bherbruckandClaude Opus 5.5
b2d611bafe
Co-Authored-By: Claude Opus 5.5 <[email protected]> Claude-Session: https://claude.ai/code/session_01AS5Tn3xieewUSg3uxrMVdL
424 lines
18 KiB
Rust
424 lines
18 KiB
Rust
//! Operations on bodies: booleans and rigid transforms.
|
||
|
||
use serde::{Deserialize, Serialize};
|
||
use solvecraft_geom::Vec3;
|
||
use truck_modeling as mt;
|
||
|
||
use crate::body::{Body, from_p3, p3, v3};
|
||
use crate::{KernelError, Result, guard};
|
||
|
||
#[derive(Clone, Copy, Debug, PartialEq, Eq, Serialize, Deserialize)]
|
||
#[serde(rename_all = "snake_case")]
|
||
pub enum BoolOp {
|
||
Union,
|
||
Cut,
|
||
Intersect,
|
||
}
|
||
|
||
/// Shifts applied to both operands on retries. The boolean classifies some faces by casting a
|
||
/// ray whose direction is derived from point coordinates; moving both solids (and the result
|
||
/// back) leaves the geometry unchanged but changes those rays.
|
||
const JITTER: [[f64; 3]; 4] = [[0.0, 0.0, 0.0], [0.1373, 0.2719, 0.3911], [-0.5127, 0.0833, 0.2291], [0.6911, -0.3337, -0.6127]];
|
||
|
||
fn volume(b: &Body) -> f64 {
|
||
b.tessellate(b.size() * 2e-3).map(|m| m.measure().volume).unwrap_or(f64::NAN)
|
||
}
|
||
|
||
/// Halton low-discrepancy value (base `b`) for index `i`.
|
||
fn halton(mut i: usize, b: usize) -> f64 {
|
||
let (mut f, mut r) = (1.0, 0.0);
|
||
while i > 0 {
|
||
f /= b as f64;
|
||
r += f * (i % b) as f64;
|
||
i /= b;
|
||
}
|
||
r
|
||
}
|
||
|
||
/// Fraction of sample points where `result` disagrees with `op` applied to `a` and `b`
|
||
/// (membership by ray parity). Samples cover the overlap box densely and the union box lightly.
|
||
fn mismatch(a: &solvecraft_geom::Mesh, b: &solvecraft_geom::Mesh, result: &solvecraft_geom::Mesh, op: BoolOp) -> Option<f64> {
|
||
if a.triangles.len() + b.triangles.len() + result.triangles.len() > 60_000 {
|
||
return None;
|
||
}
|
||
let (ba, bb) = (a.bounds(), b.bounds());
|
||
let lo = ba.min.max(bb.min);
|
||
let hi = ba.max.min(bb.max);
|
||
let all = ba.union(&bb);
|
||
let mut boxes = vec![(all, 300usize)];
|
||
if lo.x < hi.x && lo.y < hi.y && lo.z < hi.z {
|
||
boxes.push((solvecraft_geom::Aabb3 { min: lo, max: hi }, 900));
|
||
}
|
||
let (ia_idx, ib_idx, ir_idx) = (a.inside_index(), b.inside_index(), result.inside_index());
|
||
let (mut n, mut bad) = (0usize, 0usize);
|
||
for (bx, count) in boxes {
|
||
let s = bx.size();
|
||
for i in 1..=count {
|
||
let p = bx.min + Vec3::new(s.x * halton(i, 2), s.y * halton(i, 3), s.z * halton(i, 5));
|
||
let (ia, ib) = (ia_idx.contains(p), ib_idx.contains(p));
|
||
let want = match op {
|
||
BoolOp::Union => ia || ib,
|
||
BoolOp::Cut => ia && !ib,
|
||
BoolOp::Intersect => ia && ib,
|
||
};
|
||
n += 1;
|
||
if ir_idx.contains(p) != want {
|
||
bad += 1;
|
||
}
|
||
}
|
||
}
|
||
Some(bad as f64 / n.max(1) as f64)
|
||
}
|
||
|
||
/// How one body sits relative to another, from sample points: (fraction of `b`'s samples
|
||
/// inside `a`, fraction of `a`'s samples inside `b`).
