825 lines
40 KiB
Rust
825 lines
40 KiB
Rust
//! Convex polyhedra from planes, and the operations that use them on convex planar bodies:
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//! shell (hollow out with open faces) and draft (tilt faces about a neutral plane). The solid
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//! is built directly from its planes (vertices are triple-plane intersections), so it is exact
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//! and needs no booleans except the final shell subtraction.
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use std::collections::HashMap;
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use solidcraft_geom::{Plane, Vec3};
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use truck_modeling::{self as mt, builder};
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use crate::body::{Body, Solid, from_p3, p3, v3};
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use crate::history::{EdgeOrigin, FaceOrigin, FaceProv, History};
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use crate::record;
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use crate::{KernelError, Result, guard};
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/// A half-space `n · x <= d` (n is the outward unit normal).
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#[derive(Clone, Copy, Debug)]
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pub struct HalfSpace {
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pub n: Vec3,
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pub d: f64,
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}
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fn det3(a: Vec3, b: Vec3, c: Vec3) -> f64 {
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a.dot(b.cross(c))
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}
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/// Vertices, and per half-space with a face its vertex loop (counter-clockwise about the
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/// outward normal), of the convex polyhedron bounded by the half-spaces.
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fn combinatorics(hs: &[HalfSpace]) -> Result<(Vec<Vec3>, Vec<(usize, Vec<usize>)>)> {
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if hs.len() < 4 || hs.len() > 200 {
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return Err(KernelError::Invalid("a polyhedron needs 4…200 planes".into()));
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}
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let scale = hs.iter().map(|h| h.d.abs()).fold(1.0, f64::max);
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let eps = scale * 1e-9;
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// Vertices: intersections of three planes inside all others.
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let mut verts: Vec<Vec3> = Vec::new();
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for i in 0..hs.len() {
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for j in (i + 1)..hs.len() {
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for k in (j + 1)..hs.len() {
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let (a, b, c) = (hs[i], hs[j], hs[k]);
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let den = det3(a.n, b.n, c.n);
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if den.abs() < 1e-12 {
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continue;
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}
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let x = (b.n.cross(c.n) * a.d + c.n.cross(a.n) * b.d + a.n.cross(b.n) * c.d) / den;
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if !x.is_finite() || hs.iter().any(|h| h.n.dot(x) > h.d + eps * 10.0) {
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continue;
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}
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if !verts.iter().any(|v| v.dist(x) < scale * 1e-8) {
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verts.push(x);
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}
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}
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}
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}
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if verts.len() < 4 {
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return Err(KernelError::Invalid("the planes don't enclose a solid".into()));
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}
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// Faces: the vertices on each plane, ordered counter-clockwise about its outward normal.
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let mut faces_idx: Vec<(usize, Vec<usize>)> = Vec::new();
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for (hi, h) in hs.iter().enumerate() {
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let on: Vec<usize> = (0..verts.len()).filter(|i| verts.get(*i).is_some_and(|v| (h.n.dot(*v) - h.d).abs() < scale * 1e-7)).collect();
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if on.len() < 3 {
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continue;
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}
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let c = on.iter().filter_map(|i| verts.get(*i)).fold(Vec3::ZERO, |a, v| a + *v) / on.len() as f64;
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let u = h.n.any_perp();
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let w = h.n.cross(u);
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let mut ordered = on.clone();
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ordered.sort_by(|a, b| {
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let ang = |i: usize| verts.get(i).map(|v| (*v - c).dot(w).atan2((*v - c).dot(u))).unwrap_or(0.0);
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ang(*a).total_cmp(&ang(*b))
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});
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faces_idx.push((hi, ordered));
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}
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Ok((verts, faces_idx))
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}
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/// The convex polyhedron bounded by the half-spaces.
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pub fn convex_polyhedron(hs: &[HalfSpace]) -> Result<Body> {
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polyhedron(hs).map(|(b, _)| b)
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}
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/// [`convex_polyhedron`], with the half-space each of its faces lies on (in face order).
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fn polyhedron(hs: &[HalfSpace]) -> Result<(Body, Vec<usize>)> {
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let (verts, faces_idx) = combinatorics(hs)?;
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let on: Vec<usize> = faces_idx.iter().map(|(hi, _)| *hi).collect();
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guard("polyhedron", || {
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let tv: Vec<mt::Vertex> = verts.iter().map(|v| builder::vertex(p3(*v))).collect();
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let mut edges: HashMap<(usize, usize), mt::Edge> = HashMap::new();
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let mut faces: Vec<mt::Face> = Vec::new();
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for (_, f) in &faces_idx {
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let n = f.len();
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let mut wire: Vec<mt::Edge> = Vec::with_capacity(n);
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for k in 0..n {
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let (Some(&a), Some(&b)) = (f.get(k), f.get((k + 1) % n)) else { continue };
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let key = (a.min(b), a.max(b));
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let e = match edges.get(&key) {
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Some(e) => e.clone(),
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None => {
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let (Some(va), Some(vb)) = (tv.get(key.0), tv.get(key.1)) else { continue };
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let e = builder::line(va, vb);
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edges.insert(key, e.clone());
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e
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}
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};
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wire.push(if a < b { e } else { e.inverse() });
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}
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let face = builder::try_attach_plane(&[wire.into()]).map_err(|e| KernelError::Failed(format!("polyhedron face: {e}")))?;
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faces.push(face);
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}
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let shell: mt::Shell = faces.into();
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let solid = Solid::try_new(vec![shell]).map_err(|e| KernelError::Failed(format!("polyhedron: {e}")))?;
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Ok((Body::new(solid)?, on))
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})
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}
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/// The half-spaces of a convex body with only planar faces, each with a point on it and the
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/// body's faces on its plane (in face order), or an error.
