[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [16006] trunk/blender/source/blender: BVH-KDOP update (merge from shrinkwrap branch): supports raytracing, nearest neighbour, non-recursive now, faster than kdtree. c implementation normaly, divided into 2 sources: generla structure in blenlib, mesh/ derivedmesh depending interface stuff in blenkernel
Daniel Genrich
daniel.genrich at gmx.net
Thu Aug 7 19:27:29 CEST 2008
Revision: 16006
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=16006
Author: genscher
Date: 2008-08-07 19:27:29 +0200 (Thu, 07 Aug 2008)
Log Message:
-----------
BVH-KDOP update (merge from shrinkwrap branch): supports raytracing, nearest neighbour, non-recursive now, faster than kdtree.c implementation normaly, divided into 2 sources: generla structure in blenlib, mesh/derivedmesh depending interface stuff in blenkernel
Modified Paths:
--------------
trunk/blender/source/blender/blenlib/BLI_kdopbvh.h
trunk/blender/source/blender/blenlib/intern/BLI_kdopbvh.c
Added Paths:
-----------
trunk/blender/source/blender/blenkernel/BKE_bvhutils.h
trunk/blender/source/blender/blenkernel/intern/bvhutils.c
Added: trunk/blender/source/blender/blenkernel/BKE_bvhutils.h
===================================================================
--- trunk/blender/source/blender/blenkernel/BKE_bvhutils.h (rev 0)
+++ trunk/blender/source/blender/blenkernel/BKE_bvhutils.h 2008-08-07 17:27:29 UTC (rev 16006)
@@ -0,0 +1,98 @@
+/**
+ *
+ * $Id$
+ *
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) 2006 by NaN Holding BV.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): André Pinto
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+#ifndef BKE_BVHUTILS_H
+#define BKE_BVHUTILS_H
+
+#include "BLI_kdopbvh.h"
+
+/*
+ * This header encapsulates necessary code to buld a BVH
+ */
+
+struct DerivedMesh;
+struct MVert;
+struct MFace;
+
+/*
+ * struct that kepts basic information about a BVHTree build from a mesh
+ */
+typedef struct BVHTreeFromMesh
+{
+ struct BVHTree *tree;
+
+ /* default callbacks to bvh nearest and raycast */
+ BVHTree_NearestPointCallback nearest_callback;
+ BVHTree_RayCastCallback raycast_callback;
+
+ /* Mesh represented on this BVHTree */
+ struct DerivedMesh *mesh;
+
+ /* Vertex array, so that callbacks have instante access to data */
+ struct MVert *vert;
+ struct MFace *face;
+
+ /* radius for raycast */
+ float sphere_radius;
+
+} BVHTreeFromMesh;
+
+/*
+ * Builds a bvh tree where nodes are the vertexs of the given mesh.
+ * Configures BVHTreeFromMesh.
+ *
+ * The tree is build in mesh space coordinates, this means special care must be made on queries
+ * so that the coordinates and rays are first translated on the mesh local coordinates.
+ * Reason for this is that later bvh_from_mesh_* might use a cache system and so it becames possible to reuse
+ * a BVHTree.
+ *
+ * free_bvhtree_from_mesh should be called when the tree is no longer needed.
+ */
+void bvhtree_from_mesh_verts(struct BVHTreeFromMesh *data, struct DerivedMesh *mesh, float epsilon, int tree_type, int axis);
+
+/*
+ * Builds a bvh tree where nodes are the faces of the given mesh.
+ * Configures BVHTreeFromMesh.
+ *
+ * The tree is build in mesh space coordinates, this means special care must be made on queries
+ * so that the coordinates and rays are first translated on the mesh local coordinates.
+ * Reason for this is that later bvh_from_mesh_* might use a cache system and so it becames possible to reuse
+ * a BVHTree.
+ *
+ * free_bvhtree_from_mesh should be called when the tree is no longer needed.
+ */
+void bvhtree_from_mesh_faces(struct BVHTreeFromMesh *data, struct DerivedMesh *mesh, float epsilon, int tree_type, int axis);
+
+/*
+ * Frees data allocated by a call to bvhtree_from_mesh_*.
