AddFaultToVoxelGrid.cpp

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#include <algorithm>
#include <memory>
#include <string>
#include <vector>
 
// ThirdParty
#include <tclap/CmdLine.h>
 
#include <Eigen/Geometry>
 
#include "GeoLib/AABB.h"
#include "InfoLib/GitInfo.h"
#include "MathLib/Point3d.h"
#include "MeshLib/Elements/Element.h"
#include "MeshLib/IO/VtkIO/VtuInterface.h"
#include "MeshLib/IO/readMeshFromFile.h"
#include "MeshLib/Mesh.h"
#include "MeshLib/Node.h"
#include "MeshToolsLib/MeshGenerators/AddFaultToVoxelGrid.h"
 
namespace
{
// tests if a plane and an AABB are intersecting
// (based on Christer Ericson "Real Time Collision Detection" 5.2.3)
bool testAABBIntersectingPlane(Eigen::Vector3d const& aabb_centre,
                               Eigen::Vector3d const& aabb_extent,
                               Eigen::Vector3d const& plane_normal,
                               double const pd)
{
    double const r = aabb_extent.dot(plane_normal.cwiseAbs());
    double const s = plane_normal.dot(aabb_centre) - pd;
    return std::abs(s) > r;
}
// tests if a triangle and an AABB are intersecting
// (based on Christer Ericson "Real Time Collision Detection" 5.2.9)
bool testTriangleIntersectingAABB(MeshLib::Node const& n0,
                                  MeshLib::Node const& n1,
                                  MeshLib::Node const& n2,
                                  Eigen::Vector3d const& c,
                                  Eigen::Vector3d const& e)
{
    // Translate triangle as conceptually moving AABB to origin
    Eigen::Matrix3d v;
    v << n0.asEigenVector3d() - c, n1.asEigenVector3d() - c,
        n2.asEigenVector3d() - c;
 
    // Test the three axes corresponding to the face normals of AABB b
    if (((v.rowwise().minCoeff() - e).array() > 0).any() ||
        ((v.rowwise().maxCoeff() + e).array() < 0).any())
    {
        return false;
    }
 
    // separating axes
    std::array<Eigen::Vector3d, 3> tri_edge{
        {v.col(1) - v.col(0), v.col(2) - v.col(1), v.col(0) - v.col(2)}};
    std::array<Eigen::Vector3d, 9> const axx{
        {Eigen::Vector3d({0, -tri_edge[0].z(), tri_edge[0].y()}),
         Eigen::Vector3d({0, -tri_edge[1].z(), tri_edge[1].y()}),
         Eigen::Vector3d({0, -tri_edge[2].z(), tri_edge[2].y()}),
         Eigen::Vector3d({tri_edge[0].z(), 0, -tri_edge[0].x()}),
         Eigen::Vector3d({tri_edge[1].z(), 0, -tri_edge[1].x()}),
         Eigen::Vector3d({tri_edge[2].z(), 0, -tri_edge[2].x()}),
         Eigen::Vector3d({-tri_edge[0].y(), tri_edge[0].x(), 0}),
         Eigen::Vector3d({-tri_edge[1].y(), tri_edge[1].x(), 0}),
         Eigen::Vector3d({-tri_edge[2].y(), tri_edge[2].x(), 0})}};
 
    // Separating axis tests to check if  there's a plane separating the
    // projections of the AABB and the triangle according to the Separating Axis
    // Theorem (see C. Ericson "Real Time Collision Detection" for details)
    for (auto const& a : axx)
    {
        Eigen::Vector3d p = v.transpose() * a;
        double const r = e.dot(a.cwiseAbs());
        if (std::max(-p.maxCoeff(), p.minCoeff()) > r)
        {
            return false;
        }
    }
 
    // Test separating axis corresponding to triangle face normal
    Eigen::Vector3d const plane_normal(tri_edge[0].cross(tri_edge[1]));
    double const pd = plane_normal.dot(v.row(0));
    return testAABBIntersectingPlane(c, e, plane_normal, pd);
}
// mark all cells of the voxel grid that intersect with fault
void markFaults(MeshLib::Mesh& mesh, MeshLib::Mesh const& fault,
                int const fault_id, Eigen::Vector3d const& half_cell_size)
{
    auto const& elems = mesh.getElements();
    std::size_t const n_elems = mesh.getNumberOfElements();
    auto mat_ids = MeshLib::materialIDs(mesh);
    auto const& fnodes = fault.getNodes();
    auto const& felems = fault.getElements();
    GeoLib::AABB const fault_aabb(fnodes.cbegin(), fnodes.cend());
    auto [min_pnt, max_pnt] = fault_aabb.getMinMaxPoints();
 
