parametric_curve.h

#pragma once
 
#include "fvec.h"
#include "fmat.h"
#include "interpolate.h"
#include "piecewise_linear_function.h"
 
namespace cgv {
namespace math {
 
template<typename DerivedT, typename ParamT>
struct curve_arc_length {
public:
    ParamT evaluate(ParamT t) const {
        return static_cast<DerivedT const&>(*this).evaluate(t);
    }
 
    ParamT total_length() const {
        return static_cast<DerivedT const&>(*this).total_length();
    }
};
 
template<typename DerivedT, typename ParamT>
struct curve_parameterization {
public:
    ParamT evaluate(ParamT d) const {
        return static_cast<DerivedT const&>(*this).evaluate(d);
    }
 
    ParamT total_length() const {
        return static_cast<DerivedT const&>(*this).total_length();
    }
};
 
template<typename... Ts>
class parametric_curve;
 
template<template<typename> typename DerivedT, typename PointT>
class parametric_curve<DerivedT<PointT>> {
public:
    using point_type = PointT;
 
    template<typename ParamT = float>
    PointT evaluate(ParamT t) const {
        return static_cast<DerivedT<PointT> const&>(*this).evaluate(t);
    }
 
    template<typename ParamT = float>
    std::vector<PointT> sample(size_t num_segments) const {
        std::vector<PointT> points;
        points.reserve(num_segments + 1);
        sample_steps_transform<ParamT>(std::back_inserter(points), [this](ParamT t) { return evaluate(t); }, num_segments);
        return points;
    }
 
    template<template<typename> typename ParameterizationT, typename ParamT = float>
    std::vector<PointT> sample(size_t num_segments, const curve_parameterization<ParameterizationT<ParamT>, ParamT>& parameterization) const {
        std::vector<PointT> points;
        points.reserve(num_segments + 1);
        sample_steps_transform<ParamT>(std::back_inserter(points), [this, &parameterization](ParamT t) {
            ParamT d = t * parameterization.total_length();
            return evaluate(parameterization.evaluate(d));
        }, num_segments);
        return points;
    }
};
 
template<template<class> class CurveT, typename T, cgv::type::uint32_type N>
T arc_length(const parametric_curve<CurveT<fvec<T, N>>>& curve, T t = T(1), int num_segments = 128) {
    num_segments = std::max(num_segments, 1);
    T step = T(1) / static_cast<T>(num_segments);
    T result = T(0);
 
    fvec<T, N> prev_point = curve.evaluate(T(0));
    for(int i = 0; i < num_segments; ++i) {
        ;
        T t_ = static_cast<T>(i + 1) * step;
        if(t_ >= t) {
            fvec<T, N> next_point = curve.evaluate(t);
            result += length(next_point - prev_point);
            break;
        }
 
        fvec<T, N> next_point = curve.evaluate(t_);
        result += length(next_point - prev_point);
        prev_point = next_point;
    }
 
    return result;
}
 
template<typename T>
class arc_length_linear_approximation : public curve_arc_length<arc_length_linear_approximation<T>, T> {
public:
    template<template<class> class CurveT, cgv::type::uint32_type N>
    arc_length_linear_approximation(const parametric_curve<CurveT<fvec<T, N>>>& curve, int num_samples = 128) {
        num_samples = std::max(num_samples, 2);
        _lengths.values.reserve(num_samples);
        _lengths.values.push_back(T(0));
 
        T step = T(1) / static_cast<T>(num_samples - 1);
 
        fvec<T, N> prev_point = curve.evaluate(T(0));
        for(int i = 1; i < num_samples; ++i) {
            T t_ = static_cast<T>(i) * step;
            fvec<T, N> next_point = curve.evaluate(t_);
            _lengths.values.push_back(_lengths.values.back() + length(next_point - prev_point));
            prev_point = next_point;
        }
 
        _lengths.domain = { T(0), T(1) };
    }
 
    T evaluate(T t) const {
        return _lengths.evaluate(t);
    }
 
    T total_length() const {
        return _lengths.values.back();
    }
 
    const std::vector<T>& lengths() const {
        return _lengths.values;
    }
 
private:
    regular_piecewise_linear_function<T> _lengths;
};
 
template<typename T>
class arc_length_bezier_approximation : public curve_arc_length<arc_length_bezier_approximation<T>, T> {
public:
    template<template<class> class CurveT, cgv::type::uint32_type N>
    arc_length_bezier_approximation(const parametric_curve<CurveT<fvec<T, N>>>& curve, int num_segments = 4, int num_segment_subdivisions = 8) {
        num_segments = std::max(num_segments, 1);
        num_segment_subdivisions = std::max(num_segment_subdivisions, 1);
        int num_samples = 3 * num_segments * num_segment_subdivisions;
 
        std::vector<T> arc_lengths;
        T t_step = T(1) / static_cast<T>(num_samples);
        int next_save_index = num_segment_subdivisions - 1;
 
        fvec<T, N> prev_point = curve.evaluate(T(0));
        for(int i = 0; i < num_samples; ++i) {
            T t = static_cast<T>(i + 1) * t_step;
            fvec<T, N> next_point = curve.evaluate(t);
            _total_length += length(next_point - prev_point);
 
            if(i == next_save_index) {
                arc_lengths.push_back(_total_length);
                next_save_index += num_segment_subdivisions;
            }
 
            prev_point = next_point;
        }
 
        _lengths.push_back(T(0));
 
