Vector2D cutDirection = new Vector2D(); Point2DReadOnly endBridgeVertex = pocket.getEndBridgeVertex(); Point2DReadOnly startBridgeVertex = pocket.getStartBridgeVertex(); cutDirection.sub(endBridgeVertex, startBridgeVertex); cutDirection.normalize();
private Node createConcavePocketsGraphics(PlanarRegionSegmentationRawData rawData, ConcaveHullFactoryResult concaveHullFactoryResult) { JavaFXMeshBuilder meshBuilder = new JavaFXMeshBuilder(); ConcaveHullCollection concaveHullCollection = concaveHullFactoryResult.getConcaveHullCollection(); RigidBodyTransform transform = rawData.getTransformFromLocalToWorld(); for (ConcaveHull concaveHull : concaveHullCollection) { Set<ConcaveHullPocket> pockets = concaveHull.findConcaveHullPockets(polygonizerParameters.getDepthThreshold()); for (ConcaveHullPocket pocket : pockets) { List<Point2D> pocketVertices = ListWrappingIndexTools.subListInclusive(pocket.getStartBridgeIndex(), pocket.getEndBridgeIndex(), concaveHull.getConcaveHullVertices()); Point2D average = new Point2D(); average.interpolate(pocket.getStartBridgeVertex(), pocket.getEndBridgeVertex(), 0.5); pocketVertices.add(0, average); ConcaveHullTools.ensureClockwiseOrdering(pocketVertices); meshBuilder.addPolygon(transform, pocketVertices); } } MeshView meshView = new MeshView(meshBuilder.generateMesh()); meshView.setMaterial(new PhongMaterial(OcTreeMeshBuilder.getRegionColor(rawData.getRegionId()))); return meshView; }
public static int flattenShallowPockets(double depthThreshold, List<Point2D> concaveHullVerticesToFilter) { int numberOfVerticesRemoved = 0; ConcaveHullPocket pocket = new ConcaveHullPocket(); Vector2D shift = new Vector2D(); for (int currentIndex = 0; currentIndex < concaveHullVerticesToFilter.size(); currentIndex++) { if (isConvexAtVertex(currentIndex, concaveHullVerticesToFilter)) continue; boolean success = computeConcaveHullPocket(currentIndex, pocket, concaveHullVerticesToFilter); if (!success) continue; double maxDepth = pocket.getMaxDepth(); if (maxDepth > depthThreshold) continue; Point2D startBridgeVertex = new Point2D(pocket.getStartBridgeVertex()); Point2D endBridgeVertex = new Point2D(pocket.getEndBridgeVertex()); shift.sub(endBridgeVertex, startBridgeVertex); shift.normalize(); // Rotate to the right shift.set(shift.getY(), -shift.getX()); shift.scale(maxDepth); startBridgeVertex.add(shift); endBridgeVertex.add(shift); int startBridgeVertexIndex = pocket.getStartBridgeIndex(); int endBridgeVertexIndex = pocket.getEndBridgeIndex(); numberOfVerticesRemoved += removeAllExclusive(startBridgeVertexIndex, endBridgeVertexIndex, concaveHullVerticesToFilter); } return numberOfVerticesRemoved; }