src/hd/sm.c

#ifndef lint
static const char       RCSid[] = "$Id: sm.c,v 3.17 2003/04/23 00:52:34 greg Exp $";
#endif
/*
 *  sm.c
 */
#include "standard.h"
#include "sm_flag.h"
#include "sm_list.h"
#include "sm_geom.h"
#include "sm.h"

SM *smMesh = NULL;
double smDist_sum=0;

#ifdef DEBUG
int Tcnt=0,Wcnt=0;
#endif
/* Each edge extends .372 radians  */
static FVECT icosa_verts[162] = 
{{-0.018096,0.495400,0.868477},{0.018614,-0.554780,0.831789},
{0.850436,0.011329,0.525956},{0.850116,0.048016,-0.524402},
{-0.850116,-0.048016,0.524402},{-0.850436,-0.011329,-0.525956},
{0.495955,0.867825,0.030147},{-0.555329,0.831118,0.029186},
{0.555329,-0.831118,-0.029186},{-0.495955,-0.867825,-0.030147},
{-0.018614,0.554780,-0.831789},{0.018096,-0.495400,-0.868477},
{0.000305,-0.034906,0.999391},{0.489330,0.297837,0.819664},
{0.510900,-0.319418,0.798094},{-0.488835,-0.354308,0.797186},
{-0.510409,0.262947,0.818744},{0.999391,0.034875,0.000914},
{0.791335,0.516672,0.326862},{0.791142,0.538234,-0.290513},
{0.826031,-0.460219,-0.325378},{0.826216,-0.481780,0.291985},
{-0.999391,-0.034875,-0.000914},{-0.826216,0.481780,-0.291985},
{-0.826031,0.460219,0.325378},{-0.791142,-0.538234,0.290513},
{-0.791335,-0.516672,-0.326862},{-0.034911,0.998782,0.034881},
{0.280899,0.801316,0.528194},{-0.337075,0.779739,0.527624},
{-0.337377,0.814637,-0.471746},{0.280592,0.836213,-0.471186},
{0.034911,-0.998782,-0.034881},{-0.280592,-0.836213,0.471186},
{0.337377,-0.814637,0.471746},{0.337075,-0.779739,-0.527624},
{-0.280899,-0.801316,-0.528194},{-0.000305,0.034906,-0.999391},
{0.510409,-0.262947,-0.818744},{0.488835,0.354308,-0.797186},
{-0.510900,0.319418,-0.798094},{-0.489330,-0.297837,-0.819664},
{0.009834,-0.306509,0.951817},{0.268764,-0.186284,0.945021},
{0.275239,-0.454405,0.847207},{-0.009247,0.239357,0.970888},
{0.244947,0.412323,0.877491},{0.257423,0.138235,0.956360},
{0.525850,-0.011345,0.850502},{0.696394,0.160701,0.699436},
{0.707604,-0.160141,0.688223},{-0.268186,0.119892,0.955878},
{-0.274715,0.394186,0.877011},{-0.244420,-0.472542,0.846737},
{-0.256843,-0.204627,0.944542},{-0.525332,-0.048031,0.849541},
{-0.695970,-0.209123,0.686945},{-0.707182,0.111718,0.698149},
{0.961307,0.043084,-0.272090},{0.941300,0.301289,-0.152245},
{0.853076,0.304715,-0.423568},{0.961473,0.024015,0.273848},
{0.853344,0.274439,0.443269},{0.941400,0.289953,0.172315},
{0.831918,0.554570,0.019109},{0.669103,0.719629,0.185565},
{0.669003,0.730836,-0.135332},{0.959736,-0.234941,0.153979},
{0.871472,-0.244526,0.425140},{0.871210,-0.214250,-0.441690},
{0.959638,-0.223606,-0.170573},{0.868594,-0.495213,-0.017555},
{0.717997,-0.671205,-0.184294},{0.718092,-0.682411,0.136596},
{-0.961307,-0.043084,0.272090},{-0.959638,0.223606,0.170573},
{-0.871210,0.214250,0.441690},{-0.961473,-0.024015,-0.273848},
{-0.871472,0.244526,-0.425140},{-0.959736,0.234941,-0.153979},
{-0.868594,0.495213,0.017555},{-0.718092,0.682411,-0.136596},
{-0.717997,0.671205,0.184294},{-0.941400,-0.289953,-0.172315},
{-0.853344,-0.274439,-0.443269},{-0.853076,-0.304715,0.423568},
{-0.941300,-0.301289,0.152245},{-0.831918,-0.554570,-0.019109},
{-0.669003,-0.730836,0.135332},{-0.669103,-0.719629,-0.185565},
{-0.306809,0.951188,0.033302},{-0.195568,0.935038,0.295731},
{-0.463858,0.837300,0.289421},{0.239653,0.970270,0.033802},
{0.403798,0.867595,0.290218},{0.129326,0.946383,0.296031},
{-0.029535,0.831255,0.555106},{0.136603,0.674019,0.725974},
{-0.184614,0.662804,0.725678},{0.129164,0.964728,-0.229382},
{0.403637,0.885733,-0.229245},{-0.464015,0.855438,-0.230036},
{-0.195726,0.953383,-0.229677},{-0.029855,0.867949,-0.495755},
{-0.185040,0.711807,-0.677562},{0.136173,0.723022,-0.677271},
{0.306809,-0.951188,-0.033302},{0.195726,-0.953383,0.229677},
{0.464015,-0.855438,0.230036},{-0.239653,-0.970270,-0.033802},
{-0.403637,-0.885733,0.229245},{-0.129164,-0.964728,0.229382},
{0.029855,-0.867949,0.495755},{-0.136173,-0.723022,0.677271},
{0.185040,-0.711807,0.677562},{-0.129326,-0.946383,-0.296031},
{-0.403798,-0.867595,-0.290218},{0.463858,-0.837300,-0.289421}
,{0.195568,-0.935038,-0.295731},{0.029535,-0.831255,-0.555106},
{0.184614,-0.662804,-0.725678},{-0.136603,-0.674019,-0.725974},
{-0.009834,0.306509,-0.951817},{0.256843,0.204627,-0.944542},
{0.244420,0.472542,-0.846737},{0.009247,-0.239357,-0.970888},
{0.274715,-0.394186,-0.877011},{0.268186,-0.119892,-0.955878},
{0.525332,0.048031,-0.849541},{0.707182,-0.111718,-0.698149},
{0.695970,0.209123,-0.686945},{-0.257423,-0.138235,-0.956360},
{-0.244947,-0.412323,-0.877491},{-0.275239,0.454405,-0.847207},
{-0.268764,0.186284,-0.945021},{-0.525850,0.011345,-0.850502},
{-0.707604,0.160141,-0.688223},{-0.696394,-0.160701,-0.699436},
{0.563717,0.692920,0.449538},{0.673284,0.428212,0.602763},
{0.404929,0.577853,0.708603},{0.445959,-0.596198,0.667584},
{0.702960,-0.421213,0.573086},{0.611746,-0.681577,0.401523},
{-0.445543,0.548166,0.707818},{-0.702606,0.380190,0.601498},
{-0.611490,0.651895,0.448456},{-0.563454,-0.722602,0.400456},
{-0.672921,-0.469235,0.571835},{-0.404507,-0.625886,0.666814},
{0.404507,0.625886,-0.666814},{0.672921,0.469235,-0.571835},
{0.563454,0.722602,-0.400456},{0.611490,-0.651895,-0.448456},
{0.702606,-0.380190,-0.601498},{0.445543,-0.548166,-0.707818},
{-0.611746,0.681577,-0.401523},{-0.702960,0.421213,-0.573086},
{-0.445959,0.596198,-0.667584},{-0.404929,-0.577853,-0.708603},
{-0.673284,-0.428212,-0.602763},{-0.563717,-0.692920,-0.449538}};
static int icosa_tris[320][3] =
{ {1,42,44},{42,12,43},{44,43,14},{42,43,44},{12,45,47},{45,0,46},{47,46,13},
{45,46,47},{14,48,50},{48,13,49},{50,49,2},{48,49,50},{12,47,43},{47,13,48},
{43,48,14},{47,48,43},{0,45,52},{45,12,51},{52,51,16},{45,51,52},{12,42,54},
{42,1,53},{54,53,15},{42,53,54},{16,55,57},{55,15,56},{57,56,4},{55,56,57},
{12,54,51},{54,15,55},{51,55,16},{54,55,51},{3,58,60},{58,17,59},{60,59,19},
{58,59,60},{17,61,63},{61,2,62},{63,62,18},{61,62,63},{19,64,66},{64,18,65},
{66,65,6},{64,65,66},{17,63,59},{63,18,64},{59,64,19},{63,64,59},{2,61,68},
{61,17,67},{68,67,21},{61,67,68},{17,58,70},{58,3,69},{70,69,20},{58,69,70},
{21,71,73},{71,20,72},{73,72,8},{71,72,73},{17,70,67},{70,20,71},{67,71,21},
{70,71,67},{4,74,76},{74,22,75},{76,75,24},{74,75,76},{22,77,79},{77,5,78},
{79,78,23},{77,78,79},{24,80,82},{80,23,81},{82,81,7},{80,81,82},{22,79,75},
{79,23,80},{75,80,24},{79,80,75},{5,77,84},{77,22,83},{84,83,26},{77,83,84},
{22,74,86},{74,4,85},{86,85,25},{74,85,86},{26,87,89},{87,25,88},{89,88,9},
{87,88,89},{22,86,83},{86,25,87},{83,87,26},{86,87,83},{7,90,92},{90,27,91},
{92,91,29},{90,91,92},{27,93,95},{93,6,94},{95,94,28},{93,94,95},{29,96,98},
{96,28,97},{98,97,0},{96,97,98},{27,95,91},{95,28,96},{91,96,29},{95,96,91},
{6,93,100},{93,27,99},{100,99,31},{93,99,100},{27,90,102},{90,7,101},
{102,101,30},{90,101,102},{31,103,105},{103,30,104},{105,104,10},{103,104,105},
{27,102,99},{102,30,103},{99,103,31},{102,103,99},{8,106,108},{106,32,107},
{108,107,34},{106,107,108},{32,109,111},{109,9,110},{111,110,33},{109,110,111},
{34,112,114},{112,33,113},{114,113,1},{112,113,114},{32,111,107},{111,33,112},
{107,112,34},{111,112,107},{9,109,116},{109,32,115},{116,115,36},{109,115,116},
{32,106,118},{106,8,117},{118,117,35},{106,117,118},{36,119,121},{119,35,120},
{121,120,11},{119,120,121},{32,118,115},{118,35,119},{115,119,36},
{118,119,115},{10,122,124},{122,37,123},{124,123,39},{122,123,124},
{37,125,127},{125,11,126},{127,126,38},{125,126,127},{39,128,130},
{128,38,129},{130,129,3},{128,129,130},
{37,127,123},{127,38,128},{123,128,39},{127,128,123},{11,125,132},{125,37,131},
{132,131,41},{125,131,132},{37,122,134},{122,10,133},{134,133,40},
{122,133,134},{41,135,137},{135,40,136},{137,136,5},{135,136,137},
{37,134,131},{134,40,135},
{131,135,41},{134,135,131},{6,65,94},{65,18,138},{94,138,28},{65,138,94},
{18,62,139},{62,2,49},{139,49,13},{62,49,139},{28,140,97},{140,13,46},
{97,46,0},{140,46,97},{18,139,138},{139,13,140},{138,140,28},{139,140,138},
{1,44,114},
{44,14,141},{114,141,34},{44,141,114},{14,50,142},{50,2,68},{142,68,21},
{50,68,142},{34,143,108},{143,21,73},{108,73,8},{143,73,108},{14,142,141},
{142,21,143},{141,143,34},{142,143,141},{0,52,98},{52,16,144},{98,144,29},
{52,144,98},{16,57,145},{57,4,76},{145,76,24},{57,76,145},{29,146,92},
{146,24,82},{92,82,7},{146,82,92},{16,145,144},{145,24,146},{144,146,29},
{145,146,144},{9,88,110},{88,25,147},{110,147,33},{88,147,110},{25,85,148},
{85,4,56},{148,56,15},{85,56,148},{33,149,113},{149,15,53},{113,53,1},
{149,53,113},{25,148,147},{148,15,149},{147,149,33},{148,149,147},{10,124,105},
{124,39,150},{105,150,31},{124,150,105},{39,130,151},{130,3,60},{151,60,19},
{130,60,151},{31,152,100},{152,19,66},{100,66,6},{152,66,100},{39,151,150},
{151,19,152},{150,152,31},{151,152,150},{8,72,117},{72,20,153},{117,153,35},
{72,153,117},{20,69,154},{69,3,129},{154,129,38},{69,129,154},{35,155,120},
{155,38,126},{120,126,11},{155,126,120},{20,154,153},{154,38,155},{153,155,35},
{154,155,153},{7,81,101},{81,23,156},{101,156,30},{81,156,101},{23,78,157},
{78,5,136},{157,136,40},{78,136,157},{30,158,104},{158,40,133},{104,133,10},
{158,133,104},{23,157,156},{157,40,158},{156,158,30},{157,158,156},{
11,132,121},
{132,41,159},{121,159,36},{132,159,121},{41,137,160},{137,5,84},{160,84,26},
{137,84,160},{36,161,116},{161,26,89},{116,89,9},{161,89,116},{41,160,159},
{160,26,161},{159,161,36},{160,161,159}};
static int icosa_nbrs[320][3] =
{{3,208,21},{12,3,20},{14,209,3},{2,0,1},{7,12,17},{202,7,16},{201,13,7},
{6,4,5},{11,212,14},{198,11,13},{197,213,11},{10,8,9},{15,1,4},{9,15,6},
{8,2,15},{14,12,13},{19,224,5},{28,19,4},{30,225,19},{18,16,17},{23,28,1},
{250,23,0},{249,29,23},{22,20,21},{27,228,30},{246,27,29},{245,229,27},
{26,24,25},{31,17,20},{25,31,22},{24,18,31},{30,28,29},{35,261,53},{44,35,52},
{46,262,35},{34,32,33},{39,44,49},{197,39,48},{196,45,39},{38,36,37},
{43,265,46},{193,43,45},{192,266,43},{42,40,41},{47,33,36},{41,47,38},
{40,34,47},{46,44,45},{51,213,37},{60,51,36},{62,214,51},{50,48,49},{55,60,33},
{277,55,32},{276,61,55},{54,52,53},{59,217,62},{273,59,61},{272,218,59},
{58,56,57},{63,49,52},{57,63,54},{56,50,63},{62,60,61},{67,229,85},{76,67,84},
{78,230,67},{66,64,65},{71,76,81},{293,71,80},{292,77,71},{70,68,69},
{75,233,78},{289,75,77},{288,234,75},{74,72,73},{79,65,68},{73,79,70},
{72,66,79},{78,76,77},{83,309,69},{92,83,68},{94,310,83},{82,80,81},{87,92,65},
{245,87,64},{244,93,87},{86,84,85},{91,313,94},{241,91,93},{240,314,91},
{90,88,89},{95,81,84},{89,95,86},{88,82,95},{94,92,93},{99,234,117},
{108,99,116},{110,232,99},{98,96,97},{103,108,113},{192,103,112},{194,109,103},
{102,100,101},{107,226,110},{200,107,109},{202,224,107},{106,104,105},
{111,97,100},{105,111,102},{104,98,111},{110,108,109},{115,266,101},
{124,115,100},{126,264,115},{114,112,113},{119,124,97},{288,119,96},
{290,125,119},{118,116,117},{123,258,126},{296,123,125},{298,256,123},
{122,120,121},{127,113,116},{121,127,118},{120,114,127},{126,124,125},
{131,218,149},{140,131,148},{142,216,131},{130,128,129},{135,140,145},
{240,135,144},{242,141,135},{134,132,133},{139,210,142},{248,139,141},
{250,208,139},{138,136,137},{143,129,132},{137,143,134},{136,130,143},
{142,140,141},{147,314,133},{156,147,132},{158,312,147},{146,144,145},
{151,156,129},{272,151,128},{274,157,151},{150,148,149},{155,306,158},
{280,155,157},{282,304,155},{154,152,153},{159,145,148},{153,159,150},
{152,146,159},{158,156,157},{163,256,181},{172,163,180},{174,257,163},
{162,160,161},{167,172,177},{282,167,176},{281,173,167},{166,164,165},
{171,260,174},{278,171,173},{277,261,171},{170,168,169},{175,161,164},
{169,175,166},{168,162,175},{174,172,173},{179,304,165},{188,179,164},
{190,305,179},{178,176,177},{183,188,161},{298,183,160},{297,189,183},
{182,180,181},{187,308,190},{294,187,189},{293,309,187},{186,184,185},
{191,177,180},{185,191,182},{184,178,191},{190,188,189},{195,101,42},
{204,195,41},{206,102,195},{194,192,193},{199,204,38},{10,199,37},{9,205,199},
{198,196,197},{203,105,206},{6,203,205},{5,106,203},{202,200,201},
{207,193,196},{201,207,198},{200,194,207},{206,204,205},{211,138,0},
{220,211,2}, {222,136,211},{210,208,209},{215,220,8},{48,215,10},{50,221,215},
{214,212,213},{219,130,222},
{56,219,221},{58,128,219},{218,216,217},{223,209,212},{217,223,214},
{216,210,223},{222,220,221},{227,106,16},{236,227,18},{238,104,227},
{226,224,225},{231,236,24},{64,231,26},{66,237,231},{230,228,229},
{235,98,238},
{72,235,237},{74,96,235},{234,232,233},{239,225,228},{233,239,230},
{232,226,239},{238,236,237},{243,133,90},{252,243,89},{254,134,243},
{242,240,241},{247,252,86},{26,247,85},{25,253,247},{246,244,245},
{251,137,254},
{22,251,253},{21,138,251},{250,248,249},{255,241,244},{249,255,246},
{248,242,255},{254,252,253},{259,122,160},{268,259,162},{270,120,259},
{258,256,257},{263,268,168},{32,263,170},{34,269,263},{262,260,261},
{267,114,270},{40,267,269},{42,112,267},{266,264,265},{271,257,260},
{265,271,262},{264,258,271},{270,268,269},{275,149,58},{284,275,57},
{286,150,275},{274,272,273},{279,284,54},{170,279,53},{169,285,279},
{278,276,277},{283,153,286},{166,283,285},{165,154,283},{282,280,281},
{287,273,276},{281,287,278},{280,274,287},{286,284,285},{291,117,74},
{300,291,73},{302,118,291},{290,288,289},{295,300,70},{186,295,69},
{185,301,295},{294,292,293},{299,121,302},{182,299,301},{181,122,299},
{298,296,297},{303,289,292},{297,303,294},{296,290,303},{302,300,301},
{307,154,176},{316,307,178},{318,152,307},{306,304,305},{311,316,184},
{80,311,186},{82,317,311},{310,308,309},{315,146,318},{88,315,317},
{90,144,315},{314,312,313},{319,305,308},{313,319,310},{312,306,319},
{318,316,317}};


