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/* ----------------------------------------------------------------------- *
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 * This file is part of GEL, http://www.imm.dtu.dk/GEL
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 * Copyright (C) the authors and DTU Informatics
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 * For license and list of authors, see ../../doc/intro.pdf
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 * ----------------------------------------------------------------------- */
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#include "build_bbtree.h"
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#include "build_bbtree.h"
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#include "HMesh/VertexCirculator.h"
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#include "HMesh/FaceCirculator.h"
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#include <HMesh/Manifold.h>
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using namespace CGLA;
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using namespace CGLA;
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using namespace std;
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using namespace std;
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using namespace HMesh;
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using namespace HMesh;
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namespace
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namespace
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{
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{
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	const float EDGE_MIN_SQ_LENGTH = CGLA::MINUTE;
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    const float EDGE_MIN_SQ_LENGTH = CGLA::MINUTE;
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	inline bool degenerate_edge(HalfEdgeIter he)
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    inline bool degenerate_edge(const Manifold& m, HalfEdgeID h)
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	{
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    {
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		Walker w = m.walker(h);
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		if(sqr_length(he->vert->pos-he->opp->vert->pos)<1e-8)
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        if(sqr_length(m.pos(w.vertex()) - m.pos(w.opp().vertex())) < 1e-8)
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			return true;
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            return true;
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		return false;
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        return false;
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	}
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    }
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}
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}
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{
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{
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template<class BBTree>
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    template<class BBTree>
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void build_tree_robust(Manifold& m, BBTree& tree)
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    void build_tree_robust(Manifold& m, BBTree& tree)
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{
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    {
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#ifdef COMPUTE_SIGN
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	vector<Vec3f> face_normals(m.no_faces());
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	int i=0;
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	for(FaceIter fi=m.faces_begin(); fi != m.faces_end();++fi,++i)
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		{
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			face_normals[i] = normal(fi);
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			fi->touched = i;
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		}
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	for(HalfEdgeIter ei=m.halfedges_begin(); ei != m.halfedges_end();++ei)
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		ei->touched = -1;
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	i=0;
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	vector<Vec3f> edge_normals(0);
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	for(HalfEdgeIter ei=m.halfedges_begin(); ei != m.halfedges_end();++ei)
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		{
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			if(ei->touched == -1)
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				{
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					Vec3f n_a = face_normals[ei->face->touched];
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					Vec3f n_b = n_a;
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					if(ei->opp->face != NULL_FACE_ITER)
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						n_b = face_normals[ei->opp->face->touched];
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					edge_normals.push_back(normalize(n_a+n_b));
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					ei->touched = i;
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					ei->opp->touched = i;
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					++i;
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				}
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		}
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	for(VertexIter vi=m.vertices_begin(); vi != m.vertices_end(); ++vi)
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		vi->touched = -1;
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	int vertex_cluster_number=0;
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	vector<Vec3f> vertex_normals(m.no_vertices());
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	for(VertexIter vi=m.vertices_begin(); vi != m.vertices_end(); ++vi)
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		{
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			if(vi->touched == -1)
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				{
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					int cluster_size=0;
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					Vec3f nsum(0);
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					vector<VertexIter> cluster(1,vi);
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					while(!cluster.empty())
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						{
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							cluster_size ++;
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							VertexIter vert_iter = cluster.back();
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							cluster.pop_back();
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							vert_iter->touched = vertex_cluster_number;
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							vector<VertexIter> nbrs;
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							VertexCirculator vc(vert_iter);
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							for(;!vc.end();++vc)
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								nbrs.push_back(vc.get_vertex());
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							int N = vc.no_steps();
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							Vec3f p = vert_iter->pos;
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							for(int j=0;j<N;++j)
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								{
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									Vec3f va = nbrs[(j+1)%N]->pos - p;
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									Vec3f vb = nbrs[j]->pos - p;
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									if(sqr_length(vb) > EDGE_MIN_SQ_LENGTH)
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										{
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											if(sqr_length(va) > EDGE_MIN_SQ_LENGTH)
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93 
												{
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94 
													va.normalize();
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													vb.normalize();
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													float a = acos(dot(va,vb));
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													nsum += a*normalize(cross(va,vb));
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98 
												}
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99 
										}
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100 
 									else
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 										{
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 											if(nbrs[j]->touched != vertex_cluster_number)
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 												{
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 													assert(nbrs[j]->touched == -1);
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 													cluster.push_back(nbrs[j]);
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 												}
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 										}
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								}
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109 
						}
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110 
					vertex_normals[vertex_cluster_number] = normalize(nsum);
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111 
					++vertex_cluster_number;
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112 
 					if(cluster_size > 1) cout << "Cluster Size "
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 																		<< cluster_size << " normal "
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																		<< normalize(nsum) << endl;
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115 
				}
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116 
		}
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118 
	vector<Triangle> triangle_vec;
 35 
        vector<Triangle> triangle_vec;
119 
 
