fix: replace local_to_world matrix usage with fetch_aabb in mark_primitive_boundings

network_process/src/prim_gen/extract_vertex_infos.cpp

@@ -10,8 +10,7 @@ aabb_t mark_primitive_boundings(double aabb_margin, const baked_blobtree_t& tree
     aabb_t scene_aabb{};
     for (const auto [primitive_ptr, _] : tree.primitives) {
         const auto& primitive              = *primitive_ptr;
-        auto        local_to_world_matrix  = primitive.get_identity_local_to_world();
-        aabb_t      primitive_aabb         = aabb_unit.transformed(local_to_world_matrix);
+        aabb_t      primitive_aabb         = primitive.fetch_aabb();
         primitive_aabb.min().array()      -= aabb_margin;
         primitive_aabb.max().array()      += aabb_margin;
         scene_aabb.extend(primitive_aabb);

primitive_process/interface/base/primitive.hpp

@@ -12,6 +12,7 @@
 
 template <typename T>
 using marked_subface_ptr_t = marked_ptr<T, 1>;
+using aabb_t               = Eigen::AlignedBox<double, 3>;
 
 enum class sign_t : uint8_t { positive = 1, negative = 2, zero = 0 };
 
@@ -52,17 +53,14 @@ EXTERN_C struct PE_API primitive {
     virtual primitive_type                 get_type() const          = 0;
     virtual marked_subface_ptr_t<subface> *get_subface() const       = 0;
     virtual size_t                         get_subface_count() const = 0;
+    aabb_t                                 m_aabb = aabb_t(Eigen::Vector3d(-1, -1, -1), Eigen::Vector3d(1, 1, 1));
 
     // sign_t judge_sign_by_subface_sdf(const std::vector<double> &) const;
     // sign_t judge_sign_by_subface_sdf_sign(const std::vector<sign_t> &) const;
     dynamic_bitset_mp<> judge_sign_by_subface_sign(stl_vector_mp<dynamic_bitset_mp<>>) const;
 
-    // for simple primitive: sphere, cylinder, cone, box
-    // we use world_to_local as OBB and judge inside/outside by [-1, 1]^3
-    // so we don't need to fetch aabb anymore
-    // aabb fetch_aabb() const;
-    // CAUTION: keep characteristics local_to_world as the first subface's part
-    const internal::transform_block &get_identity_local_to_world() const;
+
+    aabb_t                           fetch_aabb() const;
 
     void apply_transform(internal::transform_type, Eigen::Vector4d);
 

primitive_process/src/base/primitive.cpp

@@ -42,9 +42,9 @@ dynamic_bitset_mp<> primitive::judge_sign_by_subface_sign(stl_vector_mp<dynamic_
     return res;
 }
 
-const internal::transform_block &primitive::get_identity_local_to_world() const
+aabb_t primitive::fetch_aabb() const
 {
-    return get_subface()[0].get_ptr()->raw_local_to_world();
+    return m_aabb;
 }
 
 void primitive::apply_transform(internal::transform_type type, Eigen::Vector4d param)
@@ -59,5 +59,22 @@ void primitive::apply_transform(internal::transform_type type, Eigen::Vector4d p
         new_model_matrices.emplace_back(subface_ptr->apply_transform(type, param));
     }
 
+    // aabb
+    Eigen::Affine3d affine = Eigen::Affine3d::Identity();
+    switch (type) {
+        case internal::transform_type::scale: {
+            affine.linear() = param.head<3>().asDiagonal();
+        } break;
+        case internal::transform_type::rotation: {
+            affine.linear() = Eigen::Quaterniond(param).toRotationMatrix();
+        } break;
+        case internal::transform_type::translation: {
+            Eigen::Translation3d translation(param.head<3>());
+            affine = Eigen::Affine3d(translation);
+        } break;
+        default: throw std::invalid_argument("Invalid transform type");
+    }
+    m_aabb = m_aabb.transformed(affine);
+
     initialize(*subfaces[0].get_ptr()->data_center, new_model_matrices);
 }