GCC Code Coverage Report

Directory: ./
File: src/BVH/BV_fitter.cpp
Date: 2025-04-13 14:25:19
Exec Total Coverage
Lines: 290 424 68.4%
Branches: 306 775 39.5%
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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],
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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];
105
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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];
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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();
112
113 13080 int imax = 0;
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 13080 if (len[1] > len[0]) imax = 1;
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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));
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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;
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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);
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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];
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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 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
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 227 getCovariance(ps, NULL, NULL, NULL, n, M);
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 227 eigen(M, s, E);
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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,
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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();
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 6540 len[2] = e[2].squaredNorm();
279
280 6540 int imax = 0;
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 6540 if (len[1] > len[0]) imax = 1;
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 6540 if (len[2] > len[imax]) imax = 2;
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 6540 bv.obb.axes.col(2).noalias() = e[0].cross(e[1]).normalized();
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 6540 bv.obb.axes.col(0).noalias() = e[imax].normalized();
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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,
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 6540 bv.obb.extent);
290
291 // compute radius and center
292 Scalar r0;
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 6540 Vec3s center;
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 6540 circumCircleComputation(p1, p2, p3, center, r0);
295
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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;
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 6540 bv.spheres[1].o = center - delta;
304 6540 bv.spheres[2].r = r1;
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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;
602
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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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610
611
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612
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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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622
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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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634
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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 149938 Triangle 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 945827 Triangle 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