Merge branch 'flatCSGData' of git@github.com:NeuronRobotics/JCSG.git

into manifold3d-test

Author: madhephaestus

src/main/java/eu/mihosoft/vrl/v3d/CSG.java

@@ -171,13 +171,13 @@ private ArrayList<CSG> performOperation(List<CSG> csgList, CSGRemoteOperation op
 
 			ArrayList<CSG> toSend = new ArrayList<CSG>();
 			for (CSG c : csgList) {
-				List<Polygon> polygons = c.getPolygons();
-				if (polygons.size() == 0) {
+
+				if (c.getNumberOfTriangles() == 0) {
 					Exception ex = new Exception("No Polygons In Incoming geometry here!");
 					ex.printStackTrace();
 					throw ex;
 				}
-				CSG tmp = CSG.fromPolygons(new ArrayList<>(polygons));
+				CSG tmp = c.cloneShallow();
 				tmp.setOptType(c.getOptType());
 				toSend.add(tmp);
 			}
@@ -210,14 +210,14 @@ private ArrayList<CSG> performOperation(List<CSG> csgList, CSGRemoteOperation op
 			// Return results as ArrayList
 			back = new ArrayList<CSG>();
 			for (CSG c : response.getCsgList()) {
-				if (c.getPolygons().size() == 0) {
+				if (c.getNumberOfTriangles() == 0) {
 					System.out.println("Running Operation on server: " + hostname + " " + operation);
 					RuntimeException runtimeException = new RuntimeException(
 							"Network CSG op resulted in no polygons here ");
 					runtimeException.printStackTrace();
 					throw runtimeException;
 				}
-				CSG historySync = CSG.fromPolygons(c.getPolygons());
+				CSG historySync = c.cloneShallow();
 				back.add(historySync);
 				for (CSG s : csgList) {
 					historySync.historySync(s);
@@ -283,7 +283,6 @@ public static void main(String[] args) {
 			CSG c = new Cube(10, 10, 10).toCSG();
 			CSG u = CSG.unionAll(a, b, c);
 			CSG d = a.difference(b);
-			CSG t = d.triangulate(true);
 			ArrayList<CSG> m = a.minkowskiHullShape(b);
 			CSGClient.close();
 		} catch (Exception e) {

src/main/java/eu/mihosoft/vrl/v3d/CSGClient.java

@@ -124,7 +124,7 @@ private CSGResponse processCSGRequest(CSGRequest request) {
 				case TRIANGULATE :
 					CSG.setPreventNonManifoldTriangles(true);
 					for (CSG c : csgList)
-						back.add(c.triangulate(true));
+						back.add(c.makeManifold());
 					break;
 				case UNION :
 					try {
@@ -153,7 +153,7 @@ private CSGResponse processCSGRequest(CSGRequest request) {
 			}
 		} catch (Throwable t) {
 			CSGClient.setServerCall(false);
-			throw t;
+			throw new RuntimeException(t);
 		}
 		CSGClient.setServerCall(false);
 		return new CSGResponse(back, request.getOperation());

src/main/java/eu/mihosoft/vrl/v3d/CSGServerHandler.java

@@ -1,7 +1,5 @@
 package eu.mihosoft.vrl.v3d;
 
-import java.util.List;
-
 public class ChamferedCube extends Primitive {
 	double w, h, d, chamferHeight;
 
@@ -36,11 +34,11 @@ public ChamferedCube(double w, double h, double d, double chamferHeight) {
 	 * @see eu.mihosoft.vrl.v3d.Primitive#toPolygons()
 	 */
 	@Override
-	public List<Polygon> toPolygons() {
+	public CSG toCSG() {
 		CSG cube1 = new Cube(w - chamferHeight * 2, h, d - chamferHeight * 2).toCSG();
 		CSG cube2 = new Cube(w, h - chamferHeight * 2, d - chamferHeight * 2).toCSG();
 		CSG cube3 = new Cube(w - chamferHeight * 2, h - chamferHeight * 2, d).toCSG();
-		return cube1.union(cube2).union(cube3).hull().getPolygons();
+		return cube1.union(cube2).union(cube3).hull();
 	}
 
