From 5bf4ed6c996ee03ee9d5fcc425d46dc4acfd5c7b Mon Sep 17 00:00:00 2001
From: Lukas Werner <lks.werner@fau.de>
Date: Wed, 24 Jan 2018 23:33:07 +0100
Subject: [PATCH] Added padding for AABB intersection testing
---
src/pe/raytracing/Intersects.h | 9 +++++----
src/pe/raytracing/Raytracer.cpp | 20 +++++++++++++++-----
src/pe/raytracing/Raytracer.h | 16 ++++++++++++----
tests/pe/Raytracing.cpp | 27 ++++++++++++++++++++++++---
4 files changed, 56 insertions(+), 16 deletions(-)
diff --git a/src/pe/raytracing/Intersects.h b/src/pe/raytracing/Intersects.h
index 3b274630e..90d17f29b 100644
--- a/src/pe/raytracing/Intersects.h
+++ b/src/pe/raytracing/Intersects.h
@@ -38,7 +38,7 @@
namespace walberla {
namespace pe {
namespace raytracing {
-inline bool intersects(const AABB& aabb, const Ray& ray, real_t& t);
+inline bool intersects(const AABB& aabb, const Ray& ray, real_t& t, real_t padding = real_t(0.0));
inline bool intersects(const SphereID sphere, const Ray& ray, real_t& t);
inline bool intersects(const PlaneID plane, const Ray& ray, real_t& t);
@@ -172,11 +172,12 @@ inline bool intersects(const BoxID box, const Ray& ray, real_t& t) {
return true;
}
-inline bool intersects(const AABB& aabb, const Ray& ray, real_t& t) {
+inline bool intersects(const AABB& aabb, const Ray& ray, real_t& t, real_t padding) {
// An Efficient and Robust Ray–Box Intersection Algorithm: http://people.csail.mit.edu/amy/papers/box-jgt.pdf
+ const Vec3 paddingVector(padding, padding, padding);
Vec3 bounds[2] = {
- aabb.min(),
- aabb.max()
+ aabb.min() - paddingVector,
+ aabb.max() + paddingVector
};
const Vector3<int8_t>& sign = ray.getInvDirectionSigns();
diff --git a/src/pe/raytracing/Raytracer.cpp b/src/pe/raytracing/Raytracer.cpp
index 0e56f74cb..0cce4b37c 100644
--- a/src/pe/raytracing/Raytracer.cpp
+++ b/src/pe/raytracing/Raytracer.cpp
@@ -39,15 +39,21 @@ namespace raytracing {
* \param cameraPosition Position of the camera in the global world frame.
* \param lookAtPoint Point the camera looks at in the global world frame.
* \param upVector Vector indicating the upwards direction of the camera.
+ * \param blockAABBIntersectionPadding The padding applied in block AABB intersection pretesting. Usually not required.
+ * Set it to the value of the farthest distance a object might protrude from
+ * its containing block.
*/
-Raytracer::Raytracer(const shared_ptr<BlockStorage> forest, BlockDataID storageID, const shared_ptr<BodyStorage> globalBodyStorage,
+Raytracer::Raytracer(const shared_ptr<BlockStorage> forest, BlockDataID storageID,
+ const shared_ptr<BodyStorage> globalBodyStorage,
size_t pixelsHorizontal, size_t pixelsVertical,
real_t fov_vertical,
- const Vec3& cameraPosition, const Vec3& lookAtPoint, const Vec3& upVector)
+ const Vec3& cameraPosition, const Vec3& lookAtPoint, const Vec3& upVector,
+ real_t blockAABBIntersectionPadding)
: forest_(forest), storageID_(storageID), globalBodyStorage_(globalBodyStorage),
pixelsHorizontal_(pixelsHorizontal), pixelsVertical_(pixelsVertical),
fov_vertical_(fov_vertical),
cameraPosition_(cameraPosition), lookAtPoint_(lookAtPoint), upVector_(upVector),
+ blockAABBIntersectionPadding_(blockAABBIntersectionPadding),
tBufferOutputEnabled_(false)
{
setupView_();
@@ -61,10 +67,12 @@ Raytracer::Raytracer(const shared_ptr<BlockStorage> forest, BlockDataID storageI
*
* The config block has to contain image_x (int), image_y (int), fov_vertical (real, in degrees)
* and tbuffer_output_directory (string) parameters. Additionally a vector of reals
- * for each of cameraPosition, lookAt and the upVector.
+ * for each of cameraPosition, lookAt and the upVector. Optional is blockAABBIntersectionPadding (real).
