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https://github.com/Doodle3D/Doodle3D-Slicer.git
synced 2024-07-08 19:50:43 +02:00
395 lines
7.4 KiB
JavaScript
Executable File
395 lines
7.4 KiB
JavaScript
Executable File
/**
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* @author renej
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* NURBS utils
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*
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* See NURBSCurve and NURBSSurface.
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*
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**/
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/**************************************************************
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* NURBS Utils
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**************************************************************/
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THREE.NURBSUtils = {
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/*
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Finds knot vector span.
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p : degree
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u : parametric value
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U : knot vector
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returns the span
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*/
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findSpan: function( p, u, U ) {
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var n = U.length - p - 1;
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if (u >= U[n]) {
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return n - 1;
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}
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if (u <= U[p]) {
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return p;
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}
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var low = p;
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var high = n;
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var mid = Math.floor((low + high) / 2);
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while (u < U[mid] || u >= U[mid + 1]) {
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if (u < U[mid]) {
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high = mid;
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} else {
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low = mid;
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}
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mid = Math.floor((low + high) / 2);
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}
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return mid;
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},
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/*
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Calculate basis functions. See The NURBS Book, page 70, algorithm A2.2
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span : span in which u lies
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u : parametric point
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p : degree
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U : knot vector
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returns array[p+1] with basis functions values.
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*/
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calcBasisFunctions: function( span, u, p, U ) {
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var N = [];
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var left = [];
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var right = [];
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N[0] = 1.0;
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for (var j = 1; j <= p; ++ j) {
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left[j] = u - U[span + 1 - j];
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right[j] = U[span + j] - u;
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var saved = 0.0;
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for (var r = 0; r < j; ++ r) {
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var rv = right[r + 1];
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var lv = left[j - r];
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var temp = N[r] / (rv + lv);
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N[r] = saved + rv * temp;
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saved = lv * temp;
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}
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N[j] = saved;
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}
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return N;
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},
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/*
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Calculate B-Spline curve points. See The NURBS Book, page 82, algorithm A3.1.
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p : degree of B-Spline
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U : knot vector
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P : control points (x, y, z, w)
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u : parametric point
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returns point for given u
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*/
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calcBSplinePoint: function( p, U, P, u ) {
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var span = this.findSpan(p, u, U);
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var N = this.calcBasisFunctions(span, u, p, U);
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var C = new THREE.Vector4(0, 0, 0, 0);
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for (var j = 0; j <= p; ++ j) {
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var point = P[span - p + j];
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var Nj = N[j];
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var wNj = point.w * Nj;
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C.x += point.x * wNj;
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C.y += point.y * wNj;
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C.z += point.z * wNj;
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C.w += point.w * Nj;
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}
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return C;
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},
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/*
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Calculate basis functions derivatives. See The NURBS Book, page 72, algorithm A2.3.
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span : span in which u lies
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u : parametric point
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p : degree
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n : number of derivatives to calculate
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U : knot vector
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returns array[n+1][p+1] with basis functions derivatives
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*/
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calcBasisFunctionDerivatives: function( span, u, p, n, U ) {
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var zeroArr = [];
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for (var i = 0; i <= p; ++ i)
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zeroArr[i] = 0.0;
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var ders = [];
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for (var i = 0; i <= n; ++ i)
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ders[i] = zeroArr.slice(0);
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var ndu = [];
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for (var i = 0; i <= p; ++ i)
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ndu[i] = zeroArr.slice(0);
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ndu[0][0] = 1.0;
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var left = zeroArr.slice(0);
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var right = zeroArr.slice(0);
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for (var j = 1; j <= p; ++ j) {
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left[j] = u - U[span + 1 - j];
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right[j] = U[span + j] - u;
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var saved = 0.0;
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for (var r = 0; r < j; ++ r) {
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var rv = right[r + 1];
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var lv = left[j - r];
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ndu[j][r] = rv + lv;
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var temp = ndu[r][j - 1] / ndu[j][r];
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ndu[r][j] = saved + rv * temp;
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saved = lv * temp;
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}
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ndu[j][j] = saved;
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}
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for (var j = 0; j <= p; ++ j) {
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ders[0][j] = ndu[j][p];
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}
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for (var r = 0; r <= p; ++ r) {
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var s1 = 0;
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var s2 = 1;
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var a = [];
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for (var i = 0; i <= p; ++ i) {
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a[i] = zeroArr.slice(0);
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}
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a[0][0] = 1.0;
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for (var k = 1; k <= n; ++ k) {
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var d = 0.0;
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var rk = r - k;
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var pk = p - k;
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if (r >= k) {
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a[s2][0] = a[s1][0] / ndu[pk + 1][rk];
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d = a[s2][0] * ndu[rk][pk];
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}
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var j1 = (rk >= -1) ? 1 : -rk;
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var j2 = (r - 1 <= pk) ? k - 1 : p - r;
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for (var j = j1; j <= j2; ++ j) {
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a[s2][j] = (a[s1][j] - a[s1][j - 1]) / ndu[pk + 1][rk + j];
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d += a[s2][j] * ndu[rk + j][pk];
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}
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if (r <= pk) {
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a[s2][k] = -a[s1][k - 1] / ndu[pk + 1][r];
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d += a[s2][k] * ndu[r][pk];
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}
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ders[k][r] = d;
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var j = s1;
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s1 = s2;
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s2 = j;
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}
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}
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var r = p;
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for (var k = 1; k <= n; ++ k) {
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for (var j = 0; j <= p; ++ j) {
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ders[k][j] *= r;
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}
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r *= p - k;
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}
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return ders;
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},
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/*
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Calculate derivatives of a B-Spline. See The NURBS Book, page 93, algorithm A3.2.
