Merge branch 'lm_raycasting_refactoring' into dev
This commit is contained in:
Lukas Matena
commit
dd7eb0b186
4 changed files with 239 additions and 144 deletions
|
|
@ -296,8 +296,9 @@ void GLGizmoSlaSupports::render_points(const Selection& selection, bool picking)
|
|||
// Matrices set, we can render the point mark now.
|
||||
// If in editing mode, we'll also render a cone pointing to the sphere.
|
||||
if (m_editing_mode) {
|
||||
// in case the normal is not yet cached, find and cache it
|
||||
if (m_editing_cache[i].normal == Vec3f::Zero())
|
||||
update_cache_entry_normal(i); // in case the normal is not yet cached, find and cache it
|
||||
m_mesh_raycaster->get_closest_point(m_editing_cache[i].support_point.pos, &m_editing_cache[i].normal);
|
||||
|
||||
Eigen::Quaterniond q;
|
||||
q.setFromTwoVectors(Vec3d{0., 0., 1.}, instance_scaling_matrix_inverse * m_editing_cache[i].normal.cast<double>());
|
||||
|
|
@ -366,13 +367,8 @@ void GLGizmoSlaSupports::update_mesh()
|
|||
m_its = &m_mesh->its;
|
||||
|
||||
// If this is different mesh than last time or if the AABB tree is uninitialized, recalculate it.
|
||||
if (m_model_object_id != m_model_object->id() || (m_AABB.m_left == NULL && m_AABB.m_right == NULL))
|
||||
{
|
||||
m_AABB.deinit();
|
||||
m_AABB.init(
|
||||
MapMatrixXfUnaligned(m_its->vertices.front().data(), m_its->vertices.size(), 3),
|
||||
MapMatrixXiUnaligned(m_its->indices.front().data(), m_its->indices.size(), 3));
|
||||
}
|
||||
if (m_model_object_id != m_model_object->id() || ! m_mesh_raycaster)
|
||||
m_mesh_raycaster.reset(new MeshRaycaster(*m_mesh));
|
||||
|
||||
m_model_object_id = m_model_object->id();
|
||||
disable_editing_mode();
|
||||
|
|
@ -385,55 +381,26 @@ void GLGizmoSlaSupports::update_mesh()
|
|||
bool GLGizmoSlaSupports::unproject_on_mesh(const Vec2d& mouse_pos, std::pair<Vec3f, Vec3f>& pos_and_normal)
|
||||
{
|
||||
// if the gizmo doesn't have the V, F structures for igl, calculate them first:
|
||||
if (m_its == nullptr)
|
||||
if (! m_mesh_raycaster)
|
||||
update_mesh();
|
||||
|
||||
const Camera& camera = m_parent.get_camera();
|
||||
const std::array<int, 4>& viewport = camera.get_viewport();
|
||||
const Transform3d& modelview_matrix = camera.get_view_matrix();
|
||||
const Transform3d& projection_matrix = camera.get_projection_matrix();
|
||||
|
||||
Vec3d point1;
|
||||
Vec3d point2;
|
||||
::gluUnProject(mouse_pos(0), viewport[3] - mouse_pos(1), 0.f, modelview_matrix.data(), projection_matrix.data(), viewport.data(), &point1(0), &point1(1), &point1(2));
|
||||
::gluUnProject(mouse_pos(0), viewport[3] - mouse_pos(1), 1.f, modelview_matrix.data(), projection_matrix.data(), viewport.data(), &point2(0), &point2(1), &point2(2));
|
||||
|
||||
std::vector<igl::Hit> hits;
|
||||
|
||||
const Selection& selection = m_parent.get_selection();
|
||||
const GLVolume* volume = selection.get_volume(*selection.get_volume_idxs().begin());
|
||||
Geometry::Transformation trafo = volume->get_instance_transformation();
|
||||
trafo.set_offset(trafo.get_offset() + Vec3d(0., 0., m_z_shift));
|
||||
|
||||
point1(2) -= m_z_shift;
|
||||
point2(2) -= m_z_shift;
|
||||
// The raycaster query
|
||||
std::vector<Vec3f> hits;
|
||||
std::vector<Vec3f> normals;
|
||||