#ifdef TEST_DRIVER
VIEW  Current_View = {0,{0,0,0},{0,0,-1},{0,1,0},60,60,0};
int Pick_cnt =0;
int Pick_tri = -1,Picking = FALSE,Pick_samp=-1;
FVECT Pick_point[500],Pick_origin,Pick_dir;
FVECT  Pick_v0[500], Pick_v1[500], Pick_v2[500];
int    Pick_q[500];
FVECT P0,P1,P2;
FVECT FrustumNear[4],FrustumFar[4];
double dev_zmin=.01,dev_zmax=1000;
#endif


char *
tempbuf(len,resize)                     /* get a temporary buffer */
unsigned  len;
int resize;
{
  static char  *tempbuf = NULL;
  static unsigned  tempbuflen = 0;

#ifdef DEBUG
        static int in_use=FALSE;

        if(len == -1)
          {
            in_use = FALSE;
            return(NULL);
          }
        if(!resize && in_use)
        {
            eputs("Buffer in use:cannot allocate:tempbuf()\n");
            return(NULL);
        }
#endif
        if (len > tempbuflen) {
                if (tempbuflen > 0)
                        tempbuf = realloc((void *)tempbuf, len);
                else
                        tempbuf = malloc(len);
                tempbuflen = tempbuf==NULL ? 0 : len;
        }
#ifdef DEBUG
        in_use = TRUE;
#endif
        return(tempbuf);
}

smDir(sm,ps,id)
   SM *sm;
   FVECT ps;
   S_ID id;
{
    VSUB(ps,SM_NTH_WV(sm,id),SM_VIEW_CENTER(sm)); 
    normalize(ps);
}

smClear_flags(sm,which)
SM *sm;
int which;
{
  int i;

  if(which== -1)
    for(i=0; i < T_FLAGS;i++)
      bzero(SM_NTH_FLAGS(sm,i),FLAG_BYTES(SM_MAX_TRIS(sm)));
  else
    bzero(SM_NTH_FLAGS(sm,which),FLAG_BYTES(SM_MAX_TRIS(sm)));
}

/* Given an allocated mesh- initialize */
smInit_mesh(sm)
    SM *sm;
{
    /* Reset the triangle counters */
    SM_NUM_TRI(sm) = 0;
    SM_FREE_TRIS(sm) = -1;
    smClear_flags(sm,-1);
}


/* Clear the SM for reuse: free any extra allocated memory:does initialization
   as well
*/
smClear(sm)
SM *sm;
{
  smDist_sum = 0;
  smInit_samples(sm);
  smInit_locator(sm);
  smInit_mesh(sm);
}

/* Allocate and initialize a new mesh with max_verts and max_tris */
int
smAlloc_mesh(sm,max_verts,max_tris)
SM *sm;
int max_verts,max_tris;
{
    int fbytes,i;

    fbytes = FLAG_BYTES(max_tris);

    if(!(SM_TRIS(sm) = (TRI *)malloc(max_tris*sizeof(TRI))))
      goto memerr;

    for(i=0; i< T_FLAGS; i++)
      if(!(SM_NTH_FLAGS(sm,i)=(int32 *)malloc(fbytes)))
        goto memerr;

    SM_MAX_VERTS(sm) = max_verts;
    SM_MAX_TRIS(sm) = max_tris;

    smInit_mesh(sm);

    return(max_tris);
memerr:
        error(SYSTEM, "out of memory in smAlloc_mesh()");
}


/* 
 * smAlloc_tri(sm) : Allocate a new mesh triangle
 * SM *sm;                    : mesh
 * 
 *  Returns ptr to next available tri
 */
int
smAlloc_tri(sm)
SM *sm;
{
  int id;

  /* First check if there are any tris on the free list */
  /* Otherwise, have we reached the end of the list yet?*/
  if(SM_NUM_TRI(sm) < SM_MAX_TRIS(sm))
    return(SM_NUM_TRI(sm)++);
  if((id = SM_FREE_TRIS(sm)) != -1)
  {
    SM_FREE_TRIS(sm) =  T_NEXT_FREE(SM_NTH_TRI(sm,id));
    return(id);
  }

  error(CONSISTENCY,"smAlloc_tri: no more available triangles\n");
  return(INVALID);
}


smFree_mesh(sm)
SM *sm;
{
  int i;

  if(SM_TRIS(sm))
    free(SM_TRIS(sm));
  for(i=0; i< T_FLAGS; i++)
    if(SM_NTH_FLAGS(sm,i))
      free(SM_NTH_FLAGS(sm,i));
}