|
||
fn overlap(a: &solvecraft_geom::Mesh, b: &solvecraft_geom::Mesh) -> Option<(f64, f64)> {
|
||
if a.triangles.len() + b.triangles.len() > 80_000 {
|
||
return None;
|
||
}
|
||
let (ia, ib) = (a.inside_index(), b.inside_index());
|
||
let frac = |inner: &solvecraft_geom::Mesh, inner_i: &solvecraft_geom::InsideIndex, outer_i: &solvecraft_geom::InsideIndex| -> Option<f64> {
|
||
let bx = inner.bounds();
|
||
let s = bx.size();
|
||
let (mut n, mut hit) = (0usize, 0usize);
|
||
for i in 1..=2000 {
|
||
let p = bx.min + Vec3::new(s.x * halton(i, 2), s.y * halton(i, 3), s.z * halton(i, 5));
|
||
if !inner_i.contains(p) {
|
||
continue;
|
||
}
|
||
n += 1;
|
||
if outer_i.contains(p) {
|
||
hit += 1;
|
||
}
|
||
}
|
||
(n >= 50).then(|| hit as f64 / n as f64)
|
||
};
|
||
Some((frac(b, &ib, &ia)?, frac(a, &ia, &ib)?))
|
||
}
|
||
|
||
/// Booleans that need no intersection: one body clear of the other, or inside it. These are
|
||
/// common with coincident curved faces (a hole drilled where one already is, a body joined
|
||
/// with itself), which the intersection can't handle.
|
||
fn trivial(a: &Body, b: &Body, op: BoolOp, ma: &solvecraft_geom::Mesh, mb: &solvecraft_geom::Mesh) -> Option<Option<Body>> {
|
||
let (b_in_a, a_in_b) = overlap(ma, mb)?;
|
||
const NONE: f64 = 0.003;
|
||
const ALL: f64 = 0.997;
|
||
let disjoint = b_in_a < NONE && a_in_b < NONE;
|
||
match op {
|
||
BoolOp::Cut if disjoint => Some(Some(a.clone())),
|
||
BoolOp::Cut if a_in_b > ALL => Some(None),
|
||
BoolOp::Intersect if disjoint => Some(None),
|
||
BoolOp::Intersect if b_in_a > ALL => Some(Some(b.clone())),
|
||
BoolOp::Intersect if a_in_b > ALL => Some(Some(a.clone())),
|
||
BoolOp::Union if b_in_a > ALL => Some(Some(a.clone())),
|
||
BoolOp::Union if a_in_b > ALL => Some(Some(b.clone())),
|
||
// The tool wholly inside, clear of the outside: a void.
|
||
BoolOp::Cut if b_in_a > ALL && clear_inside(ma, mb, a.size().max(b.size()) * 1e-6) => void(a, b).ok(),
|
||
_ => None,
|
||
}
|
||
}
|
||
|
||
/// Does every vertex of `inner` lie inside `outer` and farther than `gap` from its surface?
|
||
fn clear_inside(outer: &solvecraft_geom::Mesh, inner: &solvecraft_geom::Mesh, gap: f64) -> bool {
|
||
if outer.triangles.len() * inner.positions.len() > 40_000_000 {
|
||
return false;
|
||
}
|
||
let tris: Vec<[Vec3; 3]> = outer.triangles.iter().filter_map(|t| outer.tri(t)).collect();
|
||
inner.positions.iter().all(|p| {
|
||
outer.contains(*p)
|
||
&& tris.iter().all(|[a, b, c]| {
|
||
// Distance to the triangle's plane bounds the distance to the triangle from below.
