| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2011-2014, Willow Garage, Inc. | ||
| 5 | * Copyright (c) 2014-2015, Open Source Robotics Foundation | ||
| 6 | * All rights reserved. | ||
| 7 | * | ||
| 8 | * Redistribution and use in source and binary forms, with or without | ||
| 9 | * modification, are permitted provided that the following conditions | ||
| 10 | * are met: | ||
| 11 | * | ||
| 12 | * * Redistributions of source code must retain the above copyright | ||
| 13 | * notice, this list of conditions and the following disclaimer. | ||
| 14 | * * Redistributions in binary form must reproduce the above | ||
| 15 | * copyright notice, this list of conditions and the following | ||
| 16 | * disclaimer in the documentation and/or other materials provided | ||
| 17 | * with the distribution. | ||
| 18 | * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
| 19 | * contributors may be used to endorse or promote products derived | ||
| 20 | * from this software without specific prior written permission. | ||
| 21 | * | ||
| 22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 23 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 24 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 25 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 26 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 27 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 28 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 29 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 30 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 31 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 32 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 33 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 34 | */ | ||
| 35 | |||
| 36 | /** \author Jia Pan */ | ||
| 37 | |||
| 38 | #include "coal/internal/BV_fitter.h" | ||
| 39 | #include "coal/BVH/BVH_utility.h" | ||
| 40 | #include "coal/internal/tools.h" | ||
| 41 | |||
| 42 | #include <limits> | ||
| 43 | |||
| 44 | namespace coal { | ||
| 45 | |||
| 46 | static const Scalar kIOS_RATIO = 1.5; | ||
| 47 | static const Scalar invSinA = 2; | ||
| 48 | static const Scalar cosA = sqrt(Scalar(3)) / Scalar(2); | ||
| 49 | |||
| 50 | 1776255 | static inline void axisFromEigen(Vec3s eigenV[3], Scalar eigenS[3], | |
| 51 | Matrix3s& axes) { | ||
| 52 | int min, mid, max; | ||
| 53 |
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1776255 | if (eigenS[0] > eigenS[1]) { |
| 54 | 869337 | max = 0; | |
| 55 | 869337 | min = 1; | |
| 56 | } else { | ||
| 57 | 906918 | min = 0; | |
| 58 | 906918 | max = 1; | |
| 59 | } | ||
| 60 |
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1776255 | if (eigenS[2] < eigenS[min]) { |
| 61 | 395594 | mid = min; | |
| 62 | 395594 | min = 2; | |
| 63 |
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1380661 | } else if (eigenS[2] > eigenS[max]) { |
| 64 | 598769 | mid = max; | |
| 65 | 598769 | max = 2; | |
| 66 | } else { | ||
| 67 | 781892 | mid = 2; | |
| 68 | } | ||
| 69 | |||
| 70 |
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1776255 | axes.col(0) << eigenV[0][max], eigenV[1][max], eigenV[2][max]; |
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1776255 | axes.col(1) << eigenV[0][mid], eigenV[1][mid], eigenV[2][mid]; |
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1776255 | axes.col(2) << eigenV[1][max] * eigenV[2][mid] - |
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1776255 | eigenV[1][mid] * eigenV[2][max], |
| 74 |
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1776255 | eigenV[0][mid] * eigenV[2][max] - eigenV[0][max] * eigenV[2][mid], |
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1776255 | eigenV[0][max] * eigenV[1][mid] - eigenV[0][mid] * eigenV[1][max]; |
| 76 | 1776255 | } | |
| 77 | |||
| 78 | namespace OBB_fit_functions { | ||
| 79 | |||
| 80 | ✗ | void fit1(Vec3s* ps, OBB& bv) { | |
| 81 | ✗ | bv.To.noalias() = ps[0]; | |
| 82 | ✗ | bv.axes.setIdentity(); | |
| 83 | ✗ | bv.extent.setZero(); | |
| 84 | ✗ | } | |
| 85 | |||
| 86 | ✗ | void fit2(Vec3s* ps, OBB& bv) { | |
| 87 | ✗ | const Vec3s& p1 = ps[0]; | |
| 88 | ✗ | const Vec3s& p2 = ps[1]; | |
| 89 | ✗ | Vec3s p1p2 = p1 - p2; | |
| 90 | ✗ | Scalar len_p1p2 = p1p2.norm(); | |
| 91 | ✗ | p1p2.normalize(); | |
| 92 | |||
| 93 | ✗ | bv.axes.col(0).noalias() = p1p2; | |