+ */
+void free_bvhtree_from_mesh(struct BVHTreeFromMesh *data);
+
+#endif
+
Added: trunk/blender/source/blender/blenkernel/intern/bvhutils.c
===================================================================
--- trunk/blender/source/blender/blenkernel/intern/bvhutils.c (rev 0)
+++ trunk/blender/source/blender/blenkernel/intern/bvhutils.c 2008-08-07 17:27:29 UTC (rev 16006)
@@ -0,0 +1,426 @@
+/**
+ *
+ * $Id$
+ *
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) Blender Foundation.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): André Pinto.
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+#include <stdio.h>
+#include <string.h>
+#include <math.h>
+
+#include "BKE_bvhutils.h"
+
+#include "DNA_object_types.h"
+#include "DNA_modifier_types.h"
+#include "DNA_meshdata_types.h"
+
+#include "BKE_DerivedMesh.h"
+#include "BKE_utildefines.h"
+#include "BKE_deform.h"
+#include "BKE_cdderivedmesh.h"
+#include "BKE_displist.h"
+#include "BKE_global.h"
+
+#include "BLI_arithb.h"
+
+/* Math stuff for ray casting on mesh faces and for nearest surface */
+
+static float nearest_point_in_tri_surface(const float *point, const float *v0, const float *v1, const float *v2, float *nearest);
+
+#define ISECT_EPSILON 1e-6
+static float ray_tri_intersection(const BVHTreeRay *ray, const float m_dist, const float *v0, const float *v1, const float *v2)
+{
+ float dist;
+
+ if(RayIntersectsTriangle(ray->origin, ray->direction, v0, v1, v2, &dist, NULL))
+ return dist;
+
+ return FLT_MAX;
+}
+
+static float sphereray_tri_intersection(const BVHTreeRay *ray, float radius, const float m_dist, const float *v0, const float *v1, const float *v2)
+{
+
+ float idist;
+ float p1[3];
+ float plane_normal[3], hit_point[3];
+
+ CalcNormFloat((float*)v0, (float*)v1, (float*)v2, plane_normal);
+
+ VECADDFAC( p1, ray->origin, ray->direction, m_dist);
+ if(SweepingSphereIntersectsTriangleUV(ray->origin, p1, radius, v0, v1, v2, &idist, &hit_point))
+ {
+ return idist * m_dist;
+ }
+
+ return FLT_MAX;
+}
+
+/*
+ * This calculates the distance from point to the plane
+ * Distance is negative if point is on the back side of plane
+ */
+static float point_plane_distance(const float *point, const float *plane_point, const float *plane_normal)
+{
+ float pp[3];
+ VECSUB(pp, point, plane_point);
+ return INPR(pp, plane_normal);
+}
+static float choose_nearest(const float v0[2], const float v1[2], const float point[2], float closest[2])
+{
+ float d[2][2], sdist[2];
+ VECSUB2D(d[0], v0, point);
+ VECSUB2D(d[1], v1, point);
+
+ sdist[0] = d[0][0]*d[0][0] + d[0][1]*d[0][1];
+ sdist[1] = d[1][0]*d[1][0] + d[1][1]*d[1][1];
+
+ if(sdist[0] < sdist[1])
+ {
+ if(closest)
+ VECCOPY2D(closest, v0);
+ return sdist[0];
+ }
+ else
+ {
+ if(closest)
+ VECCOPY2D(closest, v1);
+ return sdist[1];
+ }
+}
+/*
+ * calculates the closest point between point-tri (2D)
+ * returns that tri must be right-handed
+ * Returns square distance
+ */
+static float closest_point_in_tri2D(const float point[2], /*const*/ float tri[3][2], float closest[2])
+{
+ float edge_di[2];
+ float v_point[2];
+ float proj[2]; //point projected over edge-dir, edge-normal (witouth normalized edge)