m_mesh_raycaster->unproject_on_mesh(mouse_pos, trafo.get_matrix(), camera, &hits, &normals);
|
||||
|
||||
Transform3d inv = volume->get_instance_transformation().get_matrix().inverse();
|
||||
|
||||
point1 = inv * point1;
|
||||
point2 = inv * point2;
|
||||
|
||||
if (!m_AABB.intersect_ray(
|
||||
MapMatrixXfUnaligned(m_its->vertices.front().data(), m_its->vertices.size(), 3),
|
||||
MapMatrixXiUnaligned(m_its->indices.front().data(), m_its->indices.size(), 3),
|
||||
point1.cast<float>(), (point2-point1).cast<float>(), hits))
|
||||
return false; // no intersection found
|
||||
|
||||
std::sort(hits.begin(), hits.end(), [](const igl::Hit& a, const igl::Hit& b) { return a.t < b.t; });
|
||||
|
||||
// Now let's iterate through the points and find the first that is not clipped:
|
||||
unsigned int i=0;
|
||||
Vec3f bc;
|
||||
Vec3f a;
|
||||
Vec3f b;
|
||||
Vec3f result;
|
||||
for (i=0; i<hits.size(); ++i) {
|
||||
igl::Hit& hit = hits[i];
|
||||
int fid = hit.id; // facet id
|
||||
bc = Vec3f(1-hit.u-hit.v, hit.u, hit.v); // barycentric coordinates of the hit
|
||||
a = (m_its->vertices[m_its->indices[fid](1)] - m_its->vertices[m_its->indices[fid](0)]);
|
||||
b = (m_its->vertices[m_its->indices[fid](2)] - m_its->vertices[m_its->indices[fid](0)]);
|
||||
result = bc(0) * m_its->vertices[m_its->indices[fid](0)] + bc(1) * m_its->vertices[m_its->indices[fid](1)] + bc(2)*m_its->vertices[m_its->indices[fid](2)];
|
||||
if (m_clipping_plane_distance == 0.f || !is_point_clipped(result.cast<double>()))
|
||||
break;
|
||||
// We must also take care of the clipping plane (if active)
|
||||
unsigned i = 0;
|
||||
if (m_clipping_plane_distance != 0.f) {
|
||||
for (i=0; i<hits.size(); ++i)
|
||||
if (! is_point_clipped(hits[i].cast<double>()))
|
||||
break;
|
||||
}
|
||||
|
||||
if (i==hits.size() || (hits.size()-i) % 2 != 0) {
|
||||
|
|
@ -443,7 +410,7 @@ bool GLGizmoSlaSupports::unproject_on_mesh(const Vec2d& mouse_pos, std::pair<Vec
|
|||
}
|
||||
|
||||
// Calculate and return both the point and the facet normal.
|
||||
pos_and_normal = std::make_pair(result, a.cross(b));
|
||||
pos_and_normal = std::make_pair(hits[i], normals[i]);
|
||||
return true;
|
||||
}
|
||||
|
||||
|
|
@ -504,76 +471,28 @@ bool GLGizmoSlaSupports::gizmo_event(SLAGizmoEventType action, const Vec2d& mous
|
|||
GLSelectionRectangle::EState rectangle_status = m_selection_rectangle.get_state();
|
||||
|
||||
// First collect positions of all the points in world coordinates.
|
||||
const Transform3d& instance_matrix = m_model_object->instances[m_active_instance]->get_transformation().get_matrix();
|
||||
Geometry::Transformation trafo = m_model_object->instances[m_active_instance]->get_transformation();
|
||||
trafo.set_offset(trafo.get_offset() + Vec3d(0., 0., m_z_shift));
|
||||
std::vector<Vec3d> points;
|
||||
for (unsigned int i=0; i<m_editing_cache.size(); ++i) {
|
||||
const sla::SupportPoint &support_point = m_editing_cache[i].support_point;
|
||||
points.push_back(instance_matrix * support_point.pos.cast<double>());
|
||||
points.back()(2) += m_z_shift;
|
||||
}
|
||||
for (unsigned int i=0; i<m_editing_cache.size(); ++i)
|
||||
points.push_back(trafo.get_matrix() * m_editing_cache[i].support_point.pos.cast<double>());
|
||||
|
||||
// Now ask the rectangle which of the points are inside.
