Theory Meshes Implementation

Simplicial Complexes:
Theory and Implementation

Marek K. Misztal

Informatics and Mathematical Modelling, Technical University of Denmark

[email protected]

DSC 2011 Workshop

Kgs. Lyngby, 25th August 2011

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Affine independence

Definition (affine independce)

Let v1 , . . . , vp+1 be points in an n-dimensional Euclidean space E n .
We call them affinely dependent if
p+1 p+1
(∃µ1 , . . . , µp+1 ∈ R) ∑ µi = 1 ∧ ∑ µi vi = 0.
i =1 i =1

Otherwise, we call them affinely independent.

Examples:
• three non-colinear points in E 2 are affinely independent;
• four non-coplanar points in E 3 are affinely independent;

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Simplex

Definition (Euclidean simplex)

Having p + 1 affinely independent points v1 , v2 , . . . , vp+1 ∈ E n , an
Euclidean simplex σ = hv1 , . . . , vp+1 i is a set of points given by a
formula:
v = α1 v1 + . . . + αp+1 vp+1 ,
where αi ≥ 0, ∑i αi = 1 (σ is the convex hull of v1 , . . . , vp+1 ).

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Simplex

Definition (Euclidean simplex)

Having p + 1 affinely independent points v1 , v2 , . . . , vp+1 ∈ E n , an
Euclidean simplex σ = hv1 , . . . , vp+1 i is a set of points given by a
formula:
v = α1 v1 + . . . + αp+1 vp+1 ,
where αi ≥ 0, ∑i αi = 1 (σ is the convex hull of v1 , . . . , vp+1 ).

• σ is a closed set in E n .

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Simplex

Definition (Euclidean simplex)

Having p + 1 affinely independent points v1 , v2 , . . . , vp+1 ∈ E n , an
Euclidean simplex σ = hv1 , . . . , vp+1 i is a set of points given by a
formula:
v = α1 v1 + . . . + αp+1 vp+1 ,
where αi ≥ 0, ∑i αi = 1 (σ is the convex hull of v1 , . . . , vp+1 ).

• σ is a closed set in E n .
• p is the dimension of σ (equivalently σ is an Euclidean
p-simplex).

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Simplices

We call a 0-simplex a vertex, a 1-simplex an edge, a 2-simplex a face

and a 3-simplex a tetrahedron.

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Faces

Definition (vertex, q-face)

We call each point vi a vertex of σ , and each simplex hvi1 , . . . , viq+1 i
(0 ≤ q ≤ p, 1 ≤ ik ≤ p + 1) a q-face of σ (or simply a face of σ , if no
ambiguity arises).

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Faces

Definition (vertex, q-face)

We call each point vi a vertex of σ , and each simplex hvi1 , . . . , viq+1 i
(0 ≤ q ≤ p, 1 ≤ ik ≤ p + 1) a q-face of σ (or simply a face of σ , if no
ambiguity arises).

• We also call all the (p − 1)-faces of a p-simplex σ p its boundary

faces.

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Faces

Definition (vertex, q-face)

We call each point vi a vertex of σ , and each simplex hvi1 , . . . , viq+1 i
(0 ≤ q ≤ p, 1 ≤ ik ≤ p + 1) a q-face of σ (or simply a face of σ , if no
ambiguity arises).

• We also call all the (p − 1)-faces of a p-simplex σ p its boundary

faces.
• The faces of σ that are not equal to σ itself are called its proper
faces.

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Faces

Definition (vertex, q-face)

We call each point vi a vertex of σ , and each simplex hvi1 , . . . , viq+1 i
(0 ≤ q ≤ p, 1 ≤ ik ≤ p + 1) a q-face of σ (or simply a face of σ , if no
ambiguity arises).

• We also call all the (p − 1)-faces of a p-simplex σ p its boundary

faces.
• The faces of σ that are not equal to σ itself are called its proper
faces.
• The union of all the boundary faces of a simplex σ is called the
boundary of σ .

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Simplex sets

• For arbitrary, finite set of simplices Σ we define its dimension, as

the maximum dimension of the simplices in Σ:

dim(Σ) = max{dim(σ ) : σ ∈ Σ}.

