gsTemplate.h

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#pragma once
 
#include <gsCore/gsGeometry.h>
#include <gsCore/gsBoxTopology.h>
#include <gsCore/gsBoundary.h>
#include <gsModeling/gsCurveLoop.h>
#include <gsUtils/gsPointGrid.h>
 
#include <gsNurbs/gsNurbsCreator.h>
 
#include <eiquadprog.hpp> // external file
 
 
namespace gismo
{
    
template<class T>
class gsTemplate  : public gsBoxTopology
{
public: 
 
    typedef gsBoxTopology Base;
    typedef memory::shared_ptr< gsTemplate > Ptr;
    //typedef memory::unique_ptr< gsTemplate > LocalPtr;
 
public:
 
    gsTemplate() : Base()  { }
 
    gsTemplate( int const & i ) : Base()  
    { 
        GISMO_ASSERT(i<=2 , "Template with more than one hole not implemented yet.");
        gsMatrix<T> xi(2,4);    
        xi << 1, 0, -1,  0,
        0, 1,  0, -1;
 
        if ( i == 0 )
        {
 
            // TO DO: add copy constructor and assignmnet operator in gsPlanarDomain
            m_pdomain.insertHole( new gsCurveLoop<T>(gsNurbsCreator<T>::BSplineFatCircle().release()) );  
 
            m_pdomain.outer().reverse();
            // gsDebug<<"\n Does your template has the right orientation ? ";
            // gsDebug<< "m_domain:\n"<< m_pdomain;
            //m_pdomain.check() ;
 
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(xi.col(0),0.5*xi.col(0)).release()  );
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(xi.col(1),0.5*xi.col(1)).release()  );
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(xi.col(2),0.5*xi.col(2)).release()  );
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(xi.col(3),0.5*xi.col(3)).release()  );
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(0.5*xi.col(0), 0.5*xi.col(1)).release()  );
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(0.5*xi.col(1), 0.5*xi.col(2)).release()  );
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(0.5*xi.col(2), 0.5*xi.col(3)).release()  );
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(0.5*xi.col(3), 0.5*xi.col(0)).release()  );
 
        }
        else if ( i == 1 )//template with one point removed
        {
 
 
            // TO DO: add copy constructor and assignmnet operator in gsPlanarDomain
 
            m_pdomain = gsPlanarDomain<T>( gsNurbsCreator<T>::BSplineFatCircle().release() );
 
            // ************** RIGHT THINGS for amoeba_lake1_pdomain.xml:
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(xi.col(0),-0.534694*xi.col(0)+0*xi.col(1)).release()  );
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(xi.col(1),-0.534694*xi.col(0)+0*xi.col(1)).release()  );
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(xi.col(2),-0.534694*xi.col(0)+0*xi.col(1)).release()  );
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(xi.col(3),-0.534694*xi.col(0)+0*xi.col(1)).release()  );
        }
        else if(i==2)
        {
            m_pdomain = gsPlanarDomain<T>( gsNurbsCreator<T>::BSplineFatCircle().release() );
 
            //First 4 curves around upper puncture
 
            //1
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(xi.col(0)*(0.25) +
                                        xi.col(1)*(0.732),(0.25)*xi.col(0)+xi.col(1)*(0.55)).release());
 
            //2
 
            gsMatrix<T> cc(5,2);
            cc<<0.691, 0.717,
            0.572, 0.672,
            0.427, 0.55,
            0.427, 0.55,
            0.25, 0.55;
            gsKnotVector<T> kk(0,1,2,3,1,2);
            gsBSpline<T> *Trick2 = new gsBSpline<T>(kk,cc);
            addSkeleton(Trick2);
 
            // 3
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(xi.col(0)*(0.25) +
                                        xi.col(1)*(0.363),( 0.25)*xi.col(0)+xi.col(1)*(0.55)).release());
            //4
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(xi.col(0)*(0.064) +
                                        xi.col(1)*(0.55),( 0.25)*xi.col(0)+xi.col(1)*(0.55)).release());
 
            //5  Arc up left
 
            gsMatrix<T> coeff(3,2);
            coeff<<-0.583, 0.876,
            -0.468, 0.802,
            0.064, 0.55;
            gsKnotVector<T> kv(0,1,0,3,2);
            gsBSpline<T> * ArcUpLeft = new gsBSpline<T>(kv,coeff);
            addSkeleton(ArcUpLeft);
 
            //6 Arc center left
            coeff<<0.064, 0.55,
            -0.255,0.106,
            -0.078, -0.55;
            gsBSpline<T> * ArcCenterLeft = new gsBSpline<T>(kv, coeff);
            addSkeleton(ArcCenterLeft);
 