|
||||
const Camera& camera = m_parent.get_camera();
|
||||
std::vector<unsigned int> selected_idxs = m_selection_rectangle.stop_dragging(m_parent, points);
|
||||
std::vector<Vec3f> points_inside;
|
||||
std::vector<unsigned int> points_idxs = m_selection_rectangle.stop_dragging(m_parent, points);
|
||||
for (size_t idx : points_idxs)
|
||||
points_inside.push_back((trafo.get_matrix() * points[idx]).cast<float>());
|
||||
|
||||
// we'll recover current look direction (in world coords) and transform it to model coords.
|
||||
const Selection& selection = m_parent.get_selection();
|
||||
const GLVolume* volume = selection.get_volume(*selection.get_volume_idxs().begin());
|
||||
const Transform3d& instance_matrix_no_translation_no_scaling = volume->get_instance_transformation().get_matrix(true,false,true);
|
||||
Vec3f direction_to_camera = -camera.get_dir_forward().cast<float>();
|
||||
Vec3f direction_to_camera_mesh = (instance_matrix_no_translation_no_scaling.inverse().cast<float>() * direction_to_camera).normalized().eval();
|
||||
Vec3f scaling = volume->get_instance_scaling_factor().cast<float>();
|
||||
direction_to_camera_mesh = Vec3f(direction_to_camera_mesh(0)*scaling(0), direction_to_camera_mesh(1)*scaling(1), direction_to_camera_mesh(2)*scaling(2));
|
||||
|
||||
// Iterate over all points in the rectangle and check that they are neither clipped by the
|
||||
// clipping plane nor obscured by the mesh.
|
||||
for (const unsigned int i : selected_idxs) {
|
||||
const sla::SupportPoint &support_point = m_editing_cache[i].support_point;
|
||||
if (!is_point_clipped(support_point.pos.cast<double>())) {
|
||||
bool is_obscured = false;
|
||||
// Cast a ray in the direction of the camera and look for intersection with the mesh:
|
||||
std::vector<igl::Hit> hits;
|
||||
// Offset the start of the ray to the front of the ball + EPSILON to account for numerical inaccuracies.
|
||||
if (m_AABB.intersect_ray(
|
||||
MapMatrixXfUnaligned(m_its->vertices.front().data(), m_its->vertices.size(), 3),
|
||||
MapMatrixXiUnaligned(m_its->indices.front().data(), m_its->indices.size(), 3),
|
||||
support_point.pos + direction_to_camera_mesh * (support_point.head_front_radius + EPSILON), direction_to_camera_mesh, hits)) {
|
||||
std::sort(hits.begin(), hits.end(), [](const igl::Hit& h1, const igl::Hit& h2) { return h1.t < h2.t; });
|
||||
|
||||
if (m_clipping_plane_distance != 0.f) {
|
||||
// If the closest hit facet normal points in the same direction as the ray,
|
||||
// we are looking through the mesh and should therefore discard the point:
|
||||
int fid = hits.front().id; // facet id
|
||||
Vec3f a = (m_its->vertices[m_its->indices[fid](1)] - m_its->vertices[m_its->indices[fid](0)]);
|
||||
Vec3f b = (m_its->vertices[m_its->indices[fid](2)] - m_its->vertices[m_its->indices[fid](0)]);
|
||||
if ((a.cross(b)).dot(direction_to_camera_mesh) > 0.f)
|
||||
is_obscured = true;
|
||||
|
||||
// Eradicate all hits that are on clipped surfaces:
|
||||
for (unsigned int j=0; j<hits.size(); ++j) {
|
||||
const igl::Hit& hit = hits[j];
|
||||
int fid = hit.id; // facet id
|
||||
|
||||
Vec3f bc = Vec3f(1-hit.u-hit.v, hit.u, hit.v); // barycentric coordinates of the hit
|
||||
Vec3f hit_pos = bc(0) * m_its->vertices[m_its->indices[fid](0)] + bc(1) * m_its->vertices[m_its->indices[fid](1)] + bc(2)*m_its->vertices[m_its->indices[fid](2)];
|
||||
if (is_point_clipped(hit_pos.cast<double>())) {
|
||||
hits.erase(hits.begin()+j);
|
||||
--j;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// FIXME: the intersection could in theory be behind the camera, but as of now we only have camera direction.
|
||||
// Also, the threshold is in mesh coordinates, not in actual dimensions.