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Simplex sets

• For arbitrary, finite set of simplices Σ we define its dimension, as

the maximum dimension of the simplices in Σ:

dim(Σ) = max{dim(σ ) : σ ∈ Σ}.

• We also define a k -subset of Σ as a set of all k-simplices in Σ:

filterk (Σ) = {σi ∈ Σ : dim(σi ) = k }.

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Euclidean simplicial complex

Definition (Euclidean simplicial complex)

A finite set Σ of Euclidean simplices forms a (finite) Euclidean
simplicial complex if the following two conditions hold:
1. Σ is closed: for each simplex σ ∈ Σ, all faces of σ are also in Σ.
2. The intersection σi ∩ σj of any two simplices σi , σj ∈ Σ is either
empty or is a face of both σi and σj .

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Euclidean simplicial complex

Definition (Euclidean simplicial complex)

A finite set Σ of Euclidean simplices forms a (finite) Euclidean
simplicial complex if the following two conditions hold:
1. Σ is closed: for each simplex σ ∈ Σ, all faces of σ are also in Σ.
2. The intersection σi ∩ σj of any two simplices σi , σj ∈ Σ is either
empty or is a face of both σi and σj .

• Any subset K0 ⊂ K that is itself a simplicial complex is called a

subcomplex of K.

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Euclidean simplicial complex

Definition (Euclidean simplicial complex)

A finite set Σ of Euclidean simplices forms a (finite) Euclidean
simplicial complex if the following two conditions hold:
1. Σ is closed: for each simplex σ ∈ Σ, all faces of σ are also in Σ.
2. The intersection σi ∩ σj of any two simplices σi , σj ∈ Σ is either
empty or is a face of both σi and σj .

• Any subset K0 ⊂ K that is itself a simplicial complex is called a

subcomplex of K.
• In particular, for any nonnegative integer k, the subset K(k ) ⊂ K
consisting of all simplices of dimension less than or equal to k is
a subcomplex, called the k -skeleton of K.

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Euclidean simplicial complex

Definition (Euclidean simplicial complex)

A finite set Σ of Euclidean simplices forms a (finite) Euclidean
simplicial complex if the following two conditions hold:
1. Σ is closed: for each simplex σ ∈ Σ, all faces of σ are also in Σ.
2. The intersection σi ∩ σj of any two simplices σi , σj ∈ Σ is either
empty or is a face of both σi and σj .

• Any subset K0 ⊂ K that is itself a simplicial complex is called a

subcomplex of K.
• In particular, for any nonnegative integer k, the subset K(k ) ⊂ K
consisting of all simplices of dimension less than or equal to k is
a subcomplex, called the k -skeleton of K.
• The 0-skeleton of K is called a vertex set of K and denoted V (K).

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Euclidean simplicial complex

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Topological relations
For a p-simplex σ p in a simplicial complex K we define the following
topological relations:

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Topological relations
For a p-simplex σ p in a simplicial complex K we define the following
topological relations:
• for p > q, the boundary relation Bp,q (σ p ) is the set of all q-faces
of σ p :
Bp,q (σ p ) = filterq {σ ∈ K : vert(σ ) ⊂ vert(σ p )},

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Topological relations
For a p-simplex σ p in a simplicial complex K we define the following
topological relations:
• for p > q, the boundary relation Bp,q (σ p ) is the set of all q-faces
of σ p :
Bp,q (σ p ) = filterq {σ ∈ K : vert(σ ) ⊂ vert(σ p )},
• for p < q, the coboundary relation Cp,q (σ p ) is the set of all
q-simplices that have σ p as a face:
Cp,q (σ p ) = filterq {σ ∈ K : vert(σ p ) ⊂ vert(σ )},

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Topological relations
For a p-simplex σ p in a simplicial complex K we define the following
topological relations:
• for p > q, the boundary relation Bp,q (σ p ) is the set of all q-faces
of σ p :
Bp,q (σ p ) = filterq {σ ∈ K : vert(σ ) ⊂ vert(σ p )},
• for p < q, the coboundary relation Cp,q (σ p ) is the set of all
q-simplices that have σ p as a face:
Cp,q (σ p ) = filterq {σ ∈ K : vert(σ p ) ⊂ vert(σ )},
• for p > 0, the adjacency relation Ap (σ p ) is the set of all
p-simplices, which are (p − 1)-adjacent to σ p (which means
those simplices, that share a (p − 1)-face with σ p ):
Ap (σ p ) = filterp {σ ∈ K : |vert(σ p ) ∩ vert(σ )| = p},