            // 7 Arc center right
            coeff<< 0.427, 0.55,
            0.619, 0.007,
            0.288, -0.55;
            gsBSpline<T> * ArcCenterRight = new gsBSpline<T>(kv,coeff);
            addSkeleton(ArcCenterRight);
 
            // 8 Central Arc
 
 
            coeff<<0.25, 0.363,
            0.170, -0.004,
            0.10, -0.366;
 
            gsBSpline<T> *CentralArc = new gsBSpline<T>(kv,coeff);
            addSkeleton(CentralArc);
 
            //9 Arc up
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(xi.col(0)*(0.25) +
                                        xi.col(1)*(0.986),( 0.25)*xi.col(0)+xi.col(1)*(0.732)).release());
 
            //10 Arc up right
 
            coeff<<0.749, 0.750,
            0.572, 0.672,
            0.427, 0.55 ;
            gsBSpline<T> * ArcUpRight = new gsBSpline<T>(kv,coeff);
            addSkeleton(ArcUpRight);
 
            // 4 curves around puncture low
 
            //11
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(xi.col(0)*(0.10) +
                                        xi.col(1)*(-0.366),(0.10)*xi.col(0)+xi.col(1)*(-0.55)).release());
            //12
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(xi.col(0)*(0.288) +
                                        xi.col(1)*(-0.55),(0.10)*xi.col(0)+xi.col(1)*(-0.55)).release());
 
            //13
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(xi.col(0)*(0.10) +
                                        xi.col(1)*(-0.993),(0.10)*xi.col(0)+xi.col(1)*(-0.55)).release());
            //14
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(xi.col(0)*(-0.078) +
                                        xi.col(1)*(-0.55),(0.10)*xi.col(0)+xi.col(1)*(-0.55)).release());
 
            // 15 Arc low left
            coeff<< -0.638,-0.837, //-0.623, -0.842
            -0.517,-0.725,
            -0.078, -0.55;
            gsBSpline<T> * ArcLowLeft = new gsBSpline<T>(kv,coeff);
            addSkeleton(ArcLowLeft);
 
            //16 Arc low
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(xi.col(0)*(0.10) +
                                        xi.col(1)*(-0.990),(0.10)*xi.col(0)+xi.col(1)*(-0.718)).release());
 
 
            //17 Arc low right
 
            coeff<<0.690, -0.824, //0.685, -0.804
            0.556, -0.675,
            0.288, -0.55;
            gsBSpline<T>* ArcLowRight = new gsBSpline<T>(kv,coeff);
            addSkeleton(ArcLowRight);
 
            //circular arcs around upper puncture
 
            // 18
            coeff<<0.25, 0.732,
            0.377, 0.697,
            0.427, 0.55;
            gsBSpline<T> * Archetto1 = new gsBSpline<T> (kv,coeff);
            addSkeleton(Archetto1);
 
            //19
            coeff<< 0.427, 0.55,
            0.37, 0.416,
            0.25, 0.377;
            gsBSpline<T> * Archetto2 = new gsBSpline<T>(kv,coeff);
            addSkeleton(Archetto2);
 
            //20
            coeff<< 0.25, 0.377,
            0.132, 0.419,
            0.064, 0.55;
            gsBSpline<T>* Archetto3 = new gsBSpline<T>(kv,coeff);
            addSkeleton(Archetto3);
 
            //21
            coeff<<0.064, 0.55,
            0.117, 0.679,
            0.25, 0.732;
            gsBSpline<T>* Archetto4 = new gsBSpline<T>(kv,coeff);
            addSkeleton(Archetto4);
 
            //circular arcs around low puncture
 
            //22
            coeff<<0.10, -0.366,
            0.224, -0.409,
            0.288, -0.55;
            gsBSpline<T>* Archetto5 = new gsBSpline<T>(kv,coeff);
            addSkeleton(Archetto5);
 
            //23
            coeff<< 0.288, -0.55,
            0.220, -0.686,
            0.10, -0.718;
            gsBSpline<T>* Archetto6 = new gsBSpline<T>(kv,coeff);
            addSkeleton(Archetto6);
 
            //24
            coeff<<0.10, -0.718,
            -0.025, -0.675,
            -0.078, -0.55;
            gsBSpline<T>* Archetto7 = new gsBSpline<T>(kv,coeff);
            addSkeleton(Archetto7);
 
            //25
 
            coeff<< -0.078, -0.55,
            -0.025, -0.412,
            0.10, -0.366;
            gsBSpline<T> *Archetto8 = new gsBSpline<T>(kv, coeff);
            addSkeleton(Archetto8);
 
