing_3/doc/Mesh_smoothing_3/Concepts/PolylinesDataStructure.h create mode 100644 Mesh_smoothing_3/doc/Mesh_smoothing_3/Concepts/SurfaceDataStructure.h create mode 100644 Mesh_smoothing_3/doc/Mesh_smoothing_3/Doxyfile.in create mode 100644 Mesh_smoothing_3/doc/Mesh_smoothing_3/Mesh_smoothing_3.txt create mode 100644 Mesh_smoothing_3/doc/Mesh_smoothing_3/PackageDescription.txt create mode 100644 Mesh_smoothing_3/doc/Mesh_smoothing_3/dependencies create mode 100644 Mesh_smoothing_3/doc/Mesh_smoothing_3/examples.txt create mode 100644 Mesh_smoothing_3/doc/Mesh_smoothing_3/fig/pkg-small.png create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/CMakeLists.txt create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/Cinolib/CMakeLists.txt create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/Cinolib/cinolib_smooth.cpp create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/alpha_wrap_improvement.cpp create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/c3t3_smooth.cpp create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/data/43149.off create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/data/bunny.mesh create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/data/bunny_handles.txt create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/data/cube.mesh create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/data/cube_target_cuves.mesh create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/data/cube_target_points.txt create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/data/fandisk_kenshi_hexmesh.mesh create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/data/sphere.mesh create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/data/stairs.off create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/CMakeLists.txt create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/cgal_c3t3_test.cpp create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/cgal_offset_computation.cpp create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CMakeLists.txt create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/Cinolib/CMakeLists.txt create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/Cinolib/cinolib_smooth.cpp create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/README.md create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/CMakeLists.txt create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/geogram_smooth.cpp create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/geogram_smooth_custom.cpp create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/libigl/CMakeLists.txt create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/libigl/libigl_handle_deformation.cpp create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/CMakeLists.txt create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/geogram_smooth.cpp create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/geogram_smooth_custom.cpp create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/libigl/CMakeLists.txt create mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/libigl/libigl_handle_deformation.cpp create mode 100644 Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/Mesh_smoothing_3.h create mode 100644 Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/default_shapes.h create mode 100644 Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Function_minimizer.h create mode 100644 Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/CMakeLists.txt create mode 100644 Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/LICENSE create mode 100644 Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/README.md create mode 100644 Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/include/lbfgs.hpp create mode 100644 Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/src/lbfgs_example.cpp create mode 100644 Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Mesh_smoothing_3_impl.hpp create mode 100644 Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Tetrahedral_mesh_smoother.h create mode 100644 Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/math_functions.h create mode 100644 Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/predicates/predicates.h create mode 100644 Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/predicates/predicates_shewchuk.h create mode 100644 Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/utils/colorized_text.h create mode 100644 Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/utils/log_time.h create mode 100644 Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/mesh_representations.h create mode 100644 Mesh_smoothing_3/package_info/Mesh_smoothing_3/copyright create mode 100644 Mesh_smoothing_3/package_info/Mesh_smoothing_3/description.txt create mode 100644 Mesh_smoothing_3/package_info/Mesh_smoothing_3/license.txt create mode 100644 Mesh_smoothing_3/package_info/Mesh_smoothing_3/long_description.txt create mode 100644 Mesh_smoothing_3/package_info/Mesh_smoothing_3/maintainer diff --git a/Documentation/doc/Documentation/packages.txt b/Documentation/doc/Documentation/packages.txt index f0d2d4bebd73..d93b8980be2e 100644 --- a/Documentation/doc/Documentation/packages.txt +++ b/Documentation/doc/Documentation/packages.txt @@ -101,6 +101,7 @@ \package_listing{Tetrahedral_remeshing} \package_listing{Periodic_3_mesh_3} \package_listing{Alpha_wrap_3} +\package_listing{Mesh_smoothing_3} \cgalPackageSection{PartReconstruction,Shape Reconstruction} diff --git a/Mesh_smoothing_3/doc/Mesh_smoothing_3/Concepts/MeshDataStructure.h b/Mesh_smoothing_3/doc/Mesh_smoothing_3/Concepts/MeshDataStructure.h new file mode 100644 index 000000000000..e4ba16c09ef0 --- /dev/null +++ b/Mesh_smoothing_3/doc/Mesh_smoothing_3/Concepts/MeshDataStructure.h @@ -0,0 +1,80 @@ +/*! +\ingroup PkgMeshSmoothing3Concepts +\cgalConcept + +The concept `MeshDataStructure` describes the way the tetrahedral mesh will be accessed and modified. + +\sa `CGAL::Mesh_optimization::Mesh_smoother` + +*/ +class MeshDataStructure { +public: + +/// \name Types +/// @{ + +/*! +Descriptor used to access a cell (tetrahedron) information +*/ +using Cell_descriptor = unspecified_type; + + +/*! +Descriptor used to access a vertex information +*/ +using Vertex_descriptor = unspecified_type; + + +/*! +Point type. +*/ +using Point_3 = unspecified_type; + +/// @} + +/// \name Operations +/// The following functions are used to access and modify the mesh data: +/// @{ + +/*! +Used only to reserve memory. std::size_t is optional but will avoid warnings. +*/ +std::size_t nb_cells() const; + +/*! + +*/ +std::size_t nb_vertices() const; + +/*! +Access the coordinates of the given point. +*/ +Point_3 vertex_coordinates(Vertex_descriptor vertex) const; + +/*! +Change the coordinates of the given point. +*/ +void set_new_vertex_coordinates(Vertex_descriptor vertex, Point_3 coord); + +/*! +Provide an iterable range over the Cell_descriptors of the mesh +*/ +unspecified_type cell_range() const; + +/*! +Access the 4 vertices of a cell. +Returns container behaving like std::array +*/ +unspecified_type cell_vertices(Cell_descriptor cell) const; + +/*! +Optimal shape of the given cell. +Returns container behaving like std::array +*/ +unspecified_type cell_reference_shape(Cell_descriptor cell) const; + +/// @} + + + +}; /* end MeshDataStructure */ diff --git a/Mesh_smoothing_3/doc/Mesh_smoothing_3/Concepts/PolylinesDataStructure.h b/Mesh_smoothing_3/doc/Mesh_smoothing_3/Concepts/PolylinesDataStructure.h new file mode 100644 index 000000000000..9b8456b58863 --- /dev/null +++ b/Mesh_smoothing_3/doc/Mesh_smoothing_3/Concepts/PolylinesDataStructure.h @@ -0,0 +1,57 @@ +/*! +\ingroup PkgMeshSmoothing3Concepts +\cgalConcept + +The concept `PolylinesDataStructure` describes the way the curves on the mesh will be accessed. + +\sa `CGAL::Mesh_smoothing_3::Mesh_smoother` +\sa `MeshDataStructure` +\sa `SurfaceDataStructure` + +*/ +class PolylinesDataStructure { +public: + +/// \name Types +/// @{ + +/*! +Descriptor used to access a edge information +*/ +using Edge_descriptor = unspecified_type; + +/*! +Index associated with an edge to identify the curve it belongs to. This is used to query the curve information from the user. +*/ +using Curve_index = unspecified_type; + +/// @} + +/// \name Operations +/// The following functions are used to access surface data: +/// @{ + +/*! +Used only to reserve memory. std::size_t is optional but will avoid warnings. +*/ +std::size_t nb_edges() const; + +/*! +Provides an iterable range over the Edge_descriptor of the mesh +*/ +unspecified_type edge_range() const; + +/*! +Returns an identifier (curve id, segment id, ...) related to the given edge. +*/ +Curve_index curve_id(Edge_descriptor edge) const; + +/*! +Return the ith vertex of the edge (max 2). Vertex_descriptor as given in `MeshDataStructure`. +*/ +Vertex_descriptor edge_vertex(Edge_descriptor edge, unsigned i) const; + +/// @} + + +}; /* end PolylinesDataStructure */ diff --git a/Mesh_smoothing_3/doc/Mesh_smoothing_3/Concepts/SurfaceDataStructure.h b/Mesh_smoothing_3/doc/Mesh_smoothing_3/Concepts/SurfaceDataStructure.h new file mode 100644 index 000000000000..23b0e3e998c8 --- /dev/null +++ b/Mesh_smoothing_3/doc/Mesh_smoothing_3/Concepts/SurfaceDataStructure.h @@ -0,0 +1,68 @@ +/*! +\ingroup PkgMeshSmoothing3Concepts +\cgalConcept + +The concept `SurfaceDataStructure` describes the way the surface mesh will be accessed. + +\sa `CGAL::Mesh_smoothing_3::Mesh_smoother` +\sa `MeshDataStructure` + +*/ +class SurfaceDataStructure { +public: + +/// \name Types +/// @{ + +/*! +Descriptor used to access a face information +*/ +using Face_descriptor = unspecified_type; + + +/*! +Vector type. +*/ +using Normal_3 = unspecified_type; + +/*! +Index associated with a surface patch to identify the patch it belongs to. This is used to query the patch information from the user. +*/ +using Surface_patch_index = unspecified_type; + +/// @} + +/// \name Operations +/// The following functions are used to access surface data: +/// @{ + +/*! +Used only to reserve memory. std::size_t is optional but will avoid warnings. +*/ +std::size_t nb_faces() const; + +/*! +Provides an iterable range over the Face_descriptor of the mesh +*/ +unspecified_type face_range() const; + +/*! +Returns the number of vertices of given face. std::size_t is optional but will avoid warnings. +*/ +std::size_t nb_face_vertices(Face_descriptor face) const; + +/*! +Returns an identifier (patch id, face id, ...) related to the given face. +*/ +Surface_patch_index patch_id(Face_descriptor face) const; + +/*! +Provides an iterable range of Vertex_descriptor as defined in `MeshDataStructure` to iterate over the vertices of a face. +*/ +unspecified_type face_vertices(Face_descriptor face) const; + +/// @} + + + +}; /* end SurfaceDataStructure */ diff --git a/Mesh_smoothing_3/doc/Mesh_smoothing_3/Doxyfile.in b/Mesh_smoothing_3/doc/Mesh_smoothing_3/Doxyfile.in new file mode 100644 index 000000000000..3b38f2351478 --- /dev/null +++ b/Mesh_smoothing_3/doc/Mesh_smoothing_3/Doxyfile.in @@ -0,0 +1,8 @@ +@INCLUDE = ${CGAL_DOC_PACKAGE_DEFAULTS} + +PROJECT_NAME = "CGAL ${CGAL_DOC_VERSION} - 3D Mesh Smoothing" + +# custom options for this package +EXTRACT_ALL = false +HIDE_UNDOC_MEMBERS = true +HIDE_UNDOC_CLASSES = true \ No newline at end of file diff --git a/Mesh_smoothing_3/doc/Mesh_smoothing_3/Mesh_smoothing_3.txt b/Mesh_smoothing_3/doc/Mesh_smoothing_3/Mesh_smoothing_3.txt new file mode 100644 index 000000000000..dfc7bc55d620 --- /dev/null +++ b/Mesh_smoothing_3/doc/Mesh_smoothing_3/Mesh_smoothing_3.txt @@ -0,0 +1,23 @@ +namespace CGAL { +/*! + +\mainpage User Manual +\anchor Chapter_3D_Mesh_smoothing +\cgalAutoToc + +\author François Protais + +This chapter describes the ... + +\section secmydefinitions Definitions + +Section on definitions here ... + +\section secmyexamples Examples + +\subsection myFirstExample First Example + +The following example shows ... + +*/ +} /* namespace CGAL */ diff --git a/Mesh_smoothing_3/doc/Mesh_smoothing_3/PackageDescription.txt b/Mesh_smoothing_3/doc/Mesh_smoothing_3/PackageDescription.txt new file mode 100644 index 000000000000..8b4ca87c16ba --- /dev/null +++ b/Mesh_smoothing_3/doc/Mesh_smoothing_3/PackageDescription.txt @@ -0,0 +1,44 @@ +/// \defgroup PkgMeshSmoothing3Ref Reference Manual +/// \defgroup PkgMeshSmoothing3Concepts Concepts +/// \ingroup PkgMeshSmoothing3Ref + +/// \defgroup pkgMeshSmoothing3Classes Classes +/// \ingroup PkgMeshSmoothing3Ref + +/// \defgroup PkgMeshSmoothing3DataStructures Helper data structures +/// \ingroup PkgMeshSmoothing3Ref + + +/*! +\addtogroup PkgMeshSmoothing3Ref +\cgalPkgDescriptionBegin{3D Mesh Smoothing, PkgMeshSmoothing3} +\cgalPkgPicture{pkg-small.png} + +\cgalPkgSummaryBegin +\cgalPkgAuthors{François Protais} +\cgalPkgDesc{This component takes a 3D volumetric mesh as input and updates its vertices' coordinates to improve + a trade-off between element quality and the fitting to various geometric targets. + The geometric target is defined through an oracle that for each "boundary" element returns + the tangent space it should align to. The smoothing process will iteratively relocate the vertices + of the mesh to best fit these targets while improving the quality of the elements. + The final result is guaranteed to be free of inverted elements. } +\cgalPkgManuals{Chapter_3D_Mesh_smoothing,PkgMeshSmoothing3Ref} +\cgalPkgSummaryEnd + +\cgalPkgShortInfoBegin +\cgalPkgSince{6.3} +\cgalPkgDependsOn{\ref PkgTriangulation3} +\cgalPkgBib{cgal:p_ms3} +\cgalPkgLicense{\ref licensesGPL "GPL"} + +\cgalPkgShortInfoEnd + +\cgalPkgDescriptionEnd + +\cgalClassifedRefPages + +\cgalCRPSection{Classes} +- \link pkgMeshSmoothing3Classes `CGAL::Mesh_smoother` \endlink +- \link pkgMeshSmoothing3Classes `CGAL::C3t3_smoother` \endlink + +*/ diff --git a/Mesh_smoothing_3/doc/Mesh_smoothing_3/dependencies b/Mesh_smoothing_3/doc/Mesh_smoothing_3/dependencies new file mode 100644 index 000000000000..a4d5f76715e3 --- /dev/null +++ b/Mesh_smoothing_3/doc/Mesh_smoothing_3/dependencies @@ -0,0 +1,6 @@ +Manual +Kernel_23 +STL_Extension 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a/Mesh_smoothing_3/examples/Mesh_smoothing_3/CMakeLists.txt b/Mesh_smoothing_3/examples/Mesh_smoothing_3/CMakeLists.txt new file mode 100644 index 000000000000..0f205dfa016c --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/CMakeLists.txt @@ -0,0 +1,9 @@ + + +create_single_source_cgal_program("cgal_offset_computation.cpp") +create_single_source_cgal_program("cgal_c3t3_test.cpp") +target_link_libraries(cgal_offset_computation PRIVATE Mesh_smoothing_3) +target_link_libraries(cgal_c3t3_test PRIVATE Mesh_smoothing_3) + + + diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/Cinolib/CMakeLists.txt b/Mesh_smoothing_3/examples/Mesh_smoothing_3/Cinolib/CMakeLists.txt new file mode 100644 index 000000000000..32077734eb44 --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/Cinolib/CMakeLists.txt @@ -0,0 +1,14 @@ + +FetchContent_Declare( + cinolib + GIT_REPOSITORY https://github.com/mlivesu/cinolib + GIT_TAG 8fecf513ca7bf64556fcd73d7b7c2952778ad647 +) +FetchContent_MakeAvailable(cinolib) + +set(cinolib_DIR ${cinolib_SOURCE_DIR}) +find_package(cinolib REQUIRED) + + +add_executable(cinolib_smooth cinolib_smooth.cpp) +target_link_libraries(cinolib_smooth PRIVATE Mesh_smoothing_3 cinolib) \ No newline at end of file diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/Cinolib/cinolib_smooth.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/Cinolib/cinolib_smooth.cpp new file mode 100644 index 000000000000..00b0a50bc70d --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/Cinolib/cinolib_smooth.cpp @@ -0,0 +1,169 @@ +#include +#include +#include + +using Mesh_smoothing_3::utils::Contiguous_unsigned_range; + +class Mesh_wrapper : public Mesh_smoothing_3::helper_structures::Mixed_element_mesh { +public: + std::size_t nb_vertices() const override { return mesh.num_verts(); } + + Point_3 vertex_coordinates(Vertex_descriptor vertex) const override { + return mesh.vert(vertex); + } + void set_new_vertex_coordinates(int vertex, Point_3 coord) override { mesh.vert(vertex) = coord; } + + Contiguous_unsigned_range input_cell_range() const override { return Contiguous_unsigned_range{0, mesh.num_polys()}; } + + Vertex_descriptor get_cell_vertex(int cell, unsigned local_Vertex_descriptor) const override { + return mesh.poly_vert_id(cell,local_Vertex_descriptor); + }; + + cinolib::vec3d get_ref_vertex_coordinates(int vertex) const override { + assert(ref_mesh != nullptr); + return ref_mesh->vert(vertex); + } + + Shape const * get_element_shape(int cell) const override { + switch (mesh.adj_p2v(cell).size()) { + case 4: + return &tet_ref; + break; + case 8: + return &hex_ref; + break; + case 5: + return &py_ref; + break; + case 6: + return &we_ref; + break; + default: + return nullptr; + break; + } + } + +public: + Mesh_wrapper(cinolib::Polyhedralmesh<> &mesh_, cinolib::Polyhedralmesh<> const * ref_mesh_) + : mesh(mesh_) + , ref_mesh(ref_mesh_) + { + this->has_reference_mesh = (ref_mesh != nullptr); + this->assemble(); // CRITICAL + } + + void set_orientation(bool inv_tet, bool inv_hex, bool inv_pyr, bool inv_wed) { + tet_ref.inverse = inv_tet; + hex_ref.inverse = inv_hex; + py_ref.inverse = inv_pyr; + we_ref.inverse = inv_wed; + } + + cinolib::Polyhedralmesh<> &mesh; + cinolib::Polyhedralmesh<> const * ref_mesh; + + Mesh_smoothing_3::Shapes::VTK_TETRAHEDRON tet_ref; + Mesh_smoothing_3::Shapes::VTK_HEXAHEDRON hex_ref; + Mesh_smoothing_3::Shapes::VTK_PYRAMID py_ref; + Mesh_smoothing_3::Shapes::VTK_WEDGE we_ref; +}; + +void compute_octree_from_input_surface(cinolib::Trimesh<> const &target_mesh, cinolib::Octree &octree, std::vector &face_normal) { + octree.build_from_mesh_polys(target_mesh); + for(uint fid=0; fid const &mesh, cinolib::Octree &octree, std::vector &face_normal) { + // extracting the surface for projection + for(uint fid=0; fid 3) { + cinolib::vec3d center = mesh.face_centroid(fid); + for (uint i = 0; i < face_vertices.size(); ++i) { + cinolib::vec3d p0 = mesh.vert(face_vertices[(i+0)%face_vertices.size()]); + cinolib::vec3d p1 = mesh.vert(face_vertices[(i+1)%face_vertices.size()]); + cinolib::vec3d n = (p1-p0).cross(center-p0); + n.normalize(); + octree.push_triangle(face_normal.size(), p0, p1, center); + face_normal.push_back(n); + } + } + else if (face_vertices.size() == 3) { + cinolib::vec3d p0 = mesh.vert(face_vertices[0]); + cinolib::vec3d p1 = mesh.vert(face_vertices[1]); + cinolib::vec3d p2 = mesh.vert(face_vertices[2]); + cinolib::vec3d n = (p1 - p0).cross(p2 - p0); + n.normalize(); + octree.push_triangle(face_normal.size(), p0, p1, p2); + face_normal.push_back(n); + } + else { + assert(false && "Unsupported face size"); + } + } + } + octree.build(); +} + +int main(int argc, char** argv) { + const std::string filename = (argc > 1) ? argv[1] : "../data/fandisk_kenshi_hexmesh.mesh"; + + cinolib::Polyhedralmesh<> mesh(filename.c_str()); + Mesh_smoothing_3::helper_structures::Polygonal_boundary boundary; + for(uint fid=0; fid face_normal; + + mesh.save("input.mesh"); + + + if (argc > 2) { + cinolib::Trimesh<> target_mesh(argv[2]); + compute_octree_from_input_surface(target_mesh, octree, face_normal); + } + else + { + compute_octree_from_mesh_surface(mesh, octree, face_normal); + } + + auto query = [&](cinolib::vec3d pt, unsigned, double) -> std::tuple { + unsigned id; + cinolib::vec3d proj; + double dist; + octree.closest_point(pt, id, proj, dist); + return {proj, face_normal[id], 1.}; + }; + + + Mesh_wrapper mesh_wrapper(mesh, nullptr); // replacing nullptr by &reference will use it as a reference; + mesh_wrapper.set_orientation(false, false, false, false); // beware of the orientation of your input elements! + + Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper, boundary); + + smoother.set_boundary_query(query); + + smoother.set_verbose(); + smoother.set_max_number_of_iteration(100); + smoother.run(); + + mesh.save("output.mesh"); + + + return EXIT_SUCCESS; +} diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/alpha_wrap_improvement.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/alpha_wrap_improvement.cpp new file mode 100644 index 000000000000..1ee7df77f3bd --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/alpha_wrap_improvement.cpp @@ -0,0 +1,288 @@ +#include +#include + +#include + +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include + +#include +#include + + +#include + +#include +#include +#include + +namespace PMP = CGAL::Polygon_mesh_processing; +namespace AW3i = CGAL::Alpha_wraps_3::internal; + +using K = CGAL::Exact_predicates_inexact_constructions_kernel; +using Point_3 = K::Point_3; + +using Points = std::vector; +using Face = std::array; +using Faces = std::vector; + +using Mesh = CGAL::Surface_mesh; + +// If we provide a triangulation, AW3 uses its Gt, so we have to make the Gt stack explicit +using Gtb = AW3i::Alpha_wrap_AABB_geom_traits; // provides Ball_3 +using Gt = CGAL::Robust_circumcenter_filtered_traits_3; // better inexact constructions (not mandatory) + +// Since we are going to use tetrahedral remeshing on the underlying triangulation, +// we need special vertex and cell base types that meets the requirements of the +// tetrahedral remeshing concepts +using Vbbb = AW3i::Alpha_wrap_triangulation_vertex_base_3; +using Vbb = CGAL::Simplicial_mesh_vertex_base_3; +using Vb = CGAL::Tetrahedral_remeshing::Remeshing_vertex_base_3; + +using Cbbb = AW3i::Alpha_wrap_triangulation_cell_base_3; +using Cbb = CGAL::Simplicial_mesh_cell_base_3; +using Cb = CGAL::Tetrahedral_remeshing::Remeshing_cell_base_3; + +using Tds = CGAL::Triangulation_data_structure_3; + +using Delaunay_triangulation = CGAL::Delaunay_triangulation_3; + +// because the Fast_location does all kinds of rebinding shenanigans + T3_hierarchy is in the stack... +using Triangulation = CGAL::Triangulation_3; + +using Facet = Triangulation::Facet; + +using SC = CGAL::Simple_cartesian; +using SC_Point_3 = SC::Point_3; +using SC_Vector_3 = SC::Vector_3; +using SC_Iso_cuboid_3 = SC::Iso_cuboid_3; +using SC2GT = CGAL::Cartesian_converter; + +class Tetrahedral_mesh_wrapper { +public: + using Cell_descriptor = Triangulation::Cell_handle; + using Vertex_descriptor = Triangulation::Vertex_handle; + using Point_3 = K::Point_3; + + std::size_t nb_cells() const { return tetmesh.number_of_finite_cells(); } + std::size_t nb_vertices() const { return tetmesh.number_of_vertices(); } + + Point_3 vertex_coordinates(Vertex_descriptor vertex) const { return tetmesh.point(vertex); } + void set_new_vertex_coordinates(Vertex_descriptor vertex, Point_3 coord) { + vertex->set_point(coord); + } // only non const + + auto cell_range() const { + return cell_vector_range; + } + auto cell_vertices(Cell_descriptor cell) const { + std::array vertices; + for (int i = 0; i < 4; ++i) { + vertices[static_cast(i)] = cell->vertex(i); + } + return vertices; + } + std::array cell_reference_shape(Cell_descriptor) const { return Mesh_smoothing_3::Shapes::VTK_TETRAHEDRON(); } +public: + Tetrahedral_mesh_wrapper(Triangulation &tetmesh_, std::set regions) + : tetmesh(tetmesh_) + { + cell_vector_range.reserve(tetmesh.number_of_cells()); + for(auto c : tetmesh.finite_cell_handles()) { + if (regions.contains(c->subdomain_index())) { + cell_vector_range.push_back(c); + } + } + + } + Triangulation &tetmesh; + std::vector cell_vector_range; +}; + +class Triangle_boundary_wrapper { +public: + using Face_descriptor = unsigned; + using Vertex_descriptor = Triangulation::Vertex_handle; + using Normal_3 = K::Vector_3; + using Surface_patch_index = unsigned; + std::size_t nb_faces() const { return faces.size(); } + auto face_range() const { + return Mesh_smoothing_3::utils::Contiguous_unsigned_range{0, faces.size()}; + } + unsigned patch_id(Face_descriptor) const { return 0; } + std::size_t nb_face_vertices(Face_descriptor) const { return 3; } + auto face_vertices(Face_descriptor face) const { + return faces[face]; + } + +public: + std::vector> const &faces; +}; + + + +int main(int argc, char** argv) +{ + // Read the input + const std::string filename = (argc > 1) ? argv[1] : "../../data/joint.off"; + std::cout << "Reading " << filename << "..." << std::endl; + + Points points; + Faces faces; + if(!CGAL::IO::read_polygon_soup(filename, points, faces, CGAL::parameters::verbose(true)) || faces.empty()) + { + std::cerr << "Invalid input:" << filename << std::endl; + return EXIT_FAILURE; + } + + std::cout << "Input: " << points.size() << " vertices, " << faces.size() << " faces" << std::endl; + + // Compute the alpha and offset values + const double relative_alpha = (argc > 2) ? std::stod(argv[2]) : 60.; + const double relative_offset = (argc > 3) ? std::stod(argv[3]) : 600.; + + CGAL::Bbox_3 bbox; + for(const Point_3& p : points) bbox += p.bbox(); + + const double diag_length = std::sqrt(CGAL::square(bbox.xmax() - bbox.xmin()) + + CGAL::square(bbox.ymax() - bbox.ymin()) + + CGAL::square(bbox.zmax() - bbox.zmin())); + + const double alpha = diag_length / relative_alpha; + const double offset = diag_length / relative_offset; + std::cout << "alpha: " << alpha << ", offset: " << offset << std::endl; + + // Construct the wrap + CGAL::Real_timer t; + t.start(); + + using Oracle = CGAL::Alpha_wraps_3::internal::Triangle_soup_oracle; + + Oracle oracle(K{}); + oracle.add_triangle_soup(points, faces, CGAL::parameters::default_values()); + + CGAL::Alpha_wraps_3::internal::Alpha_wrapper_3 aw3(oracle); + Mesh wrap; + aw3(alpha, offset, wrap); + + t.stop(); + std::cout << "Result: " << num_vertices(wrap) << " vertices, " << num_faces(wrap) << " faces" << std::endl; + std::cout << "Took " << t.time() << " s." << std::endl; + + + + Delaunay_triangulation& aw3_dt = aw3.triangulation(); + for(auto c : aw3_dt.finite_cell_handles()) + { + if(c->is_outside()) + c->set_subdomain_index(0); + else + c->set_subdomain_index(1); + } + + const Triangulation& aw3_tr = static_cast(aw3_dt); + Triangulation tr = aw3_tr; // intentional copy + + std::cout << "BEFORE REMESHING: " << tr.number_of_vertices() << " vertices, " << tr.number_of_cells() << " cells" << std::endl; + + // Set up the c3t3 information + for(auto v : tr.finite_vertex_handles()) v->set_dimension(3); + + for(auto c : tr.finite_cell_handles()) + { + for(int i=0; i<4; ++i) + { + if(c->neighbor(i)->subdomain_index() != c->subdomain_index()) + { + c->set_surface_patch_index(i, 1); + for(int j=1; j<4; ++j) { + c->vertex((i+j)%4)->set_dimension(2); + } + } + } + } + + // edge length of regular tetrahedron with circumradius alpha + const double l = 1.6329931618554521 * alpha; // sqrt(8/3) + + std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now(); + // remeshing the interior + CGAL::tetrahedral_isotropic_remeshing(tr, l, CGAL::parameters::remesh_boundaries(false).number_of_iterations(5)); + // Remeshing the surface may lead to worse quality around features because of point equidistribution on the surface. + std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now(); + std::cout << "Time difference = " << std::chrono::duration_cast (end - begin).count() << "[ms]" << std::endl; + std::cout << "AFTER REMESHING: " << tr.number_of_vertices() << " vertices, " << tr.number_of_cells() << " cells" << std::endl; + + auto boundary_query = [&](Point_3 pt, unsigned, double) -> std::tuple{ + auto pp_and_prim = oracle.tree().closest_point_and_primitive(pt); + Point_3 proj = pp_and_prim.first; + K::Vector_3 normal { proj, pt }; + normal = normal / CGAL::approximate_sqrt(normal * normal); + proj = proj + offset * normal; + return {proj, normal, 1.}; + }; + + + std::vector> boundary_faces; + std::unordered_map> locked; + std::vector boundary_vertices; + for(auto v : tr.finite_vertex_handles()) { + locked.emplace(v, std::array{true, true, true}); + } + for(auto c : tr.finite_cell_handles()) + { + if (c->subdomain_index() != 1) continue; + + for(int i=0; i<4; ++i) + { + if(c->neighbor(i)->subdomain_index() != 1) + { + for(int j=0; j<4; ++j) { + locked.at(c->vertex(j)) = {false, false, false}; + } + boundary_faces.push_back({}); + for(int j=1; j<4; ++j) { + boundary_faces.back()[j-1] = c->vertex((i+j)%4); + boundary_vertices.push_back(c->vertex((i+j)%4)); + } + } + + } + } + + Tetrahedral_mesh_wrapper mesh_wrapper(tr, {1,2}); + Triangle_boundary_wrapper boundary_wrapper {boundary_faces}; + + Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper, boundary_wrapper); + smoother.set_verbose(); + + smoother.set_locked_vertices(boundary_vertices); + smoother.run(); + + std::ofstream all_after_smoothed("offset_wrapper.mesh"); + CGAL::IO::write_MEDIT(all_after_smoothed, tr, CGAL::parameters::all_cells(false)); + + smoother.clear_locks(); + smoother.set_vertices_dim_locks(locked); + smoother.set_boundary_query(boundary_query); + smoother.set_max_number_of_iteration(100); + smoother.run(); + smoother.clear_locks(); + smoother.run(); + + + std::ofstream inside_after_smoothed("offset_ours.mesh"); + CGAL::IO::write_MEDIT(inside_after_smoothed, tr, CGAL::parameters::all_cells(false)); + return EXIT_SUCCESS; +} diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/c3t3_smooth.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/c3t3_smooth.cpp new file mode 100644 index 000000000000..aba8fb10dfbf --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/c3t3_smooth.cpp @@ -0,0 +1,336 @@ +// Image +#include +#include +// Domain +#include +#include +#include +#include +// C3t3 +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include + +#include +#include + +#include + +// Parallel tag +#ifdef CGAL_CONCURRENT_MESH_3 +typedef CGAL::Parallel_tag Concurrency_tag; +#else +typedef CGAL::Sequential_tag Concurrency_tag; +#endif + +// Kernel +typedef CGAL::Exact_predicates_inexact_constructions_kernel K; +// Domain +typedef CGAL::Labeled_mesh_domain_3 Image_domain; +typedef CGAL::Mesh_domain_with_polyline_features_3 Mesh_domain; +// Triangulations +typedef CGAL::Mesh_vertex_base_3 Vertex_base; +typedef CGAL::Compact_mesh_cell_base_3 Cell_base; +typedef std::array Vertex_info; +typedef std::array Cell_info; +typedef CGAL::Triangulation_vertex_base_with_info_3 Vertex_base_with_info; +typedef CGAL::Triangulation_cell_base_with_info_3 Cell_base_with_info; +typedef CGAL::Mesh_triangulation_3::type Tr; +// Criteria +typedef CGAL::Mesh_criteria_3 Mesh_criteria; +// C3t3 +typedef CGAL::Mesh_complex_3_in_triangulation_3 C3t3; + + +#if CGAL_VERSION_NR >= CGAL_VERSION_NUMBER(6, 2, 0) + using Image_internal = CGAL::_image; + auto image_WK_FIXED = CGAL::WK_FIXED; + auto image_SGN_UNSIGNED = CGAL::SGN_UNSIGNED; +// Code for CGAL 6.0 or newer +#else + using Image_internal = _image; + auto image_WK_FIXED = WK_FIXED; + auto image_SGN_UNSIGNED = SGN_UNSIGNED; +#endif + + +// AABB traits for C3t3 facets and edges +struct Facet_to_triangle_property_map +{ + typedef C3t3::Facet key_type; + typedef K::Triangle_3 value_type; + typedef value_type reference; + typedef boost::readable_property_map_tag category; +}; + +inline Facet_to_triangle_property_map::reference +get(const Facet_to_triangle_property_map&, const C3t3::Facet& f) +{ + const Tr::Cell_handle cell = f.first; + const int i = f.second; + const K::Point_3& p0 = cell->vertex((i + 1) % 4)->point().point(); + const K::Point_3& p1 = cell->vertex((i + 2) % 4)->point().point(); + const K::Point_3& p2 = cell->vertex((i + 3) % 4)->point().point(); + return K::Triangle_3(p0, p1, p2); +} + +struct Facet_to_point_property_map +{ + typedef C3t3::Facet key_type; + typedef K::Point_3 value_type; + typedef value_type reference; + typedef boost::readable_property_map_tag category; +}; + +inline Facet_to_point_property_map::reference +get(const Facet_to_point_property_map&, const C3t3::Facet& f) +{ + const Tr::Cell_handle cell = f.first; + const int i = f.second; + return cell->vertex((i + 1) % 4)->point().point(); +} + +struct Edge_to_segment_property_map +{ + typedef C3t3::Edge key_type; + typedef K::Segment_3 value_type; + typedef value_type reference; + typedef boost::readable_property_map_tag category; +}; + +inline Edge_to_segment_property_map::reference +get(const Edge_to_segment_property_map&, const C3t3::Edge& e) +{ + const Tr::Cell_handle cell = e.first; + return K::Segment_3(cell->vertex(e.second)->point().point(), cell->vertex(e.third)->point().point()); +} + +struct Edge_to_point_property_map +{ + typedef C3t3::Edge key_type; + typedef K::Point_3 value_type; + typedef value_type reference; + typedef boost::readable_property_map_tag category; +}; + +inline Edge_to_point_property_map::reference +get(const Edge_to_point_property_map&, const C3t3::Edge& e) +{ + const Tr::Cell_handle cell = e.first; + return cell->vertex(e.second)->point().point(); +} + +typedef CGAL::AABB_primitive Facet_primitive; +typedef CGAL::AABB_traits_3 Facet_traits; +typedef CGAL::AABB_tree Facet_tree; + +typedef CGAL::AABB_primitive Edge_primitive; +typedef CGAL::AABB_traits_3 Edge_traits; +typedef CGAL::AABB_tree Edge_tree; + +// To avoid verbose function and named parameters call +namespace params = CGAL::parameters; + + +// image of type 'unsigned char' initialised with '0' +CGAL::Image_3 create_cgal_image(const std::size_t& xdim, const std::size_t& ydim, const std::size_t& zdim, + double vx = 1.0, double vy = 1.0, double vz = 1.0) +{ + Image_internal* im = _createImage(xdim, ydim, zdim, 1, + vx, vy, vz, 1, + image_WK_FIXED, image_SGN_UNSIGNED); + std::fill_n(static_cast(im->data), xdim*ydim*zdim, 0); + return CGAL::Image_3(im); +} + +void add_rectangle_in_image(const K::Point_3& rectangle_min, // [0..1]^3 + const K::Point_3& rectangle_max, // [0..1]^3 + const unsigned char& label, + CGAL::Image_3 &image) +{ + using CGAL::IMAGEIO::static_evaluate; + Image_internal* im = image.image(); + const std::size_t min_x = rectangle_min.x() * im->xdim; + const std::size_t min_y = rectangle_min.y() * im->ydim; + const std::size_t min_z = rectangle_min.z() * im->zdim; + const std::size_t max_x = rectangle_max.x() * im->xdim; + const std::size_t max_y = rectangle_max.y() * im->ydim; + const std::size_t max_z = rectangle_max.z() * im->zdim; + for (std::size_t k = min_z; k < max_z; k++) + for (std::size_t j = min_y; j < max_y; j++) + for (std::size_t i = min_x; i < max_x; i++) + static_evaluate(im, i, j, k) = label; +} + +void deform_c3t3_smooth_fold(C3t3& c3t3, const K::FT& angle, const K::FT& nb_planes) +{ + typedef C3t3::Point WPoint_3; + K::Point_3 center = CGAL::midpoint(K::Point_3(c3t3.bbox().min(0), c3t3.bbox().min(1), c3t3.bbox().min(2)), + K::Point_3(c3t3.bbox().max(0), c3t3.bbox().max(1), c3t3.bbox().max(2))); + K::Plane_3 start_plane(center, K::Vector_3(1,0,0)); + Tr& triangulation = c3t3.triangulation(); + std::list vertices; + for (Tr::Vertex& vertex : triangulation.tds().vertices()) + { + vertices.emplace_back(&vertex); + } + const K::FT angle_smooth_length = (c3t3.bbox().max(0) - c3t3.bbox().min(0)) * 0.1875; // * 0.25; + const K::FT angle_smooth_length_increment = angle_smooth_length / nb_planes; + const K::FT angle_increment = angle/nb_planes; + const K::FT ca_i = cos(angle_increment); + const K::FT sa_i = sin(angle_increment); + K::Point_3 plane_center = center; + plane_center -= K::Vector_3(angle_smooth_length * 0.5, 0, 0); + for (std::size_t p = 0; p < nb_planes; p++) + { + const K::Vector_3 plane_normal(cos(p*angle_increment), sin(p*angle_increment), 0); + const K::Plane_3 plane(plane_center, plane_normal); + const K::FT plane_x = plane_center[0]; + const K::FT plane_y = plane_center[1]; + const K::FT plane_z = plane_center[2]; + for (std::list::iterator it = vertices.begin(); it != vertices.end();) + { + Tr::Vertex& vertex = **it; + const WPoint_3& point = vertex.point(); + if (plane.has_on_positive_side(point.point())) + { + const K::FT px = point.point()[0] - plane_x; + const K::FT py = point.point()[1] - plane_y; + const K::FT pz = point.point()[2] - plane_z; + const K::Point_3 rotated_point(px*ca_i-py*sa_i + plane_x, px*sa_i+py*ca_i + plane_y, pz + plane_z); + vertex.set_point(WPoint_3(rotated_point, point.weight())); + it++; + } + else + { + it = vertices.erase(it); + } + } + plane_center += angle_smooth_length_increment * K::Vector_3(cos((p+1) * angle_increment), sin((p+1) * angle_increment), 0); + } +} + + +int main(int argc, char* argv[]) +{ + CGAL::Image_3 image = create_cgal_image(64, 64, 64); + add_rectangle_in_image(K::Point_3(0.2, 0.45, 0.2), K::Point_3(0.5, 0.55, 0.5), 1, image); + add_rectangle_in_image(K::Point_3(0.5, 0.45, 0.2), K::Point_3(0.8, 0.55, 0.5), 2, image); + add_rectangle_in_image(K::Point_3(0.2, 0.45, 0.5), K::Point_3(0.5, 0.55, 0.8), 3, image); + add_rectangle_in_image(K::Point_3(0.5, 0.45, 0.5), K::Point_3(0.8, 0.55, 0.8), 4, image); + _writeImage(image.image(), "input_image.inr"); + + // Make c3t3 + Mesh_domain domain = Mesh_domain::create_labeled_image_mesh_domain(image, + params::features_detector = CGAL::Mesh_3::Detect_features_in_image()); + CGAL::Bbox_3 bbox = domain.bbox(); + double diag = CGAL::sqrt(CGAL::square(bbox.xmax() - bbox.xmin()) + + CGAL::square(bbox.ymax() - bbox.ymin()) + + CGAL::square(bbox.zmax() - bbox.zmin())); + double sizing_default = diag * 0.01; + Mesh_criteria criteria(params::edge_size = sizing_default, + params::facet_angle = 30, + params::facet_size = sizing_default, + params::facet_distance = sizing_default / 10, + params::facet_topology = CGAL::FACET_VERTICES_ON_SAME_SURFACE_PATCH, + params::cell_radius_edge_ratio = 1.5, + params::cell_size = 0 + ); + C3t3 c3t3 = CGAL::make_mesh_3(domain, criteria, + params::no_exude(), + params::no_perturb()); + // Output + CGAL::dump_c3t3(c3t3, "c3t3_initial"); + + // Make deformed c3t3 + C3t3 c3t3_deformed(static_cast(c3t3)); + deform_c3t3_smooth_fold(c3t3_deformed, 3.141592635 * 0.5, 100); + + C3t3 c3t3_deformed_ref(static_cast(c3t3)); + deform_c3t3_smooth_fold(c3t3_deformed_ref, 3.141592635 * 0.5, 100); + CGAL::dump_c3t3(c3t3_deformed, "c3t3_deformed"); + + + // AABB trees of the surface and curve features of the c3t3 + std::map> facets_by_patch; + for (auto f : c3t3_deformed_ref.facets_in_complex()) + { + facets_by_patch[c3t3_deformed_ref.surface_patch_index(f)].push_back(f); + } + + std::map> edges_by_curve; + for (auto e : c3t3_deformed_ref.edges_in_complex()) + { + edges_by_curve[c3t3_deformed_ref.curve_index(e)].push_back(e); + } + + std::map facet_trees; + for (auto& kv : facets_by_patch) + { + facet_trees.try_emplace(kv.first, kv.second.begin(), kv.second.end()); + } + + std::map edge_trees; + for (auto& kv : edges_by_curve) + { + edge_trees.try_emplace(kv.first, kv.second.begin(), kv.second.end()); + } + + std::cout << "Built " << facet_trees.size() << " facet AABB trees and " << edge_trees.size() << " edge AABB trees." << std::endl; + + + // Smoothing + + Mesh_smoothing_3::C3t3_smoother smoother(c3t3_deformed); + for (auto c : c3t3.vertices_in_complex()) + { + smoother.set_vertex_lock(c, true); + } + + smoother.set_boundary_query([&](K::Point_3 const &pt, C3t3::Surface_patch_index id, double radius) -> std::tuple { + auto res = facet_trees.at(id).closest_point_and_primitive(pt); + K::Point_3 closest_point = res.first; + const auto triangle = c3t3_deformed_ref.triangulation().triangle(res.second); + K::Vector_3 normal = CGAL::unit_normal(triangle.vertex(0), triangle.vertex(1), triangle.vertex(2)); + return std::make_tuple(closest_point, normal, 1.); + }); + + smoother.set_curves_query([&](K::Point_3 const &pt, C3t3::Curve_index id, double radius) -> std::tuple { + auto res = edge_trees.at(id).closest_point_and_primitive(pt); + K::Point_3 closest_point = res.first; + const auto segment = c3t3_deformed_ref.triangulation().segment(res.second); + K::Vector_3 direction = (segment.target() - segment.source()); + if (direction.squared_length() > 1e-8) + { + direction /= CGAL::sqrt(direction.squared_length()); + } + return std::make_tuple(closest_point, direction, 1.); + }); + + smoother.set_verbose(); + smoother.set_max_number_of_iteration(100); + smoother.run(); + + CGAL::dump_c3t3(c3t3_deformed, "c3t3_smoothed"); + + return 0; +} \ No newline at end of file diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/data/43149.off b/Mesh_smoothing_3/examples/Mesh_smoothing_3/data/43149.off new file mode 100644 index 000000000000..00216f431810 --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/data/43149.off @@ -0,0 +1,67722 @@ +OFF +50790 16930 0 +-8.71451 3.51833 17.0667 +-8.41091 3.04808 17.2573 +-8.41967 3.59645 16.9637 +-8.41967 3.59645 16.9637 +-8.41091 3.04808 17.2573 +-8.40221 3.03882 17.2605 +-8.41967 3.59645 16.9637 +-8.40221 3.03882 17.2605 +-8.30591 3.62659 16.9239 +-8.30591 3.62659 16.9239 +-8.40221 3.03882 17.2605 +-8.2965 3.57918 16.9475 +-8.30591 3.62659 16.9239 +-8.2965 3.57918 16.9475 +-8.28487 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+2 11 101 +2 101 102 +2 102 103 +2 103 104 +2 104 105 +2 105 18 diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/CMakeLists.txt b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/CMakeLists.txt new file mode 100644 index 000000000000..0f205dfa016c --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/CMakeLists.txt @@ -0,0 +1,9 @@ + + +create_single_source_cgal_program("cgal_offset_computation.cpp") +create_single_source_cgal_program("cgal_c3t3_test.cpp") +target_link_libraries(cgal_offset_computation PRIVATE Mesh_smoothing_3) +target_link_libraries(cgal_c3t3_test PRIVATE Mesh_smoothing_3) + + + diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/cgal_c3t3_test.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/cgal_c3t3_test.cpp new file mode 100644 index 000000000000..aba8fb10dfbf --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/cgal_c3t3_test.cpp @@ -0,0 +1,336 @@ +// Image +#include +#include +// Domain +#include +#include +#include +#include +// C3t3 +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include + +#include +#include + +#include + +// Parallel tag +#ifdef CGAL_CONCURRENT_MESH_3 +typedef CGAL::Parallel_tag Concurrency_tag; +#else +typedef CGAL::Sequential_tag Concurrency_tag; +#endif + +// Kernel +typedef CGAL::Exact_predicates_inexact_constructions_kernel K; +// Domain +typedef CGAL::Labeled_mesh_domain_3 Image_domain; +typedef CGAL::Mesh_domain_with_polyline_features_3 Mesh_domain; +// Triangulations +typedef CGAL::Mesh_vertex_base_3 Vertex_base; +typedef CGAL::Compact_mesh_cell_base_3 Cell_base; +typedef std::array Vertex_info; +typedef std::array Cell_info; +typedef CGAL::Triangulation_vertex_base_with_info_3 Vertex_base_with_info; +typedef CGAL::Triangulation_cell_base_with_info_3 Cell_base_with_info; +typedef CGAL::Mesh_triangulation_3::type Tr; +// Criteria +typedef CGAL::Mesh_criteria_3 Mesh_criteria; +// C3t3 +typedef CGAL::Mesh_complex_3_in_triangulation_3 C3t3; + + +#if CGAL_VERSION_NR >= CGAL_VERSION_NUMBER(6, 2, 0) + using Image_internal = CGAL::_image; + auto image_WK_FIXED = CGAL::WK_FIXED; + auto image_SGN_UNSIGNED = CGAL::SGN_UNSIGNED; +// Code for CGAL 6.0 or newer +#else + using Image_internal = _image; + auto image_WK_FIXED = WK_FIXED; + auto image_SGN_UNSIGNED = SGN_UNSIGNED; +#endif + + +// AABB traits for C3t3 facets and edges +struct Facet_to_triangle_property_map +{ + typedef C3t3::Facet key_type; + typedef K::Triangle_3 value_type; + typedef value_type reference; + typedef boost::readable_property_map_tag category; +}; + +inline Facet_to_triangle_property_map::reference +get(const Facet_to_triangle_property_map&, const C3t3::Facet& f) +{ + const Tr::Cell_handle cell = f.first; + const int i = f.second; + const K::Point_3& p0 = cell->vertex((i + 1) % 4)->point().point(); + const K::Point_3& p1 = cell->vertex((i + 2) % 4)->point().point(); + const K::Point_3& p2 = cell->vertex((i + 3) % 4)->point().point(); + return K::Triangle_3(p0, p1, p2); +} + +struct Facet_to_point_property_map +{ + typedef C3t3::Facet key_type; + typedef K::Point_3 value_type; + typedef value_type reference; + typedef boost::readable_property_map_tag category; +}; + +inline Facet_to_point_property_map::reference +get(const Facet_to_point_property_map&, const C3t3::Facet& f) +{ + const Tr::Cell_handle cell = f.first; + const int i = f.second; + return cell->vertex((i + 1) % 4)->point().point(); +} + +struct Edge_to_segment_property_map +{ + typedef C3t3::Edge key_type; + typedef K::Segment_3 value_type; + typedef value_type reference; + typedef boost::readable_property_map_tag category; +}; + +inline Edge_to_segment_property_map::reference +get(const Edge_to_segment_property_map&, const C3t3::Edge& e) +{ + const Tr::Cell_handle cell = e.first; + return K::Segment_3(cell->vertex(e.second)->point().point(), cell->vertex(e.third)->point().point()); +} + +struct Edge_to_point_property_map +{ + typedef C3t3::Edge key_type; + typedef K::Point_3 value_type; + typedef value_type reference; + typedef boost::readable_property_map_tag category; +}; + +inline Edge_to_point_property_map::reference +get(const Edge_to_point_property_map&, const C3t3::Edge& e) +{ + const Tr::Cell_handle cell = e.first; + return cell->vertex(e.second)->point().point(); +} + +typedef CGAL::AABB_primitive Facet_primitive; +typedef CGAL::AABB_traits_3 Facet_traits; +typedef CGAL::AABB_tree Facet_tree; + +typedef CGAL::AABB_primitive Edge_primitive; +typedef CGAL::AABB_traits_3 Edge_traits; +typedef CGAL::AABB_tree Edge_tree; + +// To avoid verbose function and named parameters call +namespace params = CGAL::parameters; + + +// image of type 'unsigned char' initialised with '0' +CGAL::Image_3 create_cgal_image(const std::size_t& xdim, const std::size_t& ydim, const std::size_t& zdim, + double vx = 1.0, double vy = 1.0, double vz = 1.0) +{ + Image_internal* im = _createImage(xdim, ydim, zdim, 1, + vx, vy, vz, 1, + image_WK_FIXED, image_SGN_UNSIGNED); + std::fill_n(static_cast(im->data), xdim*ydim*zdim, 0); + return CGAL::Image_3(im); +} + +void add_rectangle_in_image(const K::Point_3& rectangle_min, // [0..1]^3 + const K::Point_3& rectangle_max, // [0..1]^3 + const unsigned char& label, + CGAL::Image_3 &image) +{ + using CGAL::IMAGEIO::static_evaluate; + Image_internal* im = image.image(); + const std::size_t min_x = rectangle_min.x() * im->xdim; + const std::size_t min_y = rectangle_min.y() * im->ydim; + const std::size_t min_z = rectangle_min.z() * im->zdim; + const std::size_t max_x = rectangle_max.x() * im->xdim; + const std::size_t max_y = rectangle_max.y() * im->ydim; + const std::size_t max_z = rectangle_max.z() * im->zdim; + for (std::size_t k = min_z; k < max_z; k++) + for (std::size_t j = min_y; j < max_y; j++) + for (std::size_t i = min_x; i < max_x; i++) + static_evaluate(im, i, j, k) = label; +} + +void deform_c3t3_smooth_fold(C3t3& c3t3, const K::FT& angle, const K::FT& nb_planes) +{ + typedef C3t3::Point WPoint_3; + K::Point_3 center = CGAL::midpoint(K::Point_3(c3t3.bbox().min(0), c3t3.bbox().min(1), c3t3.bbox().min(2)), + K::Point_3(c3t3.bbox().max(0), c3t3.bbox().max(1), c3t3.bbox().max(2))); + K::Plane_3 start_plane(center, K::Vector_3(1,0,0)); + Tr& triangulation = c3t3.triangulation(); + std::list vertices; + for (Tr::Vertex& vertex : triangulation.tds().vertices()) + { + vertices.emplace_back(&vertex); + } + const K::FT angle_smooth_length = (c3t3.bbox().max(0) - c3t3.bbox().min(0)) * 0.1875; // * 0.25; + const K::FT angle_smooth_length_increment = angle_smooth_length / nb_planes; + const K::FT angle_increment = angle/nb_planes; + const K::FT ca_i = cos(angle_increment); + const K::FT sa_i = sin(angle_increment); + K::Point_3 plane_center = center; + plane_center -= K::Vector_3(angle_smooth_length * 0.5, 0, 0); + for (std::size_t p = 0; p < nb_planes; p++) + { + const K::Vector_3 plane_normal(cos(p*angle_increment), sin(p*angle_increment), 0); + const K::Plane_3 plane(plane_center, plane_normal); + const K::FT plane_x = plane_center[0]; + const K::FT plane_y = plane_center[1]; + const K::FT plane_z = plane_center[2]; + for (std::list::iterator it = vertices.begin(); it != vertices.end();) + { + Tr::Vertex& vertex = **it; + const WPoint_3& point = vertex.point(); + if (plane.has_on_positive_side(point.point())) + { + const K::FT px = point.point()[0] - plane_x; + const K::FT py = point.point()[1] - plane_y; + const K::FT pz = point.point()[2] - plane_z; + const K::Point_3 rotated_point(px*ca_i-py*sa_i + plane_x, px*sa_i+py*ca_i + plane_y, pz + plane_z); + vertex.set_point(WPoint_3(rotated_point, point.weight())); + it++; + } + else + { + it = vertices.erase(it); + } + } + plane_center += angle_smooth_length_increment * K::Vector_3(cos((p+1) * angle_increment), sin((p+1) * angle_increment), 0); + } +} + + +int main(int argc, char* argv[]) +{ + CGAL::Image_3 image = create_cgal_image(64, 64, 64); + add_rectangle_in_image(K::Point_3(0.2, 0.45, 0.2), K::Point_3(0.5, 0.55, 0.5), 1, image); + add_rectangle_in_image(K::Point_3(0.5, 0.45, 0.2), K::Point_3(0.8, 0.55, 0.5), 2, image); + add_rectangle_in_image(K::Point_3(0.2, 0.45, 0.5), K::Point_3(0.5, 0.55, 0.8), 3, image); + add_rectangle_in_image(K::Point_3(0.5, 0.45, 0.5), K::Point_3(0.8, 0.55, 0.8), 4, image); + _writeImage(image.image(), "input_image.inr"); + + // Make c3t3 + Mesh_domain domain = Mesh_domain::create_labeled_image_mesh_domain(image, + params::features_detector = CGAL::Mesh_3::Detect_features_in_image()); + CGAL::Bbox_3 bbox = domain.bbox(); + double diag = CGAL::sqrt(CGAL::square(bbox.xmax() - bbox.xmin()) + + CGAL::square(bbox.ymax() - bbox.ymin()) + + CGAL::square(bbox.zmax() - bbox.zmin())); + double sizing_default = diag * 0.01; + Mesh_criteria criteria(params::edge_size = sizing_default, + params::facet_angle = 30, + params::facet_size = sizing_default, + params::facet_distance = sizing_default / 10, + params::facet_topology = CGAL::FACET_VERTICES_ON_SAME_SURFACE_PATCH, + params::cell_radius_edge_ratio = 1.5, + params::cell_size = 0 + ); + C3t3 c3t3 = CGAL::make_mesh_3(domain, criteria, + params::no_exude(), + params::no_perturb()); + // Output + CGAL::dump_c3t3(c3t3, "c3t3_initial"); + + // Make deformed c3t3 + C3t3 c3t3_deformed(static_cast(c3t3)); + deform_c3t3_smooth_fold(c3t3_deformed, 3.141592635 * 0.5, 100); + + C3t3 c3t3_deformed_ref(static_cast(c3t3)); + deform_c3t3_smooth_fold(c3t3_deformed_ref, 3.141592635 * 0.5, 100); + CGAL::dump_c3t3(c3t3_deformed, "c3t3_deformed"); + + + // AABB trees of the surface and curve features of the c3t3 + std::map> facets_by_patch; + for (auto f : c3t3_deformed_ref.facets_in_complex()) + { + facets_by_patch[c3t3_deformed_ref.surface_patch_index(f)].push_back(f); + } + + std::map> edges_by_curve; + for (auto e : c3t3_deformed_ref.edges_in_complex()) + { + edges_by_curve[c3t3_deformed_ref.curve_index(e)].push_back(e); + } + + std::map facet_trees; + for (auto& kv : facets_by_patch) + { + facet_trees.try_emplace(kv.first, kv.second.begin(), kv.second.end()); + } + + std::map edge_trees; + for (auto& kv : edges_by_curve) + { + edge_trees.try_emplace(kv.first, kv.second.begin(), kv.second.end()); + } + + std::cout << "Built " << facet_trees.size() << " facet AABB trees and " << edge_trees.size() << " edge AABB trees." << std::endl; + + + // Smoothing + + Mesh_smoothing_3::C3t3_smoother smoother(c3t3_deformed); + for (auto c : c3t3.vertices_in_complex()) + { + smoother.set_vertex_lock(c, true); + } + + smoother.set_boundary_query([&](K::Point_3 const &pt, C3t3::Surface_patch_index id, double radius) -> std::tuple { + auto res = facet_trees.at(id).closest_point_and_primitive(pt); + K::Point_3 closest_point = res.first; + const auto triangle = c3t3_deformed_ref.triangulation().triangle(res.second); + K::Vector_3 normal = CGAL::unit_normal(triangle.vertex(0), triangle.vertex(1), triangle.vertex(2)); + return std::make_tuple(closest_point, normal, 1.); + }); + + smoother.set_curves_query([&](K::Point_3 const &pt, C3t3::Curve_index id, double radius) -> std::tuple { + auto res = edge_trees.at(id).closest_point_and_primitive(pt); + K::Point_3 closest_point = res.first; + const auto segment = c3t3_deformed_ref.triangulation().segment(res.second); + K::Vector_3 direction = (segment.target() - segment.source()); + if (direction.squared_length() > 1e-8) + { + direction /= CGAL::sqrt(direction.squared_length()); + } + return std::make_tuple(closest_point, direction, 1.); + }); + + smoother.set_verbose(); + smoother.set_max_number_of_iteration(100); + smoother.run(); + + CGAL::dump_c3t3(c3t3_deformed, "c3t3_smoothed"); + + return 0; +} \ No newline at end of file diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/cgal_offset_computation.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/cgal_offset_computation.cpp new file mode 100644 index 000000000000..1ee7df77f3bd --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/cgal_offset_computation.cpp @@ -0,0 +1,288 @@ +#include +#include + +#include + +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include + +#include +#include + + +#include + +#include +#include +#include + +namespace PMP = CGAL::Polygon_mesh_processing; +namespace AW3i = CGAL::Alpha_wraps_3::internal; + +using K = CGAL::Exact_predicates_inexact_constructions_kernel; +using Point_3 = K::Point_3; + +using Points = std::vector; +using Face = std::array; +using Faces = std::vector; + +using Mesh = CGAL::Surface_mesh; + +// If we provide a triangulation, AW3 uses its Gt, so we have to make the Gt stack explicit +using Gtb = AW3i::Alpha_wrap_AABB_geom_traits; // provides Ball_3 +using Gt = CGAL::Robust_circumcenter_filtered_traits_3; // better inexact constructions (not mandatory) + +// Since we are going to use tetrahedral remeshing on the underlying triangulation, +// we need special vertex and cell base types that meets the requirements of the +// tetrahedral remeshing concepts +using Vbbb = AW3i::Alpha_wrap_triangulation_vertex_base_3; +using Vbb = CGAL::Simplicial_mesh_vertex_base_3; +using Vb = CGAL::Tetrahedral_remeshing::Remeshing_vertex_base_3; + +using Cbbb = AW3i::Alpha_wrap_triangulation_cell_base_3; +using Cbb = CGAL::Simplicial_mesh_cell_base_3; +using Cb = CGAL::Tetrahedral_remeshing::Remeshing_cell_base_3; + +using Tds = CGAL::Triangulation_data_structure_3; + +using Delaunay_triangulation = CGAL::Delaunay_triangulation_3; + +// because the Fast_location does all kinds of rebinding shenanigans + T3_hierarchy is in the stack... +using Triangulation = CGAL::Triangulation_3; + +using Facet = Triangulation::Facet; + +using SC = CGAL::Simple_cartesian; +using SC_Point_3 = SC::Point_3; +using SC_Vector_3 = SC::Vector_3; +using SC_Iso_cuboid_3 = SC::Iso_cuboid_3; +using SC2GT = CGAL::Cartesian_converter; + +class Tetrahedral_mesh_wrapper { +public: + using Cell_descriptor = Triangulation::Cell_handle; + using Vertex_descriptor = Triangulation::Vertex_handle; + using Point_3 = K::Point_3; + + std::size_t nb_cells() const { return tetmesh.number_of_finite_cells(); } + std::size_t nb_vertices() const { return tetmesh.number_of_vertices(); } + + Point_3 vertex_coordinates(Vertex_descriptor vertex) const { return tetmesh.point(vertex); } + void set_new_vertex_coordinates(Vertex_descriptor vertex, Point_3 coord) { + vertex->set_point(coord); + } // only non const + + auto cell_range() const { + return cell_vector_range; + } + auto cell_vertices(Cell_descriptor cell) const { + std::array vertices; + for (int i = 0; i < 4; ++i) { + vertices[static_cast(i)] = cell->vertex(i); + } + return vertices; + } + std::array cell_reference_shape(Cell_descriptor) const { return Mesh_smoothing_3::Shapes::VTK_TETRAHEDRON(); } +public: + Tetrahedral_mesh_wrapper(Triangulation &tetmesh_, std::set regions) + : tetmesh(tetmesh_) + { + cell_vector_range.reserve(tetmesh.number_of_cells()); + for(auto c : tetmesh.finite_cell_handles()) { + if (regions.contains(c->subdomain_index())) { + cell_vector_range.push_back(c); + } + } + + } + Triangulation &tetmesh; + std::vector cell_vector_range; +}; + +class Triangle_boundary_wrapper { +public: + using Face_descriptor = unsigned; + using Vertex_descriptor = Triangulation::Vertex_handle; + using Normal_3 = K::Vector_3; + using Surface_patch_index = unsigned; + std::size_t nb_faces() const { return faces.size(); } + auto face_range() const { + return Mesh_smoothing_3::utils::Contiguous_unsigned_range{0, faces.size()}; + } + unsigned patch_id(Face_descriptor) const { return 0; } + std::size_t nb_face_vertices(Face_descriptor) const { return 3; } + auto face_vertices(Face_descriptor face) const { + return faces[face]; + } + +public: + std::vector> const &faces; +}; + + + +int main(int argc, char** argv) +{ + // Read the input + const std::string filename = (argc > 1) ? argv[1] : "../../data/joint.off"; + std::cout << "Reading " << filename << "..." << std::endl; + + Points points; + Faces faces; + if(!CGAL::IO::read_polygon_soup(filename, points, faces, CGAL::parameters::verbose(true)) || faces.empty()) + { + std::cerr << "Invalid input:" << filename << std::endl; + return EXIT_FAILURE; + } + + std::cout << "Input: " << points.size() << " vertices, " << faces.size() << " faces" << std::endl; + + // Compute the alpha and offset values + const double relative_alpha = (argc > 2) ? std::stod(argv[2]) : 60.; + const double relative_offset = (argc > 3) ? std::stod(argv[3]) : 600.; + + CGAL::Bbox_3 bbox; + for(const Point_3& p : points) bbox += p.bbox(); + + const double diag_length = std::sqrt(CGAL::square(bbox.xmax() - bbox.xmin()) + + CGAL::square(bbox.ymax() - bbox.ymin()) + + CGAL::square(bbox.zmax() - bbox.zmin())); + + const double alpha = diag_length / relative_alpha; + const double offset = diag_length / relative_offset; + std::cout << "alpha: " << alpha << ", offset: " << offset << std::endl; + + // Construct the wrap + CGAL::Real_timer t; + t.start(); + + using Oracle = CGAL::Alpha_wraps_3::internal::Triangle_soup_oracle; + + Oracle oracle(K{}); + oracle.add_triangle_soup(points, faces, CGAL::parameters::default_values()); + + CGAL::Alpha_wraps_3::internal::Alpha_wrapper_3 aw3(oracle); + Mesh wrap; + aw3(alpha, offset, wrap); + + t.stop(); + std::cout << "Result: " << num_vertices(wrap) << " vertices, " << num_faces(wrap) << " faces" << std::endl; + std::cout << "Took " << t.time() << " s." << std::endl; + + + + Delaunay_triangulation& aw3_dt = aw3.triangulation(); + for(auto c : aw3_dt.finite_cell_handles()) + { + if(c->is_outside()) + c->set_subdomain_index(0); + else + c->set_subdomain_index(1); + } + + const Triangulation& aw3_tr = static_cast(aw3_dt); + Triangulation tr = aw3_tr; // intentional copy + + std::cout << "BEFORE REMESHING: " << tr.number_of_vertices() << " vertices, " << tr.number_of_cells() << " cells" << std::endl; + + // Set up the c3t3 information + for(auto v : tr.finite_vertex_handles()) v->set_dimension(3); + + for(auto c : tr.finite_cell_handles()) + { + for(int i=0; i<4; ++i) + { + if(c->neighbor(i)->subdomain_index() != c->subdomain_index()) + { + c->set_surface_patch_index(i, 1); + for(int j=1; j<4; ++j) { + c->vertex((i+j)%4)->set_dimension(2); + } + } + } + } + + // edge length of regular tetrahedron with circumradius alpha + const double l = 1.6329931618554521 * alpha; // sqrt(8/3) + + std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now(); + // remeshing the interior + CGAL::tetrahedral_isotropic_remeshing(tr, l, CGAL::parameters::remesh_boundaries(false).number_of_iterations(5)); + // Remeshing the surface may lead to worse quality around features because of point equidistribution on the surface. + std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now(); + std::cout << "Time difference = " << std::chrono::duration_cast (end - begin).count() << "[ms]" << std::endl; + std::cout << "AFTER REMESHING: " << tr.number_of_vertices() << " vertices, " << tr.number_of_cells() << " cells" << std::endl; + + auto boundary_query = [&](Point_3 pt, unsigned, double) -> std::tuple{ + auto pp_and_prim = oracle.tree().closest_point_and_primitive(pt); + Point_3 proj = pp_and_prim.first; + K::Vector_3 normal { proj, pt }; + normal = normal / CGAL::approximate_sqrt(normal * normal); + proj = proj + offset * normal; + return {proj, normal, 1.