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pub fn planar_convex(b: &Body) -> Result<Vec<(HalfSpace, Vec3, Vec<usize>)>> {
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b.require_brep("this operation")?;
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let tol = (b.size() * 1e-3).max(1e-3);
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let faces = b.faces(tol)?;
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let mut out: Vec<(HalfSpace, Vec3, Vec<usize>)> = Vec::new();
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for f in &faces {
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let n = f.plane_normal.ok_or_else(|| KernelError::Failed("not supported yet: bodies with curved faces".into()))?;
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let d = n.dot(f.centroid);
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match out.iter_mut().find(|(h, ..)| h.n.dot(n) > 1.0 - 1e-9 && (h.d - d).abs() < tol) {
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Some((.., on)) => on.push(f.index),
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None => out.push((HalfSpace { n, d }, f.centroid, vec![f.index])),
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}
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}
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let verts: Vec<Vec3> = b.solid.vertex_iter().map(|v| from_p3(v.point())).collect();
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for (h, ..) in &out {
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if verts.iter().any(|v| h.n.dot(*v) > h.d + tol) {
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return Err(KernelError::Failed("not supported yet: shell and draft of non-convex bodies".into()));
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}
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}
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Ok(out)
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}
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/// The faces of `b` on half-space `k`'s plane (`groups[k]`) as the face over them: moved, or
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/// merged when several.
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fn on_plane(under: &[usize]) -> FaceProv {
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record::region(under.iter().map(|&face| FaceOrigin::Face { operand: 0, face }).collect(), false)
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}
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/// The edges of `b` between faces on two of its planes (`groups[k]`: its faces on plane `k`),
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/// by pair of planes (the lower first).
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fn plane_edges(b: &Body, groups: &[Vec<usize>]) -> HashMap<(usize, usize), Vec<usize>> {
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let plane_of: HashMap<usize, usize> = groups.iter().enumerate().flat_map(|(k, g)| g.iter().map(move |f| (*f, k))).collect();
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let mut out: HashMap<(usize, usize), Vec<usize>> = HashMap::new();
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for (edge, fs) in crate::history::edge_faces(&b.solid).iter().enumerate() {
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if let [p, q] = fs[..]
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&& let (Some(&x), Some(&y)) = (plane_of.get(&p), plane_of.get(&q))
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&& x != y
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{
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out.entry((x.min(y), x.max(y))).or_default().push(edge);
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}
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}
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out
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}
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/// The history over `[b]` of a convex polyhedron `poly` whose face `j` lies on the plane of
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/// half-space `on[j]`, made from the faces `groups[k]` of `b` on half-space `k`'s plane: each
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/// face the faces under it, each edge along the edges of `b` between faces of its two planes,
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/// or new where they met nowhere.
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fn planes_history(poly: &Body, on: &[usize], groups: &[Vec<usize>], b: &Body) -> Option<History> {
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let faces: Vec<FaceProv> = on.iter().map(|k| groups.get(*k).map(|under| on_plane(under))).collect::<Option<_>>()?;
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let along = plane_edges(b, groups);
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let mut h = record::from_faces(&poly.solid, 1, faces);
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for e in &mut h.edges {
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if let [x, y] = e.faces[..]
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&& let (Some(&kx), Some(&ky)) = (on.get(x), on.get(y))
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&& let Some(edges) = along.get(&(kx.min(ky), kx.max(ky)))
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{
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e.origins = edges.iter().map(|&edge| EdgeOrigin::Edge { operand: 0, edge }).collect();
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}
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}
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Some(h)
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}
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/// The history over `[b]` of a cavity `poly` whose face `j` lies on half-space `on[j]`, moved
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/// in from the faces `groups[k]` of `b`: each face an offset of the faces it lines, each edge new.
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fn cavity_history(poly: &Body, on: &[usize], groups: &[Vec<usize>]) -> Option<History> {
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let faces = on
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.iter()
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.map(|k| groups.get(*k).map(|under| record::generated(under.iter().map(|&face| FaceOrigin::Offset { operand: 0, face }).collect())))
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.collect::<Option<_>>()?;
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Some(record::from_faces(&poly.solid, 1, faces))
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}
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/// Hollow a convex planar body: walls of `thickness` inside, faces near `open` removed. The
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/// result's history is over `[b]`: the inner walls are offsets of the faces they line.
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pub fn shell(b: &Body, open: &[Vec3], thickness: f64) -> Result<Body> {
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guard("shell", || shell_impl(b, open, thickness)?.with_shell_planar_sources(b, thickness, open))
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}
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fn shell_impl(b: &Body, open: &[Vec3], thickness: f64) -> Result<Body> {
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b.require_brep("shell")?;
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if !(thickness.is_finite() && thickness > 1e-6) {
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return Err(KernelError::Invalid("shell thickness must be positive".into()));
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}
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let hs = match planar_convex(b) {
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Ok(h) => h,
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Err(_) => return shell_planar(b, open, thickness),
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};
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let size = b.size();
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let inner: Vec<HalfSpace> = hs
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.iter()
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.map(|(h, c, _)| {
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let removed = open.iter().any(|p| (h.n.dot(*p) - h.d).abs() < size * 1e-4 + 1e-6 && p.dist(*c) < size * 2.0);
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if removed { HalfSpace { n: h.n, d: h.d + thickness + size * 0.05 } } else { HalfSpace { n: h.n, d: h.d - thickness } }
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})
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.collect();
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if !hs.iter().zip(&inner).any(|((h, ..), i)| i.d > h.d) {
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return Err(KernelError::Invalid("select at least one face to remove".into()));
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}
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let (cavity, on) = polyhedron(&inner)?;
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let groups: Vec<Vec<usize>> = hs.into_iter().map(|(.., under)| under).collect();
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let walls = cavity_history(&cavity, &on, &groups);
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let r = crate::ops::boolean(b, &cavity, crate::BoolOp::Cut)?.ok_or_else(|| KernelError::Failed("the shell removed everything".into()))?;
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Ok(hollowed(r, b, walls))
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}
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/// `r`, `b` less a cavity whose history over `[b]` is `walls`, with its history over `[b]`.
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fn hollowed(r: Body, b: &Body, walls: Option<History>) -> Body {
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let h = crate::boolean_record::of_pair(&r, &crate::boolean_record::kept(b, 0, 1), &walls);
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r.with_checked_history(h, &record::counts(&[b]))
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}
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/// The history over `[b]` of a cavity `offset` made from `b` by moving its faces (whose history
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/// over `[b]` says so): each face an offset of the face it was moved from, each edge new.
