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Fix of paint on supports don't work for object that has been scaled up #6718
The triangle-ray intersection function used a hard coded epsilon, which did not work for triangle meshes, that were either too small or too large. Newly the epsilon may be provided to the AABBTreeIndirect search functions externally and IndexedMesh calculates a suitable epsilon on demand from an average triangle mesh edge length.
This commit is contained in:
Vojtech Bubnik
parent
d9f2fd7501
commit
1c76df89ea
6 changed files with 127 additions and 50 deletions
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@ -15,11 +15,6 @@
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#include "Utils.hpp" // for next_highest_power_of_2()
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extern "C"
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{
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// Ray-Triangle Intersection Test Routines by Tomas Moller, May 2000
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#include <igl/raytri.c>
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}
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// Definition of the ray intersection hit structure.
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#include <igl/Hit.h>
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@ -231,6 +226,9 @@ namespace detail {
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const VectorType origin;
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const VectorType dir;
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const VectorType invdir;
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// epsilon for ray-triangle intersection, see intersect_triangle1()
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const double eps;
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};
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template<typename VertexType, typename IndexedFaceType, typename TreeType, typename VectorType>
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@ -283,44 +281,91 @@ namespace detail {
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return tmin < t1 && tmax > t0;
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}
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// The following intersect_triangle() is derived from raytri.c routine intersect_triangle1()
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// Ray-Triangle Intersection Test Routines
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// Different optimizations of my and Ben Trumbore's
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// code from journals of graphics tools (JGT)
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// http://www.acm.org/jgt/
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// by Tomas Moller, May 2000
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template<typename V, typename W>
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std::enable_if_t<std::is_same<typename V::Scalar, double>::value && std::is_same<typename W::Scalar, double>::value, bool>
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intersect_triangle(const V &origin, const V &dir, const W &v0, const W &v1, const W &v2, double &t, double &u, double &v) {
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return intersect_triangle1(const_cast<double*>(origin.data()), const_cast<double*>(dir.data()),
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const_cast<double*>(v0.data()), const_cast<double*>(v1.data()), const_cast<double*>(v2.data()),
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&t, &u, &v);
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std::enable_if_t<std::is_same<typename V::Scalar, double>::value&& std::is_same<typename W::Scalar, double>::value, bool>
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intersect_triangle(const V &orig, const V &dir, const W &vert0, const W &vert1, const W &vert2, double &t, double &u, double &v, double eps)
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{
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// find vectors for two edges sharing vert0
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const V edge1 = vert1 - vert0;
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const V edge2 = vert2 - vert0;
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// begin calculating determinant - also used to calculate U parameter
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const V pvec = dir.cross(edge2);
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// if determinant is near zero, ray lies in plane of triangle
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const double det = edge1.dot(pvec);
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V qvec;
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if (det > eps) {
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// calculate distance from vert0 to ray origin
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V tvec = orig - vert0;
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// calculate U parameter and test bounds
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u = tvec.dot(pvec);
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if (u < 0.0 || u > det)
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return false;
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// prepare to test V parameter
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qvec = tvec.cross(edge1);
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// calculate V parameter and test bounds
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v = dir.dot(qvec);
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if (v < 0.0 || u + v > det)
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return false;
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} else if (det < -eps) {
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// calculate distance from vert0 to ray origin
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V tvec = orig - vert0;
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// calculate U parameter and test bounds
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u = tvec.dot(pvec);
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if (u > 0.0 || u < det)
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return false;
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// prepare to test V parameter
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qvec = tvec.cross(edge1);
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// calculate V parameter and test bounds
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v = dir.dot(qvec);
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if (v > 0.0 || u + v < det)
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return false;
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} else
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// ray is parallel to the plane of the triangle
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return false;
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double inv_det = 1.0 / det;
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// calculate t, ray intersects triangle
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t = edge2.dot(qvec) * inv_det;
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u *= inv_det;
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v *= inv_det;
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return true;
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}
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template<typename V, typename W>
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std::enable_if_t<std::is_same<typename V::Scalar, double>::value && !std::is_same<typename W::Scalar, double>::value, bool>
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intersect_triangle(const V &origin, const V &dir, const W &v0, const W &v1, const W &v2, double &t, double &u, double &v) {
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using Vector = Eigen::Matrix<double, 3, 1>;
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Vector w0 = v0.template cast<double>();
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Vector w1 = v1.template cast<double>();
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Vector w2 = v2.template cast<double>();
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return intersect_triangle1(const_cast<double*>(origin.data()), const_cast<double*>(dir.data()),
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w0.data(), w1.data(), w2.data(), &t, &u, &v);
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intersect_triangle(const V &origin, const V &dir, const W &v0, const W &v1, const W &v2, double &t, double &u, double &v, double eps) {
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return intersect_triangle(origin, dir, v0.template cast<double>(), v1.template cast<double>(), v2.template cast<double>(), t, u, v, eps);
