Switched to new AABB tree implementation for raycasting
This commit is contained in:
Lukas Matena
parent
6e716faa1c
commit
cdf80c3b3f
1 changed files with 80 additions and 6 deletions
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@ -7,6 +7,7 @@
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#include <libslic3r/SLA/Contour3D.hpp>
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#include <libslic3r/SLA/Clustering.hpp>
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#include <libslic3r/SLA/Hollowing.hpp>
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#include <libslic3r/AABBTreeIndirect.hpp>
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// Workaround: IGL signed_distance.h will define PI in the igl namespace.
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@ -23,11 +24,23 @@
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#pragma warning(disable: 4244)
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#pragma warning(disable: 4267)
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#endif
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#include <igl/ray_mesh_intersect.h>
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#include <igl/point_mesh_squared_distance.h>
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#define USE_AABB_INDIRECT // Vojta's AABB (defined) vs igl::AABB (undefined)
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#ifdef SLIC3R_SLA_NEEDS_WINDTREE
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#ifdef USE_AABB_INDIRECT
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#error These two options contradict each other.
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#endif
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#include <igl/signed_distance.h>
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#endif
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#ifndef USE_AABB_INDIRECT
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#include <igl/point_mesh_squared_distance.h>
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#endif
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#include <igl/remove_duplicate_vertices.h>
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#include <igl/collapse_small_triangles.h>
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#include <igl/signed_distance.h>
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#ifdef _MSC_VER
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#pragma warning(pop)
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#endif
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@ -40,7 +53,7 @@ namespace Slic3r {
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namespace sla {
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// Bring back PI from the igl namespace
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using igl::PI;
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//using igl::PI;
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/* **************************************************************************
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* PointIndex implementation
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@ -188,8 +201,59 @@ void BoxIndex::foreach(std::function<void (const BoxIndexEl &)> fn)
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* EigenMesh3D implementation
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* ****************************************************************************/
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#ifdef USE_AABB_INDIRECT
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class EigenMesh3D::AABBImpl {
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#else
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class EigenMesh3D::AABBImpl: public igl::AABB<Eigen::MatrixXd, 3> {
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#endif
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public:
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#ifdef USE_AABB_INDIRECT
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private:
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AABBTreeIndirect::Tree3f m_tree;
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TriangleMesh m_triangle_mesh; // FIXME: There should be no extra copy
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// maybe even the m_V and m_F are extra. This is just to see the new
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// AABB tree in action
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public:
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void init(const TriangleMesh& tmesh)
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{
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m_triangle_mesh = tmesh;
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m_tree = AABBTreeIndirect::build_aabb_tree_over_indexed_triangle_set(
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m_triangle_mesh.its.vertices, m_triangle_mesh.its.indices);
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}
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void intersect_ray(const Eigen::MatrixXd&, const Eigen::MatrixXi&,
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const Vec3d& s, const Vec3d& dir, igl::Hit& hit)
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{
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AABBTreeIndirect::intersect_ray_first_hit(m_triangle_mesh.its.vertices,
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m_triangle_mesh.its.indices,
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m_tree,
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s, dir, hit);
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}
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void intersect_ray(const Eigen::MatrixXd&, const Eigen::MatrixXi&,
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const Vec3d& s, const Vec3d& dir, std::vector<igl::Hit>& hits)
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{
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AABBTreeIndirect::intersect_ray_all_hits(m_triangle_mesh.its.vertices,
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m_triangle_mesh.its.indices,
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m_tree,
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s, dir, hits);
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}
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double squared_distance(const Eigen::MatrixXd&, const Eigen::MatrixXi&,
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const Vec3d& point, int& i, Eigen::Matrix<double, 1, 3>& closest) {
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size_t idx_unsigned = 0;
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Vec3d closest_vec3d(closest);
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double dist = AABBTreeIndirect::squared_distance_to_indexed_triangle_set(
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m_triangle_mesh.its.vertices,
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m_triangle_mesh.its.indices,
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m_tree, point, idx_unsigned, closest_vec3d);
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i = int(idx_unsigned);
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closest = closest_vec3d;
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return dist;
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}
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#endif
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#ifdef SLIC3R_SLA_NEEDS_WINDTREE
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igl::WindingNumberAABB<Vec3d, Eigen::MatrixXd, Eigen::MatrixXi> windtree;
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#endif /* SLIC3R_SLA_NEEDS_WINDTREE */
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@ -225,7 +289,11 @@ void to_eigen_mesh(const TriangleMesh &tmesh, Eigen::MatrixXd &V, Eigen::MatrixX
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}
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}
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void to_triangle_mesh(const Eigen::MatrixXd &V, const Eigen::MatrixXi &F, TriangleMesh &out)
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void to_triangle_mesh(const Eigen::MatrixXd &V, const Eigen::MatrixXi &F, TriangleMesh &out);
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#if 0
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Does this function really work? There seems to be an issue with it.
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Currently it is not used anywhere, this way it stays visible but
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trigger linking error when attempting to use it.
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{
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Pointf3s points(size_t(V.rows()));
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std::vector<Vec3i> facets(size_t(F.rows()));
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@ -238,6 +306,7 @@ void to_triangle_mesh(const Eigen::MatrixXd &V, const Eigen::MatrixXi &F, Triang
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out = {points, facets};
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}
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#endif
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EigenMesh3D::EigenMesh3D(const TriangleMesh& tmesh): m_aabb(new AABBImpl()) {
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auto&& bb = tmesh.bounding_box();
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@ -246,7 +315,12 @@ EigenMesh3D::EigenMesh3D(const TriangleMesh& tmesh): m_aabb(new AABBImpl()) {
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to_eigen_mesh(tmesh, m_V, m_F);
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// Build the AABB accelaration tree
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#ifdef USE_AABB_INDIRECT
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m_aabb->init(tmesh);
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#else
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m_aabb->init(m_V, m_F);
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#endif
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#ifdef SLIC3R_SLA_NEEDS_WINDTREE
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m_aabb->windtree.set_mesh(m_V, m_F);
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#endif /* SLIC3R_SLA_NEEDS_WINDTREE */
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