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AABB - triangle intersection wrapped to mimize copying into Vector3D

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This commit is contained in:
Vojtech Bubnik 2020-05-22 09:04:07 +02:00
parent c64b7b2e21
commit dc46589a8e
1 changed files with 48 additions and 9 deletions
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57
src/libslic3r/AABBTreeIndirect.hpp
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@ -8,6 +8,7 @@
#include <algorithm>
#include <limits>
#include <type_traits>
#include <vector>
#include "Utils.hpp" // for next_highest_power_of_2()
@ -277,6 +278,46 @@ namespace detail {
return tmin < t1 && tmax > t0;
}
template<typename V, typename W>
std::enable_if_t<std::is_same<typename V::Scalar, double>::value && std::is_same<typename W::Scalar, double>::value, bool>
intersect_triangle(const V &origin, const V &dir, const W &v0, const W &v1, const W v2, double &t, double &u, double &v) {
return intersect_triangle1(const_cast<double*>(origin.data()), const_cast<double*>(dir.data()),
const_cast<double*>(v0.data()), const_cast<double*>(v1.data()), const_cast<double*>(v2.data()),
&t, &u, &v);
}
template<typename V, typename W>
std::enable_if_t<std::is_same<typename V::Scalar, double>::value && !std::is_same<typename W::Scalar, double>::value, bool>
intersect_triangle(const V &origin, const V &dir, const W &v0, const W &v1, const W v2, double &t, double &u, double &v) {
using Vector = Eigen::Matrix<double, 3, 1>;
Vector w0 = v0.template cast<double>();
Vector w1 = v1.template cast<double>();
Vector w2 = v2.template cast<double>();
return intersect_triangle1(const_cast<double*>(origin.data()), const_cast<double*>(dir.data()),
w0.data(), w1.data(), w2.data(), &t, &u, &v);
}
template<typename V, typename W>
std::enable_if_t<! std::is_same<typename V::Scalar, double>::value && std::is_same<typename W::Scalar, double>::value, bool>
intersect_triangle(const V &origin, const V &dir, const W &v0, const W &v1, const W v2, double &t, double &u, double &v) {
using Vector = Eigen::Matrix<double, 3, 1>;
Vector o = origin.template cast<double>();
Vector d = dir.template cast<double>();
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);
}
template<typename V, typename W>
std::enable_if_t<! std::is_same<typename V::Scalar, double>::value && ! std::is_same<typename W::Scalar, double>::value, bool>
intersect_triangle(const V &origin, const V &dir, const W &v0, const W &v1, const W v2, double &t, double &u, double &v) {
using Vector = Eigen::Matrix<double, 3, 1>;
Vector o = origin.template cast<double>();
Vector d = dir.template cast<double>();
Vector w0 = v0.template cast<double>();
Vector w1 = v1.template cast<double>();
Vector w2 = v2.template cast<double>();
return intersect_triangle1(o.data(), d.data(), w0.data(), w1.data(), w2.data(), &t, &u, &v);
}
template<typename RayIntersectorType, typename Scalar>
static inline bool intersect_ray_recursive_first_hit(
RayIntersectorType &ray_intersector,
@ -294,16 +335,14 @@ namespace detail {
}
if (node.is_leaf()) {
using Vector = Eigen::Matrix<double, 3, 1>;
Vector origin_d = ray_intersector.origin.template cast<double>();
Vector dir_d = ray_intersector.dir .template cast<double>();
auto face = ray_intersector.faces[node.idx];
Vector v0 = ray_intersector.vertices[face(0)].template cast<double>();
Vector v1 = ray_intersector.vertices[face(1)].template cast<double>();
Vector v2 = ray_intersector.vertices[face(2)].template cast<double>();
// shoot ray, record hit
auto face = ray_intersector.faces[node.idx];
double t, u, v;
if (intersect_triangle1(origin_d.data(), dir_d.data(), v0.data(), v1.data(), v2.data(), &t, &u, &v) && t > 0.) {
if (intersect_triangle(
ray_intersector.origin, ray_intersector.dir,
ray_intersector.vertices[face(0)], ray_intersector.vertices[face(1)], ray_intersector.vertices[face(2)],
t, u, v)
&& t > 0.) {
hit = igl::Hit { int(node.idx), -1, float(u), float(v), float(t) };
return true;
}
@ -534,7 +573,7 @@ inline Tree<3, typename VertexType::Scalar> build_aabb_tree_over_indexed_triangl
const typename VertexType::Scalar eps = 0)
{
using TreeType = Tree<3, typename VertexType::Scalar>;
using CoordType = typename TreeType::CoordType;
// using CoordType = typename TreeType::CoordType;
using VectorType = typename TreeType::VectorType;
using BoundingBox = typename TreeType::BoundingBox;