private void exhaustiveCheck(
final Record rec, final Vector3d offset, final PolyTree ptree1, final PolyTree ptree2) {
final Matrix4dX X21 = new Matrix4dX(rec.X21);
final Matrix4dX X12 = new Matrix4dX();
X21.m03 += offset.x;
X21.m13 += offset.y;
X21.m23 += offset.z;
X12.invert(X21);
final Vector flist1 = getAllPolyhdreonFeatures(ptree1.getPolyhedron());
final Vector flist2 = getAllPolyhdreonFeatures(ptree2.getPolyhedron());
for (final Iterator it1 = flist1.iterator(); it1.hasNext(); ) {
final Feature f1 = (Feature) it1.next();
for (final Iterator it2 = flist2.iterator(); it2.hasNext(); ) {
final Feature f2 = (Feature) it2.next();
if (!(f1.type == Feature.FACE && f2.type == Feature.FACE)) {
final FeaturePair featurePair = new FeaturePair(f1, f2);
final PolyTreePair ptreePair = new PolyTreePair(ptree1, ptree2);
closestFeaturesHT.put(ptreePair, featurePair);
final DistanceReport rep = rec.createDistanceReport();
final double d = ptree1.vclip(rep, ptree2, X21, MAX_DIST, closestFeaturesHT);
rep.transformSecondPoints(X21);
checkVclipResults(rec, offset, rep, d, featurePair);
}
}
}
}
DistanceReport createDistanceReport() {
final DistanceReport rep = new DistanceReport();
if (promote) rep.setFeaturePromotion(true, -1);
if (maxPairDist != 0) {
rep.setMaxClosePairs(100);
rep.setMaxPairDistance(maxPairDist);
}
return rep;
}
private void printError(
final String msg, final Record rec, final DistanceReport rep, final FeaturePair fpair) {
System.out.println("Error, line " + rec.lineNumber);
if (msg != null) System.out.println(msg);
System.out.println("Wanted:");
for (final ClosestPointPair testPair : rec.testPairs) System.out.println(pairToStr(testPair));
System.out.println("Got:");
if (rep.numClosePairs() > 0) {
final ClosestPointPair[] pairs = rep.getClosePairs();
for (int i = 0; i < rep.numClosePairs(); i++) System.out.println(pairToStr(pairs[i]));
} else System.out.println(pairToStr(rep.getClosestPair()));
System.out.println("Initial Features: " + fpair.first.getName() + " " + fpair.second.getName());
System.exit(1);
}
private void printResults(final DistanceReport rep, final FeaturePair fpair) {
final Vector3dX del = new Vector3dX();
final ClosestPointPair cpp = rep.getClosestPair();
del.sub(cpp.pnt2, cpp.pnt1);
System.out.println("Initial Features: " + fpair.first.getName() + " " + fpair.second.getName());
System.out.println("dist=" + rep.getClosestDistance());
System.out.println("del=" + del);
System.out.println("pnt1_1=" + cpp.pnt1);
System.out.println("pnt2_1=" + cpp.pnt2);
System.out.println("nrml_1=" + cpp.nrml);
if (cpp.feat1 != null)
System.out.println("feature1=" + cpp.feat1.getClass().getName() + " " + cpp.feat1.name);
else System.out.println("feature1=null");
if (cpp.feat2 != null)
System.out.println("feature2=" + cpp.feat2.getClass().getName() + " " + cpp.feat2.name);
else System.out.println("feature2=null");
}
/* Evaluate the "selected" candidates in the corpus using its "gold"
* candidates. */
public DistanceReport evaluate() {
DistanceReport dreport = new DistanceReport();
for (Document<Token> doc : corpus) {
if (!doc.isTrain()) {
Coordinate systemCoord = doc.getSystemCoord();
Coordinate goldCoord = doc.getGoldCoord();
if (systemCoord != null && goldCoord != null) {
dreport.addDistance(systemCoord.distanceInKm(goldCoord));
}
}
}
return dreport;
}
private void checkDistanceReport(final DistanceReport rep, final NormalDistPair[] checkpairs)
throws Exception {
if (rep.numClosePairs() != checkpairs.length)