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p : degree
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U : knot vector
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P : control points
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u : Parametric points
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nd : number of derivatives
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returns array[d+1] with derivatives
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*/
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calcBSplineDerivatives: function( p, U, P, u, nd ) {
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var du = nd < p ? nd : p;
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var CK = [];
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var span = this.findSpan(p, u, U);
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var nders = this.calcBasisFunctionDerivatives(span, u, p, du, U);
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var Pw = [];
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for (var i = 0; i < P.length; ++ i) {
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var point = P[i].clone();
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var w = point.w;
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point.x *= w;
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point.y *= w;
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point.z *= w;
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Pw[i] = point;
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}
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for (var k = 0; k <= du; ++ k) {
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var point = Pw[span - p].clone().multiplyScalar(nders[k][0]);
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for (var j = 1; j <= p; ++ j) {
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point.add(Pw[span - p + j].clone().multiplyScalar(nders[k][j]));
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}
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CK[k] = point;
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}
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for (var k = du + 1; k <= nd + 1; ++ k) {
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CK[k] = new THREE.Vector4(0, 0, 0);
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}
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return CK;
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},
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/*
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Calculate "K over I"
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returns k!/(i!(k-i)!)
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*/
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calcKoverI: function( k, i ) {
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var nom = 1;
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for (var j = 2; j <= k; ++ j) {
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nom *= j;
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}
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var denom = 1;
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for (var j = 2; j <= i; ++ j) {
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denom *= j;
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}
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for (var j = 2; j <= k - i; ++ j) {
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denom *= j;
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}
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return nom / denom;
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},
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/*
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Calculate derivatives (0-nd) of rational curve. See The NURBS Book, page 127, algorithm A4.2.
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Pders : result of function calcBSplineDerivatives
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returns array with derivatives for rational curve.
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*/
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calcRationalCurveDerivatives: function ( Pders ) {
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var nd = Pders.length;
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var Aders = [];
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var wders = [];
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for (var i = 0; i < nd; ++ i) {
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var point = Pders[i];
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Aders[i] = new THREE.Vector3(point.x, point.y, point.z);
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wders[i] = point.w;
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}
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var CK = [];
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for (var k = 0; k < nd; ++ k) {
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var v = Aders[k].clone();
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for (var i = 1; i <= k; ++ i) {
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v.sub(CK[k - i].clone().multiplyScalar(this.calcKoverI(k, i) * wders[i]));
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}
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CK[k] = v.divideScalar(wders[0]);
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}
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return CK;
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},
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/*
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Calculate NURBS curve derivatives. See The NURBS Book, page 127, algorithm A4.2.
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p : degree
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U : knot vector
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P : control points in homogeneous space
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u : parametric points
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nd : number of derivatives
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returns array with derivatives.
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*/
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calcNURBSDerivatives: function( p, U, P, u, nd ) {
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var Pders = this.calcBSplineDerivatives(p, U, P, u, nd);
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return this.calcRationalCurveDerivatives(Pders);
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},
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/*
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Calculate rational B-Spline surface point. See The NURBS Book, page 134, algorithm A4.3.
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p1, p2 : degrees of B-Spline surface
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U1, U2 : knot vectors
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P : control points (x, y, z, w)
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u, v : parametric values
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returns point for given (u, v)
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*/
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calcSurfacePoint: function( p, q, U, V, P, u, v ) {
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var uspan = this.findSpan(p, u, U);
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var vspan = this.findSpan(q, v, V);
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var Nu = this.calcBasisFunctions(uspan, u, p, U);
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var Nv = this.calcBasisFunctions(vspan, v, q, V);
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var temp = [];
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for (var l = 0; l <= q; ++ l) {
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temp[l] = new THREE.Vector4(0, 0, 0, 0);
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for (var k = 0; k <= p; ++ k) {
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var point = P[uspan - p + k][vspan - q + l].clone();
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var w = point.w;
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point.x *= w;
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point.y *= w;
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point.z *= w;
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temp[l].add(point.multiplyScalar(Nu[k]));
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}
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}
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var Sw = new THREE.Vector4(0, 0, 0, 0);
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for (var l = 0; l <= q; ++ l) {
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Sw.add(temp[l].multiplyScalar(Nv[l]));
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}
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Sw.divideScalar(Sw.w);
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return new THREE.Vector3(Sw.x, Sw.y, Sw.z);
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}
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};
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