|
||
let n = (*b - *a).cross(*c - *a);
|
||
let Some(nn) = n.normalized() else { return true };
|
||
let h = (*p - *a).dot(nn).abs();
|
||
h > gap || {
|
||
let q = *p - nn * (*p - *a).dot(nn);
|
||
let inside = [(*a, *b), (*b, *c), (*c, *a)].iter().all(|(u, v)| (*v - *u).cross(q - *u).dot(n) >= 0.0);
|
||
!inside && [(*a, *b), (*b, *c), (*c, *a)].iter().all(|(u, v)| p.dist_to_segment(*u, *v) > gap)
|
||
}
|
||
})
|
||
})
|
||
}
|
||
|
||
/// `a` with the inside of `b` (wholly within it) taken out: a second, inward-facing shell.
|
||
fn void(a: &Body, b: &Body) -> Result<Option<Body>> {
|
||
guard("void", || {
|
||
let mut inner = b.deep_copy();
|
||
inner.not();
|
||
let mut shells = a.solid.boundaries().clone();
|
||
shells.extend(inner.boundaries().iter().cloned());
|
||
let s = crate::body::Solid::try_new(shells).map_err(|e| KernelError::Failed(format!("void: {e}")))?;
|
||
Ok(Some(Body::new(s)?))
|
||
})
|
||
}
|
||
|
||
thread_local! {
|
||
/// Set while a boolean runs on bodies whose coincident faces were pushed apart (no
|
||
/// second round of pushing).
|
||
static APART: std::cell::Cell<bool> = const { std::cell::Cell::new(false) };
|
||
}
|
||
|
||
/// Boolean of two bodies. The result may be empty (`Ok(None)`) for a cut that removes
|
||
/// everything or an intersection of disjoint bodies. Results are checked against volume bounds
|
||
/// and retried with shifted copies and other tolerances when they fail or look wrong.
|
||
pub fn boolean(a: &Body, b: &Body, op: BoolOp) -> Result<Option<Body>> {
|
||
a.require_brep("a boolean")?;
|
||
b.require_brep("a boolean")?;
|
||
let size = a.size().max(b.size());
|
||
let tol_m = size * 5e-4;
|
||
let meshes = (a.tessellate(tol_m).ok(), b.tessellate(tol_m).ok());
|
||
let (va, vb) = match &meshes {
|
||
(Some(ma), Some(mb)) => (ma.measure().volume, mb.measure().volume),
|
||
_ => (volume(a), volume(b)),
|
||
};
|
||
let slack = 2e-3 * (va + vb) + 1e-9;
|
||
// Volume bounds, then membership against the operands (catches misclassified pieces), on
|
||
// one mesh of the result. Returns (plausible, volume).
|
||
let check = |r: &Body| -> (bool, f64) {
|
||
let Ok(mr) = r.tessellate(tol_m) else { return (false, f64::NAN) };
|
||
let v = mr.measure().volume;
|
||
let bounds = v > 0.0
|
||
&& match op {
|
||
BoolOp::Union => v >= va.max(vb) - slack && v <= va + vb + slack,
|
||
BoolOp::Cut => v >= va - vb - slack && v <= va + slack,
|
||
BoolOp::Intersect => v <= va.min(vb) + slack,
|
||
};
|
||
if !bounds {
|
||
return (false, v);
|
||
}
|
||
let consistent = match &meshes {
|
||
(Some(ma), Some(mb)) => mismatch(ma, mb, &mr, op).is_none_or(|f| f < 0.004),
|
||
_ => true,
|
||
};
|
||
(consistent, v)
|
||
};
|
||
// One body clear of or inside the other: no intersection needed.
|
||
if let (Some(ma), Some(mb)) = &meshes
|
||
&& let Some(r) = trivial(a, b, op, ma, mb)
|
||
{
|
||
return Ok(r);
|
||
}
|
||
let mut last = String::new();
|
||
// Coincident faces make the intersection fail after many retries; push them apart first.
