| 1 | // Copyright (c) 1999-2017 OPEN CASCADE SAS |
| 2 | // |
| 3 | // This file is part of Open CASCADE Technology software library. |
| 4 | // |
| 5 | // This library is free software; you can redistribute it and/or modify it under |
| 6 | // the terms of the GNU Lesser General Public License version 2.1 as published |
| 7 | // by the Free Software Foundation, with special exception defined in the file |
| 8 | // OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT |
| 9 | // distribution for complete text of the license and disclaimer of any warranty. |
| 10 | // |
| 11 | // Alternatively, this file may be used under the terms of Open CASCADE |
| 12 | // commercial license or contractual agreement. |
| 13 | |
| 14 | #include <Adaptor3d_HCurve.hxx> |
| 15 | #include <Adaptor3d_HSurface.hxx> |
| 16 | #include <GeomAdaptor_HCurve.hxx> |
| 17 | #include <BRepBndLib.hxx> |
| 18 | #include <GProp_GProps.hxx> |
| 19 | #include <TopoDS_Shape.hxx> |
| 20 | #include <BRep_Tool.hxx> |
| 21 | #include <TopoDS.hxx> |
| 22 | #include <Bnd_OBB.hxx> |
| 23 | #include <BRepGProp.hxx> |
| 24 | #include <TopExp_Explorer.hxx> |
| 25 | #include <GProp_PrincipalProps.hxx> |
| 26 | #include <gp_Ax3.hxx> |
| 27 | #include <BRepBuilderAPI_Transform.hxx> |
| 28 | #include <Bnd_Box.hxx> |
| 29 | #include <NCollection_List.hxx> |
| 30 | #include <TColgp_Array1OfPnt.hxx> |
| 31 | #include <TColStd_Array1OfReal.hxx> |
| 32 | #include <Geom_Plane.hxx> |
| 33 | #include <Geom_Line.hxx> |
| 34 | #include <TColStd_Array1OfInteger.hxx> |
| 35 | #include <BRepAdaptor_Curve.hxx> |
| 36 | #include <BRepAdaptor_HSurface.hxx> |
| 37 | |
| 38 | #include <Geom_OffsetCurve.hxx> |
| 39 | #include <Geom_BSplineCurve.hxx> |
| 40 | #include <Geom_BezierCurve.hxx> |
| 41 | #include <Geom_BSplineSurface.hxx> |
| 42 | #include <Geom_BezierSurface.hxx> |
| 43 | |
| 44 | //======================================================================= |
| 45 | // Function : IsLinear |
| 46 | // purpose : Returns TRUE if theC is line-like. |
| 47 | //======================================================================= |
| 48 | static Standard_Boolean IsLinear(const Adaptor3d_Curve& theC) |
| 49 | { |
| 50 | const GeomAbs_CurveType aCT = theC.GetType(); |
| 51 | if(aCT == GeomAbs_OffsetCurve) |
| 52 | { |
| 53 | return IsLinear(GeomAdaptor_Curve(theC.OffsetCurve()->BasisCurve())); |
| 54 | } |
| 55 | |
| 56 | if((aCT == GeomAbs_BSplineCurve) || (aCT == GeomAbs_BezierCurve)) |
| 57 | { |
| 58 | // Indeed, curves with C0-continuity and degree==1, may be |
| 59 | // represented with set of points. It will be possible made |
| 60 | // in the future. |
| 61 | |
| 62 | return ((theC.Degree() == 1) && |
| 63 | (theC.Continuity() != GeomAbs_C0)); |
| 64 | } |
| 65 | |
| 66 | if(aCT == GeomAbs_Line) |
| 67 | { |
| 68 | return Standard_True; |
| 69 | } |
| 70 | |
| 71 | return Standard_False; |
| 72 | } |
| 73 | |
| 74 | //======================================================================= |
| 75 | // Function : IsPlanar |
| 76 | // purpose : Returns TRUE if theS is plane-like. |
