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advVoxelization.m
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advVoxelization.m
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function advVoxelization
close all; clc; clf;
[FC, VR] = fileReader('teapot.obj');
figure(1); hold on, grid on, axis equal;
xlabel('x');
ylabel('y');
zlabel('z');
patch('Faces',FC,'Vertices',VR, 'FaceColor',[0,0,1]);
VOX_SIZE = 4.6;
PADDING = VOX_SIZE;
[maxX, maxY, maxZ, minX, minY, minZ] = boundingBox(VR,PADDING);
voxSizeX = ceil((maxX - minX)/VOX_SIZE);
voxSizeY = ceil((maxY - minY)/VOX_SIZE);
voxSizeZ = ceil((maxZ - minZ)/VOX_SIZE);
voxels = zeros(voxSizeX , voxSizeY, voxSizeZ);
sizeFc = size(FC);
for f = 1 :sizeFc
%Face vertexes
vertices = [VR(FC(f,1),:); VR(FC(f,2),:); VR(FC(f,3),:)];
%Face bvounding box
[vMaxX, vMaxY, vMaxZ, vMinX, vMinY, vMinZ] = boundingBox(vertices,PADDING);
%Max check indexes
maxXindex = ceil((vMaxX - minX)/VOX_SIZE);
maxYindex = ceil((vMaxY - minY)/VOX_SIZE);
maxZindex = ceil((vMaxZ - minZ)/VOX_SIZE);
%Min check indexes
minXindex = floor((vMinX - minX)/VOX_SIZE);
minYindex = floor((vMinY - minY)/VOX_SIZE);
minZindex = floor((vMinZ - minZ)/VOX_SIZE);
%Normalization if calculated index is 0 or less.
if(minXindex < 1); minXindex = 1; end;
if(minYindex < 1); minYindex = 1; end;
if(minZindex < 1); minZindex = 1; end;
for i = minXindex : maxXindex
for j = minYindex : maxYindex
for k = minZindex : maxZindex
% Voxel center coordinate.
X = minX + double(i)*VOX_SIZE;
Y = minY + double(j)*VOX_SIZE;
Z = minZ + double(k)*VOX_SIZE;
intersects = isVoxelIntersectsPolygon34(VOX_SIZE, [X Y Z], vertices);
if(intersects == 1)
voxels(i,j,k) = 1;
end
end
end
end
aa = sprintf('faces done %d / %d', f, sizeFc);
disp(aa);
end
figure(2); hold on, grid on, axis equal;
for j = 1 : voxSizeY
for i = 1 : voxSizeX
for k = 1 : voxSizeZ
if(voxels(i,j,k) == 1)
X = minX + double(i)*VOX_SIZE;
Y = minY + double(j)*VOX_SIZE;
Z = minZ + double(k)*VOX_SIZE;
cube_plot([X,Y,Z],VOX_SIZE,VOX_SIZE,VOX_SIZE,'g');
end
end
end
end
end
function intersects = isVoxelIntersectsPolygon12(VOX_SIZE, cCords, polygon)
intersects = 0;
points = zeros(8, 3);
edges = zeros(12, 6);
u = VOX_SIZE/2;
points(1,:) = cCords + [+u +u +u];
points(2,:) = cCords + [-u +u +u];
points(3,:) = cCords + [-u -u +u];
points(4,:) = cCords + [+u -u +u];
points(5,:) = cCords + [-u -u -u];
points(6,:) = cCords + [+u -u -u];
points(7,:) = cCords + [+u +u -u];
points(8,:) = cCords + [-u +u -u];
edges(1,:) = [points(1,:) points(2,:)];
edges(2,:) = [points(2,:) points(3,:)];
edges(3,:) = [points(3,:) points(4,:)];
edges(4,:) = [points(4,:) points(1,:)];
edges(5,:) = [points(1,:) points(7,:)];
edges(6,:) = [points(7,:) points(6,:)];
edges(7,:) = [points(6,:) points(5,:)];
edges(8,:) = [points(5,:) points(8,:)];
edges(9,:) = [points(6,:) points(4,:)];
edges(10,:) = [points(5,:) points(3,:)];
edges(11,:) = [points(2,:) points(8,:)];
edges(12,:) = [points(7,:) points(8,:)];
for i = 1 : 12
dir1 = (edges(i,4) - edges(i,1));
dir2 = (edges(i,5) - edges(i,2));