throw new Exception(
"Distance report has " + rep.numClosePairs() + " close pairs vs. " + checkpairs.length);
final ClosestPointPair[] list = new ClosestPointPair[checkpairs.length];
for (int i = 0; i < list.length; i++) list[i] = rep.getClosePairs()[i];
for (final NormalDistPair checkpair : checkpairs) {
int j;
for (j = 0; j < list.length; j++)
if (list[j] != null && checkpair.check(list[j])) {
list[j] = null;
break;
}
if (j == list.length)
throw new Exception("close pair " + checkpair.vec + ", d=" + checkpair.d + " not found");
}
}
private void singleCheck(
final Record rec,
final Vector3d offset,
final PolyTree ptree1,
final PolyTree ptree2,
final String fname1,
final String fname2) {
final Matrix4dX X21 = new Matrix4dX(rec.X21);
final Matrix4dX X12 = new Matrix4dX();
X21.m03 += offset.x;
X21.m13 += offset.y;
X21.m23 += offset.z;
X12.invert(X21);
FeaturePair featurePair;
if (fname1 != null) {
Feature f1, f2;
if (fname1.equals("")) f1 = ptree1.poly_.getVerts()[0];
else f1 = ptree1.poly_.findFeature(fname1);
if (fname1.equals("")) f2 = ptree2.poly_.getVerts()[0];
else f2 = ptree2.poly_.findFeature(fname2);
featurePair = new FeaturePair(f1, f2);
final PolyTreePair ptreePair = new PolyTreePair(ptree1, ptree2);
closestFeaturesHT.put(ptreePair, featurePair);
} else {
featurePair = (FeaturePair) closestFeaturesHT.get(new PolyTreePair(ptree1, ptree2));
if (featurePair == null)
featurePair = new FeaturePair(ptree1.poly_.getVerts()[0], ptree2.poly_.getVerts()[0]);
}
final DistanceReport rep = rec.createDistanceReport();
final double d = ptree1.vclip(rep, ptree2, X21, MAX_DIST, closestFeaturesHT);
rep.transformSecondPoints(X21);
checkVclipResults(rec, offset, rep, d, featurePair);
}
private void checkVclipResults(
final Record rec,
final Vector3d offset,
final DistanceReport rep,
final double retDist,
final FeaturePair fpair) {
for (int i = 0; i < rec.testPairs.length; i++) {
rec.testPairs[i].pnt2.add(rec.basePairs[i].pnt2, offset);
rec.testPairs[i].dist = rec.basePairs[i].dist + offset.dot(rec.minNrml);
}
if (rep.getClosestDistance() != retDist) {
final String msg =
"dist returned=" + retDist + " closestDistance=" + rep.getClosestDistance();
printError(msg, rec, rep, fpair);
}
if (rep.numClosePairs() == 0) {
final ClosestPointPair cpair = rep.getClosestPair();
boolean expectedCollision = false;
for (final ClosestPointPair testPair : rec.testPairs)
if (testPair.dist <= 0) {
expectedCollision = true;
break;
}
if (expectedCollision) {
if (cpair.dist > 0) printError("Expected collision", rec, rep, fpair);
} else if (rec.testPairs.length != 1 || !matchPair(rep.getClosestPair(), rec.testPairs[0]))
printError(null, rec, rep, fpair);
} else {
final int n = rep.numClosePairs();
if (n != rec.testPairs.length) printError(null, rec, rep, fpair);
final ClosestPointPair[] pairs = new ClosestPointPair[n];
for (int i = 0; i < n; i++) pairs[i] = rep.getClosePairs()[i];
for (int i = 0; i < n; i++) {
int j;
for (j = 0; j < n; j++)
if (pairs[j] != null && matchPair(rec.testPairs[i], pairs[j])) {
pairs[j] = null;
break;
}
if (j == n) printError(null, rec, rep, fpair);
}
}
}
void polyTreeTests() throws Exception {
final PolyTree ptree = new PolyTree("compound");
final PolyTree unitCube = (PolyTree) library.get("unit-cube");
final Matrix4dX M = new Matrix4dX();
final double c = Math.cos(Math.toRadians(30));
M.setRpy(Math.toRadians(30), Math.toRadians(0), Math.toRadians(20));
final Vector3d p = new Vector3d(M.m01, M.m11, M.m21);
