diff --git a/CMakeLists.txt b/CMakeLists.txt
index dde382482423c12ff1cde8803a3c4bf8558de82a..1a0182893a9d9977a7875e031cfef3c050706690 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -50,9 +50,6 @@ print_var(STEREO)
option(AVI "Use Avi File from Point Grey (currently not supported)" OFF)
print_var(AVI)
-option(LIBELAS "Use Libelas" OFF)
-print_var(LIBELAS)
-
option(DISABLE_STEREO "Disable Stereo features (currently must be taken)" ON)
print_var(DISABLE_STEREO)
@@ -156,7 +153,6 @@ add_library(petrack_core STATIC)
add_executable(petrack src/main.cpp)
target_link_libraries(petrack PRIVATE petrack_core)
-# TODO we should remove this compile option and be more strict
target_compile_options(petrack_core PRIVATE ${COMMON_COMPILE_OPTIONS})
target_compile_definitions(petrack_core PUBLIC STEREO_DISABLED)
@@ -204,19 +200,6 @@ target_sources(petrack_core PRIVATE src/analysePlot.cpp)
#*************************************************************
# Handling of Options *
#*************************************************************
-if(LIBELAS)
- target_compile_definitions(petrack_core PRIVATE LIBELAS)
- add_library(elas STATIC
- src/libelas/elasDescriptor.cpp
- src/libelas/elas.cpp
- src/libelas/elasFilter.cpp
- src/libelas/elasMatrix.cpp
- src/libelas/elasTriangle.cpp
- )
- target_include_directories(elas PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
- target_compile_options(elas PRIVATE "-fpermissive")
- target_link_libraries(petrack_core PRIVATE elas)
-endif(LIBELAS)
# TODO currently not available
if(AVI)
diff --git a/include/libelas/elas.h b/include/libelas/elas.h
deleted file mode 100644
index 09d0bfc12f9b33bf7f7ff3239263bf61388c2f6f..0000000000000000000000000000000000000000
--- a/include/libelas/elas.h
+++ /dev/null
@@ -1,236 +0,0 @@
-/*
-Copyright 2011. All rights reserved.
-Institute of Measurement and Control Systems
-Karlsruhe Institute of Technology, Germany
-
-This file is part of libelas.
-Authors: Andreas Geiger
-
-libelas is free software; you can redistribute it and/or modify it under the
-terms of the GNU General Public License as published by the Free Software
-Foundation; either version 3 of the License, or any later version.
-
-libelas is distributed in the hope that it will be useful, but WITHOUT ANY
-WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
-PARTICULAR PURPOSE. See the GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License along with
-libelas; if not, write to the Free Software Foundation, Inc., 51 Franklin
-Street, Fifth Floor, Boston, MA 02110-1301, USA
-*/
-
-// Main header file. Include this to use libelas in your code.
-
-#ifndef __ELAS_H__
-#define __ELAS_H__
-
-#include <iostream>
-#include <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-#include <vector>
-#include <emmintrin.h>
-
-// define fixed-width datatypes for Visual Studio projects
-//#ifndef _MSC_VER
- #include <stdint.h>
-//#else
-// typedef __int8 int8_t;
-// typedef __int16 int16_t;
-// typedef __int32 int32_t;
-// typedef __int64 int64_t;
-// typedef unsigned __int8 uint8_t;
-// typedef unsigned __int16 uint16_t;
-// typedef unsigned __int32 uint32_t;
-// typedef unsigned __int64 uint64_t;
-//#endif
-
-#ifdef PROFILE
-#include "timer.h"
-#endif
-
-class Elas {
-
-public:
-
- enum setting {ROBOTICS,MIDDLEBURY};
-
- // parameter settings
- struct parameters {
- int32_t disp_min; // min disparity
- int32_t disp_max; // max disparity
- float support_threshold; // max. uniqueness ratio (best vs. second best support match)
- int32_t support_texture; // min texture for support points
- int32_t candidate_stepsize; // step size of regular grid on which support points are matched
- int32_t incon_window_size; // window size of inconsistent support point check
- int32_t incon_threshold; // disparity similarity threshold for support point to be considered consistent
- int32_t incon_min_support; // minimum number of consistent support points
- bool add_corners; // add support points at image corners with nearest neighbor disparities
- int32_t grid_size; // size of neighborhood for additional support point extrapolation
- float beta; // image likelihood parameter
- float gamma; // prior constant
- float sigma; // prior sigma
- float sradius; // prior sigma radius
- int32_t match_texture; // min texture for dense matching
- int32_t lr_threshold; // disparity threshold for left/right consistency check
- float speckle_sim_threshold; // similarity threshold for speckle segmentation
- int32_t speckle_size; // maximal size of a speckle (small speckles get removed)
- int32_t ipol_gap_width; // interpolate small gaps (left<->right, top<->bottom)
- bool filter_median; // optional median filter (approximated)
- bool filter_adaptive_mean; // optional adaptive mean filter (approximated)
- bool postprocess_only_left; // saves time by not postprocessing the right image
- bool subsampling; // saves time by only computing disparities for each 2nd pixel
- // note: for this option D1 and D2 must be passed with size
- // width/2 x height/2 (rounded towards zero)
-
- // constructor
- parameters (setting s=ROBOTICS) {
-
- // default settings in a robotics environment
- // (do not produce results in half-occluded areas
- // and are a bit more robust towards lighting etc.)
- if (s==ROBOTICS) {
- disp_min = 0;
- disp_max = 255;
- support_threshold = 0.85;
- support_texture = 10;
- candidate_stepsize = 5;
- incon_window_size = 5;
- incon_threshold = 5;
- incon_min_support = 5;
- add_corners = 0;
- grid_size = 20;
- beta = 0.02;
- gamma = 3;
- sigma = 1;
- sradius = 2;
- match_texture = 1;
- lr_threshold = 2;
- speckle_sim_threshold = 1;
- speckle_size = 200;
- ipol_gap_width = 3;
- filter_median = 0;
- filter_adaptive_mean = 1;
- postprocess_only_left = 1;
- subsampling = 0;
-
- // default settings for middlebury benchmark
- // (interpolate all missing disparities)
- } else {
- disp_min = 0;
- disp_max = 255;
- support_threshold = 0.95;
- support_texture = 10;
- candidate_stepsize = 5;
- incon_window_size = 5;
- incon_threshold = 5;
- incon_min_support = 5;
- add_corners = 1;
- grid_size = 20;
- beta = 0.02;
- gamma = 5;
- sigma = 1;
- sradius = 3;
- match_texture = 0;
- lr_threshold = 2;
- speckle_sim_threshold = 1;
- speckle_size = 200;
- ipol_gap_width = 5000;
- filter_median = 1;
- filter_adaptive_mean = 0;
- postprocess_only_left = 0;
- subsampling = 0;
- }
- }
- };
-
- // constructor, input: parameters
- Elas (parameters param) : param(param) {}
-
- // deconstructor
- ~Elas () {}
-
- // matching function
- // inputs: pointers to left (I1) and right (I2) intensity image (uint8, input)
- // pointers to left (D1) and right (D2) disparity image (float, output)
- // dims[0] = width of I1 and I2
- // dims[1] = height of I1 and I2
- // dims[2] = bytes per line (often equal to width, but allowed to differ)
- // note: D1 and D2 must be allocated before (bytes per line = width)
- // if subsampling is not active their size is width x height,
- // otherwise width/2 x height/2 (rounded towards zero)
- void process (uint8_t* I1,uint8_t* I2,float* D1,float* D2,const int32_t* dims);
-
-private:
-
- struct support_pt {
- int32_t u;
- int32_t v;
- int32_t d;
- support_pt(int32_t u,int32_t v,int32_t d):u(u),v(v),d(d){}
- };
-
- struct triangle {
- int32_t c1,c2,c3;
- float t1a,t1b,t1c;
- float t2a,t2b,t2c;
- triangle(int32_t c1,int32_t c2,int32_t c3):c1(c1),c2(c2),c3(c3){}
- };
-
- inline uint32_t getAddressOffsetImage (const int32_t& u,const int32_t& v,const int32_t& width) {
- return v*width+u;
- }
-
- inline uint32_t getAddressOffsetGrid (const int32_t& x,const int32_t& y,const int32_t& d,const int32_t& width,const int32_t& disp_num) {
- return (y*width+x)*disp_num+d;
- }
-
- // support point functions
- void removeInconsistentSupportPoints (int16_t* D_can,int32_t D_can_width,int32_t D_can_height);
- void removeRedundantSupportPoints (int16_t* D_can,int32_t D_can_width,int32_t D_can_height,
- int32_t redun_max_dist, int32_t redun_threshold, bool vertical);
- void addCornerSupportPoints (std::vector<support_pt> &p_support);
- inline int16_t computeMatchingDisparity (const int32_t &u,const int32_t &v,uint8_t* I1_desc,uint8_t* I2_desc,const bool &right_image);
- std::vector<support_pt> computeSupportMatches (uint8_t* I1_desc,uint8_t* I2_desc);
-
- // triangulation & grid
- std::vector<triangle> computeDelaunayTriangulation (std::vector<support_pt> p_support,int32_t right_image);
- void computeDisparityPlanes (std::vector<support_pt> p_support,std::vector<triangle> &tri,int32_t right_image);
- void createGrid (std::vector<support_pt> p_support,int32_t* disparity_grid,int32_t* grid_dims,bool right_image);
-
- // matching
- inline void updatePosteriorMinimum (__m128i* I2_block_addr,const int32_t &d,const int32_t &w,
- const __m128i &xmm1,__m128i &xmm2,int32_t &val,int32_t &min_val,int32_t &min_d);
- inline void updatePosteriorMinimum (__m128i* I2_block_addr,const int32_t &d,
- const __m128i &xmm1,__m128i &xmm2,int32_t &val,int32_t &min_val,int32_t &min_d);
- inline void findMatch (int32_t &u,int32_t &v,float &plane_a,float &plane_b,float &plane_c,
- int32_t* disparity_grid,int32_t *grid_dims,uint8_t* I1_desc,uint8_t* I2_desc,
- int32_t *P,int32_t &plane_radius,bool &valid,bool &right_image,float* D);
- void computeDisparity (std::vector<support_pt> p_support,std::vector<triangle> tri,int32_t* disparity_grid,int32_t* grid_dims,
- uint8_t* I1_desc,uint8_t* I2_desc,bool right_image,float* D);
-
- // L/R consistency check
- void leftRightConsistencyCheck (float* D1,float* D2);
-
- // postprocessing
- void removeSmallSegments (float* D);
- void gapInterpolation (float* D);
-
- // optional postprocessing
- void adaptiveMean (float* D);
- void median (float* D);
-
- // parameter set
- parameters param;
-
- // memory aligned input images + dimensions
- uint8_t *I1,*I2;
- int32_t width,height,bpl;
-
- // profiling timer
-#ifdef PROFILE
- Timer timer;
-#endif
-};
-
-#endif
diff --git a/include/libelas/elasDescriptor.h b/include/libelas/elasDescriptor.h
deleted file mode 100644
index a63d25f6337f555348235dbe964cf9cc015e046a..0000000000000000000000000000000000000000
--- a/include/libelas/elasDescriptor.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
-Copyright 2011. All rights reserved.
-Institute of Measurement and Control Systems
-Karlsruhe Institute of Technology, Germany
-
-This file is part of libelas.
-Authors: Andreas Geiger
-
-libelas is free software; you can redistribute it and/or modify it under the
-terms of the GNU General Public License as published by the Free Software
-Foundation; either version 3 of the License, or any later version.
-
-libelas is distributed in the hope that it will be useful, but WITHOUT ANY
-WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
-PARTICULAR PURPOSE. See the GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License along with
-libelas; if not, write to the Free Software Foundation, Inc., 51 Franklin
-Street, Fifth Floor, Boston, MA 02110-1301, USA
-*/
-
-// NOTE: This descripter is a sparse approximation to the 50-dimensional
-// descriptor described in the paper. It produces similar results, but
-// is faster to compute.
-
-#ifndef __DESCRIPTOR_H__
-#define __DESCRIPTOR_H__
-
-#include <iostream>
-#include <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-#include <math.h>
-
-// Define fixed-width datatypes for Visual Studio projects
-//#ifndef _MSC_VER
- #include <stdint.h>
-//#else
-// typedef __int8 int8_t;
-// typedef __int16 int16_t;
-// typedef __int32 int32_t;
-// typedef __int64 int64_t;
-// typedef unsigned __int8 uint8_t;
-// typedef unsigned __int16 uint16_t;
-// typedef unsigned __int32 uint32_t;
-// typedef unsigned __int64 uint64_t;
-//#endif
-
-class Descriptor {
-
-public:
-
- // constructor creates filters
- Descriptor(uint8_t* I,int32_t width,int32_t height,int32_t bpl,bool half_resolution);
-
- // deconstructor releases memory
- ~Descriptor();
-
- // descriptors accessible from outside
- uint8_t* I_desc;
-
-private:
-
- // build descriptor I_desc from I_du and I_dv
- void createDescriptor(uint8_t* I_du,uint8_t* I_dv,int32_t width,int32_t height,int32_t bpl,bool half_resolution);
-
-};
-
-#endif
diff --git a/include/libelas/elasFilter.h b/include/libelas/elasFilter.h
deleted file mode 100644
index 4567bd9b7e7ed598cb0c9810f904fd912511ea59..0000000000000000000000000000000000000000
--- a/include/libelas/elasFilter.h
+++ /dev/null
@@ -1,99 +0,0 @@
-/*
-Copyright 2011. All rights reserved.
-Institute of Measurement and Control Systems
-Karlsruhe Institute of Technology, Germany
-
-This file is part of libelas.
-Authors: Julius Ziegler, Andreas Geiger
-
-libelas is free software; you can redistribute it and/or modify it under the
-terms of the GNU General Public License as published by the Free Software
-Foundation; either version 3 of the License, or any later version.
-
-libelas is distributed in the hope that it will be useful, but WITHOUT ANY
-WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
-PARTICULAR PURPOSE. See the GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License along with
-libelas; if not, write to the Free Software Foundation, Inc., 51 Franklin
-Street, Fifth Floor, Boston, MA 02110-1301, USA
-*/
-
-#ifndef __FILTER_H__
-#define __FILTER_H__
-
-#include <emmintrin.h>
-#include <pmmintrin.h>
-
-// define fixed-width datatypes for Visual Studio projects
-//#ifndef _MSC_VER
- #include <stdint.h>
-//#else
-// typedef __int8 int8_t;
-// typedef __int16 int16_t;
-// typedef __int32 int32_t;
-// typedef __int64 int64_t;
-// typedef unsigned __int8 uint8_t;
-// typedef unsigned __int16 uint16_t;
-// typedef unsigned __int32 uint32_t;
-// typedef unsigned __int64 uint64_t;
-//#endif
-
-// fast filters: implements 3x3 and 5x5 sobel filters and
-// 5x5 blob and corner filters based on SSE2/3 instructions
-namespace filter {
-
- // private namespace, public user functions at the bottom of this file
- namespace detail {
- void integral_image( const uint8_t* in, int32_t* out, int w, int h );
- void unpack_8bit_to_16bit( const __m128i a, __m128i& b0, __m128i& b1 );
- void pack_16bit_to_8bit_saturate( const __m128i a0, const __m128i a1, __m128i& b );
-
- // convolve image with a (1,4,6,4,1) row vector. Result is accumulated into output.
- // output is scaled by 1/128, then clamped to [-128,128], and finally shifted to [0,255].
- void convolve_14641_row_5x5_16bit( const int16_t* in, uint8_t* out, int w, int h );
-
- // convolve image with a (1,2,0,-2,-1) row vector. Result is accumulated into output.
- // This one works on 16bit input and 8bit output.
- // output is scaled by 1/128, then clamped to [-128,128], and finally shifted to [0,255].
- void convolve_12021_row_5x5_16bit( const int16_t* in, uint8_t* out, int w, int h );
-
- // convolve image with a (1,2,1) row vector. Result is accumulated into output.
- // This one works on 16bit input and 8bit output.
- // output is scaled by 1/4, then clamped to [-128,128], and finally shifted to [0,255].
- void convolve_121_row_3x3_16bit( const int16_t* in, uint8_t* out, int w, int h );
-
- // convolve image with a (1,0,-1) row vector. Result is accumulated into output.
- // This one works on 16bit input and 8bit output.
- // output is scaled by 1/4, then clamped to [-128,128], and finally shifted to [0,255].
- void convolve_101_row_3x3_16bit( const int16_t* in, uint8_t* out, int w, int h );
-
- void convolve_cols_5x5( const unsigned char* in, int16_t* out_v, int16_t* out_h, int w, int h );
-
- void convolve_col_p1p1p0m1m1_5x5( const unsigned char* in, int16_t* out, int w, int h );
-
- void convolve_row_p1p1p0m1m1_5x5( const int16_t* in, int16_t* out, int w, int h );
-
- void convolve_cols_3x3( const unsigned char* in, int16_t* out_v, int16_t* out_h, int w, int h );
- }
-
- void sobel3x3( const uint8_t* in, uint8_t* out_v, uint8_t* out_h, int w, int h );
-
- void sobel5x5( const uint8_t* in, uint8_t* out_v, uint8_t* out_h, int w, int h );
-
- // -1 -1 0 1 1
- // -1 -1 0 1 1
- // 0 0 0 0 0
- // 1 1 0 -1 -1
- // 1 1 0 -1 -1
- void checkerboard5x5( const uint8_t* in, int16_t* out, int w, int h );
-
- // -1 -1 -1 -1 -1
- // -1 1 1 1 -1
- // -1 1 8 1 -1
- // -1 1 1 1 -1
- // -1 -1 -1 -1 -1
- void blob5x5( const uint8_t* in, int16_t* out, int w, int h );
-};
-
-#endif
diff --git a/include/libelas/elasImage.h b/include/libelas/elasImage.h
deleted file mode 100644
index af247e5bba9e704044d824f84656dcac87c6aebd..0000000000000000000000000000000000000000
--- a/include/libelas/elasImage.h
+++ /dev/null
@@ -1,167 +0,0 @@
-/*
-Copyright 2011. All rights reserved.
-Institute of Measurement and Control Systems
-Karlsruhe Institute of Technology, Germany
-
-This file is part of libelas.
-Authors: Andreas Geiger
-
-libelas is free software; you can redistribute it and/or modify it under the
-terms of the GNU General Public License as published by the Free Software
-Foundation; either version 3 of the License, or any later version.
-
-libelas is distributed in the hope that it will be useful, but WITHOUT ANY
-WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
-PARTICULAR PURPOSE. See the GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License along with
-libelas; if not, write to the Free Software Foundation, Inc., 51 Franklin
-Street, Fifth Floor, Boston, MA 02110-1301, USA
-*/
-
-// basic image I/O, based on Pedro Felzenszwalb's code
-
-#ifndef IMAGE_H
-#define IMAGE_H
-
-#include <cstdlib>
-#include <climits>
-#include <cstring>
-#include <fstream>
-
-// use imRef to access image data.
-#define imRef(im, x, y) (im->access[y][x])
-
-// use imPtr to get pointer to image data.
-#define imPtr(im, x, y) &(im->access[y][x])
-
-#define BUF_SIZE 256
-
-typedef unsigned char uchar;
-typedef struct { uchar r, g, b; } rgb;
-
-inline bool operator==(const rgb &a, const rgb &b) {
- return ((a.r == b.r) && (a.g == b.g) && (a.b == b.b));
-}
-
-// image class
-template <class T> class image {
-public:
-
- // create image
- image(const int width, const int height, const bool init = false);
-
- // delete image
- ~image();
-
- // init image
- void init(const T &val);
-
- // deep copy
- image<T> *copy() const;
-
- // get image width/height
- int width() const { return w; }
- int height() const { return h; }
-
- // image data
- T *data;
-
- // row pointers
- T **access;
-
-private:
- int w, h;
-};
-
-template <class T> image<T>::image(const int width, const int height, const bool init) {
- w = width;
- h = height;
- data = new T[w * h]; // allocate space for image data
- access = new T*[h]; // allocate space for row pointers
-
- // initialize row pointers
- for (int i = 0; i < h; i++)
- access[i] = data + (i * w);
-
- // init to zero
- if (init)
- memset(data, 0, w * h * sizeof(T));
-}
-
-template <class T> image<T>::~image() {
- delete [] data;
- delete [] access;
-}
-
-template <class T> void image<T>::init(const T &val) {
- T *ptr = imPtr(this, 0, 0);
- T *end = imPtr(this, w-1, h-1);
- while (ptr <= end)
- *ptr++ = val;
-}
-
-
-template <class T> image<T> *image<T>::copy() const {
- image<T> *im = new image<T>(w, h, false);
- memcpy(im->data, data, w * h * sizeof(T));
- return im;
-}
-
-class pnm_error {};
-
-void pnm_read(std::ifstream &file, char *buf) {
- char doc[BUF_SIZE];
- char c;
-
- file >> c;
- while (c == '#') {
- file.getline(doc, BUF_SIZE);
- file >> c;
- }
- file.putback(c);
-
- file.width(BUF_SIZE);
- file >> buf;
- file.ignore();
-}
-
-image<uchar> *loadPGM(const char *name) {
- char buf[BUF_SIZE];
-
- // read header
- std::ifstream file(name, std::ios::in | std::ios::binary);
- pnm_read(file, buf);
- if (strncmp(buf, "P5", 2)) {
- std::cout << "ERROR: Could not read file " << name << std::endl;
- throw pnm_error();
- }
-
- pnm_read(file, buf);
- int width = atoi(buf);
- pnm_read(file, buf);
- int height = atoi(buf);
-
- pnm_read(file, buf);
- if (atoi(buf) > UCHAR_MAX) {
- std::cout << "ERROR: Could not read file " << name << std::endl;
- throw pnm_error();
- }
-
- // read data
- image<uchar> *im = new image<uchar>(width, height);
- file.read((char *)imPtr(im, 0, 0), width * height * sizeof(uchar));
-
- return im;
-}
-
-void savePGM(image<uchar> *im, const char *name) {
- int width = im->width();
- int height = im->height();
- std::ofstream file(name, std::ios::out | std::ios::binary);
-
- file << "P5\n" << width << " " << height << "\n" << UCHAR_MAX << "\n";
- file.write((char *)imPtr(im, 0, 0), width * height * sizeof(uchar));
-}
-
-#endif
diff --git a/include/libelas/elasMatrix.h b/include/libelas/elasMatrix.h
deleted file mode 100644
index e0e1596d78b2b0e5c612b0540a9ddf635d7190b3..0000000000000000000000000000000000000000
--- a/include/libelas/elasMatrix.h
+++ /dev/null
@@ -1,133 +0,0 @@
-/*
-Copyright 2011. All rights reserved.
-Institute of Measurement and Control Systems
-Karlsruhe Institute of Technology, Germany
-
-This file is part of libviso2.
-Authors: Andreas Geiger
-
-libviso2 is free software; you can redistribute it and/or modify it under the
-terms of the GNU General Public License as published by the Free Software
-Foundation; either version 2 of the License, or any later version.
-
-libviso2 is distributed in the hope that it will be useful, but WITHOUT ANY
-WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
-PARTICULAR PURPOSE. See the GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License along with
-libviso2; if not, write to the Free Software Foundation, Inc., 51 Franklin
-Street, Fifth Floor, Boston, MA 02110-1301, USA
-*/
-
-#ifndef MATRIX_H
-#define MATRIX_H
-
-#include <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-#include <iostream>
-#include <vector>
-
-//#ifndef _MSC_VER
- #include <stdint.h>
-//#else
-// typedef __int8 int8_t;
-// typedef __int16 int16_t;
-// typedef __int32 int32_t;
-// typedef __int64 int64_t;
-// typedef unsigned __int8 uint8_t;
-// typedef unsigned __int16 uint16_t;
-// typedef unsigned __int32 uint32_t;
-// typedef unsigned __int64 uint64_t;
-//#endif
-
-#define endll endl << endl // double end line definition
-
-typedef double FLOAT; // double precision
-//typedef float FLOAT; // single precision
-
-class Matrix {
-
-public:
-
- // constructor / deconstructor
- Matrix (); // init empty 0x0 matrix
- Matrix (const int32_t m,const int32_t n); // init empty mxn matrix
- Matrix (const int32_t m,const int32_t n,const FLOAT* val_); // init mxn matrix with values from array 'val'
- Matrix (const Matrix &M); // creates deepcopy of M
- ~Matrix ();
-
- // assignment operator, copies contents of M
- Matrix& operator= (const Matrix &M);
-
- // copies submatrix of M into array 'val', default values copy whole row/column/matrix
- void getData(FLOAT* val_,int32_t i1=0,int32_t j1=0,int32_t i2=-1,int32_t j2=-1);
-
- // set or get submatrices of current matrix
- Matrix getMat(int32_t i1,int32_t j1,int32_t i2=-1,int32_t j2=-1);
- void setMat(const Matrix &M,const int32_t i,const int32_t j);
-
- // set sub-matrix to scalar (default 0), -1 as end replaces whole row/column/matrix
- void setVal(FLOAT s,int32_t i1=0,int32_t j1=0,int32_t i2=-1,int32_t j2=-1);
-
- // set (part of) diagonal to scalar, -1 as end replaces whole diagonal
- void setDiag(FLOAT s,int32_t i1=0,int32_t i2=-1);
-
- // clear matrix
- void zero();
-
- // extract columns with given index
- Matrix extractCols (std::vector<int> idx);
-
- // create identity matrix
- static Matrix eye (const int32_t m);
- void eye ();
-
- // create diagonal matrix with nx1 or 1xn matrix M as elements
- static Matrix diag(const Matrix &M);
-
- // returns the m-by-n matrix whose elements are taken column-wise from M
- static Matrix reshape(const Matrix &M,int32_t m,int32_t n);
-
- // create 3x3 rotation matrices (convention: http://en.wikipedia.org/wiki/Rotation_matrix)
- static Matrix rotMatX(const FLOAT &angle);
- static Matrix rotMatY(const FLOAT &angle);
- static Matrix rotMatZ(const FLOAT &angle);
-
- // simple arithmetic operations
- Matrix operator+ (const Matrix &M); // add matrix
- Matrix operator- (const Matrix &M); // subtract matrix
- Matrix operator* (const Matrix &M); // multiply with matrix
- Matrix operator* (const FLOAT &s); // multiply with scalar
- Matrix operator/ (const Matrix &M); // divide elementwise by matrix (or vector)
- Matrix operator/ (const FLOAT &s); // divide by scalar
- Matrix operator- (); // negative matrix
- Matrix operator~ (); // transpose
- FLOAT l2norm (); // euclidean norm (vectors) / frobenius norm (matrices)
- FLOAT mean (); // mean of all elements in matrix
-
- // complex arithmetic operations
- static Matrix cross (const Matrix &a, const Matrix &b); // cross product of two vectors
- static Matrix inv (const Matrix &M); // invert matrix M
- bool inv (); // invert this matrix
- FLOAT det (); // returns determinant of matrix
- bool solve (const Matrix &M,FLOAT eps=1e-20); // solve linear system M*x=B, replaces *this and M
- bool lu(int32_t *idx, FLOAT &d, FLOAT eps=1e-20); // replace *this by lower upper decomposition
- void svd(Matrix &U,Matrix &W,Matrix &V); // singular value decomposition *this = U*diag(W)*V^T
-
- // print matrix to stream
- friend std::ostream& operator<< (std::ostream& out,const Matrix& M);
-
- // direct data access
- FLOAT **val;
- int32_t m,n;
-
-private:
-
- void allocateMemory (const int32_t m_,const int32_t n_);
- void releaseMemory ();
- inline FLOAT pythag(FLOAT a,FLOAT b);
-
-};
-
-#endif // MATRIX_H
diff --git a/include/libelas/elasTimer.h b/include/libelas/elasTimer.h
deleted file mode 100644
index d54ce2ad53d58d93345cd7bbfe06050d8e0f3784..0000000000000000000000000000000000000000
--- a/include/libelas/elasTimer.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/*
-Copyright 2011. All rights reserved.
-Institute of Measurement and Control Systems
-Karlsruhe Institute of Technology, Germany
-
-This file is part of libelas.
-Authors: Andreas Geiger
-
-libelas is free software; you can redistribute it and/or modify it under the
-terms of the GNU General Public License as published by the Free Software
-Foundation; either version 3 of the License, or any later version.
-
-libelas is distributed in the hope that it will be useful, but WITHOUT ANY
-WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
-PARTICULAR PURPOSE. See the GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License along with
-libelas; if not, write to the Free Software Foundation, Inc., 51 Franklin
-Street, Fifth Floor, Boston, MA 02110-1301, USA
-*/
-
-#ifndef __TIMER_H__
-#define __TIMER_H__
-
-#include <iostream>
-#include <iomanip>
-#include <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-#include <vector>
-#include <string>
-#include <sys/time.h>
-
-// Define fixed-width datatypes for Visual Studio projects
-#ifndef _MSC_VER
- #include <stdint.h>
-#else
- typedef __int8 int8_t;
- typedef __int16 int16_t;
- typedef __int32 int32_t;
- typedef __int64 int64_t;
- typedef unsigned __int8 uint8_t;
- typedef unsigned __int16 uint16_t;
- typedef unsigned __int32 uint32_t;
- typedef unsigned __int64 uint64_t;
-#endif
-
-class Timer {
-
-public:
-
- Timer() {}
-
- ~Timer() {}
-
- void start (std::string title) {
- desc.push_back(title);
- push_back_time();
- }
-
- void stop () {
- if (time.size()<=desc.size())
- push_back_time();
- }
-
- void plot () {
- stop();
- float total_time = 0;
- for (int32_t i=0; i<desc.size(); i++) {
- float curr_time = getTimeDifferenceMilliseconds(time[i],time[i+1]);
- total_time += curr_time;
- std::cout.width(30);
- std::cout << desc[i] << " ";
- std::cout << std::fixed << std::setprecision(1) << std::setw(6);
- std::cout << curr_time;
- std::cout << " ms" << std::endl;
- }
- std::cout << "========================================" << std::endl;
- std::cout << " Total time ";
- std::cout << std::fixed << std::setprecision(1) << std::setw(6);
- std::cout << total_time;
- std::cout << " ms" << std::endl << std::endl;
- }
-
- void reset () {
- desc.clear();
- time.clear();
- }
-
-private:
-
- std::vector<std::string> desc;
- std::vector<timeval> time;
-
- void push_back_time () {
- timeval curr_time;
- gettimeofday(&curr_time,0);
- time.push_back(curr_time);
- }
-
- float getTimeDifferenceMilliseconds(timeval a,timeval b) {
- return ((float)(b.tv_sec -a.tv_sec ))*1e+3 +
- ((float)(b.tv_usec-a.tv_usec))*1e-3;
- }
-};
-
-#endif
diff --git a/include/libelas/elasTriangle.h b/include/libelas/elasTriangle.h
deleted file mode 100644
index 654dd5c5ff289299b1cf644ea71689470b319449..0000000000000000000000000000000000000000
--- a/include/libelas/elasTriangle.h
+++ /dev/null
@@ -1,285 +0,0 @@
-/*****************************************************************************/
-/* */
-/* (triangle.h) */
-/* */
-/* Include file for programs that call Triangle. */
-/* */
-/* Accompanies Triangle Version 1.6 */
-/* July 28, 2005 */
-/* */
-/* Copyright 1996, 2005 */
-/* Jonathan Richard Shewchuk */
-/* 2360 Woolsey #H */
-/* Berkeley, California 94705-1927 */
-/* jrs@cs.berkeley.edu */
-/* */
-/* Modified by Andreas Geiger, 2011 */
-/*****************************************************************************/
-
-/*****************************************************************************/
-/* */
-/* How to call Triangle from another program */
-/* */
-/* */
-/* If you haven't read Triangle's instructions (run "triangle -h" to read */
-/* them), you won't understand what follows. */
-/* */
-/* Triangle must be compiled into an object file (triangle.o) with the */
-/* TRILIBRARY symbol defined (generally by using the -DTRILIBRARY compiler */
-/* switch). The makefile included with Triangle will do this for you if */
-/* you run "make trilibrary". The resulting object file can be called via */
-/* the procedure triangulate(). */
-/* */
-/* If the size of the object file is important to you, you may wish to */
-/* generate a reduced version of triangle.o. The REDUCED symbol gets rid */
-/* of all features that are primarily of research interest. Specifically, */
-/* the -DREDUCED switch eliminates Triangle's -i, -F, -s, and -C switches. */
-/* The CDT_ONLY symbol gets rid of all meshing algorithms above and beyond */
-/* constrained Delaunay triangulation. Specifically, the -DCDT_ONLY switch */
-/* eliminates Triangle's -r, -q, -a, -u, -D, -Y, -S, and -s switches. */
-/* */
-/* IMPORTANT: These definitions (TRILIBRARY, REDUCED, CDT_ONLY) must be */
-/* made in the makefile or in triangle.c itself. Putting these definitions */
-/* in this file (triangle.h) will not create the desired effect. */
-/* */
-/* */
-/* The calling convention for triangulate() follows. */
-/* */
-/* void triangulate(triswitches, in, out, vorout) */
-/* char *triswitches; */
-/* struct triangulateio *in; */
-/* struct triangulateio *out; */
-/* struct triangulateio *vorout; */
-/* */
-/* `triswitches' is a string containing the command line switches you wish */
-/* to invoke. No initial dash is required. Some suggestions: */
-/* */
-/* - You'll probably find it convenient to use the `z' switch so that */
-/* points (and other items) are numbered from zero. This simplifies */
-/* indexing, because the first item of any type always starts at index */
-/* [0] of the corresponding array, whether that item's number is zero or */
-/* one. */
-/* - You'll probably want to use the `Q' (quiet) switch in your final code, */
-/* but you can take advantage of Triangle's printed output (including the */
-/* `V' switch) while debugging. */
-/* - If you are not using the `q', `a', `u', `D', `j', or `s' switches, */
-/* then the output points will be identical to the input points, except */
-/* possibly for the boundary markers. If you don't need the boundary */
-/* markers, you should use the `N' (no nodes output) switch to save */
-/* memory. (If you do need boundary markers, but need to save memory, a */
-/* good nasty trick is to set out->pointlist equal to in->pointlist */
-/* before calling triangulate(), so that Triangle overwrites the input */
-/* points with identical copies.) */
-/* - The `I' (no iteration numbers) and `g' (.off file output) switches */
-/* have no effect when Triangle is compiled with TRILIBRARY defined. */
-/* */
-/* `in', `out', and `vorout' are descriptions of the input, the output, */
-/* and the Voronoi output. If the `v' (Voronoi output) switch is not used, */
-/* `vorout' may be NULL. `in' and `out' may never be NULL. */
-/* */
-/* Certain fields of the input and output structures must be initialized, */
-/* as described below. */
-/* */
-/*****************************************************************************/
-
-/*****************************************************************************/
-/* */
-/* The `triangulateio' structure. */
-/* */
-/* Used to pass data into and out of the triangulate() procedure. */
-/* */
-/* */
-/* Arrays are used to store points, triangles, markers, and so forth. In */
-/* all cases, the first item in any array is stored starting at index [0]. */
-/* However, that item is item number `1' unless the `z' switch is used, in */
-/* which case it is item number `0'. Hence, you may find it easier to */
-/* index points (and triangles in the neighbor list) if you use the `z' */
-/* switch. Unless, of course, you're calling Triangle from a Fortran */
-/* program. */
-/* */
-/* Description of fields (except the `numberof' fields, which are obvious): */
-/* */
-/* `pointlist': An array of point coordinates. The first point's x */
-/* coordinate is at index [0] and its y coordinate at index [1], followed */
-/* by the coordinates of the remaining points. Each point occupies two */
-/* REALs. */
-/* `pointattributelist': An array of point attributes. Each point's */
-/* attributes occupy `numberofpointattributes' REALs. */
-/* `pointmarkerlist': An array of point markers; one int per point. */
-/* */
-/* `trianglelist': An array of triangle corners. The first triangle's */
-/* first corner is at index [0], followed by its other two corners in */
-/* counterclockwise order, followed by any other nodes if the triangle */
-/* represents a nonlinear element. Each triangle occupies */
-/* `numberofcorners' ints. */
-/* `triangleattributelist': An array of triangle attributes. Each */
-/* triangle's attributes occupy `numberoftriangleattributes' REALs. */
-/* `trianglearealist': An array of triangle area constraints; one REAL per */
-/* triangle. Input only. */
-/* `neighborlist': An array of triangle neighbors; three ints per */
-/* triangle. Output only. */
-/* */
-/* `segmentlist': An array of segment endpoints. The first segment's */
-/* endpoints are at indices [0] and [1], followed by the remaining */
-/* segments. Two ints per segment. */
-/* `segmentmarkerlist': An array of segment markers; one int per segment. */
-/* */
-/* `holelist': An array of holes. The first hole's x and y coordinates */
-/* are at indices [0] and [1], followed by the remaining holes. Two */
-/* REALs per hole. Input only, although the pointer is copied to the */
-/* output structure for your convenience. */
-/* */
-/* `regionlist': An array of regional attributes and area constraints. */
-/* The first constraint's x and y coordinates are at indices [0] and [1], */
-/* followed by the regional attribute at index [2], followed by the */
-/* maximum area at index [3], followed by the remaining area constraints. */
-/* Four REALs per area constraint. Note that each regional attribute is */
-/* used only if you select the `A' switch, and each area constraint is */
-/* used only if you select the `a' switch (with no number following), but */
-/* omitting one of these switches does not change the memory layout. */
-/* Input only, although the pointer is copied to the output structure for */
-/* your convenience. */
-/* */
-/* `edgelist': An array of edge endpoints. The first edge's endpoints are */
-/* at indices [0] and [1], followed by the remaining edges. Two ints per */
-/* edge. Output only. */
-/* `edgemarkerlist': An array of edge markers; one int per edge. Output */
-/* only. */
-/* `normlist': An array of normal vectors, used for infinite rays in */
-/* Voronoi diagrams. The first normal vector's x and y magnitudes are */
-/* at indices [0] and [1], followed by the remaining vectors. For each */
-/* finite edge in a Voronoi diagram, the normal vector written is the */
-/* zero vector. Two REALs per edge. Output only. */
-/* */
-/* */
-/* Any input fields that Triangle will examine must be initialized. */
-/* Furthermore, for each output array that Triangle will write to, you */
-/* must either provide space by setting the appropriate pointer to point */
-/* to the space you want the data written to, or you must initialize the */
-/* pointer to NULL, which tells Triangle to allocate space for the results. */
-/* The latter option is preferable, because Triangle always knows exactly */
-/* how much space to allocate. The former option is provided mainly for */
-/* people who need to call Triangle from Fortran code, though it also makes */
-/* possible some nasty space-saving tricks, like writing the output to the */
-/* same arrays as the input. */
-/* */
-/* Triangle will not free() any input or output arrays, including those it */
-/* allocates itself; that's up to you. You should free arrays allocated by */
-/* Triangle by calling the trifree() procedure defined below. (By default, */
-/* trifree() just calls the standard free() library procedure, but */
-/* applications that call triangulate() may replace trimalloc() and */
-/* trifree() in triangle.c to use specialized memory allocators.) */
-/* */
-/* Here's a guide to help you decide which fields you must initialize */
-/* before you call triangulate(). */
-/* */
-/* `in': */
-/* */
-/* - `pointlist' must always point to a list of points; `numberofpoints' */
-/* and `numberofpointattributes' must be properly set. */
-/* `pointmarkerlist' must either be set to NULL (in which case all */
-/* markers default to zero), or must point to a list of markers. If */
-/* `numberofpointattributes' is not zero, `pointattributelist' must */
-/* point to a list of point attributes. */
-/* - If the `r' switch is used, `trianglelist' must point to a list of */
-/* triangles, and `numberoftriangles', `numberofcorners', and */
-/* `numberoftriangleattributes' must be properly set. If */
-/* `numberoftriangleattributes' is not zero, `triangleattributelist' */
-/* must point to a list of triangle attributes. If the `a' switch is */
-/* used (with no number following), `trianglearealist' must point to a */
-/* list of triangle area constraints. `neighborlist' may be ignored. */
-/* - If the `p' switch is used, `segmentlist' must point to a list of */
-/* segments, `numberofsegments' must be properly set, and */
-/* `segmentmarkerlist' must either be set to NULL (in which case all */
-/* markers default to zero), or must point to a list of markers. */
-/* - If the `p' switch is used without the `r' switch, then */
-/* `numberofholes' and `numberofregions' must be properly set. If */
-/* `numberofholes' is not zero, `holelist' must point to a list of */
-/* holes. If `numberofregions' is not zero, `regionlist' must point to */
-/* a list of region constraints. */
-/* - If the `p' switch is used, `holelist', `numberofholes', */
-/* `regionlist', and `numberofregions' is copied to `out'. (You can */
-/* nonetheless get away with not initializing them if the `r' switch is */
-/* used.) */
-/* - `edgelist', `edgemarkerlist', `normlist', and `numberofedges' may be */
-/* ignored. */
-/* */
-/* `out': */
-/* */
-/* - `pointlist' must be initialized (NULL or pointing to memory) unless */
-/* the `N' switch is used. `pointmarkerlist' must be initialized */
-/* unless the `N' or `B' switch is used. If `N' is not used and */
-/* `in->numberofpointattributes' is not zero, `pointattributelist' must */
-/* be initialized. */
-/* - `trianglelist' must be initialized unless the `E' switch is used. */
-/* `neighborlist' must be initialized if the `n' switch is used. If */
-/* the `E' switch is not used and (`in->numberofelementattributes' is */
-/* not zero or the `A' switch is used), `elementattributelist' must be */
-/* initialized. `trianglearealist' may be ignored. */
-/* - `segmentlist' must be initialized if the `p' or `c' switch is used, */
-/* and the `P' switch is not used. `segmentmarkerlist' must also be */
-/* initialized under these circumstances unless the `B' switch is used. */
-/* - `edgelist' must be initialized if the `e' switch is used. */
-/* `edgemarkerlist' must be initialized if the `e' switch is used and */
-/* the `B' switch is not. */
-/* - `holelist', `regionlist', `normlist', and all scalars may be ignored.*/
-/* */
-/* `vorout' (only needed if `v' switch is used): */
-/* */
-/* - `pointlist' must be initialized. If `in->numberofpointattributes' */
-/* is not zero, `pointattributelist' must be initialized. */
-/* `pointmarkerlist' may be ignored. */
-/* - `edgelist' and `normlist' must both be initialized. */
-/* `edgemarkerlist' may be ignored. */
-/* - Everything else may be ignored. */
-/* */
-/* After a call to triangulate(), the valid fields of `out' and `vorout' */
-/* will depend, in an obvious way, on the choice of switches used. Note */
-/* that when the `p' switch is used, the pointers `holelist' and */
-/* `regionlist' are copied from `in' to `out', but no new space is */
-/* allocated; be careful that you don't free() the same array twice. On */
-/* the other hand, Triangle will never copy the `pointlist' pointer (or any */
-/* others); new space is allocated for `out->pointlist', or if the `N' */
-/* switch is used, `out->pointlist' remains uninitialized. */
-/* */
-/* All of the meaningful `numberof' fields will be properly set; for */
-/* instance, `numberofedges' will represent the number of edges in the */
-/* triangulation whether or not the edges were written. If segments are */
-/* not used, `numberofsegments' will indicate the number of boundary edges. */
-/* */
-/*****************************************************************************/
-
-struct triangulateio {
- float *pointlist; /* In / out */
- float *pointattributelist; /* In / out */
- int *pointmarkerlist; /* In / out */
- int numberofpoints; /* In / out */
- int numberofpointattributes; /* In / out */
-
- int *trianglelist; /* In / out */
- float *triangleattributelist; /* In / out */
- float *trianglearealist; /* In only */
- int *neighborlist; /* Out only */
- int numberoftriangles; /* In / out */
- int numberofcorners; /* In / out */
- int numberoftriangleattributes; /* In / out */
-
- int *segmentlist; /* In / out */
- int *segmentmarkerlist; /* In / out */
- int numberofsegments; /* In / out */
-
- float *holelist; /* In / pointer to array copied out */
- int numberofholes; /* In / copied out */
-
- float *regionlist; /* In / pointer to array copied out */
- int numberofregions; /* In / copied out */
-
- int *edgelist; /* Out only */
- int *edgemarkerlist; /* Not used with Voronoi diagram; out only */
- float *normlist; /* Used only with Voronoi diagram; out only */
- int numberofedges; /* Out only */
-};
-
-void triangulate(char *,triangulateio *,triangulateio *,triangulateio *);
-void trifree(int *memptr);
-
diff --git a/src/libelas/elas.cpp b/src/libelas/elas.cpp
deleted file mode 100644
index 748427bace8679926b1911a83d51d3294282e344..0000000000000000000000000000000000000000
--- a/src/libelas/elas.cpp
+++ /dev/null
@@ -1,1514 +0,0 @@
-/*
-Copyright 2011. All rights reserved.
-Institute of Measurement and Control Systems
-Karlsruhe Institute of Technology, Germany
-
-This file is part of libelas.
-Authors: Andreas Geiger
-
-libelas is free software; you can redistribute it and/or modify it under the
-terms of the GNU General Public License as published by the Free Software
-Foundation; either version 3 of the License, or any later version.
-
-libelas is distributed in the hope that it will be useful, but WITHOUT ANY
-WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
-PARTICULAR PURPOSE. See the GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License along with
-libelas; if not, write to the Free Software Foundation, Inc., 51 Franklin
-Street, Fifth Floor, Boston, MA 02110-1301, USA
-*/
-
-#include "libelas/elas.h"
-
-#include <math.h>
-#include "libelas/elasDescriptor.h"
-#include "libelas/elasTriangle.h"
-#include "libelas/elasMatrix.h"
-#include <algorithm>
-
-using namespace std;
-
-void Elas::process (uint8_t* I1_,uint8_t* I2_,float* D1,float* D2,const int32_t* dims){
-
- // get width, height and bytes per line
- width = dims[0];
- height = dims[1];
- bpl = width + 15-(width-1)%16;
-
- // copy images to byte aligned memory
- I1 = (uint8_t*)_mm_malloc(bpl*height*sizeof(uint8_t),16);
- I2 = (uint8_t*)_mm_malloc(bpl*height*sizeof(uint8_t),16);
- memset (I1,0,bpl*height*sizeof(uint8_t));
- memset (I2,0,bpl*height*sizeof(uint8_t));
- if (bpl==dims[2]) {
- memcpy(I1,I1_,bpl*height*sizeof(uint8_t));
- memcpy(I2,I2_,bpl*height*sizeof(uint8_t));
- } else {
- for (int32_t v=0; v<height; v++) {
- memcpy(I1+v*bpl,I1_+v*dims[2],width*sizeof(uint8_t));
- memcpy(I2+v*bpl,I2_+v*dims[2],width*sizeof(uint8_t));
- }
- }
-
- // allocate memory for disparity grid
- int32_t grid_width = (int32_t)ceil((float)width/(float)param.grid_size);
- int32_t grid_height = (int32_t)ceil((float)height/(float)param.grid_size);
- int32_t grid_dims[3] = {param.disp_max+2,grid_width,grid_height};
- int32_t* disparity_grid_1 = (int32_t*)calloc((param.disp_max+2)*grid_height*grid_width,sizeof(int32_t));
- int32_t* disparity_grid_2 = (int32_t*)calloc((param.disp_max+2)*grid_height*grid_width,sizeof(int32_t));
-
-#ifdef PROFILE
- timer.start("Descriptor");
-#endif
- Descriptor desc1(I1,width,height,bpl,param.subsampling);
- Descriptor desc2(I2,width,height,bpl,param.subsampling);
-
-#ifdef PROFILE
- timer.start("Support Matches");
-#endif
- vector<support_pt> p_support = computeSupportMatches(desc1.I_desc,desc2.I_desc);
-
-#ifdef PROFILE
- timer.start("Delaunay Triangulation");
-#endif
- vector<triangle> tri_1 = computeDelaunayTriangulation(p_support,0);
- vector<triangle> tri_2 = computeDelaunayTriangulation(p_support,1);
-
-#ifdef PROFILE
- timer.start("Disparity Planes");
-#endif
- computeDisparityPlanes(p_support,tri_1,0);
- computeDisparityPlanes(p_support,tri_2,1);
-
-#ifdef PROFILE
- timer.start("Grid");
-#endif
- createGrid(p_support,disparity_grid_1,grid_dims,0);
- createGrid(p_support,disparity_grid_2,grid_dims,1);
-
-#ifdef PROFILE
- timer.start("Matching");
-#endif
- computeDisparity(p_support,tri_1,disparity_grid_1,grid_dims,desc1.I_desc,desc2.I_desc,0,D1);
- computeDisparity(p_support,tri_2,disparity_grid_2,grid_dims,desc1.I_desc,desc2.I_desc,1,D2);
-
-#ifdef PROFILE
- timer.start("L/R Consistency Check");
-#endif
- leftRightConsistencyCheck(D1,D2);
-
-#ifdef PROFILE
- timer.start("Remove Small Segments");
-#endif
- removeSmallSegments(D1);
- if (!param.postprocess_only_left)
- removeSmallSegments(D2);
-
-#ifdef PROFILE
- timer.start("Gap Interpolation");
-#endif
- gapInterpolation(D1);
- if (!param.postprocess_only_left)
- gapInterpolation(D2);
-
- if (param.filter_adaptive_mean) {
-#ifdef PROFILE
- timer.start("Adaptive Mean");
-#endif
- adaptiveMean(D1);
- if (!param.postprocess_only_left)
- adaptiveMean(D2);
- }
-
- if (param.filter_median) {
-#ifdef PROFILE
- timer.start("Median");
-#endif
- median(D1);
- if (!param.postprocess_only_left)
- median(D2);
- }
-
-#ifdef PROFILE
- timer.plot();
-#endif
-
- // release memory
- free(disparity_grid_1);
- free(disparity_grid_2);
- _mm_free(I1);
- _mm_free(I2);
-}
-
-void Elas::removeInconsistentSupportPoints (int16_t* D_can,int32_t D_can_width,int32_t D_can_height) {
-
- // for all valid support points do
- for (int32_t u_can=0; u_can<D_can_width; u_can++) {
- for (int32_t v_can=0; v_can<D_can_height; v_can++) {
- int16_t d_can = *(D_can+getAddressOffsetImage(u_can,v_can,D_can_width));
- if (d_can>=0) {
-
- // compute number of other points supporting the current point
- int32_t support = 0;
- for (int32_t u_can_2=u_can-param.incon_window_size; u_can_2<=u_can+param.incon_window_size; u_can_2++) {
- for (int32_t v_can_2=v_can-param.incon_window_size; v_can_2<=v_can+param.incon_window_size; v_can_2++) {
- if (u_can_2>=0 && v_can_2>=0 && u_can_2<D_can_width && v_can_2<D_can_height) {
- int16_t d_can_2 = *(D_can+getAddressOffsetImage(u_can_2,v_can_2,D_can_width));
- if (d_can_2>=0 && abs(d_can-d_can_2)<=param.incon_threshold)
- support++;
- }
- }
- }
-
- // invalidate support point if number of supporting points is too low
- if (support<param.incon_min_support)
- *(D_can+getAddressOffsetImage(u_can,v_can,D_can_width)) = -1;
- }
- }
- }
-}
-
-void Elas::removeRedundantSupportPoints(int16_t* D_can,int32_t D_can_width,int32_t D_can_height,
- int32_t redun_max_dist, int32_t redun_threshold, bool vertical) {
-
- // parameters
- int32_t redun_dir_u[2] = {0,0};
- int32_t redun_dir_v[2] = {0,0};
- if (vertical) {
- redun_dir_v[0] = -1;
- redun_dir_v[1] = +1;
- } else {
- redun_dir_u[0] = -1;
- redun_dir_u[1] = +1;
- }
-
- // for all valid support points do
- for (int32_t u_can=0; u_can<D_can_width; u_can++) {
- for (int32_t v_can=0; v_can<D_can_height; v_can++) {
- int16_t d_can = *(D_can+getAddressOffsetImage(u_can,v_can,D_can_width));
- if (d_can>=0) {
-
- // check all directions for redundancy
- bool redundant = true;
- for (int32_t i=0; i<2; i++) {
-
- // search for support
- int32_t u_can_2 = u_can;
- int32_t v_can_2 = v_can;
- int16_t d_can_2;
- bool support = false;
- for (int32_t j=0; j<redun_max_dist; j++) {
- u_can_2 += redun_dir_u[i];
- v_can_2 += redun_dir_v[i];
- if (u_can_2<0 || v_can_2<0 || u_can_2>=D_can_width || v_can_2>=D_can_height)
- break;
- d_can_2 = *(D_can+getAddressOffsetImage(u_can_2,v_can_2,D_can_width));
- if (d_can_2>=0 && abs(d_can-d_can_2)<=redun_threshold) {
- support = true;
- break;
- }
- }
-
- // if we have no support => point is not redundant
- if (!support) {
- redundant = false;
- break;
- }
- }
-
- // invalidate support point if it is redundant
- if (redundant)
- *(D_can+getAddressOffsetImage(u_can,v_can,D_can_width)) = -1;
- }
- }
- }
-}
-
-void Elas::addCornerSupportPoints(vector<support_pt> &p_support) {
-
- // list of border points
- vector<support_pt> p_border;
- p_border.push_back(support_pt(0,0,0));
- p_border.push_back(support_pt(0,height-1,0));
- p_border.push_back(support_pt(width-1,0,0));
- p_border.push_back(support_pt(width-1,height-1,0));
-
- // find closest d
- for (int32_t i=0; i<p_border.size(); i++) {
- int32_t best_dist = 10000000;
- for (int32_t j=0; j<p_support.size(); j++) {
- int32_t du = p_border[i].u-p_support[j].u;
- int32_t dv = p_border[i].v-p_support[j].v;
- int32_t curr_dist = du*du+dv*dv;
- if (curr_dist<best_dist) {
- best_dist = curr_dist;
- p_border[i].d = p_support[j].d;
- }
- }
- }
-
- // for right image
- p_border.push_back(support_pt(p_border[2].u+p_border[2].d,p_border[2].v,p_border[2].d));
- p_border.push_back(support_pt(p_border[3].u+p_border[3].d,p_border[3].v,p_border[3].d));
-
- // add border points to support points
- for (int32_t i=0; i<p_border.size(); i++)
- p_support.push_back(p_border[i]);
-}
-
-inline int16_t Elas::computeMatchingDisparity (const int32_t &u,const int32_t &v,uint8_t* I1_desc,uint8_t* I2_desc,const bool &right_image) {
-
- const int32_t u_step = 2;
- const int32_t v_step = 2;
- const int32_t window_size = 3;
-
- int32_t desc_offset_1 = -16*u_step-16*width*v_step;
- int32_t desc_offset_2 = +16*u_step-16*width*v_step;
- int32_t desc_offset_3 = -16*u_step+16*width*v_step;
- int32_t desc_offset_4 = +16*u_step+16*width*v_step;
-
- __m128i xmm1,xmm2,xmm3,xmm4,xmm5,xmm6;
-
- // check if we are inside the image region
- if (u>=window_size+u_step && u<=width-window_size-1-u_step && v>=window_size+v_step && v<=height-window_size-1-v_step) {
-
- // compute desc and start addresses
- int32_t line_offset = 16*width*v;
- uint8_t *I1_line_addr,*I2_line_addr;
- if (!right_image) {
- I1_line_addr = I1_desc+line_offset;
- I2_line_addr = I2_desc+line_offset;
- } else {
- I1_line_addr = I2_desc+line_offset;
- I2_line_addr = I1_desc+line_offset;
- }
-
- // compute I1 block start addresses
- uint8_t* I1_block_addr = I1_line_addr+16*u;
- uint8_t* I2_block_addr;
-
- // we require at least some texture
- int32_t sum = 0;
- for (int32_t i=0; i<16; i++)
- sum += abs((int32_t)(*(I1_block_addr+i))-128);
- if (sum<param.support_texture)
- return -1;
-
- // load first blocks to xmm registers
- xmm1 = _mm_load_si128((__m128i*)(I1_block_addr+desc_offset_1));
- xmm2 = _mm_load_si128((__m128i*)(I1_block_addr+desc_offset_2));
- xmm3 = _mm_load_si128((__m128i*)(I1_block_addr+desc_offset_3));
- xmm4 = _mm_load_si128((__m128i*)(I1_block_addr+desc_offset_4));
-
- // declare match energy for each disparity
- int32_t u_warp;
-
- // best match
- int16_t min_1_E = 32767;
- int16_t min_1_d = -1;
- int16_t min_2_E = 32767;
- int16_t min_2_d = -1;
-
- // get valid disparity range
- int32_t disp_min_valid = max(param.disp_min,0);
- int32_t disp_max_valid = param.disp_max;
- if (!right_image) disp_max_valid = min(param.disp_max,u-window_size-u_step);
- else disp_max_valid = min(param.disp_max,width-u-window_size-u_step);
-
- // assume, that we can compute at least 10 disparities for this pixel
- if (disp_max_valid-disp_min_valid<10)
- return -1;
-
- // for all disparities do
- for (int16_t d=disp_min_valid; d<=disp_max_valid; d++) {
-
- // warp u coordinate
- if (!right_image) u_warp = u-d;
- else u_warp = u+d;
-
- // compute I2 block start addresses
- I2_block_addr = I2_line_addr+16*u_warp;
-
- // compute match energy at this disparity
- xmm6 = _mm_load_si128((__m128i*)(I2_block_addr+desc_offset_1));
- xmm6 = _mm_sad_epu8(xmm1,xmm6);
- xmm5 = _mm_load_si128((__m128i*)(I2_block_addr+desc_offset_2));
- xmm6 = _mm_add_epi16(_mm_sad_epu8(xmm2,xmm5),xmm6);
- xmm5 = _mm_load_si128((__m128i*)(I2_block_addr+desc_offset_3));
- xmm6 = _mm_add_epi16(_mm_sad_epu8(xmm3,xmm5),xmm6);
- xmm5 = _mm_load_si128((__m128i*)(I2_block_addr+desc_offset_4));
- xmm6 = _mm_add_epi16(_mm_sad_epu8(xmm4,xmm5),xmm6);
- sum = _mm_extract_epi16(xmm6,0)+_mm_extract_epi16(xmm6,4);
-
- // best + second best match
- if (sum<min_1_E) {
- min_1_E = sum;
- min_1_d = d;
- } else if (sum<min_2_E) {
- min_2_E = sum;
- min_2_d = d;
- }
- }
-
- // check if best and second best match are available and if matching ratio is sufficient
- if (min_1_d>=0 && min_2_d>=0 && (float)min_1_E<param.support_threshold*(float)min_2_E)
- return min_1_d;
- else
- return -1;
-
- } else
- return -1;
-}
-
-vector<Elas::support_pt> Elas::computeSupportMatches (uint8_t* I1_desc,uint8_t* I2_desc) {
-
- // be sure that at half resolution we only need data
- // from every second line!
