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USD -> SDF: polygon triangulation #819

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merged 5 commits into from
Jan 18, 2022
Merged

USD -> SDF: polygon triangulation #819

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774a5ec
polygon triangulation using the fan-triangulation algorithm
Jan 12, 2022
15871a0
remove cgal dep
Jan 13, 2022
dedca34
add todo
Jan 13, 2022
334a08e
Merge remote-tracking branch 'origin/ahcorde/usd/prototype_main' into…
ahcorde Jan 13, 2022
6547ea7
fix xformOp:transform parsing (#822)
Jan 18, 2022
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2 changes: 0 additions & 2 deletions src/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,6 @@ else()
endif()

find_package(pxr REQUIRED)
find_package(CGAL)

include_directories(${PXR_INCLUDE_DIRS})
set(sources ${sources}
Expand Down Expand Up @@ -265,7 +264,6 @@ target_link_libraries(${sdf_target}
ignition-common${IGN_COMMON_VER}::graphics
${PYTHON_LIBRARY}
${PXR_LIBRARIES}
CGAL::CGAL
PRIVATE
${TinyXML2_LIBRARIES})

Expand Down
84 changes: 24 additions & 60 deletions src/usd/usd_parser/polygon_helper.cc
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Expand Up @@ -17,77 +17,41 @@

#include "polygon_helper.hh"

#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/Delaunay_triangulation_3.h>
#include <CGAL/Triangulation_vertex_base_with_info_3.h>
#include <CGAL/Random.h>
#include <vector>
#include <cassert>

typedef CGAL::Exact_predicates_inexact_constructions_kernel K;
typedef CGAL::Triangulation_vertex_base_with_info_3<unsigned int, K> Vb;
typedef CGAL::Delaunay_triangulation_cell_base_3<K> Cb;
typedef CGAL::Triangulation_data_structure_3<Vb, Cb> Tds;
typedef CGAL::Delaunay_triangulation_3<K, Tds> Delaunay;
typedef Delaunay::Point Point;

namespace usd
{
std::vector<unsigned int> PolygonToTriangles(
pxr::VtIntArray &_faceVertexIndices,
pxr::VtIntArray &_faceVertexCounts,
pxr::VtArray<pxr::GfVec3f> &_points)
pxr::VtIntArray &_faceVertexIndices,
pxr::VtIntArray &_faceVertexCounts,
pxr::VtArray<pxr::GfVec3f> &_points)
{
std::vector<unsigned int> indices;
// TODO: Use more robust algorithms.
// For reference, blender supports "ear-clipping", and "Beauty".
// ref: https://blender.stackexchange.com/questions/215553/what-algorithm-is-used-for-beauty-triangulation
// ref: https://en.wikipedia.org/wiki/Polygon_triangulation
size_t count = 0;
for (const auto &vCount : _faceVertexCounts)
{
count += vCount - 2;
}
std::vector<unsigned int> triangles;
triangles.reserve(count * 3);

unsigned int indexVertex = 0;
for (unsigned int i = 0; i < _faceVertexCounts.size(); ++i)
size_t cur = 0;
for (const auto &vCount : _faceVertexCounts)
{
if (_faceVertexCounts[i] == 3)
{
unsigned int j = indexVertex;
unsigned int indexVertexStop = indexVertex + 3;
for (; j < indexVertexStop; ++j)
{
indices.emplace_back(_faceVertexIndices[j]);
++indexVertex;
}
}
else
for (size_t i = cur + 2; i < cur + vCount; i++)
{
std::vector< std::pair<Point, unsigned> > P;
for (int j = 0; j < _faceVertexCounts[i]; ++j)
{
pxr::GfVec3f & _p = _points[_faceVertexIndices[indexVertex]];
P.push_back(
std::make_pair(
Point(_p[0], _p[1], _p[2]),
_faceVertexIndices[indexVertex]));
++indexVertex;
}
Delaunay triangulation(P.begin(), P.end());

bool goodTriangle = true;
for(Delaunay::Finite_facets_iterator fit = triangulation.finite_facets_begin();
fit != triangulation.finite_facets_end(); ++fit)
{
auto &face = fit;
goodTriangle = false;
}

if (goodTriangle)
{
for(Delaunay::Finite_facets_iterator fit = triangulation.finite_facets_begin();
fit != triangulation.finite_facets_end(); ++fit)
{
auto &face = fit;
indices.emplace_back(face->first->vertex(0)->info());
indices.emplace_back(face->first->vertex(1)->info());
indices.emplace_back(face->first->vertex(2)->info());
}
}
triangles.emplace_back(_faceVertexIndices[cur]);
triangles.emplace_back(_faceVertexIndices[i - 1]);
triangles.emplace_back(_faceVertexIndices[i]);
}
cur += vCount;
}
return indices;
assert(triangles.size() == count * 3);

return triangles;
}
}
113 changes: 21 additions & 92 deletions src/usd/usd_parser/utils.cc
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Expand Up @@ -359,6 +359,12 @@ namespace usd
}

pose.Pos() = t.translate * metersPerUnit;
// scaling is lost when we convert to pose, so we pre-scale the translation
// to make them match the scaled values.
if (!_tfs.empty()) {
auto& child = _tfs.back();
child.Pos().Set(child.Pos().X() * t.scale[0], child.Pos().Y() * t.scale[1], child.Pos().Z() * t.scale[2]);
}

if (!t.isRotationZYX)
{
Expand Down Expand Up @@ -560,105 +566,28 @@ namespace usd

if (op == "xformOp:transform")
{
// FIXME: Shear is lost (does sdformat support it?).