/* 
 * smAlloc(max_samples) : Initialize/clear global sample list for at least
 *                       max_samples 
 * int max_samples;    
 * 
 */
smAlloc(max_samples)
   register int max_samples;
{
  unsigned nbytes;
  register unsigned i;
  int total_points;
  int max_tris,n;

  n = max_samples;
  /* If this is the first call, allocate sample,vertex and triangle lists */
  if(!smMesh)
  {
    if(!(smMesh = (SM *)malloc(sizeof(SM))))
       error(SYSTEM,"smAlloc():Unable to allocate memory\n");
    bzero(smMesh,sizeof(SM));
  }
  else
  {   /* If existing structure: first deallocate */
    smFree_mesh(smMesh);
    smFree_samples(smMesh);
    smFree_locator(smMesh);
 }

  /* First allocate at least n samples + extra points:at least enough
   necessary to form the BASE MESH- Default = 4;
  */
  SM_SAMP(smMesh) = sAlloc(&n,SM_BASE_POINTS);

  total_points = n + SM_BASE_POINTS;

  /* Need enough tris for base mesh, + 2 for each sample, plus extra
     since triangles are not deleted until added and edge flips (max 4)
  */
  max_tris = n*2 + SM_BASE_TRIS + 10;
  /* Now allocate space for mesh vertices and triangles */
  max_tris = smAlloc_mesh(smMesh, total_points, max_tris);

  /* Initialize the structure for point,triangle location.
   */
  smAlloc_locator(smMesh);
}


smInit_sm(sm,vp)
SM *sm;
FVECT vp;
{
  VCOPY(SM_VIEW_CENTER(sm),vp);
  smClear(sm);
  smCreate_base_mesh(sm,SM_DEFAULT);
}

/*
 * int
 * smInit(n)            : Initialize/clear data structures for n entries
 * int  n;
 *
 * This routine allocates/initializes the sample, mesh, and point-location
 * structures for at least n samples.
 * If n is <= 0, then clear data structures.  Returns number samples
 * actually allocated.
 */
int
smInit(n)
   register int n;
{
  int max_vertices;
  sleep(5);
  /* If n <=0, Just clear the existing structures */
  if(n <= 0)
  {
#ifdef DEBUG
  fprintf(stderr,"Tcnt=%d Wcnt = %d, avg = %f\n",Tcnt,Wcnt,(float)Wcnt/Tcnt);
#endif
    smClear(smMesh);
    return(0);
  }

  /* Total mesh vertices includes the sample points and the extra vertices
     to form the base mesh
  */
  max_vertices = n + SM_BASE_POINTS;

  /* If the current mesh contains enough room, clear and return */
  if(smMesh && (max_vertices <= SM_MAX_VERTS(smMesh)) && SM_MAX_SAMP(smMesh) <=
     n && SM_MAX_POINTS(smMesh) <= max_vertices)
  {
    smClear(smMesh);
    return(SM_MAX_SAMP(smMesh));
  }
  /* Otherwise- mesh must be allocated with the appropriate number of
    samples
  */
  smAlloc(n);

#ifdef DEBUG
  fprintf(stderr,"smInit: allocating room for %d samples\n",
          SM_MAX_SAMP(smMesh));
#endif
  return(SM_MAX_SAMP(smMesh));
}


smLocator_apply(sm,v0,v1,v2,func,n)
   SM *sm;
   FVECT v0,v1,v2;
   FUNC func;
   int n;
{
  STREE *st;
  FVECT tri[3];

  st = SM_LOCATOR(sm);

  VSUB(tri[0],v0,SM_VIEW_CENTER(sm));
  VSUB(tri[1],v1,SM_VIEW_CENTER(sm));
  VSUB(tri[2],v2,SM_VIEW_CENTER(sm));
  stVisit(st,tri,func,n);

}

/*
 * QUADTREE
 * insert_samp(argptr,root,qt,parent,q0,q1,q2,bc,scale,rev,f,n,doneptr)
 *     Callback function called from quadtree traversal when leaf is reached
 *   int *argptr;                 :ptr to sample id number
 *   int root;                    :quadtree root from which traversal started
 *   QUADTREE qt,parent;          :current quadtree node and its parent
 *   BCOORD q0[3],q1[3],q2[3],bc[3]; :barycentric coordinates of the current
 *                                 quadtree node (q0,q1,q2) and sample (bc)
 *   unsigned int scale,rev;      :scale factor relative to which level at in
 *                                 tree, rev indicates if traversed of child 3
 *   FUNC f;                      :function structure so can recurse
 *   int n,*doneptr;              :n indicates which level at in quadtree, and
 *                                 doneptr can be set to indicate whether nbr 
 *                                 sample has been found
 */
QUADTREE
insert_samp(argptr,root,qt,parent,q0,q1,q2,bc,scale,rev,f,n,doneptr)
     int *argptr;
     int root;
     QUADTREE qt,parent;
     BCOORD q0[3],q1[3],q2[3],bc[3];
     unsigned int scale,rev;
     FUNC f; 
     int n,*doneptr;
{
  S_ID s_id;
  S_ID *optr;

  s_id = ((S_ARGS *)argptr)->s_id;
  /* If the set is empty - just add */
  if(QT_IS_EMPTY(qt))
  {
    qt = qtadduelem(qt,s_id);
    SM_S_NTH_QT(smMesh,s_id) = qt;
    if(((S_ARGS *)argptr)->n_id)
      *doneptr = FALSE;
    else
      *doneptr = TRUE;
    return(qt);
  }
  /* If the set size is below expansion threshold,or at maximum
     number of quadtree levels : just add */
  optr = qtqueryset(qt);
  if(QT_SET_CNT(optr) < QT_SET_THRESHOLD || (n > (QT_MAX_LEVELS-2)))
  {
    qt = qtadduelem(qt,s_id);
    
    SM_S_NTH_QT(smMesh,s_id) = qt;
    if(((S_ARGS *)argptr)->n_id)
      if(QT_SET_CNT(qtqueryset(qt)) > 1)
      {
        ((S_ARGS *)argptr)->n_id = qtqueryset(qt)[1];
        *doneptr = TRUE;
      }
      else
        *doneptr = FALSE;
    else
      *doneptr = TRUE;
    return(qt);
  }
  /* otherwise: expand node- and insert sample, and reinsert existing samples
     in set to children of new node
  */
  {
      OBJECT *sptr,s_set[QT_MAXSET+1];
      FUNC sfunc;
      S_ARGS args;
      FVECT p;
      BCOORD bp[3];
      int i;
      
      if(QT_SET_CNT(optr) > QT_MAXSET)
      { 
          if(!(sptr = (OBJECT *)malloc((QT_SET_CNT(optr)+1)*sizeof(OBJECT))))
             goto memerr;
      }
      else
         sptr = s_set;

      qtgetset(sptr,qt);
      
      /* subdivide node */
      qtfreeleaf(qt);
      qtSubdivide(qt);
      
      /* Now add in all of the rest; */
      F_FUNC(sfunc) = F_FUNC(f);
      F_ARGS(sfunc) = (int *) (&args);
      args.n_id = 0;
      for(optr = sptr,i=QT_SET_CNT(sptr); i > 0; i--)
      {
          s_id = QT_SET_NEXT_ELEM(optr);
          args.s_id = s_id;
          VSUB(p,SM_NTH_WV(smMesh,s_id),SM_VIEW_CENTER(smMesh));
          normalize(p);
          vert_to_qt_frame(i,p,bp);    
          if(rev)
             qt= qtInsert_point_rev(root,qt,parent,q0,q1,q2,bp,
                                    scale,sfunc,n,doneptr);
          else
             qt= qtInsert_point(root,qt,parent,q0,q1,q2,bp,
                                scale,sfunc,n,doneptr);
      }
      /* Add current sample: have all of the information */
      if(rev)
         qt =qtInsert_point_rev(root,qt,parent,q0,q1,q2,bc,scale,f,n,doneptr);
      else
         qt = qtInsert_point(root,qt,parent,q0,q1,q2,bc,scale,f,n,doneptr);
      
      /* If we allocated memory: free it */

      if( sptr != s_set)
         free(sptr);

      return(qt);
  }
memerr:
    error(SYSTEM,"expand_node():Unable to allocate memory");

}


/*
 * int
 * smAdd_tri(sm,v0_id,v1_id,v2_id,tptr)
 *             : Add a triangle to the base array with vertices v0-v1-v2,
 *               returns ptr to triangle in tptr
 * SM *sm;                   : mesh
 * S_ID v0_id,v1_id,v2_id;    : sample ids of triangle vertices
 * TRI **tptr;               : ptr to set to triangle
 * 
 *  Allocates and initializes mesh triangle with vertices specified.
 */
int
smAdd_tri(sm, v0_id,v1_id,v2_id,tptr)
SM *sm;
S_ID v0_id,v1_id,v2_id;
TRI **tptr;
{
    int t_id;
    TRI *t;

#ifdef DEBUG
    if(v0_id==v1_id || v0_id==v2_id || v1_id==v2_id)
      error(CONSISTENCY,"smAdd_tri: invalid vertex ids\n");

#endif
    t_id = smAlloc_tri(sm);   
#ifdef DEBUG
#if DEBUG > 1
    {
      double v0[3],v1[3],v2[3],n[3];
      double area,dp;
      double ab[3],ac[3];
      VSUB(v0,SM_NTH_WV(sm,v0_id),SM_VIEW_CENTER(sm));
      VSUB(v1,SM_NTH_WV(sm,v1_id),SM_VIEW_CENTER(sm));
      VSUB(v2,SM_NTH_WV(sm,v2_id),SM_VIEW_CENTER(sm));
      normalize(v0);
      normalize(v1);
      normalize(v2);

      VSUB(ab,v1,v2);
      normalize(ab);
      VSUB(ac,v0,v2);
      normalize(ac);
      VCROSS(n,ab,ac);
      area = normalize(n);
      if((dp=DOT(v0,n)) < 0.0)
      {
        eputs("backwards tri\n");
      }
    }
#endif
#endif

    t = SM_NTH_TRI(sm,t_id);
#ifdef DEBUG
    T_CLEAR_NBRS(t);
#endif
    /* set the triangle vertex ids */
    T_NTH_V(t,0) = v0_id;
    T_NTH_V(t,1) = v1_id;
    T_NTH_V(t,2) = v2_id;

    SM_NTH_VERT(sm,v0_id) = t_id;
    SM_NTH_VERT(sm,v1_id) = t_id;
    SM_NTH_VERT(sm,v2_id) = t_id;

    if(SM_BASE_ID(sm,v0_id) || SM_BASE_ID(sm,v1_id) || SM_BASE_ID(sm,v2_id))
      SM_SET_NTH_T_BASE(sm,t_id);
    else
      SM_CLR_NTH_T_BASE(sm,t_id);
    if(SM_DIR_ID(sm,v0_id) || SM_DIR_ID(sm,v1_id) || SM_DIR_ID(sm,v2_id))
      SM_SET_NTH_T_BG(sm,t_id);
    else
      SM_CLR_NTH_T_BG(sm,t_id);
    S_SET_FLAG(T_NTH_V(t,0));
    S_SET_FLAG(T_NTH_V(t,1));
    S_SET_FLAG(T_NTH_V(t,2));

    SM_SET_NTH_T_ACTIVE(sm,t_id);
    SM_SET_NTH_T_NEW(sm,t_id);

    *tptr = t;
    /* return initialized triangle */
    return(t_id);
}


smRestore_Delaunay(sm,a,b,c,t,t_id,a_id,b_id,c_id)
SM *sm;
FVECT a,b,c;
TRI *t;
int t_id,a_id,b_id,c_id;
{
  int e1,topp_id;
  S_ID p_id;
  TRI *topp;
  FVECT p;

  topp_id = T_NTH_NBR(t,0);
#ifdef DEBUG
  if(topp_id==INVALID)
  {
    eputs("Invalid tri id smRestore_delaunay()\n");
    return;
  }
#endif
  topp = SM_NTH_TRI(sm,topp_id);
#ifdef DEBUG
  if(!T_IS_VALID(topp))
  {
    eputs("Invalid tri smRestore_delaunay()\n");
    return;
  }
#endif
  e1 = T_NTH_NBR_PTR(t_id,topp);
  p_id = T_NTH_V(topp,e1);