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fn offsets(offset: &Body) -> Option<History> {
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let h = offset.history()?;
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let faces: Vec<FaceProv> = h
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.faces
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.iter()
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.map(|f| match f.origins.as_slice() {
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[FaceOrigin::Face { operand, face }] => Some(record::generated(vec![FaceOrigin::Offset { operand: *operand, face: *face }])),
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_ => None,
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})
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.collect::<Option<_>>()?;
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Some(record::from_faces(&offset.solid, h.operands, faces))
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}
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/// Tilt the faces near `faces` by `angle` about their line on the neutral plane, so that they
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/// lean in (positive angle) going along `pull`.
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pub fn draft(b: &Body, faces: &[Vec3], neutral: &Plane, pull: Vec3, angle: f64) -> Result<Body> {
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b.require_brep("draft")?;
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if !angle.is_finite() || angle.abs() >= std::f64::consts::FRAC_PI_2 - 1e-3 {
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return Err(KernelError::Invalid("draft angle must be between −90° and 90°".into()));
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}
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let pull = pull.normalized().ok_or_else(|| KernelError::Invalid("pull direction".into()))?;
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let hs = match planar_convex(b) {
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Ok(h) => h,
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Err(_) => return draft_walls(b, faces, neutral, pull, angle),
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};
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let size = b.size();
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let mut out = Vec::new();
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let mut moved = 0;
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for (h, c, _) in &hs {
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let chosen = faces.iter().any(|p| (h.n.dot(*p) - h.d).abs() < size * 1e-4 + 1e-6 && p.dist(*c) < size * 2.0);
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if !chosen {
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out.push(*h);
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continue;
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}
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if h.n.dot(pull).abs() > 1e-6 {
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return Err(KernelError::Failed("not supported yet: drafting faces that aren't parallel to the pull direction".into()));
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}
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// Hinge: the face's line on the neutral plane; rotate the normal toward the pull.
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let n2 = (h.n * angle.cos() + pull * angle.sin()).normalized().ok_or_else(|| KernelError::Failed("draft".into()))?;
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let hinge_pt =
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neutral.intersect_ray(*c, pull).ok_or_else(|| KernelError::Failed("the neutral plane is parallel to the pull direction".into()))?;
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out.push(HalfSpace { n: n2, d: n2.dot(hinge_pt) });
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moved += 1;
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}
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if moved == 0 {
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return Err(KernelError::Invalid("no faces to draft".into()));
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}
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// Each half-space in place of the one it was made from: its faces moved (or as they were).
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let (r, on) = polyhedron(&out)?;
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let groups: Vec<Vec<usize>> = hs.into_iter().map(|(.., under)| under).collect();
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let h = planes_history(&r, &on, &groups, b);
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Ok(r.with_checked_history(h, &record::counts(&[b])))
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}
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/// Draft of a non-convex body: walls (planes, cylinders) next to caps square to `pull`.
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fn draft_walls(b: &Body, at: &[Vec3], neutral: &Plane, pull: Vec3, angle: f64) -> Result<Body> {
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let healed = crate::boolean_record::healed(b)?;
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let size = healed.size();
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let mesh = healed.tessellate((size * 1e-3).max(1e-3))?;
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let mut chosen: Vec<usize> = Vec::new();
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for p in at {
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let near = mesh
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.triangles
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.iter()
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.zip(&mesh.tri_face)
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.filter_map(|(t, f)| mesh.tri(t).map(|[x, y, z]| (point_tri(*p, x, y, z), *f as usize)))
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.min_by(|a, c| a.0.total_cmp(&c.0));
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match near {
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Some((d, f)) if d < size * 1e-3 + 1e-6 => {
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if !chosen.contains(&f) {
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chosen.push(f);
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}
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}
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_ => return Err(KernelError::Invalid(format!("no face at {:?}", [p.x, p.y, p.z]))),
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}
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}
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// A round wall is stored in pieces (a cylinder's two halves): picking one drafts the whole wall.
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let chosen = crate::offset::with_same_surface(&healed, &chosen);
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Ok(record::after(crate::offset::draft_walls(&healed, &chosen, neutral, pull, angle)?, &healed, &record::counts(&[b])))
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}
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/// Round every edge of a convex body with planar faces by `r`: faces shrink, each edge becomes a
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/// cylinder and each corner a sphere patch (the body is the inner polyhedron grown by a ball).
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/// The result's history is over `[b]`: each cylinder in place of the edges of `b` between its
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/// two planes' faces, each corner patch in place of those round its corner.
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pub fn round_all_edges(b: &Body, r: f64) -> Result<Body> {
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let planes = planar_convex(b)?;
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let hs: Vec<HalfSpace> = planes.iter().map(|(h, ..)| *h).collect();
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let groups: Vec<Vec<usize>> = planes.iter().map(|(.., under)| under.clone()).collect();
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// The edges of `b` between faces on planes f and g.
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let edges = plane_edges(b, &groups);
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let along = |f: usize, g: usize| -> Vec<FaceOrigin> {
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edges.get(&(f.min(g), f.max(g))).into_iter().flatten().map(|&edge| FaceOrigin::Edge { operand: 0, edge }).collect()
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};
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let inner: Vec<HalfSpace> = hs.iter().map(|h| HalfSpace { n: h.n, d: h.d - r }).collect();
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let (q, faces) = combinatorics(&inner)?;
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if faces.len() != hs.len() {
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return Err(KernelError::Failed("not supported yet: the rounding is larger than a face".into()));
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}
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let normal = |hi: usize| hs.get(hi).map(|h| h.n).unwrap_or(Vec3::Z);
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// Edges of the inner polyhedron: (vertex a, vertex b) → (face left, face right).
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let mut edge_faces: HashMap<(usize, usize), Vec<usize>> = HashMap::new();
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for (hi, lp) in &faces {
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let n = lp.len();
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for k in 0..n {
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let (Some(&a), Some(&bb)) = (lp.get(k), lp.get((k + 1) % n)) else { continue };
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edge_faces.entry((a.min(bb), a.max(bb))).or_default().push(*hi);
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}
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}
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if edge_faces.values().any(|f| f.len() != 2) {
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return Err(KernelError::Failed("not supported yet: rounding this shape".into()));
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}
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guard("round edges", || {
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// Vertex of face `hi` at inner vertex `qi`.