- int32_t D_candidate_stepsize = param.candidate_stepsize;
- if (param.subsampling)
- D_candidate_stepsize += D_candidate_stepsize%2;
-
- // create matrix for saving disparity candidates
- int32_t D_can_width = 0;
- int32_t D_can_height = 0;
- for (int32_t u=0; u<width; u+=D_candidate_stepsize) D_can_width++;
- for (int32_t v=0; v<height; v+=D_candidate_stepsize) D_can_height++;
- int16_t* D_can = (int16_t*)calloc(D_can_width*D_can_height,sizeof(int16_t));
-
- // loop variables
- int32_t u,v;
- int16_t d,d2;
-
- // for all point candidates in image 1 do
- for (int32_t u_can=1; u_can<D_can_width; u_can++) {
- u = u_can*D_candidate_stepsize;
- for (int32_t v_can=1; v_can<D_can_height; v_can++) {
- v = v_can*D_candidate_stepsize;
-
- // initialize disparity candidate to invalid
- *(D_can+getAddressOffsetImage(u_can,v_can,D_can_width)) = -1;
-
- // find forwards
- d = computeMatchingDisparity(u,v,I1_desc,I2_desc,false);
- if (d>=0) {
-
- // find backwards
- d2 = computeMatchingDisparity(u-d,v,I1_desc,I2_desc,true);
- if (d2>=0 && abs(d-d2)<=param.lr_threshold)
- *(D_can+getAddressOffsetImage(u_can,v_can,D_can_width)) = d;
- }
- }
- }
-
- // remove inconsistent support points
- removeInconsistentSupportPoints(D_can,D_can_width,D_can_height);
-
- // remove support points on straight lines, since they are redundant
- // this reduces the number of triangles a little bit and hence speeds up
- // the triangulation process
- removeRedundantSupportPoints(D_can,D_can_width,D_can_height,5,1,true);
- removeRedundantSupportPoints(D_can,D_can_width,D_can_height,5,1,false);
-
- // move support points from image representation into a vector representation
- vector<support_pt> p_support;
- for (int32_t u_can=1; u_can<D_can_width; u_can++)
- for (int32_t v_can=1; v_can<D_can_height; v_can++)
- if (*(D_can+getAddressOffsetImage(u_can,v_can,D_can_width))>=0)
- p_support.push_back(support_pt(u_can*D_candidate_stepsize,
- v_can*D_candidate_stepsize,
- *(D_can+getAddressOffsetImage(u_can,v_can,D_can_width))));
-
- // if flag is set, add support points in image corners
- // with the same disparity as the nearest neighbor support point
- if (param.add_corners)
- addCornerSupportPoints(p_support);
-
- // free memory
- free(D_can);
-
- // return support point vector
- return p_support;
-}
-
-vector<Elas::triangle> Elas::computeDelaunayTriangulation (vector<support_pt> p_support,int32_t right_image) {
-
- // input/output structure for triangulation
- struct triangulateio in, out;
- int32_t k;
-
- // inputs
- in.numberofpoints = p_support.size();
- in.pointlist = (float*)malloc(in.numberofpoints*2*sizeof(float));
- k=0;
- if (!right_image) {
- for (int32_t i=0; i<p_support.size(); i++) {
- in.pointlist[k++] = p_support[i].u;
- in.pointlist[k++] = p_support[i].v;
- }
- } else {
- for (int32_t i=0; i<p_support.size(); i++) {
- in.pointlist[k++] = p_support[i].u-p_support[i].d;
- in.pointlist[k++] = p_support[i].v;
- }
- }
- in.numberofpointattributes = 0;
- in.pointattributelist = NULL;
- in.pointmarkerlist = NULL;
- in.numberofsegments = 0;
- in.numberofholes = 0;
- in.numberofregions = 0;
- in.regionlist = NULL;
-
- // outputs
- out.pointlist = NULL;
- out.pointattributelist = NULL;
- out.pointmarkerlist = NULL;
- out.trianglelist = NULL;
- out.triangleattributelist = NULL;
- out.neighborlist = NULL;
- out.segmentlist = NULL;
- out.segmentmarkerlist = NULL;
- out.edgelist = NULL;
- out.edgemarkerlist = NULL;
-
- // do triangulation (z=zero-based, n=neighbors, Q=quiet, B=no boundary markers)
- char parameters[] = "zQB";
- triangulate(parameters, &in, &out, NULL);
-
- // put resulting triangles into vector tri
- vector<triangle> tri;
- k=0;
- for (int32_t i=0; i<out.numberoftriangles; i++) {
- tri.push_back(triangle(out.trianglelist[k],out.trianglelist[k+1],out.trianglelist[k+2]));
- k+=3;
- }
-
- // free memory used for triangulation
- free(in.pointlist);
- free(out.pointlist);
- free(out.trianglelist);
-
- // return triangles
- return tri;
-}
-
-void Elas::computeDisparityPlanes (vector<support_pt> p_support,vector<triangle> &tri,int32_t right_image) {
-
- // init matrices
- Matrix A(3,3);
- Matrix b(3,1);
-
- // for all triangles do
- for (int32_t i=0; i<tri.size(); i++) {
-
- // get triangle corner indices
- int32_t c1 = tri[i].c1;
- int32_t c2 = tri[i].c2;
- int32_t c3 = tri[i].c3;
-
- // compute matrix A for linear system of left triangle
- A.val[0][0] = p_support[c1].u;
- A.val[1][0] = p_support[c2].u;
- A.val[2][0] = p_support[c3].u;
- A.val[0][1] = p_support[c1].v; A.val[0][2] = 1;
- A.val[1][1] = p_support[c2].v; A.val[1][2] = 1;
- A.val[2][1] = p_support[c3].v; A.val[2][2] = 1;
-
- // compute vector b for linear system (containing the disparities)
- b.val[0][0] = p_support[c1].d;
- b.val[1][0] = p_support[c2].d;
- b.val[2][0] = p_support[c3].d;
-
- // on success of gauss jordan elimination
- if (b.solve(A)) {
-
- // grab results from b
- tri[i].t1a = b.val[0][0];
- tri[i].t1b = b.val[1][0];
- tri[i].t1c = b.val[2][0];
-
- // otherwise: invalid
- } else {
- tri[i].t1a = 0;
- tri[i].t1b = 0;
- tri[i].t1c = 0;
- }
-
- // compute matrix A for linear system of right triangle
- A.val[0][0] = p_support[c1].u-p_support[c1].d;
- A.val[1][0] = p_support[c2].u-p_support[c2].d;
- A.val[2][0] = p_support[c3].u-p_support[c3].d;
- A.val[0][1] = p_support[c1].v; A.val[0][2] = 1;
- A.val[1][1] = p_support[c2].v; A.val[1][2] = 1;
- A.val[2][1] = p_support[c3].v; A.val[2][2] = 1;
-
- // compute vector b for linear system (containing the disparities)
- b.val[0][0] = p_support[c1].d;
- b.val[1][0] = p_support[c2].d;
- b.val[2][0] = p_support[c3].d;
-
- // on success of gauss jordan elimination
- if (b.solve(A)) {
-
- // grab results from b
- tri[i].t2a = b.val[0][0];
- tri[i].t2b = b.val[1][0];
- tri[i].t2c = b.val[2][0];
-
- // otherwise: invalid
- } else {
- tri[i].t2a = 0;
- tri[i].t2b = 0;
- tri[i].t2c = 0;
- }
- }
-}
-
-void Elas::createGrid(vector<support_pt> p_support,int32_t* disparity_grid,int32_t* grid_dims,bool right_image) {
-
- // get grid dimensions
- int32_t grid_width = grid_dims[1];
- int32_t grid_height = grid_dims[2];
-
- // allocate temporary memory
- int32_t* temp1 = (int32_t*)calloc((param.disp_max+1)*grid_height*grid_width,sizeof(int32_t));
- int32_t* temp2 = (int32_t*)calloc((param.disp_max+1)*grid_height*grid_width,sizeof(int32_t));
-
- // for all support points do
- for (int32_t i=0; i<p_support.size(); i++) {
-
- // compute disparity range to fill for this support point
- int32_t x_curr = p_support[i].u;
- int32_t y_curr = p_support[i].v;
- int32_t d_curr = p_support[i].d;
- int32_t d_min = max(d_curr-1,0);
- int32_t d_max = min(d_curr+1,param.disp_max);
-
- // fill disparity grid helper
- for (int32_t d=d_min; d<=d_max; d++) {
- int32_t x;
- if (!right_image)
- x = floor((float)(x_curr/param.grid_size));
- else
- x = floor((float)(x_curr-d_curr)/(float)param.grid_size);
- int32_t y = floor((float)y_curr/(float)param.grid_size);
-
- // point may potentially lay outside (corner points)
- if (x>=0 && x<grid_width &&y>=0 && y<grid_height) {
- int32_t addr = getAddressOffsetGrid(x,y,d,grid_width,param.disp_max+1);
- *(temp1+addr) = 1;
- }
- }
- }
-
- // diffusion pointers
- const int32_t* tl = temp1 + (0*grid_width+0)*(param.disp_max+1);
- const int32_t* tc = temp1 + (0*grid_width+1)*(param.disp_max+1);
- const int32_t* tr = temp1 + (0*grid_width+2)*(param.disp_max+1);
- const int32_t* cl = temp1 + (1*grid_width+0)*(param.disp_max+1);
- const int32_t* cc = temp1 + (1*grid_width+1)*(param.disp_max+1);
- const int32_t* cr = temp1 + (1*grid_width+2)*(param.disp_max+1);
- const int32_t* bl = temp1 + (2*grid_width+0)*(param.disp_max+1);
- const int32_t* bc = temp1 + (2*grid_width+1)*(param.disp_max+1);
- const int32_t* br = temp1 + (2*grid_width+2)*(param.disp_max+1);
-
- int32_t* result = temp2 + (1*grid_width+1)*(param.disp_max+1);
- int32_t* end_input = temp1 + grid_width*grid_height*(param.disp_max+1);
-
- // diffuse temporary grid
- for( ; br != end_input; tl++, tc++, tr++, cl++, cc++, cr++, bl++, bc++, br++, result++ )
- *result = *tl | *tc | *tr | *cl | *cc | *cr | *bl | *bc | *br;
-
- // for all grid positions create disparity grid
- for (int32_t x=0; x<grid_width; x++) {
- for (int32_t y=0; y<grid_height; y++) {
-
- // start with second value (first is reserved for count)
- int32_t curr_ind = 1;
-
- // for all disparities do
- for (int32_t d=0; d<=param.disp_max; d++) {
-
- // if yes => add this disparity to current cell
- if (*(temp2+getAddressOffsetGrid(x,y,d,grid_width,param.disp_max+1))>0) {
- *(disparity_grid+getAddressOffsetGrid(x,y,curr_ind,grid_width,param.disp_max+2))=d;
- curr_ind++;
- }
- }
-
- // finally set number of indices
- *(disparity_grid+getAddressOffsetGrid(x,y,0,grid_width,param.disp_max+2))=curr_ind-1;
- }
- }
-
- // release temporary memory
- free(temp1);
- free(temp2);
-}
-
-inline void Elas::updatePosteriorMinimum(__m128i* I2_block_addr,const int32_t &d,const int32_t &w,
- const __m128i &xmm1,__m128i &xmm2,int32_t &val,int32_t &min_val,int32_t &min_d) {
- xmm2 = _mm_load_si128(I2_block_addr);
- xmm2 = _mm_sad_epu8(xmm1,xmm2);
- val = _mm_extract_epi16(xmm2,0)+_mm_extract_epi16(xmm2,4)+w;
- if (val<min_val) {
- min_val = val;
- min_d = d;
- }
-}
-
-inline void Elas::updatePosteriorMinimum(__m128i* I2_block_addr,const int32_t &d,
- const __m128i &xmm1,__m128i &xmm2,int32_t &val,int32_t &min_val,int32_t &min_d) {
- xmm2 = _mm_load_si128(I2_block_addr);
- xmm2 = _mm_sad_epu8(xmm1,xmm2);
- val = _mm_extract_epi16(xmm2,0)+_mm_extract_epi16(xmm2,4);
- if (val<min_val) {
- min_val = val;
- min_d = d;
- }
-}
-
-inline void Elas::findMatch(int32_t &u,int32_t &v,float &plane_a,float &plane_b,float &plane_c,
- int32_t* disparity_grid,int32_t *grid_dims,uint8_t* I1_desc,uint8_t* I2_desc,
- int32_t *P,int32_t &plane_radius,bool &valid,bool &right_image,float* D){
-
- // get image width and height
- const int32_t disp_num = grid_dims[0]-1;
- const int32_t window_size = 2;
-
- // address of disparity we want to compute
- uint32_t d_addr;
- if (param.subsampling) d_addr = getAddressOffsetImage(u/2,v/2,width/2);
- else d_addr = getAddressOffsetImage(u,v,width);
-
- // check if u is ok
- if (u<window_size || u>=width-window_size)
- return;
-
- // compute line start address
- int32_t line_offset = 16*width*max(min(v,height-3),2);
- uint8_t *I1_line_addr,*I2_line_addr;
- if (!right_image) {
- I1_line_addr = I1_desc+line_offset;
- I2_line_addr = I2_desc+line_offset;
- } else {
- I1_line_addr = I2_desc+line_offset;
- I2_line_addr = I1_desc+line_offset;
- }
-
- // compute I1 block start address
- uint8_t* I1_block_addr = I1_line_addr+16*u;
-
- // does this patch have enough texture?
- int32_t sum = 0;
- for (int32_t i=0; i<16; i++)
- sum += abs((int32_t)(*(I1_block_addr+i))-128);
- if (sum<param.match_texture)
- return;
-
- // compute disparity, min disparity and max disparity of plane prior
- int32_t d_plane = (int32_t)(plane_a*(float)u+plane_b*(float)v+plane_c);
- int32_t d_plane_min = max(d_plane-plane_radius,0);
- int32_t d_plane_max = min(d_plane+plane_radius,disp_num-1);
-
- // get grid pointer
- int32_t grid_x = (int32_t)floor((float)u/(float)param.grid_size);
- int32_t grid_y = (int32_t)floor((float)v/(float)param.grid_size);
- uint32_t grid_addr = getAddressOffsetGrid(grid_x,grid_y,0,grid_dims[1],grid_dims[0]);
- int32_t num_grid = *(disparity_grid+grid_addr);
- int32_t* d_grid = disparity_grid+grid_addr+1;
-
- // loop variables
- int32_t d_curr, u_warp, val;
- int32_t min_val = 10000;
- int32_t min_d = -1;
- __m128i xmm1 = _mm_load_si128((__m128i*)I1_block_addr);
- __m128i xmm2;
-
- // left image
- if (!right_image) {
- for (int32_t i=0; i<num_grid; i++) {
- d_curr = d_grid[i];
- if (d_curr<d_plane_min || d_curr>d_plane_max) {
- u_warp = u-d_curr;
- if (u_warp<window_size || u_warp>=width-window_size)
- continue;
- updatePosteriorMinimum((__m128i*)(I2_line_addr+16*u_warp),d_curr,xmm1,xmm2,val,min_val,min_d);
- }
- }
- for (d_curr=d_plane_min; d_curr<=d_plane_max; d_curr++) {
- u_warp = u-d_curr;
- if (u_warp<window_size || u_warp>=width-window_size)
- continue;
- updatePosteriorMinimum((__m128i*)(I2_line_addr+16*u_warp),d_curr,valid?*(P+abs(d_curr-d_plane)):0,xmm1,xmm2,val,min_val,min_d);
- }
-
- // right image
- } else {
- for (int32_t i=0; i<num_grid; i++) {
- d_curr = d_grid[i];
- if (d_curr<d_plane_min || d_curr>d_plane_max) {
- u_warp = u+d_curr;
- if (u_warp<window_size || u_warp>=width-window_size)
- continue;
- updatePosteriorMinimum((__m128i*)(I2_line_addr+16*u_warp),d_curr,xmm1,xmm2,val,min_val,min_d);
- }
- }
- for (d_curr=d_plane_min; d_curr<=d_plane_max; d_curr++) {
- u_warp = u+d_curr;
- if (u_warp<window_size || u_warp>=width-window_size)
- continue;
- updatePosteriorMinimum((__m128i*)(I2_line_addr+16*u_warp),d_curr,valid?*(P+abs(d_curr-d_plane)):0,xmm1,xmm2,val,min_val,min_d);
- }
- }
-
- // set disparity value
- if (min_d>=0) *(D+d_addr) = min_d; // MAP value (min neg-Log probability)
- else *(D+d_addr) = -1; // invalid disparity
-}
-
-// TODO: %2 => more elegantly
-void Elas::computeDisparity(vector<support_pt> p_support,vector<triangle> tri,int32_t* disparity_grid,int32_t *grid_dims,
- uint8_t* I1_desc,uint8_t* I2_desc,bool right_image,float* D) {
-
- // number of disparities
- const int32_t disp_num = grid_dims[0]-1;
-
- // descriptor window_size
- int32_t window_size = 2;
-
- // init disparity image to -10
- if (param.subsampling) {
- for (int32_t i=0; i<(width/2)*(height/2); i++)
- *(D+i) = -10;
- } else {
- for (int32_t i=0; i<width*height; i++)
- *(D+i) = -10;
- }
-
- // pre-compute prior
- float two_sigma_squared = 2*param.sigma*param.sigma;
- int32_t* P = new int32_t[disp_num];
- for (int32_t delta_d=0; delta_d<disp_num; delta_d++)
- P[delta_d] = (int32_t)((-log(param.gamma+exp(-delta_d*delta_d/two_sigma_squared))+log(param.gamma))/param.beta);
- int32_t plane_radius = (int32_t)max((float)ceil(param.sigma*param.sradius),(float)2.0);
-
- // loop variables
- int32_t c1, c2, c3;
- float plane_a,plane_b,plane_c,plane_d;
-
- // for all triangles do
- for (uint32_t i=0; i<tri.size(); i++) {
-
- // get plane parameters
- uint32_t p_i = i*3;
- if (!right_image) {
- plane_a = tri[i].t1a;
- plane_b = tri[i].t1b;
- plane_c = tri[i].t1c;
- plane_d = tri[i].t2a;
- } else {
- plane_a = tri[i].t2a;
- plane_b = tri[i].t2b;
- plane_c = tri[i].t2c;
- plane_d = tri[i].t1a;
- }
-
- // triangle corners
- c1 = tri[i].c1;
- c2 = tri[i].c2;
- c3 = tri[i].c3;
-
- // sort triangle corners wrt. u (ascending)
- float tri_u[3];
- if (!right_image) {
- tri_u[0] = p_support[c1].u;
- tri_u[1] = p_support[c2].u;
- tri_u[2] = p_support[c3].u;
- } else {
- tri_u[0] = p_support[c1].u-p_support[c1].d;
- tri_u[1] = p_support[c2].u-p_support[c2].d;
- tri_u[2] = p_support[c3].u-p_support[c3].d;
- }
- float tri_v[3] = {(float) p_support[c1].v,(float) p_support[c2].v,(float) p_support[c3].v};
-
- for (uint32_t j=0; j<3; j++) {
- for (uint32_t k=0; k<j; k++) {
- if (tri_u[k]>tri_u[j]) {
- float tri_u_temp = tri_u[j]; tri_u[j] = tri_u[k]; tri_u[k] = tri_u_temp;
- float tri_v_temp = tri_v[j]; tri_v[j] = tri_v[k]; tri_v[k] = tri_v_temp;
- }
- }
- }
-
- // rename corners
- float A_u = tri_u[0]; float A_v = tri_v[0];
- float B_u = tri_u[1]; float B_v = tri_v[1];
- float C_u = tri_u[2]; float C_v = tri_v[2];
-
- // compute straight lines connecting triangle corners
- float AB_a = 0; float AC_a = 0; float BC_a = 0;
- if ((int32_t)(A_u)!=(int32_t)(B_u)) AB_a = (A_v-B_v)/(A_u-B_u);
- if ((int32_t)(A_u)!=(int32_t)(C_u)) AC_a = (A_v-C_v)/(A_u-C_u);
- if ((int32_t)(B_u)!=(int32_t)(C_u)) BC_a = (B_v-C_v)/(B_u-C_u);
- float AB_b = A_v-AB_a*A_u;
- float AC_b = A_v-AC_a*A_u;
- float BC_b = B_v-BC_a*B_u;
-
- // a plane is only valid if itself and its projection
- // into the other image is not too much slanted
- bool valid = fabs(plane_a)<0.7 && fabs(plane_d)<0.7;
-
- // first part (triangle corner A->B)
- if ((int32_t)(A_u)!=(int32_t)(B_u)) {
- for (int32_t u=max((int32_t)A_u,0); u<min((int32_t)B_u,width); u++){
- if (!param.subsampling || u%2==0) {
- int32_t v_1 = (uint32_t)(AC_a*(float)u+AC_b);
- int32_t v_2 = (uint32_t)(AB_a*(float)u+AB_b);
- for (int32_t v=min(v_1,v_2); v<max(v_1,v_2); v++)
- if (!param.subsampling || v%2==0) {
- findMatch(u,v,plane_a,plane_b,plane_c,disparity_grid,grid_dims,
- I1_desc,I2_desc,P,plane_radius,valid,right_image,D);
- }
- }
- }
- }
-
- // second part (triangle corner B->C)
- if ((int32_t)(B_u)!=(int32_t)(C_u)) {
- for (int32_t u=max((int32_t)B_u,0); u<min((int32_t)C_u,width); u++){
- if (!param.subsampling || u%2==0) {
- int32_t v_1 = (uint32_t)(AC_a*(float)u+AC_b);
- int32_t v_2 = (uint32_t)(BC_a*(float)u+BC_b);
- for (int32_t v=min(v_1,v_2); v<max(v_1,v_2); v++)
- if (!param.subsampling || v%2==0) {
- findMatch(u,v,plane_a,plane_b,plane_c,disparity_grid,grid_dims,
- I1_desc,I2_desc,P,plane_radius,valid,right_image,D);
- }
- }
- }
- }
-
- }
-
- delete[] P;
-}
-
-void Elas::leftRightConsistencyCheck(float* D1,float* D2) {
-
- // get disparity image dimensions
- int32_t D_width = width;
- int32_t D_height = height;
- if (param.subsampling) {
- D_width = width/2;
- D_height = height/2;
- }
-
- // make a copy of both images
- float* D1_copy = (float*)malloc(D_width*D_height*sizeof(float));
- float* D2_copy = (float*)malloc(D_width*D_height*sizeof(float));
- memcpy(D1_copy,D1,D_width*D_height*sizeof(float));
- memcpy(D2_copy,D2,D_width*D_height*sizeof(float));
-
- // loop variables
- uint32_t addr,addr_warp;
- float u_warp_1,u_warp_2,d1,d2;
-
- // for all image points do
- for (int32_t u=0; u<D_width; u++) {
- for (int32_t v=0; v<D_height; v++) {
-
- // compute address (u,v) and disparity value
- addr = getAddressOffsetImage(u,v,D_width);
- d1 = *(D1_copy+addr);
- d2 = *(D2_copy+addr);
- if (param.subsampling) {
- u_warp_1 = (float)u-d1/2;
- u_warp_2 = (float)u+d2/2;
- } else {
- u_warp_1 = (float)u-d1;
- u_warp_2 = (float)u+d2;
- }
-
-
- // check if left disparity is valid
- if (d1>=0 && u_warp_1>=0 && u_warp_1<D_width) {
-
- // compute warped image address
- addr_warp = getAddressOffsetImage((int32_t)u_warp_1,v,D_width);
-
- // if check failed
- if (fabs(*(D2_copy+addr_warp)-d1)>param.lr_threshold)
- *(D1+addr) = -10;
-
- // set invalid
- } else
- *(D1+addr) = -10;
-
- // check if right disparity is valid
- if (d2>=0 && u_warp_2>=0 && u_warp_2<D_width) {
-
- // compute warped image address
- addr_warp = getAddressOffsetImage((int32_t)u_warp_2,v,D_width);
-
- // if check failed
- if (fabs(*(D1_copy+addr_warp)-d2)>param.lr_threshold)
- *(D2+addr) = -10;
-
- // set invalid
- } else
- *(D2+addr) = -10;
- }
- }
-
- // release memory
- free(D1_copy);
- free(D2_copy);
-}
-
-void Elas::removeSmallSegments (float* D) {
-
- // get disparity image dimensions
- int32_t D_width = width;
- int32_t D_height = height;
- int32_t D_speckle_size = param.speckle_size;
- if (param.subsampling) {
- D_width = width/2;
- D_height = height/2;
- D_speckle_size = sqrt((float)param.speckle_size)*2;
- }
-
- // allocate memory on heap for dynamic programming arrays
- int32_t *D_done = (int32_t*)calloc(D_width*D_height,sizeof(int32_t));
- int32_t *seg_list_u = (int32_t*)calloc(D_width*D_height,sizeof(int32_t));
- int32_t *seg_list_v = (int32_t*)calloc(D_width*D_height,sizeof(int32_t));
- int32_t seg_list_count;
- int32_t seg_list_curr;
- int32_t u_neighbor[4];
- int32_t v_neighbor[4];
- int32_t u_seg_curr;
- int32_t v_seg_curr;
-
- // declare loop variables
- int32_t addr_start, addr_curr, addr_neighbor;
-
- // for all pixels do
- for (int32_t u=0; u<D_width; u++) {
- for (int32_t v=0; v<D_height; v++) {
-
- // get address of first pixel in this segment
- addr_start = getAddressOffsetImage(u,v,D_width);
-
- // if this pixel has not already been processed
- if (*(D_done+addr_start)==0) {
-
- // init segment list (add first element
- // and set it to be the next element to check)
- *(seg_list_u+0) = u;
- *(seg_list_v+0) = v;
- seg_list_count = 1;
- seg_list_curr = 0;
-
- // add neighboring segments as long as there
- // are none-processed pixels in the seg_list;
- // none-processed means: seg_list_curr<seg_list_count
- while (seg_list_curr<seg_list_count) {
-
- // get current position from seg_list
- u_seg_curr = *(seg_list_u+seg_list_curr);
- v_seg_curr = *(seg_list_v+seg_list_curr);
-
- // get address of current pixel in this segment
- addr_curr = getAddressOffsetImage(u_seg_curr,v_seg_curr,D_width);
-
- // fill list with neighbor positions
- u_neighbor[0] = u_seg_curr-1; v_neighbor[0] = v_seg_curr;
- u_neighbor[1] = u_seg_curr+1; v_neighbor[1] = v_seg_curr;
- u_neighbor[2] = u_seg_curr; v_neighbor[2] = v_seg_curr-1;
- u_neighbor[3] = u_seg_curr; v_neighbor[3] = v_seg_curr+1;
-
- // for all neighbors do
- for (int32_t i=0; i<4; i++) {
-
- // check if neighbor is inside image
- if (u_neighbor[i]>=0 && v_neighbor[i]>=0 && u_neighbor[i]<D_width && v_neighbor[i]<D_height) {
-
- // get neighbor pixel address
- addr_neighbor = getAddressOffsetImage(u_neighbor[i],v_neighbor[i],D_width);
-
- // check if neighbor has not been added yet and if it is valid
- if (*(D_done+addr_neighbor)==0 && *(D+addr_neighbor)>=0) {
-
- // is the neighbor similar to the current pixel
- // (=belonging to the current segment)
- if (fabs(*(D+addr_curr)-*(D+addr_neighbor))<=param.speckle_sim_threshold) {
-
- // add neighbor coordinates to segment list
- *(seg_list_u+seg_list_count) = u_neighbor[i];
- *(seg_list_v+seg_list_count) = v_neighbor[i];
- seg_list_count++;
-
- // set neighbor pixel in I_done to "done"
- // (otherwise a pixel may be added 2 times to the list, as
- // neighbor of one pixel and as neighbor of another pixel)
- *(D_done+addr_neighbor) = 1;
- }
- }
-
- }
- }
-
- // set current pixel in seg_list to "done"
- seg_list_curr++;
-
- // set current pixel in I_done to "done"
- *(D_done+addr_curr) = 1;
-
- } // end: while (seg_list_curr<seg_list_count)
-
- // if segment NOT large enough => invalidate pixels
- if (seg_list_count<D_speckle_size) {
-
- // for all pixels in current segment invalidate pixels
- for (int32_t i=0; i<seg_list_count; i++) {
- addr_curr = getAddressOffsetImage(*(seg_list_u+i),*(seg_list_v+i),D_width);
- *(D+addr_curr) = -10;
- }
- }
- } // end: if (*(I_done+addr_start)==0)
-
- }
- }
-
- // free memory
- free(D_done);
- free(seg_list_u);
- free(seg_list_v);
-}
-
-void Elas::gapInterpolation(float* D) {
-
- // get disparity image dimensions
- int32_t D_width = width;
- int32_t D_height = height;
- int32_t D_ipol_gap_width = param.ipol_gap_width;
- if (param.subsampling) {
- D_width = width/2;
- D_height = height/2;
- D_ipol_gap_width = param.ipol_gap_width/2+1;
- }
-
- // discontinuity threshold
- float discon_threshold = 3.0;
-
- // declare loop variables
- int32_t count,addr,v_first,v_last,u_first,u_last;
- float d1,d2,d_ipol;
-
- // 1. Row-wise:
- // for each row do
- for (int32_t v=0; v<D_height; v++) {
-
- // init counter
- count = 0;
-
- // for each element of the row do
- for (int32_t u=0; u<D_width; u++) {
-
- // get address of this location
- addr = getAddressOffsetImage(u,v,D_width);
-
- // if disparity valid
- if (*(D+addr)>=0) {
-
- // check if speckle is small enough
- if (count>=1 && count<=D_ipol_gap_width) {
-
- // first and last value for interpolation
- u_first = u-count;
- u_last = u-1;
-
- // if value in range
- if (u_first>0 && u_last<D_width-1) {
-
- // compute mean disparity
- d1 = *(D+getAddressOffsetImage(u_first-1,v,D_width));
- d2 = *(D+getAddressOffsetImage(u_last+1,v,D_width));
- if (fabs(d1-d2)<discon_threshold) d_ipol = (d1+d2)/2;
- else d_ipol = min(d1,d2);
-
- // set all values to d_ipol
- for (int32_t u_curr=u_first; u_curr<=u_last; u_curr++)
- *(D+getAddressOffsetImage(u_curr,v,D_width)) = d_ipol;
- }
-
- }
-
- // reset counter
- count = 0;
-
- // otherwise increment counter
- } else {
- count++;
- }
- }
-
- // if full size disp map requested
- if (param.add_corners) {
-
- // extrapolate to the left
- for (int32_t u=0; u<D_width; u++) {
-
- // get address of this location
- addr = getAddressOffsetImage(u,v,D_width);
-
- // if disparity valid
- if (*(D+addr)>=0) {
- for (int32_t u2=max(u-D_ipol_gap_width,0); u2<u; u2++)
- *(D+getAddressOffsetImage(u2,v,D_width)) = *(D+addr);
- break;
- }
- }
-
- // extrapolate to the right
- for (int32_t u=D_width-1; u>=0; u--) {
-
- // get address of this location
- addr = getAddressOffsetImage(u,v,D_width);
-
- // if disparity valid
- if (*(D+addr)>=0) {
- for (int32_t u2=u; u2<=min(u+D_ipol_gap_width,D_width-1); u2++)
- *(D+getAddressOffsetImage(u2,v,D_width)) = *(D+addr);
- break;
- }
- }
- }
- }
-
- // 2. Column-wise:
- // for each column do
- for (int32_t u=0; u<D_width; u++) {
-
- // init counter
- count = 0;
-
- // for each element of the column do
- for (int32_t v=0; v<D_height; v++) {
-
- // get address of this location
- addr = getAddressOffsetImage(u,v,D_width);
-
- // if disparity valid
- if (*(D+addr)>=0) {
-
- // check if gap is small enough
- if (count>=1 && count<=D_ipol_gap_width) {
-
- // first and last value for interpolation
- v_first = v-count;
- v_last = v-1;
-
- // if value in range
- if (v_first>0 && v_last<D_height-1) {
-
- // compute mean disparity
- d1 = *(D+getAddressOffsetImage(u,v_first-1,D_width));
- d2 = *(D+getAddressOffsetImage(u,v_last+1,D_width));
- if (fabs(d1-d2)<discon_threshold) d_ipol = (d1+d2)/2;
- else d_ipol = min(d1,d2);
-
- // set all values to d_ipol
- for (int32_t v_curr=v_first; v_curr<=v_last; v_curr++)
- *(D+getAddressOffsetImage(u,v_curr,D_width)) = d_ipol;
- }
-
- }
-
- // reset counter
- count = 0;
-
- // otherwise increment counter
- } else {
- count++;
- }
- }
- }
-}
-
-// implements approximation to bilateral filtering
-void Elas::adaptiveMean (float* D) {
-
- // get disparity image dimensions
- int32_t D_width = width;
- int32_t D_height = height;
- if (param.subsampling) {
- D_width = width/2;
- D_height = height/2;
- }
-
- // allocate temporary memory
- float* D_copy = (float*)malloc(D_width*D_height*sizeof(float));
- float* D_tmp = (float*)malloc(D_width*D_height*sizeof(float));
- memcpy(D_copy,D,D_width*D_height*sizeof(float));
-
- // zero input disparity maps to -10 (this makes the bilateral
- // weights of all valid disparities to 0 in this region)
- for (int32_t i=0; i<D_width*D_height; i++) {
- if (*(D+i)<0) {
- *(D_copy+i) = -10;
- *(D_tmp+i) = -10;
- }
- }
-
- __m128 xconst0 = _mm_set1_ps(0);
- __m128 xconst4 = _mm_set1_ps(4);
- __m128 xval,xweight1,xweight2,xfactor1,xfactor2;
-
- float *val = (float *)_mm_malloc(8*sizeof(float),16);
- float *weight = (float*)_mm_malloc(4*sizeof(float),16);
- float *factor = (float*)_mm_malloc(4*sizeof(float),16);
-
- // set absolute mask
- __m128 xabsmask = _mm_set1_ps(0x7FFFFFFF);
-
- // when doing subsampling: 4 pixel bilateral filter width
- if (param.subsampling) {
-
- // horizontal filter
- for (int32_t v=3; v<D_height-3; v++) {
-
- // init
- for (int32_t u=0; u<3; u++)
- val[u] = *(D_copy+v*D_width+u);
-
- // loop
- for (int32_t u=3; u<D_width; u++) {
-
- // set
- float val_curr = *(D_copy+v*D_width+(u-1));
- val[u%4] = *(D_copy+v*D_width+u);
-
- xval = _mm_load_ps(val);
- xweight1 = _mm_sub_ps(xval,_mm_set1_ps(val_curr));
- xweight1 = _mm_and_ps(xweight1,xabsmask);
- xweight1 = _mm_sub_ps(xconst4,xweight1);
- xweight1 = _mm_max_ps(xconst0,xweight1);
- xfactor1 = _mm_mul_ps(xval,xweight1);
-
- _mm_store_ps(weight,xweight1);
- _mm_store_ps(factor,xfactor1);
-
- float weight_sum = weight[0]+weight[1]+weight[2]+weight[3];
- float factor_sum = factor[0]+factor[1]+factor[2]+factor[3];
-
- if (weight_sum>0) {
- float d = factor_sum/weight_sum;
- if (d>=0) *(D_tmp+v*D_width+(u-1)) = d;
- }
- }
- }
-
- // vertical filter
- for (int32_t u=3; u<D_width-3; u++) {
-
- // init
- for (int32_t v=0; v<3; v++)
- val[v] = *(D_tmp+v*D_width+u);
-
- // loop
- for (int32_t v=3; v<D_height; v++) {
-
- // set
- float val_curr = *(D_tmp+(v-1)*D_width+u);
- val[v%4] = *(D_tmp+v*D_width+u);
-
- xval = _mm_load_ps(val);
- xweight1 = _mm_sub_ps(xval,_mm_set1_ps(val_curr));
- xweight1 = _mm_and_ps(xweight1,xabsmask);
- xweight1 = _mm_sub_ps(xconst4,xweight1);
- xweight1 = _mm_max_ps(xconst0,xweight1);
- xfactor1 = _mm_mul_ps(xval,xweight1);
-
- _mm_store_ps(weight,xweight1);
- _mm_store_ps(factor,xfactor1);
-
- float weight_sum = weight[0]+weight[1]+weight[2]+weight[3];
- float factor_sum = factor[0]+factor[1]+factor[2]+factor[3];
-
- if (weight_sum>0) {
- float d = factor_sum/weight_sum;
- if (d>=0) *(D+(v-1)*D_width+u) = d;
- }
- }
- }
-
- // full resolution: 8 pixel bilateral filter width
- } else {
-
-
- // horizontal filter
- for (int32_t v=3; v<D_height-3; v++) {
-
- // init
- for (int32_t u=0; u<7; u++)
- val[u] = *(D_copy+v*D_width+u);
-
- // loop
- for (int32_t u=7; u<D_width; u++) {
-
- // set
- float val_curr = *(D_copy+v*D_width+(u-3));
- val[u%8] = *(D_copy+v*D_width+u);
-
- xval = _mm_load_ps(val);
- xweight1 = _mm_sub_ps(xval,_mm_set1_ps(val_curr));
- xweight1 = _mm_and_ps(xweight1,xabsmask);
- xweight1 = _mm_sub_ps(xconst4,xweight1);
- xweight1 = _mm_max_ps(xconst0,xweight1);
- xfactor1 = _mm_mul_ps(xval,xweight1);
-
- xval = _mm_load_ps(val+4);
- xweight2 = _mm_sub_ps(xval,_mm_set1_ps(val_curr));
- xweight2 = _mm_and_ps(xweight2,xabsmask);
- xweight2 = _mm_sub_ps(xconst4,xweight2);
- xweight2 = _mm_max_ps(xconst0,xweight2);
- xfactor2 = _mm_mul_ps(xval,xweight2);
-
- xweight1 = _mm_add_ps(xweight1,xweight2);
- xfactor1 = _mm_add_ps(xfactor1,xfactor2);
-
- _mm_store_ps(weight,xweight1);
- _mm_store_ps(factor,xfactor1);
-
- float weight_sum = weight[0]+weight[1]+weight[2]+weight[3];
- float factor_sum = factor[0]+factor[1]+factor[2]+factor[3];
-
- if (weight_sum>0) {
- float d = factor_sum/weight_sum;
- if (d>=0) *(D_tmp+v*D_width+(u-3)) = d;
- }
- }
- }
-
- // vertical filter
- for (int32_t u=3; u<D_width-3; u++) {
-
- // init
- for (int32_t v=0; v<7; v++)
- val[v] = *(D_tmp+v*D_width+u);
-
- // loop
- for (int32_t v=7; v<D_height; v++) {
-
- // set
- float val_curr = *(D_tmp+(v-3)*D_width+u);
- val[v%8] = *(D_tmp+v*D_width+u);
-
- xval = _mm_load_ps(val);
- xweight1 = _mm_sub_ps(xval,_mm_set1_ps(val_curr));
- xweight1 = _mm_and_ps(xweight1,xabsmask);
- xweight1 = _mm_sub_ps(xconst4,xweight1);
- xweight1 = _mm_max_ps(xconst0,xweight1);
- xfactor1 = _mm_mul_ps(xval,xweight1);
-
- xval = _mm_load_ps(val+4);
- xweight2 = _mm_sub_ps(xval,_mm_set1_ps(val_curr));
- xweight2 = _mm_and_ps(xweight2,xabsmask);
- xweight2 = _mm_sub_ps(xconst4,xweight2);
- xweight2 = _mm_max_ps(xconst0,xweight2);
- xfactor2 = _mm_mul_ps(xval,xweight2);
-
- xweight1 = _mm_add_ps(xweight1,xweight2);
- xfactor1 = _mm_add_ps(xfactor1,xfactor2);
-
- _mm_store_ps(weight,xweight1);
- _mm_store_ps(factor,xfactor1);
-
- float weight_sum = weight[0]+weight[1]+weight[2]+weight[3];
- float factor_sum = factor[0]+factor[1]+factor[2]+factor[3];
-
- if (weight_sum>0) {
- float d = factor_sum/weight_sum;
- if (d>=0) *(D+(v-3)*D_width+u) = d;
- }
- }
- }
- }
-
- // free memory
- _mm_free(val);
- _mm_free(weight);
- _mm_free(factor);
- free(D_copy);
- free(D_tmp);
-}
-
-void Elas::median (float* D) {
-
- // get disparity image dimensions
- int32_t D_width = width;
- int32_t D_height = height;
- if (param.subsampling) {
- D_width = width/2;
- D_height = height/2;
- }
-
- // temporary memory
- float *D_temp = (float*)calloc(D_width*D_height,sizeof(float));
-
- int32_t window_size = 3;
-
- float *vals = new float[window_size*2+1];
- int32_t i,j;
- float temp;
-
- // first step: horizontal median filter
- for (int32_t u=window_size; u<D_width-window_size; u++) {
- for (int32_t v=window_size; v<D_height-window_size; v++) {
- if (*(D+getAddressOffsetImage(u,v,D_width))>=0) {
- j = 0;
- for (int32_t u2=u-window_size; u2<=u+window_size; u2++) {
- temp = *(D+getAddressOffsetImage(u2,v,D_width));
- i = j-1;
- while (i>=0 && *(vals+i)>temp) {
- *(vals+i+1) = *(vals+i);
- i--;
- }
- *(vals+i+1) = temp;
- j++;
- }
- *(D_temp+getAddressOffsetImage(u,v,D_width)) = *(vals+window_size);
- } else {
- *(D_temp+getAddressOffsetImage(u,v,D_width)) = *(D+getAddressOffsetImage(u,v,D_width));
- }
-
- }
- }
-
- // second step: vertical median filter
- for (int32_t u=window_size; u<D_width-window_size; u++) {
- for (int32_t v=window_size; v<D_height-window_size; v++) {
- if (*(D+getAddressOffsetImage(u,v,D_width))>=0) {
- j = 0;
- for (int32_t v2=v-window_size; v2<=v+window_size; v2++) {
- temp = *(D_temp+getAddressOffsetImage(u,v2,D_width));
- i = j-1;
- while (i>=0 && *(vals+i)>temp) {
- *(vals+i+1) = *(vals+i);
- i--;
- }
- *(vals+i+1) = temp;
- j++;
- }
- *(D+getAddressOffsetImage(u,v,D_width)) = *(vals+window_size);
- } else {
- *(D+getAddressOffsetImage(u,v,D_width)) = *(D+getAddressOffsetImage(u,v,D_width));
- }
- }
- }
-
- free(D_temp);
- free(vals);
-}
diff --git a/src/libelas/elasDescriptor.cpp b/src/libelas/elasDescriptor.cpp
deleted file mode 100644
index cdd0fb25aac529df463082cb4bc015127d3df8c1..0000000000000000000000000000000000000000
--- a/src/libelas/elasDescriptor.cpp
+++ /dev/null
@@ -1,114 +0,0 @@
-/*
-Copyright 2011. All rights reserved.
-Institute of Measurement and Control Systems
-Karlsruhe Institute of Technology, Germany
-
-This file is part of libelas.
-Authors: Andreas Geiger
-
-libelas is free software; you can redistribute it and/or modify it under the
-terms of the GNU General Public License as published by the Free Software
-Foundation; either version 3 of the License, or any later version.
-
-libelas is distributed in the hope that it will be useful, but WITHOUT ANY
-WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
-PARTICULAR PURPOSE. See the GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License along with
-libelas; if not, write to the Free Software Foundation, Inc., 51 Franklin
-Street, Fifth Floor, Boston, MA 02110-1301, USA
-*/
-
-#include "libelas/elasDescriptor.h"
-#include "libelas/elasFilter.h"
-#include <emmintrin.h>
-
-using namespace std;
-
-Descriptor::Descriptor(uint8_t* I,int32_t width,int32_t height,int32_t bpl,bool half_resolution) {
- I_desc = (uint8_t*)_mm_malloc(16*width*height*sizeof(uint8_t),16);
- uint8_t* I_du = (uint8_t*)_mm_malloc(bpl*height*sizeof(uint8_t),16);
- uint8_t* I_dv = (uint8_t*)_mm_malloc(bpl*height*sizeof(uint8_t),16);
- filter::sobel3x3(I,I_du,I_dv,bpl,height);
- createDescriptor(I_du,I_dv,width,height,bpl,half_resolution);
- _mm_free(I_du);
- _mm_free(I_dv);
-}
-
-Descriptor::~Descriptor() {
- _mm_free(I_desc);
-}
-
-void Descriptor::createDescriptor (uint8_t* I_du,uint8_t* I_dv,int32_t width,int32_t height,int32_t bpl,bool half_resolution) {
-
- uint8_t *I_desc_curr;
- uint32_t addr_v0,addr_v1,addr_v2,addr_v3,addr_v4;
-
- // do not compute every second line
- if (half_resolution) {
-
- // create filter strip
- for (int32_t v=4; v<height-3; v+=2) {
-
- addr_v2 = v*bpl;
- addr_v0 = addr_v2-2*bpl;
- addr_v1 = addr_v2-1*bpl;
- addr_v3 = addr_v2+1*bpl;
- addr_v4 = addr_v2+2*bpl;
-
- for (int32_t u=3; u<width-3; u++) {
- I_desc_curr = I_desc+(v*width+u)*16;
- *(I_desc_curr++) = *(I_du+addr_v0+u+0);
- *(I_desc_curr++) = *(I_du+addr_v1+u-2);
- *(I_desc_curr++) = *(I_du+addr_v1+u+0);
- *(I_desc_curr++) = *(I_du+addr_v1+u+2);
- *(I_desc_curr++) = *(I_du+addr_v2+u-1);
- *(I_desc_curr++) = *(I_du+addr_v2+u+0);
- *(I_desc_curr++) = *(I_du+addr_v2+u+0);
- *(I_desc_curr++) = *(I_du+addr_v2+u+1);
- *(I_desc_curr++) = *(I_du+addr_v3+u-2);
- *(I_desc_curr++) = *(I_du+addr_v3+u+0);
- *(I_desc_curr++) = *(I_du+addr_v3+u+2);
- *(I_desc_curr++) = *(I_du+addr_v4+u+0);
- *(I_desc_curr++) = *(I_dv+addr_v1+u+0);
- *(I_desc_curr++) = *(I_dv+addr_v2+u-1);
- *(I_desc_curr++) = *(I_dv+addr_v2+u+1);
- *(I_desc_curr++) = *(I_dv+addr_v3+u+0);
- }
- }
-
- // compute full descriptor images
- } else {
-
- // create filter strip
- for (int32_t v=3; v<height-3; v++) {
-
- addr_v2 = v*bpl;
- addr_v0 = addr_v2-2*bpl;
- addr_v1 = addr_v2-1*bpl;
- addr_v3 = addr_v2+1*bpl;
- addr_v4 = addr_v2+2*bpl;
-
- for (int32_t u=3; u<width-3; u++) {
- I_desc_curr = I_desc+(v*width+u)*16;
- *(I_desc_curr++) = *(I_du+addr_v0+u+0);
- *(I_desc_curr++) = *(I_du+addr_v1+u-2);
- *(I_desc_curr++) = *(I_du+addr_v1+u+0);
- *(I_desc_curr++) = *(I_du+addr_v1+u+2);
- *(I_desc_curr++) = *(I_du+addr_v2+u-1);
- *(I_desc_curr++) = *(I_du+addr_v2+u+0);
- *(I_desc_curr++) = *(I_du+addr_v2+u+0);
- *(I_desc_curr++) = *(I_du+addr_v2+u+1);
- *(I_desc_curr++) = *(I_du+addr_v3+u-2);
- *(I_desc_curr++) = *(I_du+addr_v3+u+0);
- *(I_desc_curr++) = *(I_du+addr_v3+u+2);
- *(I_desc_curr++) = *(I_du+addr_v4+u+0);
- *(I_desc_curr++) = *(I_dv+addr_v1+u+0);
- *(I_desc_curr++) = *(I_dv+addr_v2+u-1);
- *(I_desc_curr++) = *(I_dv+addr_v2+u+1);
- *(I_desc_curr++) = *(I_dv+addr_v3+u+0);
- }
- }
- }
-
-}
diff --git a/src/libelas/elasFilter.cpp b/src/libelas/elasFilter.cpp
deleted file mode 100644
index b5aea6a13b3f4297b3c4b5e0f2a734d06cd63cde..0000000000000000000000000000000000000000
--- a/src/libelas/elasFilter.cpp
+++ /dev/null
@@ -1,468 +0,0 @@
-/*
-Copyright 2011. All rights reserved.
-Institute of Measurement and Control Systems
-Karlsruhe Institute of Technology, Germany
-
-This file is part of libelas.
-Authors: Julius Ziegler, Andreas Geiger
-
-libelas is free software; you can redistribute it and/or modify it under the
-terms of the GNU General Public License as published by the Free Software
-Foundation; either version 3 of the License, or any later version.
-
-libelas is distributed in the hope that it will be useful, but WITHOUT ANY
-WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
-PARTICULAR PURPOSE. See the GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License along with
-libelas; if not, write to the Free Software Foundation, Inc., 51 Franklin
-Street, Fifth Floor, Boston, MA 02110-1301, USA
-*/
-
-#include <stdio.h>
-#include <string.h>
-#include <cassert>
-
-#include "libelas/elasFilter.h"
-
-// define fixed-width datatypes for Visual Studio projects
-//#ifndef _MSC_VER
- #include <stdint.h>
-//#else
-// typedef __int8 int8_t;
-// typedef __int16 int16_t;
-// typedef __int32 int32_t;
-// typedef __int64 int64_t;
-// typedef unsigned __int8 uint8_t;
-// typedef unsigned __int16 uint16_t;
-// typedef unsigned __int32 uint32_t;
-// typedef unsigned __int64 uint64_t;
-//#endif
-
-// fast filters: implements 3x3 and 5x5 sobel filters and
-// 5x5 blob and corner filters based on SSE2/3 instructions
-namespace filter {
-
- // private namespace, public user functions at the bottom of this file
- namespace detail {
- void integral_image( const uint8_t* in, int32_t* out, int w, int h ) {
- int32_t* out_top = out;
- const uint8_t* line_end = in + w;
- const uint8_t* in_end = in + w*h;
- int32_t line_sum = 0;
- for( ; in != line_end; in++, out++ ) {
- line_sum += *in;
- *out = line_sum;
- }
- for( ; in != in_end; ) {
- int32_t line_sum = 0;
- const uint8_t* line_end = in + w;
- for( ; in != line_end; in++, out++, out_top++ ) {
- line_sum += *in;
- *out = *out_top + line_sum;
- }
- }
- }
-
- void unpack_8bit_to_16bit( const __m128i a, __m128i& b0, __m128i& b1 ) {
- __m128i zero = _mm_setzero_si128();
- b0 = _mm_unpacklo_epi8( a, zero );
- b1 = _mm_unpackhi_epi8( a, zero );
- }
-
- void pack_16bit_to_8bit_saturate( const __m128i a0, const __m128i a1, __m128i& b ) {
- b = _mm_packus_epi16( a0, a1 );
- }
-
- // convolve image with a (1,4,6,4,1) row vector. Result is accumulated into output.
- // output is scaled by 1/128, then clamped to [-128,128], and finally shifted to [0,255].
- void convolve_14641_row_5x5_16bit( const int16_t* in, uint8_t* out, int w, int h ) {
- assert( w % 16 == 0 && "width must be multiple of 16!" );
- const __m128i* i0 = (const __m128i*)(in);
- const int16_t* i1 = in+1;
- const int16_t* i2 = in+2;
- const int16_t* i3 = in+3;
- const int16_t* i4 = in+4;
- uint8_t* result = out + 2;
- const int16_t* const end_input = in + w*h;
- __m128i offs = _mm_set1_epi16( 128 );
- for( ; i4 < end_input; i0 += 1, i1 += 8, i2 += 8, i3 += 8, i4 += 8, result += 16 ) {
- __m128i result_register_lo;
- __m128i result_register_hi;
- for( int i=0; i<2; i++ ) {
- __m128i* result_register;
- if( i==0 ) result_register = &result_register_lo;
- else result_register = &result_register_hi;
- __m128i i0_register = *i0;
- __m128i i1_register = _mm_loadu_si128( (__m128i*)( i1 ) );
- __m128i i2_register = _mm_loadu_si128( (__m128i*)( i2 ) );
- __m128i i3_register = _mm_loadu_si128( (__m128i*)( i3 ) );
- __m128i i4_register = _mm_loadu_si128( (__m128i*)( i4 ) );
- *result_register = _mm_setzero_si128();
- *result_register = _mm_add_epi16( i0_register, *result_register );
- i1_register = _mm_add_epi16( i1_register, i1_register );
- i1_register = _mm_add_epi16( i1_register, i1_register );
- *result_register = _mm_add_epi16( i1_register, *result_register );
- i2_register = _mm_add_epi16( i2_register, i2_register );
- *result_register = _mm_add_epi16( i2_register, *result_register );
- i2_register = _mm_add_epi16( i2_register, i2_register );
- *result_register = _mm_add_epi16( i2_register, *result_register );
- i3_register = _mm_add_epi16( i3_register, i3_register );
- i3_register = _mm_add_epi16( i3_register, i3_register );
- *result_register = _mm_add_epi16( i3_register, *result_register );
- *result_register = _mm_add_epi16( i4_register, *result_register );
- *result_register = _mm_srai_epi16( *result_register, 7 );
- *result_register = _mm_add_epi16( *result_register, offs );
- if( i==0 ) {
- i0 += 1;
- i1 += 8;
- i2 += 8;
- i3 += 8;
- i4 += 8;
- }
- }
- pack_16bit_to_8bit_saturate( result_register_lo, result_register_hi, result_register_lo );
- _mm_storeu_si128( ((__m128i*)( result )), result_register_lo );
- }
- }
-
- // convolve image with a (1,2,0,-2,-1) row vector. Result is accumulated into output.
- // This one works on 16bit input and 8bit output.
- // output is scaled by 1/128, then clamped to [-128,128], and finally shifted to [0,255].
- void convolve_12021_row_5x5_16bit( const int16_t* in, uint8_t* out, int w, int h ) {
- assert( w % 16 == 0 && "width must be multiple of 16!" );
- const __m128i* i0 = (const __m128i*)(in);
- const int16_t* i1 = in+1;
- const int16_t* i3 = in+3;
- const int16_t* i4 = in+4;
- uint8_t* result = out + 2;
- const int16_t* const end_input = in + w*h;
- __m128i offs = _mm_set1_epi16( 128 );
- for( ; i4 < end_input; i0 += 1, i1 += 8, i3 += 8, i4 += 8, result += 16 ) {
- __m128i result_register_lo;
- __m128i result_register_hi;
- for( int i=0; i<2; i++ ) {
- __m128i* result_register;
- if( i==0 ) result_register = &result_register_lo;
- else result_register = &result_register_hi;
- __m128i i0_register = *i0;
- __m128i i1_register = _mm_loadu_si128( (__m128i*)( i1 ) );
- __m128i i3_register = _mm_loadu_si128( (__m128i*)( i3 ) );
- __m128i i4_register = _mm_loadu_si128( (__m128i*)( i4 ) );
- *result_register = _mm_setzero_si128();
- *result_register = _mm_add_epi16( i0_register, *result_register );
- i1_register = _mm_add_epi16( i1_register, i1_register );
- *result_register = _mm_add_epi16( i1_register, *result_register );
- i3_register = _mm_add_epi16( i3_register, i3_register );
- *result_register = _mm_sub_epi16( *result_register, i3_register );
- *result_register = _mm_sub_epi16( *result_register, i4_register );
- *result_register = _mm_srai_epi16( *result_register, 7 );
- *result_register = _mm_add_epi16( *result_register, offs );
- if( i==0 ) {
- i0 += 1;
- i1 += 8;
- i3 += 8;
- i4 += 8;
- }
- }
- pack_16bit_to_8bit_saturate( result_register_lo, result_register_hi, result_register_lo );
- _mm_storeu_si128( ((__m128i*)( result )), result_register_lo );
- }
- }
-
- // convolve image with a (1,2,1) row vector. Result is accumulated into output.
- // This one works on 16bit input and 8bit output.
- // output is scaled by 1/4, then clamped to [-128,128], and finally shifted to [0,255].
- void convolve_121_row_3x3_16bit( const int16_t* in, uint8_t* out, int w, int h ) {
- assert( w % 16 == 0 && "width must be multiple of 16!" );
- const __m128i* i0 = (const __m128i*)(in);
- const int16_t* i1 = in+1;
- const int16_t* i2 = in+2;
- uint8_t* result = out + 1;
- const int16_t* const end_input = in + w*h;
- const size_t blocked_loops = (w*h-2)/16;
- __m128i offs = _mm_set1_epi16( 128 );
- for( size_t i=0; i != blocked_loops; i++ ) {
- __m128i result_register_lo;
- __m128i result_register_hi;
- __m128i i1_register;
- __m128i i2_register;
-
- i1_register = _mm_loadu_si128( (__m128i*)( i1 ) );
- i2_register = _mm_loadu_si128( (__m128i*)( i2 ) );
- result_register_lo = *i0;
- i1_register = _mm_add_epi16( i1_register, i1_register );
- result_register_lo = _mm_add_epi16( i1_register, result_register_lo );
- result_register_lo = _mm_add_epi16( i2_register, result_register_lo );
- result_register_lo = _mm_srai_epi16( result_register_lo, 2 );
- result_register_lo = _mm_add_epi16( result_register_lo, offs );
-
- i0++;
- i1+=8;
- i2+=8;
-
- i1_register = _mm_loadu_si128( (__m128i*)( i1 ) );
- i2_register = _mm_loadu_si128( (__m128i*)( i2 ) );
- result_register_hi = *i0;
- i1_register = _mm_add_epi16( i1_register, i1_register );
- result_register_hi = _mm_add_epi16( i1_register, result_register_hi );
- result_register_hi = _mm_add_epi16( i2_register, result_register_hi );
- result_register_hi = _mm_srai_epi16( result_register_hi, 2 );
- result_register_hi = _mm_add_epi16( result_register_hi, offs );
-
- i0++;
- i1+=8;
- i2+=8;
-
- pack_16bit_to_8bit_saturate( result_register_lo, result_register_hi, result_register_lo );
- _mm_storeu_si128( ((__m128i*)( result )), result_register_lo );
-
- result += 16;
- }
- }
-
- // convolve image with a (1,0,-1) row vector. Result is accumulated into output.
- // This one works on 16bit input and 8bit output.
- // output is scaled by 1/4, then clamped to [-128,128], and finally shifted to [0,255].