| 94 | ✗ | generateCoordinateSystem(bv.axes.col(0), bv.axes.col(1), bv.axes.col(2)); | |
| 95 | |||
| 96 | ✗ | bv.extent << len_p1p2 * Scalar(0.5), 0, 0; | |
| 97 | ✗ | bv.To.noalias() = (p1 + p2) / 2; | |
| 98 | ✗ | } | |
| 99 | |||
| 100 | 13080 | void fit3(Vec3s* ps, OBB& bv) { | |
| 101 | 13080 | const Vec3s& p1 = ps[0]; | |
| 102 | 13080 | const Vec3s& p2 = ps[1]; | |
| 103 | 13080 | const Vec3s& p3 = ps[2]; | |
| 104 |
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52320 | Vec3s e[3]; |
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13080 | e[0] = p1 - p2; |
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13080 | e[1] = p2 - p3; |
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13080 | e[2] = p3 - p1; |
| 108 | Scalar len[3]; | ||
| 109 |
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13080 | len[0] = e[0].squaredNorm(); |
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13080 | len[1] = e[1].squaredNorm(); |
| 111 |
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13080 | len[2] = e[2].squaredNorm(); |
| 112 | |||
| 113 | 13080 | int imax = 0; | |
| 114 |
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13080 | if (len[1] > len[0]) imax = 1; |
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13080 | if (len[2] > len[imax]) imax = 2; |
| 116 | |||
| 117 |
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13080 | bv.axes.col(2).noalias() = e[0].cross(e[1]).normalized(); |
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13080 | bv.axes.col(0).noalias() = e[imax].normalized(); |
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13080 | bv.axes.col(1).noalias() = bv.axes.col(2).cross(bv.axes.col(0)); |
| 120 | |||
| 121 |
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13080 | getExtentAndCenter(ps, NULL, NULL, NULL, 3, bv.axes, bv.To, bv.extent); |
| 122 | 13080 | } | |
| 123 | |||
| 124 | ✗ | void fit6(Vec3s* ps, OBB& bv) { | |
| 125 | ✗ | OBB bv1, bv2; | |
| 126 | ✗ | fit3(ps, bv1); | |
| 127 | ✗ | fit3(ps + 3, bv2); | |
| 128 | ✗ | bv = bv1 + bv2; | |
| 129 | ✗ | } | |
| 130 | |||
| 131 | 226 | void fitn(Vec3s* ps, unsigned int n, OBB& bv) { | |
| 132 |
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226 | Matrix3s M; |
| 133 |
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904 | Vec3s E[3]; |
| 134 | 226 | Scalar s[3] = {0, 0, 0}; // three eigen values | |
| 135 | |||
| 136 |
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226 | getCovariance(ps, NULL, NULL, NULL, n, M); |
| 137 |
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226 | eigen(M, s, E); |
| 138 |
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226 | axisFromEigen(E, s, bv.axes); |
| 139 | |||
| 140 | // set obb centers and extensions | ||
| 141 |
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226 | getExtentAndCenter(ps, NULL, NULL, NULL, n, bv.axes, bv.To, bv.extent); |
| 142 | 226 | } | |
| 143 | |||
| 144 | } // namespace OBB_fit_functions | ||
| 145 | |||
| 146 | namespace RSS_fit_functions { | ||
| 147 | ✗ | void fit1(Vec3s* ps, RSS& bv) { | |
| 148 | ✗ | bv.Tr.noalias() = ps[0]; | |
| 149 | ✗ | bv.axes.setIdentity(); | |
| 150 | ✗ | bv.length[0] = 0; | |
| 151 | ✗ | bv.length[1] = 0; | |
| 152 | ✗ | bv.radius = 0; | |
| 153 | ✗ | } | |
| 154 | |||
| 155 | ✗ | void fit2(Vec3s* ps, RSS& bv) { | |
| 156 | ✗ | const Vec3s& p1 = ps[0]; | |
| 157 | ✗ | const Vec3s& p2 = ps[1]; | |
| 158 | ✗ | bv.axes.col(0).noalias() = p1 - p2; | |
| 159 | ✗ | Scalar len_p1p2 = bv.axes.col(0).norm(); | |
| 160 | ✗ | bv.axes.col(0) /= len_p1p2; | |
| 161 | |||
| 162 | ✗ | generateCoordinateSystem(bv.axes.col(0), bv.axes.col(1), bv.axes.col(2)); | |
| 163 | ✗ | bv.length[0] = len_p1p2; | |
| 164 | ✗ | bv.length[1] = 0; | |
| 165 | |||
| 166 | ✗ | bv.Tr = p2; | |
| 167 | ✗ | bv.radius = 0; | |
| 168 | ✗ | } | |
| 169 | |||
| 170 | 13080 | void fit3(Vec3s* ps, RSS& bv) { | |
| 171 | 13080 | const Vec3s& p1 = ps[0]; | |
| 172 | 13080 | const Vec3s& p2 = ps[1]; | |
| 173 | 13080 | const Vec3s& p3 = ps[2]; | |
| 174 |
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52320 | Vec3s e[3]; |
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13080 | e[0] = p1 - p2; |
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13080 | e[1] = p2 - p3; |
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13080 | e[2] = p3 - p1; |
| 178 | Scalar len[3]; | ||
| 179 |