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let mut verts: HashMap<(usize, usize), mt::Vertex> = HashMap::new();
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let mut vert = |hi: usize, qi: usize| -> mt::Vertex {
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verts.entry((hi, qi)).or_insert_with(|| builder::vertex(p3(q.get(qi).copied().unwrap_or_default() + normal(hi) * r))).clone()
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};
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let mut lines: HashMap<(usize, usize, usize), mt::Edge> = HashMap::new();
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let mut arcs: HashMap<(usize, usize, usize), mt::Edge> = HashMap::new();
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// Straight edge of face hi between inner vertices a and b (stored low → high).
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let mut line = |hi: usize, a: usize, bb: usize, vert: &mut dyn FnMut(usize, usize) -> mt::Vertex| -> mt::Edge {
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let (lo, hi_v) = (a.min(bb), a.max(bb));
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let e = lines.entry((hi, lo, hi_v)).or_insert_with(|| builder::line(&vert(hi, lo), &vert(hi, hi_v))).clone();
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if a < bb { e } else { e.inverse() }
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};
|
||
// Arc at inner vertex qi from face f to face g (stored with f < g).
|
||
let mut arc = |qi: usize, f: usize, g: usize, vert: &mut dyn FnMut(usize, usize) -> mt::Vertex| -> mt::Edge {
|
||
let (lo, hi_f) = (f.min(g), f.max(g));
|
||
let c = q.get(qi).copied().unwrap_or_default();
|
||
let e = arcs
|
||
.entry((qi, lo, hi_f))
|
||
.or_insert_with(|| {
|
||
let mid = c + (normal(lo) + normal(hi_f)).normalized().unwrap_or(Vec3::Z) * r;
|
||
builder::circle_arc(&vert(lo, qi), &vert(hi_f, qi), p3(mid))
|
||
})
|
||
.clone();
|
||
if f < g { e } else { e.inverse() }
|
||
};
|
||
let mut out: Vec<mt::Face> = Vec::new();
|
||
// What each face is made from (in `out`'s order).
|
||
let mut made: Vec<FaceProv> = Vec::new();
|
||
// Planar faces.
|
||
for (hi, lp) in &faces {
|
||
let n = lp.len();
|
||
let mut w: Vec<mt::Edge> = Vec::new();
|
||
for k in 0..n {
|
||
let (Some(&a), Some(&bb)) = (lp.get(k), lp.get((k + 1) % n)) else { continue };
|
||
w.push(line(*hi, a, bb, &mut vert));
|
||
}
|
||
out.push(builder::try_attach_plane(&[w.into()]).map_err(|e| KernelError::Failed(format!("rounded face: {e}")))?);
|
||
made.push(on_plane(groups.get(*hi).map_or(&[], Vec::as_slice)));
|
||
}
|
||
use mt::{ParametricSurface3D, SearchNearestParameter};
|
||
let orient = |mut surf: mt::Surface, at: Vec3, outward: Vec3| -> mt::Surface {
|
||
if let Some((u, v)) = surf.search_nearest_parameter(p3(at), None, 100) {
|
||
let nn = surf.normal(u, v);
|
||
if Vec3::new(nn.x, nn.y, nn.z).dot(outward) < 0.0 {
|
||
surf = mt::Invertible::inverse(&surf);
|
||
}
|
||
}
|
||
surf
|
||
};
|
||
// Edge cylinders: face f's loop runs a → b, so the cylinder (to f's right) runs b → a
|
||
// along f, then across to g.
|
||
for ((a, bb), fs) in &edge_faces {
|
||
let (Some(&f0), Some(&f1)) = (fs.first(), fs.get(1)) else { continue };
|
||
// Which face runs a → b?
|
||
let runs = |hi: usize| {
|
||
faces.iter().find(|(h, _)| *h == hi).is_some_and(|(_, lp)| {
|
||
let n = lp.len();
|
||
(0..n).any(|k| lp.get(k) == Some(a) && lp.get((k + 1) % n) == Some(bb))
|
||
})
|
||
};
|
||
let (f, g) = if runs(f0) { (f0, f1) } else { (f1, f0) };
|
||
let w: Vec<mt::Edge> =
|
||
vec![line(f, *bb, *a, &mut vert), arc(*a, f, g, &mut vert), line(g, *a, *bb, &mut vert), arc(*bb, g, f, &mut vert)];
|
||
let (qa, qb) = (q.get(*a).copied().unwrap_or_default(), q.get(*bb).copied().unwrap_or_default());
|
||
let profile = arc(*a, f, g, &mut vert);
|
||
let swept = builder::tsweep(&profile, v3(qb - qa));
|
||
let out_dir = (normal(f) + normal(g)).normalized().unwrap_or(Vec3::Z);
|
||
let mid = (qa + qb) * 0.5 + out_dir * r;
|
||
let surf = orient(swept.oriented_surface(), mid, out_dir);
|
||
out.push(mt::Face::try_new(vec![w.into()], surf).map_err(|e| KernelError::Failed(format!("rounded edge: {e}")))?);
|
||
made.push(record::generated(along(f, g)));
|
||
}
|
||
// Corner sphere patches: the faces around each inner vertex, counter-clockwise.
|
||
for (qi, c) in q.iter().enumerate() {
|
||
let mut around: Vec<usize> = faces.iter().filter(|(_, lp)| lp.contains(&qi)).map(|(h, _)| *h).collect();
|
||
let axis = around.iter().fold(Vec3::ZERO, |acc, h| acc + normal(*h)).normalized().unwrap_or(Vec3::Z);
|
||
let u = axis.any_perp();
|
||
let w2 = axis.cross(u);
|
||
around.sort_by(|x, y| {
|
||
let ang = |h: usize| normal(h).dot(w2).atan2(normal(h).dot(u));
|
||
ang(*x).total_cmp(&ang(*y))
|
||
});
|
||
let k = around.len();
|
||
let w: Vec<mt::Edge> = (0..k).filter_map(|i| Some(arc(qi, *around.get(i)?, *around.get((i + 1) % k)?, &mut vert))).collect();
|
||
// A sphere surface whose poles and seam are away from this patch.