  VSUB(p,SM_NTH_WV(sm,p_id),SM_VIEW_CENTER(sm));
  normalize(p);
  if(pt_in_cone(p,c,b,a))
  {
    int e1next,e1prev;
    int ta_id,tb_id;
    TRI *ta,*tb,*n;
    e1next = (e1 + 1)%3;
    e1prev = (e1 + 2)%3;
    ta_id = smAdd_tri(sm,a_id,b_id,p_id,&ta);
    tb_id = smAdd_tri(sm,a_id,p_id,c_id,&tb);

    T_NTH_NBR(ta,0) = T_NTH_NBR(topp,e1next); 
    T_NTH_NBR(ta,1) = tb_id;
    T_NTH_NBR(ta,2) = T_NTH_NBR(t,2);
  
    T_NTH_NBR(tb,0) = T_NTH_NBR(topp,e1prev);
    T_NTH_NBR(tb,1) = T_NTH_NBR(t,1);
    T_NTH_NBR(tb,2) = ta_id;
  
    n = SM_NTH_TRI(sm,T_NTH_NBR(t,1));
    T_NTH_NBR(n,T_NTH_NBR_PTR(t_id,n)) = tb_id;
    n = SM_NTH_TRI(sm,T_NTH_NBR(t,2));
    T_NTH_NBR(n,T_NTH_NBR_PTR(t_id,n)) = ta_id;
    n = SM_NTH_TRI(sm,T_NTH_NBR(topp,e1next));
    T_NTH_NBR(n,T_NTH_NBR_PTR(topp_id,n)) = ta_id;
    n = SM_NTH_TRI(sm,T_NTH_NBR(topp,e1prev));
    T_NTH_NBR(n,T_NTH_NBR_PTR(topp_id,n)) = tb_id;
    
    smDelete_tri(sm,t_id,t); 
    smDelete_tri(sm,topp_id,topp); 

#ifdef DEBUG
#if DEBUG > 1
    if(T_NTH_NBR(ta,0) == T_NTH_NBR(ta,1)  || 
       T_NTH_NBR(ta,1) == T_NTH_NBR(ta,2)  ||
       T_NTH_NBR(ta,0) == T_NTH_NBR(ta,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(ta,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(ta,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(ta,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(ta,0));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(ta,1));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(ta,2));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(tb,0));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(tb,1));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(tb,2));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");

    if(T_NTH_NBR(tb,0) == T_NTH_NBR(tb,1)  || 
       T_NTH_NBR(tb,1) == T_NTH_NBR(tb,2)  ||
       T_NTH_NBR(tb,0) == T_NTH_NBR(tb,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(tb,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(tb,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(tb,2))))
      error(CONSISTENCY,"Invalid topology\n");

#endif   
#endif   
    smRestore_Delaunay(sm,a,b,p,ta,ta_id,a_id,b_id,p_id);
    smRestore_Delaunay(sm,a,p,c,tb,tb_id,a_id,p_id,c_id);
  }
}


/* Give the vertex "id" and a triangle "t" that it belongs to- return the
   next nbr in a counter clockwise order about vertex "id"
*/
int
smTri_next_ccw_nbr(sm,t,id)
SM *sm;
TRI *t;
S_ID id;
{
  int which;
  int nbr_id;
  
  /* Want the edge for which "id" is the destination */
  which = T_WHICH_V(t,id);
  if(which== INVALID)
    return(which);

  nbr_id = T_NTH_NBR(t,(which + 1)% 3);
  return(nbr_id);
}

smClear_tri_flags(sm,id)
SM *sm;
int id;
{
  int i;

  for(i=0; i < T_FLAGS; i++)
    SM_CLR_NTH_T_FLAG(sm,id,i);

}

/* Locate the point-id in the point location structure: */
int
smInsert_samp_mesh(sm,s_id,tri_id,a,b,c,d,on,which)
   SM *sm;
   S_ID s_id;
   int tri_id;
   FVECT a,b,c,d;
   int on,which;
{
    S_ID v_id[3],opp_id;
    int topp_id,i;
    int t0_id,t1_id,t2_id,t3_id;
    int e0,e1,e2,opp0,opp1,opp2;
    TRI *tri,*nbr,*topp,*t0,*t1,*t2,*t3;
    FVECT e;

    for(i=0; i<3;i++)
      v_id[i] = T_NTH_V(SM_NTH_TRI(sm,tri_id),i);

    /* If falls on existing edge */
    if(on == ON_E)
    {
      FVECT n,vopp;
      double dp;

      tri = SM_NTH_TRI(sm,tri_id);
      topp_id = T_NTH_NBR(tri,which);
      e0 = which;
      e1 = (which+1)%3;
      e2 = (which+2)%3;
      topp = SM_NTH_TRI(sm,topp_id);
      opp0 = T_NTH_NBR_PTR(tri_id,topp);
      opp1 = (opp0+1)%3;
      opp2 = (opp0+2)%3;

      opp_id = T_NTH_V(topp,opp0);
      
      /* Create 4 triangles */
      /*      /|\             /|\
             / | \           / | \
            /  *  \  ---->  /__|__\
            \  |  /         \  |  /
             \ | /           \ | /
              \|/             \|/
     */
      t0_id = smAdd_tri(sm,s_id,v_id[e0],v_id[e1],&t0);
      t1_id = smAdd_tri(sm,s_id,v_id[e2],v_id[e0],&t1);
      t2_id = smAdd_tri(sm,s_id,v_id[e1],opp_id,&t2);
      t3_id = smAdd_tri(sm,s_id,opp_id,v_id[e2],&t3);

      /* Set the neighbor pointers for the new tris */
      T_NTH_NBR(t0,0) = T_NTH_NBR(tri,e2);
      T_NTH_NBR(t0,1) = t2_id;
      T_NTH_NBR(t0,2) = t1_id;
      T_NTH_NBR(t1,0) = T_NTH_NBR(tri,e1);
      T_NTH_NBR(t1,1) = t0_id;
      T_NTH_NBR(t1,2) = t3_id;
      T_NTH_NBR(t2,0) = T_NTH_NBR(topp,opp1);
      T_NTH_NBR(t2,1) = t3_id;
      T_NTH_NBR(t2,2) = t0_id;
      T_NTH_NBR(t3,0) = T_NTH_NBR(topp,opp2);
      T_NTH_NBR(t3,1) = t1_id;
      T_NTH_NBR(t3,2) = t2_id;

        /* Reset the neigbor pointers for the neighbors of the original */
        nbr = SM_NTH_TRI(sm,T_NTH_NBR(tri,e1));
        T_NTH_NBR(nbr,T_NTH_NBR_PTR(tri_id,nbr)) = t1_id;
        nbr = SM_NTH_TRI(sm,T_NTH_NBR(tri,e2));
        T_NTH_NBR(nbr,T_NTH_NBR_PTR(tri_id,nbr)) = t0_id;
        nbr = SM_NTH_TRI(sm,T_NTH_NBR(topp,opp1));
        T_NTH_NBR(nbr,T_NTH_NBR_PTR(topp_id,nbr)) = t2_id;
        nbr = SM_NTH_TRI(sm,T_NTH_NBR(topp,opp2));
        T_NTH_NBR(nbr,T_NTH_NBR_PTR(topp_id,nbr)) = t3_id;

#ifdef DEBUG
#if DEBUG > 1
{
   TRI *n;

    if(T_NTH_NBR(t0,0) == T_NTH_NBR(t0,1)  || 
       T_NTH_NBR(t0,1) == T_NTH_NBR(t0,2)  ||
       T_NTH_NBR(t0,0) == T_NTH_NBR(t0,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t0,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t0,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t0,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t0,0));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t0,1));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t0,2));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t1,0));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t1,1));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t1,2));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");

    if(T_NTH_NBR(t1,0) == T_NTH_NBR(t1,1)  || 
       T_NTH_NBR(t1,1) == T_NTH_NBR(t1,2)  ||
       T_NTH_NBR(t1,0) == T_NTH_NBR(t1,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t1,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t1,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t1,2))))
      error(CONSISTENCY,"Invalid topology\n");

    if(T_NTH_NBR(t2,0) == T_NTH_NBR(t2,1)  || 
       T_NTH_NBR(t2,1) == T_NTH_NBR(t2,2)  ||
       T_NTH_NBR(t2,0) == T_NTH_NBR(t2,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t2,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t2,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t2,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t2,0));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t2,1));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t2,2));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");

    if(T_NTH_NBR(t3,0) == T_NTH_NBR(t3,1)  || 
       T_NTH_NBR(t3,1) == T_NTH_NBR(t3,2)  ||
       T_NTH_NBR(t3,0) == T_NTH_NBR(t3,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t3,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t3,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t3,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t3,0));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t3,1));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t3,2));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
}
#endif   
#endif   
        smDir(sm,e,opp_id);
        if(which == 0)
        {
          smRestore_Delaunay(sm,a,b,c,t0,t0_id,s_id,v_id[e0],v_id[e1]);
          smRestore_Delaunay(sm,a,d,b,t1,t1_id,s_id,v_id[e2],v_id[e0]);
          smRestore_Delaunay(sm,a,c,e,t2,t2_id,s_id,v_id[e1],opp_id);
          smRestore_Delaunay(sm,a,e,d,t3,t3_id,s_id,opp_id,v_id[e2]);
        }
        else
          if( which==1 )
          {
            smRestore_Delaunay(sm,a,c,d,t0,t0_id,s_id,v_id[e0],v_id[e1]);
            smRestore_Delaunay(sm,a,b,c,t1,t1_id,s_id,v_id[e2],v_id[e0]);
            smRestore_Delaunay(sm,a,d,e,t2,t2_id,s_id,v_id[e1],opp_id);
            smRestore_Delaunay(sm,a,e,b,t3,t3_id,s_id,opp_id,v_id[e2]);
          }
          else
          {
            smRestore_Delaunay(sm,a,d,b,t0,t0_id,s_id,v_id[e0],v_id[e1]);
            smRestore_Delaunay(sm,a,c,d,t1,t1_id,s_id,v_id[e2],v_id[e0]);
            smRestore_Delaunay(sm,a,b,e,t2,t2_id,s_id,v_id[e1],opp_id);
            smRestore_Delaunay(sm,a,e,c,t3,t3_id,s_id,opp_id,v_id[e2]);
          }
        smDelete_tri(sm,tri_id,tri);
        smDelete_tri(sm,topp_id,topp);
        return(TRUE);
    }
Linsert_in_tri:
    /* Create 3 triangles */
    /*      / \             /|\
           /   \           / | \
          /  *  \  ---->  /  |  \
         /       \       /  / \  \
        /         \       / /     \ \ 
        ___________\   //_________\\ 
    */
    tri = SM_NTH_TRI(sm,tri_id);

    t0_id = smAdd_tri(sm,s_id,v_id[0],v_id[1],&t0);
    t1_id = smAdd_tri(sm,s_id,v_id[1],v_id[2],&t1);
    t2_id = smAdd_tri(sm,s_id,v_id[2],v_id[0],&t2);

    /* Set the neighbor pointers for the new tris */
    T_NTH_NBR(t0,0) = T_NTH_NBR(tri,2);
    T_NTH_NBR(t0,1) = t1_id;
    T_NTH_NBR(t0,2) = t2_id;
    T_NTH_NBR(t1,0) = T_NTH_NBR(tri,0);
    T_NTH_NBR(t1,1) = t2_id;
    T_NTH_NBR(t1,2) = t0_id;
    T_NTH_NBR(t2,0) = T_NTH_NBR(tri,1);
    T_NTH_NBR(t2,1) = t0_id;
    T_NTH_NBR(t2,2) = t1_id;
        