}; + }; + + + std::vector> boundary_faces; + std::unordered_map> locked; + std::vector boundary_vertices; + for(auto v : tr.finite_vertex_handles()) { + locked.emplace(v, std::array{true, true, true}); + } + for(auto c : tr.finite_cell_handles()) + { + if (c->subdomain_index() != 1) continue; + + for(int i=0; i<4; ++i) + { + if(c->neighbor(i)->subdomain_index() != 1) + { + for(int j=0; j<4; ++j) { + locked.at(c->vertex(j)) = {false, false, false}; + } + boundary_faces.push_back({}); + for(int j=1; j<4; ++j) { + boundary_faces.back()[j-1] = c->vertex((i+j)%4); + boundary_vertices.push_back(c->vertex((i+j)%4)); + } + } + + } + } + + Tetrahedral_mesh_wrapper mesh_wrapper(tr, {1,2}); + Triangle_boundary_wrapper boundary_wrapper {boundary_faces}; + + Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper, boundary_wrapper); + smoother.set_verbose(); + + smoother.set_locked_vertices(boundary_vertices); + smoother.run(); + + std::ofstream all_after_smoothed("offset_wrapper.mesh"); + CGAL::IO::write_MEDIT(all_after_smoothed, tr, CGAL::parameters::all_cells(false)); + + smoother.clear_locks(); + smoother.set_vertices_dim_locks(locked); + smoother.set_boundary_query(boundary_query); + smoother.set_max_number_of_iteration(100); + smoother.run(); + smoother.clear_locks(); + smoother.run(); + + + std::ofstream inside_after_smoothed("offset_ours.mesh"); + CGAL::IO::write_MEDIT(inside_after_smoothed, tr, CGAL::parameters::all_cells(false)); + return EXIT_SUCCESS; +} diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CMakeLists.txt b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CMakeLists.txt new file mode 100644 index 000000000000..6fc86e42c3bd --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CMakeLists.txt @@ -0,0 +1,16 @@ +add_subdirectory(Cinolib) +add_subdirectory(libigl) +add_subdirectory(geogram) + +option(BUILD_CGAL "Make example with CGAL" ON) +if (BUILD_CGAL) + # Try to find CGAL but do not fail the configure if it's missing; skip examples when absent. + find_package(CGAL QUIET) + if (TARGET CGAL::CGAL OR CGAL_FOUND) + add_subdirectory(CGAL) + else() + message(WARNING "CGAL requested but not found; skipping CGAL examples.") + endif() +else() + message(WARNING "CGAL is disabled, cgal_offset_computation will not be available.") +endif() diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/Cinolib/CMakeLists.txt b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/Cinolib/CMakeLists.txt new file mode 100644 index 000000000000..32077734eb44 --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/Cinolib/CMakeLists.txt @@ -0,0 +1,14 @@ + +FetchContent_Declare( + cinolib + GIT_REPOSITORY https://github.com/mlivesu/cinolib + GIT_TAG 8fecf513ca7bf64556fcd73d7b7c2952778ad647 +) +FetchContent_MakeAvailable(cinolib) + +set(cinolib_DIR ${cinolib_SOURCE_DIR}) +find_package(cinolib REQUIRED) + + +add_executable(cinolib_smooth cinolib_smooth.cpp) +target_link_libraries(cinolib_smooth PRIVATE Mesh_smoothing_3 cinolib) \ No newline at end of file diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/Cinolib/cinolib_smooth.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/Cinolib/cinolib_smooth.cpp new file mode 100644 index 000000000000..00b0a50bc70d --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/Cinolib/cinolib_smooth.cpp @@ -0,0 +1,169 @@ +#include +#include +#include + +using Mesh_smoothing_3::utils::Contiguous_unsigned_range; + +class Mesh_wrapper : public Mesh_smoothing_3::helper_structures::Mixed_element_mesh { +public: + std::size_t nb_vertices() const override { return mesh.num_verts(); } + + Point_3 vertex_coordinates(Vertex_descriptor vertex) const override { + return mesh.vert(vertex); + } + void set_new_vertex_coordinates(int vertex, Point_3 coord) override { mesh.vert(vertex) = coord; } + + Contiguous_unsigned_range input_cell_range() const override { return Contiguous_unsigned_range{0, mesh.num_polys()}; } + + Vertex_descriptor get_cell_vertex(int cell, unsigned local_Vertex_descriptor) const override { + return mesh.poly_vert_id(cell,local_Vertex_descriptor); + }; + + cinolib::vec3d get_ref_vertex_coordinates(int vertex) const override { + assert(ref_mesh != nullptr); + return ref_mesh->vert(vertex); + } + + Shape const * get_element_shape(int cell) const override { + switch (mesh.adj_p2v(cell).size()) { + case 4: + return &tet_ref; + break; + case 8: + return &hex_ref; + break; + case 5: + return &py_ref; + break; + case 6: + return &we_ref; + break; + default: + return nullptr; + break; + } + } + +public: + Mesh_wrapper(cinolib::Polyhedralmesh<> &mesh_, cinolib::Polyhedralmesh<> const * ref_mesh_) + : mesh(mesh_) + , ref_mesh(ref_mesh_) + { + this->has_reference_mesh = (ref_mesh != nullptr); + this->assemble(); // CRITICAL + } + + void set_orientation(bool inv_tet, bool inv_hex, bool inv_pyr, bool inv_wed) { + tet_ref.inverse = inv_tet; + hex_ref.inverse = inv_hex; + py_ref.inverse = inv_pyr; + we_ref.inverse = inv_wed; + } + + cinolib::Polyhedralmesh<> &mesh; + cinolib::Polyhedralmesh<> const * ref_mesh; + + Mesh_smoothing_3::Shapes::VTK_TETRAHEDRON tet_ref; + Mesh_smoothing_3::Shapes::VTK_HEXAHEDRON hex_ref; + Mesh_smoothing_3::Shapes::VTK_PYRAMID py_ref; + Mesh_smoothing_3::Shapes::VTK_WEDGE we_ref; +}; + +void compute_octree_from_input_surface(cinolib::Trimesh<> const &target_mesh, cinolib::Octree &octree, std::vector &face_normal) { + octree.build_from_mesh_polys(target_mesh); + for(uint fid=0; fid const &mesh, cinolib::Octree &octree, std::vector &face_normal) { + // extracting the surface for projection + for(uint fid=0; fid 3) { + cinolib::vec3d center = mesh.face_centroid(fid); + for (uint i = 0; i < face_vertices.size(); ++i) { + cinolib::vec3d p0 = mesh.vert(face_vertices[(i+0)%face_vertices.size()]); + cinolib::vec3d p1 = mesh.vert(face_vertices[(i+1)%face_vertices.size()]); + cinolib::vec3d n = (p1-p0).cross(center-p0); + n.normalize(); + octree.push_triangle(face_normal.size(), p0, p1, center); + face_normal.push_back(n); + } + } + else if (face_vertices.size() == 3) { + cinolib::vec3d p0 = mesh.vert(face_vertices[0]); + cinolib::vec3d p1 = mesh.vert(face_vertices[1]); + cinolib::vec3d p2 = mesh.vert(face_vertices[2]); + cinolib::vec3d n = (p1 - p0).cross(p2 - p0); + n.normalize(); + octree.push_triangle(face_normal.size(), p0, p1, p2); + face_normal.push_back(n); + } + else { + assert(false && "Unsupported face size"); + } + } + } + octree.build(); +} + +int main(int argc, char** argv) { + const std::string filename = (argc > 1) ? argv[1] : "../data/fandisk_kenshi_hexmesh.mesh"; + + cinolib::Polyhedralmesh<> mesh(filename.c_str()); + Mesh_smoothing_3::helper_structures::Polygonal_boundary boundary; + for(uint fid=0; fid face_normal; + + mesh.save("input.mesh"); + + + if (argc > 2) { + cinolib::Trimesh<> target_mesh(argv[2]); + compute_octree_from_input_surface(target_mesh, octree, face_normal); + } + else + { + compute_octree_from_mesh_surface(mesh, octree, face_normal); + } + + auto query = [&](cinolib::vec3d pt, unsigned, double) -> std::tuple { + unsigned id; + cinolib::vec3d proj; + double dist; + octree.closest_point(pt, id, proj, dist); + return {proj, face_normal[id], 1.}; + }; + + + Mesh_wrapper mesh_wrapper(mesh, nullptr); // replacing nullptr by &reference will use it as a reference; + mesh_wrapper.set_orientation(false, false, false, false); // beware of the orientation of your input elements! + + Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper, boundary); + + smoother.set_boundary_query(query); + + smoother.set_verbose(); + smoother.set_max_number_of_iteration(100); + smoother.run(); + + mesh.save("output.mesh"); + + + return EXIT_SUCCESS; +} diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/README.md b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/README.md new file mode 100644 index 000000000000..888935d1cd9c --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/README.md @@ -0,0 +1,87 @@ + +We provide various examples from the paper: +* [**Mesh projection and smoothing**](#mesh-smoothing-and-projection) with Geogram or Cinolib +* [**Usage of various queries**](#various-queries) with Geogram +* [**Handle based deformation**](#handle-based-deformation) with LibIGL +* [**Offset computation with Alpha-wrapper**](#mesh-offsetting) with CGAL + +We will slowly expand this list to match all figures in the paper. + + +# Mesh smoothing and projection +Fitting image + +This executable is the most standard use of the code: improve the quality of mesh and fit to its geometric target. The code can be called as: +```Bash +./bin/geogram_smooth ../data/sphere.mesh ../data/max-planck.obj +``` +*sphere.mesh* represent the volumetric tetrahedral mesh and *max-planck.obj* the geometric target represented as a surface triangle mesh. The code works with mesh containing Tetrahedra, Pyramids, Wedges and Hexahedra. + +The same executable can also be called with a unique input parameter, as: +```Bash +./bin/geogram_smooth ../data/fandisk_kenshi_hexmesh.mesh +``` +In this case it will operate as a smoothing (or untangling algorithm), improving the mesh quality while trying to preserve the outer boundary. + +In both cases, the result will be saved as `output.mesh`. The executable `cinolib_smooth` operates in the exact same way and only differentiates from `geogram_smooth` because it uses a different frontend for mesh handling. + +# Various queries +Constraints image + +This executable highlight the alignment to all type of queries at the same time: Surface, Curves and a handle. The code can be called as: +```Bash +./bin/geogram_smooth_custom ../data/cube.mesh ../data/cube.mesh ../data/cube_target_cuves.mesh ../data/cube_target_points.txt +``` +*cube.mesh* represent the input mesh, from which we read the cells (volume), the facets (surface) and the edges (curves). The second mesh is the surface used as projection, for which we simply use the same model. The third input "cube_target_cuves.mesh" contains the edge mesh forming the triangle that is used for projection. And finally, "cube_target_points.txt" contains vertex handle as: `id x y z`. + +The final result will be saved as `output.mesh`. As mentioned in the paper, for this specific case, we use $\lambda_\text{strong} = 10$, see + +```C++ + smoother.set_boundary_weight(Mesh_smoothing_3::Parameters::STRONG); +``` +Your application may need a different parameter. + +# Handle based deformation +Bunny handles + + +This executable will perform a deformation of the input object to match a set of input constraints, as shown in Fig. 12. +```Bash +./bin/libigl_handle_deformation ../data/bunny.mesh ../data/bunny_handles.txt +``` +*bunny.mesh* is a standard tetrahedral mesh (as supported by LibIGL) and *bunny_handles.txt* contains vertex handle constraints as: `id x y z`. + +Result will be saved as `handle_output.mesh`. + +# Mesh offsetting + +This executable can be used to reproduce Feature preserving offsets presented in the paper (Fig 14. and Fig 15.) We rely on the [Alpha-wrapper](https://doc.cgal.org/latest/Alpha_wrap_3/index.html) proposed by the CGAL library and use their parameters as input: +```Bash +./bin/cgal_offset_computation ../data/stairs.off 20 600 +``` +The input mesh must in the [OFF format](https://en.wikipedia.org/wiki/OFF_(file_format)) due to CGAL requirements. X=20 is used to compute the gate size in Alpha-wrap as alpha=D/X with D the diagonal of the bbox of the object. Y=600 is used to compute the offset of the mesh with delta=D/Y. + +The executable will output two meshes: `offset_wrapper.mesh` and `offset_ours.mesh` to compare the before/after. + + +The parameters to run the different examples are as follows: +* Fig 14: +```Bash +./bin/cgal_offset_computation ../data/stairs.off 20 600 +./bin/cgal_offset_computation ../data/stairs.off 40 600 +./bin/cgal_offset_computation ../data/stairs.off 60 600 +./bin/cgal_offset_computation ../data/stairs.off 80 600 +``` +Stairs + +* Fig 15: +```Bash +./bin/cgal_offset_computation ../data/43149.off 150 100 # 1% offset - slow remeshing (larger offset means slower) +./bin/cgal_offset_computation ../data/43149.off 150 50 # 2% offset +./bin/cgal_offset_computation ../data/43149.off 150 20 # 5% offset +./bin/cgal_offset_computation ../data/43149.off 150 10 # 10% offset +``` +Offset + +The main bottleneck of the code is the inside remeshing that we perform with CGAL after the Alpha-wrapper. + diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/CMakeLists.txt b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/CMakeLists.txt new file mode 100644 index 000000000000..1c6f0c19e9ab --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/CMakeLists.txt @@ -0,0 +1,16 @@ +set(GEOGRAM_LIB_ONLY ON) + +FetchContent_Declare( + geogram + GIT_REPOSITORY https://github.com/BrunoLevy/geogram + GIT_TAG 72bfd854d4fb6bac360689a87fc7b10db87bb5f8 #master +) +FetchContent_MakeAvailable(geogram) + + +add_executable(geogram_smooth geogram_smooth.cpp) +add_executable(geogram_smooth_custom geogram_smooth_custom.cpp) +target_link_libraries(geogram_smooth PRIVATE Mesh_smoothing_3 geogram) +target_link_libraries(geogram_smooth_custom PRIVATE Mesh_smoothing_3 geogram) + + diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/geogram_smooth.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/geogram_smooth.cpp new file mode 100644 index 000000000000..5b684b2275fb --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/geogram_smooth.cpp @@ -0,0 +1,161 @@ + +#include +#include +#include +#include +#include + +#include + +class Mesh_wrapper : public Mesh_smoothing_3::helper_structures::Mixed_element_mesh { +public: + std::size_t nb_vertices() const override { return mesh.vertices.nb(); } + + Point_3 vertex_coordinates(Vertex_descriptor vertex) const override { + return mesh.vertices.point(vertex); + } + void set_new_vertex_coordinates(GEO::index_t vertex, Point_3 coord) override { mesh.vertices.point(vertex) = coord; } + + GEO::index_range input_cell_range() const override { return GEO::index_range{mesh.cells.begin(), mesh.cells.end()}; } + + Vertex_descriptor get_cell_vertex(GEO::index_t cell, unsigned local_Vertex_descriptor) const override { + return mesh.cells.vertex(cell, local_Vertex_descriptor); + }; + + GEO::vec3 get_ref_vertex_coordinates(GEO::index_t vertex) const override { + assert(ref_mesh != nullptr); + return ref_mesh->vertices.point(vertex); + } + + Shape const * get_element_shape(GEO::index_t cell) const override { + switch (mesh.cells.type(cell)) { + case GEO::MESH_TET: + return &tet_ref; + break; + case GEO::MESH_HEX: + return &hex_ref; + break; + case GEO::MESH_PYRAMID: + return &py_ref; + break; + case GEO::MESH_PRISM: + return &we_ref; + break; + default: + return nullptr; + break; + } + } + +public: + Mesh_wrapper(GEO::Mesh &mesh_, GEO::Mesh const * ref_mesh_) + : mesh(mesh_) + , ref_mesh(ref_mesh_) + { + this->has_reference_mesh = (ref_mesh != nullptr); + we_ref.inverse = true; + this->assemble(); // CRITICAL + } + + void set_orientation(bool inv_tet, bool inv_hex, bool inv_pyr, bool inv_wed) { + tet_ref.inverse = inv_tet; + hex_ref.inverse = inv_hex; + py_ref.inverse = inv_pyr; + we_ref.inverse = !inv_wed; + } + + GEO::Mesh &mesh; + GEO::Mesh const * ref_mesh; + + Mesh_smoothing_3::Shapes::VTK_TETRAHEDRON tet_ref; + Mesh_smoothing_3::Shapes::GEOGRAM_HEXAHEDRON hex_ref; + Mesh_smoothing_3::Shapes::VTK_PYRAMID py_ref; + Mesh_smoothing_3::Shapes::VTK_WEDGE we_ref; +}; + +class Boundary_wrapper { +public: + using Face_descriptor = GEO::index_t; + using Normal_3 = GEO::vec3; + using Surface_patch_index = GEO::index_t; + unsigned nb_faces() const { return mesh.facets.nb(); } + + GEO::index_range face_range() const { return GEO::index_range{mesh.facets.begin(), mesh.facets.end()}; } + + unsigned patch_id(Face_descriptor f) const { return f; } + unsigned nb_face_vertices(Face_descriptor face) const { return mesh.facets.nb_vertices(face); } + auto face_vertices(Face_descriptor face) const { return mesh.facets.vertices(face); } +public: + GEO::Mesh const &mesh; +}; + + +int main(int argc, char** argv) { + GEO::initialize(); + const std::string filename = (argc > 1) ? argv[1] : "../data/fandisk_kenshi_hexmesh.mesh"; + + GEO::Mesh mesh; + if(!GEO::mesh_load(filename, mesh)) { + std::cerr << "Error loading mesh: " << filename << std::endl; + return EXIT_FAILURE; + } + mesh.facets.clear(); + mesh.cells.connect(); + mesh.cells.compute_borders(); + + GEO::Mesh reference; + reference.copy(mesh); + + GEO::Mesh surface; + if (argc > 2) { + const std::string surface_filename = argv[2]; + if(!GEO::mesh_load(surface_filename, surface)) { + std::cerr << "Error loading surface mesh: " << surface_filename << std::endl; + return EXIT_FAILURE; + } + } + else { + surface.copy(mesh); + } + surface.edges.clear(); + surface.cells.clear(); + surface.vertices.remove_isolated(); + surface.facets.triangulate(); + GEO::MeshFacetsAABB aabb; + aabb.initialize(surface); + + std::vector normal(surface.facets.nb()); + for (auto f : surface.facets) { + normal[f] = GEO::Geom::mesh_facet_normal(surface, f); + if (normal[f].length() > 1e-10) + normal[f] /= normal[f].length(); + else + normal[f] = GEO::vec3(0., 0., 1.); + } + + auto query = [&](GEO::vec3 const &coord, unsigned surface_id, double radius) -> std::tuple { + GEO::vec3 res; + double sqr_dist; + GEO::index_t facet = aabb.nearest_facet(coord, res, sqr_dist); + return {res, normal[facet], 1.}; + }; + + GEO::mesh_save(mesh, "input.mesh"); + GEO::mesh_save(surface, "surf.mesh"); + + Mesh_wrapper mesh_wrapper(mesh, nullptr); // replacing nullptr by &reference will use it as a reference; + Boundary_wrapper surface_wrapper{mesh}; + mesh_wrapper.set_orientation(false, true, false, true); // beware of the orientation of your input elements! + + Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper, surface_wrapper); + + smoother.set_boundary_query(query); + + smoother.set_verbose(); + smoother.set_max_number_of_iteration(100); + smoother.run(); + + GEO::mesh_save(mesh, "output.mesh"); + + return EXIT_SUCCESS; +} diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/geogram_smooth_custom.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/geogram_smooth_custom.cpp new file mode 100644 index 000000000000..f645738f0a7a --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/geogram_smooth_custom.cpp @@ -0,0 +1,228 @@ + +#include +#include +#include +#include +#include + +#include + +class Mesh_wrapper : public Mesh_smoothing_3::helper_structures::Mixed_element_mesh { +public: + std::size_t nb_vertices() const override { return mesh.vertices.nb(); } + + Point_3 vertex_coordinates(Vertex_descriptor vertex) const override { + return mesh.vertices.point(vertex); + } + void set_new_vertex_coordinates(GEO::index_t vertex, Point_3 coord) override { mesh.vertices.point(vertex) = coord; } + + GEO::index_range input_cell_range() const override { return GEO::index_range{mesh.cells.begin(), mesh.cells.end()}; } + + Vertex_descriptor get_cell_vertex(GEO::index_t cell, unsigned local_Vertex_descriptor) const override { + return mesh.cells.vertex(cell, local_Vertex_descriptor); + }; + + GEO::vec3 get_ref_vertex_coordinates(GEO::index_t vertex) const override { + assert(ref_mesh != nullptr); + return ref_mesh->vertices.point(vertex); + } + + Shape const * get_element_shape(GEO::index_t cell) const override { + switch (mesh.cells.type(cell)) { + case GEO::MESH_TET: + return &tet_ref; + break; + case GEO::MESH_HEX: + return &hex_ref; + break; + case GEO::MESH_PYRAMID: + return &py_ref; + break; + case GEO::MESH_PRISM: + return &we_ref; + break; + default: + return nullptr; + break; + } + } + +public: + Mesh_wrapper(GEO::Mesh &mesh_, GEO::Mesh const * ref_mesh_) + : mesh(mesh_) + , ref_mesh(ref_mesh_) + { + this->has_reference_mesh = (ref_mesh != nullptr); + we_ref.inverse = true; + this->assemble(); // CRITICAL + } + + void set_orientation(bool inv_tet, bool inv_hex, bool inv_pyr, bool inv_wed) { + tet_ref.inverse = inv_tet; + hex_ref.inverse = inv_hex; + py_ref.inverse = inv_pyr; + we_ref.inverse = !inv_wed; + } + + GEO::Mesh &mesh; + GEO::Mesh const * ref_mesh; + + Mesh_smoothing_3::Shapes::VTK_TETRAHEDRON tet_ref; + Mesh_smoothing_3::Shapes::GEOGRAM_HEXAHEDRON hex_ref; + Mesh_smoothing_3::Shapes::VTK_PYRAMID py_ref; + Mesh_smoothing_3::Shapes::VTK_WEDGE we_ref; +}; + +class Boundary_wrapper { +public: + using Face_descriptor = GEO::index_t; + using Normal_3 = GEO::vec3; + using Surface_patch_index = unsigned; + unsigned nb_faces() const { return mesh.facets.nb(); } + + GEO::index_range face_range() const { return GEO::index_range{mesh.facets.begin(), mesh.facets.end()}; } + + unsigned patch_id(Face_descriptor f) const { return f; } + unsigned nb_face_vertices(Face_descriptor face) const { return mesh.facets.nb_vertices(face); } + auto face_vertices(Face_descriptor face) const { return mesh.facets.vertices(face); } +public: + GEO::Mesh const &mesh; +}; + +class PolyLine_wrapper { +public: + using Edge_descriptor = int; + using Curve_index = unsigned; + unsigned nb_edges() const { return mesh.edges.nb(); } + GEO::index_range edge_range() const { + return GEO::index_range{mesh.edges.begin(), mesh.edges.end()}; + } + unsigned curve_id(Edge_descriptor e) const { return e; } + int edge_vertex(Edge_descriptor edge, unsigned i) const { return mesh.edges.vertex(edge, i); } +public: + GEO::Mesh const &mesh; +}; + + +int main(int argc, char** argv) { + GEO::initialize(); + const std::string filename = (argc > 1) ? argv[1] : "../data/fandisk_kenshi_hexmesh.mesh"; + const std::string surface_filename = (argc > 2) ? argv[2] : ""; + const std::string curves_filename = (argc > 3) ? argv[3] : ""; + const std::string point_targets_filename = (argc > 4) ? argv[4] : ""; + + GEO::Mesh mesh; + if(!GEO::mesh_load(filename, mesh)) { + std::cerr << "Error loading mesh: " << filename << std::endl; + return EXIT_FAILURE; + } + + GEO::Mesh reference; + reference.copy(mesh); + + GEO::Mesh surface; + if (!surface_filename.empty()) { + if(!GEO::mesh_load(surface_filename, surface)) { + std::cerr << "Error loading surface mesh: " << surface_filename << std::endl; + return EXIT_FAILURE; + } + } + else { + surface.copy(mesh); + } + surface.edges.clear(); + surface.cells.clear(); + surface.vertices.remove_isolated(); + surface.facets.triangulate(); + GEO::MeshFacetsAABB aabb; + aabb.initialize(surface); + + std::vector normal(surface.facets.nb()); + for (auto f : surface.facets) { + normal[f] = GEO::Geom::mesh_facet_normal(surface, f); + if (normal[f].length() > 1e-10) + normal[f] /= normal[f].length(); + else + normal[f] = GEO::vec3(0., 0., 1.); + } + + auto query = [&](GEO::vec3 const &coord, unsigned surface_id, double radius) -> std::tuple { + GEO::vec3 res; + double sqr_dist; + GEO::index_t facet = aabb.nearest_facet(coord, res, sqr_dist); + return {res, normal[facet], 1.}; + }; + + + GEO::Mesh curves; + if (!curves_filename.empty()) { + if(!GEO::mesh_load(curves_filename, curves)) { + std::cerr << "Error loading curves mesh: " << curves_filename << std::endl; + return EXIT_FAILURE; + } + } + else { + curves.copy(mesh); + } + curves.facets.clear(); + curves.cells.clear(); + curves.vertices.remove_isolated(); + + GEO::mesh_save(mesh, "input.mesh"); + GEO::mesh_save(surface, "surf.mesh"); + GEO::mesh_save(curves, "curves.mesh"); + + std::vector direction(curves.edges.nb()); + for (auto e : curves.edges) { + curves.facets.create_triangle(curves.edges.vertex(e, 0), curves.edges.vertex(e, 1), curves.edges.vertex(e, 1)); + direction[e] = curves.vertices.point(curves.edges.vertex(e,1)) - curves.vertices.point(curves.edges.vertex(e,0)); + if (direction[e].length() > 1e-10) direction[e] /= direction[e].length(); + else direction[e] = GEO::vec3(0., 0., 1.); + } + GEO::MeshFacetsAABB aabb_curves; + aabb_curves.initialize(curves); + + auto curve_query = [&](GEO::vec3 const &coord, unsigned edge_id, double radius) -> std::tuple { + GEO::vec3 res; + double sqr_dist; + GEO::index_t edge = aabb_curves.nearest_facet(coord, res, sqr_dist); + return {res, direction[edge], 1.}; + }; + + std::vector> point_targets; + + if (!point_targets_filename.empty()) { + std::ifstream infile(point_targets_filename); + if (!infile) { + std::cerr << "Error opening point targets file: " << point_targets_filename << std::endl; + return EXIT_FAILURE; + } + GEO::index_t vertex_id; + double x, y, z; + while (infile >> vertex_id >> x >> y >> z) { + point_targets.emplace_back(vertex_id, GEO::vec3(x, y, z), 1.); + } + } + + + Mesh_wrapper mesh_wrapper(mesh, nullptr); // replacing nullptr by &reference will use it as a reference; + mesh_wrapper.set_orientation(false, true, false, true); // beware of the orientation of your input elements! + + Boundary_wrapper surface_wrapper{mesh}; + PolyLine_wrapper curve_wrapper{mesh}; + + Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper, surface_wrapper, curve_wrapper); + + smoother.set_boundary_query(query); + smoother.set_curves_query(curve_query); + smoother.set_vertex_target_positions(point_targets); + + smoother.set_boundary_weight(Mesh_smoothing_3::Parameters::STRONG); + smoother.set_verbose(); + smoother.set_max_number_of_iteration(100); + smoother.run(); + + GEO::mesh_save(mesh, "output.mesh"); + + return EXIT_SUCCESS; +} diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/libigl/CMakeLists.txt b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/libigl/CMakeLists.txt new file mode 100644 index 000000000000..6e476b38e824 --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/libigl/CMakeLists.txt @@ -0,0 +1,10 @@ +FetchContent_Declare( + libigl + GIT_REPOSITORY https://github.com/libigl/libigl + GIT_TAG cd73f3a4f3425fc70191f2c644c24de4642aa3a9 +) +FetchContent_MakeAvailable(libigl) + +add_executable(libigl_handle_deformation libigl_handle_deformation.cpp) +target_link_libraries(libigl_handle_deformation PRIVATE Mesh_smoothing_3 igl::core) + diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/libigl/libigl_handle_deformation.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/libigl/libigl_handle_deformation.cpp new file mode 100644 index 000000000000..55a9129ee7fd --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/libigl/libigl_handle_deformation.cpp @@ -0,0 +1,90 @@ +#include +#include + +#include + +#include +#include +#include + +using Mesh_smoothing_3::utils::Contiguous_unsigned_range; + +class Tetrahedral_mesh_wrapper { +public: + using Cell_descriptor = unsigned; + using Vertex_descriptor = int; + using Point_3 = Eigen::Vector3d; + + unsigned nb_cells() const { return T.rows(); } + unsigned nb_vertices() const { return V.rows(); } + + Point_3 vertex_coordinates(Vertex_descriptor vertex) const { return V.row(vertex); } + void set_new_vertex_coordinates(int vertex, Point_3 coord) { V.row(vertex) = coord; } + + Contiguous_unsigned_range cell_range() const { + return Contiguous_unsigned_range{0, nb_cells()}; + } + std::array cell_vertices(Cell_descriptor cell) const { + return {T(cell, 0), T(cell,1), T(cell,2), T(cell,3)}; + } + std::array cell_reference_shape(Cell_descriptor cell) const { + return {ref_V.row(T(cell, 0)), ref_V.row(T(cell,1)), ref_V.row(T(cell,2)), ref_V.row(T(cell,3))}; + } +public: + Eigen::MatrixXd &V; + Eigen::MatrixXd const &ref_V; + Eigen::MatrixXi const &T; +}; + +int main(int argc, char *argv[]) +{ + if (argc < 3) { + std::cerr << "Usage: " << argv[0] << " input.mesh input_handles.txt" << std::endl; + return EXIT_FAILURE; + } + const std::string filename = argv[1]; + const std::string handlename = argv[2]; + + Eigen::MatrixXd V; + Eigen::MatrixXi T; + Eigen::MatrixXi F; + + igl::readMESH(filename, V, T, F); + + // Print the vertices and faces matrices + std::cout << "Vertices: " << std::endl << V.rows() << std::endl; + std::cout << "Tets: " << std::endl << T.rows() << std::endl; + std::cout << "Faces: " << std::endl << F.rows() << std::endl; + + std::vector> handles; + { + std::ifstream handle_file(handlename); + if (!handle_file.is_open()) { + std::cerr << "Error opening handle file " << handlename << std::endl; + return EXIT_FAILURE; + } + unsigned vid; + double x, y, z; + while (handle_file >> vid >> x >> y >> z) { + handles.push_back({vid, Eigen::Vector3d{x, y, z}}); + } + } + + igl::writeMESH("handle_input.mesh", V, T, F); + + Eigen::MatrixXd ref_V = V; + + + Tetrahedral_mesh_wrapper mesh_wrapper {V, ref_V, T}; + + Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper); + smoother.set_verbose(); + smoother.set_locked_boundary(false); + + smoother.set_vertex_target_positions(handles); + + bool res = smoother.run(); + + std::cerr << "Smoothing result = " << (res ? "SUCCESS" : "FAILURE") << std::endl; + igl::writeMESH("handle_output.mesh", V, T, F); +} \ No newline at end of file diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/CMakeLists.txt b/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/CMakeLists.txt new file mode 100644 index 000000000000..1c6f0c19e9ab --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/CMakeLists.txt @@ -0,0 +1,16 @@ +set(GEOGRAM_LIB_ONLY ON) + +FetchContent_Declare( + geogram + GIT_REPOSITORY https://github.com/BrunoLevy/geogram + GIT_TAG 72bfd854d4fb6bac360689a87fc7b10db87bb5f8 #master +) +FetchContent_MakeAvailable(geogram) + + +add_executable(geogram_smooth geogram_smooth.cpp) +add_executable(geogram_smooth_custom geogram_smooth_custom.cpp) +target_link_libraries(geogram_smooth PRIVATE Mesh_smoothing_3 geogram) +target_link_libraries(geogram_smooth_custom PRIVATE Mesh_smoothing_3 geogram) + + diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/geogram_smooth.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/geogram_smooth.cpp new file mode 100644 index 000000000000..5b684b2275fb --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/geogram_smooth.cpp @@ -0,0 +1,161 @@ + +#include +#include +#include +#include +#include + +#include + +class Mesh_wrapper : public Mesh_smoothing_3::helper_structures::Mixed_element_mesh { +public: + std::size_t nb_vertices() const override { return mesh.vertices.nb(); } + + Point_3 vertex_coordinates(Vertex_descriptor vertex) const override { + return mesh.vertices.point(vertex); + } + void set_new_vertex_coordinates(GEO::index_t vertex, Point_3 coord) override { mesh.vertices.point(vertex) = coord; } + + GEO::index_range input_cell_range() const override { return GEO::index_range{mesh.cells.begin(), mesh.cells.end()}; } + + Vertex_descriptor get_cell_vertex(GEO::index_t cell, unsigned local_Vertex_descriptor) const override { + return mesh.cells.vertex(cell, local_Vertex_descriptor); + }; + + GEO::vec3 get_ref_vertex_coordinates(GEO::index_t vertex) const override { + assert(ref_mesh != nullptr); + return ref_mesh->vertices.point(vertex); + } + + Shape const * get_element_shape(GEO::index_t cell) const override { + switch (mesh.cells.type(cell)) { + case GEO::MESH_TET: + return &tet_ref; + break; + case GEO::MESH_HEX: + return &hex_ref; + break; + case GEO::MESH_PYRAMID: + return &py_ref; + break; + case GEO::MESH_PRISM: + return &we_ref; + break; + default: + return nullptr; + break; + } + } + +public: + Mesh_wrapper(GEO::Mesh &mesh_, GEO::Mesh const * ref_mesh_) + : mesh(mesh_) + , ref_mesh(ref_mesh_) + { + this->has_reference_mesh = (ref_mesh != nullptr); + we_ref.inverse = true; + this->assemble(); // CRITICAL + } + + void set_orientation(bool inv_tet, bool inv_hex, bool inv_pyr, bool inv_wed) { + tet_ref.inverse = inv_tet; + hex_ref.inverse = inv_hex; + py_ref.inverse = inv_pyr; + we_ref.inverse = !inv_wed; + } + + GEO::Mesh &mesh; + GEO::Mesh const * ref_mesh; + + Mesh_smoothing_3::Shapes::VTK_TETRAHEDRON tet_ref; + Mesh_smoothing_3::Shapes::GEOGRAM_HEXAHEDRON hex_ref; + Mesh_smoothing_3::Shapes::VTK_PYRAMID py_ref; + Mesh_smoothing_3::Shapes::VTK_WEDGE we_ref; +}; + +class Boundary_wrapper { +public: + using Face_descriptor = GEO::index_t; + using Normal_3 = GEO::vec3; + using Surface_patch_index = GEO::index_t; + unsigned nb_faces() const { return mesh.facets.nb(); } + + GEO::index_range face_range() const { return GEO::index_range{mesh.facets.begin(), mesh.facets.end()}; } + + unsigned patch_id(Face_descriptor f) const { return f; } + unsigned nb_face_vertices(Face_descriptor face) const { return mesh.facets.nb_vertices(face); } + auto face_vertices(Face_descriptor face) const { return mesh.facets.vertices(face); } +public: + GEO::Mesh const &mesh; +}; + + +int main(int argc, char** argv) { + GEO::initialize(); + const std::string filename = (argc > 1) ? argv[1] : "../data/fandisk_kenshi_hexmesh.mesh"; + + GEO::Mesh mesh; + if(!GEO::mesh_load(filename, mesh)) { + std::cerr << "Error loading mesh: " << filename << std::endl; + return EXIT_FAILURE; + } + mesh.facets.clear(); + mesh.cells.connect(); + mesh.cells.compute_borders(); + + GEO::Mesh reference; + reference.copy(mesh); + + GEO::Mesh surface; + if (argc > 2) { + const std::string surface_filename = argv[2]; + if(!GEO::mesh_load(surface_filename, surface)) { + std::cerr << "Error loading surface mesh: " << surface_filename << std::endl; + return EXIT_FAILURE; + } + } + else { + surface.copy(mesh); + } + surface.edges.clear(); + surface.cells.clear(); + surface.vertices.remove_isolated(); + surface.facets.triangulate(); + GEO::MeshFacetsAABB aabb; + aabb.initialize(surface); + + std::vector normal(surface.facets.nb()); + for (auto f : surface.facets) { + normal[f] = GEO::Geom::mesh_facet_normal(surface, f); + if (normal[f].length() > 1e-10) + normal[f] /= normal[f].length(); + else + normal[f] = GEO::vec3(0., 0., 1.); + } + + auto query = [&](GEO::vec3 const &coord, unsigned surface_id, double radius) -> std::tuple { + GEO::vec3 res; + double sqr_dist; + GEO::index_t facet = aabb.nearest_facet(coord, res, sqr_dist); + return {res, normal[facet], 1.}; + }; + + GEO::mesh_save(mesh, "input.mesh"); + GEO::mesh_save(surface, "surf.mesh"); + + Mesh_wrapper mesh_wrapper(mesh, nullptr); // replacing nullptr by &reference will use it as a reference; + Boundary_wrapper surface_wrapper{mesh}; + mesh_wrapper.set_orientation(false, true, false, true); // beware of the orientation of your input elements! + + Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper, surface_wrapper); + + smoother.set_boundary_query(query); + + smoother.set_verbose(); + smoother.set_max_number_of_iteration(100); + smoother.run(); + + GEO::mesh_save(mesh, "output.mesh"); + + return EXIT_SUCCESS; +} diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/geogram_smooth_custom.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/geogram_smooth_custom.cpp new file mode 100644 index 000000000000..f645738f0a7a --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/geogram_smooth_custom.cpp @@ -0,0 +1,228 @@ + +#include +#include +#include +#include +#include + +#include + +class Mesh_wrapper : public Mesh_smoothing_3::helper_structures::Mixed_element_mesh { +public: + std::size_t nb_vertices() const override { return mesh.vertices.nb(); } + + Point_3 vertex_coordinates(Vertex_descriptor vertex) const override { + return mesh.vertices.point(vertex); + } + void set_new_vertex_coordinates(GEO::index_t vertex, Point_3 coord) override { mesh.vertices.point(vertex) = coord; } + + GEO::index_range input_cell_range() const override { return GEO::index_range{mesh.cells.begin(), mesh.cells.end()}; } + + Vertex_descriptor get_cell_vertex(GEO::index_t cell, unsigned local_Vertex_descriptor) const override { + return mesh.cells.vertex(cell, local_Vertex_descriptor); + }; + + GEO::vec3 get_ref_vertex_coordinates(GEO::index_t vertex) const override { + assert(ref_mesh != nullptr); + return ref_mesh->vertices.point(vertex); + } + + Shape const * get_element_shape(GEO::index_t cell) const override { + switch (mesh.cells.type(cell)) { + case GEO::MESH_TET: + return &tet_ref; + break; + case GEO::MESH_HEX: + return &hex_ref; + break; + case GEO::MESH_PYRAMID: + return &py_ref; + break; + case GEO::MESH_PRISM: + return &we_ref; + break; + default: + return nullptr; + break; + } + } + +public: + Mesh_wrapper(GEO::Mesh &mesh_, GEO::Mesh const * ref_mesh_) + : mesh(mesh_) + , ref_mesh(ref_mesh_) + { + this->has_reference_mesh = (ref_mesh != nullptr); + we_ref.inverse = true; + this->assemble(); // CRITICAL + } + + void set_orientation(bool inv_tet, bool inv_hex, bool inv_pyr, bool inv_wed) { + tet_ref.inverse = inv_tet; + hex_ref.inverse = inv_hex; + py_ref.inverse = inv_pyr; + we_ref.inverse = !inv_wed; + } + + GEO::Mesh &mesh; + GEO::Mesh const * ref_mesh; + + Mesh_smoothing_3::Shapes::VTK_TETRAHEDRON tet_ref; + Mesh_smoothing_3::Shapes::GEOGRAM_HEXAHEDRON hex_ref; + Mesh_smoothing_3::Shapes::VTK_PYRAMID py_ref; + Mesh_smoothing_3::Shapes::VTK_WEDGE we_ref; +}; + +class Boundary_wrapper { +public: + using Face_descriptor = GEO::index_t; + using Normal_3 = GEO::vec3; + using Surface_patch_index = unsigned; + unsigned nb_faces() const { return mesh.facets.nb(); } + + GEO::index_range face_range() const { return GEO::index_range{mesh.facets.begin(), mesh.facets.end()}; } + + unsigned patch_id(Face_descriptor f) const { return f; } + unsigned nb_face_vertices(Face_descriptor face) const { return mesh.facets.nb_vertices(face); } + auto face_vertices(Face_descriptor face) const { return mesh.facets.vertices(face); } +public: + GEO::Mesh const &mesh; +}; + +class PolyLine_wrapper { +public: + using Edge_descriptor = int; + using Curve_index = unsigned; + unsigned nb_edges() const { return mesh.edges.nb(); } + GEO::index_range edge_range() const { + return GEO::index_range{mesh.edges.begin(), mesh.edges.end()}; + } + unsigned curve_id(Edge_descriptor e) const { return e; } + int edge_vertex(Edge_descriptor edge, unsigned i) const { return mesh.edges.vertex(edge, i); } +public: + GEO::Mesh const &mesh; +}; + + +int main(int argc, char** argv) { + GEO::initialize(); + const std::string filename = (argc > 1) ? argv[1] : "../data/fandisk_kenshi_hexmesh.mesh"; + const std::string surface_filename = (argc > 2) ? argv[2] : ""; + const std::string curves_filename = (argc > 3) ? argv[3] : ""; + const std::string point_targets_filename = (argc > 4) ? argv[4] : ""; + + GEO::Mesh mesh; + if(!GEO::mesh_load(filename, mesh)) { + std::cerr << "Error loading mesh: " << filename << std::endl; + return EXIT_FAILURE; + } + + GEO::Mesh reference; + reference.copy(mesh); + + GEO::Mesh surface; + if (!surface_filename.empty()) { + if(!GEO::mesh_load(surface_filename, surface)) { + std::cerr << "Error loading surface mesh: " << surface_filename << std::endl; + return EXIT_FAILURE; + } + } + else { + surface.copy(mesh); + } + surface.edges.clear(); + surface.cells.clear(); + surface.vertices.remove_isolated(); + surface.facets.triangulate(); + GEO::MeshFacetsAABB aabb; + aabb.initialize(surface); + + std::vector normal(surface.facets.nb()); + for (auto f : surface.facets) { + normal[f] = GEO::Geom::mesh_facet_normal(surface, f); + if (normal[f].length() > 1e-10) + normal[f] /= normal[f].length(); + else + normal[f] = GEO::vec3(0., 0., 1.); + } + + auto query = [&](GEO::vec3 const &coord, unsigned surface_id, double radius) -> std::tuple { + GEO::vec3 res; + double sqr_dist; + GEO::index_t facet = aabb.nearest_facet(coord, res, sqr_dist); + return {res, normal[facet], 1.}; + }; + + + GEO::Mesh curves; + if (!curves_filename.empty()) { + if(!GEO::mesh_load(curves_filename, curves)) { + std::cerr << "Error loading curves mesh: " << curves_filename << std::endl; + return EXIT_FAILURE; + } + } + else { + curves.copy(mesh); + } + curves.facets.clear(); + curves.cells.clear(); + curves.vertices.remove_isolated(); + + GEO::mesh_save(mesh, "input.mesh"); + GEO::mesh_save(surface, "surf.mesh"); + GEO::mesh_save(curves, "curves.mesh"); + + std::vector direction(curves.edges.nb()); + for (auto e : curves.edges) { + curves.facets.create_triangle(curves.edges.vertex(e, 0), curves.edges.vertex(e, 1), curves.edges.vertex(e, 1)); + direction[e] = curves.vertices.point(curves.edges.vertex(e,1)) - curves.vertices.point(curves.edges.vertex(e,0)); + if (direction[e].length() > 1e-10) direction[e] /= direction[e].length(); + else direction[e] = GEO::vec3(0., 0., 1.); + } + GEO::MeshFacetsAABB aabb_curves; + aabb_curves.initialize(curves); + + auto curve_query = [&](GEO::vec3 const &coord, unsigned edge_id, double radius) -> std::tuple { + GEO::vec3 res; + double sqr_dist; + GEO::index_t edge = aabb_curves.nearest_facet(coord, res, sqr_dist); + return {res, direction[edge], 1.}; + }; + + std::vector> point_targets; + + if (!point_targets_filename.empty()) { + std::ifstream infile(point_targets_filename); + if (!infile) { + std::cerr << "Error opening point targets file: " << point_targets_filename << std::endl; + return EXIT_FAILURE; + } + GEO::index_t vertex_id; + double x, y, z; + while (infile >> vertex_id >> x >> y >> z) { + point_targets.emplace_back(vertex_id, GEO::vec3(x, y, z), 1.); + } + } + + + Mesh_wrapper mesh_wrapper(mesh, nullptr); // replacing nullptr by &reference will use it as a reference; + mesh_wrapper.set_orientation(false, true, false, true); // beware of the orientation of your input elements! + + Boundary_wrapper surface_wrapper{mesh}; + PolyLine_wrapper curve_wrapper{mesh}; + + Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper, surface_wrapper, curve_wrapper); + + smoother.set_boundary_query(query); + smoother.set_curves_query(curve_query); + smoother.set_vertex_target_positions(point_targets); + + smoother.set_boundary_weight(Mesh_smoothing_3::Parameters::STRONG); + smoother.set_verbose(); + smoother.set_max_number_of_iteration(100); + smoother.run(); + + GEO::mesh_save(mesh, "output.mesh"); + + return EXIT_SUCCESS; +} diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/libigl/CMakeLists.txt b/Mesh_smoothing_3/examples/Mesh_smoothing_3/libigl/CMakeLists.txt new file mode 100644 index 000000000000..6e476b38e824 --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/libigl/CMakeLists.txt @@ -0,0 +1,10 @@ +FetchContent_Declare( + libigl + GIT_REPOSITORY https://github.com/libigl/libigl + GIT_TAG cd73f3a4f3425fc70191f2c644c24de4642aa3a9 +) +FetchContent_MakeAvailable(libigl) + +add_executable(libigl_handle_deformation libigl_handle_deformation.cpp) +target_link_libraries(libigl_handle_deformation PRIVATE Mesh_smoothing_3 igl::core) + diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/libigl/libigl_handle_deformation.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/libigl/libigl_handle_deformation.cpp new file mode 100644 index 000000000000..55a9129ee7fd --- /dev/null +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/libigl/libigl_handle_deformation.cpp @@ -0,0 +1,90 @@ +#include +#include + +#include + +#include +#include +#include + +using Mesh_smoothing_3::utils::Contiguous_unsigned_range; + +class Tetrahedral_mesh_wrapper { +public: + using Cell_descriptor = unsigned; + using Vertex_descriptor = int; + using Point_3 = Eigen::Vector3d; + + unsigned nb_cells() const { return T.rows(); } + unsigned nb_vertices() const { return V.rows(); } + + Point_3 vertex_coordinates(Vertex_descriptor vertex) const { return V.row(vertex); } + void set_new_vertex_coordinates(int vertex, Point_3 coord) { V.row(vertex) = coord; } + + Contiguous_unsigned_range cell_range() const { + return Contiguous_unsigned_range{0, nb_cells()}; + } + std::array cell_vertices(Cell_descriptor cell) const { + return {T(cell, 0), T(cell,1), T(cell,2), T(cell,3)}; + } + std::array cell_reference_shape(Cell_descriptor cell) const { + return {ref_V.row(T(cell, 0)), ref_V.row(T(cell,1)), ref_V.row(T(cell,2)), ref_V.row(T(cell,3))}; + } +public: + Eigen::MatrixXd &V; + Eigen::MatrixXd const &ref_V; + Eigen::MatrixXi const &T; +}; + +int main(int argc, char *argv[]) +{ + if (argc < 3) { + std::cerr << "Usage: " << argv[0] << " input.mesh input_handles.txt" << std::endl; + return EXIT_FAILURE; + } + const std::string filename = argv[1]; + const std::string handlename = argv[2]; + + Eigen::MatrixXd V; + Eigen::MatrixXi T; + Eigen::MatrixXi F; + + igl::readMESH(filename, V, T, F); + + // Print the vertices and faces matrices + std::cout << "Vertices: " << std::endl << V.rows() << std::endl; + std::cout << "Tets: " << std::endl << T.rows() << std::endl; + std::cout << "Faces: " << std::endl << F.rows() << std::endl; + + std::vector> handles; + { + std::ifstream handle_file(handlename); + if (!handle_file.is_open()) { + std::cerr << "Error opening handle file " << handlename << std::endl; + return EXIT_FAILURE; + } + unsigned vid; + double x, y, z; + while (handle_file >> vid >> x >> y >> z) { + handles.push_back({vid, Eigen::Vector3d{x, y, z}}); + } + } + + igl::writeMESH("handle_input.mesh", V, T, F); + + Eigen::MatrixXd ref_V = V; + + + Tetrahedral_mesh_wrapper mesh_wrapper {V, ref_V, T}; + + Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper); + smoother.set_verbose(); + smoother.set_locked_boundary(false); + + smoother.set_vertex_target_positions(handles); + + bool res = smoother.run(); + + std::cerr << "Smoothing result = " << (res ? "SUCCESS" : "FAILURE") << std::endl; + igl::writeMESH("handle_output.mesh", V, T, F); +} \ No newline at end of file diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/Mesh_smoothing_3.h b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/Mesh_smoothing_3.h new file mode 100644 index 000000000000..f466b3c275ae --- /dev/null +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/Mesh_smoothing_3.h @@ -0,0 +1,551 @@ +#pragma once +#include +#include +#include +#include +#include "mesh_representations.h" +#include "CGAL/Mesh_smoothing_3/internal/Tetrahedral_mesh_smoother.h" + + +namespace Mesh_smoothing_3 { + +namespace Parameters { + /*! + Recommended parameters for boundary weights: + DEFAULT: 1, for standard mesh smoothing + STRONG: 10, when surface deviation should be avoided + SOFT: 1e-3, when only slight influence of the boundary is required + */ + enum BOUNDARY_WEIGHTING_MODE {DEFAULT, STRONG, SOFT}; + + enum OPTIMIZATION_MODE { CONFORMAL, MIXED_WITH_SIZE, LAPLACIAN, MIN_MAXING_CONFORMAL }; + + enum PREDICATES_MODE { NO_CHECK, STATUS_UPDATE, CHECK_IN_LBFGS, STRONG_ENFORCEMENT }; + +} + +/*! +* \ingroup pkgMeshSmoothing3Classes +* +* \brief smooth a tetrahedral mesh with optional constraints on the boundary and along a curve network +* +* The class `Mesh_smoother` provides an interface to optimize a tetrahedral mesh with an energy, +* while allowing the user to specify soft-constraints on the boundary and along a curve network. +* This class is designed for linking with various mesh representations. +* For usage with CGAL common mesh representations, refer to `C3t3_smoother`. +* +* \tparam TetrahedralMesh encodes the volumetric mesh and must be a model of `MeshDataStructure`. +* +* \tparam BoundaryMesh represents a set of selected polygons with points from Tetrahedral mesh +* that will be used to define surface constraints on `TetrahedralMesh`. It must be a model of `SurfaceDataStructure`. +* +* \tparam EdgeNetwork represents a set of selected segments with points from Tetrahedral mesh +* that will be used to add curve constraints on `TetrahedralMesh`. It must be a model of `PolylinesDataStructure`. +* +* +* \sa `CGAL::Mesh_smoothing_3::C3t3_smoother` +* +*/ +template< + typename TetrahedralMesh = default_structures::Empty_mesh, + typename BoundaryMesh = default_structures::Empty_boundary, + typename EdgeNetwork = default_structures::Empty_edge_network +> +class Mesh_smoother { +public: + /*! + + */ + using Vertex_descriptor = typename TetrahedralMesh::Vertex_descriptor; + + /*! + + */ + using Cell_descriptor = typename TetrahedralMesh::Cell_descriptor; + + /*! + + */ + using Point_3 = typename TetrahedralMesh::Point_3; + + /*! + + */ + using Normal_3 = typename BoundaryMesh::Normal_3; + + /*! + + */ + using Surface_patch_index = typename BoundaryMesh::Surface_patch_index; + + /*! + + */ + using Curve_index = typename EdgeNetwork::Curve_index; + + /*! + + */ + template using Vertex_descriptor_map = std::unordered_map; // todo: manage to template that? + template using Cell_descriptor_map = std::unordered_map; // internal usage + + using Tetrahedral_mesh_smoother = Mesh_smoothing_3_internal::Tetrahedral_mesh_smoother; + + /*! + Constructor of the class, it does not perform any operation + */ + Mesh_smoother(TetrahedralMesh &mesh, BoundaryMesh const &boundary = BoundaryMesh(), EdgeNetwork const &edge_network = EdgeNetwork()); + + /*! + Locks (or unlock) all vertices contained in the input BoundaryMesh. + It is independent from the other locking functions, and unlocking will not interfere with manually set locks. + Set by default as true if no `set_boundary_query` is called. + */ + void set_locked_boundary(bool locked = true); + + /*! + + */ + void set_verbose(bool verbose = true); + + /*! + Max number of high level iterations done by the smoother. Each iteration can be seen as equivalent to a Newton step. + Untangling may require a high number of iterations to converge (100), simple mesh improvement will usually require less (from 1 to 10). + Default is 1000. + */ + void set_max_number_of_iteration(unsigned number_of_iterations); + + // todo: locks are relatively inefficient because they use a map. Should it be improved? + + + /*! + Hard-constraining a certain vertex to its current coordinates + */ + void set_vertex_lock(Vertex_descriptor vertex, bool locked = true); + + /*! + Hard-constraining only 1 dimension for the given vertex + */ + void set_vertex_dim_lock(Vertex_descriptor vertex, unsigned dimension, bool locked = true); + + /*! + Setting all of the locked vertices at once. + Use this function to maximize performance when having tricky locks configuration. + Note that this will override all previously add locks, except those from `set_locked_boundary`. + */ + void set_vertices_dim_locks(Vertex_descriptor_map> const &vertex_dimension_locks); + + /*! + Helper function to set locked vertices from a container. + */ + template + void set_locked_vertices(Container const &vertices) { + for (Vertex_descriptor vertex : vertices) { + set_vertex_lock(vertex, true); + } + } + + /*! + Remove all previously set locks. + */ + void clear_locks(); + + // QUERIES FOR BOUNDARY PROJECTION + + /*! + Plane type to which the boundary polygons should align. + the last parameter is a weight that is used to indicate the importance of the constraint. + By default, use the value 1. + */ + using Plane = std::tuple; + + /*! + Projection function. + + \param coord center of polygon + \param surface_id patch id of the polygon as defined in `BoundaryMesh` + \param radius indicator of the average edge length of the polygon + \return Plane to which the polygon should align (usually closest tangential plane of the target geometry) + + \warning Must be thread safe -- it will be called in an OpenMP context. + */ + using Boundary_point_query = std::function; + + /*! + Projection function. + + \param polygon vector containing the current points of the polygon + \param surface_id patch id of the polygon as defined in `BoundaryMesh` + \return Plane to which the polygon should align (usually closest tangential plane of the target geometry) + + \warning Must be thread safe -- it will be called in an OpenMP context. + */ + using Boundary_polygon_query = std::function const &polygon, Surface_patch_index surface_id)>; + + /*! + Batch projection function. Equivalent of `Boundary_point_query`. + Will be called in more systemic manner, so will produce slower results. Use if single calls are slower, or to avoid thread-safe requirements. + + \param coords vector with center of each polygon + \param surface_ids vector with patch ids of each polygon as defined in `BoundaryMesh` + \param radii vector with indicator of the average edge length for each polygon + \param[out] results vector with target plane for each polygon + */ + using Boundary_point_batch_query = std::function const &coords, std::vector &surface_ids, std::vector &radii, std::vector &results)>; + + /*! + Batch projection function. Equivalent of `Boundary_polygon_query`. + Will be called in more systemic manner, so will produce slower results. Use if single calls are slower, or to avoid thread-safe requirements. + + \param polygons vector with a vector of points for each polygon + \param surface_ids vector with patch ids of each polygon as defined in `BoundaryMesh` + \param[out] results vector with target plane for each polygon + */ + using Boundary_polygon_batch_query = std::function> const &polygons, std::vector &surface_id, std::vector &results)>; + + + /*! + set constraint query for surface as a `Boundary_point_query` + */ + void set_boundary_query(Boundary_point_query boundary_query); + + /*! + set constraint query for surface as a `Boundary_polygon_query` + */ + void set_boundary_query(Boundary_polygon_query boundary_query); + + /*! + set constraint query for surface as a `Boundary_point_batch_query` + */ + void set_boundary_query(Boundary_point_batch_query boundary_query); + + /*! + set constraint query for surface as a `Boundary_polygon_batch_query` + */ + void set_boundary_query(Boundary_polygon_batch_query boundary_query); + + + // QUERIES FOR CURVE NETWORK PROJECTION + /*! + Tangent vector and point to which the curve segment should align. + Last parameter is a weight that is used to indicate the importance of the constraint. + By default, use the value 1. + */ + using Curve_tangent = std::tuple; + + /*! + Projection function. + + \note Thread safe is not required here -- subject to change if specific cases require it. + + \param coord center of edge + \param curve_id id of the curve as defined in `EdgeNetwork` + \param radius edge length + \return Curve_tangent to which the edge should align (usually closest tangential direction of the target geometry) + */ + using Curve_point_query = std::function; + + /*! + Projection function. + + \note Thread safe is not required here -- subject to change if specific cases require it. + + \param edge array containing the two points of the edge + \param curve_id id of the curve as defined in `EdgeNetwork` + \return Curve_tangent to which the edge should align (usually closest tangential direction of the target geometry) + */ + using Curve_segment_query = std::function const &edge, Curve_index curve_id)>; + + /*! + Batch projection function. Equivalent of `Curve_point_query`. + Will be called in more systemic manner, so will produce slower results. Use if single calls are slower. + + \param coords vector with center of each edge + \param curve_ids vector with curve id of each edge as defined in `EdgeNetwork` + \param radii vector with edge length of each edge + \param[out] results vector with target curve tangent for each edge + */ + using Curve_point_batch_query = std::function const &coord, std::vector &curve_ids, std::vector &radius, std::vector &results)>; + + /*! + Batch projection function. Equivalent of `Curve_segment_query`. + Will be called in more systemic manner, so will produce slower results. Use if single calls are slower. + + \param edges vector with couple of points for each edge + \param curve_ids vector with curve ids of each edge as defined in `EdgeNetwork` + \param[out] results vector with target curve tangent for each edge + */ + using Curve_segment_batch_query = std::function> const &edges, std::vector &curve_ids, std::vector &results)>; + + + /*! + set constraint query for curves as a `Curve_point_query` + */ + void set_curves_query(Curve_point_query curve_query); + + /*! + set constraint query for curves as a `Curve_segment_query` + */ + void set_curves_query(Curve_segment_query curve_query); + + /*! + set constraint query for curves as a `Curve_point_batch_query` + */ + void set_curves_query(Curve_point_batch_query curve_query); + + /*! + set constraint query for curves as a `Curve_segment_batch_query` + */ + void set_curves_query(Curve_segment_batch_query curve_query); + + // ADDING QUADRATIC TARGETS FOR VERTICES + + /*! + set soft constraint for a given vertex + */ + void set_vertex_target_position(Vertex_descriptor v, Point_3 const &target_positions, double weight = 1.0); + + /*! + set the list of soft constraints for vertices. Note that it overrides previously set vertex constraints. + */ + void set_vertex_target_positions(std::vector> const &target_positions); + + /*! + set soft constraints from a container of [vertex, coord] pairs. + */ + template + void set_vertex_target_positions(Container const &target_positions) { + for (auto const & [v, pt] : target_positions) { + set_vertex_target_position(v, pt); + } + } + + /*! + Clear previously set vertex soft constraints + */ + void clear_vertex_target_positions(); + + /*! + Set the weight on the boundary term of the energy. + Default is 1. 