        for(int i = 0; i < num_segments; ++i) {
            auto d_prev = _lengths.back();
            auto d_curr = arc_lengths[3 * i + 2];
            auto d_diff = d_curr - d_prev;
 
            if(std::abs(d_diff) < std::numeric_limits<T>::epsilon()) {
                _y1.push_back(T(0));
                _y2.push_back(T(0));
            } else {
                auto s1_over_3 = arc_lengths[3 * i];
                auto s1_over_3_scaled = (s1_over_3 - d_prev) / d_diff;
 
                auto s2_over_3 = arc_lengths[3 * i + 1];
                auto s2_over_3_scaled = (s2_over_3 - d_prev) / d_diff;
 
                auto y1 = (T(18) * s1_over_3_scaled - T(9) * s2_over_3_scaled + T(2)) / T(6);
                auto y2 = (T(-9) * s1_over_3_scaled + T(18) * s2_over_3_scaled - T(5)) / T(6);
 
                _y1.push_back(y1);
                _y2.push_back(y2);
            }
            _lengths.push_back(d_curr);
        }
    }
 
    T evaluate(T t) const {
        if(t <= T(0))
            return T(0);
 
        if(t >= T(1))
            return _total_length;
 
        T num_segments = static_cast<T>(_y1.size());
        size_t index = static_cast<size_t>(t * num_segments);
        auto t_step = T(1) / num_segments;
        auto t_prev = static_cast<T>(index) * t_step;
        auto t_curr = static_cast<T>(index + 1) * t_step;
        auto t_diff = t_curr - t_prev;
 
        auto x = (t - t_prev) / t_diff;
        auto y = interpolate_cubic_bezier(T(0), _y1[index], _y2[index], T(1), x);
 
        auto d_prev = _lengths[index];
        auto d_curr = _lengths[index + 1];
        auto d_diff = d_curr - d_prev;
 
        return static_cast<T>(y * d_diff + d_prev);
    }
 
    T total_length() const {
        return _total_length;
    }
 
private:
    std::vector<T> _y1;
    std::vector<T> _y2;
    std::vector<T> _lengths;
    T _total_length = T(0);
};
 
template<typename T>
class arc_length_parameterization_linear_approximation : public curve_parameterization<arc_length_parameterization_linear_approximation<T>, T> {
public:
    arc_length_parameterization_linear_approximation(const arc_length_linear_approximation<T>& arc_length) : _lengths(arc_length.lengths()) {}
 
    T evaluate(T d) const {
        if(d <= 0)
            return T(0);
 
        auto it = std::lower_bound(_lengths.begin(), _lengths.end(), d);
        if(it == _lengths.end())
            return T(1);
 
        // "it" points to the first length that is larger than d
        T d_prev = *(it - 1);
        T d_curr = *it;
        T x = (d - d_prev) / (d_curr - d_prev);
 
        T num_segments = static_cast<T>(_lengths.size() - 1);
        size_t index = std::distance(_lengths.begin(), it);
        T t_step = T(1) / num_segments;
        T t_prev = static_cast<T>(index - 1) * t_step;
        T t_curr = static_cast<T>(index) * t_step;
        return interpolate_linear(t_prev, t_curr, x);
    }
 
    T total_length() const {
        return _lengths.back();
    }
 
private:
    std::vector<T> _lengths;
};
 
template<typename T>
class arc_length_parameterization_fast_linear_approximation : public curve_parameterization<arc_length_parameterization_fast_linear_approximation<T>, T> {
public:
    arc_length_parameterization_fast_linear_approximation(const arc_length_linear_approximation<T>& arc_length, int num_samples = 128) {
        num_samples = std::max(num_samples, 2);
        _ts.values.reserve(num_samples);
 
        int num_segments = num_samples - 1;
 
        arc_length_parameterization_linear_approximation<T> param(arc_length);
        sample_steps_transform(std::back_inserter(_ts.values), [&param](T x) {
            T d = param.total_length() * x;
            return param.evaluate(d);
        }, num_segments);
 
        _ts.domain = { T(0), param.total_length() };
    }
 
    T evaluate(T d) const {
        return _ts.evaluate(d);
    }
 
    T total_length() const {
        return _ts.domain.upper_bound;
    }
 
private:
    regular_piecewise_linear_function<T> _ts;
};
 
template<typename T>
struct arc_length_parameterization_bezier_approximation : public curve_parameterization<arc_length_parameterization_bezier_approximation<T>, T> {
public:
    arc_length_parameterization_bezier_approximation(const arc_length_bezier_approximation<T>& arc_length, int depth = 8) : _arc_length(arc_length), _depth(std::max(depth, 1)) {}
 
    T evaluate(T d) const {
        T t0 = T(0);
        T t1 = T(1);
        for(int i = 0; i < _depth; ++i) {
            T t = (t0 + t1) / T(2);
            auto l = _arc_length.evaluate(t);
            if(d < l)
                t1 = t;
            else if(d > l)
                t0 = t;
            else
                break;
        }
 
        T l0 = _arc_length.evaluate(t0);
        T l1 = _arc_length.evaluate(t1);
        T x = (d - l0) / (l1 - l0);
 
        return interpolate_linear(t0, t1, x);
    }
 
    T total_length() const {
        return _arc_length.total_length();
    }
 
private:
    arc_length_bezier_approximation<T> _arc_length;
    int _depth;
};
 
} // namespace math
} // namespace cgv