TriangleMesh.h

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#pragma once

#include <list>

#include "open3d/core/Tensor.h"
#include "open3d/core/TensorCheck.h"
#include "open3d/geometry/TriangleMesh.h"
#include "open3d/t/geometry/BoundingVolume.h"
#include "open3d/t/geometry/DrawableGeometry.h"
#include "open3d/t/geometry/Geometry.h"
#include "open3d/t/geometry/TensorMap.h"

namespace open3d {
namespace t {
namespace geometry {

class LineSet;

class TriangleMesh : public Geometry, public DrawableGeometry {
public:
    TriangleMesh(const core::Device &device = core::Device("CPU:0"));

    TriangleMesh(const core::Tensor &vertex_positions,
                 const core::Tensor &triangle_indices);

    virtual ~TriangleMesh() override {}

public:
    std::string ToString() const;

    TriangleMesh To(const core::Device &device, bool copy = false) const;

    TriangleMesh Clone() const { return To(GetDevice(), /*copy=*/true); }

    const TensorMap &GetVertexAttr() const { return vertex_attr_; }

    TensorMap &GetVertexAttr() { return vertex_attr_; }

    core::Tensor &GetVertexAttr(const std::string &key) {
        return vertex_attr_.at(key);
    }

    core::Tensor &GetVertexPositions() { return GetVertexAttr("positions"); }

    core::Tensor &GetVertexColors() { return GetVertexAttr("colors"); }

    core::Tensor &GetVertexNormals() { return GetVertexAttr("normals"); }

    const TensorMap &GetTriangleAttr() const { return triangle_attr_; }

    TensorMap &GetTriangleAttr() { return triangle_attr_; }

    core::Tensor &GetTriangleAttr(const std::string &key) {
        return triangle_attr_.at(key);
    }

    core::Tensor &GetTriangleIndices() { return GetTriangleAttr("indices"); }

    core::Tensor &GetTriangleNormals() { return GetTriangleAttr("normals"); }

    core::Tensor &GetTriangleColors() { return GetTriangleAttr("colors"); }

    const core::Tensor &GetVertexAttr(const std::string &key) const {
        return vertex_attr_.at(key);
    }

    void RemoveVertexAttr(const std::string &key) { vertex_attr_.Erase(key); }

    const core::Tensor &GetVertexPositions() const {
        return GetVertexAttr("positions");
    }

    const core::Tensor &GetVertexColors() const {
        return GetVertexAttr("colors");
    }

    const core::Tensor &GetVertexNormals() const {
        return GetVertexAttr("normals");
    }

    const core::Tensor &GetTriangleAttr(const std::string &key) const {
        return triangle_attr_.at(key);
    }

    void RemoveTriangleAttr(const std::string &key) {
        triangle_attr_.Erase(key);
    }

    const core::Tensor &GetTriangleIndices() const {
        return GetTriangleAttr("indices");
    }

    const core::Tensor &GetTriangleNormals() const {
        return GetTriangleAttr("normals");
    }

    const core::Tensor &GetTriangleColors() const {
        return GetTriangleAttr("colors");
    }

    void SetVertexAttr(const std::string &key, const core::Tensor &value) {
        core::AssertTensorDevice(value, device_);
        vertex_attr_[key] = value;
    }

    void SetVertexPositions(const core::Tensor &value) {
        core::AssertTensorShape(value, {utility::nullopt, 3});
        SetVertexAttr("positions", value);
    }

    void SetVertexColors(const core::Tensor &value) {
        core::AssertTensorShape(value, {utility::nullopt, 3});
        SetVertexAttr("colors", value);
    }

    void SetVertexNormals(const core::Tensor &value) {
        core::AssertTensorShape(value, {utility::nullopt, 3});
        SetVertexAttr("normals", value);
    }

    void SetTriangleAttr(const std::string &key, const core::Tensor &value) {
        core::AssertTensorDevice(value, device_);
        triangle_attr_[key] = value;
    }

    void SetTriangleIndices(const core::Tensor &value) {
        core::AssertTensorShape(value, {utility::nullopt, 3});
        SetTriangleAttr("indices", value);
    }