10 will strongly enforce the boundary matching, 1e-3 will only have a slight effect, favoring the inside meshing. + Warning: large value can lead to convergence issues if the boundary is not initialized on its contraint. + */ + void set_boundary_weight(double weight); // large values can lead to convergence issues + + + + /*! + Set boundary with pre-set recommended parameters. + */ + void set_boundary_weight(Parameters::BOUNDARY_WEIGHTING_MODE mode); + + /*! + Start the optimization procedure + */ + bool run(); + +public: // for advanced usage. Do not touch if you do not know what you are doing. + + + void set_optimization_mode(Parameters::OPTIMIZATION_MODE mode); + + void set_minimum_valid_edge_size(double edge_size); // should be a minimum bound on the valid edge size of the mesh, used as a reference for untangling + + unsigned get_total_number_of_lbfgs_iterations() const; + + // return a negative value if you don't want enforce a sizing on a given vertex. + using Point_target_sizing_query = std::function; + using Point_target_sizing_batch_query = std::function const &vertices, std::vector const &coords, std::vector &sizings)>; + + void set_vertex_target_sizing_query(Point_target_sizing_query query); // todo: implementation of that is not finished + void set_vertex_target_sizing_query(Point_target_sizing_batch_query query); + + + + /* + ONLY USE IF YOUR MESH NEEDED PREDICATES TO BE GENERATED VALID IN THE FIRST PLACE + i.e. the code will not break already "good" meshes, + and enforcing strong orientation may significantly throttle minimization + Parameter is set to STATUS_UPDATE if invalid elements are in the input + Default is NO_CHECK + */ + void set_predicates_mode(Parameters::PREDICATES_MODE mode); + + // first unsigned is number of det <= 0, second is with exact predicates + // optional std::vector gives the det and exact predicate computation of each cell. + // Warning: will have to create a full instance of smoother, so it is not a cheap function to call + std::pair get_nb_of_inverted_cells(Cell_descriptor_map> *cell_determinants = nullptr); + + // only when CHECK_IN_LBFGS is enabled. + unsigned get_number_of_invalid_steps_measured_by_predicates() const; + + // user callback to enforce "infinite" energy for given coordinates changes + // It can be used to have particular guarantees to preserve + // but I do not recommend to rely on it, it is likely to block the optimization all together + using Update_validator = std::function const &coords)>; + + void set_update_validator(Update_validator func); + +public: // for advanced monitoring + + using Iteration_status = Tetrahedral_mesh_smoother::Iteration_status; + using Vertex_status = Tetrahedral_mesh_smoother::Vertex_status; + using Cell_status = Tetrahedral_mesh_smoother::Tetrahedron_status; + + using Callback_function = std::function const &vertex_data, + Cell_descriptor_map const &cell_data + )>; + using Callback_setting = Tetrahedral_mesh_smoother::DEBUG_CALLBACK_SETTING; + void set_callback_function(Callback_function callback_function, Callback_setting setting = Callback_setting::OUTER_ITER); + +private: + // inputs + TetrahedralMesh &_mesh; + Vertex_descriptor_map> _user_locks; + BoundaryMesh const &_boundary; + EdgeNetwork const &_edge_network; + std::vector> _vertex_target_positions; + + // options + bool _verbose = false; + bool _lock_boundary = true; + Parameters::OPTIMIZATION_MODE _optimization_mode = Parameters::CONFORMAL; + Parameters::PREDICATES_MODE _predicates_mode = Parameters::NO_CHECK; + + unsigned _max_number_of_iteration = 1000; + double _min_valid_edge_size = 1e-6; + double _boundary_weight = 1.; + + bool is_vert_locked(Vertex_descriptor v) const; + + template + Eigen::Vector3d convert_to_eigen(T const &vector) const { return Eigen::Vector3d(vector[0], vector[1], vector[2]); } + + inline Point_3 convert_to_user(Eigen::Vector3d point) const { point = _scale*point + _shift; return Point_3(point[0], point[1], point[2]); } + + inline Eigen::Vector3d convert_to_inner(Point_3 const &point) const { return (convert_to_eigen(point) - _shift) / _scale; } + + + // internal working data + void check_refs(); + void clear_internal_data(); + void initialize_boundary(); + void initialize_curve_network(); + void create_compress_sorted_data(); + void initialise_point_targets(); + Eigen::VectorXd _compressed_coords; + std::vector _compressed_locks; + Vertex_descriptor_map _vertex_original_to_compressed; + Cell_descriptor_map _cell_original_to_compressed; + std::vector> _tetrahedra; + std::vector> _tetrahedron_refs; + std::vector> _vert2tet_corner; + + + enum QUERY_TYPE {NONE, POINT_QUERY, ELEMENT_QUERY, BATCH_POINT_QUERY, BATCH_ELEMENT_QUERY}; + + std::vector> _bnd_faces; + std::vector>>> _vert_and_face_corners; + std::vector _face_surface_id; + QUERY_TYPE _boundary_query_type = NONE; + Boundary_point_query _boundary_point_query = nullptr; + Boundary_polygon_query _boundary_polygon_query = nullptr; + Boundary_point_batch_query _boundary_point_batch_query = nullptr; + Boundary_polygon_batch_query _boundary_polygon_batch_query = nullptr; + std::vector _boundary_batch_info_points; + std::vector _boundary_batch_info_radii; + std::vector> _boundary_batch_info_polygons; + std::vector _boundary_batch_planes; + + void initialise_boundary_query(Tetrahedral_mesh_smoother &); + + + std::vector> _curve_edges; + std::vector _curve_ids; + QUERY_TYPE _curve_query_type = NONE; + Curve_point_query _curve_point_query = nullptr; + Curve_segment_query _curve_segment_query = nullptr; + Curve_point_batch_query _curve_point_batch_query = nullptr; + Curve_segment_batch_query _curve_segment_batch_query = nullptr; + std::vector _curve_batch_info_points; + std::vector _curve_batch_info_radii; + std::vector> _curve_batch_info_edges; + std::vector _curve_batch_tangents; + + void initialise_curve_queries(Tetrahedral_mesh_smoother &); + + + std::vector> _point_targets; + + + QUERY_TYPE _target_size_query_type = NONE; + Point_target_sizing_query _target_size_query = nullptr; + Point_target_sizing_batch_query _target_size_batch_query = nullptr; + + Update_validator _update_validator = nullptr; + Vertex_descriptor_map _current_coords_to_check; + + + double _scale = 1.; + Eigen::Vector3d _shift = Eigen::Vector3d::Zero(); + double const _rescaled_bbox_scale = 0.5; + void rescale_geometry(); + void update_mesh_coordinates(); + + + Callback_function _callback_function = nullptr; + Callback_setting _callback_setting = Callback_setting::NOTHING; + bool _callback_initialized = false; + Iteration_status _callback_status; + Vertex_descriptor_map _callback_vertex_map_data; + Cell_descriptor_map _callback_cell_map_data; + void initialize_callback(); + bool run_callback(Iteration_status const &, std::vector const &, std::vector const&); + + unsigned _nb_lbfgs_iterations = 0; + unsigned _nb_predicates_invalid_steps = 0; + + void initialise_smoother(Tetrahedral_mesh_smoother &); +}; + + +using cgal_types::C3t3_wrapper; + + + +/*! +* \ingroup pkgMeshSmoothing3Classes +* +* \brief smooth a c3t3 mesh structure +* +* The class `C3t3_smoother` provides a wrapper around `Mesh_smoother` to use it with a CGAL `C3t3` mesh structure. +* Facets of the `C3t3` mesh structure are defined as boundary, and edges of the `C3t3` mesh structure are used as curve network. +* It is still required to define the wished boundary queries. +* +* \tparam Type of the input mesh complex, model of `MeshComplex_3InTriangulation_3` +* +* \sa `CGAL::Mesh_smoothing_3::Mesh_smoother` +* +*/ +template< + typename C3t3 +> +class C3t3_smoother : public Mesh_smoother , C3t3_wrapper, C3t3_wrapper> { +private: + C3t3_wrapper mesh_wrapper; + +public: + C3t3_smoother(C3t3 &c3t3) + : mesh_wrapper{c3t3} + , Mesh_smoother, C3t3_wrapper, C3t3_wrapper>(mesh_wrapper, mesh_wrapper, mesh_wrapper) + {} + +}; + + +} // namespace Mesh_smoothing_3 + + + +#include "internal/Mesh_smoothing_3_impl.hpp" diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/default_shapes.h b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/default_shapes.h new file mode 100644 index 000000000000..2c3b0c8fbd32 --- /dev/null +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/default_shapes.h @@ -0,0 +1,216 @@ +#pragma once + +#include +#include +#include + +namespace Mesh_smoothing_3 { + +namespace Shapes { + + template < + typename Point3 = Eigen::Vector3d + > + class Base_element_shape_reference { + public: + virtual unsigned nb_inner_tetrahedra() const { return 0; } + + virtual unsigned nb_vertices() const { return 0; } + + virtual unsigned inner_tetrahedra_local_vert(unsigned tet, unsigned tet_vert) const { return 0; } + + virtual Point3 vertex_reference_coordinates(unsigned local_vert) const { return Point3(); } + + std::array inner_tetrahedra_reference_shape(unsigned tet) const { + return { + vertex_reference_coordinates(inner_tetrahedra_local_vert(tet, 0)), + vertex_reference_coordinates(inner_tetrahedra_local_vert(tet, 1)), + vertex_reference_coordinates(inner_tetrahedra_local_vert(tet, inverse?3:2)), + vertex_reference_coordinates(inner_tetrahedra_local_vert(tet, inverse?2:3)) + }; + } + + bool inverse = false; + }; + + // This heavy class set-up is to obtain something generic that does not store data while still working with Eigen that does not allow constexpr allocations + template < + typename Point3 = Eigen::Vector3d, + unsigned NbVertices = 0, + unsigned NbTetrahedra = 0 + > + class Array_based_shape_reference : public Base_element_shape_reference { + public: + std::array const * reference_points_ptr = nullptr; + std::array, NbTetrahedra> const * inner_tetrahedra_ptr = nullptr; + + unsigned nb_inner_tetrahedra() const override { return inner_tetrahedra_ptr->size(); } + + unsigned nb_vertices() const override { return reference_points_ptr->size(); } + + unsigned inner_tetrahedra_local_vert(unsigned tet, unsigned tet_vert) const override { return (*inner_tetrahedra_ptr)[tet][tet_vert]; } + + Point3 vertex_reference_coordinates(unsigned local_vert) const override { return (*reference_points_ptr)[local_vert]; } + +}; + + // following: https://docs.vtk.org/en/latest/design_documents/VTKFileFormats.html#legacy-file-examples + template < + typename Point3 = Eigen::Vector3d + > + class VTK_TETRAHEDRON : public Array_based_shape_reference { + public: + // cannot be constexpr because of Eigen initialization constraints + static const std::array reference_points; + static const std::array, 1> inner_tetrahedra; + VTK_TETRAHEDRON() { + this->reference_points_ptr = &reference_points; + this->inner_tetrahedra_ptr = &inner_tetrahedra; + } + operator std::array () const { return this->inner_tetrahedra_reference_shape(0); } + }; + + template const std::array VTK_TETRAHEDRON::reference_points = {{ + Point3{std::sqrt(8./9),0,-1./3}, + Point3{-std::sqrt(2./9),std::sqrt(2./3),-1./3}, + Point3{-std::sqrt(2./9),-std::sqrt(2./3),-1./3}, + Point3{0.,0.,1.} + }}; + template const std::array, 1> VTK_TETRAHEDRON::inner_tetrahedra = {{ + {0,1,2,3} + }}; + + template < + typename Point3 = Eigen::Vector3d + > + class VTK_PYRAMID : public Array_based_shape_reference { + public: + // cannot be constexpr because of Eigen initialization constraints + static const std::array, 4> inner_tetrahedra; + static const std::array reference_points; + VTK_PYRAMID() { + this->reference_points_ptr = &reference_points; + this->inner_tetrahedra_ptr = &inner_tetrahedra; + } + }; + template const std::array VTK_PYRAMID::reference_points = {{ + Point3{0.,0.,0.}, + Point3{1.,0.,0.}, + Point3{1.,1.,0.}, + Point3{0.,1.,0.}, + Point3{0.5,0.5,0.5} + }}; + template const std::array, 4> VTK_PYRAMID::inner_tetrahedra = {{ + {0,1,3,4}, + {1,2,0,4}, + {2,3,1,4}, + {3,0,2,4} + }}; + + template < + typename Point3 = Eigen::Vector3d + > + class VTK_WEDGE : public Array_based_shape_reference { + public: + // cannot be constexpr because of Eigen initialization constraints + static const std::array reference_points; + static const std::array, 6> inner_tetrahedra; + VTK_WEDGE() { + this->reference_points_ptr = &reference_points; + this->inner_tetrahedra_ptr = &inner_tetrahedra; + } + }; + template const std::array VTK_WEDGE::reference_points = {{ + Point3{0.,0.,0.}, + Point3{1.,0.,0.}, + Point3{0.5,0.,std::sqrt(3)/2}, + Point3{0.,1.,0.}, + Point3{1.,1.,0.}, + Point3{0.5,1.,std::sqrt(3)/2}, + }}; + template const std::array, 6> VTK_WEDGE::inner_tetrahedra = {{ + {0,1,3,2}, + {1,4,0,2}, + {2,1,0,5}, + {3,4,5,0}, + {4,5,3,1}, + {5,3,4,2}, + }}; + + template < + typename Point3 = Eigen::Vector3d + > + class VTK_HEXAHEDRON : public Array_based_shape_reference { + public: + // cannot be constexpr because of Eigen initialization constraints + static const std::array reference_points; + static const std::array, 8> inner_tetrahedra; + VTK_HEXAHEDRON() { + this->reference_points_ptr = &reference_points; + this->inner_tetrahedra_ptr = &inner_tetrahedra; + } + }; + template const std::array VTK_HEXAHEDRON::reference_points = {{ + Point3{0.,0.,0.}, + Point3{1.,0.,0.}, + Point3{1.,1.,0.}, + Point3{0.,1.,0.}, + Point3{0.,0.,1.}, + Point3{1.,0.,1.}, + Point3{1.,1.,1.}, + Point3{0.,1.,1.} + }}; + template const std::array, 8> VTK_HEXAHEDRON::inner_tetrahedra = {{ + {0,1,3,4}, + {1,2,0,5}, + {2,3,1,6}, + {3,2,0,7}, + {4,7,5,0}, + {5,4,7,1}, + {6,5,4,2}, + {7,6,4,3}, + // {0,2,7,5}, + // {1,3,4,6}, + }}; + + // is equivalent to VTK voxels + template < + typename Point3 = Eigen::Vector3d + > + class GEOGRAM_HEXAHEDRON : public Array_based_shape_reference { + public: + static const std::array reference_points; + static const std::array, 8> inner_tetrahedra; + GEOGRAM_HEXAHEDRON() { + this->reference_points_ptr = &reference_points; + this->inner_tetrahedra_ptr = &inner_tetrahedra; + } + }; + template const std::array GEOGRAM_HEXAHEDRON::reference_points = {{ + Point3{0.,0.,0.}, + Point3{1.,0.,0.}, + Point3{0.,1.,0.}, + Point3{1.,1.,0.}, + Point3{0.,0.,1.}, + Point3{1.,0.,1.}, + Point3{0.,1.,1.}, + Point3{1.,1.,1.} + }}; + template const std::array, 8> GEOGRAM_HEXAHEDRON::inner_tetrahedra = {{ + {0,1,2,4}, + {1,3,0,5}, + {3,2,1,7}, + {2,0,3,6}, + {4,6,5,0}, + {5,4,7,1}, + {7,5,6,3}, + {6,7,4,2}, + // {0,3,6,5}, + // {1,2,4,7}, + }}; +} + + + +} + diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Function_minimizer.h b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Function_minimizer.h new file mode 100644 index 000000000000..c493f2e6a9f7 --- /dev/null +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Function_minimizer.h @@ -0,0 +1,114 @@ +#pragma once + +#include + +namespace Mesh_smoothing_3_internal { + +#include "LBFGS-Lite/include/lbfgs.hpp" // todo: probably not good inside namespace. modify the code itself? Without namespace? + + +class Function_minimizer { +public: + using Func_eval = std::function; + // return true to stop the optimization + using Progress_call_back = std::function; + + using Max_LS_step_bound = std::function; + + using Direction_Precond = std::function; + + Function_minimizer(const Func_eval f) : _f(f) {} + + Func_eval const _f; + Progress_call_back _call_back = [](Eigen::VectorXd const &, + Eigen::VectorXd const &, + const double, const double, const unsigned, const unsigned) { return false; }; + Max_LS_step_bound _max_step = nullptr; + Direction_Precond _precond = nullptr; + lbfgs::lbfgs_parameter_t _parameters; + bool _has_warmstart = false; + + void set_max_iter(unsigned nb_iter) {_parameters.max_iterations = static_cast(nb_iter); } + + void set_init_step(double step) { _parameters.init_step = step; } + + // 0 is success + int get_status() const {return _status;} + std::string get_message() const { + if (_status == -1) + return "Not run."; + else + return lbfgs::lbfgs_strerror(_status); + } + + bool lbfgs_optimize(Eigen::VectorXd &x) { + _status = lbfgs::lbfgs_optimize(x, _fval, static_function_call, static_bound_call, static_progress_call, static_cast(this), _parameters, static_direction_precond); + return _status >= 0; + } + + bool line_search(Eigen::VectorXd &x, Eigen::VectorXd const &d, double &step) { + lbfgs::callback_data_t cd { + static_cast(this), + static_function_call, + static_bound_call, + static_progress_call + }; + Eigen::VectorXd g = Eigen::VectorXd::Zero(x.size()); + double f = _f(x,g); + Eigen::VectorXd gp = g; + Eigen::VectorXd xp = x; + _status = lbfgs::line_search_lewisoverton(x, f, g, step, d, xp, gp, _parameters.min_step, _parameters.max_step, cd, _parameters); + return _status >= 0; + } + + double minimum() const { return _fval; } + +private: + int _status = -1; + double _fval = 0.; + static double static_function_call(void *instance, Eigen::VectorXd const &x, Eigen::VectorXd &g) { + Function_minimizer const * wrapper = static_cast(instance); + return wrapper->_f(x, g); + } + static int static_progress_call(void *instance, + const Eigen::VectorXd &x, + const Eigen::VectorXd &g, + const double fx, + const double step, + const int k, + const int ls) + { + Function_minimizer const * wrapper = static_cast(instance); + return wrapper->_call_back(x,g,fx,step, static_cast(k), static_cast(ls)); + } + static double static_bound_call(void *instance, + const Eigen::VectorXd &x, + const Eigen::VectorXd &d) + { + Function_minimizer const * wrapper = static_cast(instance); + return wrapper->_max_step ? wrapper->_max_step(x,d) : wrapper->_parameters.max_step; + } + static Eigen::VectorXd static_direction_precond(void *instance, + const Eigen::VectorXd &x, + const Eigen::VectorXd &d) + { + Function_minimizer const * wrapper = static_cast(instance); + return wrapper->_precond ? wrapper->_precond(x,d) : d; + } +}; + +} + diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/CMakeLists.txt b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/CMakeLists.txt new file mode 100644 index 000000000000..3d14be929e7f --- /dev/null +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(lbfgs) + +set(CMAKE_CXX_FLAGS "-std=c++11") +set(CMAKE_BUILD_TYPE "RelWithDebInfo") +set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -fPIC") + +find_package(Eigen3 REQUIRED) + +include_directories( + include + ${EIGEN3_INCLUDE_DIRS} +) + +add_executable(${PROJECT_NAME} src/lbfgs_example.cpp) diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/LICENSE b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/LICENSE new file mode 100644 index 000000000000..aa2376376273 --- /dev/null +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/LICENSE @@ -0,0 +1,23 @@ +The MIT License + +Copyright (c) 1990 Jorge Nocedal +Copyright (c) 2007-2010 Naoaki Okazaki +Copyright (c) 2020-2022 Zhepei Wang + +Permission is hereby granted, free of charge, to any person obtaining a +copy of this software and associated documentation files (the "Software"), +to deal in the Software without restriction, including without limitation +the rights to use, copy, modify, merge, publish, distribute, sublicense, +and/or sell copies of the Software, and to permit persons to whom the +Software is furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/README.md b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/README.md new file mode 100644 index 000000000000..0b3cb83fc8dc --- /dev/null +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/README.md @@ -0,0 +1,46 @@ +# LBFGS-Lite +A header-only L-BFGS unconstrained optimizer. + +## 0. About + +__LBFGS-Lite__ is a __C++__ [__header-only__](https://en.wikipedia.org/wiki/Header-only) library for __unconstrained optimization__. Many engineering considerations are added for improved robustness compared to the original version by Nocedal. + +## 1. How to use + +All explanations are detailed by the comments in "lbfgs.hpp". See "lbfgs_example.cpp" for the calling procedure. You may need to install Eigen via "sudo apt install libeigen3-dev" because we use Eigen for better performance since [ver. 2.1](https://github.com/ZJU-FAST-Lab/LBFGS-Lite/tags). If you need a pure C-style lib without any external dependence, please refer to [ver. 0.9](https://github.com/ZJU-FAST-Lab/LBFGS-Lite/tags). + +## 2. Features + +- Only one header file "lbfgs.hpp" is all you need. + +- The library implements [Limited-Memory Broyden-Fletcher-Goldfarb-Shanno Method](https://doi.org/10.1007/BF01589116) (L-BFGS). + +- A __highly robust line search__ proposed by [Lewis and Overton](https://link.springer.com/article/10.1007/s10107-012-0514-2) has been employed since [ver. 2.1](https://github.com/ZJU-FAST-Lab/LBFGS-Lite/tags). + +- Both __smooth__ ([C2](https://en.wikipedia.org/wiki/Smoothness)) and __nonsmooth__ ([C0 but piecewise C2](https://en.wikipedia.org/wiki/Smoothness)) functions are supported. + +- __Cautious update__ by [Li and Fukushima](https://epubs.siam.org/doi/pdf/10.1137/S1052623499354242) is employed for __global convergence__ in nonconvex cases. + +- __Externally provided maximum step size__ is convenient to functions defined on bounded sets. + +## 3. Why this lib + +- Our lib is well-organized and concise (about 800 lines). + +- Many other libs use [Nocedal's zoom line search](https://link.springer.com/book/10.1007%2F978-0-387-40065-5), [More-Thuente line search](https://dl.acm.org/doi/abs/10.1145/192115.192132), or [Hager-Zhang line search](https://doi.org/10.1137/030601880). The truth is, interpolation-based schemes bring many tunable parameters and make more or less assumptions on the function smoothness. Engineering practice tells us that these assumptions can fail due to bad numerical conditions and ill-shaped functions. Admittedly, they slightly reduce the iteration number in some cases, but also easily-crashed. + +- Some other libs provide user-specified options for [Armijo and weak/strong Wolfe condition](https://en.wikipedia.org/wiki/Wolfe_conditions) without considering positive definiteness (PD) of the approximated Hessian. This is misleading because if only Armijo condition is satisfied, the PD property is not guaranteed and the solver is unstable or easily-crashed. We make the weak Wolfe condition mandatory here, which suffices for PD property. + +- We use [Lewis-Overton line search](https://link.springer.com/article/10.1007/s10107-012-0514-2) as the only scheme since ver. 2.1 from which nonsmooth functions are supported. Other schemes either assume high orders of continuity, or enforce the strong Wolfe condition can never be fulfilled by nonsmooth functions. Moreover, Lewis-Overton line search are widely adopted in many graphics applications involving optimization on [scene](https://dl.acm.org/doi/abs/10.1145/2766929), [shape](https://dl.acm.org/doi/abs/10.1145/2897824.2925918), or [mesh](https://dl.acm.org/doi/abs/10.1145/3197517.3201303), showing its practical robustness. + +- According to our practice, the function/gradient evaluation numbers are comparable with interpolation-based schemes. Sometimes it even requires fewer function calls. If you insist an interpolation-one for smooth well-shaped cost function, we also propose our [ver. 0.9](https://github.com/ZJU-FAST-Lab/LBFGS-Lite/tags) where a More-Thuente line search is kept. + +- Other schemes' global convergence on non-convex functions are not guaranteed theoretically. We avoid the potential problems by employing the [cautious update](https://epubs.siam.org/doi/pdf/10.1137/S1052623499354242) scheme in our lib without additional computation overhead. + +## 6. Licence + +LBFGS-Lite is modified from [the C version](https://github.com/chokkan/liblbfgs) by Okazaki, which is further based on [the original Fortran version](https://doi.org/10.1007/BF01589116) by Nocedal. Thus it is distributed under the term of the MIT license according to previous ones by Okazaki and by Nocedal. Please refer to LICENSE file in the distribution. + +## 7. Maintaince + +If any bug, please contact [Zhepei Wang](https://zhepeiwang.github.io/) (). diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/include/lbfgs.hpp b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/include/lbfgs.hpp new file mode 100644 index 000000000000..d7f69335b82e --- /dev/null +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/include/lbfgs.hpp @@ -0,0 +1,817 @@ +#ifndef LBFGS_HPP +#define LBFGS_HPP + +#include +#include +#include + +namespace lbfgs +{ + // ----------------------- Data Type Part ----------------------- + + /** + * L-BFGS optimization parameters. + */ + struct lbfgs_parameter_t + { + /** + * The number of corrections to approximate the inverse hessian matrix. + * The L-BFGS routine stores the computation results of previous m + * iterations to approximate the inverse hessian matrix of the current + * iteration. This parameter controls the size of the limited memories + * (corrections). The default value is 8. Values less than 3 are + * not recommended. Large values will result in excessive computing time. + */ + int mem_size = 8; + + /** + * Epsilon for grad convergence test. DO NOT USE IT in nonsmooth cases! + * Set it to 0.0 and use past-delta-based test for nonsmooth functions. + * This parameter determines the accuracy with which the solution is to + * be found. A minimization terminates when + * ||g(x)||_inf / max(1, ||x||_inf) < g_epsilon, + * where ||.||_inf is the infinity norm. The default value is 1.0e-5. + * This should be greater than 1.0e-6 in practice because L-BFGS does + * not directly reduce first-order residual. It still needs the function + * value which can be corrupted by machine_prec when ||g|| is small. + */ + double g_epsilon = 1.0e-5; + + /** + * Distance for delta-based convergence test. + * This parameter determines the distance, in iterations, to compute + * the rate of decrease of the cost function. If the value of this + * parameter is zero, the library does not perform the delta-based + * convergence test. The default value is 3. + */ + int past = 3; + + /** + * Delta for convergence test. + * This parameter determines the minimum rate of decrease of the + * cost function. The library stops iterations when the following + * condition is met: + * |f' - f| / max(1, |f|) < delta, + * where f' is the cost value of past iterations ago, and f is + * the cost value of the current iteration. + * The default value is 1.0e-6. + */ + double delta = 1.0e-6; + + /** + * The maximum number of iterations. + * The lbfgs_optimize() function terminates an minimization process with + * ::LBFGSERR_MAXIMUMITERATION status code when the iteration count + * exceedes this parameter. Setting this parameter to zero continues an + * minimization process until a convergence or error. The default value + * is 0. + */ + int max_iterations = 0; + + /** + * The maximum number of trials for the line search. + * This parameter controls the number of function and gradients evaluations + * per iteration for the line search routine. The default value is 64. + */ + int max_linesearch = 64; + + /** + * The minimum step of the line search routine. + * The default value is 1.0e-20. This value need not be modified unless + * the exponents are too large for the machine being used, or unless the + * problem is extremely badly scaled (in which case the exponents should + * be increased). + */ + double min_step = 1.0e-20; + + /** + * The maximum step of the line search. + * The default value is 1.0e+20. This value need not be modified unless + * the exponents are too large for the machine being used, or unless the + * problem is extremely badly scaled (in which case the exponents should + * be increased). + */ + double max_step = 1.0e+20; + + /** + * A parameter to control the accuracy of the line search routine. + * The default value is 1.0e-4. This parameter should be greater + * than zero and smaller than 1.0. + */ + double f_dec_coeff = 1.0e-4; + + /** + * A parameter to control the accuracy of the line search routine. + * The default value is 0.9. If the function and gradient + * evaluations are inexpensive with respect to the cost of the + * iteration (which is sometimes the case when solving very large + * problems) it may be advantageous to set this parameter to a small + * value. A typical small value is 0.1. This parameter should be + * greater than the f_dec_coeff parameter and smaller than 1.0. + */ + double s_curv_coeff = 0.9; + + /** + * A parameter to ensure the global convergence for nonconvex functions. + * The default value is 1.0e-6. The parameter performs the so called + * cautious update for L-BFGS, especially when the convergence is + * not sufficient. The parameter must be positive but might as well + * be less than 1.0e-3 in practice. + */ + double cautious_factor = 1.0e-6; + + /** + * The machine precision for floating-point values. The default is 1.0e-16. + * This parameter must be a positive value set by a client program to + * estimate the machine precision. + */ + double machine_prec = 1.0e-16; + + double init_step = -1; + }; + + /** + * Return values of lbfgs_optimize(). + * Roughly speaking, a negative value indicates an error. + */ + enum + { + /** L-BFGS reaches convergence. */ + LBFGS_CONVERGENCE = 0, + /** L-BFGS satisfies stopping criteria. */ + LBFGS_STOP, + /** The iteration has been canceled by the monitor callback. */ + LBFGS_CANCELED, + + /** Unknown error. */ + LBFGSERR_UNKNOWNERROR = -1024, + /** Invalid number of variables specified. */ + LBFGSERR_INVALID_N, + /** Invalid parameter lbfgs_parameter_t::mem_size specified. */ + LBFGSERR_INVALID_MEMSIZE, + /** Invalid parameter lbfgs_parameter_t::g_epsilon specified. */ + LBFGSERR_INVALID_GEPSILON, + /** Invalid parameter lbfgs_parameter_t::past specified. */ + LBFGSERR_INVALID_TESTPERIOD, + /** Invalid parameter lbfgs_parameter_t::delta specified. */ + LBFGSERR_INVALID_DELTA, + /** Invalid parameter lbfgs_parameter_t::min_step specified. */ + LBFGSERR_INVALID_MINSTEP, + /** Invalid parameter lbfgs_parameter_t::max_step specified. */ + LBFGSERR_INVALID_MAXSTEP, + /** Invalid parameter lbfgs_parameter_t::f_dec_coeff specified. */ + LBFGSERR_INVALID_FDECCOEFF, + /** Invalid parameter lbfgs_parameter_t::s_curv_coeff specified. */ + LBFGSERR_INVALID_SCURVCOEFF, + /** Invalid parameter lbfgs_parameter_t::machine_prec specified. */ + LBFGSERR_INVALID_MACHINEPREC, + /** Invalid parameter lbfgs_parameter_t::max_linesearch specified. */ + LBFGSERR_INVALID_MAXLINESEARCH, + /** The function value became NaN or Inf. */ + LBFGSERR_INVALID_FUNCVAL, + /** The line-search step became smaller than lbfgs_parameter_t::min_step. */ + LBFGSERR_MINIMUMSTEP, + /** The line-search step became larger than lbfgs_parameter_t::max_step. */ + LBFGSERR_MAXIMUMSTEP, + /** Line search reaches the maximum, assumptions not satisfied or precision not achievable.*/ + LBFGSERR_MAXIMUMLINESEARCH, + /** The algorithm routine reaches the maximum number of iterations. */ + LBFGSERR_MAXIMUMITERATION, + /** Relative search interval width is at least lbfgs_parameter_t::machine_prec. */ + LBFGSERR_WIDTHTOOSMALL, + /** A logic error (negative line-search step) occurred. */ + LBFGSERR_INVALIDPARAMETERS, + /** The current search direction increases the cost function value. */ + LBFGSERR_INCREASEGRADIENT, + }; + + /** + * Callback interface to provide cost function and gradient evaluations. + * + * The lbfgs_optimize() function call this function to obtain the values of cost + * function and its gradients when needed. A client program must implement + * this function to evaluate the values of the cost function and its + * gradients, given current values of variables. + * + * @param instance The user data sent for lbfgs_optimize() function by the client. + * @param x The current values of variables. + * @param g The gradient vector. The callback function must compute + * the gradient values for the current variables. + * @retval double The value of the cost function for the current variables. + */ + typedef double (*lbfgs_evaluate_t)(void *instance, + const Eigen::VectorXd &x, + Eigen::VectorXd &g); + + /** + * Callback interface to provide an upper bound at the beginning of the current line search. + * + * The lbfgs_optimize() function call this function to obtain the values of the + * upperbound of the stepsize to search in, provided with the beginning values of + * variables before the line search, and the current step vector (can be descent direction). + * A client program can implement this function for more efficient linesearch. Any step + * larger than this bound should not be considered. For example, it has a very large or even + * inf function value. Note that the function value at the provided bound should be FINITE! + * If it is not used, just set it nullptr. + * + * @param instance The user data sent for lbfgs_optimize() function by the client. + * @param xp The values of variables before current line search. + * @param d The step vector. It can be the descent direction. + * @retval double The upperboud of the step in current line search routine, + * such that (stpbound * d) is the maximum reasonable step. + */ + typedef double (*lbfgs_stepbound_t)(void *instance, + const Eigen::VectorXd &xp, + const Eigen::VectorXd &d); + + /** + * Callback interface to monitor the progress of the minimization process. + * + * The lbfgs_optimize() function call this function for each iteration. Implementing + * this function, a client program can store or display the current progress + * of the minimization process. If it is not used, just set it nullptr. + * + * @param instance The user data sent for lbfgs_optimize() function by the client. + * @param x The current values of variables. + * @param g The current gradient values of variables. + * @param fx The current value of the cost function. + * @param step The line-search step used for this iteration. + * @param k The iteration count. + * @param ls The number of evaluations called for this iteration. + * @retval int Zero to continue the minimization process. Returning a + * non-zero value will cancel the minimization process. + */ + typedef int (*lbfgs_progress_t)(void *instance, + const Eigen::VectorXd &x, + const Eigen::VectorXd &g, + const double fx, + const double step, + const int k, + const int ls); + + typedef Eigen::VectorXd (*lbfgs_warmstart_t)(void *instance, + const Eigen::VectorXd &x, + const Eigen::VectorXd &g); + + /** + * Callback data struct + */ + struct callback_data_t + { + void *instance = nullptr; + lbfgs_evaluate_t proc_evaluate = nullptr; + lbfgs_stepbound_t proc_stepbound = nullptr; + lbfgs_progress_t proc_progress = nullptr; + }; + + // ----------------------- L-BFGS Part ----------------------- + + /** + * Line search method for smooth or nonsmooth functions. + * This function performs line search to find a point that satisfy + * both the Armijo condition and the weak Wolfe condition. It is + * as robust as the backtracking line search but further applies + * to continuous and piecewise smooth functions where the strong + * Wolfe condition usually does not hold. + * + * @see + * Adrian S. Lewis and Michael L. Overton. Nonsmooth optimization + * via quasi-Newton methods. Mathematical Programming, Vol 141, + * No 1, pp. 135-163, 2013. + */ + inline int line_search_lewisoverton(Eigen::VectorXd &x, + double &f, + Eigen::VectorXd &g, + double &stp, + const Eigen::VectorXd &s, + const Eigen::VectorXd &xp, + const Eigen::VectorXd &gp, + const double stpmin, + const double stpmax, + const callback_data_t &cd, + const lbfgs_parameter_t ¶m) + { + int count = 0; + bool brackt = false, touched = false; + double finit, dginit, dgtest, dstest; + double mu = 0.0, nu = stpmax; + + /* Check the input parameters for errors. */ + if (!(stp > 0.0)) + { + return LBFGSERR_INVALIDPARAMETERS; + } + + /* Compute the initial gradient in the search direction. */ + dginit = gp.dot(s); + + /* Make sure that s points to a descent direction. */ + if (0.0 < dginit) + { + return LBFGSERR_INCREASEGRADIENT; + } + + /* The initial value of the cost function. */ + finit = f; + dgtest = param.f_dec_coeff * dginit; + dstest = param.s_curv_coeff * dginit; + + while (true) + { + x = xp + stp * s; + + /* Evaluate the function and gradient values. */ + f = cd.proc_evaluate(cd.instance, x, g); + ++count; + + /* Test for errors. */ + if (std::isinf(f) || std::isnan(f)) + { + return LBFGSERR_INVALID_FUNCVAL; + } + /* Check the Armijo condition. */ + if (f > finit + stp * dgtest) + { + nu = stp; + brackt = true; + } + else + { + /* Check the weak Wolfe condition. */ + if (g.dot(s) < dstest) + { + mu = stp; + } + else + { + return count; + } + } + if (param.max_linesearch <= count) + { + /* Maximum number of iteration. */ + return LBFGSERR_MAXIMUMLINESEARCH; + } + if (brackt && (nu - mu) < param.machine_prec * nu) + { + /* Relative interval width is at least machine_prec. */ + return LBFGSERR_WIDTHTOOSMALL; + } + + if (brackt) + { + stp = 0.5 * (mu + nu); + } + else + { + stp *= 2.0; + } + + if (stp < stpmin) + { + /* The step is the minimum value. */ + return LBFGSERR_MINIMUMSTEP; + } + if (stp > stpmax) + { + if (touched) + { + /* The step is the maximum value. */ + return LBFGSERR_MAXIMUMSTEP; + } + else + { + /* The maximum value should be tried once. */ + touched = true; + stp = stpmax; + } + } + } + } + + /** + * Start a L-BFGS optimization. + * Assumptions: 1. f(x) is either C2 or C0 but piecewise C2; + * 2. f(x) is lower bounded; + * 3. f(x) has bounded level sets; + * 4. g(x) is either the gradient or subgradient; + * 5. The gradient exists at the initial guess x0. + * A user must implement a function compatible with ::lbfgs_evaluate_t (evaluation + * callback) and pass the pointer to the callback function to lbfgs_optimize() + * arguments. Similarly, a user can implement a function compatible with + * ::lbfgs_stepbound_t to provide an external upper bound for stepsize, and + * ::lbfgs_progress_t (progress callback) to obtain the current progress + * (e.g., variables, function, and gradient, etc) and to cancel the iteration + * process if necessary. Implementation of the stepbound and the progress callback + * is optional: a user can pass nullptr if progress notification is not necessary. + * + * + * @param x The vector of decision variables. + * THE INITIAL GUESS x0 SHOULD BE SET BEFORE THE CALL! + * A client program can receive decision variables + * through this vector, at which the cost and its + * gradient are queried during minimization. + * @param f The ref to the variable that receives the final + * value of the cost function for the variables. + * @param proc_evaluate The callback function to provide function f(x) and + * gradient g(x) evaluations given a current values of + * variables x. A client program must implement a + * callback function compatible with lbfgs_evaluate_t + * and pass the pointer to the callback function. + * @param proc_stepbound The callback function to provide values of the + * upperbound of the stepsize to search in, provided + * with the beginning values of variables before the + * line search, and the current step vector (can be + * negative gradient). A client program can implement + * this function for more efficient linesearch. If it is + * not used, just set it nullptr. + * @param proc_progress The callback function to receive the progress + * (the number of iterations, the current value of + * the cost function) of the minimization + * process. This argument can be set to nullptr if + * a progress report is unnecessary. + * @param instance A user data pointer for client programs. The callback + * functions will receive the value of this argument. + * @param param The parameters for L-BFGS optimization. + * @retval int The status code. This function returns a nonnegative + * integer if the minimization process terminates without + * an error. A negative integer indicates an error. + */ + inline int lbfgs_optimize(Eigen::VectorXd &x, + double &f, + lbfgs_evaluate_t proc_evaluate, + lbfgs_stepbound_t proc_stepbound, + lbfgs_progress_t proc_progress, + void *instance, + const lbfgs_parameter_t ¶m, + lbfgs_warmstart_t warm_start = nullptr) + { + int ret, i, j, k, ls, end, bound; + double step, step_min, step_max, fx, ys, yy; + double gnorm_inf, xnorm_inf, beta, rate, cau; + + const int n = x.size(); + const int m = param.mem_size; + + /* Check the input parameters for errors. */ + if (n <= 0) + { + return LBFGSERR_INVALID_N; + } + if (m <= 0) + { + return LBFGSERR_INVALID_MEMSIZE; + } + if (param.g_epsilon < 0.0) + { + return LBFGSERR_INVALID_GEPSILON; + } + if (param.past < 0) + { + return LBFGSERR_INVALID_TESTPERIOD; + } + if (param.delta < 0.0) + { + return LBFGSERR_INVALID_DELTA; + } + if (param.min_step < 0.0) + { + return LBFGSERR_INVALID_MINSTEP; + } + if (param.max_step < param.min_step) + { + return LBFGSERR_INVALID_MAXSTEP; + } + if (!(param.f_dec_coeff > 0.0 && + param.f_dec_coeff < 1.0)) + { + return LBFGSERR_INVALID_FDECCOEFF; + } + if (!(param.s_curv_coeff < 1.0 && + param.s_curv_coeff > param.f_dec_coeff)) + { + return LBFGSERR_INVALID_SCURVCOEFF; + } + if (!(param.machine_prec > 0.0)) + { + return LBFGSERR_INVALID_MACHINEPREC; + } + if (param.max_linesearch <= 0) + { + return LBFGSERR_INVALID_MAXLINESEARCH; + } + + /* Prepare intermediate variables. */ + Eigen::VectorXd xp(n); + Eigen::VectorXd g(n); + Eigen::VectorXd gp(n); + Eigen::VectorXd d(n); + Eigen::VectorXd pf(std::max(1, param.past)); + + /* Initialize the limited memory. */ + Eigen::VectorXd lm_alpha = Eigen::VectorXd::Zero(m); + Eigen::MatrixXd lm_s = Eigen::MatrixXd::Zero(n, m); + Eigen::MatrixXd lm_y = Eigen::MatrixXd::Zero(n, m); + Eigen::VectorXd lm_ys = Eigen::VectorXd::Zero(m); + + /* Construct a callback data. */ + callback_data_t cd; + cd.instance = instance; + cd.proc_evaluate = proc_evaluate; + cd.proc_stepbound = proc_stepbound; + cd.proc_progress = proc_progress; + + /* Evaluate the function value and its gradient. */ + fx = cd.proc_evaluate(cd.instance, x, g); + + /* Store the initial value of the cost function. */ + pf(0) = fx; + + + if (warm_start) { + d = warm_start(cd.instance, x, -g); + } + else { + /* + Compute the direction; + we assume the initial hessian matrix H_0 as the identity matrix. + */ + d = -g; + } + + /* + Make sure that the initial variables are not a stationary point. + */ + gnorm_inf = g.cwiseAbs().maxCoeff(); + xnorm_inf = x.cwiseAbs().maxCoeff(); + + if (gnorm_inf / std::max(1.0, xnorm_inf) <= param.g_epsilon) + { + /* The initial guess is already a stationary point. */ + ret = LBFGS_CONVERGENCE; + } + else + { + /* + Compute the initial step: + */ + step = param.init_step > 0 ? param.init_step : 1.0 / d.norm(); + + k = 1; + end = 0; + bound = 0; + + while (true) + { + /* Store the current position and gradient vectors. */ + xp = x; + gp = g; + + /* If the step bound can be provided dynamically, then apply it. */ + step_min = param.min_step; + step_max = param.max_step; + if (cd.proc_stepbound) + { + step_max = cd.proc_stepbound(cd.instance, xp, d); + step_max = step_max < param.max_step ? step_max : param.max_step; + } + step = step < step_max ? step : 0.5 * step_max; + + /* Search for an optimal step. */ + ls = line_search_lewisoverton(x, fx, g, step, d, xp, gp, step_min, step_max, cd, param); + + if (ls < 0) + { + /* Revert to the previous point. */ + x = xp; + g = gp; + ret = ls; + break; + } + + /* Report the progress. */ + if (cd.proc_progress) + { + if (cd.proc_progress(cd.instance, x, d, fx, step, k, ls)) + { + ret = LBFGS_CANCELED; + break; + } + } + + /* + Convergence test. + The criterion is given by the following formula: + ||g(x)||_inf / max(1, ||x||_inf) < g_epsilon + */ + gnorm_inf = g.cwiseAbs().maxCoeff(); + xnorm_inf = x.cwiseAbs().maxCoeff(); + if (gnorm_inf / std::max(1.0, xnorm_inf) < param.g_epsilon) + { + /* Convergence. */ + ret = LBFGS_CONVERGENCE; + break; + } + + /* + Test for stopping criterion. + The criterion is given by the following formula: + |f(past_x) - f(x)| / max(1, |f(x)|) < \delta. + */ + if (0 < param.past) + { + /* We don't test the stopping criterion while k < past. */ + if (param.past <= k) + { + /* The stopping criterion. */ + rate = std::fabs(pf(k % param.past) - fx) / std::max(1.0, std::fabs(fx)); + + if (rate < param.delta) + { + ret = LBFGS_STOP; + break; + } + } + + /* Store the current value of the cost function. */ + pf(k % param.past) = fx; + } + + if (param.max_iterations != 0 && param.max_iterations <= k) + { + /* Maximum number of iterations. */ + ret = LBFGSERR_MAXIMUMITERATION; + break; + } + + /* Count the iteration number. */ + ++k; + + /* + Update vectors s and y: + s_{k+1} = x_{k+1} - x_{k} = \step * d_{k}. + y_{k+1} = g_{k+1} - g_{k}. + */ + lm_s.col(end) = x - xp; + lm_y.col(end) = g - gp; + + /* + Compute scalars ys and yy: + ys = y^t \cdot s = 1 / \rho. + yy = y^t \cdot y. + Notice that yy is used for scaling the hessian matrix H_0 (Cholesky factor). + */ + ys = lm_y.col(end).dot(lm_s.col(end)); + yy = lm_y.col(end).squaredNorm(); + lm_ys(end) = ys; + + /* Compute the negative of gradients. */ + d = -g; + + /* + Only cautious update is performed here as long as + (y^t \cdot s) / ||s_{k+1}||^2 > \epsilon * ||g_{k}||^\alpha, + where \epsilon is the cautious factor and a proposed value + for \alpha is 1. + This is not for enforcing the PD of the approxomated Hessian + since ys > 0 is already ensured by the weak Wolfe condition. + This is to ensure the global convergence as described in: + Dong-Hui Li and Masao Fukushima. On the global convergence of + the BFGS method for nonconvex unconstrained optimization problems. + SIAM Journal on Optimization, Vol 11, No 4, pp. 1054-1064, 2011. + */ + cau = lm_s.col(end).squaredNorm() * gp.norm() * param.cautious_factor; + + if (ys > cau) + { + /* + Recursive formula to compute dir = -(H \cdot g). + This is described in page 779 of: + Jorge Nocedal. + Updating Quasi-Newton Matrices with Limited Storage. + Mathematics of Computation, Vol. 35, No. 151, + pp. 773--782, 1980. + */ + ++bound; + bound = m < bound ? m : bound; + end = (end + 1) % m; + + j = end; + for (i = 0; i < bound; ++i) + { + j = (j + m - 1) % m; /* if (--j == -1) j = m-1; */ + /* \alpha_{j} = \rho_{j} s^{t}_{j} \cdot q_{k+1}. */ + lm_alpha(j) = lm_s.col(j).dot(d) / lm_ys(j); + /* q_{i} = q_{i+1} - \alpha_{i} y_{i}. */ + d += (-lm_alpha(j)) * lm_y.col(j); + } + + d *= ys / yy; + + for (i = 0; i < bound; ++i) + { + /* \beta_{j} = \rho_{j} y^t_{j} \cdot \gamm_{i}. */ + beta = lm_y.col(j).dot(d) / lm_ys(j); + /* \gamm_{i+1} = \gamm_{i} + (\alpha_{j} - \beta_{j}) s_{j}. */ + d += (lm_alpha(j) - beta) * lm_s.col(j); + j = (j + 1) % m; /* if (++j == m) j = 0; */ + } + } + + /* The search direction d is ready. We try step = 1 first. */ + step = 1.0; + } + } + + /* Return the final value of the cost function. */ + f = fx; + + return ret; + } + + /** + * Get string description of an lbfgs_optimize() return code. + * + * @param err A value returned by lbfgs_optimize(). + */ + inline const char *lbfgs_strerror(const int err) + { + switch (err) + { + case LBFGS_CONVERGENCE: + return "Success: reached convergence (g_epsilon)."; + + case LBFGS_STOP: + return "Success: met stopping criteria (past f decrease less than delta)."; + + case LBFGS_CANCELED: + return "The iteration has been canceled by the monitor callback."; + + case LBFGSERR_UNKNOWNERROR: + return "Unknown error."; + + case LBFGSERR_INVALID_N: + return "Invalid number of variables specified."; + + case LBFGSERR_INVALID_MEMSIZE: + return "Invalid parameter lbfgs_parameter_t::mem_size specified."; + + case LBFGSERR_INVALID_GEPSILON: + return "Invalid parameter lbfgs_parameter_t::g_epsilon specified."; + + case LBFGSERR_INVALID_TESTPERIOD: + return "Invalid parameter lbfgs_parameter_t::past specified."; + + case LBFGSERR_INVALID_DELTA: + return "Invalid parameter lbfgs_parameter_t::delta specified."; + + case LBFGSERR_INVALID_MINSTEP: + return "Invalid parameter lbfgs_parameter_t::min_step specified."; + + case LBFGSERR_INVALID_MAXSTEP: + return "Invalid parameter lbfgs_parameter_t::max_step specified."; + + case LBFGSERR_INVALID_FDECCOEFF: + return "Invalid parameter lbfgs_parameter_t::f_dec_coeff specified."; + + case LBFGSERR_INVALID_SCURVCOEFF: + return "Invalid parameter lbfgs_parameter_t::s_curv_coeff specified."; + + case LBFGSERR_INVALID_MACHINEPREC: + return "Invalid parameter lbfgs_parameter_t::machine_prec specified."; + + case LBFGSERR_INVALID_MAXLINESEARCH: + return "Invalid parameter lbfgs_parameter_t::max_linesearch specified."; + + case LBFGSERR_INVALID_FUNCVAL: + return "The function value became NaN or Inf."; + + case LBFGSERR_MINIMUMSTEP: + return "The line-search step became smaller than lbfgs_parameter_t::min_step."; + + case LBFGSERR_MAXIMUMSTEP: + return "The line-search step became larger than lbfgs_parameter_t::max_step."; + + case LBFGSERR_MAXIMUMLINESEARCH: + return "Line search reaches the maximum try number, assumptions not satisfied or precision not achievable."; + + case LBFGSERR_MAXIMUMITERATION: + return "The algorithm routine reaches the maximum number of iterations."; + + case LBFGSERR_WIDTHTOOSMALL: + return "Relative search interval width is at least lbfgs_parameter_t::machine_prec."; + + case LBFGSERR_INVALIDPARAMETERS: + return "A logic error (negative line-search step) occurred."; + + case LBFGSERR_INCREASEGRADIENT: + return "The current search direction increases the cost function value."; + + default: + return "(unknown)"; + } + } + +} // namespace lbfgs + +#endif diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/src/lbfgs_example.cpp b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/src/lbfgs_example.cpp new file mode 100644 index 000000000000..06008c4bb12e --- /dev/null +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/src/lbfgs_example.cpp @@ -0,0 +1,88 @@ +#include "lbfgs.hpp" +#include +#include +#include + +class MinimizationExample +{ +public: + int run(const int N) + { + double finalCost; + Eigen::VectorXd x(N); + + /* Set the initial guess */ + for (int i = 0; i < N; i += 2) + { + x(i) = -1.2; + x(i + 1) = 1.0; + } + + /* Set the minimization parameters */ + lbfgs::lbfgs_parameter_t params; + params.g_epsilon = 1.0e-8; + params.past = 3; + params.delta = 1.0e-8; + + /* Start minimization */ + int ret = lbfgs::lbfgs_optimize(x, + finalCost, + costFunction, + nullptr, + monitorProgress, + this, + params); + + /* Report the result. */ + std::cout << std::setprecision(4) + << "================================" << std::endl + << "L-BFGS Optimization Returned: " << ret << std::endl + << "Minimized Cost: " << finalCost << std::endl + << "Optimal Variables: " << std::endl + << x.transpose() << std::endl; + + return ret; + } + +private: + static double costFunction(void *instance, + const Eigen::VectorXd &x, + Eigen::VectorXd &g) + { + const int n = x.size(); + double fx = 0.0; + for (int i = 0; i < n; i += 2) + { + const double t1 = 1.0 - x(i); + const double t2 = 10.0 * (x(i + 1) - x(i) * x(i)); + g(i + 1) = 20.0 * t2; + g(i) = -2.0 * (x(i) * g(i + 1) + t1); + fx += t1 * t1 + t2 * t2; + } + return fx; + } + + static int monitorProgress(void *instance, + const Eigen::VectorXd &x, + const Eigen::VectorXd &g, + const double fx, + const double step, + const int k, + const int ls) + { + std::cout << std::setprecision(4) + << "================================" << std::endl + << "Iteration: " << k << std::endl + << "Function Value: " << fx << std::endl + << "Gradient Inf Norm: " << g.cwiseAbs().maxCoeff() << std::endl + << "Variables: " << std::endl + << x.transpose() << std::endl; + return 0; + } +}; + +int main(int argc, char **argv) +{ + MinimizationExample example; + return example.run(200); +} diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Mesh_smoothing_3_impl.hpp b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Mesh_smoothing_3_impl.hpp new file mode 100644 index 000000000000..68f5a355d847 --- /dev/null +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Mesh_smoothing_3_impl.hpp @@ -0,0 +1,799 @@ + +#include "math_functions.h" +#include "utils/colorized_text.h" + +namespace Mesh_smoothing_3 { + +template +Mesh_smoother::Mesh_smoother(TetrahedralMesh &mesh, BoundaryMesh const &boundary, EdgeNetwork const &edge_network) +: _mesh(mesh) +, _boundary(boundary) +, _edge_network(edge_network) +{} + +template +void Mesh_smoother::set_locked_boundary(bool locked) { + _lock_boundary = locked; +} + +template +void Mesh_smoother::set_verbose(bool verbose) { + _verbose = verbose; +} + +template +void Mesh_smoother::set_max_number_of_iteration(unsigned number_of_iterations) { + _max_number_of_iteration = number_of_iterations; +} + +template // necessay +void Mesh_smoother::set_optimization_mode(Parameters::OPTIMIZATION_MODE mode) { + _optimization_mode = mode; +} + +template +void Mesh_smoother::set_predicates_mode(Parameters::PREDICATES_MODE mode) { + _predicates_mode = mode; +} + + +template +void Mesh_smoother::set_minimum_valid_edge_size(double val) { + _min_valid_edge_size = val; +} + +template +void Mesh_smoother::set_boundary_weight(double val) { + _boundary_weight = val; +} + + +template +void Mesh_smoother::set_boundary_weight(Parameters::BOUNDARY_WEIGHTING_MODE mode) { + switch (mode) { + case Parameters::DEFAULT: + _boundary_weight = 1; + break; + case Parameters::STRONG: + _boundary_weight = 10; + break; + case Parameters::SOFT: + _boundary_weight = 1e-3; + break; + } +} + +template +unsigned Mesh_smoother::get_total_number_of_lbfgs_iterations() const { + return _nb_lbfgs_iterations; +} + +template +unsigned Mesh_smoother::get_number_of_invalid_steps_measured_by_predicates() const { + return _nb_predicates_invalid_steps; +} + +template +void Mesh_smoother::set_vertex_lock(Vertex_descriptor vertex_descriptor, bool locked) { + auto res = _user_locks.emplace(vertex_descriptor, std::array{false, false, false}); + (*res.first).second = {locked, locked, locked}; +} + +template +void Mesh_smoother::set_vertex_dim_lock(Vertex_descriptor vertex_descriptor, unsigned dimension, bool locked) { + assert(dimension < 3); + auto res = _user_locks.emplace(vertex_descriptor, std::array{false, false, false}); + (*res.first).second[dimension] = locked; +} + +template +void Mesh_smoother::set_vertices_dim_locks(Vertex_descriptor_map> const &vertex_dimension_locks) { + _user_locks = vertex_dimension_locks; +} + +template +void Mesh_smoother::clear_locks() { + _user_locks.clear(); +} + +template +void Mesh_smoother::set_boundary_query(Boundary_point_query boundary_query) { + _lock_boundary = false; + _boundary_query_type = POINT_QUERY; + _boundary_point_query = boundary_query; +} + +template +void Mesh_smoother::set_boundary_query(Boundary_polygon_query boundary_query) { + _lock_boundary = false; + _boundary_query_type = ELEMENT_QUERY; + _boundary_polygon_query = boundary_query; +} + +template +void Mesh_smoother::set_boundary_query(Boundary_point_batch_query boundary_query) { + _lock_boundary = false; + _boundary_query_type = BATCH_POINT_QUERY; + _boundary_point_batch_query = boundary_query; +} + +template +void Mesh_smoother::set_boundary_query(Boundary_polygon_batch_query boundary_query) { + _lock_boundary = false; + _boundary_query_type = BATCH_ELEMENT_QUERY; + _boundary_polygon_batch_query = boundary_query; +} + +template +void Mesh_smoother::set_curves_query(Curve_point_query curve_query) { + _lock_boundary = false; + _curve_query_type = POINT_QUERY; + _curve_point_query = curve_query; +} + +template +void Mesh_smoother::set_curves_query(Curve_segment_query curve_query) { + _lock_boundary = false; + _curve_query_type = ELEMENT_QUERY; + _curve_segment_query = curve_query; +} + +template +void Mesh_smoother::set_curves_query(Curve_point_batch_query curve_query) { + _lock_boundary = false; + _curve_query_type = BATCH_POINT_QUERY; + _curve_point_batch_query = curve_query; +} + +template +void Mesh_smoother::set_curves_query(Curve_segment_batch_query curve_query) { + _lock_boundary = false; + _curve_query_type = BATCH_ELEMENT_QUERY; + _curve_segment_batch_query = curve_query; +} + +template +void Mesh_smoother::set_vertex_target_position(Vertex_descriptor v, Point_3 const &target_position, double weight) { + _vertex_target_positions.push_back({v, target_position, weight}); +} + +template +void Mesh_smoother::set_vertex_target_positions(std::vector> const &target_positions) { + _vertex_target_positions = target_positions; +} + +template +void Mesh_smoother::clear_vertex_target_positions() { + _vertex_target_positions.clear(); +} + + +template +bool Mesh_smoother::is_vert_locked(Vertex_descriptor Vertex_descriptor) const { + auto iter = _user_locks.find(Vertex_descriptor); + if (iter == _user_locks.end()) return false; + return (*iter).second[0] && (*iter).second[1] && (*iter).second[2]; +} + +template +void Mesh_smoother::set_update_validator(Update_validator func) { + _update_validator = func; +} + + +template +void Mesh_smoother::check_refs() { + // when is it that the input tetrahedra is wrong, or is it just tangled? + // bool input_contains_invalid_references = false; + // for (auto cell : _mesh.cell_range()) { + // auto ref = _mesh.cell_reference_shape(cell); + // std::array tet; + // for (unsigned i = 0; i < 4; ++i) { + // tet[i] = convert_to_eigen(ref[i]); + // } + // if ((tet[1]-tet[0]).cross(tet[2]-tet[0]).dot(tet[3]-tet[0]) <= 0) { + // input_contains_invalid_references = true; + // } + // } + // assert(!input_contains_invalid_references); + // if (input_contains_invalid_references && _verbose) { + // Mesh_smoothing_3_internal::Colorized_print("Mesh_smoother: some tetrahedron reference shapes are invalid (negative volume). Results may be incorrect.", Mesh_smoothing_3_internal::ConsoleTextColor::Red); + // } +} + +template +void Mesh_smoother::clear_internal_data() { + _compressed_coords.resize(0); + _compressed_locks.clear(); + _vertex_original_to_compressed.clear(); + _cell_original_to_compressed.clear(); + _tetrahedra.clear(); + _tetrahedron_refs.clear(); + _vert2tet_corner.clear(); + + _bnd_faces.clear(); + _vert_and_face_corners.clear(); + _face_surface_id.clear(); + + _curve_edges.clear(); + _curve_ids.clear(); + _point_targets.clear(); + + _callback_initialized = false; + _callback_vertex_map_data.clear(); + _callback_cell_map_data.clear(); + + _current_coords_to_check.clear(); +} + +template +void Mesh_smoother::create_compress_sorted_data() { + clear_internal_data(); + if (_verbose) std::cout << "Mesh_smoother: copying and compressing data " << std::endl; + std::size_t nb_points = 0; + _vertex_original_to_compressed.reserve(_mesh.nb_vertices()); + std::vector nb_tet_on_verts; + std::vector temp_coordinates_storage; + nb_tet_on_verts.reserve(_mesh.nb_vertices()); + _compressed_locks.reserve(3*_mesh.nb_vertices()); + temp_coordinates_storage.reserve(3*_mesh.nb_vertices()); + + auto get_compressed_point_id = [&](Vertex_descriptor vertex_descriptor) { + auto res = _vertex_original_to_compressed.emplace(vertex_descriptor, nb_points); + if (res.second) { + ++nb_points; + nb_tet_on_verts.push_back(0); + Point_3 coordinates = _mesh.vertex_coordinates(vertex_descriptor); + auto iterator = _user_locks.find(vertex_descriptor); + for (unsigned i = 0; i < 3; ++i) { + temp_coordinates_storage.push_back(coordinates[i]); + _compressed_locks.push_back(iterator == _user_locks.end() ? false : (*iterator).second[i]); + } + } + return (*res.first).second; + }; + _tetrahedra.reserve(_mesh.nb_cells()); + _tetrahedron_refs.reserve(_mesh.nb_cells()); + for (auto cell : _mesh.cell_range()) { + bool hasUnlocked = false; + auto vertex_indices = _mesh.cell_vertices(cell); + for (unsigned i = 0; i < 4; ++i) { + if (!is_vert_locked(vertex_indices[i])) { + hasUnlocked = true; + break; + } + } + if (!hasUnlocked) continue; + + auto cell_ref = _mesh.cell_reference_shape(cell); + std::array cell_ref_eigen; + std::array compressed_index; + for (unsigned i = 0; i < 4; ++i) { + cell_ref_eigen[i] = convert_to_eigen(cell_ref[i]); + compressed_index[i] = get_compressed_point_id(vertex_indices[i]); + ++nb_tet_on_verts[compressed_index[i]]; + } + _cell_original_to_compressed.emplace(cell, _tetrahedra.size()); + _tetrahedra.push_back(compressed_index); + _tetrahedron_refs.push_back(Mesh_smoothing_3_internal::Math_functions::transform_coordinates_to_gradient_base(cell_ref_eigen)); + } + + _tetrahedra.shrink_to_fit(); + _tetrahedron_refs.shrink_to_fit(); + _compressed_coords = Eigen::Map(temp_coordinates_storage.data(), static_cast(temp_coordinates_storage.size())); + + // computing vertex -> tet data structure + std::vector curr_id(nb_points,0); + _vert2tet_corner.reserve(nb_points); + for (unsigned v = 0; v < nb_points; ++v) { + _vert2tet_corner.push_back(std::vector(nb_tet_on_verts[v])); + } + for (unsigned t = 0; t < _tetrahedra.size(); ++t) { + for (unsigned i = 0; i < 4; ++i) { + unsigned v = _tetrahedra[t][i]; + _vert2tet_corner[v][curr_id[v]++] = 4*t+i; + } + } + initialize_boundary(); + initialize_curve_network(); + + if (_update_validator != nullptr) { + _current_coords_to_check.reserve(_mesh.nb_vertices()); + for (auto [v, id] : _vertex_original_to_compressed) { + _current_coords_to_check.emplace(v, _mesh.vertex_coordinates(v)); + } + } +} + +template +void Mesh_smoother::initialize_boundary() { + std::vector currFace; + _bnd_faces.reserve(_boundary.nb_faces()); + _face_surface_id.reserve(_boundary.nb_faces()); + std::unordered_map>> vert2faces; // todo: maybe use a map from boost + for (auto face : _boundary.face_range()) { + currFace.clear(); + for (auto vertex_descriptor : _boundary.face_vertices(face)) { + auto iterator = _vertex_original_to_compressed.find(static_cast(vertex_descriptor)); + // it is not dramatic for Tetrahedral_conformal_smoother to not have the perfect face + if (iterator == _vertex_original_to_compressed.end()) continue; + currFace.push_back(iterator->second); + } + if (currFace.empty()) continue; + for (unsigned i = 0; i < currFace.size(); ++i) { + if (_lock_boundary) { + for (unsigned d = 0; d < 3; ++d) { + _compressed_locks[3*currFace[i]+d] = true; + } + } + std::array location_pair = {static_cast(_bnd_faces.size()), i}; + auto res = vert2faces.emplace(currFace[i], std::vector>{location_pair}); + if (!res.second) (*res.first).second.push_back(location_pair); + } + _bnd_faces.push_back(currFace); + _face_surface_id.push_back(_boundary.patch_id(face)); + } + // not ordered, do a sort? then I lose memory alignment? check if becomes bottleneck + _vert_and_face_corners.assign(vert2faces.begin(), vert2faces.end()); +} + +template +void Mesh_smoother::initialize_curve_network() { + std::vector currFace; + _curve_edges.reserve(_edge_network.nb_edges()); + _curve_ids.reserve(_edge_network.nb_edges()); + for (auto edge : _edge_network.edge_range()) { + std::array edge_vertices; + bool not_in = false; + for (unsigned i = 0; i < 2; ++i) { + Vertex_descriptor v = _edge_network.edge_vertex(edge, i); + auto iterator = _vertex_original_to_compressed.find(static_cast(v)); + // if we do not find the vertex, we just ignore the edge + if (iterator == _vertex_original_to_compressed.end()) { + not_in = true; + break; + } + edge_vertices[i] = iterator->second; + } + if (not_in) continue; + _curve_edges.push_back(edge_vertices); + _curve_ids.push_back(_edge_network.curve_id(edge)); + } + + _point_targets.reserve(_vertex_target_positions.size()); +} + +template +void Mesh_smoother::initialise_point_targets() { + for (auto [v, target, weight] : _vertex_target_positions) { + auto iterator = _vertex_original_to_compressed.find(static_cast(v)); + if (iterator == _vertex_original_to_compressed.end()) continue; + _point_targets.push_back({iterator->second, convert_to_inner(target), weight}); + } +} + +template +void Mesh_smoother::rescale_geometry() { + if (_compressed_coords.size() == 0) return; + std::size_t nb_vertices = static_cast(_compressed_coords.size()) / 3; + Eigen::Vector3d mini(_compressed_coords[0], _compressed_coords[1], _compressed_coords[2]); + Eigen::Vector3d maxi(_compressed_coords[0], _compressed_coords[1], _compressed_coords[2]); + Eigen::Vector3d center(0.,0.,0.); + for (unsigned i = 0; i < nb_vertices; ++i) { + for (unsigned d = 0; d < 3;++d) { + mini[d] = (std::min)(mini[d], _compressed_coords[3*i+d]); + maxi[d] = (std::max)(maxi[d], _compressed_coords[3*i+d]); + center[d] += _compressed_coords[3*i+d]; + } + } + + center /= static_cast(nb_vertices); + _scale = (std::max)((std::max)(maxi[0] - mini[0], maxi[1] - mini[1]), maxi[2]-mini[2]) / _rescaled_bbox_scale; + if (_scale < 1e-14) { // todo figure out a better thresh old here + _scale = 1.; + return; + } + _shift = center; + + for (int i = 0; i < static_cast(nb_vertices); ++i) { + for (int d = 0; d < 3;++d) { + _compressed_coords[3*i+d] = (_compressed_coords[3*i+d] - _shift[d]) / _scale; + } + } +} + +template +void Mesh_smoother::update_mesh_coordinates() { + for (auto [vertex_descriptor, compressed_id] : _vertex_original_to_compressed) { + Eigen::Vector3d pt = Mesh_smoothing_3_internal::Math_functions::sub_col_vector(_compressed_coords, compressed_id); + _mesh.set_new_vertex_coordinates(vertex_descriptor, convert_to_user(pt)); + } +} + + +template +void Mesh_smoother::set_callback_function(Callback_function callback_function, Callback_setting setting) { + _callback_function = callback_function; + _callback_setting = setting; +} + +template +void Mesh_smoother::initialize_callback() { + if (_callback_initialized) return; + _callback_vertex_map_data.reserve(_vertex_original_to_compressed.size()); + _callback_cell_map_data.reserve(_cell_original_to_compressed.size()); + Vertex_status default_vertex_status; + for (auto [vertex_descriptor, compressed_id] : _vertex_original_to_compressed) { + _callback_vertex_map_data.emplace(vertex_descriptor, default_vertex_status); + } + Cell_status default_cell_status; + for (auto [cell_descriptor, compressed_id] : _cell_original_to_compressed) { + _callback_cell_map_data.emplace(cell_descriptor, default_cell_status); + } + _callback_initialized = true; +} + +template +bool Mesh_smoother::run_callback(Iteration_status const &status, std::vector const &vertex_status, std::vector const &cell_status) { + initialize_callback(); + update_mesh_coordinates(); + _callback_status = status; + _callback_status.scaling_factor = _scale; + for (auto [vertex_descriptor, compressed_id] : _vertex_original_to_compressed) { + _callback_vertex_map_data.at(vertex_descriptor) = vertex_status[compressed_id]; + } + for (auto [cell_descriptor, compressed_id] : _cell_original_to_compressed) { + _callback_cell_map_data.at(cell_descriptor) = cell_status[compressed_id]; + } + return _callback_function(_callback_status, _callback_vertex_map_data, _callback_cell_map_data); +} + +template +void Mesh_smoother::initialise_boundary_query(Tetrahedral_mesh_smoother &smoother) { + switch (_boundary_query_type) { + case NONE: + smoother.set_boundary_with_singular_query( + _bnd_faces, + &_vert_and_face_corners, + nullptr, + _face_surface_id + ); + break; + case POINT_QUERY: + { + typename Tetrahedral_mesh_smoother::Boundary_query boundary_query = [&](std::vector const &coords, Surface_patch_index surface_id) { + Eigen::Vector3d center = Eigen::Vector3d::Zero(); + for (auto const &coord : coords) { + center += coord; + } + center /= static_cast(coords.size()); + double radius = 0; + for (auto const &coord : coords) { + radius += (coord-center).norm(); + } + radius /= static_cast(coords.size()); + radius /= _scale; + auto [user_point, user_normal, weight] = _boundary_point_query(convert_to_user(center), surface_id, radius); + Eigen::Vector3d proj = convert_to_inner(user_point); + Eigen::Vector3d normal = convert_to_eigen(user_normal); + normal.normalize(); + return typename Tetrahedral_mesh_smoother::Plane{ proj, normal, weight }; + }; + smoother.set_boundary_with_singular_query( + _bnd_faces, + &_vert_and_face_corners, + boundary_query, + _face_surface_id + ); + } + break; + case ELEMENT_QUERY: + { + typename Tetrahedral_mesh_smoother::Boundary_query boundary_query = [&](std::vector const &coords, Surface_patch_index surface_id) { + std::vector polygon(coords.size()); + for (unsigned i = 0; i < coords.size(); ++i) { + polygon[i] = convert_to_user(coords[i]); + } + auto [user_point, user_normal, weight] = _boundary_polygon_query(polygon, surface_id); + Eigen::Vector3d proj = convert_to_inner(user_point); + Eigen::Vector3d normal = convert_to_eigen(user_normal); + normal.normalize(); + return typename Tetrahedral_mesh_smoother::Plane{ proj, normal, weight }; + }; + smoother.set_boundary_with_singular_query( + _bnd_faces, + &_vert_and_face_corners, + boundary_query, + _face_surface_id + ); + } + break; + case BATCH_POINT_QUERY: + { + typename Tetrahedral_mesh_smoother::Boundary_batch_query boundary_query = [&](std::vector> const &coords, std::vector surface_ids, std::vector &results) { + if (coords.size() != _boundary_batch_info_points.size()) { + _boundary_batch_info_points.resize(coords.size()); + _boundary_batch_info_radii.resize(coords.size()); + _boundary_batch_planes.resize(coords.size()); + } +#pragma omp parallel for + for (int iter_t = 0; iter_t < static_cast(coords.size()); ++iter_t) { + unsigned uiter = static_cast(iter_t); + Eigen::Vector3d center = Eigen::Vector3d::Zero(); + for (auto const &coord : coords[uiter]) { + center += coord; + } + center /= static_cast(coords[uiter].size()); + double radius = 0; + for (auto const &coord : coords[uiter]) { + radius += (coord-center).norm(); + } + radius /= static_cast(coords[uiter].size()); + radius /= _scale; + _boundary_batch_info_points[uiter] = convert_to_user(center); + _boundary_batch_info_radii[uiter] = radius; + } + + _boundary_point_batch_query(_boundary_batch_info_points, surface_ids, _boundary_batch_info_radii, _boundary_batch_planes); + +#pragma omp parallel for + for (int iter_t = 0; iter_t < static_cast(coords.size()); ++iter_t) { + auto [user_point, user_normal, weight] = _boundary_batch_planes[static_cast(iter_t)]; + Eigen::Vector3d proj = convert_to_inner(user_point); + Eigen::Vector3d normal = convert_to_eigen(user_normal); + normal.normalize(); + results[static_cast(iter_t)] = { proj, normal, weight }; + } + }; + smoother.set_boundary_with_batch_query( + _bnd_faces, + &_vert_and_face_corners, + boundary_query, + _face_surface_id + ); + } + break; + case BATCH_ELEMENT_QUERY: + { + typename Tetrahedral_mesh_smoother::Boundary_batch_query boundary_query = [&](std::vector> const &coords, std::vector surface_ids, std::vector &results) { + if (coords.size() != _boundary_batch_info_polygons.size()) { + _boundary_batch_info_polygons.reserve(coords.size()); + for (unsigned i = 0; i < coords.size(); ++i) { + _boundary_batch_info_polygons.push_back(std::vector(coords[i].size())); + } + _boundary_batch_planes.resize(coords.size()); + } +#pragma omp parallel for + for (int iter_t = 0; iter_t < static_cast(coords.size()); ++iter_t) { + for (unsigned i = 0; i < coords.size(); ++i) { + _boundary_batch_info_polygons[static_cast(iter_t)][i] = convert_to_user(coords[static_cast(iter_t)][i]); + } + } + + _boundary_polygon_batch_query(_boundary_batch_info_polygons, surface_ids, _boundary_batch_planes); + +#pragma omp parallel for + for (int iter_t = 0; iter_t < static_cast(coords.size()); ++iter_t) { + auto [user_point, user_normal, weight] = _boundary_batch_planes[static_cast(iter_t)]; + Eigen::Vector3d proj = convert_to_inner(user_point); + Eigen::Vector3d normal = convert_to_eigen(user_normal); + normal.normalize(); + results[static_cast(iter_t)] = { proj, normal, weight }; + } + }; + smoother.set_boundary_with_batch_query( + _bnd_faces, + &_vert_and_face_corners, + boundary_query, + _face_surface_id + ); + } + break; + } +} + +template +void Mesh_smoother::initialise_curve_queries(Tetrahedral_mesh_smoother &smoother) { + switch (_curve_query_type) { + case NONE: + break; + case POINT_QUERY: + { + typename Tetrahedral_mesh_smoother::Curve_query curve_query = [&](std::array const &coords, Curve_index curve_id) { + Eigen::Vector3d center = 0.5*(coords[0] + coords[1]); + double radius = (coords[1] - coords[0]).norm() / _scale; + auto [user_point, user_tangent, weight] = _curve_point_query(convert_to_user(center), curve_id, radius); + Eigen::Vector3d proj = convert_to_inner(user_point); + Eigen::Vector3d tangent = convert_to_eigen(user_tangent); + tangent.normalize(); + return typename Tetrahedral_mesh_smoother::Curve_tangent{ proj, tangent, weight }; + }; + smoother.set_curve_network_with_singular_query( + _curve_edges, + _curve_ids, + curve_query + ); + } + break; + case ELEMENT_QUERY: + { + typename Tetrahedral_mesh_smoother::Curve_query curve_query = [&](std::array const &coords, Curve_index curve_id) { + std::array edge = { convert_to_user(coords[0]), convert_to_user(coords[1])}; + auto [user_point, user_tangent, weight] = _curve_segment_query(edge, curve_id); + Eigen::Vector3d proj = convert_to_inner(user_point); + Eigen::Vector3d tangent = convert_to_eigen(user_tangent); + tangent.normalize(); + return typename Tetrahedral_mesh_smoother::Curve_tangent{ proj, tangent, weight }; + }; + smoother.set_curve_network_with_singular_query( + _curve_edges, + _curve_ids, + curve_query + ); + } + break; + case BATCH_POINT_QUERY: + { + typename Tetrahedral_mesh_smoother::Curve_batch_query curve_query = [&](std::vector> const &edges, std::vector curve_ids, std::vector &results) { + if (edges.size() != _curve_batch_info_points.size()) { + _curve_batch_info_points.resize(edges.size()); + _curve_batch_info_radii.resize(edges.size()); + _curve_batch_tangents.resize(edges.size()); + } + for (unsigned e = 0; e < edges.size(); ++e) { + _curve_batch_info_points[e] = convert_to_user(0.5*(edges[e][0] + edges[e][1])); + _curve_batch_info_radii[e] = (edges[e][1] - edges[e][0]).norm() / _scale; + } + + _curve_point_batch_query(_curve_batch_info_points, _curve_ids, _curve_batch_info_radii, _curve_batch_tangents); + + for (unsigned e = 0; e < edges.size(); ++e) { + auto [user_point, user_tangent, weight] = _curve_batch_tangents[e]; + Eigen::Vector3d proj = convert_to_inner(user_point); + Eigen::Vector3d tangent = convert_to_eigen(user_tangent); + tangent.normalize(); + results[e] = typename Tetrahedral_mesh_smoother::Curve_tangent{ proj, tangent, weight }; + } + }; + smoother.set_curve_network_with_batch_query( + _curve_edges, + _curve_ids, + curve_query + ); + } + break; + case BATCH_ELEMENT_QUERY: + { + typename Tetrahedral_mesh_smoother::Curve_batch_query curve_query = [&](std::vector> const &edges, std::vector curve_ids, std::vector &results) { + if (edges.size() != _curve_batch_info_edges.size()) { + _curve_batch_info_edges.resize(edges.size()); + _curve_batch_tangents.resize(edges.size()); + } + for (unsigned e = 0; e < edges.size(); ++e) { + _curve_batch_info_edges[e] = {convert_to_user(edges[e][0]), convert_to_user(edges[e][1])}; + } + + _curve_segment_batch_query(_curve_batch_info_edges, _curve_ids, _curve_batch_tangents); + + for (unsigned e = 0; e < edges.size(); ++e) { + auto [user_point, user_tangent, weight] = _curve_batch_tangents[e]; + Eigen::Vector3d proj = convert_to_inner(user_point); + Eigen::Vector3d tangent = convert_to_eigen(user_tangent); + tangent.normalize(); + results[e] = { proj, tangent, weight }; + } + }; + smoother.set_curve_network_with_batch_query( + _curve_edges, + _curve_ids, + curve_query + ); + } + break; + } +} + +template +void Mesh_smoother::initialise_smoother(Tetrahedral_mesh_smoother &smoother) { + initialise_boundary_query(smoother); + initialise_curve_queries(smoother); + + initialise_point_targets(); + smoother.set_quadratic_target_positions(_point_targets); + + if (_callback_function != nullptr) { + smoother.callback_function = [&](Iteration_status const &status, std::vector const &vertex_data, std::vector const &cell_data) + { + return run_callback(status, vertex_data, cell_data); + }; + } + + if (_update_validator != nullptr) { + smoother.set_validation_query( + [&](Eigen::VectorXd const &coords) { + for (auto &[v, pt]: _current_coords_to_check) { + Eigen::Vector3d live_pt = Mesh_smoothing_3_internal::Math_functions::sub_col_vector(_compressed_coords, _vertex_original_to_compressed.at(v)); + pt = convert_to_user(live_pt); + } + return _update_validator(_current_coords_to_check); + } + ); + } + + smoother.exact_predicate_status = _predicates_mode > Parameters::NO_CHECK; + smoother.exact_predicate_optimization_check = _predicates_mode > Parameters::STATUS_UPDATE; + smoother.exact_predicate_linesearch_enforcement = _predicates_mode > Parameters::CHECK_IN_LBFGS; + + smoother.callback_setting = _callback_setting; + smoother.verbose = _verbose; + smoother.min_valid_edge_size = _min_valid_edge_size / _scale; + smoother.boundary_weight = _boundary_weight; + smoother.fine_time_logging = _verbose && _tetrahedra.size() > 15'000'000; // todo: add a number of core specific threshold here +} + + +template +std::pair Mesh_smoother::get_nb_of_inverted_cells(Cell_descriptor_map> *cell_determinants) { + check_refs(); + create_compress_sorted_data(); + rescale_geometry(); + Tetrahedral_mesh_smoother smoother(_compressed_coords, _compressed_locks, _tetrahedra, _tetrahedron_refs, _vert2tet_corner); + + auto determinants = smoother.get_determinants(); + auto exact_checks = smoother.get_predicate_is_positive(); + + unsigned nb_det_inverted = 0; + unsigned nb_exactly_inverted = 0; + for (unsigned i = 0; i < determinants.size(); ++i) { + if (determinants[i] <= 0) ++nb_det_inverted; + if (!exact_checks[i]) ++nb_exactly_inverted; + } + + if (cell_determinants != nullptr) { + for (auto [cell_descriptor, compressed_id] : _cell_original_to_compressed) { + (*cell_determinants)[cell_descriptor] = {determinants[compressed_id], exact_checks[compressed_id]}; + } + } + + return {nb_det_inverted, nb_exactly_inverted}; +} + +template +bool Mesh_smoother::run() { + check_refs(); + create_compress_sorted_data(); + rescale_geometry(); + Tetrahedral_mesh_smoother smoother(_compressed_coords, _compressed_locks, _tetrahedra, _tetrahedron_refs, _vert2tet_corner); + + initialise_smoother(smoother); + bool result = false; + switch (_optimization_mode) + { + case Parameters::CONFORMAL: + result = smoother.run_untangling(_max_number_of_iteration); + break; + case Parameters::MIXED_WITH_SIZE: + assert(false /*Not implemented yet*/); + break; + case Parameters::LAPLACIAN: + result = true; + smoother.run_laplacian_gradient_descent(_max_number_of_iteration); + break; + case Parameters::MIN_MAXING_CONFORMAL: + result = smoother.run_quality_maximization(_max_number_of_iteration); + break; + + default: + assert(false /*Unreachable*/); + break; + } + + update_mesh_coordinates(); + _nb_lbfgs_iterations = smoother.number_of_lbfgs_iter; + _nb_predicates_invalid_steps = smoother.get_number_of_invalid_steps_with_predicates(); + return result; +} + + +} + diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Tetrahedral_mesh_smoother.h b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Tetrahedral_mesh_smoother.h new file mode 100644 index 000000000000..40052f247324 --- /dev/null +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Tetrahedral_mesh_smoother.h @@ -0,0 +1,1582 @@ +#pragma once +#include +#include +#include +#include +#include +#include + +#include "predicates/predicates.h" + +namespace Mesh_smoothing_3_internal { + +template +class Tetrahedral_mesh_smoother { +public: + Tetrahedral_mesh_smoother( + Eigen::VectorXd &coords, + std::vector const &locks, + std::vector> const &tetrahedra, + std::vector> const &tet_inv_grad, + std::vector> const &vert2tet_corner + ); + + using Plane = std::tuple; // point, normal, weight + using Boundary_query = std::function const &poly, Surface_patch_index surface_id)>; + using Boundary_batch_query = std::function> const &polys, std::vector const &surface_id, std::vector &results)>; + + + void set_boundary_without_query( + std::vector> const &bnd_faces, + std::vector>>> const *vert_and_face_corners, // pointer to highlight that the code keeps but not copy + std::vector const &face_ids + ); + + + void set_boundary_with_singular_query( + std::vector> const &bnd_faces, + std::vector>>> const *vert_and_face_corners, // pointer to highlight that the code keeps but not copy + Boundary_query boundary_query, + std::vector const &face_ids + ); + + void set_boundary_with_batch_query( + std::vector> const &bnd_faces, + std::vector>>> const *vert_and_face_corners, // pointer to highlight that the code keeps but not copy + Boundary_batch_query boundary_query, + std::vector const &face_ids + ); + + + using Curve_tangent = std::tuple; // point, normal, weight + + using Curve_query = std::function const &edge, Curve_index curve_id)>; + using Curve_batch_query = std::function> const &edges, std::vector const &curve_ids, std::vector &results)>; + void set_curve_network_with_singular_query( + std::vector> const &edges, + std::vector const &edge_ids, + Curve_query query + ); + + void set_curve_network_with_batch_query( + std::vector> const &edges, + std::vector const &edge_ids, + Curve_batch_query query + ); + + void set_quadratic_target_positions(std::vector> const &targets); + + + using Size_query = std::function; + using Size_batch_query = std::function const &vertices, std::vector coords, std::vector &sizes)>; + + void set_target_sizing(Size_query query); // todo: implement and use. + void set_target_sizing(Size_batch_query query); + + using Validation_query = std::function; + + void set_validation_query(Validation_query query); + + + unsigned max_lbfgs_iter = 500; + + void set_starting_untangling_epsilon(double eps) { start_untangle_eps = eps; }; + + double min_valid_edge_size = 1e-6; + + double boundary_weight = 1.; + + bool verbose = false; + bool fine_time_logging = false; + + bool laplacian_precond = false; + + void run_laplacian_gradient_descent(unsigned max_number_iter = 100); + + bool run_untangling(unsigned max_number_iter = 1000); + + bool run_quality_maximization(unsigned max_number_iter = 100); + + std::vector const &get_determinants() const {return _determinants; } + double min_det() const {return _det_min; } + double num_inverted() const {return _nb_inverted; } + + std::vector const &get_conformal_energies() const {return _conformal_energies; } + double get_max_conformal_energy() const {return _conformal_energy_max; } + + double start_untangle_eps = -1; + + unsigned number_of_outer_iter = 0; + unsigned number_of_lbfgs_iter = 0; + +public: + bool exact_predicate_status = false; + bool exact_predicate_optimization_check = false; + bool exact_predicate_linesearch_enforcement = false; + + std::vector const &get_predicate_is_positive() { + evaluate_exact_predicates(); + return _predicate_is_positive; + } + + unsigned get_number_of_invalid_steps_with_predicates() const { return _predicates_nb_invalid_steps; } + +public: + + enum DEBUG_CALLBACK_SETTING {NOTHING, OUTER_ITER, LBFGS_ITER} callback_setting = NOTHING; + enum OPTIMIZATION_TYPE {UNDEFINED, UNTANGLING, STIFFENING, LAPLACIAN, INFLATION}; + + struct LBFGS_status { + unsigned iter = std::numeric_limits::max(); + double step = 0.; + unsigned nbEval = 0; + bool enabled() const { return iter != std::numeric_limits::max(); } + }; + + + struct Iteration_status { + OPTIMIZATION_TYPE opt = UNDEFINED; + bool boundary_enabled = false; + double min_edge_size = 0.; + double boundary_weight = 1.; + double scaling_factor = 1.; + + unsigned outer_iter_nb = 0; + LBFGS_status lbfgs_status; + bool is_in_lbfgs() const { return lbfgs_status.enabled(); } + + double smoothing_energy = 0.; + double boundary_energy = 0.; + double min_det = 0.; + unsigned nb_inverted = 0; + double opt_parameter = 0.; + }; + + struct Vertex_status { + std::array lock = {false, false, false}; + bool is_locked() const { return lock[0] && lock[1] && lock[2]; } + double local_edge_size = 0.; + Eigen::Vector3d smoothing_gradient = Eigen::Vector3d::Zero(); + Eigen::Vector3d boundary_gradient = Eigen::Vector3d::Zero(); + Eigen::Vector3d lbfgs_gradient = Eigen::Vector3d::Zero(); + }; + + struct Tetrahedron_status { + double energy_value = 0.; + double weight = 0.; + double det = 0.; + }; + + using Callback_function = std::function const&vertex_data, std::vector const&tet_data)>; + + Callback_function callback_function = nullptr; + +private: + Iteration_status _callback_status; + std::vector _callback_vert_storage; + std::vector _callback_tet_storage; + Eigen::VectorXd _callback_smoothing_gradient; + Eigen::VectorXd _callback_boundary_gradient; + bool run_callback(OPTIMIZATION_TYPE opt_type, unsigned iter, LBFGS_status lbfgs_status = {std::numeric_limits::max(), 0., 0}, Eigen::VectorXd const *g = nullptr); + + +private: + // mesh data + struct Tet_storage { + // input + std::array verts; + std::array ig; + Eigen::Matrix3d compute_jacobian(Eigen::VectorXd const &coords) const; + + // internal usage + bool skip = false; + double local_edge_size = 1.; + double det_estimation = 1.; + double fval; + std::array vert_grad; + }; + + Eigen::VectorXd &_coords; + std::vector _locks; + std::vector _tet_storage; + std::vector> const &_vert2tet_corner; + + std::size_t nb_vertices() const { return _locks.size() / 3; } + bool vertex_is_locked(unsigned v) const { return _locks[3*v+0]&&_locks[3*v+1]&&_locks[3*v+2]; } + + + unsigned _nb_inverted; + double _det_min; + std::vector _determinants; + double _conformal_energy_max; + std::vector _conformal_energies; + bool _collapsed_area_detected = false; + void compute_determinants(); + + void update_local_size(); + std::vector _local_size; + + std::vector _predicate_is_positive; + unsigned _predicates_nb_invalid_steps = 0; + unsigned evaluate_exact_predicates(Eigen::VectorXd const *x = nullptr); + double _predicate_infinite_energy = 1e100; + + void gather_energy_gradient(Eigen::VectorXd &g) const; + + Validation_query _validation_query = nullptr; +private: + // untangling / smoothing + void update_untangling_eps(double decrease_rate); + double _untangling_eps; + double _untangling_ref_eps = 1e-3; + double _NO_UNTANGLING_EPS = 1e-30; + double _untangling_max_energy = 1.; + double regularized_untangling_energy(Eigen::VectorXd const &x, Eigen::VectorXd *g = nullptr); + double power_mips_untangling_energy(Eigen::VectorXd const &x, Eigen::VectorXd *g = nullptr); + double mips_untangling_energy(Eigen::VectorXd const &x, Eigen::VectorXd *g = nullptr); + double sym_dirichlet_untangling_energy(Eigen::VectorXd const &x, Eigen::VectorXd *g = nullptr); + + inline double untangling_energy(Eigen::VectorXd const &x, Eigen::VectorXd *g = nullptr) { + if (exact_predicate_linesearch_enforcement) { + unsigned nb_invalid = evaluate_exact_predicates(&x); + if (nb_invalid != 0) return _predicate_infinite_energy; + } + if (_validation_query != nullptr) { + if (!_validation_query(x)) return _predicate_infinite_energy; + } + return power_mips_untangling_energy(x, g); + } + +private: + double laplacian_energy(Eigen::VectorXd const &x, Eigen::VectorXd *g = nullptr); + + Eigen::SparseMatrix compute_diffusion_matrix(double w, bool graph = true); + +private: + // quality maximization + void update_qis_tau(double decrease_rate); + double _qis_tau; + double const _QIS_CONVERGENCE_THRESHOLD = 1e-3; + double _QIS_INFINITE_ENERGY = 1e60; + double qis_energy(Eigen::VectorXd const &x, Eigen::VectorXd *g = nullptr); + +private: + // boundary + struct Boundary_poly { + Boundary_poly(unsigned size, Surface_patch_index id) + : verts(size) + , surface_id(id) + , vert_grad(size, Eigen::Vector3d::Zero()) + {} + + // input + std::vector verts; + Surface_patch_index surface_id; + + Eigen::Matrix3d A = Eigen::Matrix3d::Zero(); + Eigen::Vector3d pt = Eigen::Vector3d::Zero(); + Eigen::Vector3d prev_center = Eigen::Vector3d::Zero(); + double max_drift = 0; + double avg_edge_size = 1.; + double weight = 1.; + + std::vector vert_grad; + }; + + double ACCEPTED_LOCAL_VARIATION_FROM_BOUNDARY = 0.02; // used as weight + double MAX_DRIFT_BEFORE_UPDATE = 0.3; + double MAXIMUM_RELATIVE_DISTANCE_RE_WEIGHTING = 1./3.; + + std::vector _bnd_poly; + std::vector>>> const *_vert_and_face_corners; + Boundary_query _boundary_query = nullptr; + + Boundary_batch_query _boundary_batch_query = nullptr; + bool _boundary_batch_mode = false; + std::vector> _boundary_live_coords; + std::vector _boundary_batch_ids; + std::vector _boundary_batch_query_results; + + bool has_bnd_terms() const; + + void update_boundary_info(Eigen::VectorXd const &x, bool reset = false); + double boundary_energy(Eigen::VectorXd const &x, Eigen::VectorXd *g = nullptr); + +private: + // curve and target positions + + struct Edge_data { + Edge_data(std::array verts_, Curve_index curve_id_) + : verts(verts_) + , curve_id(curve_id_) + {} + std::array verts; + Curve_index curve_id; + + Eigen::Matrix3d A = Eigen::Matrix3d::Zero(); + Eigen::Vector3d pt = Eigen::Vector3d::Zero(); + Eigen::Vector3d prev_center = Eigen::Vector3d::Zero(); + double max_drift = 0; + double weight = 1.; + }; + + std::vector _edge_data; + Curve_query _curve_query = nullptr; + + Curve_batch_query _curve_batch_query = nullptr; + bool _curve_batch_mode = false; + std::vector> _edge_live_coords; + std::vector _edge_batch_ids; + std::vector _edge_batch_query_results; + + std::vector _point_prev_target_weight; + std::vector> _point_target_position; + + bool has_curves_and_points_terms() const; + void update_curves_and_points_info(Eigen::VectorXd const &x, bool reset = false); + double curves_and_points_energies(Eigen::VectorXd const &x, Eigen::VectorXd *g = nullptr); + +}; +} + +// ==============================================================================================// +// Implementation // +// ==============================================================================================// +#include "math_functions.h" +#include "Function_minimizer.h" +#include "utils/log_time.h" +#include + +namespace Mesh_smoothing_3_internal { + +template +inline Tetrahedral_mesh_smoother::Tetrahedral_mesh_smoother( + Eigen::VectorXd &coords, + std::vector const &locks, + std::vector> const &tetrahedra, + std::vector> const &tet_inv_grad, + std::vector> const &vert2tet_corner +) +: _coords(coords) +, _locks(locks) +, _tet_storage(tetrahedra.size()) +, _vert2tet_corner(vert2tet_corner) +, _determinants(tetrahedra.size(), 0) +, _conformal_energies(tetrahedra.size(), 1) +, _local_size(nb_vertices(), min_valid_edge_size) +, _predicate_is_positive(tetrahedra.size(), true) +{ + for (unsigned t = 0; t < tetrahedra.size(); ++t) { + _tet_storage[t].verts = tetrahedra[t]; + _tet_storage[t].ig = tet_inv_grad[t]; + } + compute_determinants(); +} + +template +inline void Tetrahedral_mesh_smoother::set_boundary_without_query( + std::vector> const &bnd_faces, + std::vector>>> const *vert_and_face_corners, + std::vector const &ids +) +{ + _vert_and_face_corners = vert_and_face_corners; + _bnd_poly.clear(); + _bnd_poly.reserve(bnd_faces.size()); + _boundary_live_coords.clear(); + _boundary_live_coords.reserve(bnd_faces.size()); + _boundary_batch_ids.clear(); + _boundary_batch_ids.reserve(bnd_faces.size()); + _boundary_batch_query_results.clear(); + _boundary_batch_query_results.reserve(bnd_faces.size()); + assert(ids.size() == bnd_faces.size()); + for (unsigned f = 0; f < bnd_faces.size(); ++f) { + if (bnd_faces[f].empty()) continue; + _bnd_poly.push_back(Boundary_poly(static_cast(bnd_faces[f].size()), ids[f])); + _bnd_poly.back().verts = bnd_faces[f]; + _boundary_live_coords.push_back(std::vector(bnd_faces[f].size())); + _boundary_batch_ids.push_back(ids[f]); + } +} + + +template +inline void Tetrahedral_mesh_smoother::set_boundary_with_singular_query( + std::vector> const &bnd_faces, + std::vector>>> const *vert_and_face_corners, + Boundary_query boundary_query, + std::vector const &ids +) +{ + set_boundary_without_query(bnd_faces, vert_and_face_corners, ids); + _boundary_batch_mode = false; + _boundary_query = boundary_query; +} + +template +inline void Tetrahedral_mesh_smoother::set_boundary_with_batch_query( + std::vector> const &bnd_faces, + std::vector>>> const *vert_and_face_corners, + Boundary_batch_query boundary_query, + std::vector const &ids +) +{ + set_boundary_without_query(bnd_faces, vert_and_face_corners, ids); + _boundary_batch_mode = true; + _boundary_batch_query = boundary_query; +} + +template +inline void Tetrahedral_mesh_smoother::set_curve_network_with_singular_query( + std::vector> const &edges, + std::vector const &edge_ids, + Curve_query query +) +{ + assert(edges.size() == edge_ids.size()); + _edge_data.reserve(edges.size()); + for (unsigned i = 0; i < edges.size(); ++i) { + _edge_data.push_back(Edge_data(edges[i], edge_ids[i])); + } + _curve_batch_mode = false; + _curve_query = query; +} + +template +inline void Tetrahedral_mesh_smoother::set_curve_network_with_batch_query( + std::vector> const &edges, + std::vector const &edge_ids, + Curve_batch_query query +) +{ + assert(edges.size() == edge_ids.size()); + _edge_data.reserve(edges.size()); + for (unsigned i = 0; i < edges.size(); ++i) { + _edge_data.push_back(Edge_data(edges[i], edge_ids[i])); + } + _curve_batch_mode = true; + _curve_batch_query = query; + _edge_live_coords.resize(edges.size()); + _edge_batch_ids = edge_ids; + _edge_batch_query_results.resize(edges.size()); +} + +template +inline void Tetrahedral_mesh_smoother::set_quadratic_target_positions( + std::vector> const &targets +) +{ + _point_prev_target_weight.resize(targets.size()); + _point_target_position = targets; +} + +template +inline void Tetrahedral_mesh_smoother::set_validation_query(Validation_query query) { + _validation_query = query; +} + +template +inline Eigen::Matrix3d Tetrahedral_mesh_smoother::Tet_storage::compute_jacobian(Eigen::VectorXd const &coords) const { + return ig[0] * Math_functions::sub_line_vector(coords,verts[0]) + + ig[1] * Math_functions::sub_line_vector(coords,verts[1]) + + ig[2] * Math_functions::sub_line_vector(coords,verts[2]) + + ig[3] * Math_functions::sub_line_vector(coords,verts[3]); +} + + +template +inline void Tetrahedral_mesh_smoother::compute_determinants() +{ + double det_min = (std::numeric_limits::max)(); + unsigned nb_inverted = 0; + double conformal_energy_max = 0; + + bool collapsed_area_detected = false; + double min_trace = min_valid_edge_size * min_valid_edge_size; + + #pragma omp parallel for reduction(min: det_min) reduction(+:nb_inverted) reduction(max: conformal_energy_max) reduction(||:collapsed_area_detected) + for (int iter_t = 0; iter_t < static_cast(_tet_storage.size()); ++iter_t) { + unsigned t = static_cast(iter_t); + Tet_storage const &tet = _tet_storage[t]; + + Eigen::Matrix3d J = tet.compute_jacobian(_coords); + _determinants[t] = J.determinant(); + nb_inverted += _determinants[t] <= 0; + det_min = (std::min)(_determinants[t], det_min); + double trace = J.squaredNorm(); + collapsed_area_detected = collapsed_area_detected || (trace < min_trace); + + if (_determinants[t] <= 0) { + _conformal_energies[t] = (std::numeric_limits::max)(); + conformal_energy_max = _conformal_energies[t]; + continue; + } + double power_trace = std::pow(trace, 3./2.); + _conformal_energies[t] = power_trace / _determinants[t]; + conformal_energy_max = (std::max)(_conformal_energies[t], conformal_energy_max); + + } + _det_min = det_min; + _nb_inverted = nb_inverted; + _conformal_energy_max = conformal_energy_max; + _collapsed_area_detected = collapsed_area_detected; +} + +template +Eigen::SparseMatrix Tetrahedral_mesh_smoother::compute_diffusion_matrix(double w, bool graph) { + unsigned n = 3 * nb_vertices(); + double l = w / (1+w); + +#pragma omp parallel for + for (int iter_t = 0; iter_t < static_cast(_tet_storage.size()); ++iter_t) { + Tet_storage &tet = _tet_storage[static_cast(iter_t)]; + Eigen::Matrix3d J = tet.compute_jacobian(_coords); + Eigen::Matrix3d dfdJ = 2*J.transpose(); + for (unsigned v = 0; v < 4; ++v) { + tet.vert_grad[v] = dfdJ * tet.ig[v]; + } + } + Eigen::SparseMatrix H(n,n); + std::vector> triplets; + triplets.reserve(4*4*3*_tet_storage.size()); + + // identity term + for (unsigned v = 0; v < nb_vertices(); ++v) { + for (unsigned d = 0; d < 3; ++d) { + unsigned v_d = 3*v+d; + triplets.push_back({static_cast(v_d), static_cast(v_d), 1-l}); + } + } + if (graph) { + std::set neigh; + for (unsigned v = 0; v < nb_vertices(); ++v) { + neigh.clear(); + for (unsigned tc : _vert2tet_corner[v]) { + unsigned tet_id = tc / 4; + Tet_storage const &tet = _tet_storage[tet_id]; + unsigned loc_id = tc % 4; + for (unsigned i = 0; i < 4;++i) { + if (loc_id == i) continue; + neigh.insert(tet.verts[i]); + } + } + + for (unsigned d = 0; d < 3; ++d) { + unsigned v_d = 3*v+d; + triplets.push_back({static_cast(v_d), static_cast(v_d), l*neigh.size()}); + for (unsigned other_v : neigh) { + int other_v_d = 3*other_v+d; + triplets.push_back({static_cast(v_d), static_cast(other_v_d), -l}); + } + } + } + } + else { + for (unsigned v = 0; v < nb_vertices(); ++v) { + for (unsigned tc : _vert2tet_corner[v]) { + unsigned tet_id = tc / 4; + Tet_storage const &tet = _tet_storage[tet_id]; + unsigned loc_id = tc % 4; + for (unsigned d = 0; d < 3; ++d) { + unsigned v_d = 3*v+d; + for (unsigned i = 0; i < 4;++i) { + int other_v_d = 3*tet.verts[i]+d; + double lapl_w = l*2*tet.ig[i].dot(tet.ig[loc_id]); + triplets.push_back({static_cast(v_d), static_cast(other_v_d), lapl_w}); + } + } + } + } + } + H.setFromTriplets(triplets.begin(), triplets.end()); + return H; +} + + +template +inline void Tetrahedral_mesh_smoother::update_local_size() { +#pragma omp parallel for + for (int iter_v = 0; iter_v < static_cast(_vert2tet_corner.size());++iter_v) { + unsigned v = static_cast(iter_v); + // does geometric average on all edge of the vertex + // pass to log to avoid double overflow with high number of multiplications + double log_avg = 0.; + Eigen::Vector3d x = Math_functions::sub_col_vector(_coords, v); + for (unsigned tc : _vert2tet_corner[v]) { + for (unsigned j = 1; j < 4; ++j){ + Eigen::Vector3d y = Math_functions::sub_col_vector(_coords, _tet_storage[tc/4].verts[(tc%4+j)%4]); + log_avg += std::log10((std::max)((x-y).norm(), min_valid_edge_size)); + } + } + double nbEdges = static_cast(_vert2tet_corner[v].size()) * 3; + log_avg /= nbEdges; + _local_size[v] = std::pow(10., log_avg); + } + double min_allowed_det = min_valid_edge_size * min_valid_edge_size * min_valid_edge_size; +#pragma omp parallel for + for (int iter_t = 0; iter_t < static_cast(_tet_storage.size()); ++iter_t) { + unsigned t = static_cast(iter_t); + Tet_storage &tet = _tet_storage[t]; + double avg_edge_size = 1; + for(unsigned i = 0; i < 4; ++i) { + avg_edge_size *= _local_size[tet.verts[i]]; + } + avg_edge_size = std::pow(avg_edge_size, 1./4.); + tet.local_edge_size = avg_edge_size; + tet.det_estimation = (std::max)(avg_edge_size * avg_edge_size * avg_edge_size, min_allowed_det); + } +} + +template +unsigned Tetrahedral_mesh_smoother::evaluate_exact_predicates(Eigen::VectorXd const *x) { + unsigned invalid_tet = 0; + + Eigen::VectorXd const & coords = x == nullptr ? _coords : *x; + + #pragma omp parallel for reduction(+: invalid_tet) + for (int iter_t = 0; iter_t < static_cast(_tet_storage.size()); ++iter_t) { + unsigned t = static_cast(iter_t); + Tet_storage const &tet = _tet_storage[t]; + bool exact_check = exact_predicates::positive_tetrahedra({ + Math_functions::sub_line_vector(coords,tet.verts[0]), + Math_functions::sub_line_vector(coords,tet.verts[1]), + Math_functions::sub_line_vector(coords,tet.verts[2]), + Math_functions::sub_line_vector(coords,tet.verts[3]) + }); + + invalid_tet += !exact_check; + if (x == nullptr) _predicate_is_positive[t] = exact_check; + } + return invalid_tet; +} + + +template +bool Tetrahedral_mesh_smoother::run_callback(OPTIMIZATION_TYPE opt_type, unsigned iter, LBFGS_status lbfgs_status, Eigen::VectorXd const *g) { + if (callback_function == nullptr) return false; + if (callback_setting == DEBUG_CALLBACK_SETTING::NOTHING) return false; + if (callback_setting == DEBUG_CALLBACK_SETTING::OUTER_ITER && lbfgs_status.enabled()) return false; + + _callback_vert_storage.resize(nb_vertices()); + _callback_tet_storage.resize(_tet_storage.size()); + _callback_smoothing_gradient.resize(_coords.size()); + _callback_boundary_gradient.resize(_coords.size()); + + _callback_status.opt = opt_type; + _callback_status.boundary_enabled = has_bnd_terms(); + _callback_status.min_edge_size = min_valid_edge_size; + _callback_status.boundary_weight = boundary_weight; + + _callback_status.outer_iter_nb = iter; + _callback_status.lbfgs_status = lbfgs_status; + + _callback_status.smoothing_energy = opt_type == UNTANGLING ? untangling_energy(_coords, &_callback_smoothing_gradient) + : (opt_type == STIFFENING ? qis_energy(_coords, &_callback_smoothing_gradient) + : laplacian_energy(_coords, &_callback_smoothing_gradient)); + + _callback_status.boundary_energy = has_bnd_terms() ? boundary_energy(_coords, &_callback_boundary_gradient): 0.; + compute_determinants(); + + _callback_status.min_det = _det_min; + _callback_status.nb_inverted = _nb_inverted; + _callback_status.opt_parameter = opt_type == UNTANGLING ? _untangling_eps : (opt_type == STIFFENING ? _qis_tau : 0.); + +#pragma omp parallel for + for (int iter_v = 0; iter_v < static_cast(_vert2tet_corner.size());++iter_v) { + unsigned v = static_cast(iter_v); + _callback_vert_storage[v].lock[0] = _locks[3*v+0]; + _callback_vert_storage[v].lock[1] = _locks[3*v+1]; + _callback_vert_storage[v].lock[2] = _locks[3*v+2]; + _callback_vert_storage[v].local_edge_size = _local_size[v]; + _callback_vert_storage[v].smoothing_gradient = Math_functions::sub_line_vector(_callback_smoothing_gradient, v); + _callback_vert_storage[v].boundary_gradient = Math_functions::sub_line_vector(_callback_boundary_gradient, v); + if (g != nullptr) _callback_vert_storage[v].lbfgs_gradient = Math_functions::sub_line_vector(*g, v); + } + +#pragma omp parallel for + for (int iter_t = 0; iter_t < static_cast(_tet_storage.size());++iter_t) { + unsigned t = static_cast(iter_t); + _callback_tet_storage[t].energy_value = _tet_storage[t].fval; + _callback_tet_storage[t].weight = _tet_storage[t].local_edge_size; + _callback_tet_storage[t].det = _determinants[t]; + } + return callback_function(_callback_status, _callback_vert_storage, _callback_tet_storage); +} + + +template +void Tetrahedral_mesh_smoother::gather_energy_gradient(Eigen::VectorXd &g) const { +#pragma omp parallel for + for (int iter_v = 0; iter_v < static_cast(_vert2tet_corner.size());++iter_v) { + unsigned v = static_cast(iter_v); + for (unsigned d = 0; d < 3; ++d) { + if (_locks[3*v+d]) continue; + for (unsigned tc : _vert2tet_corner[v]) { + g(3*v+d) += _tet_storage[tc/4].vert_grad[tc%4](d); + } + } + } +} + + +template +inline void Tetrahedral_mesh_smoother::update_untangling_eps(double decrease_rate) { + // mix of foldover and 1999 epsilons. + if (_det_min > 0) { + _untangling_eps = _NO_UNTANGLING_EPS; + return; + } + + double weighted_det_min = (std::numeric_limits::max)(); + #pragma omp parallel for reduction(min: weighted_det_min) + for (int iter_t = 0; iter_t < static_cast(_tet_storage.size()); ++iter_t) { + unsigned t = static_cast(iter_t); + weighted_det_min = (std::min)(weighted_det_min, _determinants[t] / _tet_storage[t].det_estimation); + } + + double _1999_eps = std::sqrt(1e-18 + 4*1e-2* weighted_det_min*weighted_det_min); + + constexpr double forced_decrease_rate = 0.1; + double sigma = std::max(forced_decrease_rate, 1 - decrease_rate); + double mu = (1-sigma) * Math_functions::chi(_untangling_eps, weighted_det_min); + double foldover_eps = 2 * std::sqrt(mu*(mu - weighted_det_min)); + + _untangling_eps = (std::min)(foldover_eps, _1999_eps); + + // todo: I don't remember how I obtained this formula, but it was working well for hard untangling. To study again. + // double c = sqrt(_untangling_eps*_untangling_eps+weighted_det_min*weighted_det_min); + // double decrease = (1-sigma*c/(std::abs(weighted_det_min) + c)); + // double custom_eps = decrease * _untangling_eps; + // _untangling_eps = (std::min)(_untangling_eps, custom_eps); + return; + +} + +template +inline double Tetrahedral_mesh_smoother::mips_untangling_energy(Eigen::VectorXd const &x, Eigen::VectorXd *grad) { + double untangling_max_energy = 1.; + double F = 0; + +#pragma omp parallel for reduction(+:F) reduction(max: untangling_max_energy) + for (int iter_t = 0; iter_t < static_cast(_tet_storage.size()); ++iter_t) { + unsigned t = static_cast(iter_t); + Tet_storage &tet = _tet_storage[t]; + if (tet.skip) continue; + double scaled_epsilon = tet.det_estimation*_untangling_eps; + double weight = tet.local_edge_size; + + Eigen::Matrix3d J = tet.compute_jacobian(x); + double det = J.determinant(); + + double c1 = Math_functions::chi(scaled_epsilon, det); + double inv_c1 = 1./c1; + double cbrt_c1 = std::cbrt(c1); + double trace = J.squaredNorm(); + + double f = trace * cbrt_c1 * inv_c1; //f / std::pow(c1, 2./3.); + + tet.fval = f; + untangling_max_energy = (std::max)(untangling_max_energy, tet.fval); + + F += weight * f; + + if (grad == nullptr) continue; + + double c3 = Math_functions::chi_deriv(scaled_epsilon, det); + + Eigen::Matrix3d K = Math_functions::dual_basis(J); + + Eigen::Matrix3d dfdJ = J * (weight * 2. * cbrt_c1 * inv_c1) + - K * (weight * (2./3.) * f * c3 * inv_c1 ); + + dfdJ.transposeInPlace(); + for (unsigned v = 0; v < 4; ++v) { + tet.vert_grad[v] = dfdJ * tet.ig[v]; + } + } + if (grad != nullptr) + gather_energy_gradient(*grad); + + _untangling_max_energy = untangling_max_energy; + + return F; +} + + + +template +inline double Tetrahedral_mesh_smoother::power_mips_untangling_energy(Eigen::VectorXd const &x, Eigen::VectorXd *grad) { + double untangling_max_energy = 1.; + double F = 0; + +#pragma omp parallel for reduction(+:F) reduction(max: untangling_max_energy) + for (int iter_t = 0; iter_t < static_cast(_tet_storage.size()); ++iter_t) { + unsigned t = static_cast(iter_t); + Tet_storage &tet = _tet_storage[t]; + if (tet.skip) continue; + double scaled_epsilon = tet.det_estimation*_untangling_eps; + double weight = tet.local_edge_size; + + Eigen::Matrix3d J = tet.compute_jacobian(x); + double det = J.determinant(); + + double c1 = Math_functions::chi(scaled_epsilon, det); + double trace = J.squaredNorm(); + double root_trace = std::sqrt(trace); + double pow_trace = trace*root_trace; //std::pow(trace, 3. / 2.); + + double f = pow_trace / c1; + + tet.fval = f; + untangling_max_energy = (std::max)(untangling_max_energy, tet.fval); + + F += weight * f; + + if (grad == nullptr) continue; + + double c2 = Math_functions::chi_deriv(scaled_epsilon, det); + + Eigen::Matrix3d K = Math_functions::dual_basis(J); + + Eigen::Matrix3d dfdJ = J * (weight * 3. * root_trace / c1) + - K * (weight * (f * c2/c1)); + + dfdJ.transposeInPlace(); + for (unsigned v = 0; v < 4; ++v) { + tet.vert_grad[v] = dfdJ * tet.ig[v]; + } + } + if (grad != nullptr) + gather_energy_gradient(*grad); + + _untangling_max_energy = untangling_max_energy; + + return F; +} + +template +inline double Tetrahedral_mesh_smoother::regularized_untangling_energy(Eigen::VectorXd const &x, Eigen::VectorXd *grad) { + double untangling_max_energy = 1.; + double F = 0; + + double det_regularization_weight = 1e-3; + +#pragma omp parallel for reduction(+:F) reduction(max: untangling_max_energy) + for (int iter_t = 0; iter_t < static_cast(_tet_storage.size()); ++iter_t) { + unsigned t = static_cast(iter_t); + Tet_storage &tet = _tet_storage[t]; + if (tet.skip) continue; + double delta = 1./tet.det_estimation; + double scaled_epsilon = tet.det_estimation*_untangling_eps; + double weight = tet.local_edge_size; + + Eigen::Matrix3d J = tet.compute_jacobian(x); + double det = J.determinant(); + + double c1 = Math_functions::chi(scaled_epsilon, det); + double trace = J.squaredNorm(); + double root_trace = std::sqrt(trace); + double pow_trace = trace*root_trace; //std::pow(trace, 3. / 2.); + + double f = pow_trace / c1; + + tet.fval = f; + untangling_max_energy = (std::max)(untangling_max_energy, tet.fval); + + double d_g = delta * det; + double c1_g = Math_functions::chi(_untangling_eps, d_g); + + + double g = (1+d_g*d_g) / c1_g; + + F += weight * (f + det_regularization_weight * g); + + if (grad == nullptr) continue; + + double c2 = Math_functions::chi_deriv(scaled_epsilon, det); + double c2_g = Math_functions::chi_deriv(_untangling_eps, d_g); + + Eigen::Matrix3d K = Math_functions::dual_basis(J); + + Eigen::Matrix3d dfdJ = J * (weight * 3. * root_trace / c1) + - K * (weight * (f * c2/c1 + + det_regularization_weight * delta * (g * c2_g - 2*d_g)/c1_g)); + + dfdJ.transposeInPlace(); + for (unsigned v = 0; v < 4; ++v) { + tet.vert_grad[v] = dfdJ * tet.ig[v]; + } + } + if (grad != nullptr) + gather_energy_gradient(*grad); + + _untangling_max_energy = untangling_max_energy; + + return F; +} + +template +inline double Tetrahedral_mesh_smoother::sym_dirichlet_untangling_energy(Eigen::VectorXd const &x, Eigen::VectorXd *grad) { + double untangling_max_energy = 1.; + double F = 0; + +#pragma omp parallel for reduction(+:F) reduction(max: untangling_max_energy) + for (int iter_t = 0; iter_t < static_cast(_tet_storage.size()); ++iter_t) { + unsigned t = static_cast(iter_t); + Tet_storage &tet = _tet_storage[t]; + if (tet.skip) continue; + double scaled_epsilon = tet.det_estimation*_untangling_eps; + double weight = tet.local_edge_size; + + Eigen::Matrix3d J = tet.compute_jacobian(x); + double det = J.determinant(); + + double c1 = Math_functions::chi(scaled_epsilon, det); + double inv_c1 = 1./c1; + double cbrt_c1 = std::cbrt(c1); + double trace = J.squaredNorm(); + + double f = trace * cbrt_c1 * inv_c1; //f / std::pow(c1, 2./3.); + + tet.fval = f; + untangling_max_energy = (std::max)(untangling_max_energy, tet.fval); + + F += weight * f; + + if (grad == nullptr) continue; + + double c3 = Math_functions::chi_deriv(scaled_epsilon, det); + + Eigen::Matrix3d K = Math_functions::dual_basis(J); + + Eigen::Matrix3d dfdJ = J * (weight * 2. * cbrt_c1 * inv_c1) + - K * (weight * (2./3.) * f * c3 * inv_c1 ); + + dfdJ.transposeInPlace(); + for (unsigned v = 0; v < 4; ++v) { + tet.vert_grad[v] = dfdJ * tet.ig[v]; + } + } + if (grad != nullptr) + gather_energy_gradient(*grad); + + _untangling_max_energy = untangling_max_energy; + + return F; +} + +template +inline double Tetrahedral_mesh_smoother::laplacian_energy(Eigen::VectorXd const &x, Eigen::VectorXd *g) { + double F = 0; +#pragma omp parallel for reduction(+:F) + for (int iter_t = 0; iter_t < static_cast(_tet_storage.size()); ++iter_t) { + unsigned t = static_cast(iter_t); + Tet_storage &tet = _tet_storage[t]; + Eigen::Matrix3d J = tet.compute_jacobian(x); + double f = J.squaredNorm(); + F += f; + tet.fval = f; + + if (g == nullptr) continue; + + Eigen::Matrix3d dfdJ = 2*J.transpose(); + for (unsigned v = 0; v < 4; ++v) { + tet.vert_grad[v] = dfdJ * tet.ig[v]; + } + } + if (g != nullptr) + gather_energy_gradient(*g); + + return F; +} + +template +inline void Tetrahedral_mesh_smoother::update_qis_tau(double decrease_rate) { + double sigma = (std::max)(1.