*/
-Raytracer::Raytracer(const shared_ptr<BlockStorage> forest, BlockDataID storageID, const shared_ptr<BodyStorage> globalBodyStorage,
- const Config::BlockHandle& config) : forest_(forest), storageID_(storageID), globalBodyStorage_(globalBodyStorage) {
+Raytracer::Raytracer(const shared_ptr<BlockStorage> forest, BlockDataID storageID,
+ const shared_ptr<BodyStorage> globalBodyStorage,
+ const Config::BlockHandle& config)
+ : forest_(forest), storageID_(storageID), globalBodyStorage_(globalBodyStorage) {
WALBERLA_CHECK(config.isValid(), "No valid config passed to raytracer");
pixelsHorizontal_ = config.getParameter<size_t>("image_x");
@@ -80,6 +88,8 @@ Raytracer::Raytracer(const shared_ptr<BlockStorage> forest, BlockDataID storageI
cameraPosition_ = config.getParameter<Vec3>("cameraPosition");
lookAtPoint_ = config.getParameter<Vec3>("lookAt");
upVector_ = config.getParameter<Vec3>("upVector");
+
+ blockAABBIntersectionPadding_ = config.getParameter<real_t>("blockAABBIntersectionPadding", real_t(0.0));
setupView_();
}
diff --git a/src/pe/raytracing/Raytracer.h b/src/pe/raytracing/Raytracer.h
index a0a8580f7..873760d30 100644
--- a/src/pe/raytracing/Raytracer.h
+++ b/src/pe/raytracing/Raytracer.h
@@ -66,11 +66,14 @@ class Raytracer {
public:
/*!\name Constructors */
//@{
- explicit Raytracer(const shared_ptr<BlockStorage> forest, BlockDataID storageID, const shared_ptr<BodyStorage> globalBodyStorage,
+ explicit Raytracer(const shared_ptr<BlockStorage> forest, BlockDataID storageID,
+ const shared_ptr<BodyStorage> globalBodyStorage,
size_t pixelsHorizontal, size_t pixelsVertical,
real_t fov_vertical,
- const Vec3& cameraPosition, const Vec3& lookAtPoint, const Vec3& upVector);
- explicit Raytracer(const shared_ptr<BlockStorage> forest, BlockDataID storageID, const shared_ptr<BodyStorage> globalBodyStorage,
+ const Vec3& cameraPosition, const Vec3& lookAtPoint, const Vec3& upVector,
+ real_t blockAABBIntersectionPadding = real_t(0.0));
+ explicit Raytracer(const shared_ptr<BlockStorage> forest, BlockDataID storageID,
+ const shared_ptr<BodyStorage> globalBodyStorage,
const Config::BlockHandle& config);
//@}
@@ -89,10 +92,15 @@ private:
Vec3 lookAtPoint_; /*!< The point the camera looks at in the global world frame,
marks the center of the view plane.*/
Vec3 upVector_; //!< The vector indicating the upwards direction of the camera.
+ real_t blockAABBIntersectionPadding_; /*!< The padding applied in block AABB intersection pretesting, as
+ some objects within a block might protrude from the block's AABB.*/
+
bool tBufferOutputEnabled_; //!< Enable / disable dumping the tbuffer to a file
std::string tBufferOutputDirectory_; //!< Path to the tbuffer output directory
+
std::set<walberla::id_t> invisibleBodyIDs_; //!< The set for invisible body IDs.
// std::set is used here because for a small number of elements it is often faster than std::unordered_set
+
//@}
Vec3 n; // normal vector of viewing plane
@@ -283,7 +291,7 @@ void Raytracer::rayTrace(const size_t timestep) const {
for (auto blockIt = forest_->begin(); blockIt != forest_->end(); ++blockIt) {
#ifndef DISABLE_BLOCK_AABB_INTERSECTION_PRECHECK
const AABB& blockAabb = blockIt->getAABB();
- if (!intersects(blockAabb, ray, t)) {
+ if (!intersects(blockAabb, ray, t, blockAABBIntersectionPadding_)) {
continue;
}
#endif
diff --git a/tests/pe/Raytracing.cpp b/tests/pe/Raytracing.cpp
index 43ca24d2b..17f738282 100644
--- a/tests/pe/Raytracing.cpp
+++ b/tests/pe/Raytracing.cpp
@@ -114,6 +114,26 @@ void BoxIntersectsTest() {
WALBERLA_CHECK_FLOAT_EQUAL_EPSILON(t, real_t(2.67157), real_t(1e-4));
}
+void AABBIntersectsTest() {
+ WALBERLA_LOG_INFO("RAY -> AABB");
+
+ Ray ray1(Vec3(-5,5,5), Vec3(1,0,0));
+ real_t t;
+
+ AABB aabb(0,0,0,
+ 10,10,10);
+
+ WALBERLA_CHECK(intersects(aabb, ray1, t));
+ WALBERLA_CHECK_FLOAT_EQUAL(t, real_t(5));
+
+ WALBERLA_CHECK(intersects(aabb, ray1, t, 1.0));
+ WALBERLA_CHECK_FLOAT_EQUAL(t, real_t(4));
+
+ Ray ray2(Vec3(-5,5,10.5), Vec3(1,0,0)); // ray shooting over aabb, but within padding passed to intersects
+ WALBERLA_CHECK(intersects(aabb, ray1, t, 1.0));
+ WALBERLA_CHECK_FLOAT_EQUAL(t, real_t(4));
+}
+
void RaytracerTest() {
WALBERLA_LOG_INFO("Raytracer");
shared_ptr<BodyStorage> globalBodyStorage = make_shared<BodyStorage>();
@@ -171,9 +191,10 @@ int main( int argc, char** argv )
SetBodyTypeIDs<BodyTuple>::execute();
- //SphereIntersectsTest();
- //PlaneIntersectsTest();
- //BoxIntersectsTest();
+ SphereIntersectsTest();
+ PlaneIntersectsTest();
+ BoxIntersectsTest();
+ AABBIntersectsTest();
RaytracerTest();
return EXIT_SUCCESS;
--
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