    /* Reset the neigbor pointers for the neighbors of the original */
    nbr = SM_NTH_TRI(sm,T_NTH_NBR(tri,0));
    T_NTH_NBR(nbr,T_NTH_NBR_PTR(tri_id,nbr)) = t1_id;
    nbr = SM_NTH_TRI(sm,T_NTH_NBR(tri,1));
    T_NTH_NBR(nbr,T_NTH_NBR_PTR(tri_id,nbr)) = t2_id;
    nbr = SM_NTH_TRI(sm,T_NTH_NBR(tri,2));
    T_NTH_NBR(nbr,T_NTH_NBR_PTR(tri_id,nbr)) = t0_id;
#ifdef DEBUG
#if DEBUG > 1
{
  TRI *n;
    if(T_NTH_NBR(t0,0) == T_NTH_NBR(t0,1)  || 
       T_NTH_NBR(t0,1) == T_NTH_NBR(t0,2)  ||
       T_NTH_NBR(t0,0) == T_NTH_NBR(t0,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t0,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t0,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t0,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t0,0));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t0,1));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t0,2));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t1,0));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t1,1));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t1,2));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");

    if(T_NTH_NBR(t1,0) == T_NTH_NBR(t1,1)  || 
       T_NTH_NBR(t1,1) == T_NTH_NBR(t1,2)  ||
       T_NTH_NBR(t1,0) == T_NTH_NBR(t1,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t1,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t1,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t1,2))))
      error(CONSISTENCY,"Invalid topology\n");

    if(T_NTH_NBR(t2,0) == T_NTH_NBR(t2,1)  || 
       T_NTH_NBR(t2,1) == T_NTH_NBR(t2,2)  ||
       T_NTH_NBR(t2,0) == T_NTH_NBR(t2,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t2,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t2,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(t2,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t2,0));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t2,1));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
    n = SM_NTH_TRI(sm,T_NTH_NBR(t2,2));
    if(T_NTH_NBR(n,0) == T_NTH_NBR(n,1)  || 
       T_NTH_NBR(n,1) == T_NTH_NBR(n,2)  ||
       T_NTH_NBR(n,0) == T_NTH_NBR(n,2)) 
      error(CONSISTENCY,"Invalid topology\n");
    if(!T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,0))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,1))) ||
       !T_IS_VALID(SM_NTH_TRI(sm,T_NTH_NBR(n,2))))
      error(CONSISTENCY,"Invalid topology\n");
}
#endif
#endif
  smRestore_Delaunay(sm,a,b,c,t0,t0_id,s_id,v_id[0],v_id[1]);
  smRestore_Delaunay(sm,a,c,d,t1,t1_id,s_id,v_id[1],v_id[2]);
  smRestore_Delaunay(sm,a,d,b,t2,t2_id,s_id,v_id[2],v_id[0]);
  smDelete_tri(sm,tri_id,tri);
  return(TRUE);

#ifdef DEBUG
Ladderror:
        error(CONSISTENCY,"Invalid tri: smInsert_samp_mesh()\n");
#endif
}    


int
smWalk(sm,p,t_id,t,onptr,wptr,from,on_edge,a,b)
SM *sm;
FVECT p;
int t_id;
TRI *t;
int *onptr,*wptr;
int from;
double on_edge;
FVECT a,b;
{
  FVECT n,v0,v1,v2;
  TRI *tn;
  double on0,on1,on2;
  int tn_id;

#ifdef DEBUG
  Wcnt++;
  on0 = on1 = on2 = 10;
#endif
  switch(from){
  case 0:
    on0 = on_edge;
    /* Havnt calculate v0 yet: check for equality first */
    VSUB(v0,SM_T_NTH_WV(sm,t,0),SM_VIEW_CENTER(sm));
    normalize(v0);
    if(EQUAL_VEC3(v0,p)){ *onptr = ON_V; *wptr = 0; return(t_id); } 
    /* determine what side of edge v0v1 (v0a) point is on*/
    VCROSS(n,v0,a);
    normalize(n);
    on2 = DOT(n,p);
    if(on2 > 0.0)
      {
        tn_id = T_NTH_NBR(t,2);
        tn = SM_NTH_TRI(sm,tn_id);
        return(smWalk(sm,p,tn_id,tn,onptr,wptr,T_NTH_NBR_PTR(t_id,tn),
                      -on2,a,v0));
      } 
    else
      if(on2 >= -EDGE_EPS)
      { 
        if(on0 >= -EDGE_EPS)
        {  
          /* Could either be epsilon of vertex 1*/ 
        /* dot(p,a) == cos angle between them. Want length of chord x to
           be <= EDGE_EPS for test. if the perpendicular bisector of pa
           is d, cos@/2 = d/1, with right triangle d^2 + (x/2)^2 = 1
           or x^2 = 4(1-cos^2@/2) = 4(1- (1 + cos@)/2) =  2 -2cos@,
            so test is if  x^2 <= VERT_EPS*VERT_EPS,
           2 - 2cos@ <= VERT_EPS*VERT_EPS, or... */
          if(DOT(p,a) >= 1.0-VERT_EPS*VERT_EPS/2.0)
            {*onptr = ON_P; *wptr = 1;}
          else
            if(on2 > on0)
            {*onptr = ON_E; *wptr = 2;}
            else
            {*onptr = ON_E; *wptr = 0;}
          return(t_id);
        }
      }

    VCROSS(n,b,v0);
    normalize(n);
    on1 = DOT(n,p);
    if(on1 > 0.0)
    {
      tn_id = T_NTH_NBR(t,1);
      tn = SM_NTH_TRI(sm,tn_id);
      return(smWalk(sm,p,tn_id,tn,onptr,wptr,T_NTH_NBR_PTR(t_id,tn),
                   -on1,v0,b));
    }
    else 
      if(on1 >= -EDGE_EPS)
      { /* Either on v0 or on edge 1 */
        if(on0 >= -EDGE_EPS)
        {
        if(DOT(p,b) >= 1.0-VERT_EPS*VERT_EPS/2.0)
            {*onptr = ON_P; *wptr = 2;}
        else
          if(on1 > on0)
            {*onptr = ON_E; *wptr = 1;}
          else
            {*onptr = ON_E; *wptr = 0;}
          return(t_id);
        }
        if(on2 >= -EDGE_EPS)
        {
        if(DOT(p,v0) >= 1.0-VERT_EPS*VERT_EPS/2.0)
            {*onptr = ON_P; *wptr = 0;}
        else
          if( on1 > on2)
            {*onptr = ON_E; *wptr = 1;}
          else
            {*onptr = ON_E; *wptr = 2;}
          return(t_id);
        }
        *onptr = ON_E; *wptr = 1;
        return(t_id);
      }
    else 
      if(on2 >= -EDGE_EPS)
      {
        *onptr = ON_E; *wptr = 2;
        return(t_id);
      }
      if(on0 >= -EDGE_EPS)
      {
        *onptr = ON_E; *wptr = 0;
        return(t_id);
      }
    *onptr = IN_T;
    return(t_id);
  case 1:
    on1 = on_edge;
    /* Havnt calculate v1 yet: check for equality first */
    VSUB(v1,SM_T_NTH_WV(sm,t,1),SM_VIEW_CENTER(sm));
    normalize(v1);
    if(EQUAL_VEC3(v1,p)){ *onptr = ON_V; *wptr = 1; return(t_id); } 
    /* determine what side of edge v0v1 (v0a) point is on*/
    VCROSS(n,b,v1);
    normalize(n);
    on2 = DOT(n,p);
    if(on2 > 0.0)
    {
      tn_id = T_NTH_NBR(t,2);
      tn = SM_NTH_TRI(sm,tn_id);
      return(smWalk(sm,p,tn_id,tn,onptr,wptr,T_NTH_NBR_PTR(t_id,tn),
                   -on2,v1,b));
    }
    if(on2 >= -EDGE_EPS)
    {
      if(on1 >= -EDGE_EPS)
      {
        if(DOT(p,b) >= 1.0-VERT_EPS*VERT_EPS/2.0)
          { *onptr = ON_P; *wptr = 0;}
        else 
          if(on2 > on1)
          { *onptr = ON_E; *wptr = 2;}
        else 
          { *onptr = ON_E; *wptr = 1;}
         return(t_id);
      }
    }

    VCROSS(n,v1,a);
    normalize(n);
    on0 = DOT(n,p);
    if(on0 >0.0)
    {
      tn_id = T_NTH_NBR(t,0);
      tn = SM_NTH_TRI(sm,tn_id);
      return(smWalk(sm,p,tn_id,tn,onptr,wptr,T_NTH_NBR_PTR(t_id,tn),
                 -on0,a,v1));
    }
    else
    if(on0 >= -EDGE_EPS)
      { /* Either on v0 or on edge 1 */
       if(on1 >= -EDGE_EPS)
       {
        if(DOT(p,a) >= 1.0-VERT_EPS*VERT_EPS/2.0)
           {*onptr = ON_P; *wptr = 2;}
         else 
          if(on0 > on1)
          { *onptr = ON_E; *wptr = 0;}
        else 
          { *onptr = ON_E; *wptr = 1;}
         return(t_id);
       }
       if(on2 >= -EDGE_EPS)
       {
       if(DOT(p,v1) >= 1.0-VERT_EPS*VERT_EPS/2.0)
           {*onptr = ON_P; *wptr = 1;}
         else 
          if(on0 > on2)
          { *onptr = ON_E; *wptr = 0;}
        else 
          { *onptr = ON_E; *wptr = 2;}
         return(t_id);
       }
       *onptr = ON_E; *wptr = 0;
       return(t_id);
     }
    else 
      if(on2 >= -EDGE_EPS)
      {
        *onptr = ON_E; *wptr = 2;
        return(t_id);
      }
      if(on1 >= -EDGE_EPS)
      {
        *onptr = ON_E; *wptr = 1;
        return(t_id);
      }
    *onptr = IN_T;
    return(t_id);
  case 2:
    on2 = on_edge;
    VSUB(v2,SM_T_NTH_WV(sm,t,2),SM_VIEW_CENTER(sm));
    normalize(v2);
    if(EQUAL_VEC3(v2,p)){ *onptr = ON_V; *wptr = 2; return(t_id); } 

    /* determine what side of edge v0v1 (v0a) point is on*/
    VCROSS(n,b,v2);
    normalize(n);
    on0 = DOT(n,p);
    if(on0 > 0.0)
    {
      tn_id = T_NTH_NBR(t,0);
      tn = SM_NTH_TRI(sm,tn_id);
      return(smWalk(sm,p,tn_id,tn,onptr,wptr,T_NTH_NBR_PTR(t_id,tn),
                    -on0,v2,b));
    }
    else
    if(on0 >= -EDGE_EPS)
      {
        if(on2 >= - EDGE_EPS)
        {
        if(DOT(p,b) >= 1.0-VERT_EPS*VERT_EPS/2.0)
           {*onptr = ON_P; *wptr = 1;}
         else
           if(on0 > on2)
             {*onptr = ON_E; *wptr = 0;}
           else
             {*onptr = ON_E; *wptr = 2;}
         return(t_id);
        }
      }
    VCROSS(n,v2,a);
    normalize(n);
    on1 = DOT(n,p);
    if(on1 >0.0)
    {
      tn_id = T_NTH_NBR(t,1);
      tn = SM_NTH_TRI(sm,tn_id);
      return(smWalk(sm,p,tn_id,tn,onptr,wptr,T_NTH_NBR_PTR(t_id,tn),
                   -on1,a,v2));
    }
    else
    if(on1 >= -EDGE_EPS)
     { /* Either on v0 or on edge 1 */
       if(on0 >= - EDGE_EPS)
       {
        if(DOT(p,v2) >= 1.0-VERT_EPS*VERT_EPS/2.0)
          {*onptr = ON_P;*wptr = 2;}
        else
          if(on1 > on0)
            {*onptr = ON_E;*wptr = 1;}
          else
            {*onptr = ON_E;*wptr = 0;}
         return(t_id);
       }
       if(on2 >= -EDGE_EPS)
       {
        if(DOT(p,a) >= 1.0-VERT_EPS*VERT_EPS/2.0)
          {*onptr = ON_P;*wptr = 0;}
        else
          if(on1 > on2)
            {*onptr = ON_E;*wptr = 1;}
          else
            {*onptr = ON_E;*wptr = 2;}
         return(t_id);
       }
       *onptr = ON_E;*wptr = 1;
       return(t_id);
     }
    else 
      if(on0 >= -EDGE_EPS)
      {
        *onptr = ON_E;*wptr = 0;
        return(t_id);
      }
      if(on2 >= -EDGE_EPS)
      {
        *onptr = ON_E;*wptr = 2;
        return(t_id);
      }
    *onptr = IN_T;
    return(t_id);
  default:
    /* First time called: havnt tested anything */
    /* Check against vertices */
    VSUB(v0,SM_T_NTH_WV(sm,t,0),SM_VIEW_CENTER(sm));
    normalize(v0);
    if(EQUAL_VEC3(v0,p)){ *onptr = ON_V; *wptr = 0; return(t_id); } 
    VSUB(v1,SM_T_NTH_WV(sm,t,1),SM_VIEW_CENTER(sm));
    normalize(v1);
    if(EQUAL_VEC3(v1,p)){ *onptr = ON_V; *wptr = 1; return(t_id); } 
    VSUB(v2,SM_T_NTH_WV(sm,t,2),SM_VIEW_CENTER(sm));
    normalize(v2);
    if(EQUAL_VEC3(v2,p)){ *onptr = ON_V; *wptr = 2; return(t_id); } 
     