-decrease_rate, 1e-1); + _qis_tau = _qis_tau + sigma*(1.-_qis_tau*_conformal_energy_max)/_conformal_energy_max; +} + + +template +inline double Tetrahedral_mesh_smoother::qis_energy(Eigen::VectorXd const &x, Eigen::VectorXd *g) { + double F = 0; + unsigned above_max_qual = 0; +#pragma omp parallel for reduction(+:F, above_max_qual) + for (int iter_t = 0; iter_t < static_cast(_tet_storage.size()); ++iter_t) { + unsigned t = static_cast(iter_t); + Tet_storage &tet = _tet_storage[t]; + + Eigen::Matrix3d J = tet.compute_jacobian(x); + double det = J.determinant(); + if (det <= 0) { + ++above_max_qual; + continue; + } + double trace = J.squaredNorm(); + double root_trace = std::sqrt(trace); + double pow_trace = trace*root_trace; //std::pow(trace, 3. / 2.); + + double f = pow_trace / det; + above_max_qual += _qis_tau * f >= 1.; + if (above_max_qual) continue; // break not possible in parallel loop + + double denom = (1-_qis_tau*f); + double qis = f / denom; + tet.fval = qis; + F += tet.local_edge_size * qis; + if (g == nullptr) continue; + Eigen::Matrix3d K = Math_functions::dual_basis(J); + double dqis_dx = 1./(denom*denom); + Eigen::Matrix3d dqis_dJ = J * (tet.local_edge_size * dqis_dx * 3. * root_trace / det) - K * (tet.local_edge_size * dqis_dx * f / det); + dqis_dJ.transposeInPlace(); + for (unsigned v = 0; v < 4; ++v) { + tet.vert_grad[v] = dqis_dJ * tet.ig[v]; + } + } + if (above_max_qual > 0 || F > _QIS_INFINITE_ENERGY) { + if (g != nullptr) g->setZero(); + return _QIS_INFINITE_ENERGY; + } + + if (g != nullptr) + gather_energy_gradient(*g); + + return F; +} + + +template +inline bool Tetrahedral_mesh_smoother::has_bnd_terms() const { + bool has_terms = !_bnd_poly.empty(); + bool has_query = _boundary_batch_mode ? (_boundary_batch_query != nullptr) : (_boundary_query != nullptr); + return has_terms && has_query; +} + +template +inline void Tetrahedral_mesh_smoother::update_boundary_info(Eigen::VectorXd const &x, bool reset) { + if (!has_bnd_terms()) return; + + auto update_poly_coord = [&](unsigned t) { + Boundary_poly const &poly = _bnd_poly[t]; + for (unsigned i=0; i(_bnd_poly.size()); ++iter_t) { + update_poly_coord(static_cast(iter_t)); + } + _boundary_batch_query(_boundary_live_coords, _boundary_batch_ids, _boundary_batch_query_results); + } + +#pragma omp parallel for + for (int iter_t = 0; iter_t < static_cast(_bnd_poly.size()); ++iter_t) { + unsigned t = static_cast(iter_t); + Boundary_poly &poly = _bnd_poly[t]; + Eigen::Vector3d center = Eigen::Vector3d::Zero(); + for (unsigned v : poly.verts) { + center += Math_functions::sub_col_vector(x, v); + } + center /= static_cast(poly.verts.size()); + if (!reset && (center - poly.prev_center).norm() +inline double Tetrahedral_mesh_smoother::boundary_energy(Eigen::VectorXd const &x, Eigen::VectorXd *g) { + if (!has_bnd_terms()) return 0.; + double F = 0; + double drift = boundary_weight/(ACCEPTED_LOCAL_VARIATION_FROM_BOUNDARY*ACCEPTED_LOCAL_VARIATION_FROM_BOUNDARY); +#pragma omp parallel for reduction(+:F) + for (int iter_t = 0; iter_t < static_cast(_bnd_poly.size()); ++iter_t) { + unsigned t = static_cast(iter_t); + Boundary_poly &poly = _bnd_poly[t]; + for (unsigned tc = 0; tc < poly.verts.size(); ++tc) { + double regul = poly.weight * drift/_local_size[poly.verts[tc]]; + Eigen::Vector3d pt = Math_functions::sub_col_vector(x, poly.verts[tc]); + Eigen::Vector3d dn = pt-poly.pt; + double dist = (dn.transpose() * poly.A * dn); + F += regul * dist; + if (g == nullptr) continue; + poly.vert_grad[tc] = regul * (2 * poly.A *dn); + } + } + if (g != nullptr) { +#pragma omp parallel for + for (int i = 0; i < static_cast((*_vert_and_face_corners).size());++i) { + unsigned v = (*_vert_and_face_corners)[static_cast(i)].first; + for (unsigned d = 0; d < 3; ++d) { + if (_locks[3*v+d]) continue; + for (auto [t, tc] : (*_vert_and_face_corners)[static_cast(i)].second) { + (*g)(3*v+d) += _bnd_poly[t].vert_grad[tc](d); + } + } + } + } + + return F; +} + + +template +inline bool Tetrahedral_mesh_smoother::has_curves_and_points_terms() const { + return !_edge_data.empty() || !_point_prev_target_weight.empty(); +} + +template +inline void Tetrahedral_mesh_smoother::update_curves_and_points_info(Eigen::VectorXd const &x, bool reset) { + if (!has_curves_and_points_terms()) return; + + + if (_curve_batch_mode) { + for (unsigned e = 0; e < _edge_data.size(); ++e) { + _edge_live_coords[e][0] = Math_functions::sub_col_vector(x, _edge_data[e].verts[0]); + _edge_live_coords[e][1] = Math_functions::sub_col_vector(x, _edge_data[e].verts[1]); + } + _curve_batch_query(_edge_live_coords, _edge_batch_ids, _edge_batch_query_results); + } + + for (unsigned e = 0; e < _edge_data.size(); ++e) { + Edge_data &edge = _edge_data[e]; + Eigen::Vector3d pt0 = Math_functions::sub_col_vector(x, edge.verts[0]); + Eigen::Vector3d pt1 = Math_functions::sub_col_vector(x, edge.verts[1]); + Eigen::Vector3d center = 0.5*(pt0+pt1); + + if (!reset && (center - edge.prev_center).norm()(_point_target_position[i])) - std::get<1>(_point_target_position[i])).squaredNorm(); + if (reset) _point_prev_target_weight[i] = 1./(std::max)(MAXIMUM_RELATIVE_DISTANCE_RE_WEIGHTING,curr_dist); + } +} + +template +inline double Tetrahedral_mesh_smoother::curves_and_points_energies(Eigen::VectorXd const &x, Eigen::VectorXd *g) { + if (!has_curves_and_points_terms()) return 0.; + double F = 0; + double drift = boundary_weight/(ACCEPTED_LOCAL_VARIATION_FROM_BOUNDARY*ACCEPTED_LOCAL_VARIATION_FROM_BOUNDARY); + for (unsigned e = 0; e < _edge_data.size(); ++e) { + Edge_data &edge = _edge_data[e]; + for (unsigned ev = 0; ev < 2; ++ev) { + unsigned v = edge.verts[ev]; + double regul = edge.weight * drift/_local_size[v]; + Eigen::Vector3d pt = Math_functions::sub_col_vector(x, v); + Eigen::Vector3d dn = pt-edge.pt; + double dist = (dn.transpose() * edge.A * dn); + F += regul * dist; + if (g == nullptr) continue; + Eigen::Vector3d grad = regul * (2 * edge.A *dn); + for (unsigned d = 0; d < 3; ++d) { + if (_locks[3*v+d]) continue; + (*g)(3*v+d) += grad[d]; + } + } + } + + for (unsigned i = 0; i < _point_target_position.size(); ++i) { + unsigned v = std::get<0>(_point_target_position[i]); + Eigen::Vector3d target = std::get<1>(_point_target_position[i]); + double weight = std::get<2>(_point_target_position[i]) * _point_prev_target_weight[i] * drift / _local_size[v]; + + Eigen::Vector3d dn = Math_functions::sub_col_vector(x, v) - target; + F += weight * dn.squaredNorm(); + + if (g == nullptr) continue; + Eigen::Vector3d grad = weight * (2*dn); + for (unsigned d = 0; d < 3; ++d) { + if (_locks[3*v+d]) continue; + (*g)(3*v+d) += grad[d]; + } + + } + + return F; +} + +template +void Tetrahedral_mesh_smoother::run_laplacian_gradient_descent(unsigned max_number_iter) { + if (verbose) std::cout << "==== Tetrahedral_mesh_smoother ====" << "\n"; + if (verbose) std::cout << "---- running laplacian smoothing ----" << "\n"; + if (verbose) std::cout << "Nb of optimization variables (vertices x3): " << _coords.size() << std::endl; + if (verbose) std::cout << "Nb of energy terms (tetrahedra): " << _tet_storage.size() << std::endl; + if (verbose) std::cout << "Nb of used OpenMP core: " << Eigen::nbThreads() << std::endl; + if (verbose) std::cout << "Nb iterations: " << max_number_iter << std::endl; + Time_log logging("Tetrahedral_mesh_smoother:: laplacian"); + if (verbose && has_bnd_terms()) std::cout << "WARNING: Laplacian run ignores boundaries" << std::endl; + + number_of_outer_iter = 1; + number_of_lbfgs_iter = 0; + + run_callback(LAPLACIAN, 0); + Function_minimizer opt ([&](Eigen::VectorXd const &x, Eigen::VectorXd &g) -> double { + g.setZero(); + return laplacian_energy(x, &g); + }); + opt._call_back = [&](Eigen::VectorXd const &, Eigen::VectorXd const & g,double,double step,unsigned iter,unsigned nbEval) { + bool stop_required = run_callback(LAPLACIAN, 0, {iter, step, nbEval}, &g); + ++number_of_lbfgs_iter; + if (verbose) std::cout << "." << std::flush; + if (verbose && stop_required) std::cout << "--- CALLBACK REQUIRED STOPPING ---" << std::flush; + return stop_required; + }; + opt.set_max_iter(max_number_iter); + opt._parameters.min_step = 1e-40; + opt._parameters.past = 8; + opt._parameters.mem_size = 8; + if (verbose) std::cout << " Running laplacian smoothing: " << std::endl; + opt.lbfgs_optimize(_coords); + if (verbose) std::cout << " done." << std::endl; + compute_determinants(); + if (verbose) logging.log_total_time(); +} + +template +inline bool Tetrahedral_mesh_smoother::run_untangling(unsigned max_number_iter) { + if (verbose) std::cout << "==== Tetrahedral_mesh_smoother untangling ====" << "\n"; + if (_coords.size() == 0 || _tet_storage.empty()) { + std::cout << "No variables to optimize." << std::endl; + return true; + } + + number_of_outer_iter = 0; + number_of_lbfgs_iter = 0; + + + Time_log logging("Tetrahedral_mesh_smoother"); + compute_determinants(); + update_local_size(); + update_boundary_info(_coords, true); + update_curves_and_points_info(_coords, true); + if (verbose) std::cout << "Nb of optimization variables (vertices x3): " << _coords.size() << std::endl; + if (verbose) std::cout << "Nb of energy terms (tetrahedra): " << _tet_storage.size() << std::endl; + if (verbose) std::cout << "Nb of used OpenMP core: " << Eigen::nbThreads( ) << std::endl; + + _NO_UNTANGLING_EPS = 1e-12; + _untangling_ref_eps = 1e-1; + + if (start_untangle_eps > 0) { + _untangling_ref_eps = start_untangle_eps; + } + _untangling_eps = _untangling_ref_eps; + update_untangling_eps(1.); + bool res = _det_min > 0; + if (verbose) std::cout << "Initial energy: " << untangling_energy(_coords) << " | eps: " << _untangling_eps << " detmin: " << _det_min << " ninv: " << _nb_inverted << std::endl; + if (verbose && has_bnd_terms()) std::cout << "Boundary energy: " << boundary_energy(_coords) << std::endl; + if (verbose && has_curves_and_points_terms()) std::cout << "Curves and point energy: " << curves_and_points_energies(_coords) << std::endl; + + + if (exact_predicate_status) { + unsigned curr_invalid = evaluate_exact_predicates(); + if (verbose) std::cout << "Exact predicate check: " << curr_invalid << " invalid tetrahedra" << std::endl; + if (curr_invalid != 0) { + exact_predicate_linesearch_enforcement = false; // would not move otherwise + exact_predicate_optimization_check = false; // would way too talkative + } + _predicates_nb_invalid_steps = 0; + } + + if (run_callback(UNTANGLING, 0)) { + if (verbose) std::cout << "Early callback stop. Returning false." << std::endl; + return false; + } + + Eigen::ConjugateGradient, Eigen::Lower|Eigen::Upper> linear_solver; + if (laplacian_precond) { + if (verbose) std::cout << "Computing diffusion pre-conditioning"<< std::endl; + double diffusion_weight = 10; + unsigned diffusion_power = 2; + if (verbose) std::cout << " diffusion weight = " << diffusion_weight << std::endl; + if (verbose) std::cout << " diffusion power = " << diffusion_power << std::endl; + Time_log linear_timing_logger("Diffusion_inversion"); + Eigen::SparseMatrix H = compute_diffusion_matrix(diffusion_weight); + if (diffusion_power != 1) { + Eigen::SparseMatrix res = H * H; + for (unsigned i = 0; i < diffusion_power - 2; ++i) { + res = res * H; + } + H = res; + } + linear_solver.setTolerance(1e-8); + linear_solver.compute(H); + if (verbose) logging.log_sub_step("decomposition done" ); + } + + + auto precond = [&](Eigen::VectorXd const &x, Eigen::VectorXd const &d) { + if (!laplacian_precond) return d; + if (verbose) logging.restart(); + Eigen::VectorXd md = linear_solver.solve(d); + for (unsigned i = 0; i < _coords.size(); ++i) { + if (_locks[i]) md[i] = 0; + } + double scale_back = 1.; + for (unsigned v = 0; v < nb_vertices(); ++v) { + Eigen::Vector3d loc_d = Math_functions::sub_line_vector(md, v); + double move = loc_d.norm(); + if (move > 10*_local_size[v]) { + scale_back = (std::min)(scale_back, _local_size[v]/move); + } + } + if (scale_back < 0.1) md *= 10.*scale_back; + if (verbose) logging.log_sub_step("Inverse applied"); + return md; + }; + + + bool prev_res = false; + for (unsigned iter = 0; iter < max_number_iter; ++iter) { + if (verbose) std::cout << "Optimization iteration #" << iter << "\n"; + if (verbose) std::cout << " curr eps: " << _untangling_eps << std::endl; + ++number_of_outer_iter; + + double e_prev = untangling_energy(_coords); + double b_prev = boundary_energy(_coords); + double e_curve_points_prev = curves_and_points_energies(_coords); + if (!fine_time_logging && verbose) std::cout << " optimizing"< double { + g.setZero(); + double f = untangling_energy(x, &g); + f += boundary_energy(x, &g); + f += curves_and_points_energies(x, &g); + return f; + }); + opt._call_back = [&](Eigen::VectorXd const & x, Eigen::VectorXd const & g,double f,double step,unsigned bfgs_iter,unsigned nbEval) { + bool stop_required = run_callback(UNTANGLING, iter, {bfgs_iter, step, nbEval}, &g); + bool significant_step = false; + if (exact_predicate_optimization_check) { + unsigned curr_invalid = evaluate_exact_predicates(); + if (curr_invalid != 0) { + ++_predicates_nb_invalid_steps; + significant_step = true; + } + } + + update_boundary_info(x, false); + update_curves_and_points_info(x, false); + ++number_of_lbfgs_iter; + if (fine_time_logging) fineLogging.log_sub_step("LBFGS iter " + std::to_string(bfgs_iter), "Energy: " + std::to_string(f)); + else if (verbose) std::cout << (significant_step ? "!" : ".") << std::flush; + if (verbose && stop_required) std::cout << "--- CALLBACK REQUIRED STOPPING ---" << std::flush; + return stop_required; + }; + opt._precond = precond; + + opt.set_max_iter(max_lbfgs_iter); + opt._parameters.min_step = 1e-40; + opt._parameters.past = 8; + opt._parameters.mem_size = 8; + bool opt_res = opt.lbfgs_optimize(_coords); + if (!fine_time_logging && verbose) std::cout << " done." << std::endl; + if (fine_time_logging) fineLogging.log_total_time(); + double e = untangling_energy(_coords); + double b = boundary_energy(_coords); + double e_curve_points = curves_and_points_energies(_coords); + compute_determinants(); + if (verbose) std::cout << " E: " << e_prev << " -> " << e << " | " << "fmax: " << _untangling_max_energy << ", detmin: " << _det_min << " (eps=" << _untangling_eps << ") ninv: " << _nb_inverted << "\n"; + if (verbose && has_bnd_terms()) std::cout << " B: " << b_prev << " -> " << b << std::endl;; + if (verbose && has_curves_and_points_terms()) std::cout << " Curves&Points: " << e_curve_points_prev << " -> " << e_curve_points << std::endl;; + if (verbose) std::cout << " Status: " << opt.get_message() << std::endl; + + double improvement_ratio = e/e_prev; + if (iter == 0) { + // reseting the eps after the first iter to account for degenerated configurations + improvement_ratio = 1; + _untangling_eps = _untangling_ref_eps; + } + update_untangling_eps(improvement_ratio); + res = _det_min > 0; + if (verbose) logging.log_sub_step("optimization iter " + std::to_string(iter+1) ); + update_local_size(); + if (has_bnd_terms()) { + if (verbose) std::cout << " re assessing boundary to improve matching" << std::endl; + update_boundary_info(_coords, true); + } + if (has_curves_and_points_terms()) { + if (verbose) std::cout << " updating curves and target point data" << std::endl; + update_curves_and_points_info(_coords, true); + } + + if (exact_predicate_status) { + unsigned curr_invalid = evaluate_exact_predicates(); + if (verbose) std::cout << "Exact predicate check: " << curr_invalid << " invalid tetrahedra" << std::endl; + } + + if (run_callback(UNTANGLING, iter+1)) { + if (verbose) std::cout << "Callback required stop, breaking." << std::endl; + break; + } + + if (prev_res && res && opt_res) { + if (verbose) std::cout << "Optimization converged and no tangled elements." << std::endl; + break; + }; + prev_res = res; + } + if (verbose) logging.log_total_time(); + + return res; +} + + +// TODO need update for curve and point targets +template +inline bool Tetrahedral_mesh_smoother::run_quality_maximization(unsigned max_number_iter) { + if (verbose) std::cout << "==== Tetrahedral_mesh_smoother quality maximization ====" << "\n"; + if (_coords.size() == 0 || _tet_storage.empty()) { + if (verbose) std::cout << "No variables to optimize." << std::endl; + return true; + } + number_of_outer_iter = 0; + number_of_lbfgs_iter = 0; + + Time_log logging("Tetrahedral_mesh_smoother"); + if (_det_min <= 0) { + Colorized_print("Inverted elements detected, Tetrahedral_mesh_smoother will first try to untangle them.", ConsoleTextColor::BrightRed); + run_untangling(1500); + if (_det_min <= 0) { + Colorized_print("Input mesh still contains inverted elements, Tetrahedral_mesh_smoother cannot run its quality maximization routine.", ConsoleTextColor::BrightRed); + return false; + } + Colorized_print("Untangling was success. Now maximizing worst quality.", ConsoleTextColor::BrightBlue); + } + else { + Colorized_print("Running standard elliptic energy before quality maximization.", ConsoleTextColor::BrightRed); + run_untangling(2); + } + update_local_size(); + update_boundary_info(_coords, true); + if (verbose) std::cout << "Nb of optimization variables (vertices x3): " << _coords.size() << std::endl; + if (verbose) std::cout << "Nb of energy terms (tetrahedra): " << _tet_storage.size() << std::endl; + + _qis_tau = 1./(1.01*_conformal_energy_max); + if (verbose) std::cout << "Initial energy: " << qis_energy(_coords) << " | worst quality: " << _conformal_energy_max << " detmin: " << _det_min << std::endl; + if (verbose && has_bnd_terms()) std::cout << "Boundary energy: " << boundary_energy(_coords) << std::endl; + + bool res = false; + + if (run_callback(STIFFENING, 0)) { + if (verbose) std::cout << "Early callback stop. Returning false." << std::endl; + return false; + } + double prev_max_f = _conformal_energy_max; + double init_max_f = _conformal_energy_max; + + for (unsigned iter = 0; iter < max_number_iter; ++iter) { + if (verbose) std::cout << "Optimization iteration #" << iter << "\n"; + if (verbose) std::cout << " curr quality bound: " << 1./_qis_tau << std::endl;; + ++number_of_outer_iter; + + double e_prev = qis_energy(_coords); // both with same eps + double b_prev = boundary_energy(_coords); + if (!fine_time_logging && verbose) std::cout << " optimizing"< " << e << " | " << "fmax: " << prev_max_f << " -> " << _conformal_energy_max << " | quality bound: " << 1./_qis_tau << ", detmin: " << _det_min << "\n"; + if (verbose && has_bnd_terms()) std::cout << " B: " << b_prev << " -> " << b << std::endl;; + if (verbose) std::cout << " Status: " << opt.get_message() << std::endl; + + update_qis_tau(e/e_prev); + if (verbose) logging.log_sub_step("optimization iter " + std::to_string(iter+1) ); + update_local_size(); + if (has_bnd_terms()) { + if (verbose) std::cout << " re assessing boundary to improve matching" << std::endl; + update_boundary_info(_coords, true); + } + if (run_callback(STIFFENING, iter+1)) { + std::cout << "Callback required stop, breaking." << std::endl; + break; + } + res = opt_res && ((prev_max_f-_conformal_energy_max)/prev_max_f < _QIS_CONVERGENCE_THRESHOLD); + if (res) { + break; + }; + prev_max_f = _conformal_energy_max; + } + if (res) { + if (verbose) std::cout << "Optimization converged." << std::endl; + if (verbose) std::cout << "Static threshold used: " << _QIS_CONVERGENCE_THRESHOLD << std::endl; + } + else { + if (verbose) std::cout << "Optimization failed to fully converge in " << max_number_iter << " iterations. " << std::endl; + } + if (verbose) std::cout << "Worst quality improvement: " << init_max_f << " -> " << _conformal_energy_max << std::endl; + + if (verbose) logging.log_total_time(); + return res; +} +} + diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/math_functions.h b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/math_functions.h new file mode 100644 index 000000000000..47f11ebac72f --- /dev/null +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/math_functions.h @@ -0,0 +1,51 @@ +#pragma once +#include + +namespace Mesh_smoothing_3_internal { + +namespace Math_functions { + inline Eigen::Matrix sub_line_vector(Eigen::VectorXd const &x, unsigned i) { + i *= 3; + return {x(i), x(i+1), x(i+2)}; + } + + inline Eigen::Matrix sub_col_vector(Eigen::VectorXd const &x, unsigned i) { + i *= 3; + return {x(i), x(i+1), x(i+2)}; + } + + + inline double chi(double eps, double det) { + double const eps2 = eps * eps; + return det > 0 ? // for numerical stability + (det + std::sqrt(eps2 + det * det)) * .5 : + .5 * eps2 / (std::sqrt(eps2 + det * det) - det); + } + + inline double chi_deriv(double eps, double det) { + return .5 + det / (2. * std::sqrt(eps * eps + det * det)); + } + + inline std::array transform_coordinates_to_gradient_base(std::array const &vertices_coordinates) { + Eigen::Matrix3d M; + M.row(0) = vertices_coordinates[1] - vertices_coordinates[0]; + M.row(1) = vertices_coordinates[2] - vertices_coordinates[0]; + M.row(2) = vertices_coordinates[3] - vertices_coordinates[0]; + + Eigen::Matrix3d invM = M.inverse(); + return { -invM.col(0) - invM.col(1) - invM.col(2), invM.col(0), invM.col(1), invM.col(2) }; + } + + // dual basis; i.e. d(detJ)/dJ + inline Eigen::Matrix3d dual_basis(Eigen::Matrix3d const &J) { + Eigen::Matrix3d K; + K.col(0) = J.col(1).cross(J.col(2)); + K.col(1) = J.col(2).cross(J.col(0)); + K.col(2) = J.col(0).cross(J.col(1)); + return K; + } + +} + +} + diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/predicates/predicates.h b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/predicates/predicates.h new file mode 100644 index 000000000000..8f537ee81c81 --- /dev/null +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/predicates/predicates.h @@ -0,0 +1,25 @@ +#pragma once +#include +#include + + +namespace Mesh_smoothing_3_internal { + + +namespace exact_predicates { + +double orient3d(double pa[3], double pb[3], double pc[3], double pd[3]); + +inline bool positive_tetrahedra(std::array const &tetrahedra) { + double pa[3] = {tetrahedra[0][0], tetrahedra[0][1], tetrahedra[0][2]}; + double pb[3] = {tetrahedra[1][0], tetrahedra[1][1], tetrahedra[1][2]}; + double pc[3] = {tetrahedra[2][0], tetrahedra[2][1], tetrahedra[2][2]}; + double pd[3] = {tetrahedra[3][0], tetrahedra[3][1], tetrahedra[3][2]}; + return orient3d(pa,pb,pc,pd) > 0; +} + + +#include "predicates_shewchuk.h" + +} +} diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/predicates/predicates_shewchuk.h b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/predicates/predicates_shewchuk.h new file mode 100644 index 000000000000..aa4c0d3e0591 --- /dev/null +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/predicates/predicates_shewchuk.h @@ -0,0 +1,1525 @@ +/* Mesh_optimization: This code was cleaned to be C++ ready and only include orient3d. +contributions from Cinolib and libigl were included. +*/ + +/*****************************************************************************/ +/* */ +/* Routines for Arbitrary Precision Floating-point Arithmetic */ +/* and Fast Robust Geometric Predicates */ +/* (predicates.c) */ +/* */ +/* May 18, 1996 */ +/* */ +/* Placed in the public domain by */ +/* Jonathan Richard Shewchuk */ +/* School of Computer Science */ +/* Carnegie Mellon University */ +/* 5000 Forbes Avenue */ +/* Pittsburgh, Pennsylvania 15213-3891 */ +/* jrs@cs.cmu.edu */ +/* */ +/* This file contains C implementation of algorithms for exact addition */ +/* and multiplication of floating-point numbers, and predicates for */ +/* robustly performing the orientation and incircle tests used in */ +/* computational geometry. The algorithms and underlying theory are */ +/* described in Jonathan Richard Shewchuk. "Adaptive Precision Floating- */ +/* Point Arithmetic and Fast Robust Geometric Predicates." Technical */ +/* Report CMU-CS-96-140, School of Computer Science, Carnegie Mellon */ +/* University, Pittsburgh, Pennsylvania, May 1996. (Submitted to */ +/* Discrete & Computational Geometry.) */ +/* */ +/* This file, the paper listed above, and other information are available */ +/* from the Web page http://www.cs.cmu.edu/~quake/robust.html . */ +/* */ +/*****************************************************************************/ + +/*****************************************************************************/ +/* */ +/* Using this code: */ +/* */ +/* First, read the short or long version of the paper (from the Web page */ +/* above). */ +/* */ +/* Be sure to call exactinit() once, before calling any of the arithmetic */ +/* functions or geometric predicates. Also be sure to turn on the */ +/* optimizer when compiling this file. */ +/* */ +/* */ +/* Several geometric predicates are defined. Their parameters are all */ +/* points. Each point is an array of two or three floating-point */ +/* numbers. The geometric predicates, described in the papers, are */ +/* */ +/* orient2d(pa, pb, pc) */ +/* orient2dfast(pa, pb, pc) */ +/* orient3d(pa, pb, pc, pd) */ +/* orient3dfast(pa, pb, pc, pd) */ +/* incircle(pa, pb, pc, pd) */ +/* incirclefast(pa, pb, pc, pd) */ +/* insphere(pa, pb, pc, pd, pe) */ +/* inspherefast(pa, pb, pc, pd, pe) */ +/* */ +/* Those with suffix "fast" are approximate, non-robust versions. Those */ +/* without the suffix are adaptive precision, robust versions. There */ +/* are also versions with the suffices "exact" and "slow", which are */ +/* non-adaptive, exact arithmetic versions, which I use only for timings */ +/* in my arithmetic papers. */ +/* */ +/* */ +/* An expansion is represented by an array of floating-point numbers, */ +/* sorted from smallest to largest magnitude (possibly with interspersed */ +/* zeros). The length of each expansion is stored as a separate integer, */ +/* and each arithmetic function returns an integer which is the length */ +/* of the expansion it created. */ +/* */ +/* Several arithmetic functions are defined. Their parameters are */ +/* */ +/* e, f Input expansions */ +/* elen, flen Lengths of input expansions (must be >= 1) */ +/* h Output expansion */ +/* b Input scalar */ +/* */ +/* The arithmetic functions are */ +/* */ +/* grow_expansion(elen, e, b, h) */ +/* grow_expansion_zeroelim(elen, e, b, h) */ +/* expansion_sum(elen, e, flen, f, h) */ +/* expansion_sum_zeroelim1(elen, e, flen, f, h) */ +/* expansion_sum_zeroelim2(elen, e, flen, f, h) */ +/* fast_expansion_sum(elen, e, flen, f, h) */ +/* fast_expansion_sum_zeroelim(elen, e, flen, f, h) */ +/* linear_expansion_sum(elen, e, flen, f, h) */ +/* linear_expansion_sum_zeroelim(elen, e, flen, f, h) */ +/* scale_expansion(elen, e, b, h) */ +/* scale_expansion_zeroelim(elen, e, b, h) */ +/* compress(elen, e, h) */ +/* */ +/* All of these are described in the long version of the paper; some are */ +/* described in the short version. All return an integer that is the */ +/* length of h. Those with suffix _zeroelim perform zero elimination, */ +/* and are recommended over their counterparts. The procedure */ +/* fast_expansion_sum_zeroelim() (or linear_expansion_sum_zeroelim() on */ +/* processors that do not use the round-to-even tiebreaking rule) is */ +/* recommended over expansion_sum_zeroelim(). Each procedure has a */ +/* little note next to it (in the code below) that tells you whether or */ +/* not the output expansion may be the same array as one of the input */ +/* expansions. */ +/* */ +/* */ +/* If you look around below, you'll also find macros for a bunch of */ +/* simple unrolled arithmetic operations, and procedures for printing */ +/* expansions (commented out because they don't work with all C */ +/* compilers) and for generating random floating-point numbers whose */ +/* significand bits are all random. Most of the macros have undocumented */ +/* requirements that certain of their parameters should not be the same */ +/* variable; for safety, better to make sure all the parameters are */ +/* distinct variables. Feel free to send email to jrs@cs.cmu.edu if you */ +/* have questions. */ +/* */ +/*****************************************************************************/ + +#include +#include +#include +//#include + +/* On some machines, the exact arithmetic routines might be defeated by the */ +/* use of internal extended precision floating-point registers. Sometimes */ +/* this problem can be fixed by defining certain values to be volatile, */ +/* thus forcing them to be stored to memory and rounded off. This isn't */ +/* a great solution, though, as it slows the arithmetic down. */ +/* */ +/* To try this out, write "#define INEXACT volatile" below. Normally, */ +/* however, INEXACT should be defined to be nothing. ("#define INEXACT".) */ + +#define INEXACT /* Nothing */ +/* #define INEXACT volatile */ + + +#define REAL double // double +#define REALPRINT doubleprint +#define REALRAND doublerand +#define NARROWRAND narrowdoublerand +#define UNIFORMRAND uniformdoublerand + + + +/* Which of the following two methods of finding the absolute values is */ +/* fastest is compiler-dependent. A few compilers can inline and optimize */ +/* the fabs() call; but most will incur the overhead of a function call, */ +/* which is disastrously slow. A faster way on IEEE machines might be to */ +/* mask the appropriate bit, but that's difficult to do in C. */ + +#define Absolute(a) ((a) >= 0.0 ? (a) : -(a)) +/* #define Absolute(a) fabs(a) */ + +/* Many of the operations are broken up into two pieces, a main part that */ +/* performs an approximate operation, and a "tail" that computes the */ +/* roundoff error of that operation. */ +/* */ +/* The operations Fast_Two_Sum(), Fast_Two_Diff(), Two_Sum(), Two_Diff(), */ +/* Split(), and Two_Product() are all implemented as described in the */ +/* reference. Each of these macros requires certain variables to be */ +/* defined in the calling routine. The variables `bvirt', `c', `abig', */ +/* `_i', `_j', `_k', `_l', `_m', and `_n' are declared `INEXACT' because */ +/* they store the result of an operation that may incur roundoff error. */ +/* The input parameter `x' (or the highest numbered `x_' parameter) must */ +/* also be declared `INEXACT'. */ + +#define Fast_Two_Sum_Tail(a, b, x, y) \ + bvirt = x - a; \ + y = b - bvirt + +#define Fast_Two_Sum(a, b, x, y) \ + x = (REAL) (a + b); \ + Fast_Two_Sum_Tail(a, b, x, y) + +#define Fast_Two_Diff_Tail(a, b, x, y) \ + bvirt = a - x; \ + y = bvirt - b + +#define Fast_Two_Diff(a, b, x, y) \ + x = (REAL) (a - b); \ + Fast_Two_Diff_Tail(a, b, x, y) + +#define Two_Sum_Tail(a, b, x, y) \ + bvirt = (REAL) (x - a); \ + avirt = x - bvirt; \ + bround = b - bvirt; \ + around = a - avirt; \ + y = around + bround + +#define Two_Sum(a, b, x, y) \ + x = (REAL) (a + b); \ + Two_Sum_Tail(a, b, x, y) + +#define Two_Diff_Tail(a, b, x, y) \ + bvirt = (REAL) (a - x); \ + avirt = x + bvirt; \ + bround = bvirt - b; \ + around = a - avirt; \ + y = around + bround + +#define Two_Diff(a, b, x, y) \ + x = (REAL) (a - b); \ + Two_Diff_Tail(a, b, x, y) + +#define Split(a, ahi, alo) \ + c = (REAL) (splitter * a); \ + abig = (REAL) (c - a); \ + ahi = c - abig; \ + alo = a - ahi + +#define Two_Product_Tail(a, b, x, y) \ + Split(a, ahi, alo); \ + Split(b, bhi, blo); \ + err1 = x - (ahi * bhi); \ + err2 = err1 - (alo * bhi); \ + err3 = err2 - (ahi * blo); \ + y = (alo * blo) - err3 + +#define Two_Product(a, b, x, y) \ + x = (REAL) (a * b); \ + Two_Product_Tail(a, b, x, y) + +/* Two_Product_Presplit() is Two_Product() where one of the inputs has */ +/* already been split. Avoids redundant splitting. */ + +#define Two_Product_Presplit(a, b, bhi, blo, x, y) \ + x = (REAL) (a * b); \ + Split(a, ahi, alo); \ + err1 = x - (ahi * bhi); \ + err2 = err1 - (alo * bhi); \ + err3 = err2 - (ahi * blo); \ + y = (alo * blo) - err3 + +/* Two_Product_2Presplit() is Two_Product() where both of the inputs have */ +/* already been split. Avoids redundant splitting. */ + +#define Two_Product_2Presplit(a, ahi, alo, b, bhi, blo, x, y) \ + x = (REAL) (a * b); \ + err1 = x - (ahi * bhi); \ + err2 = err1 - (alo * bhi); \ + err3 = err2 - (ahi * blo); \ + y = (alo * blo) - err3 + +/* Square() can be done more quickly than Two_Product(). */ + +#define Square_Tail(a, x, y) \ + Split(a, ahi, alo); \ + err1 = x - (ahi * ahi); \ + err3 = err1 - ((ahi + ahi) * alo); \ + y = (alo * alo) - err3 + +#define Square(a, x, y) \ + x = (REAL) (a * a); \ + Square_Tail(a, x, y) + +/* Macros for summing expansions of various fixed lengths. These are all */ +/* unrolled versions of Expansion_Sum(). */ + +#define Two_One_Sum(a1, a0, b, x2, x1, x0) \ + Two_Sum(a0, b , _i, x0); \ + Two_Sum(a1, _i, x2, x1) + +#define Two_One_Diff(a1, a0, b, x2, x1, x0) \ + Two_Diff(a0, b , _i, x0); \ + Two_Sum( a1, _i, x2, x1) + +#define Two_Two_Sum(a1, a0, b1, b0, x3, x2, x1, x0) \ + Two_One_Sum(a1, a0, b0, _j, _0, x0); \ + Two_One_Sum(_j, _0, b1, x3, x2, x1) + +#define Two_Two_Diff(a1, a0, b1, b0, x3, x2, x1, x0) \ + Two_One_Diff(a1, a0, b0, _j, _0, x0); \ + Two_One_Diff(_j, _0, b1, x3, x2, x1) + +#define Four_One_Sum(a3, a2, a1, a0, b, x4, x3, x2, x1, x0) \ + Two_One_Sum(a1, a0, b , _j, x1, x0); \ + Two_One_Sum(a3, a2, _j, x4, x3, x2) + +#define Four_Two_Sum(a3, a2, a1, a0, b1, b0, x5, x4, x3, x2, x1, x0) \ + Four_One_Sum(a3, a2, a1, a0, b0, _k, _2, _1, _0, x0); \ + Four_One_Sum(_k, _2, _1, _0, b1, x5, x4, x3, x2, x1) + +#define Four_Four_Sum(a3, a2, a1, a0, b4, b3, b1, b0, x7, x6, x5, x4, x3, x2, \ + x1, x0) \ + Four_Two_Sum(a3, a2, a1, a0, b1, b0, _l, _2, _1, _0, x1, x0); \ + Four_Two_Sum(_l, _2, _1, _0, b4, b3, x7, x6, x5, x4, x3, x2) + +#define Eight_One_Sum(a7, a6, a5, a4, a3, a2, a1, a0, b, x8, x7, x6, x5, x4, \ + x3, x2, x1, x0) \ + Four_One_Sum(a3, a2, a1, a0, b , _j, x3, x2, x1, x0); \ + Four_One_Sum(a7, a6, a5, a4, _j, x8, x7, x6, x5, x4) + +#define Eight_Two_Sum(a7, a6, a5, a4, a3, a2, a1, a0, b1, b0, x9, x8, x7, \ + x6, x5, x4, x3, x2, x1, x0) \ + Eight_One_Sum(a7, a6, a5, a4, a3, a2, a1, a0, b0, _k, _6, _5, _4, _3, _2, \ + _1, _0, x0); \ + Eight_One_Sum(_k, _6, _5, _4, _3, _2, _1, _0, b1, x9, x8, x7, x6, x5, x4, \ + x3, x2, x1) + +#define Eight_Four_Sum(a7, a6, a5, a4, a3, a2, a1, a0, b4, b3, b1, b0, x11, \ + x10, x9, x8, x7, x6, x5, x4, x3, x2, x1, x0) \ + Eight_Two_Sum(a7, a6, a5, a4, a3, a2, a1, a0, b1, b0, _l, _6, _5, _4, _3, \ + _2, _1, _0, x1, x0); \ + Eight_Two_Sum(_l, _6, _5, _4, _3, _2, _1, _0, b4, b3, x11, x10, x9, x8, \ + x7, x6, x5, x4, x3, x2) + +/* Macros for multiplying expansions of various fixed lengths. */ + +#define Two_One_Product(a1, a0, b, x3, x2, x1, x0) \ + Split(b, bhi, blo); \ + Two_Product_Presplit(a0, b, bhi, blo, _i, x0); \ + Two_Product_Presplit(a1, b, bhi, blo, _j, _0); \ + Two_Sum(_i, _0, _k, x1); \ + Fast_Two_Sum(_j, _k, x3, x2) + +#define Four_One_Product(a3, a2, a1, a0, b, x7, x6, x5, x4, x3, x2, x1, x0) \ + Split(b, bhi, blo); \ + Two_Product_Presplit(a0, b, bhi, blo, _i, x0); \ + Two_Product_Presplit(a1, b, bhi, blo, _j, _0); \ + Two_Sum(_i, _0, _k, x1); \ + Fast_Two_Sum(_j, _k, _i, x2); \ + Two_Product_Presplit(a2, b, bhi, blo, _j, _0); \ + Two_Sum(_i, _0, _k, x3); \ + Fast_Two_Sum(_j, _k, _i, x4); \ + Two_Product_Presplit(a3, b, bhi, blo, _j, _0); \ + Two_Sum(_i, _0, _k, x5); \ + Fast_Two_Sum(_j, _k, x7, x6) + +#define Two_Two_Product(a1, a0, b1, b0, x7, x6, x5, x4, x3, x2, x1, x0) \ + Split(a0, a0hi, a0lo); \ + Split(b0, bhi, blo); \ + Two_Product_2Presplit(a0, a0hi, a0lo, b0, bhi, blo, _i, x0); \ + Split(a1, a1hi, a1lo); \ + Two_Product_2Presplit(a1, a1hi, a1lo, b0, bhi, blo, _j, _0); \ + Two_Sum(_i, _0, _k, _1); \ + Fast_Two_Sum(_j, _k, _l, _2); \ + Split(b1, bhi, blo); \ + Two_Product_2Presplit(a0, a0hi, a0lo, b1, bhi, blo, _i, _0); \ + Two_Sum(_1, _0, _k, x1); \ + Two_Sum(_2, _k, _j, _1); \ + Two_Sum(_l, _j, _m, _2); \ + Two_Product_2Presplit(a1, a1hi, a1lo, b1, bhi, blo, _j, _0); \ + Two_Sum(_i, _0, _n, _0); \ + Two_Sum(_1, _0, _i, x2); \ + Two_Sum(_2, _i, _k, _1); \ + Two_Sum(_m, _k, _l, _2); \ + Two_Sum(_j, _n, _k, _0); \ + Two_Sum(_1, _0, _j, x3); \ + Two_Sum(_2, _j, _i, _1); \ + Two_Sum(_l, _i, _m, _2); \ + Two_Sum(_1, _k, _i, x4); \ + Two_Sum(_2, _i, _k, x5); \ + Two_Sum(_m, _k, x7, x6) + +/* An expansion of length two can be squared more quickly than finding the */ +/* product of two different expansions of length two, and the result is */ +/* guaranteed to have no more than six (rather than eight) components. */ + +#define Two_Square(a1, a0, x5, x4, x3, x2, x1, x0) \ + Square(a0, _j, x0); \ + _0 = a0 + a0; \ + Two_Product(a1, _0, _k, _1); \ + Two_One_Sum(_k, _1, _j, _l, _2, x1); \ + Square(a1, _j, _1); \ + Two_Two_Sum(_j, _1, _l, _2, x5, x4, x3, x2) + + +// stolen from Cinolib +const double resulterrbound = 3.3306690738754706e-16; +const double ccwerrboundA = 3.3306690738754716e-16; +const double ccwerrboundB = 2.2204460492503146e-16; +const double ccwerrboundC = 1.1093356479670487e-31; +const double o3derrboundA = 7.7715611723761027e-16; +const double o3derrboundB = 3.3306690738754731e-16; +const double o3derrboundC = 3.2047474274603644e-31; +const double iccerrboundA = 1.1102230246251577e-15; +const double iccerrboundB = 4.4408920985006321e-16; +const double iccerrboundC = 5.4234187233944640e-31; +const double isperrboundA = 1.7763568394002532e-15; +const double isperrboundB = 5.5511151231257916e-16; +const double isperrboundC = 8.7514256672956190e-31; +const double splitter = 1.34217729e+08; + + + +/*****************************************************************************/ +/* */ +/* grow_expansion() Add a scalar to an expansion. */ +/* */ +/* Sets h = e + b. See the long version of my paper for details. */ +/* */ +/* Maintains the nonoverlapping property. If round-to-even is used (as */ +/* with IEEE 754), maintains the strongly nonoverlapping and nonadjacent */ +/* properties as well. (That is, if e has one of these properties, so */ +/* will h.) */ +/* */ +/*****************************************************************************/ + +inline int grow_expansion(int elen, REAL *e, REAL b, REAL *h) /* e and h can be the same. */ +{ + REAL Q; + INEXACT REAL Qnew; + int eindex; + REAL enow; + INEXACT REAL bvirt; + REAL avirt, bround, around; + + Q = b; + for (eindex = 0; eindex < elen; eindex++) { + enow = e[eindex]; + Two_Sum(Q, enow, Qnew, h[eindex]); + Q = Qnew; + } + h[eindex] = Q; + return eindex + 1; +} + +/*****************************************************************************/ +/* */ +/* grow_expansion_zeroelim() Add a scalar to an expansion, eliminating */ +/* zero components from the output expansion. */ +/* */ +/* Sets h = e + b. See the long version of my paper for details. */ +/* */ +/* Maintains the nonoverlapping property. If round-to-even is used (as */ +/* with IEEE 754), maintains the strongly nonoverlapping and nonadjacent */ +/* properties as well. (That is, if e has one of these properties, so */ +/* will h.) */ +/* */ +/*****************************************************************************/ + +inline int grow_expansion_zeroelim(int elen, REAL *e, REAL b, REAL *h) /* e and h can be the same. */ +{ + REAL Q, hh; + INEXACT REAL Qnew; + int eindex, hindex; + REAL enow; + INEXACT REAL bvirt; + REAL avirt, bround, around; + + hindex = 0; + Q = b; + for (eindex = 0; eindex < elen; eindex++) { + enow = e[eindex]; + Two_Sum(Q, enow, Qnew, hh); + Q = Qnew; + if (hh != 0.0) { + h[hindex++] = hh; + } + } + if ((Q != 0.0) || (hindex == 0)) { + h[hindex++] = Q; + } + return hindex; +} + +/*****************************************************************************/ +/* */ +/* expansion_sum() Sum two expansions. */ +/* */ +/* Sets h = e + f. See the long version of my paper for details. */ +/* */ +/* Maintains the nonoverlapping property. If round-to-even is used (as */ +/* with IEEE 754), maintains the nonadjacent property as well. (That is, */ +/* if e has one of these properties, so will h.) Does NOT maintain the */ +/* strongly nonoverlapping property. */ +/* */ +/*****************************************************************************/ + +/* e and h can be the same, but f and h cannot. */ +inline int expansion_sum(int elen, REAL *e, int flen, REAL *f, REAL *h) +{ + REAL Q; + INEXACT REAL Qnew; + int findex, hindex, hlast; + REAL hnow; + INEXACT REAL bvirt; + REAL avirt, bround, around; + + Q = f[0]; + for (hindex = 0; hindex < elen; hindex++) { + hnow = e[hindex]; + Two_Sum(Q, hnow, Qnew, h[hindex]); + Q = Qnew; + } + h[hindex] = Q; + hlast = hindex; + for (findex = 1; findex < flen; findex++) { + Q = f[findex]; + for (hindex = findex; hindex <= hlast; hindex++) { + hnow = h[hindex]; + Two_Sum(Q, hnow, Qnew, h[hindex]); + Q = Qnew; + } + h[++hlast] = Q; + } + return hlast + 1; +} + +/*****************************************************************************/ +/* */ +/* expansion_sum_zeroelim1() Sum two expansions, eliminating zero */ +/* components from the output expansion. */ +/* */ +/* Sets h = e + f. See the long version of my paper for details. */ +/* */ +/* Maintains the nonoverlapping property. If round-to-even is used (as */ +/* with IEEE 754), maintains the nonadjacent property as well. (That is, */ +/* if e has one of these properties, so will h.) Does NOT maintain the */ +/* strongly nonoverlapping property. */ +/* */ +/*****************************************************************************/ + +/* e and h can be the same, but f and h cannot. */ +inline int expansion_sum_zeroelim1(int elen, REAL *e, int flen, REAL *f, REAL *h) +{ + REAL Q; + INEXACT REAL Qnew; + int index, findex, hindex, hlast; + REAL hnow; + INEXACT REAL bvirt; + REAL avirt, bround, around; + + Q = f[0]; + for (hindex = 0; hindex < elen; hindex++) { + hnow = e[hindex]; + Two_Sum(Q, hnow, Qnew, h[hindex]); + Q = Qnew; + } + h[hindex] = Q; + hlast = hindex; + for (findex = 1; findex < flen; findex++) { + Q = f[findex]; + for (hindex = findex; hindex <= hlast; hindex++) { + hnow = h[hindex]; + Two_Sum(Q, hnow, Qnew, h[hindex]); + Q = Qnew; + } + h[++hlast] = Q; + } + hindex = -1; + for (index = 0; index <= hlast; index++) { + hnow = h[index]; + if (hnow != 0.0) { + h[++hindex] = hnow; + } + } + if (hindex == -1) { + return 1; + } else { + return hindex + 1; + } +} + +/*****************************************************************************/ +/* */ +/* expansion_sum_zeroelim2() Sum two expansions, eliminating zero */ +/* components from the output expansion. */ +/* */ +/* Sets h = e + f. See the long version of my paper for details. */ +/* */ +/* Maintains the nonoverlapping property. If round-to-even is used (as */ +/* with IEEE 754), maintains the nonadjacent property as well. (That is, */ +/* if e has one of these properties, so will h.) Does NOT maintain the */ +/* strongly nonoverlapping property. */ +/* */ +/*****************************************************************************/ + +/* e and h can be the same, but f and h cannot. */ +inline int expansion_sum_zeroelim2(int elen, REAL *e, int flen, REAL *f, REAL *h) +{ + REAL Q, hh; + INEXACT REAL Qnew; + int eindex, findex, hindex, hlast; + REAL enow; + INEXACT REAL bvirt; + REAL avirt, bround, around; + + hindex = 0; + Q = f[0]; + for (eindex = 0; eindex < elen; eindex++) { + enow = e[eindex]; + Two_Sum(Q, enow, Qnew, hh); + Q = Qnew; + if (hh != 0.0) { + h[hindex++] = hh; + } + } + h[hindex] = Q; + hlast = hindex; + for (findex = 1; findex < flen; findex++) { + hindex = 0; + Q = f[findex]; + for (eindex = 0; eindex <= hlast; eindex++) { + enow = h[eindex]; + Two_Sum(Q, enow, Qnew, hh); + Q = Qnew; + if (hh != 0) { + h[hindex++] = hh; + } + } + h[hindex] = Q; + hlast = hindex; + } + return hlast + 1; +} + +/*****************************************************************************/ +/* */ +/* fast_expansion_sum() Sum two expansions. */ +/* */ +/* Sets h = e + f. See the long version of my paper for details. */ +/* */ +/* If round-to-even is used (as with IEEE 754), maintains the strongly */ +/* nonoverlapping property. (That is, if e is strongly nonoverlapping, h */ +/* will be also.) Does NOT maintain the nonoverlapping or nonadjacent */ +/* properties. */ +/* */ +/*****************************************************************************/ + +inline int fast_expansion_sum(int elen, REAL *e, int flen, REAL *f, REAL *h) /* h cannot be e or f. */ +{ + REAL Q; + INEXACT REAL Qnew; + INEXACT REAL bvirt; + REAL avirt, bround, around; + int eindex, findex, hindex; + REAL enow, fnow; + + enow = e[0]; + fnow = f[0]; + eindex = findex = 0; + if ((fnow > enow) == (fnow > -enow)) { + Q = enow; + enow = e[++eindex]; + } else { + Q = fnow; + fnow = f[++findex]; + } + hindex = 0; + if ((eindex < elen) && (findex < flen)) { + if ((fnow > enow) == (fnow > -enow)) { + Fast_Two_Sum(enow, Q, Qnew, h[0]); + enow = e[++eindex]; + } else { + Fast_Two_Sum(fnow, Q, Qnew, h[0]); + fnow = f[++findex]; + } + Q = Qnew; + hindex = 1; + while ((eindex < elen) && (findex < flen)) { + if ((fnow > enow) == (fnow > -enow)) { + Two_Sum(Q, enow, Qnew, h[hindex]); + enow = e[++eindex]; + } else { + Two_Sum(Q, fnow, Qnew, h[hindex]); + fnow = f[++findex]; + } + Q = Qnew; + hindex++; + } + } + while (eindex < elen) { + Two_Sum(Q, enow, Qnew, h[hindex]); + enow = e[++eindex]; + Q = Qnew; + hindex++; + } + while (findex < flen) { + Two_Sum(Q, fnow, Qnew, h[hindex]); + fnow = f[++findex]; + Q = Qnew; + hindex++; + } + h[hindex] = Q; + return hindex + 1; +} + +/*****************************************************************************/ +/* */ +/* fast_expansion_sum_zeroelim() Sum two expansions, eliminating zero */ +/* components from the output expansion. */ +/* */ +/* Sets h = e + f. See the long version of my paper for details. */ +/* */ +/* If round-to-even is used (as with IEEE 754), maintains the strongly */ +/* nonoverlapping property. (That is, if e is strongly nonoverlapping, h */ +/* will be also.) Does NOT maintain the nonoverlapping or nonadjacent */ +/* properties. */ +/* */ +/*****************************************************************************/ + +inline int fast_expansion_sum_zeroelim(int elen, REAL *e, int flen, REAL *f, REAL *h) /* h cannot be e or f. */ +{ + REAL Q; + INEXACT REAL Qnew; + INEXACT REAL hh; + INEXACT REAL bvirt; + REAL avirt, bround, around; + int eindex, findex, hindex; + REAL enow, fnow; + + enow = e[0]; + fnow = f[0]; + eindex = findex = 0; + if ((fnow > enow) == (fnow > -enow)) { + Q = enow; + enow = e[++eindex]; + } else { + Q = fnow; + fnow = f[++findex]; + } + hindex = 0; + if ((eindex < elen) && (findex < flen)) { + if ((fnow > enow) == (fnow > -enow)) { + Fast_Two_Sum(enow, Q, Qnew, hh); + enow = e[++eindex]; + } else { + Fast_Two_Sum(fnow, Q, Qnew, hh); + fnow = f[++findex]; + } + Q = Qnew; + if (hh != 0.0) { + h[hindex++] = hh; + } + while ((eindex < elen) && (findex < flen)) { + if ((fnow > enow) == (fnow > -enow)) { + Two_Sum(Q, enow, Qnew, hh); + enow = e[++eindex]; + } else { + Two_Sum(Q, fnow, Qnew, hh); + fnow = f[++findex]; + } + Q = Qnew; + if (hh != 0.0) { + h[hindex++] = hh; + } + } + } + while (eindex < elen) { + Two_Sum(Q, enow, Qnew, hh); + enow = e[++eindex]; + Q = Qnew; + if (hh != 0.0) { + h[hindex++] = hh; + } + } + while (findex < flen) { + Two_Sum(Q, fnow, Qnew, hh); + fnow = f[++findex]; + Q = Qnew; + if (hh != 0.0) { + h[hindex++] = hh; + } + } + if ((Q != 0.0) || (hindex == 0)) { + h[hindex++] = Q; + } + return hindex; +} + +/*****************************************************************************/ +/* */ +/* linear_expansion_sum() Sum two expansions. */ +/* */ +/* Sets h = e + f. See either version of my paper for details. */ +/* */ +/* Maintains the nonoverlapping property. (That is, if e is */ +/* nonoverlapping, h will be also.) */ +/* */ +/*****************************************************************************/ + +inline int linear_expansion_sum(int elen, REAL *e, int flen, REAL *f, REAL *h) /* h cannot be e or f. */ +{ + REAL Q, q; + INEXACT REAL Qnew; + INEXACT REAL R; + INEXACT REAL bvirt; + REAL avirt, bround, around; + int eindex, findex, hindex; + REAL enow, fnow; + REAL g0; + + enow = e[0]; + fnow = f[0]; + eindex = findex = 0; + if ((fnow > enow) == (fnow > -enow)) { + g0 = enow; + enow = e[++eindex]; + } else { + g0 = fnow; + fnow = f[++findex]; + } + if ((eindex < elen) && ((findex >= flen) + || ((fnow > enow) == (fnow > -enow)))) { + Fast_Two_Sum(enow, g0, Qnew, q); + enow = e[++eindex]; + } else { + Fast_Two_Sum(fnow, g0, Qnew, q); + fnow = f[++findex]; + } + Q = Qnew; + for (hindex = 0; hindex < elen + flen - 2; hindex++) { + if ((eindex < elen) && ((findex >= flen) + || ((fnow > enow) == (fnow > -enow)))) { + Fast_Two_Sum(enow, q, R, h[hindex]); + enow = e[++eindex]; + } else { + Fast_Two_Sum(fnow, q, R, h[hindex]); + fnow = f[++findex]; + } + Two_Sum(Q, R, Qnew, q); + Q = Qnew; + } + h[hindex] = q; + h[hindex + 1] = Q; + return hindex + 2; +} + +/*****************************************************************************/ +/* */ +/* linear_expansion_sum_zeroelim() Sum two expansions, eliminating zero */ +/* components from the output expansion. */ +/* */ +/* Sets h = e + f. See either version of my paper for details. */ +/* */ +/* Maintains the nonoverlapping property. (That is, if e is */ +/* nonoverlapping, h will be also.) */ +/* */ +/*****************************************************************************/ + +inline int linear_expansion_sum_zeroelim(int elen, REAL *e, int flen, REAL *f, REAL *h)/* h cannot be e or f. */ +{ + REAL Q, q, hh; + INEXACT REAL Qnew; + INEXACT REAL R; + INEXACT REAL bvirt; + REAL avirt, bround, around; + int eindex, findex, hindex; + int count; + REAL enow, fnow; + REAL g0; + + enow = e[0]; + fnow = f[0]; + eindex = findex = 0; + hindex = 0; + if ((fnow > enow) == (fnow > -enow)) { + g0 = enow; + enow = e[++eindex]; + } else { + g0 = fnow; + fnow = f[++findex]; + } + if ((eindex < elen) && ((findex >= flen) + || ((fnow > enow) == (fnow > -enow)))) { + Fast_Two_Sum(enow, g0, Qnew, q); + enow = e[++eindex]; + } else { + Fast_Two_Sum(fnow, g0, Qnew, q); + fnow = f[++findex]; + } + Q = Qnew; + for (count = 2; count < elen + flen; count++) { + if ((eindex < elen) && ((findex >= flen) + || ((fnow > enow) == (fnow > -enow)))) { + Fast_Two_Sum(enow, q, R, hh); + enow = e[++eindex]; + } else { + Fast_Two_Sum(fnow, q, R, hh); + fnow = f[++findex]; + } + Two_Sum(Q, R, Qnew, q); + Q = Qnew; + if (hh != 0) { + h[hindex++] = hh; + } + } + if (q != 0) { + h[hindex++] = q; + } + if ((Q != 0.0) || (hindex == 0)) { + h[hindex++] = Q; + } + return hindex; +} + +/*****************************************************************************/ +/* */ +/* scale_expansion() Multiply an expansion by a scalar. */ +/* */ +/* Sets h = be. See either version of my paper for details. */ +/* */ +/* Maintains the nonoverlapping property. If round-to-even is used (as */ +/* with IEEE 754), maintains the strongly nonoverlapping and nonadjacent */ +/* properties as well. (That is, if e has one of these properties, so */ +/* will h.) */ +/* */ +/*****************************************************************************/ + +inline int scale_expansion(int elen, REAL *e, REAL b, REAL *h) /* e and h cannot be the same. */ +{ + INEXACT REAL Q; + INEXACT REAL sum; + INEXACT REAL product1; + REAL product0; + int eindex, hindex; + REAL enow; + INEXACT REAL bvirt; + REAL avirt, bround, around; + INEXACT REAL c; + INEXACT REAL abig; + REAL ahi, alo, bhi, blo; + REAL err1, err2, err3; + + Split(b, bhi, blo); + Two_Product_Presplit(e[0], b, bhi, blo, Q, h[0]); + hindex = 1; + for (eindex = 1; eindex < elen; eindex++) { + enow = e[eindex]; + Two_Product_Presplit(enow, b, bhi, blo, product1, product0); + Two_Sum(Q, product0, sum, h[hindex]); + hindex++; + Two_Sum(product1, sum, Q, h[hindex]); + hindex++; + } + h[hindex] = Q; + return elen + elen; +} + +/*****************************************************************************/ +/* */ +/* scale_expansion_zeroelim() Multiply an expansion by a scalar, */ +/* eliminating zero components from the */ +/* output expansion. */ +/* */ +/* Sets h = be. See either version of my paper for details. */ +/* */ +/* Maintains the nonoverlapping property. If round-to-even is used (as */ +/* with IEEE 754), maintains the strongly nonoverlapping and nonadjacent */ +/* properties as well. (That is, if e has one of these properties, so */ +/* will h.) */ +/* */ +/*****************************************************************************/ + +inline int scale_expansion_zeroelim(int elen, REAL *e, REAL b, REAL *h) /* e and h cannot be the same. */ +{ + INEXACT REAL Q, sum; + REAL hh; + INEXACT REAL product1; + REAL product0; + int eindex, hindex; + REAL enow; + INEXACT REAL bvirt; + REAL avirt, bround, around; + INEXACT REAL c; + INEXACT REAL abig; + REAL ahi, alo, bhi, blo; + REAL err1, err2, err3; + + Split(b, bhi, blo); + Two_Product_Presplit(e[0], b, bhi, blo, Q, hh); + hindex = 0; + if (hh != 0) { + h[hindex++] = hh; + } + for (eindex = 1; eindex < elen; eindex++) { + enow = e[eindex]; + Two_Product_Presplit(enow, b, bhi, blo, product1, product0); + Two_Sum(Q, product0, sum, hh); + if (hh != 0) { + h[hindex++] = hh; + } + Fast_Two_Sum(product1, sum, Q, hh); + if (hh != 0) { + h[hindex++] = hh; + } + } + if ((Q != 0.0) || (hindex == 0)) { + h[hindex++] = Q; + } + return hindex; +} + +/*****************************************************************************/ +/* */ +/* compress() Compress an expansion. */ +/* */ +/* See the long version of my paper for details. */ +/* */ +/* Maintains the nonoverlapping property. If round-to-even is used (as */ +/* with IEEE 754), then any nonoverlapping expansion is converted to a */ +/* nonadjacent expansion. */ +/* */ +/*****************************************************************************/ + +inline int compress(int elen, REAL *e, REAL *h) /* e and h may be the same. */ +{ + REAL Q, q; + INEXACT REAL Qnew; + int eindex, hindex; + INEXACT REAL bvirt; + REAL enow, hnow; + int top, bottom; + + bottom = elen - 1; + Q = e[bottom]; + for (eindex = elen - 2; eindex >= 0; eindex--) { + enow = e[eindex]; + Fast_Two_Sum(Q, enow, Qnew, q); + if (q != 0) { + h[bottom--] = Qnew; + Q = q; + } else { + Q = Qnew; + } + } + top = 0; + for (hindex = bottom + 1; hindex < elen; hindex++) { + hnow = h[hindex]; + Fast_Two_Sum(hnow, Q, Qnew, q); + if (q != 0) { + h[top++] = q; + } + Q = Qnew; + } + h[top] = Q; + return top + 1; +} + +/*****************************************************************************/ +/* */ +/* estimate() Produce a one-word estimate of an expansion's value. */ +/* */ +/* See either version of my paper for details. */ +/* */ +/*****************************************************************************/ + +inline REAL estimate(int elen, REAL *e) +{ + REAL Q; + int eindex; + + Q = e[0]; + for (eindex = 1; eindex < elen; eindex++) { + Q += e[eindex]; + } + return Q; +} + + + +/*****************************************************************************/ +/* */ +/* orient3dfast() Approximate 3D orientation test. Nonrobust. */ +/* orient3dexact() Exact 3D orientation test. Robust. */ +/* orient3dslow() Another exact 3D orientation test. Robust. */ +/* orient3d() Adaptive exact 3D orientation test. Robust. */ +/* */ +/* Return a positive value if the point pd lies below the */ +/* plane passing through pa, pb, and pc; "below" is defined so */ +/* that pa, pb, and pc appear in counterclockwise order when */ +/* viewed from above the plane. Returns a negative value if */ +/* pd lies above the plane. Returns zero if the points are */ +/* coplanar. The result is also a rough approximation of six */ +/* times the signed volume of the tetrahedron defined by the */ +/* four points. */ +/* */ +/* Only the first and last routine should be used; the middle two are for */ +/* timings. */ +/* */ +/* The last three use exact arithmetic to ensure a correct answer. The */ +/* result returned is the determinant of a matrix. In orient3d() only, */ +/* this determinant is computed adaptively, in the sense that exact */ +/* arithmetic is used only to the degree it is needed to ensure that the */ +/* returned value has the correct sign. Hence, orient3d() is usually quite */ +/* fast, but will run more slowly when the input points are coplanar or */ +/* nearly so. */ +/* */ +/*****************************************************************************/ + + +inline REAL orient3dadapt(REAL *pa, REAL *pb, REAL *pc, REAL *pd, REAL permanent) +{ + INEXACT REAL adx, bdx, cdx, ady, bdy, cdy, adz, bdz, cdz; + REAL det, errbound; + + INEXACT REAL bdxcdy1, cdxbdy1, cdxady1, adxcdy1, adxbdy1, bdxady1; + REAL bdxcdy0, cdxbdy0, cdxady0, adxcdy0, adxbdy0, bdxady0; + REAL bc[4], ca[4], ab[4]; + INEXACT REAL bc3, ca3, ab3; + REAL adet[8], bdet[8], cdet[8]; + int alen, blen, clen; + REAL abdet[16]; + int ablen; + REAL *finnow, *finother, *finswap; + REAL fin1[192], fin2[192]; + int finlength; + + REAL adxtail, bdxtail, cdxtail; + REAL adytail, bdytail, cdytail; + REAL adztail, bdztail, cdztail; + INEXACT REAL at_blarge, at_clarge; + INEXACT REAL bt_clarge, bt_alarge; + INEXACT REAL ct_alarge, ct_blarge; + REAL at_b[4], at_c[4], bt_c[4], bt_a[4], ct_a[4], ct_b[4]; + int at_blen, at_clen, bt_clen, bt_alen, ct_alen, ct_blen; + INEXACT REAL bdxt_cdy1, cdxt_bdy1, cdxt_ady1; + INEXACT REAL adxt_cdy1, adxt_bdy1, bdxt_ady1; + REAL bdxt_cdy0, cdxt_bdy0, cdxt_ady0; + REAL adxt_cdy0, adxt_bdy0, bdxt_ady0; + INEXACT REAL bdyt_cdx1, cdyt_bdx1, cdyt_adx1; + INEXACT REAL adyt_cdx1, adyt_bdx1, bdyt_adx1; + REAL bdyt_cdx0, cdyt_bdx0, cdyt_adx0; + REAL adyt_cdx0, adyt_bdx0, bdyt_adx0; + REAL bct[8], cat[8], abt[8]; + int bctlen, catlen, abtlen; + INEXACT REAL bdxt_cdyt1, cdxt_bdyt1, cdxt_adyt1; + INEXACT REAL adxt_cdyt1, adxt_bdyt1, bdxt_adyt1; + REAL bdxt_cdyt0, cdxt_bdyt0, cdxt_adyt0; + REAL adxt_cdyt0, adxt_bdyt0, bdxt_adyt0; + REAL u[4], v[12], w[16]; + INEXACT REAL u3; + int vlength, wlength; + REAL negate; + + INEXACT REAL bvirt; + REAL avirt, bround, around; + INEXACT REAL c; + INEXACT REAL abig; + REAL ahi, alo, bhi, blo; + REAL err1, err2, err3; + INEXACT REAL _i, _j, _k; + REAL _0; + + adx = (REAL) (pa[0] - pd[0]); + bdx = (REAL) (pb[0] - pd[0]); + cdx = (REAL) (pc[0] - pd[0]); + ady = (REAL) (pa[1] - pd[1]); + bdy = (REAL) (pb[1] - pd[1]); + cdy = (REAL) (pc[1] - pd[1]); + adz = (REAL) (pa[2] - pd[2]); + bdz = (REAL) (pb[2] - pd[2]); + cdz = (REAL) (pc[2] - pd[2]); + + Two_Product(bdx, cdy, bdxcdy1, bdxcdy0); + Two_Product(cdx, bdy, cdxbdy1, cdxbdy0); + Two_Two_Diff(bdxcdy1, bdxcdy0, cdxbdy1, cdxbdy0, bc3, bc[2], bc[1], bc[0]); + bc[3] = bc3; + alen = scale_expansion_zeroelim(4, bc, adz, adet); + + Two_Product(cdx, ady, cdxady1, cdxady0); + Two_Product(adx, cdy, adxcdy1, adxcdy0); + Two_Two_Diff(cdxady1, cdxady0, adxcdy1, adxcdy0, ca3, ca[2], ca[1], ca[0]); + ca[3] = ca3; + blen = scale_expansion_zeroelim(4, ca, bdz, bdet); + + Two_Product(adx, bdy, adxbdy1, adxbdy0); + Two_Product(bdx, ady, bdxady1, bdxady0); + Two_Two_Diff(adxbdy1, adxbdy0, bdxady1, bdxady0, ab3, ab[2], ab[1], ab[0]); + ab[3] = ab3; + clen = scale_expansion_zeroelim(4, ab, cdz, cdet); + + ablen = fast_expansion_sum_zeroelim(alen, adet, blen, bdet, abdet); + finlength = fast_expansion_sum_zeroelim(ablen, abdet, clen, cdet, fin1); + + det = estimate(finlength, fin1); + errbound = o3derrboundB * permanent; + if ((det >= errbound) || (-det >= errbound)) { + return det; + } + + Two_Diff_Tail(pa[0], pd[0], adx, adxtail); + Two_Diff_Tail(pb[0], pd[0], bdx, bdxtail); + Two_Diff_Tail(pc[0], pd[0], cdx, cdxtail); + Two_Diff_Tail(pa[1], pd[1], ady, adytail); + Two_Diff_Tail(pb[1], pd[1], bdy, bdytail); + Two_Diff_Tail(pc[1], pd[1], cdy, cdytail); + Two_Diff_Tail(pa[2], pd[2], adz, adztail); + Two_Diff_Tail(pb[2], pd[2], bdz, bdztail); + Two_Diff_Tail(pc[2], pd[2], cdz, cdztail); + + if ((adxtail == 0.0) && (bdxtail == 0.0) && (cdxtail == 0.0) + && (adytail == 0.0) && (bdytail == 0.0) && (cdytail == 0.0) + && (adztail == 0.0) && (bdztail == 0.0) && (cdztail == 0.0)) { + return det; + } + + errbound = o3derrboundC * permanent + resulterrbound * Absolute(det); + det += (adz * ((bdx * cdytail + cdy * bdxtail) + - (bdy * cdxtail + cdx * bdytail)) + + adztail * (bdx * cdy - bdy * cdx)) + + (bdz * ((cdx * adytail + ady * cdxtail) + - (cdy * adxtail + adx * cdytail)) + + bdztail * (cdx * ady - cdy * adx)) + + (cdz * ((adx * bdytail + bdy * adxtail) + - (ady * bdxtail + bdx * adytail)) + + cdztail * (adx * bdy - ady * bdx)); + if ((det >= errbound) || (-det >= errbound)) { + return det; + } + + finnow = fin1; + finother = fin2; + + if (adxtail == 0.0) { + if (adytail == 0.0) { + at_b[0] = 0.0; + at_blen = 1; + at_c[0] = 0.0; + at_clen = 1; + } else { + negate = -adytail; + Two_Product(negate, bdx, at_blarge, at_b[0]); + at_b[1] = at_blarge; + at_blen = 2; + Two_Product(adytail, cdx, at_clarge, at_c[0]); + at_c[1] = at_clarge; + at_clen = 2; + } + } else { + if (adytail == 0.0) { + Two_Product(adxtail, bdy, at_blarge, at_b[0]); + at_b[1] = at_blarge; + at_blen = 2; + negate = -adxtail; + Two_Product(negate, cdy, at_clarge, at_c[0]); + at_c[1] = at_clarge; + at_clen = 2; + } else { + Two_Product(adxtail, bdy, adxt_bdy1, adxt_bdy0); + Two_Product(adytail, bdx, adyt_bdx1, adyt_bdx0); + Two_Two_Diff(adxt_bdy1, adxt_bdy0, adyt_bdx1, adyt_bdx0, + at_blarge, at_b[2], at_b[1], at_b[0]); + at_b[3] = at_blarge; + at_blen = 4; + Two_Product(adytail, cdx, adyt_cdx1, adyt_cdx0); + Two_Product(adxtail, cdy, adxt_cdy1, adxt_cdy0); + Two_Two_Diff(adyt_cdx1, adyt_cdx0, adxt_cdy1, adxt_cdy0, + at_clarge, at_c[2], at_c[1], at_c[0]); + at_c[3] = at_clarge; + at_clen = 4; + } + } + if (bdxtail == 0.0) { + if (bdytail == 0.0) { + bt_c[0] = 0.0; + bt_clen = 1; + bt_a[0] = 0.0; + bt_alen = 1; + } else { + negate = -bdytail; + Two_Product(negate, cdx, bt_clarge, bt_c[0]); + bt_c[1] = bt_clarge; + bt_clen = 2; + Two_Product(bdytail, adx, bt_alarge, bt_a[0]); + bt_a[1] = bt_alarge; + bt_alen = 2; + } + } else { + if (bdytail == 0.0) { + Two_Product(bdxtail, cdy, bt_clarge, bt_c[0]); + bt_c[1] = bt_clarge; + bt_clen = 2; + negate = -bdxtail; + Two_Product(negate, ady, bt_alarge, bt_a[0]); + bt_a[1] = bt_alarge; + bt_alen = 2; + } else { + Two_Product(bdxtail, cdy, bdxt_cdy1, bdxt_cdy0); + Two_Product(bdytail, cdx, bdyt_cdx1, bdyt_cdx0); + Two_Two_Diff(bdxt_cdy1, bdxt_cdy0, bdyt_cdx1, bdyt_cdx0, + bt_clarge, bt_c[2], bt_c[1], bt_c[0]); + bt_c[3] = bt_clarge; + bt_clen = 4; + Two_Product(bdytail, adx, bdyt_adx1, bdyt_adx0); + Two_Product(bdxtail, ady, bdxt_ady1, bdxt_ady0); + Two_Two_Diff(bdyt_adx1, bdyt_adx0, bdxt_ady1, bdxt_ady0, + bt_alarge, bt_a[2], bt_a[1], bt_a[0]); + bt_a[3] = bt_alarge; + bt_alen = 4; + } + } + if (cdxtail == 0.0) { + if (cdytail == 0.0) { + ct_a[0] = 0.0; + ct_alen = 1; + ct_b[0] = 0.0; + ct_blen = 1; + } else { + negate = -cdytail; + Two_Product(negate, adx, ct_alarge, ct_a[0]); + ct_a[1] = ct_alarge; + ct_alen = 2; + Two_Product(cdytail, bdx, ct_blarge, ct_b[0]); + ct_b[1] = ct_blarge; + ct_blen = 2; + } + } else { + if (cdytail == 0.0) { + Two_Product(cdxtail, ady, ct_alarge, ct_a[0]); + ct_a[1] = ct_alarge; + ct_alen = 2; + negate = -cdxtail; + Two_Product(negate, bdy, ct_blarge, ct_b[0]); + ct_b[1] = ct_blarge; + ct_blen = 2; + } else { + Two_Product(cdxtail, ady, cdxt_ady1, cdxt_ady0); + Two_Product(cdytail, adx, cdyt_adx1, cdyt_adx0); + Two_Two_Diff(cdxt_ady1, cdxt_ady0, cdyt_adx1, cdyt_adx0, + ct_alarge, ct_a[2], ct_a[1], ct_a[0]); + ct_a[3] = ct_alarge; + ct_alen = 4; + Two_Product(cdytail, bdx, cdyt_bdx1, cdyt_bdx0); + Two_Product(cdxtail, bdy, cdxt_bdy1, cdxt_bdy0); + Two_Two_Diff(cdyt_bdx1, cdyt_bdx0, cdxt_bdy1, cdxt_bdy0, + ct_blarge, ct_b[2], ct_b[1], ct_b[0]); + ct_b[3] = ct_blarge; + ct_blen = 4; + } + } + + bctlen = fast_expansion_sum_zeroelim(bt_clen, bt_c, ct_blen, ct_b, bct); + wlength = scale_expansion_zeroelim(bctlen, bct, adz, w); + finlength = fast_expansion_sum_zeroelim(finlength, finnow, wlength, w, + finother); + finswap = finnow; finnow = finother; finother = finswap; + + catlen = fast_expansion_sum_zeroelim(ct_alen, ct_a, at_clen, at_c, cat); + wlength = scale_expansion_zeroelim(catlen, cat, bdz, w); + finlength = fast_expansion_sum_zeroelim(finlength, finnow, wlength, w, + finother); + finswap = finnow; finnow = finother; finother = finswap; + + abtlen = fast_expansion_sum_zeroelim(at_blen, at_b, bt_alen, bt_a, abt); + wlength = scale_expansion_zeroelim(abtlen, abt, cdz, w); + finlength = fast_expansion_sum_zeroelim(finlength, finnow, wlength, w, + finother); + finswap = finnow; finnow = finother; finother = finswap; + + if (adztail != 0.0) { + vlength = scale_expansion_zeroelim(4, bc, adztail, v); + finlength = fast_expansion_sum_zeroelim(finlength, finnow, vlength, v, + finother); + finswap = finnow; finnow = finother; finother = finswap; + } + if (bdztail != 0.0) { + vlength = scale_expansion_zeroelim(4, ca, bdztail, v); + finlength = fast_expansion_sum_zeroelim(finlength, finnow, vlength, v, + finother); + finswap = finnow; finnow = finother; finother = finswap; + } + if (cdztail != 0.0) { + vlength = scale_expansion_zeroelim(4, ab, cdztail, v); + finlength = fast_expansion_sum_zeroelim(finlength, finnow, vlength, v, + finother); + finswap = finnow; finnow = finother; finother = finswap; + } + + if (adxtail != 0.0) { + if (bdytail != 0.0) { + Two_Product(adxtail, bdytail, adxt_bdyt1, adxt_bdyt0); + Two_One_Product(adxt_bdyt1, adxt_bdyt0, cdz, u3, u[2], u[1], u[0]); + u[3] = u3; + finlength = fast_expansion_sum_zeroelim(finlength, finnow, 4, u, + finother); + finswap = finnow; finnow = finother; finother = finswap; + if (cdztail != 0.0) { + Two_One_Product(adxt_bdyt1, adxt_bdyt0, cdztail, u3, u[2], u[1], u[0]); + u[3] = u3; + finlength = fast_expansion_sum_zeroelim(finlength, finnow, 4, u, + finother); + finswap = finnow; finnow = finother; finother = finswap; + } + } + if (cdytail != 0.0) { + negate = -adxtail; + Two_Product(negate, cdytail, adxt_cdyt1, adxt_cdyt0); + Two_One_Product(adxt_cdyt1, adxt_cdyt0, bdz, u3, u[2], u[1], u[0]); + u[3] = u3; + finlength = fast_expansion_sum_zeroelim(finlength, finnow, 4, u, + finother); + finswap = finnow; finnow = finother; finother = finswap; + if (bdztail != 0.0) { + Two_One_Product(adxt_cdyt1, adxt_cdyt0, bdztail, u3, u[2], u[1], u[0]); + u[3] = u3; + finlength = fast_expansion_sum_zeroelim(finlength, finnow, 4, u, + finother); + finswap = finnow; finnow = finother; finother = finswap; + } + } + } + if (bdxtail != 0.0) { + if (cdytail != 0.0) { + Two_Product(bdxtail, cdytail, bdxt_cdyt1, bdxt_cdyt0); + Two_One_Product(bdxt_cdyt1, bdxt_cdyt0, adz, u3, u[2], u[1], u[0]); + u[3] = u3; + finlength = fast_expansion_sum_zeroelim(finlength, finnow, 4, u, + finother); + finswap = finnow; finnow = finother; finother = finswap; + if (adztail != 0.0) { + Two_One_Product(bdxt_cdyt1, bdxt_cdyt0, adztail, u3, u[2], u[1], u[0]); + u[3] = u3; + finlength = fast_expansion_sum_zeroelim(finlength, finnow, 4, u, + finother); + finswap = finnow; finnow = finother; finother = finswap; + } + } + if (adytail != 0.0) { + negate = -bdxtail; + Two_Product(negate, adytail, bdxt_adyt1, bdxt_adyt0); + Two_One_Product(bdxt_adyt1, bdxt_adyt0, cdz, u3, u[2], u[1], u[0]); + u[3] = u3; + finlength = fast_expansion_sum_zeroelim(finlength, finnow, 4, u, + finother); + finswap = finnow; finnow = finother; finother = finswap; + if (cdztail != 0.0) { + Two_One_Product(bdxt_adyt1, bdxt_adyt0, cdztail, u3, u[2], u[1], u[0]); + u[3] = u3; + finlength = fast_expansion_sum_zeroelim(finlength, finnow, 4, u, + finother); + finswap = finnow; finnow = finother; finother = finswap; + } + } + } + if (cdxtail != 0.0) { + if (adytail != 0.0) { + Two_Product(cdxtail, adytail, cdxt_adyt1, cdxt_adyt0); + Two_One_Product(cdxt_adyt1, cdxt_adyt0, bdz, u3, u[2], u[1], u[0]); + u[3] = u3; + finlength = fast_expansion_sum_zeroelim(finlength, finnow, 4, u, + finother); + finswap = finnow; finnow = finother; finother = finswap; + if (bdztail != 0.0) { + Two_One_Product(cdxt_adyt1, cdxt_adyt0, bdztail, u3, u[2], u[1], u[0]); + u[3] = u3; + finlength = fast_expansion_sum_zeroelim(finlength, finnow, 4, u, + finother); + finswap = finnow; finnow = finother; finother = finswap; + } + } + if (bdytail != 0.0) { + negate = -cdxtail; + Two_Product(negate, bdytail, cdxt_bdyt1, cdxt_bdyt0); + Two_One_Product(cdxt_bdyt1, cdxt_bdyt0, adz, u3, u[2], u[1], u[0]); + u[3] = u3; + finlength = fast_expansion_sum_zeroelim(finlength, finnow, 4, u, + finother); + finswap = finnow; finnow = finother; finother = finswap; + if (adztail != 0.0) { + Two_One_Product(cdxt_bdyt1, cdxt_bdyt0, adztail, u3, u[2], u[1], u[0]); + u[3] = u3; + finlength = fast_expansion_sum_zeroelim(finlength, finnow, 4, u, + finother); + finswap = finnow; finnow = finother; finother = finswap; + } + } + } + + if (adztail != 0.0) { + wlength = scale_expansion_zeroelim(bctlen, bct, adztail, w); + finlength = fast_expansion_sum_zeroelim(finlength, finnow, wlength, w, + finother); + finswap = finnow; finnow = finother; finother = finswap; + } + if (bdztail != 0.0) { + wlength = scale_expansion_zeroelim(catlen, cat, bdztail, w); + finlength = fast_expansion_sum_zeroelim(finlength, finnow, wlength, w, + finother); + finswap = finnow; finnow = finother; finother = finswap; + } + if (cdztail != 0.0) { + wlength = scale_expansion_zeroelim(abtlen, abt, cdztail, w); + finlength = fast_expansion_sum_zeroelim(finlength, finnow, wlength, w, + finother); + finswap = finnow; finnow = finother; finother = finswap; + } + + return finnow[finlength - 1]; +} + +inline REAL orient3d(REAL *pa, REAL *pb, REAL *pc, REAL *pd) +{ + REAL adx, bdx, cdx, ady, bdy, cdy, adz, bdz, cdz; + REAL bdxcdy, cdxbdy, cdxady, adxcdy, adxbdy, bdxady; + REAL det; + REAL permanent, errbound; + + adx = pa[0] - pd[0]; + bdx = pb[0] - pd[0]; + cdx = pc[0] - pd[0]; + ady = pa[1] - pd[1]; + bdy = pb[1] - pd[1]; + cdy = pc[1] - pd[1]; + adz = pa[2] - pd[2]; + bdz = pb[2] - pd[2]; + cdz = pc[2] - pd[2]; + + bdxcdy = bdx * cdy; + cdxbdy = cdx * bdy; + + cdxady = cdx * ady; + adxcdy = adx * cdy; + + adxbdy = adx * bdy; + bdxady = bdx * ady; + + det = adz * (bdxcdy - cdxbdy) + + bdz * (cdxady - adxcdy) + + cdz * (adxbdy - bdxady); + + permanent = (Absolute(bdxcdy) + Absolute(cdxbdy)) * Absolute(adz) + + (Absolute(cdxady) + Absolute(adxcdy)) * Absolute(bdz) + + (Absolute(adxbdy) + Absolute(bdxady)) * Absolute(cdz); + errbound = o3derrboundA * permanent; + if ((det > errbound) || (-det > errbound)) { + return det; + } + + return orient3dadapt(pa, pb, pc, pd, permanent); +} + + diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/utils/colorized_text.h b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/utils/colorized_text.h new file mode 100644 index 000000000000..853cfef2373d --- /dev/null +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/utils/colorized_text.h @@ -0,0 +1,82 @@ +#pragma once + +// taken from https://stackoverflow.com/a/78739378 + +#include +#include +#if defined WIN32 || defined _WIN64 +#include +#endif + +namespace Mesh_smoothing_3_internal { + +#if defined WIN32 || defined _WIN64 +enum class ConsoleTextColor : std::uint8_t +{ + Default = 7, + Blue = 1, + Green = 2, + Cyan = 3, + Red = 4, + Pink = 5, + Yellow = 6, + White = 7, + BrightBlue = 9, + BrightGreen = 10, + BrightCyan = 11, + BrightRed = 12, + BrightPink = 13, + BrightYellow = 14, + BrightWhite = 15 +}; +#else + +enum class ConsoleTextColor : std::uint8_t +{ + Default = 33, + Blue = 34, + Green = 32, + Cyan = 36, + Red = 31, + Pink = 35, + Yellow = 33, + White = 37, + BrightBlue = 94, + BrightGreen = 92, + BrightCyan = 96, + BrightRed = 91, + BrightPink = 95, + BrightYellow = 93, + BrightWhite = 97 +}; + +#endif + +inline void Colorized_print(const std::string &text, const ConsoleTextColor& color = ConsoleTextColor::Default) { + + if (color != ConsoleTextColor::Default) + { + #if defined WIN32 || defined _WIN64 + + // Get console descriptor + HANDLE ConsoleHandle = GetStdHandle(STD_OUTPUT_HANDLE); + + // Object to store previous console colour + CONSOLE_SCREEN_BUFFER_INFO info; + // Tty to store console colour + if (GetConsoleScreenBufferInfo(ConsoleHandle, &info)) + { + SetConsoleTextAttribute(ConsoleHandle, static_cast(color)); + std::cout << text << std::endl; + SetConsoleTextAttribute(ConsoleHandle, static_cast(info.wAttributes)); + } + #else + std::cout << "\x1B[" + std::to_string(static_cast(color)) + "m" + text + "\033[0m" << std::endl; + #endif + } + else + std::cout << text << std::endl; + +} + +} diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/utils/log_time.h b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/utils/log_time.h new file mode 100644 index 000000000000..586238e8d241 --- /dev/null +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/utils/log_time.h @@ -0,0 +1,37 @@ +#pragma once +#include +#include +#include "colorized_text.h" + +namespace Mesh_smoothing_3_internal { + +class Time_log { +public: + Time_log(std::string const &title): _title(title) { + restart(); + } + + void restart() { + begin = std::chrono::steady_clock::now(); + lastSubStep = begin; + } + + void log_sub_step(std::string const &subTitle, std::string const &subText = "") { + auto now = std::chrono::steady_clock::now(); + Colorized_print("[Time log] "+ _title + " > " + subTitle + " = " + std::to_string(static_cast(std::chrono::duration_cast(now - lastSubStep).count()) / 1000.) + "s. " + subText, ConsoleTextColor::Blue); + lastSubStep = now; + } + + void log_total_time() { + auto now = std::chrono::steady_clock::now(); + Colorized_print("[Time log] "+ _title + " > " + " = " + std::to_string(static_cast(std::chrono::duration_cast(now - begin).count()) / 1000.) + "s. ", ConsoleTextColor::BrightBlue); + } +private: + std::chrono::steady_clock::time_point begin; + std::chrono::steady_clock::time_point lastSubStep; + + std::string _title; +}; + +} + diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/mesh_representations.h b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/mesh_representations.h new file mode 100644 index 000000000000..366427a5e045 --- /dev/null +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/mesh_representations.h @@ -0,0 +1,344 @@ +#pragma once + +#include +#include +#include +#include "default_shapes.h" + +#include + +namespace Mesh_smoothing_3 { + +namespace default_structures { + + // Empty minimal mesh representation + class Empty_mesh { + public: + using Cell_descriptor = std::size_t; + using Vertex_descriptor = std::size_t; + using Point_3 = Eigen::Vector3d; + + std::size_t nb_cells() const { return 0; } + std::size_t nb_vertices() const { return 0; } + + Point_3 vertex_coordinates(Vertex_descriptor vertex) const { return {0.,0.,0.}; } + void set_new_vertex_coordinates(Vertex_descriptor vertex, Point_3 coord) {} // only non const + + std::vector cell_range() const { return {}; } // should return a range of Cell_descriptor + std::array cell_vertices(Cell_descriptor cell) const { return {0,0,0,0}; } // can return anything of size 4 with [int] operator + std::array cell_reference_shape(Cell_descriptor cell) const { + return Shapes::VTK_TETRAHEDRON(); + } + }; + + + // Empty minimal boundary representation + template + class Empty_boundary { + public: + using Face_descriptor = std::size_t; + using Normal_3 = Eigen::Vector3d; + using Surface_patch_index = unsigned; + std::size_t nb_faces() const { return 0; } + std::vector face_range() const { return {}; } + std::size_t nb_face_vertices(Face_descriptor face) const { return 0; } + Surface_patch_index patch_id(Face_descriptor) const { return 0; } + std::vector face_vertices(Face_descriptor face) const { return {}; } + }; + + + // empty minimal edge network representation + template + class Empty_edge_network { + public: + using Edge_descriptor = std::size_t; + using Curve_index = unsigned; + std::size_t nb_edges() const { return 0; } + std::vector edge_range() const { return {}; } + Curve_index curve_id(Edge_descriptor) const { return 0; } + Vertex_descriptor edge_vertex(Edge_descriptor edge, unsigned i) const { return Vertex_descriptor(); } + }; + +} + +namespace utils { + + // Allows iterating over a range of unsigned integers with a simple syntax (for (unsigned i : Contiguous_unsigned_range{0, n}) { ... }) + struct Contiguous_unsigned_range { + std::size_t i, n; + void operator++() { ++i; } + bool operator!=(Contiguous_unsigned_range const & rhs) const { return i != rhs.i; } + std::size_t operator*() const { return i; } + auto begin() { return Contiguous_unsigned_range{0,n}; } + auto end() { return Contiguous_unsigned_range{n,n}; } + }; +} + +namespace basic_structures { + class Tetrahedral_mesh { + public: + using Cell_descriptor = std::size_t; + using Vertex_descriptor = std::size_t; + using Point_3 = Eigen::Vector3d; + + std::size_t nb_cells() const { return _tetrahedra.size(); } + std::size_t nb_vertices() const { return _points.size(); } + + Point_3 vertex_coordinates(Vertex_descriptor vertex) const { return _points[vertex]; } + void set_new_vertex_coordinates(Vertex_descriptor vertex, Point_3 coord) { _points[vertex] = coord; } // only non const + + utils::Contiguous_unsigned_range cell_range() const { return utils::Contiguous_unsigned_range{0, nb_cells()}; } + std::array cell_vertices(Cell_descriptor cell) const { return _tetrahedra[cell]; } + std::array cell_reference_shape(Cell_descriptor cell) const { + return Shapes::VTK_TETRAHEDRON(); + } + public: + std::vector _points; + std::vector> _tetrahedra; + }; + + class Triangle_boundary { + public: + using Face_descriptor = std::size_t; + using Normal_3 = Eigen::Vector3d; + using Surface_patch_index = unsigned; + std::size_t nb_faces() const { return _triangles.size(); } + utils::Contiguous_unsigned_range face_range() const { return utils::Contiguous_unsigned_range{0, nb_faces()}; } + std::size_t nb_face_vertices(Face_descriptor) const { return 3; } + Surface_patch_index patch_id(Face_descriptor) const { return 0; } + auto face_vertices(Face_descriptor face) const { return _triangles[face]; } + + public: + std::vector> _triangles; + }; + + class Simple_edge_network { + public: + using Edge_descriptor = std::size_t; + using Curve_index = unsigned; + std::size_t nb_edges() const { return _edge_vertices.size(); } + utils::Contiguous_unsigned_range edge_range() const { return utils::Contiguous_unsigned_range{0, nb_edges()}; } + Curve_index curve_id(Edge_descriptor edge) const { return _id[edge]; } + std::size_t edge_vertex(Edge_descriptor edge, unsigned i) const { return _edge_vertices[edge][i]; } + public: + void add_edge(std::size_t v0, std::size_t v1, unsigned id = 0) { + _edge_vertices.push_back({v0, v1}); + _id.push_back(id); + } + std::vector> _edge_vertices; + std::vector _id; + }; +} + + +namespace helper_structures { + + // Templated structure for representing mixed-element meshes + template< + typename InputCellDescriptor, + typename VertexDescriptor, + typename Point3, + typename InputCellRangeType + > + class Mixed_element_mesh { + public: + // you redefine these in your derived class and then you need to call assemble() before using the structure + using Shape = Mesh_smoothing_3::Shapes::Base_element_shape_reference; + + virtual std::size_t nb_vertices() const = 0; + + virtual Point3 vertex_coordinates(VertexDescriptor vertex) const = 0; + virtual void set_new_vertex_coordinates(VertexDescriptor vertex, Point3 coord) = 0; + + virtual InputCellRangeType input_cell_range() const = 0; + virtual Shape const * get_element_shape(InputCellDescriptor cell) const = 0; // you can return nullptr if you want to ignore the cell + virtual VertexDescriptor get_cell_vertex(InputCellDescriptor cell, unsigned local_Vertex_descriptor) const = 0; + + bool has_reference_mesh = false; + virtual Point3 get_ref_vertex_coordinates(VertexDescriptor vertex) const { return Point3(); } // redefine if has_reference_mesh == true + + + public: + using Cell_descriptor = std::size_t; + using Vertex_descriptor = VertexDescriptor; + using Point_3 = Point3; + + std::size_t nb_cells() const { return optimization_tet_2_input_element.size(); }; + + utils::Contiguous_unsigned_range cell_range() const { return utils::Contiguous_unsigned_range{0, nb_cells()}; } + std::array cell_vertices(Cell_descriptor cell) const { + std::array sub_decomposition; + auto input_element = optimization_tet_2_input_element[cell].first; + std::size_t tet_number = optimization_tet_2_input_element[cell].second; + for (std::size_t i = 0; i < 4; ++i) { + sub_decomposition[i] = get_cell_vertex(input_element, get_element_local_vert(input_element, tet_number, i)); + } + return sub_decomposition; + } + std::array cell_reference_shape(Cell_descriptor cell) const { + return get_element_ref_shape(optimization_tet_2_input_element[cell].first, optimization_tet_2_input_element[cell].second); + } + + public: + unsigned get_nb_inner_tetrahedra(InputCellDescriptor cell) const { + if (_element_shape.at(cell) == nullptr) return 0; + return _element_shape.at(cell)->nb_inner_tetrahedra(); + }; + + unsigned get_element_local_vert(InputCellDescriptor cell, unsigned tet, unsigned tet_vert) const { + if (_element_shape.at(cell) == nullptr) return 0; + return _element_shape.at(cell)->inner_tetrahedra_local_vert(tet, tet_vert); + }; + + std::array get_element_ref_shape(InputCellDescriptor cell, unsigned tet) const { + if (_element_shape.at(cell) == nullptr) return {Point_3(), Point_3(), Point_3(), Point_3()}; + if (!has_reference_mesh) { + return _element_shape.at(cell)->inner_tetrahedra_reference_shape(tet); + } + else { + return { + get_ref_vertex_coordinates(get_cell_vertex(cell, get_element_local_vert(cell, tet, 0))), + get_ref_vertex_coordinates(get_cell_vertex(cell, get_element_local_vert(cell, tet, 1))), + get_ref_vertex_coordinates(get_cell_vertex(cell, get_element_local_vert(cell, tet, 2))), + get_ref_vertex_coordinates(get_cell_vertex(cell, get_element_local_vert(cell, tet, 3))) + }; + } + }; + + std::vector> optimization_tet_2_input_element; + std::unordered_map _element_shape; + + void assemble() { + for (auto c : input_cell_range()) { + _element_shape.emplace(c, get_element_shape(c)); + } + optimization_tet_2_input_element.clear(); + for (auto cell_descriptor : input_cell_range()) { + for (unsigned i = 0; i < get_nb_inner_tetrahedra(cell_descriptor); ++i) { + optimization_tet_2_input_element.push_back({cell_descriptor, i}); + } + } + } + }; + + // Templated structure for polygonal boundary representation + template< + typename VertexDescriptor = std::size_t, + typename FaceDescriptor = std::size_t, + typename NormalType = Eigen::Vector3d + > + class Polygonal_boundary { + public: + using Face_descriptor = FaceDescriptor; + using Normal_3 = NormalType; + using Vertex_descriptor = VertexDescriptor; + using Surface_patch_index = unsigned; + std::size_t nb_faces() const { return _face_vertices.size(); } + utils::Contiguous_unsigned_range face_range() const { return utils::Contiguous_unsigned_range{0, nb_faces()}; } + std::size_t nb_face_vertices(Face_descriptor face) const { return _face_vertices[face].size(); } + Surface_patch_index patch_id(Face_descriptor face) const { return _id[face]; } + auto face_vertices(Face_descriptor face) const { return _face_vertices[face]; } + + public: + void add_polygon(std::vector const &polygon, unsigned id = 0) { + _face_vertices.push_back(polygon); + _id.push_back(id); + } + std::vector> _face_vertices; + std::vector _id; + }; + +} + + +// WORK IN PROGRESS +namespace cgal_types { +template +class Triangulation_3_wrapper { + using Cell_descriptor = Triangulation_3::Cell_handle; + using Vertex_descriptor = Triangulation_3::Vertex_handle; + using Point_3 = Triangulation_3::Geom_traits::Point_3; + + std::size_t nb_cells() const { return tr.number_of_finite_cells(); } + std::size_t nb_vertices() const { return tr.number_of_vertices(); } + + decltype(auto) vertex_coordinates(Vertex_descriptor vertex) const { return tr.point(vertex); } + void set_new_vertex_coordinates(Vertex_descriptor vertex, const Point_3& coord) { + vertex->set_point(coord); + } + + auto cell_range() const { return tr.finite_cell_handles(); } + std::array cell_vertices(Cell_descriptor cell) const { + std::array vertices; + for (int i = 0; i < 4; ++i) { + vertices[static_cast(i)] = cell->vertex(i); + } + return vertices; + } + std::array cell_reference_shape(Cell_descriptor cell) const { + return Shapes::VTK_TETRAHEDRON(); + } + + Triangulation_3 &tr; +}; + +template +class C3t3_wrapper { +public: + using Cell_descriptor = C3t3::Cell_handle; + using Vertex_descriptor = C3t3::Vertex_handle; + using Face_descriptor = C3t3::Facet; + using Edge_descriptor = C3t3::Edge; + using Normal_3 = C3t3::Triangulation::Geom_traits::Vector_3; + using Point_3 = C3t3::Triangulation::Geom_traits::Point_3; + using Weighted_point_3 = C3t3::Triangulation::Geom_traits::Weighted_point_3; + + using Surface_patch_index = C3t3::Surface_patch_index; + using Curve_index = C3t3::Curve_index; + + std::size_t nb_cells() const { return c3t3.number_of_cells(); } + std::size_t nb_faces() const { return c3t3.number_of_edges(); } + std::size_t nb_edges() const { return c3t3.number_of_facets(); } + std::size_t nb_vertices() const { return c3t3.triangulation().number_of_vertices(); } + + decltype(auto) vertex_coordinates(Vertex_descriptor vertex) const { + return c3t3.triangulation().point(vertex).point(); // c3t3 holds weighted points + } + void set_new_vertex_coordinates(Vertex_descriptor vertex, const Point_3& coord) { vertex->set_point(Weighted_point_3{coord}); } + auto cell_range() const { return c3t3.cells_in_complex(); } + std::array cell_vertices(Cell_descriptor cell) const { + std::array vertices; + for (int i = 0; i < 4; ++i) { + vertices[static_cast(i)] = cell->vertex(i); + } + return vertices; + } + std::array cell_reference_shape(Cell_descriptor cell) const { + return Shapes::VTK_TETRAHEDRON(); + } + + auto face_range() const { return c3t3.facets_in_complex(); } + std::size_t nb_face_vertices(Face_descriptor face) const { return 3; } + Surface_patch_index patch_id(Face_descriptor face) const { return c3t3.surface_patch_index(face); } + std::vector face_vertices(Face_descriptor face) const { + std::vector vertices(3); + for (int i = 1; i < 4; ++i) { + vertices[static_cast(i-1)] = face.first->vertex((face.second + i)%4); + } + return vertices; + } + + auto edge_range() const { return c3t3.edges_in_complex(); } + Curve_index curve_id(Edge_descriptor edge) const { return c3t3.curve_index(edge); } + Vertex_descriptor edge_vertex(Edge_descriptor edge, unsigned i) const { + assert(i < 2); + return edge.first->vertex(i == 0 ? edge.second : edge.third); + } + + C3t3 &c3t3; +}; + +} + +} + diff --git a/Mesh_smoothing_3/package_info/Mesh_smoothing_3/copyright b/Mesh_smoothing_3/package_info/Mesh_smoothing_3/copyright new file mode 100644 index 000000000000..8278ad5e6fed --- /dev/null +++ b/Mesh_smoothing_3/package_info/Mesh_smoothing_3/copyright @@ -0,0 +1 @@ +INRIA \ No newline at end of file diff --git a/Mesh_smoothing_3/package_info/Mesh_smoothing_3/description.txt b/Mesh_smoothing_3/package_info/Mesh_smoothing_3/description.txt new file mode 100644 index 000000000000..4e660dce9965 --- /dev/null +++ b/Mesh_smoothing_3/package_info/Mesh_smoothing_3/description.txt @@ -0,0 +1 @@ +The 3D Mesh Smoothing package provides tools for improving 3D meshes by iteratively relocating vertices. \ No newline at end of file diff --git a/Mesh_smoothing_3/package_info/Mesh_smoothing_3/license.txt b/Mesh_smoothing_3/package_info/Mesh_smoothing_3/license.txt new file mode 100644 index 000000000000..8bb8efcb72b0 --- /dev/null +++ b/Mesh_smoothing_3/package_info/Mesh_smoothing_3/license.txt @@ -0,0 +1 @@ +GPL (v3 or later) diff --git a/Mesh_smoothing_3/package_info/Mesh_smoothing_3/long_description.txt b/Mesh_smoothing_3/package_info/Mesh_smoothing_3/long_description.txt new file mode 100644 index 000000000000..310121e605a6 --- /dev/null +++ b/Mesh_smoothing_3/package_info/Mesh_smoothing_3/long_description.txt @@ -0,0 +1,6 @@ +This component takes a 3D volumetric mesh as input and updates its vertices' coordinates to improve +a trade-off between element quality and the fitting to various geometric targets. +The geometric target is defined through an oracle that for each "boundary" element returns +the tangent space it should align to. The smoothing process will iteratively relocate the vertices +of the mesh to best fit these targets while improving the quality of the elements. +The final result is guaranteed to be free of inverted elements. \ No newline at end of file diff --git a/Mesh_smoothing_3/package_info/Mesh_smoothing_3/maintainer b/Mesh_smoothing_3/package_info/Mesh_smoothing_3/maintainer new file mode 100644 index 000000000000..e69de29bb2d1 From 59ffb377f4aaffd9e1c45eeac792bd1b51ebfcfb Mon Sep 17 00:00:00 2001 From: Francois Protais Date: Thu, 23 Jul 2026 10:02:08 +0200 Subject: [PATCH 02/86] Minor changes --- .../include/CGAL/Mesh_smoothing_3/Mesh_smoothing_3.h | 1 - Mesh_smoothing_3/package_info/Mesh_smoothing_3/maintainer | 1 + 2 files changed, 1 insertion(+), 1 deletion(-) diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/Mesh_smoothing_3.h b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/Mesh_smoothing_3.h index f466b3c275ae..eeb42b7a579c 100644 --- a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/Mesh_smoothing_3.h +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/Mesh_smoothing_3.h @@ -513,7 +513,6 @@ class Mesh_smoother { using cgal_types::C3t3_wrapper; - /*! * \ingroup pkgMeshSmoothing3Classes * diff --git a/Mesh_smoothing_3/package_info/Mesh_smoothing_3/maintainer b/Mesh_smoothing_3/package_info/Mesh_smoothing_3/maintainer index e69de29bb2d1..162a0b1c48ac 100644 --- a/Mesh_smoothing_3/package_info/Mesh_smoothing_3/maintainer +++ b/Mesh_smoothing_3/package_info/Mesh_smoothing_3/maintainer @@ -0,0 +1 @@ +François Protais \ No newline at end of file From d39cfb013f7963ec78eae6a473e1dd113a5533e3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?S=C3=A9bastien=20Loriot?= Date: Thu, 23 Jul 2026 10:16:32 +0200 Subject: [PATCH 03/86] fix some doc warnings --- Documentation/doc/scripts/generate_how_to_cite.py | 1 + .../doc/Mesh_smoothing_3/PackageDescription.txt | 12 ++++++------ .../fig/{pkg-small.png => Mesh_smoothing_pkg.png} | Bin 3 files changed, 7 insertions(+), 6 deletions(-) rename Mesh_smoothing_3/doc/Mesh_smoothing_3/fig/{pkg-small.png => Mesh_smoothing_pkg.png} (100%) diff --git a/Documentation/doc/scripts/generate_how_to_cite.py b/Documentation/doc/scripts/generate_how_to_cite.py index ade1652105a6..2fa6a412471e 100644 --- a/Documentation/doc/scripts/generate_how_to_cite.py +++ b/Documentation/doc/scripts/generate_how_to_cite.py @@ -237,6 +237,7 @@ def protect_accentuated_letters(authors): .replace("%", "") .replace("đ", r"{\-d}") .replace("ï", r"{\"i}") + .replace("ç", r"{\,c}") ) try: res.encode("ascii") diff --git a/Mesh_smoothing_3/doc/Mesh_smoothing_3/PackageDescription.txt b/Mesh_smoothing_3/doc/Mesh_smoothing_3/PackageDescription.txt index 8b4ca87c16ba..10e8f8a94a4a 100644 --- a/Mesh_smoothing_3/doc/Mesh_smoothing_3/PackageDescription.txt +++ b/Mesh_smoothing_3/doc/Mesh_smoothing_3/PackageDescription.txt @@ -5,22 +5,22 @@ /// \defgroup pkgMeshSmoothing3Classes Classes /// \ingroup PkgMeshSmoothing3Ref -/// \defgroup PkgMeshSmoothing3DataStructures Helper data structures +/// \defgroup PkgMeshSmoothing3DataStructures Helper data structures /// \ingroup PkgMeshSmoothing3Ref /*! \addtogroup PkgMeshSmoothing3Ref \cgalPkgDescriptionBegin{3D Mesh Smoothing, PkgMeshSmoothing3} -\cgalPkgPicture{pkg-small.png} +\cgalPkgPicture{Mesh_smoothing_pkg.png} \cgalPkgSummaryBegin -\cgalPkgAuthors{François Protais} +\cgalPkgAuthor{François Protais} \cgalPkgDesc{This component takes a 3D volumetric mesh as input and updates its vertices' coordinates to improve - a trade-off between element quality and the fitting to various geometric targets. + a trade-off between element quality and the fitting to various geometric targets. The geometric target is defined through an oracle that for each "boundary" element returns - the tangent space it should align to. The smoothing process will iteratively relocate the vertices - of the mesh to best fit these targets while improving the quality of the elements. + the tangent space it should align to. The smoothing process will iteratively relocate the vertices + of the mesh to best fit these targets while improving the quality of the elements. The final result is guaranteed to be free of inverted elements. } \cgalPkgManuals{Chapter_3D_Mesh_smoothing,PkgMeshSmoothing3Ref} \cgalPkgSummaryEnd diff --git a/Mesh_smoothing_3/doc/Mesh_smoothing_3/fig/pkg-small.png b/Mesh_smoothing_3/doc/Mesh_smoothing_3/fig/Mesh_smoothing_pkg.png similarity index 100% rename from Mesh_smoothing_3/doc/Mesh_smoothing_3/fig/pkg-small.png rename to Mesh_smoothing_3/doc/Mesh_smoothing_3/fig/Mesh_smoothing_pkg.png From 7d2aa30fa2161054f24385ad558da68bdcda8103 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?S=C3=A9bastien=20Loriot?= Date: Thu, 23 Jul 2026 11:36:08 +0200 Subject: [PATCH 04/86] CGALify --- .../include/CGAL/license/Mesh_smoothing_3.h | 54 +++++ .../include/CGAL/license/gpl_package_list.txt | 1 + .../Mesh_smoothing_3/PackageDescription.txt | 4 +- .../CGAL/Mesh_smoothing_3/Mesh_smoothing_3.h | 201 ++++++++++-------- .../CGAL/Mesh_smoothing_3/default_shapes.h | 37 +++- .../internal/Function_minimizer.h | 26 ++- .../internal/LBFGS-Lite/CMakeLists.txt | 16 -- .../internal/LBFGS-Lite/LICENSE | 23 -- .../internal/LBFGS-Lite/README.md | 46 ---- .../internal/LBFGS-Lite/src/lbfgs_example.cpp | 88 -------- ...ing_3_impl.hpp => Mesh_smoothing_3_impl.h} | 34 ++- .../internal/Tetrahedral_mesh_smoother.h | 64 ++++-- .../include => auxiliary}/lbfgs.hpp | 111 ++++++---- .../internal/math_functions.h | 25 ++- .../internal/predicates/predicates.h | 27 ++- .../internal/utils/colorized_text.h | 23 +- .../internal/utils/log_time.h | 26 ++- .../Mesh_smoothing_3/mesh_representations.h | 33 ++- 18 files changed, 467 insertions(+), 372 deletions(-) create mode 100644 Installation/include/CGAL/license/Mesh_smoothing_3.h delete mode 100644 Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/CMakeLists.txt delete mode 100644 Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/LICENSE delete mode 100644 Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/README.md delete mode 100644 Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/src/lbfgs_example.cpp rename Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/{Mesh_smoothing_3_impl.hpp => Mesh_smoothing_3_impl.h} (97%) rename Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/{LBFGS-Lite/include => auxiliary}/lbfgs.hpp (94%) diff --git a/Installation/include/CGAL/license/Mesh_smoothing_3.h b/Installation/include/CGAL/license/Mesh_smoothing_3.h new file mode 100644 index 000000000000..795fcbe7bc26 --- /dev/null +++ b/Installation/include/CGAL/license/Mesh_smoothing_3.h @@ -0,0 +1,54 @@ +// Copyright (c) 2016 GeometryFactory SARL (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org) +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: LGPL-3.0-or-later OR LicenseRef-Commercial +// +// Author(s) : Andreas Fabri +// +// Warning: this file is generated, see include/CGAL/license/README.md + +#ifndef CGAL_LICENSE_MESH_SMOOTHING_3_H +#define CGAL_LICENSE_MESH_SMOOTHING_3_H + +#include +#include + +#ifdef CGAL_MESH_SMOOTHING_3_COMMERCIAL_LICENSE + +# if CGAL_MESH_SMOOTHING_3_COMMERCIAL_LICENSE < CGAL_RELEASE_DATE + +# if defined(CGAL_LICENSE_WARNING) + + CGAL_pragma_warning("Your commercial license for CGAL does not cover " + "this release of the 3D Mesh Smoothing package.") +# endif + +# ifdef CGAL_LICENSE_ERROR +# error "Your commercial license for CGAL does not cover this release \ + of the 3D Mesh Smoothing package. \ + You get this error, as you defined CGAL_LICENSE_ERROR." +# endif // CGAL_LICENSE_ERROR + +# endif // CGAL_MESH_SMOOTHING_3_COMMERCIAL_LICENSE < CGAL_RELEASE_DATE + +#else // no CGAL_MESH_SMOOTHING_3_COMMERCIAL_LICENSE + +# if defined(CGAL_LICENSE_WARNING) + CGAL_pragma_warning("\nThe macro CGAL_MESH_SMOOTHING_3_COMMERCIAL_LICENSE is not defined." + "\nYou use the CGAL 3D Mesh Smoothing package under " + "the terms of the GPLv3+.") +# endif // CGAL_LICENSE_WARNING + +# ifdef CGAL_LICENSE_ERROR +# error "The macro CGAL_MESH_SMOOTHING_3_COMMERCIAL_LICENSE is not defined.\ + You use the CGAL 3D Mesh Smoothing package under the terms of \ + the GPLv3+. You get this error, as you defined CGAL_LICENSE_ERROR." +# endif // CGAL_LICENSE_ERROR + +#endif // no CGAL_MESH_SMOOTHING_3_COMMERCIAL_LICENSE + +#endif // CGAL_LICENSE_MESH_SMOOTHING_3_H diff --git a/Installation/include/CGAL/license/gpl_package_list.txt b/Installation/include/CGAL/license/gpl_package_list.txt index 20247498f17d..1ffd908dba8c 100644 --- a/Installation/include/CGAL/license/gpl_package_list.txt +++ b/Installation/include/CGAL/license/gpl_package_list.txt @@ -35,6 +35,7 @@ Kinetic_surface_reconstruction Kinetic Surface Reconstruction Matrix_search Monotone and Sorted Matrix Search Mesh_2 2D Conforming Triangulations and Meshes Mesh_3 3D Mesh Generation +Mesh_smoothing_3 3D Mesh Smoothing Minkowski_sum_2 2D Minkowski Sums Minkowski_sum_3 3D Minkowski Sum of Polyhedra Nef_2 2D Boolean Operations on Nef Polygons diff --git a/Mesh_smoothing_3/doc/Mesh_smoothing_3/PackageDescription.txt b/Mesh_smoothing_3/doc/Mesh_smoothing_3/PackageDescription.txt index 10e8f8a94a4a..9d7ec70f6356 100644 --- a/Mesh_smoothing_3/doc/Mesh_smoothing_3/PackageDescription.txt +++ b/Mesh_smoothing_3/doc/Mesh_smoothing_3/PackageDescription.txt @@ -38,7 +38,7 @@ \cgalClassifedRefPages \cgalCRPSection{Classes} -- \link pkgMeshSmoothing3Classes `CGAL::Mesh_smoother` \endlink -- \link pkgMeshSmoothing3Classes `CGAL::C3t3_smoother` \endlink +- `CGAL::Mesh_smoothing_3::Mesh_smoother` +- `CGAL::Mesh_smoothing_3::C3t3_smoother` */ diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/Mesh_smoothing_3.h b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/Mesh_smoothing_3.h index eeb42b7a579c..c83e1f79de53 100644 --- a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/Mesh_smoothing_3.h +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/Mesh_smoothing_3.h @@ -1,17 +1,38 @@ -#pragma once +// Copyright (c) 2026 INRIA Sophia-Antipolis (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial +// +// +// Author(s) : François Protais + +#ifndef CGAL_MESH_SMOOTHING_3_MESH_SMOOTHING_3 +#define CGAL_MESH_SMOOTHING_3_MESH_SMOOTHING_3 + +#include + +#include +#include + +#include + #include #include #include -#include -#include "mesh_representations.h" -#include "CGAL/Mesh_smoothing_3/internal/Tetrahedral_mesh_smoother.h" + +namespace CGAL { + namespace Mesh_smoothing_3 { namespace Parameters { /*! - Recommended parameters for boundary weights: + Recommended parameters for boundary weights: DEFAULT: 1, for standard mesh smoothing STRONG: 10, when surface deviation should be avoided SOFT: 1e-3, when only slight influence of the boundary is required @@ -20,31 +41,31 @@ namespace Parameters { enum OPTIMIZATION_MODE { CONFORMAL, MIXED_WITH_SIZE, LAPLACIAN, MIN_MAXING_CONFORMAL }; - enum PREDICATES_MODE { NO_CHECK, STATUS_UPDATE, CHECK_IN_LBFGS, STRONG_ENFORCEMENT }; + enum PREDICATES_MODE { NO_CHECK, STATUS_UPDATE, CHECK_IN_LBFGS, STRONG_ENFORCEMENT }; } /*! * \ingroup pkgMeshSmoothing3Classes -* +* * \brief smooth a tetrahedral mesh with optional constraints on the boundary and along a curve network * -* The class `Mesh_smoother` provides an interface to optimize a tetrahedral mesh with an energy, -* while allowing the user to specify soft-constraints on the boundary and along a curve network. +* The class `Mesh_smoother` provides an interface to optimize a tetrahedral mesh with an energy, +* while allowing the user to specify soft-constraints on the boundary and along a curve network. * This class is designed for linking with various mesh representations. * For usage with CGAL common mesh representations, refer to `C3t3_smoother`. -* +* * \tparam TetrahedralMesh encodes the volumetric mesh and must be a model of `MeshDataStructure`. -* -* \tparam BoundaryMesh represents a set of selected polygons with points from Tetrahedral mesh +* +* \tparam BoundaryMesh represents a set of selected polygons with points from Tetrahedral mesh * that will be used to define surface constraints on `TetrahedralMesh`. It must be a model of `SurfaceDataStructure`. -* -* \tparam EdgeNetwork represents a set of selected segments with points from Tetrahedral mesh +* +* \tparam EdgeNetwork represents a set of selected segments with points from Tetrahedral mesh * that will be used to add curve constraints on `TetrahedralMesh`. It must be a model of `PolylinesDataStructure`. -* -* +* +* * \sa `CGAL::Mesh_smoothing_3::C3t3_smoother` -* +* */ template< typename TetrahedralMesh = default_structures::Empty_mesh, @@ -57,22 +78,22 @@ class Mesh_smoother { */ using Vertex_descriptor = typename TetrahedralMesh::Vertex_descriptor; - + /*! */ using Cell_descriptor = typename TetrahedralMesh::Cell_descriptor; - + /*! */ using Point_3 = typename TetrahedralMesh::Point_3; - + /*! */ using Normal_3 = typename BoundaryMesh::Normal_3; - + /*! */ @@ -97,9 +118,9 @@ class Mesh_smoother { Mesh_smoother(TetrahedralMesh &mesh, BoundaryMesh const &boundary = BoundaryMesh(), EdgeNetwork const &edge_network = EdgeNetwork()); /*! - Locks (or unlock) all vertices contained in the input BoundaryMesh. - It is independent from the other locking functions, and unlocking will not interfere with manually set locks. - Set by default as true if no `set_boundary_query` is called. + Locks (or unlock) all vertices contained in the input BoundaryMesh. + It is independent from the other locking functions, and unlocking will not interfere with manually set locks. + Set by default as true if no `set_boundary_query` is called. */ void set_locked_boundary(bool locked = true); @@ -107,11 +128,11 @@ class Mesh_smoother { */ void set_verbose(bool verbose = true); - + /*! - Max number of high level iterations done by the smoother. Each iteration can be seen as equivalent to a Newton step. - Untangling may require a high number of iterations to converge (100), simple mesh improvement will usually require less (from 1 to 10). - Default is 1000. + Max number of high level iterations done by the smoother. Each iteration can be seen as equivalent to a Newton step. + Untangling may require a high number of iterations to converge (100), simple mesh improvement will usually require less (from 1 to 10). + Default is 1000. */ void set_max_number_of_iteration(unsigned number_of_iterations); @@ -129,14 +150,14 @@ class Mesh_smoother { void set_vertex_dim_lock(Vertex_descriptor vertex, unsigned dimension, bool locked = true); /*! - Setting all of the locked vertices at once. - Use this function to maximize performance when having tricky locks configuration. - Note that this will override all previously add locks, except those from `set_locked_boundary`. + Setting all of the locked vertices at once. + Use this function to maximize performance when having tricky locks configuration. + Note that this will override all previously add locks, except those from `set_locked_boundary`. */ void set_vertices_dim_locks(Vertex_descriptor_map> const &vertex_dimension_locks); /*! - Helper function to set locked vertices from a container. + Helper function to set locked vertices from a container. */ template void set_locked_vertices(Container const &vertices) { @@ -150,43 +171,43 @@ class Mesh_smoother { */ void clear_locks(); - // QUERIES FOR BOUNDARY PROJECTION - + // QUERIES FOR BOUNDARY PROJECTION + /*! Plane type to which the boundary polygons should align. the last parameter is a weight that is used to indicate the importance of the constraint. - By default, use the value 1. + By default, use the value 1. */ using Plane = std::tuple; /*! - Projection function. - - \param coord center of polygon + Projection function. + + \param coord center of polygon \param surface_id patch id of the polygon as defined in `BoundaryMesh` \param radius indicator of the average edge length of the polygon \return Plane to which the polygon should align (usually closest tangential plane of the target geometry) - \warning Must be thread safe -- it will be called in an OpenMP context. + \warning Must be thread safe -- it will be called in an OpenMP context. */ using Boundary_point_query = std::function; /*! - Projection function. - - \param polygon vector containing the current points of the polygon + Projection function. + + \param polygon vector containing the current points of the polygon \param surface_id patch id of the polygon as defined in `BoundaryMesh` \return Plane to which the polygon should align (usually closest tangential plane of the target geometry) - \warning Must be thread safe -- it will be called in an OpenMP context. + \warning Must be thread safe -- it will be called in an OpenMP context. */ using Boundary_polygon_query = std::function const &polygon, Surface_patch_index surface_id)>; /*! - Batch projection function. Equivalent of `Boundary_point_query`. - Will be called in more systemic manner, so will produce slower results. Use if single calls are slower, or to avoid thread-safe requirements. - - \param coords vector with center of each polygon + Batch projection function. Equivalent of `Boundary_point_query`. + Will be called in more systemic manner, so will produce slower results. Use if single calls are slower, or to avoid thread-safe requirements. + + \param coords vector with center of each polygon \param surface_ids vector with patch ids of each polygon as defined in `BoundaryMesh` \param radii vector with indicator of the average edge length for each polygon \param[out] results vector with target plane for each polygon @@ -194,10 +215,10 @@ class Mesh_smoother { using Boundary_point_batch_query = std::function const &coords, std::vector &surface_ids, std::vector &radii, std::vector &results)>; /*! - Batch projection function. Equivalent of `Boundary_polygon_query`. - Will be called in more systemic manner, so will produce slower results. Use if single calls are slower, or to avoid thread-safe requirements. - - \param polygons vector with a vector of points for each polygon + Batch projection function. Equivalent of `Boundary_polygon_query`. + Will be called in more systemic manner, so will produce slower results. Use if single calls are slower, or to avoid thread-safe requirements. + + \param polygons vector with a vector of points for each polygon \param surface_ids vector with patch ids of each polygon as defined in `BoundaryMesh` \param[out] results vector with target plane for each polygon */ @@ -213,12 +234,12 @@ class Mesh_smoother { set constraint query for surface as a `Boundary_polygon_query` */ void set_boundary_query(Boundary_polygon_query boundary_query); - + /*! set constraint query for surface as a `Boundary_point_batch_query` */ void set_boundary_query(Boundary_point_batch_query boundary_query); - + /*! set constraint query for surface as a `Boundary_polygon_batch_query` */ @@ -234,44 +255,44 @@ class Mesh_smoother { using Curve_tangent = std::tuple; /*! - Projection function. - + Projection function. + \note Thread safe is not required here -- subject to change if specific cases require it. - - \param coord center of edge + + \param coord center of edge \param curve_id id of the curve as defined in `EdgeNetwork` \param radius edge length \return Curve_tangent to which the edge should align (usually closest tangential direction of the target geometry) */ using Curve_point_query = std::function; - + /*! - Projection function. + Projection function. \note Thread safe is not required here -- subject to change if specific cases require it. - + \param edge array containing the two points of the edge \param curve_id id of the curve as defined in `EdgeNetwork` \return Curve_tangent to which the edge should align (usually closest tangential direction of the target geometry) */ using Curve_segment_query = std::function const &edge, Curve_index curve_id)>; - + /*! - Batch projection function. Equivalent of `Curve_point_query`. - Will be called in more systemic manner, so will produce slower results. Use if single calls are slower. - - \param coords vector with center of each edge + Batch projection function. Equivalent of `Curve_point_query`. + Will be called in more systemic manner, so will produce slower results. Use if single calls are slower. + + \param coords vector with center of each edge \param curve_ids vector with curve id of each edge as defined in `EdgeNetwork` \param radii vector with edge length of each edge \param[out] results vector with target curve tangent for each edge */ using Curve_point_batch_query = std::function const &coord, std::vector &curve_ids, std::vector &radius, std::vector &results)>; - + /*! - Batch projection function. Equivalent of `Curve_segment_query`. - Will be called in more systemic manner, so will produce slower results. Use if single calls are slower. - - \param edges vector with couple of points for each edge + Batch projection function. Equivalent of `Curve_segment_query`. + Will be called in more systemic manner, so will produce slower results. Use if single calls are slower. + + \param edges vector with couple of points for each edge \param curve_ids vector with curve ids of each edge as defined in `EdgeNetwork` \param[out] results vector with target curve tangent for each edge */ @@ -287,12 +308,12 @@ class Mesh_smoother { set constraint query for curves as a `Curve_segment_query` */ void set_curves_query(Curve_segment_query curve_query); - + /*! set constraint query for curves as a `Curve_point_batch_query` */ void set_curves_query(Curve_point_batch_query curve_query); - + /*! set constraint query for curves as a `Curve_segment_batch_query` */ @@ -306,12 +327,12 @@ class Mesh_smoother { void set_vertex_target_position(Vertex_descriptor v, Point_3 const &target_positions, double weight = 1.0); /*! - set the list of soft constraints for vertices. Note that it overrides previously set vertex constraints. + set the list of soft constraints for vertices. Note that it overrides previously set vertex constraints. */ void set_vertex_target_positions(std::vector> const &target_positions); /*! - set soft constraints from a container of [vertex, coord] pairs. + set soft constraints from a container of [vertex, coord] pairs. */ template void set_vertex_target_positions(Container const &target_positions) { @@ -328,12 +349,12 @@ class Mesh_smoother { /*! Set the weight on the boundary term of the energy. Default is 1. 