- void convolve_101_row_3x3_16bit( const int16_t* in, uint8_t* out, int w, int h ) {
- assert( w % 16 == 0 && "width must be multiple of 16!" );
- const __m128i* i0 = (const __m128i*)(in);
- const int16_t* i2 = in+2;
- uint8_t* result = out + 1;
- const int16_t* const end_input = in + w*h;
- const size_t blocked_loops = (w*h-2)/16;
- __m128i offs = _mm_set1_epi16( 128 );
- for( size_t i=0; i != blocked_loops; i++ ) {
- __m128i result_register_lo;
- __m128i result_register_hi;
- __m128i i2_register;
-
- i2_register = _mm_loadu_si128( (__m128i*)( i2 ) );
- result_register_lo = *i0;
- result_register_lo = _mm_sub_epi16( result_register_lo, i2_register );
- result_register_lo = _mm_srai_epi16( result_register_lo, 2 );
- result_register_lo = _mm_add_epi16( result_register_lo, offs );
-
- i0 += 1;
- i2 += 8;
-
- i2_register = _mm_loadu_si128( (__m128i*)( i2 ) );
- result_register_hi = *i0;
- result_register_hi = _mm_sub_epi16( result_register_hi, i2_register );
- result_register_hi = _mm_srai_epi16( result_register_hi, 2 );
- result_register_hi = _mm_add_epi16( result_register_hi, offs );
-
- i0 += 1;
- i2 += 8;
-
- pack_16bit_to_8bit_saturate( result_register_lo, result_register_hi, result_register_lo );
- _mm_storeu_si128( ((__m128i*)( result )), result_register_lo );
-
- result += 16;
- }
-
- for( ; i2 < end_input; i2++, result++) {
- *result = ((*(i2-2) - *i2)>>2)+128;
- }
- }
-
- void convolve_cols_5x5( const unsigned char* in, int16_t* out_v, int16_t* out_h, int w, int h ) {
- using namespace std;
- memset( out_h, 0, w*h*sizeof(int16_t) );
- memset( out_v, 0, w*h*sizeof(int16_t) );
- assert( w % 16 == 0 && "width must be multiple of 16!" );
- const int w_chunk = w/16;
- __m128i* i0 = (__m128i*)( in );
- __m128i* i1 = (__m128i*)( in ) + w_chunk*1;
- __m128i* i2 = (__m128i*)( in ) + w_chunk*2;
- __m128i* i3 = (__m128i*)( in ) + w_chunk*3;
- __m128i* i4 = (__m128i*)( in ) + w_chunk*4;
- __m128i* result_h = (__m128i*)( out_h ) + 4*w_chunk;
- __m128i* result_v = (__m128i*)( out_v ) + 4*w_chunk;
- __m128i* end_input = (__m128i*)( in ) + w_chunk*h;
- __m128i sixes = _mm_set1_epi16( 6 );
- __m128i fours = _mm_set1_epi16( 4 );
- for( ; i4 != end_input; i0++, i1++, i2++, i3++, i4++, result_v+=2, result_h+=2 ) {
- __m128i ilo, ihi;
- unpack_8bit_to_16bit( *i0, ihi, ilo );
- *result_h = _mm_add_epi16( ihi, *result_h );
- *(result_h+1) = _mm_add_epi16( ilo, *(result_h+1) );
- *result_v = _mm_add_epi16( *result_v, ihi );
- *(result_v+1) = _mm_add_epi16( *(result_v+1), ilo );
- unpack_8bit_to_16bit( *i1, ihi, ilo );
- *result_h = _mm_add_epi16( ihi, *result_h );
- *result_h = _mm_add_epi16( ihi, *result_h );
- *(result_h+1) = _mm_add_epi16( ilo, *(result_h+1) );
- *(result_h+1) = _mm_add_epi16( ilo, *(result_h+1) );
- ihi = _mm_mullo_epi16( ihi, fours );
- ilo = _mm_mullo_epi16( ilo, fours );
- *result_v = _mm_add_epi16( *result_v, ihi );
- *(result_v+1) = _mm_add_epi16( *(result_v+1), ilo );
- unpack_8bit_to_16bit( *i2, ihi, ilo );
- ihi = _mm_mullo_epi16( ihi, sixes );
- ilo = _mm_mullo_epi16( ilo, sixes );
- *result_v = _mm_add_epi16( *result_v, ihi );
- *(result_v+1) = _mm_add_epi16( *(result_v+1), ilo );
- unpack_8bit_to_16bit( *i3, ihi, ilo );
- *result_h = _mm_sub_epi16( *result_h, ihi );
- *result_h = _mm_sub_epi16( *result_h, ihi );
- *(result_h+1) = _mm_sub_epi16( *(result_h+1), ilo );
- *(result_h+1) = _mm_sub_epi16( *(result_h+1), ilo );
- ihi = _mm_mullo_epi16( ihi, fours );
- ilo = _mm_mullo_epi16( ilo, fours );
- *result_v = _mm_add_epi16( *result_v, ihi );
- *(result_v+1) = _mm_add_epi16( *(result_v+1), ilo );
- unpack_8bit_to_16bit( *i4, ihi, ilo );
- *result_h = _mm_sub_epi16( *result_h, ihi );
- *(result_h+1) = _mm_sub_epi16( *(result_h+1), ilo );
- *result_v = _mm_add_epi16( *result_v, ihi );
- *(result_v+1) = _mm_add_epi16( *(result_v+1), ilo );
- }
- }
-
- void convolve_col_p1p1p0m1m1_5x5( const unsigned char* in, int16_t* out, int w, int h ) {
- memset( out, 0, w*h*sizeof(int16_t) );
- using namespace std;
- assert( w % 16 == 0 && "width must be multiple of 16!" );
- const int w_chunk = w/16;
- __m128i* i0 = (__m128i*)( in );
- __m128i* i1 = (__m128i*)( in ) + w_chunk*1;
- __m128i* i3 = (__m128i*)( in ) + w_chunk*3;
- __m128i* i4 = (__m128i*)( in ) + w_chunk*4;
- __m128i* result = (__m128i*)( out ) + 4*w_chunk;
- __m128i* end_input = (__m128i*)( in ) + w_chunk*h;
- for( ; i4 != end_input; i0++, i1++, i3++, i4++, result+=2 ) {
- __m128i ilo0, ihi0;
- unpack_8bit_to_16bit( *i0, ihi0, ilo0 );
- __m128i ilo1, ihi1;
- unpack_8bit_to_16bit( *i1, ihi1, ilo1 );
- *result = _mm_add_epi16( ihi0, ihi1 );
- *(result+1) = _mm_add_epi16( ilo0, ilo1 );
- __m128i ilo, ihi;
- unpack_8bit_to_16bit( *i3, ihi, ilo );
- *result = _mm_sub_epi16( *result, ihi );
- *(result+1) = _mm_sub_epi16( *(result+1), ilo );
- unpack_8bit_to_16bit( *i4, ihi, ilo );
- *result = _mm_sub_epi16( *result, ihi );
- *(result+1) = _mm_sub_epi16( *(result+1), ilo );
- }
- }
-
- void convolve_row_p1p1p0m1m1_5x5( const int16_t* in, int16_t* out, int w, int h ) {
- assert( w % 16 == 0 && "width must be multiple of 16!" );
- const __m128i* i0 = (const __m128i*)(in);
- const int16_t* i1 = in+1;
- const int16_t* i3 = in+3;
- const int16_t* i4 = in+4;
- int16_t* result = out + 2;
- const int16_t* const end_input = in + w*h;
- for( ; i4+8 < end_input; i0 += 1, i1 += 8, i3 += 8, i4 += 8, result += 8 ) {
- __m128i result_register;
- __m128i i0_register = *i0;
- __m128i i1_register = _mm_loadu_si128( (__m128i*)( i1 ) );
- __m128i i3_register = _mm_loadu_si128( (__m128i*)( i3 ) );
- __m128i i4_register = _mm_loadu_si128( (__m128i*)( i4 ) );
- result_register = _mm_add_epi16( i0_register, i1_register );
- result_register = _mm_sub_epi16( result_register, i3_register );
- result_register = _mm_sub_epi16( result_register, i4_register );
- _mm_storeu_si128( ((__m128i*)( result )), result_register );
- }
- }
-
- void convolve_cols_3x3( const unsigned char* in, int16_t* out_v, int16_t* out_h, int w, int h ) {
- using namespace std;
- assert( w % 16 == 0 && "width must be multiple of 16!" );
- const int w_chunk = w/16;
- __m128i* i0 = (__m128i*)( in );
- __m128i* i1 = (__m128i*)( in ) + w_chunk*1;
- __m128i* i2 = (__m128i*)( in ) + w_chunk*2;
- __m128i* result_h = (__m128i*)( out_h ) + 2*w_chunk;
- __m128i* result_v = (__m128i*)( out_v ) + 2*w_chunk;
- __m128i* end_input = (__m128i*)( in ) + w_chunk*h;
- for( ; i2 != end_input; i0++, i1++, i2++, result_v+=2, result_h+=2 ) {
- *result_h = _mm_setzero_si128();
- *(result_h+1) = _mm_setzero_si128();
- *result_v = _mm_setzero_si128();
- *(result_v+1) = _mm_setzero_si128();
- __m128i ilo, ihi;
- unpack_8bit_to_16bit( *i0, ihi, ilo );
- unpack_8bit_to_16bit( *i0, ihi, ilo );
- *result_h = _mm_add_epi16( ihi, *result_h );
- *(result_h+1) = _mm_add_epi16( ilo, *(result_h+1) );
- *result_v = _mm_add_epi16( *result_v, ihi );
- *(result_v+1) = _mm_add_epi16( *(result_v+1), ilo );
- unpack_8bit_to_16bit( *i1, ihi, ilo );
- *result_v = _mm_add_epi16( *result_v, ihi );
- *(result_v+1) = _mm_add_epi16( *(result_v+1), ilo );
- *result_v = _mm_add_epi16( *result_v, ihi );
- *(result_v+1) = _mm_add_epi16( *(result_v+1), ilo );
- unpack_8bit_to_16bit( *i2, ihi, ilo );
- *result_h = _mm_sub_epi16( *result_h, ihi );
- *(result_h+1) = _mm_sub_epi16( *(result_h+1), ilo );
- *result_v = _mm_add_epi16( *result_v, ihi );
- *(result_v+1) = _mm_add_epi16( *(result_v+1), ilo );
- }
- }
- };
-
- void sobel3x3( const uint8_t* in, uint8_t* out_v, uint8_t* out_h, int w, int h ) {
- int16_t* temp_h = (int16_t*)( _mm_malloc( w*h*sizeof( int16_t ), 16 ) );
- int16_t* temp_v = (int16_t*)( _mm_malloc( w*h*sizeof( int16_t ), 16 ) );
- detail::convolve_cols_3x3( in, temp_v, temp_h, w, h );
- detail::convolve_101_row_3x3_16bit( temp_v, out_v, w, h );
- detail::convolve_121_row_3x3_16bit( temp_h, out_h, w, h );
- _mm_free( temp_h );
- _mm_free( temp_v );
- }
-
- void sobel5x5( const uint8_t* in, uint8_t* out_v, uint8_t* out_h, int w, int h ) {
- int16_t* temp_h = (int16_t*)( _mm_malloc( w*h*sizeof( int16_t ), 16 ) );
- int16_t* temp_v = (int16_t*)( _mm_malloc( w*h*sizeof( int16_t ), 16 ) );
- detail::convolve_cols_5x5( in, temp_v, temp_h, w, h );
- detail::convolve_12021_row_5x5_16bit( temp_v, out_v, w, h );
- detail::convolve_14641_row_5x5_16bit( temp_h, out_h, w, h );
- _mm_free( temp_h );
- _mm_free( temp_v );
- }
-
- // -1 -1 0 1 1
- // -1 -1 0 1 1
- // 0 0 0 0 0
- // 1 1 0 -1 -1
- // 1 1 0 -1 -1
- void checkerboard5x5( const uint8_t* in, int16_t* out, int w, int h ) {
- int16_t* temp = (int16_t*)( _mm_malloc( w*h*sizeof( int16_t ), 16 ) );
- detail::convolve_col_p1p1p0m1m1_5x5( in, temp, w, h );
- detail::convolve_row_p1p1p0m1m1_5x5( temp, out, w, h );
- _mm_free( temp );
- }
-
- // -1 -1 -1 -1 -1
- // -1 1 1 1 -1
- // -1 1 8 1 -1
- // -1 1 1 1 -1
- // -1 -1 -1 -1 -1
- void blob5x5( const uint8_t* in, int16_t* out, int w, int h ) {
- int32_t* integral = (int32_t*)( _mm_malloc( w*h*sizeof( int32_t ), 16 ) );
- detail::integral_image( in, integral, w, h );
- int16_t* out_ptr = out + 3 + 3*w;
- int16_t* out_end = out + w * h - 2 - 2*w;
- const int32_t* i00 = integral;
- const int32_t* i50 = integral + 5;
- const int32_t* i05 = integral + 5*w;
- const int32_t* i55 = integral + 5 + 5*w;
- const int32_t* i11 = integral + 1 + 1*w;
- const int32_t* i41 = integral + 4 + 1*w;
- const int32_t* i14 = integral + 1 + 4*w;
- const int32_t* i44 = integral + 4 + 4*w;
- const uint8_t* im22 = in + 3 + 3*w;
- for( ; out_ptr != out_end; out_ptr++, i00++, i50++, i05++, i55++, i11++, i41++, i14++, i44++, im22++ ) {
- int32_t result = 0;
- result = -( *i55 - *i50 - *i05 + *i00 );
- result += 2*( *i44 - *i41 - *i14 + *i11 );
- result += 7* *im22;
- *out_ptr = result;
- }
- _mm_free( integral );
- }
-};
diff --git a/src/libelas/elasMain.cpp b/src/libelas/elasMain.cpp
deleted file mode 100644
index 5d86407e50f647eae3b50c0cb0c736fc694010eb..0000000000000000000000000000000000000000
--- a/src/libelas/elasMain.cpp
+++ /dev/null
@@ -1,136 +0,0 @@
-/*
-Copyright 2011. All rights reserved.
-Institute of Measurement and Control Systems
-Karlsruhe Institute of Technology, Germany
-
-This file is part of libelas.
-Authors: Andreas Geiger
-
-libelas is free software; you can redistribute it and/or modify it under the
-terms of the GNU General Public License as published by the Free Software
-Foundation; either version 3 of the License, or any later version.
-
-libelas is distributed in the hope that it will be useful, but WITHOUT ANY
-WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
-PARTICULAR PURPOSE. See the GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License along with
-libelas; if not, write to the Free Software Foundation, Inc., 51 Franklin
-Street, Fifth Floor, Boston, MA 02110-1301, USA
-*/
-
-// Demo program showing how libelas can be used, try "./elas -h" for help
-
-#include <iostream>
-#include "elas.h"
-#include "image.h"
-
-using namespace std;
-
-// compute disparities of pgm image input pair file_1, file_2
-void process (const char* file_1,const char* file_2) {
-
- cout << "Processing: " << file_1 << ", " << file_2 << endl;
-
- // load images
- image<uchar> *I1,*I2;
- I1 = loadPGM(file_1);
- I2 = loadPGM(file_2);
-
- // check for correct size
- if (I1->width()<=0 || I1->height() <=0 || I2->width()<=0 || I2->height() <=0 ||
- I1->width()!=I2->width() || I1->height()!=I2->height()) {
- cout << "ERROR: Images must be of same size, but" << endl;
- cout << " I1: " << I1->width() << " x " << I1->height() <<
- ", I2: " << I2->width() << " x " << I2->height() << endl;
- delete I1;
- delete I2;
- return;
- }
-
- // get image width and height
- int32_t width = I1->width();
- int32_t height = I1->height();
-
- // allocate memory for disparity images
- const int32_t dims[3] = {width,height,width}; // bytes per line = width
- float* D1_data = (float*)malloc(width*height*sizeof(float));
- float* D2_data = (float*)malloc(width*height*sizeof(float));
-
- // process
- Elas::parameters param;
- param.postprocess_only_left = false;
- Elas elas(param);
- elas.process(I1->data,I2->data,D1_data,D2_data,dims);
-
- // find maximum disparity for scaling output disparity images to [0..255]
- float disp_max = 0;
- for (int32_t i=0; i<width*height; i++) {
- if (D1_data[i]>disp_max) disp_max = D1_data[i];
- if (D2_data[i]>disp_max) disp_max = D2_data[i];
- }
-
- // copy float to uchar
- image<uchar> *D1 = new image<uchar>(width,height);
- image<uchar> *D2 = new image<uchar>(width,height);
- for (int32_t i=0; i<width*height; i++) {
- D1->data[i] = (uint8_t)max(255.0*D1_data[i]/disp_max,0.0);
- D2->data[i] = (uint8_t)max(255.0*D2_data[i]/disp_max,0.0);
- }
-
- // save disparity images
- char output_1[1024];
- char output_2[1024];
- strncpy(output_1,file_1,strlen(file_1)-4);
- strncpy(output_2,file_2,strlen(file_2)-4);
- output_1[strlen(file_1)-4] = '\0';
- output_2[strlen(file_2)-4] = '\0';
- strcat(output_1,"_disp.pgm");
- strcat(output_2,"_disp.pgm");
- savePGM(D1,output_1);
- savePGM(D2,output_2);
-
- // free memory
- delete I1;
- delete I2;
- delete D1;
- delete D2;
- free(D1_data);
- free(D2_data);
-}
-
-int main (int argc, char** argv) {
-
- // run demo
- if (argc==2 && !strcmp(argv[1],"demo")) {
- process("img/cones_left.pgm", "img/cones_right.pgm");
- process("img/aloe_left.pgm", "img/aloe_right.pgm");
- process("img/raindeer_left.pgm","img/raindeer_right.pgm");
- process("img/urban1_left.pgm", "img/urban1_right.pgm");
- process("img/urban2_left.pgm", "img/urban2_right.pgm");
- process("img/urban3_left.pgm", "img/urban3_right.pgm");
- process("img/urban4_left.pgm", "img/urban4_right.pgm");
- cout << "... done!" << endl;
-
- // compute disparity from input pair
- } else if (argc==3) {
- process(argv[1],argv[2]);
- cout << "... done!" << endl;
-
- // display help
- } else {
- cout << endl;
- cout << "ELAS demo program usage: " << endl;
- cout << "./elas demo ................ process all test images (image dir)" << endl;
- cout << "./elas left.pgm right.pgm .. process a single stereo pair" << endl;
- cout << "./elas -h .................. shows this help" << endl;
- cout << endl;
- cout << "Note: All images must be pgm greylevel images. All output" << endl;
- cout << " disparities will be scaled such that disp_max = 255." << endl;
- cout << endl;
- }
-
- return 0;
-}
-
-
diff --git a/src/libelas/elasMatrix.cpp b/src/libelas/elasMatrix.cpp
deleted file mode 100644
index 264e628e8d1271a67642f7d122625178a024dd3b..0000000000000000000000000000000000000000
--- a/src/libelas/elasMatrix.cpp
+++ /dev/null
@@ -1,851 +0,0 @@
-/*
-Copyright 2011. All rights reserved.
-Institute of Measurement and Control Systems
-Karlsruhe Institute of Technology, Germany
-
-This file is part of libviso2.
-Authors: Andreas Geiger
-
-libviso2 is free software; you can redistribute it and/or modify it under the
-terms of the GNU General Public License as published by the Free Software
-Foundation; either version 2 of the License, or any later version.
-
-libviso2 is distributed in the hope that it will be useful, but WITHOUT ANY
-WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
-PARTICULAR PURPOSE. See the GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License along with
-libviso2; if not, write to the Free Software Foundation, Inc., 51 Franklin
-Street, Fifth Floor, Boston, MA 02110-1301, USA
-*/
-
-#include "libelas/elasMatrix.h"
-#include <math.h>
-#include <algorithm>
-
-#define SWAP(a,b) {temp=a;a=b;b=temp;}
-#define SIGN(a,b) ((b) >= 0.0 ? fabs(a) : -fabs(a))
-static FLOAT sqrarg;
-#define SQR(a) ((sqrarg=(a)) == 0.0 ? 0.0 : sqrarg*sqrarg)
-static FLOAT maxarg1,maxarg2;
-#define FMAX(a,b) (maxarg1=(a),maxarg2=(b),(maxarg1) > (maxarg2) ? (maxarg1) : (maxarg2))
-static int32_t iminarg1,iminarg2;
-#define IMIN(a,b) (iminarg1=(a),iminarg2=(b),(iminarg1) < (iminarg2) ? (iminarg1) : (iminarg2))
-
-
-using namespace std;
-
-Matrix::Matrix () {
- m = 0;
- n = 0;
- val = 0;
-}
-
-Matrix::Matrix (const int32_t m_,const int32_t n_) {
- allocateMemory(m_,n_);
-}
-
-Matrix::Matrix (const int32_t m_,const int32_t n_,const FLOAT* val_) {
- allocateMemory(m_,n_);
- int32_t k=0;
- for (int32_t i=0; i<m_; i++)
- for (int32_t j=0; j<n_; j++)
- val[i][j] = val_[k++];
-}
-
-Matrix::Matrix (const Matrix &M) {
- allocateMemory(M.m,M.n);
- for (int32_t i=0; i<M.m; i++)
- memcpy(val[i],M.val[i],M.n*sizeof(FLOAT));
-}
-
-Matrix::~Matrix () {
- releaseMemory();
-}
-
-Matrix& Matrix::operator= (const Matrix &M) {
- if (this!=&M) {
- if (M.m!=m || M.n!=n) {
- releaseMemory();
- allocateMemory(M.m,M.n);
- }
- if (M.n>0)
- for (int32_t i=0; i<M.m; i++)
- memcpy(val[i],M.val[i],M.n*sizeof(FLOAT));
- }
- return *this;
-}
-
-void Matrix::getData(FLOAT* val_,int32_t i1,int32_t j1,int32_t i2,int32_t j2) {
- if (i2==-1) i2 = m-1;
- if (j2==-1) j2 = n-1;
- int32_t k=0;
- for (int32_t i=i1; i<=i2; i++)
- for (int32_t j=j1; j<=j2; j++)
- val_[k++] = val[i][j];
-}
-
-Matrix Matrix::getMat(int32_t i1,int32_t j1,int32_t i2,int32_t j2) {
- if (i2==-1) i2 = m-1;
- if (j2==-1) j2 = n-1;
- if (i1<0 || i2>=m || j1<0 || j2>=n || i2<i1 || j2<j1) {
- cerr << "ERROR: Cannot get submatrix [" << i1 << ".." << i2 <<
- "] x [" << j1 << ".." << j2 << "]" <<
- " of a (" << m << "x" << n << ") matrix." << endl;
- exit(0);
- }
- Matrix M(i2-i1+1,j2-j1+1);
- for (int32_t i=0; i<M.m; i++)
- for (int32_t j=0; j<M.n; j++)
- M.val[i][j] = val[i1+i][j1+j];
- return M;
-}
-
-void Matrix::setMat(const Matrix &M,const int32_t i1,const int32_t j1) {
- if (i1<0 || j1<0 || i1+M.m>m || j1+M.n>n) {
- cerr << "ERROR: Cannot set submatrix [" << i1 << ".." << i1+M.m-1 <<
- "] x [" << j1 << ".." << j1+M.n-1 << "]" <<
- " of a (" << m << "x" << n << ") matrix." << endl;
- exit(0);
- }
- for (int32_t i=0; i<M.m; i++)
- for (int32_t j=0; j<M.n; j++)
- val[i1+i][j1+j] = M.val[i][j];
-}
-
-void Matrix::setVal(FLOAT s,int32_t i1,int32_t j1,int32_t i2,int32_t j2) {
- if (i2==-1) i2 = m-1;
- if (j2==-1) j2 = n-1;
- if (i2<i1 || j2<j1) {
- cerr << "ERROR in setVal: Indices must be ordered (i1<=i2, j1<=j2)." << endl;
- exit(0);
- }
- for (int32_t i=i1; i<=i2; i++)
- for (int32_t j=j1; j<=j2; j++)
- val[i][j] = s;
-}
-
-void Matrix::setDiag(FLOAT s,int32_t i1,int32_t i2) {
- if (i2==-1) i2 = min(m-1,n-1);
- for (int32_t i=i1; i<=i2; i++)
- val[i][i] = s;
-}
-
-void Matrix::zero() {
- setVal(0);
-}
-
-Matrix Matrix::extractCols (vector<int> idx) {
- Matrix M(m,idx.size());
- for (int32_t j=0; j<M.n; j++)
- if (idx[j]<n)
- for (int32_t i=0; i<m; i++)
- M.val[i][j] = val[i][idx[j]];
- return M;
-}
-
-Matrix Matrix::eye (const int32_t m) {
- Matrix M(m,m);
- for (int32_t i=0; i<m; i++)
- M.val[i][i] = 1;
- return M;
-}
-
-void Matrix::eye () {
- for (int32_t i=0; i<m; i++)
- for (int32_t j=0; j<n; j++)
- val[i][j] = 0;
- for (int32_t i=0; i<min(m,n); i++)
- val[i][i] = 1;
-}
-
-Matrix Matrix::diag (const Matrix &M) {
- if (M.m>1 && M.n==1) {
- Matrix D(M.m,M.m);
- for (int32_t i=0; i<M.m; i++)
- D.val[i][i] = M.val[i][0];
- return D;
- } else if (M.m==1 && M.n>1) {
- Matrix D(M.n,M.n);
- for (int32_t i=0; i<M.n; i++)
- D.val[i][i] = M.val[0][i];
- return D;
- }
- cout << "ERROR: Trying to create diagonal matrix from vector of size (" << M.m << "x" << M.n << ")" << endl;
- exit(0);
-}
-
-Matrix Matrix::reshape(const Matrix &M,int32_t m_,int32_t n_) {
- if (M.m*M.n != m_*n_) {
- cerr << "ERROR: Trying to reshape a matrix of size (" << M.m << "x" << M.n <<
- ") to size (" << m_ << "x" << n_ << ")" << endl;
- exit(0);
- }
- Matrix M2(m_,n_);
- for (int32_t k=0; k<m_*n_; k++) {
- int32_t i1 = k/M.n;
- int32_t j1 = k%M.n;
- int32_t i2 = k/n_;
- int32_t j2 = k%n_;
- M2.val[i2][j2] = M.val[i1][j1];
- }
- return M2;
-}
-
-Matrix Matrix::rotMatX (const FLOAT &angle) {
- FLOAT s = sin(angle);
- FLOAT c = cos(angle);
- Matrix R(3,3);
- R.val[0][0] = +1;
- R.val[1][1] = +c;
- R.val[1][2] = -s;
- R.val[2][1] = +s;
- R.val[2][2] = +c;
- return R;
-}
-
-Matrix Matrix::rotMatY (const FLOAT &angle) {
- FLOAT s = sin(angle);
- FLOAT c = cos(angle);
- Matrix R(3,3);
- R.val[0][0] = +c;
- R.val[0][2] = +s;
- R.val[1][1] = +1;
- R.val[2][0] = -s;
- R.val[2][2] = +c;
- return R;
-}
-
-Matrix Matrix::rotMatZ (const FLOAT &angle) {
- FLOAT s = sin(angle);
- FLOAT c = cos(angle);
- Matrix R(3,3);
- R.val[0][0] = +c;
- R.val[0][1] = -s;
- R.val[1][0] = +s;
- R.val[1][1] = +c;
- R.val[2][2] = +1;
- return R;
-}
-
-Matrix Matrix::operator+ (const Matrix &M) {
- const Matrix &A = *this;
- const Matrix &B = M;
- if (A.m!=B.m || A.n!=B.n) {
- cerr << "ERROR: Trying to add matrices of size (" << A.m << "x" << A.n <<
- ") and (" << B.m << "x" << B.n << ")" << endl;
- exit(0);
- }
- Matrix C(A.m,A.n);
- for (int32_t i=0; i<m; i++)
- for (int32_t j=0; j<n; j++)
- C.val[i][j] = A.val[i][j]+B.val[i][j];
- return C;
-}
-
-Matrix Matrix::operator- (const Matrix &M) {
- const Matrix &A = *this;
- const Matrix &B = M;
- if (A.m!=B.m || A.n!=B.n) {
- cerr << "ERROR: Trying to subtract matrices of size (" << A.m << "x" << A.n <<
- ") and (" << B.m << "x" << B.n << ")" << endl;
- exit(0);
- }
- Matrix C(A.m,A.n);
- for (int32_t i=0; i<m; i++)
- for (int32_t j=0; j<n; j++)
- C.val[i][j] = A.val[i][j]-B.val[i][j];
- return C;
-}
-
-Matrix Matrix::operator* (const Matrix &M) {
- const Matrix &A = *this;
- const Matrix &B = M;
- if (A.n!=B.m) {
- cerr << "ERROR: Trying to multiply matrices of size (" << A.m << "x" << A.n <<
- ") and (" << B.m << "x" << B.n << ")" << endl;
- exit(0);
- }
- Matrix C(A.m,B.n);
- for (int32_t i=0; i<A.m; i++)
- for (int32_t j=0; j<B.n; j++)
- for (int32_t k=0; k<A.n; k++)
- C.val[i][j] += A.val[i][k]*B.val[k][j];
- return C;
-}
-
-Matrix Matrix::operator* (const FLOAT &s) {
- Matrix C(m,n);
- for (int32_t i=0; i<m; i++)
- for (int32_t j=0; j<n; j++)
- C.val[i][j] = val[i][j]*s;
- return C;
-}
-
-Matrix Matrix::operator/ (const Matrix &M) {
- const Matrix &A = *this;
- const Matrix &B = M;
-
- if (A.m==B.m && A.n==B.n) {
- Matrix C(A.m,A.n);
- for (int32_t i=0; i<A.m; i++)
- for (int32_t j=0; j<A.n; j++)
- if (B.val[i][j]!=0)
- C.val[i][j] = A.val[i][j]/B.val[i][j];
- return C;
-
- } else if (A.m==B.m && B.n==1) {
- Matrix C(A.m,A.n);
- for (int32_t i=0; i<A.m; i++)
- for (int32_t j=0; j<A.n; j++)
- if (B.val[i][0]!=0)
- C.val[i][j] = A.val[i][j]/B.val[i][0];
- return C;
-
- } else if (A.n==B.n && B.m==1) {
- Matrix C(A.m,A.n);
- for (int32_t i=0; i<A.m; i++)
- for (int32_t j=0; j<A.n; j++)
- if (B.val[0][j]!=0)
- C.val[i][j] = A.val[i][j]/B.val[0][j];
- return C;
-
- } else {
- cerr << "ERROR: Trying to divide matrices of size (" << A.m << "x" << A.n <<
- ") and (" << B.m << "x" << B.n << ")" << endl;
- exit(0);
- }
-}
-
-Matrix Matrix::operator/ (const FLOAT &s) {
- if (fabs(s)<1e-20) {
- cerr << "ERROR: Trying to divide by zero!" << endl;
- exit(0);
- }
- Matrix C(m,n);
- for (int32_t i=0; i<m; i++)
- for (int32_t j=0; j<n; j++)
- C.val[i][j] = val[i][j]/s;
- return C;
-}
-
-Matrix Matrix::operator- () {
- Matrix C(m,n);
- for (int32_t i=0; i<m; i++)
- for (int32_t j=0; j<n; j++)
- C.val[i][j] = -val[i][j];
- return C;
-}
-
-Matrix Matrix::operator~ () {
- Matrix C(n,m);
- for (int32_t i=0; i<m; i++)
- for (int32_t j=0; j<n; j++)
- C.val[j][i] = val[i][j];
- return C;
-}
-
-FLOAT Matrix::l2norm () {
- FLOAT norm = 0;
- for (int32_t i=0; i<m; i++)
- for (int32_t j=0; j<n; j++)
- norm += val[i][j]*val[i][j];
- return sqrt(norm);
-}
-
-FLOAT Matrix::mean () {
- FLOAT mean = 0;
- for (int32_t i=0; i<m; i++)
- for (int32_t j=0; j<n; j++)
- mean += val[i][j];
- return mean/(FLOAT)(m*n);
-}
-
-Matrix Matrix::cross (const Matrix &a, const Matrix &b) {
- if (a.m!=3 || a.n!=1 || b.m!=3 || b.n!=1) {
- cerr << "ERROR: Cross product vectors must be of size (3x1)" << endl;
- exit(0);
- }
- Matrix c(3,1);
- c.val[0][0] = a.val[1][0]*b.val[2][0]-a.val[2][0]*b.val[1][0];
- c.val[1][0] = a.val[2][0]*b.val[0][0]-a.val[0][0]*b.val[2][0];
- c.val[2][0] = a.val[0][0]*b.val[1][0]-a.val[1][0]*b.val[0][0];
- return c;
-}
-
-Matrix Matrix::inv (const Matrix &M) {
- if (M.m!=M.n) {
- cerr << "ERROR: Trying to invert matrix of size (" << M.m << "x" << M.n << ")" << endl;
- exit(0);
- }
- Matrix A(M);
- Matrix B = eye(M.m);
- B.solve(A);
- return B;
-}
-
-bool Matrix::inv () {
- if (m!=n) {
- cerr << "ERROR: Trying to invert matrix of size (" << m << "x" << n << ")" << endl;
- exit(0);
- }
- Matrix A(*this);
- eye();
- solve(A);
- return true;
-}
-
-FLOAT Matrix::det () {
-
- if (m != n) {
- cerr << "ERROR: Trying to compute determinant of a matrix of size (" << m << "x" << n << ")" << endl;
- exit(0);
- }
-
- Matrix A(*this);
- int32_t *idx = (int32_t*)malloc(m*sizeof(int32_t));
- FLOAT d;
- A.lu(idx,d);
- for( int32_t i=0; i<m; i++)
- d *= A.val[i][i];
- free(idx);
-}
-
-bool Matrix::solve (const Matrix &M, FLOAT eps) {
-
- // substitutes
- const Matrix &A = M;
- Matrix &B = *this;
-
- if (A.m != A.n || A.m != B.m || A.m<1 || B.n<1) {
- cerr << "ERROR: Trying to eliminate matrices of size (" << A.m << "x" << A.n <<
- ") and (" << B.m << "x" << B.n << ")" << endl;
- exit(0);
- }
-
- // index vectors for bookkeeping on the pivoting
- int32_t* indxc = new int32_t[m];
- int32_t* indxr = new int32_t[m];
- int32_t* ipiv = new int32_t[m];
-
- // loop variables
- int32_t i, icol, irow, j, k, l, ll;
- FLOAT big, dum, pivinv, temp;
-
- // initialize pivots to zero
- for (j=0;j<m;j++) ipiv[j]=0;
-
- // main loop over the columns to be reduced
- for (i=0;i<m;i++) {
-
- big=0.0;
-
- // search for a pivot element
- for (j=0;j<m;j++)
- if (ipiv[j]!=1)
- for (k=0;k<m;k++)
- if (ipiv[k]==0)
- if (fabs(A.val[j][k])>=big) {
- big=fabs(A.val[j][k]);
- irow=j;
- icol=k;
- }
- ++(ipiv[icol]);
-
- // We now have the pivot element, so we interchange rows, if needed, to put the pivot
- // element on the diagonal. The columns are not physically interchanged, only relabeled.
- if (irow != icol) {
- for (l=0;l<m;l++) SWAP(A.val[irow][l], A.val[icol][l])
- for (l=0;l<n;l++) SWAP(B.val[irow][l], B.val[icol][l])
- }
-
- indxr[i]=irow; // We are now ready to divide the pivot row by the
- indxc[i]=icol; // pivot element, located at irow and icol.
-
- // check for singularity
- if (fabs(A.val[icol][icol]) < eps) {
- delete[] indxc;
- delete[] indxr;
- delete[] ipiv;
- return false;
- }
-
- pivinv=1.0/A.val[icol][icol];
- A.val[icol][icol]=1.0;
- for (l=0;l<m;l++) A.val[icol][l] *= pivinv;
- for (l=0;l<n;l++) B.val[icol][l] *= pivinv;
-
- // Next, we reduce the rows except for the pivot one
- for (ll=0;ll<m;ll++)
- if (ll!=icol) {
- dum = A.val[ll][icol];
- A.val[ll][icol] = 0.0;
- for (l=0;l<m;l++) A.val[ll][l] -= A.val[icol][l]*dum;
- for (l=0;l<n;l++) B.val[ll][l] -= B.val[icol][l]*dum;
- }
- }
-
- // This is the end of the main loop over columns of the reduction. It only remains to unscramble
- // the solution in view of the column interchanges. We do this by interchanging pairs of
- // columns in the reverse order that the permutation was built up.
- for (l=m-1;l>=0;l--) {
- if (indxr[l]!=indxc[l])
- for (k=0;k<m;k++)
- SWAP(A.val[k][indxr[l]], A.val[k][indxc[l]])
- }
-
- // success
- delete[] indxc;
- delete[] indxr;
- delete[] ipiv;
- return true;
-}
-
-// Given a matrix a[1..n][1..n], this routine replaces it by the LU decomposition of a rowwise
-// permutation of itself. a and n are input. a is output, arranged as in equation (2.3.14) above;
-// indx[1..n] is an output vector that records the row permutation effected by the partial
-// pivoting; d is output as ±1 depending on whether the number of row interchanges was even
-// or odd, respectively. This routine is used in combination with lubksb to solve linear equations
-// or invert a matrix.
-
-bool Matrix::lu(int32_t *idx, FLOAT &d, FLOAT eps) {
-
- if (m != n) {
- cerr << "ERROR: Trying to LU decompose a matrix of size (" << m << "x" << n << ")" << endl;
- exit(0);
- }
-
- int32_t i,imax,j,k;
- FLOAT big,dum,sum,temp;
- FLOAT* vv = (FLOAT*)malloc(n*sizeof(FLOAT)); // vv stores the implicit scaling of each row.
- d = 1.0;
- for (i=0; i<n; i++) { // Loop over rows to get the implicit scaling information.
- big = 0.0;
- for (j=0; j<n; j++)
- if ((temp=fabs(val[i][j]))>big)
- big = temp;
- if (big == 0.0) { // No nonzero largest element.
- free(vv);
- return false;
- }
- vv[i] = 1.0/big; // Save the scaling.
- }
- for (j=0; j<n; j++) { // This is the loop over columns of Crout’s method.
- for (i=0; i<j; i++) { // This is equation (2.3.12) except for i = j.
- sum = val[i][j];
- for (k=0; k<i; k++)
- sum -= val[i][k]*val[k][j];
- val[i][j] = sum;
- }
- big = 0.0; // Initialize the search for largest pivot element.
- for (i=j; i<n; i++) {
- sum = val[i][j];
- for (k=0; k<j; k++)
- sum -= val[i][k]*val[k][j];
- val[i][j] = sum;
- if ( (dum=vv[i]*fabs(sum))>=big) {
- big = dum;
- imax = i;
- }
- }
- if (j!=imax) { // Do we need to interchange rows?
- for (k=0; k<n; k++) { // Yes, do so...
- dum = val[imax][k];
- val[imax][k] = val[j][k];
- val[j][k] = dum;
- }
- d = -d; // ...and change the parity of d.
- vv[imax]=vv[j]; // Also interchange the scale factor.
- }
- idx[j] = imax;
- if (j!=n-1) { // Now, finally, divide by the pivot element.
- dum = 1.0/val[j][j];
- for (i=j+1; i<n; i++)
- val[i][j] *= dum;
- }
- } // Go back for the next column in the reduction.
-
- // success
- free(vv);
- return true;
-}
-
-// Given a matrix M/A[1..m][1..n], this routine computes its singular value decomposition, M/A =
-// U·W·V T. Thematrix U replaces a on output. The diagonal matrix of singular values W is output
-// as a vector w[1..n]. Thematrix V (not the transpose V T ) is output as v[1..n][1..n].
-void Matrix::svd(Matrix &U2,Matrix &W,Matrix &V) {
-
- Matrix U = Matrix(*this);
- U2 = Matrix(m,m);
- V = Matrix(n,n);
-
- FLOAT* w = (FLOAT*)malloc(n*sizeof(FLOAT));
- FLOAT* rv1 = (FLOAT*)malloc(n*sizeof(FLOAT));
-
- int32_t flag,i,its,j,jj,k,l,nm;
- FLOAT anorm,c,f,g,h,s,scale,x,y,z;
-
- g = scale = anorm = 0.0; // Householder reduction to bidiagonal form.
- for (i=0;i<n;i++) {
- l = i+1;
- rv1[i] = scale*g;
- g = s = scale = 0.0;
- if (i < m) {
- for (k=i;k<m;k++) scale += fabs(U.val[k][i]);
- if (scale) {
- for (k=i;k<m;k++) {
- U.val[k][i] /= scale;
- s += U.val[k][i]*U.val[k][i];
- }
- f = U.val[i][i];
- g = -SIGN(sqrt(s),f);
- h = f*g-s;
- U.val[i][i] = f-g;
- for (j=l;j<n;j++) {
- for (s=0.0,k=i;k<m;k++) s += U.val[k][i]*U.val[k][j];
- f = s/h;
- for (k=i;k<m;k++) U.val[k][j] += f*U.val[k][i];
- }
- for (k=i;k<m;k++) U.val[k][i] *= scale;
- }
- }
- w[i] = scale*g;
- g = s = scale = 0.0;
- if (i<m && i!=n-1) {
- for (k=l;k<n;k++) scale += fabs(U.val[i][k]);
- if (scale) {
- for (k=l;k<n;k++) {
- U.val[i][k] /= scale;
- s += U.val[i][k]*U.val[i][k];
- }
- f = U.val[i][l];
- g = -SIGN(sqrt(s),f);
- h = f*g-s;
- U.val[i][l] = f-g;
- for (k=l;k<n;k++) rv1[k] = U.val[i][k]/h;
- for (j=l;j<m;j++) {
- for (s=0.0,k=l;k<n;k++) s += U.val[j][k]*U.val[i][k];
- for (k=l;k<n;k++) U.val[j][k] += s*rv1[k];
- }
- for (k=l;k<n;k++) U.val[i][k] *= scale;
- }
- }
- anorm = FMAX(anorm,(fabs(w[i])+fabs(rv1[i])));
- }
- for (i=n-1;i>=0;i--) { // Accumulation of right-hand transformations.
- if (i<n-1) {
- if (g) {
- for (j=l;j<n;j++) // Double division to avoid possible underflow.
- V.val[j][i]=(U.val[i][j]/U.val[i][l])/g;
- for (j=l;j<n;j++) {
- for (s=0.0,k=l;k<n;k++) s += U.val[i][k]*V.val[k][j];
- for (k=l;k<n;k++) V.val[k][j] += s*V.val[k][i];
- }
- }
- for (j=l;j<n;j++) V.val[i][j] = V.val[j][i] = 0.0;
- }
- V.val[i][i] = 1.0;
- g = rv1[i];
- l = i;
- }
- for (i=IMIN(m,n)-1;i>=0;i--) { // Accumulation of left-hand transformations.
- l = i+1;
- g = w[i];
- for (j=l;j<n;j++) U.val[i][j] = 0.0;
- if (g) {
- g = 1.0/g;
- for (j=l;j<n;j++) {
- for (s=0.0,k=l;k<m;k++) s += U.val[k][i]*U.val[k][j];
- f = (s/U.val[i][i])*g;
- for (k=i;k<m;k++) U.val[k][j] += f*U.val[k][i];
- }
- for (j=i;j<m;j++) U.val[j][i] *= g;
- } else for (j=i;j<m;j++) U.val[j][i]=0.0;
- ++U.val[i][i];
- }
- for (k=n-1;k>=0;k--) { // Diagonalization of the bidiagonal form: Loop over singular values,
- for (its=0;its<30;its++) { // and over allowed iterations.
- flag = 1;
- for (l=k;l>=0;l--) { // Test for splitting.
- nm = l-1;
- if ((FLOAT)(fabs(rv1[l])+anorm) == anorm) { flag = 0; break; }
- if ((FLOAT)(fabs( w[nm])+anorm) == anorm) { break; }
- }
- if (flag) {
- c = 0.0; // Cancellation of rv1[l], if l > 1.
- s = 1.0;
- for (i=l;i<=k;i++) {
- f = s*rv1[i];
- rv1[i] = c*rv1[i];
- if ((FLOAT)(fabs(f)+anorm) == anorm) break;
- g = w[i];
- h = pythag(f,g);
- w[i] = h;
- h = 1.0/h;
- c = g*h;
- s = -f*h;
- for (j=0;j<m;j++) {
- y = U.val[j][nm];
- z = U.val[j][i];
- U.val[j][nm] = y*c+z*s;
- U.val[j][i] = z*c-y*s;
- }
- }
- }
- z = w[k];
- if (l==k) { // Convergence.
- if (z<0.0) { // Singular value is made nonnegative.
- w[k] = -z;
- for (j=0;j<n;j++) V.val[j][k] = -V.val[j][k];
- }
- break;
- }
- if (its == 29)
- cerr << "ERROR in SVD: No convergence in 30 iterations" << endl;
- x = w[l]; // Shift from bottom 2-by-2 minor.
- nm = k-1;
- y = w[nm];
- g = rv1[nm];
- h = rv1[k];
- f = ((y-z)*(y+z)+(g-h)*(g+h))/(2.0*h*y);
- g = pythag(f,1.0);
- f = ((x-z)*(x+z)+h*((y/(f+SIGN(g,f)))-h))/x;
- c = s = 1.0; // Next QR transformation:
- for (j=l;j<=nm;j++) {
- i = j+1;
- g = rv1[i];
- y = w[i];
- h = s*g;
- g = c*g;
- z = pythag(f,h);
- rv1[j] = z;
- c = f/z;
- s = h/z;
- f = x*c+g*s;
- g = g*c-x*s;
- h = y*s;
- y *= c;
- for (jj=0;jj<n;jj++) {
- x = V.val[jj][j];
- z = V.val[jj][i];
- V.val[jj][j] = x*c+z*s;
- V.val[jj][i] = z*c-x*s;
- }
- z = pythag(f,h);
- w[j] = z; // Rotation can be arbitrary if z = 0.
- if (z) {
- z = 1.0/z;
- c = f*z;
- s = h*z;
- }
- f = c*g+s*y;
- x = c*y-s*g;
- for (jj=0;jj<m;jj++) {
- y = U.val[jj][j];
- z = U.val[jj][i];
- U.val[jj][j] = y*c+z*s;
- U.val[jj][i] = z*c-y*s;
- }
- }
- rv1[l] = 0.0;
- rv1[k] = f;
- w[k] = x;
- }
- }
-
- // sort singular values and corresponding columns of u and v
- // by decreasing magnitude. Also, signs of corresponding columns are
- // flipped so as to maximize the number of positive elements.
- int32_t s2,inc=1;
- FLOAT sw;
- FLOAT* su = (FLOAT*)malloc(m*sizeof(FLOAT));
- FLOAT* sv = (FLOAT*)malloc(n*sizeof(FLOAT));
- do { inc *= 3; inc++; } while (inc <= n);
- do {
- inc /= 3;
- for (i=inc;i<n;i++) {
- sw = w[i];
- for (k=0;k<m;k++) su[k] = U.val[k][i];
- for (k=0;k<n;k++) sv[k] = V.val[k][i];
- j = i;
- while (w[j-inc] < sw) {
- w[j] = w[j-inc];
- for (k=0;k<m;k++) U.val[k][j] = U.val[k][j-inc];
- for (k=0;k<n;k++) V.val[k][j] = V.val[k][j-inc];
- j -= inc;
- if (j < inc) break;
- }
- w[j] = sw;
- for (k=0;k<m;k++) U.val[k][j] = su[k];
- for (k=0;k<n;k++) V.val[k][j] = sv[k];
- }
- } while (inc > 1);
- for (k=0;k<n;k++) { // flip signs
- s2=0;
- for (i=0;i<m;i++) if (U.val[i][k] < 0.0) s2++;
- for (j=0;j<n;j++) if (V.val[j][k] < 0.0) s2++;
- if (s2 > (m+n)/2) {
- for (i=0;i<m;i++) U.val[i][k] = -U.val[i][k];
- for (j=0;j<n;j++) V.val[j][k] = -V.val[j][k];
- }
- }
-
- // create vector and copy singular values
- W = Matrix(min(m,n),1,w);
-
- // extract mxm submatrix U
- U2.setMat(U.getMat(0,0,m-1,min(m-1,n-1)),0,0);
-
- // release temporary memory
- free(w);
- free(rv1);
- free(su);
- free(sv);
-}
-
-ostream& operator<< (ostream& out,const Matrix& M) {
- if (M.m==0 || M.n==0) {
- out << "[empty matrix]";
- } else {
- char buffer[1024];
- for (int32_t i=0; i<M.m; i++) {
- for (int32_t j=0; j<M.n; j++) {
- sprintf(buffer,"%12.7f ",M.val[i][j]);
- out << buffer;
- }
- if (i<M.m-1)
- out << endl;
- }
- }
- return out;
-}
-
-void Matrix::allocateMemory (const int32_t m_,const int32_t n_) {
- m = abs(m_); n = abs(n_);
- if (m==0 || n==0) {
- val = 0;
- return;
- }
- val = (FLOAT**)malloc(m*sizeof(FLOAT*));
- val[0] = (FLOAT*)calloc(m*n,sizeof(FLOAT));
- for(int32_t i=1; i<m; i++)
- val[i] = val[i-1]+n;
-}
-
-void Matrix::releaseMemory () {
- if (val!=0) {
- free(val[0]);
- free(val);
- }
-}
-
-FLOAT Matrix::pythag(FLOAT a,FLOAT b) {
- FLOAT absa,absb;
- absa = fabs(a);
- absb = fabs(b);
- if (absa > absb)
- return absa*sqrt(1.0+SQR(absb/absa));
- else
- return (absb == 0.0 ? 0.0 : absb*sqrt(1.0+SQR(absa/absb)));
-}
-
diff --git a/src/libelas/elasTriangle.cpp b/src/libelas/elasTriangle.cpp
deleted file mode 100644
index b3f2752761dff03e875a777569b04a089b83adad..0000000000000000000000000000000000000000
--- a/src/libelas/elasTriangle.cpp
+++ /dev/null
@@ -1,8635 +0,0 @@
-/*****************************************************************************/
-/* */
-/* 888888888 ,o, / 888 */
-/* 888 88o88o " o8888o 88o8888o o88888o 888 o88888o */
-/* 888 888 888 88b 888 888 888 888 888 d888 88b */
-/* 888 888 888 o88^o888 888 888 "88888" 888 8888oo888 */
-/* 888 888 888 C888 888 888 888 / 888 q888 */
-/* 888 888 888 "88o^888 888 888 Cb 888 "88oooo" */
-/* "8oo8D */
-/* */
-/* A Two-Dimensional Quality Mesh Generator and Delaunay Triangulator. */
-/* (triangle.c) */
-/* */
-/* Version 1.6 */
-/* July 28, 2005 */
-/* */
-/* Copyright 1993, 1995, 1997, 1998, 2002, 2005 */
-/* Jonathan Richard Shewchuk */
-/* 2360 Woolsey #H */
-/* Berkeley, California 94705-1927 */
-/* jrs@cs.berkeley.edu */
-/* */
-/* Modified by Andreas Geiger, 2011 */
-/* */
-/* This program may be freely redistributed under the condition that the */
-/* copyright notices (including this entire header and the copyright */
-/* notice printed when the `-h' switch is selected) are not removed, and */
-/* no compensation is received. Private, research, and institutional */
-/* use is free. You may distribute modified versions of this code UNDER */
-/* THE CONDITION THAT THIS CODE AND ANY MODIFICATIONS MADE TO IT IN THE */
-/* SAME FILE REMAIN UNDER COPYRIGHT OF THE ORIGINAL AUTHOR, BOTH SOURCE */
-/* AND OBJECT CODE ARE MADE FREELY AVAILABLE WITHOUT CHARGE, AND CLEAR */
-/* NOTICE IS GIVEN OF THE MODIFICATIONS. Distribution of this code as */
-/* part of a commercial system is permissible ONLY BY DIRECT ARRANGEMENT */
-/* WITH THE AUTHOR. (If you are not directly supplying this code to a */
-/* customer, and you are instead telling them how they can obtain it for */
-/* free, then you are not required to make any arrangement with me.) */
-/* */
-/* Hypertext instructions for Triangle are available on the Web at */
-/* */
-/* http://www.cs.cmu.edu/~quake/triangle.html */
-/* */
-/* Disclaimer: Neither I nor Carnegie Mellon warrant this code in any way */
-/* whatsoever. This code is provided "as-is". Use at your own risk. */
-/* */
-/* Some of the references listed below are marked with an asterisk. [*] */
-/* These references are available for downloading from the Web page */
-/* */
-/* http://www.cs.cmu.edu/~quake/triangle.research.html */
-/* */
-/* Three papers discussing aspects of Triangle are available. A short */
-/* overview appears in "Triangle: Engineering a 2D Quality Mesh */
-/* Generator and Delaunay Triangulator," in Applied Computational */
-/* Geometry: Towards Geometric Engineering, Ming C. Lin and Dinesh */
-/* Manocha, editors, Lecture Notes in Computer Science volume 1148, */
-/* pages 203-222, Springer-Verlag, Berlin, May 1996 (from the First ACM */
-/* Workshop on Applied Computational Geometry). [*] */
-/* */
-/* The algorithms are discussed in the greatest detail in "Delaunay */
-/* Refinement Algorithms for Triangular Mesh Generation," Computational */
-/* Geometry: Theory and Applications 22(1-3):21-74, May 2002. [*] */
-/* */
-/* More detail about the data structures may be found in my dissertation: */
-/* "Delaunay Refinement Mesh Generation," Ph.D. thesis, Technical Report */
-/* CMU-CS-97-137, School of Computer Science, Carnegie Mellon University, */
-/* Pittsburgh, Pennsylvania, 18 May 1997. [*] */
-/* */
-/* Triangle was created as part of the Quake Project in the School of */
-/* Computer Science at Carnegie Mellon University. For further */
-/* information, see Hesheng Bao, Jacobo Bielak, Omar Ghattas, Loukas F. */
-/* Kallivokas, David R. O'Hallaron, Jonathan R. Shewchuk, and Jifeng Xu, */
-/* "Large-scale Simulation of Elastic Wave Propagation in Heterogeneous */
-/* Media on Parallel Computers," Computer Methods in Applied Mechanics */
-/* and Engineering 152(1-2):85-102, 22 January 1998. */
-/* */
-/* Triangle's Delaunay refinement algorithm for quality mesh generation is */
-/* a hybrid of one due to Jim Ruppert, "A Delaunay Refinement Algorithm */
-/* for Quality 2-Dimensional Mesh Generation," Journal of Algorithms */
-/* 18(3):548-585, May 1995 [*], and one due to L. Paul Chew, "Guaranteed- */
-/* Quality Mesh Generation for Curved Surfaces," Proceedings of the Ninth */
-/* Annual Symposium on Computational Geometry (San Diego, California), */
-/* pages 274-280, Association for Computing Machinery, May 1993, */
-/* http://portal.acm.org/citation.cfm?id=161150 . */
-/* */
-/* The Delaunay refinement algorithm has been modified so that it meshes */
-/* domains with small input angles well, as described in Gary L. Miller, */
-/* Steven E. Pav, and Noel J. Walkington, "When and Why Ruppert's */
-/* Algorithm Works," Twelfth International Meshing Roundtable, pages */
-/* 91-102, Sandia National Laboratories, September 2003. [*] */
-/* */
-/* My implementation of the divide-and-conquer and incremental Delaunay */
-/* triangulation algorithms follows closely the presentation of Guibas */
-/* and Stolfi, even though I use a triangle-based data structure instead */
-/* of their quad-edge data structure. (In fact, I originally implemented */
-/* Triangle using the quad-edge data structure, but the switch to a */
-/* triangle-based data structure sped Triangle by a factor of two.) The */
-/* mesh manipulation primitives and the two aforementioned Delaunay */
-/* triangulation algorithms are described by Leonidas J. Guibas and Jorge */
-/* Stolfi, "Primitives for the Manipulation of General Subdivisions and */
-/* the Computation of Voronoi Diagrams," ACM Transactions on Graphics */
-/* 4(2):74-123, April 1985, http://portal.acm.org/citation.cfm?id=282923 .*/
-/* */
-/* Their O(n log n) divide-and-conquer algorithm is adapted from Der-Tsai */
-/* Lee and Bruce J. Schachter, "Two Algorithms for Constructing the */
-/* Delaunay Triangulation," International Journal of Computer and */
-/* Information Science 9(3):219-242, 1980. Triangle's improvement of the */
-/* divide-and-conquer algorithm by alternating between vertical and */
-/* horizontal cuts was introduced by Rex A. Dwyer, "A Faster Divide-and- */
-/* Conquer Algorithm for Constructing Delaunay Triangulations," */
-/* Algorithmica 2(2):137-151, 1987. */
-/* */
-/* The incremental insertion algorithm was first proposed by C. L. Lawson, */
-/* "Software for C1 Surface Interpolation," in Mathematical Software III, */
-/* John R. Rice, editor, Academic Press, New York, pp. 161-194, 1977. */
-/* For point location, I use the algorithm of Ernst P. Mucke, Isaac */
-/* Saias, and Binhai Zhu, "Fast Randomized Point Location Without */
-/* Preprocessing in Two- and Three-Dimensional Delaunay Triangulations," */
-/* Proceedings of the Twelfth Annual Symposium on Computational Geometry, */
-/* ACM, May 1996. [*] If I were to randomize the order of vertex */
-/* insertion (I currently don't bother), their result combined with the */
-/* result of Kenneth L. Clarkson and Peter W. Shor, "Applications of */
-/* Random Sampling in Computational Geometry II," Discrete & */
-/* Computational Geometry 4(1):387-421, 1989, would yield an expected */
-/* O(n^{4/3}) bound on running time. */
-/* */
-/* The O(n log n) sweepline Delaunay triangulation algorithm is taken from */
-/* Steven Fortune, "A Sweepline Algorithm for Voronoi Diagrams", */
-/* Algorithmica 2(2):153-174, 1987. A random sample of edges on the */
-/* boundary of the triangulation are maintained in a splay tree for the */
-/* purpose of point location. Splay trees are described by Daniel */
-/* Dominic Sleator and Robert Endre Tarjan, "Self-Adjusting Binary Search */
-/* Trees," Journal of the ACM 32(3):652-686, July 1985, */
-/* http://portal.acm.org/citation.cfm?id=3835 . */
-/* */
-/* The algorithms for exact computation of the signs of determinants are */
-/* described in Jonathan Richard Shewchuk, "Adaptive Precision Floating- */
-/* Point Arithmetic and Fast Robust Geometric Predicates," Discrete & */
-/* Computational Geometry 18(3):305-363, October 1997. (Also available */
-/* as Technical Report CMU-CS-96-140, School of Computer Science, */
-/* Carnegie Mellon University, Pittsburgh, Pennsylvania, May 1996.) [*] */
-/* An abbreviated version appears as Jonathan Richard Shewchuk, "Robust */
-/* Adaptive Floating-Point Geometric Predicates," Proceedings of the */
-/* Twelfth Annual Symposium on Computational Geometry, ACM, May 1996. [*] */
-/* Many of the ideas for my exact arithmetic routines originate with */
-/* Douglas M. Priest, "Algorithms for Arbitrary Precision Floating Point */
-/* Arithmetic," Tenth Symposium on Computer Arithmetic, pp. 132-143, IEEE */
-/* Computer Society Press, 1991. [*] Many of the ideas for the correct */
-/* evaluation of the signs of determinants are taken from Steven Fortune */
-/* and Christopher J. Van Wyk, "Efficient Exact Arithmetic for Computa- */
-/* tional Geometry," Proceedings of the Ninth Annual Symposium on */
-/* Computational Geometry, ACM, pp. 163-172, May 1993, and from Steven */
-/* Fortune, "Numerical Stability of Algorithms for 2D Delaunay Triangu- */
-/* lations," International Journal of Computational Geometry & Applica- */
-/* tions 5(1-2):193-213, March-June 1995. */
-/* */
-/* The method of inserting new vertices off-center (not precisely at the */
-/* circumcenter of every poor-quality triangle) is from Alper Ungor, */
-/* "Off-centers: A New Type of Steiner Points for Computing Size-Optimal */
-/* Quality-Guaranteed Delaunay Triangulations," Proceedings of LATIN */
-/* 2004 (Buenos Aires, Argentina), April 2004. */
-/* */
-/* For definitions of and results involving Delaunay triangulations, */
-/* constrained and conforming versions thereof, and other aspects of */
-/* triangular mesh generation, see the excellent survey by Marshall Bern */
-/* and David Eppstein, "Mesh Generation and Optimal Triangulation," in */
-/* Computing and Euclidean Geometry, Ding-Zhu Du and Frank Hwang, */
-/* editors, World Scientific, Singapore, pp. 23-90, 1992. [*] */
-/* */
-/* The time for incrementally adding PSLG (planar straight line graph) */
-/* segments to create a constrained Delaunay triangulation is probably */
-/* O(t^2) per segment in the worst case and O(t) per segment in the */
-/* common case, where t is the number of triangles that intersect the */
-/* segment before it is inserted. This doesn't count point location, */
-/* which can be much more expensive. I could improve this to O(d log d) */
-/* time, but d is usually quite small, so it's not worth the bother. */
-/* (This note does not apply when the -s switch is used, invoking a */
-/* different method is used to insert segments.) */
-/* */
-/* The time for deleting a vertex from a Delaunay triangulation is O(d^2) */
-/* in the worst case and O(d) in the common case, where d is the degree */
-/* of the vertex being deleted. I could improve this to O(d log d) time, */
-/* but d is usually quite small, so it's not worth the bother. */
-/* */
-/* Ruppert's Delaunay refinement algorithm typically generates triangles */
-/* at a linear rate (constant time per triangle) after the initial */
-/* triangulation is formed. There may be pathological cases where */
-/* quadratic time is required, but these never arise in practice. */
-/* */
-/* The geometric predicates (circumcenter calculations, segment */
-/* intersection formulae, etc.) appear in my "Lecture Notes on Geometric */
-/* Robustness" at http://www.cs.berkeley.edu/~jrs/mesh . */
-/* */
-/* If you make any improvements to this code, please please please let me */
-/* know, so that I may obtain the improvements. Even if you don't change */
-/* the code, I'd still love to hear what it's being used for. */
-/* */
-/*****************************************************************************/
-
-/* Maximum number of characters in a file name (including the null). */
-
-#define FILENAMESIZE 2048
-
-/* Maximum number of characters in a line read from a file (including the */
-/* null). */
-
-#define INPUTLINESIZE 1024
-
-/* For efficiency, a variety of data structures are allocated in bulk. The */
-/* following constants determine how many of each structure is allocated */
-/* at once. */
-
-#define TRIPERBLOCK 4092 /* Number of triangles allocated at once. */
-#define SUBSEGPERBLOCK 508 /* Number of subsegments allocated at once. */
-#define VERTEXPERBLOCK 4092 /* Number of vertices allocated at once. */
-#define VIRUSPERBLOCK 1020 /* Number of virus triangles allocated at once. */
-#define BADSUBSEGPERBLOCK 252 /* Number of encroached subsegments allocated at once. */
-#define BADTRIPERBLOCK 4092 /* Number of skinny triangles allocated at once. */
-#define FLIPSTACKERPERBLOCK 252 /* Number of flipped triangles allocated at once. */
-#define SPLAYNODEPERBLOCK 508 /* Number of splay tree nodes allocated at once. */
-
-/* The vertex types. A DEADVERTEX has been deleted entirely. An */
-/* UNDEADVERTEX is not part of the mesh, but is written to the output */
-/* .node file and affects the node indexing in the other output files. */
-
-#define INPUTVERTEX 0
-#define SEGMENTVERTEX 1
-#define FREEVERTEX 2
-#define DEADVERTEX -32768
-#define UNDEADVERTEX -32767
-
-/* Two constants for algorithms based on random sampling. Both constants */
-/* have been chosen empirically to optimize their respective algorithms. */
-
-/* Used for the point location scheme of Mucke, Saias, and Zhu, to decide */
-/* how large a random sample of triangles to inspect. */
-
-#define SAMPLEFACTOR 11
-
-/* Used in Fortune's sweepline Delaunay algorithm to determine what fraction */
-/* of boundary edges should be maintained in the splay tree for point */
-/* location on the front. */
-
-#define SAMPLERATE 10
-
-/* A number that speaks for itself, every kissable digit. */
-
-#define PI 3.141592653589793238462643383279502884197169399375105820974944592308
-
-/* Another fave. */
-
-#define SQUAREROOTTWO 1.4142135623730950488016887242096980785696718753769480732
-
-/* And here's one for those of you who are intimidated by math. */
-
-#define ONETHIRD 0.333333333333333333333333333333333333333333333333333333333333
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-
-#include "libelas/elasTriangle.h"
-
-/* Labels that signify the result of point location. The result of a */
-/* search indicates that the point falls in the interior of a triangle, on */
-/* an edge, on a vertex, or outside the mesh. */
-
-enum locateresult {INTRIANGLE, ONEDGE, ONVERTEX, OUTSIDE};
-
-/* Labels that signify the result of vertex insertion. The result indicates */
-/* that the vertex was inserted with complete success, was inserted but */
-/* encroaches upon a subsegment, was not inserted because it lies on a */
-/* segment, or was not inserted because another vertex occupies the same */
-/* location. */
-
-enum insertvertexresult {SUCCESSFULVERTEX, ENCROACHINGVERTEX, VIOLATINGVERTEX,
- DUPLICATEVERTEX};
-
-/* Labels that signify the result of direction finding. The result */
-/* indicates that a segment connecting the two query points falls within */
-/* the direction triangle, along the left edge of the direction triangle, */
-/* or along the right edge of the direction triangle. */
-
-enum finddirectionresult {WITHIN, LEFTCOLLINEAR, RIGHTCOLLINEAR};
-
-/*****************************************************************************/
-/* */
-/* The basic mesh data structures */
-/* */
-/* There are three: vertices, triangles, and subsegments (abbreviated */
-/* `subseg'). These three data structures, linked by pointers, comprise */
-/* the mesh. A vertex simply represents a mesh vertex and its properties. */
-/* A triangle is a triangle. A subsegment is a special data structure used */
-/* to represent an impenetrable edge of the mesh (perhaps on the outer */
-/* boundary, on the boundary of a hole, or part of an internal boundary */
-/* separating two triangulated regions). Subsegments represent boundaries, */
-/* defined by the user, that triangles may not lie across. */
-/* */
-/* A triangle consists of a list of three vertices, a list of three */
-/* adjoining triangles, a list of three adjoining subsegments (when */
-/* segments exist), an arbitrary number of optional user-defined */
-/* floating-point attributes, and an optional area constraint. The latter */
-/* is an upper bound on the permissible area of each triangle in a region, */
-/* used for mesh refinement. */
-/* */
-/* For a triangle on a boundary of the mesh, some or all of the neighboring */
-/* triangles may not be present. For a triangle in the interior of the */
-/* mesh, often no neighboring subsegments are present. Such absent */
-/* triangles and subsegments are never represented by NULL pointers; they */
-/* are represented by two special records: `dummytri', the triangle that */
-/* fills "outer space", and `dummysub', the omnipresent subsegment. */
-/* `dummytri' and `dummysub' are used for several reasons; for instance, */
-/* they can be dereferenced and their contents examined without violating */
-/* protected memory. */
-/* */
-/* However, it is important to understand that a triangle includes other */
-/* information as well. The pointers to adjoining vertices, triangles, and */
-/* subsegments are ordered in a way that indicates their geometric relation */
-/* to each other. Furthermore, each of these pointers contains orientation */
-/* information. Each pointer to an adjoining triangle indicates which face */
-/* of that triangle is contacted. Similarly, each pointer to an adjoining */
-/* subsegment indicates which side of that subsegment is contacted, and how */
-/* the subsegment is oriented relative to the triangle. */
-/* */
-/* The data structure representing a subsegment may be thought to be */
-/* abutting the edge of one or two triangle data structures: either */
-/* sandwiched between two triangles, or resting against one triangle on an */
-/* exterior boundary or hole boundary. */
-/* */
-/* A subsegment consists of a list of four vertices--the vertices of the */
-/* subsegment, and the vertices of the segment it is a part of--a list of */
-/* two adjoining subsegments, and a list of two adjoining triangles. One */
-/* of the two adjoining triangles may not be present (though there should */
-/* always be one), and neighboring subsegments might not be present. */
-/* Subsegments also store a user-defined integer "boundary marker". */
-/* Typically, this integer is used to indicate what boundary conditions are */
-/* to be applied at that location in a finite element simulation. */
-/* */
-/* Like triangles, subsegments maintain information about the relative */
-/* orientation of neighboring objects. */
-/* */
-/* Vertices are relatively simple. A vertex is a list of floating-point */
-/* numbers, starting with the x, and y coordinates, followed by an */
-/* arbitrary number of optional user-defined floating-point attributes, */
-/* followed by an integer boundary marker. During the segment insertion */
-/* phase, there is also a pointer from each vertex to a triangle that may */
-/* contain it. Each pointer is not always correct, but when one is, it */
-/* speeds up segment insertion. These pointers are assigned values once */
-/* at the beginning of the segment insertion phase, and are not used or */
-/* updated except during this phase. Edge flipping during segment */
-/* insertion will render some of them incorrect. Hence, don't rely upon */
-/* them for anything. */
-/* */
-/* Other than the exception mentioned above, vertices have no information */
-/* about what triangles, subfacets, or subsegments they are linked to. */
-/* */
-/*****************************************************************************/
-
-/*****************************************************************************/
-/* */
-/* Handles */
-/* */
-/* The oriented triangle (`otri') and oriented subsegment (`osub') data */
-/* structures defined below do not themselves store any part of the mesh. */
-/* The mesh itself is made of `triangle's, `subseg's, and `vertex's. */
-/* */
-/* Oriented triangles and oriented subsegments will usually be referred to */
-/* as "handles." A handle is essentially a pointer into the mesh; it */
-/* allows you to "hold" one particular part of the mesh. Handles are used */
-/* to specify the regions in which one is traversing and modifying the mesh.*/
-/* A single `triangle' may be held by many handles, or none at all. (The */
-/* latter case is not a memory leak, because the triangle is still */
-/* connected to other triangles in the mesh.) */