|
||||
if (!hits.empty())
|
||||
is_obscured = true;
|
||||
}
|
||||
|
||||
if (!is_obscured) {
|
||||
if (rectangle_status == GLSelectionRectangle::Deselect)
|
||||
unselect_point(i);
|
||||
else
|
||||
select_point(i);
|
||||
}
|
||||
// Only select/deselect points that are actually visible
|
||||
for (size_t idx : m_mesh_raycaster->get_unobscured_idxs(trafo, m_parent.get_camera(), points_inside,
|
||||
[this](const Vec3f& pt) { return is_point_clipped(pt.cast<double>()); }))
|
||||
{
|
||||
const sla::SupportPoint &support_point = m_editing_cache[points_idxs[idx]].support_point;
|
||||
if (! is_point_clipped(support_point.pos.cast<double>())) {
|
||||
if (rectangle_status == GLSelectionRectangle::Deselect)
|
||||
unselect_point(points_idxs[idx]);
|
||||
else
|
||||
select_point(points_idxs[idx]);
|
||||
}
|
||||
}
|
||||
return true;
|
||||
|
|
@ -731,23 +650,6 @@ std::vector<const ConfigOption*> GLGizmoSlaSupports::get_config_options(const st
|
|||
}
|
||||
|
||||
|
||||
void GLGizmoSlaSupports::update_cache_entry_normal(size_t i) const
|
||||
{
|
||||
int idx = 0;
|
||||
Eigen::Matrix<float, 1, 3> pp = m_editing_cache[i].support_point.pos;
|
||||
Eigen::Matrix<float, 1, 3> cc;
|
||||
m_AABB.squared_distance(
|
||||
MapMatrixXfUnaligned(m_its->vertices.front().data(), m_its->vertices.size(), 3),
|
||||
MapMatrixXiUnaligned(m_its->indices.front().data(), m_its->indices.size(), 3),
|
||||
pp, idx, cc);
|
||||
Vec3f a = (m_its->vertices[m_its->indices[idx](1)] - m_its->vertices[m_its->indices[idx](0)]);
|
||||
Vec3f b = (m_its->vertices[m_its->indices[idx](2)] - m_its->vertices[m_its->indices[idx](0)]);
|
||||
m_editing_cache[i].normal = a.cross(b);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
ClippingPlane GLGizmoSlaSupports::get_sla_clipping_plane() const
|
||||
{
|
||||
if (!m_model_object || m_state == Off || m_clipping_plane_distance == 0.f)
|
||||
|
|
@ -1100,11 +1002,11 @@ void GLGizmoSlaSupports::on_set_state()
|
|||
m_parent.toggle_model_objects_visibility(true);
|
||||
m_normal_cache.clear();
|
||||
m_clipping_plane_distance = 0.f;
|
||||
// Release triangle mesh slicer and the AABB spatial search structure.
|
||||
m_AABB.deinit();
|
||||
// Release clippers and the AABB raycaster.
|
||||
m_its = nullptr;
|
||||
m_object_clipper.reset();
|
||||
m_supports_clipper.reset();
|
||||
m_mesh_raycaster.reset();
|
||||
}
|
||||
}
|
||||
m_old_state = m_state;
|
||||
|
|
|
|||
|
|
@ -4,11 +4,6 @@
|
|||
#include "GLGizmoBase.hpp"
|
||||
#include "slic3r/GUI/GLSelectionRectangle.hpp"
|
||||
|
||||
// There is an L function in igl that would be overridden by our localization macro - let's undefine it...