    void SetTriangleNormals(const core::Tensor &value) {
        core::AssertTensorShape(value, {utility::nullopt, 3});
        SetTriangleAttr("normals", value);
    }

    void SetTriangleColors(const core::Tensor &value) {
        core::AssertTensorShape(value, {utility::nullopt, 3});
        SetTriangleAttr("colors", value);
    }

    bool HasVertexAttr(const std::string &key) const {
        return vertex_attr_.Contains(key) &&
               GetVertexAttr(key).GetLength() > 0 &&
               GetVertexAttr(key).GetLength() ==
                       GetVertexPositions().GetLength();
    }

    bool HasVertexPositions() const { return HasVertexAttr("positions"); }

    bool HasVertexColors() const { return HasVertexAttr("colors"); }

    bool HasVertexNormals() const { return HasVertexAttr("normals"); }

    bool HasTriangleAttr(const std::string &key) const {
        return triangle_attr_.Contains(key) &&
               GetTriangleAttr(key).GetLength() > 0 &&
               GetTriangleAttr(key).GetLength() ==
                       GetTriangleIndices().GetLength();
    }

    bool HasTriangleIndices() const { return HasTriangleAttr("indices"); }

    bool HasTriangleNormals() const { return HasTriangleAttr("normals"); }

    bool HasTriangleColors() const { return HasTriangleAttr("colors"); }

    static TriangleMesh CreateBox(
            double width = 1.0,
            double height = 1.0,
            double depth = 1.0,
            core::Dtype float_dtype = core::Float32,
            core::Dtype int_dtype = core::Int64,
            const core::Device &device = core::Device("CPU:0"));

    static TriangleMesh CreateSphere(
            double radius = 1.0,
            int resolution = 20,
            core::Dtype float_dtype = core::Float32,
            core::Dtype int_dtype = core::Int64,
            const core::Device &device = core::Device("CPU:0"));

    static TriangleMesh CreateTetrahedron(
            double radius = 1.0,
            core::Dtype float_dtype = core::Float32,
            core::Dtype int_dtype = core::Int64,
            const core::Device &device = core::Device("CPU:0"));

    static TriangleMesh CreateOctahedron(
            double radius = 1.0,
            core::Dtype float_dtype = core::Float32,
            core::Dtype int_dtype = core::Int64,
            const core::Device &device = core::Device("CPU:0"));

    static TriangleMesh CreateIcosahedron(
            double radius = 1.0,
            core::Dtype float_dtype = core::Float32,
            core::Dtype int_dtype = core::Int64,
            const core::Device &device = core::Device("CPU:0"));

    static TriangleMesh CreateCylinder(
            double radius = 1.0,
            double height = 2.0,
            int resolution = 20,
            int split = 4,
            core::Dtype float_dtype = core::Float32,
            core::Dtype int_dtype = core::Int64,
            const core::Device &device = core::Device("CPU:0"));

    static TriangleMesh CreateCone(
            double radius = 1.0,
            double height = 2.0,
            int resolution = 20,
            int split = 1,
            core::Dtype float_dtype = core::Float32,
            core::Dtype int_dtype = core::Int64,
            const core::Device &device = core::Device("CPU:0"));

    static TriangleMesh CreateTorus(
            double torus_radius = 1.0,
            double tube_radius = 0.5,
            int radial_resolution = 30,
            int tubular_resolution = 20,
            core::Dtype float_dtype = core::Float32,
            core::Dtype int_dtype = core::Int64,
            const core::Device &device = core::Device("CPU:0"));

    static TriangleMesh CreateArrow(
            double cylinder_radius = 1.0,
            double cone_radius = 1.5,
            double cylinder_height = 5.0,
            double cone_height = 4.0,
            int resolution = 20,
            int cylinder_split = 4,
            int cone_split = 1,
            core::Dtype float_dtype = core::Float32,
            core::Dtype int_dtype = core::Int64,
            const core::Device &device = core::Device("CPU:0"));

