mesh_graph/ops/

query.rs

use glam::Vec3;
use itertools::Itertools;
use parry3d::{
    math::Pose,
    partitioning::Bvh,
    query::{
        PointProjection, PointQuery, PointQueryWithLocation, Ray, RayCast, RayIntersection,
        details::NormalConstraints,
    },
    shape::{CompositeShape, CompositeShapeRef, FeatureId, Shape, Triangle, TypedCompositeShape},
};
use tracing::instrument;

use crate::{Face, MeshGraph, error_none, utils::unwrap_or_return};

impl PointQuery for MeshGraph {
    #[inline]
    #[instrument(skip(self))]
    fn project_local_point(&self, point: Vec3, solid: bool) -> PointProjection {
        self.project_local_point_and_get_location(point, solid).0
    }

    fn project_local_point_and_get_feature(&self, point: Vec3) -> (PointProjection, FeatureId) {
        let (proj, face) = self.project_local_point_and_get_location(point, false);
        (proj, FeatureId::Face(face.index))
    }
}

impl PointQueryWithLocation for MeshGraph {
    type Location = Face;

    #[inline]
    #[instrument(skip(self))]
    fn project_local_point_and_get_location(
        &self,
        point: Vec3,
        solid: bool,
    ) -> (PointProjection, Self::Location) {
        self.project_local_point_and_get_location_with_max_dist(point, solid, f32::MAX)
            .unwrap()
    }

    /// Projects a point on `self`, with a maximum projection distance.
    #[instrument(skip(self))]
    fn project_local_point_and_get_location_with_max_dist(
        &self,
        point: Vec3,
        solid: bool,
        max_dist: f32,
    ) -> Option<(PointProjection, Self::Location)> {
        let (shape_id, (mut proj, _)) =
            CompositeShapeRef(self).project_local_point_and_get_location(point, max_dist, solid)?;

        // TODO : this could be more precise by interpolating the normal depending on the hit location

        let face_id = self
            .index_to_face_id
            .get(&shape_id)
            .or_else(error_none!("Face not found"))?;
        let face = self
            .faces
            .get(*face_id)
            .or_else(error_none!("Face not found"))?;

        if let Some(vertex_normals) = self.vertex_normals.as_ref() {
            let he = self
                .halfedges
                .get(face.halfedge)
                .or_else(error_none!("Halfedge not found"))?;
            let pseudo_normal = vertex_normals
                .get(he.end_vertex)
                .or_else(error_none!("Vertex normal not found"))?;

            let dpt = point - proj.point;
            proj.is_inside =
                dpt.dot(Vec3::new(pseudo_normal.x, pseudo_normal.y, pseudo_normal.z)) <= 0.0;
        }

        Some((proj, *face))
    }
}

impl RayCast for MeshGraph {
    #[inline]
    #[instrument(skip(self))]
    fn cast_local_ray(&self, ray: &Ray, max_time_of_impact: f32, solid: bool) -> Option<f32> {
        CompositeShapeRef(self)
            .cast_local_ray(ray, max_time_of_impact, solid)
            .map(|hit| hit.1)
    }

    #[inline]
    #[instrument(skip(self))]
    fn cast_local_ray_and_get_normal(
        &self,
        ray: &Ray,
        max_time_of_impact: f32,
        solid: bool,
    ) -> Option<RayIntersection> {
        CompositeShapeRef(self)
            .cast_local_ray_and_get_normal(ray, max_time_of_impact, solid)
            .map(|(_, res)| res)
    }
}

impl CompositeShape for MeshGraph {
    #[instrument(skip(self, f))]
    fn map_part_at(
        &self,
        shape_id: u32,
        f: &mut dyn FnMut(Option<&Pose>, &dyn Shape, Option<&dyn NormalConstraints>),
    ) {
        let tri = self.triangle(shape_id);
        let normal_constraints = Default::default(); // self.triangle_normal_constraints(face_id);
        f(None, &tri, normal_constraints)
    }

    fn bvh(&self) -> &Bvh {
        &self.bvh
    }
}

impl TypedCompositeShape for MeshGraph {
    type PartShape = Triangle;
    type PartNormalConstraints = ();

    #[instrument(skip(self, f))]
    fn map_typed_part_at<T>(
        &self,
        shape_id: u32,
        mut f: impl FnMut(Option<&Pose>, &Self::PartShape, Option<&Self::PartNormalConstraints>) -> T,
    ) -> Option<T> {
        let tri = self.triangle(shape_id);
        let pseudo_normals = None; // self.triangle_normal_constraints(face_id);
        Some(f(None, &tri, pseudo_normals.as_ref()))
    }

    #[instrument(skip(self, f))]
    fn map_untyped_part_at<T>(
        &self,
        shape_id: u32,
        mut f: impl FnMut(Option<&Pose>, &dyn Shape, Option<&dyn NormalConstraints>) -> T,
    ) -> Option<T> {
        let tri = self.triangle(shape_id);
        let pseudo_normals = Default::default(); // self.triangle_normal_constraints(face_id);
        Some(f(None, &tri, pseudo_normals))
    }
}

impl MeshGraph {
    #[instrument(skip(self))]
    pub fn triangle(&self, shape_id: u32) -> Triangle {
        let face_id = unwrap_or_return!(
            self.index_to_face_id.get(&shape_id),
            "Index not found",
            Triangle::default()
        );

        let face = unwrap_or_return!(
            self.faces.get(*face_id),
            "Face not found",
            Triangle::default()
        );

        let pos = face
            .vertices(self)
            .filter_map(|v_id| {
                self.positions
                    .get(v_id)
                    .or_else(error_none!("Position not found"))
            })
            .collect_vec();

        if pos.len() < 3 {
            return Triangle::default();
        }

        Triangle::new(
            Vec3::new(pos[0].x, pos[0].y, pos[0].z),
            Vec3::new(pos[1].x, pos[1].y, pos[1].z),
            Vec3::new(pos[2].x, pos[2].y, pos[2].z),
        )
    }

    // TODO : is this necessary?
    // pub fn triangle_normal_constraints(&self, face_id: FaceId) -> Option<TrianglePseudoNormals> {
    //     if let Some(vertex_normals) = &self.vertex_normals {
    //         let triangle = self.triangle(face_id);
    //         let pseudo_normals = self.pseudo_normals.as_ref()?;
    //         let edges_pseudo_normals = pseudo_normals.edges_pseudo_normal[i as usize];

    //         // TODO: could the pseudo-normal be pre-normalized instead of having to renormalize
    //         //       every time we need them?
    //         Some(TrianglePseudoNormals {
    //             face: triangle.normal()?,
    //             edges: [
    //                 Unit::try_new(edges_pseudo_normals[0], 1.0e-6)?,
    //                 Unit::try_new(edges_pseudo_normals[1], 1.0e-6)?,
    //                 Unit::try_new(edges_pseudo_normals[2], 1.0e-6)?,
    //             ],
    //         })
    //     } else {
    //         None
    //     }
    // }
}