    VCROSS(n,v0,v1);  /* Check against v0v1, or edge 2 */
    normalize(n);
    on2 = DOT(n,p);
    if(on2 > 0.0)
    {              /* Outside edge: traverse to nbr 2 */
      tn_id = T_NTH_NBR(t,2);
      tn = SM_NTH_TRI(sm,tn_id);
      return(smWalk(sm,p,tn_id,tn,onptr,wptr,T_NTH_NBR_PTR(t_id,tn),
                 -on2,v1,v0));
    }
    else
    VCROSS(n,v1,v2);  /* Check against v1v2 or edge 0 */
    normalize(n);
    on0 = DOT(n,p);
    if(on0 > 0.0)
    {                      /* Outside edge: traverse to nbr 0 */
      tn_id = T_NTH_NBR(t,0);
      tn = SM_NTH_TRI(sm,tn_id);
      return(smWalk(sm,p,tn_id,tn,onptr,wptr,T_NTH_NBR_PTR(t_id,tn),
                    -on0,v2,v1));
    }
    else
      if(on0 >= -EDGE_EPS)
      {                /* On the line defining edge 0 */
      if(on2 >= -EDGE_EPS)
      {              
        if(DOT(p,v1) >= 1.0-VERT_EPS*VERT_EPS/2.0)
          {*onptr = ON_P;*wptr = 1;}
        else
          if(on0 > on2)
          {*onptr = ON_E;*wptr = 0;}
        else
          {*onptr = ON_E;*wptr = 2;}
        return(t_id);
      }
    }
    VCROSS(n,v2,v0);  /* Check against v2v0 or edge 1 */
    normalize(n);
    on1 = DOT(n,p);
    if(on1 >0.0)
    {                            /* Outside edge: traverse to nbr 1 */
      tn_id = T_NTH_NBR(t,1);
      tn = SM_NTH_TRI(sm,tn_id);
      return(smWalk(sm,p,tn_id,tn,onptr,wptr,T_NTH_NBR_PTR(t_id,tn),
                    -on1,v0,v2));
    } 
    else
    if(on1  >= -EDGE_EPS)
      {               /* On the line defining edge 1 */
        if(on2 >= -EDGE_EPS)
        {              
        if(DOT(p,v0) >= 1.0-VERT_EPS*VERT_EPS/2.0)
            {*onptr = ON_P;*wptr = 0;}
          else
            if(on1 > on2)
              {*onptr = ON_E;*wptr = 1;}
            else
              {*onptr = ON_E;*wptr = 2;}
          return(t_id);
        }
        if(on0 >= -EDGE_EPS)
        {              
        if(DOT(p,v2) >= 1.0-VERT_EPS*VERT_EPS/2.0)
            {*onptr = ON_P;*wptr = 2;}
          else
            if(on1 > on0)
              {*onptr = ON_E;*wptr = 1;}
            else
              {*onptr = ON_E;*wptr = 0;}
          return(t_id);
       }
        *onptr = ON_E; /* Only on edge 1 */
        *wptr = 1;
        return(t_id);
      }
    else
      if(on2 >= -EDGE_EPS)           /* Is on edge 2 ? */
      {
        *onptr = ON_E; *wptr = 2;
        return(t_id);
      }
    if(on0 >= -EDGE_EPS)            /* Is on edge 0 ? */
    {
      *onptr = ON_E; *wptr = 0;
      return(t_id);
    }
    *onptr = IN_T;   /* Must be interior to t */
    return(t_id);
  }
}

#define check_edges(on0,on1,on2,o,w,t_id) \
   if(on0){if(on1){*o = ON_P;*w = 2;} else if(on2){*o = ON_P;*w = 1;} \
                   else {*o = ON_E; *w = 0; } return(t_id); } \
   if(on1){if(on2){*o = ON_P;*w = 0;} else {*o = ON_E;*w = 1;}return(t_id);}\
   if(on2){*o = ON_E;*w = 2;return(t_id);}

#define  check_verts(p,v0,v1,v2,o,w,t_id) \
    if(EQUAL_VEC3(v0,p)){ *o = ON_V; *w = 0; return(t_id); } \
    if(EQUAL_VEC3(v1,p)){ *o = ON_V; *w = 1; return(t_id); } \
    if(EQUAL_VEC3(v2,p)){ *o = ON_V; *w = 2; return(t_id);}


find_neighbor(argptr,qt,f,doneptr)
int *argptr;
QUADTREE qt;
FUNC f;
int *doneptr;
{
  S_ID s_id;
  int i;
  S_ID *optr;
  
  if(QT_IS_EMPTY(qt))
    return;
  else
    if(QT_IS_TREE(qt))
    {
      for(i=0;i < 4; i++)
      {
        find_neighbor(argptr,QT_NTH_CHILD(qt,i),f,doneptr);
        if(*doneptr)
          return;
      }
    }
    else
    { 
      optr = qtqueryset(qt);
      for(i = QT_SET_CNT(optr); i > 0; i--)
      {
        s_id = QT_SET_NEXT_ELEM(optr);
        if(s_id != ((S_ARGS *)argptr)->s_id)
        {
          *doneptr = TRUE;
          ((S_ARGS *)argptr)->n_id = s_id;
          return;
        }
      }
    }
}

smInsert_samp(sm,s_id,p,nptr)
SM *sm;
S_ID s_id;
FVECT p;
S_ID *nptr;
{
  FVECT tpt;
  FUNC f;
  S_ARGS args;

  F_FUNC(f) = insert_samp;
  args.s_id = s_id;
  if(nptr)
  {
    args.n_id = 1;
    F_FUNC2(f) = find_neighbor;
  }
  else
    args.n_id = 0;
  F_ARGS(f) = (int *)(&args);
  stInsert_samp(SM_LOCATOR(sm),p,f);

  if(nptr)
    *nptr = args.n_id;
}

/* Assumed p is normalized to view sphere */
int
smSample_locate_tri(sm,p,s_id,onptr,whichptr,nptr)
SM *sm;
FVECT p;
S_ID s_id;
int *onptr,*whichptr;
S_ID *nptr;
{
  int tri_id;
  FVECT tpt;
  TRI *tri;

  if(SM_S_NTH_QT(sm,s_id) == EMPTY)
    smInsert_samp(sm,s_id,p,nptr);
#ifdef DEBUG
  if(*nptr == INVALID)
    error(CONSISTENCY,"smSample_locate_tri: unable to find sample\n");
#endif
  
  /* Get the triangle adjacent to a sample in qt, or if there are no other
     samples in qt than the one just inserted, look at siblings-from parent
     node
  */

  tri_id = SM_NTH_VERT(sm,*nptr);
#ifdef DEBUG
  if(tri_id == INVALID)
      error(CONSISTENCY,"smSample_locate_tri: Invalid tri_id\n");
#endif

  tri = SM_NTH_TRI(sm,tri_id);
#ifdef DEBUG
  Tcnt++;
    if(!T_IS_VALID(tri))
      error(CONSISTENCY,"smSample_locate_tri: Invalid tri\n");
#endif
  tri_id = smWalk(sm,p,tri_id,tri,onptr,whichptr,-1,0.0,NULL,NULL);
#ifdef DEBUG
    if(tri_id == INVALID)
      error(CONSISTENCY,"smSample_locate_tri: unable to find tri on walk\n");
#endif
    return(tri_id);
}

/*
   Determine whether this sample should:
   a) be added to the mesh by subdividing the triangle
   b) ignored
   c) replace values of an existing mesh vertex

   In case a, the routine will return TRUE, for b,c will return FALSE
   In case a, also determine if this sample should cause the deletion of
   an existing vertex. If so *rptr will contain the id of the sample to delete
   after the new sample has been added.

   ASSUMPTION: this will not be called with a new sample that is
               a BASE point.

   The following tests are performed (in order) to determine the fate
   of the sample:

   1) If the new sample is close in ws, and close in the spherical projection
      to one of the triangle vertex samples:
         pick the point with dir closest to that of the canonical view
         If it is the new point: mark existing point for deletion,and return
         TRUE,else return FALSE
   2) If the spherical projection of new is < REPLACE_EPS from a base point:
      add new and mark the base for deletion: return TRUE
   3) If the addition of the new sample point would introduce a "puncture"
      or cause new triangles with large depth differences:return FALSE
     This attempts to throw out points that should be occluded   
*/
int
smTest_samp(sm,tri_id,dir,p,rptr,ns,n0,n1,n2,ds,d0,on,which)
   SM *sm;
   int tri_id;
   FVECT dir,p;
   S_ID *rptr;
   FVECT ns,n0,n1,n2;
   double ds,d0;
   int on,which;
{
    TRI *tri;
    double d,d2,dnear,dspt,d01,d12,d20,s0,s1,s2;
    double dp,dp1;
    S_ID vid[3];
    int i,norm,dcnt,bcnt;
    FVECT diff[3],spt,npt,n;
    FVECT nearpt;

    *rptr = INVALID;
    bcnt = dcnt = 0;
    tri = SM_NTH_TRI(sm,tri_id);
    vid[0] = T_NTH_V(tri,0);
    vid[1] = T_NTH_V(tri,1);
    vid[2] = T_NTH_V(tri,2);

    for(i=0; i<3; i++)
    {
      if(SM_BASE_ID(sm,vid[i]))
        bcnt++;
      else
        if(SM_DIR_ID(sm,vid[i]))
          dcnt++;
    }
    if(on == ON_P)
    {
      FVECT edir;
     /* Pick the point with dir closest to that of the canonical view
         if it is the new sample: mark existing point for deletion
         */
      if(!dir)
        return(FALSE);
      if(SM_BASE_ID(sm,vid[which]))
        return(FALSE);
      if(SM_DIR_ID(sm,vid[which]))
      {
        *rptr = vid[which];
        return(TRUE);
      }
  decodedir(edir,SM_NTH_W_DIR(sm,vid[which]));
      if(which == 0)
        d = DOT(edir,n0);
      else
        if(which == 1)
          d = DOT(edir,n1);
        else
          d = DOT(edir,n2);
      d2 = DOT(dir,ns);
      /* The existing sample is a better sample:punt */
      if(d2 >= d)
        return(FALSE);
      else
      {
        /* The new sample is better: mark existing one for deletion*/ 
        *rptr = vid[which];
        return(TRUE);
      }
    }   

/* Now test if sample epsilon is within circumcircle of enclosing tri
   if not punt:
   */
    {
      double ab[3],ac[3],r[3];