pxr::GfMatrix4d transform;
_prim.GetAttribute(pxr::TfToken("xformOp:transform")).Get(&transform);
pxr::GfVec3d translateMatrix = transform.ExtractTranslation();
pxr::GfQuatd rotation_quadMatrix = transform.ExtractRotationQuat();

ignition::math::Matrix4d m(
transform[0][0], transform[0][1], transform[0][2], transform[0][3],
transform[1][0], transform[1][1], transform[1][2], transform[1][3],
transform[2][0], transform[2][1], transform[2][2], transform[2][3],
transform[3][0], transform[3][1], transform[3][2], transform[3][3]
);
std::cerr << "m " << m << '\n';
const auto rot = transform.RemoveScaleShear();
const auto scaleShear = transform * rot.GetInverse();

std::pair<std::string, std::shared_ptr<USDStage>> data =
_usdData.findStage(_prim.GetPath().GetName());
t.scale[0] = scaleShear[0][0];
t.scale[1] = scaleShear[1][1];
t.scale[2] = scaleShear[2][2];

// bool upAxisZ = (data.second->_upAxis == "Z");
// if(!upAxisZ)
// {
// ignition::math::Matrix4d mUpAxis(
// 1, 0, 0, 0,
// 0, 0, -1, 0,
// 0, 1, 0, 0,
// 0, 0, 0, 1);
//
// pxr::GfMatrix4d mUpAxis2(
// 1, 0, 0, 0,
// 0, 0, -1, 0,
// 0, 1, 0, 0,
// 0, 0, 0, 1);
//
// m = mUpAxis * m;
// transform = mUpAxis2 * transform;
// std::cerr << "m upAxis " << m << '\n';
// }

ignition::math::Vector3d eulerAngles = m.EulerRotation(true);
std::cerr << "eulerAngles " << eulerAngles << '\n';
ignition::math::Matrix4d inverseRX(ignition::math::Pose3d(
ignition::math::Vector3d(0, 0, 0),
ignition::math::Quaterniond(-eulerAngles[0], 0, 0)));
ignition::math::Matrix4d inverseRY(ignition::math::Pose3d(
ignition::math::Vector3d(0, 0, 0),
ignition::math::Quaterniond(0, -eulerAngles[1], 0)));
ignition::math::Matrix4d inverseRZ(ignition::math::Pose3d(
ignition::math::Vector3d(0, 0, 0),
ignition::math::Quaterniond(0, 0, -eulerAngles[2])));

pxr::GfMatrix4d inverseR2X(
inverseRX(0, 0), inverseRX(0, 1), inverseRX(0, 2), inverseRX(0, 3),
inverseRX(1, 0), inverseRX(1, 1), inverseRX(1, 2), inverseRX(1, 3),
inverseRX(2, 0), inverseRX(2, 1), inverseRX(2, 2), inverseRX(2, 3),
inverseRX(3, 0), inverseRX(3, 1), inverseRX(3, 2), inverseRX(3, 3));
pxr::GfMatrix4d inverseR2Y(
inverseRY(0, 0), inverseRY(0, 1), inverseRY(0, 2), inverseRY(0, 3),
inverseRY(1, 0), inverseRY(1, 1), inverseRY(1, 2), inverseRY(1, 3),
inverseRY(2, 0), inverseRY(2, 1), inverseRY(2, 2), inverseRY(2, 3),
inverseRY(3, 0), inverseRY(3, 1), inverseRY(3, 2), inverseRY(3, 3));
pxr::GfMatrix4d inverseR2Z(
inverseRZ(0, 0), inverseRZ(0, 1), inverseRZ(0, 2), inverseRZ(0, 3),
inverseRZ(1, 0), inverseRZ(1, 1), inverseRZ(1, 2), inverseRZ(1, 3),
inverseRZ(2, 0), inverseRZ(2, 1), inverseRZ(2, 2), inverseRZ(2, 3),
inverseRZ(3, 0), inverseRZ(3, 1), inverseRZ(3, 2), inverseRZ(3, 3));

m = inverseRX * (inverseRY * (inverseRZ * m));
transform = inverseR2X * (inverseR2Y * (inverseR2Z * transform));
// ignition::math::Vector3d t = m.Translation();
// ignition::math::Vector3d euler = m.EulerRotation(true);
// ignition::math::Quaternion r(eulerAngles[0], eulerAngles[1], eulerAngles[2]);
std::cerr << "m " << m << '\n';

// std::cerr << "m " << m << '\n';
// std::cerr << "transform " << transform << '\n';

t.scale[0] = transform[0][0];
t.scale[1] = transform[1][1];
t.scale[2] = transform[2][2];

pxr::GfVec3d translateVector = transform.ExtractTranslation();
pxr::GfQuatd rotationInversed = transform.ExtractRotationQuat();
t.translate = ignition::math::Vector3d(
translateVector[0], translateVector[1], translateVector[2]);
ignition::math::Quaterniond q(eulerAngles[0], eulerAngles[1], eulerAngles[2]);
const auto rotQuat = rot.ExtractRotationQuat();
t.translate = ignition::math::Vector3d(transform[3][0], transform[3][1], transform[3][2]);
ignition::math::Quaterniond q(
rotQuat.GetReal(),
rotQuat.GetImaginary()[0],
rotQuat.GetImaginary()[1],
rotQuat.GetImaginary()[2]
);
t.q.push_back(q);
// translate[0] = translateVector[0];
// translate[1] = translateVector[1];
// translate[2] = translateVector[2];
// rotationQuad.SetImaginary(r.X(), r.Y(), r.Z());
// rotationQuad.SetReal(r.W());

// isTranslate = true;
// isRotation = true;
// isScale = true;
t.isTranslate = true;
t.isRotation = true;

std::cerr << "translate " << t.translate << '\n';
std::cerr << "rotation_quad " << q << '\n';
std::cerr << "scale " << t.scale << '\n';
}
}
return t;
Expand Down