| 77 | //======================================================================= |
| 78 | static Standard_Boolean IsPlanar(const Adaptor3d_Surface& theS) |
| 79 | { |
| 80 | const GeomAbs_SurfaceType aST = theS.GetType(); |
| 81 | if(aST == GeomAbs_OffsetSurface) |
| 82 | { |
| 83 | return IsPlanar(theS.BasisSurface()->Surface()); |
| 84 | } |
| 85 | |
| 86 | if(aST == GeomAbs_SurfaceOfExtrusion) |
| 87 | { |
| 88 | return IsLinear(theS.BasisCurve()->Curve()); |
| 89 | } |
| 90 | |
| 91 | if((aST == GeomAbs_BSplineSurface) || (aST == GeomAbs_BezierSurface)) |
| 92 | { |
| 93 | if((theS.UDegree() != 1) || (theS.VDegree() != 1)) |
| 94 | return Standard_False; |
| 95 | |
| 96 | // Indeed, surfaces with C0-continuity and degree==1, may be |
| 97 | // represented with set of points. It will be possible made |
| 98 | // in the future. |
| 99 | |
| 100 | return ((theS.UContinuity() != GeomAbs_C0) && (theS.VContinuity() != GeomAbs_C0)); |
| 101 | } |
| 102 | |
| 103 | if(aST == GeomAbs_Plane) |
| 104 | { |
| 105 | return Standard_True; |
| 106 | } |
| 107 | |
| 108 | return Standard_False; |
| 109 | } |
| 110 | |
| 111 | //======================================================================= |
| 112 | // Function : PointsForOBB |
| 113 | // purpose : Returns number of points for array. |
| 114 | // |
| 115 | // Attention!!! |
| 116 | // 1. Start index for thePts must be 0 strictly. |
| 117 | // 2. Currently, infinite edges/faces (e.g. half-space) are not |
| 118 | // processed correctly because computation of UV-bounds is a costly operation. |
| 119 | //======================================================================= |
| 120 | static Standard_Integer PointsForOBB(const TopoDS_Shape& theS, |
| 121 | const Standard_Boolean theIsTriangulationUsed, |
| 122 | TColgp_Array1OfPnt* thePts = 0, |
| 123 | TColStd_Array1OfReal* theArrOfToler = 0) |
| 124 | { |
| 125 | Standard_Integer aRetVal = 0; |
| 126 | TopExp_Explorer anExpF, anExpE; |
| 127 | |
| 128 | // get all vertices from the shape |
| 129 | for(anExpF.Init(theS, TopAbs_VERTEX); anExpF.More(); anExpF.Next()) |
| 130 | { |
| 131 | const TopoDS_Vertex &aVert = TopoDS::Vertex(anExpF.Current()); |
| 132 | if(thePts) |
| 133 | { |
| 134 | const gp_Pnt aP = BRep_Tool::Pnt(aVert); |
| 135 | (*thePts)(aRetVal) = aP; |
| 136 | } |
| 137 | |
| 138 | if(theArrOfToler) |
| 139 | { |
| 140 | (*theArrOfToler) (aRetVal) = BRep_Tool::Tolerance(aVert); |
| 141 | } |
| 142 | |
| 143 | ++aRetVal; |
| 144 | } |
| 145 | |
| 146 | if(aRetVal == 0) |
| 147 | return 0; |
| 148 | |
| 149 | // analyze the faces of the shape on planarity and existence of triangulation |
| 150 | TopLoc_Location aLoc; |
| 151 | for(anExpF.Init(theS, TopAbs_FACE); anExpF.More(); anExpF.Next()) |
| 152 | { |
| 153 | const TopoDS_Face &aF = TopoDS::Face(anExpF.Current()); |
| 154 | const BRepAdaptor_Surface anAS(aF, Standard_False); |
| 155 | |
| 156 | if (!IsPlanar(anAS.Surface())) |
| 157 | { |
| 158 | if (!theIsTriangulationUsed) |
| 159 | // not planar and triangulation usage disabled |
| 160 | return 0; |
| 161 | } |
| 162 | else |
| 163 | { |
| 164 | // planar face |