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13080 | len[0] = e[0].squaredNorm(); |
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13080 | len[1] = e[1].squaredNorm(); |
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13080 | len[2] = e[2].squaredNorm(); |
| 182 | |||
| 183 | 13080 | int imax = 0; | |
| 184 |
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13080 | if (len[1] > len[0]) imax = 1; |
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13080 | if (len[2] > len[imax]) imax = 2; |
| 186 | |||
| 187 |
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13080 | bv.axes.col(2).noalias() = e[0].cross(e[1]).normalized(); |
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13080 | bv.axes.col(0).noalias() = e[imax].normalized(); |
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13080 | bv.axes.col(1).noalias() = bv.axes.col(2).cross(bv.axes.col(0)); |
| 190 | |||
| 191 | 13080 | getRadiusAndOriginAndRectangleSize(ps, NULL, NULL, NULL, 3, bv.axes, bv.Tr, | |
| 192 |
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13080 | bv.length, bv.radius); |
| 193 | 13080 | } | |
| 194 | |||
| 195 | ✗ | void fit6(Vec3s* ps, RSS& bv) { | |
| 196 | ✗ | RSS bv1, bv2; | |
| 197 | ✗ | fit3(ps, bv1); | |
| 198 | ✗ | fit3(ps + 3, bv2); | |
| 199 | ✗ | bv = bv1 + bv2; | |
| 200 | ✗ | } | |
| 201 | |||
| 202 | 227 | void fitn(Vec3s* ps, unsigned int n, RSS& bv) { | |
| 203 |
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227 | Matrix3s M; // row first matrix |
| 204 |
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908 | Vec3s E[3]; // row first eigen-vectors |
| 205 | 227 | Scalar s[3] = {0, 0, 0}; | |
| 206 | |||
| 207 |
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227 | getCovariance(ps, NULL, NULL, NULL, n, M); |
| 208 |
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227 | eigen(M, s, E); |
| 209 |
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227 | axisFromEigen(E, s, bv.axes); |
| 210 | |||
| 211 | // set rss origin, rectangle size and radius | ||
| 212 | 227 | getRadiusAndOriginAndRectangleSize(ps, NULL, NULL, NULL, n, bv.axes, bv.Tr, | |
| 213 |
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227 | bv.length, bv.radius); |
| 214 | 227 | } | |
| 215 | |||
| 216 | } // namespace RSS_fit_functions | ||
| 217 | |||
| 218 | namespace kIOS_fit_functions { | ||
| 219 | |||
| 220 | ✗ | void fit1(Vec3s* ps, kIOS& bv) { | |
| 221 | ✗ | bv.num_spheres = 1; | |
| 222 | ✗ | bv.spheres[0].o.noalias() = ps[0]; | |
| 223 | ✗ | bv.spheres[0].r = 0; | |
| 224 | |||
| 225 | ✗ | bv.obb.axes.setIdentity(); | |
| 226 | ✗ | bv.obb.extent.setZero(); | |
| 227 | ✗ | bv.obb.To.noalias() = ps[0]; | |
| 228 | ✗ | } | |
| 229 | |||
| 230 | ✗ | void fit2(Vec3s* ps, kIOS& bv) { | |
| 231 | ✗ | bv.num_spheres = 5; | |
| 232 | |||
| 233 | ✗ | const Vec3s& p1 = ps[0]; | |
| 234 | ✗ | const Vec3s& p2 = ps[1]; | |
| 235 | ✗ | Vec3s p1p2 = p1 - p2; | |
| 236 | ✗ | Scalar len_p1p2 = p1p2.norm(); | |
| 237 | ✗ | p1p2.normalize(); | |
| 238 | |||
| 239 | ✗ | Matrix3s& axes = bv.obb.axes; | |
| 240 | ✗ | axes.col(0).noalias() = p1p2; | |
| 241 | ✗ | generateCoordinateSystem(axes.col(0), axes.col(1), axes.col(2)); | |
| 242 | |||
| 243 | ✗ | Scalar r0 = len_p1p2 * Scalar(0.5); | |
| 244 | ✗ | bv.obb.extent << r0, 0, 0; | |
| 245 | ✗ | bv.obb.To = (p1 + p2) * 0.5; | |
| 246 | |||
| 247 | ✗ | bv.spheres[0].o = bv.obb.To; | |
| 248 | ✗ | bv.spheres[0].r = r0; | |
| 249 | |||
| 250 | ✗ | Scalar r1 = r0 * invSinA; | |
| 251 | ✗ | Scalar r1cosA = r1 * cosA; | |
| 252 | ✗ | bv.spheres[1].r = r1; | |
| 253 | ✗ | bv.spheres[2].r = r1; | |
| 254 | ✗ | Vec3s delta = axes.col(1) * r1cosA; | |
| 255 | ✗ | bv.spheres[1].o = bv.spheres[0].o - delta; | |
| 256 | ✗ | bv.spheres[2].o = bv.spheres[0].o + delta; | |
| 257 | |||
| 258 | ✗ | bv.spheres[3].r = r1; | |
| 259 | ✗ | bv.spheres[4].r = r1; | |
| 260 | ✗ | delta = axes.col(2) * r1cosA; | |
| 261 | ✗ | bv.spheres[3].o = bv.spheres[0].o - delta; | |
| 262 | ✗ | bv.spheres[4].o = bv.spheres[0].o + delta; | |
| 263 | ✗ | } | |
| 264 | |||
| 265 | 6540 | void fit3(Vec3s* ps, kIOS& bv) { | |
| 266 | 6540 | bv.num_spheres = 3; | |
| 267 | |||
| 268 | 6540 | const Vec3s& p1 = ps[0]; | |
| 269 | 6540 | const Vec3s& p2 = ps[1]; | |
| 270 | 6540 | const Vec3s& p3 = ps[2]; | |
| 271 |
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26160 | Vec3s e[3]; |