            //For plotting the template segmentation
 
            //gsWriteParaview(*m_skeleton[0],"1th",30);
            //gsWriteParaview(*m_skeleton[1],"2th",30);
            //gsWriteParaview(*m_skeleton[2],"3th",30);
            //gsWriteParaview(*m_skeleton[3],"4th",30);
 
 
            //gsWriteParaview(*m_skeleton[4],"5th",30);
            //gsWriteParaview(*m_skeleton[5],"6th",30);
            //gsWriteParaview(*m_skeleton[6],"7th",30);
            //gsWriteParaview(*m_skeleton[7],"8th",30);
 
            //gsWriteParaview(*m_skeleton[8],"9th",30);
            //gsWriteParaview(*m_skeleton[9],"10th",30);
            //gsWriteParaview(*m_skeleton[10],"11th",30);
 
            //gsWriteParaview(*m_skeleton[11],"12th",30);
            //gsWriteParaview(*m_skeleton[12],"13th",30);
            //gsWriteParaview(*m_skeleton[13],"14th",30);
            //gsWriteParaview(*m_skeleton[14],"15th",30);
            //gsWriteParaview(*m_skeleton[15],"16th",30);
            //gsWriteParaview(*m_skeleton[16],"17th",30);
            //gsWriteParaview(*m_skeleton[17],"18th",30);
            //gsWriteParaview(*m_skeleton[18],"19th",30);
            //gsWriteParaview(*m_skeleton[19],"20th",30);
            //gsWriteParaview(*m_skeleton[20],"21th",30);
            //gsWriteParaview(*m_skeleton[21],"22th",30);
            //gsWriteParaview(*m_skeleton[22],"23th",30);
            //gsWriteParaview(*m_skeleton[23],"24th",30);
            //gsWriteParaview(*m_skeleton[24],"25th",30);
 
 
        }
        else
        {
            gsWarn<< "Empty template.\n";
        }
    }
 
 
    gsTemplate(int  r,
               bool ) //square)
    : Base()
    {
 
        gsMatrix<T> Bb(2,4);
        Bb<< 0, 1, 0, 1,
        0, 0, 1, 1;
 
 
        //construct a square
        //boundaryB= bottom side of the square
 
        gsBSpline<T>* boundaryB = gsNurbsCreator<T>::BSplineLineSegment(r*Bb.col(0),r*Bb.col(1)).release();
 
        //boundaryU = upper side of the square
        gsBSpline<T>* boundaryU = gsNurbsCreator<T>::BSplineLineSegment(r*Bb.col(3),r*Bb.col(2)).release();
 
        //boundaryL = left side of the square
        gsBSpline<T>* boundaryL = gsNurbsCreator<T>::BSplineLineSegment(r*Bb.col(2),r*Bb.col(0)).release();
 
        //boundaryR = right side of the square
        gsBSpline<T>* boundaryR = gsNurbsCreator<T>::BSplineLineSegment(r*Bb.col(1),r*Bb.col(3)).release();
 
        //generating points on the four boundaries
        //label 0 : boundaryB
        //label 1 : boundaryU
        //label 2 : boundaryR
        //label 3 : boundaryL
 
        gsMatrix<T> uniformPoints = gsPointGrid<T>(0,1,102);
        int numCols = uniformPoints.cols();
 
        gsMatrix<T>storage0(2, numCols),storage1(2,numCols),storage2(2,numCols),storage3(2,numCols);
        storage0.setZero();
        storage0.row(0)=uniformPoints.row(0);
 
        storage1.setOnes();
        storage1.row(0)=uniformPoints.row(0);
 
        storage2.setOnes();
        storage2.row(1)=uniformPoints.row(0);
 
        storage3.setZero();
        storage3.row(1)=uniformPoints.row(0);
 
 
        //creating the skeleton
 
        for(int i=1; i<storage0.cols()-1;++i)
        {
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(storage0.col(i),storage1.col(i)).release());
            addSkeleton( gsNurbsCreator<T>::BSplineLineSegment(storage2.col(i),storage3.col(i)).release());
 
        }
        //join boundary curves in one single curve
        std::vector< gsCurve<T> *> BoundaryCurves;
        BoundaryCurves.push_back(boundaryB);
        BoundaryCurves.push_back(boundaryR);
        BoundaryCurves.push_back(boundaryU);
        BoundaryCurves.push_back(boundaryL);
 
        gsCurveLoop<T>* BoundaryLoop = new gsCurveLoop<T>(BoundaryCurves);
        // BoundaryLoop.singleCurve();
        m_pdomain = gsPlanarDomain<T>(BoundaryLoop);
 