// Vector3d p = new Vector3d (M.m00, M.m10, M.m20);
M.setXyz(p.x, p.y, p.z);
// M.setXyz (-0.5, c, 0);
ptree.addComponent(null, unitCube, M);
M.setXyz(-p.x, -p.y, -p.z);
// M.setXyz ( 0.5,-c, 0);
ptree.addComponent(null, unitCube, M);
ptree.buildBoundingHull(PolyTree.CONVEX_HULL);
Vertex[] verts = ptree.getPolyhedron().getVerts();
final Point3dX[] hullPnts = new Point3dX[verts.length];
for (int i = 0; i < hullPnts.length; i++) hullPnts[i] = new Point3dX(verts[i].coords);
ptree.buildBoundingHull(PolyTree.OBB_HULL);
verts = ptree.getPolyhedron().getVerts();
final Point3dX px = new Point3dX();
for (final Vertex vert : verts) {
M.transform(vert.coords, px);
px.set(vert.coords);
}
for (int i = 0; i < verts.length; i++)
if (!locatePoint(verts[i].coords, hullPnts))
throw new Exception("Can't locate point " + verts[i].coords);
M.setIdentity();
final PolyTree cubepair = new PolyTree("cubepair");
final Point3d[] cubepairHullCheck =
new Point3d[] {
new Point3d(1.5, 0.5, 0.5),
new Point3d(1.5, 0.5, -0.5),
new Point3d(1.5, -0.5, 0.5),
new Point3d(1.5, -0.5, -0.5),
new Point3d(-1.5, 0.5, 0.5),
new Point3d(-1.5, 0.5, -0.5),
new Point3d(-1.5, -0.5, 0.5),
new Point3d(-1.5, -0.5, -0.5),
};
M.setXyz(1, 0, 0);
cubepair.addComponent(null, unitCube, M);
M.setXyz(-1, 0, 0);
cubepair.addComponent(null, unitCube, M);
cubepair.buildBoundingHull(PolyTree.OBB_HULL);
checkPolyVertices(cubepairHullCheck, cubepair);
cubepair.buildBoundingHull(PolyTree.CONVEX_HULL);
checkPolyVertices(cubepairHullCheck, cubepair);
Point3d[] jackHullCheck;
final PolyTree jack = new PolyTree("jack");
jack.addComponent("jack_0", cubepair);
M.setXyz(0, 0, 0);
M.setRpy(Math.toRadians(90), 0, 0);
jack.addComponent("jack_1", cubepair, M);
final Matrix4dX MI = new Matrix4dX();
MI.invertTrans(M);
jackHullCheck = appendPoints(cubepairHullCheck, transformPoints(MI, cubepairHullCheck));
M.setRpy(0, Math.toRadians(90), 0);
jack.addComponent("jack_2", cubepair, M);
MI.invertTrans(M);
jackHullCheck = appendPoints(jackHullCheck, transformPoints(MI, cubepairHullCheck));
jack.buildBoundingHull(PolyTree.CONVEX_HULL);
checkPolyVertices(jackHullCheck, jack);
jack.buildAllBoundingHulls(PolyTree.CONVEX_HULL);
checkPolyVertices(jackHullCheck, jack);
int i = 0;
for (final Iterator it = jack.getComponents(); it.hasNext(); ) {
final PolyTree part = (PolyTree) it.next();
part.setName("jack_" + i);
checkPolyVertices(cubepairHullCheck, part);
i++;
}
final Point3d[] jackOBBHullCheck =
new Point3d[] {
new Point3d(1.5, 1.5, 1.5),
new Point3d(1.5, 1.5, -1.5),
new Point3d(1.5, -1.5, 1.5),
new Point3d(1.5, -1.5, -1.5),
new Point3d(-1.5, 1.5, 1.5),
new Point3d(-1.5, 1.5, -1.5),
new Point3d(-1.5, -1.5, 1.5),
new Point3d(-1.5, -1.5, -1.5),
};
jack.buildAllBoundingHulls(PolyTree.OBB_HULL);
checkPolyVertices(jackOBBHullCheck, jack);
for (final Iterator it = jack.getComponents(); it.hasNext(); )
checkPolyVertices(cubepairHullCheck, (PolyTree) it.next());
final PolyTree cross1 = new PolyTree(null, library, "cross");
final PolyTree cross2 = new PolyTree(null, library, "cross");
final DistanceReport rep = new DistanceReport(10);
final double del = 0.1;
M.setRpy(0, 0, 0);
M.setXyz(1.5 + del, -1.0 - del, 0);
rep.setMaxPairDistance(2 * del);
cross1.vclip(rep, cross2, M, 10.0, null);
rep.transformSecondPoints(M);
checkDistanceReport(
rep,
new NormalDistPair[] {
new NormalDistPair(1, 0, 0, del),
new NormalDistPair(1, 0, 0, del),
new NormalDistPair(0, -1, 0, del)
});
}
