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0031186: Foundation Classes - add additional useful methods to BVH_Box.
Add Transform() and Transformed() methods by Mat4 for BVH_Box (only for 3D dimension). Add PointBoxProjection() method to project point to box and RayBoxIntersection() method to compute hit time of ray-box intersection to BVH_Tools. Add BVH_Ray class to define ray object.
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@ -23,11 +23,84 @@
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#include <limits>
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//! Base class for BVH_Box (CRTP idiom is used).
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//! @tparam T Numeric data type
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//! @tparam N Vector dimension
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//! @tparam TheDerivedBox Template of derived class that defined axis aligned bounding box.
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template <class T, int N, template <class /*T*/, int /*N*/> class TheDerivedBox>
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class BVH_BaseBox {};
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// forward declaration
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template <class T, int N> class BVH_Box;
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//! Partial template specialization for BVH_Box when N = 3.
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template <class T>
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class BVH_BaseBox<T, 3, BVH_Box>
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{
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public:
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//! Transforms this box with given transformation.
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void Transform (const NCollection_Mat4<T>& theTransform)
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{
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if (theTransform.IsIdentity())
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{
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return;
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}
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BVH_Box<T, 3> *aThis = static_cast<BVH_Box<T, 3>*>(this);
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if (!aThis->IsValid())
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{
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return;
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}
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BVH_Box<T, 3> aBox = Transformed (theTransform);
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aThis->CornerMin() = aBox.CornerMin();
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aThis->CornerMax() = aBox.CornerMax();
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}
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//! Returns a box which is the result of applying the
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//! given transformation to this box.
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BVH_Box<T, 3> Transformed (const NCollection_Mat4<T>& theTransform) const
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{
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BVH_Box<T, 3> aResultBox;
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if (theTransform.IsIdentity())
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{
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return aResultBox;
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}
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const BVH_Box<T, 3> *aThis = static_cast<const BVH_Box<T, 3>*>(this);
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if (!aThis->IsValid())
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{
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return aResultBox;
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}
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for (size_t aX = 0; aX <= 1; ++aX)
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{
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for (size_t aY = 0; aY <= 1; ++aY)
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{
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for (size_t aZ = 0; aZ <= 1; ++aZ)
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{
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typename BVH::VectorType<T, 4>::Type aPnt =
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theTransform * typename BVH::VectorType<T, 4>::Type (aX ? aThis->CornerMax().x() : aThis->CornerMin().x(),
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aY ? aThis->CornerMax().y() : aThis->CornerMin().y(),
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aZ ? aThis->CornerMax().z() : aThis->CornerMin().z(),
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static_cast<T> (1.0));
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aResultBox.Add (aPnt.xyz());
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}
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}
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}
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return aResultBox;
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}
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};
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//! Defines axis aligned bounding box (AABB) based on BVH vectors.
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//! \tparam T Numeric data type
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//! \tparam N Vector dimension
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template<class T, int N>
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class BVH_Box
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class BVH_Box : public BVH_BaseBox<T, N, BVH_Box>
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{
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public:
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39
src/BVH/BVH_Ray.hxx
Normal file
39
src/BVH/BVH_Ray.hxx
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@ -0,0 +1,39 @@
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// Created by: Olga Suryaninova
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// Created on: 2019-11-25
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// Copyright (c) 2019 OPEN CASCADE SAS
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//
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// This file is part of Open CASCADE Technology software library.
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//
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// This library is free software; you can redistribute it and/or modify it under
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// the terms of the GNU Lesser General Public License version 2.1 as published
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// by the Free Software Foundation, with special exception defined in the file
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// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
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// distribution for complete text of the license and disclaimer of any warranty.
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//
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// Alternatively, this file may be used under the terms of Open CASCADE
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// commercial license or contractual agreement.
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#ifndef _BVH_Ray_Header
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#define _BVH_Ray_Header
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//! Describes a ray based on BVH vectors.
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template<class T, int N>
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class BVH_Ray
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{
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public:
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typedef typename BVH::VectorType<T, N>::Type BVH_VecNt;
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public:
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BVH_VecNt Origin;
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BVH_VecNt Direct;
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public:
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BVH_Ray (const BVH_VecNt& theOrigin,
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const BVH_VecNt& theDirect) : Origin (theOrigin),
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Direct (theDirect) { }
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};
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#endif // _BVH_Ray_Header
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@ -17,6 +17,7 @@
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#define _BVH_Tools_Header
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#include <BVH_Box.hxx>
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#include <BVH_Ray.hxx>
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#include <BVH_Types.hxx>
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//! Defines a set of static methods operating with points and bounding boxes.
