Simplification.cpp

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// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#include "carla/geom/Simplification.h"
#include <third-party/simplify/Simplify.h>
 
namespace carla {
namespace geom {
 
  void Simplification::Simplificate(const std::unique_ptr<geom::Mesh>& pmesh){
    Simplify::SimplificationObject Simplification;
    for (carla::geom::Vector3D& current_vertex : pmesh->GetVertices()) {
      Simplify::Vertex v;
      v.p.x = current_vertex.x;
      v.p.y = current_vertex.y;
      v.p.z = current_vertex.z;
      Simplification.vertices.push_back(v);
    }
 
    for (size_t i = 0; i < pmesh->GetIndexes().size() - 2; i += 3) {
      Simplify::Triangle t;
      t.material = 0;
      auto indices = pmesh->GetIndexes();
      t.v[0] = static_cast<int>(indices[i] - 1);
      t.v[1] = static_cast<int>(indices[i + 1] - 1);
      t.v[2] = static_cast<int>(indices[i + 2] - 1);
      Simplification.triangles.push_back(t);
    }
 
    // Reduce to the X% of the polys
    float target_size = static_cast<float>(Simplification.triangles.size());
    Simplification.simplify_mesh(static_cast<int>(target_size * simplification_percentage));
 
    pmesh->GetVertices().clear();
    pmesh->GetIndexes().clear();
 
    for (Simplify::Vertex& current_vertex : Simplification.vertices) {
      carla::geom::Vector3D v;
      v.x = static_cast<float>(current_vertex.p.x);
      v.y = static_cast<float>(current_vertex.p.y);
      v.z = static_cast<float>(current_vertex.p.z);
      pmesh->AddVertex(v);
    }
 
    for (size_t i = 0; i < Simplification.triangles.size(); ++i) {
      pmesh->GetIndexes().push_back(static_cast<size_t>((Simplification.triangles[i].v[0]) + 1));
      pmesh->GetIndexes().push_back(static_cast<size_t>((Simplification.triangles[i].v[1]) + 1));
      pmesh->GetIndexes().push_back(static_cast<size_t>((Simplification.triangles[i].v[2]) + 1));
    }
  }
 
} // namespace geom
} // namespace carla