| // 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 | |
| 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; | |
| }; | |
| } | |
| } | |