-/* */
-/* An `otri' is a handle that holds a triangle. It holds a specific edge */
-/* of the triangle. An `osub' is a handle that holds a subsegment. It */
-/* holds either the left or right side of the subsegment. */
-/* */
-/* Navigation about the mesh is accomplished through a set of mesh */
-/* manipulation primitives, further below. Many of these primitives take */
-/* a handle and produce a new handle that holds the mesh near the first */
-/* handle. Other primitives take two handles and glue the corresponding */
-/* parts of the mesh together. The orientation of the handles is */
-/* important. For instance, when two triangles are glued together by the */
-/* bond() primitive, they are glued at the edges on which the handles lie. */
-/* */
-/* Because vertices have no information about which triangles they are */
-/* attached to, I commonly represent a vertex by use of a handle whose */
-/* origin is the vertex. A single handle can simultaneously represent a */
-/* triangle, an edge, and a vertex. */
-/* */
-/*****************************************************************************/
-
-/* The triangle data structure. Each triangle contains three pointers to */
-/* adjoining triangles, plus three pointers to vertices, plus three */
-/* pointers to subsegments (declared below; these pointers are usually */
-/* `dummysub'). It may or may not also contain user-defined attributes */
-/* and/or a floating-point "area constraint." It may also contain extra */
-/* pointers for nodes, when the user asks for high-order elements. */
-/* Because the size and structure of a `triangle' is not decided until */
-/* runtime, I haven't simply declared the type `triangle' as a struct. */
-
-typedef float **triangle; /* Really: typedef triangle *triangle */
-
-/* An oriented triangle: includes a pointer to a triangle and orientation. */
-/* The orientation denotes an edge of the triangle. Hence, there are */
-/* three possible orientations. By convention, each edge always points */
-/* counterclockwise about the corresponding triangle. */
-
-struct otri {
- triangle *tri;
- int orient; /* Ranges from 0 to 2. */
-};
-
-/* The subsegment data structure. Each subsegment contains two pointers to */
-/* adjoining subsegments, plus four pointers to vertices, plus two */
-/* pointers to adjoining triangles, plus one boundary marker, plus one */
-/* segment number. */
-
-typedef float **subseg; /* Really: typedef subseg *subseg */
-
-/* An oriented subsegment: includes a pointer to a subsegment and an */
-/* orientation. The orientation denotes a side of the edge. Hence, there */
-/* are two possible orientations. By convention, the edge is always */
-/* directed so that the "side" denoted is the right side of the edge. */
-
-struct osub {
- subseg *ss;
- int ssorient; /* Ranges from 0 to 1. */
-};
-
-/* The vertex data structure. Each vertex is actually an array of floats. */
-/* The number of floats is unknown until runtime. An integer boundary */
-/* marker, and sometimes a pointer to a triangle, is appended after the */
-/* floats. */
-
-typedef float *vertex;
-
-/* A queue used to store encroached subsegments. Each subsegment's vertices */
-/* are stored so that we can check whether a subsegment is still the same. */
-
-struct badsubseg {
- subseg encsubseg; /* An encroached subsegment. */
- vertex subsegorg, subsegdest; /* Its two vertices. */
-};
-
-/* A queue used to store bad triangles. The key is the square of the cosine */
-/* of the smallest angle of the triangle. Each triangle's vertices are */
-/* stored so that one can check whether a triangle is still the same. */
-
-struct badtriang {
- triangle poortri; /* A skinny or too-large triangle. */
- float key; /* cos^2 of smallest (apical) angle. */
- vertex triangorg, triangdest, triangapex; /* Its three vertices. */
- struct badtriang *nexttriang; /* Pointer to next bad triangle. */
-};
-
-/* A stack of triangles flipped during the most recent vertex insertion. */
-/* The stack is used to undo the vertex insertion if the vertex encroaches */
-/* upon a subsegment. */
-
-struct flipstacker {
- triangle flippedtri; /* A recently flipped triangle. */
- struct flipstacker *prevflip; /* Previous flip in the stack. */
-};
-
-/* A node in a heap used to store events for the sweepline Delaunay */
-/* algorithm. Nodes do not point directly to their parents or children in */
-/* the heap. Instead, each node knows its position in the heap, and can */
-/* look up its parent and children in a separate array. The `eventptr' */
-/* points either to a `vertex' or to a triangle (in encoded format, so */
-/* that an orientation is included). In the latter case, the origin of */
-/* the oriented triangle is the apex of a "circle event" of the sweepline */
-/* algorithm. To distinguish site events from circle events, all circle */
-/* events are given an invalid (smaller than `xmin') x-coordinate `xkey'. */
-
-struct event {
- float xkey, ykey; /* Coordinates of the event. */
- int *eventptr; /* Can be a vertex or the location of a circle event. */
- int heapposition; /* Marks this event's position in the heap. */
-};
-
-/* A node in the splay tree. Each node holds an oriented ghost triangle */
-/* that represents a boundary edge of the growing triangulation. When a */
-/* circle event covers two boundary edges with a triangle, so that they */
-/* are no longer boundary edges, those edges are not immediately deleted */
-/* from the tree; rather, they are lazily deleted when they are next */
-/* encountered. (Since only a random sample of boundary edges are kept */
-/* in the tree, lazy deletion is faster.) `keydest' is used to verify */
-/* that a triangle is still the same as when it entered the splay tree; if */
-/* it has been rotated (due to a circle event), it no longer represents a */
-/* boundary edge and should be deleted. */
-
-struct splaynode {
- struct otri keyedge; /* Lprev of an edge on the front. */
- vertex keydest; /* Used to verify that splay node is still live. */
- struct splaynode *lchild, *rchild; /* Children in splay tree. */
-};
-
-/* A type used to allocate memory. firstblock is the first block of items. */
-/* nowblock is the block from which items are currently being allocated. */
-/* nextitem points to the next slab of free memory for an item. */
-/* deaditemstack is the head of a linked list (stack) of deallocated items */
-/* that can be recycled. unallocateditems is the number of items that */
-/* remain to be allocated from nowblock. */
-/* */
-/* Traversal is the process of walking through the entire list of items, and */
-/* is separate from allocation. Note that a traversal will visit items on */
-/* the "deaditemstack" stack as well as live items. pathblock points to */
-/* the block currently being traversed. pathitem points to the next item */
-/* to be traversed. pathitemsleft is the number of items that remain to */
-/* be traversed in pathblock. */
-/* */
-/* alignbytes determines how new records should be aligned in memory. */
-/* itembytes is the length of a record in bytes (after rounding up). */
-/* itemsperblock is the number of items allocated at once in a single */
-/* block. itemsfirstblock is the number of items in the first block, */
-/* which can vary from the others. items is the number of currently */
-/* allocated items. maxitems is the maximum number of items that have */
-/* been allocated at once; it is the current number of items plus the */
-/* number of records kept on deaditemstack. */
-
-struct memorypool {
- int **firstblock, **nowblock;
- int *nextitem;
- int *deaditemstack;
- int **pathblock;
- int *pathitem;
- int alignbytes;
- int itembytes;
- int itemsperblock;
- int itemsfirstblock;
- long items, maxitems;
- int unallocateditems;
- int pathitemsleft;
-};
-
-
-/* Global constants. */
-
-float splitter; /* Used to split float factors for exact multiplication. */
-float epsilon; /* Floating-point machine epsilon. */
-float resulterrbound;
-float ccwerrboundA, ccwerrboundB, ccwerrboundC;
-float iccerrboundA, iccerrboundB, iccerrboundC;
-float o3derrboundA, o3derrboundB, o3derrboundC;
-
-/* Random number seed is not constant, but I've made it global anyway. */
-
-unsigned long randomseed; /* Current random number seed. */
-
-
-/* Mesh data structure. Triangle operates on only one mesh, but the mesh */
-/* structure is used (instead of global variables) to allow reentrancy. */
-
-struct mesh {
-
-/* Variables used to allocate memory for triangles, subsegments, vertices, */
-/* viri (triangles being eaten), encroached segments, bad (skinny or too */
-/* large) triangles, and splay tree nodes. */
-
- struct memorypool triangles;
- struct memorypool subsegs;
- struct memorypool vertices;
- struct memorypool viri;
- struct memorypool badsubsegs;
- struct memorypool badtriangles;
- struct memorypool flipstackers;
- struct memorypool splaynodes;
-
-/* Variables that maintain the bad triangle queues. The queues are */
-/* ordered from 4095 (highest priority) to 0 (lowest priority). */
-
- struct badtriang *queuefront[4096];
- struct badtriang *queuetail[4096];
- int nextnonemptyq[4096];
- int firstnonemptyq;
-
-/* Variable that maintains the stack of recently flipped triangles. */
-
- struct flipstacker *lastflip;
-
-/* Other variables. */
-
- float xmin, xmax, ymin, ymax; /* x and y bounds. */
- float xminextreme; /* Nonexistent x value used as a flag in sweepline. */
- int invertices; /* Number of input vertices. */
- int inelements; /* Number of input triangles. */
- int insegments; /* Number of input segments. */
- int holes; /* Number of input holes. */
- int regions; /* Number of input regions. */
- int undeads; /* Number of input vertices that don't appear in the mesh. */
- long edges; /* Number of output edges. */
- int mesh_dim; /* Dimension (ought to be 2). */
- int nextras; /* Number of attributes per vertex. */
- int eextras; /* Number of attributes per triangle. */
- long hullsize; /* Number of edges in convex hull. */
- int steinerleft; /* Number of Steiner points not yet used. */
- int vertexmarkindex; /* Index to find boundary marker of a vertex. */
- int vertex2triindex; /* Index to find a triangle adjacent to a vertex. */
- int highorderindex; /* Index to find extra nodes for high-order elements. */
- int elemattribindex; /* Index to find attributes of a triangle. */
- int areaboundindex; /* Index to find area bound of a triangle. */
- int checksegments; /* Are there segments in the triangulation yet? */
- int checkquality; /* Has quality triangulation begun yet? */
- int readnodefile; /* Has a .node file been read? */
- long samples; /* Number of random samples for point location. */
-
- long incirclecount; /* Number of incircle tests performed. */
- long counterclockcount; /* Number of counterclockwise tests performed. */
- long orient3dcount; /* Number of 3D orientation tests performed. */
- long hyperbolacount; /* Number of right-of-hyperbola tests performed. */
- long circumcentercount; /* Number of circumcenter calculations performed. */
- long circletopcount; /* Number of circle top calculations performed. */
-
-/* Triangular bounding box vertices. */
-
- vertex infvertex1, infvertex2, infvertex3;
-
-/* Pointer to the `triangle' that occupies all of "outer space." */
-
- triangle *dummytri;
- triangle *dummytribase; /* Keep base address so we can free() it later. */
-
-/* Pointer to the omnipresent subsegment. Referenced by any triangle or */
-/* subsegment that isn't really connected to a subsegment at that */
-/* location. */
-
- subseg *dummysub;
- subseg *dummysubbase; /* Keep base address so we can free() it later. */
-
-/* Pointer to a recently visited triangle. Improves point location if */
-/* proximate vertices are inserted sequentially. */
-
- struct otri recenttri;
-
-}; /* End of `struct mesh'. */
-
-
-/* Data structure for command line switches and file names. This structure */
-/* is used (instead of global variables) to allow reentrancy. */
-
-struct behavior {
-
-/* Switches for the triangulator. */
-/* poly: -p switch. refine: -r switch. */
-/* quality: -q switch. */
-/* minangle: minimum angle bound, specified after -q switch. */
-/* goodangle: cosine squared of minangle. */
-/* offconstant: constant used to place off-center Steiner points. */
-/* vararea: -a switch without number. */
-/* fixedarea: -a switch with number. */
-/* maxarea: maximum area bound, specified after -a switch. */
-/* usertest: -u switch. */
-/* regionattrib: -A switch. convex: -c switch. */
-/* weighted: 1 for -w switch, 2 for -W switch. jettison: -j switch */
-/* firstnumber: inverse of -z switch. All items are numbered starting */
-/* from `firstnumber'. */
-/* edgesout: -e switch. voronoi: -v switch. */
-/* neighbors: -n switch. geomview: -g switch. */
-/* nobound: -B switch. nopolywritten: -P switch. */
-/* nonodewritten: -N switch. noelewritten: -E switch. */
-/* noiterationnum: -I switch. noholes: -O switch. */
-/* noexact: -X switch. */
-/* order: element order, specified after -o switch. */
-/* nobisect: count of how often -Y switch is selected. */
-/* steiner: maximum number of Steiner points, specified after -S switch. */
-/* incremental: -i switch. sweepline: -F switch. */
-/* dwyer: inverse of -l switch. */
-/* splitseg: -s switch. */
-/* conformdel: -D switch. docheck: -C switch. */
-/* quiet: -Q switch. verbose: count of how often -V switch is selected. */
-/* usesegments: -p, -r, -q, or -c switch; determines whether segments are */
-/* used at all. */
-/* */
-/* Read the instructions to find out the meaning of these switches. */
-
- int poly, refine, quality, vararea, fixedarea, usertest;
- int regionattrib, convex, weighted, jettison;
- int firstnumber;
- int edgesout, voronoi, neighbors, geomview;
- int nobound, nopolywritten, nonodewritten, noelewritten, noiterationnum;
- int noholes, noexact, conformdel;
- int incremental, sweepline, dwyer;
- int splitseg;
- int docheck;
- int quiet, verbose;
- int usesegments;
- int order;
- int nobisect;
- int steiner;
- float minangle, goodangle, offconstant;
- float maxarea;
-
-/* Variables for file names. */
-
-}; /* End of `struct behavior'. */
-
-
-/*****************************************************************************/
-/* */
-/* Mesh manipulation primitives. Each triangle contains three pointers to */
-/* other triangles, with orientations. Each pointer points not to the */
-/* first byte of a triangle, but to one of the first three bytes of a */
-/* triangle. It is necessary to extract both the triangle itself and the */
-/* orientation. To save memory, I keep both pieces of information in one */
-/* pointer. To make this possible, I assume that all triangles are aligned */
-/* to four-byte boundaries. The decode() routine below decodes a pointer, */
-/* extracting an orientation (in the range 0 to 2) and a pointer to the */
-/* beginning of a triangle. The encode() routine compresses a pointer to a */
-/* triangle and an orientation into a single pointer. My assumptions that */
-/* triangles are four-byte-aligned and that the `unsigned long' type is */
-/* long enough to hold a pointer are two of the few kludges in this program.*/
-/* */
-/* Subsegments are manipulated similarly. A pointer to a subsegment */
-/* carries both an address and an orientation in the range 0 to 1. */
-/* */
-/* The other primitives take an oriented triangle or oriented subsegment, */
-/* and return an oriented triangle or oriented subsegment or vertex; or */
-/* they change the connections in the data structure. */
-/* */
-/* Below, triangles and subsegments are denoted by their vertices. The */
-/* triangle abc has origin (org) a, destination (dest) b, and apex (apex) */
-/* c. These vertices occur in counterclockwise order about the triangle. */
-/* The handle abc may simultaneously denote vertex a, edge ab, and triangle */
-/* abc. */
-/* */
-/* Similarly, the subsegment ab has origin (sorg) a and destination (sdest) */
-/* b. If ab is thought to be directed upward (with b directly above a), */
-/* then the handle ab is thought to grasp the right side of ab, and may */
-/* simultaneously denote vertex a and edge ab. */
-/* */
-/* An asterisk (*) denotes a vertex whose identity is unknown. */
-/* */
-/* Given this notation, a partial list of mesh manipulation primitives */
-/* follows. */
-/* */
-/* */
-/* For triangles: */
-/* */
-/* sym: Find the abutting triangle; same edge. */
-/* sym(abc) -> ba* */
-/* */
-/* lnext: Find the next edge (counterclockwise) of a triangle. */
-/* lnext(abc) -> bca */
-/* */
-/* lprev: Find the previous edge (clockwise) of a triangle. */
-/* lprev(abc) -> cab */
-/* */
-/* onext: Find the next edge counterclockwise with the same origin. */
-/* onext(abc) -> ac* */
-/* */
-/* oprev: Find the next edge clockwise with the same origin. */
-/* oprev(abc) -> a*b */
-/* */
-/* dnext: Find the next edge counterclockwise with the same destination. */
-/* dnext(abc) -> *ba */
-/* */
-/* dprev: Find the next edge clockwise with the same destination. */
-/* dprev(abc) -> cb* */
-/* */
-/* rnext: Find the next edge (counterclockwise) of the adjacent triangle. */
-/* rnext(abc) -> *a* */
-/* */
-/* rprev: Find the previous edge (clockwise) of the adjacent triangle. */
-/* rprev(abc) -> b** */
-/* */
-/* org: Origin dest: Destination apex: Apex */
-/* org(abc) -> a dest(abc) -> b apex(abc) -> c */
-/* */
-/* bond: Bond two triangles together at the resepective handles. */
-/* bond(abc, bad) */
-/* */
-/* */
-/* For subsegments: */
-/* */
-/* ssym: Reverse the orientation of a subsegment. */
-/* ssym(ab) -> ba */
-/* */
-/* spivot: Find adjoining subsegment with the same origin. */
-/* spivot(ab) -> a* */
-/* */
-/* snext: Find next subsegment in sequence. */
-/* snext(ab) -> b* */
-/* */
-/* sorg: Origin sdest: Destination */
-/* sorg(ab) -> a sdest(ab) -> b */
-/* */
-/* sbond: Bond two subsegments together at the respective origins. */
-/* sbond(ab, ac) */
-/* */
-/* */
-/* For interacting tetrahedra and subfacets: */
-/* */
-/* tspivot: Find a subsegment abutting a triangle. */
-/* tspivot(abc) -> ba */
-/* */
-/* stpivot: Find a triangle abutting a subsegment. */
-/* stpivot(ab) -> ba* */
-/* */
-/* tsbond: Bond a triangle to a subsegment. */
-/* tsbond(abc, ba) */
-/* */
-/*****************************************************************************/
-
-/********* Mesh manipulation primitives begin here *********/
-/** **/
-/** **/
-
-/* Fast lookup arrays to speed some of the mesh manipulation primitives. */
-
-int plus1mod3[3] = {1, 2, 0};
-int minus1mod3[3] = {2, 0, 1};
-
-/********* Primitives for triangles *********/
-/* */
-/* */
-
-/* decode() converts a pointer to an oriented triangle. The orientation is */
-/* extracted from the two least significant bits of the pointer. */
-
-#define decode(ptr, otri) \
- (otri).orient = (int) ((unsigned long) (ptr) & (unsigned long) 3l); \
- (otri).tri = (triangle *) \
- ((unsigned long) (ptr) ^ (unsigned long) (otri).orient)
-
-/* encode() compresses an oriented triangle into a single pointer. It */
-/* relies on the assumption that all triangles are aligned to four-byte */
-/* boundaries, so the two least significant bits of (otri).tri are zero. */
-
-#define encode(otri) \
- (triangle) ((unsigned long) (otri).tri | (unsigned long) (otri).orient)
-
-/* The following handle manipulation primitives are all described by Guibas */
-/* and Stolfi. However, Guibas and Stolfi use an edge-based data */
-/* structure, whereas I use a triangle-based data structure. */
-
-/* sym() finds the abutting triangle, on the same edge. Note that the edge */
-/* direction is necessarily reversed, because the handle specified by an */
-/* oriented triangle is directed counterclockwise around the triangle. */
-
-#define sym(otri1, otri2) \
- ptr = (otri1).tri[(otri1).orient]; \
- decode(ptr, otri2);
-
-#define symself(otri) \
- ptr = (otri).tri[(otri).orient]; \
- decode(ptr, otri);
-
-/* lnext() finds the next edge (counterclockwise) of a triangle. */
-
-#define lnext(otri1, otri2) \
- (otri2).tri = (otri1).tri; \
- (otri2).orient = plus1mod3[(otri1).orient]
-
-#define lnextself(otri) \
- (otri).orient = plus1mod3[(otri).orient]
-
-/* lprev() finds the previous edge (clockwise) of a triangle. */
-
-#define lprev(otri1, otri2) \
- (otri2).tri = (otri1).tri; \
- (otri2).orient = minus1mod3[(otri1).orient]
-
-#define lprevself(otri) \
- (otri).orient = minus1mod3[(otri).orient]
-
-/* onext() spins counterclockwise around a vertex; that is, it finds the */
-/* next edge with the same origin in the counterclockwise direction. This */
-/* edge is part of a different triangle. */
-
-#define onext(otri1, otri2) \
- lprev(otri1, otri2); \
- symself(otri2);
-
-#define onextself(otri) \
- lprevself(otri); \
- symself(otri);
-
-/* oprev() spins clockwise around a vertex; that is, it finds the next edge */
-/* with the same origin in the clockwise direction. This edge is part of */
-/* a different triangle. */
-
-#define oprev(otri1, otri2) \
- sym(otri1, otri2); \
- lnextself(otri2);
-
-#define oprevself(otri) \
- symself(otri); \
- lnextself(otri);
-
-/* dnext() spins counterclockwise around a vertex; that is, it finds the */
-/* next edge with the same destination in the counterclockwise direction. */
-/* This edge is part of a different triangle. */
-
-#define dnext(otri1, otri2) \
- sym(otri1, otri2); \
- lprevself(otri2);
-
-#define dnextself(otri) \
- symself(otri); \
- lprevself(otri);
-
-/* dprev() spins clockwise around a vertex; that is, it finds the next edge */
-/* with the same destination in the clockwise direction. This edge is */
-/* part of a different triangle. */
-
-#define dprev(otri1, otri2) \
- lnext(otri1, otri2); \
- symself(otri2);
-
-#define dprevself(otri) \
- lnextself(otri); \
- symself(otri);
-
-/* rnext() moves one edge counterclockwise about the adjacent triangle. */
-/* (It's best understood by reading Guibas and Stolfi. It involves */
-/* changing triangles twice.) */
-
-#define rnext(otri1, otri2) \
- sym(otri1, otri2); \
- lnextself(otri2); \
- symself(otri2);
-
-#define rnextself(otri) \
- symself(otri); \
- lnextself(otri); \
- symself(otri);
-
-/* rprev() moves one edge clockwise about the adjacent triangle. */
-/* (It's best understood by reading Guibas and Stolfi. It involves */
-/* changing triangles twice.) */
-
-#define rprev(otri1, otri2) \
- sym(otri1, otri2); \
- lprevself(otri2); \
- symself(otri2);
-
-#define rprevself(otri) \
- symself(otri); \
- lprevself(otri); \
- symself(otri);
-
-/* These primitives determine or set the origin, destination, or apex of a */
-/* triangle. */
-
-#define org(otri, vertexptr) \
- vertexptr = (vertex) (otri).tri[plus1mod3[(otri).orient] + 3]
-
-#define dest(otri, vertexptr) \
- vertexptr = (vertex) (otri).tri[minus1mod3[(otri).orient] + 3]
-
-#define apex(otri, vertexptr) \
- vertexptr = (vertex) (otri).tri[(otri).orient + 3]
-
-#define setorg(otri, vertexptr) \
- (otri).tri[plus1mod3[(otri).orient] + 3] = (triangle) vertexptr
-
-#define setdest(otri, vertexptr) \
- (otri).tri[minus1mod3[(otri).orient] + 3] = (triangle) vertexptr
-
-#define setapex(otri, vertexptr) \
- (otri).tri[(otri).orient + 3] = (triangle) vertexptr
-
-/* Bond two triangles together. */
-
-#define bond(otri1, otri2) \
- (otri1).tri[(otri1).orient] = encode(otri2); \
- (otri2).tri[(otri2).orient] = encode(otri1)
-
-/* Dissolve a bond (from one side). Note that the other triangle will still */
-/* think it's connected to this triangle. Usually, however, the other */
-/* triangle is being deleted entirely, or bonded to another triangle, so */
-/* it doesn't matter. */
-
-#define dissolve(otri) \
- (otri).tri[(otri).orient] = (triangle) m->dummytri
-
-/* Copy an oriented triangle. */
-
-#define otricopy(otri1, otri2) \
- (otri2).tri = (otri1).tri; \
- (otri2).orient = (otri1).orient
-
-/* Test for equality of oriented triangles. */
-
-#define otriequal(otri1, otri2) \
- (((otri1).tri == (otri2).tri) && \
- ((otri1).orient == (otri2).orient))
-
-/* Primitives to infect or cure a triangle with the virus. These rely on */
-/* the assumption that all subsegments are aligned to four-byte boundaries.*/
-
-#define infect(otri) \
- (otri).tri[6] = (triangle) \
- ((unsigned long) (otri).tri[6] | (unsigned long) 2l)
-
-#define uninfect(otri) \
- (otri).tri[6] = (triangle) \
- ((unsigned long) (otri).tri[6] & ~ (unsigned long) 2l)
-
-/* Test a triangle for viral infection. */
-
-#define infected(otri) \
- (((unsigned long) (otri).tri[6] & (unsigned long) 2l) != 0l)
-
-/* Check or set a triangle's attributes. */
-
-#define elemattribute(otri, attnum) \
- ((float *) (otri).tri)[m->elemattribindex + (attnum)]
-
-#define setelemattribute(otri, attnum, value) \
- ((float *) (otri).tri)[m->elemattribindex + (attnum)] = value
-
-/* Check or set a triangle's maximum area bound. */
-
-#define areabound(otri) ((float *) (otri).tri)[m->areaboundindex]
-
-#define setareabound(otri, value) \
- ((float *) (otri).tri)[m->areaboundindex] = value
-
-/* Check or set a triangle's deallocation. Its second pointer is set to */
-/* NULL to indicate that it is not allocated. (Its first pointer is used */
-/* for the stack of dead items.) Its fourth pointer (its first vertex) */
-/* is set to NULL in case a `badtriang' structure points to it. */
-
-#define deadtri(tria) ((tria)[1] == (triangle) NULL)
-
-#define killtri(tria) \
- (tria)[1] = (triangle) NULL; \
- (tria)[3] = (triangle) NULL
-
-/********* Primitives for subsegments *********/
-/* */
-/* */
-
-/* sdecode() converts a pointer to an oriented subsegment. The orientation */
-/* is extracted from the least significant bit of the pointer. The two */
-/* least significant bits (one for orientation, one for viral infection) */
-/* are masked out to produce the real pointer. */
-
-#define sdecode(sptr, osub) \
- (osub).ssorient = (int) ((unsigned long) (sptr) & (unsigned long) 1l); \
- (osub).ss = (subseg *) \
- ((unsigned long) (sptr) & ~ (unsigned long) 3l)
-
-/* sencode() compresses an oriented subsegment into a single pointer. It */
-/* relies on the assumption that all subsegments are aligned to two-byte */
-/* boundaries, so the least significant bit of (osub).ss is zero. */
-
-#define sencode(osub) \
- (subseg) ((unsigned long) (osub).ss | (unsigned long) (osub).ssorient)
-
-/* ssym() toggles the orientation of a subsegment. */
-
-#define ssym(osub1, osub2) \
- (osub2).ss = (osub1).ss; \
- (osub2).ssorient = 1 - (osub1).ssorient
-
-#define ssymself(osub) \
- (osub).ssorient = 1 - (osub).ssorient
-
-/* spivot() finds the other subsegment (from the same segment) that shares */
-/* the same origin. */
-
-#define spivot(osub1, osub2) \
- sptr = (osub1).ss[(osub1).ssorient]; \
- sdecode(sptr, osub2)
-
-#define spivotself(osub) \
- sptr = (osub).ss[(osub).ssorient]; \
- sdecode(sptr, osub)
-
-/* snext() finds the next subsegment (from the same segment) in sequence; */
-/* one whose origin is the input subsegment's destination. */
-
-#define snext(osub1, osub2) \
- sptr = (osub1).ss[1 - (osub1).ssorient]; \
- sdecode(sptr, osub2)
-
-#define snextself(osub) \
- sptr = (osub).ss[1 - (osub).ssorient]; \
- sdecode(sptr, osub)
-
-/* These primitives determine or set the origin or destination of a */
-/* subsegment or the segment that includes it. */
-
-#define sorg(osub, vertexptr) \
- vertexptr = (vertex) (osub).ss[2 + (osub).ssorient]
-
-#define sdest(osub, vertexptr) \
- vertexptr = (vertex) (osub).ss[3 - (osub).ssorient]
-
-#define setsorg(osub, vertexptr) \
- (osub).ss[2 + (osub).ssorient] = (subseg) vertexptr
-
-#define setsdest(osub, vertexptr) \
- (osub).ss[3 - (osub).ssorient] = (subseg) vertexptr
-
-#define segorg(osub, vertexptr) \
- vertexptr = (vertex) (osub).ss[4 + (osub).ssorient]
-
-#define segdest(osub, vertexptr) \
- vertexptr = (vertex) (osub).ss[5 - (osub).ssorient]
-
-#define setsegorg(osub, vertexptr) \
- (osub).ss[4 + (osub).ssorient] = (subseg) vertexptr
-
-#define setsegdest(osub, vertexptr) \
- (osub).ss[5 - (osub).ssorient] = (subseg) vertexptr
-
-/* These primitives read or set a boundary marker. Boundary markers are */
-/* used to hold user-defined tags for setting boundary conditions in */
-/* finite element solvers. */
-
-#define mark(osub) (* (int *) ((osub).ss + 8))
-
-#define setmark(osub, value) \
- * (int *) ((osub).ss + 8) = value
-
-/* Bond two subsegments together. */
-
-#define sbond(osub1, osub2) \
- (osub1).ss[(osub1).ssorient] = sencode(osub2); \
- (osub2).ss[(osub2).ssorient] = sencode(osub1)
-
-/* Dissolve a subsegment bond (from one side). Note that the other */
-/* subsegment will still think it's connected to this subsegment. */
-
-#define sdissolve(osub) \
- (osub).ss[(osub).ssorient] = (subseg) m->dummysub
-
-/* Copy a subsegment. */
-
-#define subsegcopy(osub1, osub2) \
- (osub2).ss = (osub1).ss; \
- (osub2).ssorient = (osub1).ssorient
-
-/* Test for equality of subsegments. */
-
-#define subsegequal(osub1, osub2) \
- (((osub1).ss == (osub2).ss) && \
- ((osub1).ssorient == (osub2).ssorient))
-
-/* Check or set a subsegment's deallocation. Its second pointer is set to */
-/* NULL to indicate that it is not allocated. (Its first pointer is used */
-/* for the stack of dead items.) Its third pointer (its first vertex) */
-/* is set to NULL in case a `badsubseg' structure points to it. */
-
-#define deadsubseg(sub) ((sub)[1] == (subseg) NULL)
-
-#define killsubseg(sub) \
- (sub)[1] = (subseg) NULL; \
- (sub)[2] = (subseg) NULL
-
-/********* Primitives for interacting triangles and subsegments *********/
-/* */
-/* */
-
-/* tspivot() finds a subsegment abutting a triangle. */
-
-#define tspivot(otri, osub) \
- sptr = (subseg) (otri).tri[6 + (otri).orient]; \
- sdecode(sptr, osub)
-
-/* stpivot() finds a triangle abutting a subsegment. It requires that the */
-/* variable `ptr' of type `triangle' be defined. */
-
-#define stpivot(osub, otri) \
- ptr = (triangle) (osub).ss[6 + (osub).ssorient]; \
- decode(ptr, otri)
-
-/* Bond a triangle to a subsegment. */
-
-#define tsbond(otri, osub) \
- (otri).tri[6 + (otri).orient] = (triangle) sencode(osub); \
- (osub).ss[6 + (osub).ssorient] = (subseg) encode(otri)
-
-/* Dissolve a bond (from the triangle side). */
-
-#define tsdissolve(otri) \
- (otri).tri[6 + (otri).orient] = (triangle) m->dummysub
-
-/* Dissolve a bond (from the subsegment side). */
-
-#define stdissolve(osub) \
- (osub).ss[6 + (osub).ssorient] = (subseg) m->dummytri
-
-/********* Primitives for vertices *********/
-/* */
-/* */
-
-#define vertexmark(vx) ((int *) (vx))[m->vertexmarkindex]
-
-#define setvertexmark(vx, value) \
- ((int *) (vx))[m->vertexmarkindex] = value
-
-#define vertextype(vx) ((int *) (vx))[m->vertexmarkindex + 1]
-
-#define setvertextype(vx, value) \
- ((int *) (vx))[m->vertexmarkindex + 1] = value
-
-#define vertex2tri(vx) ((triangle *) (vx))[m->vertex2triindex]
-
-#define setvertex2tri(vx, value) \
- ((triangle *) (vx))[m->vertex2triindex] = value
-
-/** **/
-/** **/
-/********* Mesh manipulation primitives end here *********/
-
-/********* Memory allocation and program exit wrappers begin here *********/
-/** **/
-/** **/
-
-void triexit(int status)
-{
- exit(status);
-}
-
-int *trimalloc(int size)
-{
- int *memptr;
-
- memptr = (int *) malloc((unsigned int) size);
- if (memptr == (int *) NULL) {
- printf("Error: Out of memory.\n");
- triexit(1);
- }
- return(memptr);
-}
-
-void trifree(int *memptr)
-{
- free(memptr);
-}
-
-/** **/
-/** **/
-/********* Memory allocation and program exit wrappers end here *********/
-
-/*****************************************************************************/
-/* */
-/* internalerror() Ask the user to send me the defective product. Exit. */
-/* */
-/*****************************************************************************/
-
-void internalerror()
-{
- printf(" Please report this bug to jrs@cs.berkeley.edu\n");
- printf(" Include the message above, your input data set, and the exact\n");
- printf(" command line you used to run Triangle.\n");
- triexit(1);
-}
-
-/*****************************************************************************/
-/* */
-/* parsecommandline() Read the command line, identify switches, and set */
-/* up options and file names. */
-/* */
-/*****************************************************************************/
-
-void parsecommandline(int argc, char **argv, struct behavior *b) {
- int i, j, k;
- char workstring[FILENAMESIZE];
-
- b->poly = b->refine = b->quality = 0;
- b->vararea = b->fixedarea = b->usertest = 0;
- b->regionattrib = b->convex = b->weighted = b->jettison = 0;
- b->firstnumber = 1;
- b->edgesout = b->voronoi = b->neighbors = b->geomview = 0;
- b->nobound = b->nopolywritten = b->nonodewritten = b->noelewritten = 0;
- b->noiterationnum = 0;
- b->noholes = b->noexact = 0;
- b->incremental = b->sweepline = 0;
- b->dwyer = 1;
- b->splitseg = 0;
- b->docheck = 0;
- b->nobisect = 0;
- b->conformdel = 0;
- b->steiner = -1;
- b->order = 1;
- b->minangle = 0.0;
- b->maxarea = -1.0;
- b->quiet = b->verbose = 0;
-
- for (i = 0; i < argc; i++) {
- for (j = 0; argv[i][j] != '\0'; j++) {
- if (argv[i][j] == 'p') {
- b->poly = 1;
- }
- if (argv[i][j] == 'A') {
- b->regionattrib = 1;
- }
- if (argv[i][j] == 'c') {
- b->convex = 1;
- }
- if (argv[i][j] == 'w') {
- b->weighted = 1;
- }
- if (argv[i][j] == 'W') {
- b->weighted = 2;
- }
- if (argv[i][j] == 'j') {
- b->jettison = 1;
- }
- if (argv[i][j] == 'z') {
- b->firstnumber = 0;
- }
- if (argv[i][j] == 'e') {
- b->edgesout = 1;
- }
- if (argv[i][j] == 'v') {
- b->voronoi = 1;
- }
- if (argv[i][j] == 'n') {
- b->neighbors = 1;
- }
- if (argv[i][j] == 'g') {
- b->geomview = 1;
- }
- if (argv[i][j] == 'B') {
- b->nobound = 1;
- }
- if (argv[i][j] == 'P') {
- b->nopolywritten = 1;
- }
- if (argv[i][j] == 'N') {
- b->nonodewritten = 1;
- }
- if (argv[i][j] == 'E') {
- b->noelewritten = 1;
- }
- if (argv[i][j] == 'O') {
- b->noholes = 1;
- }
- if (argv[i][j] == 'X') {
- b->noexact = 1;
- }
- if (argv[i][j] == 'o') {
- if (argv[i][j + 1] == '2') {
- j++;
- b->order = 2;
- }
- }
- if (argv[i][j] == 'l') {
- b->dwyer = 0;
- }
- if (argv[i][j] == 'Q') {
- b->quiet = 1;
- }
- if (argv[i][j] == 'V') {
- b->verbose++;
- }
- }
- }
- b->usesegments = b->poly || b->refine || b->quality || b->convex;
- b->goodangle = cos(b->minangle * PI / 180.0);
- if (b->goodangle == 1.0) {
- b->offconstant = 0.0;
- } else {
- b->offconstant = 0.475 * sqrt((1.0 + b->goodangle) / (1.0 - b->goodangle));
- }
- b->goodangle *= b->goodangle;
- if (b->refine && b->noiterationnum) {
- printf(
- "Error: You cannot use the -I switch when refining a triangulation.\n");
- triexit(1);
- }
- /* Be careful not to allocate space for element area constraints that */
- /* will never be assigned any value (other than the default -1.0). */
- if (!b->refine && !b->poly) {
- b->vararea = 0;
- }
- /* Be careful not to add an extra attribute to each element unless the */
- /* input supports it (PSLG in, but not refining a preexisting mesh). */
- if (b->refine || !b->poly) {
- b->regionattrib = 0;
- }
- /* Regular/weighted triangulations are incompatible with PSLGs */
- /* and meshing. */
- if (b->weighted && (b->poly || b->quality)) {
- b->weighted = 0;
- if (!b->quiet) {
- printf("Warning: weighted triangulations (-w, -W) are incompatible\n");
- printf(" with PSLGs (-p) and meshing (-q, -a, -u). Weights ignored.\n"
- );
- }
- }
- if (b->jettison && b->nonodewritten && !b->quiet) {
- printf("Warning: -j and -N switches are somewhat incompatible.\n");
- printf(" If any vertices are jettisoned, you will need the output\n");
- printf(" .node file to reconstruct the new node indices.");
- }
-}
-
-/** **/
-/** **/
-/********* User interaction routines begin here *********/
-
-/********* Debugging routines begin here *********/
-/** **/
-/** **/
-
-/*****************************************************************************/
-/* */
-/* printtriangle() Print out the details of an oriented triangle. */
-/* */
-/* I originally wrote this procedure to simplify debugging; it can be */
-/* called directly from the debugger, and presents information about an */
-/* oriented triangle in digestible form. It's also used when the */
-/* highest level of verbosity (`-VVV') is specified. */
-/* */
-/*****************************************************************************/
-
-void printtriangle(struct mesh *m, struct behavior *b, struct otri *t)
-{
- struct otri printtri;
- struct osub printsh;
- vertex printvertex;
-
- printf("triangle x%lx with orientation %d:\n", (unsigned long) t->tri,
- t->orient);
- decode(t->tri[0], printtri);
- if (printtri.tri == m->dummytri) {
- printf(" [0] = Outer space\n");
- } else {
- printf(" [0] = x%lx %d\n", (unsigned long) printtri.tri,
- printtri.orient);
- }
- decode(t->tri[1], printtri);
- if (printtri.tri == m->dummytri) {
- printf(" [1] = Outer space\n");
- } else {
- printf(" [1] = x%lx %d\n", (unsigned long) printtri.tri,
- printtri.orient);
- }
- decode(t->tri[2], printtri);
- if (printtri.tri == m->dummytri) {
- printf(" [2] = Outer space\n");
- } else {
- printf(" [2] = x%lx %d\n", (unsigned long) printtri.tri,
- printtri.orient);
- }
-
- org(*t, printvertex);
- if (printvertex == (vertex) NULL)
- printf(" Origin[%d] = NULL\n", (t->orient + 1) % 3 + 3);
- else
- printf(" Origin[%d] = x%lx (%.12g, %.12g)\n",
- (t->orient + 1) % 3 + 3, (unsigned long) printvertex,
- printvertex[0], printvertex[1]);
- dest(*t, printvertex);
- if (printvertex == (vertex) NULL)
- printf(" Dest [%d] = NULL\n", (t->orient + 2) % 3 + 3);
- else
- printf(" Dest [%d] = x%lx (%.12g, %.12g)\n",
- (t->orient + 2) % 3 + 3, (unsigned long) printvertex,
- printvertex[0], printvertex[1]);
- apex(*t, printvertex);
- if (printvertex == (vertex) NULL)
- printf(" Apex [%d] = NULL\n", t->orient + 3);
- else
- printf(" Apex [%d] = x%lx (%.12g, %.12g)\n",
- t->orient + 3, (unsigned long) printvertex,
- printvertex[0], printvertex[1]);
-
- if (b->usesegments) {
- sdecode(t->tri[6], printsh);
- if (printsh.ss != m->dummysub) {
- printf(" [6] = x%lx %d\n", (unsigned long) printsh.ss,
- printsh.ssorient);
- }
- sdecode(t->tri[7], printsh);
- if (printsh.ss != m->dummysub) {
- printf(" [7] = x%lx %d\n", (unsigned long) printsh.ss,
- printsh.ssorient);
- }
- sdecode(t->tri[8], printsh);
- if (printsh.ss != m->dummysub) {
- printf(" [8] = x%lx %d\n", (unsigned long) printsh.ss,
- printsh.ssorient);
- }
- }
-
- if (b->vararea) {
- printf(" Area constraint: %.4g\n", areabound(*t));
- }
-}
-
-/*****************************************************************************/
-/* */
-/* printsubseg() Print out the details of an oriented subsegment. */
-/* */
-/* I originally wrote this procedure to simplify debugging; it can be */
-/* called directly from the debugger, and presents information about an */
-/* oriented subsegment in digestible form. It's also used when the highest */
-/* level of verbosity (`-VVV') is specified. */
-/* */
-/*****************************************************************************/
-
-void printsubseg(struct mesh *m, struct behavior *b, struct osub *s)
-{
- struct osub printsh;
- struct otri printtri;
- vertex printvertex;
-
- printf("subsegment x%lx with orientation %d and mark %d:\n",
- (unsigned long) s->ss, s->ssorient, mark(*s));
- sdecode(s->ss[0], printsh);
- if (printsh.ss == m->dummysub) {
- printf(" [0] = No subsegment\n");
- } else {
- printf(" [0] = x%lx %d\n", (unsigned long) printsh.ss,
- printsh.ssorient);
- }
- sdecode(s->ss[1], printsh);
- if (printsh.ss == m->dummysub) {
- printf(" [1] = No subsegment\n");
- } else {
- printf(" [1] = x%lx %d\n", (unsigned long) printsh.ss,
- printsh.ssorient);
- }
-
- sorg(*s, printvertex);
- if (printvertex == (vertex) NULL)
- printf(" Origin[%d] = NULL\n", 2 + s->ssorient);
- else
- printf(" Origin[%d] = x%lx (%.12g, %.12g)\n",
- 2 + s->ssorient, (unsigned long) printvertex,
- printvertex[0], printvertex[1]);
- sdest(*s, printvertex);
- if (printvertex == (vertex) NULL)
- printf(" Dest [%d] = NULL\n", 3 - s->ssorient);
- else
- printf(" Dest [%d] = x%lx (%.12g, %.12g)\n",
- 3 - s->ssorient, (unsigned long) printvertex,
- printvertex[0], printvertex[1]);
-
- decode(s->ss[6], printtri);
- if (printtri.tri == m->dummytri) {
- printf(" [6] = Outer space\n");
- } else {
- printf(" [6] = x%lx %d\n", (unsigned long) printtri.tri,
- printtri.orient);
- }
- decode(s->ss[7], printtri);
- if (printtri.tri == m->dummytri) {
- printf(" [7] = Outer space\n");
- } else {
- printf(" [7] = x%lx %d\n", (unsigned long) printtri.tri,
- printtri.orient);
- }
-
- segorg(*s, printvertex);
- if (printvertex == (vertex) NULL)
- printf(" Segment origin[%d] = NULL\n", 4 + s->ssorient);
- else
- printf(" Segment origin[%d] = x%lx (%.12g, %.12g)\n",
- 4 + s->ssorient, (unsigned long) printvertex,
- printvertex[0], printvertex[1]);
- segdest(*s, printvertex);
- if (printvertex == (vertex) NULL)
- printf(" Segment dest [%d] = NULL\n", 5 - s->ssorient);
- else
- printf(" Segment dest [%d] = x%lx (%.12g, %.12g)\n",
- 5 - s->ssorient, (unsigned long) printvertex,
- printvertex[0], printvertex[1]);
-}
-
-/** **/
-/** **/
-/********* Debugging routines end here *********/
-
-/********* Memory management routines begin here *********/
-/** **/
-/** **/
-
-/*****************************************************************************/
-/* */
-/* poolzero() Set all of a pool's fields to zero. */
-/* */
-/* This procedure should never be called on a pool that has any memory */
-/* allocated to it, as that memory would leak. */
-/* */
-/*****************************************************************************/
-
-void poolzero(struct memorypool *pool)
-{
- pool->firstblock = (int **) NULL;
- pool->nowblock = (int **) NULL;
- pool->nextitem = (int *) NULL;
- pool->deaditemstack = (int *) NULL;
- pool->pathblock = (int **) NULL;
- pool->pathitem = (int *) NULL;
- pool->alignbytes = 0;
- pool->itembytes = 0;
- pool->itemsperblock = 0;
- pool->itemsfirstblock = 0;
- pool->items = 0;
- pool->maxitems = 0;
- pool->unallocateditems = 0;
- pool->pathitemsleft = 0;
-}
-
-/*****************************************************************************/
-/* */
-/* poolrestart() Deallocate all items in a pool. */
-/* */
-/* The pool is returned to its starting state, except that no memory is */
-/* freed to the operating system. Rather, the previously allocated blocks */
-/* are ready to be reused. */
-/* */
-/*****************************************************************************/
-
-void poolrestart(struct memorypool *pool)
-{
- unsigned long alignptr;
-
- pool->items = 0;
- pool->maxitems = 0;
-
- /* Set the currently active block. */
- pool->nowblock = pool->firstblock;
- /* Find the first item in the pool. Increment by the size of (int *). */
- alignptr = (unsigned long) (pool->nowblock + 1);
- /* Align the item on an `alignbytes'-byte boundary. */
- pool->nextitem = (int *)
- (alignptr + (unsigned long) pool->alignbytes -
- (alignptr % (unsigned long) pool->alignbytes));
- /* There are lots of unallocated items left in this block. */
- pool->unallocateditems = pool->itemsfirstblock;
- /* The stack of deallocated items is empty. */
- pool->deaditemstack = (int *) NULL;
-}
-
-/*****************************************************************************/
-/* */
-/* poolinit() Initialize a pool of memory for allocation of items. */
-/* */
-/* This routine initializes the machinery for allocating items. A `pool' */
-/* is created whose records have size at least `bytecount'. Items will be */
-/* allocated in `itemcount'-item blocks. Each item is assumed to be a */
-/* collection of words, and either pointers or floating-point values are */
-/* assumed to be the "primary" word type. (The "primary" word type is used */
-/* to determine alignment of items.) If `alignment' isn't zero, all items */
-/* will be `alignment'-byte aligned in memory. `alignment' must be either */
-/* a multiple or a factor of the primary word size; powers of two are safe. */
-/* `alignment' is normally used to create a few unused bits at the bottom */
-/* of each item's pointer, in which information may be stored. */
-/* */
-/* Don't change this routine unless you understand it. */
-/* */
-/*****************************************************************************/
-
-void poolinit(struct memorypool *pool, int bytecount, int itemcount,
- int firstitemcount, int alignment)
-{
- /* Find the proper alignment, which must be at least as large as: */
- /* - The parameter `alignment'. */
- /* - sizeof(int *), so the stack of dead items can be maintained */
- /* without unaligned accesses. */
- if (alignment > sizeof(int *)) {
- pool->alignbytes = alignment;
- } else {
- pool->alignbytes = sizeof(int *);
- }
- pool->itembytes = ((bytecount - 1) / pool->alignbytes + 1) *
- pool->alignbytes;
- pool->itemsperblock = itemcount;
- if (firstitemcount == 0) {
- pool->itemsfirstblock = itemcount;
- } else {
- pool->itemsfirstblock = firstitemcount;
- }
-
- /* Allocate a block of items. Space for `itemsfirstblock' items and one */
- /* pointer (to point to the next block) are allocated, as well as space */
- /* to ensure alignment of the items. */
- pool->firstblock = (int **)
- trimalloc(pool->itemsfirstblock * pool->itembytes + (int) sizeof(int *) +
- pool->alignbytes);
- /* Set the next block pointer to NULL. */
- *(pool->firstblock) = (int *) NULL;
- poolrestart(pool);
-}
-
-/*****************************************************************************/
-/* */
-/* pooldeinit() Free to the operating system all memory taken by a pool. */
-/* */
-/*****************************************************************************/
-
-void pooldeinit(struct memorypool *pool)
-{
- while (pool->firstblock != (int **) NULL) {
- pool->nowblock = (int **) *(pool->firstblock);
- trifree((int *) pool->firstblock);
- pool->firstblock = pool->nowblock;
- }
-}
-
-/*****************************************************************************/
-/* */
-/* poolalloc() Allocate space for an item. */
-/* */
-/*****************************************************************************/
-
-int *poolalloc(struct memorypool *pool)
-{
- int *newitem;
- int **newblock;
- unsigned long alignptr;
-
- /* First check the linked list of dead items. If the list is not */
- /* empty, allocate an item from the list rather than a fresh one. */
- if (pool->deaditemstack != (int *) NULL) {
- newitem = pool->deaditemstack; /* Take first item in list. */
- pool->deaditemstack = * (int **) pool->deaditemstack;
- } else {
- /* Check if there are any free items left in the current block. */
- if (pool->unallocateditems == 0) {
- /* Check if another block must be allocated. */
- if (*(pool->nowblock) == (int *) NULL) {
- /* Allocate a new block of items, pointed to by the previous block. */
- newblock = (int **) trimalloc(pool->itemsperblock * pool->itembytes +
- (int) sizeof(int *) +
- pool->alignbytes);
- *(pool->nowblock) = (int *) newblock;
- /* The next block pointer is NULL. */
- *newblock = (int *) NULL;
- }
-
- /* Move to the new block. */
- pool->nowblock = (int **) *(pool->nowblock);
- /* Find the first item in the block. */
- /* Increment by the size of (int *). */
- alignptr = (unsigned long) (pool->nowblock + 1);
- /* Align the item on an `alignbytes'-byte boundary. */
- pool->nextitem = (int *)
- (alignptr + (unsigned long) pool->alignbytes -
- (alignptr % (unsigned long) pool->alignbytes));
- /* There are lots of unallocated items left in this block. */
- pool->unallocateditems = pool->itemsperblock;
- }
-
- /* Allocate a new item. */
- newitem = pool->nextitem;
- /* Advance `nextitem' pointer to next free item in block. */
- pool->nextitem = (int *) ((char *) pool->nextitem + pool->itembytes);
- pool->unallocateditems--;
- pool->maxitems++;
- }
- pool->items++;
- return newitem;
-}
-
-/*****************************************************************************/
-/* */
-/* pooldealloc() Deallocate space for an item. */
-/* */
-/* The deallocated space is stored in a queue for later reuse. */
-/* */
-/*****************************************************************************/
-
-void pooldealloc(struct memorypool *pool, int *dyingitem)
-{
- /* Push freshly killed item onto stack. */
- *((int **) dyingitem) = pool->deaditemstack;
- pool->deaditemstack = dyingitem;
- pool->items--;
-}
-
-/*****************************************************************************/
-/* */
-/* traversalinit() Prepare to traverse the entire list of items. */
-/* */
-/* This routine is used in conjunction with traverse(). */
-/* */
-/*****************************************************************************/
-
-void traversalinit(struct memorypool *pool)
-{
- unsigned long alignptr;
-
- /* Begin the traversal in the first block. */
- pool->pathblock = pool->firstblock;
- /* Find the first item in the block. Increment by the size of (int *). */
- alignptr = (unsigned long) (pool->pathblock + 1);
- /* Align with item on an `alignbytes'-byte boundary. */
- pool->pathitem = (int *)
- (alignptr + (unsigned long) pool->alignbytes -
- (alignptr % (unsigned long) pool->alignbytes));
- /* Set the number of items left in the current block. */
- pool->pathitemsleft = pool->itemsfirstblock;
-}
-
-/*****************************************************************************/
-/* */
-/* traverse() Find the next item in the list. */
-/* */
-/* This routine is used in conjunction with traversalinit(). Be forewarned */
-/* that this routine successively returns all items in the list, including */
-/* deallocated ones on the deaditemqueue. It's up to you to figure out */
-/* which ones are actually dead. Why? I don't want to allocate extra */
-/* space just to demarcate dead items. It can usually be done more */
-/* space-efficiently by a routine that knows something about the structure */
-/* of the item. */
-/* */
-/*****************************************************************************/
-
-int *traverse(struct memorypool *pool)
-{
- int *newitem;
- unsigned long alignptr;
-
- /* Stop upon exhausting the list of items. */
- if (pool->pathitem == pool->nextitem) {
- return (int *) NULL;
- }
-
- /* Check whether any untraversed items remain in the current block. */
- if (pool->pathitemsleft == 0) {
- /* Find the next block. */
- pool->pathblock = (int **) *(pool->pathblock);
- /* Find the first item in the block. Increment by the size of (int *). */
- alignptr = (unsigned long) (pool->pathblock + 1);
- /* Align with item on an `alignbytes'-byte boundary. */
- pool->pathitem = (int *)
- (alignptr + (unsigned long) pool->alignbytes -
- (alignptr % (unsigned long) pool->alignbytes));
- /* Set the number of items left in the current block. */
- pool->pathitemsleft = pool->itemsperblock;
- }
-
- newitem = pool->pathitem;
- /* Find the next item in the block. */
- pool->pathitem = (int *) ((char *) pool->pathitem + pool->itembytes);
- pool->pathitemsleft--;
- return newitem;
-}
-
-/*****************************************************************************/
-/* */
-/* dummyinit() Initialize the triangle that fills "outer space" and the */
-/* omnipresent subsegment. */
-/* */
-/* The triangle that fills "outer space," called `dummytri', is pointed to */
-/* by every triangle and subsegment on a boundary (be it outer or inner) of */
-/* the triangulation. Also, `dummytri' points to one of the triangles on */
-/* the convex hull (until the holes and concavities are carved), making it */
-/* possible to find a starting triangle for point location. */
-/* */
-/* The omnipresent subsegment, `dummysub', is pointed to by every triangle */
-/* or subsegment that doesn't have a full complement of real subsegments */
-/* to point to. */
-/* */
-/* `dummytri' and `dummysub' are generally required to fulfill only a few */
-/* invariants: their vertices must remain NULL and `dummytri' must always */
-/* be bonded (at offset zero) to some triangle on the convex hull of the */
-/* mesh, via a boundary edge. Otherwise, the connections of `dummytri' and */
-/* `dummysub' may change willy-nilly. This makes it possible to avoid */
-/* writing a good deal of special-case code (in the edge flip, for example) */
-/* for dealing with the boundary of the mesh, places where no subsegment is */
-/* present, and so forth. Other entities are frequently bonded to */
-/* `dummytri' and `dummysub' as if they were real mesh entities, with no */
-/* harm done. */
-/* */
-/*****************************************************************************/
-
-void dummyinit(struct mesh *m, struct behavior *b, int trianglebytes,
- int subsegbytes)
-{
- unsigned long alignptr;
-
- /* Set up `dummytri', the `triangle' that occupies "outer space." */
- m->dummytribase = (triangle *) trimalloc(trianglebytes +
- m->triangles.alignbytes);
- /* Align `dummytri' on a `triangles.alignbytes'-byte boundary. */
- alignptr = (unsigned long) m->dummytribase;
- m->dummytri = (triangle *)
- (alignptr + (unsigned long) m->triangles.alignbytes -
- (alignptr % (unsigned long) m->triangles.alignbytes));
- /* Initialize the three adjoining triangles to be "outer space." These */
- /* will eventually be changed by various bonding operations, but their */
- /* values don't really matter, as long as they can legally be */
- /* dereferenced. */
- m->dummytri[0] = (triangle) m->dummytri;
- m->dummytri[1] = (triangle) m->dummytri;
- m->dummytri[2] = (triangle) m->dummytri;
- /* Three NULL vertices. */
- m->dummytri[3] = (triangle) NULL;
- m->dummytri[4] = (triangle) NULL;
- m->dummytri[5] = (triangle) NULL;
-
- if (b->usesegments) {
- /* Set up `dummysub', the omnipresent subsegment pointed to by any */
- /* triangle side or subsegment end that isn't attached to a real */
- /* subsegment. */
- m->dummysubbase = (subseg *) trimalloc(subsegbytes +
- m->subsegs.alignbytes);
- /* Align `dummysub' on a `subsegs.alignbytes'-byte boundary. */
- alignptr = (unsigned long) m->dummysubbase;
- m->dummysub = (subseg *)
- (alignptr + (unsigned long) m->subsegs.alignbytes -
- (alignptr % (unsigned long) m->subsegs.alignbytes));
- /* Initialize the two adjoining subsegments to be the omnipresent */
- /* subsegment. These will eventually be changed by various bonding */
- /* operations, but their values don't really matter, as long as they */
- /* can legally be dereferenced. */
- m->dummysub[0] = (subseg) m->dummysub;
- m->dummysub[1] = (subseg) m->dummysub;
- /* Four NULL vertices. */
- m->dummysub[2] = (subseg) NULL;
- m->dummysub[3] = (subseg) NULL;
- m->dummysub[4] = (subseg) NULL;
- m->dummysub[5] = (subseg) NULL;
- /* Initialize the two adjoining triangles to be "outer space." */
- m->dummysub[6] = (subseg) m->dummytri;
- m->dummysub[7] = (subseg) m->dummytri;
- /* Set the boundary marker to zero. */
- * (int *) (m->dummysub + 8) = 0;
-
- /* Initialize the three adjoining subsegments of `dummytri' to be */
- /* the omnipresent subsegment. */
- m->dummytri[6] = (triangle) m->dummysub;
- m->dummytri[7] = (triangle) m->dummysub;
- m->dummytri[8] = (triangle) m->dummysub;
- }
-}
-
-/*****************************************************************************/
-/* */
-/* initializevertexpool() Calculate the size of the vertex data structure */
-/* and initialize its memory pool. */
-/* */
-/* This routine also computes the `vertexmarkindex' and `vertex2triindex' */
-/* indices used to find values within each vertex. */
-/* */
-/*****************************************************************************/
-
-void initializevertexpool(struct mesh *m, struct behavior *b)
-{
- int vertexsize;
-
- /* The index within each vertex at which the boundary marker is found, */
- /* followed by the vertex type. Ensure the vertex marker is aligned to */
- /* a sizeof(int)-byte address. */
- m->vertexmarkindex = ((m->mesh_dim + m->nextras) * sizeof(float) +
- sizeof(int) - 1) /
- sizeof(int);
- vertexsize = (m->vertexmarkindex + 2) * sizeof(int);
- if (b->poly) {
- /* The index within each vertex at which a triangle pointer is found. */
- /* Ensure the pointer is aligned to a sizeof(triangle)-byte address. */
- m->vertex2triindex = (vertexsize + sizeof(triangle) - 1) /
- sizeof(triangle);
- vertexsize = (m->vertex2triindex + 1) * sizeof(triangle);
- }
-
- /* Initialize the pool of vertices. */
- poolinit(&m->vertices, vertexsize, VERTEXPERBLOCK,
- m->invertices > VERTEXPERBLOCK ? m->invertices : VERTEXPERBLOCK,
- sizeof(float));
-}
-
-/*****************************************************************************/
-/* */
-/* initializetrisubpools() Calculate the sizes of the triangle and */
