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Fix performance bottleneck in IGL

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This commit is contained in:
tamasmeszaros 2019-08-16 13:55:39 +02:00
parent dac301e3b6
commit eba8c39846
2 changed files with 17 additions and 15 deletions
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28
src/libigl/igl/ray_box_intersect.cpp
View file

@ -1,12 +1,12 @@
// This file is part of libigl, a simple c++ geometry processing library. // This file is part of libigl, a simple c++ geometry processing library.
// //
// Copyright (C) 2016 Alec Jacobson <alecjacobson@gmail.com> // Copyright (C) 2016 Alec Jacobson <alecjacobson@gmail.com>
// //
// This Source Code Form is subject to the terms of the Mozilla Public License // This Source Code Form is subject to the terms of the Mozilla Public License
// v. 2.0. If a copy of the MPL was not distributed with this file, You can // v. 2.0. If a copy of the MPL was not distributed with this file, You can
// obtain one at http://mozilla.org/MPL/2.0/. // obtain one at http://mozilla.org/MPL/2.0/.
#include "ray_box_intersect.h" #include "ray_box_intersect.h"
#include <vector> #include <array>
template < template <
typename Derivedsource, typename Derivedsource,
@ -27,7 +27,7 @@ IGL_INLINE bool igl::ray_box_intersect(
const Eigen::Vector3f& rayo, const Eigen::Vector3f& rayo,
const Eigen::Vector3f& rayd, const Eigen::Vector3f& rayd,
const Eigen::Vector3f& bmin, const Eigen::Vector3f& bmin,
const Eigen::Vector3f& bmax, const Eigen::Vector3f& bmax,
float & tnear, float & tnear,
float & tfar float & tfar
)->bool )->bool
@ -35,12 +35,12 @@ IGL_INLINE bool igl::ray_box_intersect(
Eigen::Vector3f bnear; Eigen::Vector3f bnear;
Eigen::Vector3f bfar; Eigen::Vector3f bfar;
// Checks for intersection testing on each direction coordinate // Checks for intersection testing on each direction coordinate
// Computes // Computes
float t1, t2; float t1, t2;
tnear = -1e+6f, tfar = 1e+6f; //, tCube; tnear = -1e+6f, tfar = 1e+6f; //, tCube;
bool intersectFlag = true; bool intersectFlag = true;
for (int i = 0; i < 3; ++i) { for (int i = 0; i < 3; ++i) {
// std::cout << "coordinate " << i << ": bmin " << bmin(i) << ", bmax " << bmax(i) << std::endl; // std::cout << "coordinate " << i << ": bmin " << bmin(i) << ", bmax " << bmax(i) << std::endl;
assert(bmin(i) <= bmax(i)); assert(bmin(i) <= bmax(i));
if (::fabs(rayd(i)) < 1e-6) { // Ray parallel to axis i-th if (::fabs(rayd(i)) < 1e-6) { // Ray parallel to axis i-th
if (rayo(i) < bmin(i) || rayo(i) > bmax(i)) { if (rayo(i) < bmin(i) || rayo(i) > bmax(i)) {
@ -59,12 +59,12 @@ IGL_INLINE bool igl::ray_box_intersect(
} }
// std::cout << " bnear " << bnear(i) << ", bfar " << bfar(i) << std::endl; // std::cout << " bnear " << bnear(i) << ", bfar " << bfar(i) << std::endl;
// Finds the distance parameters t1 and t2 of the two ray-box intersections: // Finds the distance parameters t1 and t2 of the two ray-box intersections:
// t1 must be the closest to the ray origin rayo. // t1 must be the closest to the ray origin rayo.
t1 = (bnear(i) - rayo(i)) / rayd(i); t1 = (bnear(i) - rayo(i)) / rayd(i);
t2 = (bfar(i) - rayo(i)) / rayd(i); t2 = (bfar(i) - rayo(i)) / rayd(i);
if (t1 > t2) { if (t1 > t2) {
std::swap(t1,t2); std::swap(t1,t2);
} }