|
||||
#undef L
|
||||
#include <igl/AABB.h>
|
||||
#include "slic3r/GUI/I18N.hpp" // ...and redefine again when we are done with the igl code
|
||||
|
||||
#include "libslic3r/SLA/SLACommon.hpp"
|
||||
#include <wx/dialog.h>
|
||||
|
||||
|
|
@ -20,6 +15,7 @@ namespace GUI {
|
|||
|
||||
class ClippingPlane;
|
||||
class MeshClipper;
|
||||
class MeshRaycaster;
|
||||
enum class SLAGizmoEventType : unsigned char;
|
||||
|
||||
class GLGizmoSlaSupports : public GLGizmoBase
|
||||
|
|
@ -37,7 +33,8 @@ private:
|
|||
GLUquadricObj* m_quadric;
|
||||
typedef Eigen::Map<const Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor | Eigen::DontAlign>> MapMatrixXfUnaligned;
|
||||
typedef Eigen::Map<const Eigen::Matrix<int, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor | Eigen::DontAlign>> MapMatrixXiUnaligned;
|
||||
igl::AABB<MapMatrixXfUnaligned, 3> m_AABB;
|
||||
|
||||
std::unique_ptr<MeshRaycaster> m_mesh_raycaster;
|
||||
const TriangleMesh* m_mesh;
|
||||
const indexed_triangle_set* m_its;
|
||||
mutable const TriangleMesh* m_supports_mesh;
|
||||
|
|
@ -98,7 +95,6 @@ private:
|
|||
void render_clipping_plane(const Selection& selection) const;
|
||||
bool is_mesh_update_necessary() const;
|
||||
void update_mesh();
|
||||
void update_cache_entry_normal(size_t i) const;
|
||||
bool unsaved_changes() const;
|
||||
|
||||
bool m_lock_unique_islands = false;
|
||||
|
|
|
|||
|
|
@ -3,6 +3,15 @@
|
|||
#include "libslic3r/Tesselate.hpp"
|
||||
#include "libslic3r/TriangleMesh.hpp"
|
||||
|
||||
#include "slic3r/GUI/Camera.hpp"
|
||||
|
||||
// There is an L function in igl that would be overridden by our localization macro.
|
||||
#undef L
|
||||
#include <igl/AABB.h>
|
||||
|
||||
#include <GL/glew.h>
|
||||
|
||||
|
||||
namespace Slic3r {
|
||||
namespace GUI {
|
||||
|
||||
|
|
@ -90,6 +99,168 @@ void MeshClipper::recalculate_triangles()
|
|||
}
|
||||
|
||||
|
||||
class MeshRaycaster::AABBWrapper {
|
||||
public:
|
||||
AABBWrapper(const TriangleMesh* mesh);
|
||||
~AABBWrapper() { m_AABB.deinit(); }
|
||||
|
||||
typedef Eigen::Map<const Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor | Eigen::DontAlign>> MapMatrixXfUnaligned;
|
||||
typedef Eigen::Map<const Eigen::Matrix<int, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor | Eigen::DontAlign>> MapMatrixXiUnaligned;
|
||||
igl::AABB<MapMatrixXfUnaligned, 3> m_AABB;
|
||||
|
||||
Vec3f get_hit_pos(const igl::Hit& hit) const;
|
||||
Vec3f get_hit_normal(const igl::Hit& hit) const;
|
||||
|
||||
private:
|
||||
const TriangleMesh* m_mesh;
|
||||
};
|
||||
|
||||
MeshRaycaster::AABBWrapper::AABBWrapper(const TriangleMesh* mesh)
|
||||
: m_mesh(mesh)
|
||||
{
|
||||
m_AABB.init(
|
||||
MapMatrixXfUnaligned(m_mesh->its.vertices.front().data(), m_mesh->its.vertices.size(), 3),
|
||||
MapMatrixXiUnaligned(m_mesh->its.indices.front().data(), m_mesh->its.indices.size(), 3));
|
||||
}
|
||||
|
||||
|
||||
MeshRaycaster::MeshRaycaster(const TriangleMesh& mesh)
|
||||
: m_AABB_wrapper(new AABBWrapper(&mesh)), m_mesh(&mesh)
|
||||
{
|
||||
}
|
||||
|
||||
MeshRaycaster::~MeshRaycaster()
|
||||
{
|
||||
delete m_AABB_wrapper;
|
||||
}
|
||||
|
||||
Vec3f MeshRaycaster::AABBWrapper::get_hit_pos(const igl::Hit& hit) const
|
||||
{
|
||||
const stl_triangle_vertex_indices& indices = m_mesh->its.indices[hit.id];
|
||||
return Vec3f((1-hit.u-hit.v) * m_mesh->its.vertices[indices(0)]
|
||||
+ hit.u * m_mesh->its.vertices[indices(1)]
|
||||
+ hit.v * m_mesh->its.vertices[indices(2)]);