|
||
let side = axis.any_perp();
|
||
let (np, sp, back) = (*c + side * r, *c - side * r, *c - axis * r);
|
||
let meridian = builder::circle_arc(&builder::vertex(p3(np)), &builder::vertex(p3(sp)), p3(back));
|
||
let surf =
|
||
mt::Surface::RevolutedCurve(mt::Processor::new(mt::RevolutedCurve::by_revolution(meridian.oriented_curve(), p3(*c), v3(side))));
|
||
let surf = orient(surf, *c + axis * r, axis);
|
||
out.push(mt::Face::try_new(vec![w.into()], surf).map_err(|e| KernelError::Failed(format!("rounded corner: {e}")))?);
|
||
let mut corner: Vec<FaceOrigin> =
|
||
(0..k).filter_map(|i| Some((*around.get(i)?, *around.get((i + 1) % k)?))).flat_map(|(f, g)| along(f, g)).collect();
|
||
corner.sort();
|
||
corner.dedup();
|
||
made.push(record::generated(corner));
|
||
}
|
||
let shell: mt::Shell = out.into();
|
||
let solid = Solid::try_new(vec![shell]).map_err(|e| KernelError::Failed(format!("rounded body: {e}")))?;
|
||
let body = Body::new(solid)?;
|
||
// Every face from something of `b` (a blend between planes that met nowhere has none).
|
||
let history = made.iter().all(|f| !f.origins.is_empty()).then(|| record::from_faces(&body.solid, 1, made));
|
||
Ok(body.with_checked_history(history, &record::counts(&[b])))
|
||
})
|
||
}
|
||
|
||
/// Shell of a body whose faces are all planar (convex or not): every face plane moves inward
|
||
/// by the thickness (open faces outward, past the body) keeping the body's topology, which
|
||
/// gives the cavity; the shell is the body minus the cavity.
|
||
fn shell_planar(b: &Body, open: &[Vec3], thickness: f64) -> Result<Body> {
|
||
// Face paint and authored splits are construction boundaries. Retain their
|
||
// eligibility veto through the temporary body used for the cavity Cut.
|
||
// Paint indices stay in source order by avoiding healing in that case.
|
||
let healed =
|
||
if b.paint().is_some_and(|paint| !paint.faces.is_empty()) { crate::boolean_record::copied(b)? } else { crate::boolean_record::healed(b)? };
|
||
let healed = healed.with_paint(b.paint().cloned()).with_split_lines(b.split_lines().cloned()).inherit_regularization_protection(b);
|
||
let size = healed.size();
|
||
let mesh = healed.tessellate((size * 1e-3).max(1e-3))?;
|
||
// Faces to open: the face of the triangle nearest each point.
|
||
let mut opened: Vec<usize> = Vec::new();
|
||
for p in open {
|
||
let near = mesh
|
||
.triangles
|
||
.iter()
|
||
.zip(&mesh.tri_face)
|
||
.filter_map(|(t, f)| mesh.tri(t).map(|[x, y, z]| (point_tri(*p, x, y, z), *f as usize)))
|
||
.min_by(|a, c| a.0.total_cmp(&c.0));
|
||
if let Some((d, f)) = near
|
||
&& d < size * 1e-3 + 1e-6
|
||
&& !opened.contains(&f)
|
||
{
|
||
opened.push(f);
|
||
}
|
||
}
|
||
if opened.is_empty() {
|
||
return Err(KernelError::Invalid("select at least one face to remove".into()));
|
||
}
|
||
// A successful Boolean is not evidence that a tangential rim has wall thickness.
|
||
// Refuse only when the entire planar opening loses its rim. A single collapsed
|
||
// round can still end in a valid sharp edge (the tutorial plate, for example).
|
||
if let Some(r) = rim_without_thickness(&healed, &opened, thickness, true) {
|
||
return Err(unsupported_shell(&format!(
|
||
"the rim would have no thickness: an open face meets a round of radius {r:.4} mm tangentially, and the shell is {thickness:.4} mm thick (make the round smaller than the thickness)"
|
||
)));
|
||
}
|
||
let margin = thickness + size * 0.05;
|
||
shell_opened(b, &healed, open, &opened, thickness, margin).map_err(|e| match rim_without_thickness(&healed, &opened, thickness, false) {
|
||
Some(r) => unsupported_shell(&format!(
|
||
"the rim would have no thickness: an open face meets a round of radius {r:.4} mm tangentially, and the shell is {thickness:.4} mm thick (make the round smaller than the thickness)"
|
||
)),
|
||
None => e,
|
||
})
|
||
}
|
||
|
||
/// The radius of a convex round (cylinder or torus) that meets an open face tangentially and
|
||
/// is at least `thickness`: the cavity's wall then passes through the rim where the round meets
|
||
/// the open face, leaving nothing between them.
|
||
fn rim_without_thickness(b: &Body, opened: &[usize], thickness: f64, whole_rim: bool) -> Option<f64> {
|
||
use mt::{BoundedCurve, ParametricCurve};
|
||
let faces: Vec<&mt::Face> = b.solid.face_iter().take(if whole_rim { 4097 } else { usize::MAX }).collect();
|
||
let tol = (b.size() * 1e-7).max(1e-9) * 100.0;
|
||
// A distant shell can make the body's tolerance larger than this wall.
|
||
// Such a diagnostic candidate is not sufficient to refuse a valid opening.