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Star

Definition (star)
We define the star of a simplex σ as a set of all the simplices in K,
which have σ as a face:
n
st(σ p ) = {σ ∈ K : vert(σ p ) ⊂ vert(σ )} = Cp,q (σ p ).
[

q =p+1

For the sake of convenience, we also define a star of an arbitrary

subset Σ of K, as the union of the stars of all simplices in Σ:
[
st(Σ) = st(σi ).
σi ∈Σ

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Star

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Closure

Definition (closure)
We define the closure of a simplex σ p ∈ K as a set
p
cl(σ p ) = Bp,q (σ p ).
[

q =0

The closure of a simplex set Σ ⊂ K is expressed as a set

[
cl(Σ) = cl(σi ).
σi ∈Σ

Equivalently, we can define the closure of a simplex σ ∈ K (simplex

set Σ ⊂ K) as the smallest subcomplex of K containing σ
(including Σ).

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Closure

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Link

Definition (link)
The link of a simplex σ is defined as the set of all the the simplices in
the closure of the star of σ , which do not share a face with σ :

lk(σ ) = cl(st(σ )) − st(cl(σ )).

It can be proven that for every simplex σ ∈ K, lk(σ ) is a subcomplex.

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Link

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Carrier

Definition
The carrier kKk of a simplicial complex K (also called the polyhedron
kKk) is a subset of E n defined by the union, as point sets, of all the
simplices in K.

Definition
For each point v ∈ kKk there exists exactly one simplex σ ∈ K
containing v in its relative interior. This simplex is denoted by supp(v )
and called the support of the point v .

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Manifoldness

Definition (notion of manifoldness)

We say that a point v ∈ A ⊂ E n is p-manifold if there exists a
neighbourhood U of v such that A ∩ U is homeomorphic to Rp or
R(p−1) × (0, +∞). Otherwise we call v non-manifold.

We say that a simplex σ ∈ K is p-manifold, if every point of the relative

interior of this simplex is p-manifold with regard to the carrier of K.
E.g. obviously each n-simplex is n-manifold, each (n − 1)-simplex is
n-manifold if it is a face of at least one n-simplex, etc.

We also say that an n-dimensional simplicial complex K in E n is

manifold, if each of its simplices is n-manifold.

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Manifoldness

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Orientations

We introduce the following equivalence relation in the set Pσ of all

orderings (vi1 , . . . , vip+1 ) of the vertices of σ = hv1 , . . . , vp+1 i:

(vi1 , . . . , vip+1 ) ∼ (vπ (i1 ) , . . . , vπ (ip+1 ) )

iff π : {1, 2, . . . , p + 1} −→ {1, 2, . . . , p + 1} is an even permutation

operator.

We call each element of the quotient set Oσ = Pσ / ∼ an orientation of

a simplex σ .

If p > 0, |Oσ | = 2, meaning that there are two possible orientations for
any simplex defined on a set of p + 1 points from E n .

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Oriented volume

We define an oriented volume of σ = [v1 , . . . , vp+1 ]

V (σ ) = V (v1 , . . . , vp+1 )
1
= det(v1 − v2 , v2 − v3 , . . . , vp − vp+1 , vp+1 − v1 ).
p!

It can be proven, that for an even permutation operator π

V (vπ (1) , . . . , vπ (p+1) ) = V (v1 , . . . , vp+1 ),

and for an odd permutation operator π 0

V (vπ 0 (1) , . . . , vπ 0 (p+1) ) = −V (v1 , . . . , vp+1 ),

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Natural and induced orientation

Definition (natural orientation)

The orientation of σ , for which V (σ ) > 0 is called the natural
orientation.