    }
 
    gsTemplate(const std::vector<T> & intervalWidths,
               const gsMatrix<T> & verts,
               size_t startIdx,
               size_t endIdx,
               T curveProportion
              ) : Base()
    {
        index_t n = verts.rows();
 
        // create an outer loop of straight lines
        gsCurveLoop<T> *loop = new gsCurveLoop<T>();
        for(index_t i = 0; i < n; i++)
        {
            gsMatrix<T> tcp(2, 2);
            tcp << verts(i, 0), verts(i, 1), verts((i + 1) % n, 0), verts((i + 1) % n, 1);
            gsBSpline<T> * tcurve = new gsBSpline<T>( 0, intervalWidths[i], 0, 1, give(tcp) );
            loop->insertCurve(tcurve);
            // TODO: assert if the vertices do not define a convex polygon.
        }
        m_pdomain.insertHole(loop);
 
 
        // compute a cubic through these points. minimize mean squared acceleration subject to
        // fixed initial/final points and normals
        gsMatrix<T> startPoint = verts.row(startIdx);
        gsMatrix<T> endPoint = verts.row(endIdx);
        // bisector must be normal to the difference between the normalized outgoing vectors
        gsMatrix<T> Tang1i = (verts.row((startIdx + n - 1) % n) - startPoint).normalized();
        gsMatrix<T> Tang1o = (verts.row((startIdx + 1) % n) - startPoint).normalized();
        gsMatrix<T> Tang2i = (verts.row((endIdx + n - 1) % n) - endPoint).normalized();
        gsMatrix<T> Tang2o = (verts.row((endIdx + 1) % n) - endPoint).normalized();
        gsMatrix<T> startNormal = Tang1o - Tang1i;
        gsMatrix<T> endNormal = Tang2o - Tang2i;
        gsMatrix<T> normals(2, 2);
        normals.col(0) = startNormal.transpose();
        normals.col(1) = endNormal.transpose();
 
        // matrices representing linear equality constraints
        gsMatrix<T> constraints(6, 8);
        constraints.setZero();
        constraints.block(0, 0, 2, 2).setIdentity();
        constraints.block(2, 6, 2, 2).setIdentity();
        constraints.block(4, 0, 1, 2) = - startNormal;
        constraints.block(4, 2, 1, 2) = startNormal;
        constraints.block(5, 4, 1, 2) = - endNormal;
        constraints.block(5, 6, 1, 2) = endNormal;
 
        gsVector<T> constraintsRHS(6);
        constraintsRHS.segment(0, 2) = startPoint.transpose();
        constraintsRHS.segment(2, 2) = endPoint.transpose();
        constraintsRHS.segment(4, 2).setZero();
 
        // matrices representing linear inequalities. each constraint
        // forces the control points to be inside the convex polygon.
        gsMatrix<T> inequalities(n * 4, 8);
        gsVector<T> ineqRHS(n * 4);
        inequalities.setZero();
        ineqRHS.setZero();
        //    inequalities.block(0, 0, 1, 4) << startNormal(0, 1), -startNormal(0, 0), -startNormal(0, 1), startNormal(0, 0);
        //    inequalities.block(1, 4, 1, 4) << endNormal(0, 1), -endNormal(0, 0), -endNormal(0, 1), endNormal(0, 0);
        for(int idxE = 0; idxE < n; idxE++)
        {
            gsMatrix<T> edgeDiff = verts.row((idxE + 1) % n) - verts.row(idxE);
            for(int idxCP = 0; idxCP < 4; idxCP++)
            {
                inequalities.block(idxE * 4 + idxCP, 2 * idxCP, 1, 2) << -edgeDiff(0, 1), edgeDiff(0, 0);
                ineqRHS(idxE * 4 + idxCP) = -edgeDiff(0, 1) * verts(idxE, 0) + edgeDiff(0, 0) * verts(idxE, 1);
            }
        }
 
        // matrix for computing the second differences
        gsMatrix<T> secondDifference(4, 8);
        secondDifference.setZero();
        for(size_t i = 0; i < 4; i++)
        {
            secondDifference(i, i) = 1;
            secondDifference(i, i + 2) = -2;
            secondDifference(i, i + 4) = 1;
        }
 
        // matrix for computing the quadratic cost in terms of the second differences
        gsMatrix<T> costFromSec(4, 4);
        costFromSec.setIdentity();
        costFromSec(0, 2) = costFromSec(1, 3) = costFromSec(2, 0) = costFromSec(3, 1) = 0.5;
 