    static TriangleMesh CreateCoordinateFrame(
            double size = 1.0,
            const Eigen::Vector3d &origin = Eigen::Vector3d(0.0, 0.0, 0.0),
            core::Dtype float_dtype = core::Float32,
            core::Dtype int_dtype = core::Int64,
            const core::Device &device = core::Device("CPU:0"));

    static TriangleMesh CreateMobius(
            int length_split = 70,
            int width_split = 15,
            int twists = 1,
            double radius = 1,
            double flatness = 1,
            double width = 1,
            double scale = 1,
            core::Dtype float_dtype = core::Float32,
            core::Dtype int_dtype = core::Int64,
            const core::Device &device = core::Device("CPU:0"));

    static TriangleMesh CreateText(
            const std::string &text,
            double depth = 0.0,
            core::Dtype float_dtype = core::Float32,
            core::Dtype int_dtype = core::Int64,
            const core::Device &device = core::Device("CPU:0"));

public:
    TriangleMesh &Clear() override {
        vertex_attr_.clear();
        triangle_attr_.clear();
        return *this;
    }

    bool IsEmpty() const override { return !HasVertexPositions(); }

    core::Tensor GetMinBound() const { return GetVertexPositions().Min({0}); }

    core::Tensor GetMaxBound() const { return GetVertexPositions().Max({0}); }

    core::Tensor GetCenter() const { return GetVertexPositions().Mean({0}); }

    TriangleMesh &Transform(const core::Tensor &transformation);

    TriangleMesh &Translate(const core::Tensor &translation,
                            bool relative = true);

    TriangleMesh &Scale(double scale, const core::Tensor &center);

    TriangleMesh &Rotate(const core::Tensor &R, const core::Tensor &center);

    TriangleMesh ClipPlane(const core::Tensor &point,
                           const core::Tensor &normal) const;

    LineSet SlicePlane(const core::Tensor &point,
                       const core::Tensor &normal,
                       const std::vector<double> contour_values = {0.0}) const;

    core::Device GetDevice() const override { return device_; }

    static geometry::TriangleMesh FromLegacy(
            const open3d::geometry::TriangleMesh &mesh_legacy,
            core::Dtype float_dtype = core::Float32,
            core::Dtype int_dtype = core::Int64,
            const core::Device &device = core::Device("CPU:0"));

    open3d::geometry::TriangleMesh ToLegacy() const;

    TriangleMesh ComputeConvexHull(bool joggle_inputs = false) const;

    TriangleMesh SimplifyQuadricDecimation(double target_reduction,
                                           bool preserve_volume = true) const;

    TriangleMesh BooleanUnion(const TriangleMesh &mesh,
                              double tolerance = 1e-6) const;

    TriangleMesh BooleanIntersection(const TriangleMesh &mesh,
                                     double tolerance = 1e-6) const;

    TriangleMesh BooleanDifference(const TriangleMesh &mesh,
                                   double tolerance = 1e-6) const;

    AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const;

    TriangleMesh FillHoles(double hole_size = 1e6) const;

    void ComputeUVAtlas(size_t size = 512,
                        float gutter = 1.0f,
                        float max_stretch = 1.f / 6);

    std::unordered_map<std::string, core::Tensor> BakeVertexAttrTextures(
            int size,
            const std::unordered_set<std::string> &vertex_attr = {},
            double margin = 2.,
            double fill = 0.,
            bool update_material = true);

    std::unordered_map<std::string, core::Tensor> BakeTriangleAttrTextures(
            int size,
            const std::unordered_set<std::string> &triangle_attr = {},
            double margin = 2.,
            double fill = 0.,
            bool update_material = true);

    TriangleMesh ExtrudeRotation(double angle,
                                 const core::Tensor &axis,
                                 int resolution = 16,
                                 double translation = 0.0,
                                 bool capping = true) const;

    TriangleMesh ExtrudeLinear(const core::Tensor &vector,
                               double scale = 1.0,
                               bool capping = true) const;

protected:
    core::Device device_ = core::Device("CPU:0");
    TensorMap vertex_attr_;
    TensorMap triangle_attr_;
};

}  // namespace geometry
}  // namespace t
}  // namespace open3d