| 165 | for(anExpE.Init(aF, TopAbs_EDGE); anExpE.More(); anExpE.Next()) |
| 166 | { |
| 167 | const TopoDS_Edge &anE = TopoDS::Edge(anExpE.Current()); |
| 168 | if (BRep_Tool::IsGeometric (anE)) |
| 169 | { |
| 170 | const BRepAdaptor_Curve anAC(anE); |
| 171 | if (!IsLinear(anAC)) |
| 172 | { |
| 173 | if (!theIsTriangulationUsed) |
| 174 | // not linear and triangulation usage disabled |
| 175 | return 0; |
| 176 | |
| 177 | break; |
| 178 | } |
| 179 | } |
| 180 | } |
| 181 | |
| 182 | if (!anExpE.More()) |
| 183 | // skip planar face with linear edges as its vertices have already been added |
| 184 | continue; |
| 185 | } |
| 186 | |
| 187 | // Use triangulation of the face |
| 188 | const Handle(Poly_Triangulation) &aTrng = BRep_Tool::Triangulation(aF, aLoc); |
| 189 | if (aTrng.IsNull()) |
| 190 | // no triangulation on the face |
| 191 | return 0; |
| 192 | |
| 193 | const Standard_Integer aCNode = aTrng->NbNodes(); |
| 194 | const TColgp_Array1OfPnt& aNodesArr = aTrng->Nodes(); |
| 195 | for (Standard_Integer i = 1; i <= aCNode; i++) |
| 196 | { |
| 197 | if (thePts) |
| 198 | { |
| 199 | const gp_Pnt aP = aLoc.IsIdentity() ? aNodesArr(i) : |
| 200 | aNodesArr(i).Transformed(aLoc); |
| 201 | (*thePts)(aRetVal) = aP; |
| 202 | } |
| 203 | |
| 204 | if (theArrOfToler) |
| 205 | { |
| 206 | (*theArrOfToler) (aRetVal) = aTrng->Deflection(); |
| 207 | } |
| 208 | |
| 209 | ++aRetVal; |
| 210 | } |
| 211 | } |
| 212 | |
| 213 | // Consider edges without faces |
| 214 | |
| 215 | for(anExpE.Init(theS, TopAbs_EDGE, TopAbs_FACE); anExpE.More(); anExpE.Next()) |
| 216 | { |
| 217 | const TopoDS_Edge &anE = TopoDS::Edge(anExpE.Current()); |
| 218 | if (BRep_Tool::IsGeometric (anE)) |
| 219 | { |
| 220 | const BRepAdaptor_Curve anAC(anE); |
| 221 | if (IsLinear(anAC)) |
| 222 | { |
| 223 | // skip linear edge as its vertices have already been added |
| 224 | continue; |
| 225 | } |
| 226 | } |
| 227 | |
| 228 | if (!theIsTriangulationUsed) |
| 229 | // not linear and triangulation usage disabled |
| 230 | return 0; |
| 231 | |
| 232 | const Handle(Poly_Polygon3D) &aPolygon = BRep_Tool::Polygon3D(anE, aLoc); |
| 233 | if (aPolygon.IsNull()) |
| 234 | return 0; |
| 235 | |
| 236 | const Standard_Integer aCNode = aPolygon->NbNodes(); |
| 237 | const TColgp_Array1OfPnt& aNodesArr = aPolygon->Nodes(); |
| 238 | for (Standard_Integer i = 1; i <= aCNode; i++) |
| 239 | { |
| 240 | if (thePts) |
| 241 | { |
| 242 | const gp_Pnt aP = aLoc.IsIdentity() ? aNodesArr(i) : |
| 243 | aNodesArr(i).Transformed(aLoc); |
| 244 | (*thePts)(aRetVal) = aP; |
| 245 | } |
| 246 | |
| 247 | if (theArrOfToler) |
| 248 | { |
| 249 | (*theArrOfToler) (aRetVal) = aPolygon->Deflection(); |
| 250 | } |
| 251 | |
| 252 | ++aRetVal; |
| 253 | } |
| 254 | } |
| 255 | |
| 256 | return aRetVal; |
| 257 | } |
| 258 | |
| 259 | //======================================================================= |
| 260 | // Function : IsWCS |
| 261 | // purpose : Returns 0 if the theDir does not match any axis of WCS. |
| 262 | // Otherwise, returns the index of correspond axis. |