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@ -35,6 +36,10 @@ public: //! @name Box-Box Square distance
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static T BoxBoxSquareDistance (const BVH_Box<T, N>& theBox1,
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const BVH_Box<T, N>& theBox2)
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{
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if (!theBox1.IsValid() || !theBox2.IsValid())
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{
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return static_cast<T>(0);
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}
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return BoxBoxSquareDistance (theBox1.CornerMin(), theBox1.CornerMax(),
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theBox2.CornerMin(), theBox2.CornerMax());
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}
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@ -60,6 +65,10 @@ public: //! @name Point-Box Square distance
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static T PointBoxSquareDistance (const BVH_VecNt& thePoint,
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const BVH_Box<T, N>& theBox)
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{
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if (!theBox.IsValid())
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{
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return static_cast<T>(0);
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}
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return PointBoxSquareDistance (thePoint,
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theBox.CornerMin(),
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theBox.CornerMax());
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@ -79,6 +88,29 @@ public: //! @name Point-Box Square distance
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return aDist;
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}
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public: //! @name Point-Box projection
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//! Computes projection of point on bounding box
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static BVH_VecNt PointBoxProjection (const BVH_VecNt& thePoint,
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const BVH_Box<T, N>& theBox)
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{
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if (!theBox.IsValid())
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{
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return thePoint;
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}
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return PointBoxProjection (thePoint,
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theBox.CornerMin(),
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theBox.CornerMax());
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}
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//! Computes projection of point on bounding box
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static BVH_VecNt PointBoxProjection (const BVH_VecNt& thePoint,
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const BVH_VecNt& theCMin,
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const BVH_VecNt& theCMax)
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{
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return thePoint.cwiseMax (theCMin).cwiseMin (theCMax);
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}
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public: //! @name Point-Triangle Square distance
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//! Computes square distance between point and triangle
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@ -160,6 +192,92 @@ public: //! @name Point-Triangle Square distance
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return (aDirect.Dot(aDirect));
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}
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public: //! @name Ray-Box Intersection
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//! Computes hit time of ray-box intersection
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static Standard_Boolean RayBoxIntersection (const BVH_Ray<T, N>& theRay,
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const BVH_Box<T, N>& theBox,
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T& theTimeEnter,
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T& theTimeLeave)
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{
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if (!theBox.IsValid())
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{
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return Standard_False;
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}
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return RayBoxIntersection (theRay, theBox.CornerMin(), theBox.CornerMax(), theTimeEnter, theTimeLeave);
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}
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//! Computes hit time of ray-box intersection
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static Standard_Boolean RayBoxIntersection (const BVH_Ray<T, N>& theRay,
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const BVH_VecNt& theBoxCMin,
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const BVH_VecNt& theBoxCMax,
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T& theTimeEnter,
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T& theTimeLeave)
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{
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return RayBoxIntersection (theRay.Origin, theRay.Direct,
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theBoxCMin, theBoxCMax, theTimeEnter, theTimeLeave);
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}
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//! Computes hit time of ray-box intersection
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static Standard_Boolean RayBoxIntersection (const BVH_VecNt& theRayOrigin,
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const BVH_VecNt& theRayDirection,
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const BVH_Box<T, N>& theBox,
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T& theTimeEnter,
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T& theTimeLeave)
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{
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if (!theBox.IsValid())
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{
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return Standard_False;
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}
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return RayBoxIntersection (theRayOrigin, theRayDirection,
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theBox.CornerMin(), theBox.CornerMax(),
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theTimeEnter, theTimeLeave);
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}
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//! Computes hit time of ray-box intersection
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static Standard_Boolean RayBoxIntersection (const BVH_VecNt& theRayOrigin,
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const BVH_VecNt& theRayDirection,
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const BVH_VecNt& theBoxCMin,
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const BVH_VecNt& theBoxCMax,
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T& theTimeEnter,
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T& theTimeLeave)
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{
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BVH_VecNt aNodeMin, aNodeMax;
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for (int i = 0; i < N; ++i)
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{
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if (theRayDirection[i] == 0)
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{
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aNodeMin[i] = (theBoxCMin[i] - theRayOrigin[i]) < 0 ?
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(std::numeric_limits<T>::min)() : (std::numeric_limits<T>::max)();
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aNodeMax[i] = (theBoxCMax[i] - theRayOrigin[i]) < 0 ?
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(std::numeric_limits<T>::min)() : (std::numeric_limits<T>::max)();
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}
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else
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{
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aNodeMin[i] = (theBoxCMin[i] - theRayOrigin[i]) / theRayDirection[i];
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aNodeMax[i] = (theBoxCMax[i] - theRayOrigin[i]) / theRayDirection[i];
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}
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}
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BVH_VecNt aTimeMin, aTimeMax;
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for (int i = 0; i < N; ++i)
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{
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aTimeMin[i] = Min (aNodeMin[i], aNodeMax[i]);
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aTimeMax[i] = Max (aNodeMin[i], aNodeMax[i]);
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}
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T aTimeEnter = Max (aTimeMin[0], Max (aTimeMin[1], aTimeMin[2]));
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T aTimeLeave = Min (aTimeMax[0], Min (aTimeMax[1], aTimeMax[2]));
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Standard_Boolean hasIntersection = aTimeEnter < aTimeLeave && aTimeLeave > 0;
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if (hasIntersection)
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{
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theTimeEnter = aTimeEnter;
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theTimeLeave = aTimeLeave;
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}
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return hasIntersection;
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}
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};
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#endif
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@ -22,6 +22,7 @@ BVH_PrimitiveSet3d.hxx
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BVH_Properties.cxx
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BVH_Properties.hxx
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BVH_QueueBuilder.hxx
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BVH_Ray.hxx
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BVH_Set.hxx
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BVH_Sorter.hxx
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BVH_QuickSorter.hxx
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