-/* subsegment data structures and initialize */
-/* their memory pools. */
-/* */
-/* This routine also computes the `highorderindex', `elemattribindex', and */
-/* `areaboundindex' indices used to find values within each triangle. */
-/* */
-/*****************************************************************************/
-
-void initializetrisubpools(struct mesh *m, struct behavior *b)
-{
- int trisize;
-
- /* The index within each triangle at which the extra nodes (above three) */
- /* associated with high order elements are found. There are three */
- /* pointers to other triangles, three pointers to corners, and possibly */
- /* three pointers to subsegments before the extra nodes. */
- m->highorderindex = 6 + (b->usesegments * 3);
- /* The number of bytes occupied by a triangle. */
- trisize = ((b->order + 1) * (b->order + 2) / 2 + (m->highorderindex - 3)) *
- sizeof(triangle);
- /* The index within each triangle at which its attributes are found, */
- /* where the index is measured in floats. */
- m->elemattribindex = (trisize + sizeof(float) - 1) / sizeof(float);
- /* The index within each triangle at which the maximum area constraint */
- /* is found, where the index is measured in floats. Note that if the */
- /* `regionattrib' flag is set, an additional attribute will be added. */
- m->areaboundindex = m->elemattribindex + m->eextras + b->regionattrib;
- /* If triangle attributes or an area bound are needed, increase the number */
- /* of bytes occupied by a triangle. */
- if (b->vararea) {
- trisize = (m->areaboundindex + 1) * sizeof(float);
- } else if (m->eextras + b->regionattrib > 0) {
- trisize = m->areaboundindex * sizeof(float);
- }
- /* If a Voronoi diagram or triangle neighbor graph is requested, make */
- /* sure there's room to store an integer index in each triangle. This */
- /* integer index can occupy the same space as the subsegment pointers */
- /* or attributes or area constraint or extra nodes. */
- if ((b->voronoi || b->neighbors) &&
- (trisize < 6 * sizeof(triangle) + sizeof(int))) {
- trisize = 6 * sizeof(triangle) + sizeof(int);
- }
-
- /* Having determined the memory size of a triangle, initialize the pool. */
- poolinit(&m->triangles, trisize, TRIPERBLOCK,
- (2 * m->invertices - 2) > TRIPERBLOCK ? (2 * m->invertices - 2) :
- TRIPERBLOCK, 4);
-
- if (b->usesegments) {
- /* Initialize the pool of subsegments. Take into account all eight */
- /* pointers and one boundary marker. */
- poolinit(&m->subsegs, 8 * sizeof(triangle) + sizeof(int),
- SUBSEGPERBLOCK, SUBSEGPERBLOCK, 4);
-
- /* Initialize the "outer space" triangle and omnipresent subsegment. */
- dummyinit(m, b, m->triangles.itembytes, m->subsegs.itembytes);
- } else {
- /* Initialize the "outer space" triangle. */
- dummyinit(m, b, m->triangles.itembytes, 0);
- }
-}
-
-/*****************************************************************************/
-/* */
-/* triangledealloc() Deallocate space for a triangle, marking it dead. */
-/* */
-/*****************************************************************************/
-
-void triangledealloc(struct mesh *m, triangle *dyingtriangle)
-{
- /* Mark the triangle as dead. This makes it possible to detect dead */
- /* triangles when traversing the list of all triangles. */
- killtri(dyingtriangle);
- pooldealloc(&m->triangles, (int *) dyingtriangle);
-}
-
-/*****************************************************************************/
-/* */
-/* triangletraverse() Traverse the triangles, skipping dead ones. */
-/* */
-/*****************************************************************************/
-
-triangle *triangletraverse(struct mesh *m)
-{
- triangle *newtriangle;
-
- do {
- newtriangle = (triangle *) traverse(&m->triangles);
- if (newtriangle == (triangle *) NULL) {
- return (triangle *) NULL;
- }
- } while (deadtri(newtriangle)); /* Skip dead ones. */
- return newtriangle;
-}
-
-/*****************************************************************************/
-/* */
-/* subsegdealloc() Deallocate space for a subsegment, marking it dead. */
-/* */
-/*****************************************************************************/
-
-void subsegdealloc(struct mesh *m, subseg *dyingsubseg)
-{
- /* Mark the subsegment as dead. This makes it possible to detect dead */
- /* subsegments when traversing the list of all subsegments. */
- killsubseg(dyingsubseg);
- pooldealloc(&m->subsegs, (int *) dyingsubseg);
-}
-
-/*****************************************************************************/
-/* */
-/* subsegtraverse() Traverse the subsegments, skipping dead ones. */
-/* */
-/*****************************************************************************/
-
-subseg *subsegtraverse(struct mesh *m)
-{
- subseg *newsubseg;
-
- do {
- newsubseg = (subseg *) traverse(&m->subsegs);
- if (newsubseg == (subseg *) NULL) {
- return (subseg *) NULL;
- }
- } while (deadsubseg(newsubseg)); /* Skip dead ones. */
- return newsubseg;
-}
-
-/*****************************************************************************/
-/* */
-/* vertexdealloc() Deallocate space for a vertex, marking it dead. */
-/* */
-/*****************************************************************************/
-
-void vertexdealloc(struct mesh *m, vertex dyingvertex)
-{
- /* Mark the vertex as dead. This makes it possible to detect dead */
- /* vertices when traversing the list of all vertices. */
- setvertextype(dyingvertex, DEADVERTEX);
- pooldealloc(&m->vertices, (int *) dyingvertex);
-}
-
-/*****************************************************************************/
-/* */
-/* vertextraverse() Traverse the vertices, skipping dead ones. */
-/* */
-/*****************************************************************************/
-
-vertex vertextraverse(struct mesh *m)
-{
- vertex newvertex;
-
- do {
- newvertex = (vertex) traverse(&m->vertices);
- if (newvertex == (vertex) NULL) {
- return (vertex) NULL;
- }
- } while (vertextype(newvertex) == DEADVERTEX); /* Skip dead ones. */
- return newvertex;
-}
-
-/*****************************************************************************/
-/* */
-/* getvertex() Get a specific vertex, by number, from the list. */
-/* */
-/* The first vertex is number 'firstnumber'. */
-/* */
-/* Note that this takes O(n) time (with a small constant, if VERTEXPERBLOCK */
-/* is large). I don't care to take the trouble to make it work in constant */
-/* time. */
-/* */
-/*****************************************************************************/
-
-vertex getvertex(struct mesh *m, struct behavior *b, int number)
-{
- int **getblock;
- char *foundvertex;
- unsigned long alignptr;
- int current;
-
- getblock = m->vertices.firstblock;
- current = b->firstnumber;
-
- /* Find the right block. */
- if (current + m->vertices.itemsfirstblock <= number) {
- getblock = (int **) *getblock;
- current += m->vertices.itemsfirstblock;
- while (current + m->vertices.itemsperblock <= number) {
- getblock = (int **) *getblock;
- current += m->vertices.itemsperblock;
- }
- }
-
- /* Now find the right vertex. */
- alignptr = (unsigned long) (getblock + 1);
- foundvertex = (char *) (alignptr + (unsigned long) m->vertices.alignbytes -
- (alignptr % (unsigned long) m->vertices.alignbytes));
- return (vertex) (foundvertex + m->vertices.itembytes * (number - current));
-}
-
-/*****************************************************************************/
-/* */
-/* triangledeinit() Free all remaining allocated memory. */
-/* */
-/*****************************************************************************/
-
-void triangledeinit(struct mesh *m, struct behavior *b)
-{
- pooldeinit(&m->triangles);
- trifree((int *) m->dummytribase);
- if (b->usesegments) {
- pooldeinit(&m->subsegs);
- trifree((int *) m->dummysubbase);
- }
- pooldeinit(&m->vertices);
-}
-
-/** **/
-/** **/
-/********* Memory management routines end here *********/
-
-/********* Constructors begin here *********/
-/** **/
-/** **/
-
-/*****************************************************************************/
-/* */
-/* maketriangle() Create a new triangle with orientation zero. */
-/* */
-/*****************************************************************************/
-
-void maketriangle(struct mesh *m, struct behavior *b, struct otri *newotri)
-{
- int i;
-
- newotri->tri = (triangle *) poolalloc(&m->triangles);
- /* Initialize the three adjoining triangles to be "outer space". */
- newotri->tri[0] = (triangle) m->dummytri;
- newotri->tri[1] = (triangle) m->dummytri;
- newotri->tri[2] = (triangle) m->dummytri;
- /* Three NULL vertices. */
- newotri->tri[3] = (triangle) NULL;
- newotri->tri[4] = (triangle) NULL;
- newotri->tri[5] = (triangle) NULL;
- if (b->usesegments) {
- /* Initialize the three adjoining subsegments to be the omnipresent */
- /* subsegment. */
- newotri->tri[6] = (triangle) m->dummysub;
- newotri->tri[7] = (triangle) m->dummysub;
- newotri->tri[8] = (triangle) m->dummysub;
- }
- for (i = 0; i < m->eextras; i++) {
- setelemattribute(*newotri, i, 0.0);
- }
- if (b->vararea) {
- setareabound(*newotri, -1.0);
- }
-
- newotri->orient = 0;
-}
-
-/*****************************************************************************/
-/* */
-/* makesubseg() Create a new subsegment with orientation zero. */
-/* */
-/*****************************************************************************/
-
-void makesubseg(struct mesh *m, struct osub *newsubseg)
-{
- newsubseg->ss = (subseg *) poolalloc(&m->subsegs);
- /* Initialize the two adjoining subsegments to be the omnipresent */
- /* subsegment. */
- newsubseg->ss[0] = (subseg) m->dummysub;
- newsubseg->ss[1] = (subseg) m->dummysub;
- /* Four NULL vertices. */
- newsubseg->ss[2] = (subseg) NULL;
- newsubseg->ss[3] = (subseg) NULL;
- newsubseg->ss[4] = (subseg) NULL;
- newsubseg->ss[5] = (subseg) NULL;
- /* Initialize the two adjoining triangles to be "outer space." */
- newsubseg->ss[6] = (subseg) m->dummytri;
- newsubseg->ss[7] = (subseg) m->dummytri;
- /* Set the boundary marker to zero. */
- setmark(*newsubseg, 0);
-
- newsubseg->ssorient = 0;
-}
-
-/** **/
-/** **/
-/********* Constructors end here *********/
-
-/********* Geometric primitives begin here *********/
-/** **/
-/** **/
-
-/* The adaptive exact arithmetic geometric predicates implemented herein are */
-/* described in detail in my paper, "Adaptive Precision Floating-Point */
-/* Arithmetic and Fast Robust Geometric Predicates." See the header for a */
-/* full citation. */
-
-/* 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 without */
-/* forcing the value to be stored to memory (rather than be kept in the */
-/* register to which the optimizer assigned it). */
-
-#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 = (float) (a + b); \
- Fast_Two_Sum_Tail(a, b, x, y)
-
-#define Two_Sum_Tail(a, b, x, y) \
- bvirt = (float) (x - a); \
- avirt = x - bvirt; \
- bround = b - bvirt; \
- around = a - avirt; \
- y = around + bround
-
-#define Two_Sum(a, b, x, y) \
- x = (float) (a + b); \
- Two_Sum_Tail(a, b, x, y)
-
-#define Two_Diff_Tail(a, b, x, y) \
- bvirt = (float) (a - x); \
- avirt = x + bvirt; \
- bround = bvirt - b; \
- around = a - avirt; \
- y = around + bround
-
-#define Two_Diff(a, b, x, y) \
- x = (float) (a - b); \
- Two_Diff_Tail(a, b, x, y)
-
-#define Split(a, ahi, alo) \
- c = (float) (splitter * a); \
- abig = (float) (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 = (float) (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 = (float) (a * b); \
- Split(a, ahi, alo); \
- 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 = (float) (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)
-
-/* Macro for multiplying a two-component expansion by a single component. */
-
-#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)
-
-/*****************************************************************************/
-/* */
-/* exactinit() Initialize the variables used for exact arithmetic. */
-/* */
-/* `epsilon' is the largest power of two such that 1.0 + epsilon = 1.0 in */
-/* floating-point arithmetic. `epsilon' bounds the relative roundoff */
-/* error. It is used for floating-point error analysis. */
-/* */
-/* `splitter' is used to split floating-point numbers into two half- */
-/* length significands for exact multiplication. */
-/* */
-/* I imagine that a highly optimizing compiler might be too smart for its */
-/* own good, and somehow cause this routine to fail, if it pretends that */
-/* floating-point arithmetic is too much like real arithmetic. */
-/* */
-/* Don't change this routine unless you fully understand it. */
-/* */
-/*****************************************************************************/
-
-void exactinit()
-{
- float half;
- float check, lastcheck;
- int every_other;
- every_other = 1;
- half = 0.5;
- epsilon = 1.0;
- splitter = 1.0;
- check = 1.0;
- /* Repeatedly divide `epsilon' by two until it is too small to add to */
- /* one without causing roundoff. (Also check if the sum is equal to */
- /* the previous sum, for machines that round up instead of using exact */
- /* rounding. Not that these routines will work on such machines.) */
- do {
- lastcheck = check;
- epsilon *= half;
- if (every_other) {
- splitter *= 2.0;
- }
- every_other = !every_other;
- check = 1.0 + epsilon;
- } while ((check != 1.0) && (check != lastcheck));
- splitter += 1.0;
- /* Error bounds for orientation and incircle tests. */
- resulterrbound = (3.0 + 8.0 * epsilon) * epsilon;
- ccwerrboundA = (3.0 + 16.0 * epsilon) * epsilon;
- ccwerrboundB = (2.0 + 12.0 * epsilon) * epsilon;
- ccwerrboundC = (9.0 + 64.0 * epsilon) * epsilon * epsilon;
- iccerrboundA = (10.0 + 96.0 * epsilon) * epsilon;
- iccerrboundB = (4.0 + 48.0 * epsilon) * epsilon;
- iccerrboundC = (44.0 + 576.0 * epsilon) * epsilon * epsilon;
- o3derrboundA = (7.0 + 56.0 * epsilon) * epsilon;
- o3derrboundB = (3.0 + 28.0 * epsilon) * epsilon;
- o3derrboundC = (26.0 + 288.0 * epsilon) * epsilon * epsilon;
-}
-
-/*****************************************************************************/
-/* */
-/* fast_expansion_sum_zeroelim() Sum two expansions, eliminating zero */
-/* components from the output expansion. */
-/* */
-/* Sets h = e + f. See my Robust Predicates 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. */
-/* */
-/*****************************************************************************/
-
-int fast_expansion_sum_zeroelim(int elen, float *e, int flen, float *f, float *h)
-{
- float Q;
- float Qnew;
- float hh;
- float bvirt;
- float avirt, bround, around;
- int eindex, findex, hindex;
- float 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;
-}
-
-/*****************************************************************************/
-/* */
-/* scale_expansion_zeroelim() Multiply an expansion by a scalar, */
-/* eliminating zero components from the */
-/* output expansion. */
-/* */
-/* Sets h = be. See my Robust Predicates 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.) */
-/* */
-/*****************************************************************************/
-
-int scale_expansion_zeroelim(int elen, float *e, float b, float *h)
-{
- float Q, sum;
- float hh;
- float product1;
- float product0;
- int eindex, hindex;
- float enow;
- float bvirt;
- float avirt, bround, around;
- float c;
- float abig;
- float ahi, alo, bhi, blo;
- float 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;
-}
-
-/*****************************************************************************/
-/* */
-/* estimate() Produce a one-word estimate of an expansion's value. */
-/* */
-/* See my Robust Predicates paper for details. */
-/* */
-/*****************************************************************************/
-
-float estimate(int elen, float *e)
-{
- float Q;
- int eindex;
- Q = e[0];
- for (eindex = 1; eindex < elen; eindex++) {
- Q += e[eindex];
- }
- return Q;
-}
-
-/*****************************************************************************/
-/* */
-/* counterclockwise() Return a positive value if the points pa, pb, and */
-/* pc occur in counterclockwise order; a negative */
-/* value if they occur in clockwise order; and zero */
-/* if they are collinear. The result is also a rough */
-/* approximation of twice the signed area of the */
-/* triangle defined by the three points. */
-/* */
-/* Uses exact arithmetic if necessary to ensure a correct answer. The */
-/* result returned is the determinant of a matrix. 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, this function is usually quite fast, but will run */
-/* more slowly when the input points are collinear or nearly so. */
-/* */
-/* See my Robust Predicates paper for details. */
-/* */
-/*****************************************************************************/
-
-float counterclockwiseadapt(vertex pa, vertex pb, vertex pc, float detsum)
-{
- float acx, acy, bcx, bcy;
- float acxtail, acytail, bcxtail, bcytail;
- float detleft, detright;
- float detlefttail, detrighttail;
- float det, errbound;
- float B[4], C1[8], C2[12], D[16];
- float B3;
- int C1length, C2length, Dlength;
- float u[4];
- float u3;
- float s1, t1;
- float s0, t0;
-
- float bvirt;
- float avirt, bround, around;
- float c;
- float abig;
- float ahi, alo, bhi, blo;
- float err1, err2, err3;
- float _i, _j;
- float _0;
-
- acx = (float) (pa[0] - pc[0]);
- bcx = (float) (pb[0] - pc[0]);
- acy = (float) (pa[1] - pc[1]);
- bcy = (float) (pb[1] - pc[1]);
-
- Two_Product(acx, bcy, detleft, detlefttail);
- Two_Product(acy, bcx, detright, detrighttail);
-
- Two_Two_Diff(detleft, detlefttail, detright, detrighttail,
- B3, B[2], B[1], B[0]);
- B[3] = B3;
-
- det = estimate(4, B);
- errbound = ccwerrboundB * detsum;
- if ((det >= errbound) || (-det >= errbound)) {
- return det;
- }
-
- Two_Diff_Tail(pa[0], pc[0], acx, acxtail);
- Two_Diff_Tail(pb[0], pc[0], bcx, bcxtail);
- Two_Diff_Tail(pa[1], pc[1], acy, acytail);
- Two_Diff_Tail(pb[1], pc[1], bcy, bcytail);
-
- if ((acxtail == 0.0) && (acytail == 0.0)
- && (bcxtail == 0.0) && (bcytail == 0.0)) {
- return det;
- }
-
- errbound = ccwerrboundC * detsum + resulterrbound * Absolute(det);
- det += (acx * bcytail + bcy * acxtail)
- - (acy * bcxtail + bcx * acytail);
- if ((det >= errbound) || (-det >= errbound)) {
- return det;
- }
-
- Two_Product(acxtail, bcy, s1, s0);
- Two_Product(acytail, bcx, t1, t0);
- Two_Two_Diff(s1, s0, t1, t0, u3, u[2], u[1], u[0]);
- u[3] = u3;
- C1length = fast_expansion_sum_zeroelim(4, B, 4, u, C1);
-
- Two_Product(acx, bcytail, s1, s0);
- Two_Product(acy, bcxtail, t1, t0);
- Two_Two_Diff(s1, s0, t1, t0, u3, u[2], u[1], u[0]);
- u[3] = u3;
- C2length = fast_expansion_sum_zeroelim(C1length, C1, 4, u, C2);
-
- Two_Product(acxtail, bcytail, s1, s0);
- Two_Product(acytail, bcxtail, t1, t0);
- Two_Two_Diff(s1, s0, t1, t0, u3, u[2], u[1], u[0]);
- u[3] = u3;
- Dlength = fast_expansion_sum_zeroelim(C2length, C2, 4, u, D);
-
- return(D[Dlength - 1]);
-}
-
-float counterclockwise(struct mesh *m, struct behavior *b,
- vertex pa, vertex pb, vertex pc)
-{
- float detleft, detright, det;
- float detsum, errbound;
-
- m->counterclockcount++;
-
- detleft = (pa[0] - pc[0]) * (pb[1] - pc[1]);
- detright = (pa[1] - pc[1]) * (pb[0] - pc[0]);
- det = detleft - detright;
-
- if (b->noexact) {
- return det;
- }
-
- if (detleft > 0.0) {
- if (detright <= 0.0) {
- return det;
- } else {
- detsum = detleft + detright;
- }
- } else if (detleft < 0.0) {
- if (detright >= 0.0) {
- return det;
- } else {
- detsum = -detleft - detright;
- }
- } else {
- return det;
- }
-
- errbound = ccwerrboundA * detsum;
- if ((det >= errbound) || (-det >= errbound)) {
- return det;
- }
-
- return counterclockwiseadapt(pa, pb, pc, detsum);
-}
-
-/*****************************************************************************/
-/* */
-/* incircle() Return a positive value if the point pd lies inside the */
-/* circle passing through pa, pb, and pc; a negative value if */
-/* it lies outside; and zero if the four points are cocircular.*/
-/* The points pa, pb, and pc must be in counterclockwise */
-/* order, or the sign of the result will be reversed. */
-/* */
-/* Uses exact arithmetic if necessary to ensure a correct answer. The */
-/* result returned is the determinant of a matrix. 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, this function is usually quite fast, but will run */
-/* more slowly when the input points are cocircular or nearly so. */
-/* */
-/* See my Robust Predicates paper for details. */
-/* */
-/*****************************************************************************/
-
-float incircleadapt(vertex pa, vertex pb, vertex pc, vertex pd, float permanent)
-{
- float adx, bdx, cdx, ady, bdy, cdy;
- float det, errbound;
-
- float bdxcdy1, cdxbdy1, cdxady1, adxcdy1, adxbdy1, bdxady1;
- float bdxcdy0, cdxbdy0, cdxady0, adxcdy0, adxbdy0, bdxady0;
- float bc[4], ca[4], ab[4];
- float bc3, ca3, ab3;
- float axbc[8], axxbc[16], aybc[8], ayybc[16], adet[32];
- int axbclen, axxbclen, aybclen, ayybclen, alen;
- float bxca[8], bxxca[16], byca[8], byyca[16], bdet[32];
- int bxcalen, bxxcalen, bycalen, byycalen, blen;
- float cxab[8], cxxab[16], cyab[8], cyyab[16], cdet[32];
- int cxablen, cxxablen, cyablen, cyyablen, clen;
- float abdet[64];
- int ablen;
- float fin1[1152], fin2[1152];
- float *finnow, *finother, *finswap;
- int finlength;
-
- float adxtail, bdxtail, cdxtail, adytail, bdytail, cdytail;
- float adxadx1, adyady1, bdxbdx1, bdybdy1, cdxcdx1, cdycdy1;
- float adxadx0, adyady0, bdxbdx0, bdybdy0, cdxcdx0, cdycdy0;
- float aa[4], bb[4], cc[4];
- float aa3, bb3, cc3;
- float ti1, tj1;
- float ti0, tj0;
- float u[4], v[4];
- float u3, v3;
- float temp8[8], temp16a[16], temp16b[16], temp16c[16];
- float temp32a[32], temp32b[32], temp48[48], temp64[64];
- int temp8len, temp16alen, temp16blen, temp16clen;
- int temp32alen, temp32blen, temp48len, temp64len;
- float axtbb[8], axtcc[8], aytbb[8], aytcc[8];
- int axtbblen, axtcclen, aytbblen, aytcclen;
- float bxtaa[8], bxtcc[8], bytaa[8], bytcc[8];
- int bxtaalen, bxtcclen, bytaalen, bytcclen;
- float cxtaa[8], cxtbb[8], cytaa[8], cytbb[8];
- int cxtaalen, cxtbblen, cytaalen, cytbblen;
- float axtbc[8], aytbc[8], bxtca[8], bytca[8], cxtab[8], cytab[8];
- int axtbclen, aytbclen, bxtcalen, bytcalen, cxtablen, cytablen;
- float axtbct[16], aytbct[16], bxtcat[16], bytcat[16], cxtabt[16], cytabt[16];
- int axtbctlen, aytbctlen, bxtcatlen, bytcatlen, cxtabtlen, cytabtlen;
- float axtbctt[8], aytbctt[8], bxtcatt[8];
- float bytcatt[8], cxtabtt[8], cytabtt[8];
- int axtbcttlen, aytbcttlen, bxtcattlen, bytcattlen, cxtabttlen, cytabttlen;
- float abt[8], bct[8], cat[8];
- int abtlen, bctlen, catlen;
- float abtt[4], bctt[4], catt[4];
- int abttlen, bcttlen, cattlen;
- float abtt3, bctt3, catt3;
- float negate;
-
- float bvirt;
- float avirt, bround, around;
- float c;
- float abig;
- float ahi, alo, bhi, blo;
- float err1, err2, err3;
- float _i, _j;
- float _0;
-
- adx = (float) (pa[0] - pd[0]);
- bdx = (float) (pb[0] - pd[0]);
- cdx = (float) (pc[0] - pd[0]);
- ady = (float) (pa[1] - pd[1]);
- bdy = (float) (pb[1] - pd[1]);
- cdy = (float) (pc[1] - pd[1]);
-
- 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;
- axbclen = scale_expansion_zeroelim(4, bc, adx, axbc);
- axxbclen = scale_expansion_zeroelim(axbclen, axbc, adx, axxbc);
- aybclen = scale_expansion_zeroelim(4, bc, ady, aybc);
- ayybclen = scale_expansion_zeroelim(aybclen, aybc, ady, ayybc);
- alen = fast_expansion_sum_zeroelim(axxbclen, axxbc, ayybclen, ayybc, 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;
- bxcalen = scale_expansion_zeroelim(4, ca, bdx, bxca);
- bxxcalen = scale_expansion_zeroelim(bxcalen, bxca, bdx, bxxca);
- bycalen = scale_expansion_zeroelim(4, ca, bdy, byca);
- byycalen = scale_expansion_zeroelim(bycalen, byca, bdy, byyca);
- blen = fast_expansion_sum_zeroelim(bxxcalen, bxxca, byycalen, byyca, 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;
- cxablen = scale_expansion_zeroelim(4, ab, cdx, cxab);
- cxxablen = scale_expansion_zeroelim(cxablen, cxab, cdx, cxxab);
- cyablen = scale_expansion_zeroelim(4, ab, cdy, cyab);
- cyyablen = scale_expansion_zeroelim(cyablen, cyab, cdy, cyyab);
- clen = fast_expansion_sum_zeroelim(cxxablen, cxxab, cyyablen, cyyab, 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 = iccerrboundB * permanent;
- if ((det >= errbound) || (-det >= errbound)) {
- return det;
- }
-
- Two_Diff_Tail(pa[0], pd[0], adx, adxtail);
- Two_Diff_Tail(pa[1], pd[1], ady, adytail);
- Two_Diff_Tail(pb[0], pd[0], bdx, bdxtail);
- Two_Diff_Tail(pb[1], pd[1], bdy, bdytail);
- Two_Diff_Tail(pc[0], pd[0], cdx, cdxtail);
- Two_Diff_Tail(pc[1], pd[1], cdy, cdytail);
- if ((adxtail == 0.0) && (bdxtail == 0.0) && (cdxtail == 0.0)
- && (adytail == 0.0) && (bdytail == 0.0) && (cdytail == 0.0)) {
- return det;
- }
-
- errbound = iccerrboundC * permanent + resulterrbound * Absolute(det);
- det += ((adx * adx + ady * ady) * ((bdx * cdytail + cdy * bdxtail)
- - (bdy * cdxtail + cdx * bdytail))
- + 2.0 * (adx * adxtail + ady * adytail) * (bdx * cdy - bdy * cdx))
- + ((bdx * bdx + bdy * bdy) * ((cdx * adytail + ady * cdxtail)
- - (cdy * adxtail + adx * cdytail))
- + 2.0 * (bdx * bdxtail + bdy * bdytail) * (cdx * ady - cdy * adx))
- + ((cdx * cdx + cdy * cdy) * ((adx * bdytail + bdy * adxtail)
- - (ady * bdxtail + bdx * adytail))
- + 2.0 * (cdx * cdxtail + cdy * cdytail) * (adx * bdy - ady * bdx));
- if ((det >= errbound) || (-det >= errbound)) {
- return det;
- }
-
- finnow = fin1;
- finother = fin2;
-
- if ((bdxtail != 0.0) || (bdytail != 0.0)
- || (cdxtail != 0.0) || (cdytail != 0.0)) {
- Square(adx, adxadx1, adxadx0);
- Square(ady, adyady1, adyady0);
- Two_Two_Sum(adxadx1, adxadx0, adyady1, adyady0, aa3, aa[2], aa[1], aa[0]);
- aa[3] = aa3;
- }
- if ((cdxtail != 0.0) || (cdytail != 0.0)
- || (adxtail != 0.0) || (adytail != 0.0)) {
- Square(bdx, bdxbdx1, bdxbdx0);
- Square(bdy, bdybdy1, bdybdy0);
- Two_Two_Sum(bdxbdx1, bdxbdx0, bdybdy1, bdybdy0, bb3, bb[2], bb[1], bb[0]);
- bb[3] = bb3;
- }
- if ((adxtail != 0.0) || (adytail != 0.0)
- || (bdxtail != 0.0) || (bdytail != 0.0)) {
- Square(cdx, cdxcdx1, cdxcdx0);
- Square(cdy, cdycdy1, cdycdy0);
- Two_Two_Sum(cdxcdx1, cdxcdx0, cdycdy1, cdycdy0, cc3, cc[2], cc[1], cc[0]);
- cc[3] = cc3;
- }
-
- if (adxtail != 0.0) {
- axtbclen = scale_expansion_zeroelim(4, bc, adxtail, axtbc);
- temp16alen = scale_expansion_zeroelim(axtbclen, axtbc, 2.0 * adx,
- temp16a);
-
- axtcclen = scale_expansion_zeroelim(4, cc, adxtail, axtcc);
- temp16blen = scale_expansion_zeroelim(axtcclen, axtcc, bdy, temp16b);
-
- axtbblen = scale_expansion_zeroelim(4, bb, adxtail, axtbb);
- temp16clen = scale_expansion_zeroelim(axtbblen, axtbb, -cdy, temp16c);
-
- temp32alen = fast_expansion_sum_zeroelim(temp16alen, temp16a,
- temp16blen, temp16b, temp32a);
- temp48len = fast_expansion_sum_zeroelim(temp16clen, temp16c,
- temp32alen, temp32a, temp48);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp48len,
- temp48, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
- if (adytail != 0.0) {
- aytbclen = scale_expansion_zeroelim(4, bc, adytail, aytbc);
- temp16alen = scale_expansion_zeroelim(aytbclen, aytbc, 2.0 * ady,
- temp16a);
-
- aytbblen = scale_expansion_zeroelim(4, bb, adytail, aytbb);
- temp16blen = scale_expansion_zeroelim(aytbblen, aytbb, cdx, temp16b);
-
- aytcclen = scale_expansion_zeroelim(4, cc, adytail, aytcc);
- temp16clen = scale_expansion_zeroelim(aytcclen, aytcc, -bdx, temp16c);
-
- temp32alen = fast_expansion_sum_zeroelim(temp16alen, temp16a,
- temp16blen, temp16b, temp32a);
- temp48len = fast_expansion_sum_zeroelim(temp16clen, temp16c,
- temp32alen, temp32a, temp48);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp48len,
- temp48, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
- if (bdxtail != 0.0) {
- bxtcalen = scale_expansion_zeroelim(4, ca, bdxtail, bxtca);
- temp16alen = scale_expansion_zeroelim(bxtcalen, bxtca, 2.0 * bdx,
- temp16a);
-
- bxtaalen = scale_expansion_zeroelim(4, aa, bdxtail, bxtaa);
- temp16blen = scale_expansion_zeroelim(bxtaalen, bxtaa, cdy, temp16b);
-
- bxtcclen = scale_expansion_zeroelim(4, cc, bdxtail, bxtcc);
- temp16clen = scale_expansion_zeroelim(bxtcclen, bxtcc, -ady, temp16c);
-
- temp32alen = fast_expansion_sum_zeroelim(temp16alen, temp16a,
- temp16blen, temp16b, temp32a);
- temp48len = fast_expansion_sum_zeroelim(temp16clen, temp16c,
- temp32alen, temp32a, temp48);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp48len,
- temp48, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
- if (bdytail != 0.0) {
- bytcalen = scale_expansion_zeroelim(4, ca, bdytail, bytca);
- temp16alen = scale_expansion_zeroelim(bytcalen, bytca, 2.0 * bdy,
- temp16a);
-
- bytcclen = scale_expansion_zeroelim(4, cc, bdytail, bytcc);
- temp16blen = scale_expansion_zeroelim(bytcclen, bytcc, adx, temp16b);
-
- bytaalen = scale_expansion_zeroelim(4, aa, bdytail, bytaa);
- temp16clen = scale_expansion_zeroelim(bytaalen, bytaa, -cdx, temp16c);
-
- temp32alen = fast_expansion_sum_zeroelim(temp16alen, temp16a,
- temp16blen, temp16b, temp32a);
- temp48len = fast_expansion_sum_zeroelim(temp16clen, temp16c,
- temp32alen, temp32a, temp48);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp48len,
- temp48, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
- if (cdxtail != 0.0) {
- cxtablen = scale_expansion_zeroelim(4, ab, cdxtail, cxtab);
- temp16alen = scale_expansion_zeroelim(cxtablen, cxtab, 2.0 * cdx,
- temp16a);
-
- cxtbblen = scale_expansion_zeroelim(4, bb, cdxtail, cxtbb);
- temp16blen = scale_expansion_zeroelim(cxtbblen, cxtbb, ady, temp16b);
-
- cxtaalen = scale_expansion_zeroelim(4, aa, cdxtail, cxtaa);
- temp16clen = scale_expansion_zeroelim(cxtaalen, cxtaa, -bdy, temp16c);
-
- temp32alen = fast_expansion_sum_zeroelim(temp16alen, temp16a,
- temp16blen, temp16b, temp32a);
- temp48len = fast_expansion_sum_zeroelim(temp16clen, temp16c,
- temp32alen, temp32a, temp48);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp48len,
- temp48, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
- if (cdytail != 0.0) {
- cytablen = scale_expansion_zeroelim(4, ab, cdytail, cytab);
- temp16alen = scale_expansion_zeroelim(cytablen, cytab, 2.0 * cdy,
- temp16a);
-
- cytaalen = scale_expansion_zeroelim(4, aa, cdytail, cytaa);
- temp16blen = scale_expansion_zeroelim(cytaalen, cytaa, bdx, temp16b);
-
- cytbblen = scale_expansion_zeroelim(4, bb, cdytail, cytbb);
- temp16clen = scale_expansion_zeroelim(cytbblen, cytbb, -adx, temp16c);
-
- temp32alen = fast_expansion_sum_zeroelim(temp16alen, temp16a,
- temp16blen, temp16b, temp32a);
- temp48len = fast_expansion_sum_zeroelim(temp16clen, temp16c,
- temp32alen, temp32a, temp48);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp48len,
- temp48, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
-
- if ((adxtail != 0.0) || (adytail != 0.0)) {
- if ((bdxtail != 0.0) || (bdytail != 0.0)
- || (cdxtail != 0.0) || (cdytail != 0.0)) {
- Two_Product(bdxtail, cdy, ti1, ti0);
- Two_Product(bdx, cdytail, tj1, tj0);
- Two_Two_Sum(ti1, ti0, tj1, tj0, u3, u[2], u[1], u[0]);
- u[3] = u3;
- negate = -bdy;
- Two_Product(cdxtail, negate, ti1, ti0);
- negate = -bdytail;
- Two_Product(cdx, negate, tj1, tj0);
- Two_Two_Sum(ti1, ti0, tj1, tj0, v3, v[2], v[1], v[0]);
- v[3] = v3;
- bctlen = fast_expansion_sum_zeroelim(4, u, 4, v, bct);
-
- Two_Product(bdxtail, cdytail, ti1, ti0);
- Two_Product(cdxtail, bdytail, tj1, tj0);
- Two_Two_Diff(ti1, ti0, tj1, tj0, bctt3, bctt[2], bctt[1], bctt[0]);
- bctt[3] = bctt3;
- bcttlen = 4;
- } else {
- bct[0] = 0.0;
- bctlen = 1;
- bctt[0] = 0.0;
- bcttlen = 1;
- }
-
- if (adxtail != 0.0) {
- temp16alen = scale_expansion_zeroelim(axtbclen, axtbc, adxtail, temp16a);
- axtbctlen = scale_expansion_zeroelim(bctlen, bct, adxtail, axtbct);
- temp32alen = scale_expansion_zeroelim(axtbctlen, axtbct, 2.0 * adx,
- temp32a);
- temp48len = fast_expansion_sum_zeroelim(temp16alen, temp16a,
- temp32alen, temp32a, temp48);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp48len,
- temp48, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- if (bdytail != 0.0) {
- temp8len = scale_expansion_zeroelim(4, cc, adxtail, temp8);
- temp16alen = scale_expansion_zeroelim(temp8len, temp8, bdytail,
- temp16a);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp16alen,
- temp16a, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
- if (cdytail != 0.0) {
- temp8len = scale_expansion_zeroelim(4, bb, -adxtail, temp8);
- temp16alen = scale_expansion_zeroelim(temp8len, temp8, cdytail,
- temp16a);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp16alen,
- temp16a, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
-
- temp32alen = scale_expansion_zeroelim(axtbctlen, axtbct, adxtail,
- temp32a);
- axtbcttlen = scale_expansion_zeroelim(bcttlen, bctt, adxtail, axtbctt);
- temp16alen = scale_expansion_zeroelim(axtbcttlen, axtbctt, 2.0 * adx,
- temp16a);
- temp16blen = scale_expansion_zeroelim(axtbcttlen, axtbctt, adxtail,
- temp16b);
- temp32blen = fast_expansion_sum_zeroelim(temp16alen, temp16a,
- temp16blen, temp16b, temp32b);
- temp64len = fast_expansion_sum_zeroelim(temp32alen, temp32a,
- temp32blen, temp32b, temp64);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp64len,
- temp64, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
- if (adytail != 0.0) {
- temp16alen = scale_expansion_zeroelim(aytbclen, aytbc, adytail, temp16a);
- aytbctlen = scale_expansion_zeroelim(bctlen, bct, adytail, aytbct);
- temp32alen = scale_expansion_zeroelim(aytbctlen, aytbct, 2.0 * ady,
- temp32a);
- temp48len = fast_expansion_sum_zeroelim(temp16alen, temp16a,
- temp32alen, temp32a, temp48);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp48len,
- temp48, finother);
- finswap = finnow; finnow = finother; finother = finswap;
-
-
- temp32alen = scale_expansion_zeroelim(aytbctlen, aytbct, adytail,
- temp32a);
- aytbcttlen = scale_expansion_zeroelim(bcttlen, bctt, adytail, aytbctt);
- temp16alen = scale_expansion_zeroelim(aytbcttlen, aytbctt, 2.0 * ady,
- temp16a);
- temp16blen = scale_expansion_zeroelim(aytbcttlen, aytbctt, adytail,
- temp16b);
- temp32blen = fast_expansion_sum_zeroelim(temp16alen, temp16a,
- temp16blen, temp16b, temp32b);
- temp64len = fast_expansion_sum_zeroelim(temp32alen, temp32a,
- temp32blen, temp32b, temp64);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp64len,
- temp64, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
- }
- if ((bdxtail != 0.0) || (bdytail != 0.0)) {
- if ((cdxtail != 0.0) || (cdytail != 0.0)
- || (adxtail != 0.0) || (adytail != 0.0)) {
- Two_Product(cdxtail, ady, ti1, ti0);
- Two_Product(cdx, adytail, tj1, tj0);
- Two_Two_Sum(ti1, ti0, tj1, tj0, u3, u[2], u[1], u[0]);
- u[3] = u3;
- negate = -cdy;
- Two_Product(adxtail, negate, ti1, ti0);
- negate = -cdytail;
- Two_Product(adx, negate, tj1, tj0);
- Two_Two_Sum(ti1, ti0, tj1, tj0, v3, v[2], v[1], v[0]);
- v[3] = v3;
- catlen = fast_expansion_sum_zeroelim(4, u, 4, v, cat);
-
- Two_Product(cdxtail, adytail, ti1, ti0);
- Two_Product(adxtail, cdytail, tj1, tj0);
- Two_Two_Diff(ti1, ti0, tj1, tj0, catt3, catt[2], catt[1], catt[0]);
- catt[3] = catt3;
- cattlen = 4;
- } else {
- cat[0] = 0.0;
- catlen = 1;
- catt[0] = 0.0;
- cattlen = 1;
- }
-
- if (bdxtail != 0.0) {
- temp16alen = scale_expansion_zeroelim(bxtcalen, bxtca, bdxtail, temp16a);
- bxtcatlen = scale_expansion_zeroelim(catlen, cat, bdxtail, bxtcat);
- temp32alen = scale_expansion_zeroelim(bxtcatlen, bxtcat, 2.0 * bdx,
- temp32a);
- temp48len = fast_expansion_sum_zeroelim(temp16alen, temp16a,
- temp32alen, temp32a, temp48);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp48len,
- temp48, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- if (cdytail != 0.0) {
- temp8len = scale_expansion_zeroelim(4, aa, bdxtail, temp8);
- temp16alen = scale_expansion_zeroelim(temp8len, temp8, cdytail,
- temp16a);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp16alen,
- temp16a, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
- if (adytail != 0.0) {
- temp8len = scale_expansion_zeroelim(4, cc, -bdxtail, temp8);
- temp16alen = scale_expansion_zeroelim(temp8len, temp8, adytail,
- temp16a);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp16alen,
- temp16a, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
-
- temp32alen = scale_expansion_zeroelim(bxtcatlen, bxtcat, bdxtail,
- temp32a);
- bxtcattlen = scale_expansion_zeroelim(cattlen, catt, bdxtail, bxtcatt);
- temp16alen = scale_expansion_zeroelim(bxtcattlen, bxtcatt, 2.0 * bdx,
- temp16a);
- temp16blen = scale_expansion_zeroelim(bxtcattlen, bxtcatt, bdxtail,
- temp16b);
- temp32blen = fast_expansion_sum_zeroelim(temp16alen, temp16a,
- temp16blen, temp16b, temp32b);
- temp64len = fast_expansion_sum_zeroelim(temp32alen, temp32a,
- temp32blen, temp32b, temp64);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp64len,
- temp64, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
- if (bdytail != 0.0) {
- temp16alen = scale_expansion_zeroelim(bytcalen, bytca, bdytail, temp16a);
- bytcatlen = scale_expansion_zeroelim(catlen, cat, bdytail, bytcat);
- temp32alen = scale_expansion_zeroelim(bytcatlen, bytcat, 2.0 * bdy,
- temp32a);
- temp48len = fast_expansion_sum_zeroelim(temp16alen, temp16a,
- temp32alen, temp32a, temp48);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp48len,
- temp48, finother);
- finswap = finnow; finnow = finother; finother = finswap;
-
-
- temp32alen = scale_expansion_zeroelim(bytcatlen, bytcat, bdytail,
- temp32a);
- bytcattlen = scale_expansion_zeroelim(cattlen, catt, bdytail, bytcatt);
- temp16alen = scale_expansion_zeroelim(bytcattlen, bytcatt, 2.0 * bdy,
- temp16a);
- temp16blen = scale_expansion_zeroelim(bytcattlen, bytcatt, bdytail,
- temp16b);
- temp32blen = fast_expansion_sum_zeroelim(temp16alen, temp16a,
- temp16blen, temp16b, temp32b);
- temp64len = fast_expansion_sum_zeroelim(temp32alen, temp32a,
- temp32blen, temp32b, temp64);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp64len,
- temp64, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
- }
- if ((cdxtail != 0.0) || (cdytail != 0.0)) {
- if ((adxtail != 0.0) || (adytail != 0.0)
- || (bdxtail != 0.0) || (bdytail != 0.0)) {
- Two_Product(adxtail, bdy, ti1, ti0);
- Two_Product(adx, bdytail, tj1, tj0);
- Two_Two_Sum(ti1, ti0, tj1, tj0, u3, u[2], u[1], u[0]);
- u[3] = u3;
- negate = -ady;
- Two_Product(bdxtail, negate, ti1, ti0);
- negate = -adytail;
- Two_Product(bdx, negate, tj1, tj0);
- Two_Two_Sum(ti1, ti0, tj1, tj0, v3, v[2], v[1], v[0]);
- v[3] = v3;
- abtlen = fast_expansion_sum_zeroelim(4, u, 4, v, abt);
-
- Two_Product(adxtail, bdytail, ti1, ti0);
- Two_Product(bdxtail, adytail, tj1, tj0);
- Two_Two_Diff(ti1, ti0, tj1, tj0, abtt3, abtt[2], abtt[1], abtt[0]);
- abtt[3] = abtt3;
- abttlen = 4;
- } else {
- abt[0] = 0.0;
- abtlen = 1;
- abtt[0] = 0.0;
- abttlen = 1;
- }
-
- if (cdxtail != 0.0) {
- temp16alen = scale_expansion_zeroelim(cxtablen, cxtab, cdxtail, temp16a);
- cxtabtlen = scale_expansion_zeroelim(abtlen, abt, cdxtail, cxtabt);
- temp32alen = scale_expansion_zeroelim(cxtabtlen, cxtabt, 2.0 * cdx,
- temp32a);
- temp48len = fast_expansion_sum_zeroelim(temp16alen, temp16a,
- temp32alen, temp32a, temp48);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp48len,
- temp48, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- if (adytail != 0.0) {
- temp8len = scale_expansion_zeroelim(4, bb, cdxtail, temp8);
- temp16alen = scale_expansion_zeroelim(temp8len, temp8, adytail,
- temp16a);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp16alen,
- temp16a, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
- if (bdytail != 0.0) {
- temp8len = scale_expansion_zeroelim(4, aa, -cdxtail, temp8);
- temp16alen = scale_expansion_zeroelim(temp8len, temp8, bdytail,
- temp16a);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp16alen,
- temp16a, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
-
- temp32alen = scale_expansion_zeroelim(cxtabtlen, cxtabt, cdxtail,
- temp32a);
- cxtabttlen = scale_expansion_zeroelim(abttlen, abtt, cdxtail, cxtabtt);
- temp16alen = scale_expansion_zeroelim(cxtabttlen, cxtabtt, 2.0 * cdx,
- temp16a);
- temp16blen = scale_expansion_zeroelim(cxtabttlen, cxtabtt, cdxtail,
- temp16b);
- temp32blen = fast_expansion_sum_zeroelim(temp16alen, temp16a,
- temp16blen, temp16b, temp32b);
- temp64len = fast_expansion_sum_zeroelim(temp32alen, temp32a,
- temp32blen, temp32b, temp64);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp64len,
- temp64, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
- if (cdytail != 0.0) {
- temp16alen = scale_expansion_zeroelim(cytablen, cytab, cdytail, temp16a);
- cytabtlen = scale_expansion_zeroelim(abtlen, abt, cdytail, cytabt);
- temp32alen = scale_expansion_zeroelim(cytabtlen, cytabt, 2.0 * cdy,
- temp32a);
- temp48len = fast_expansion_sum_zeroelim(temp16alen, temp16a,
- temp32alen, temp32a, temp48);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp48len,
- temp48, finother);
- finswap = finnow; finnow = finother; finother = finswap;
-
-
- temp32alen = scale_expansion_zeroelim(cytabtlen, cytabt, cdytail,
- temp32a);
- cytabttlen = scale_expansion_zeroelim(abttlen, abtt, cdytail, cytabtt);
- temp16alen = scale_expansion_zeroelim(cytabttlen, cytabtt, 2.0 * cdy,
- temp16a);
- temp16blen = scale_expansion_zeroelim(cytabttlen, cytabtt, cdytail,
- temp16b);
- temp32blen = fast_expansion_sum_zeroelim(temp16alen, temp16a,
- temp16blen, temp16b, temp32b);
- temp64len = fast_expansion_sum_zeroelim(temp32alen, temp32a,
- temp32blen, temp32b, temp64);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, temp64len,
- temp64, finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
- }
-
- return finnow[finlength - 1];
-}
-
-float incircle(struct mesh *m, struct behavior *b,
- vertex pa, vertex pb, vertex pc, vertex pd)
-{
- float adx, bdx, cdx, ady, bdy, cdy;
- float bdxcdy, cdxbdy, cdxady, adxcdy, adxbdy, bdxady;
- float alift, blift, clift;
- float det;
- float permanent, errbound;
-
- m->incirclecount++;
-
- 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];
-
- bdxcdy = bdx * cdy;
- cdxbdy = cdx * bdy;
- alift = adx * adx + ady * ady;
-
- cdxady = cdx * ady;
- adxcdy = adx * cdy;
- blift = bdx * bdx + bdy * bdy;
-
- adxbdy = adx * bdy;
- bdxady = bdx * ady;
- clift = cdx * cdx + cdy * cdy;
-
- det = alift * (bdxcdy - cdxbdy)
- + blift * (cdxady - adxcdy)
- + clift * (adxbdy - bdxady);
-
- if (b->noexact) {
- return det;
- }
-
- permanent = (Absolute(bdxcdy) + Absolute(cdxbdy)) * alift
- + (Absolute(cdxady) + Absolute(adxcdy)) * blift
- + (Absolute(adxbdy) + Absolute(bdxady)) * clift;
- errbound = iccerrboundA * permanent;
- if ((det > errbound) || (-det > errbound)) {
- return det;
- }
-
- return incircleadapt(pa, pb, pc, pd, permanent);
-}
-
-/*****************************************************************************/
-/* */
-/* orient3d() 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. */
-/* */
-/* Uses exact arithmetic if necessary to ensure a correct answer. The */
-/* result returned is the determinant of a matrix. 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, this function is usually quite fast, but will run */
-/* more slowly when the input points are coplanar or nearly so. */
-/* */
-/* See my Robust Predicates paper for details. */
-/* */
-/*****************************************************************************/
-
-float orient3dadapt(vertex pa, vertex pb, vertex pc, vertex pd,
- float aheight, float bheight, float cheight, float dheight,
- float permanent)
-{
- float adx, bdx, cdx, ady, bdy, cdy, adheight, bdheight, cdheight;
- float det, errbound;
-
- float bdxcdy1, cdxbdy1, cdxady1, adxcdy1, adxbdy1, bdxady1;
- float bdxcdy0, cdxbdy0, cdxady0, adxcdy0, adxbdy0, bdxady0;
- float bc[4], ca[4], ab[4];
- float bc3, ca3, ab3;
- float adet[8], bdet[8], cdet[8];
- int alen, blen, clen;
- float abdet[16];
- int ablen;
- float *finnow, *finother, *finswap;
- float fin1[192], fin2[192];
- int finlength;
-
- float adxtail, bdxtail, cdxtail;
- float adytail, bdytail, cdytail;
- float adheighttail, bdheighttail, cdheighttail;
- float at_blarge, at_clarge;
- float bt_clarge, bt_alarge;
- float ct_alarge, ct_blarge;
- float 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;
- float bdxt_cdy1, cdxt_bdy1, cdxt_ady1;
- float adxt_cdy1, adxt_bdy1, bdxt_ady1;
- float bdxt_cdy0, cdxt_bdy0, cdxt_ady0;
- float adxt_cdy0, adxt_bdy0, bdxt_ady0;
- float bdyt_cdx1, cdyt_bdx1, cdyt_adx1;
- float adyt_cdx1, adyt_bdx1, bdyt_adx1;
- float bdyt_cdx0, cdyt_bdx0, cdyt_adx0;
- float adyt_cdx0, adyt_bdx0, bdyt_adx0;
- float bct[8], cat[8], abt[8];
- int bctlen, catlen, abtlen;
- float bdxt_cdyt1, cdxt_bdyt1, cdxt_adyt1;
- float adxt_cdyt1, adxt_bdyt1, bdxt_adyt1;
- float bdxt_cdyt0, cdxt_bdyt0, cdxt_adyt0;
- float adxt_cdyt0, adxt_bdyt0, bdxt_adyt0;
- float u[4], v[12], w[16];
- float u3;
- int vlength, wlength;
- float negate;
-
- float bvirt;
- float avirt, bround, around;
- float c;
- float abig;
- float ahi, alo, bhi, blo;
- float err1, err2, err3;
- float _i, _j, _k;
- float _0;
-
- adx = (float) (pa[0] - pd[0]);
- bdx = (float) (pb[0] - pd[0]);
- cdx = (float) (pc[0] - pd[0]);
- ady = (float) (pa[1] - pd[1]);
- bdy = (float) (pb[1] - pd[1]);
- cdy = (float) (pc[1] - pd[1]);
- adheight = (float) (aheight - dheight);
- bdheight = (float) (bheight - dheight);
- cdheight = (float) (cheight - dheight);
-
- 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, adheight, 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, bdheight, 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, cdheight, 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(aheight, dheight, adheight, adheighttail);
- Two_Diff_Tail(bheight, dheight, bdheight, bdheighttail);
- Two_Diff_Tail(cheight, dheight, cdheight, cdheighttail);
-
- if ((adxtail == 0.0) && (bdxtail == 0.0) && (cdxtail == 0.0) &&
- (adytail == 0.0) && (bdytail == 0.0) && (cdytail == 0.0) &&
- (adheighttail == 0.0) &&
- (bdheighttail == 0.0) &&
- (cdheighttail == 0.0)) {
- return det;
- }
-
- errbound = o3derrboundC * permanent + resulterrbound * Absolute(det);
- det += (adheight * ((bdx * cdytail + cdy * bdxtail) -
- (bdy * cdxtail + cdx * bdytail)) +
- adheighttail * (bdx * cdy - bdy * cdx)) +
- (bdheight * ((cdx * adytail + ady * cdxtail) -
- (cdy * adxtail + adx * cdytail)) +
- bdheighttail * (cdx * ady - cdy * adx)) +
- (cdheight * ((adx * bdytail + bdy * adxtail) -
- (ady * bdxtail + bdx * adytail)) +
- cdheighttail * (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, adheight, 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, bdheight, 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, cdheight, w);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, wlength, w,
- finother);
- finswap = finnow; finnow = finother; finother = finswap;
-
- if (adheighttail != 0.0) {
- vlength = scale_expansion_zeroelim(4, bc, adheighttail, v);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, vlength, v,
- finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
- if (bdheighttail != 0.0) {
- vlength = scale_expansion_zeroelim(4, ca, bdheighttail, v);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, vlength, v,
- finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
- if (cdheighttail != 0.0) {
- vlength = scale_expansion_zeroelim(4, ab, cdheighttail, 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, cdheight, 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 (cdheighttail != 0.0) {
- Two_One_Product(adxt_bdyt1, adxt_bdyt0, cdheighttail,
- 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, bdheight, 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 (bdheighttail != 0.0) {
- Two_One_Product(adxt_cdyt1, adxt_cdyt0, bdheighttail,
- 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, adheight, 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 (adheighttail != 0.0) {
- Two_One_Product(bdxt_cdyt1, bdxt_cdyt0, adheighttail,
- 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, cdheight, 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 (cdheighttail != 0.0) {
- Two_One_Product(bdxt_adyt1, bdxt_adyt0, cdheighttail,
- 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, bdheight, 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 (bdheighttail != 0.0) {
- Two_One_Product(cdxt_adyt1, cdxt_adyt0, bdheighttail,
- 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, adheight, 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 (adheighttail != 0.0) {
- Two_One_Product(cdxt_bdyt1, cdxt_bdyt0, adheighttail,
- 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 (adheighttail != 0.0) {
- wlength = scale_expansion_zeroelim(bctlen, bct, adheighttail, w);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, wlength, w,
- finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
- if (bdheighttail != 0.0) {
- wlength = scale_expansion_zeroelim(catlen, cat, bdheighttail, w);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, wlength, w,
- finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
- if (cdheighttail != 0.0) {
- wlength = scale_expansion_zeroelim(abtlen, abt, cdheighttail, w);
- finlength = fast_expansion_sum_zeroelim(finlength, finnow, wlength, w,
- finother);
- finswap = finnow; finnow = finother; finother = finswap;
- }
-
- return finnow[finlength - 1];
-}
-
-float orient3d(struct mesh *m, struct behavior *b,
- vertex pa, vertex pb, vertex pc, vertex pd,
- float aheight, float bheight, float cheight, float dheight)
-{
- float adx, bdx, cdx, ady, bdy, cdy, adheight, bdheight, cdheight;
- float bdxcdy, cdxbdy, cdxady, adxcdy, adxbdy, bdxady;
- float det;
- float permanent, errbound;
-
- m->orient3dcount++;
-
- 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];
- adheight = aheight - dheight;
- bdheight = bheight - dheight;
- cdheight = cheight - dheight;
-
- bdxcdy = bdx * cdy;
- cdxbdy = cdx * bdy;
-
- cdxady = cdx * ady;
- adxcdy = adx * cdy;
-
- adxbdy = adx * bdy;
- bdxady = bdx * ady;
-
- det = adheight * (bdxcdy - cdxbdy)
- + bdheight * (cdxady - adxcdy)
- + cdheight * (adxbdy - bdxady);
-
- if (b->noexact) {
- return det;
- }
-
- permanent = (Absolute(bdxcdy) + Absolute(cdxbdy)) * Absolute(adheight)
- + (Absolute(cdxady) + Absolute(adxcdy)) * Absolute(bdheight)
- + (Absolute(adxbdy) + Absolute(bdxady)) * Absolute(cdheight);
- errbound = o3derrboundA * permanent;
- if ((det > errbound) || (-det > errbound)) {
- return det;
- }
-
- return orient3dadapt(pa, pb, pc, pd, aheight, bheight, cheight, dheight,
- permanent);
-}
-
-/*****************************************************************************/
-/* */
-/* nonregular() Return a positive value if the point pd is incompatible */
-/* with the circle or plane passing through pa, pb, and pc */
-/* (meaning that pd is inside the circle or below the */
-/* plane); a negative value if it is compatible; and zero if */
-/* the four points are cocircular/coplanar. The points pa, */
-/* pb, and pc must be in counterclockwise order, or the sign */
-/* of the result will be reversed. */
-/* */
-/* If the -w switch is used, the points are lifted onto the parabolic */
-/* lifting map, then they are dropped according to their weights, then the */
-/* 3D orientation test is applied. If the -W switch is used, the points' */
-/* heights are already provided, so the 3D orientation test is applied */
-/* directly. If neither switch is used, the incircle test is applied. */
-/* */
-/*****************************************************************************/
-
-float nonregular(struct mesh *m, struct behavior *b,
- vertex pa, vertex pb, vertex pc, vertex pd)
-{
- if (b->weighted == 0) {
- return incircle(m, b, pa, pb, pc, pd);
- } else if (b->weighted == 1) {
- return orient3d(m, b, pa, pb, pc, pd,
- pa[0] * pa[0] + pa[1] * pa[1] - pa[2],
- pb[0] * pb[0] + pb[1] * pb[1] - pb[2],
- pc[0] * pc[0] + pc[1] * pc[1] - pc[2],
- pd[0] * pd[0] + pd[1] * pd[1] - pd[2]);
- } else {
- return orient3d(m, b, pa, pb, pc, pd, pa[2], pb[2], pc[2], pd[2]);
- }
-}
-
-/*****************************************************************************/
-/* */
-/* findcircumcenter() Find the circumcenter of a triangle. */
-/* */
-/* The result is returned both in terms of x-y coordinates and xi-eta */
-/* (barycentric) coordinates. The xi-eta coordinate system is defined in */
-/* terms of the triangle: the origin of the triangle is the origin of the */
-/* coordinate system; the destination of the triangle is one unit along the */
-/* xi axis; and the apex of the triangle is one unit along the eta axis. */
-/* This procedure also returns the square of the length of the triangle's */
-/* shortest edge. */
-/* */
-/*****************************************************************************/
-
-void findcircumcenter(struct mesh *m, struct behavior *b,
- vertex torg, vertex tdest, vertex tapex,
- vertex circumcenter, float *xi, float *eta, int offcenter)
-{
- float xdo, ydo, xao, yao;
- float dodist, aodist, dadist;
- float denominator;
- float dx, dy, dxoff, dyoff;
-
- m->circumcentercount++;
-
- /* Compute the circumcenter of the triangle. */
- xdo = tdest[0] - torg[0];
- ydo = tdest[1] - torg[1];
- xao = tapex[0] - torg[0];
- yao = tapex[1] - torg[1];
- dodist = xdo * xdo + ydo * ydo;
- aodist = xao * xao + yao * yao;
- dadist = (tdest[0] - tapex[0]) * (tdest[0] - tapex[0]) +
- (tdest[1] - tapex[1]) * (tdest[1] - tapex[1]);
- if (b->noexact) {
- denominator = 0.5 / (xdo * yao - xao * ydo);
- } else {
- /* Use the counterclockwise() routine to ensure a positive (and */
- /* reasonably accurate) result, avoiding any possibility of */
- /* division by zero. */
- denominator = 0.5 / counterclockwise(m, b, tdest, tapex, torg);
- /* Don't count the above as an orientation test. */
- m->counterclockcount--;
- }
- dx = (yao * dodist - ydo * aodist) * denominator;
- dy = (xdo * aodist - xao * dodist) * denominator;
-
- /* Find the (squared) length of the triangle's shortest edge. This */
- /* serves as a conservative estimate of the insertion radius of the */
- /* circumcenter's parent. The estimate is used to ensure that */
- /* the algorithm terminates even if very small angles appear in */
- /* the input PSLG. */
- if ((dodist < aodist) && (dodist < dadist)) {
- if (offcenter && (b->offconstant > 0.0)) {
- /* Find the position of the off-center, as described by Alper Ungor. */
- dxoff = 0.5 * xdo - b->offconstant * ydo;
- dyoff = 0.5 * ydo + b->offconstant * xdo;
- /* If the off-center is closer to the origin than the */
- /* circumcenter, use the off-center instead. */
- if (dxoff * dxoff + dyoff * dyoff < dx * dx + dy * dy) {
- dx = dxoff;
- dy = dyoff;
- }
- }
- } else if (aodist < dadist) {
- if (offcenter && (b->offconstant > 0.0)) {
- dxoff = 0.5 * xao + b->offconstant * yao;
- dyoff = 0.5 * yao - b->offconstant * xao;
- /* If the off-center is closer to the origin than the */
- /* circumcenter, use the off-center instead. */
- if (dxoff * dxoff + dyoff * dyoff < dx * dx + dy * dy) {
- dx = dxoff;
- dy = dyoff;
- }
- }
- } else {
- if (offcenter && (b->offconstant > 0.0)) {
- dxoff = 0.5 * (tapex[0] - tdest[0]) -
- b->offconstant * (tapex[1] - tdest[1]);
- dyoff = 0.5 * (tapex[1] - tdest[1]) +
- b->offconstant * (tapex[0] - tdest[0]);
- /* If the off-center is closer to the destination than the */
- /* circumcenter, use the off-center instead. */
- if (dxoff * dxoff + dyoff * dyoff <
- (dx - xdo) * (dx - xdo) + (dy - ydo) * (dy - ydo)) {
- dx = xdo + dxoff;
- dy = ydo + dyoff;
- }
- }
- }
-
- circumcenter[0] = torg[0] + dx;
- circumcenter[1] = torg[1] + dy;
-
- /* To interpolate vertex attributes for the new vertex inserted at */
- /* the circumcenter, define a coordinate system with a xi-axis, */
- /* directed from the triangle's origin to its destination, and */
- /* an eta-axis, directed from its origin to its apex. */
- /* Calculate the xi and eta coordinates of the circumcenter. */
- *xi = (yao * dx - xao * dy) * (2.0 * denominator);
- *eta = (xdo * dy - ydo * dx) * (2.0 * denominator);
-}
-
-/** **/
-/** **/
-/********* Geometric primitives end here *********/
-
-/*****************************************************************************/
-/* */
-/* triangleinit() Initialize some variables. */
-/* */
-/*****************************************************************************/
-
-void triangleinit(struct mesh *m)
-{
- poolzero(&m->vertices);
- poolzero(&m->triangles);
- poolzero(&m->subsegs);
- poolzero(&m->viri);
- poolzero(&m->badsubsegs);
- poolzero(&m->badtriangles);
- poolzero(&m->flipstackers);
- poolzero(&m->splaynodes);
-
- m->recenttri.tri = (triangle *) NULL; /* No triangle has been visited yet. */