        // matrix for computing the total cost as a function of the original control points
        gsMatrix<T> totalCost = secondDifference.transpose() * costFromSec * secondDifference;
 
        // minimise quadratic subject to linear equalities and inequalities
        gsVector<T> imageCoefsConcat;
        gsVector<T> zeroCost(8);
        zeroCost.setZero();
        constraints.transposeInPlace();
        inequalities.transposeInPlace();
 
        constraintsRHS *= -1;
        ineqRHS        *= -1;
 
        solve_quadprog(totalCost, zeroCost,
        constraints , constraintsRHS,
        inequalities, ineqRHS,
        imageCoefsConcat);
        gsMatrix<T> imageCoefs(2, 4);
        for(size_t i = 0; i < 4; i++)
        {
            imageCoefs.col(i) = imageCoefsConcat.segment(2 * i, 2);
        }
        GISMO_ASSERT((imageCoefs.col(0) - startPoint.transpose()).norm() < 0.0001 &&
        (imageCoefs.col(imageCoefs.cols() - 1) - endPoint.transpose()).norm() < 0.0001,
        "Quadratic optimization failed to satisfy constraints");
 
        // transform the coefficients to restrict to a subset of the original interval
        // g: matrix to transform basis functions to monomials
        gsMatrix<T> g(4, 4);
        g << 1,-3,3,-1,0,3,-6,3,0,0,3,-3,0,0,0,1;
        // k: matrix to transform monomials in t into monomials in u, where t = k0 + k1 u
        T k0 = (T(1) - curveProportion) / 2;
        T k1 = curveProportion;
        gsMatrix<T> k(4, 4);
        k.setZero();
        k(0, 0) = 1;
        for(index_t i = 1; i < 4; i++) // first row done already
        {
            for(index_t j = 0; j < 4; j++)
            {
                k(i, j) = k0 * k(i - 1, j);
                if(j > 0) k(i, j) += k1 * k(i - 1, j - 1);
            }
        }
        // g^(-1): transforms monomials in u into basis functions in u
        gsMatrix<T> transformedCoefs = imageCoefs * g * k * g.inverse();
 
        // TODO: if any control points are outside the polygon, project them to the nearest point on the boundary. that would
        // ensure that the spline stays inside the polygon.
 
        // construct the spline from the coefficients.
        transformedCoefs.transposeInPlace();
        addSkeleton(new gsBSpline<T>(0, 1, 0, 3, give(transformedCoefs)));
    }
    
    ~gsTemplate() 
    { 
        freeAll(m_skeleton);
    }
    
    gsTemplate * clone() const 
    {
        return new gsTemplate(*this);
    };
    
public:
 
    std::ostream &print(std::ostream &os) const
    { 
        if ( this->nBoxes() > 0 )
        {
            os << "gsTemplate (" << this->nBoxes() << ").\n"; 
            //os << "First patch: " << this->patch(0) << ").\n"; 
        }
        else
            os << "gsTemplate ( empty! ).\n"; 
        return os; 
    }
 
    short_t parDim() const { return dim(); }
 
    index_t nPatches() const { return this->nBoxes(); }
 
    void addPatch( gsMatrix<T>* c) 
    { 
        this->m_corners.push_back( c );
    }
 
    void addSkeleton( gsBSpline<T> * bs ) 
    { 
        m_skeleton.push_back( bs );
    }
 
    std::vector< gsBSpline<T> * > skeleton() 
    { 
        return m_skeleton;
    }
    
    gsBSpline<T> * skeleton(size_t const & i)
    { 
        return m_skeleton[i];
    }
 
    // to do: add outer()
    gsPlanarDomain<T> const & domain() const
    {
      return m_pdomain;
    }
    
    const gsCurveLoop<T> & outer()
    {
      return m_pdomain.outer();
    }
    
    const gsCurveLoop<T> & loop(int i) const
    {
      return m_pdomain.loop(i);
    }
    
    int skeletonSize() 
    { 
        return m_skeleton.size();
    }
// Data members
private:
 
    std::vector<gsMatrix<T> *> m_corners;
 
    std::vector< gsBSpline<T> * >  m_skeleton; // skeleton represents "segments" inside the template
    
    gsPlanarDomain<T> m_pdomain;
    
    gsMatrix<T> ponctuals;
    
public:
    // Needed since m_pdomain is 16B aligned
#   define Eigen gsEigen
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
#   undef Eigen
 
}; // class gsTemplate
 
template<class T>
std::ostream &operator<<(std::ostream &os, const gsTemplate<T>& b)
{return b.print(os); }
 
} // namespace gismo