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6540 | e[0] = p1 - p2; |
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6540 | e[1] = p2 - p3; |
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6540 | e[2] = p3 - p1; |
| 275 | Scalar len[3]; | ||
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6540 | len[0] = e[0].squaredNorm(); |
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6540 | len[1] = e[1].squaredNorm(); |
| 278 |
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6540 | len[2] = e[2].squaredNorm(); |
| 279 | |||
| 280 | 6540 | int imax = 0; | |
| 281 |
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6540 | if (len[1] > len[0]) imax = 1; |
| 282 |
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6540 | if (len[2] > len[imax]) imax = 2; |
| 283 | |||
| 284 |
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6540 | bv.obb.axes.col(2).noalias() = e[0].cross(e[1]).normalized(); |
| 285 |
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6540 | bv.obb.axes.col(0).noalias() = e[imax].normalized(); |
| 286 |
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6540 | bv.obb.axes.col(1).noalias() = bv.obb.axes.col(2).cross(bv.obb.axes.col(0)); |
| 287 | |||
| 288 | 6540 | getExtentAndCenter(ps, NULL, NULL, NULL, 3, bv.obb.axes, bv.obb.To, | |
| 289 |
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6540 | bv.obb.extent); |
| 290 | |||
| 291 | // compute radius and center | ||
| 292 | Scalar r0; | ||
| 293 |
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6540 | Vec3s center; |
| 294 |
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6540 | circumCircleComputation(p1, p2, p3, center, r0); |
| 295 | |||
| 296 |
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6540 | bv.spheres[0].o = center; |
| 297 | 6540 | bv.spheres[0].r = r0; | |
| 298 | |||
| 299 | 6540 | Scalar r1 = r0 * invSinA; | |
| 300 |
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6540 | Vec3s delta = bv.obb.axes.col(2) * (r1 * cosA); |
| 301 | |||
| 302 | 6540 | bv.spheres[1].r = r1; | |
| 303 |
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6540 | bv.spheres[1].o = center - delta; |
| 304 | 6540 | bv.spheres[2].r = r1; | |
| 305 |
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6540 | bv.spheres[2].o = center + delta; |
| 306 | 6540 | } | |
| 307 | |||
| 308 | 1 | void fitn(Vec3s* ps, unsigned int n, kIOS& bv) { | |
| 309 |
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1 | Matrix3s M; |
| 310 |
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4 | Vec3s E[3]; |
| 311 | 1 | Scalar s[3] = {0, 0, 0}; // three eigen values; | |
| 312 | |||
| 313 |
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1 | getCovariance(ps, NULL, NULL, NULL, n, M); |
| 314 |
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1 | eigen(M, s, E); |
| 315 | |||
| 316 | 1 | Matrix3s& axes = bv.obb.axes; | |
| 317 |
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1 | axisFromEigen(E, s, axes); |
| 318 | |||
| 319 |
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1 | getExtentAndCenter(ps, NULL, NULL, NULL, n, axes, bv.obb.To, bv.obb.extent); |
| 320 | |||
| 321 | // get center and extension | ||
| 322 | 1 | const Vec3s& center = bv.obb.To; | |
| 323 | 1 | const Vec3s& extent = bv.obb.extent; | |
| 324 |
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1 | Scalar r0 = maximumDistance(ps, NULL, NULL, NULL, n, center); |
| 325 | |||
| 326 | // decide the k in kIOS | ||
| 327 |
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1 | if (extent[0] > kIOS_RATIO * extent[2]) { |
| 328 |
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1 | if (extent[0] > kIOS_RATIO * extent[1]) |
| 329 | ✗ | bv.num_spheres = 5; | |
| 330 | else | ||
| 331 | 1 | bv.num_spheres = 3; | |
| 332 | } else | ||
| 333 | ✗ | bv.num_spheres = 1; | |
| 334 | |||
| 335 |
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1 | bv.spheres[0].o = center; |
| 336 | 1 | bv.spheres[0].r = r0; | |
| 337 | |||
| 338 |
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1 | if (bv.num_spheres >= 3) { |
| 339 |
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1 | Scalar r10 = sqrt(r0 * r0 - extent[2] * extent[2]) * invSinA; |
| 340 |
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1 | Vec3s delta = axes.col(2) * (r10 * cosA - extent[2]); |
| 341 |
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1 | bv.spheres[1].o = center - delta; |