- m->undeads = 0; /* No eliminated input vertices yet. */
- m->samples = 1; /* Point location should take at least one sample. */
- m->checksegments = 0; /* There are no segments in the triangulation yet. */
- m->checkquality = 0; /* The quality triangulation stage has not begun. */
- m->incirclecount = m->counterclockcount = m->orient3dcount = 0;
- m->hyperbolacount = m->circletopcount = m->circumcentercount = 0;
- randomseed = 1;
-
- exactinit(); /* Initialize exact arithmetic constants. */
-}
-
-/*****************************************************************************/
-/* */
-/* randomnation() Generate a random number between 0 and `choices' - 1. */
-/* */
-/* This is a simple linear congruential random number generator. Hence, it */
-/* is a bad random number generator, but good enough for most randomized */
-/* geometric algorithms. */
-/* */
-/*****************************************************************************/
-
-unsigned long randomnation(unsigned int choices)
-{
- randomseed = (randomseed * 1366l + 150889l) % 714025l;
- return randomseed / (714025l / choices + 1);
-}
-
-/********* Point location routines begin here *********/
-/** **/
-/** **/
-
-/*****************************************************************************/
-/* */
-/* makevertexmap() Construct a mapping from vertices to triangles to */
-/* improve the speed of point location for segment */
-/* insertion. */
-/* */
-/* Traverses all the triangles, and provides each corner of each triangle */
-/* with a pointer to that triangle. Of course, pointers will be */
-/* overwritten by other pointers because (almost) each vertex is a corner */
-/* of several triangles, but in the end every vertex will point to some */
-/* triangle that contains it. */
-/* */
-/*****************************************************************************/
-
-void makevertexmap(struct mesh *m, struct behavior *b)
-{
- struct otri triangleloop;
- vertex triorg;
-
- if (b->verbose) {
- printf(" Constructing mapping from vertices to triangles.\n");
- }
- traversalinit(&m->triangles);
- triangleloop.tri = triangletraverse(m);
- while (triangleloop.tri != (triangle *) NULL) {
- /* Check all three vertices of the triangle. */
- for (triangleloop.orient = 0; triangleloop.orient < 3;
- triangleloop.orient++) {
- org(triangleloop, triorg);
- setvertex2tri(triorg, encode(triangleloop));
- }
- triangleloop.tri = triangletraverse(m);
- }
-}
-
-/*****************************************************************************/
-/* */
-/* preciselocate() Find a triangle or edge containing a given point. */
-/* */
-/* Begins its search from `searchtri'. It is important that `searchtri' */
-/* be a handle with the property that `searchpoint' is strictly to the left */
-/* of the edge denoted by `searchtri', or is collinear with that edge and */
-/* does not intersect that edge. (In particular, `searchpoint' should not */
-/* be the origin or destination of that edge.) */
-/* */
-/* These conditions are imposed because preciselocate() is normally used in */
-/* one of two situations: */
-/* */
-/* (1) To try to find the location to insert a new point. Normally, we */
-/* know an edge that the point is strictly to the left of. In the */
-/* incremental Delaunay algorithm, that edge is a bounding box edge. */
-/* In Ruppert's Delaunay refinement algorithm for quality meshing, */
-/* that edge is the shortest edge of the triangle whose circumcenter */
-/* is being inserted. */
-/* */
-/* (2) To try to find an existing point. In this case, any edge on the */
-/* convex hull is a good starting edge. You must screen out the */
-/* possibility that the vertex sought is an endpoint of the starting */
-/* edge before you call preciselocate(). */
-/* */
-/* On completion, `searchtri' is a triangle that contains `searchpoint'. */
-/* */
-/* This implementation differs from that given by Guibas and Stolfi. It */
-/* walks from triangle to triangle, crossing an edge only if `searchpoint' */
-/* is on the other side of the line containing that edge. After entering */
-/* a triangle, there are two edges by which one can leave that triangle. */
-/* If both edges are valid (`searchpoint' is on the other side of both */
-/* edges), one of the two is chosen by drawing a line perpendicular to */
-/* the entry edge (whose endpoints are `forg' and `fdest') passing through */
-/* `fapex'. Depending on which side of this perpendicular `searchpoint' */
-/* falls on, an exit edge is chosen. */
-/* */
-/* This implementation is empirically faster than the Guibas and Stolfi */
-/* point location routine (which I originally used), which tends to spiral */
-/* in toward its target. */
-/* */
-/* Returns ONVERTEX if the point lies on an existing vertex. `searchtri' */
-/* is a handle whose origin is the existing vertex. */
-/* */
-/* Returns ONEDGE if the point lies on a mesh edge. `searchtri' is a */
-/* handle whose primary edge is the edge on which the point lies. */
-/* */
-/* Returns INTRIANGLE if the point lies strictly within a triangle. */
-/* `searchtri' is a handle on the triangle that contains the point. */
-/* */
-/* Returns OUTSIDE if the point lies outside the mesh. `searchtri' is a */
-/* handle whose primary edge the point is to the right of. This might */
-/* occur when the circumcenter of a triangle falls just slightly outside */
-/* the mesh due to floating-point roundoff error. It also occurs when */
-/* seeking a hole or region point that a foolish user has placed outside */
-/* the mesh. */
-/* */
-/* If `stopatsubsegment' is nonzero, the search will stop if it tries to */
-/* walk through a subsegment, and will return OUTSIDE. */
-/* */
-/* WARNING: This routine is designed for convex triangulations, and will */
-/* not generally work after the holes and concavities have been carved. */
-/* However, it can still be used to find the circumcenter of a triangle, as */
-/* long as the search is begun from the triangle in question. */
-/* */
-/*****************************************************************************/
-
-enum locateresult preciselocate(struct mesh *m, struct behavior *b,
- vertex searchpoint, struct otri *searchtri,
- int stopatsubsegment)
-{
- struct otri backtracktri;
- struct osub checkedge;
- vertex forg, fdest, fapex;
- float orgorient, destorient;
- int moveleft;
- triangle ptr; /* Temporary variable used by sym(). */
- subseg sptr; /* Temporary variable used by tspivot(). */
-
- if (b->verbose > 2) {
- printf(" Searching for point (%.12g, %.12g).\n",
- searchpoint[0], searchpoint[1]);
- }
- /* Where are we? */
- org(*searchtri, forg);
- dest(*searchtri, fdest);
- apex(*searchtri, fapex);
- while (1) {
- if (b->verbose > 2) {
- printf(" At (%.12g, %.12g) (%.12g, %.12g) (%.12g, %.12g)\n",
- forg[0], forg[1], fdest[0], fdest[1], fapex[0], fapex[1]);
- }
- /* Check whether the apex is the point we seek. */
- if ((fapex[0] == searchpoint[0]) && (fapex[1] == searchpoint[1])) {
- lprevself(*searchtri);
- return ONVERTEX;
- }
- /* Does the point lie on the other side of the line defined by the */
- /* triangle edge opposite the triangle's destination? */
- destorient = counterclockwise(m, b, forg, fapex, searchpoint);
- /* Does the point lie on the other side of the line defined by the */
- /* triangle edge opposite the triangle's origin? */
- orgorient = counterclockwise(m, b, fapex, fdest, searchpoint);
- if (destorient > 0.0) {
- if (orgorient > 0.0) {
- /* Move left if the inner product of (fapex - searchpoint) and */
- /* (fdest - forg) is positive. This is equivalent to drawing */
- /* a line perpendicular to the line (forg, fdest) and passing */
- /* through `fapex', and determining which side of this line */
- /* `searchpoint' falls on. */
- moveleft = (fapex[0] - searchpoint[0]) * (fdest[0] - forg[0]) +
- (fapex[1] - searchpoint[1]) * (fdest[1] - forg[1]) > 0.0;
- } else {
- moveleft = 1;
- }
- } else {
- if (orgorient > 0.0) {
- moveleft = 0;
- } else {
- /* The point we seek must be on the boundary of or inside this */
- /* triangle. */
- if (destorient == 0.0) {
- lprevself(*searchtri);
- return ONEDGE;
- }
- if (orgorient == 0.0) {
- lnextself(*searchtri);
- return ONEDGE;
- }
- return INTRIANGLE;
- }
- }
-
- /* Move to another triangle. Leave a trace `backtracktri' in case */
- /* floating-point roundoff or some such bogey causes us to walk */
- /* off a boundary of the triangulation. */
- if (moveleft) {
- lprev(*searchtri, backtracktri);
- fdest = fapex;
- } else {
- lnext(*searchtri, backtracktri);
- forg = fapex;
- }
- sym(backtracktri, *searchtri);
-
- if (m->checksegments && stopatsubsegment) {
- /* Check for walking through a subsegment. */
- tspivot(backtracktri, checkedge);
- if (checkedge.ss != m->dummysub) {
- /* Go back to the last triangle. */
- otricopy(backtracktri, *searchtri);
- return OUTSIDE;
- }
- }
- /* Check for walking right out of the triangulation. */
- if (searchtri->tri == m->dummytri) {
- /* Go back to the last triangle. */
- otricopy(backtracktri, *searchtri);
- return OUTSIDE;
- }
-
- apex(*searchtri, fapex);
- }
-}
-
-/*****************************************************************************/
-/* */
-/* locate() Find a triangle or edge containing a given point. */
-/* */
-/* Searching begins from one of: the input `searchtri', a recently */
-/* encountered triangle `recenttri', or from a triangle chosen from a */
-/* random sample. The choice is made by determining which triangle's */
-/* origin is closest to the point we are searching for. Normally, */
-/* `searchtri' should be a handle on the convex hull of the triangulation. */
-/* */
-/* Details on the random sampling method can be found in the Mucke, Saias, */
-/* and Zhu paper cited in the header of this code. */
-/* */
-/* On completion, `searchtri' is a triangle that contains `searchpoint'. */
-/* */
-/* Returns ONVERTEX if the point lies on an existing vertex. `searchtri' */
-/* is a handle whose origin is the existing vertex. */
-/* */
-/* Returns ONEDGE if the point lies on a mesh edge. `searchtri' is a */
-/* handle whose primary edge is the edge on which the point lies. */
-/* */
-/* Returns INTRIANGLE if the point lies strictly within a triangle. */
-/* `searchtri' is a handle on the triangle that contains the point. */
-/* */
-/* Returns OUTSIDE if the point lies outside the mesh. `searchtri' is a */
-/* handle whose primary edge the point is to the right of. This might */
-/* occur when the circumcenter of a triangle falls just slightly outside */
-/* the mesh due to floating-point roundoff error. It also occurs when */
-/* seeking a hole or region point that a foolish user has placed outside */
-/* the mesh. */
-/* */
-/* WARNING: This routine is designed for convex triangulations, and will */
-/* not generally work after the holes and concavities have been carved. */
-/* */
-/*****************************************************************************/
-
-enum locateresult locate(struct mesh *m, struct behavior *b,
- vertex searchpoint, struct otri *searchtri)
-{
- int **sampleblock;
- char *firsttri;
- struct otri sampletri;
- vertex torg, tdest;
- unsigned long alignptr;
- float searchdist, dist;
- float ahead;
- long samplesperblock, totalsamplesleft, samplesleft;
- long population, totalpopulation;
- triangle ptr; /* Temporary variable used by sym(). */
-
- if (b->verbose > 2) {
- printf(" Randomly sampling for a triangle near point (%.12g, %.12g).\n",
- searchpoint[0], searchpoint[1]);
- }
- /* Record the distance from the suggested starting triangle to the */
- /* point we seek. */
- org(*searchtri, torg);
- searchdist = (searchpoint[0] - torg[0]) * (searchpoint[0] - torg[0]) +
- (searchpoint[1] - torg[1]) * (searchpoint[1] - torg[1]);
- if (b->verbose > 2) {
- printf(" Boundary triangle has origin (%.12g, %.12g).\n",
- torg[0], torg[1]);
- }
-
- /* If a recently encountered triangle has been recorded and has not been */
- /* deallocated, test it as a good starting point. */
- if (m->recenttri.tri != (triangle *) NULL) {
- if (!deadtri(m->recenttri.tri)) {
- org(m->recenttri, torg);
- if ((torg[0] == searchpoint[0]) && (torg[1] == searchpoint[1])) {
- otricopy(m->recenttri, *searchtri);
- return ONVERTEX;
- }
- dist = (searchpoint[0] - torg[0]) * (searchpoint[0] - torg[0]) +
- (searchpoint[1] - torg[1]) * (searchpoint[1] - torg[1]);
- if (dist < searchdist) {
- otricopy(m->recenttri, *searchtri);
- searchdist = dist;
- if (b->verbose > 2) {
- printf(" Choosing recent triangle with origin (%.12g, %.12g).\n",
- torg[0], torg[1]);
- }
- }
- }
- }
-
- /* The number of random samples taken is proportional to the cube root of */
- /* the number of triangles in the mesh. The next bit of code assumes */
- /* that the number of triangles increases monotonically (or at least */
- /* doesn't decrease enough to matter). */
- while (SAMPLEFACTOR * m->samples * m->samples * m->samples <
- m->triangles.items) {
- m->samples++;
- }
-
- /* We'll draw ceiling(samples * TRIPERBLOCK / maxitems) random samples */
- /* from each block of triangles (except the first)--until we meet the */
- /* sample quota. The ceiling means that blocks at the end might be */
- /* neglected, but I don't care. */
- samplesperblock = (m->samples * TRIPERBLOCK - 1) / m->triangles.maxitems + 1;
- /* We'll draw ceiling(samples * itemsfirstblock / maxitems) random samples */
- /* from the first block of triangles. */
- samplesleft = (m->samples * m->triangles.itemsfirstblock - 1) /
- m->triangles.maxitems + 1;
- totalsamplesleft = m->samples;
- population = m->triangles.itemsfirstblock;
- totalpopulation = m->triangles.maxitems;
- sampleblock = m->triangles.firstblock;
- sampletri.orient = 0;
- while (totalsamplesleft > 0) {
- /* If we're in the last block, `population' needs to be corrected. */
- if (population > totalpopulation) {
- population = totalpopulation;
- }
- /* Find a pointer to the first triangle in the block. */
- alignptr = (unsigned long) (sampleblock + 1);
- firsttri = (char *) (alignptr +
- (unsigned long) m->triangles.alignbytes -
- (alignptr %
- (unsigned long) m->triangles.alignbytes));
-
- /* Choose `samplesleft' randomly sampled triangles in this block. */
- do {
- sampletri.tri = (triangle *) (firsttri +
- (randomnation((unsigned int) population) *
- m->triangles.itembytes));
- if (!deadtri(sampletri.tri)) {
- org(sampletri, torg);
- dist = (searchpoint[0] - torg[0]) * (searchpoint[0] - torg[0]) +
- (searchpoint[1] - torg[1]) * (searchpoint[1] - torg[1]);
- if (dist < searchdist) {
- otricopy(sampletri, *searchtri);
- searchdist = dist;
- if (b->verbose > 2) {
- printf(" Choosing triangle with origin (%.12g, %.12g).\n",
- torg[0], torg[1]);
- }
- }
- }
-
- samplesleft--;
- totalsamplesleft--;
- } while ((samplesleft > 0) && (totalsamplesleft > 0));
-
- if (totalsamplesleft > 0) {
- sampleblock = (int **) *sampleblock;
- samplesleft = samplesperblock;
- totalpopulation -= population;
- population = TRIPERBLOCK;
- }
- }
-
- /* Where are we? */
- org(*searchtri, torg);
- dest(*searchtri, tdest);
- /* Check the starting triangle's vertices. */
- if ((torg[0] == searchpoint[0]) && (torg[1] == searchpoint[1])) {
- return ONVERTEX;
- }
- if ((tdest[0] == searchpoint[0]) && (tdest[1] == searchpoint[1])) {
- lnextself(*searchtri);
- return ONVERTEX;
- }
- /* Orient `searchtri' to fit the preconditions of calling preciselocate(). */
- ahead = counterclockwise(m, b, torg, tdest, searchpoint);
- if (ahead < 0.0) {
- /* Turn around so that `searchpoint' is to the left of the */
- /* edge specified by `searchtri'. */
- symself(*searchtri);
- } else if (ahead == 0.0) {
- /* Check if `searchpoint' is between `torg' and `tdest'. */
- if (((torg[0] < searchpoint[0]) == (searchpoint[0] < tdest[0])) &&
- ((torg[1] < searchpoint[1]) == (searchpoint[1] < tdest[1]))) {
- return ONEDGE;
- }
- }
- return preciselocate(m, b, searchpoint, searchtri, 0);
-}
-
-/** **/
-/** **/
-/********* Point location routines end here *********/
-
-/********* Mesh transformation routines begin here *********/
-/** **/
-/** **/
-
-/*****************************************************************************/
-/* */
-/* insertsubseg() Create a new subsegment and insert it between two */
-/* triangles. */
-/* */
-/* The new subsegment is inserted at the edge described by the handle */
-/* `tri'. Its vertices are properly initialized. The marker `subsegmark' */
-/* is applied to the subsegment and, if appropriate, its vertices. */
-/* */
-/*****************************************************************************/
-
-void insertsubseg(struct mesh *m, struct behavior *b, struct otri *tri,
- int subsegmark)
-{
- struct otri oppotri;
- struct osub newsubseg;
- vertex triorg, tridest;
- triangle ptr; /* Temporary variable used by sym(). */
- subseg sptr; /* Temporary variable used by tspivot(). */
-
- org(*tri, triorg);
- dest(*tri, tridest);
- /* Mark vertices if possible. */
- if (vertexmark(triorg) == 0) {
- setvertexmark(triorg, subsegmark);
- }
- if (vertexmark(tridest) == 0) {
- setvertexmark(tridest, subsegmark);
- }
- /* Check if there's already a subsegment here. */
- tspivot(*tri, newsubseg);
- if (newsubseg.ss == m->dummysub) {
- /* Make new subsegment and initialize its vertices. */
- makesubseg(m, &newsubseg);
- setsorg(newsubseg, tridest);
- setsdest(newsubseg, triorg);
- setsegorg(newsubseg, tridest);
- setsegdest(newsubseg, triorg);
- /* Bond new subsegment to the two triangles it is sandwiched between. */
- /* Note that the facing triangle `oppotri' might be equal to */
- /* `dummytri' (outer space), but the new subsegment is bonded to it */
- /* all the same. */
- tsbond(*tri, newsubseg);
- sym(*tri, oppotri);
- ssymself(newsubseg);
- tsbond(oppotri, newsubseg);
- setmark(newsubseg, subsegmark);
- if (b->verbose > 2) {
- printf(" Inserting new ");
- printsubseg(m, b, &newsubseg);
- }
- } else {
- if (mark(newsubseg) == 0) {
- setmark(newsubseg, subsegmark);
- }
- }
-}
-
-/*****************************************************************************/
-/* */
-/* Terminology */
-/* */
-/* A "local transformation" replaces a small set of triangles with another */
-/* set of triangles. This may or may not involve inserting or deleting a */
-/* vertex. */
-/* */
-/* The term "casing" is used to describe the set of triangles that are */
-/* attached to the triangles being transformed, but are not transformed */
-/* themselves. Think of the casing as a fixed hollow structure inside */
-/* which all the action happens. A "casing" is only defined relative to */
-/* a single transformation; each occurrence of a transformation will */
-/* involve a different casing. */
-/* */
-/*****************************************************************************/
-
-/*****************************************************************************/
-/* */
-/* flip() Transform two triangles to two different triangles by flipping */
-/* an edge counterclockwise within a quadrilateral. */
-/* */
-/* Imagine the original triangles, abc and bad, oriented so that the */
-/* shared edge ab lies in a horizontal plane, with the vertex b on the left */
-/* and the vertex a on the right. The vertex c lies below the edge, and */
-/* the vertex d lies above the edge. The `flipedge' handle holds the edge */
-/* ab of triangle abc, and is directed left, from vertex a to vertex b. */
-/* */
-/* The triangles abc and bad are deleted and replaced by the triangles cdb */
-/* and dca. The triangles that represent abc and bad are NOT deallocated; */
-/* they are reused for dca and cdb, respectively. Hence, any handles that */
-/* may have held the original triangles are still valid, although not */
-/* directed as they were before. */
-/* */
-/* Upon completion of this routine, the `flipedge' handle holds the edge */
-/* dc of triangle dca, and is directed down, from vertex d to vertex c. */
-/* (Hence, the two triangles have rotated counterclockwise.) */
-/* */
-/* WARNING: This transformation is geometrically valid only if the */
-/* quadrilateral adbc is convex. Furthermore, this transformation is */
-/* valid only if there is not a subsegment between the triangles abc and */
-/* bad. This routine does not check either of these preconditions, and */
-/* it is the responsibility of the calling routine to ensure that they are */
-/* met. If they are not, the streets shall be filled with wailing and */
-/* gnashing of teeth. */
-/* */
-/*****************************************************************************/
-
-void flip(struct mesh *m, struct behavior *b, struct otri *flipedge)
-{
- struct otri botleft, botright;
- struct otri topleft, topright;
- struct otri top;
- struct otri botlcasing, botrcasing;
- struct otri toplcasing, toprcasing;
- struct osub botlsubseg, botrsubseg;
- struct osub toplsubseg, toprsubseg;
- vertex leftvertex, rightvertex, botvertex;
- vertex farvertex;
- triangle ptr; /* Temporary variable used by sym(). */
- subseg sptr; /* Temporary variable used by tspivot(). */
-
- /* Identify the vertices of the quadrilateral. */
- org(*flipedge, rightvertex);
- dest(*flipedge, leftvertex);
- apex(*flipedge, botvertex);
- sym(*flipedge, top);
- apex(top, farvertex);
-
- /* Identify the casing of the quadrilateral. */
- lprev(top, topleft);
- sym(topleft, toplcasing);
- lnext(top, topright);
- sym(topright, toprcasing);
- lnext(*flipedge, botleft);
- sym(botleft, botlcasing);
- lprev(*flipedge, botright);
- sym(botright, botrcasing);
- /* Rotate the quadrilateral one-quarter turn counterclockwise. */
- bond(topleft, botlcasing);
- bond(botleft, botrcasing);
- bond(botright, toprcasing);
- bond(topright, toplcasing);
-
- if (m->checksegments) {
- /* Check for subsegments and rebond them to the quadrilateral. */
- tspivot(topleft, toplsubseg);
- tspivot(botleft, botlsubseg);
- tspivot(botright, botrsubseg);
- tspivot(topright, toprsubseg);
- if (toplsubseg.ss == m->dummysub) {
- tsdissolve(topright);
- } else {
- tsbond(topright, toplsubseg);
- }
- if (botlsubseg.ss == m->dummysub) {
- tsdissolve(topleft);
- } else {
- tsbond(topleft, botlsubseg);
- }
- if (botrsubseg.ss == m->dummysub) {
- tsdissolve(botleft);
- } else {
- tsbond(botleft, botrsubseg);
- }
- if (toprsubseg.ss == m->dummysub) {
- tsdissolve(botright);
- } else {
- tsbond(botright, toprsubseg);
- }
- }
-
- /* New vertex assignments for the rotated quadrilateral. */
- setorg(*flipedge, farvertex);
- setdest(*flipedge, botvertex);
- setapex(*flipedge, rightvertex);
- setorg(top, botvertex);
- setdest(top, farvertex);
- setapex(top, leftvertex);
- if (b->verbose > 2) {
- printf(" Edge flip results in left ");
- printtriangle(m, b, &top);
- printf(" and right ");
- printtriangle(m, b, flipedge);
- }
-}
-
-/*****************************************************************************/
-/* */
-/* unflip() Transform two triangles to two different triangles by */
-/* flipping an edge clockwise within a quadrilateral. Reverses */
-/* the flip() operation so that the data structures representing */
-/* the triangles are back where they were before the flip(). */
-/* */
-/* Imagine the original triangles, abc and bad, oriented so that the */
-/* shared edge ab lies in a horizontal plane, with the vertex b on the left */
-/* and the vertex a on the right. The vertex c lies below the edge, and */
-/* the vertex d lies above the edge. The `flipedge' handle holds the edge */
-/* ab of triangle abc, and is directed left, from vertex a to vertex b. */
-/* */
-/* The triangles abc and bad are deleted and replaced by the triangles cdb */
-/* and dca. The triangles that represent abc and bad are NOT deallocated; */
-/* they are reused for cdb and dca, respectively. Hence, any handles that */
-/* may have held the original triangles are still valid, although not */
-/* directed as they were before. */
-/* */
-/* Upon completion of this routine, the `flipedge' handle holds the edge */
-/* cd of triangle cdb, and is directed up, from vertex c to vertex d. */
-/* (Hence, the two triangles have rotated clockwise.) */
-/* */
-/* WARNING: This transformation is geometrically valid only if the */
-/* quadrilateral adbc is convex. Furthermore, this transformation is */
-/* valid only if there is not a subsegment between the triangles abc and */
-/* bad. This routine does not check either of these preconditions, and */
-/* it is the responsibility of the calling routine to ensure that they are */
-/* met. If they are not, the streets shall be filled with wailing and */
-/* gnashing of teeth. */
-/* */
-/*****************************************************************************/
-
-void unflip(struct mesh *m, struct behavior *b, struct otri *flipedge)
-{
- struct otri botleft, botright;
- struct otri topleft, topright;
- struct otri top;
- struct otri botlcasing, botrcasing;
- struct otri toplcasing, toprcasing;
- struct osub botlsubseg, botrsubseg;
- struct osub toplsubseg, toprsubseg;
- vertex leftvertex, rightvertex, botvertex;
- vertex farvertex;
- triangle ptr; /* Temporary variable used by sym(). */
- subseg sptr; /* Temporary variable used by tspivot(). */
-
- /* Identify the vertices of the quadrilateral. */
- org(*flipedge, rightvertex);
- dest(*flipedge, leftvertex);
- apex(*flipedge, botvertex);
- sym(*flipedge, top);
- apex(top, farvertex);
-
- /* Identify the casing of the quadrilateral. */
- lprev(top, topleft);
- sym(topleft, toplcasing);
- lnext(top, topright);
- sym(topright, toprcasing);
- lnext(*flipedge, botleft);
- sym(botleft, botlcasing);
- lprev(*flipedge, botright);
- sym(botright, botrcasing);
- /* Rotate the quadrilateral one-quarter turn clockwise. */
- bond(topleft, toprcasing);
- bond(botleft, toplcasing);
- bond(botright, botlcasing);
- bond(topright, botrcasing);
-
- if (m->checksegments) {
- /* Check for subsegments and rebond them to the quadrilateral. */
- tspivot(topleft, toplsubseg);
- tspivot(botleft, botlsubseg);
- tspivot(botright, botrsubseg);
- tspivot(topright, toprsubseg);
- if (toplsubseg.ss == m->dummysub) {
- tsdissolve(botleft);
- } else {
- tsbond(botleft, toplsubseg);
- }
- if (botlsubseg.ss == m->dummysub) {
- tsdissolve(botright);
- } else {
- tsbond(botright, botlsubseg);
- }
- if (botrsubseg.ss == m->dummysub) {
- tsdissolve(topright);
- } else {
- tsbond(topright, botrsubseg);
- }
- if (toprsubseg.ss == m->dummysub) {
- tsdissolve(topleft);
- } else {
- tsbond(topleft, toprsubseg);
- }
- }
-
- /* New vertex assignments for the rotated quadrilateral. */
- setorg(*flipedge, botvertex);
- setdest(*flipedge, farvertex);
- setapex(*flipedge, leftvertex);
- setorg(top, farvertex);
- setdest(top, botvertex);
- setapex(top, rightvertex);
- if (b->verbose > 2) {
- printf(" Edge unflip results in left ");
- printtriangle(m, b, flipedge);
- printf(" and right ");
- printtriangle(m, b, &top);
- }
-}
-
-/*****************************************************************************/
-/* */
-/* insertvertex() Insert a vertex into a Delaunay triangulation, */
-/* performing flips as necessary to maintain the Delaunay */
-/* property. */
-/* */
-/* The point `insertvertex' is located. If `searchtri.tri' is not NULL, */
-/* the search for the containing triangle begins from `searchtri'. If */
-/* `searchtri.tri' is NULL, a full point location procedure is called. */
-/* If `insertvertex' is found inside a triangle, the triangle is split into */
-/* three; if `insertvertex' lies on an edge, the edge is split in two, */
-/* thereby splitting the two adjacent triangles into four. Edge flips are */
-/* used to restore the Delaunay property. If `insertvertex' lies on an */
-/* existing vertex, no action is taken, and the value DUPLICATEVERTEX is */
-/* returned. On return, `searchtri' is set to a handle whose origin is the */
-/* existing vertex. */
-/* */
-/* Normally, the parameter `splitseg' is set to NULL, implying that no */
-/* subsegment should be split. In this case, if `insertvertex' is found to */
-/* lie on a segment, no action is taken, and the value VIOLATINGVERTEX is */
-/* returned. On return, `searchtri' is set to a handle whose primary edge */
-/* is the violated subsegment. */
-/* */
-/* If the calling routine wishes to split a subsegment by inserting a */
-/* vertex in it, the parameter `splitseg' should be that subsegment. In */
-/* this case, `searchtri' MUST be the triangle handle reached by pivoting */
-/* from that subsegment; no point location is done. */
-/* */
-/* `segmentflaws' and `triflaws' are flags that indicate whether or not */
-/* there should be checks for the creation of encroached subsegments or bad */
-/* quality triangles. If a newly inserted vertex encroaches upon */
-/* subsegments, these subsegments are added to the list of subsegments to */
-/* be split if `segmentflaws' is set. If bad triangles are created, these */
-/* are added to the queue if `triflaws' is set. */
-/* */
-/* If a duplicate vertex or violated segment does not prevent the vertex */
-/* from being inserted, the return value will be ENCROACHINGVERTEX if the */
-/* vertex encroaches upon a subsegment (and checking is enabled), or */
-/* SUCCESSFULVERTEX otherwise. In either case, `searchtri' is set to a */
-/* handle whose origin is the newly inserted vertex. */
-/* */
-/* insertvertex() does not use flip() for reasons of speed; some */
-/* information can be reused from edge flip to edge flip, like the */
-/* locations of subsegments. */
-/* */
-/*****************************************************************************/
-
-enum insertvertexresult insertvertex(struct mesh *m, struct behavior *b,
- vertex newvertex, struct otri *searchtri,
- struct osub *splitseg,
- int segmentflaws, int triflaws)
-{
- struct otri horiz;
- struct otri top;
- struct otri botleft, botright;
- struct otri topleft, topright;
- struct otri newbotleft, newbotright;
- struct otri newtopright;
- struct otri botlcasing, botrcasing;
- struct otri toplcasing, toprcasing;
- struct otri testtri;
- struct osub botlsubseg, botrsubseg;
- struct osub toplsubseg, toprsubseg;
- struct osub brokensubseg;
- struct osub checksubseg;
- struct osub rightsubseg;
- struct osub newsubseg;
- struct badsubseg *encroached;
- struct flipstacker *newflip;
- vertex first;
- vertex leftvertex, rightvertex, botvertex, topvertex, farvertex;
- vertex segmentorg, segmentdest;
- float attrib;
- float area;
- enum insertvertexresult success;
- enum locateresult intersect;
- int doflip;
- int mirrorflag;
- int enq;
- int i;
- triangle ptr; /* Temporary variable used by sym(). */
- subseg sptr; /* Temporary variable used by spivot() and tspivot(). */
-
- if (b->verbose > 1) {
- printf(" Inserting (%.12g, %.12g).\n", newvertex[0], newvertex[1]);
- }
-
- if (splitseg == (struct osub *) NULL) {
- /* Find the location of the vertex to be inserted. Check if a good */
- /* starting triangle has already been provided by the caller. */
- if (searchtri->tri == m->dummytri) {
- /* Find a boundary triangle. */
- horiz.tri = m->dummytri;
- horiz.orient = 0;
- symself(horiz);
- /* Search for a triangle containing `newvertex'. */
- intersect = locate(m, b, newvertex, &horiz);
- } else {
- /* Start searching from the triangle provided by the caller. */
- otricopy(*searchtri, horiz);
- intersect = preciselocate(m, b, newvertex, &horiz, 1);
- }
- } else {
- /* The calling routine provides the subsegment in which */
- /* the vertex is inserted. */
- otricopy(*searchtri, horiz);
- intersect = ONEDGE;
- }
-
- if (intersect == ONVERTEX) {
- /* There's already a vertex there. Return in `searchtri' a triangle */
- /* whose origin is the existing vertex. */
- otricopy(horiz, *searchtri);
- otricopy(horiz, m->recenttri);
- return DUPLICATEVERTEX;
- }
- if ((intersect == ONEDGE) || (intersect == OUTSIDE)) {
- /* The vertex falls on an edge or boundary. */
- if (m->checksegments && (splitseg == (struct osub *) NULL)) {
- /* Check whether the vertex falls on a subsegment. */
- tspivot(horiz, brokensubseg);
- if (brokensubseg.ss != m->dummysub) {
- /* The vertex falls on a subsegment, and hence will not be inserted. */
- if (segmentflaws) {
- enq = b->nobisect != 2;
- if (enq && (b->nobisect == 1)) {
- /* This subsegment may be split only if it is an */
- /* internal boundary. */
- sym(horiz, testtri);
- enq = testtri.tri != m->dummytri;
- }
- if (enq) {
- /* Add the subsegment to the list of encroached subsegments. */
- encroached = (struct badsubseg *) poolalloc(&m->badsubsegs);
- encroached->encsubseg = sencode(brokensubseg);
- sorg(brokensubseg, encroached->subsegorg);
- sdest(brokensubseg, encroached->subsegdest);
- if (b->verbose > 2) {
- printf(
- " Queueing encroached subsegment (%.12g, %.12g) (%.12g, %.12g).\n",
- encroached->subsegorg[0], encroached->subsegorg[1],
- encroached->subsegdest[0], encroached->subsegdest[1]);
- }
- }
- }
- /* Return a handle whose primary edge contains the vertex, */
- /* which has not been inserted. */
- otricopy(horiz, *searchtri);
- otricopy(horiz, m->recenttri);
- return VIOLATINGVERTEX;
- }
- }
-
- /* Insert the vertex on an edge, dividing one triangle into two (if */
- /* the edge lies on a boundary) or two triangles into four. */
- lprev(horiz, botright);
- sym(botright, botrcasing);
- sym(horiz, topright);
- /* Is there a second triangle? (Or does this edge lie on a boundary?) */
- mirrorflag = topright.tri != m->dummytri;
- if (mirrorflag) {
- lnextself(topright);
- sym(topright, toprcasing);
- maketriangle(m, b, &newtopright);
- } else {
- /* Splitting a boundary edge increases the number of boundary edges. */
- m->hullsize++;
- }
- maketriangle(m, b, &newbotright);
-
- /* Set the vertices of changed and new triangles. */
- org(horiz, rightvertex);
- dest(horiz, leftvertex);
- apex(horiz, botvertex);
- setorg(newbotright, botvertex);
- setdest(newbotright, rightvertex);
- setapex(newbotright, newvertex);
- setorg(horiz, newvertex);
- for (i = 0; i < m->eextras; i++) {
- /* Set the element attributes of a new triangle. */
- setelemattribute(newbotright, i, elemattribute(botright, i));
- }
- if (b->vararea) {
- /* Set the area constraint of a new triangle. */
- setareabound(newbotright, areabound(botright));
- }
- if (mirrorflag) {
- dest(topright, topvertex);
- setorg(newtopright, rightvertex);
- setdest(newtopright, topvertex);
- setapex(newtopright, newvertex);
- setorg(topright, newvertex);
- for (i = 0; i < m->eextras; i++) {
- /* Set the element attributes of another new triangle. */
- setelemattribute(newtopright, i, elemattribute(topright, i));
- }
- if (b->vararea) {
- /* Set the area constraint of another new triangle. */
- setareabound(newtopright, areabound(topright));
- }
- }
-
- /* There may be subsegments that need to be bonded */
- /* to the new triangle(s). */
- if (m->checksegments) {
- tspivot(botright, botrsubseg);
- if (botrsubseg.ss != m->dummysub) {
- tsdissolve(botright);
- tsbond(newbotright, botrsubseg);
- }
- if (mirrorflag) {
- tspivot(topright, toprsubseg);
- if (toprsubseg.ss != m->dummysub) {
- tsdissolve(topright);
- tsbond(newtopright, toprsubseg);
- }
- }
- }
-
- /* Bond the new triangle(s) to the surrounding triangles. */
- bond(newbotright, botrcasing);
- lprevself(newbotright);
- bond(newbotright, botright);
- lprevself(newbotright);
- if (mirrorflag) {
- bond(newtopright, toprcasing);
- lnextself(newtopright);
- bond(newtopright, topright);
- lnextself(newtopright);
- bond(newtopright, newbotright);
- }
-
- if (splitseg != (struct osub *) NULL) {
- /* Split the subsegment into two. */
- setsdest(*splitseg, newvertex);
- segorg(*splitseg, segmentorg);
- segdest(*splitseg, segmentdest);
- ssymself(*splitseg);
- spivot(*splitseg, rightsubseg);
- insertsubseg(m, b, &newbotright, mark(*splitseg));
- tspivot(newbotright, newsubseg);
- setsegorg(newsubseg, segmentorg);
- setsegdest(newsubseg, segmentdest);
- sbond(*splitseg, newsubseg);
- ssymself(newsubseg);
- sbond(newsubseg, rightsubseg);
- ssymself(*splitseg);
- /* Transfer the subsegment's boundary marker to the vertex */
- /* if required. */
- if (vertexmark(newvertex) == 0) {
- setvertexmark(newvertex, mark(*splitseg));
- }
- }
-
- if (m->checkquality) {
- poolrestart(&m->flipstackers);
- m->lastflip = (struct flipstacker *) poolalloc(&m->flipstackers);
- m->lastflip->flippedtri = encode(horiz);
- m->lastflip->prevflip = (struct flipstacker *) &insertvertex;
- }
- if (b->verbose > 2) {
- printf(" Updating bottom left ");
- printtriangle(m, b, &botright);
- if (mirrorflag) {
- printf(" Updating top left ");
- printtriangle(m, b, &topright);
- printf(" Creating top right ");
- printtriangle(m, b, &newtopright);
- }
- printf(" Creating bottom right ");
- printtriangle(m, b, &newbotright);
- }
-
- /* Position `horiz' on the first edge to check for */
- /* the Delaunay property. */
- lnextself(horiz);
- } else {
- /* Insert the vertex in a triangle, splitting it into three. */
- lnext(horiz, botleft);
- lprev(horiz, botright);
- sym(botleft, botlcasing);
- sym(botright, botrcasing);
- maketriangle(m, b, &newbotleft);
- maketriangle(m, b, &newbotright);
-
- /* Set the vertices of changed and new triangles. */
- org(horiz, rightvertex);
- dest(horiz, leftvertex);
- apex(horiz, botvertex);
- setorg(newbotleft, leftvertex);
- setdest(newbotleft, botvertex);
- setapex(newbotleft, newvertex);
- setorg(newbotright, botvertex);
- setdest(newbotright, rightvertex);
- setapex(newbotright, newvertex);
- setapex(horiz, newvertex);
- for (i = 0; i < m->eextras; i++) {
- /* Set the element attributes of the new triangles. */
- attrib = elemattribute(horiz, i);
- setelemattribute(newbotleft, i, attrib);
- setelemattribute(newbotright, i, attrib);
- }
- if (b->vararea) {
- /* Set the area constraint of the new triangles. */
- area = areabound(horiz);
- setareabound(newbotleft, area);
- setareabound(newbotright, area);
- }
-
- /* There may be subsegments that need to be bonded */
- /* to the new triangles. */
- if (m->checksegments) {
- tspivot(botleft, botlsubseg);
- if (botlsubseg.ss != m->dummysub) {
- tsdissolve(botleft);
- tsbond(newbotleft, botlsubseg);
- }
- tspivot(botright, botrsubseg);
- if (botrsubseg.ss != m->dummysub) {
- tsdissolve(botright);
- tsbond(newbotright, botrsubseg);
- }
- }
-
- /* Bond the new triangles to the surrounding triangles. */
- bond(newbotleft, botlcasing);
- bond(newbotright, botrcasing);
- lnextself(newbotleft);
- lprevself(newbotright);
- bond(newbotleft, newbotright);
- lnextself(newbotleft);
- bond(botleft, newbotleft);
- lprevself(newbotright);
- bond(botright, newbotright);
-
- if (m->checkquality) {
- poolrestart(&m->flipstackers);
- m->lastflip = (struct flipstacker *) poolalloc(&m->flipstackers);
- m->lastflip->flippedtri = encode(horiz);
- m->lastflip->prevflip = (struct flipstacker *) NULL;
- }
- if (b->verbose > 2) {
- printf(" Updating top ");
- printtriangle(m, b, &horiz);
- printf(" Creating left ");
- printtriangle(m, b, &newbotleft);
- printf(" Creating right ");
- printtriangle(m, b, &newbotright);
- }
- }
-
- /* The insertion is successful by default, unless an encroached */
- /* subsegment is found. */
- success = SUCCESSFULVERTEX;
- /* Circle around the newly inserted vertex, checking each edge opposite */
- /* it for the Delaunay property. Non-Delaunay edges are flipped. */
- /* `horiz' is always the edge being checked. `first' marks where to */
- /* stop circling. */
- org(horiz, first);
- rightvertex = first;
- dest(horiz, leftvertex);
- /* Circle until finished. */
- while (1) {
- /* By default, the edge will be flipped. */
- doflip = 1;
-
- if (m->checksegments) {
- /* Check for a subsegment, which cannot be flipped. */
- tspivot(horiz, checksubseg);
- if (checksubseg.ss != m->dummysub) {
- /* The edge is a subsegment and cannot be flipped. */
- doflip = 0;
- }
- }
-
- if (doflip) {
- /* Check if the edge is a boundary edge. */
- sym(horiz, top);
- if (top.tri == m->dummytri) {
- /* The edge is a boundary edge and cannot be flipped. */
- doflip = 0;
- } else {
- /* Find the vertex on the other side of the edge. */
- apex(top, farvertex);
- /* In the incremental Delaunay triangulation algorithm, any of */
- /* `leftvertex', `rightvertex', and `farvertex' could be vertices */
- /* of the triangular bounding box. These vertices must be */
- /* treated as if they are infinitely distant, even though their */
- /* "coordinates" are not. */
- if ((leftvertex == m->infvertex1) || (leftvertex == m->infvertex2) ||
- (leftvertex == m->infvertex3)) {
- /* `leftvertex' is infinitely distant. Check the convexity of */
- /* the boundary of the triangulation. 'farvertex' might be */
- /* infinite as well, but trust me, this same condition should */
- /* be applied. */
- doflip = counterclockwise(m, b, newvertex, rightvertex, farvertex)
- > 0.0;
- } else if ((rightvertex == m->infvertex1) ||
- (rightvertex == m->infvertex2) ||
- (rightvertex == m->infvertex3)) {
- /* `rightvertex' is infinitely distant. Check the convexity of */
- /* the boundary of the triangulation. 'farvertex' might be */
- /* infinite as well, but trust me, this same condition should */
- /* be applied. */
- doflip = counterclockwise(m, b, farvertex, leftvertex, newvertex)
- > 0.0;
- } else if ((farvertex == m->infvertex1) ||
- (farvertex == m->infvertex2) ||
- (farvertex == m->infvertex3)) {
- /* `farvertex' is infinitely distant and cannot be inside */
- /* the circumcircle of the triangle `horiz'. */
- doflip = 0;
- } else {
- /* Test whether the edge is locally Delaunay. */
- doflip = incircle(m, b, leftvertex, newvertex, rightvertex,
- farvertex) > 0.0;
- }
- if (doflip) {
- /* We made it! Flip the edge `horiz' by rotating its containing */
- /* quadrilateral (the two triangles adjacent to `horiz'). */
- /* Identify the casing of the quadrilateral. */
- lprev(top, topleft);
- sym(topleft, toplcasing);
- lnext(top, topright);
- sym(topright, toprcasing);
- lnext(horiz, botleft);
- sym(botleft, botlcasing);
- lprev(horiz, botright);
- sym(botright, botrcasing);
- /* Rotate the quadrilateral one-quarter turn counterclockwise. */
- bond(topleft, botlcasing);
- bond(botleft, botrcasing);
- bond(botright, toprcasing);
- bond(topright, toplcasing);
- if (m->checksegments) {
- /* Check for subsegments and rebond them to the quadrilateral. */
- tspivot(topleft, toplsubseg);
- tspivot(botleft, botlsubseg);
- tspivot(botright, botrsubseg);
- tspivot(topright, toprsubseg);
- if (toplsubseg.ss == m->dummysub) {
- tsdissolve(topright);
- } else {
- tsbond(topright, toplsubseg);
- }
- if (botlsubseg.ss == m->dummysub) {
- tsdissolve(topleft);
- } else {
- tsbond(topleft, botlsubseg);
- }
- if (botrsubseg.ss == m->dummysub) {
- tsdissolve(botleft);
- } else {
- tsbond(botleft, botrsubseg);
- }
- if (toprsubseg.ss == m->dummysub) {
- tsdissolve(botright);
- } else {
- tsbond(botright, toprsubseg);
- }
- }
- /* New vertex assignments for the rotated quadrilateral. */
- setorg(horiz, farvertex);
- setdest(horiz, newvertex);
- setapex(horiz, rightvertex);
- setorg(top, newvertex);
- setdest(top, farvertex);
- setapex(top, leftvertex);
- for (i = 0; i < m->eextras; i++) {
- /* Take the average of the two triangles' attributes. */
- attrib = 0.5 * (elemattribute(top, i) + elemattribute(horiz, i));
- setelemattribute(top, i, attrib);
- setelemattribute(horiz, i, attrib);
- }
- if (b->vararea) {
- if ((areabound(top) <= 0.0) || (areabound(horiz) <= 0.0)) {
- area = -1.0;
- } else {
- /* Take the average of the two triangles' area constraints. */
- /* This prevents small area constraints from migrating a */
- /* long, long way from their original location due to flips. */
- area = 0.5 * (areabound(top) + areabound(horiz));
- }
- setareabound(top, area);
- setareabound(horiz, area);
- }
-
- if (m->checkquality) {
- newflip = (struct flipstacker *) poolalloc(&m->flipstackers);
- newflip->flippedtri = encode(horiz);
- newflip->prevflip = m->lastflip;
- m->lastflip = newflip;
- }
- if (b->verbose > 2) {
- printf(" Edge flip results in left ");
- lnextself(topleft);
- printtriangle(m, b, &topleft);
- printf(" and right ");
- printtriangle(m, b, &horiz);
- }
- /* On the next iterations, consider the two edges that were */
- /* exposed (this is, are now visible to the newly inserted */
- /* vertex) by the edge flip. */
- lprevself(horiz);
- leftvertex = farvertex;
- }
- }
- }
- if (!doflip) {
- /* The handle `horiz' is accepted as locally Delaunay. */
- /* Look for the next edge around the newly inserted vertex. */
- lnextself(horiz);
- sym(horiz, testtri);
- /* Check for finishing a complete revolution about the new vertex, or */
- /* falling outside of the triangulation. The latter will happen */
- /* when a vertex is inserted at a boundary. */
- if ((leftvertex == first) || (testtri.tri == m->dummytri)) {
- /* We're done. Return a triangle whose origin is the new vertex. */
- lnext(horiz, *searchtri);
- lnext(horiz, m->recenttri);
- return success;
- }
- /* Finish finding the next edge around the newly inserted vertex. */
- lnext(testtri, horiz);
- rightvertex = leftvertex;
- dest(horiz, leftvertex);
- }
- }
-}
-
-/*****************************************************************************/
-/* */
-/* triangulatepolygon() Find the Delaunay triangulation of a polygon that */
-/* has a certain "nice" shape. This includes the */
-/* polygons that result from deletion of a vertex or */
-/* insertion of a segment. */
-/* */
-/* This is a conceptually difficult routine. The starting assumption is */
-/* that we have a polygon with n sides. n - 1 of these sides are currently */
-/* represented as edges in the mesh. One side, called the "base", need not */
-/* be. */
-/* */
-/* Inside the polygon is a structure I call a "fan", consisting of n - 1 */
-/* triangles that share a common origin. For each of these triangles, the */
-/* edge opposite the origin is one of the sides of the polygon. The */
-/* primary edge of each triangle is the edge directed from the origin to */
-/* the destination; note that this is not the same edge that is a side of */
-/* the polygon. `firstedge' is the primary edge of the first triangle. */
-/* From there, the triangles follow in counterclockwise order about the */
-/* polygon, until `lastedge', the primary edge of the last triangle. */
-/* `firstedge' and `lastedge' are probably connected to other triangles */
-/* beyond the extremes of the fan, but their identity is not important, as */
-/* long as the fan remains connected to them. */
-/* */
-/* Imagine the polygon oriented so that its base is at the bottom. This */
-/* puts `firstedge' on the far right, and `lastedge' on the far left. */
-/* The right vertex of the base is the destination of `firstedge', and the */
-/* left vertex of the base is the apex of `lastedge'. */
-/* */
-/* The challenge now is to find the right sequence of edge flips to */
-/* transform the fan into a Delaunay triangulation of the polygon. Each */
-/* edge flip effectively removes one triangle from the fan, committing it */
-/* to the polygon. The resulting polygon has one fewer edge. If `doflip' */
-/* is set, the final flip will be performed, resulting in a fan of one */
-/* (useless?) triangle. If `doflip' is not set, the final flip is not */
-/* performed, resulting in a fan of two triangles, and an unfinished */
-/* triangular polygon that is not yet filled out with a single triangle. */
-/* On completion of the routine, `lastedge' is the last remaining triangle, */
-/* or the leftmost of the last two. */
-/* */
-/* Although the flips are performed in the order described above, the */
-/* decisions about what flips to perform are made in precisely the reverse */
-/* order. The recursive triangulatepolygon() procedure makes a decision, */
-/* uses up to two recursive calls to triangulate the "subproblems" */
-/* (polygons with fewer edges), and then performs an edge flip. */
-/* */
-/* The "decision" it makes is which vertex of the polygon should be */
-/* connected to the base. This decision is made by testing every possible */
-/* vertex. Once the best vertex is found, the two edges that connect this */
-/* vertex to the base become the bases for two smaller polygons. These */
-/* are triangulated recursively. Unfortunately, this approach can take */
-/* O(n^2) time not only in the worst case, but in many common cases. It's */
-/* rarely a big deal for vertex deletion, where n is rarely larger than */
-/* ten, but it could be a big deal for segment insertion, especially if */
-/* there's a lot of long segments that each cut many triangles. I ought to */
-/* code a faster algorithm some day. */
-/* */
-/* The `edgecount' parameter is the number of sides of the polygon, */
-/* including its base. `triflaws' is a flag that determines whether the */
-/* new triangles should be tested for quality, and enqueued if they are */
-/* bad. */
-/* */
-/*****************************************************************************/
-
-void triangulatepolygon(struct mesh *m, struct behavior *b,
- struct otri *firstedge, struct otri *lastedge,
- int edgecount, int doflip, int triflaws)
-{
- struct otri testtri;
- struct otri besttri;
- struct otri tempedge;
- vertex leftbasevertex, rightbasevertex;
- vertex testvertex;
- vertex bestvertex;
- int bestnumber;
- int i;
- triangle ptr; /* Temporary variable used by sym(), onext(), and oprev(). */
-
- /* Identify the base vertices. */
- apex(*lastedge, leftbasevertex);
- dest(*firstedge, rightbasevertex);
- if (b->verbose > 2) {
- printf(" Triangulating interior polygon at edge\n");
- printf(" (%.12g, %.12g) (%.12g, %.12g)\n", leftbasevertex[0],
- leftbasevertex[1], rightbasevertex[0], rightbasevertex[1]);
- }
- /* Find the best vertex to connect the base to. */
- onext(*firstedge, besttri);
- dest(besttri, bestvertex);
- otricopy(besttri, testtri);
- bestnumber = 1;
- for (i = 2; i <= edgecount - 2; i++) {
- onextself(testtri);
- dest(testtri, testvertex);
- /* Is this a better vertex? */
- if (incircle(m, b, leftbasevertex, rightbasevertex, bestvertex,
- testvertex) > 0.0) {
- otricopy(testtri, besttri);
- bestvertex = testvertex;
- bestnumber = i;
- }
- }
- if (b->verbose > 2) {
- printf(" Connecting edge to (%.12g, %.12g)\n", bestvertex[0],
- bestvertex[1]);
- }
- if (bestnumber > 1) {
- /* Recursively triangulate the smaller polygon on the right. */
- oprev(besttri, tempedge);
- triangulatepolygon(m, b, firstedge, &tempedge, bestnumber + 1, 1,
- triflaws);
- }
- if (bestnumber < edgecount - 2) {
- /* Recursively triangulate the smaller polygon on the left. */
- sym(besttri, tempedge);
- triangulatepolygon(m, b, &besttri, lastedge, edgecount - bestnumber, 1,
- triflaws);
- /* Find `besttri' again; it may have been lost to edge flips. */
- sym(tempedge, besttri);
- }
- if (doflip) {
- /* Do one final edge flip. */
- flip(m, b, &besttri);
- }
- /* Return the base triangle. */
- otricopy(besttri, *lastedge);
-}
-
-/** **/
-/** **/
-/********* Mesh transformation routines end here *********/
-
-/********* Divide-and-conquer Delaunay triangulation begins here *********/
-/** **/
-/** **/
-
-/*****************************************************************************/
-/* */
-/* The divide-and-conquer bounding box */
-/* */
-/* I originally implemented the divide-and-conquer and incremental Delaunay */
-/* triangulations using the edge-based data structure presented by Guibas */
-/* and Stolfi. Switching to a triangle-based data structure doubled the */
-/* speed. However, I had to think of a few extra tricks to maintain the */
-/* elegance of the original algorithms. */
-/* */
-/* The "bounding box" used by my variant of the divide-and-conquer */
-/* algorithm uses one triangle for each edge of the convex hull of the */
-/* triangulation. These bounding triangles all share a common apical */
-/* vertex, which is represented by NULL and which represents nothing. */
-/* The bounding triangles are linked in a circular fan about this NULL */
-/* vertex, and the edges on the convex hull of the triangulation appear */
-/* opposite the NULL vertex. You might find it easiest to imagine that */
-/* the NULL vertex is a point in 3D space behind the center of the */
-/* triangulation, and that the bounding triangles form a sort of cone. */
-/* */
-/* This bounding box makes it easy to represent degenerate cases. For */
-/* instance, the triangulation of two vertices is a single edge. This edge */
-/* is represented by two bounding box triangles, one on each "side" of the */
-/* edge. These triangles are also linked together in a fan about the NULL */
-/* vertex. */
-/* */
-/* The bounding box also makes it easy to traverse the convex hull, as the */
-/* divide-and-conquer algorithm needs to do. */
-/* */
-/*****************************************************************************/
-
-/*****************************************************************************/
-/* */
-/* vertexsort() Sort an array of vertices by x-coordinate, using the */
-/* y-coordinate as a secondary key. */
-/* */
-/* Uses quicksort. Randomized O(n log n) time. No, I did not make any of */
-/* the usual quicksort mistakes. */
-/* */
-/*****************************************************************************/
-
-void vertexsort(vertex *sortarray, int arraysize)
-{
- int left, right;
- int pivot;
- float pivotx, pivoty;
- vertex temp;
-
- if (arraysize == 2) {
- /* Recursive base case. */
- if ((sortarray[0][0] > sortarray[1][0]) ||
- ((sortarray[0][0] == sortarray[1][0]) &&
- (sortarray[0][1] > sortarray[1][1]))) {
- temp = sortarray[1];
- sortarray[1] = sortarray[0];
- sortarray[0] = temp;
- }
- return;
- }
- /* Choose a random pivot to split the array. */
- pivot = (int) randomnation((unsigned int) arraysize);
- pivotx = sortarray[pivot][0];
- pivoty = sortarray[pivot][1];
- /* Split the array. */
- left = -1;
- right = arraysize;
- while (left < right) {
- /* Search for a vertex whose x-coordinate is too large for the left. */
- do {
- left++;
- } while ((left <= right) && ((sortarray[left][0] < pivotx) ||
- ((sortarray[left][0] == pivotx) &&
- (sortarray[left][1] < pivoty))));
- /* Search for a vertex whose x-coordinate is too small for the right. */
- do {
- right--;
- } while ((left <= right) && ((sortarray[right][0] > pivotx) ||
- ((sortarray[right][0] == pivotx) &&
- (sortarray[right][1] > pivoty))));
- if (left < right) {
- /* Swap the left and right vertices. */
- temp = sortarray[left];
- sortarray[left] = sortarray[right];
- sortarray[right] = temp;
- }
- }
- if (left > 1) {
- /* Recursively sort the left subset. */
- vertexsort(sortarray, left);
- }
- if (right < arraysize - 2) {
- /* Recursively sort the right subset. */
- vertexsort(&sortarray[right + 1], arraysize - right - 1);
- }
-}
-
-/*****************************************************************************/
-/* */
-/* vertexmedian() An order statistic algorithm, almost. Shuffles an */
-/* array of vertices so that the first `median' vertices */
-/* occur lexicographically before the remaining vertices. */
-/* */
-/* Uses the x-coordinate as the primary key if axis == 0; the y-coordinate */
-/* if axis == 1. Very similar to the vertexsort() procedure, but runs in */
-/* randomized linear time. */
-/* */
-/*****************************************************************************/
-
-void vertexmedian(vertex *sortarray, int arraysize, int median, int axis)
-{
- int left, right;
- int pivot;
- float pivot1, pivot2;
- vertex temp;
-
- if (arraysize == 2) {
- /* Recursive base case. */
- if ((sortarray[0][axis] > sortarray[1][axis]) ||
- ((sortarray[0][axis] == sortarray[1][axis]) &&
- (sortarray[0][1 - axis] > sortarray[1][1 - axis]))) {
- temp = sortarray[1];
- sortarray[1] = sortarray[0];
- sortarray[0] = temp;
- }
- return;
- }
- /* Choose a random pivot to split the array. */
- pivot = (int) randomnation((unsigned int) arraysize);
- pivot1 = sortarray[pivot][axis];
- pivot2 = sortarray[pivot][1 - axis];
- /* Split the array. */
- left = -1;
- right = arraysize;
- while (left < right) {
- /* Search for a vertex whose x-coordinate is too large for the left. */
- do {
- left++;
- } while ((left <= right) && ((sortarray[left][axis] < pivot1) ||
- ((sortarray[left][axis] == pivot1) &&
- (sortarray[left][1 - axis] < pivot2))));
- /* Search for a vertex whose x-coordinate is too small for the right. */
- do {
- right--;
- } while ((left <= right) && ((sortarray[right][axis] > pivot1) ||
- ((sortarray[right][axis] == pivot1) &&
- (sortarray[right][1 - axis] > pivot2))));
- if (left < right) {
- /* Swap the left and right vertices. */
- temp = sortarray[left];
- sortarray[left] = sortarray[right];
- sortarray[right] = temp;
- }
- }
- /* Unlike in vertexsort(), at most one of the following */