10 will strongly enforce the boundary matching, 1e-3 will only have a slight effect, favoring the inside meshing. - Warning: large value can lead to convergence issues if the boundary is not initialized on its contraint. + Warning: large value can lead to convergence issues if the boundary is not initialized on its contraint. */ void set_boundary_weight(double weight); // large values can lead to convergence issues - + /*! Set boundary with pre-set recommended parameters. */ @@ -353,18 +374,18 @@ class Mesh_smoother { unsigned get_total_number_of_lbfgs_iterations() const; - // return a negative value if you don't want enforce a sizing on a given vertex. + // return a negative value if you don't want enforce a sizing on a given vertex. using Point_target_sizing_query = std::function; using Point_target_sizing_batch_query = std::function const &vertices, std::vector const &coords, std::vector &sizings)>; void set_vertex_target_sizing_query(Point_target_sizing_query query); // todo: implementation of that is not finished void set_vertex_target_sizing_query(Point_target_sizing_batch_query query); - + /* ONLY USE IF YOUR MESH NEEDED PREDICATES TO BE GENERATED VALID IN THE FIRST PLACE - i.e. the code will not break already "good" meshes, + i.e. the code will not break already "good" meshes, and enforcing strong orientation may significantly throttle minimization Parameter is set to STATUS_UPDATE if invalid elements are in the input Default is NO_CHECK @@ -376,7 +397,7 @@ class Mesh_smoother { // Warning: will have to create a full instance of smoother, so it is not a cheap function to call std::pair get_nb_of_inverted_cells(Cell_descriptor_map> *cell_determinants = nullptr); - // only when CHECK_IN_LBFGS is enabled. + // only when CHECK_IN_LBFGS is enabled. unsigned get_number_of_invalid_steps_measured_by_predicates() const; // user callback to enforce "infinite" energy for given coordinates changes @@ -480,7 +501,7 @@ class Mesh_smoother { QUERY_TYPE _target_size_query_type = NONE; - Point_target_sizing_query _target_size_query = nullptr; + Point_target_sizing_query _target_size_query = nullptr; Point_target_sizing_batch_query _target_size_batch_query = nullptr; Update_validator _update_validator = nullptr; @@ -510,22 +531,22 @@ class Mesh_smoother { }; -using cgal_types::C3t3_wrapper; +using cgal_types::C3t3_wrapper; /*! * \ingroup pkgMeshSmoothing3Classes -* +* * \brief smooth a c3t3 mesh structure * * The class `C3t3_smoother` provides a wrapper around `Mesh_smoother` to use it with a CGAL `C3t3` mesh structure. * Facets of the `C3t3` mesh structure are defined as boundary, and edges of the `C3t3` mesh structure are used as curve network. -* It is still required to define the wished boundary queries. -* +* It is still required to define the wished boundary queries. +* * \tparam Type of the input mesh complex, model of `MeshComplex_3InTriangulation_3` -* +* * \sa `CGAL::Mesh_smoothing_3::Mesh_smoother` -* +* */ template< typename C3t3 @@ -543,8 +564,8 @@ class C3t3_smoother : public Mesh_smoother , C3t3_wrapper diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/default_shapes.h b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/default_shapes.h index 2c3b0c8fbd32..f6b304d3d1ec 100644 --- a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/default_shapes.h +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/default_shapes.h @@ -1,14 +1,33 @@ -#pragma once +// Copyright (c) 2026 INRIA Sophia-Antipolis (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial +// +// +// Author(s) : François Protais + +#ifndef CGAL_MESH_SMOOTHING_3_DEFAULT_SHAPES_H +#define CGAL_MESH_SMOOTHING_3_DEFAULT_SHAPES_H + +#include + +#include #include #include -#include + + +namespace CGAL { namespace Mesh_smoothing_3 { namespace Shapes { - - template < + + template < typename Point3 = Eigen::Vector3d > class Base_element_shape_reference { @@ -33,7 +52,7 @@ namespace Shapes { bool inverse = false; }; - // This heavy class set-up is to obtain something generic that does not store data while still working with Eigen that does not allow constexpr allocations + // This heavy class set-up is to obtain something generic that does not store data while still working with Eigen that does not allow constexpr allocations template < typename Point3 = Eigen::Vector3d, unsigned NbVertices = 0, @@ -69,7 +88,7 @@ namespace Shapes { } operator std::array () const { return this->inner_tetrahedra_reference_shape(0); } }; - + template const std::array VTK_TETRAHEDRON::reference_points = {{ Point3{std::sqrt(8./9),0,-1./3}, Point3{-std::sqrt(2./9),std::sqrt(2./3),-1./3}, @@ -208,9 +227,7 @@ namespace Shapes { // {0,3,6,5}, // {1,2,4,7}, }}; -} - - -} +} } } // end of CGAL::Mesh_smoothing_3::Shapes namespace +#endif // CGAL_MESH_SMOOTHING_3_DEFAULT_SHAPES_H diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Function_minimizer.h b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Function_minimizer.h index c493f2e6a9f7..8f02c22526fc 100644 --- a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Function_minimizer.h +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Function_minimizer.h @@ -1,10 +1,29 @@ -#pragma once +// Copyright (c) 2026 INRIA Sophia-Antipolis (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial +// +// +// Author(s) : François Protais + +#ifndef CGAL_MESH_SMOOTHING_3_INTERNAL_FUNCTION_MINIMIZER_H +#define CGAL_MESH_SMOOTHING_3_INTERNAL_FUNCTION_MINIMIZER_H + +#include + +#include #include +namespace CGAL { + namespace Mesh_smoothing_3_internal { -#include "LBFGS-Lite/include/lbfgs.hpp" // todo: probably not good inside namespace. modify the code itself? Without namespace? + class Function_minimizer { @@ -110,5 +129,6 @@ class Function_minimizer { } }; -} +} } // end of CGAL::Mesh_smoothing_3_internal +#endif // CGAL_MESH_SMOOTHING_3_INTERNAL_FUNCTION_MINIMIZER_H \ No newline at end of file diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/CMakeLists.txt b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/CMakeLists.txt deleted file mode 100644 index 3d14be929e7f..000000000000 --- a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/CMakeLists.txt +++ /dev/null @@ -1,16 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) - -project(lbfgs) - -set(CMAKE_CXX_FLAGS "-std=c++11") -set(CMAKE_BUILD_TYPE "RelWithDebInfo") -set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -fPIC") - -find_package(Eigen3 REQUIRED) - -include_directories( - include - ${EIGEN3_INCLUDE_DIRS} -) - -add_executable(${PROJECT_NAME} src/lbfgs_example.cpp) diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/LICENSE b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/LICENSE deleted file mode 100644 index aa2376376273..000000000000 --- a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/LICENSE +++ /dev/null @@ -1,23 +0,0 @@ -The MIT License - -Copyright (c) 1990 Jorge Nocedal -Copyright (c) 2007-2010 Naoaki Okazaki -Copyright (c) 2020-2022 Zhepei Wang - -Permission is hereby granted, free of charge, to any person obtaining a -copy of this software and associated documentation files (the "Software"), -to deal in the Software without restriction, including without limitation -the rights to use, copy, modify, merge, publish, distribute, sublicense, -and/or sell copies of the Software, and to permit persons to whom the -Software is furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in -all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -THE SOFTWARE. diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/README.md b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/README.md deleted file mode 100644 index 0b3cb83fc8dc..000000000000 --- a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/README.md +++ /dev/null @@ -1,46 +0,0 @@ -# LBFGS-Lite -A header-only L-BFGS unconstrained optimizer. - -## 0. About - -__LBFGS-Lite__ is a __C++__ [__header-only__](https://en.wikipedia.org/wiki/Header-only) library for __unconstrained optimization__. Many engineering considerations are added for improved robustness compared to the original version by Nocedal. - -## 1. How to use - -All explanations are detailed by the comments in "lbfgs.hpp". See "lbfgs_example.cpp" for the calling procedure. You may need to install Eigen via "sudo apt install libeigen3-dev" because we use Eigen for better performance since [ver. 2.1](https://github.com/ZJU-FAST-Lab/LBFGS-Lite/tags). If you need a pure C-style lib without any external dependence, please refer to [ver. 0.9](https://github.com/ZJU-FAST-Lab/LBFGS-Lite/tags). - -## 2. Features - -- Only one header file "lbfgs.hpp" is all you need. - -- The library implements [Limited-Memory Broyden-Fletcher-Goldfarb-Shanno Method](https://doi.org/10.1007/BF01589116) (L-BFGS). - -- A __highly robust line search__ proposed by [Lewis and Overton](https://link.springer.com/article/10.1007/s10107-012-0514-2) has been employed since [ver. 2.1](https://github.com/ZJU-FAST-Lab/LBFGS-Lite/tags). - -- Both __smooth__ ([C2](https://en.wikipedia.org/wiki/Smoothness)) and __nonsmooth__ ([C0 but piecewise C2](https://en.wikipedia.org/wiki/Smoothness)) functions are supported. - -- __Cautious update__ by [Li and Fukushima](https://epubs.siam.org/doi/pdf/10.1137/S1052623499354242) is employed for __global convergence__ in nonconvex cases. - -- __Externally provided maximum step size__ is convenient to functions defined on bounded sets. - -## 3. Why this lib - -- Our lib is well-organized and concise (about 800 lines). - -- Many other libs use [Nocedal's zoom line search](https://link.springer.com/book/10.1007%2F978-0-387-40065-5), [More-Thuente line search](https://dl.acm.org/doi/abs/10.1145/192115.192132), or [Hager-Zhang line search](https://doi.org/10.1137/030601880). The truth is, interpolation-based schemes bring many tunable parameters and make more or less assumptions on the function smoothness. Engineering practice tells us that these assumptions can fail due to bad numerical conditions and ill-shaped functions. Admittedly, they slightly reduce the iteration number in some cases, but also easily-crashed. - -- Some other libs provide user-specified options for [Armijo and weak/strong Wolfe condition](https://en.wikipedia.org/wiki/Wolfe_conditions) without considering positive definiteness (PD) of the approximated Hessian. This is misleading because if only Armijo condition is satisfied, the PD property is not guaranteed and the solver is unstable or easily-crashed. We make the weak Wolfe condition mandatory here, which suffices for PD property. - -- We use [Lewis-Overton line search](https://link.springer.com/article/10.1007/s10107-012-0514-2) as the only scheme since ver. 2.1 from which nonsmooth functions are supported. Other schemes either assume high orders of continuity, or enforce the strong Wolfe condition can never be fulfilled by nonsmooth functions. Moreover, Lewis-Overton line search are widely adopted in many graphics applications involving optimization on [scene](https://dl.acm.org/doi/abs/10.1145/2766929), [shape](https://dl.acm.org/doi/abs/10.1145/2897824.2925918), or [mesh](https://dl.acm.org/doi/abs/10.1145/3197517.3201303), showing its practical robustness. - -- According to our practice, the function/gradient evaluation numbers are comparable with interpolation-based schemes. Sometimes it even requires fewer function calls. If you insist an interpolation-one for smooth well-shaped cost function, we also propose our [ver. 0.9](https://github.com/ZJU-FAST-Lab/LBFGS-Lite/tags) where a More-Thuente line search is kept. - -- Other schemes' global convergence on non-convex functions are not guaranteed theoretically. We avoid the potential problems by employing the [cautious update](https://epubs.siam.org/doi/pdf/10.1137/S1052623499354242) scheme in our lib without additional computation overhead. - -## 6. Licence - -LBFGS-Lite is modified from [the C version](https://github.com/chokkan/liblbfgs) by Okazaki, which is further based on [the original Fortran version](https://doi.org/10.1007/BF01589116) by Nocedal. Thus it is distributed under the term of the MIT license according to previous ones by Okazaki and by Nocedal. Please refer to LICENSE file in the distribution. - -## 7. Maintaince - -If any bug, please contact [Zhepei Wang](https://zhepeiwang.github.io/) (). diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/src/lbfgs_example.cpp b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/src/lbfgs_example.cpp deleted file mode 100644 index 06008c4bb12e..000000000000 --- a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/src/lbfgs_example.cpp +++ /dev/null @@ -1,88 +0,0 @@ -#include "lbfgs.hpp" -#include -#include -#include - -class MinimizationExample -{ -public: - int run(const int N) - { - double finalCost; - Eigen::VectorXd x(N); - - /* Set the initial guess */ - for (int i = 0; i < N; i += 2) - { - x(i) = -1.2; - x(i + 1) = 1.0; - } - - /* Set the minimization parameters */ - lbfgs::lbfgs_parameter_t params; - params.g_epsilon = 1.0e-8; - params.past = 3; - params.delta = 1.0e-8; - - /* Start minimization */ - int ret = lbfgs::lbfgs_optimize(x, - finalCost, - costFunction, - nullptr, - monitorProgress, - this, - params); - - /* Report the result. */ - std::cout << std::setprecision(4) - << "================================" << std::endl - << "L-BFGS Optimization Returned: " << ret << std::endl - << "Minimized Cost: " << finalCost << std::endl - << "Optimal Variables: " << std::endl - << x.transpose() << std::endl; - - return ret; - } - -private: - static double costFunction(void *instance, - const Eigen::VectorXd &x, - Eigen::VectorXd &g) - { - const int n = x.size(); - double fx = 0.0; - for (int i = 0; i < n; i += 2) - { - const double t1 = 1.0 - x(i); - const double t2 = 10.0 * (x(i + 1) - x(i) * x(i)); - g(i + 1) = 20.0 * t2; - g(i) = -2.0 * (x(i) * g(i + 1) + t1); - fx += t1 * t1 + t2 * t2; - } - return fx; - } - - static int monitorProgress(void *instance, - const Eigen::VectorXd &x, - const Eigen::VectorXd &g, - const double fx, - const double step, - const int k, - const int ls) - { - std::cout << std::setprecision(4) - << "================================" << std::endl - << "Iteration: " << k << std::endl - << "Function Value: " << fx << std::endl - << "Gradient Inf Norm: " << g.cwiseAbs().maxCoeff() << std::endl - << "Variables: " << std::endl - << x.transpose() << std::endl; - return 0; - } -}; - -int main(int argc, char **argv) -{ - MinimizationExample example; - return example.run(200); -} diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Mesh_smoothing_3_impl.hpp b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Mesh_smoothing_3_impl.h similarity index 97% rename from Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Mesh_smoothing_3_impl.hpp rename to Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Mesh_smoothing_3_impl.h index 68f5a355d847..91df5178959a 100644 --- a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Mesh_smoothing_3_impl.hpp +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Mesh_smoothing_3_impl.h @@ -1,6 +1,24 @@ +// Copyright (c) 2026 INRIA Sophia-Antipolis (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial +// +// +// Author(s) : François Protais -#include "math_functions.h" -#include "utils/colorized_text.h" +#ifndef CGAL_MESH_SMOOTHING_3_INTERNAL_MESH_SMOOTHING_3_IMPL_H +#define CGAL_MESH_SMOOTHING_3_INTERNAL_MESH_SMOOTHING_3_IMPL_H + +#include + +#include +#include + +namespace CGAL { namespace Mesh_smoothing_3 { @@ -51,13 +69,13 @@ void Mesh_smoother::set_boundary_wei template void Mesh_smoother::set_boundary_weight(Parameters::BOUNDARY_WEIGHTING_MODE mode) { switch (mode) { - case Parameters::DEFAULT: + case Parameters::DEFAULT: _boundary_weight = 1; break; - case Parameters::STRONG: + case Parameters::STRONG: _boundary_weight = 10; break; - case Parameters::SOFT: + case Parameters::SOFT: _boundary_weight = 1e-3; break; } @@ -748,7 +766,7 @@ std::pair Mesh_smoother::run() { return result; } +} } // end of CGAL::Mesh_smoothing_3 namespace -} - +#endif //CGAL_MESH_SMOOTHING_3_INTERNAL_MESH_SMOOTHING_3_IMPL_H diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Tetrahedral_mesh_smoother.h b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Tetrahedral_mesh_smoother.h index 40052f247324..5644f7fd80e7 100644 --- a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Tetrahedral_mesh_smoother.h +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/Tetrahedral_mesh_smoother.h @@ -1,12 +1,35 @@ -#pragma once +// Copyright (c) 2026 INRIA Sophia-Antipolis (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial +// +// +// Author(s) : François Protais + +#ifndef CGAL_MESH_SMOOTHING_3_INTERNAL_TETRAHEDRAL_MESH_SMOOTHER_H +#define CGAL_MESH_SMOOTHING_3_INTERNAL_TETRAHEDRAL_MESH_SMOOTHER_H + +#include + +#include +#include +#include +#include + +#include + #include #include #include #include -#include #include +#include -#include "predicates/predicates.h" +namespace CGAL { namespace Mesh_smoothing_3_internal { @@ -29,7 +52,7 @@ class Tetrahedral_mesh_smoother { void set_boundary_without_query( std::vector> const &bnd_faces, std::vector>>> const *vert_and_face_corners, // pointer to highlight that the code keeps but not copy - std::vector const &face_ids + std::vector const &face_ids ); @@ -70,13 +93,13 @@ class Tetrahedral_mesh_smoother { using Size_query = std::function; using Size_batch_query = std::function const &vertices, std::vector coords, std::vector &sizes)>; - void set_target_sizing(Size_query query); // todo: implement and use. + void set_target_sizing(Size_query query); // todo: implement and use. void set_target_sizing(Size_batch_query query); using Validation_query = std::function; void set_validation_query(Validation_query query); - + unsigned max_lbfgs_iter = 500; @@ -110,14 +133,14 @@ class Tetrahedral_mesh_smoother { unsigned number_of_lbfgs_iter = 0; public: - bool exact_predicate_status = false; - bool exact_predicate_optimization_check = false; - bool exact_predicate_linesearch_enforcement = false; + bool exact_predicate_status = false; + bool exact_predicate_optimization_check = false; + bool exact_predicate_linesearch_enforcement = false; std::vector const &get_predicate_is_positive() { - evaluate_exact_predicates(); - return _predicate_is_positive; - } + evaluate_exact_predicates(); + return _predicate_is_positive; + } unsigned get_number_of_invalid_steps_with_predicates() const { return _predicates_nb_invalid_steps; } @@ -337,17 +360,10 @@ class Tetrahedral_mesh_smoother { double curves_and_points_energies(Eigen::VectorXd const &x, Eigen::VectorXd *g = nullptr); }; -} // ==============================================================================================// // Implementation // // ==============================================================================================// -#include "math_functions.h" -#include "Function_minimizer.h" -#include "utils/log_time.h" -#include - -namespace Mesh_smoothing_3_internal { template inline Tetrahedral_mesh_smoother::Tetrahedral_mesh_smoother( @@ -643,7 +659,7 @@ unsigned Tetrahedral_mesh_smoother::evaluate_e Math_functions::sub_line_vector(coords,tet.verts[2]), Math_functions::sub_line_vector(coords,tet.verts[3]) }); - + invalid_tet += !exact_check; if (x == nullptr) _predicate_is_positive[t] = exact_check; } @@ -814,7 +830,7 @@ inline double Tetrahedral_mesh_smoother::power unsigned t = static_cast(iter_t); Tet_storage &tet = _tet_storage[t]; if (tet.skip) continue; - double scaled_epsilon = tet.det_estimation*_untangling_eps; + double scaled_epsilon = tet.det_estimation*_untangling_eps; double weight = tet.local_edge_size; Eigen::Matrix3d J = tet.compute_jacobian(x); @@ -1324,7 +1340,7 @@ inline bool Tetrahedral_mesh_smoother::run_unt } _predicates_nb_invalid_steps = 0; } - + if (run_callback(UNTANGLING, 0)) { if (verbose) std::cout << "Early callback stop. Returning false." << std::endl; return false; @@ -1578,5 +1594,7 @@ inline bool Tetrahedral_mesh_smoother::run_qua if (verbose) logging.log_total_time(); return res; } -} +} } // end of CGAL::Mesh_smoothing_3_internal namespace + +#endif // CGAL_MESH_SMOOTHING_3_INTERNAL_TETRAHEDRAL_MESH_SMOOTHER_H diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/include/lbfgs.hpp b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/auxiliary/lbfgs.hpp similarity index 94% rename from Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/include/lbfgs.hpp rename to Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/auxiliary/lbfgs.hpp index d7f69335b82e..866438e03e5c 100644 --- a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/LBFGS-Lite/include/lbfgs.hpp +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/auxiliary/lbfgs.hpp @@ -1,3 +1,30 @@ +// The MIT License +// +// Copyright (c) 1990 Jorge Nocedal +// Copyright (c) 2007-2010 Naoaki Okazaki +// Copyright (c) 2020-2022 Zhepei Wang +// +// Permission is hereby granted, free of charge, to any person obtaining a +// copy of this software and associated documentation files (the "Software"), +// to deal in the Software without restriction, including without limitation +// the rights to use, copy, modify, merge, publish, distribute, sublicense, +// and/or sell copies of the Software, and to permit persons to whom the +// Software is furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +// THE SOFTWARE. +// +// Taken from https://github.com/ZJU-FAST-Lab/LBFGS-Lite +// + #ifndef LBFGS_HPP #define LBFGS_HPP @@ -25,14 +52,14 @@ namespace lbfgs int mem_size = 8; /** - * Epsilon for grad convergence test. DO NOT USE IT in nonsmooth cases! + * Epsilon for grad convergence test. DO NOT USE IT in nonsmooth cases! * Set it to 0.0 and use past-delta-based test for nonsmooth functions. * This parameter determines the accuracy with which the solution is to * be found. A minimization terminates when * ||g(x)||_inf / max(1, ||x||_inf) < g_epsilon, - * where ||.||_inf is the infinity norm. The default value is 1.0e-5. - * This should be greater than 1.0e-6 in practice because L-BFGS does - * not directly reduce first-order residual. It still needs the function + * where ||.||_inf is the infinity norm. The default value is 1.0e-5. + * This should be greater than 1.0e-6 in practice because L-BFGS does + * not directly reduce first-order residual. It still needs the function * value which can be corrupted by machine_prec when ||g|| is small. */ double g_epsilon = 1.0e-5; @@ -49,7 +76,7 @@ namespace lbfgs /** * Delta for convergence test. * This parameter determines the minimum rate of decrease of the - * cost function. The library stops iterations when the following + * cost function. The library stops iterations when the following * condition is met: * |f' - f| / max(1, |f|) < delta, * where f' is the cost value of past iterations ago, and f is @@ -113,15 +140,15 @@ namespace lbfgs /** * A parameter to ensure the global convergence for nonconvex functions. - * The default value is 1.0e-6. The parameter performs the so called - * cautious update for L-BFGS, especially when the convergence is - * not sufficient. The parameter must be positive but might as well + * The default value is 1.0e-6. The parameter performs the so called + * cautious update for L-BFGS, especially when the convergence is + * not sufficient. The parameter must be positive but might as well * be less than 1.0e-3 in practice. */ double cautious_factor = 1.0e-6; /** - * The machine precision for floating-point values. The default is 1.0e-16. + * The machine precision for floating-point values. The default is 1.0e-16. * This parameter must be a positive value set by a client program to * estimate the machine precision. */ @@ -192,7 +219,7 @@ namespace lbfgs * function and its gradients when needed. A client program must implement * this function to evaluate the values of the cost function and its * gradients, given current values of variables. - * + * * @param instance The user data sent for lbfgs_optimize() function by the client. * @param x The current values of variables. * @param g The gradient vector. The callback function must compute @@ -208,12 +235,12 @@ namespace lbfgs * * The lbfgs_optimize() function call this function to obtain the values of the * upperbound of the stepsize to search in, provided with the beginning values of - * variables before the line search, and the current step vector (can be descent direction). - * A client program can implement this function for more efficient linesearch. Any step - * larger than this bound should not be considered. For example, it has a very large or even + * variables before the line search, and the current step vector (can be descent direction). + * A client program can implement this function for more efficient linesearch. Any step + * larger than this bound should not be considered. For example, it has a very large or even * inf function value. Note that the function value at the provided bound should be FINITE! * If it is not used, just set it nullptr. - * + * * @param instance The user data sent for lbfgs_optimize() function by the client. * @param xp The values of variables before current line search. * @param d The step vector. It can be the descent direction. @@ -268,15 +295,15 @@ namespace lbfgs /** * Line search method for smooth or nonsmooth functions. - * This function performs line search to find a point that satisfy - * both the Armijo condition and the weak Wolfe condition. It is - * as robust as the backtracking line search but further applies - * to continuous and piecewise smooth functions where the strong + * This function performs line search to find a point that satisfy + * both the Armijo condition and the weak Wolfe condition. It is + * as robust as the backtracking line search but further applies + * to continuous and piecewise smooth functions where the strong * Wolfe condition usually does not hold. * * @see - * Adrian S. Lewis and Michael L. Overton. Nonsmooth optimization - * via quasi-Newton methods. Mathematical Programming, Vol 141, + * Adrian S. Lewis and Michael L. Overton. Nonsmooth optimization + * via quasi-Newton methods. Mathematical Programming, Vol 141, * No 1, pp. 135-163, 2013. */ inline int line_search_lewisoverton(Eigen::VectorXd &x, @@ -397,31 +424,31 @@ namespace lbfgs * 4. g(x) is either the gradient or subgradient; * 5. The gradient exists at the initial guess x0. * A user must implement a function compatible with ::lbfgs_evaluate_t (evaluation - * callback) and pass the pointer to the callback function to lbfgs_optimize() - * arguments. Similarly, a user can implement a function compatible with - * ::lbfgs_stepbound_t to provide an external upper bound for stepsize, and - * ::lbfgs_progress_t (progress callback) to obtain the current progress - * (e.g., variables, function, and gradient, etc) and to cancel the iteration - * process if necessary. Implementation of the stepbound and the progress callback + * callback) and pass the pointer to the callback function to lbfgs_optimize() + * arguments. Similarly, a user can implement a function compatible with + * ::lbfgs_stepbound_t to provide an external upper bound for stepsize, and + * ::lbfgs_progress_t (progress callback) to obtain the current progress + * (e.g., variables, function, and gradient, etc) and to cancel the iteration + * process if necessary. Implementation of the stepbound and the progress callback * is optional: a user can pass nullptr if progress notification is not necessary. - * + * * * @param x The vector of decision variables. * THE INITIAL GUESS x0 SHOULD BE SET BEFORE THE CALL! - * A client program can receive decision variables - * through this vector, at which the cost and its + * A client program can receive decision variables + * through this vector, at which the cost and its * gradient are queried during minimization. * @param f The ref to the variable that receives the final * value of the cost function for the variables. * @param proc_evaluate The callback function to provide function f(x) and * gradient g(x) evaluations given a current values of * variables x. A client program must implement a - * callback function compatible with lbfgs_evaluate_t + * callback function compatible with lbfgs_evaluate_t * and pass the pointer to the callback function. * @param proc_stepbound The callback function to provide values of the * upperbound of the stepsize to search in, provided - * with the beginning values of variables before the - * line search, and the current step vector (can be + * with the beginning values of variables before the + * line search, and the current step vector (can be * negative gradient). A client program can implement * this function for more efficient linesearch. If it is * not used, just set it nullptr. @@ -433,8 +460,8 @@ namespace lbfgs * @param instance A user data pointer for client programs. The callback * functions will receive the value of this argument. * @param param The parameters for L-BFGS optimization. - * @retval int The status code. This function returns a nonnegative - * integer if the minimization process terminates without + * @retval int The status code. This function returns a nonnegative + * integer if the minimization process terminates without * an error. A negative integer indicates an error. */ inline int lbfgs_optimize(Eigen::VectorXd &x, @@ -552,7 +579,7 @@ namespace lbfgs } else { - /* + /* Compute the initial step: */ step = param.init_step > 0 ? param.init_step : 1.0 / d.norm(); @@ -668,16 +695,16 @@ namespace lbfgs /* Compute the negative of gradients. */ d = -g; - /* - Only cautious update is performed here as long as + /* + Only cautious update is performed here as long as (y^t \cdot s) / ||s_{k+1}||^2 > \epsilon * ||g_{k}||^\alpha, - where \epsilon is the cautious factor and a proposed value + where \epsilon is the cautious factor and a proposed value for \alpha is 1. - This is not for enforcing the PD of the approxomated Hessian - since ys > 0 is already ensured by the weak Wolfe condition. + This is not for enforcing the PD of the approxomated Hessian + since ys > 0 is already ensured by the weak Wolfe condition. This is to ensure the global convergence as described in: - Dong-Hui Li and Masao Fukushima. On the global convergence of - the BFGS method for nonconvex unconstrained optimization problems. + Dong-Hui Li and Masao Fukushima. On the global convergence of + the BFGS method for nonconvex unconstrained optimization problems. SIAM Journal on Optimization, Vol 11, No 4, pp. 1054-1064, 2011. */ cau = lm_s.col(end).squaredNorm() * gp.norm() * param.cautious_factor; diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/math_functions.h b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/math_functions.h index 47f11ebac72f..7955e2baecff 100644 --- a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/math_functions.h +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/math_functions.h @@ -1,6 +1,24 @@ -#pragma once +// Copyright (c) 2026 INRIA Sophia-Antipolis (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial +// +// +// Author(s) : François Protais + +#ifndef CGAL_MESH_SMOOTHING_3_INTERNAL_MATH_FUNCTIONS_H +#define CGAL_MESH_SMOOTHING_3_INTERNAL_MATH_FUNCTIONS_H + +#include + #include +namespace CGAL { + namespace Mesh_smoothing_3_internal { namespace Math_functions { @@ -45,7 +63,6 @@ namespace Math_functions { return K; } -} - -} +} } } // end of CGAL::Mesh_smoothing_3_internal::Math_functions namespace +#endif // CGAL_MESH_SMOOTHING_3_INTERNAL_MATH_FUNCTIONS_H \ No newline at end of file diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/predicates/predicates.h b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/predicates/predicates.h index 8f537ee81c81..2075218264a7 100644 --- a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/predicates/predicates.h +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/predicates/predicates.h @@ -1,7 +1,24 @@ -#pragma once +// Copyright (c) 2026 INRIA Sophia-Antipolis (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial +// +// +// Author(s) : François Protais + +#ifndef CGAL_MESH_SMOOTHING_3_INTERNAL_PREDICATES_PREDICATES_H +#define CGAL_MESH_SMOOTHING_3_INTERNAL_PREDICATES_PREDICATES_H + +#include + #include #include +namespace CGAL{ namespace Mesh_smoothing_3_internal { @@ -15,11 +32,13 @@ inline bool positive_tetrahedra(std::array const &tetrahedra double pb[3] = {tetrahedra[1][0], tetrahedra[1][1], tetrahedra[1][2]}; double pc[3] = {tetrahedra[2][0], tetrahedra[2][1], tetrahedra[2][2]}; double pd[3] = {tetrahedra[3][0], tetrahedra[3][1], tetrahedra[3][2]}; - return orient3d(pa,pb,pc,pd) > 0; -} + return orient3d(pa,pb,pc,pd) > 0; +} #include "predicates_shewchuk.h" } -} +} } // end of CGAL::Mesh_smoothing_3_internal namespace + +#endif // CGAL_MESH_SMOOTHING_3_INTERNAL_PREDICATES_PREDICATES_H diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/utils/colorized_text.h b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/utils/colorized_text.h index 853cfef2373d..ae23c87603e2 100644 --- a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/utils/colorized_text.h +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/utils/colorized_text.h @@ -1,4 +1,19 @@ -#pragma once +// Copyright (c) 2026 INRIA Sophia-Antipolis (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial +// +// +// Author(s) : François Protais + +#ifndef CGAL_MESH_SMOOTHING_3_INTERNAL_UTILS_COLORIZED_TEXT_H +#define CGAL_MESH_SMOOTHING_3_INTERNAL_UTILS_COLORIZED_TEXT_H + +#include // taken from https://stackoverflow.com/a/78739378 @@ -8,6 +23,8 @@ #include #endif +namespace CGAL { + namespace Mesh_smoothing_3_internal { #if defined WIN32 || defined _WIN64 @@ -79,4 +96,6 @@ inline void Colorized_print(const std::string &text, const ConsoleTextColor& col } -} +} } // end of CGAL::Mesh_smoothing_3_internal + +#endif // CGAL_MESH_SMOOTHING_3_INTERNAL_UTILS_COLORIZED_TEXT_H diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/utils/log_time.h b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/utils/log_time.h index 586238e8d241..29de4e87598d 100644 --- a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/utils/log_time.h +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/internal/utils/log_time.h @@ -1,7 +1,26 @@ -#pragma once +// Copyright (c) 2026 INRIA Sophia-Antipolis (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial +// +// +// Author(s) : François Protais + +#ifndef CGAL_MESH_SMOOTHING_3_INTERNAL_UTILS_LOG_TIME_H +#define CGAL_MESH_SMOOTHING_3_INTERNAL_UTILS_LOG_TIME_H + +#include + +#include + #include #include -#include "colorized_text.h" + +namespace CGAL { namespace Mesh_smoothing_3_internal { @@ -33,5 +52,6 @@ class Time_log { std::string _title; }; -} +} } // end of CGAL::Mesh_smoothing_3_internal namespace +#endif // CGAL_MESH_SMOOTHING_3_INTERNAL_UTILS_LOG_TIME_H diff --git a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/mesh_representations.h b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/mesh_representations.h index 366427a5e045..f4b02f2db84e 100644 --- a/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/mesh_representations.h +++ b/Mesh_smoothing_3/include/CGAL/Mesh_smoothing_3/mesh_representations.h @@ -1,12 +1,30 @@ -#pragma once +// Copyright (c) 2026 INRIA Sophia-Antipolis (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial +// +// +// Author(s) : François Protais + +#ifndef CGAL_MESH_SMOOTHING_3_MESH_REPRESENTATIONS_H +#define CGAL_MESH_SMOOTHING_3_MESH_REPRESENTATIONS_H + +#include + +#include -#include -#include #include -#include "default_shapes.h" +#include +#include #include +namespace CGAL { + namespace Mesh_smoothing_3 { namespace default_structures { @@ -329,7 +347,7 @@ class C3t3_wrapper { } auto edge_range() const { return c3t3.edges_in_complex(); } - Curve_index curve_id(Edge_descriptor edge) const { return c3t3.curve_index(edge); } + Curve_index curve_id(Edge_descriptor edge) const { return c3t3.curve_index(edge); } Vertex_descriptor edge_vertex(Edge_descriptor edge, unsigned i) const { assert(i < 2); return edge.first->vertex(i == 0 ? edge.second : edge.third); @@ -338,7 +356,6 @@ class C3t3_wrapper { C3t3 &c3t3; }; -} - -} +} } } // end of CGAL::Mesh_smoothing_3::default_structures namespace +#endif // CGAL_MESH_SMOOTHING_3_MESH_REPRESENTATIONS_H From 0c0923ca0c24b64c2a22bc4fbaab002258643fb9 Mon Sep 17 00:00:00 2001 From: Francois Protais Date: Fri, 24 Jul 2026 11:20:44 +0200 Subject: [PATCH 05/86] Working examples --- .../examples/Mesh_smoothing_3/CMakeLists.txt | 47 ++- .../Mesh_smoothing_3/Cinolib/CMakeLists.txt | 6 +- .../Cinolib/cinolib_smooth.cpp | 19 +- .../alpha_wrap_improvement.cpp | 8 +- .../examples/Mesh_smoothing_3/c3t3_smooth.cpp | 8 +- .../examples/CGAL/CMakeLists.txt | 9 - .../examples/CGAL/cgal_c3t3_test.cpp | 336 ------------------ .../examples/CGAL/cgal_offset_computation.cpp | 288 --------------- .../Mesh_smoothing_3/examples/CMakeLists.txt | 16 - .../examples/Cinolib/CMakeLists.txt | 14 - .../examples/Cinolib/cinolib_smooth.cpp | 169 --------- .../Mesh_smoothing_3/examples/README.md | 87 ----- .../examples/geogram/CMakeLists.txt | 16 - .../examples/geogram/geogram_smooth.cpp | 161 --------- .../geogram/geogram_smooth_custom.cpp | 228 ------------ .../examples/libigl/CMakeLists.txt | 10 - .../libigl/libigl_handle_deformation.cpp | 90 ----- .../Mesh_smoothing_3/geogram/CMakeLists.txt | 9 +- .../geogram/geogram_smooth.cpp | 15 +- .../geogram/geogram_smooth_custom.cpp | 17 +- .../Mesh_smoothing_3/libigl/CMakeLists.txt | 5 +- .../libigl/libigl_handle_deformation.cpp | 6 +- 22 files changed, 96 insertions(+), 1468 deletions(-) delete mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/CMakeLists.txt delete mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/cgal_c3t3_test.cpp delete mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/cgal_offset_computation.cpp delete mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CMakeLists.txt delete mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/Cinolib/CMakeLists.txt delete mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/Cinolib/cinolib_smooth.cpp delete mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/README.md delete mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/CMakeLists.txt delete mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/geogram_smooth.cpp delete mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/geogram_smooth_custom.cpp delete mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/libigl/CMakeLists.txt delete mode 100644 Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/libigl/libigl_handle_deformation.cpp diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/CMakeLists.txt b/Mesh_smoothing_3/examples/Mesh_smoothing_3/CMakeLists.txt index 0f205dfa016c..0479d851e6f6 100644 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/CMakeLists.txt +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/CMakeLists.txt @@ -1,9 +1,48 @@ +cmake_minimum_required(VERSION 3.12...3.31) +project(Mesh_smoothing_3_examples) +set(CMAKE_CXX_STANDARD 20) +set(CMAKE_CXX_STANDARD_REQUIRED ON) +set(CMAKE_BUILD_TYPE Release) +if (MSVC) + set(CMAKE_CXX_FLAGS "/EHsc") + add_compile_definitions(NOMINMAX) +else() + set(CMAKE_CXX_FLAGS "-O3 -g") +endif() -create_single_source_cgal_program("cgal_offset_computation.cpp") -create_single_source_cgal_program("cgal_c3t3_test.cpp") -target_link_libraries(cgal_offset_computation PRIVATE Mesh_smoothing_3) -target_link_libraries(cgal_c3t3_test PRIVATE Mesh_smoothing_3) +set(CGAL_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../..) +message(STATUS "CGAL_DIR: ${CGAL_DIR}") +find_package(CGAL REQUIRED) +find_package(Eigen3 3.3.0 QUIET REQUIRED) +create_single_source_cgal_program("alpha_wrap_improvement.cpp") +create_single_source_cgal_program("c3t3_smooth.cpp") +target_link_libraries(alpha_wrap_improvement PRIVATE Eigen3::Eigen) +target_link_libraries(c3t3_smooth PRIVATE Eigen3::Eigen) + +find_package(OpenMP COMPONENTS CXX) +if(OpenMP_CXX_FOUND) + message(STATUS "OpenMP found") + if(MSVC) + # Override the compile options for the imported OpenMP target + set_target_properties(OpenMP::OpenMP_CXX PROPERTIES + INTERFACE_COMPILE_OPTIONS "/openmp:llvm") + endif() + target_link_libraries(alpha_wrap_improvement PRIVATE OpenMP::OpenMP_CXX) + target_link_libraries(c3t3_smooth PRIVATE OpenMP::OpenMP_CXX) +else() + message(STATUS "OpenMP was not found.") +endif() + + +option(MAKE_LIB_LINKING_EXAMPLES "Build examples of other meshing libs that link against Mesh_smoothing_3" OFF) + +if (MAKE_LIB_LINKING_EXAMPLES) + include(FetchContent) + add_subdirectory(Cinolib) + add_subdirectory(libigl) + add_subdirectory(geogram) +endif() diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/Cinolib/CMakeLists.txt b/Mesh_smoothing_3/examples/Mesh_smoothing_3/Cinolib/CMakeLists.txt index 32077734eb44..b6e9e3652033 100644 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/Cinolib/CMakeLists.txt +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/Cinolib/CMakeLists.txt @@ -11,4 +11,8 @@ find_package(cinolib REQUIRED) add_executable(cinolib_smooth cinolib_smooth.cpp) -target_link_libraries(cinolib_smooth PRIVATE Mesh_smoothing_3 cinolib) \ No newline at end of file +target_link_libraries(cinolib_smooth PRIVATE CGAL cinolib Eigen3::Eigen) + +if(OpenMP_CXX_FOUND) + target_link_libraries(cinolib_smooth PRIVATE OpenMP::OpenMP_CXX) +endif() diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/Cinolib/cinolib_smooth.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/Cinolib/cinolib_smooth.cpp index 00b0a50bc70d..98f14d87a35f 100644 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/Cinolib/cinolib_smooth.cpp +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/Cinolib/cinolib_smooth.cpp @@ -1,10 +1,11 @@ -#include #include #include -using Mesh_smoothing_3::utils::Contiguous_unsigned_range; +#include -class Mesh_wrapper : public Mesh_smoothing_3::helper_structures::Mixed_element_mesh { +using CGAL::Mesh_smoothing_3::utils::Contiguous_unsigned_range; + +class Mesh_wrapper : public CGAL::Mesh_smoothing_3::helper_structures::Mixed_element_mesh { public: std::size_t nb_vertices() const override { return mesh.num_verts(); } @@ -63,10 +64,10 @@ class Mesh_wrapper : public Mesh_smoothing_3::helper_structures::Mixed_element_m cinolib::Polyhedralmesh<> &mesh; cinolib::Polyhedralmesh<> const * ref_mesh; - Mesh_smoothing_3::Shapes::VTK_TETRAHEDRON tet_ref; - Mesh_smoothing_3::Shapes::VTK_HEXAHEDRON hex_ref; - Mesh_smoothing_3::Shapes::VTK_PYRAMID py_ref; - Mesh_smoothing_3::Shapes::VTK_WEDGE we_ref; + CGAL::Mesh_smoothing_3::Shapes::VTK_TETRAHEDRON tet_ref; + CGAL::Mesh_smoothing_3::Shapes::VTK_HEXAHEDRON hex_ref; + CGAL::Mesh_smoothing_3::Shapes::VTK_PYRAMID py_ref; + CGAL::Mesh_smoothing_3::Shapes::VTK_WEDGE we_ref; }; void compute_octree_from_input_surface(cinolib::Trimesh<> const &target_mesh, cinolib::Octree &octree, std::vector &face_normal) { @@ -119,7 +120,7 @@ int main(int argc, char** argv) { const std::string filename = (argc > 1) ? argv[1] : "../data/fandisk_kenshi_hexmesh.mesh"; cinolib::Polyhedralmesh<> mesh(filename.c_str()); - Mesh_smoothing_3::helper_structures::Polygonal_boundary boundary; + CGAL::Mesh_smoothing_3::helper_structures::Polygonal_boundary boundary; for(uint fid=0; fid -#include +#include #include #include @@ -93,7 +93,7 @@ class Tetrahedral_mesh_wrapper { } return vertices; } - std::array cell_reference_shape(Cell_descriptor) const { return Mesh_smoothing_3::Shapes::VTK_TETRAHEDRON(); } + std::array cell_reference_shape(Cell_descriptor) const { return CGAL::Mesh_smoothing_3::Shapes::VTK_TETRAHEDRON(); } public: Tetrahedral_mesh_wrapper(Triangulation &tetmesh_, std::set regions) : tetmesh(tetmesh_) @@ -118,7 +118,7 @@ class Triangle_boundary_wrapper { using Surface_patch_index = unsigned; std::size_t nb_faces() const { return faces.size(); } auto face_range() const { - return Mesh_smoothing_3::utils::Contiguous_unsigned_range{0, faces.size()}; + return CGAL::Mesh_smoothing_3::utils::Contiguous_unsigned_range{0, faces.size()}; } unsigned patch_id(Face_descriptor) const { return 0; } std::size_t nb_face_vertices(Face_descriptor) const { return 3; } @@ -264,7 +264,7 @@ int main(int argc, char** argv) Tetrahedral_mesh_wrapper mesh_wrapper(tr, {1,2}); Triangle_boundary_wrapper boundary_wrapper {boundary_faces}; - Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper, boundary_wrapper); + CGAL::Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper, boundary_wrapper); smoother.set_verbose(); smoother.set_locked_vertices(boundary_vertices); diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/c3t3_smooth.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/c3t3_smooth.cpp index aba8fb10dfbf..51eb870a0a47 100644 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/c3t3_smooth.cpp +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/c3t3_smooth.cpp @@ -25,7 +25,7 @@ #include #include -#include +#include // Parallel tag #ifdef CGAL_CONCURRENT_MESH_3 @@ -53,7 +53,7 @@ typedef CGAL::Mesh_criteria_3 Mesh_criteria; typedef CGAL::Mesh_complex_3_in_triangulation_3 C3t3; -#if CGAL_VERSION_NR >= CGAL_VERSION_NUMBER(6, 2, 0) +#if CGAL_VERSION_NR >= CGAL_VERSION_NUMBER(6, 2, 0) // todo remove after inclusion into cgal proper using Image_internal = CGAL::_image; auto image_WK_FIXED = CGAL::WK_FIXED; auto image_SGN_UNSIGNED = CGAL::SGN_UNSIGNED; @@ -300,8 +300,8 @@ int main(int argc, char* argv[]) // Smoothing - Mesh_smoothing_3::C3t3_smoother smoother(c3t3_deformed); - for (auto c : c3t3.vertices_in_complex()) + CGAL::Mesh_smoothing_3::C3t3_smoother smoother(c3t3_deformed); + for (auto c : c3t3_deformed.vertices_in_complex()) { smoother.set_vertex_lock(c, true); } diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/CMakeLists.txt b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/CMakeLists.txt deleted file mode 100644 index 0f205dfa016c..000000000000 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/CMakeLists.txt +++ /dev/null @@ -1,9 +0,0 @@ - - -create_single_source_cgal_program("cgal_offset_computation.cpp") -create_single_source_cgal_program("cgal_c3t3_test.cpp") -target_link_libraries(cgal_offset_computation PRIVATE Mesh_smoothing_3) -target_link_libraries(cgal_c3t3_test PRIVATE Mesh_smoothing_3) - - - diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/cgal_c3t3_test.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/cgal_c3t3_test.cpp deleted file mode 100644 index aba8fb10dfbf..000000000000 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/cgal_c3t3_test.cpp +++ /dev/null @@ -1,336 +0,0 @@ -// Image -#include -#include -// Domain -#include -#include -#include -#include -// C3t3 -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include - -#include -#include - -#include - -// Parallel tag -#ifdef CGAL_CONCURRENT_MESH_3 -typedef CGAL::Parallel_tag Concurrency_tag; -#else -typedef CGAL::Sequential_tag Concurrency_tag; -#endif - -// Kernel -typedef CGAL::Exact_predicates_inexact_constructions_kernel K; -// Domain -typedef CGAL::Labeled_mesh_domain_3 Image_domain; -typedef CGAL::Mesh_domain_with_polyline_features_3 Mesh_domain; -// Triangulations -typedef CGAL::Mesh_vertex_base_3 Vertex_base; -typedef CGAL::Compact_mesh_cell_base_3 Cell_base; -typedef std::array Vertex_info; -typedef std::array Cell_info; -typedef CGAL::Triangulation_vertex_base_with_info_3 Vertex_base_with_info; -typedef CGAL::Triangulation_cell_base_with_info_3 Cell_base_with_info; -typedef CGAL::Mesh_triangulation_3::type Tr; -// Criteria -typedef CGAL::Mesh_criteria_3 Mesh_criteria; -// C3t3 -typedef CGAL::Mesh_complex_3_in_triangulation_3 C3t3; - - -#if CGAL_VERSION_NR >= CGAL_VERSION_NUMBER(6, 2, 0) - using Image_internal = CGAL::_image; - auto image_WK_FIXED = CGAL::WK_FIXED; - auto image_SGN_UNSIGNED = CGAL::SGN_UNSIGNED; -// Code for CGAL 6.0 or newer -#else - using Image_internal = _image; - auto image_WK_FIXED = WK_FIXED; - auto image_SGN_UNSIGNED = SGN_UNSIGNED; -#endif - - -// AABB traits for C3t3 facets and edges -struct Facet_to_triangle_property_map -{ - typedef C3t3::Facet key_type; - typedef K::Triangle_3 value_type; - typedef value_type reference; - typedef boost::readable_property_map_tag category; -}; - -inline Facet_to_triangle_property_map::reference -get(const Facet_to_triangle_property_map&, const C3t3::Facet& f) -{ - const Tr::Cell_handle cell = f.first; - const int i = f.second; - const K::Point_3& p0 = cell->vertex((i + 1) % 4)->point().point(); - const K::Point_3& p1 = cell->vertex((i + 2) % 4)->point().point(); - const K::Point_3& p2 = cell->vertex((i + 3) % 4)->point().point(); - return K::Triangle_3(p0, p1, p2); -} - -struct Facet_to_point_property_map -{ - typedef C3t3::Facet key_type; - typedef K::Point_3 value_type; - typedef value_type reference; - typedef boost::readable_property_map_tag category; -}; - -inline Facet_to_point_property_map::reference -get(const Facet_to_point_property_map&, const C3t3::Facet& f) -{ - const Tr::Cell_handle cell = f.first; - const int i = f.second; - return cell->vertex((i + 1) % 4)->point().point(); -} - -struct Edge_to_segment_property_map -{ - typedef C3t3::Edge key_type; - typedef K::Segment_3 value_type; - typedef value_type reference; - typedef boost::readable_property_map_tag category; -}; - -inline Edge_to_segment_property_map::reference -get(const Edge_to_segment_property_map&, const C3t3::Edge& e) -{ - const Tr::Cell_handle cell = e.first; - return K::Segment_3(cell->vertex(e.second)->point().point(), cell->vertex(e.third)->point().point()); -} - -struct Edge_to_point_property_map -{ - typedef C3t3::Edge key_type; - typedef K::Point_3 value_type; - typedef value_type reference; - typedef boost::readable_property_map_tag category; -}; - -inline Edge_to_point_property_map::reference -get(const Edge_to_point_property_map&, const C3t3::Edge& e) -{ - const Tr::Cell_handle cell = e.first; - return cell->vertex(e.second)->point().point(); -} - -typedef CGAL::AABB_primitive Facet_primitive; -typedef CGAL::AABB_traits_3 Facet_traits; -typedef CGAL::AABB_tree Facet_tree; - -typedef CGAL::AABB_primitive Edge_primitive; -typedef CGAL::AABB_traits_3 Edge_traits; -typedef CGAL::AABB_tree Edge_tree; - -// To avoid verbose function and named parameters call -namespace params = CGAL::parameters; - - -// image of type 'unsigned char' initialised with '0' -CGAL::Image_3 create_cgal_image(const std::size_t& xdim, const std::size_t& ydim, const std::size_t& zdim, - double vx = 1.0, double vy = 1.0, double vz = 1.0) -{ - Image_internal* im = _createImage(xdim, ydim, zdim, 1, - vx, vy, vz, 1, - image_WK_FIXED, image_SGN_UNSIGNED); - std::fill_n(static_cast(im->data), xdim*ydim*zdim, 0); - return CGAL::Image_3(im); -} - -void add_rectangle_in_image(const K::Point_3& rectangle_min, // [0..1]^3 - const K::Point_3& rectangle_max, // [0..1]^3 - const unsigned char& label, - CGAL::Image_3 &image) -{ - using CGAL::IMAGEIO::static_evaluate; - Image_internal* im = image.image(); - const std::size_t min_x = rectangle_min.x() * im->xdim; - const std::size_t min_y = rectangle_min.y() * im->ydim; - const std::size_t min_z = rectangle_min.z() * im->zdim; - const std::size_t max_x = rectangle_max.x() * im->xdim; - const std::size_t max_y = rectangle_max.y() * im->ydim; - const std::size_t max_z = rectangle_max.z() * im->zdim; - for (std::size_t k = min_z; k < max_z; k++) - for (std::size_t j = min_y; j < max_y; j++) - for (std::size_t i = min_x; i < max_x; i++) - static_evaluate(im, i, j, k) = label; -} - -void deform_c3t3_smooth_fold(C3t3& c3t3, const K::FT& angle, const K::FT& nb_planes) -{ - typedef C3t3::Point WPoint_3; - K::Point_3 center = CGAL::midpoint(K::Point_3(c3t3.bbox().min(0), c3t3.bbox().min(1), c3t3.bbox().min(2)), - K::Point_3(c3t3.bbox().max(0), c3t3.bbox().max(1), c3t3.bbox().max(2))); - K::Plane_3 start_plane(center, K::Vector_3(1,0,0)); - Tr& triangulation = c3t3.triangulation(); - std::list vertices; - for (Tr::Vertex& vertex : triangulation.tds().vertices()) - { - vertices.emplace_back(&vertex); - } - const K::FT angle_smooth_length = (c3t3.bbox().max(0) - c3t3.bbox().min(0)) * 0.1875; // * 0.25; - const K::FT angle_smooth_length_increment = angle_smooth_length / nb_planes; - const K::FT angle_increment = angle/nb_planes; - const K::FT ca_i = cos(angle_increment); - const K::FT sa_i = sin(angle_increment); - K::Point_3 plane_center = center; - plane_center -= K::Vector_3(angle_smooth_length * 0.5, 0, 0); - for (std::size_t p = 0; p < nb_planes; p++) - { - const K::Vector_3 plane_normal(cos(p*angle_increment), sin(p*angle_increment), 0); - const K::Plane_3 plane(plane_center, plane_normal); - const K::FT plane_x = plane_center[0]; - const K::FT plane_y = plane_center[1]; - const K::FT plane_z = plane_center[2]; - for (std::list::iterator it = vertices.begin(); it != vertices.end();) - { - Tr::Vertex& vertex = **it; - const WPoint_3& point = vertex.point(); - if (plane.has_on_positive_side(point.point())) - { - const K::FT px = point.point()[0] - plane_x; - const K::FT py = point.point()[1] - plane_y; - const K::FT pz = point.point()[2] - plane_z; - const K::Point_3 rotated_point(px*ca_i-py*sa_i + plane_x, px*sa_i+py*ca_i + plane_y, pz + plane_z); - vertex.set_point(WPoint_3(rotated_point, point.weight())); - it++; - } - else - { - it = vertices.erase(it); - } - } - plane_center += angle_smooth_length_increment * K::Vector_3(cos((p+1) * angle_increment), sin((p+1) * angle_increment), 0); - } -} - - -int main(int argc, char* argv[]) -{ - CGAL::Image_3 image = create_cgal_image(64, 64, 64); - add_rectangle_in_image(K::Point_3(0.2, 0.45, 0.2), K::Point_3(0.5, 0.55, 0.5), 1, image); - add_rectangle_in_image(K::Point_3(0.5, 0.45, 0.2), K::Point_3(0.8, 0.55, 0.5), 2, image); - add_rectangle_in_image(K::Point_3(0.2, 0.45, 0.5), K::Point_3(0.5, 0.55, 0.8), 3, image); - add_rectangle_in_image(K::Point_3(0.5, 0.45, 0.5), K::Point_3(0.8, 0.55, 0.8), 4, image); - _writeImage(image.image(), "input_image.inr"); - - // Make c3t3 - Mesh_domain domain = Mesh_domain::create_labeled_image_mesh_domain(image, - params::features_detector = CGAL::Mesh_3::Detect_features_in_image()); - CGAL::Bbox_3 bbox = domain.bbox(); - double diag = CGAL::sqrt(CGAL::square(bbox.xmax() - bbox.xmin()) + - CGAL::square(bbox.ymax() - bbox.ymin()) + - CGAL::square(bbox.zmax() - bbox.zmin())); - double sizing_default = diag * 0.01; - Mesh_criteria criteria(params::edge_size = sizing_default, - params::facet_angle = 30, - params::facet_size = sizing_default, - params::facet_distance = sizing_default / 10, - params::facet_topology = CGAL::FACET_VERTICES_ON_SAME_SURFACE_PATCH, - params::cell_radius_edge_ratio = 1.5, - params::cell_size = 0 - ); - C3t3 c3t3 = CGAL::make_mesh_3(domain, criteria, - params::no_exude(), - params::no_perturb()); - // Output - CGAL::dump_c3t3(c3t3, "c3t3_initial"); - - // Make deformed c3t3 - C3t3 c3t3_deformed(static_cast(c3t3)); - deform_c3t3_smooth_fold(c3t3_deformed, 3.141592635 * 0.5, 100); - - C3t3 c3t3_deformed_ref(static_cast(c3t3)); - deform_c3t3_smooth_fold(c3t3_deformed_ref, 3.141592635 * 0.5, 100); - CGAL::dump_c3t3(c3t3_deformed, "c3t3_deformed"); - - - // AABB trees of the surface and curve features of the c3t3 - std::map> facets_by_patch; - for (auto f : c3t3_deformed_ref.facets_in_complex()) - { - facets_by_patch[c3t3_deformed_ref.surface_patch_index(f)].push_back(f); - } - - std::map> edges_by_curve; - for (auto e : c3t3_deformed_ref.edges_in_complex()) - { - edges_by_curve[c3t3_deformed_ref.curve_index(e)].push_back(e); - } - - std::map facet_trees; - for (auto& kv : facets_by_patch) - { - facet_trees.try_emplace(kv.first, kv.second.begin(), kv.second.end()); - } - - std::map edge_trees; - for (auto& kv : edges_by_curve) - { - edge_trees.try_emplace(kv.first, kv.second.begin(), kv.second.end()); - } - - std::cout << "Built " << facet_trees.size() << " facet AABB trees and " << edge_trees.size() << " edge AABB trees." << std::endl; - - - // Smoothing - - Mesh_smoothing_3::C3t3_smoother smoother(c3t3_deformed); - for (auto c : c3t3.vertices_in_complex()) - { - smoother.set_vertex_lock(c, true); - } - - smoother.set_boundary_query([&](K::Point_3 const &pt, C3t3::Surface_patch_index id, double radius) -> std::tuple { - auto res = facet_trees.at(id).closest_point_and_primitive(pt); - K::Point_3 closest_point = res.first; - const auto triangle = c3t3_deformed_ref.triangulation().triangle(res.second); - K::Vector_3 normal = CGAL::unit_normal(triangle.vertex(0), triangle.vertex(1), triangle.vertex(2)); - return std::make_tuple(closest_point, normal, 1.); - }); - - smoother.set_curves_query([&](K::Point_3 const &pt, C3t3::Curve_index id, double radius) -> std::tuple { - auto res = edge_trees.at(id).closest_point_and_primitive(pt); - K::Point_3 closest_point = res.first; - const auto segment = c3t3_deformed_ref.triangulation().segment(res.second); - K::Vector_3 direction = (segment.target() - segment.source()); - if (direction.squared_length() > 1e-8) - { - direction /= CGAL::sqrt(direction.squared_length()); - } - return std::make_tuple(closest_point, direction, 1.); - }); - - smoother.set_verbose(); - smoother.set_max_number_of_iteration(100); - smoother.run(); - - CGAL::dump_c3t3(c3t3_deformed, "c3t3_smoothed"); - - return 0; -} \ No newline at end of file diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/cgal_offset_computation.