| 342 |
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1 | bv.spheres[2].o = center + delta; |
| 343 | |||
| 344 | 1 | Scalar r11 = 0, r12 = 0; | |
| 345 |
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1 | r11 = maximumDistance(ps, NULL, NULL, NULL, n, bv.spheres[1].o); |
| 346 |
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1 | r12 = maximumDistance(ps, NULL, NULL, NULL, n, bv.spheres[2].o); |
| 347 |
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1 | bv.spheres[1].o += axes.col(2) * (-r10 + r11); |
| 348 |
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1 | bv.spheres[2].o += axes.col(2) * (r10 - r12); |
| 349 | |||
| 350 | 1 | bv.spheres[1].r = r10; | |
| 351 | 1 | bv.spheres[2].r = r10; | |
| 352 | } | ||
| 353 | |||
| 354 |
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1 | if (bv.num_spheres >= 5) { |
| 355 | ✗ | Scalar r10 = bv.spheres[1].r; | |
| 356 | Vec3s delta = | ||
| 357 | ✗ | axes.col(1) * | |
| 358 | ✗ | (sqrt(r10 * r10 - extent[0] * extent[0] - extent[2] * extent[2]) - | |
| 359 | ✗ | extent[1]); | |
| 360 | ✗ | bv.spheres[3].o = bv.spheres[0].o - delta; | |
| 361 | ✗ | bv.spheres[4].o = bv.spheres[0].o + delta; | |
| 362 | |||
| 363 | ✗ | Scalar r21 = 0, r22 = 0; | |
| 364 | ✗ | r21 = maximumDistance(ps, NULL, NULL, NULL, n, bv.spheres[3].o); | |
| 365 | ✗ | r22 = maximumDistance(ps, NULL, NULL, NULL, n, bv.spheres[4].o); | |
| 366 | |||
| 367 | ✗ | bv.spheres[3].o += axes.col(1) * (-r10 + r21); | |
| 368 | ✗ | bv.spheres[4].o += axes.col(1) * (r10 - r22); | |
| 369 | |||
| 370 | ✗ | bv.spheres[3].r = r10; | |
| 371 | ✗ | bv.spheres[4].r = r10; | |
| 372 | } | ||
| 373 | 1 | } | |
| 374 | |||
| 375 | } // namespace kIOS_fit_functions | ||
| 376 | |||
| 377 | namespace OBBRSS_fit_functions { | ||
| 378 | ✗ | void fit1(Vec3s* ps, OBBRSS& bv) { | |
| 379 | ✗ | OBB_fit_functions::fit1(ps, bv.obb); | |
| 380 | ✗ | RSS_fit_functions::fit1(ps, bv.rss); | |
| 381 | ✗ | } | |
| 382 | |||
| 383 | ✗ | void fit2(Vec3s* ps, OBBRSS& bv) { | |
| 384 | ✗ | OBB_fit_functions::fit2(ps, bv.obb); | |
| 385 | ✗ | RSS_fit_functions::fit2(ps, bv.rss); | |
| 386 | ✗ | } | |
| 387 | |||
| 388 | 6540 | void fit3(Vec3s* ps, OBBRSS& bv) { | |
| 389 | 6540 | OBB_fit_functions::fit3(ps, bv.obb); | |
| 390 | 6540 | RSS_fit_functions::fit3(ps, bv.rss); | |
| 391 | 6540 | } | |
| 392 | |||
| 393 | 226 | void fitn(Vec3s* ps, unsigned int n, OBBRSS& bv) { | |
| 394 | 226 | OBB_fit_functions::fitn(ps, n, bv.obb); | |
| 395 | 226 | RSS_fit_functions::fitn(ps, n, bv.rss); | |
| 396 | 226 | } | |
| 397 | |||
| 398 | } // namespace OBBRSS_fit_functions | ||
| 399 | |||
| 400 | template <> | ||
| 401 | 6540 | void fit(Vec3s* ps, unsigned int n, OBB& bv) { | |
| 402 |
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6540 | switch (n) { |
| 403 | ✗ | case 1: | |
| 404 | ✗ | OBB_fit_functions::fit1(ps, bv); | |
| 405 | ✗ | break; | |
| 406 | ✗ | case 2: | |
| 407 | ✗ | OBB_fit_functions::fit2(ps, bv); | |
| 408 | ✗ | break; | |
| 409 | 6540 | case 3: | |
| 410 | 6540 | OBB_fit_functions::fit3(ps, bv); | |
| 411 | 6540 | break; | |
| 412 | ✗ | case 6: | |
| 413 | ✗ | OBB_fit_functions::fit6(ps, bv); | |
| 414 | ✗ | break; | |
| 415 | ✗ | default: | |
| 416 | ✗ | OBB_fit_functions::fitn(ps, n, bv); | |
| 417 | } | ||
| 418 | 6540 | } | |
| 419 | |||
| 420 | template <> | ||
| 421 | 6541 | void fit(Vec3s* ps, unsigned int n, RSS& bv) { | |
| 422 |
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6541 | switch (n) { |
| 423 | ✗ | case 1: | |
| 424 | ✗ | RSS_fit_functions::fit1(ps, bv); | |
| 425 | ✗ | break; | |
| 426 | ✗ | case 2: | |
| 427 | ✗ | RSS_fit_functions::fit2(ps, bv); | |
| 428 | ✗ | break; | |
| 429 | 6540 | case 3: | |
| 430 | 6540 | RSS_fit_functions::fit3(ps, bv); | |
| 431 | 6540 | break; | |
| 432 | 1 | default: | |
| 433 | 1 | RSS_fit_functions::fitn(ps, n, bv); | |
| 434 | } | ||
| 435 | 6541 | } | |
| 436 | |||
| 437 | template <> | ||
| 438 | 6541 | void fit(Vec3s* ps, unsigned int n, kIOS& bv) { | |
| 439 |
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6541 | switch (n) { |
| 440 | ✗ | case 1: | |
| 441 | ✗ | kIOS_fit_functions::fit1(ps, bv); | |
| 442 | ✗ | break; | |
| 443 | ✗ | case 2: | |
| 444 | ✗ | kIOS_fit_functions::fit2(ps, bv); | |
| 445 | ✗ | break; | |
| 446 | 6540 | case 3: | |
| 447 | 6540 | kIOS_fit_functions::fit3(ps, bv); | |
