86 lines
2.4 KiB
C++
86 lines
2.4 KiB
C++
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// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2013 Daniele Panozzo <daniele.panozzo@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla Public License
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// v. 2.0. If a copy of the MPL was not distributed with this file, You can
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// obtain one at http://mozilla.org/MPL/2.0/.
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#include "line_mesh_intersection.h"
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#include "../Hit.h"
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// For error printing
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#include <cstdio>
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#include <vector>
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#include <igl/per_vertex_normals.h>
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#include <igl/embree/EmbreeIntersector.h>
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template <typename ScalarMatrix, typename IndexMatrix>
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IGL_INLINE ScalarMatrix igl::embree::line_mesh_intersection
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(
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const ScalarMatrix & V_source,
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const ScalarMatrix & N_source,
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const ScalarMatrix & V_target,
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const IndexMatrix & F_target
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)
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{
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double tol = 0.00001;
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Eigen::MatrixXd ray_pos = V_source;
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Eigen::MatrixXd ray_dir = N_source;
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// Allocate matrix for the result
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ScalarMatrix R;
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R.resize(V_source.rows(), 3);
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// Initialize embree
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EmbreeIntersector embree;
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embree.init(V_target.template cast<float>(),F_target.template cast<int>());
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// Shoot rays from the source to the target
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for (unsigned i=0; i<ray_pos.rows(); ++i)
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{
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igl::Hit A,B;
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// Shoot ray A
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Eigen::RowVector3d A_pos = ray_pos.row(i) + tol * ray_dir.row(i);
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Eigen::RowVector3d A_dir = -ray_dir.row(i);
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bool A_hit = embree.intersectBeam(A_pos.cast<float>(), A_dir.cast<float>(),A);
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Eigen::RowVector3d B_pos = ray_pos.row(i) - tol * ray_dir.row(i);
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Eigen::RowVector3d B_dir = ray_dir.row(i);
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bool B_hit = embree.intersectBeam(B_pos.cast<float>(), B_dir.cast<float>(),B);
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int choice = -1;
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if (A_hit && ! B_hit)
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choice = 0;
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else if (!A_hit && B_hit)
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choice = 1;
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else if (A_hit && B_hit)
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choice = A.t > B.t;
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Eigen::RowVector3d temp;
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if (choice == -1)
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temp << -1, 0, 0;
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else if (choice == 0)
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temp << A.id, A.u, A.v;
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else if (choice == 1)
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temp << B.id, B.u, B.v;
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R.row(i) = temp;
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}
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return R;
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}
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#ifdef IGL_STATIC_LIBRARY
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template Eigen::Matrix<double, -1, -1, 0, -1, -1> igl::embree::line_mesh_intersection<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<int, -1, -1, 0, -1, -1> >(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, Eigen::Matrix<int, -1, -1, 0, -1, -1> const&);
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#endif
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