| 263 | //======================================================================= |
| 264 | static Standard_Integer IsWCS(const gp_Dir& theDir) |
| 265 | { |
| 266 | const Standard_Real aToler = Precision::Angular()*Precision::Angular(); |
| 267 | |
| 268 | const Standard_Real aX = theDir.X(), |
| 269 | aY = theDir.Y(), |
| 270 | aZ = theDir.Z(); |
| 271 | |
| 272 | const Standard_Real aVx = aY*aY + aZ*aZ, |
| 273 | aVy = aX*aX + aZ*aZ, |
| 274 | aVz = aX*aX + aY*aY; |
| 275 | |
| 276 | if(aVz < aToler) |
| 277 | return 3; // Z-axis |
| 278 | |
| 279 | if(aVy < aToler) |
| 280 | return 2; // Y-axis |
| 281 | |
| 282 | if(aVx < aToler) |
| 283 | return 1; // X-axis |
| 284 | |
| 285 | return 0; |
| 286 | } |
| 287 | |
| 288 | //======================================================================= |
| 289 | // Function : CheckPoints |
| 290 | // purpose : Collects points for DiTO algorithm for OBB construction on |
| 291 | // linear/planar shapes and shapes having triangulation |
| 292 | // (http://www.idt.mdh.se/~tla/publ/FastOBBs.pdf). |
| 293 | //======================================================================= |
| 294 | static Standard_Boolean CheckPoints(const TopoDS_Shape& theS, |
| 295 | const Standard_Boolean theIsTriangulationUsed, |
| 296 | const Standard_Boolean theIsOptimal, |
| 297 | const Standard_Boolean theIsShapeToleranceUsed, |
| 298 | Bnd_OBB& theOBB) |
| 299 | { |
| 300 | const Standard_Integer aNbPnts = PointsForOBB(theS, theIsTriangulationUsed); |
| 301 | |
| 302 | if(aNbPnts < 1) |
| 303 | return Standard_False; |
| 304 | |
| 305 | TColgp_Array1OfPnt anArrPnts(0, theOBB.IsVoid() ? aNbPnts - 1 : aNbPnts + 7); |
| 306 | TColStd_Array1OfReal anArrOfTolerances; |
| 307 | if(theIsShapeToleranceUsed) |
| 308 | { |
| 309 | anArrOfTolerances.Resize(anArrPnts.Lower(), anArrPnts.Upper(), Standard_False); |
| 310 | anArrOfTolerances.Init(0.0); |
| 311 | } |
| 312 | |
| 313 | TColStd_Array1OfReal *aPtrArrTol = theIsShapeToleranceUsed ? &anArrOfTolerances : 0; |
| 314 | |
| 315 | PointsForOBB(theS, theIsTriangulationUsed, &anArrPnts, aPtrArrTol); |
| 316 | |
| 317 | if(!theOBB.IsVoid()) |
| 318 | { |
| 319 | // All points of old OBB have zero-tolerance |
| 320 | theOBB.GetVertex(&anArrPnts(aNbPnts)); |
| 321 | } |
| 322 | |
| 323 | #if 0 |
| 324 | for(Standard_Integer i = anArrPnts.Lower(); i <= anArrPnts.Upper(); i++) |
| 325 | { |
| 326 | const gp_Pnt &aP = anArrPnts(i); |
| 327 | std::cout << "point p" << i << " " << aP.X() << ", " << |
| 328 | aP.Y() << ", " << |
| 329 | aP.Z() << ", "<< std::endl; |
| 330 | } |
| 331 | #endif |
| 332 | |
| 333 | theOBB.ReBuild(anArrPnts, aPtrArrTol, theIsOptimal); |
| 334 | |
| 335 | return (!theOBB.IsVoid()); |
| 336 | } |
| 337 | |
| 338 | //======================================================================= |
| 339 | // Function : ComputeProperties |
| 340 | // purpose : Computes properties of theS. |
| 341 | //======================================================================= |
| 342 | static void ComputeProperties(const TopoDS_Shape& theS, |
| 343 | GProp_GProps& theGCommon) |
| 344 | { |