 }

src/main/java/eu/mihosoft/vrl/v3d/ChamferedCube.java

@@ -1,7 +1,5 @@
 package eu.mihosoft.vrl.v3d;
 
-import java.util.List;
-
 public class ChamferedCylinder extends Primitive {
 	double r, h, chamferHeight;
 	int sides = -1;
@@ -54,9 +52,9 @@ public ChamferedCylinder(double r, double h, double chamferHeight) {
 	 * @see eu.mihosoft.vrl.v3d.Primitive#toPolygons()
 	 */
 	@Override
-	public List<Polygon> toPolygons() {
+	public CSG toCSG() {
 		CSG cube1 = new Cylinder(r - chamferHeight, r - chamferHeight, h, sides).toCSG();
 		CSG cube2 = new Cylinder(r, r, h - chamferHeight * 2, sides).toCSG().movez(chamferHeight);
-		return cube1.union(cube2).hull().getPolygons();
+		return cube1.union(cube2).hull();
 	}
 }

src/main/java/eu/mihosoft/vrl/v3d/ChamferedCylinder.java

@@ -36,6 +36,8 @@
 import java.util.ArrayList;
 import java.util.List;
 
+import eu.mihosoft.vrl.v3d.ext.quickhull3d.HullUtil;
+
 //  Auto-generated Javadoc
 /**
  * An axis-aligned solid cuboid defined by {@code center} and
@@ -122,7 +124,7 @@ public Cube(double w, double h, double d) {
 	 * @see eu.mihosoft.vrl.v3d.Primitive#toPolygons()
 	 */
 	@Override
-	public List<Polygon> toPolygons() {
+	public CSG toCSG() {
 		if (dimensions.x <= 0)
 			throw new NumberFormatException("X can not be negative");
 		if (dimensions.y <= 0)
@@ -133,39 +135,27 @@ public List<Polygon> toPolygons() {
 				// position // normal
 				{{0, 4, 6, 2}, {-1, 0, 0}}, {{1, 3, 7, 5}, {+1, 0, 0}}, {{0, 1, 5, 4}, {0, -1, 0}},
 				{{2, 6, 7, 3}, {0, +1, 0}}, {{0, 2, 3, 1}, {0, 0, -1}}, {{4, 5, 7, 6}, {0, 0, +1}}};
-		List<Polygon> polygons = new ArrayList<>();
+		// List<Polygon> polygons = new ArrayList<>();
+		List<Vector3d> vertices = new ArrayList<>();
+
 		for (int[][] info : a) {
-			List<Vertex> vertices = new ArrayList<>();
 			for (int i : info[0]) {
 				Vector3d pos = new Vector3d(center.x + dimensions.x * (1 * Math.min(1, i & 1) - 0.5),
 						center.y + dimensions.y * (1 * Math.min(1, i & 2) - 0.5),
 						center.z + dimensions.z * (1 * Math.min(1, i & 4) - 0.5));
-				vertices.add(new Vertex(pos));
-			}
-			try {
-				polygons.add(new Polygon(vertices, properties));
-			} catch (ColinearPointsException e) {
-				// TODO Auto-generated catch block
-				e.printStackTrace();
+				vertices.add(pos);
 			}
 		}
+		CSG hull = HullUtil.hull(vertices, properties);
 
 		if (!centered) {
 
 			Transform centerTransform = Transform.unity().translate(dimensions.x / 2.0, dimensions.y / 2.0,
 					dimensions.z / 2.0);
-
-			for (Polygon p : polygons) {
-				try {
-					p.transform(centerTransform);
-				} catch (ColinearPointsException e) {
-					// TODO Auto-generated catch block
-					e.printStackTrace();
-				}
-			}
+			hull = hull.transformed(centerTransform);
 		}
 
