File size: 6,335 Bytes
5b89cb9 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 | // This file is part of libigl, a simple c++ geometry processing library.
//
// Copyright (C) 2013 Alec Jacobson <alecjacobson@gmail.com>
// 2014 Christian Schüller <schuellchr@gmail.com>
//
// 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
// obtain one at http://mozilla.org/MPL/2.0/.
// igl function interface for Embree2.2
//
// Necessary changes to switch from previous Embree versions:
// * Use igl:Hit instead of embree:Hit (where id0 -> id)
// * For Embree2.2
// * Uncomment #define __USE_RAY_MASK__ in platform.h to enable masking
#ifndef IGL_EMBREE_EMBREE_INTERSECTOR_H
#define IGL_EMBREE_EMBREE_INTERSECTOR_H
#include "../Hit.h"
#include <Eigen/Geometry>
#include <Eigen/Core>
#include <embree3/rtcore.h>
#include <embree3/rtcore_ray.h>
#include <iostream>
#include <vector>
#include "EmbreeDevice.h"
namespace igl
{
namespace embree
{
class EmbreeIntersector
{
public:
typedef Eigen::Matrix<float,Eigen::Dynamic,3> PointMatrixType;
typedef Eigen::Matrix<int,Eigen::Dynamic,3> FaceMatrixType;
public:
EmbreeIntersector();
private:
// Copying and assignment are not allowed.
EmbreeIntersector(const EmbreeIntersector & that);
EmbreeIntersector & operator=(const EmbreeIntersector &);
public:
virtual ~EmbreeIntersector();
// Initialize with a given mesh.
//
// Inputs:
// V #V by 3 list of vertex positions
// F #F by 3 list of Oriented triangles
// isStatic scene is optimized for static geometry
// Side effects:
// The first time this is ever called the embree engine is initialized.
void init(
const PointMatrixType& V,
const FaceMatrixType& F,
bool isStatic = false);
// Initialize with a given mesh.
//
// Inputs:
// V vector of #V by 3 list of vertex positions for each geometry
// F vector of #F by 3 list of Oriented triangles for each geometry
// masks a 32 bit mask to identify active geometries.
// isStatic scene is optimized for static geometry
// Side effects:
// The first time this is ever called the embree engine is initialized.
void init(
const std::vector<const PointMatrixType*>& V,
const std::vector<const FaceMatrixType*>& F,
const std::vector<int>& masks,
bool isStatic = false);
// Deinitialize embree datasctructures for current mesh. Also called on
// destruction: no need to call if you just want to init() once and
// destroy.
void deinit();
// Given a ray find the first hit
//
// Inputs:
// origin 3d origin point of ray
// direction 3d (not necessarily normalized) direction vector of ray
// tnear start of ray segment
// tfar end of ray segment
// masks a 32 bit mask to identify active geometries.
// Output:
// hit information about hit
// Returns true if and only if there was a hit
bool intersectRay(
const Eigen::RowVector3f& origin,
const Eigen::RowVector3f& direction,
Hit& hit,
float tnear = 0,
float tfar = std::numeric_limits<float>::infinity(),
int mask = 0xFFFFFFFF) const;
// Given a ray find the first hit
// This is a conservative hit test where multiple rays within a small radius
// will be tested and only the closesest hit is returned.
//
// Inputs:
// origin 3d origin point of ray
// direction 3d (not necessarily normalized) direction vector of ray
// tnear start of ray segment
// tfar end of ray segment
// masks a 32 bit mask to identify active geometries.
// geoId id of geometry mask (default std::numeric_limits<float>::infinity() if no: no masking)
// closestHit true for gets closest hit, false for furthest hit
// Output:
// hit information about hit
// Returns true if and only if there was a hit
bool intersectBeam(
const Eigen::RowVector3f& origin,
const Eigen::RowVector3f& direction,
Hit& hit,
float tnear = 0,
float tfar = std::numeric_limits<float>::infinity(),
int mask = 0xFFFFFFFF,
int geoId = -1,
bool closestHit = true,
unsigned int samples = 4) const;
// Given a ray find all hits in order
//
// Inputs:
// origin 3d origin point of ray
// direction 3d (not necessarily normalized) direction vector of ray
// tnear start of ray segment
// tfar end of ray segment
// masks a 32 bit mask to identify active geometries.
// Output:
// hit information about hit
// num_rays number of rays shot (at least one)
// Returns true if and only if there was a hit
bool intersectRay(
const Eigen::RowVector3f& origin,
const Eigen::RowVector3f& direction,
std::vector<Hit > &hits,
int& num_rays,
float tnear = 0,
float tfar = std::numeric_limits<float>::infinity(),
int mask = 0xFFFFFFFF) const;
// Given a ray find the first hit
//
// Inputs:
// a 3d first end point of segment
// ab 3d vector from a to other endpoint b
// Output:
// hit information about hit
// Returns true if and only if there was a hit
bool intersectSegment(
const Eigen::RowVector3f& a,
const Eigen::RowVector3f& ab,
Hit &hit,
int mask = 0xFFFFFFFF) const;
private:
struct Vertex {float x,y,z,a;};
struct Triangle {int v0, v1, v2;};
RTCScene scene;
unsigned geomID;
Vertex* vertices;
Triangle* triangles;
bool initialized;
RTCDevice device;
void createRay(
RTCRayHit& ray,
const Eigen::RowVector3f& origin,
const Eigen::RowVector3f& direction,
float tnear,
float tfar,
int mask) const;
};
}
}
#ifndef IGL_STATIC_LIBRARY
# include "EmbreeIntersector.cpp"
#endif
#endif //EMBREE_INTERSECTOR_H
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