// The two intersection values are used to saturate tnear and tfar // The two intersection values are used to saturate tnear and tfar
if (t1 > tnear) { if (t1 > tnear) {
tnear = t1; tnear = t1;
@ -72,7 +72,7 @@ IGL_INLINE bool igl::ray_box_intersect(
if (t2 < tfar) { if (t2 < tfar) {
tfar = t2; tfar = t2;
} }
// std::cout << " t1 " << t1 << ", t2 " << t2 << ", tnear " << tnear << ", tfar " << tfar // std::cout << " t1 " << t1 << ", t2 " << t2 << ", tnear " << tnear << ", tfar " << tfar
// << " tnear > tfar? " << (tnear > tfar) << ", tfar < 0? " << (tfar < 0) << std::endl; // << " tnear > tfar? " << (tnear > tfar) << ", tfar < 0? " << (tfar < 0) << std::endl;
if(tnear > tfar) { if(tnear > tfar) {
intersectFlag = false; intersectFlag = false;
@ -101,11 +101,11 @@ IGL_INLINE bool igl::ray_box_intersect(
// This should be precomputed and provided as input // This should be precomputed and provided as input
typedef Matrix<Scalar,1,3> RowVector3S; typedef Matrix<Scalar,1,3> RowVector3S;
const RowVector3S inv_dir( 1./dir(0),1./dir(1),1./dir(2)); const RowVector3S inv_dir( 1./dir(0),1./dir(1),1./dir(2));
const std::vector<bool> sign = { inv_dir(0)<0, inv_dir(1)<0, inv_dir(2)<0}; const std::array<bool, 3> sign = { inv_dir(0)<0, inv_dir(1)<0, inv_dir(2)<0};
// http://people.csail.mit.edu/amy/papers/box-jgt.pdf // http://people.csail.mit.edu/amy/papers/box-jgt.pdf
// "An Efficient and Robust Ray–Box Intersection Algorithm" // "An Efficient and Robust Ray–Box Intersection Algorithm"
Scalar tymin, tymax, tzmin, tzmax; Scalar tymin, tymax, tzmin, tzmax;
std::vector<RowVector3S> bounds = {box.min(),box.max()}; std::array<RowVector3S, 2> bounds = {box.min(),box.max()};
tmin = ( bounds[sign[0]](0) - origin(0)) * inv_dir(0); tmin = ( bounds[sign[0]](0) - origin(0)) * inv_dir(0);
tmax = ( bounds[1-sign[0]](0) - origin(0)) * inv_dir(0); tmax = ( bounds[1-sign[0]](0) - origin(0)) * inv_dir(0);
tymin = (bounds[sign[1]](1) - origin(1)) * inv_dir(1); tymin = (bounds[sign[1]](1) - origin(1)) * inv_dir(1);
@ -146,4 +146,4 @@ IGL_INLINE bool igl::ray_box_intersect(
#ifdef IGL_STATIC_LIBRARY #ifdef IGL_STATIC_LIBRARY
template bool igl::ray_box_intersect<Eigen::Matrix<double, 1, 3, 1, 1, 3>, Eigen::Matrix<double, 1, 3, 1, 1, 3>, double>(Eigen::MatrixBase<Eigen::Matrix<double, 1, 3, 1, 1, 3> > const&, Eigen::MatrixBase<Eigen::Matrix<double, 1, 3, 1, 1, 3> > const&, Eigen::AlignedBox<double, 3> const&, double const&, double const&, double&, double&); template bool igl::ray_box_intersect<Eigen::Matrix<double, 1, 3, 1, 1, 3>, Eigen::Matrix<double, 1, 3, 1, 1, 3>, double>(Eigen::MatrixBase<Eigen::Matrix<double, 1, 3, 1, 1, 3> > const&, Eigen::MatrixBase<Eigen::Matrix<double, 1, 3, 1, 1, 3> > const&, Eigen::AlignedBox<double, 3> const&, double const&, double const&, double&, double&);
#endif #endif

4
src/libigl/igl/ray_mesh_intersect.cpp
View file

@ -29,7 +29,9 @@ IGL_INLINE bool igl::ray_mesh_intersect(
// Should be but can't be const // Should be but can't be const
Vector3d s_d = s.template cast<double>(); Vector3d s_d = s.template cast<double>();
Vector3d dir_d = dir.template cast<double>(); Vector3d dir_d = dir.template cast<double>();
hits.clear(); hits.clear();
hits.reserve(F.rows());
// loop over all triangles // loop over all triangles
for(int f = 0;f<F.rows();f++) for(int f = 0;f<F.rows();f++)
{ {