|
||
if whole_rim && tol > thickness * 1e-3 {
|
||
return None;
|
||
}
|
||
opened.iter().filter_map(|fi| faces.get(*fi)).find_map(|open| {
|
||
let plane = crate::offset::surf_of(open, tol)?;
|
||
if whole_rim && (!matches!(plane, crate::offset::Surf::Plane { .. }) || faces.len() > 4096 || open.edge_iter().take(1025).count() > 1024) {
|
||
return None;
|
||
}
|
||
let radius = |edge: &mt::Edge| {
|
||
faces.iter().filter(|g| !std::ptr::eq(**g, *open)).find_map(|g| {
|
||
if !g.edge_iter().any(|e| e.id() == edge.id()) {
|
||
return None;
|
||
}
|
||
let round = crate::offset::surf_of(g, tol)?;
|
||
let r = match round {
|
||
crate::offset::Surf::Cylinder { r, convex: true, .. } | crate::offset::Surf::Torus { r, convex: true, .. } => r,
|
||
_ => return None,
|
||
};
|
||
let c = edge.curve();
|
||
let (t0, t1) = c.range_tuple();
|
||
if !t0.is_finite() || !t1.is_finite() || t0 >= t1 {
|
||
return None;
|
||
}
|
||
let parameter = t0 * 0.5 + t1 * 0.5;
|
||
if !parameter.is_finite() || parameter < t0 || parameter > t1 {
|
||
return None;
|
||
}
|
||
let mid = from_p3(c.subs(parameter));
|
||
let tangent = plane.normal(mid)?.dot(round.normal(mid)?) > 1.0 - 1e-6;
|
||
(tangent && r >= thickness - tol).then_some(r)
|
||
})
|
||
};
|
||
if whole_rim {
|
||
let mut found = None;
|
||
for edge in open.edge_iter() {
|
||
found = Some(radius(&edge)?);
|
||
}
|
||
found
|
||
} else {
|
||
open.edge_iter().find_map(|edge| radius(&edge))
|
||
}
|
||
})
|
||
}
|
||
|
||
fn shell_opened(b: &Body, healed: &Body, open: &[Vec3], opened: &[usize], thickness: f64, margin: f64) -> Result<Body> {
|
||
let size = healed.size();
|
||
// Open faces pushed out past the body: the simple way, unless a face tangent to an open
|
||
// one (a fillet along its edge) can't follow; then every face moves in (tangencies keep)
|
||
// and the opening is the open face's copy swept out through the body.
|
||
let cavity = match offset_planar(healed, |fi, _| if opened.contains(&fi) { margin } else { -thickness }) {
|
||
Ok(c) => c,
|
||
Err(e) => return shell_by_opening(healed, opened, thickness, margin).map_err(|_| e),
|
||
};
|
||
let cavity = match opening_overreach(healed, &cavity, opened, thickness, margin) {
|
||
Ok(Some(trimmed)) => trimmed,
|
||
Ok(None) => cavity,
|
||
Err(e) => {
|
||
log::warn!("shell: could not trim the opening to the open faces ({e}); the wall next to it may be cut");
|
||
cavity
|
||
}
|
||
};
|
||
let r = crate::ops::boolean(healed, &cavity, crate::BoolOp::Cut);
|
||
if r.is_err()
|
||
&& let Ok(x) = shell_by_opening(healed, opened, thickness, margin)
|
||
{
|
||
return Ok(x);
|
||
}
|
||
match r {
|
||
Ok(Some(r)) => {
|
||
// Over `[healed]`, the cavity's faces offsets of the faces they line; then over `[b]`.
|
||
Ok(record::after(hollowed(r, healed, offsets(&cavity)), healed, &record::counts(&[b])))
|
||
}
|
||
Ok(None) => Err(KernelError::Failed("the shell removed everything".into())),
|
||
// Healing can leave faces the boolean dislikes (revolved patches): the body as it was,
|
||
// its faces to open found again.
|
||
Err(e) => {
|
||
let raw = b.tessellate((size * 1e-3).max(1e-3)).map_err(|_| e.clone())?;
|
||
let mut opened_raw: Vec<usize> = Vec::new();
|
||
for p in open {
|
||
let near = raw
|
||
.triangles
|
||
.iter()
|
||
.zip(&raw.tri_face)
|
||
.filter_map(|(t, f)| raw.tri(t).map(|[x, y, z]| (point_tri(*p, x, y, z), *f as usize)))
|
||
.min_by(|a, c| a.0.total_cmp(&c.0));
|
||
if let Some((d, f)) = near
|
||
&& d < size * 1e-3 + 1e-6
|
||
&& !opened_raw.contains(&f)
|
||
{
|
||
opened_raw.push(f);
|
||
}
|
||
}
|
||
let opened = opened_raw;
|
||
let cavity = offset_planar(b, |fi, _| if opened.contains(&fi) { margin } else { -thickness }).map_err(|_| e.clone())?;
|
||
let r = crate::ops::boolean(b, &cavity, crate::BoolOp::Cut)
|
||
.map_err(|_| e)?
|
||
.ok_or_else(|| KernelError::Failed("the shell removed everything".into()))?;
|
||
Ok(hollowed(r, b, offsets(&cavity)))
|
||
}
|
||
}
|
||
}
|
||
|
||
/// The cavity with each open face pushed out (`cavity`), trimmed so that beyond an open face's
|
||
/// plane it only reaches through the open face itself; `None` when it already does.
|
||
///
|
||
/// The pushed-out face carries the cavity past every edge of the open face. Past a convex edge
|
||
/// that is outside the body, but past a concave one (a box on a box, its side face open where it
|
||
/// meets the lower box's top) it runs on into the neighbouring wall and cuts a strip through it,
|
||
/// as wide as the push. The trimmed cavity is the shell's cavity with every face moved in,
|
||
/// together with the pushed-out cavity's parts that are on the body's side of every open face's
|
||
/// plane or in front of that open face.
|
||
fn opening_overreach(healed: &Body, cavity: &Body, opened: &[usize], thickness: f64, margin: f64) -> Result<Option<Body>> {
|
||
let size = healed.size();
|
||
let tol = size * 1e-6 + 1e-9;
|
||
let faces: Vec<mt::Face> = healed.solid.face_iter().cloned().collect();
|
||
// Each open face's plane (outward normal, offset) and its triangles.
