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add triangle mesh affine transform

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This commit is contained in:
AndreaRigoni
2026-03-19 13:11:49 +00:00
parent 4cb4560921
commit ca5f576b99
6 changed files with 96 additions and 21 deletions
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25
src/Math/TriangleMesh.cpp
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@@ -34,14 +34,14 @@ void TriangleMesh::PrintSelf(std::ostream &o)
o << " // ------- TRIANGLE MESH ------- // \n" ;
o << " #Points : " << m_Points.size() << "\n";
o << " #Triang : " << m_Triangles.size() << "\n";
for(int i=0; i < m_Triangles.size(); ++i ) {
for(int i=0; i < (int)m_Triangles.size(); ++i ) {
o << " - triangle[" << i << "]" <<
" " << m_Triangles[i](0) <<
"->(" << m_Points[m_Triangles[i](0)].transpose() << ") " <<
"->(" << GetPoint(m_Triangles[i](0)).transpose() << ") " <<
" " << m_Triangles[i](1) <<
"->(" << m_Points[m_Triangles[i](1)].transpose() << ") " <<
"->(" << GetPoint(m_Triangles[i](1)).transpose() << ") " <<
" " << m_Triangles[i](2) <<
"->(" << m_Points[m_Triangles[i](2)].transpose() << ") " <<
"->(" << GetPoint(m_Triangles[i](2)).transpose() << ") " <<
" \n";
}
o << " // ----------------------------- // \n";
@@ -49,7 +49,16 @@ void TriangleMesh::PrintSelf(std::ostream &o)
void TriangleMesh::AddPoint(const Vector3f &pt)
{
this->m_Points.push_back(pt);
Vector4f p(pt.x(), pt.y(), pt.z(), 1.0f);
Vector4f localP = this->GetWorldMatrix().inverse() * p;
this->m_Points.push_back(localP.head<3>());
}
Vector3f TriangleMesh::GetPoint(const Id_t id) const
{
Vector4f p(m_Points.at(id).x(), m_Points.at(id).y(), m_Points.at(id).z(), 1.0f);
Vector4f worldP = this->GetWorldMatrix() * p;
return worldP.head<3>();
}
void TriangleMesh::AddTriangle(const Id_t *id)
@@ -66,9 +75,9 @@ void TriangleMesh::AddTriangle(const Vector3i &id)
Vector3f TriangleMesh::GetNormal(const Id_t id) const
{
const Vector3i &trg = m_Triangles.at(id);
const Vector3f &v0 = m_Points.at(trg(0));
const Vector3f &v1 = m_Points.at(trg(1));
const Vector3f &v2 = m_Points.at(trg(2));
const Vector3f v0 = this->GetPoint(trg(0));
const Vector3f v1 = this->GetPoint(trg(1));
const Vector3f v2 = this->GetPoint(trg(2));
Vector3f edge1 = v1 - v0;
Vector3f edge2 = v2 - v0;

11
src/Math/TriangleMesh.h
View File

@@ -32,24 +32,33 @@
#include "Math/Dense.h"
#include "Core/Object.h"
#include "Math/Transform.h"
namespace uLib {
class TriangleMesh
class TriangleMesh : public AffineTransform, public Object
{
public:
void PrintSelf(std::ostream &o);
/** @brief Adds a point in global coordinates. Stored in local coordinates. */
void AddPoint(const Vector3f &pt);
void AddTriangle(const Id_t *id);
void AddTriangle(const Vector3i &id);
/** @brief Returns point in global coordinates. */
Vector3f GetPoint(const Id_t id) const;
inline std::vector<Vector3f> & Points() { return this->m_Points; }
inline std::vector<Vector3i> & Triangles() { return this->m_Triangles; }
const Vector3i & GetTriangle(const Id_t id) const { return m_Triangles.at(id); }
Vector3f GetNormal(const Id_t id) const;
virtual void Updated() override { ULIB_SIGNAL_EMIT(TriangleMesh::Updated); }
private:
std::vector<Vector3f> m_Points;
std::vector<Vector3i> m_Triangles;

15
src/Math/testing/TriangleMeshTest.cpp
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@@ -43,5 +43,20 @@ int main() {
mesh.PrintSelf(std::cout);
TEST1(mesh.Points().size() == 3);
TEST1(mesh.Triangles().size() == 1);
// Test transformation
mesh.Translate(Vector3f(10, 20, 30));
Vector3f p0 = mesh.GetPoint(0);
TEST1( (p0 - Vector3f(10, 20, 30)).norm() < 1e-6 );
// Test AddPoint during transformation
mesh.AddPoint(Vector3f(11, 21, 31)); // Should be stored as (1, 1, 1) locally
Id_t lastId = mesh.Points().size() - 1;
TEST1( (mesh.Points().at(lastId) - Vector3f(1, 1, 1)).norm() < 1e-5 );
mesh.PrintSelf(std::cout);
END_TESTING;
}