-		return polygons;
+		return hull;
 	}
 
 	/**

src/main/java/eu/mihosoft/vrl/v3d/Cube.java

@@ -35,7 +35,8 @@
 
 import java.util.ArrayList;
 import java.util.Arrays;
-import java.util.List;
+
+import eu.mihosoft.vrl.v3d.ext.quickhull3d.HullUtil;
 
 //  Auto-generated Javadoc
 /**
@@ -227,7 +228,7 @@ public Cylinder(double startRadius, double endRadius, double height) {
 	 * @see eu.mihosoft.vrl.v3d.Primitive#toPolygons()
 	 */
 	@Override
-	public List<Polygon> toPolygons() {
+	public CSG toCSG() {
 		if (startRadius <= 0)
 			throw new NumberFormatException("startRadius can not be negative");
 		if (endRadius <= 0)
@@ -245,39 +246,23 @@ public List<Polygon> toPolygons() {
 		boolean isY = (Math.abs(axisZ.y) > 0.5);
 		final Vector3d axisX = new Vector3d(isY ? 1 : 0, !isY ? 1 : 0, 0).cross(axisZ).normalized();
 		final Vector3d axisY = axisX.cross(axisZ).normalized();
-		Vertex startV = new Vertex(s);
-		Vertex endV = new Vertex(e);
-		List<Polygon> polygons = new ArrayList<>();
-
+		Vector3d startV = s;
+		Vector3d endV = e;
+		// List<Polygon> polygons = new ArrayList<>();
+		ArrayList<Vector3d> points = new ArrayList<Vector3d>();
 		for (int i = 0; i < numSlices; i++) {
 			double t0 = i / (double) numSlices, t1 = (i + 1) / (double) numSlices;
-			try {
-				polygons.add(
-						new Polygon(Arrays.asList(startV, cylPoint(axisX, axisY, axisZ, ray, s, startRadius, 0, t0, -1),
-								cylPoint(axisX, axisY, axisZ, ray, s, startRadius, 0, t1, -1)), properties));
-			} catch (ColinearPointsException e1) {
-				// TODO Auto-generated catch block
-				e1.printStackTrace();
-			}
-			try {
-				polygons.add(new Polygon(Arrays.asList(cylPoint(axisX, axisY, axisZ, ray, s, startRadius, 0, t1, 0),
-						cylPoint(axisX, axisY, axisZ, ray, s, startRadius, 0, t0, 0),
-						cylPoint(axisX, axisY, axisZ, ray, s, endRadius, 1, t0, 0),
-						cylPoint(axisX, axisY, axisZ, ray, s, endRadius, 1, t1, 0)), properties));
-			} catch (ColinearPointsException e1) {
-				// TODO Auto-generated catch block
-				e1.printStackTrace();
-			}
-			try {
-				polygons.add(new Polygon(Arrays.asList(endV, cylPoint(axisX, axisY, axisZ, ray, s, endRadius, 1, t1, 1),
-						cylPoint(axisX, axisY, axisZ, ray, s, endRadius, 1, t0, 1)), properties));
-			} catch (ColinearPointsException e1) {
-				// TODO Auto-generated catch block
-				e1.printStackTrace();
-			}
+			points.addAll(Arrays.asList(startV, cylPoint(axisX, axisY, axisZ, ray, s, startRadius, 0, t0, -1),
+					cylPoint(axisX, axisY, axisZ, ray, s, startRadius, 0, t1, -1)));
+			points.addAll(Arrays.asList(cylPoint(axisX, axisY, axisZ, ray, s, startRadius, 0, t1, 0),
+					cylPoint(axisX, axisY, axisZ, ray, s, startRadius, 0, t0, 0),
+					cylPoint(axisX, axisY, axisZ, ray, s, endRadius, 1, t0, 0),
+					cylPoint(axisX, axisY, axisZ, ray, s, endRadius, 1, t1, 0)));
+			points.addAll(Arrays.asList(endV, cylPoint(axisX, axisY, axisZ, ray, s, endRadius, 1, t1, 1),
+					cylPoint(axisX, axisY, axisZ, ray, s, endRadius, 1, t0, 1)));
 		}
 