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/cgal_offset_computation.cpp deleted file mode 100644 index 1ee7df77f3bd..000000000000 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CGAL/cgal_offset_computation.cpp +++ /dev/null @@ -1,288 +0,0 @@ -#include -#include - -#include - -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include - -#include -#include - - -#include - -#include -#include -#include - -namespace PMP = CGAL::Polygon_mesh_processing; -namespace AW3i = CGAL::Alpha_wraps_3::internal; - -using K = CGAL::Exact_predicates_inexact_constructions_kernel; -using Point_3 = K::Point_3; - -using Points = std::vector; -using Face = std::array; -using Faces = std::vector; - -using Mesh = CGAL::Surface_mesh; - -// If we provide a triangulation, AW3 uses its Gt, so we have to make the Gt stack explicit -using Gtb = AW3i::Alpha_wrap_AABB_geom_traits; // provides Ball_3 -using Gt = CGAL::Robust_circumcenter_filtered_traits_3; // better inexact constructions (not mandatory) - -// Since we are going to use tetrahedral remeshing on the underlying triangulation, -// we need special vertex and cell base types that meets the requirements of the -// tetrahedral remeshing concepts -using Vbbb = AW3i::Alpha_wrap_triangulation_vertex_base_3; -using Vbb = CGAL::Simplicial_mesh_vertex_base_3; -using Vb = CGAL::Tetrahedral_remeshing::Remeshing_vertex_base_3; - -using Cbbb = AW3i::Alpha_wrap_triangulation_cell_base_3; -using Cbb = CGAL::Simplicial_mesh_cell_base_3; -using Cb = CGAL::Tetrahedral_remeshing::Remeshing_cell_base_3; - -using Tds = CGAL::Triangulation_data_structure_3; - -using Delaunay_triangulation = CGAL::Delaunay_triangulation_3; - -// because the Fast_location does all kinds of rebinding shenanigans + T3_hierarchy is in the stack... -using Triangulation = CGAL::Triangulation_3; - -using Facet = Triangulation::Facet; - -using SC = CGAL::Simple_cartesian; -using SC_Point_3 = SC::Point_3; -using SC_Vector_3 = SC::Vector_3; -using SC_Iso_cuboid_3 = SC::Iso_cuboid_3; -using SC2GT = CGAL::Cartesian_converter; - -class Tetrahedral_mesh_wrapper { -public: - using Cell_descriptor = Triangulation::Cell_handle; - using Vertex_descriptor = Triangulation::Vertex_handle; - using Point_3 = K::Point_3; - - std::size_t nb_cells() const { return tetmesh.number_of_finite_cells(); } - std::size_t nb_vertices() const { return tetmesh.number_of_vertices(); } - - Point_3 vertex_coordinates(Vertex_descriptor vertex) const { return tetmesh.point(vertex); } - void set_new_vertex_coordinates(Vertex_descriptor vertex, Point_3 coord) { - vertex->set_point(coord); - } // only non const - - auto cell_range() const { - return cell_vector_range; - } - auto cell_vertices(Cell_descriptor cell) const { - std::array vertices; - for (int i = 0; i < 4; ++i) { - vertices[static_cast(i)] = cell->vertex(i); - } - return vertices; - } - std::array cell_reference_shape(Cell_descriptor) const { return Mesh_smoothing_3::Shapes::VTK_TETRAHEDRON(); } -public: - Tetrahedral_mesh_wrapper(Triangulation &tetmesh_, std::set regions) - : tetmesh(tetmesh_) - { - cell_vector_range.reserve(tetmesh.number_of_cells()); - for(auto c : tetmesh.finite_cell_handles()) { - if (regions.contains(c->subdomain_index())) { - cell_vector_range.push_back(c); - } - } - - } - Triangulation &tetmesh; - std::vector cell_vector_range; -}; - -class Triangle_boundary_wrapper { -public: - using Face_descriptor = unsigned; - using Vertex_descriptor = Triangulation::Vertex_handle; - using Normal_3 = K::Vector_3; - using Surface_patch_index = unsigned; - std::size_t nb_faces() const { return faces.size(); } - auto face_range() const { - return Mesh_smoothing_3::utils::Contiguous_unsigned_range{0, faces.size()}; - } - unsigned patch_id(Face_descriptor) const { return 0; } - std::size_t nb_face_vertices(Face_descriptor) const { return 3; } - auto face_vertices(Face_descriptor face) const { - return faces[face]; - } - -public: - std::vector> const &faces; -}; - - - -int main(int argc, char** argv) -{ - // Read the input - const std::string filename = (argc > 1) ? argv[1] : "../../data/joint.off"; - std::cout << "Reading " << filename << "..." << std::endl; - - Points points; - Faces faces; - if(!CGAL::IO::read_polygon_soup(filename, points, faces, CGAL::parameters::verbose(true)) || faces.empty()) - { - std::cerr << "Invalid input:" << filename << std::endl; - return EXIT_FAILURE; - } - - std::cout << "Input: " << points.size() << " vertices, " << faces.size() << " faces" << std::endl; - - // Compute the alpha and offset values - const double relative_alpha = (argc > 2) ? std::stod(argv[2]) : 60.; - const double relative_offset = (argc > 3) ? std::stod(argv[3]) : 600.; - - CGAL::Bbox_3 bbox; - for(const Point_3& p : points) bbox += p.bbox(); - - const double diag_length = std::sqrt(CGAL::square(bbox.xmax() - bbox.xmin()) + - CGAL::square(bbox.ymax() - bbox.ymin()) + - CGAL::square(bbox.zmax() - bbox.zmin())); - - const double alpha = diag_length / relative_alpha; - const double offset = diag_length / relative_offset; - std::cout << "alpha: " << alpha << ", offset: " << offset << std::endl; - - // Construct the wrap - CGAL::Real_timer t; - t.start(); - - using Oracle = CGAL::Alpha_wraps_3::internal::Triangle_soup_oracle; - - Oracle oracle(K{}); - oracle.add_triangle_soup(points, faces, CGAL::parameters::default_values()); - - CGAL::Alpha_wraps_3::internal::Alpha_wrapper_3 aw3(oracle); - Mesh wrap; - aw3(alpha, offset, wrap); - - t.stop(); - std::cout << "Result: " << num_vertices(wrap) << " vertices, " << num_faces(wrap) << " faces" << std::endl; - std::cout << "Took " << t.time() << " s." << std::endl; - - - - Delaunay_triangulation& aw3_dt = aw3.triangulation(); - for(auto c : aw3_dt.finite_cell_handles()) - { - if(c->is_outside()) - c->set_subdomain_index(0); - else - c->set_subdomain_index(1); - } - - const Triangulation& aw3_tr = static_cast(aw3_dt); - Triangulation tr = aw3_tr; // intentional copy - - std::cout << "BEFORE REMESHING: " << tr.number_of_vertices() << " vertices, " << tr.number_of_cells() << " cells" << std::endl; - - // Set up the c3t3 information - for(auto v : tr.finite_vertex_handles()) v->set_dimension(3); - - for(auto c : tr.finite_cell_handles()) - { - for(int i=0; i<4; ++i) - { - if(c->neighbor(i)->subdomain_index() != c->subdomain_index()) - { - c->set_surface_patch_index(i, 1); - for(int j=1; j<4; ++j) { - c->vertex((i+j)%4)->set_dimension(2); - } - } - } - } - - // edge length of regular tetrahedron with circumradius alpha - const double l = 1.6329931618554521 * alpha; // sqrt(8/3) - - std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now(); - // remeshing the interior - CGAL::tetrahedral_isotropic_remeshing(tr, l, CGAL::parameters::remesh_boundaries(false).number_of_iterations(5)); - // Remeshing the surface may lead to worse quality around features because of point equidistribution on the surface. - std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now(); - std::cout << "Time difference = " << std::chrono::duration_cast (end - begin).count() << "[ms]" << std::endl; - std::cout << "AFTER REMESHING: " << tr.number_of_vertices() << " vertices, " << tr.number_of_cells() << " cells" << std::endl; - - auto boundary_query = [&](Point_3 pt, unsigned, double) -> std::tuple{ - auto pp_and_prim = oracle.tree().closest_point_and_primitive(pt); - Point_3 proj = pp_and_prim.first; - K::Vector_3 normal { proj, pt }; - normal = normal / CGAL::approximate_sqrt(normal * normal); - proj = proj + offset * normal; - return {proj, normal, 1.}; - }; - - - std::vector> boundary_faces; - std::unordered_map> locked; - std::vector boundary_vertices; - for(auto v : tr.finite_vertex_handles()) { - locked.emplace(v, std::array{true, true, true}); - } - for(auto c : tr.finite_cell_handles()) - { - if (c->subdomain_index() != 1) continue; - - for(int i=0; i<4; ++i) - { - if(c->neighbor(i)->subdomain_index() != 1) - { - for(int j=0; j<4; ++j) { - locked.at(c->vertex(j)) = {false, false, false}; - } - boundary_faces.push_back({}); - for(int j=1; j<4; ++j) { - boundary_faces.back()[j-1] = c->vertex((i+j)%4); - boundary_vertices.push_back(c->vertex((i+j)%4)); - } - } - - } - } - - Tetrahedral_mesh_wrapper mesh_wrapper(tr, {1,2}); - Triangle_boundary_wrapper boundary_wrapper {boundary_faces}; - - Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper, boundary_wrapper); - smoother.set_verbose(); - - smoother.set_locked_vertices(boundary_vertices); - smoother.run(); - - std::ofstream all_after_smoothed("offset_wrapper.mesh"); - CGAL::IO::write_MEDIT(all_after_smoothed, tr, CGAL::parameters::all_cells(false)); - - smoother.clear_locks(); - smoother.set_vertices_dim_locks(locked); - smoother.set_boundary_query(boundary_query); - smoother.set_max_number_of_iteration(100); - smoother.run(); - smoother.clear_locks(); - smoother.run(); - - - std::ofstream inside_after_smoothed("offset_ours.mesh"); - CGAL::IO::write_MEDIT(inside_after_smoothed, tr, CGAL::parameters::all_cells(false)); - return EXIT_SUCCESS; -} diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CMakeLists.txt b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CMakeLists.txt deleted file mode 100644 index 6fc86e42c3bd..000000000000 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/CMakeLists.txt +++ /dev/null @@ -1,16 +0,0 @@ -add_subdirectory(Cinolib) -add_subdirectory(libigl) -add_subdirectory(geogram) - -option(BUILD_CGAL "Make example with CGAL" ON) -if (BUILD_CGAL) - # Try to find CGAL but do not fail the configure if it's missing; skip examples when absent. - find_package(CGAL QUIET) - if (TARGET CGAL::CGAL OR CGAL_FOUND) - add_subdirectory(CGAL) - else() - message(WARNING "CGAL requested but not found; skipping CGAL examples.") - endif() -else() - message(WARNING "CGAL is disabled, cgal_offset_computation will not be available.") -endif() diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/Cinolib/CMakeLists.txt b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/Cinolib/CMakeLists.txt deleted file mode 100644 index 32077734eb44..000000000000 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/Cinolib/CMakeLists.txt +++ /dev/null @@ -1,14 +0,0 @@ - -FetchContent_Declare( - cinolib - GIT_REPOSITORY https://github.com/mlivesu/cinolib - GIT_TAG 8fecf513ca7bf64556fcd73d7b7c2952778ad647 -) -FetchContent_MakeAvailable(cinolib) - -set(cinolib_DIR ${cinolib_SOURCE_DIR}) -find_package(cinolib REQUIRED) - - -add_executable(cinolib_smooth cinolib_smooth.cpp) -target_link_libraries(cinolib_smooth PRIVATE Mesh_smoothing_3 cinolib) \ No newline at end of file diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/Cinolib/cinolib_smooth.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/Cinolib/cinolib_smooth.cpp deleted file mode 100644 index 00b0a50bc70d..000000000000 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/Cinolib/cinolib_smooth.cpp +++ /dev/null @@ -1,169 +0,0 @@ -#include -#include -#include - -using Mesh_smoothing_3::utils::Contiguous_unsigned_range; - -class Mesh_wrapper : public Mesh_smoothing_3::helper_structures::Mixed_element_mesh { -public: - std::size_t nb_vertices() const override { return mesh.num_verts(); } - - Point_3 vertex_coordinates(Vertex_descriptor vertex) const override { - return mesh.vert(vertex); - } - void set_new_vertex_coordinates(int vertex, Point_3 coord) override { mesh.vert(vertex) = coord; } - - Contiguous_unsigned_range input_cell_range() const override { return Contiguous_unsigned_range{0, mesh.num_polys()}; } - - Vertex_descriptor get_cell_vertex(int cell, unsigned local_Vertex_descriptor) const override { - return mesh.poly_vert_id(cell,local_Vertex_descriptor); - }; - - cinolib::vec3d get_ref_vertex_coordinates(int vertex) const override { - assert(ref_mesh != nullptr); - return ref_mesh->vert(vertex); - } - - Shape const * get_element_shape(int cell) const override { - switch (mesh.adj_p2v(cell).size()) { - case 4: - return &tet_ref; - break; - case 8: - return &hex_ref; - break; - case 5: - return &py_ref; - break; - case 6: - return &we_ref; - break; - default: - return nullptr; - break; - } - } - -public: - Mesh_wrapper(cinolib::Polyhedralmesh<> &mesh_, cinolib::Polyhedralmesh<> const * ref_mesh_) - : mesh(mesh_) - , ref_mesh(ref_mesh_) - { - this->has_reference_mesh = (ref_mesh != nullptr); - this->assemble(); // CRITICAL - } - - void set_orientation(bool inv_tet, bool inv_hex, bool inv_pyr, bool inv_wed) { - tet_ref.inverse = inv_tet; - hex_ref.inverse = inv_hex; - py_ref.inverse = inv_pyr; - we_ref.inverse = inv_wed; - } - - cinolib::Polyhedralmesh<> &mesh; - cinolib::Polyhedralmesh<> const * ref_mesh; - - Mesh_smoothing_3::Shapes::VTK_TETRAHEDRON tet_ref; - Mesh_smoothing_3::Shapes::VTK_HEXAHEDRON hex_ref; - Mesh_smoothing_3::Shapes::VTK_PYRAMID py_ref; - Mesh_smoothing_3::Shapes::VTK_WEDGE we_ref; -}; - -void compute_octree_from_input_surface(cinolib::Trimesh<> const &target_mesh, cinolib::Octree &octree, std::vector &face_normal) { - octree.build_from_mesh_polys(target_mesh); - for(uint fid=0; fid const &mesh, cinolib::Octree &octree, std::vector &face_normal) { - // extracting the surface for projection - for(uint fid=0; fid 3) { - cinolib::vec3d center = mesh.face_centroid(fid); - for (uint i = 0; i < face_vertices.size(); ++i) { - cinolib::vec3d p0 = mesh.vert(face_vertices[(i+0)%face_vertices.size()]); - cinolib::vec3d p1 = mesh.vert(face_vertices[(i+1)%face_vertices.size()]); - cinolib::vec3d n = (p1-p0).cross(center-p0); - n.normalize(); - octree.push_triangle(face_normal.size(), p0, p1, center); - face_normal.push_back(n); - } - } - else if (face_vertices.size() == 3) { - cinolib::vec3d p0 = mesh.vert(face_vertices[0]); - cinolib::vec3d p1 = mesh.vert(face_vertices[1]); - cinolib::vec3d p2 = mesh.vert(face_vertices[2]); - cinolib::vec3d n = (p1 - p0).cross(p2 - p0); - n.normalize(); - octree.push_triangle(face_normal.size(), p0, p1, p2); - face_normal.push_back(n); - } - else { - assert(false && "Unsupported face size"); - } - } - } - octree.build(); -} - -int main(int argc, char** argv) { - const std::string filename = (argc > 1) ? argv[1] : "../data/fandisk_kenshi_hexmesh.mesh"; - - cinolib::Polyhedralmesh<> mesh(filename.c_str()); - Mesh_smoothing_3::helper_structures::Polygonal_boundary boundary; - for(uint fid=0; fid face_normal; - - mesh.save("input.mesh"); - - - if (argc > 2) { - cinolib::Trimesh<> target_mesh(argv[2]); - compute_octree_from_input_surface(target_mesh, octree, face_normal); - } - else - { - compute_octree_from_mesh_surface(mesh, octree, face_normal); - } - - auto query = [&](cinolib::vec3d pt, unsigned, double) -> std::tuple { - unsigned id; - cinolib::vec3d proj; - double dist; - octree.closest_point(pt, id, proj, dist); - return {proj, face_normal[id], 1.}; - }; - - - Mesh_wrapper mesh_wrapper(mesh, nullptr); // replacing nullptr by &reference will use it as a reference; - mesh_wrapper.set_orientation(false, false, false, false); // beware of the orientation of your input elements! - - Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper, boundary); - - smoother.set_boundary_query(query); - - smoother.set_verbose(); - smoother.set_max_number_of_iteration(100); - smoother.run(); - - mesh.save("output.mesh"); - - - return EXIT_SUCCESS; -} diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/README.md b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/README.md deleted file mode 100644 index 888935d1cd9c..000000000000 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/README.md +++ /dev/null @@ -1,87 +0,0 @@ - -We provide various examples from the paper: -* [**Mesh projection and smoothing**](#mesh-smoothing-and-projection) with Geogram or Cinolib -* [**Usage of various queries**](#various-queries) with Geogram -* [**Handle based deformation**](#handle-based-deformation) with LibIGL -* [**Offset computation with Alpha-wrapper**](#mesh-offsetting) with CGAL - -We will slowly expand this list to match all figures in the paper. - - -# Mesh smoothing and projection -Fitting image - -This executable is the most standard use of the code: improve the quality of mesh and fit to its geometric target. The code can be called as: -```Bash -./bin/geogram_smooth ../data/sphere.mesh ../data/max-planck.obj -``` -*sphere.mesh* represent the volumetric tetrahedral mesh and *max-planck.obj* the geometric target represented as a surface triangle mesh. The code works with mesh containing Tetrahedra, Pyramids, Wedges and Hexahedra. - -The same executable can also be called with a unique input parameter, as: -```Bash -./bin/geogram_smooth ../data/fandisk_kenshi_hexmesh.mesh -``` -In this case it will operate as a smoothing (or untangling algorithm), improving the mesh quality while trying to preserve the outer boundary. - -In both cases, the result will be saved as `output.mesh`. The executable `cinolib_smooth` operates in the exact same way and only differentiates from `geogram_smooth` because it uses a different frontend for mesh handling. - -# Various queries -Constraints image - -This executable highlight the alignment to all type of queries at the same time: Surface, Curves and a handle. The code can be called as: -```Bash -./bin/geogram_smooth_custom ../data/cube.mesh ../data/cube.mesh ../data/cube_target_cuves.mesh ../data/cube_target_points.txt -``` -*cube.mesh* represent the input mesh, from which we read the cells (volume), the facets (surface) and the edges (curves). The second mesh is the surface used as projection, for which we simply use the same model. The third input "cube_target_cuves.mesh" contains the edge mesh forming the triangle that is used for projection. And finally, "cube_target_points.txt" contains vertex handle as: `id x y z`. - -The final result will be saved as `output.mesh`. As mentioned in the paper, for this specific case, we use $\lambda_\text{strong} = 10$, see - -```C++ - smoother.set_boundary_weight(Mesh_smoothing_3::Parameters::STRONG); -``` -Your application may need a different parameter. - -# Handle based deformation -Bunny handles - - -This executable will perform a deformation of the input object to match a set of input constraints, as shown in Fig. 12. -```Bash -./bin/libigl_handle_deformation ../data/bunny.mesh ../data/bunny_handles.txt -``` -*bunny.mesh* is a standard tetrahedral mesh (as supported by LibIGL) and *bunny_handles.txt* contains vertex handle constraints as: `id x y z`. - -Result will be saved as `handle_output.mesh`. - -# Mesh offsetting - -This executable can be used to reproduce Feature preserving offsets presented in the paper (Fig 14. and Fig 15.) We rely on the [Alpha-wrapper](https://doc.cgal.org/latest/Alpha_wrap_3/index.html) proposed by the CGAL library and use their parameters as input: -```Bash -./bin/cgal_offset_computation ../data/stairs.off 20 600 -``` -The input mesh must in the [OFF format](https://en.wikipedia.org/wiki/OFF_(file_format)) due to CGAL requirements. X=20 is used to compute the gate size in Alpha-wrap as alpha=D/X with D the diagonal of the bbox of the object. Y=600 is used to compute the offset of the mesh with delta=D/Y. - -The executable will output two meshes: `offset_wrapper.mesh` and `offset_ours.mesh` to compare the before/after. - - -The parameters to run the different examples are as follows: -* Fig 14: -```Bash -./bin/cgal_offset_computation ../data/stairs.off 20 600 -./bin/cgal_offset_computation ../data/stairs.off 40 600 -./bin/cgal_offset_computation ../data/stairs.off 60 600 -./bin/cgal_offset_computation ../data/stairs.off 80 600 -``` -Stairs - -* Fig 15: -```Bash -./bin/cgal_offset_computation ../data/43149.off 150 100 # 1% offset - slow remeshing (larger offset means slower) -./bin/cgal_offset_computation ../data/43149.off 150 50 # 2% offset -./bin/cgal_offset_computation ../data/43149.off 150 20 # 5% offset -./bin/cgal_offset_computation ../data/43149.off 150 10 # 10% offset -``` -Offset - -The main bottleneck of the code is the inside remeshing that we perform with CGAL after the Alpha-wrapper. - diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/CMakeLists.txt b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/CMakeLists.txt deleted file mode 100644 index 1c6f0c19e9ab..000000000000 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/CMakeLists.txt +++ /dev/null @@ -1,16 +0,0 @@ -set(GEOGRAM_LIB_ONLY ON) - -FetchContent_Declare( - geogram - GIT_REPOSITORY https://github.com/BrunoLevy/geogram - GIT_TAG 72bfd854d4fb6bac360689a87fc7b10db87bb5f8 #master -) -FetchContent_MakeAvailable(geogram) - - -add_executable(geogram_smooth geogram_smooth.cpp) -add_executable(geogram_smooth_custom geogram_smooth_custom.cpp) -target_link_libraries(geogram_smooth PRIVATE Mesh_smoothing_3 geogram) -target_link_libraries(geogram_smooth_custom PRIVATE Mesh_smoothing_3 geogram) - - diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/geogram_smooth.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/geogram_smooth.cpp deleted file mode 100644 index 5b684b2275fb..000000000000 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/geogram_smooth.cpp +++ /dev/null @@ -1,161 +0,0 @@ - -#include -#include -#include -#include -#include - -#include - -class Mesh_wrapper : public Mesh_smoothing_3::helper_structures::Mixed_element_mesh { -public: - std::size_t nb_vertices() const override { return mesh.vertices.nb(); } - - Point_3 vertex_coordinates(Vertex_descriptor vertex) const override { - return mesh.vertices.point(vertex); - } - void set_new_vertex_coordinates(GEO::index_t vertex, Point_3 coord) override { mesh.vertices.point(vertex) = coord; } - - GEO::index_range input_cell_range() const override { return GEO::index_range{mesh.cells.begin(), mesh.cells.end()}; } - - Vertex_descriptor get_cell_vertex(GEO::index_t cell, unsigned local_Vertex_descriptor) const override { - return mesh.cells.vertex(cell, local_Vertex_descriptor); - }; - - GEO::vec3 get_ref_vertex_coordinates(GEO::index_t vertex) const override { - assert(ref_mesh != nullptr); - return ref_mesh->vertices.point(vertex); - } - - Shape const * get_element_shape(GEO::index_t cell) const override { - switch (mesh.cells.type(cell)) { - case GEO::MESH_TET: - return &tet_ref; - break; - case GEO::MESH_HEX: - return &hex_ref; - break; - case GEO::MESH_PYRAMID: - return &py_ref; - break; - case GEO::MESH_PRISM: - return &we_ref; - break; - default: - return nullptr; - break; - } - } - -public: - Mesh_wrapper(GEO::Mesh &mesh_, GEO::Mesh const * ref_mesh_) - : mesh(mesh_) - , ref_mesh(ref_mesh_) - { - this->has_reference_mesh = (ref_mesh != nullptr); - we_ref.inverse = true; - this->assemble(); // CRITICAL - } - - void set_orientation(bool inv_tet, bool inv_hex, bool inv_pyr, bool inv_wed) { - tet_ref.inverse = inv_tet; - hex_ref.inverse = inv_hex; - py_ref.inverse = inv_pyr; - we_ref.inverse = !inv_wed; - } - - GEO::Mesh &mesh; - GEO::Mesh const * ref_mesh; - - Mesh_smoothing_3::Shapes::VTK_TETRAHEDRON tet_ref; - Mesh_smoothing_3::Shapes::GEOGRAM_HEXAHEDRON hex_ref; - Mesh_smoothing_3::Shapes::VTK_PYRAMID py_ref; - Mesh_smoothing_3::Shapes::VTK_WEDGE we_ref; -}; - -class Boundary_wrapper { -public: - using Face_descriptor = GEO::index_t; - using Normal_3 = GEO::vec3; - using Surface_patch_index = GEO::index_t; - unsigned nb_faces() const { return mesh.facets.nb(); } - - GEO::index_range face_range() const { return GEO::index_range{mesh.facets.begin(), mesh.facets.end()}; } - - unsigned patch_id(Face_descriptor f) const { return f; } - unsigned nb_face_vertices(Face_descriptor face) const { return mesh.facets.nb_vertices(face); } - auto face_vertices(Face_descriptor face) const { return mesh.facets.vertices(face); } -public: - GEO::Mesh const &mesh; -}; - - -int main(int argc, char** argv) { - GEO::initialize(); - const std::string filename = (argc > 1) ? argv[1] : "../data/fandisk_kenshi_hexmesh.mesh"; - - GEO::Mesh mesh; - if(!GEO::mesh_load(filename, mesh)) { - std::cerr << "Error loading mesh: " << filename << std::endl; - return EXIT_FAILURE; - } - mesh.facets.clear(); - mesh.cells.connect(); - mesh.cells.compute_borders(); - - GEO::Mesh reference; - reference.copy(mesh); - - GEO::Mesh surface; - if (argc > 2) { - const std::string surface_filename = argv[2]; - if(!GEO::mesh_load(surface_filename, surface)) { - std::cerr << "Error loading surface mesh: " << surface_filename << std::endl; - return EXIT_FAILURE; - } - } - else { - surface.copy(mesh); - } - surface.edges.clear(); - surface.cells.clear(); - surface.vertices.remove_isolated(); - surface.facets.triangulate(); - GEO::MeshFacetsAABB aabb; - aabb.initialize(surface); - - std::vector normal(surface.facets.nb()); - for (auto f : surface.facets) { - normal[f] = GEO::Geom::mesh_facet_normal(surface, f); - if (normal[f].length() > 1e-10) - normal[f] /= normal[f].length(); - else - normal[f] = GEO::vec3(0., 0., 1.); - } - - auto query = [&](GEO::vec3 const &coord, unsigned surface_id, double radius) -> std::tuple { - GEO::vec3 res; - double sqr_dist; - GEO::index_t facet = aabb.nearest_facet(coord, res, sqr_dist); - return {res, normal[facet], 1.}; - }; - - GEO::mesh_save(mesh, "input.mesh"); - GEO::mesh_save(surface, "surf.mesh"); - - Mesh_wrapper mesh_wrapper(mesh, nullptr); // replacing nullptr by &reference will use it as a reference; - Boundary_wrapper surface_wrapper{mesh}; - mesh_wrapper.set_orientation(false, true, false, true); // beware of the orientation of your input elements! - - Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper, surface_wrapper); - - smoother.set_boundary_query(query); - - smoother.set_verbose(); - smoother.set_max_number_of_iteration(100); - smoother.run(); - - GEO::mesh_save(mesh, "output.mesh"); - - return EXIT_SUCCESS; -} diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/geogram_smooth_custom.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/geogram_smooth_custom.cpp deleted file mode 100644 index f645738f0a7a..000000000000 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/geogram/geogram_smooth_custom.cpp +++ /dev/null @@ -1,228 +0,0 @@ - -#include -#include -#include -#include -#include - -#include - -class Mesh_wrapper : public Mesh_smoothing_3::helper_structures::Mixed_element_mesh { -public: - std::size_t nb_vertices() const override { return mesh.vertices.nb(); } - - Point_3 vertex_coordinates(Vertex_descriptor vertex) const override { - return mesh.vertices.point(vertex); - } - void set_new_vertex_coordinates(GEO::index_t vertex, Point_3 coord) override { mesh.vertices.point(vertex) = coord; } - - GEO::index_range input_cell_range() const override { return GEO::index_range{mesh.cells.begin(), mesh.cells.end()}; } - - Vertex_descriptor get_cell_vertex(GEO::index_t cell, unsigned local_Vertex_descriptor) const override { - return mesh.cells.vertex(cell, local_Vertex_descriptor); - }; - - GEO::vec3 get_ref_vertex_coordinates(GEO::index_t vertex) const override { - assert(ref_mesh != nullptr); - return ref_mesh->vertices.point(vertex); - } - - Shape const * get_element_shape(GEO::index_t cell) const override { - switch (mesh.cells.type(cell)) { - case GEO::MESH_TET: - return &tet_ref; - break; - case GEO::MESH_HEX: - return &hex_ref; - break; - case GEO::MESH_PYRAMID: - return &py_ref; - break; - case GEO::MESH_PRISM: - return &we_ref; - break; - default: - return nullptr; - break; - } - } - -public: - Mesh_wrapper(GEO::Mesh &mesh_, GEO::Mesh const * ref_mesh_) - : mesh(mesh_) - , ref_mesh(ref_mesh_) - { - this->has_reference_mesh = (ref_mesh != nullptr); - we_ref.inverse = true; - this->assemble(); // CRITICAL - } - - void set_orientation(bool inv_tet, bool inv_hex, bool inv_pyr, bool inv_wed) { - tet_ref.inverse = inv_tet; - hex_ref.inverse = inv_hex; - py_ref.inverse = inv_pyr; - we_ref.inverse = !inv_wed; - } - - GEO::Mesh &mesh; - GEO::Mesh const * ref_mesh; - - Mesh_smoothing_3::Shapes::VTK_TETRAHEDRON tet_ref; - Mesh_smoothing_3::Shapes::GEOGRAM_HEXAHEDRON hex_ref; - Mesh_smoothing_3::Shapes::VTK_PYRAMID py_ref; - Mesh_smoothing_3::Shapes::VTK_WEDGE we_ref; -}; - -class Boundary_wrapper { -public: - using Face_descriptor = GEO::index_t; - using Normal_3 = GEO::vec3; - using Surface_patch_index = unsigned; - unsigned nb_faces() const { return mesh.facets.nb(); } - - GEO::index_range face_range() const { return GEO::index_range{mesh.facets.begin(), mesh.facets.end()}; } - - unsigned patch_id(Face_descriptor f) const { return f; } - unsigned nb_face_vertices(Face_descriptor face) const { return mesh.facets.nb_vertices(face); } - auto face_vertices(Face_descriptor face) const { return mesh.facets.vertices(face); } -public: - GEO::Mesh const &mesh; -}; - -class PolyLine_wrapper { -public: - using Edge_descriptor = int; - using Curve_index = unsigned; - unsigned nb_edges() const { return mesh.edges.nb(); } - GEO::index_range edge_range() const { - return GEO::index_range{mesh.edges.begin(), mesh.edges.end()}; - } - unsigned curve_id(Edge_descriptor e) const { return e; } - int edge_vertex(Edge_descriptor edge, unsigned i) const { return mesh.edges.vertex(edge, i); } -public: - GEO::Mesh const &mesh; -}; - - -int main(int argc, char** argv) { - GEO::initialize(); - const std::string filename = (argc > 1) ? argv[1] : "../data/fandisk_kenshi_hexmesh.mesh"; - const std::string surface_filename = (argc > 2) ? argv[2] : ""; - const std::string curves_filename = (argc > 3) ? argv[3] : ""; - const std::string point_targets_filename = (argc > 4) ? argv[4] : ""; - - GEO::Mesh mesh; - if(!GEO::mesh_load(filename, mesh)) { - std::cerr << "Error loading mesh: " << filename << std::endl; - return EXIT_FAILURE; - } - - GEO::Mesh reference; - reference.copy(mesh); - - GEO::Mesh surface; - if (!surface_filename.empty()) { - if(!GEO::mesh_load(surface_filename, surface)) { - std::cerr << "Error loading surface mesh: " << surface_filename << std::endl; - return EXIT_FAILURE; - } - } - else { - surface.copy(mesh); - } - surface.edges.clear(); - surface.cells.clear(); - surface.vertices.remove_isolated(); - surface.facets.triangulate(); - GEO::MeshFacetsAABB aabb; - aabb.initialize(surface); - - std::vector normal(surface.facets.nb()); - for (auto f : surface.facets) { - normal[f] = GEO::Geom::mesh_facet_normal(surface, f); - if (normal[f].length() > 1e-10) - normal[f] /= normal[f].length(); - else - normal[f] = GEO::vec3(0., 0., 1.); - } - - auto query = [&](GEO::vec3 const &coord, unsigned surface_id, double radius) -> std::tuple { - GEO::vec3 res; - double sqr_dist; - GEO::index_t facet = aabb.nearest_facet(coord, res, sqr_dist); - return {res, normal[facet], 1.}; - }; - - - GEO::Mesh curves; - if (!curves_filename.empty()) { - if(!GEO::mesh_load(curves_filename, curves)) { - std::cerr << "Error loading curves mesh: " << curves_filename << std::endl; - return EXIT_FAILURE; - } - } - else { - curves.copy(mesh); - } - curves.facets.clear(); - curves.cells.clear(); - curves.vertices.remove_isolated(); - - GEO::mesh_save(mesh, "input.mesh"); - GEO::mesh_save(surface, "surf.mesh"); - GEO::mesh_save(curves, "curves.mesh"); - - std::vector direction(curves.edges.nb()); - for (auto e : curves.edges) { - curves.facets.create_triangle(curves.edges.vertex(e, 0), curves.edges.vertex(e, 1), curves.edges.vertex(e, 1)); - direction[e] = curves.vertices.point(curves.edges.vertex(e,1)) - curves.vertices.point(curves.edges.vertex(e,0)); - if (direction[e].length() > 1e-10) direction[e] /= direction[e].length(); - else direction[e] = GEO::vec3(0., 0., 1.); - } - GEO::MeshFacetsAABB aabb_curves; - aabb_curves.initialize(curves); - - auto curve_query = [&](GEO::vec3 const &coord, unsigned edge_id, double radius) -> std::tuple { - GEO::vec3 res; - double sqr_dist; - GEO::index_t edge = aabb_curves.nearest_facet(coord, res, sqr_dist); - return {res, direction[edge], 1.}; - }; - - std::vector> point_targets; - - if (!point_targets_filename.empty()) { - std::ifstream infile(point_targets_filename); - if (!infile) { - std::cerr << "Error opening point targets file: " << point_targets_filename << std::endl; - return EXIT_FAILURE; - } - GEO::index_t vertex_id; - double x, y, z; - while (infile >> vertex_id >> x >> y >> z) { - point_targets.emplace_back(vertex_id, GEO::vec3(x, y, z), 1.); - } - } - - - Mesh_wrapper mesh_wrapper(mesh, nullptr); // replacing nullptr by &reference will use it as a reference; - mesh_wrapper.set_orientation(false, true, false, true); // beware of the orientation of your input elements! - - Boundary_wrapper surface_wrapper{mesh}; - PolyLine_wrapper curve_wrapper{mesh}; - - Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper, surface_wrapper, curve_wrapper); - - smoother.set_boundary_query(query); - smoother.set_curves_query(curve_query); - smoother.set_vertex_target_positions(point_targets); - - smoother.set_boundary_weight(Mesh_smoothing_3::Parameters::STRONG); - smoother.set_verbose(); - smoother.set_max_number_of_iteration(100); - smoother.run(); - - GEO::mesh_save(mesh, "output.mesh"); - - return EXIT_SUCCESS; -} diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/libigl/CMakeLists.txt b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/libigl/CMakeLists.txt deleted file mode 100644 index 6e476b38e824..000000000000 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/libigl/CMakeLists.txt +++ /dev/null @@ -1,10 +0,0 @@ -FetchContent_Declare( - libigl - GIT_REPOSITORY https://github.com/libigl/libigl - GIT_TAG cd73f3a4f3425fc70191f2c644c24de4642aa3a9 -) -FetchContent_MakeAvailable(libigl) - -add_executable(libigl_handle_deformation libigl_handle_deformation.cpp) -target_link_libraries(libigl_handle_deformation PRIVATE Mesh_smoothing_3 igl::core) - diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/libigl/libigl_handle_deformation.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/libigl/libigl_handle_deformation.cpp deleted file mode 100644 index 55a9129ee7fd..000000000000 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/examples/libigl/libigl_handle_deformation.cpp +++ /dev/null @@ -1,90 +0,0 @@ -#include -#include - -#include - -#include -#include -#include - -using Mesh_smoothing_3::utils::Contiguous_unsigned_range; - -class Tetrahedral_mesh_wrapper { -public: - using Cell_descriptor = unsigned; - using Vertex_descriptor = int; - using Point_3 = Eigen::Vector3d; - - unsigned nb_cells() const { return T.rows(); } - unsigned nb_vertices() const { return V.rows(); } - - Point_3 vertex_coordinates(Vertex_descriptor vertex) const { return V.row(vertex); } - void set_new_vertex_coordinates(int vertex, Point_3 coord) { V.row(vertex) = coord; } - - Contiguous_unsigned_range cell_range() const { - return Contiguous_unsigned_range{0, nb_cells()}; - } - std::array cell_vertices(Cell_descriptor cell) const { - return {T(cell, 0), T(cell,1), T(cell,2), T(cell,3)}; - } - std::array cell_reference_shape(Cell_descriptor cell) const { - return {ref_V.row(T(cell, 0)), ref_V.row(T(cell,1)), ref_V.row(T(cell,2)), ref_V.row(T(cell,3))}; - } -public: - Eigen::MatrixXd &V; - Eigen::MatrixXd const &ref_V; - Eigen::MatrixXi const &T; -}; - -int main(int argc, char *argv[]) -{ - if (argc < 3) { - std::cerr << "Usage: " << argv[0] << " input.mesh input_handles.txt" << std::endl; - return EXIT_FAILURE; - } - const std::string filename = argv[1]; - const std::string handlename = argv[2]; - - Eigen::MatrixXd V; - Eigen::MatrixXi T; - Eigen::MatrixXi F; - - igl::readMESH(filename, V, T, F); - - // Print the vertices and faces matrices - std::cout << "Vertices: " << std::endl << V.rows() << std::endl; - std::cout << "Tets: " << std::endl << T.rows() << std::endl; - std::cout << "Faces: " << std::endl << F.rows() << std::endl; - - std::vector> handles; - { - std::ifstream handle_file(handlename); - if (!handle_file.is_open()) { - std::cerr << "Error opening handle file " << handlename << std::endl; - return EXIT_FAILURE; - } - unsigned vid; - double x, y, z; - while (handle_file >> vid >> x >> y >> z) { - handles.push_back({vid, Eigen::Vector3d{x, y, z}}); - } - } - - igl::writeMESH("handle_input.mesh", V, T, F); - - Eigen::MatrixXd ref_V = V; - - - Tetrahedral_mesh_wrapper mesh_wrapper {V, ref_V, T}; - - Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper); - smoother.set_verbose(); - smoother.set_locked_boundary(false); - - smoother.set_vertex_target_positions(handles); - - bool res = smoother.run(); - - std::cerr << "Smoothing result = " << (res ? "SUCCESS" : "FAILURE") << std::endl; - igl::writeMESH("handle_output.mesh", V, T, F); -} \ No newline at end of file diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/CMakeLists.txt b/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/CMakeLists.txt index 1c6f0c19e9ab..171fa59c7489 100644 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/CMakeLists.txt +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/CMakeLists.txt @@ -10,7 +10,10 @@ FetchContent_MakeAvailable(geogram) add_executable(geogram_smooth geogram_smooth.cpp) add_executable(geogram_smooth_custom geogram_smooth_custom.cpp) -target_link_libraries(geogram_smooth PRIVATE Mesh_smoothing_3 geogram) -target_link_libraries(geogram_smooth_custom PRIVATE Mesh_smoothing_3 geogram) - +target_link_libraries(geogram_smooth PRIVATE CGAL geogram Eigen3::Eigen) +target_link_libraries(geogram_smooth_custom PRIVATE CGAL geogram Eigen3::Eigen) +if(OpenMP_CXX_FOUND) + target_link_libraries(geogram_smooth PRIVATE OpenMP::OpenMP_CXX) + target_link_libraries(geogram_smooth_custom PRIVATE OpenMP::OpenMP_CXX) +endif() diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/geogram_smooth.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/geogram_smooth.cpp index 5b684b2275fb..2c4cd5c18b4c 100644 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/geogram_smooth.cpp +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/geogram_smooth.cpp @@ -1,13 +1,14 @@ -#include #include #include #include #include +#include + #include -class Mesh_wrapper : public Mesh_smoothing_3::helper_structures::Mixed_element_mesh { +class Mesh_wrapper : public CGAL::Mesh_smoothing_3::helper_structures::Mixed_element_mesh { public: std::size_t nb_vertices() const override { return mesh.vertices.nb(); } @@ -67,10 +68,10 @@ class Mesh_wrapper : public Mesh_smoothing_3::helper_structures::Mixed_element_m GEO::Mesh &mesh; GEO::Mesh const * ref_mesh; - Mesh_smoothing_3::Shapes::VTK_TETRAHEDRON tet_ref; - Mesh_smoothing_3::Shapes::GEOGRAM_HEXAHEDRON hex_ref; - Mesh_smoothing_3::Shapes::VTK_PYRAMID py_ref; - Mesh_smoothing_3::Shapes::VTK_WEDGE we_ref; + CGAL::Mesh_smoothing_3::Shapes::VTK_TETRAHEDRON tet_ref; + CGAL::Mesh_smoothing_3::Shapes::GEOGRAM_HEXAHEDRON hex_ref; + CGAL::Mesh_smoothing_3::Shapes::VTK_PYRAMID py_ref; + CGAL::Mesh_smoothing_3::Shapes::VTK_WEDGE we_ref; }; class Boundary_wrapper { @@ -147,7 +148,7 @@ int main(int argc, char** argv) { Boundary_wrapper surface_wrapper{mesh}; mesh_wrapper.set_orientation(false, true, false, true); // beware of the orientation of your input elements! - Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper, surface_wrapper); + CGAL::Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper, surface_wrapper); smoother.set_boundary_query(query); diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/geogram_smooth_custom.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/geogram_smooth_custom.cpp index f645738f0a7a..ea892194df65 100644 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/geogram_smooth_custom.cpp +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/geogram/geogram_smooth_custom.cpp @@ -1,13 +1,14 @@ -#include #include #include #include #include +#include + #include -class Mesh_wrapper : public Mesh_smoothing_3::helper_structures::Mixed_element_mesh { +class Mesh_wrapper : public CGAL::Mesh_smoothing_3::helper_structures::Mixed_element_mesh { public: std::size_t nb_vertices() const override { return mesh.vertices.nb(); } @@ -67,10 +68,10 @@ class Mesh_wrapper : public Mesh_smoothing_3::helper_structures::Mixed_element_m GEO::Mesh &mesh; GEO::Mesh const * ref_mesh; - Mesh_smoothing_3::Shapes::VTK_TETRAHEDRON tet_ref; - Mesh_smoothing_3::Shapes::GEOGRAM_HEXAHEDRON hex_ref; - Mesh_smoothing_3::Shapes::VTK_PYRAMID py_ref; - Mesh_smoothing_3::Shapes::VTK_WEDGE we_ref; + CGAL::Mesh_smoothing_3::Shapes::VTK_TETRAHEDRON tet_ref; + CGAL::Mesh_smoothing_3::Shapes::GEOGRAM_HEXAHEDRON hex_ref; + CGAL::Mesh_smoothing_3::Shapes::VTK_PYRAMID py_ref; + CGAL::Mesh_smoothing_3::Shapes::VTK_WEDGE we_ref; }; class Boundary_wrapper { @@ -211,13 +212,13 @@ int main(int argc, char** argv) { Boundary_wrapper surface_wrapper{mesh}; PolyLine_wrapper curve_wrapper{mesh}; - Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper, surface_wrapper, curve_wrapper); + CGAL::Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper, surface_wrapper, curve_wrapper); smoother.set_boundary_query(query); smoother.set_curves_query(curve_query); smoother.set_vertex_target_positions(point_targets); - smoother.set_boundary_weight(Mesh_smoothing_3::Parameters::STRONG); + smoother.set_boundary_weight(CGAL::Mesh_smoothing_3::Parameters::STRONG); smoother.set_verbose(); smoother.set_max_number_of_iteration(100); smoother.run(); diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/libigl/CMakeLists.txt b/Mesh_smoothing_3/examples/Mesh_smoothing_3/libigl/CMakeLists.txt index 6e476b38e824..dcf096c40658 100644 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/libigl/CMakeLists.txt +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/libigl/CMakeLists.txt @@ -6,5 +6,8 @@ FetchContent_Declare( FetchContent_MakeAvailable(libigl) add_executable(libigl_handle_deformation libigl_handle_deformation.cpp) -target_link_libraries(libigl_handle_deformation PRIVATE Mesh_smoothing_3 igl::core) +target_link_libraries(libigl_handle_deformation PRIVATE CGAL igl::core Eigen3::Eigen) +if(OpenMP_CXX_FOUND) + target_link_libraries(libigl_handle_deformation PRIVATE OpenMP::OpenMP_CXX) +endif() diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/libigl/libigl_handle_deformation.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/libigl/libigl_handle_deformation.cpp index 55a9129ee7fd..a8d0772efea3 100644 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/libigl/libigl_handle_deformation.cpp +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/libigl/libigl_handle_deformation.cpp @@ -1,13 +1,13 @@ #include #include -#include +#include #include #include #include -using Mesh_smoothing_3::utils::Contiguous_unsigned_range; +using CGAL::Mesh_smoothing_3::utils::Contiguous_unsigned_range; class Tetrahedral_mesh_wrapper { public: @@ -77,7 +77,7 @@ int main(int argc, char *argv[]) Tetrahedral_mesh_wrapper mesh_wrapper {V, ref_V, T}; - Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper); + CGAL::Mesh_smoothing_3::Mesh_smoother smoother(mesh_wrapper); smoother.set_verbose(); smoother.set_locked_boundary(false); From 30d445fa3ebca53e97962b077e62fde13a42e0cd Mon Sep 17 00:00:00 2001 From: Francois Protais Date: Fri, 24 Jul 2026 11:24:44 +0200 Subject: [PATCH 06/86] Code to latest cgal version --- .../examples/Mesh_smoothing_3/c3t3_smooth.cpp | 19 +++---------------- 1 file changed, 3 insertions(+), 16 deletions(-) diff --git a/Mesh_smoothing_3/examples/Mesh_smoothing_3/c3t3_smooth.cpp b/Mesh_smoothing_3/examples/Mesh_smoothing_3/c3t3_smooth.cpp index 51eb870a0a47..e03c8ad2790f 100644 --- a/Mesh_smoothing_3/examples/Mesh_smoothing_3/c3t3_smooth.cpp +++ b/Mesh_smoothing_3/examples/Mesh_smoothing_3/c3t3_smooth.cpp @@ -52,19 +52,6 @@ typedef CGAL::Mesh_criteria_3 Mesh_criteria; // C3t3 typedef CGAL::Mesh_complex_3_in_triangulation_3 C3t3; - -#if CGAL_VERSION_NR >= CGAL_VERSION_NUMBER(6, 2, 0) // todo remove after inclusion into cgal proper - using Image_internal = CGAL::_image; - auto image_WK_FIXED = CGAL::WK_FIXED; - auto image_SGN_UNSIGNED = CGAL::SGN_UNSIGNED; -// Code for CGAL 6.0 or newer -#else - using Image_internal = _image; - auto image_WK_FIXED = WK_FIXED; - auto image_SGN_UNSIGNED = SGN_UNSIGNED; -#endif - - // AABB traits for C3t3 facets and edges struct Facet_to_triangle_property_map { @@ -155,9 +142,9 @@ namespace params = CGAL::parameters; CGAL::Image_3 create_cgal_image(const std::size_t& xdim, const std::size_t& ydim, const std::size_t& zdim, double vx = 1.0, double vy = 1.0, double vz = 1.0) { - Image_internal* im = _createImage(xdim, ydim, zdim, 1, + CGAL::_image* im = _createImage(xdim, ydim, zdim, 1, vx, vy, vz, 1, - image_WK_FIXED, image_SGN_UNSIGNED); + CGAL::WK_FIXED, CGAL::SGN_UNSIGNED); std::fill_n(static_cast(im->data), xdim*ydim*zdim, 0); return CGAL::Image_3(im); } @@ -168,7 +155,7 @@ void add_rectangle_in_image(const K::Point_3& rectangle_min, // [0..1]^3 CGAL::Image_3 &image) { using CGAL::IMAGEIO::static_evaluate; - Image_internal* im = image.image(); + CGAL::_image* im = image.image(); const std::size_t min_x = rectangle_min.x() * im->xdim; const std::size_t min_y = rectangle_min.y() * im->ydim; const std::size_t min_z = rectangle_min.z() * im->zdim; From 2da4b1184db7c01a072f8ac6bbdae6a01a16d2d2 Mon Sep 17 00:00:00 2001 From: Francois Protais Date: Fri, 24 Jul 2026 13:26:08 +0200 Subject: [PATCH 07/86] New image --- .../fig/Mesh_smoothing_pkg.png | Bin 9467 -> 27045 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/Mesh_smoothing_3/doc/Mesh_smoothing_3/fig/Mesh_smoothing_pkg.png b/Mesh_smoothing_3/doc/Mesh_smoothing_3/fig/Mesh_smoothing_pkg.png index 5609b037587a48c46b483d2c0768c7ae88b40c72..716cf1ed5096690d1d13b2aed24ede745b9ff8fd 100644 GIT binary patch literal 27045 zcmXVY2|SnE`h9gOl_Hcmk|88>s7T376f#wmkR)^Fp)x0wS*DOwk|`lmrjS&UO6D;_ zrp(iS?fd)R`#JZV>*)J^-@TvxJnLC&Jv->EhSIJb%sV!0*sx1QSzZf&cg9~X+qU9= z>uqit<8S+~Dr=qDu)&RI!-m_w8#XNAN4JMJY`7)7VZ)!x8#Ww^-LQedHsS3#Y5a?= zCTdFZ8`jBxAD3lB;3pK0DrXcZ{!lPd?qR%1^YHzK4Hkz~IQnZed_4(m%^^>+p>>cjwm6f6A7tJMhu8%i)#7tEIO_F(wV+ z+(sVJTF>QE&h|K!6t`*dM{RJCPNMOim~t6d-dJjs?UAMRyk>OvLj~Og)0#7X)Q+&a z{(0y1F{V8`{8qfD*b3W2@W-F)tW{6+F1s3KJJ-xlU8@cKm zXlVGe!dq51b8ms+8BD#V>(rmj><{sWebaRKn@1e6%9H)< z>#-#hYLpf0s}mxOJ3HJ)vpB7D;i4eJ&6_t9jys2@tHszaPMh(Zc~tY#AYb{+8Ey`aJEsGvrm!J1 zOQYFot(F_N?by-x?#_RXj*gRG)r3N%5{$BAK7G=-7aTk?Jbc;K_5s#fPEKyyu3ZXQ zx)F~aeMmU!u#J*(xzPI6ABKvBTA`wp58}+b`rn82PY*WkVPFu$=JxgV4UA~>?s<}t zLAQJNyGKWE;A>Kgi{sA3OV|z6)4X``qQ0S_H$<|l=MDwiyuASP5ojaj^#5cFkBpn(2Nx|+rh!X!D;(;GB>ubx!^Ih)Ot*wW?U$EgmdNeL4NBG40iUZ=mfgC)M zt6RCbxqbcpY3b;Enk~5S8?BjobSx~vZB{(Iyn#P|>YrE|=G4;G-cC)OQCgZ1!XlYx zKdAcQ!v{tgH}USpPtMP>vk&s~-@^&okfl3%Eo0A)Emz;)@2!8xNg|3#%=~e)#ftSS z?0~d%!tL7|=!J~bFI-?r_MBr<3T5TMYaVqN%CYU0`&-mcwPVK)UO~b4)`eo$9a5!6 zLT+VA0|TbIS%wOhmi!_jA}-Qw*dgIK^_Tj&cRzkqx4dz~0Bad9X=83-5oqH%dO;ey zrk;2#Dmt1TaUF3`b13Lw(&d$fDJ{yCk{iCZWky2SPqHuW^VXk|WE!8SL?G5S_55kg z6fiDN!1-)xZoZ?D(Lejc_}bda;(az5=911&bK~s|jg6dqeA{tgk^ADruhU-plyK$O z>+6W&h@>QqvuAfdeE1M)Ezi31n7xC;_U+p_urS}h>qZM1f5OpP7|Z`WJUZHstr%=L zm^|>eWP<15!GI@ExK6B0p028@s;{qSv=f_klVM_FdTCU~e7m$%dc@)=E0v|C<nGek7VJ35N1#RzgAKYn3{sHiCI zZB5zL$cBi6I8?Xm`YUnvwX~|1W=Eetd$#|;fx7{0Zh=Z{uD%@|7k6&`56K|5$sBpZ zWwMfDkZnEV`x!sV-TU^P(bA$tT1|iTD)jYhaS}dcLy)TX?b}z>Y29Hhshb&9RV8;{ zk@NcX>qt^|D+_kh)6>Ww={Umg-z#cqX+6u#3U(+?5sdUL`3uG?8^&

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.../doc/Mesh_smoothing_3/Mesh_smoothing_3.txt | 140 +++++++++++++++++- .../doc/Mesh_smoothing_3/fig/c3t3_image.jpg | Bin 0 -> 1119020 bytes .../doc/Mesh_smoothing_3/fig/constraints.jpg | Bin 0 -> 1268848 bytes .../doc/Mesh_smoothing_3/fig/stairs.jpg | Bin 0 -> 1119020 bytes .../alpha_wrap_improvement.cpp | 2 +- 5 files changed, 133 insertions(+), 9 deletions(-) create mode 100644 Mesh_smoothing_3/doc/Mesh_smoothing_3/fig/c3t3_image.jpg create mode 100644 Mesh_smoothing_3/doc/Mesh_smoothing_3/fig/constraints.jpg create mode 100644 Mesh_smoothing_3/doc/Mesh_smoothing_3/fig/stairs.jpg diff --git a/Mesh_smoothing_3/doc/Mesh_smoothing_3/Mesh_smoothing_3.txt b/Mesh_smoothing_3/doc/Mesh_smoothing_3/Mesh_smoothing_3.txt index dfc7bc55d620..c23bf5ea4fe1 100644 --- a/Mesh_smoothing_3/doc/Mesh_smoothing_3/Mesh_smoothing_3.txt +++ b/Mesh_smoothing_3/doc/Mesh_smoothing_3/Mesh_smoothing_3.txt @@ -1,23 +1,147 @@ namespace CGAL { + /*! \mainpage User Manual -\anchor Chapter_3D_Mesh_smoothing + +\anchor Chapter_Mesh_Smoothing_3 +\anchor userchaptermeshsmoothing3 + \cgalAutoToc -\author François Protais +\image html constraints.jpg +\image latex constraints.jpg +
+ +\authors François Protais + +todo: +* pass on the text, +* modify example to actually smooth a c3t3 that we read + + +\section secMeshSmoothing3 Volume Mesh Smoothing and Geometric Fitting + +This package implements an optimization algorithm for improving the quality of +volumetric meshes and fitting them to geometric targets. The method supports +tetrahedral meshes as well as mixed meshes containing tetrahedra, pyramids, +wedges, and hexahedra. It can be used to smooth an already valid mesh, untangle +an invalid mesh, or deform a mesh so that its boundary follows a prescribed +geometry. + +The algorithm only modifies vertex coordinates. It does not insert or remove +vertices, change cell connectivity, or alter the combinatorial structure of the +input mesh. Consequently, cell indices, material labels, adjacency relations, +and other data attached to the mesh can be preserved throughout the +optimization. + +\subsection ssecMeshSmoothingAlgorithm Smoothing and Fitting Algorithm + +The algorithm optimizes vertex positions according to an element-quality +energy. The default objective improves the conformal quality of the cells, +while alternative modes can include sizing information or focus the +optimization on the worst local element quality. Interior vertices are moved +to improve the volume mesh, while boundary vertices can additionally be +attracted towards a target geometry. + +For an initially valid mesh, exact geometric predicates can be enabled to +reject coordinate updates that would invert an element. In this mode, all +accepted optimization steps preserve element orientation, providing a +validity guarantee while the element quality is improved. Predicate checking +can also be used during untangling to monitor the transition from an invalid +input mesh to a valid output mesh. + +Geometric targets can be specified at several dimensions: + +- surface targets constrain boundary polygons to locally estimated tangent + planes; +- curve targets constrain selected mesh edges to target tangent directions; +- point targets attract individual vertices to prescribed positions. + +Surface patches and curves may be assigned different identifiers, allowing +different parts of the mesh to use different target geometries. Constraints +are soft and weighted by default, so geometric fidelity can be balanced +against element quality. Vertices, or individual coordinate dimensions, can +also be locked when hard constraints are required. Combining surface, curve, +and point targets allows smooth regions, sharp curves, corners, and user +handles to be treated within the same optimization. + +\section secMeshSmoothing3API API + +The main API is provided by the templated class +`Mesh_smoothing_3::Mesh_smoother`. +The three template parameters provide lightweight views of the volume cells, +the selected boundary polygons, and the selected curve edges. These views +supply descriptors and ranges for traversing the input data structure, access +to vertex coordinates, and the reference shape associated with each cell. +The optimizer updates the original mesh in place through its coordinate setter; +no conversion to an internal mesh representation is required. + +After construction, the smoother can be configured through member functions. +Surface, curve, and point targets are respectively defined with +`set_boundary_query()`, `set_curves_query()`, and +`set_vertex_target_position()`. Additional functions control vertex locks, +constraint weights, predicate enforcement, optimization modes, and the maximum +number of iterations. The optimization is started with `run()`. + +For a `CGAL::Mesh_complex_3_in_triangulation_3`, the convenience class +`Mesh_smoothing_3::C3t3_smoother` directly adapts the volume cells, +surface patches, and feature curves stored in the complex. + +\section secMeshSmoothing3Examples Examples + +\subsection ssecMeshSmoothingC3t3 Direct Smoothing of a C3t3 + +The following example demonstrates the direct use of the smoother on a +`CGAL::Mesh_complex_3_in_triangulation_3`. A multi-domain `C3t3` is generated +from a labeled image and deformed to create a low-quality input. The +`C3t3_smoother` is then constructed directly from the complex. + +The volume cells, boundary facets, surface-patch indices, feature edges, and +curve indices are read from the same `C3t3`; they do not need to be copied into +separate arrays or converted to a standalone surface representation. Target +queries are built from AABB trees associated with each surface patch and each +feature curve. The smoother consequently improves the tetrahedra while keeping +the boundary facets and feature edges aligned with their corresponding +geometric targets. + +\cgalFigureBegin{Mesh_smoothing_c3t3, c3t3_image.jpg} +Smoothing of a deformed multi-domain `C3t3`. +The volume mesh, surface patches, and feature curves are handled directly +through the `C3t3` data structure. +\cgalFigureEnd + +\cgalExample{Mesh_smoothing_3/c3t3_smooth.cpp} -This chapter describes the ... +\subsection ssecMeshWrapImprovement Feature-Preserving Improvement of an Alpha Wrap Offset -\section secmydefinitions Definitions +The following example combines the \ref PkgAlphaWrap3 package with volume mesh +improvement. Alpha Wrap first generates a watertight offset surface and its +underlying Delaunay triangulation. The cells inside the wrap are identified, +and tetrahedral remeshing is applied to improve the sampling of the volume +while leaving the boundary connectivity unchanged. -Section on definitions here ... +A first smoothing pass improves the tetrahedral elements with the boundary +vertices fixed. The boundary is then released and a geometric query defines +the target offset: each query point is projected onto the input triangle soup +and displaced by the requested offset distance along the outward direction. +The optimizer jointly moves the boundary and interior vertices to recover the +offset geometry without sacrificing the quality of the volume cells. -\section secmyexamples Examples +Unlike point redistribution performed directly on the wrapped surface, the +fitting energy allows neighboring boundary facets to align with different +local target planes. Sharp edges and corners that were rounded by Alpha Wrap +can therefore be recovered automatically, without explicitly extracting or +tagging a feature graph. -\subsection myFirstExample First Example +\cgalFigureBegin{Mesh_wrap_improvement, stairs.jpg} +Feature-preserving offsets for several Alpha Wrap gate sizes. +The upper row shows the Alpha Wrap results, in which the stair edges remain +rounded. The lower row shows the meshes after volume fitting, which recovers +the sharp features while improving the underlying tetrahedral mesh. +\cgalFigureEnd -The following example shows ... +\cgalExample{Mesh_smoothing_3/alpha_wrap_improvement.cpp} */ } /* namespace CGAL */ diff --git a/Mesh_smoothing_3/doc/Mesh_smoothing_3/fig/c3t3_image.jpg b/Mesh_smoothing_3/doc/Mesh_smoothing_3/fig/c3t3_image.jpg new file mode 100644 index 0000000000000000000000000000000000000000..082b9a2421b9697620613b078f2e1532f17ecb13 GIT binary patch literal 1119020 zcmeFZXINC*vNqa?5=1~mKw=|Ekf`L`A_5{=BuP@qIp@#{Dw!suAhbx%k|nm}Bsn%Y z$0ld!ZoY|Y?Y-B&=bXF0``sV+$6eFs@qt-$j;eYqj4`UlCn6ytBqSyyCLz6f zlkDd88@I@B-6RKozIiza&gGl9R|$X@ZxRs_0eAl&UKc+>WCXZ*B*nNmWS}c#IJjgu z7tJ7sOEItFUdsEA>*^KUYj`;L1ccWCy8BJg6&zfgtAMO{__qkIgQ#$>;DWA_UBkO| z_aQz3Ig_;dZNArz?+7WFA4jF~KY!!oUrc>ZCi+`LKjj?(VG#{&V`o>l*tn9?vVlP= zmM1TCV&WSGMddZMTmn9%HSY*1m<-MBvdX@1VmJMmUd|@>bbcXY4`56Shy;lBSHS?z 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