- /* conditionals is true. */
- if (left > median) {
- /* Recursively shuffle the left subset. */
- vertexmedian(sortarray, left, median, axis);
- }
- if (right < median - 1) {
- /* Recursively shuffle the right subset. */
- vertexmedian(&sortarray[right + 1], arraysize - right - 1,
- median - right - 1, axis);
- }
-}
-
-/*****************************************************************************/
-/* */
-/* alternateaxes() Sorts the vertices as appropriate for the divide-and- */
-/* conquer algorithm with alternating cuts. */
-/* */
-/* Partitions by x-coordinate if axis == 0; by y-coordinate if axis == 1. */
-/* For the base case, subsets containing only two or three vertices are */
-/* always sorted by x-coordinate. */
-/* */
-/*****************************************************************************/
-
-void alternateaxes(vertex *sortarray, int arraysize, int axis)
-{
- int divider;
-
- divider = arraysize >> 1;
- if (arraysize <= 3) {
- /* Recursive base case: subsets of two or three vertices will be */
- /* handled specially, and should always be sorted by x-coordinate. */
- axis = 0;
- }
- /* Partition with a horizontal or vertical cut. */
- vertexmedian(sortarray, arraysize, divider, axis);
- /* Recursively partition the subsets with a cross cut. */
- if (arraysize - divider >= 2) {
- if (divider >= 2) {
- alternateaxes(sortarray, divider, 1 - axis);
- }
- alternateaxes(&sortarray[divider], arraysize - divider, 1 - axis);
- }
-}
-
-/*****************************************************************************/
-/* */
-/* mergehulls() Merge two adjacent Delaunay triangulations into a */
-/* single Delaunay triangulation. */
-/* */
-/* This is similar to the algorithm given by Guibas and Stolfi, but uses */
-/* a triangle-based, rather than edge-based, data structure. */
-/* */
-/* The algorithm walks up the gap between the two triangulations, knitting */
-/* them together. As they are merged, some of their bounding triangles */
-/* are converted into real triangles of the triangulation. The procedure */
-/* pulls each hull's bounding triangles apart, then knits them together */
-/* like the teeth of two gears. The Delaunay property determines, at each */
-/* step, whether the next "tooth" is a bounding triangle of the left hull */
-/* or the right. When a bounding triangle becomes real, its apex is */
-/* changed from NULL to a real vertex. */
-/* */
-/* Only two new triangles need to be allocated. These become new bounding */
-/* triangles at the top and bottom of the seam. They are used to connect */
-/* the remaining bounding triangles (those that have not been converted */
-/* into real triangles) into a single fan. */
-/* */
-/* On entry, `farleft' and `innerleft' are bounding triangles of the left */
-/* triangulation. The origin of `farleft' is the leftmost vertex, and */
-/* the destination of `innerleft' is the rightmost vertex of the */
-/* triangulation. Similarly, `innerright' and `farright' are bounding */
-/* triangles of the right triangulation. The origin of `innerright' and */
-/* destination of `farright' are the leftmost and rightmost vertices. */
-/* */
-/* On completion, the origin of `farleft' is the leftmost vertex of the */
-/* merged triangulation, and the destination of `farright' is the rightmost */
-/* vertex. */
-/* */
-/*****************************************************************************/
-
-void mergehulls(struct mesh *m, struct behavior *b, struct otri *farleft,
- struct otri *innerleft, struct otri *innerright,
- struct otri *farright, int axis)
-{
- struct otri leftcand, rightcand;
- struct otri baseedge;
- struct otri nextedge;
- struct otri sidecasing, topcasing, outercasing;
- struct otri checkedge;
- vertex innerleftdest;
- vertex innerrightorg;
- vertex innerleftapex, innerrightapex;
- vertex farleftpt, farrightpt;
- vertex farleftapex, farrightapex;
- vertex lowerleft, lowerright;
- vertex upperleft, upperright;
- vertex nextapex;
- vertex checkvertex;
- int changemade;
- int badedge;
- int leftfinished, rightfinished;
- triangle ptr; /* Temporary variable used by sym(). */
-
- dest(*innerleft, innerleftdest);
- apex(*innerleft, innerleftapex);
- org(*innerright, innerrightorg);
- apex(*innerright, innerrightapex);
- /* Special treatment for horizontal cuts. */
- if (b->dwyer && (axis == 1)) {
- org(*farleft, farleftpt);
- apex(*farleft, farleftapex);
- dest(*farright, farrightpt);
- apex(*farright, farrightapex);
- /* The pointers to the extremal vertices are shifted to point to the */
- /* topmost and bottommost vertex of each hull, rather than the */
- /* leftmost and rightmost vertices. */
- while (farleftapex[1] < farleftpt[1]) {
- lnextself(*farleft);
- symself(*farleft);
- farleftpt = farleftapex;
- apex(*farleft, farleftapex);
- }
- sym(*innerleft, checkedge);
- apex(checkedge, checkvertex);
- while (checkvertex[1] > innerleftdest[1]) {
- lnext(checkedge, *innerleft);
- innerleftapex = innerleftdest;
- innerleftdest = checkvertex;
- sym(*innerleft, checkedge);
- apex(checkedge, checkvertex);
- }
- while (innerrightapex[1] < innerrightorg[1]) {
- lnextself(*innerright);
- symself(*innerright);
- innerrightorg = innerrightapex;
- apex(*innerright, innerrightapex);
- }
- sym(*farright, checkedge);
- apex(checkedge, checkvertex);
- while (checkvertex[1] > farrightpt[1]) {
- lnext(checkedge, *farright);
- farrightapex = farrightpt;
- farrightpt = checkvertex;
- sym(*farright, checkedge);
- apex(checkedge, checkvertex);
- }
- }
- /* Find a line tangent to and below both hulls. */
- do {
- changemade = 0;
- /* Make innerleftdest the "bottommost" vertex of the left hull. */
- if (counterclockwise(m, b, innerleftdest, innerleftapex, innerrightorg) >
- 0.0) {
- lprevself(*innerleft);
- symself(*innerleft);
- innerleftdest = innerleftapex;
- apex(*innerleft, innerleftapex);
- changemade = 1;
- }
- /* Make innerrightorg the "bottommost" vertex of the right hull. */
- if (counterclockwise(m, b, innerrightapex, innerrightorg, innerleftdest) >
- 0.0) {
- lnextself(*innerright);
- symself(*innerright);
- innerrightorg = innerrightapex;
- apex(*innerright, innerrightapex);
- changemade = 1;
- }
- } while (changemade);
- /* Find the two candidates to be the next "gear tooth." */
- sym(*innerleft, leftcand);
- sym(*innerright, rightcand);
- /* Create the bottom new bounding triangle. */
- maketriangle(m, b, &baseedge);
- /* Connect it to the bounding boxes of the left and right triangulations. */
- bond(baseedge, *innerleft);
- lnextself(baseedge);
- bond(baseedge, *innerright);
- lnextself(baseedge);
- setorg(baseedge, innerrightorg);
- setdest(baseedge, innerleftdest);
- /* Apex is intentionally left NULL. */
- if (b->verbose > 2) {
- printf(" Creating base bounding ");
- printtriangle(m, b, &baseedge);
- }
- /* Fix the extreme triangles if necessary. */
- org(*farleft, farleftpt);
- if (innerleftdest == farleftpt) {
- lnext(baseedge, *farleft);
- }
- dest(*farright, farrightpt);
- if (innerrightorg == farrightpt) {
- lprev(baseedge, *farright);
- }
- /* The vertices of the current knitting edge. */
- lowerleft = innerleftdest;
- lowerright = innerrightorg;
- /* The candidate vertices for knitting. */
- apex(leftcand, upperleft);
- apex(rightcand, upperright);
- /* Walk up the gap between the two triangulations, knitting them together. */
- while (1) {
- /* Have we reached the top? (This isn't quite the right question, */
- /* because even though the left triangulation might seem finished now, */
- /* moving up on the right triangulation might reveal a new vertex of */
- /* the left triangulation. And vice-versa.) */
- leftfinished = counterclockwise(m, b, upperleft, lowerleft, lowerright) <=
- 0.0;
- rightfinished = counterclockwise(m, b, upperright, lowerleft, lowerright)
- <= 0.0;
- if (leftfinished && rightfinished) {
- /* Create the top new bounding triangle. */
- maketriangle(m, b, &nextedge);
- setorg(nextedge, lowerleft);
- setdest(nextedge, lowerright);
- /* Apex is intentionally left NULL. */
- /* Connect it to the bounding boxes of the two triangulations. */
- bond(nextedge, baseedge);
- lnextself(nextedge);
- bond(nextedge, rightcand);
- lnextself(nextedge);
- bond(nextedge, leftcand);
- if (b->verbose > 2) {
- printf(" Creating top bounding ");
- printtriangle(m, b, &nextedge);
- }
- /* Special treatment for horizontal cuts. */
- if (b->dwyer && (axis == 1)) {
- org(*farleft, farleftpt);
- apex(*farleft, farleftapex);
- dest(*farright, farrightpt);
- apex(*farright, farrightapex);
- sym(*farleft, checkedge);
- apex(checkedge, checkvertex);
- /* The pointers to the extremal vertices are restored to the */
- /* leftmost and rightmost vertices (rather than topmost and */
- /* bottommost). */
- while (checkvertex[0] < farleftpt[0]) {
- lprev(checkedge, *farleft);
- farleftapex = farleftpt;
- farleftpt = checkvertex;
- sym(*farleft, checkedge);
- apex(checkedge, checkvertex);
- }
- while (farrightapex[0] > farrightpt[0]) {
- lprevself(*farright);
- symself(*farright);
- farrightpt = farrightapex;
- apex(*farright, farrightapex);
- }
- }
- return;
- }
- /* Consider eliminating edges from the left triangulation. */
- if (!leftfinished) {
- /* What vertex would be exposed if an edge were deleted? */
- lprev(leftcand, nextedge);
- symself(nextedge);
- apex(nextedge, nextapex);
- /* If nextapex is NULL, then no vertex would be exposed; the */
- /* triangulation would have been eaten right through. */
- if (nextapex != (vertex) NULL) {
- /* Check whether the edge is Delaunay. */
- badedge = incircle(m, b, lowerleft, lowerright, upperleft, nextapex) >
- 0.0;
- while (badedge) {
- /* Eliminate the edge with an edge flip. As a result, the */
- /* left triangulation will have one more boundary triangle. */
- lnextself(nextedge);
- sym(nextedge, topcasing);
- lnextself(nextedge);
- sym(nextedge, sidecasing);
- bond(nextedge, topcasing);
- bond(leftcand, sidecasing);
- lnextself(leftcand);
- sym(leftcand, outercasing);
- lprevself(nextedge);
- bond(nextedge, outercasing);
- /* Correct the vertices to reflect the edge flip. */
- setorg(leftcand, lowerleft);
- setdest(leftcand, NULL);
- setapex(leftcand, nextapex);
- setorg(nextedge, NULL);
- setdest(nextedge, upperleft);
- setapex(nextedge, nextapex);
- /* Consider the newly exposed vertex. */
- upperleft = nextapex;
- /* What vertex would be exposed if another edge were deleted? */
- otricopy(sidecasing, nextedge);
- apex(nextedge, nextapex);
- if (nextapex != (vertex) NULL) {
- /* Check whether the edge is Delaunay. */
- badedge = incircle(m, b, lowerleft, lowerright, upperleft,
- nextapex) > 0.0;
- } else {
- /* Avoid eating right through the triangulation. */
- badedge = 0;
- }
- }
- }
- }
- /* Consider eliminating edges from the right triangulation. */
- if (!rightfinished) {
- /* What vertex would be exposed if an edge were deleted? */
- lnext(rightcand, nextedge);
- symself(nextedge);
- apex(nextedge, nextapex);
- /* If nextapex is NULL, then no vertex would be exposed; the */
- /* triangulation would have been eaten right through. */
- if (nextapex != (vertex) NULL) {
- /* Check whether the edge is Delaunay. */
- badedge = incircle(m, b, lowerleft, lowerright, upperright, nextapex) >
- 0.0;
- while (badedge) {
- /* Eliminate the edge with an edge flip. As a result, the */
- /* right triangulation will have one more boundary triangle. */
- lprevself(nextedge);
- sym(nextedge, topcasing);
- lprevself(nextedge);
- sym(nextedge, sidecasing);
- bond(nextedge, topcasing);
- bond(rightcand, sidecasing);
- lprevself(rightcand);
- sym(rightcand, outercasing);
- lnextself(nextedge);
- bond(nextedge, outercasing);
- /* Correct the vertices to reflect the edge flip. */
- setorg(rightcand, NULL);
- setdest(rightcand, lowerright);
- setapex(rightcand, nextapex);
- setorg(nextedge, upperright);
- setdest(nextedge, NULL);
- setapex(nextedge, nextapex);
- /* Consider the newly exposed vertex. */
- upperright = nextapex;
- /* What vertex would be exposed if another edge were deleted? */
- otricopy(sidecasing, nextedge);
- apex(nextedge, nextapex);
- if (nextapex != (vertex) NULL) {
- /* Check whether the edge is Delaunay. */
- badedge = incircle(m, b, lowerleft, lowerright, upperright,
- nextapex) > 0.0;
- } else {
- /* Avoid eating right through the triangulation. */
- badedge = 0;
- }
- }
- }
- }
- if (leftfinished || (!rightfinished &&
- (incircle(m, b, upperleft, lowerleft, lowerright, upperright) >
- 0.0))) {
- /* Knit the triangulations, adding an edge from `lowerleft' */
- /* to `upperright'. */
- bond(baseedge, rightcand);
- lprev(rightcand, baseedge);
- setdest(baseedge, lowerleft);
- lowerright = upperright;
- sym(baseedge, rightcand);
- apex(rightcand, upperright);
- } else {
- /* Knit the triangulations, adding an edge from `upperleft' */
- /* to `lowerright'. */
- bond(baseedge, leftcand);
- lnext(leftcand, baseedge);
- setorg(baseedge, lowerright);
- lowerleft = upperleft;
- sym(baseedge, leftcand);
- apex(leftcand, upperleft);
- }
- if (b->verbose > 2) {
- printf(" Connecting ");
- printtriangle(m, b, &baseedge);
- }
- }
-}
-
-/*****************************************************************************/
-/* */
-/* divconqrecurse() Recursively form a Delaunay triangulation by the */
-/* divide-and-conquer method. */
-/* */
-/* Recursively breaks down the problem into smaller pieces, which are */
-/* knitted together by mergehulls(). The base cases (problems of two or */
-/* three vertices) are handled specially here. */
-/* */
-/* On completion, `farleft' and `farright' are bounding triangles such that */
-/* the origin of `farleft' is the leftmost vertex (breaking ties by */
-/* choosing the highest leftmost vertex), and the destination of */
-/* `farright' is the rightmost vertex (breaking ties by choosing the */
-/* lowest rightmost vertex). */
-/* */
-/*****************************************************************************/
-
-void divconqrecurse(struct mesh *m, struct behavior *b, vertex *sortarray,
- int vertices, int axis,
- struct otri *farleft, struct otri *farright)
-{
- struct otri midtri, tri1, tri2, tri3;
- struct otri innerleft, innerright;
- float area;
- int divider;
-
- if (b->verbose > 2) {
- printf(" Triangulating %d vertices.\n", vertices);
- }
- if (vertices == 2) {
- /* The triangulation of two vertices is an edge. An edge is */
- /* represented by two bounding triangles. */
- maketriangle(m, b, farleft);
- setorg(*farleft, sortarray[0]);
- setdest(*farleft, sortarray[1]);
- /* The apex is intentionally left NULL. */
- maketriangle(m, b, farright);
- setorg(*farright, sortarray[1]);
- setdest(*farright, sortarray[0]);
- /* The apex is intentionally left NULL. */
- bond(*farleft, *farright);
- lprevself(*farleft);
- lnextself(*farright);
- bond(*farleft, *farright);
- lprevself(*farleft);
- lnextself(*farright);
- bond(*farleft, *farright);
- if (b->verbose > 2) {
- printf(" Creating ");
- printtriangle(m, b, farleft);
- printf(" Creating ");
- printtriangle(m, b, farright);
- }
- /* Ensure that the origin of `farleft' is sortarray[0]. */
- lprev(*farright, *farleft);
- return;
- } else if (vertices == 3) {
- /* The triangulation of three vertices is either a triangle (with */
- /* three bounding triangles) or two edges (with four bounding */
- /* triangles). In either case, four triangles are created. */
- maketriangle(m, b, &midtri);
- maketriangle(m, b, &tri1);
- maketriangle(m, b, &tri2);
- maketriangle(m, b, &tri3);
- area = counterclockwise(m, b, sortarray[0], sortarray[1], sortarray[2]);
- if (area == 0.0) {
- /* Three collinear vertices; the triangulation is two edges. */
- setorg(midtri, sortarray[0]);
- setdest(midtri, sortarray[1]);
- setorg(tri1, sortarray[1]);
- setdest(tri1, sortarray[0]);
- setorg(tri2, sortarray[2]);
- setdest(tri2, sortarray[1]);
- setorg(tri3, sortarray[1]);
- setdest(tri3, sortarray[2]);
- /* All apices are intentionally left NULL. */
- bond(midtri, tri1);
- bond(tri2, tri3);
- lnextself(midtri);
- lprevself(tri1);
- lnextself(tri2);
- lprevself(tri3);
- bond(midtri, tri3);
- bond(tri1, tri2);
- lnextself(midtri);
- lprevself(tri1);
- lnextself(tri2);
- lprevself(tri3);
- bond(midtri, tri1);
- bond(tri2, tri3);
- /* Ensure that the origin of `farleft' is sortarray[0]. */
- otricopy(tri1, *farleft);
- /* Ensure that the destination of `farright' is sortarray[2]. */
- otricopy(tri2, *farright);
- } else {
- /* The three vertices are not collinear; the triangulation is one */
- /* triangle, namely `midtri'. */
- setorg(midtri, sortarray[0]);
- setdest(tri1, sortarray[0]);
- setorg(tri3, sortarray[0]);
- /* Apices of tri1, tri2, and tri3 are left NULL. */
- if (area > 0.0) {
- /* The vertices are in counterclockwise order. */
- setdest(midtri, sortarray[1]);
- setorg(tri1, sortarray[1]);
- setdest(tri2, sortarray[1]);
- setapex(midtri, sortarray[2]);
- setorg(tri2, sortarray[2]);
- setdest(tri3, sortarray[2]);
- } else {
- /* The vertices are in clockwise order. */
- setdest(midtri, sortarray[2]);
- setorg(tri1, sortarray[2]);
- setdest(tri2, sortarray[2]);
- setapex(midtri, sortarray[1]);
- setorg(tri2, sortarray[1]);
- setdest(tri3, sortarray[1]);
- }
- /* The topology does not depend on how the vertices are ordered. */
- bond(midtri, tri1);
- lnextself(midtri);
- bond(midtri, tri2);
- lnextself(midtri);
- bond(midtri, tri3);
- lprevself(tri1);
- lnextself(tri2);
- bond(tri1, tri2);
- lprevself(tri1);
- lprevself(tri3);
- bond(tri1, tri3);
- lnextself(tri2);
- lprevself(tri3);
- bond(tri2, tri3);
- /* Ensure that the origin of `farleft' is sortarray[0]. */
- otricopy(tri1, *farleft);
- /* Ensure that the destination of `farright' is sortarray[2]. */
- if (area > 0.0) {
- otricopy(tri2, *farright);
- } else {
- lnext(*farleft, *farright);
- }
- }
- if (b->verbose > 2) {
- printf(" Creating ");
- printtriangle(m, b, &midtri);
- printf(" Creating ");
- printtriangle(m, b, &tri1);
- printf(" Creating ");
- printtriangle(m, b, &tri2);
- printf(" Creating ");
- printtriangle(m, b, &tri3);
- }
- return;
- } else {
- /* Split the vertices in half. */
- divider = vertices >> 1;
- /* Recursively triangulate each half. */
- divconqrecurse(m, b, sortarray, divider, 1 - axis, farleft, &innerleft);
- divconqrecurse(m, b, &sortarray[divider], vertices - divider, 1 - axis,
- &innerright, farright);
- if (b->verbose > 1) {
- printf(" Joining triangulations with %d and %d vertices.\n", divider,
- vertices - divider);
- }
- /* Merge the two triangulations into one. */
- mergehulls(m, b, farleft, &innerleft, &innerright, farright, axis);
- }
-}
-
-long removeghosts(struct mesh *m, struct behavior *b, struct otri *startghost)
-{
- struct otri searchedge;
- struct otri dissolveedge;
- struct otri deadtriangle;
- vertex markorg;
- long hullsize;
- triangle ptr; /* Temporary variable used by sym(). */
-
- if (b->verbose) {
- printf(" Removing ghost triangles.\n");
- }
- /* Find an edge on the convex hull to start point location from. */
- lprev(*startghost, searchedge);
- symself(searchedge);
- m->dummytri[0] = encode(searchedge);
- /* Remove the bounding box and count the convex hull edges. */
- otricopy(*startghost, dissolveedge);
- hullsize = 0;
- do {
- hullsize++;
- lnext(dissolveedge, deadtriangle);
- lprevself(dissolveedge);
- symself(dissolveedge);
- /* If no PSLG is involved, set the boundary markers of all the vertices */
- /* on the convex hull. If a PSLG is used, this step is done later. */
- if (!b->poly) {
- /* Watch out for the case where all the input vertices are collinear. */
- if (dissolveedge.tri != m->dummytri) {
- org(dissolveedge, markorg);
- if (vertexmark(markorg) == 0) {
- setvertexmark(markorg, 1);
- }
- }
- }
- /* Remove a bounding triangle from a convex hull triangle. */
- dissolve(dissolveedge);
- /* Find the next bounding triangle. */
- sym(deadtriangle, dissolveedge);
- /* Delete the bounding triangle. */
- triangledealloc(m, deadtriangle.tri);
- } while (!otriequal(dissolveedge, *startghost));
- return hullsize;
-}
-
-/*****************************************************************************/
-/* */
-/* divconqdelaunay() Form a Delaunay triangulation by the divide-and- */
-/* conquer method. */
-/* */
-/* Sorts the vertices, calls a recursive procedure to triangulate them, and */
-/* removes the bounding box, setting boundary markers as appropriate. */
-/* */
-/*****************************************************************************/
-
-long divconqdelaunay(struct mesh *m, struct behavior *b)
-{
- vertex *sortarray;
- struct otri hullleft, hullright;
- int divider;
- int i, j;
-
- if (b->verbose) {
- printf(" Sorting vertices.\n");
- }
-
- /* Allocate an array of pointers to vertices for sorting. */
- sortarray = (vertex *) trimalloc(m->invertices * (int) sizeof(vertex));
- traversalinit(&m->vertices);
- for (i = 0; i < m->invertices; i++) {
- sortarray[i] = vertextraverse(m);
- }
- /* Sort the vertices. */
- vertexsort(sortarray, m->invertices);
- /* Discard duplicate vertices, which can really mess up the algorithm. */
- i = 0;
- for (j = 1; j < m->invertices; j++) {
- if ((sortarray[i][0] == sortarray[j][0])
- && (sortarray[i][1] == sortarray[j][1])) {
- if (!b->quiet) {
- printf(
-"Warning: A duplicate vertex at (%.12g, %.12g) appeared and was ignored.\n",
- sortarray[j][0], sortarray[j][1]);
- }
- setvertextype(sortarray[j], UNDEADVERTEX);
- m->undeads++;
- } else {
- i++;
- sortarray[i] = sortarray[j];
- }
- }
- i++;
- if (b->dwyer) {
- /* Re-sort the array of vertices to accommodate alternating cuts. */
- divider = i >> 1;
- if (i - divider >= 2) {
- if (divider >= 2) {
- alternateaxes(sortarray, divider, 1);
- }
- alternateaxes(&sortarray[divider], i - divider, 1);
- }
- }
-
- if (b->verbose) {
- printf(" Forming triangulation.\n");
- }
-
- /* Form the Delaunay triangulation. */
- divconqrecurse(m, b, sortarray, i, 0, &hullleft, &hullright);
- trifree((int *) sortarray);
-
- return removeghosts(m, b, &hullleft);
-}
-
-/** **/
-/** **/
-/********* Divide-and-conquer Delaunay triangulation ends here *********/
-
-/********* General mesh construction routines begin here *********/
-/** **/
-/** **/
-
-/*****************************************************************************/
-/* */
-/* delaunay() Form a Delaunay triangulation. */
-/* */
-/*****************************************************************************/
-
-long delaunay(struct mesh *m, struct behavior *b)
-{
- long hulledges;
-
- m->eextras = 0;
- initializetrisubpools(m, b);
-
- if (!b->quiet) {
- printf(
- "Constructing Delaunay triangulation by divide-and-conquer method.\n");
- }
- hulledges = divconqdelaunay(m, b);
-
- if (m->triangles.items == 0) {
- /* The input vertices were all collinear, so there are no triangles. */
- return 0l;
- } else {
- return hulledges;
- }
-}
-
-/** **/
-/** **/
-/********* General mesh construction routines end here *********/
-
-/********* Segment insertion begins here *********/
-/** **/
-/** **/
-
-/*****************************************************************************/
-/* */
-/* finddirection() Find the first triangle on the path from one point */
-/* to another. */
-/* */
-/* Finds the triangle that intersects a line segment drawn from the */
-/* origin of `searchtri' to the point `searchpoint', and returns the result */
-/* in `searchtri'. The origin of `searchtri' does not change, even though */
-/* the triangle returned may differ from the one passed in. This routine */
-/* is used to find the direction to move in to get from one point to */
-/* another. */
-/* */
-/* The return value notes whether the destination or apex of the found */
-/* triangle is collinear with the two points in question. */
-/* */
-/*****************************************************************************/
-
-enum finddirectionresult finddirection(struct mesh *m, struct behavior *b,
- struct otri *searchtri,
- vertex searchpoint)
-{
- struct otri checktri;
- vertex startvertex;
- vertex leftvertex, rightvertex;
- float leftccw, rightccw;
- int leftflag, rightflag;
- triangle ptr; /* Temporary variable used by onext() and oprev(). */
-
- org(*searchtri, startvertex);
- dest(*searchtri, rightvertex);
- apex(*searchtri, leftvertex);
- /* Is `searchpoint' to the left? */
- leftccw = counterclockwise(m, b, searchpoint, startvertex, leftvertex);
- leftflag = leftccw > 0.0;
- /* Is `searchpoint' to the right? */
- rightccw = counterclockwise(m, b, startvertex, searchpoint, rightvertex);
- rightflag = rightccw > 0.0;
- if (leftflag && rightflag) {
- /* `searchtri' faces directly away from `searchpoint'. We could go left */
- /* or right. Ask whether it's a triangle or a boundary on the left. */
- onext(*searchtri, checktri);
- if (checktri.tri == m->dummytri) {
- leftflag = 0;
- } else {
- rightflag = 0;
- }
- }
- while (leftflag) {
- /* Turn left until satisfied. */
- onextself(*searchtri);
- if (searchtri->tri == m->dummytri) {
- printf("Internal error in finddirection(): Unable to find a\n");
- printf(" triangle leading from (%.12g, %.12g) to", startvertex[0],
- startvertex[1]);
- printf(" (%.12g, %.12g).\n", searchpoint[0], searchpoint[1]);
- internalerror();
- }
- apex(*searchtri, leftvertex);
- rightccw = leftccw;
- leftccw = counterclockwise(m, b, searchpoint, startvertex, leftvertex);
- leftflag = leftccw > 0.0;
- }
- while (rightflag) {
- /* Turn right until satisfied. */
- oprevself(*searchtri);
- if (searchtri->tri == m->dummytri) {
- printf("Internal error in finddirection(): Unable to find a\n");
- printf(" triangle leading from (%.12g, %.12g) to", startvertex[0],
- startvertex[1]);
- printf(" (%.12g, %.12g).\n", searchpoint[0], searchpoint[1]);
- internalerror();
- }
- dest(*searchtri, rightvertex);
- leftccw = rightccw;
- rightccw = counterclockwise(m, b, startvertex, searchpoint, rightvertex);
- rightflag = rightccw > 0.0;
- }
- if (leftccw == 0.0) {
- return LEFTCOLLINEAR;
- } else if (rightccw == 0.0) {
- return RIGHTCOLLINEAR;
- } else {
- return WITHIN;
- }
-}
-
-/*****************************************************************************/
-/* */
-/* segmentintersection() Find the intersection of an existing segment */
-/* and a segment that is being inserted. Insert */
-/* a vertex at the intersection, splitting an */
-/* existing subsegment. */
-/* */
-/* The segment being inserted connects the apex of splittri to endpoint2. */
-/* splitsubseg is the subsegment being split, and MUST adjoin splittri. */
-/* Hence, endpoints of the subsegment being split are the origin and */
-/* destination of splittri. */
-/* */
-/* On completion, splittri is a handle having the newly inserted */
-/* intersection point as its origin, and endpoint1 as its destination. */
-/* */
-/*****************************************************************************/
-
-void segmentintersection(struct mesh *m, struct behavior *b,
- struct otri *splittri, struct osub *splitsubseg,
- vertex endpoint2)
-{
- struct osub opposubseg;
- vertex endpoint1;
- vertex torg, tdest;
- vertex leftvertex, rightvertex;
- vertex newvertex;
- enum insertvertexresult success;
- enum finddirectionresult collinear;
- float ex, ey;
- float tx, ty;
- float etx, ety;
- float split, denom;
- int i;
- triangle ptr; /* Temporary variable used by onext(). */
- subseg sptr; /* Temporary variable used by snext(). */
-
- /* Find the other three segment endpoints. */
- apex(*splittri, endpoint1);
- org(*splittri, torg);
- dest(*splittri, tdest);
- /* Segment intersection formulae; see the Antonio reference. */
- tx = tdest[0] - torg[0];
- ty = tdest[1] - torg[1];
- ex = endpoint2[0] - endpoint1[0];
- ey = endpoint2[1] - endpoint1[1];
- etx = torg[0] - endpoint2[0];
- ety = torg[1] - endpoint2[1];
- denom = ty * ex - tx * ey;
- if (denom == 0.0) {
- printf("Internal error in segmentintersection():");
- printf(" Attempt to find intersection of parallel segments.\n");
- internalerror();
- }
- split = (ey * etx - ex * ety) / denom;
- /* Create the new vertex. */
- newvertex = (vertex) poolalloc(&m->vertices);
- /* Interpolate its coordinate and attributes. */
- for (i = 0; i < 2 + m->nextras; i++) {
- newvertex[i] = torg[i] + split * (tdest[i] - torg[i]);
- }
- setvertexmark(newvertex, mark(*splitsubseg));
- setvertextype(newvertex, INPUTVERTEX);
- if (b->verbose > 1) {
- printf(
- " Splitting subsegment (%.12g, %.12g) (%.12g, %.12g) at (%.12g, %.12g).\n",
- torg[0], torg[1], tdest[0], tdest[1], newvertex[0], newvertex[1]);
- }
- /* Insert the intersection vertex. This should always succeed. */
- success = insertvertex(m, b, newvertex, splittri, splitsubseg, 0, 0);
- if (success != SUCCESSFULVERTEX) {
- printf("Internal error in segmentintersection():\n");
- printf(" Failure to split a segment.\n");
- internalerror();
- }
- /* Record a triangle whose origin is the new vertex. */
- setvertex2tri(newvertex, encode(*splittri));
- if (m->steinerleft > 0) {
- m->steinerleft--;
- }
-
- /* Divide the segment into two, and correct the segment endpoints. */
- ssymself(*splitsubseg);
- spivot(*splitsubseg, opposubseg);
- sdissolve(*splitsubseg);
- sdissolve(opposubseg);
- do {
- setsegorg(*splitsubseg, newvertex);
- snextself(*splitsubseg);
- } while (splitsubseg->ss != m->dummysub);
- do {
- setsegorg(opposubseg, newvertex);
- snextself(opposubseg);
- } while (opposubseg.ss != m->dummysub);
-
- /* Inserting the vertex may have caused edge flips. We wish to rediscover */
- /* the edge connecting endpoint1 to the new intersection vertex. */
- collinear = finddirection(m, b, splittri, endpoint1);
- dest(*splittri, rightvertex);
- apex(*splittri, leftvertex);
- if ((leftvertex[0] == endpoint1[0]) && (leftvertex[1] == endpoint1[1])) {
- onextself(*splittri);
- } else if ((rightvertex[0] != endpoint1[0]) ||
- (rightvertex[1] != endpoint1[1])) {
- printf("Internal error in segmentintersection():\n");
- printf(" Topological inconsistency after splitting a segment.\n");
- internalerror();
- }
- /* `splittri' should have destination endpoint1. */
-}
-
-/*****************************************************************************/
-/* */
-/* scoutsegment() Scout the first triangle on the path from one endpoint */
-/* to another, and check for completion (reaching the */
-/* second endpoint), a collinear vertex, or the */
-/* intersection of two segments. */
-/* */
-/* Returns one if the entire segment is successfully inserted, and zero if */
-/* the job must be finished by conformingedge() or constrainededge(). */
-/* */
-/* If the first triangle on the path has the second endpoint as its */
-/* destination or apex, a subsegment is inserted and the job is done. */
-/* */
-/* If the first triangle on the path has a destination or apex that lies on */
-/* the segment, a subsegment is inserted connecting the first endpoint to */
-/* the collinear vertex, and the search is continued from the collinear */
-/* vertex. */
-/* */
-/* If the first triangle on the path has a subsegment opposite its origin, */
-/* then there is a segment that intersects the segment being inserted. */
-/* Their intersection vertex is inserted, splitting the subsegment. */
-/* */
-/*****************************************************************************/
-
-int scoutsegment(struct mesh *m, struct behavior *b, struct otri *searchtri,
- vertex endpoint2, int newmark)
-{
- struct otri crosstri;
- struct osub crosssubseg;
- vertex leftvertex, rightvertex;
- enum finddirectionresult collinear;
- subseg sptr; /* Temporary variable used by tspivot(). */
-
- collinear = finddirection(m, b, searchtri, endpoint2);
- dest(*searchtri, rightvertex);
- apex(*searchtri, leftvertex);
- if (((leftvertex[0] == endpoint2[0]) && (leftvertex[1] == endpoint2[1])) ||
- ((rightvertex[0] == endpoint2[0]) && (rightvertex[1] == endpoint2[1]))) {
- /* The segment is already an edge in the mesh. */
- if ((leftvertex[0] == endpoint2[0]) && (leftvertex[1] == endpoint2[1])) {
- lprevself(*searchtri);
- }
- /* Insert a subsegment, if there isn't already one there. */
- insertsubseg(m, b, searchtri, newmark);
- return 1;
- } else if (collinear == LEFTCOLLINEAR) {
- /* We've collided with a vertex between the segment's endpoints. */
- /* Make the collinear vertex be the triangle's origin. */
- lprevself(*searchtri);
- insertsubseg(m, b, searchtri, newmark);
- /* Insert the remainder of the segment. */
- return scoutsegment(m, b, searchtri, endpoint2, newmark);
- } else if (collinear == RIGHTCOLLINEAR) {
- /* We've collided with a vertex between the segment's endpoints. */
- insertsubseg(m, b, searchtri, newmark);
- /* Make the collinear vertex be the triangle's origin. */
- lnextself(*searchtri);
- /* Insert the remainder of the segment. */
- return scoutsegment(m, b, searchtri, endpoint2, newmark);
- } else {
- lnext(*searchtri, crosstri);
- tspivot(crosstri, crosssubseg);
- /* Check for a crossing segment. */
- if (crosssubseg.ss == m->dummysub) {
- return 0;
- } else {
- /* Insert a vertex at the intersection. */
- segmentintersection(m, b, &crosstri, &crosssubseg, endpoint2);
- otricopy(crosstri, *searchtri);
- insertsubseg(m, b, searchtri, newmark);
- /* Insert the remainder of the segment. */
- return scoutsegment(m, b, searchtri, endpoint2, newmark);
- }
- }
-}
-
-/*****************************************************************************/
-/* */
-/* delaunayfixup() Enforce the Delaunay condition at an edge, fanning out */
-/* recursively from an existing vertex. Pay special */
-/* attention to stacking inverted triangles. */
-/* */
-/* This is a support routine for inserting segments into a constrained */
-/* Delaunay triangulation. */
-/* */
-/* The origin of fixuptri is treated as if it has just been inserted, and */
-/* the local Delaunay condition needs to be enforced. It is only enforced */
-/* in one sector, however, that being the angular range defined by */
-/* fixuptri. */
-/* */
-/* This routine also needs to make decisions regarding the "stacking" of */
-/* triangles. (Read the description of constrainededge() below before */
-/* reading on here, so you understand the algorithm.) If the position of */
-/* the new vertex (the origin of fixuptri) indicates that the vertex before */
-/* it on the polygon is a reflex vertex, then "stack" the triangle by */
-/* doing nothing. (fixuptri is an inverted triangle, which is how stacked */
-/* triangles are identified.) */
-/* */
-/* Otherwise, check whether the vertex before that was a reflex vertex. */
-/* If so, perform an edge flip, thereby eliminating an inverted triangle */
-/* (popping it off the stack). The edge flip may result in the creation */
-/* of a new inverted triangle, depending on whether or not the new vertex */
-/* is visible to the vertex three edges behind on the polygon. */
-/* */
-/* If neither of the two vertices behind the new vertex are reflex */
-/* vertices, fixuptri and fartri, the triangle opposite it, are not */
-/* inverted; hence, ensure that the edge between them is locally Delaunay. */
-/* */
-/* `leftside' indicates whether or not fixuptri is to the left of the */
-/* segment being inserted. (Imagine that the segment is pointing up from */
-/* endpoint1 to endpoint2.) */
-/* */
-/*****************************************************************************/
-
-void delaunayfixup(struct mesh *m, struct behavior *b,
- struct otri *fixuptri, int leftside)
-{
- struct otri neartri;
- struct otri fartri;
- struct osub faredge;
- vertex nearvertex, leftvertex, rightvertex, farvertex;
- triangle ptr; /* Temporary variable used by sym(). */
- subseg sptr; /* Temporary variable used by tspivot(). */
-
- lnext(*fixuptri, neartri);
- sym(neartri, fartri);
- /* Check if the edge opposite the origin of fixuptri can be flipped. */
- if (fartri.tri == m->dummytri) {
- return;
- }
- tspivot(neartri, faredge);
- if (faredge.ss != m->dummysub) {
- return;
- }
- /* Find all the relevant vertices. */
- apex(neartri, nearvertex);
- org(neartri, leftvertex);
- dest(neartri, rightvertex);
- apex(fartri, farvertex);
- /* Check whether the previous polygon vertex is a reflex vertex. */
- if (leftside) {
- if (counterclockwise(m, b, nearvertex, leftvertex, farvertex) <= 0.0) {
- /* leftvertex is a reflex vertex too. Nothing can */
- /* be done until a convex section is found. */
- return;
- }
- } else {
- if (counterclockwise(m, b, farvertex, rightvertex, nearvertex) <= 0.0) {
- /* rightvertex is a reflex vertex too. Nothing can */
- /* be done until a convex section is found. */
- return;
- }
- }
- if (counterclockwise(m, b, rightvertex, leftvertex, farvertex) > 0.0) {
- /* fartri is not an inverted triangle, and farvertex is not a reflex */
- /* vertex. As there are no reflex vertices, fixuptri isn't an */
- /* inverted triangle, either. Hence, test the edge between the */
- /* triangles to ensure it is locally Delaunay. */
- if (incircle(m, b, leftvertex, farvertex, rightvertex, nearvertex) <=
- 0.0) {
- return;
- }
- /* Not locally Delaunay; go on to an edge flip. */
- } /* else fartri is inverted; remove it from the stack by flipping. */
- flip(m, b, &neartri);
- lprevself(*fixuptri); /* Restore the origin of fixuptri after the flip. */
- /* Recursively process the two triangles that result from the flip. */
- delaunayfixup(m, b, fixuptri, leftside);
- delaunayfixup(m, b, &fartri, leftside);
-}
-
-/*****************************************************************************/
-/* */
-/* constrainededge() Force a segment into a constrained Delaunay */
-/* triangulation by deleting the triangles it */
-/* intersects, and triangulating the polygons that */
-/* form on each side of it. */
-/* */
-/* Generates a single subsegment connecting `endpoint1' to `endpoint2'. */
-/* The triangle `starttri' has `endpoint1' as its origin. `newmark' is the */
-/* boundary marker of the segment. */
-/* */
-/* To insert a segment, every triangle whose interior intersects the */
-/* segment is deleted. The union of these deleted triangles is a polygon */
-/* (which is not necessarily monotone, but is close enough), which is */
-/* divided into two polygons by the new segment. This routine's task is */
-/* to generate the Delaunay triangulation of these two polygons. */
-/* */
-/* You might think of this routine's behavior as a two-step process. The */
-/* first step is to walk from endpoint1 to endpoint2, flipping each edge */
-/* encountered. This step creates a fan of edges connected to endpoint1, */
-/* including the desired edge to endpoint2. The second step enforces the */
-/* Delaunay condition on each side of the segment in an incremental manner: */
-/* proceeding along the polygon from endpoint1 to endpoint2 (this is done */
-/* independently on each side of the segment), each vertex is "enforced" */
-/* as if it had just been inserted, but affecting only the previous */
-/* vertices. The result is the same as if the vertices had been inserted */
-/* in the order they appear on the polygon, so the result is Delaunay. */
-/* */
-/* In truth, constrainededge() interleaves these two steps. The procedure */
-/* walks from endpoint1 to endpoint2, and each time an edge is encountered */
-/* and flipped, the newly exposed vertex (at the far end of the flipped */
-/* edge) is "enforced" upon the previously flipped edges, usually affecting */
-/* only one side of the polygon (depending upon which side of the segment */
-/* the vertex falls on). */
-/* */
-/* The algorithm is complicated by the need to handle polygons that are not */
-/* convex. Although the polygon is not necessarily monotone, it can be */
-/* triangulated in a manner similar to the stack-based algorithms for */
-/* monotone polygons. For each reflex vertex (local concavity) of the */
-/* polygon, there will be an inverted triangle formed by one of the edge */
-/* flips. (An inverted triangle is one with negative area - that is, its */
-/* vertices are arranged in clockwise order - and is best thought of as a */
-/* wrinkle in the fabric of the mesh.) Each inverted triangle can be */
-/* thought of as a reflex vertex pushed on the stack, waiting to be fixed */
-/* later. */
-/* */
-/* A reflex vertex is popped from the stack when a vertex is inserted that */
-/* is visible to the reflex vertex. (However, if the vertex behind the */
-/* reflex vertex is not visible to the reflex vertex, a new inverted */
-/* triangle will take its place on the stack.) These details are handled */
-/* by the delaunayfixup() routine above. */
-/* */
-/*****************************************************************************/
-
-void constrainededge(struct mesh *m, struct behavior *b,
- struct otri *starttri, vertex endpoint2, int newmark)
-{
- struct otri fixuptri, fixuptri2;
- struct osub crosssubseg;
- vertex endpoint1;
- vertex farvertex;
- float area;
- int collision;
- int done;
- triangle ptr; /* Temporary variable used by sym() and oprev(). */
- subseg sptr; /* Temporary variable used by tspivot(). */
-
- org(*starttri, endpoint1);
- lnext(*starttri, fixuptri);
- flip(m, b, &fixuptri);
- /* `collision' indicates whether we have found a vertex directly */
- /* between endpoint1 and endpoint2. */
- collision = 0;
- done = 0;
- do {
- org(fixuptri, farvertex);
- /* `farvertex' is the extreme point of the polygon we are "digging" */
- /* to get from endpoint1 to endpoint2. */
- if ((farvertex[0] == endpoint2[0]) && (farvertex[1] == endpoint2[1])) {
- oprev(fixuptri, fixuptri2);
- /* Enforce the Delaunay condition around endpoint2. */
- delaunayfixup(m, b, &fixuptri, 0);
- delaunayfixup(m, b, &fixuptri2, 1);
- done = 1;
- } else {
- /* Check whether farvertex is to the left or right of the segment */
- /* being inserted, to decide which edge of fixuptri to dig */
- /* through next. */
- area = counterclockwise(m, b, endpoint1, endpoint2, farvertex);
- if (area == 0.0) {
- /* We've collided with a vertex between endpoint1 and endpoint2. */
- collision = 1;
- oprev(fixuptri, fixuptri2);
- /* Enforce the Delaunay condition around farvertex. */
- delaunayfixup(m, b, &fixuptri, 0);
- delaunayfixup(m, b, &fixuptri2, 1);
- done = 1;
- } else {
- if (area > 0.0) { /* farvertex is to the left of the segment. */
- oprev(fixuptri, fixuptri2);
- /* Enforce the Delaunay condition around farvertex, on the */
- /* left side of the segment only. */
- delaunayfixup(m, b, &fixuptri2, 1);
- /* Flip the edge that crosses the segment. After the edge is */
- /* flipped, one of its endpoints is the fan vertex, and the */
- /* destination of fixuptri is the fan vertex. */
- lprevself(fixuptri);
- } else { /* farvertex is to the right of the segment. */
- delaunayfixup(m, b, &fixuptri, 0);
- /* Flip the edge that crosses the segment. After the edge is */
- /* flipped, one of its endpoints is the fan vertex, and the */
- /* destination of fixuptri is the fan vertex. */
- oprevself(fixuptri);
- }
- /* Check for two intersecting segments. */
- tspivot(fixuptri, crosssubseg);
- if (crosssubseg.ss == m->dummysub) {
- flip(m, b, &fixuptri); /* May create inverted triangle at left. */
- } else {
- /* We've collided with a segment between endpoint1 and endpoint2. */
- collision = 1;
- /* Insert a vertex at the intersection. */
- segmentintersection(m, b, &fixuptri, &crosssubseg, endpoint2);
- done = 1;
- }
- }
- }
- } while (!done);
- /* Insert a subsegment to make the segment permanent. */
- insertsubseg(m, b, &fixuptri, newmark);
- /* If there was a collision with an interceding vertex, install another */
- /* segment connecting that vertex with endpoint2. */
- if (collision) {
- /* Insert the remainder of the segment. */
- if (!scoutsegment(m, b, &fixuptri, endpoint2, newmark)) {
- constrainededge(m, b, &fixuptri, endpoint2, newmark);
- }
- }
-}
-
-/*****************************************************************************/
-/* */
-/* insertsegment() Insert a PSLG segment into a triangulation. */
-/* */
-/*****************************************************************************/
-
-void insertsegment(struct mesh *m, struct behavior *b,
- vertex endpoint1, vertex endpoint2, int newmark)
-{
- struct otri searchtri1, searchtri2;
- triangle encodedtri;
- vertex checkvertex;
- triangle ptr; /* Temporary variable used by sym(). */
-
- if (b->verbose > 1) {
- printf(" Connecting (%.12g, %.12g) to (%.12g, %.12g).\n",
- endpoint1[0], endpoint1[1], endpoint2[0], endpoint2[1]);
- }
-
- /* Find a triangle whose origin is the segment's first endpoint. */
- checkvertex = (vertex) NULL;
- encodedtri = vertex2tri(endpoint1);
- if (encodedtri != (triangle) NULL) {
- decode(encodedtri, searchtri1);
- org(searchtri1, checkvertex);
- }
- if (checkvertex != endpoint1) {
- /* Find a boundary triangle to search from. */
- searchtri1.tri = m->dummytri;
- searchtri1.orient = 0;
- symself(searchtri1);
- /* Search for the segment's first endpoint by point location. */
- if (locate(m, b, endpoint1, &searchtri1) != ONVERTEX) {
- printf(
- "Internal error in insertsegment(): Unable to locate PSLG vertex\n");
- printf(" (%.12g, %.12g) in triangulation.\n",
- endpoint1[0], endpoint1[1]);
- internalerror();
- }
- }
- /* Remember this triangle to improve subsequent point location. */
- otricopy(searchtri1, m->recenttri);
- /* Scout the beginnings of a path from the first endpoint */
- /* toward the second. */
- if (scoutsegment(m, b, &searchtri1, endpoint2, newmark)) {
- /* The segment was easily inserted. */
- return;
- }
- /* The first endpoint may have changed if a collision with an intervening */
- /* vertex on the segment occurred. */
- org(searchtri1, endpoint1);
-
- /* Find a triangle whose origin is the segment's second endpoint. */
- checkvertex = (vertex) NULL;
- encodedtri = vertex2tri(endpoint2);
- if (encodedtri != (triangle) NULL) {
- decode(encodedtri, searchtri2);
- org(searchtri2, checkvertex);
- }
- if (checkvertex != endpoint2) {
- /* Find a boundary triangle to search from. */
- searchtri2.tri = m->dummytri;
- searchtri2.orient = 0;
- symself(searchtri2);
- /* Search for the segment's second endpoint by point location. */
- if (locate(m, b, endpoint2, &searchtri2) != ONVERTEX) {
- printf(
- "Internal error in insertsegment(): Unable to locate PSLG vertex\n");
- printf(" (%.12g, %.12g) in triangulation.\n",
- endpoint2[0], endpoint2[1]);
- internalerror();
- }
- }
- /* Remember this triangle to improve subsequent point location. */
- otricopy(searchtri2, m->recenttri);
- /* Scout the beginnings of a path from the second endpoint */
- /* toward the first. */
- if (scoutsegment(m, b, &searchtri2, endpoint1, newmark)) {
- /* The segment was easily inserted. */
- return;
- }
- /* The second endpoint may have changed if a collision with an intervening */
- /* vertex on the segment occurred. */
- org(searchtri2, endpoint2);
-
- /* Insert the segment directly into the triangulation. */
- constrainededge(m, b, &searchtri1, endpoint2, newmark);
-}
-
-/*****************************************************************************/
-/* */
-/* markhull() Cover the convex hull of a triangulation with subsegments. */
-/* */
-/*****************************************************************************/
-
-void markhull(struct mesh *m, struct behavior *b)
-{
- struct otri hulltri;
- struct otri nexttri;
- struct otri starttri;
- triangle ptr; /* Temporary variable used by sym() and oprev(). */
-
- /* Find a triangle handle on the hull. */
- hulltri.tri = m->dummytri;
- hulltri.orient = 0;
- symself(hulltri);
- /* Remember where we started so we know when to stop. */
- otricopy(hulltri, starttri);
- /* Go once counterclockwise around the convex hull. */
- do {
- /* Create a subsegment if there isn't already one here. */
- insertsubseg(m, b, &hulltri, 1);
- /* To find the next hull edge, go clockwise around the next vertex. */
- lnextself(hulltri);
- oprev(hulltri, nexttri);
- while (nexttri.tri != m->dummytri) {
- otricopy(nexttri, hulltri);
- oprev(hulltri, nexttri);
- }
- } while (!otriequal(hulltri, starttri));
-}
-
-/*****************************************************************************/
-/* */
-/* formskeleton() Create the segments of a triangulation, including PSLG */
-/* segments and edges on the convex hull. */
-/* */
-/* The PSLG segments are read from a .poly file. The return value is the */
-/* number of segments in the file. */
-/* */
-/*****************************************************************************/
-
-void formskeleton(struct mesh *m, struct behavior *b, int *segmentlist,
- int *segmentmarkerlist, int numberofsegments)
-{
- char polyfilename[6];
- int index;
- vertex endpoint1, endpoint2;
- int segmentmarkers;
- int end1, end2;
- int boundmarker;
- int i;
-
- if (b->poly) {
- if (!b->quiet) {
- printf("Recovering segments in Delaunay triangulation.\n");
- }
- strcpy(polyfilename, "input");
- m->insegments = numberofsegments;
- segmentmarkers = segmentmarkerlist != (int *) NULL;
- index = 0;
- /* If the input vertices are collinear, there is no triangulation, */
- /* so don't try to insert segments. */
- if (m->triangles.items == 0) {
- return;
- }
-
- /* If segments are to be inserted, compute a mapping */
- /* from vertices to triangles. */
- if (m->insegments > 0) {
- makevertexmap(m, b);
- if (b->verbose) {
- printf(" Recovering PSLG segments.\n");
- }
- }
-
- boundmarker = 0;
- /* Read and insert the segments. */
- for (i = 0; i < m->insegments; i++) {
- end1 = segmentlist[index++];
- end2 = segmentlist[index++];
- if (segmentmarkers) {
- boundmarker = segmentmarkerlist[i];
- }
- if ((end1 < b->firstnumber) ||
- (end1 >= b->firstnumber + m->invertices)) {
- if (!b->quiet) {
- printf("Warning: Invalid first endpoint of segment %d in %s.\n",
- b->firstnumber + i, polyfilename);
- }
- } else if ((end2 < b->firstnumber) ||
- (end2 >= b->firstnumber + m->invertices)) {
- if (!b->quiet) {
- printf("Warning: Invalid second endpoint of segment %d in %s.\n",
- b->firstnumber + i, polyfilename);
- }
- } else {
- /* Find the vertices numbered `end1' and `end2'. */
- endpoint1 = getvertex(m, b, end1);
- endpoint2 = getvertex(m, b, end2);
- if ((endpoint1[0] == endpoint2[0]) && (endpoint1[1] == endpoint2[1])) {
- if (!b->quiet) {
- printf("Warning: Endpoints of segment %d are coincident in %s.\n",
- b->firstnumber + i, polyfilename);
- }
- } else {
- insertsegment(m, b, endpoint1, endpoint2, boundmarker);
- }
- }
- }
- } else {
- m->insegments = 0;
- }
- if (b->convex || !b->poly) {
- /* Enclose the convex hull with subsegments. */
- if (b->verbose) {
- printf(" Enclosing convex hull with segments.\n");
- }
- markhull(m, b);
- }
-}
-
-/** **/
-/** **/
-/********* Segment insertion ends here *********/
-
-/********* Carving out holes and concavities begins here *********/
-/** **/
-/** **/
-
-/*****************************************************************************/
-/* */
-/* infecthull() Virally infect all of the triangles of the convex hull */
-/* that are not protected by subsegments. Where there are */
-/* subsegments, set boundary markers as appropriate. */
-/* */
-/*****************************************************************************/
-
-void infecthull(struct mesh *m, struct behavior *b)
-{
- struct otri hulltri;
- struct otri nexttri;
- struct otri starttri;
- struct osub hullsubseg;
- triangle **deadtriangle;
- vertex horg, hdest;
- triangle ptr; /* Temporary variable used by sym(). */
- subseg sptr; /* Temporary variable used by tspivot(). */
-
- if (b->verbose) {
- printf(" Marking concavities (external triangles) for elimination.\n");
- }
- /* Find a triangle handle on the hull. */
- hulltri.tri = m->dummytri;
- hulltri.orient = 0;
- symself(hulltri);
- /* Remember where we started so we know when to stop. */
- otricopy(hulltri, starttri);
- /* Go once counterclockwise around the convex hull. */
- do {
- /* Ignore triangles that are already infected. */
- if (!infected(hulltri)) {
- /* Is the triangle protected by a subsegment? */
- tspivot(hulltri, hullsubseg);
- if (hullsubseg.ss == m->dummysub) {
- /* The triangle is not protected; infect it. */
- if (!infected(hulltri)) {
- infect(hulltri);
- deadtriangle = (triangle **) poolalloc(&m->viri);
- *deadtriangle = hulltri.tri;
- }
- } else {
- /* The triangle is protected; set boundary markers if appropriate. */
- if (mark(hullsubseg) == 0) {
- setmark(hullsubseg, 1);
- org(hulltri, horg);
- dest(hulltri, hdest);
- if (vertexmark(horg) == 0) {
- setvertexmark(horg, 1);
- }
- if (vertexmark(hdest) == 0) {
- setvertexmark(hdest, 1);
- }
- }
- }
- }
- /* To find the next hull edge, go clockwise around the next vertex. */
- lnextself(hulltri);
- oprev(hulltri, nexttri);
- while (nexttri.tri != m->dummytri) {
- otricopy(nexttri, hulltri);
- oprev(hulltri, nexttri);
- }
- } while (!otriequal(hulltri, starttri));
-}
-
-/*****************************************************************************/
-/* */
-/* plague() Spread the virus from all infected triangles to any neighbors */
-/* not protected by subsegments. Delete all infected triangles. */
-/* */
-/* This is the procedure that actually creates holes and concavities. */
-/* */
-/* This procedure operates in two phases. The first phase identifies all */
-/* the triangles that will die, and marks them as infected. They are */
-/* marked to ensure that each triangle is added to the virus pool only */
-/* once, so the procedure will terminate. */
-/* */
-/* The second phase actually eliminates the infected triangles. It also */
-/* eliminates orphaned vertices. */
-/* */
-/*****************************************************************************/
-
-void plague(struct mesh *m, struct behavior *b)
-{
- struct otri testtri;
- struct otri neighbor;
- triangle **virusloop;
- triangle **deadtriangle;
- struct osub neighborsubseg;
- vertex testvertex;
- vertex norg, ndest;
- vertex deadorg, deaddest, deadapex;
- int killorg;
- triangle ptr; /* Temporary variable used by sym() and onext(). */
- subseg sptr; /* Temporary variable used by tspivot(). */
-
- if (b->verbose) {
- printf(" Marking neighbors of marked triangles.\n");
- }
- /* Loop through all the infected triangles, spreading the virus to */
- /* their neighbors, then to their neighbors' neighbors. */
- traversalinit(&m->viri);
- virusloop = (triangle **) traverse(&m->viri);
- while (virusloop != (triangle **) NULL) {
- testtri.tri = *virusloop;
- /* A triangle is marked as infected by messing with one of its pointers */
- /* to subsegments, setting it to an illegal value. Hence, we have to */
- /* temporarily uninfect this triangle so that we can examine its */
- /* adjacent subsegments. */
- uninfect(testtri);
- if (b->verbose > 2) {
- /* Assign the triangle an orientation for convenience in */
- /* checking its vertices. */
- testtri.orient = 0;
- org(testtri, deadorg);
- dest(testtri, deaddest);
- apex(testtri, deadapex);
- printf(" Checking (%.12g, %.12g) (%.12g, %.12g) (%.12g, %.12g)\n",
- deadorg[0], deadorg[1], deaddest[0], deaddest[1],
- deadapex[0], deadapex[1]);
- }
- /* Check each of the triangle's three neighbors. */
- for (testtri.orient = 0; testtri.orient < 3; testtri.orient++) {
- /* Find the neighbor. */
- sym(testtri, neighbor);
- /* Check for a subsegment between the triangle and its neighbor. */
- tspivot(testtri, neighborsubseg);
- /* Check if the neighbor is nonexistent or already infected. */
- if ((neighbor.tri == m->dummytri) || infected(neighbor)) {
- if (neighborsubseg.ss != m->dummysub) {
- /* There is a subsegment separating the triangle from its */
- /* neighbor, but both triangles are dying, so the subsegment */
- /* dies too. */
- subsegdealloc(m, neighborsubseg.ss);
- if (neighbor.tri != m->dummytri) {
- /* Make sure the subsegment doesn't get deallocated again */
- /* later when the infected neighbor is visited. */
- uninfect(neighbor);
- tsdissolve(neighbor);
- infect(neighbor);
- }
- }
- } else { /* The neighbor exists and is not infected. */
- if (neighborsubseg.ss == m->dummysub) {
- /* There is no subsegment protecting the neighbor, so */
- /* the neighbor becomes infected. */
- if (b->verbose > 2) {
- org(neighbor, deadorg);
- dest(neighbor, deaddest);
- apex(neighbor, deadapex);
- printf(
- " Marking (%.12g, %.12g) (%.12g, %.12g) (%.12g, %.12g)\n",
- deadorg[0], deadorg[1], deaddest[0], deaddest[1],
- deadapex[0], deadapex[1]);
- }
- infect(neighbor);
- /* Ensure that the neighbor's neighbors will be infected. */
- deadtriangle = (triangle **) poolalloc(&m->viri);
- *deadtriangle = neighbor.tri;
- } else { /* The neighbor is protected by a subsegment. */
- /* Remove this triangle from the subsegment. */
- stdissolve(neighborsubseg);
- /* The subsegment becomes a boundary. Set markers accordingly. */
- if (mark(neighborsubseg) == 0) {
- setmark(neighborsubseg, 1);