| 448 | 6540 | break; | |
| 449 | 1 | default: | |
| 450 | 1 | kIOS_fit_functions::fitn(ps, n, bv); | |
| 451 | } | ||
| 452 | 6541 | } | |
| 453 | |||
| 454 | template <> | ||
| 455 | 6766 | void fit(Vec3s* ps, unsigned int n, OBBRSS& bv) { | |
| 456 |
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6766 | switch (n) { |
| 457 | ✗ | case 1: | |
| 458 | ✗ | OBBRSS_fit_functions::fit1(ps, bv); | |
| 459 | ✗ | break; | |
| 460 | ✗ | case 2: | |
| 461 | ✗ | OBBRSS_fit_functions::fit2(ps, bv); | |
| 462 | ✗ | break; | |
| 463 | 6540 | case 3: | |
| 464 | 6540 | OBBRSS_fit_functions::fit3(ps, bv); | |
| 465 | 6540 | break; | |
| 466 | 226 | default: | |
| 467 | 226 | OBBRSS_fit_functions::fitn(ps, n, bv); | |
| 468 | } | ||
| 469 | 6766 | } | |
| 470 | |||
| 471 | template <> | ||
| 472 | ✗ | void fit(Vec3s* ps, unsigned int n, AABB& bv) { | |
| 473 | ✗ | if (n <= 0) return; | |
| 474 | ✗ | bv = AABB(ps[0]); | |
| 475 | ✗ | for (unsigned int i = 1; i < n; ++i) { | |
| 476 | ✗ | bv += ps[i]; | |
| 477 | } | ||
| 478 | } | ||
| 479 | |||
| 480 | 316227 | OBB BVFitter<OBB>::fit(unsigned int* primitive_indices, | |
| 481 | unsigned int num_primitives) { | ||
| 482 |
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316227 | OBB bv; |
| 483 | |||
| 484 |
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316227 | Matrix3s M; // row first matrix |
| 485 |
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1264908 | Vec3s E[3]; // row first eigen-vectors |
| 486 | Scalar s[3]; // three eigen values | ||
| 487 | |||
| 488 |
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316227 | getCovariance(vertices, prev_vertices, tri_indices, primitive_indices, |
| 489 | num_primitives, M); | ||
| 490 |
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316227 | eigen(M, s, E); |
| 491 | |||
| 492 |
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316227 | axisFromEigen(E, s, bv.axes); |
| 493 | |||
| 494 | // set obb centers and extensions | ||
| 495 | 316227 | getExtentAndCenter(vertices, prev_vertices, tri_indices, primitive_indices, | |
| 496 |
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316227 | num_primitives, bv.axes, bv.To, bv.extent); |
| 497 | |||
| 498 | 632454 | return bv; | |
| 499 | } | ||
| 500 | |||
| 501 | 1024786 | OBBRSS BVFitter<OBBRSS>::fit(unsigned int* primitive_indices, | |
| 502 | unsigned int num_primitives) { | ||
| 503 |
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1024786 | OBBRSS bv; |
| 504 |
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1024786 | Matrix3s M; |
| 505 |
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4099144 | Vec3s E[3]; |
| 506 | Scalar s[3]; | ||
| 507 | |||
| 508 |
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1024786 | getCovariance(vertices, prev_vertices, tri_indices, primitive_indices, |
| 509 | num_primitives, M); | ||
| 510 |
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1024786 | eigen(M, s, E); |
| 511 | |||
| 512 |
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1024786 | axisFromEigen(E, s, bv.obb.axes); |
| 513 |
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1024786 | bv.rss.axes.noalias() = bv.obb.axes; |
| 514 | |||
| 515 | 1024786 | getExtentAndCenter(vertices, prev_vertices, tri_indices, primitive_indices, | |
| 516 |
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1024786 | num_primitives, bv.obb.axes, bv.obb.To, bv.obb.extent); |
| 517 | |||
| 518 |
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1024786 | Vec3s origin; |
| 519 | Scalar l[2]; | ||
| 520 | Scalar r; | ||
| 521 | 1024786 | getRadiusAndOriginAndRectangleSize(vertices, prev_vertices, tri_indices, | |
| 522 | primitive_indices, num_primitives, | ||
| 523 |
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1024786 | bv.rss.axes, origin, l, r); |
| 524 | |||
| 525 |
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1024786 | bv.rss.Tr = origin; |
| 526 | 1024786 | bv.rss.length[0] = l[0]; | |
| 527 | 1024786 | bv.rss.length[1] = l[1]; | |
| 528 | 1024786 | bv.rss.radius = r; | |
| 529 | |||
| 530 | 2049572 | return bv; | |
| 531 | } | ||
| 532 | |||
| 533 | 296669 | RSS BVFitter<RSS>::fit(unsigned int* primitive_indices, | |
| 534 | unsigned int num_primitives) { | ||
| 535 |
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296669 | RSS bv; |
| 536 | |||
| 537 |
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296669 | Matrix3s M; // row first matrix |