|
||
let mesh = healed.tessellate((size * 1e-3).max(1e-3))?;
|
||
let mut open: Vec<(&mt::Face, Vec3, f64, Vec<[Vec3; 3]>)> = Vec::new();
|
||
for fi in opened {
|
||
let Some(f) = faces.get(*fi) else { return Ok(None) };
|
||
let mt::Surface::Plane(pl) = f.oriented_surface() else { return Ok(None) };
|
||
let n = pl.normal();
|
||
let Some(n) = Vec3::new(n.x, n.y, n.z).normalized() else { return Ok(None) };
|
||
let d = n.dot(from_p3(pl.origin()));
|
||
let tris: Vec<[Vec3; 3]> =
|
||
mesh.triangles.iter().zip(&mesh.tri_face).filter(|(_, f)| **f as usize == *fi).filter_map(|(t, _)| mesh.tri(t)).collect();
|
||
if tris.is_empty() {
|
||
return Ok(None);
|
||
}
|
||
open.push((f, n, d, tris));
|
||
}
|
||
// Only a corner of the cavity past an open face's plane and not in front of that face can be
|
||
// in a wall; with none, the cavity is right as it is.
|
||
let overreach = cavity.solid.vertex_iter().any(|v| {
|
||
let q = from_p3(v.point());
|
||
open.iter().any(|(_, n, d, tris)| {
|
||
let h = n.dot(q) - d;
|
||
h > tol && {
|
||
let on = q - *n * h;
|
||
!tris.iter().any(|[a, b, c]| point_tri(on, *a, *b, *c) < size * 1e-4 + 1e-6)
|
||
}
|
||
})
|
||
});
|
||
if !overreach {
|
||
return Ok(None);
|
||
}
|
||
let closed = offset_planar(healed, |_, _| -thickness)?;
|
||
// Keep: on the body's side of each open plane, or in front of the open face.
|
||
let reach = size * 4.0;
|
||
let mut keep: Option<Body> = None;
|
||
for (f, n, d, _) in &open {
|
||
let c = *n * *d;
|
||
let mut hs = vec![HalfSpace { n: *n, d: *d }];
|
||
for axis in [Vec3::X, Vec3::Y, Vec3::Z] {
|
||
hs.push(HalfSpace { n: axis, d: axis.dot(c) + reach });
|
||
hs.push(HalfSpace { n: axis * -1.0, d: -axis.dot(c) + reach });
|
||
}
|
||
let (side, _) = polyhedron(&hs)?;
|
||
// In front of the face: its prism, from half a wall inside the body (overlapping `side`
|
||
// rather than touching it) to past the pushed-out face.
|
||
let inset = thickness * 0.5;
|
||
let prism = guard("shell opening prism", || {
|
||
let start = builder::translated(*f, v3(*n * -inset));
|
||
let solid: Solid = builder::tsweep(&start, v3(*n * (inset + margin * 2.0)));
|
||
Ok(solid)
|
||
})?;
|
||
let prism = Body::new(prism)?;
|
||
let k = crate::ops::boolean(&side, &prism, crate::BoolOp::Union)?.ok_or_else(|| KernelError::Failed("shell: opening".into()))?;
|
||
keep = Some(match keep {
|
||
None => k,
|
||
Some(acc) => crate::ops::boolean(&acc, &k, crate::BoolOp::Intersect)?.ok_or_else(|| KernelError::Failed("shell: opening".into()))?,
|
||
});
|
||
}
|
||
let Some(keep) = keep else { return Ok(None) };
|
||
let kept = crate::ops::boolean(cavity, &keep, crate::BoolOp::Intersect)?.ok_or_else(|| KernelError::Failed("shell: opening".into()))?;
|
||
let trimmed = crate::ops::boolean(&closed, &kept, crate::BoolOp::Union)?.ok_or_else(|| KernelError::Failed("shell: opening".into()))?;
|
||
Ok(Some(trimmed))
|
||
}
|
||
|
||
/// A shell made from the cavity with every face moved in by the thickness (open faces too),
|
||
/// joined with each open face's moved copy swept out through the body. No history: the
|
||
/// opening's walls, swept from the cavity's edges, come from nothing of `b`.
|
||
fn shell_by_opening(b: &Body, opened: &[usize], thickness: f64, reach: f64) -> Result<Body> {
|
||
let closed = offset_planar(b, |_, _| -thickness)?;
|
||
let faces: Vec<mt::Face> = closed.solid.face_iter().cloned().collect();
|
||
let mut cavity = closed.clone();
|
||
for fi in opened {
|
||
let f = faces.get(*fi).ok_or_else(|| KernelError::Failed("shell: open face".into()))?;
|
||
let mt::Surface::Plane(pl) = f.oriented_surface() else {
|
||
return Err(unsupported_shell("the open face must be planar here"));
|
||
};
|
||
let n = pl.normal();
|
||
let n = Vec3::new(n.x, n.y, n.z).normalized().ok_or_else(|| KernelError::Failed("shell: open face normal".into()))?;
|
||
let prism = guard("shell opening", || {
|
||
let solid: Solid = builder::tsweep(f, v3(n * (thickness + reach)));
|
||
Ok(solid)
|
||
})?;
|
||
let prism = Body::new(prism)?;
|
||
cavity = crate::ops::boolean(&cavity, &prism, crate::BoolOp::Union)?.ok_or_else(|| KernelError::Failed("shell: opening".into()))?;
|
||
}
|
||
let r = crate::ops::boolean(b, &cavity, crate::BoolOp::Cut)?.ok_or_else(|| KernelError::Failed("the shell removed everything".into()))?;
|
||
Ok(r.without_history())
|
||
}
|
||
|
||
fn unsupported_shell(m: &str) -> KernelError {
|
||
KernelError::Failed(format!("not supported yet: {m}"))
|
||
}
|
||
|
||
fn point_tri(p: Vec3, a: Vec3, b: Vec3, c: Vec3) -> f64 {
|
||
let n = (b - a).cross(c - a);
|
||
let Some(nn) = n.normalized() else { return f64::INFINITY };
|
||
let h = (p - a).dot(nn);
|
||
let q = p - nn * h;
|
||
let inside = [(a, b), (b, c), (c, a)].iter().all(|(u, v)| (*v - *u).cross(q - *u).dot(n) >= -1e-12);
|
||
if inside { h.abs() } else { [(a, b), (b, c), (c, a)].iter().map(|(u, v)| p.dist_to_segment(*u, *v)).fold(f64::INFINITY, f64::min) }
|
||
}
|
||
|
||
/// The body with every planar face moved along its outward normal by `shift(face index,
|
||
/// normal)`, keeping the topology: each vertex goes to where its faces' moved planes meet.