| 345 | TopExp_Explorer anExp; |
| 346 | for(anExp.Init(theS, TopAbs_SOLID); anExp.More(); anExp.Next()) |
| 347 | { |
| 348 | GProp_GProps aG; |
| 349 | BRepGProp::VolumeProperties(anExp.Current(), aG, Standard_True); |
| 350 | theGCommon.Add(aG); |
| 351 | } |
| 352 | |
| 353 | for(anExp.Init(theS, TopAbs_FACE, TopAbs_SOLID); anExp.More(); anExp.Next()) |
| 354 | { |
| 355 | GProp_GProps aG; |
| 356 | BRepGProp::SurfaceProperties(anExp.Current(), aG, Standard_True); |
| 357 | theGCommon.Add(aG); |
| 358 | } |
| 359 | |
| 360 | for(anExp.Init(theS, TopAbs_EDGE, TopAbs_FACE); anExp.More(); anExp.Next()) |
| 361 | { |
| 362 | GProp_GProps aG; |
| 363 | BRepGProp::LinearProperties(anExp.Current(), aG, Standard_True); |
| 364 | theGCommon.Add(aG); |
| 365 | } |
| 366 | |
| 367 | for(anExp.Init(theS, TopAbs_VERTEX, TopAbs_EDGE); anExp.More(); anExp.Next()) |
| 368 | { |
| 369 | GProp_GProps aG(BRep_Tool::Pnt(TopoDS::Vertex(anExp.Current()))); |
| 370 | theGCommon.Add(aG); |
| 371 | } |
| 372 | } |
| 373 | |
| 374 | //======================================================================= |
| 375 | // Function : ComputePCA |
| 376 | // purpose : Creates OBB with axes of inertia. |
| 377 | //======================================================================= |
| 378 | static void ComputePCA(const TopoDS_Shape& theS, |
| 379 | Bnd_OBB& theOBB, |
| 380 | const Standard_Boolean theIsTriangulationUsed, |
| 381 | const Standard_Boolean theIsOptimal, |
| 382 | const Standard_Boolean theIsShapeToleranceUsed) |
| 383 | { |
| 384 | // Compute the transformation matrix to obtain more tight bounding box |
| 385 | GProp_GProps aGCommon; |
| 386 | ComputeProperties(theS, aGCommon); |
| 387 | |
| 388 | // Transform the shape to the local coordinate system |
| 389 | gp_Trsf aTrsf; |
| 390 | |
| 391 | const Standard_Integer anIdx1 = |
| 392 | IsWCS(aGCommon.PrincipalProperties().FirstAxisOfInertia()); |
| 393 | const Standard_Integer anIdx2 = |
| 394 | IsWCS(aGCommon.PrincipalProperties().SecondAxisOfInertia()); |
| 395 | |
| 396 | if((anIdx1 == 0) || (anIdx2 == 0)) |
| 397 | { |
| 398 | // Coordinate system in which the shape will have the optimal bounding box |
| 399 | gp_Ax3 aLocCoordSys(aGCommon.CentreOfMass(), |
| 400 | aGCommon.PrincipalProperties().ThirdAxisOfInertia(), |
| 401 | aGCommon.PrincipalProperties().FirstAxisOfInertia()); |
| 402 | aTrsf.SetTransformation(aLocCoordSys); |
| 403 | } |
| 404 | |
| 405 | const TopoDS_Shape aST = (aTrsf.Form() == gp_Identity) ? theS : |
| 406 | theS.Moved(TopLoc_Location(aTrsf)); |
| 407 | |
| 408 | // Initial axis-aligned BndBox |
| 409 | Bnd_Box aShapeBox; |
| 410 | if(theIsOptimal) |
| 411 | { |
| 412 | BRepBndLib::AddOptimal(aST, aShapeBox, theIsTriangulationUsed, theIsShapeToleranceUsed); |
| 413 | } |
| 414 | else |
| 415 | { |
| 416 | BRepBndLib::Add(aST, aShapeBox); |
| 417 | } |
| 418 | if (aShapeBox.IsVoid()) |
| 419 | { |
| 420 | return; |
| 421 | } |
| 422 | |
| 423 | gp_Pnt aPMin = aShapeBox.CornerMin(); |
| 424 | gp_Pnt aPMax = aShapeBox.CornerMax(); |
| 425 | |
| 426 | gp_XYZ aXDir(1, 0, 0); |