| 538 |
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1186676 | Vec3s E[3]; // row first eigen-vectors |
| 539 | Scalar s[3]; // three eigen values | ||
| 540 |
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296669 | getCovariance(vertices, prev_vertices, tri_indices, primitive_indices, |
| 541 | num_primitives, M); | ||
| 542 |
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296669 | eigen(M, s, E); |
| 543 |
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296669 | axisFromEigen(E, s, bv.axes); |
| 544 | |||
| 545 | // set rss origin, rectangle size and radius | ||
| 546 | |||
| 547 |
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296669 | Vec3s origin; |
| 548 | Scalar l[2]; | ||
| 549 | Scalar r; | ||
| 550 | 296669 | getRadiusAndOriginAndRectangleSize(vertices, prev_vertices, tri_indices, | |
| 551 |
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296669 | primitive_indices, num_primitives, bv.axes, |
| 552 | origin, l, r); | ||
| 553 | |||
| 554 |
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296669 | bv.Tr = origin; |
| 555 | 296669 | bv.length[0] = l[0]; | |
| 556 | 296669 | bv.length[1] = l[1]; | |
| 557 | 296669 | bv.radius = r; | |
| 558 | |||
| 559 | 593338 | return bv; | |
| 560 | } | ||
| 561 | |||
| 562 | 138119 | kIOS BVFitter<kIOS>::fit(unsigned int* primitive_indices, | |
| 563 | unsigned int num_primitives) { | ||
| 564 |
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138119 | kIOS bv; |
| 565 | |||
| 566 |
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138119 | Matrix3s M; // row first matrix |
| 567 |
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552476 | Vec3s E[3]; // row first eigen-vectors |
| 568 | Scalar s[3]; | ||
| 569 | |||
| 570 |
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138119 | getCovariance(vertices, prev_vertices, tri_indices, primitive_indices, |
| 571 | num_primitives, M); | ||
| 572 |
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138119 | eigen(M, s, E); |
| 573 | |||
| 574 | 138119 | Matrix3s& axes = bv.obb.axes; | |
| 575 |
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138119 | axisFromEigen(E, s, axes); |
| 576 | |||
| 577 | // get centers and extensions | ||
| 578 | 138119 | getExtentAndCenter(vertices, prev_vertices, tri_indices, primitive_indices, | |
| 579 |
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138119 | num_primitives, axes, bv.obb.To, bv.obb.extent); |
| 580 | |||
| 581 | 138119 | const Vec3s& center = bv.obb.To; | |
| 582 | 138119 | const Vec3s& extent = bv.obb.extent; | |
| 583 |
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138119 | Scalar r0 = maximumDistance(vertices, prev_vertices, tri_indices, |
| 584 | primitive_indices, num_primitives, center); | ||
| 585 | |||
| 586 | // decide k in kIOS | ||
| 587 |
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138119 | if (extent[0] > kIOS_RATIO * extent[2]) { |
| 588 |
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136587 | if (extent[0] > kIOS_RATIO * extent[1]) |
| 589 | 128321 | bv.num_spheres = 5; | |
| 590 | else | ||
| 591 | 8266 | bv.num_spheres = 3; | |
| 592 | } else | ||
| 593 | 1532 | bv.num_spheres = 1; | |
| 594 | |||
| 595 |
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138119 | bv.spheres[0].o = center; |
| 596 | 138119 | bv.spheres[0].r = r0; | |
| 597 | |||
| 598 |
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138119 | if (bv.num_spheres >= 3) { |
| 599 |
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136587 | Scalar r10 = sqrt(r0 * r0 - extent[2] * extent[2]) * invSinA; |
| 600 |
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136587 | Vec3s delta = axes.col(2) * (r10 * cosA - extent[2]); |
| 601 |
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136587 | bv.spheres[1].o = center - delta; |
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136587 | bv.spheres[2].o = center + delta; |
| 603 | |||
| 604 | Scalar r11 = | ||
| 605 | 273174 | maximumDistance(vertices, prev_vertices, tri_indices, primitive_indices, | |
| 606 |
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136587 | num_primitives, bv.spheres[1].o); |
| 607 | Scalar r12 = | ||
| 608 | 273174 | maximumDistance(vertices, prev_vertices, tri_indices, primitive_indices, | |
| 609 |
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136587 | num_primitives, bv.spheres[2].o); |