|
||
// Prisms along one direction (plates with holes): exact, in 2D (so only the volume
|
||
// bounds are checked).
|
||
if let Some(Ok(r)) = crate::prism::prism_boolean(a, b, op) {
|
||
match &r {
|
||
Some(body) => {
|
||
let v = volume(body);
|
||
let bounds = match op {
|
||
BoolOp::Union => v >= va.max(vb) - slack && v <= va + vb + slack,
|
||
BoolOp::Cut => v >= va - vb - slack && v <= va + slack,
|
||
BoolOp::Intersect => v <= va.min(vb) + slack,
|
||
};
|
||
if v > 0.0 && bounds {
|
||
return Ok(r);
|
||
}
|
||
}
|
||
None => return Ok(None),
|
||
}
|
||
}
|
||
// Bodies touching along one whole face (a part joined with its mirror image).
|
||
if op == BoolOp::Union
|
||
&& a.solid.boundaries().len() == 1
|
||
&& b.solid.boundaries().len() == 1
|
||
&& let Some(Ok(body)) = crate::coplanar::glue(a, b)
|
||
{
|
||
let (ok, _) = check(&body);
|
||
if ok {
|
||
return Ok(Some(body));
|
||
}
|
||
}
|
||
if !APART.with(|c| c.get()) && crate::coplanar::has_coincident_faces(a, b) {
|
||
APART.with(|c| c.set(true));
|
||
let r = crate::coplanar::boolean_apart(a, b, op);
|
||
APART.with(|c| c.set(false));
|
||
if let Some(Ok(Some(body))) = r {
|
||
let (ok, _) = check(&body);
|
||
if ok {
|
||
return Ok(Some(body));
|
||
}
|
||
}
|
||
}
|
||
let mut empty_votes = 0;
|
||
for (attempt, j) in JITTER.iter().enumerate() {
|
||
let shift = mt::Vector3::new(j[0], j[1], j[2]) * (size * 0.01);
|
||
for k in [2e-3, 5e-4] {
|
||
let tol = (size * k).max(1e-5);
|
||
let r = guard("boolean", || {
|
||
let (mut sa, mut sb) = (a.deep_copy(), b.deep_copy());
|
||
if attempt > 0 {
|
||
sa = mt::builder::translated(&sa, shift);
|
||
sb = mt::builder::translated(&sb, shift);
|
||
}
|
||
let res = match op {
|
||
BoolOp::Union => truck_shapeops::or(&sa, &sb, tol),
|
||
BoolOp::Cut => {
|
||
sb.not();
|
||
truck_shapeops::and(&sa, &sb, tol)
|
||
}
|
||
BoolOp::Intersect => truck_shapeops::and(&sa, &sb, tol),
|
||
};
|
||
let s = res.ok_or_else(|| KernelError::Failed("no result".into()))?;
|
||
Ok(if attempt > 0 { mt::builder::translated(&s, -shift) } else { s })
|
||
});
|
||
match r {
|
||
Ok(s) if s.boundaries().is_empty() || s.face_iter().next().is_none() => {
|
||
empty_votes += 1;
|
||
last = "empty result".into();
|
||
}
|
||
Ok(s) => match Body::new(crate::heal::heal(s, size)) {
|
||
Ok(body) => {
|
||
let (ok, v) = check(&body);
|
||
if ok {
|
||
return Ok(Some(body));
|
||
}
|
||
last = format!("implausible result volume {v:.4}");
|
||
}
|
||
Err(e) => last = e.to_string(),
|
||
},
|
||
Err(e) => last = e.to_string(),
|
||
}
|
||
}
|
||
if empty_votes >= 2 && op != BoolOp::Union {
|
||
return Ok(None);
|
||
}
|
||
}
|
||
// Coincident planar faces: push them apart (exactly) and try again.