| 427 | gp_XYZ aYDir(0, 1, 0); |
| 428 | gp_XYZ aZDir(0, 0, 1); |
| 429 | |
| 430 | // Compute the center of the box |
| 431 | gp_XYZ aCenter = (aPMin.XYZ() + aPMax.XYZ()) / 2.; |
| 432 | |
| 433 | // Compute the half diagonal size of the box. |
| 434 | // It takes into account the gap. |
| 435 | gp_XYZ anOBBHSize = (aPMax.XYZ() - aPMin.XYZ()) / 2.; |
| 436 | |
| 437 | // Apply transformation if necessary |
| 438 | if(aTrsf.Form() != gp_Identity) |
| 439 | { |
| 440 | aTrsf.Invert(); |
| 441 | aTrsf.Transforms(aCenter); |
| 442 | |
| 443 | // Make transformation |
| 444 | const Standard_Real * aMat = &aTrsf.HVectorialPart().Value(1, 1); |
| 445 | // Compute axes directions of the box |
| 446 | aXDir = gp_XYZ(aMat[0], aMat[3], aMat[6]); |
| 447 | aYDir = gp_XYZ(aMat[1], aMat[4], aMat[7]); |
| 448 | aZDir = gp_XYZ(aMat[2], aMat[5], aMat[8]); |
| 449 | } |
| 450 | |
| 451 | if(theOBB.IsVoid()) |
| 452 | { |
| 453 | // Create the OBB box |
| 454 | |
| 455 | // Set parameters to the OBB |
| 456 | theOBB.SetCenter(aCenter); |
| 457 | |
| 458 | theOBB.SetXComponent(aXDir, anOBBHSize.X()); |
| 459 | theOBB.SetYComponent(aYDir, anOBBHSize.Y()); |
| 460 | theOBB.SetZComponent(aZDir, anOBBHSize.Z()); |
| 461 | theOBB.SetAABox(aTrsf.Form() == gp_Identity); |
| 462 | } |
| 463 | else |
| 464 | { |
| 465 | // Recreate the OBB box |
| 466 | |
| 467 | TColgp_Array1OfPnt aListOfPnts(0, 15); |
| 468 | theOBB.GetVertex(&aListOfPnts(0)); |
| 469 | |
| 470 | const Standard_Real aX = anOBBHSize.X(); |
| 471 | const Standard_Real aY = anOBBHSize.Y(); |
| 472 | const Standard_Real aZ = anOBBHSize.Z(); |
| 473 | |
| 474 | const gp_XYZ aXext = aX*aXDir, |
| 475 | aYext = aY*aYDir, |
| 476 | aZext = aZ*aZDir; |
| 477 | |
| 478 | Standard_Integer aPntIdx = 8; |
| 479 | aListOfPnts(aPntIdx++) = aCenter - aXext - aYext - aZext; |
| 480 | aListOfPnts(aPntIdx++) = aCenter + aXext - aYext - aZext; |
| 481 | aListOfPnts(aPntIdx++) = aCenter - aXext + aYext - aZext; |
| 482 | aListOfPnts(aPntIdx++) = aCenter + aXext + aYext - aZext; |
| 483 | aListOfPnts(aPntIdx++) = aCenter - aXext - aYext + aZext; |
| 484 | aListOfPnts(aPntIdx++) = aCenter + aXext - aYext + aZext; |
| 485 | aListOfPnts(aPntIdx++) = aCenter - aXext + aYext + aZext; |
| 486 | aListOfPnts(aPntIdx++) = aCenter + aXext + aYext + aZext; |
| 487 | |
| 488 | theOBB.ReBuild(aListOfPnts); |
| 489 | } |
| 490 | } |
| 491 | |
| 492 | //======================================================================= |
| 493 | // Function : AddOBB |
| 494 | // purpose : |
| 495 | //======================================================================= |
| 496 | void BRepBndLib::AddOBB(const TopoDS_Shape& theS, |
| 497 | Bnd_OBB& theOBB, |
| 498 | const Standard_Boolean theIsTriangulationUsed, |
| 499 | const Standard_Boolean theIsOptimal, |
| 500 | const Standard_Boolean theIsShapeToleranceUsed) |
| 501 | { |
| 502 | if (CheckPoints(theS, theIsTriangulationUsed, theIsOptimal, theIsShapeToleranceUsed, theOBB)) |
| 503 | return; |
| 504 | |
| 505 | ComputePCA(theS, theOBB, theIsTriangulationUsed, theIsOptimal, theIsShapeToleranceUsed); |
| 506 | } |