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WIP: AABBTreeIndirect - optimized ray_box_intersect_invdir() test,

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sandbox for comparing the AABBTreeIndirect with libigl::AABB
This commit is contained in:
Vojtech Bubnik 2020-05-21 17:27:06 +02:00
parent 2b8f655020
commit 99514ba42b
4 changed files with 284 additions and 9 deletions
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65
src/libslic3r/AABBTreeIndirect.hpp
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@ -19,8 +19,6 @@ extern "C"
}
// Definition of the ray intersection hit structure.
#include <igl/Hit.h>
// Find intersection parameters of a ray with axis aligned bounding box.
#include <igl/ray_box_intersect.h>
namespace Slic3r {
namespace AABBTreeIndirect {
@ -210,6 +208,11 @@ private:
std::vector<Node> m_nodes;
};
using Tree2f = Tree<2, float>;
using Tree3f = Tree<3, float>;
using Tree2d = Tree<2, double>;
using Tree3d = Tree<3, double>;
namespace detail {
template<typename AVertexType, typename AIndexedFaceType, typename ATreeType, typename AVectorType>
struct RayIntersector {
@ -224,6 +227,7 @@ namespace detail {
const VectorType origin;
const VectorType dir;
const VectorType invdir;
};
template<typename VertexType, typename IndexedFaceType, typename TreeType, typename VectorType>
@ -231,6 +235,48 @@ namespace detail {
std::vector<igl::Hit> hits;
};
template <typename Derivedsource, typename Deriveddir, typename Scalar>
inline bool ray_box_intersect_invdir(
const Eigen::MatrixBase<Derivedsource> &origin,
const Eigen::MatrixBase<Deriveddir> &inv_dir,
Eigen::AlignedBox<Scalar,3> box,
const Scalar &t0,
const Scalar &t1,
Scalar &tmin,
Scalar &tmax) {
// http://people.csail.mit.edu/amy/papers/box-jgt.pdf
// "An Efficient and Robust Ray–Box Intersection Algorithm"
if (inv_dir.x() < 0)
std::swap(box.min().x(), box.max().x());
if (inv_dir.y() < 0)
std::swap(box.min().y(), box.max().y());
tmin = (box.min().x() - origin.x()) * inv_dir.x();
Scalar tymax = (box.max().y() - origin.y()) * inv_dir.y();
if (tmin > tymax)
return false;
tmax = (box.max().x() - origin.x()) * inv_dir.x();
Scalar tymin = (box.min().y() - origin.y()) * inv_dir.y();
if (tymin > tmax)
return false;
if (tymin > tmin)
tmin = tymin;
if (tymax < tmax)
tmax = tymax;
if (inv_dir.z() < 0)
std::swap(box.min().z(), box.max().z());
Scalar tzmin = (box.min().z() - origin.z()) * inv_dir.z();
if (tzmin > tmax)
return false;
Scalar tzmax = (box.max().z() - origin.z()) * inv_dir.z();
if (tmin > tzmax)
return false;
if (tzmin > tmin)
tmin = tzmin;
if (tzmax < tmax)
tmax = tzmax;
return tmin < t1 && tmax > t0;
}
template<typename RayIntersectorType, typename Scalar>
static inline bool intersect_ray_recursive_first_hit(
RayIntersectorType &ray_intersector,
@ -243,7 +289,7 @@ namespace detail {
{
Scalar t_start, t_end;
if (! igl::ray_box_intersect(ray_intersector.origin, ray_intersector.dir, node.bbox.template cast<Scalar>(), Scalar(0), min_t, t_start, t_end))
if (! ray_box_intersect_invdir(ray_intersector.origin, ray_intersector.invdir, node.bbox.template cast<Scalar>(), Scalar(0), min_t, t_start, t_end))
return false;
}
@ -293,7 +339,7 @@ namespace detail {
{
Scalar t_start, t_end;
if (! igl::ray_box_intersect(ray_intersector.origin, ray_intersector.dir, node.bbox.template cast<Scalar>(),
if (! ray_box_intersect_invdir(ray_intersector.origin, ray_intersector.invdir, node.bbox.template cast<Scalar>(),
Scalar(0), std::numeric_limits<Scalar>::infinity(), t_start, t_end))
return;
}
@ -483,13 +529,14 @@ inline Tree<3, typename VertexType::Scalar> build_aabb_tree_over_indexed_triangl
// Indexed triangle set - 3D vertices.
const std::vector<VertexType> &vertices,
// Indexed triangle set - triangular faces, references to vertices.
const std::vector<IndexedFaceType> &faces)
const std::vector<IndexedFaceType> &faces,
//FIXME do we want to apply an epsilon?
const typename VertexType::Scalar eps = 0)
{
using TreeType = Tree<3, typename VertexType::Scalar>;
using CoordType = typename TreeType::CoordType;
using VectorType = typename TreeType::VectorType;
using BoundingBox = typename TreeType::BoundingBox;
static constexpr CoordType eps = CoordType(1e-4);
struct InputType {
size_t idx() const { return m_idx; }
@ -503,7 +550,7 @@ inline Tree<3, typename VertexType::Scalar> build_aabb_tree_over_indexed_triangl
std::vector<InputType> input;
input.reserve(faces.size());
VectorType veps(eps, eps, eps);
const VectorType veps(eps, eps, eps);
for (size_t i = 0; i < faces.size(); ++ i) {
const IndexedFaceType &face = faces[i];
const VertexType &v1 = vertices[face(0)];
@ -546,7 +593,7 @@ inline bool intersect_ray_first_hit(
using Scalar = typename VectorType::Scalar;
auto ray_intersector = detail::RayIntersector<VertexType, IndexedFaceType, TreeType, VectorType> {
vertices, faces, tree,
origin, dir
origin, dir, VectorType(dir.cwiseInverse())
};
return ! tree.empty() && detail::intersect_ray_recursive_first_hit(
ray_intersector, size_t(0), std::numeric_limits<Scalar>::infinity(), hit);
@ -574,7 +621,7 @@ inline bool intersect_ray_all_hits(
{
auto ray_intersector = detail::RayIntersectorHits<VertexType, IndexedFaceType, TreeType, VectorType> {
vertices, faces, tree,
origin, dir
origin, dir, VectorType(dir.cwiseInverse())
};
if (! tree.empty()) {
ray_intersector.hits.reserve(8);