|
||
if !APART.with(|c| c.get()) {
|
||
APART.with(|c| c.set(true));
|
||
let r = crate::coplanar::boolean_apart(a, b, op);
|
||
APART.with(|c| c.set(false));
|
||
match r {
|
||
Some(Ok(Some(body))) => {
|
||
let (ok, v) = check(&body);
|
||
if ok {
|
||
return Ok(Some(body));
|
||
}
|
||
last = format!("{last}; faces pushed apart gave an implausible volume {v:.4}");
|
||
}
|
||
Some(Ok(None)) => {}
|
||
Some(Err(e)) => last = format!("{last}; {e}"),
|
||
None => {}
|
||
}
|
||
}
|
||
// Coincident faces defeat the B-rep boolean; bodies with only planar faces have an exact
|
||
// polygon fallback.
|
||
match crate::polybool::planar_boolean(a, b, op) {
|
||
Ok(Some(body)) => {
|
||
let (ok, v) = check(&body);
|
||
if ok {
|
||
return Ok(Some(body));
|
||
}
|
||
last = format!("planar fallback gave an implausible volume {v:.4}");
|
||
}
|
||
Ok(None) => return Ok(None),
|
||
Err(e) => last = format!("{last}; {e}"),
|
||
}
|
||
// Last resort: nudge the tool by a micron-scale screw motion (turned 2e-6 rad about a
|
||
// skew axis and moved 2e-6 of the size), which breaks tangencies and seams lying exactly on
|
||
// the other body. The result moves by no more than that.
|
||
if !APART.with(|c| c.get()) {
|
||
APART.with(|c| c.set(true));
|
||
let c = b.solid.vertex_iter().fold(Vec3::ZERO, |acc, v| acc + from_p3(v.point())) * (1.0 / b.solid.vertex_iter().count().max(1) as f64);
|
||
let r = transform(b, Vec3::new(0.61, -0.37, 0.71) * (size * 2e-6), c, Vec3::new(0.27, 0.83, -0.49), 2e-6).and_then(|nb| boolean(a, &nb, op));
|
||
APART.with(|c| c.set(false));
|
||
match r {
|
||
Ok(Some(body)) => {
|
||
let (ok, v) = check(&body);
|
||
if ok {
|
||
return Ok(Some(body));
|
||
}
|
||
last = format!("{last}; the nudged tool gave an implausible volume {v:.4}");
|
||
}
|
||
Ok(None) => return Ok(None),
|
||
Err(e) => last = format!("{last}; nudged: {e}"),
|
||
}
|
||
}
|
||
Err(KernelError::Failed(format!("boolean {op:?}: {last}")))
|
||
}
|
||
|
||
/// Affine transform by a column-major 4×4 matrix (rotations, translations, reflections).
|
||
pub fn transform_matrix(body: &Body, m: [[f64; 4]; 4]) -> Result<Body> {
|
||
if m.iter().flatten().any(|x| !x.is_finite()) {
|
||
return Err(KernelError::Invalid("non-finite transform".into()));
|
||
}
|
||
if let Some(b) = body.mesh_transformed(&m) {
|
||
return Ok(b);
|
||
}
|
||
guard("transform", || {
|
||
let mat = mt::Matrix4::new(
|
||
m[0][0], m[0][1], m[0][2], m[0][3], m[1][0], m[1][1], m[1][2], m[1][3], m[2][0], m[2][1], m[2][2], m[2][3], m[3][0], m[3][1], m[3][2],
|
||
m[3][3],
|
||
);
|
||
Body::new(mt::builder::transformed(&body.deep_copy(), mat))
|
||
})
|
||
}
|
||
|
||
/// Rigid transform: rotate about `axis` through `origin` by `angle` radians, then translate.
|
||
pub fn transform(body: &Body, translate: Vec3, origin: Vec3, axis: Vec3, angle: f64) -> Result<Body> {
|
||
if !(translate.is_finite() && origin.is_finite() && angle.is_finite()) {
|
||
return Err(KernelError::Invalid("non-finite transform".into()));
|
||
}
|
||
if body.is_mesh() {
|
||
// Same motion as a matrix: rotate about the line through `origin`, then translate.