+ const float *v0 = tri[2], *v1;
+ float edge_slen, d; //edge squared length
+ int i;
+ const float *nearest_vertex = NULL;
+
+
+ //for each edge
+ for(i=0, v0=tri[2], v1=tri[0]; i < 3; v0=tri[i++], v1=tri[i])
+ {
+ VECSUB2D(edge_di, v1, v0);
+ VECSUB2D(v_point, point, v0);
+
+ proj[1] = v_point[0]*edge_di[1] - v_point[1]*edge_di[0]; //dot product with edge normal
+
+ //point inside this edge
+ if(proj[1] < 0)
+ continue;
+
+ proj[0] = v_point[0]*edge_di[0] + v_point[1]*edge_di[1];
+
+ //closest to this edge is v0
+ if(proj[0] < 0)
+ {
+ if(nearest_vertex == NULL || nearest_vertex == v0)
+ nearest_vertex = v0;
+ else
+ {
+ //choose nearest
+ return choose_nearest(nearest_vertex, v0, point, closest);
+ }
+ i++; //We can skip next edge
+ continue;
+ }
+
+ edge_slen = edge_di[0]*edge_di[0] + edge_di[1]*edge_di[1]; //squared edge len
+ //closest to this edge is v1
+ if(proj[0] > edge_slen)
+ {
+ if(nearest_vertex == NULL || nearest_vertex == v1)
+ nearest_vertex = v1;
+ else
+ {
+ return choose_nearest(nearest_vertex, v1, point, closest);
+ }
+ continue;
+ }
+
+ //nearest is on this edge
+ d= proj[1] / edge_slen;
+ closest[0] = point[0] - edge_di[1] * d;
+ closest[1] = point[1] + edge_di[0] * d;
+
+ return proj[1]*proj[1]/edge_slen;
+ }
+
+ if(nearest_vertex)
+ {
+ VECSUB2D(v_point, nearest_vertex, point);
+ VECCOPY2D(closest, nearest_vertex);
+ return v_point[0]*v_point[0] + v_point[1]*v_point[1];
+ }
+ else
+ {
+ VECCOPY(closest, point); //point is already inside
+ return 0.0f;
+ }
+}
+
+/*
+ * Returns the square of the minimum distance between the point and a triangle surface
+ * If nearest is not NULL the nearest surface point is written on it
+ */
+static float nearest_point_in_tri_surface(const float *point, const float *v0, const float *v1, const float *v2, float *nearest)
+{
+ //Lets solve the 2D problem (closest point-tri)
+ float normal_dist, plane_sdist, plane_offset;
+ float du[3], dv[3], dw[3]; //orthogonal axis (du=(v0->v1), dw=plane normal)
+
+ float p_2d[2], tri_2d[3][2], nearest_2d[2];
+
+ CalcNormFloat((float*)v0, (float*)v1, (float*)v2, dw);
+
+ //point-plane distance and calculate axis
+ normal_dist = point_plane_distance(point, v0, dw);
+
+ // OPTIMIZATION
+ // if we are only interested in nearest distance if its closer than some distance already found
+ // we can:
+ // if(normal_dist*normal_dist >= best_dist_so_far) return FLOAT_MAX;
+ //
+
+ VECSUB(du, v1, v0);
+ Normalize(du);
+ Crossf(dv, dw, du);
+ plane_offset = INPR(v0, dw);
+
+ //project stuff to 2d
+ tri_2d[0][0] = INPR(du, v0);
+ tri_2d[0][1] = INPR(dv, v0);
+
+ tri_2d[1][0] = INPR(du, v1);
+ tri_2d[1][1] = INPR(dv, v1);
+
+ tri_2d[2][0] = INPR(du, v2);
+ tri_2d[2][1] = INPR(dv, v2);
+
+ p_2d[0] = INPR(du, point);
+ p_2d[1] = INPR(dv, point);
+
+ //we always have a right-handed tri
+ //this should always happen because of the way normal is calculated
+ plane_sdist = closest_point_in_tri2D(p_2d, tri_2d, nearest_2d);
+
+ //project back to 3d
+ if(nearest)
+ {
@@ Diff output truncated at 10240 characters. @@
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