-		return polygons;
+		return HullUtil.hull(points, properties);
 	}
 
 	/**
@@ -303,13 +288,12 @@ public List<Polygon> toPolygons() {
 	 *            the normal blend
 	 * @return the vertex
 	 */
-	private Vertex cylPoint(Vector3d axisX, Vector3d axisY, Vector3d axisZ, Vector3d ray, Vector3d s, double r,
+	private Vector3d cylPoint(Vector3d axisX, Vector3d axisY, Vector3d axisZ, Vector3d ray, Vector3d s, double r,
 			double stack, double slice, double normalBlend) {
 		double angle = slice * Math.PI * 2;
 		Vector3d out = axisX.times(Math.cos(angle)).plus(axisY.times(Math.sin(angle)));
 		Vector3d pos = s.plus(ray.times(stack)).plus(out.times(r));
-		Vector3d normal = out.times(1.0 - Math.abs(normalBlend)).plus(axisZ.times(normalBlend));
-		return new Vertex(pos);
+		return pos;
 	}
 
 	/**

src/main/java/eu/mihosoft/vrl/v3d/Cylinder.java

@@ -64,7 +64,7 @@ public Dodecahedron(Vector3d center, double size) {
 	 * @see eu.mihosoft.vrl.v3d.Primitive#toPolygons()
 	 */
 	@Override
-	public List<Polygon> toPolygons() {
+	public CSG toCSG() {
 		if (radius <= 0)
 			throw new NumberFormatException("radius can not be negative");
 
@@ -92,9 +92,7 @@ public List<Polygon> toPolygons() {
 		points.add(new Vector3d(-1 / phi, -phi, 0));
 		points.add(new Vector3d(0, -1 / phi, -phi));
 
-		List<Polygon> polygons = HullUtil.hull(points).scale(radius * (phi - 1)).getPolygons();
-
-		return polygons;
+		return HullUtil.hull(points).scale(radius * (phi - 1));
 	}
 
 	/**

src/main/java/eu/mihosoft/vrl/v3d/Dodecahedron.java

@@ -835,15 +835,16 @@ public Optional<Vector3d> getCrossingPoint(Edge e) {
 	 * @return the list
 	 * @throws ColinearPointsException
 	 */
-	public static List<Polygon> boundaryPolygons(CSG csg) throws ColinearPointsException {
-		List<Polygon> result = new ArrayList<>();
-
-		for (List<Polygon> polygonGroup : searchPlaneGroups(csg.getPolygons())) {
-			result.addAll(boundaryPolygonsOfPlaneGroup(polygonGroup));
-		}
-
-		return result;
-	}
+	// public static List<Polygon> boundaryPolygons(CSG csg) throws
+	// ColinearPointsException {
+	// List<Polygon> result = new ArrayList<>();
+	//
+	// for (List<Polygon> polygonGroup : searchPlaneGroups(csg.getPolygons())) {
+	// result.addAll(boundaryPolygonsOfPlaneGroup(polygonGroup));
+	// }
+	//
+	// return result;
+	// }
 
 	/**
 	 * Boundary edges of plane group.

src/main/java/eu/mihosoft/vrl/v3d/Edge.java

@@ -109,7 +109,7 @@ private CSG monotoneExtrude(Vector3d dir, Polygon polygon1) throws ColinearPoint
 
 			// ArrayList<Polygon> topPolygons = PolygonUtil.triangulatePolygon(polygon2);
 
-			extrude = CSG.fromPolygons(newPolygons);
+			extrude = new CSG(newPolygons);
 			return extrude;
 		}
 
@@ -598,7 +598,7 @@ public static CSG sweep(Polygon p, Transform increment, Transform offset, int st
 		List<Polygon> topPolygons = PolygonUtil.triangulatePolygon(polygon2.flipped());
 		newPolygons.addAll(topPolygons);
 
-		return CSG.fromPolygons(newPolygons);
+		return new CSG(newPolygons);
 	}
 
 	public static CSG sweep(Polygon p, double angle, double z, double radius, int steps)