|
||||
}
|
||||
|
||||
|
||||
Vec3f MeshRaycaster::AABBWrapper::get_hit_normal(const igl::Hit& hit) const
|
||||
{
|
||||
const stl_triangle_vertex_indices& indices = m_mesh->its.indices[hit.id];
|
||||
Vec3f a(m_mesh->its.vertices[indices(1)] - m_mesh->its.vertices[indices(0)]);
|
||||
Vec3f b(m_mesh->its.vertices[indices(2)] - m_mesh->its.vertices[indices(0)]);
|
||||
return Vec3f(a.cross(b));
|
||||
}
|
||||
|
||||
|
||||
bool MeshRaycaster::unproject_on_mesh(const Vec2d& mouse_pos, const Transform3d& trafo,
|
||||
const Camera& camera, std::vector<Vec3f>* positions, std::vector<Vec3f>* normals) const
|
||||
{
|
||||
const std::array<int, 4>& viewport = camera.get_viewport();
|
||||
const Transform3d& model_mat = camera.get_view_matrix();
|
||||
const Transform3d& proj_mat = camera.get_projection_matrix();
|
||||
|
||||
Vec3d pt1;
|
||||
Vec3d pt2;
|
||||
::gluUnProject(mouse_pos(0), viewport[3] - mouse_pos(1), 0., model_mat.data(), proj_mat.data(), viewport.data(), &pt1(0), &pt1(1), &pt1(2));
|
||||
::gluUnProject(mouse_pos(0), viewport[3] - mouse_pos(1), 1., model_mat.data(), proj_mat.data(), viewport.data(), &pt2(0), &pt2(1), &pt2(2));
|
||||
|
||||
std::vector<igl::Hit> hits;
|
||||
|
||||
Transform3d inv = trafo.inverse();
|
||||
|
||||
pt1 = inv * pt1;
|
||||
pt2 = inv * pt2;
|
||||
|
||||
if (! m_AABB_wrapper->m_AABB.intersect_ray(
|
||||
AABBWrapper::MapMatrixXfUnaligned(m_mesh->its.vertices.front().data(), m_mesh->its.vertices.size(), 3),
|
||||
AABBWrapper::MapMatrixXiUnaligned(m_mesh->its.indices.front().data(), m_mesh->its.indices.size(), 3),
|
||||
pt1.cast<float>(), (pt2-pt1).cast<float>(), hits))
|
||||
return false; // no intersection found
|
||||
|
||||
std::sort(hits.begin(), hits.end(), [](const igl::Hit& a, const igl::Hit& b) { return a.t < b.t; });
|
||||
|
||||
// Now stuff the points in the provided vector and calculate normals if asked about them:
|
||||
if (positions != nullptr) {
|
||||
positions->clear();
|
||||
if (normals != nullptr)
|
||||
normals->clear();
|
||||
for (const igl::Hit& hit : hits) {
|
||||
positions->push_back(m_AABB_wrapper->get_hit_pos(hit));
|
||||
|
||||
if (normals != nullptr)
|
||||
normals->push_back(m_AABB_wrapper->get_hit_normal(hit));
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
std::vector<unsigned> MeshRaycaster::get_unobscured_idxs(const Geometry::Transformation& trafo, const Camera& camera, const std::vector<Vec3f>& points,
|
||||
std::function<bool(const Vec3f&)> fn_ignore_hit) const
|
||||
{
|
||||
std::vector<unsigned> out;
|
||||
|
||||
const Transform3d& instance_matrix_no_translation_no_scaling = trafo.get_matrix(true,false,true);
|
||||
Vec3f direction_to_camera = -camera.get_dir_forward().cast<float>();
|
||||
Vec3f direction_to_camera_mesh = (instance_matrix_no_translation_no_scaling.inverse().cast<float>() * direction_to_camera).normalized().eval();
|
||||
Vec3f scaling = trafo.get_scaling_factor().cast<float>();
|
||||
direction_to_camera_mesh = Vec3f(direction_to_camera_mesh(0)*scaling(0), direction_to_camera_mesh(1)*scaling(1), direction_to_camera_mesh(2)*scaling(2));
|
||||
|
||||
for (size_t i=0; i<points.size(); ++i) {
|
||||
const Vec3f& pt = points[i];
|
||||
bool is_obscured = false;
|
||||
// Cast a ray in the direction of the camera and look for intersection with the mesh:
|
||||
std::vector<igl::Hit> hits;
|
||||
// Offset the start of the ray to the front of the ball + EPSILON to account for numerical inaccuracies.