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}
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template<typename V, typename W>
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std::enable_if_t<! std::is_same<typename V::Scalar, double>::value && std::is_same<typename W::Scalar, double>::value, bool>
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intersect_triangle(const V &origin, const V &dir, const W &v0, const W &v1, const W &v2, double &t, double &u, double &v) {
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using Vector = Eigen::Matrix<double, 3, 1>;
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Vector o = origin.template cast<double>();
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Vector d = dir.template cast<double>();
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return intersect_triangle1(o.data(), d.data(), const_cast<double*>(v0.data()), const_cast<double*>(v1.data()), const_cast<double*>(v2.data()), &t, &u, &v);
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intersect_triangle(const V &origin, const V &dir, const W &v0, const W &v1, const W &v2, double &t, double &u, double &v, double eps) {
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return intersect_triangle(origin.template cast<double>(), dir.template cast<double>(), v0, v1, v2, t, u, v, eps);
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}
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template<typename V, typename W>
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std::enable_if_t<! std::is_same<typename V::Scalar, double>::value && ! std::is_same<typename W::Scalar, double>::value, bool>
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intersect_triangle(const V &origin, const V &dir, const W &v0, const W &v1, const W &v2, double &t, double &u, double &v) {
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using Vector = Eigen::Matrix<double, 3, 1>;
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Vector o = origin.template cast<double>();
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Vector d = dir.template cast<double>();
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Vector w0 = v0.template cast<double>();
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Vector w1 = v1.template cast<double>();
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Vector w2 = v2.template cast<double>();
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return intersect_triangle1(o.data(), d.data(), w0.data(), w1.data(), w2.data(), &t, &u, &v);
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intersect_triangle(const V &origin, const V &dir, const W &v0, const W &v1, const W &v2, double &t, double &u, double &v, double eps) {
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return intersect_triangle(origin.template cast<double>(), dir.template cast<double>(), v0.template cast<double>(), v1.template cast<double>(), v2.template cast<double>(), t, u, v, eps);
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}
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template<typename Tree>
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double intersect_triangle_epsilon(const Tree &tree) {
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double eps = 0.000001;
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if (! tree.empty()) {
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const typename Tree::BoundingBox &bbox = tree.nodes().front().bbox;
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double l = (bbox.max() - bbox.min()).cwiseMax();
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if (l > 0)
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eps /= (l * l);
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}
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return eps;
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}
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template<typename RayIntersectorType, typename Scalar>
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@ -343,7 +388,7 @@ namespace detail {
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if (intersect_triangle(
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ray_intersector.origin, ray_intersector.dir,
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ray_intersector.vertices[face(0)], ray_intersector.vertices[face(1)], ray_intersector.vertices[face(2)],
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t, u, v)
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t, u, v, ray_intersector.eps)
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&& t > 0.) {
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hit = igl::Hit { int(node.idx), -1, float(u), float(v), float(t) };
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return true;
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@ -388,7 +433,7 @@ namespace detail {
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if (intersect_triangle(
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ray_intersector.origin, ray_intersector.dir,
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ray_intersector.vertices[face(0)], ray_intersector.vertices[face(1)], ray_intersector.vertices[face(2)],
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t, u, v)
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t, u, v, ray_intersector.eps)
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&& t > 0.) {
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ray_intersector.hits.emplace_back(igl::Hit{ int(node.idx), -1, float(u), float(v), float(t) });
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}
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@ -623,12 +668,15 @@ inline bool intersect_ray_first_hit(
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// Direction of the ray.
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const VectorType &dir,
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// First intersection of the ray with the indexed triangle set.
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igl::Hit &hit)
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igl::Hit &hit,
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// Epsilon for the ray-triangle intersection, it should be proportional to an average triangle edge length.
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const double eps = 0.000001)
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{
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using Scalar = typename VectorType::Scalar;
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auto ray_intersector = detail::RayIntersector<VertexType, IndexedFaceType, TreeType, VectorType> {
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auto ray_intersector = detail::RayIntersector<VertexType, IndexedFaceType, TreeType, VectorType> {
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vertices, faces, tree,
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origin, dir, VectorType(dir.cwiseInverse())
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origin, dir, VectorType(dir.cwiseInverse()),
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eps
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};
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return ! tree.empty() && detail::intersect_ray_recursive_first_hit(
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ray_intersector, size_t(0), std::numeric_limits<Scalar>::infinity(), hit);
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@ -652,11 +700,14 @@ inline bool intersect_ray_all_hits(
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// Direction of the ray.
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const VectorType &dir,
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// All intersections of the ray with the indexed triangle set, sorted by parameter t.
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std::vector<igl::Hit> &hits)
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std::vector<igl::Hit> &hits,
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// Epsilon for the ray-triangle intersection, it should be proportional to an average triangle edge length.
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const double eps = 0.000001)
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{
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auto ray_intersector = detail::RayIntersectorHits<VertexType, IndexedFaceType, TreeType, VectorType> {
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{ vertices, faces, {tree},
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origin, dir, VectorType(dir.cwiseInverse()) }
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origin, dir, VectorType(dir.cwiseInverse()),
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eps }
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};
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if (! tree.empty()) {
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ray_intersector.hits.reserve(8);
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