      VSUB(ab,n2,n1);
      VSUB(ac,n0,n2);
      VCROSS(r,ab,ac);
      dp = DOT(r,n1);
      dp1 = DOT(r,ns);
      if(dp1*dp1 + COS_VERT_EPS*DOT(r,r) < dp*dp)
        {
#ifdef DEBUG
          eputs("smTest_samp:rejecting samp,cant guarantee not within eps\n");
#endif
          return(FALSE);
        }
    }
#ifdef DEBUG
#if DEBUG > 1
    if(on == ON_E)
    {
      TRI *topp;
      int opp_id;
      FVECT vopp;

      topp = SM_NTH_TRI(sm,T_NTH_NBR(tri,which));
      opp_id = T_NTH_V(topp, T_NTH_NBR_PTR(tri_id,topp));
      /* first check if valid tri created*/
      VSUB(vopp,SM_NTH_WV(sm,opp_id),SM_VIEW_CENTER(sm));
      normalize(vopp);
      VCROSS(n,ns,vopp);
      normalize(n);
      if(which==2)
        dp = DOT(n,n0) * DOT(n,n1);
      else
        if(which==0)
          dp = DOT(n,n1) * DOT(n,n2);
        else
          dp = DOT(n,n2) * DOT(n,n0);
      if(dp > 0.0)
      {
        eputs("smInsert_samp_mesh: couldn't split edge: rejecting\n");
        /* test epsilon for edge */
        return(FALSE);
      }
    }
#endif
#endif
  /* TEST 4:
     If the addition of the new sample point would introduce a "puncture"
     or cause new triangles with large depth differences:dont add:    
     */
    if(bcnt || dcnt)
       return(TRUE);

    if(ds < d0)
      return(TRUE);

    d01 = DIST_SQ(SM_NTH_WV(sm,vid[1]),SM_NTH_WV(sm,vid[0]));
    VSUB(diff[0],SM_NTH_WV(sm,vid[0]),p);
    s0 = DOT(diff[0],diff[0]);
    if(s0 < S_REPLACE_SCALE*d01)
       return(TRUE);

    d12 = DIST_SQ(SM_NTH_WV(sm,vid[2]),SM_NTH_WV(sm,vid[1]));
    if(s0 < S_REPLACE_SCALE*d12)
       return(TRUE);    
    d20 = DIST_SQ(SM_NTH_WV(sm,vid[0]),SM_NTH_WV(sm,vid[2]));
    if(s0 < S_REPLACE_SCALE*d20)
       return(TRUE);    
    d = MIN3(d01,d12,d20);
    VSUB(diff[1],SM_NTH_WV(sm,vid[1]),p); 
   s1 = DOT(diff[1],diff[1]);
    if(s1 < S_REPLACE_SCALE*d)
       return(TRUE);
    VSUB(diff[2],SM_NTH_WV(sm,vid[2]),p);
    s2 = DOT(diff[2],diff[2]);
    if(s2 < S_REPLACE_SCALE*d)
       return(TRUE);    

  /* TEST 5:
     Check to see if triangle is relatively large and should therefore
     be subdivided anyway.
     */  
    d0 = d0*d0*DIST_SQ(SM_NTH_WV(sm,vid[1]),SM_VIEW_CENTER(sm));
    d0 *= DIST_SQ(SM_NTH_WV(sm,vid[2]),SM_VIEW_CENTER(sm));
    if (d01*d12*d20/d0 > S_REPLACE_TRI)
        return(TRUE);
            
    return(FALSE);
}
S_ID
smReplace_samp(sm,c,dir,p,np,s_id,t_id,o_id,on,which)
     SM *sm;
     COLR c;
     FVECT dir,p,np;
     S_ID s_id;
     int t_id;
     S_ID o_id;
     int on,which;
{
  S_ID v_id;
  int tri_id;
  TRI *t,*tri;

  tri = SM_NTH_TRI(sm,t_id);
  v_id = T_NTH_V(tri,which);

  /* If it is a base id, need new sample */
  if(SM_BASE_ID(sm,v_id))
    return(v_id);

  if(EQUAL_VEC3(p,SM_NTH_WV(sm,v_id)))
    return(INVALID);

  if(dir)
  {    /* If world point */
     FVECT odir,no;
     double d,d1;
     int dir_id;
    /* if existing point is a not a dir, compare directions */
    if(!(dir_id = SM_DIR_ID(sm,v_id)))
    {
      decodedir(odir, SM_NTH_W_DIR(sm,v_id));   
      VSUB(no,SM_NTH_WV(sm,v_id),SM_VIEW_CENTER(sm));
      d = DOT(dir,np);
      d1 = DOT(odir,np);
     /* The existing sample is a better sample:punt */
    }
    if(dir_id || (d*d*DOT(no,no) > d1*d1)) 
    {
      /* The new sample has better information- replace values */
      sInit_samp(SM_SAMP(sm),v_id,c,dir,p,o_id);
      if(!SM_IS_NTH_T_NEW(sm,t_id))
         SM_SET_NTH_T_NEW(sm,t_id);
      tri_id = smTri_next_ccw_nbr(sm,tri,v_id);
      while(tri_id != t_id)
      {
        t = SM_NTH_TRI(sm,tri_id);
        if(!SM_IS_NTH_T_NEW(sm,tri_id))
          SM_SET_NTH_T_NEW(sm,tri_id);
        tri_id = smTri_next_ccw_nbr(sm,t,v_id);
      }
    }
    return(v_id);
  }
  else  /* New point is a dir */
  return(INVALID);

}

S_ID
smAlloc_samp(sm)
SM *sm;
{
  S_ID s_id;
  int replaced,cnt;
  SAMP *s;
  FVECT p;

  s = SM_SAMP(sm);
  s_id = sAlloc_samp(s,&replaced);
  while(replaced)
  {
    smRemoveVertex(sm,s_id);
    s_id = sAlloc_samp(s,&replaced);
  }
  return(s_id);
}


/* Add sample to the mesh:

   the sample can be a world space or directional point. If o_id !=INVALID,
   then we have an existing sample containing the appropriate information
   already converted into storage format.
   The spherical projection of the point/ray can:
        a) coincide with existing vertex
                i) conincides with existing sample
               ii) projects same as existing sample
              iii) hits a base vertex
        b) coincide with existing edge
        c) Fall in existing triangle
*/
S_ID
smAdd_samp(sm,c,dir,p,o_id)
   SM *sm;
   COLR c;
   FVECT dir,p;
   S_ID o_id;
{
  int t_id,on,which,n_id;
  S_ID s_id,r_id,nbr_id;
  double ds,d0;
  FVECT wpt,ns,n0,n1,n2;
  QUADTREE qt,parent;
  TRI *t;

  r_id = INVALID;
  nbr_id = INVALID;
  /* Must do this first-as may change mesh */
  s_id = smAlloc_samp(sm);
  SM_S_NTH_QT(sm,s_id)= EMPTY;
  /* If sample is a world space point */
  if(p)
  {
    VSUB(ns,p,SM_VIEW_CENTER(sm));
    ds = normalize(ns);
    while(1)
    {
      t_id = smSample_locate_tri(sm,ns,s_id,&on,&which,&nbr_id);
      qt = SM_S_NTH_QT(sm,s_id);
      if(t_id == INVALID)
      {
#ifdef DEBUG
          eputs("smAddSamp(): unable to locate tri containing sample \n");
#endif
          smUnalloc_samp(sm,s_id);
          qtremovelast(qt,s_id);
          return(INVALID);
        }
      /* If spherical projection coincides with existing sample: replace */
      if(on == ON_V)
      {
          n_id = smReplace_samp(sm,c,dir,p,ns,s_id,t_id,o_id,on,which);
          if(n_id != s_id)
          {
            smUnalloc_samp(sm,s_id);
#if 0
            fprintf(stderr,"Unallocating sample %d\n",s_id);
#endif
            qtremovelast(qt,s_id);
          }
          return(n_id);
      }
      t = SM_NTH_TRI(sm,t_id);
      VSUB(n0,SM_NTH_WV(sm,T_NTH_V(t,0)),SM_VIEW_CENTER(sm));
      d0 = normalize(n0);
      VSUB(n1,SM_NTH_WV(sm,T_NTH_V(t,1)),SM_VIEW_CENTER(sm));
      normalize(n1);
      VSUB(n2,SM_NTH_WV(sm,T_NTH_V(t,2)),SM_VIEW_CENTER(sm));
      normalize(n2);
      if((!(smTest_samp(sm,t_id,dir,p,&r_id,ns,n0,n1,n2,ds,d0,on,which))))
      { 
        smUnalloc_samp(sm,s_id);
#if 0
            fprintf(stderr,"Unallocating sample %d\n",s_id);
#endif
        qtremovelast(qt,s_id);
        return(INVALID);
      }
      if(r_id != INVALID)
      {
        smRemoveVertex(sm,r_id);
        if(nbr_id == r_id)
        {
          qtremovelast(qt,s_id);
          SM_S_NTH_QT(sm,s_id) = EMPTY;
        }
      }
      else
        break;
    }
    /* If sample is being added in the middle of the sample array: tone 
       map individually
       */
    /* If not base or sky point, add distance from center to average*/  
    smDist_sum += 1.0/ds;
    /* Initialize sample */
    sInit_samp(SM_SAMP(sm),s_id,c,dir,p,o_id);
    smInsert_samp_mesh(sm,s_id,t_id,ns,n0,n1,n2,on,which);
  }
    /* If sample is a direction vector */
    else
    {
      VADD(wpt,dir,SM_VIEW_CENTER(sm));
      /* Allocate space for a sample and initialize */
      while(1)
      { 
        t_id = smSample_locate_tri(sm,dir,s_id,&on,&which,&nbr_id);
        qt = SM_S_NTH_QT(sm,s_id);
#ifdef DEBUG
        if(t_id == INVALID)
        {
          eputs("smAddSamp():can't locate tri containing samp\n");
          smUnalloc_samp(sm,s_id);
          qtremovelast(qt,s_id);
          return(INVALID);
        }
#endif
        if(on == ON_V)
        {
          smUnalloc_samp(sm,s_id);
          qtremovelast(qt,s_id);
          return(INVALID);
        }
        t = SM_NTH_TRI(sm,t_id);
        VSUB(n0,SM_NTH_WV(sm,T_NTH_V(t,0)),SM_VIEW_CENTER(sm));
        d0 = normalize(n0);
        VSUB(n1,SM_NTH_WV(sm,T_NTH_V(t,1)),SM_VIEW_CENTER(sm));
        normalize(n1);
        VSUB(n2,SM_NTH_WV(sm,T_NTH_V(t,2)),SM_VIEW_CENTER(sm));
        normalize(n2);
        if(!smTest_samp(sm,t_id,NULL,wpt,&r_id,dir,n0,n1,n2,1.0,d0,on,which))
        {
          smUnalloc_samp(sm,s_id);
          qtremovelast(qt,s_id);
          return(INVALID);
        }
        if(r_id != INVALID)
        {
          smRemoveVertex(sm,r_id);
          if(nbr_id == r_id)
            {
              qtremovelast(qt,s_id);
              SM_S_NTH_QT(sm,s_id) = EMPTY;
            }
        }
        else
          break;
      }
      sInit_samp(SM_SAMP(sm),s_id,c,NULL,wpt,o_id);
      smInsert_samp_mesh(sm,s_id,t_id,dir,n0,n1,n2,on,which);
    }
    return(s_id);
}

/*
 * int
 * smNewSamp(c, dir, p) : register new sample point and return index
 * COLR c;              : pixel color (RGBE)
 * FVECT        dir;    : ray direction vector
 * FVECT        p;      : world intersection point
 *
 * Add new sample point to data structures, removing old values as necessary.
 * New sample representation will be output in next call to smUpdate().
 * If the point is a sky point: then v=NULL
 */
#define FVECT_TO_SFLOAT(p) \
        (p[0]=(SFLOAT)p[0],p[1]=(SFLOAT)p[1],p[2]=(SFLOAT)p[2]) 
int
smNewSamp(c,dir,p)
COLR c;
FVECT dir;
FVECT p;
{
    S_ID s_id;