|
||
let ax = if angle.abs() > 1e-12 { axis.normalized().ok_or_else(|| KernelError::Invalid("rotation axis".into()))? } else { Vec3::Z };
|
||
let (c, s) = (angle.cos(), angle.sin());
|
||
let t = 1.0 - c;
|
||
let r = [
|
||
[t * ax.x * ax.x + c, t * ax.x * ax.y + s * ax.z, t * ax.x * ax.z - s * ax.y],
|
||
[t * ax.x * ax.y - s * ax.z, t * ax.y * ax.y + c, t * ax.y * ax.z + s * ax.x],
|
||
[t * ax.x * ax.z + s * ax.y, t * ax.y * ax.z - s * ax.x, t * ax.z * ax.z + c],
|
||
];
|
||
let ro = Vec3::new(
|
||
r[0][0] * origin.x + r[1][0] * origin.y + r[2][0] * origin.z,
|
||
r[0][1] * origin.x + r[1][1] * origin.y + r[2][1] * origin.z,
|
||
r[0][2] * origin.x + r[1][2] * origin.y + r[2][2] * origin.z,
|
||
);
|
||
let tr = origin - ro + translate;
|
||
let m = [[r[0][0], r[0][1], r[0][2], 0.0], [r[1][0], r[1][1], r[1][2], 0.0], [r[2][0], r[2][1], r[2][2], 0.0], [tr.x, tr.y, tr.z, 1.0]];
|
||
return body.mesh_transformed(&m).ok_or_else(|| KernelError::Failed("mesh transform".into()));
|
||
}
|
||
guard("transform", || {
|
||
let mut s = body.deep_copy();
|
||
if angle.abs() > 1e-12 {
|
||
let ax = axis.normalized().ok_or_else(|| KernelError::Invalid("rotation axis".into()))?;
|
||
s = mt::builder::rotated(&s, p3(origin), v3(ax), mt::Rad(angle));
|
||
}
|
||
if translate.len() > 0.0 {
|
||
s = mt::builder::translated(&s, v3(translate));
|
||
}
|
||
Body::new(s)
|
||
})
|
||
}
|
||
|
||
/// Split a body with a plane: the parts on the positive and the negative side of the plane
|
||
/// (only the non-empty ones).
|
||
pub fn split_by_plane(body: &Body, plane: &solvecraft_geom::Plane) -> Result<Vec<Body>> {
|
||
body.require_brep("split")?;
|
||
let size = body.size();
|
||
let mut bb = solvecraft_geom::Aabb3::EMPTY;
|
||
for v in body.solid.vertex_iter() {
|
||
bb.add(crate::body::from_p3(v.point()));
|
||
}
|
||
let reach = (bb.diagonal() + plane.origin.dist(bb.center())) * 2.0 + size;
|
||
let c = plane.to_local(bb.center());
|
||
let sq = solvecraft_geom::Region2 {
|
||
outer: solvecraft_geom::Loop2::polygon(&[
|
||
solvecraft_geom::Vec2::new(c.x - reach, c.y - reach),
|
||
solvecraft_geom::Vec2::new(c.x + reach, c.y - reach),
|
||
solvecraft_geom::Vec2::new(c.x + reach, c.y + reach),
|
||
solvecraft_geom::Vec2::new(c.x - reach, c.y + reach),
|
||
]),
|
||
holes: vec![],
|
||
};
|
||
let mut out = Vec::new();
|
||
for (lo, hi) in [(0.0, reach), (-reach, 0.0)] {
|
||
let half = crate::build::extrude(plane, std::slice::from_ref(&sq), lo, hi)?.pop().ok_or_else(|| KernelError::Failed("half space".into()))?;
|
||
if let Some(part) = boolean(body, &half, BoolOp::Intersect)? {
|
||
out.push(part);
|
||
}
|
||
}
|
||
Ok(out)
|
||
}
|