|
||
pub(crate) fn offset_planar(b: &Body, shift: impl Fn(usize, Vec3) -> f64) -> Result<Body> {
|
||
crate::offset::offset_body(b, shift)
|
||
}
|
||
|
||
pub(crate) fn solve3_pub(m: [[f64; 3]; 3], r: [f64; 3]) -> Option<[f64; 3]> {
|
||
solve3(m, r)
|
||
}
|
||
|
||
fn solve3(m: [[f64; 3]; 3], r: [f64; 3]) -> Option<[f64; 3]> {
|
||
let det = |a: [[f64; 3]; 3]| {
|
||
a[0][0] * (a[1][1] * a[2][2] - a[1][2] * a[2][1]) - a[0][1] * (a[1][0] * a[2][2] - a[1][2] * a[2][0])
|
||
+ a[0][2] * (a[1][0] * a[2][1] - a[1][1] * a[2][0])
|
||
};
|
||
let d = det(m);
|
||
if d.abs() < 1e-9 {
|
||
return None;
|
||
}
|
||
let mut out = [0.0; 3];
|
||
for (k, o) in out.iter_mut().enumerate() {
|
||
let mut mk = m;
|
||
for (row, rv) in mk.iter_mut().zip(r) {
|
||
row[k] = rv;
|
||
}
|
||
*o = det(mk) / d;
|
||
}
|
||
Some(out)
|
||
}
|
||
|
||
/// Move the planar faces at the given points along their outward normals by `distance`
|
||
/// (negative: into the body). The body's other faces follow (its topology is kept).
|
||
pub fn offset_faces(b: &Body, at: &[Vec3], distance: f64) -> Result<Body> {
|
||
b.require_brep("offset faces")?;
|
||
if !distance.is_finite() || distance.abs() > 1e6 {
|
||
return Err(KernelError::Invalid("offset distance".into()));
|
||
}
|
||
let healed = crate::boolean_record::healed(b)?.with_split_lines(b.splits.clone());
|
||
let size = healed.size();
|
||
let mesh = healed.tessellate((size * 1e-3).max(1e-3))?;
|
||
let mut chosen: Vec<usize> = Vec::new();
|
||
for p in at {
|
||
let near = mesh
|
||
.triangles
|
||
.iter()
|
||
.zip(&mesh.tri_face)
|
||
.filter_map(|(t, f)| mesh.tri(t).map(|[x, y, z]| (point_tri(*p, x, y, z), *f as usize)))
|
||
.min_by(|a, c| a.0.total_cmp(&c.0));
|
||
match near {
|
||
Some((d, f)) if d < size * 1e-3 + 1e-6 => {
|
||
if !chosen.contains(&f) {
|
||
chosen.push(f);
|
||
}
|
||
}
|
||
_ => return Err(KernelError::Invalid(format!("no face at {:?}", [p.x, p.y, p.z]))),
|
||
}
|
||
}
|
||
let chosen = crate::offset::with_same_surface(&healed, &chosen);
|
||
match offset_planar(&healed, |fi, _| if chosen.contains(&fi) { distance } else { 0.0 }) {
|
||
Ok(r) => Ok(record::after(r, &healed, &record::counts(&[b]))),
|
||
// A piece of a split face (its neighbour stays): the piece swept along its normal
|
||
// joins on (outward) or cuts in, with walls along the split lines.
|
||
Err(e) if !healed.split_keep().is_empty() => press_pieces(&healed, &chosen, distance).map_err(|_| e),
|
||
Err(e) => Err(e),
|
||
}
|
||
}
|
||
|
||
/// No history: the walls along the split lines are swept from edges, and come from nothing of
|
||
/// `b`.
|
||
fn press_pieces(b: &Body, chosen: &[usize], distance: f64) -> Result<Body> {
|
||
let faces: Vec<mt::Face> = b.solid.face_iter().cloned().collect();
|
||
let mut cur = b.clone();
|
||
for fi in chosen {
|
||
let f = faces.get(*fi).ok_or_else(|| KernelError::Failed("offset: face".into()))?;
|
||
let n = crate::blend::plane_normal(f).ok_or_else(|| KernelError::Failed("offset: only planar pieces".into()))?;
|
||
let tool = guard("offset face", || Body::new(builder::tsweep(f, crate::body::v3(n * distance))))?;
|
||
let op = if distance > 0.0 { crate::BoolOp::Union } else { crate::BoolOp::Cut };
|
||
cur = crate::ops::boolean(&cur, &tool, op)?.ok_or_else(|| KernelError::Failed("offset: the piece moved off the body".into()))?;
|
||
}
|
||
Ok(cur.with_split_lines(b.splits.clone()).without_history())
|
||
}
|
||
|
||
#[cfg(test)]
|
||
mod rim_preflight_tests {
|
||
use super::*;
|
||
|
||
#[test]
|
||
fn a_distant_shell_does_not_turn_a_smaller_local_round_into_a_zero_rim() {
|
||
let block = crate::box_solid(Vec3::ZERO, Vec3::new(40.0, 30.0, 10.0)).unwrap();
|
||
let edges = [Vec3::new(20.0, 0.0, 0.0), Vec3::new(40.0, 15.0, 0.0), Vec3::new(20.0, 30.0, 0.0), Vec3::new(0.0, 15.0, 0.0)];
|
||
let rounded = crate::fillet(&block, &edges, 1.5).unwrap();
|
||
let distant = crate::box_solid(Vec3::new(1_000_000.0, 0.0, 0.0), Vec3::new(1_000_010.0, 10.0, 10.0)).unwrap();
|
||
let combined = crate::boolean(&rounded, &distant, crate::BoolOp::Union).unwrap().unwrap();
|
||
let faces: Vec<_> = (0..combined.solid.face_iter().count()).collect();
|
||
assert!(rim_without_thickness(&combined, &faces, 2.0, true).is_none());
|
||
}
|
||
}
|