    /* First check if this the first sample: if so initialize mesh */
    if(SM_NUM_SAMP(smMesh) == 0)
    {
      smInit_sm(smMesh,odev.v.vp);
      sClear_all_flags(SM_SAMP(smMesh));
    }
    FVECT_TO_SFLOAT(p);
    FVECT_TO_SFLOAT(dir);
    /* Add the sample to the mesh */
    s_id = smAdd_samp(smMesh,c,dir,p,INVALID);

    return((int)s_id);
    
 }    
S_ID
smAdd_base_vertex(sm,v)
   SM *sm;
   FVECT v;
{
  S_ID id;

  /* First add coordinate to the sample array */
  id = sAdd_base_point(SM_SAMP(sm),v);
  if(id == INVALID)
    return(INVALID);
  /* Initialize triangle pointer to -1 */
  smClear_vert(sm,id);
  return(id);
}


/* Initialize a the point location DAG based on a 6 triangle tesselation
   of the unit sphere centered on the view center. The DAG structure
   contains 6 roots: one for each initial base triangle
*/

int
smCreate_base_mesh(sm,type)
SM *sm;
int type;
{
  int i,s_id,tri_id,nbr_id;
  S_ID p[SM_BASE_POINTS];
  int ids[SM_BASE_TRIS];
  S_ID v0_id,v1_id,v2_id;
  FVECT d,pt,cntr,v0,v1,v2;
  TRI *t;

  /* First insert the base vertices into the sample point array */
  for(i=0; i < SM_BASE_POINTS; i++)
  {
    VADD(cntr,icosa_verts[i],SM_VIEW_CENTER(sm));
    p[i]  = smAdd_base_vertex(sm,cntr);
    smInsert_samp(sm,p[i],icosa_verts[i],NULL);
  }
  /* Create the base triangles */
  for(i=0;i < SM_BASE_TRIS; i++)
  {
    v0_id = p[icosa_tris[i][0]];
    v1_id = p[icosa_tris[i][1]];
    v2_id = p[icosa_tris[i][2]];
    ids[i] = smAdd_tri(sm, v0_id,v1_id,v2_id,&t);
    /* Set neighbors */
    for(nbr_id=0; nbr_id < 3; nbr_id++)
      T_NTH_NBR(SM_NTH_TRI(sm,ids[i]),nbr_id) = icosa_nbrs[i][nbr_id];

  }
 return(1);

}

smRebuild(sm,v)
   SM *sm;
   VIEW *v;
{
    S_ID s_id;
    int j,cnt;
    FVECT p,ov,dir;
    double d;

#ifdef DEBUG
    fprintf(stderr,"smRebuild(): rebuilding....");
#endif
    smCull(sm,v,SM_ALL_LEVELS);
    /* Clear the mesh- and rebuild using the current sample array */
    /* Remember the current number of samples */
    cnt = SM_NUM_SAMP(sm);
    /* Calculate the difference between the current and new viewpoint*/
    /* Will need to subtract this off of sky points */
    VCOPY(ov,SM_VIEW_CENTER(sm));

    /* Initialize the mesh to 0 samples and the base triangles */
    smInit_sm(sm,v->vp);
    /* Go through all samples and add in if in the new view frustum, and
       the dir is <= 30 degrees from new view
     */
    for(s_id=0; s_id < cnt; s_id++)
    {
      /* First check if sample visible(conservative approx: if one of tris 
         attached to sample is in frustum)       */
      if(!S_IS_FLAG(s_id))
        continue;
      
      /* Next test if direction > 30 degrees from current direction */
        if(SM_NTH_W_DIR(sm,s_id)!=-1)
        {
            VSUB(p,SM_NTH_WV(sm,s_id),v->vp);
            decodedir(dir,SM_NTH_W_DIR(sm,s_id));
            d = DOT(dir,p);
            if (d*d < MAXDIFF2*DOT(p,p))
              continue;
            VCOPY(p,SM_NTH_WV(sm,s_id));
            smAdd_samp(sm,NULL,dir,p,s_id);
        }
        else
        {
          /* If the direction is > 45 degrees from current view direction:
             throw out
           */
          VSUB(dir,SM_NTH_WV(sm,s_id),ov);
          if(DOT(dir,v->vdir) < MAXDIR)
            continue;

          VADD(SM_NTH_WV(sm,s_id),dir,SM_VIEW_CENTER(sm));
          smAdd_samp(sm,NULL,dir,NULL,s_id);
        }

    }
#ifdef DEBUG
    fprintf(stderr,"smRebuild():done\n");
#endif
}

/* OS is constrained to be <= QT_MAXCSET : if the set exceeds this, the
 results of check_set are conservative
*/
int
compare_ids(id1,id2)
S_ID *id1,*id2;
{
  int d;

  d = *id2-*id1;
  
  if(d > 0)
    return(-1);
  if(d < 0)
    return(1);
  
  return(0);
}


null_func(argptr,root,qt,n)
     int *argptr;
     int root;
     QUADTREE qt;
     int n;
{
  /* do nothing */
}

mark_active_samples(argptr,root,qt,n)
     int *argptr;
     int root;
     QUADTREE qt;
     int n;
{
  S_ID *os,s_id;
  register int i,t_id,tri_id;
  TRI *tri;

  if(QT_IS_EMPTY(qt) || QT_LEAF_IS_FLAG(qt))
    return;
  
  /* For each triangle in the set, set the which flag*/
  os = qtqueryset(qt);

  for (i = QT_SET_CNT(os); i > 0; i--)
  {
    s_id = QT_SET_NEXT_ELEM(os);
    S_SET_FLAG(s_id);

    tri_id = SM_NTH_VERT(smMesh,s_id);
    /* Set the active flag for all adjacent triangles */
     tri = SM_NTH_TRI(smMesh,tri_id);
     SM_SET_NTH_T_ACTIVE(smMesh,tri_id);
     while((t_id = smTri_next_ccw_nbr(smMesh,tri,s_id)) != tri_id)
     {
       tri = SM_NTH_TRI(smMesh,t_id);
       SM_SET_NTH_T_ACTIVE(smMesh,t_id);
     }
  }
}

smCull(sm,view,n)
 SM *sm;
 VIEW *view;
 int n;
 {
     FVECT nr[4],far[4];
     FPEQ peq;
     int debug=0;
     FUNC f;

     /* First clear all the quadtree node flags */
     qtClearAllFlags();

     F_ARGS(f) = NULL;
     /* If marking samples down to leaves */
     if(n == SM_ALL_LEVELS)
     {
     /* Mark triangles in approx. view frustum as being active:set
        LRU counter: for use in discarding samples when out
        of space
        */
       F_FUNC(f) = mark_active_samples;
       smClear_flags(sm,T_ACTIVE_FLAG);
       /* Clear all of the active sample flags*/
       sClear_all_flags(SM_SAMP(sm));
     }
     else
       /* Just mark qtree flags */
       F_FUNC(f) = null_func;

     /* calculate the world space coordinates of the view frustum:
        Radiance often has no far clipping plane: but driver will set
        dev_zmin,dev_zmax to satisfy OGL
    */
     calculate_view_frustum(view->vp,view->hvec,view->vvec,view->horiz,
                            view->vert, dev_zmin,dev_zmax,nr,far);

#ifdef TEST_DRIVER
     VCOPY(FrustumFar[0],far[0]);
     VCOPY(FrustumFar[1],far[1]);
     VCOPY(FrustumFar[2],far[2]);
     VCOPY(FrustumFar[3],far[3]);
     VCOPY(FrustumNear[0],nr[0]);
     VCOPY(FrustumNear[1],nr[1]);
     VCOPY(FrustumNear[2],nr[2]);
     VCOPY(FrustumNear[3],nr[3]);
#endif
     /* Project the view frustum onto the spherical quadtree */
     /* For every cell intersected by the projection of the faces

        of the frustum: mark all triangles in the cell as ACTIVE-
        Also set the triangles LRU clock counter
        */

     if(EQUAL_VEC3(view->vp,SM_VIEW_CENTER(sm)))
     {/* Near face triangles */

       smLocator_apply(sm,nr[0],nr[2],nr[3],f,n);
       smLocator_apply(sm,nr[2],nr[0],nr[1],f,n); 
       return;
     }
     /* Test the view against the planes: and swap orientation if inside:*/
     tri_plane_equation(nr[0],nr[2],nr[3], &peq,FALSE);
     if(PT_ON_PLANE(SM_VIEW_CENTER(sm),peq) < 0.0)
     {/* Near face triangles */
       smLocator_apply(sm,nr[3],nr[2],nr[0],f,n);
       smLocator_apply(sm,nr[1],nr[0],nr[2],f,n);
     }
     else
     {/* Near face triangles */
       smLocator_apply(sm,nr[0],nr[2],nr[3],f,n);
       smLocator_apply(sm,nr[2],nr[0],nr[1],f,n);
     }
     tri_plane_equation(nr[0],far[3],far[0], &peq,FALSE);
     if(PT_ON_PLANE(SM_VIEW_CENTER(sm),peq) < 0.0)
     { /* Right face triangles */
       smLocator_apply(sm,far[0],far[3],nr[0],f,n);
       smLocator_apply(sm,nr[3],nr[0],far[3],f,n);
     }
     else
     {/* Right face triangles */
       smLocator_apply(sm,nr[0],far[3],far[0],f,n);
       smLocator_apply(sm,far[3],nr[0],nr[3],f,n);
     }

     tri_plane_equation(nr[1],far[2],nr[2], &peq,FALSE);
     if(PT_ON_PLANE(SM_VIEW_CENTER(smMesh),peq) < 0.0)
     { /* Left face triangles */
       smLocator_apply(sm,nr[2],far[2],nr[1],f,n);
       smLocator_apply(sm,far[1],nr[1],far[2],f,n);
     }
     else
     { /* Left face triangles */
       smLocator_apply(sm,nr[1],far[2],nr[2],f,n);
       smLocator_apply(sm,far[2],nr[1],far[1],f,n);
     }
     tri_plane_equation(nr[0],far[0],nr[1], &peq,FALSE);
     if(PT_ON_PLANE(SM_VIEW_CENTER(sm),peq) < 0.0)
     {/* Top face triangles */
       smLocator_apply(sm,nr[1],far[0],nr[0],f,n);
       smLocator_apply(sm,far[1],far[0],nr[1],f,n);
     }
     else
     {/* Top face triangles */
       smLocator_apply(sm,nr[0],far[0],nr[1],f,n);
       smLocator_apply(sm,nr[1],far[0],far[1],f,n);
     }
     tri_plane_equation(nr[3],nr[2],far[3], &peq,FALSE);
     if(PT_ON_PLANE(SM_VIEW_CENTER(sm),peq) < 0.0)
     {/* Bottom face triangles */
       smLocator_apply(sm,far[3],nr[2],nr[3],f,n);
       smLocator_apply(sm,far[3],far[2],nr[2],f,n);
     }
     else
     { /* Bottom face triangles */
       smLocator_apply(sm,nr[3],nr[2],far[3],f,n);
       smLocator_apply(sm,nr[2],far[2],far[3],f,n);
     }
      tri_plane_equation(far[2],far[0],far[1], &peq,FALSE);
     if(PT_ON_PLANE(SM_VIEW_CENTER(sm),peq) < 0.0)
     {/* Far face triangles */
       smLocator_apply(sm,far[0],far[2],far[1],f,n);
       smLocator_apply(sm,far[2],far[0],far[3],f,n);
     }
     else
     {/* Far face triangles */
       smLocator_apply(sm,far[1],far[2],far[0],f,n);
       smLocator_apply(sm,far[3],far[0],far[2],f,n);
     }

 }


Revision:	3.18
Committed:	Fri Jun 20 00:25:49 2003 UTC (20 years, 10 months ago) by greg
Content type:	text/plain
Branch:	MAIN
Changes since 3.17:	+2 -2 lines
Log Message:	Changed instances of "int4" to "int32" and "int2" to "int16"