refactor: subface hashing with quadrics character and heter_array

- Replace struct-based hasher/eq_compare with inline method definitions
- Introduce get_quadrics_character() for unified quadric surface identity
- Add get_plane_character() for plane surface identity
- Replace std::variant pair arrays with heter_array in data_center
- Add heter_array utility container

primitive_process/interface/data/data_center.hpp

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <macros.h>
+#include <container/wrapper/heter_array.hpp>
 
 #include "primitive/simple/sphere.hpp"
 #include "primitive/simple/cylinder.hpp"
@@ -25,9 +26,8 @@ using polyline_pattern_container_t = flat_object_set<internal::polyline_pattern>
 
 EXTERN_C struct PE_API primitive_data_center_t {
     // all other data depend on cached transform_blocks
-    using surface_containers =
-        std::variant<plane_container_t, sphere_container_t, cylinder_container_t, cone_container_t, extrude_side_container_t>;
-    std::array<surface_containers, static_cast<uint8_t>(surface_type::max_count)> surfaces{};
+    heter_array<plane_container_t, sphere_container_t, cylinder_container_t, cone_container_t, extrude_side_container_t>
+        surfaces{};
 
     void require_surface(surface_type                         type,
                          const internal::paired_model_matrix& matrix,
@@ -35,15 +35,13 @@ EXTERN_C struct PE_API primitive_data_center_t {
                          marked_subface_ptr_t<subface>&       subface);
     void release_surface(surface_type type, const marked_subface_ptr_t<subface>& subface);
 
-    using axis_containers = std::variant<polyline_axis_container_t, helixline_axis_container_t>;
-    std::array<axis_containers, AXIS_TYPE_MAX_COUNT> axes{};
-    internal::extrude_axis*                          require_axis(axis_type type, const internal::extrude_axis& temp_axis_ptr);
-    void release_axis(axis_type type, const pointer_wrapper<internal::extrude_axis>& axis);
+    heter_array<polyline_axis_container_t, helixline_axis_container_t> axes{};
+    internal::extrude_axis* require_axis(axis_type type, const internal::extrude_axis& temp_axis_ptr);
+    void                    release_axis(axis_type type, const pointer_wrapper<internal::extrude_axis>& axis);
 
-    using pattern_containers = std::variant<polyline_pattern_container_t>;
-    std::array<pattern_containers, PATTERN_TYPE_MAX_COUNT> patterns{};
-    internal::pattern* require_pattern(pattern_type type, const internal::pattern& temp_pattern_ptr);
-    void               release_pattern(pattern_type type, const pointer_wrapper<internal::pattern>& pattern);
+    heter_array<polyline_pattern_container_t> patterns{};
+    internal::pattern*                        require_pattern(pattern_type type, const internal::pattern& temp_pattern_ptr);
+    void release_pattern(pattern_type type, const pointer_wrapper<internal::pattern>& pattern);
 };
 
 namespace internal

primitive_process/interface/data/data_type.hpp

@@ -40,23 +40,32 @@ enum class surface_type : uint8_t { plane, sphere, cylinder, cone, extrude_side,
 namespace detail
 {
 template <>
-struct hasher<internal::transform_block> {
-    size_t operator()(const internal::transform_block& block) const { return hash_funcs(block); }
-};
+inline size_t hasher<internal::transform_block>::operator()(const internal::transform_block& block) const
+{
+    return hash_funcs(block);
+}
 
 template <>
-struct hasher<internal::paired_model_matrix> {
-    size_t operator()(const internal::paired_model_matrix& paired_matrix) const
-    {
-        return hash_funcs(paired_matrix.local_to_world);
-    }
-};
+inline size_t hasher<internal::paired_model_matrix>::operator()(const internal::paired_model_matrix& paired_matrix) const
+{
+    return hash_funcs(paired_matrix.local_to_world);
+}
 
-template <typename Tag>
-struct tagged_hasher<internal::paired_model_matrix_ptr_t, Tag> {
-    size_t operator()(const internal::paired_model_matrix& paired_matrix) const
-    {
-        return hash_funcs(paired_matrix.local_to_world);
-    }
-};
+inline auto get_quadrics_character(Eigen::Vector4d std_diag, const internal::paired_model_matrix& paired_matrix)
+{
+    Eigen::Matrix4d temp{};
+    temp.leftCols<3>()  = paired_matrix.world_to_local.matrix().transpose();
+    temp(3, 3)          = 1.;
+    temp                = temp * std_diag.asDiagonal() * temp.transpose();
+    temp               /= temp.diagonal().head<3>().norm();
+    return temp;
+}
+
+// template <typename Tag>
+// struct tagged_hasher<internal::paired_model_matrix_ptr_t, Tag> {
+//     size_t operator()(const internal::paired_model_matrix& paired_matrix) const
+//     {
+//         return hash_funcs(paired_matrix.local_to_world);
+//     }
+// };
 } // namespace detail