dir3 = (edges(i,6) - edges(i,3));
cline = [edges(i,1) edges(i,2) edges(i,3) dir1 dir2 dir3];
[point, pos, isInside] = lineIntersectsTriangleMod( cline, polygon);
distance = sqrt(sum( (point - cCords) .^2));
if(isInside && distance < VOX_SIZE)
intersects = 1;
return
end
end
end
function intersects = isVoxelIntersectsPolygon6(VOX_SIZE, cCords, polygon)
intersects = 0;
points = zeros(8, 3);
edges = zeros(12, 6);
u = VOX_SIZE/2;
points(1,:) = cCords + [+u 0 0];
points(2,:) = cCords + [0 +u 0];
points(3,:) = cCords + [0 0 +u];
points(4,:) = cCords + [-u 0 0];
points(5,:) = cCords + [0 -u 0];
points(6,:) = cCords + [0 0 -u];
edges(1,:) = [points(1,:) points(4,:)];
edges(2,:) = [points(2,:) points(5,:)];
edges(3,:) = [points(3,:) points(6,:)];
for i = 1 : 12
dir1 = (edges(i,4) - edges(i,1));%/norm(edges(i,4) - edges(i,1));
dir2 = (edges(i,5) - edges(i,2));%/norm(edges(i,5) - edges(i,2));
dir3 = (edges(i,6) - edges(i,3));%/norm(edges(i,6) - edges(i,3));
cline = [edges(i,1) edges(i,2) edges(i,3) dir1 dir2 dir3];
[point, pos, isInside] = lineIntersectsTriangleMod( cline, polygon);
distance = sqrt(sum( (point - cCords) .^2));
if(isInside && distance < VOX_SIZE)
intersects = 1;
return
end
end
end
function intersects = isVoxelIntersectsPolygon34(VOX_SIZE, cCords, polygon)
intersects = 0;
points = zeros(8, 3);
edges = zeros(12, 6);
u = VOX_SIZE/2;
points(1,:) = cCords + [+u 0 0];
points(2,:) = cCords + [0 +u 0];
points(3,:) = cCords + [0 0 +u];
points(4,:) = cCords + [+u +u +u];
points(5,:) = cCords + [ 0 +u +u];
points(6,:) = cCords + [+u 0 +u];
points(7,:) = cCords + [+u +u 0];
points(8,:) = cCords + [-u 0 0];
points(9,:) = cCords + [0 -u 0];
points(10,:) = cCords + [0 0 -u];
points(11,:) = cCords + [-u -u -u];
points(12,:) = cCords + [ 0 -u -u];
points(13,:) = cCords + [-u 0 -u];
points(14,:) = cCords + [-u -u 0];
edges(1,:) = [points(1,:) points(8,:)];
edges(2,:) = [points(2,:) points(9,:)];
edges(3,:) = [points(3,:) points(10,:)];
edges(4,:) = [points(4,:) points(11,:)];
edges(5,:) = [points(5,:) points(12,:)];
edges(6,:) = [points(6,:) points(13,:)];
edges(7,:) = [points(7,:) points(14,:)];
for i = 1 : 12
dir1 = (edges(i,4) - edges(i,1));%/norm(edges(i,4) - edges(i,1));
dir2 = (edges(i,5) - edges(i,2));%/norm(edges(i,5) - edges(i,2));
dir3 = (edges(i,6) - edges(i,3));%/norm(edges(i,6) - edges(i,3));
cline = [edges(i,1) edges(i,2) edges(i,3) dir1 dir2 dir3];
[point, pos, isInside] = lineIntersectsTriangleMod( cline, polygon);
distance = sqrt(sum( (point - cCords) .^2));
if(isInside && distance < VOX_SIZE)
intersects = 1;
return
end
end
end
function [xMax, yMax, ZMax, xMin, yMin, ZMin] = boundingBox(vertices, padding)
%
% returns bounding box of polygon, mesh or any point cloud.
% vertices must be given [x y z, z, y, z] format
% Note: This doesnt check validity of polygon. it
xMax = max(vertices(:,1)) + padding;
yMax = max(vertices(:,2)) + padding;
ZMax = max(vertices(:,3)) + padding;
xMin = min(vertices(:,1)) - padding;
yMin = min(vertices(:,2)) - padding;
ZMin = min(vertices(:,3)) - padding;
end