    // get bounding box of fault + voxel extent
    min_pnt -= half_cell_size;
    max_pnt += half_cell_size;
 
    std::array<Eigen::Vector3d, 2> const fault_extent{{min_pnt, max_pnt}};
    GeoLib::AABB const fault_aabb_ext(fault_extent.cbegin(),
                                      fault_extent.cend());
 
    // test each voxel grid element vs each fault triangle
    Eigen::Vector3d const extent{half_cell_size};
    for (std::size_t j = 0; j < n_elems; ++j)
    {
        // test if bounding box of fault is intersecting voxel
        auto const& centre_pnt = MeshLib::getCenterOfGravity(*elems[j]);
        if (!fault_aabb_ext.containsPoint(centre_pnt, 0))
        {
            continue;
        }
 
        // test if voxel is intersecting triangle
        auto const& c(centre_pnt.asEigenVector3d());
        for (auto const* const fault_elem : felems)
        {
            if (fault_elem->getDimension() != 2)
            {
                continue;
            }
 
            if (testTriangleIntersectingAABB(
                    *fault_elem->getNode(0), *fault_elem->getNode(1),
                    *fault_elem->getNode(2), c, extent))
            {
                (*mat_ids)[j] = fault_id;
                break;
            }
 
            if (fault_elem->getGeomType() == MeshLib::MeshElemType::QUAD)
            {
                if (testTriangleIntersectingAABB(
                        *fault_elem->getNode(0), *fault_elem->getNode(2),
                        *fault_elem->getNode(3), c, extent))
                {
                    (*mat_ids)[j] = fault_id;
                    break;
                }
            }
        }
    }
}
}  // namespace
namespace MeshToolsLib::MeshGenerator::AddFaultToVoxelGrid
{
bool isVoxelGrid(MeshLib::Mesh const& mesh)
{
    auto const& elements = mesh.getElements();
    if (std::any_of(elements.cbegin(), elements.cend(),
                    [&](auto const& e) {
                        return (e->getGeomType() !=
                                MeshLib::MeshElemType::HEXAHEDRON);
                    }))
    {
        return false;
    }
    auto is_voxel = [](auto const& e)
    {
        auto const n = e->getNodes();
        return ((*n[0])[2] != (*n[1])[2] || (*n[1])[2] != (*n[2])[2] ||
                (*n[4])[2] != (*n[5])[2] || (*n[5])[2] != (*n[6])[2] ||
                (*n[1])[0] != (*n[2])[0] || (*n[2])[0] != (*n[5])[0] ||
                (*n[0])[0] != (*n[3])[0] || (*n[3])[0] != (*n[7])[0]);
    };
 
    if (std::any_of(elements.cbegin(), elements.cend(), is_voxel))
    {
        ERR("Input mesh needs to be voxel grid (i.e. equally sized axis "
            "aligned hexahedra).");
        return false;
    }
    return true;
}
}  // namespace MeshToolsLib::MeshGenerator::AddFaultToVoxelGrid
namespace MeshToolsLib::MeshGenerator::AddFaultToVoxelGrid
{
bool addFaultToVoxelGrid(MeshLib::Mesh* mesh,
                         MeshLib::Mesh const* fault,
                         int const fault_id)
{
    if (mesh == nullptr)
    {
        ERR("Input mesh not found...");
        return false;
    }
    if (!isVoxelGrid(*mesh))
    {
        ERR("The input mesh is not a voxel grid. The input mesh must be "
            "a voxel grid (i.e. an equally sized axis "
            "aligned hexahedra mesh).");
        return false;
    }
 
    if (fault == nullptr)
    {
        ERR("Fault mesh not found...");
        return false;
    }
    if (fault->getDimension() != 2)
    {
        ERR("Fault needs to be a 2D mesh.");
        return false;
    }
 
    Eigen::Vector3d half_cell_size;
    {
        auto const n = *mesh->getElement(0)->getNode(0);
        auto const c = MeshLib::getCenterOfGravity(*mesh->getElement(0));
        half_cell_size[0] = std::abs(c[0] - n[0]);
        half_cell_size[1] = std::abs(c[1] - n[1]);
        half_cell_size[2] = std::abs(c[2] - n[2]);
    }
 
    markFaults(*mesh, *fault, fault_id, half_cell_size);
 
    return true;
}
}  // namespace MeshToolsLib::MeshGenerator::AddFaultToVoxelGrid