Definition (induced orientation)

The p-simplex σ p = [v1 , v2 , . . . , vp+1 ] determines an orientation of
each of its (p − 1)-faces, called the induced orientation, by the
following rule: the induced orientation on the face
σip−1 = hv1 , . . . , vi−1 , vi +1 , . . . , vp+1 i is defined to be
(−1)i +1 [v1 , . . . , vi−1 , vi +1 , . . . , vp+1 ].

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Consistency

• Let K be an n-dimensional simplicial complex in which every

(n − 1)-simplex is a face of no more than two n-simplices.

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Consistency

• Let K be an n-dimensional simplicial complex in which every

(n − 1)-simplex is a face of no more than two n-simplices.
• If σin , σjn ∈ K are two n-simplices that share an (n − 1)-face σ n−1 ,
we say that orientations of σin and σjn are consistent if they
induce opposite orientations on σ n−1 .

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Consistency

• Let K be an n-dimensional simplicial complex in which every

(n − 1)-simplex is a face of no more than two n-simplices.
• If σin , σjn ∈ K are two n-simplices that share an (n − 1)-face σ n−1 ,
we say that orientations of σin and σjn are consistent if they
induce opposite orientations on σ n−1 .
• An orientation of K is a choice of orientation of each n-simplex in
such a way that any two simplices that interesect in an
(n − 1)-face are consistently oriented.

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Consistency

• Let K be an n-dimensional simplicial complex in which every

(n − 1)-simplex is a face of no more than two n-simplices.
• If σin , σjn ∈ K are two n-simplices that share an (n − 1)-face σ n−1 ,
we say that orientations of σin and σjn are consistent if they
induce opposite orientations on σ n−1 .
• An orientation of K is a choice of orientation of each n-simplex in
such a way that any two simplices that interesect in an
(n − 1)-face are consistently oriented.
• If a complex K admits an orientation, it is said to be orientable.

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Triangle meshes

Definition (triangle mesh)

A dimension 2 simplicial complex K ⊂ E n (where n ≥ 2), such that
every 0 or 1-simplex σ ∈ K is a face of a 2-simplex σ 2 ∈ K is called a
triangle mesh.

Triangle meshes inherit the notions of manifoldness and orientability

from simplicial complexes.

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Triangle mesh operations

Triangle mesh operations include:

M. K. Misztal Simplicial Complexes: Theory and Implementation

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Triangle mesh operations

Triangle mesh operations include:

• smoothing: displacing vertices without changing connectivity,
performend in order to improve mesh quality;

M. K. Misztal Simplicial Complexes: Theory and Implementation

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Triangle mesh operations

Triangle mesh operations include:

• smoothing: displacing vertices without changing connectivity,
performend in order to improve mesh quality;
• edge flips: mesh reconnection without changing vertex
placement;

M. K. Misztal Simplicial Complexes: Theory and Implementation

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Triangle mesh operations

Triangle mesh operations include:

• smoothing: displacing vertices without changing connectivity,
performend in order to improve mesh quality;
• edge flips: mesh reconnection without changing vertex
placement;
• edge splits: introducing a new vertex on an edge;

M. K. Misztal Simplicial Complexes: Theory and Implementation

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Triangle mesh operations

Triangle mesh operations include:

• smoothing: displacing vertices without changing connectivity,
performend in order to improve mesh quality;
• edge flips: mesh reconnection without changing vertex
placement;
• edge splits: introducing a new vertex on an edge;
• face splits: introducing a new vertex on a face;

M. K. Misztal Simplicial Complexes: Theory and Implementation

Theory Meshes Implementation

Triangle mesh operations

Triangle mesh operations include:

• smoothing: displacing vertices without changing connectivity,
performend in order to improve mesh quality;
• edge flips: mesh reconnection without changing vertex
placement;
• edge splits: introducing a new vertex on an edge;
• face splits: introducing a new vertex on a face;
• edge collapse: removing an edge and its adjacent triangles;

M. K. Misztal Simplicial Complexes: Theory and Implementation

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Edge flip

M. K. Misztal Simplicial Complexes: Theory and Implementation

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Edge split

M. K. Misztal Simplicial Complexes: Theory and Implementation

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Face split

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Edge collapse

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Tetrahedral meshes

Definition (tetrahedral mesh)

A dimension 3 simplicial complex K ⊂ E n (where n ≥ 3), such that
every 0, 1 or 2-simplex σ ∈ K is a face of a 3-simplex σ 3 ∈ K is called
a tetrahedral mesh.