|
||||
if (m_AABB_wrapper->m_AABB.intersect_ray(
|
||||
AABBWrapper::MapMatrixXfUnaligned(m_mesh->its.vertices.front().data(), m_mesh->its.vertices.size(), 3),
|
||||
AABBWrapper::MapMatrixXiUnaligned(m_mesh->its.indices.front().data(), m_mesh->its.indices.size(), 3),
|
||||
pt + direction_to_camera_mesh * EPSILON, direction_to_camera_mesh, hits)) {
|
||||
|
||||
std::sort(hits.begin(), hits.end(), [](const igl::Hit& h1, const igl::Hit& h2) { return h1.t < h2.t; });
|
||||
// If the closest hit facet normal points in the same direction as the ray,
|
||||
// we are looking through the mesh and should therefore discard the point:
|
||||
if (m_AABB_wrapper->get_hit_normal(hits.front()).dot(direction_to_camera_mesh) > 0.f)
|
||||
is_obscured = true;
|
||||
|
||||
// Eradicate all hits that the caller wants to ignore
|
||||
for (unsigned j=0; j<hits.size(); ++j) {
|
||||
const igl::Hit& hit = hits[j];
|
||||
if (fn_ignore_hit(m_AABB_wrapper->get_hit_pos(hit))) {
|
||||
hits.erase(hits.begin()+j);
|
||||
--j;
|
||||
}
|
||||
}
|
||||
// FIXME: the intersection could in theory be behind the camera, but as of now we only have camera direction.
|
||||
// Also, the threshold is in mesh coordinates, not in actual dimensions.
|
||||
if (! hits.empty())
|
||||
is_obscured = true;
|
||||
}
|
||||
if (! is_obscured)
|
||||
out.push_back(i);
|
||||
}
|
||||
return out;
|
||||
}
|
||||
|
||||
|
||||
Vec3f MeshRaycaster::get_closest_point(const Vec3f& point, Vec3f* normal) const
|
||||
{
|
||||
int idx = 0;
|
||||
Eigen::Matrix<float, 1, 3> closest_point;
|
||||
m_AABB_wrapper->m_AABB.squared_distance(
|
||||
AABBWrapper::MapMatrixXfUnaligned(m_mesh->its.vertices.front().data(), m_mesh->its.vertices.size(), 3),
|
||||
AABBWrapper::MapMatrixXiUnaligned(m_mesh->its.indices.front().data(), m_mesh->its.indices.size(), 3),
|
||||
point, idx, closest_point);
|
||||
if (normal) {
|
||||
igl::Hit imag_hit;
|
||||
imag_hit.id = idx;
|
||||
*normal = m_AABB_wrapper->get_hit_normal(imag_hit);
|
||||
}
|
||||
return closest_point;
|
||||
}
|
||||
|
||||
|
||||
|
||||
} // namespace GUI
|
||||
} // namespace Slic3r
|
||||
|
|
|
|||
|
|
@ -14,6 +14,8 @@ class TriangleMeshSlicer;
|
|||
|
||||
namespace GUI {
|
||||
|
||||
class Camera;
|
||||
|
||||
|
||||
|
||||
class ClippingPlane
|
||||
|
|
@ -86,6 +88,30 @@ private:
|
|||
};
|
||||
|
||||
|
||||
|
||||
|
||||
class MeshRaycaster {
|
||||
public:
|
||||
MeshRaycaster(const TriangleMesh& mesh);
|
||||
~MeshRaycaster();
|
||||
void set_transformation(const Geometry::Transformation& trafo);
|
||||
void set_camera(const Camera& camera);
|
||||
|
||||
bool unproject_on_mesh(const Vec2d& mouse_pos, const Transform3d& trafo, const Camera& camera,
|
||||
std::vector<Vec3f>* positions = nullptr, std::vector<Vec3f>* normals = nullptr) const;
|
||||
|
||||
std::vector<unsigned> get_unobscured_idxs(const Geometry::Transformation& trafo, const Camera& camera,
|
||||
const std::vector<Vec3f>& points, std::function<bool(const Vec3f&)> fn_ignore_hit) const;
|
||||
|
||||
Vec3f get_closest_point(const Vec3f& point, Vec3f* normal = nullptr) const;
|
||||
|
||||
private:
|
||||
// PIMPL wrapper around igl::AABB so I don't have to include the header-only IGL here
|
||||
class AABBWrapper;
|
||||
AABBWrapper* m_AABB_wrapper;
|
||||
const TriangleMesh* m_mesh = nullptr;
|
||||
};
|
||||
|
||||
|
||||
} // namespace GUI
|
||||
} // namespace Slic3r
|
||||
|
|
|
|||
Loading…
Reference in a new issue