primitive_process/interface/subface/simple/cone_face.hpp

@@ -12,32 +12,25 @@ struct cone_face_t final : subface {
 
 namespace detail
 {
+// Q' = M^{-T}QM^{-1}
+// Q = {
+// 1, 0, 0, 0
+// 0, 1, 0, 0
+// 0, 0, -1, 0
+// 0, 0, 0, 0
+// }
+const Eigen::Vector4d cone_std_diag{1, 1, -1, 0};
+
 template <>
-struct hasher<internal::cone_face_t> {
-    // Q' = M^{-T}QM^{-1}
-    // Q = {
-    // 1, 0, 0, 0
-    // 0, 1, 0, 0
-    // 0, 0, -1, 0
-    // 0, 0, 0, 0
-    // }
-    size_t operator()(const internal::cone_face_t& subface) const
-    {
-        // build M^{-T}Q directly
-        Eigen::Matrix4d mat     = internal::empty_affine_matrix;
-        const auto&     M_inv_T = subface.world_to_local.matrix();
-        mat.leftCols<2>()       = M_inv_T.topRows<2>().transpose();
-        mat.col(2)              = -M_inv_T.row(2).transpose();
-        auto res                = mat * subface.world_to_local;
-        return hash_funcs(res.matrix());
-    }
-};
+inline size_t hasher<internal::cone_face_t>::operator()(const internal::cone_face_t& subface) const
+{
+    return hash_funcs(get_quadrics_character(cone_std_diag, subface));
+}
 
 template <>
-struct eq_compare<internal::cone_face_t> {
-    bool operator()(const internal::cone_face_t& lhs, const internal::cone_face_t& rhs) const
-    {
-        return eq_funcs(lhs.local_to_world, rhs.local_to_world);
-    }
-};
+inline bool eq_compare<internal::cone_face_t>::operator()(const internal::cone_face_t& lhs,
+                                                          const internal::cone_face_t& rhs) const
+{
+    return eq_funcs(get_quadrics_character(cone_std_diag, lhs), get_quadrics_character(cone_std_diag, rhs));
+}
 } // namespace detail

primitive_process/interface/subface/simple/cylinder_face.hpp

@@ -13,43 +13,25 @@ struct cylinder_face_t final : subface {
 
 namespace detail
 {
-template <>
-struct hasher<internal::cylinder_face_t> {
-    // Q' = M^{-T}QM^{-1}
-    // Q = {
-    // 1, 0, 0, 0
-    // 0, 1, 0, 0
-    // 0, 0, 0, 0
-    // 0, 0, 0, -1
-    // }
-    size_t operator()(const internal::cylinder_face_t& subface) const
-    {
-        // build M^{-T}Q directly
-        Eigen::Matrix4d mat = internal::empty_affine_matrix;
-        mat.leftCols<2>()   = subface.world_to_local.matrix().topRows<2>().transpose();
-        mat(1, 3)           = -1.;
-        auto res            = mat * subface.world_to_local;
-        return hash_funcs(res.matrix());
-    }
-
-    // size_t operator()(const internal::cylinder_face_t& subface) const
-    // {
-    //     auto R = subface.world_to_local.linear().topLeftCorner<2, 3>(); // 2x3
-    //     auto b = subface.local_to_world.translation();                  // 3x1
+// Q' = M^{-T}QM^{-1}
+// Q = {
+// 1, 0, 0, 0
+// 0, 1, 0, 0
+// 0, 0, 0, 0
+// 0, 0, 0, -1
+// }
+const Eigen::Vector4d cylinder_std_diag{1, 1, 0, -1};
 
-    //     Eigen::Matrix<double, 3, 4> hash_mat = Eigen::Matrix<double, 3, 4>::Zero();
-    //     hash_mat.topLeftCorner<3, 3>()       = R.transpose() * R;
-    //     hash_mat.topRightCorner<2, 1>()      = R * b;
-
-    //     return hash_funcs(hash_mat);
-    // }
-};
+template <>
+inline size_t hasher<internal::cylinder_face_t>::operator()(const internal::cylinder_face_t& subface) const
+{
+    return hash_funcs(get_quadrics_character(cylinder_std_diag, subface));
+}
 
 template <>
-struct eq_compare<internal::cylinder_face_t> {
-    bool operator()(const internal::cylinder_face_t& lhs, const internal::cylinder_face_t& rhs) const
-    {
-        return eq_funcs(lhs.local_to_world, rhs.local_to_world);
-    }
-};
+inline bool eq_compare<internal::cylinder_face_t>::operator()(const internal::cylinder_face_t& lhs,
+                                                              const internal::cylinder_face_t& rhs) const
+{
+    return eq_funcs(get_quadrics_character(cylinder_std_diag, lhs), get_quadrics_character(cylinder_std_diag, rhs));
+}
 } // namespace detail