 36 
 
120 
	i=0;
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	for(FaceIter fi=m.faces_begin(); fi != m.faces_end();++fi,++i)
 37 
        for(FaceIDIterator fi=m.faces_begin(); fi != m.faces_end();++fi)
122 
		{
 38 
        {
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			Vec3f fn = face_normals[fi->touched];
 39 
            Vec3d face_normal = normal(m, *fi);
124 
 
 40
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			FaceCirculator fc(fi);
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            Walker w = m.walker(*fi);
126 
 
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			Vec3f v0,v1,v2;
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            Vec3f v0,v1,v2;
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			Vec3f vn0,vn1,vn2;
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            Vec3f vn0,vn1,vn2;
129 
			Vec3f en0,en1,en2;
 45 
            Vec3f en0,en1,en2;
130
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			v0  = fc.get_vertex()->pos;
 47 
            v0  = Vec3f(m.pos(w.vertex()));
132 
			vn0 = vertex_normals[fc.get_vertex()->touched];
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            vn0 = Vec3f(normal(m, w.vertex()));
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			en0 = edge_normals[fc.get_halfedge()->touched];
 49 
            en0 = Vec3f(normalize(face_normal + normal(m, w.next().opp().face())));
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 50
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 51 
            w = w.next();
134
52 
 
135 
			++fc;
 53 
            v1  = Vec3f(m.pos(w.vertex()));
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 54 
            vn1 = Vec3f(normal(m, w.vertex()));
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 55 
            en1 = Vec3f(normalize(face_normal + normal(m, w.next().opp().face())));
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 56 
 
137 
			v1  = fc.get_vertex()->pos;
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			vn1 = vertex_normals[fc.get_vertex()->touched];
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			en1 = edge_normals[fc.get_halfedge()->touched];
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140
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			++fc;
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            w = w.next();
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			v2  = fc.get_vertex()->pos;
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            v2  = Vec3f(m.pos(w.vertex()));
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			vn2 = vertex_normals[fc.get_vertex()->touched];
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            vn2 = Vec3f(normal(m, w.vertex()));
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			en2 = edge_normals[fc.get_halfedge()->touched];
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            en2 = Vec3f(normalize(face_normal + normal(m, w.next().opp().face())));
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			if(sqr_length(v0-v1)>EDGE_MIN_SQ_LENGTH &&
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            if(sqr_length(v0-v1)>EDGE_MIN_SQ_LENGTH &&
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				 sqr_length(v1-v2)>EDGE_MIN_SQ_LENGTH &&
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                sqr_length(v1-v2)>EDGE_MIN_SQ_LENGTH &&
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				 sqr_length(v2-v0)>EDGE_MIN_SQ_LENGTH)
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                sqr_length(v2-v0)>EDGE_MIN_SQ_LENGTH)
150 
					triangle_vec.push_back(Triangle(v0,v1,v2,vn0,vn1,vn2,en0,en1,en2));
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                triangle_vec.push_back(Triangle(v0,v1,v2,vn0,vn1,vn2,en0,en1,en2));
151 
			else
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            else
152 
					cout << "Killing degenerate triangle" << endl;
 69 
                cout << "Killing degenerate triangle" << endl;
153 
		}
 70 
        }
154 
#else
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155 
	vector<Triangle> triangle_vec;
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156 
	int i=0;
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157 
	for(FaceIter fi=m.faces_begin(); fi != m.faces_end();++fi,++i)
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158 
		{
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159 
			FaceCirculator fc(fi);
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160 
			Vec3f v0,v1,v2;
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161 
			Vec3f dmy(0);
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162 
			v0  = fc.get_vertex()->get_pos();
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163 
			++fc;
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164 
			v1  = fc.get_vertex()->get_pos();
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165 
			++fc;
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			v2  = fc.get_vertex()->get_pos();
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167 
			if(sqr_length(v0-v1)>EDGE_MIN_SQ_LENGTH &&
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168 
				 sqr_length(v1-v2)>EDGE_MIN_SQ_LENGTH &&
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169 
				 sqr_length(v2-v0)>EDGE_MIN_SQ_LENGTH)
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170 
					triangle_vec.push_back(Triangle(v0,v1,v2,dmy,dmy,dmy,dmy,dmy,dmy));
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171 
		}
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172 
#endif
 - 
 
173 
 
 71 
 
174 
	tree.build(triangle_vec);
 72 
        tree.build(triangle_vec);
175 
}
 73 
    }
176 
 
 74 
 
177 
void build_OBBTree(HMesh::Manifold& m, OBBTree& tree)
 75 
    void build_OBBTree(HMesh::Manifold& m, OBBTree& tree)