Tetrahedral meshes inherit the notions of manifoldness and

orientability from simplicial complexes.

Triangle mesh operations generalize (although not always easily) to

tetrahedral meshes.

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Tetrahedral mesh

M. K. Misztal Simplicial Complexes: Theory and Implementation

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Data structures

• The main purpose of data structures representing a simplicial

complex K is to store data associated with simplices in K.

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Data structures

• The main purpose of data structures representing a simplicial

complex K is to store data associated with simplices in K.
• Depending on the purpose, not all of the simplex types might be
represented in the data structure (for example: indexed face set,
for simplicial complexes of dimension 2, with no dangling edges).

M. K. Misztal Simplicial Complexes: Theory and Implementation

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Data structures

• The main purpose of data structures representing a simplicial

complex K is to store data associated with simplices in K.
• Depending on the purpose, not all of the simplex types might be
represented in the data structure (for example: indexed face set,
for simplicial complexes of dimension 2, with no dangling edges).
• If want to ensure efficient traversal, incidence information has to
be stored together with the simplices.

M. K. Misztal Simplicial Complexes: Theory and Implementation

Theory Meshes Implementation

Data structures

• The main purpose of data structures representing a simplicial

complex K is to store data associated with simplices in K.
• Depending on the purpose, not all of the simplex types might be
represented in the data structure (for example: indexed face set,
for simplicial complexes of dimension 2, with no dangling edges).
• If want to ensure efficient traversal, incidence information has to
be stored together with the simplices.
• Examples include: quad-edge, half-edge (for 2-manifold
triangular meshes).

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Incidence simplicial data structure

• The incidence simplicial (IS) data structure is a

dimension-independent, compact data structure designed for
representing arbitrary simplicial complexes K.

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Incidence simplicial data structure

• The incidence simplicial (IS) data structure is a

dimension-independent, compact data structure designed for
representing arbitrary simplicial complexes K.
• Each simplex in K has its representation in IS data structure.

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Incidence simplicial data structure

• The incidence simplicial (IS) data structure is a

dimension-independent, compact data structure designed for
representing arbitrary simplicial complexes K.
• Each simplex in K has its representation in IS data structure.
• We store with each p-simplex σ p ∈ K (for p > 1) the unordered
set of handles to its p + 1 (p − 1)-dimensional faces
σ1p−1 , . . . , σpp−1 p
+1 (the boundary relation Bp,p−1 (σ )).

M. K. Misztal Simplicial Complexes: Theory and Implementation

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Incidence simplicial data structure

• The incidence simplicial (IS) data structure is a

dimension-independent, compact data structure designed for
representing arbitrary simplicial complexes K.
• Each simplex in K has its representation in IS data structure.
• We store with each p-simplex σ p ∈ K (for p > 1) the unordered
set of handles to its p + 1 (p − 1)-dimensional faces
σ1p−1 , . . . , σpp−1 p
+1 (the boundary relation Bp,p−1 (σ )).
• In order to make the traversal efficient, partial coboundary
∗ p p
relation Cp,p +1 (σ ) is also stored with every p-simplex σ ∈ K, for
p < n.

M. K. Misztal Simplicial Complexes: Theory and Implementation

Theory Meshes Implementation

Incidence simplicial data structure

• The incidence simplicial (IS) data structure is a

dimension-independent, compact data structure designed for
representing arbitrary simplicial complexes K.
• Each simplex in K has its representation in IS data structure.
• We store with each p-simplex σ p ∈ K (for p > 1) the unordered
set of handles to its p + 1 (p − 1)-dimensional faces
σ1p−1 , . . . , σpp−1 p
+1 (the boundary relation Bp,p−1 (σ )).
• In order to make the traversal efficient, partial coboundary
∗ p p
relation Cp,p +1 (σ ) is also stored with every p-simplex σ ∈ K, for
p < n.
∗
• Partial coboundary relation Cp,p p
+1 (σ ) consists of
(p + 1)-simplices from st(σ p ) connecting σ p with its link, one per
each connected component in lk(σ p ).