| 610 | |||
| 611 |
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136587 | bv.spheres[1].o += axes.col(2) * (-r10 + r11); |
| 612 |
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136587 | bv.spheres[2].o += axes.col(2) * (r10 - r12); |
| 613 | |||
| 614 | 136587 | bv.spheres[1].r = r10; | |
| 615 | 136587 | bv.spheres[2].r = r10; | |
| 616 | } | ||
| 617 | |||
| 618 |
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138119 | if (bv.num_spheres >= 5) { |
| 619 | 128321 | Scalar r10 = bv.spheres[1].r; | |
| 620 | Vec3s delta = | ||
| 621 |
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128321 | axes.col(1) * |
| 622 |
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128321 | (sqrt(r10 * r10 - extent[0] * extent[0] - extent[2] * extent[2]) - |
| 623 |
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256642 | extent[1]); |
| 624 |
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128321 | bv.spheres[3].o = bv.spheres[0].o - delta; |
| 625 |
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128321 | bv.spheres[4].o = bv.spheres[0].o + delta; |
| 626 | |||
| 627 | 128321 | Scalar r21 = 0, r22 = 0; | |
| 628 | 256642 | r21 = maximumDistance(vertices, prev_vertices, tri_indices, | |
| 629 |
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128321 | primitive_indices, num_primitives, bv.spheres[3].o); |
| 630 | 256642 | r22 = maximumDistance(vertices, prev_vertices, tri_indices, | |
| 631 |
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128321 | primitive_indices, num_primitives, bv.spheres[4].o); |
| 632 | |||
| 633 |
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128321 | bv.spheres[3].o += axes.col(1) * (-r10 + r21); |
| 634 |
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128321 | bv.spheres[4].o += axes.col(1) * (r10 - r22); |
| 635 | |||
| 636 | 128321 | bv.spheres[3].r = r10; | |
| 637 | 128321 | bv.spheres[4].r = r10; | |
| 638 | } | ||
| 639 | |||
| 640 | 276238 | return bv; | |
| 641 | } | ||
| 642 | |||
| 643 | 149968 | AABB BVFitter<AABB>::fit(unsigned int* primitive_indices, | |
| 644 | unsigned int num_primitives) { | ||
| 645 | 149968 | AABB bv; | |
| 646 |
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149968 | if (num_primitives == 0) return bv; |
| 647 | |||
| 648 |
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149968 | if (type == BVH_MODEL_TRIANGLES) /// The primitive is triangle |
| 649 | { | ||
| 650 |
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149938 | Triangle32 t0 = tri_indices[primitive_indices[0]]; |
| 651 |
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149938 | bv = AABB(vertices[t0[0]]); |
| 652 | |||
| 653 |
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1095765 | for (unsigned int i = 0; i < num_primitives; ++i) { |
| 654 |
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945827 | Triangle32 t = tri_indices[primitive_indices[i]]; |
| 655 |
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945827 | bv += vertices[t[0]]; |
| 656 |
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945827 | bv += vertices[t[1]]; |
| 657 |
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945827 | bv += vertices[t[2]]; |
| 658 | |||
| 659 |
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945827 | if (prev_vertices) /// can fitting both current and previous frame |
| 660 | { | ||
| 661 | ✗ | bv += prev_vertices[t[0]]; | |
| 662 | ✗ | bv += prev_vertices[t[1]]; | |
| 663 | ✗ | bv += prev_vertices[t[2]]; | |
| 664 | } | ||
| 665 | } | ||
| 666 | 149938 | return bv; | |
| 667 |
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30 | } else if (type == BVH_MODEL_POINTCLOUD) /// The primitive is point |
| 668 | { | ||
| 669 |
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30 | bv = AABB(vertices[primitive_indices[0]]); |
| 670 |
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94 | for (unsigned int i = 0; i < num_primitives; ++i) { |
| 671 | 64 | bv += vertices[primitive_indices[i]]; | |
| 672 | |||
| 673 |
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64 | if (prev_vertices) /// can fitting both current and previous frame |
| 674 | { | ||
| 675 | ✗ | bv += prev_vertices[primitive_indices[i]]; | |
| 676 | } | ||
| 677 | } | ||
| 678 | } | ||
| 679 | 30 | return bv; | |
| 680 | } | ||
| 681 | |||
| 682 | } // namespace coal | ||
| 683 |