- }
- org(neighbor, norg);
- dest(neighbor, ndest);
- if (vertexmark(norg) == 0) {
- setvertexmark(norg, 1);
- }
- if (vertexmark(ndest) == 0) {
- setvertexmark(ndest, 1);
- }
- }
- }
- }
- /* Remark the triangle as infected, so it doesn't get added to the */
- /* virus pool again. */
- infect(testtri);
- virusloop = (triangle **) traverse(&m->viri);
- }
-
- if (b->verbose) {
- printf(" Deleting marked triangles.\n");
- }
-
- traversalinit(&m->viri);
- virusloop = (triangle **) traverse(&m->viri);
- while (virusloop != (triangle **) NULL) {
- testtri.tri = *virusloop;
-
- /* Check each of the three corners of the triangle for elimination. */
- /* This is done by walking around each vertex, checking if it is */
- /* still connected to at least one live triangle. */
- for (testtri.orient = 0; testtri.orient < 3; testtri.orient++) {
- org(testtri, testvertex);
- /* Check if the vertex has already been tested. */
- if (testvertex != (vertex) NULL) {
- killorg = 1;
- /* Mark the corner of the triangle as having been tested. */
- setorg(testtri, NULL);
- /* Walk counterclockwise about the vertex. */
- onext(testtri, neighbor);
- /* Stop upon reaching a boundary or the starting triangle. */
- while ((neighbor.tri != m->dummytri) &&
- (!otriequal(neighbor, testtri))) {
- if (infected(neighbor)) {
- /* Mark the corner of this triangle as having been tested. */
- setorg(neighbor, NULL);
- } else {
- /* A live triangle. The vertex survives. */
- killorg = 0;
- }
- /* Walk counterclockwise about the vertex. */
- onextself(neighbor);
- }
- /* If we reached a boundary, we must walk clockwise as well. */
- if (neighbor.tri == m->dummytri) {
- /* Walk clockwise about the vertex. */
- oprev(testtri, neighbor);
- /* Stop upon reaching a boundary. */
- while (neighbor.tri != m->dummytri) {
- if (infected(neighbor)) {
- /* Mark the corner of this triangle as having been tested. */
- setorg(neighbor, NULL);
- } else {
- /* A live triangle. The vertex survives. */
- killorg = 0;
- }
- /* Walk clockwise about the vertex. */
- oprevself(neighbor);
- }
- }
- if (killorg) {
- if (b->verbose > 1) {
- printf(" Deleting vertex (%.12g, %.12g)\n",
- testvertex[0], testvertex[1]);
- }
- setvertextype(testvertex, UNDEADVERTEX);
- m->undeads++;
- }
- }
- }
-
- /* Record changes in the number of boundary edges, and disconnect */
- /* dead triangles from their neighbors. */
- for (testtri.orient = 0; testtri.orient < 3; testtri.orient++) {
- sym(testtri, neighbor);
- if (neighbor.tri == m->dummytri) {
- /* There is no neighboring triangle on this edge, so this edge */
- /* is a boundary edge. This triangle is being deleted, so this */
- /* boundary edge is deleted. */
- m->hullsize--;
- } else {
- /* Disconnect the triangle from its neighbor. */
- dissolve(neighbor);
- /* There is a neighboring triangle on this edge, so this edge */
- /* becomes a boundary edge when this triangle is deleted. */
- m->hullsize++;
- }
- }
- /* Return the dead triangle to the pool of triangles. */
- triangledealloc(m, testtri.tri);
- virusloop = (triangle **) traverse(&m->viri);
- }
- /* Empty the virus pool. */
- poolrestart(&m->viri);
-}
-
-/*****************************************************************************/
-/* */
-/* regionplague() Spread regional attributes and/or area constraints */
-/* (from a .poly file) throughout the mesh. */
-/* */
-/* This procedure operates in two phases. The first phase spreads an */
-/* attribute and/or an area constraint through a (segment-bounded) region. */
-/* The triangles are marked to ensure that each triangle is added to the */
-/* virus pool only once, so the procedure will terminate. */
-/* */
-/* The second phase uninfects all infected triangles, returning them to */
-/* normal. */
-/* */
-/*****************************************************************************/
-
-void regionplague(struct mesh *m, struct behavior *b,
- float attribute, float area)
-{
- struct otri testtri;
- struct otri neighbor;
- triangle **virusloop;
- triangle **regiontri;
- struct osub neighborsubseg;
- vertex regionorg, regiondest, regionapex;
- triangle ptr; /* Temporary variable used by sym() and onext(). */
- subseg sptr; /* Temporary variable used by tspivot(). */
-
- if (b->verbose > 1) {
- printf(" Marking neighbors of marked triangles.\n");
- }
- /* Loop through all the infected triangles, spreading the attribute */
- /* and/or area constraint to their neighbors, then to their neighbors' */
- /* neighbors. */
- traversalinit(&m->viri);
- virusloop = (triangle **) traverse(&m->viri);
- while (virusloop != (triangle **) NULL) {
- testtri.tri = *virusloop;
- /* A triangle is marked as infected by messing with one of its pointers */
- /* to subsegments, setting it to an illegal value. Hence, we have to */
- /* temporarily uninfect this triangle so that we can examine its */
- /* adjacent subsegments. */
- uninfect(testtri);
- if (b->regionattrib) {
- /* Set an attribute. */
- setelemattribute(testtri, m->eextras, attribute);
- }
- if (b->vararea) {
- /* Set an area constraint. */
- setareabound(testtri, area);
- }
- if (b->verbose > 2) {
- /* Assign the triangle an orientation for convenience in */
- /* checking its vertices. */
- testtri.orient = 0;
- org(testtri, regionorg);
- dest(testtri, regiondest);
- apex(testtri, regionapex);
- printf(" Checking (%.12g, %.12g) (%.12g, %.12g) (%.12g, %.12g)\n",
- regionorg[0], regionorg[1], regiondest[0], regiondest[1],
- regionapex[0], regionapex[1]);
- }
- /* Check each of the triangle's three neighbors. */
- for (testtri.orient = 0; testtri.orient < 3; testtri.orient++) {
- /* Find the neighbor. */
- sym(testtri, neighbor);
- /* Check for a subsegment between the triangle and its neighbor. */
- tspivot(testtri, neighborsubseg);
- /* Make sure the neighbor exists, is not already infected, and */
- /* isn't protected by a subsegment. */
- if ((neighbor.tri != m->dummytri) && !infected(neighbor)
- && (neighborsubseg.ss == m->dummysub)) {
- if (b->verbose > 2) {
- org(neighbor, regionorg);
- dest(neighbor, regiondest);
- apex(neighbor, regionapex);
- printf(" Marking (%.12g, %.12g) (%.12g, %.12g) (%.12g, %.12g)\n",
- regionorg[0], regionorg[1], regiondest[0], regiondest[1],
- regionapex[0], regionapex[1]);
- }
- /* Infect the neighbor. */
- infect(neighbor);
- /* Ensure that the neighbor's neighbors will be infected. */
- regiontri = (triangle **) poolalloc(&m->viri);
- *regiontri = neighbor.tri;
- }
- }
- /* Remark the triangle as infected, so it doesn't get added to the */
- /* virus pool again. */
- infect(testtri);
- virusloop = (triangle **) traverse(&m->viri);
- }
-
- /* Uninfect all triangles. */
- if (b->verbose > 1) {
- printf(" Unmarking marked triangles.\n");
- }
- traversalinit(&m->viri);
- virusloop = (triangle **) traverse(&m->viri);
- while (virusloop != (triangle **) NULL) {
- testtri.tri = *virusloop;
- uninfect(testtri);
- virusloop = (triangle **) traverse(&m->viri);
- }
- /* Empty the virus pool. */
- poolrestart(&m->viri);
-}
-
-/*****************************************************************************/
-/* */
-/* carveholes() Find the holes and infect them. Find the area */
-/* constraints and infect them. Infect the convex hull. */
-/* Spread the infection and kill triangles. Spread the */
-/* area constraints. */
-/* */
-/* This routine mainly calls other routines to carry out all these */
-/* functions. */
-/* */
-/*****************************************************************************/
-
-void carveholes(struct mesh *m, struct behavior *b, float *holelist, int holes,
- float *regionlist, int regions)
-{
- struct otri searchtri;
- struct otri triangleloop;
- struct otri *regiontris;
- triangle **holetri;
- triangle **regiontri;
- vertex searchorg, searchdest;
- enum locateresult intersect;
- int i;
- triangle ptr; /* Temporary variable used by sym(). */
-
- if (!(b->quiet || (b->noholes && b->convex))) {
- printf("Removing unwanted triangles.\n");
- if (b->verbose && (holes > 0)) {
- printf(" Marking holes for elimination.\n");
- }
- }
-
- if (regions > 0) {
- /* Allocate storage for the triangles in which region points fall. */
- regiontris = (struct otri *) trimalloc(regions *
- (int) sizeof(struct otri));
- } else {
- regiontris = (struct otri *) NULL;
- }
-
- if (((holes > 0) && !b->noholes) || !b->convex || (regions > 0)) {
- /* Initialize a pool of viri to be used for holes, concavities, */
- /* regional attributes, and/or regional area constraints. */
- poolinit(&m->viri, sizeof(triangle *), VIRUSPERBLOCK, VIRUSPERBLOCK, 0);
- }
-
- if (!b->convex) {
- /* Mark as infected any unprotected triangles on the boundary. */
- /* This is one way by which concavities are created. */
- infecthull(m, b);
- }
-
- if ((holes > 0) && !b->noholes) {
- /* Infect each triangle in which a hole lies. */
- for (i = 0; i < 2 * holes; i += 2) {
- /* Ignore holes that aren't within the bounds of the mesh. */
- if ((holelist[i] >= m->xmin) && (holelist[i] <= m->xmax)
- && (holelist[i + 1] >= m->ymin) && (holelist[i + 1] <= m->ymax)) {
- /* Start searching from some triangle on the outer boundary. */
- searchtri.tri = m->dummytri;
- searchtri.orient = 0;
- symself(searchtri);
- /* Ensure that the hole is to the left of this boundary edge; */
- /* otherwise, locate() will falsely report that the hole */
- /* falls within the starting triangle. */
- org(searchtri, searchorg);
- dest(searchtri, searchdest);
- if (counterclockwise(m, b, searchorg, searchdest, &holelist[i]) >
- 0.0) {
- /* Find a triangle that contains the hole. */
- intersect = locate(m, b, &holelist[i], &searchtri);
- if ((intersect != OUTSIDE) && (!infected(searchtri))) {
- /* Infect the triangle. This is done by marking the triangle */
- /* as infected and including the triangle in the virus pool. */
- infect(searchtri);
- holetri = (triangle **) poolalloc(&m->viri);
- *holetri = searchtri.tri;
- }
- }
- }
- }
- }
-
- /* Now, we have to find all the regions BEFORE we carve the holes, because */
- /* locate() won't work when the triangulation is no longer convex. */
- /* (Incidentally, this is the reason why regional attributes and area */
- /* constraints can't be used when refining a preexisting mesh, which */
- /* might not be convex; they can only be used with a freshly */
- /* triangulated PSLG.) */
- if (regions > 0) {
- /* Find the starting triangle for each region. */
- for (i = 0; i < regions; i++) {
- regiontris[i].tri = m->dummytri;
- /* Ignore region points that aren't within the bounds of the mesh. */
- if ((regionlist[4 * i] >= m->xmin) && (regionlist[4 * i] <= m->xmax) &&
- (regionlist[4 * i + 1] >= m->ymin) &&
- (regionlist[4 * i + 1] <= m->ymax)) {
- /* Start searching from some triangle on the outer boundary. */
- searchtri.tri = m->dummytri;
- searchtri.orient = 0;
- symself(searchtri);
- /* Ensure that the region point is to the left of this boundary */
- /* edge; otherwise, locate() will falsely report that the */
- /* region point falls within the starting triangle. */
- org(searchtri, searchorg);
- dest(searchtri, searchdest);
- if (counterclockwise(m, b, searchorg, searchdest, ®ionlist[4 * i]) >
- 0.0) {
- /* Find a triangle that contains the region point. */
- intersect = locate(m, b, ®ionlist[4 * i], &searchtri);
- if ((intersect != OUTSIDE) && (!infected(searchtri))) {
- /* Record the triangle for processing after the */
- /* holes have been carved. */
- otricopy(searchtri, regiontris[i]);
- }
- }
- }
- }
- }
-
- if (m->viri.items > 0) {
- /* Carve the holes and concavities. */
- plague(m, b);
- }
- /* The virus pool should be empty now. */
-
- if (regions > 0) {
- if (!b->quiet) {
- if (b->regionattrib) {
- if (b->vararea) {
- printf("Spreading regional attributes and area constraints.\n");
- } else {
- printf("Spreading regional attributes.\n");
- }
- } else {
- printf("Spreading regional area constraints.\n");
- }
- }
- if (b->regionattrib && !b->refine) {
- /* Assign every triangle a regional attribute of zero. */
- traversalinit(&m->triangles);
- triangleloop.orient = 0;
- triangleloop.tri = triangletraverse(m);
- while (triangleloop.tri != (triangle *) NULL) {
- setelemattribute(triangleloop, m->eextras, 0.0);
- triangleloop.tri = triangletraverse(m);
- }
- }
- for (i = 0; i < regions; i++) {
- if (regiontris[i].tri != m->dummytri) {
- /* Make sure the triangle under consideration still exists. */
- /* It may have been eaten by the virus. */
- if (!deadtri(regiontris[i].tri)) {
- /* Put one triangle in the virus pool. */
- infect(regiontris[i]);
- regiontri = (triangle **) poolalloc(&m->viri);
- *regiontri = regiontris[i].tri;
- /* Apply one region's attribute and/or area constraint. */
- regionplague(m, b, regionlist[4 * i + 2], regionlist[4 * i + 3]);
- /* The virus pool should be empty now. */
- }
- }
- }
- if (b->regionattrib && !b->refine) {
- /* Note the fact that each triangle has an additional attribute. */
- m->eextras++;
- }
- }
-
- /* Free up memory. */
- if (((holes > 0) && !b->noholes) || !b->convex || (regions > 0)) {
- pooldeinit(&m->viri);
- }
- if (regions > 0) {
- trifree((int *) regiontris);
- }
-}
-
-/** **/
-/** **/
-/********* Carving out holes and concavities ends here *********/
-
-/*****************************************************************************/
-/* */
-/* highorder() Create extra nodes for quadratic subparametric elements. */
-/* */
-/*****************************************************************************/
-
-void highorder(struct mesh *m, struct behavior *b)
-{
- struct otri triangleloop, trisym;
- struct osub checkmark;
- vertex newvertex;
- vertex torg, tdest;
- int i;
- triangle ptr; /* Temporary variable used by sym(). */
- subseg sptr; /* Temporary variable used by tspivot(). */
-
- if (!b->quiet) {
- printf("Adding vertices for second-order triangles.\n");
- }
- /* The following line ensures that dead items in the pool of nodes */
- /* cannot be allocated for the extra nodes associated with high */
- /* order elements. This ensures that the primary nodes (at the */
- /* corners of elements) will occur earlier in the output files, and */
- /* have lower indices, than the extra nodes. */
- m->vertices.deaditemstack = (int *) NULL;
-
- traversalinit(&m->triangles);
- triangleloop.tri = triangletraverse(m);
- /* To loop over the set of edges, loop over all triangles, and look at */
- /* the three edges of each triangle. If there isn't another triangle */
- /* adjacent to the edge, operate on the edge. If there is another */
- /* adjacent triangle, operate on the edge only if the current triangle */
- /* has a smaller pointer than its neighbor. This way, each edge is */
- /* considered only once. */
- while (triangleloop.tri != (triangle *) NULL) {
- for (triangleloop.orient = 0; triangleloop.orient < 3;
- triangleloop.orient++) {
- sym(triangleloop, trisym);
- if ((triangleloop.tri < trisym.tri) || (trisym.tri == m->dummytri)) {
- org(triangleloop, torg);
- dest(triangleloop, tdest);
- /* Create a new node in the middle of the edge. Interpolate */
- /* its attributes. */
- newvertex = (vertex) poolalloc(&m->vertices);
- for (i = 0; i < 2 + m->nextras; i++) {
- newvertex[i] = 0.5 * (torg[i] + tdest[i]);
- }
- /* Set the new node's marker to zero or one, depending on */
- /* whether it lies on a boundary. */
- setvertexmark(newvertex, trisym.tri == m->dummytri);
- setvertextype(newvertex,
- trisym.tri == m->dummytri ? FREEVERTEX : SEGMENTVERTEX);
- if (b->usesegments) {
- tspivot(triangleloop, checkmark);
- /* If this edge is a segment, transfer the marker to the new node. */
- if (checkmark.ss != m->dummysub) {
- setvertexmark(newvertex, mark(checkmark));
- setvertextype(newvertex, SEGMENTVERTEX);
- }
- }
- if (b->verbose > 1) {
- printf(" Creating (%.12g, %.12g).\n", newvertex[0], newvertex[1]);
- }
- /* Record the new node in the (one or two) adjacent elements. */
- triangleloop.tri[m->highorderindex + triangleloop.orient] =
- (triangle) newvertex;
- if (trisym.tri != m->dummytri) {
- trisym.tri[m->highorderindex + trisym.orient] = (triangle) newvertex;
- }
- }
- }
- triangleloop.tri = triangletraverse(m);
- }
-}
-
-/********* File I/O routines begin here *********/
-/** **/
-/** **/
-
-/*****************************************************************************/
-/* */
-/* transfernodes() Read the vertices from memory. */
-/* */
-/*****************************************************************************/
-
-void transfernodes(struct mesh *m, struct behavior *b, float *pointlist,
- float *pointattriblist, int *pointmarkerlist,
- int numberofpoints, int numberofpointattribs)
-{
- vertex vertexloop;
- float x, y;
- int i, j;
- int coordindex;
- int attribindex;
-
- m->invertices = numberofpoints;
- m->mesh_dim = 2;
- m->nextras = numberofpointattribs;
- m->readnodefile = 0;
- if (m->invertices < 3) {
- printf("Error: Input must have at least three input vertices.\n");
- triexit(1);
- }
- if (m->nextras == 0) {
- b->weighted = 0;
- }
-
- initializevertexpool(m, b);
-
- /* Read the vertices. */
- coordindex = 0;
- attribindex = 0;
- for (i = 0; i < m->invertices; i++) {
- vertexloop = (vertex) poolalloc(&m->vertices);
- /* Read the vertex coordinates. */
- x = vertexloop[0] = pointlist[coordindex++];
- y = vertexloop[1] = pointlist[coordindex++];
- /* Read the vertex attributes. */
- for (j = 0; j < numberofpointattribs; j++) {
- vertexloop[2 + j] = pointattriblist[attribindex++];
- }
- if (pointmarkerlist != (int *) NULL) {
- /* Read a vertex marker. */
- setvertexmark(vertexloop, pointmarkerlist[i]);
- } else {
- /* If no markers are specified, they default to zero. */
- setvertexmark(vertexloop, 0);
- }
- setvertextype(vertexloop, INPUTVERTEX);
- /* Determine the smallest and largest x and y coordinates. */
- if (i == 0) {
- m->xmin = m->xmax = x;
- m->ymin = m->ymax = y;
- } else {
- m->xmin = (x < m->xmin) ? x : m->xmin;
- m->xmax = (x > m->xmax) ? x : m->xmax;
- m->ymin = (y < m->ymin) ? y : m->ymin;
- m->ymax = (y > m->ymax) ? y : m->ymax;
- }
- }
-
- /* Nonexistent x value used as a flag to mark circle events in sweepline */
- /* Delaunay algorithm. */
- m->xminextreme = 10 * m->xmin - 9 * m->xmax;
-}
-
-/*****************************************************************************/
-/* */
-/* writenodes() Number the vertices and write them to a .node file. */
-/* */
-/* To save memory, the vertex numbers are written over the boundary markers */
-/* after the vertices are written to a file. */
-/* */
-/*****************************************************************************/
-
-void writenodes(struct mesh *m, struct behavior *b, float **pointlist,
- float **pointattriblist, int **pointmarkerlist)
-{
- float *plist;
- float *palist;
- int *pmlist;
- int coordindex;
- int attribindex;
- vertex vertexloop;
- long outvertices;
- int vertexnumber;
- int i;
-
- if (b->jettison) {
- outvertices = m->vertices.items - m->undeads;
- } else {
- outvertices = m->vertices.items;
- }
-
- if (!b->quiet) {
- printf("Writing vertices.\n");
- }
- /* Allocate memory for output vertices if necessary. */
- if (*pointlist == (float *) NULL) {
- *pointlist = (float *) trimalloc((int) (outvertices * 2 * sizeof(float)));
- }
- /* Allocate memory for output vertex attributes if necessary. */
- if ((m->nextras > 0) && (*pointattriblist == (float *) NULL)) {
- *pointattriblist = (float *) trimalloc((int) (outvertices * m->nextras *
- sizeof(float)));
- }
- /* Allocate memory for output vertex markers if necessary. */
- if (!b->nobound && (*pointmarkerlist == (int *) NULL)) {
- *pointmarkerlist = (int *) trimalloc((int) (outvertices * sizeof(int)));
- }
- plist = *pointlist;
- palist = *pointattriblist;
- pmlist = *pointmarkerlist;
- coordindex = 0;
- attribindex = 0;
- traversalinit(&m->vertices);
- vertexnumber = b->firstnumber;
- vertexloop = vertextraverse(m);
- while (vertexloop != (vertex) NULL) {
- if (!b->jettison || (vertextype(vertexloop) != UNDEADVERTEX)) {
- /* X and y coordinates. */
- plist[coordindex++] = vertexloop[0];
- plist[coordindex++] = vertexloop[1];
- /* Vertex attributes. */
- for (i = 0; i < m->nextras; i++) {
- palist[attribindex++] = vertexloop[2 + i];
- }
- if (!b->nobound) {
- /* Copy the boundary marker. */
- pmlist[vertexnumber - b->firstnumber] = vertexmark(vertexloop);
- }
- setvertexmark(vertexloop, vertexnumber);
- vertexnumber++;
- }
- vertexloop = vertextraverse(m);
- }
-}
-
-/*****************************************************************************/
-/* */
-/* numbernodes() Number the vertices. */
-/* */
-/* Each vertex is assigned a marker equal to its number. */
-/* */
-/* Used when writenodes() is not called because no .node file is written. */
-/* */
-/*****************************************************************************/
-
-void numbernodes(struct mesh *m, struct behavior *b)
-{
- vertex vertexloop;
- int vertexnumber;
-
- traversalinit(&m->vertices);
- vertexnumber = b->firstnumber;
- vertexloop = vertextraverse(m);
- while (vertexloop != (vertex) NULL) {
- setvertexmark(vertexloop, vertexnumber);
- if (!b->jettison || (vertextype(vertexloop) != UNDEADVERTEX)) {
- vertexnumber++;
- }
- vertexloop = vertextraverse(m);
- }
-}
-
-/*****************************************************************************/
-/* */
-/* writeelements() Write the triangles to an .ele file. */
-/* */
-/*****************************************************************************/
-
-void writeelements(struct mesh *m, struct behavior *b,
- int **trianglelist, float **triangleattriblist)
-{
- int *tlist;
- float *talist;
- int vertexindex;
- int attribindex;
- struct otri triangleloop;
- vertex p1, p2, p3;
- vertex mid1, mid2, mid3;
- long elementnumber;
- int i;
-
- if (!b->quiet) {
- printf("Writing triangles.\n");
- }
- /* Allocate memory for output triangles if necessary. */
- if (*trianglelist == (int *) NULL) {
- *trianglelist = (int *) trimalloc((int) (m->triangles.items *
- ((b->order + 1) * (b->order + 2) /
- 2) * sizeof(int)));
- }
- /* Allocate memory for output triangle attributes if necessary. */
- if ((m->eextras > 0) && (*triangleattriblist == (float *) NULL)) {
- *triangleattriblist = (float *) trimalloc((int) (m->triangles.items *
- m->eextras *
- sizeof(float)));
- }
- tlist = *trianglelist;
- talist = *triangleattriblist;
- vertexindex = 0;
- attribindex = 0;
- traversalinit(&m->triangles);
- triangleloop.tri = triangletraverse(m);
- triangleloop.orient = 0;
- elementnumber = b->firstnumber;
- while (triangleloop.tri != (triangle *) NULL) {
- org(triangleloop, p1);
- dest(triangleloop, p2);
- apex(triangleloop, p3);
- if (b->order == 1) {
- tlist[vertexindex++] = vertexmark(p1);
- tlist[vertexindex++] = vertexmark(p2);
- tlist[vertexindex++] = vertexmark(p3);
- } else {
- mid1 = (vertex) triangleloop.tri[m->highorderindex + 1];
- mid2 = (vertex) triangleloop.tri[m->highorderindex + 2];
- mid3 = (vertex) triangleloop.tri[m->highorderindex];
- tlist[vertexindex++] = vertexmark(p1);
- tlist[vertexindex++] = vertexmark(p2);
- tlist[vertexindex++] = vertexmark(p3);
- tlist[vertexindex++] = vertexmark(mid1);
- tlist[vertexindex++] = vertexmark(mid2);
- tlist[vertexindex++] = vertexmark(mid3);
- }
-
- for (i = 0; i < m->eextras; i++) {
- talist[attribindex++] = elemattribute(triangleloop, i);
- }
- triangleloop.tri = triangletraverse(m);
- elementnumber++;
- }
-}
-
-/*****************************************************************************/
-/* */
-/* writepoly() Write the segments and holes to a .poly file. */
-/* */
-/*****************************************************************************/
-
-void writepoly(struct mesh *m, struct behavior *b,
- int **segmentlist, int **segmentmarkerlist)
-{
- int *slist;
- int *smlist;
- int index;
- struct osub subsegloop;
- vertex endpoint1, endpoint2;
- long subsegnumber;
-
- if (!b->quiet) {
- printf("Writing segments.\n");
- }
- /* Allocate memory for output segments if necessary. */
- if (*segmentlist == (int *) NULL) {
- *segmentlist = (int *) trimalloc((int) (m->subsegs.items * 2 *
- sizeof(int)));
- }
- /* Allocate memory for output segment markers if necessary. */
- if (!b->nobound && (*segmentmarkerlist == (int *) NULL)) {
- *segmentmarkerlist = (int *) trimalloc((int) (m->subsegs.items *
- sizeof(int)));
- }
- slist = *segmentlist;
- smlist = *segmentmarkerlist;
- index = 0;
-
- traversalinit(&m->subsegs);
- subsegloop.ss = subsegtraverse(m);
- subsegloop.ssorient = 0;
- subsegnumber = b->firstnumber;
- while (subsegloop.ss != (subseg *) NULL) {
- sorg(subsegloop, endpoint1);
- sdest(subsegloop, endpoint2);
- /* Copy indices of the segment's two endpoints. */
- slist[index++] = vertexmark(endpoint1);
- slist[index++] = vertexmark(endpoint2);
- if (!b->nobound) {
- /* Copy the boundary marker. */
- smlist[subsegnumber - b->firstnumber] = mark(subsegloop);
- }
- subsegloop.ss = subsegtraverse(m);
- subsegnumber++;
- }
-}
-
-/*****************************************************************************/
-/* */
-/* writeedges() Write the edges to an .edge file. */
-/* */
-/*****************************************************************************/
-
-void writeedges(struct mesh *m, struct behavior *b,
- int **edgelist, int **edgemarkerlist)
-{
- int *elist;
- int *emlist;
- int index;
- struct otri triangleloop, trisym;
- struct osub checkmark;
- vertex p1, p2;
- long edgenumber;
- triangle ptr; /* Temporary variable used by sym(). */
- subseg sptr; /* Temporary variable used by tspivot(). */
-
- if (!b->quiet) {
- printf("Writing edges.\n");
- }
- /* Allocate memory for edges if necessary. */
- if (*edgelist == (int *) NULL) {
- *edgelist = (int *) trimalloc((int) (m->edges * 2 * sizeof(int)));
- }
- /* Allocate memory for edge markers if necessary. */
- if (!b->nobound && (*edgemarkerlist == (int *) NULL)) {
- *edgemarkerlist = (int *) trimalloc((int) (m->edges * sizeof(int)));
- }
- elist = *edgelist;
- emlist = *edgemarkerlist;
- index = 0;
-
- traversalinit(&m->triangles);
- triangleloop.tri = triangletraverse(m);
- edgenumber = b->firstnumber;
- /* To loop over the set of edges, loop over all triangles, and look at */
- /* the three edges of each triangle. If there isn't another triangle */
- /* adjacent to the edge, operate on the edge. If there is another */
- /* adjacent triangle, operate on the edge only if the current triangle */
- /* has a smaller pointer than its neighbor. This way, each edge is */
- /* considered only once. */
- while (triangleloop.tri != (triangle *) NULL) {
- for (triangleloop.orient = 0; triangleloop.orient < 3;
- triangleloop.orient++) {
- sym(triangleloop, trisym);
- if ((triangleloop.tri < trisym.tri) || (trisym.tri == m->dummytri)) {
- org(triangleloop, p1);
- dest(triangleloop, p2);
- elist[index++] = vertexmark(p1);
- elist[index++] = vertexmark(p2);
- if (b->nobound) {
- } else {
- /* Edge number, indices of two endpoints, and a boundary marker. */
- /* If there's no subsegment, the boundary marker is zero. */
- if (b->usesegments) {
- tspivot(triangleloop, checkmark);
- if (checkmark.ss == m->dummysub) {
- emlist[edgenumber - b->firstnumber] = 0;
- } else {
- emlist[edgenumber - b->firstnumber] = mark(checkmark);
- }
- } else {
- emlist[edgenumber - b->firstnumber] = trisym.tri == m->dummytri;
- }
- }
- edgenumber++;
- }
- }
- triangleloop.tri = triangletraverse(m);
- }
-}
-
-/*****************************************************************************/
-/* */
-/* writevoronoi() Write the Voronoi diagram to a .v.node and .v.edge */
-/* file. */
-/* */
-/* The Voronoi diagram is the geometric dual of the Delaunay triangulation. */
-/* Hence, the Voronoi vertices are listed by traversing the Delaunay */
-/* triangles, and the Voronoi edges are listed by traversing the Delaunay */
-/* edges. */
-/* */
-/* WARNING: In order to assign numbers to the Voronoi vertices, this */
-/* procedure messes up the subsegments or the extra nodes of every */
-/* element. Hence, you should call this procedure last. */
-/* */
-/*****************************************************************************/
-
-void writevoronoi(struct mesh *m, struct behavior *b, float **vpointlist,
- float **vpointattriblist, int **vpointmarkerlist,
- int **vedgelist, int **vedgemarkerlist, float **vnormlist)
-{
- float *plist;
- float *palist;
- int *elist;
- float *normlist;
- int coordindex;
- int attribindex;
- struct otri triangleloop, trisym;
- vertex torg, tdest, tapex;
- float circumcenter[2];
- float xi, eta;
- long vnodenumber, vedgenumber;
- int p1, p2;
- int i;
- triangle ptr; /* Temporary variable used by sym(). */
-
- if (!b->quiet) {
- printf("Writing Voronoi vertices.\n");
- }
- /* Allocate memory for Voronoi vertices if necessary. */
- if (*vpointlist == (float *) NULL) {
- *vpointlist = (float *) trimalloc((int) (m->triangles.items * 2 *
- sizeof(float)));
- }
- /* Allocate memory for Voronoi vertex attributes if necessary. */
- if (*vpointattriblist == (float *) NULL) {
- *vpointattriblist = (float *) trimalloc((int) (m->triangles.items *
- m->nextras * sizeof(float)));
- }
- *vpointmarkerlist = (int *) NULL;
- plist = *vpointlist;
- palist = *vpointattriblist;
- coordindex = 0;
- attribindex = 0;
-
- traversalinit(&m->triangles);
- triangleloop.tri = triangletraverse(m);
- triangleloop.orient = 0;
- vnodenumber = b->firstnumber;
- while (triangleloop.tri != (triangle *) NULL) {
- org(triangleloop, torg);
- dest(triangleloop, tdest);
- apex(triangleloop, tapex);
- findcircumcenter(m, b, torg, tdest, tapex, circumcenter, &xi, &eta, 0);
-
- /* X and y coordinates. */
- plist[coordindex++] = circumcenter[0];
- plist[coordindex++] = circumcenter[1];
- for (i = 2; i < 2 + m->nextras; i++) {
- /* Interpolate the vertex attributes at the circumcenter. */
- palist[attribindex++] = torg[i] + xi * (tdest[i] - torg[i])
- + eta * (tapex[i] - torg[i]);
- }
-
- * (int *) (triangleloop.tri + 6) = (int) vnodenumber;
- triangleloop.tri = triangletraverse(m);
- vnodenumber++;
- }
-
- if (!b->quiet) {
- printf("Writing Voronoi edges.\n");
- }
- /* Allocate memory for output Voronoi edges if necessary. */
- if (*vedgelist == (int *) NULL) {
- *vedgelist = (int *) trimalloc((int) (m->edges * 2 * sizeof(int)));
- }
- *vedgemarkerlist = (int *) NULL;
- /* Allocate memory for output Voronoi norms if necessary. */
- if (*vnormlist == (float *) NULL) {
- *vnormlist = (float *) trimalloc((int) (m->edges * 2 * sizeof(float)));
- }
- elist = *vedgelist;
- normlist = *vnormlist;
- coordindex = 0;
-
- traversalinit(&m->triangles);
- triangleloop.tri = triangletraverse(m);
- vedgenumber = b->firstnumber;
- /* To loop over the set of edges, loop over all triangles, and look at */
- /* the three edges of each triangle. If there isn't another triangle */
- /* adjacent to the edge, operate on the edge. If there is another */
- /* adjacent triangle, operate on the edge only if the current triangle */
- /* has a smaller pointer than its neighbor. This way, each edge is */
- /* considered only once. */
- while (triangleloop.tri != (triangle *) NULL) {
- for (triangleloop.orient = 0; triangleloop.orient < 3;
- triangleloop.orient++) {
- sym(triangleloop, trisym);
- if ((triangleloop.tri < trisym.tri) || (trisym.tri == m->dummytri)) {
- /* Find the number of this triangle (and Voronoi vertex). */
- p1 = * (int *) (triangleloop.tri + 6);
- if (trisym.tri == m->dummytri) {
- org(triangleloop, torg);
- dest(triangleloop, tdest);
- /* Copy an infinite ray. Index of one endpoint, and -1. */
- elist[coordindex] = p1;
- normlist[coordindex++] = tdest[1] - torg[1];
- elist[coordindex] = -1;
- normlist[coordindex++] = torg[0] - tdest[0];
- } else {
- /* Find the number of the adjacent triangle (and Voronoi vertex). */
- p2 = * (int *) (trisym.tri + 6);
- /* Finite edge. Write indices of two endpoints. */
- elist[coordindex] = p1;
- normlist[coordindex++] = 0.0;
- elist[coordindex] = p2;
- normlist[coordindex++] = 0.0;
- }
- vedgenumber++;
- }
- }
- triangleloop.tri = triangletraverse(m);
- }
-}
-
-
-void writeneighbors(struct mesh *m, struct behavior *b, int **neighborlist)
-{
- int *nlist;
- int index;
- struct otri triangleloop, trisym;
- long elementnumber;
- int neighbor1, neighbor2, neighbor3;
- triangle ptr; /* Temporary variable used by sym(). */
-
- if (!b->quiet) {
- printf("Writing neighbors.\n");
- }
- /* Allocate memory for neighbors if necessary. */
- if (*neighborlist == (int *) NULL) {
- *neighborlist = (int *) trimalloc((int) (m->triangles.items * 3 *
- sizeof(int)));
- }
- nlist = *neighborlist;
- index = 0;
-
- traversalinit(&m->triangles);
- triangleloop.tri = triangletraverse(m);
- triangleloop.orient = 0;
- elementnumber = b->firstnumber;
- while (triangleloop.tri != (triangle *) NULL) {
- * (int *) (triangleloop.tri + 6) = (int) elementnumber;
- triangleloop.tri = triangletraverse(m);
- elementnumber++;
- }
- * (int *) (m->dummytri + 6) = -1;
-
- traversalinit(&m->triangles);
- triangleloop.tri = triangletraverse(m);
- elementnumber = b->firstnumber;
- while (triangleloop.tri != (triangle *) NULL) {
- triangleloop.orient = 1;
- sym(triangleloop, trisym);
- neighbor1 = * (int *) (trisym.tri + 6);
- triangleloop.orient = 2;
- sym(triangleloop, trisym);
- neighbor2 = * (int *) (trisym.tri + 6);
- triangleloop.orient = 0;
- sym(triangleloop, trisym);
- neighbor3 = * (int *) (trisym.tri + 6);
- nlist[index++] = neighbor1;
- nlist[index++] = neighbor2;
- nlist[index++] = neighbor3;
-
- triangleloop.tri = triangletraverse(m);
- elementnumber++;
- }
-}
-
-/** **/
-/** **/
-/********* File I/O routines end here *********/
-
-/*****************************************************************************/
-/* */
-/* quality_statistics() Print statistics about the quality of the mesh. */
-/* */
-/*****************************************************************************/
-
-void quality_statistics(struct mesh *m, struct behavior *b)
-{
- struct otri triangleloop;
- vertex p[3];
- float cossquaretable[8];
- float ratiotable[16];
- float dx[3], dy[3];
- float edgelength[3];
- float dotproduct;
- float cossquare;
- float triarea;
- float shortest, longest;
- float trilongest2;
- float smallestarea, biggestarea;
- float triminaltitude2;
- float minaltitude;
- float triaspect2;
- float worstaspect;
- float smallestangle, biggestangle;
- float radconst, degconst;
- int angletable[18];
- int aspecttable[16];
- int aspectindex;
- int tendegree;
- int acutebiggest;
- int i, ii, j, k;
-
- printf("Mesh quality statistics:\n\n");
- radconst = PI / 18.0;
- degconst = 180.0 / PI;
- for (i = 0; i < 8; i++) {
- cossquaretable[i] = cos(radconst * (float) (i + 1));
- cossquaretable[i] = cossquaretable[i] * cossquaretable[i];
- }
- for (i = 0; i < 18; i++) {
- angletable[i] = 0;
- }
-
- ratiotable[0] = 1.5; ratiotable[1] = 2.0;
- ratiotable[2] = 2.5; ratiotable[3] = 3.0;
- ratiotable[4] = 4.0; ratiotable[5] = 6.0;
- ratiotable[6] = 10.0; ratiotable[7] = 15.0;
- ratiotable[8] = 25.0; ratiotable[9] = 50.0;
- ratiotable[10] = 100.0; ratiotable[11] = 300.0;
- ratiotable[12] = 1000.0; ratiotable[13] = 10000.0;
- ratiotable[14] = 100000.0; ratiotable[15] = 0.0;
- for (i = 0; i < 16; i++) {
- aspecttable[i] = 0;
- }
-
- worstaspect = 0.0;
- minaltitude = m->xmax - m->xmin + m->ymax - m->ymin;
- minaltitude = minaltitude * minaltitude;
- shortest = minaltitude;
- longest = 0.0;
- smallestarea = minaltitude;
- biggestarea = 0.0;
- worstaspect = 0.0;
- smallestangle = 0.0;
- biggestangle = 2.0;
- acutebiggest = 1;
-
- traversalinit(&m->triangles);
- triangleloop.tri = triangletraverse(m);
- triangleloop.orient = 0;
- while (triangleloop.tri != (triangle *) NULL) {
- org(triangleloop, p[0]);
- dest(triangleloop, p[1]);
- apex(triangleloop, p[2]);
- trilongest2 = 0.0;
-
- for (i = 0; i < 3; i++) {
- j = plus1mod3[i];
- k = minus1mod3[i];
- dx[i] = p[j][0] - p[k][0];
- dy[i] = p[j][1] - p[k][1];
- edgelength[i] = dx[i] * dx[i] + dy[i] * dy[i];
- if (edgelength[i] > trilongest2) {
- trilongest2 = edgelength[i];
- }
- if (edgelength[i] > longest) {
- longest = edgelength[i];
- }
- if (edgelength[i] < shortest) {
- shortest = edgelength[i];
- }
- }
-
- triarea = counterclockwise(m, b, p[0], p[1], p[2]);
- if (triarea < smallestarea) {
- smallestarea = triarea;
- }
- if (triarea > biggestarea) {
- biggestarea = triarea;
- }
- triminaltitude2 = triarea * triarea / trilongest2;
- if (triminaltitude2 < minaltitude) {
- minaltitude = triminaltitude2;
- }
- triaspect2 = trilongest2 / triminaltitude2;
- if (triaspect2 > worstaspect) {
- worstaspect = triaspect2;
- }
- aspectindex = 0;
- while ((triaspect2 > ratiotable[aspectindex] * ratiotable[aspectindex])
- && (aspectindex < 15)) {
- aspectindex++;
- }
- aspecttable[aspectindex]++;
-
- for (i = 0; i < 3; i++) {
- j = plus1mod3[i];
- k = minus1mod3[i];
- dotproduct = dx[j] * dx[k] + dy[j] * dy[k];
- cossquare = dotproduct * dotproduct / (edgelength[j] * edgelength[k]);
- tendegree = 8;
- for (ii = 7; ii >= 0; ii--) {
- if (cossquare > cossquaretable[ii]) {
- tendegree = ii;
- }
- }
- if (dotproduct <= 0.0) {
- angletable[tendegree]++;
- if (cossquare > smallestangle) {
- smallestangle = cossquare;
- }
- if (acutebiggest && (cossquare < biggestangle)) {
- biggestangle = cossquare;
- }
- } else {
- angletable[17 - tendegree]++;
- if (acutebiggest || (cossquare > biggestangle)) {
- biggestangle = cossquare;
- acutebiggest = 0;
- }
- }
- }
- triangleloop.tri = triangletraverse(m);
- }
-
- shortest = sqrt(shortest);
- longest = sqrt(longest);
- minaltitude = sqrt(minaltitude);
- worstaspect = sqrt(worstaspect);
- smallestarea *= 0.5;
- biggestarea *= 0.5;
- if (smallestangle >= 1.0) {
- smallestangle = 0.0;
- } else {
- smallestangle = degconst * acos(sqrt(smallestangle));
- }
- if (biggestangle >= 1.0) {
- biggestangle = 180.0;
- } else {
- if (acutebiggest) {
- biggestangle = degconst * acos(sqrt(biggestangle));
- } else {
- biggestangle = 180.0 - degconst * acos(sqrt(biggestangle));
- }
- }
-
- printf(" Smallest area: %16.5g | Largest area: %16.5g\n",
- smallestarea, biggestarea);
- printf(" Shortest edge: %16.5g | Longest edge: %16.5g\n",
- shortest, longest);
- printf(" Shortest altitude: %12.5g | Largest aspect ratio: %8.5g\n\n",
- minaltitude, worstaspect);
-
- printf(" Triangle aspect ratio histogram:\n");
- printf(" 1.1547 - %-6.6g : %8d | %6.6g - %-6.6g : %8d\n",
- ratiotable[0], aspecttable[0], ratiotable[7], ratiotable[8],
- aspecttable[8]);
- for (i = 1; i < 7; i++) {
- printf(" %6.6g - %-6.6g : %8d | %6.6g - %-6.6g : %8d\n",
- ratiotable[i - 1], ratiotable[i], aspecttable[i],
- ratiotable[i + 7], ratiotable[i + 8], aspecttable[i + 8]);
- }
- printf(" %6.6g - %-6.6g : %8d | %6.6g - : %8d\n",
- ratiotable[6], ratiotable[7], aspecttable[7], ratiotable[14],
- aspecttable[15]);
- printf(" (Aspect ratio is longest edge divided by shortest altitude)\n\n");
-
- printf(" Smallest angle: %15.5g | Largest angle: %15.5g\n\n",
- smallestangle, biggestangle);
-
- printf(" Angle histogram:\n");
- for (i = 0; i < 9; i++) {
- printf(" %3d - %3d degrees: %8d | %3d - %3d degrees: %8d\n",
- i * 10, i * 10 + 10, angletable[i],
- i * 10 + 90, i * 10 + 100, angletable[i + 9]);
- }
- printf("\n");
-}
-
-/*****************************************************************************/
-/* */
-/* statistics() Print all sorts of cool facts. */
-/* */
-/*****************************************************************************/
-
-void statistics(struct mesh *m, struct behavior *b)
-{
- printf("\nStatistics:\n\n");
- printf(" Input vertices: %d\n", m->invertices);
- if (b->refine) {
- printf(" Input triangles: %d\n", m->inelements);
- }
- if (b->poly) {
- printf(" Input segments: %d\n", m->insegments);
- if (!b->refine) {
- printf(" Input holes: %d\n", m->holes);
- }
- }
-
- printf("\n Mesh vertices: %ld\n", m->vertices.items - m->undeads);
- printf(" Mesh triangles: %ld\n", m->triangles.items);
- printf(" Mesh edges: %ld\n", m->edges);
- printf(" Mesh exterior boundary edges: %ld\n", m->hullsize);
- if (b->poly || b->refine) {
- printf(" Mesh interior boundary edges: %ld\n",
- m->subsegs.items - m->hullsize);
- printf(" Mesh subsegments (constrained edges): %ld\n",
- m->subsegs.items);
- }
- printf("\n");
-
- if (b->verbose) {
- quality_statistics(m, b);
- printf("Memory allocation statistics:\n\n");
- printf(" Maximum number of vertices: %ld\n", m->vertices.maxitems);
- printf(" Maximum number of triangles: %ld\n", m->triangles.maxitems);
- if (m->subsegs.maxitems > 0) {
- printf(" Maximum number of subsegments: %ld\n", m->subsegs.maxitems);
- }
- if (m->viri.maxitems > 0) {
- printf(" Maximum number of viri: %ld\n", m->viri.maxitems);
- }
- if (m->badsubsegs.maxitems > 0) {
- printf(" Maximum number of encroached subsegments: %ld\n",
- m->badsubsegs.maxitems);
- }
- if (m->badtriangles.maxitems > 0) {
- printf(" Maximum number of bad triangles: %ld\n",
- m->badtriangles.maxitems);
- }
- if (m->flipstackers.maxitems > 0) {
- printf(" Maximum number of stacked triangle flips: %ld\n",
- m->flipstackers.maxitems);
- }
- if (m->splaynodes.maxitems > 0) {
- printf(" Maximum number of splay tree nodes: %ld\n",
- m->splaynodes.maxitems);
- }
- printf(" Approximate heap memory use (bytes): %ld\n\n",
- m->vertices.maxitems * m->vertices.itembytes +
- m->triangles.maxitems * m->triangles.itembytes +
- m->subsegs.maxitems * m->subsegs.itembytes +
- m->viri.maxitems * m->viri.itembytes +
- m->badsubsegs.maxitems * m->badsubsegs.itembytes +
- m->badtriangles.maxitems * m->badtriangles.itembytes +
- m->flipstackers.maxitems * m->flipstackers.itembytes +
- m->splaynodes.maxitems * m->splaynodes.itembytes);
-
- printf("Algorithmic statistics:\n\n");
- if (!b->weighted) {
- printf(" Number of incircle tests: %ld\n", m->incirclecount);
- } else {
- printf(" Number of 3D orientation tests: %ld\n", m->orient3dcount);
- }
- printf(" Number of 2D orientation tests: %ld\n", m->counterclockcount);
- if (m->hyperbolacount > 0) {
- printf(" Number of right-of-hyperbola tests: %ld\n",
- m->hyperbolacount);
- }
- if (m->circletopcount > 0) {
- printf(" Number of circle top computations: %ld\n",
- m->circletopcount);
- }
- if (m->circumcentercount > 0) {
- printf(" Number of triangle circumcenter computations: %ld\n",
- m->circumcentercount);
- }
- printf("\n");
- }
-}
-
-/*****************************************************************************/
-/* */
-/* main() or triangulate() Gosh, do everything. */
-/* */
-/* The sequence is roughly as follows. Many of these steps can be skipped, */
-/* depending on the command line switches. */
-/* */
-/* - Initialize constants and parse the command line. */
-/* - Read the vertices from a file and either */
-/* - triangulate them (no -r), or */
-/* - read an old mesh from files and reconstruct it (-r). */
-/* - Insert the PSLG segments (-p), and possibly segments on the convex */
-/* hull (-c). */
-/* - Read the holes (-p), regional attributes (-pA), and regional area */
-/* constraints (-pa). Carve the holes and concavities, and spread the */
-/* regional attributes and area constraints. */
-/* - Enforce the constraints on minimum angle (-q) and maximum area (-a). */
-/* Also enforce the conforming Delaunay property (-q and -a). */
-/* - Compute the number of edges in the resulting mesh. */
-/* - Promote the mesh's linear triangles to higher order elements (-o). */
-/* - Write the output files and print the statistics. */
-/* - Check the consistency and Delaunay property of the mesh (-C). */
-/* */
-/*****************************************************************************/
-
-void triangulate(char *triswitches, struct triangulateio *in,
- struct triangulateio *out, struct triangulateio *vorout)
-{
- struct mesh m;
- struct behavior b;
- float *holearray; /* Array of holes. */
- float *regionarray; /* Array of regional attributes and area constraints. */
-
- triangleinit(&m);
- parsecommandline(1, &triswitches, &b);
- m.steinerleft = b.steiner;
-
- transfernodes(&m, &b, in->pointlist, in->pointattributelist,
- in->pointmarkerlist, in->numberofpoints,
- in->numberofpointattributes);
-
- m.hullsize = delaunay(&m, &b); /* Triangulate the vertices. */
- /* Ensure that no vertex can be mistaken for a triangular bounding */
- /* box vertex in insertvertex(). */
- m.infvertex1 = (vertex) NULL;
- m.infvertex2 = (vertex) NULL;
- m.infvertex3 = (vertex) NULL;
-
- if (b.usesegments) {
- m.checksegments = 1; /* Segments will be introduced next. */
- if (!b.refine) {
- /* Insert PSLG segments and/or convex hull segments. */
- formskeleton(&m, &b, in->segmentlist,
- in->segmentmarkerlist, in->numberofsegments);
- }
- }
-
- if (b.poly && (m.triangles.items > 0)) {
- holearray = in->holelist;
- m.holes = in->numberofholes;
- regionarray = in->regionlist;
- m.regions = in->numberofregions;
- if (!b.refine) {
- /* Carve out holes and concavities. */
- carveholes(&m, &b, holearray, m.holes, regionarray, m.regions);
- }
- } else {
- /* Without a PSLG, there can be no holes or regional attributes */
- /* or area constraints. The following are set to zero to avoid */
- /* an accidental free() later. */
- m.holes = 0;
- m.regions = 0;
- }
-
- /* Calculate the number of edges. */
- m.edges = (3l * m.triangles.items + m.hullsize) / 2l;
-
- if (b.order > 1) {
- highorder(&m, &b); /* Promote elements to higher polynomial order. */
- }
- if (!b.quiet) {
- printf("\n");
- }
-
- if (b.jettison) {
- out->numberofpoints = m.vertices.items - m.undeads;
- } else {
- out->numberofpoints = m.vertices.items;
- }
- out->numberofpointattributes = m.nextras;
- out->numberoftriangles = m.triangles.items;
- out->numberofcorners = (b.order + 1) * (b.order + 2) / 2;
- out->numberoftriangleattributes = m.eextras;
- out->numberofedges = m.edges;
- if (b.usesegments) {
- out->numberofsegments = m.subsegs.items;
- } else {
- out->numberofsegments = m.hullsize;
- }
- if (vorout != (struct triangulateio *) NULL) {
- vorout->numberofpoints = m.triangles.items;
- vorout->numberofpointattributes = m.nextras;
- vorout->numberofedges = m.edges;
- }
- /* If not using iteration numbers, don't write a .node file if one was */
- /* read, because the original one would be overwritten! */
- if (b.nonodewritten || (b.noiterationnum && m.readnodefile)) {
- if (!b.quiet) {
- printf("NOT writing vertices.\n");
- }
- numbernodes(&m, &b); /* We must remember to number the vertices. */
- } else {
- /* writenodes() numbers the vertices too. */
- writenodes(&m, &b, &out->pointlist, &out->pointattributelist,
- &out->pointmarkerlist);
- }
- if (b.noelewritten) {
- if (!b.quiet) {
- printf("NOT writing triangles.\n");
- }
- } else {
- writeelements(&m, &b, &out->trianglelist, &out->triangleattributelist);
- }
- /* The -c switch (convex switch) causes a PSLG to be written */
- /* even if none was read. */
- if (b.poly || b.convex) {
- /* If not using iteration numbers, don't overwrite the .poly file. */
- if (b.nopolywritten || b.noiterationnum) {
- if (!b.quiet) {
- printf("NOT writing segments.\n");
- }
- } else {
- writepoly(&m, &b, &out->segmentlist, &out->segmentmarkerlist);
- out->numberofholes = m.holes;
- out->numberofregions = m.regions;
- if (b.poly) {
- out->holelist = in->holelist;
- out->regionlist = in->regionlist;
- } else {
- out->holelist = (float *) NULL;
- out->regionlist = (float *) NULL;
- }
- }
- }
- if (b.edgesout) {
- writeedges(&m, &b, &out->edgelist, &out->edgemarkerlist);
- }
- if (b.voronoi) {
- writevoronoi(&m, &b, &vorout->pointlist, &vorout->pointattributelist,
- &vorout->pointmarkerlist, &vorout->edgelist,
- &vorout->edgemarkerlist, &vorout->normlist);
- }
- if (b.neighbors) {
- writeneighbors(&m, &b, &out->neighborlist);
- }
-
- if (!b.quiet) {
- statistics(&m, &b);
- }
-
- triangledeinit(&m, &b);
-}
diff --git a/src/stereoContext.cpp b/src/stereoContext.cpp
index e726bdd9f8e81649f9c9f0db9a94c18d3dd2a9c3..c9771212952ea5999557d01f25509814ffe54be0 100644
--- a/src/stereoContext.cpp
+++ b/src/stereoContext.cpp
@@ -8,9 +8,6 @@
#include "control.h"
#include "ellipse.h"
#include "person.h"
-#ifdef LIBELAS
- #include "libelas/elas.h"
-#endif
#ifdef STEREO
@@ -518,7 +515,7 @@ IplImage *pet::StereoContext::getDisparity(bool *dispNew)
// debout << BMState->numberOfDisparities<<endl;
// //Computes the disparity map using block matching algorithm.
-// // * disparity – The output single-channel 16-bit signed, or 32-bit floating-point disparity map of the same size as input images.
+// // * disparity � The output single-channel 16-bit signed, or 32-bit floating-point disparity map of the same size as input images.
// // In the first case the computed disparities are represented as fixed-point numbers with 4 fractional bits
// // (i.e. the computed disparity values are multiplied by 16 and rounded to integers).
// //The function cvFindStereoCorrespondenceBM computes disparity map for the input rectified stereo pair.
@@ -972,173 +969,6 @@ IplImage *pet::StereoContext::getDisparity(bool *dispNew)
mDisparity.imageData = (char *) mBMdisparity16->data.ptr;
}
-#ifdef LIBELAS
- else if (mMain->getStereoWidget()->stereoDispAlgo->currentIndex() == 3) // libelas, KIT, http://www.rainsoft.de/software/libelas.html -------------------------------------------------------------------------------------------------------------------
- {
- if (!mBMdisparity16)
- {
- mBMdisparity16 = cvCreateMat(mDisparity.height, mDisparity.width, CV_16S);
- if (mBMdisparity16 == NULL)
- debout << "Error: create matrix for libelas disparity map!" << endl;
- }
-
- IplImage* I1 = getRectified(cameraRight);
- IplImage* I2 = getRectified(cameraLeft);
-
- // check for correct size
- if (I1->width<=0 || I1->height <=0 || I2->width<=0 || I2->height <=0 ||
- I1->width!=I2->width || I1->height!=I2->height) {
- debout << "ERROR: Images must be of same size!" << endl;
- return NULL;
- }
-
- // get image width and height
- int32_t width = I1->width;
- int32_t height = I1->height;
-
- // allocate memory for disparity images
- const int32_t dims[3] = {width,height,width}; // bytes per line = width
- float* D1_data = (float*)malloc(width*height*sizeof(float));
- float* D2_data = (float*)malloc(width*height*sizeof(float));
-
- // process
- Elas::parameters param(Elas::ROBOTICS); // Elas::MIDDLEBURY
- param.postprocess_only_left = false;
- param.disp_min = mMain->getStereoWidget()->minDisparity->value();
- int dispMax = MAX(mMain->getStereoWidget()->minDisparity->value()+10, mMain->getStereoWidget()->maxDisparity->value());
- if (dispMax > mMain->getStereoWidget()->maxDisparity->value())
- debout << "Warning: set max disparity to " << dispMax << endl;
- param.disp_max = MAX(mMain->getStereoWidget()->minDisparity->value()+10, mMain->getStereoWidget()->maxDisparity->value()); // mind 10 unterschied, sonst Absturz
- //param.sradius = myClip(mMain->getStereoWidget()->stereoMaskSize->value(), 1, 11);
- //param.support_threshold = (mMain->getStereoWidget()->edgeMaskSize->value()-3)/20.+0.6;//0.6..1.0; // unterschied zwischen besten und zweitbesten treffer
- //debout << param.filter_median; // optional median filter (approximated)
- //debout << param.filter_adaptive_mean; // optional adaptive mean filter (approximated)
- //param.filter_median = false;
- //param.filter_adaptive_mean = false;
-
-// parameters (setting s=ROBOTICS) {
-// // default settings in a robotics environment
-// // (do not produce results in half-occluded areas
-// // and are a bit more robust towards lighting etc.)
-// if (s==ROBOTICS) {
-// disp_min = 0;
-// disp_max = 255;
-// support_threshold = 0.85;
-// support_texture = 10;
-// candidate_stepsize = 5;
-// incon_window_size = 5;
-// incon_threshold = 5;
-// incon_min_support = 5;
-// add_corners = 0;
-// grid_size = 20;
-// beta = 0.02;
-// gamma = 3;
-// sigma = 1;
-// sradius = 2;
-// match_texture = 1;
-// lr_threshold = 2;
-// speckle_sim_threshold = 1;
-// speckle_size = 200;
-// ipol_gap_width = 3;
-// filter_median = 0;
-// filter_adaptive_mean = 1;
-// postprocess_only_left = 1;
-// subsampling = 0;
-// // default settings for middlebury benchmark
-// // (interpolate all missing disparities)
-// } else {
-// disp_min = 0;
-// disp_max = 255;
-// support_threshold = 0.95;
-// support_texture = 10;
-// candidate_stepsize = 5;
-// incon_window_size = 5;
-// incon_threshold = 5;
-// incon_min_support = 5;
-// add_corners = 1;
-// grid_size = 20;
-// beta = 0.02;
-// gamma = 5;
-// sigma = 1;
-// sradius = 3;
-// match_texture = 0;
-// lr_threshold = 2;
-// speckle_sim_threshold = 1;
-// speckle_size = 200;
-// ipol_gap_width = 5000;
-// filter_median = 1;
-// filter_adaptive_mean = 0;
-// postprocess_only_left = 0;
-// subsampling = 0;
-
-// int32_t disp_min; // min disparity
-// int32_t disp_max; // max disparity
-// float support_threshold; // max. uniqueness ratio (best vs. second best support match)
-// int32_t support_texture; // min texture for support points
-// int32_t candidate_stepsize; // step size of regular grid on which support points are matched
-// int32_t incon_window_size; // window size of inconsistent support point check
-// int32_t incon_threshold; // disparity similarity threshold for support point to be considered consistent
-// int32_t incon_min_support; // minimum number of consistent support points
-// bool add_corners; // add support points at image corners with nearest neighbor disparities
-// int32_t grid_size; // size of neighborhood for additional support point extrapolation
-// float beta; // image likelihood parameter
-// float gamma; // prior constant
-// float sigma; // prior sigma
-// float sradius; // prior sigma radius
-// int32_t match_texture; // min texture for dense matching
-// int32_t lr_threshold; // disparity threshold for left/right consistency check
-// float speckle_sim_threshold; // similarity threshold for speckle segmentation
-// int32_t speckle_size; // maximal size of a speckle (small speckles get removed)
-// int32_t ipol_gap_width; // interpolate small gaps (left<->right, top<->bottom)
-// bool filter_median; // optional median filter (approximated)
-// bool filter_adaptive_mean; // optional adaptive mean filter (approximated)
-// bool postprocess_only_left; // saves time by not postprocessing the right image
-// bool subsampling; // saves time by only computing disparities for each 2nd pixel
-// // note: for this option D1 and D2 must be passed with size
-// // width/2 x height/2 (rounded towards zero)
- Elas elas(param);
- elas.process((uint8_t *) I2->imageData, (uint8_t *) I1->imageData,D1_data,D2_data,dims);
-
- // exchange/replace value in mBMdisparity16 so that the error value is the same like in pointgrey
- short* data16 = (short*) mBMdisparity16->data.s;
- short* yData16 = data16;
-
- for (int y = 0; y < mBMdisparity16->height; ++y)
- {
- for (int x = 0; x < mBMdisparity16->width; ++x)
- {
-// if ((-*data16 < (mMain->getStereoWidget()->minDisparity->value())*16) ||
-// (-*data16 > (mMain->getStereoWidget()->maxDisparity->value())*16) || // laesst nur den Teil ueber, der in gui eingestellt wurde
-// (*data16 <= (mSgbm->minDisparity)*16))// enthaelt auch: (*data16 == (mBMState->minDisparity-1)*16)) // marker fuer nicht berechneten wert
-// {
-// *data16 = 0xFF00; // fehlercode gemaess ptgrey
-// }
-// else // vorzeichen umkehren und
-// {
-// if (-*data16*16 > SHRT_MAX)
-// {
-// *data16 = SHRT_MAX;
-// debout << "Warning: Disparity set to SHRT_MAX for Pixel " << x << "/" << y << endl;
-// }
-// else
-// *data16 = -*data16*16; // *16, da cv disp nur faktor 16 fuer subpixelgenauigkeit hat und triclops *256
-// }
- *data16 = D2_data[x+y*mBMdisparity16->width];
- ++data16;
- }
- data16 = (yData16 += (mBMdisparity16->step/sizeof(short)));
- }
-
- mDisparity.imageData = (char *) mBMdisparity16->data.ptr;
-
-
-
-
- // free memory
- free(D1_data);
- free(D2_data);
- }
-#endif
setStatus(genDisparity);
@@ -1308,7 +1138,7 @@ bool pet::StereoContext::getXYZ(int col, int row, float* x, float* y, float* z)
return false;
}
-// liefert zu einer Disparität die Entfernung in cm
+// liefert zu einer Disparit�t die Entfernung in cm
// die Entfernung ist fuer jedes Pixel gleich (hier 0,0 genommen)
float pet::StereoContext::getZfromDisp(unsigned short int disp)
{
diff --git a/src/stereoWidget.cpp b/src/stereoWidget.cpp
index bdb7452ca19b2a00529e7348de02ab83a18cbdf9..0f767fab81d0bd7c83bc8f41bbacbdfb71a890ea 100644
--- a/src/stereoWidget.cpp
+++ b/src/stereoWidget.cpp
@@ -13,9 +13,6 @@ StereoWidget::StereoWidget(QWidget *parent)
stereoDispAlgo->addItem("ptGrey");
stereoDispAlgo->addItem("openCV block matching");
stereoDispAlgo->addItem("openCV semi-global block matching");
-#ifdef LIBELAS
- stereoDispAlgo->addItem("libelas");
-#endif
}
//---------------------------------------