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Our implementation
• Our implementation of the IS data structure is restricted to
simplicial complexes of dimension three or less.

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Our implementation
• Our implementation of the IS data structure is restricted to
simplicial complexes of dimension three or less.
• Our implementation is orientation-aware: we identify an oriented
simplex σ p with an ordered tuple of its (p − 1)-faces:
h i
σ1p−1 , . . . , σpp−1
+1 ,

which implies:
h
i
σ p = vert σ p /vert σ1p−1 , . . . , vert σ p /vert σpp−1




+1 ,

where:

d[
+1
vert σ d = vert σid−1 ,


i =1

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Our implemetation

It can be seen that:

∗ (σ 2 ) = C (σ 2 ),
• C2,3 2,3
∗
• if σ p (p < 2) is 3-manifold, then |Cp,p p
+1 (σ )| = 1.

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Operations

The operations for traversal and manipulation of the simplicial

complex include:

M. K. Misztal Simplicial Complexes: Theory and Implementation

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Operations

The operations for traversal and manipulation of the simplicial

complex include:
• star – evaluation of the star of a simplex;

M. K. Misztal Simplicial Complexes: Theory and Implementation

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Operations

The operations for traversal and manipulation of the simplicial

complex include:
• star – evaluation of the star of a simplex;
• closure – evaluation of the closure of a simplex or a set of
simplices;

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Operations

The operations for traversal and manipulation of the simplicial

complex include:
• star – evaluation of the star of a simplex;
• closure – evaluation of the closure of a simplex or a set of
simplices;
• link – evaluation of the link of a simplex;

M. K. Misztal Simplicial Complexes: Theory and Implementation

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Operations

The operations for traversal and manipulation of the simplicial

complex include:
• star – evaluation of the star of a simplex;
• closure – evaluation of the closure of a simplex or a set of
simplices;
• link – evaluation of the link of a simplex;
• boundary – evaluation of the boundary of the simplex;

M. K. Misztal Simplicial Complexes: Theory and Implementation

Theory Meshes Implementation

Operations

The operations for traversal and manipulation of the simplicial

complex include:
• star – evaluation of the star of a simplex;
• closure – evaluation of the closure of a simplex or a set of
simplices;
• link – evaluation of the link of a simplex;
• boundary – evaluation of the boundary of the simplex;
• orient faces consistently/oppositely – enforcing a
consistent/opposite orientation on all (p − 1)-faces of a p-simplex
σ p;

M. K. Misztal Simplicial Complexes: Theory and Implementation

Theory Meshes Implementation

Operations

The operations for traversal and manipulation of the simplicial

complex include:
• star – evaluation of the star of a simplex;
• closure – evaluation of the closure of a simplex or a set of
simplices;
• link – evaluation of the link of a simplex;
• boundary – evaluation of the boundary of the simplex;
• orient faces consistently/oppositely – enforcing a
consistent/opposite orientation on all (p − 1)-faces of a p-simplex
σ p;
• orient co-faces consistently/oppositely – enforcing a
consistent/opposite orientation on all (p + 1)-simplices having a
given p-simplex σ p as a face;

M. K. Misztal Simplicial Complexes: Theory and Implementation

Theory Meshes Implementation

References

• J. M. Lee. Introduction to topological manifolds. 2000.

M. K. Misztal Simplicial Complexes: Theory and Implementation

Theory Meshes Implementation

References

• J. M. Lee. Introduction to topological manifolds. 2000.

• L. de Floriani, A. Hui, D. Panozzo and D. Canino. A
dimension-independent data structure for simplicial complexes.
2010.

M. K. Misztal Simplicial Complexes: Theory and Implementation

Theory Meshes Implementation

References

• J. M. Lee. Introduction to topological manifolds. 2000.

• L. de Floriani, A. Hui, D. Panozzo and D. Canino. A
dimension-independent data structure for simplicial complexes.
2010.
• M. K. Misztal. Deformable simplicial complexes. PhD thesis,
2010.

M. K. Misztal Simplicial Complexes: Theory and Implementation