primitive_process/interface/subface/simple/plane.hpp

@@ -13,27 +13,26 @@ struct plane_t final : subface {
 
 namespace detail
 {
+inline auto get_plane_character(const internal::plane_t& subface)
+{
+    // CAUTION: we use vec4d to contain translation info here
+    // to do this, we have to use the first row of world_to_local instead of the first column of local_to_world
+    // since the later one does not contain translation info
+    Eigen::Vector4d vec   = subface.world_to_local.matrix().row(0);
+    auto            norm  = vec.head<3>().norm();
+    vec                  /= norm;
+    return vec;
+}
+
 template <>
-struct hasher<internal::plane_t> {
-    size_t operator()(const internal::plane_t& subface) const
-    {
-        // CAUTION: we use vec4d to contain translation info here
-        // to do this, we have to use the first row of world_to_local instead of the first column of local_to_world
-        // since the later one does not contain translation info
-        Eigen::Vector4d vec   = subface.world_to_local.matrix().row(0);
-        auto            norm  = vec.head<3>().norm();
-        vec                  /= norm;
-        // if (vec.z() < 0) vec.head<3>() = -vec.head<3>();
-        return hash_funcs(vec);
-    }
-};
+inline size_t hasher<internal::plane_t>::operator()(const internal::plane_t& subface) const
+{
+    return hash_funcs(get_plane_character(subface));
+}
 
-// only when hash is equal so that eq is called, so we do not have to reverse signs here
 template <>
-struct eq_compare<internal::plane_t> {
-    bool operator()(const internal::plane_t& lhs, const internal::plane_t& rhs) const
-    {
-        return eq_funcs(lhs.local_to_world, rhs.local_to_world);
-    }
-};
+inline bool eq_compare<internal::plane_t>::operator()(const internal::plane_t& lhs, const internal::plane_t& rhs) const
+{
+    return eq_funcs(get_plane_character(lhs), get_plane_character(rhs));
+}
 } // namespace detail

primitive_process/interface/subface/simple/sphere_face.hpp

@@ -14,16 +14,25 @@ struct sphere_face_t final : subface {
 
 namespace detail
 {
+// Q' = M^{-T}QM^{-1}
+// Q = {
+// 1, 0, 0, 0
+// 0, 1, 0, 0
+// 0, 0, 1, 0
+// 0, 0, 0, -1
+// }
+const Eigen::Vector4d sphere_std_diag{1, 1, 1, -1};
+
 template <>
-struct hasher<internal::sphere_face_t> {
-    size_t operator()(const internal::sphere_face_t& subface) const { return hash_funcs(subface.local_to_world); }
-};
+inline size_t hasher<internal::sphere_face_t>::operator()(const internal::sphere_face_t& subface) const
+{
+    return hash_funcs(get_quadrics_character(sphere_std_diag, subface));
+}
 
 template <>
-struct eq_compare<internal::sphere_face_t> {
-    bool operator()(const internal::sphere_face_t& lhs, const internal::sphere_face_t& rhs) const
-    {
-        return eq_funcs(lhs.local_to_world, rhs.local_to_world);
-    }
-};
+inline bool eq_compare<internal::sphere_face_t>::operator()(const internal::sphere_face_t& lhs,
+                                                            const internal::sphere_face_t& rhs) const
+{
+    return eq_funcs(get_quadrics_character(sphere_std_diag, lhs), get_quadrics_character(sphere_std_diag, rhs));
+}
 } // namespace detail

primitive_process/src/data/data_center.cpp

@@ -6,16 +6,17 @@ void surface_construct_helper(flat_object_set<T>&            container,
                               std::array<void*, 2>           additional_structure,
                               marked_subface_ptr_t<subface>& object)
 {
+    static const Eigen::Matrix4d plane_reverse_diag = Eigen::Vector4d{-1, 1, 1, 1}.asDiagonal();
+
     if constexpr (std::is_same_v<T, internal::plane_t>) {
-        auto            character_row = matrix.world_to_local.matrix().row(0);
-        Eigen::Vector4d character     = character_row.reverse();
-        character[0]                  = -character[0]; // 反转d项以取得一致的符号表现
-        auto cmp                      = character.cwiseAbs().array() > epsilon;
-        auto iter                     = std::find(cmp.begin(), cmp.end(), true);
+        Eigen::Vector4d character = matrix.world_to_local.matrix().row(0);
+        auto            cmp       = character.cwiseAbs().array() > epsilon;
+        auto            iter      = std::find(cmp.begin(), cmp.end(), true);
 
         if (auto i = std::distance(cmp.begin(), iter); iter != cmp.end() && character[i] < -epsilon) {
-            matrix.local_to_world = -matrix.local_to_world.matrix();
-            matrix.world_to_local = -matrix.world_to_local.matrix();
+            matrix.local_to_world *= plane_reverse_diag;
+            matrix.world_to_local  = matrix.local_to_world.inverse();
+            // matrix.world_to_local  = plane_reverse_diag * matrix.world_to_local.matrix();
             object.set_mark(size_t{1});
         }
     }
@@ -33,10 +34,10 @@ void primitive_data_center_t::require_surface(surface_type
                                               marked_subface_ptr_t<subface>&       subface)
 {
     auto old_subface = subface;
-    std::visit(
-        [&](auto&& surface_container) { surface_construct_helper(surface_container, matrix, additional_structure, subface); },
-        surfaces[static_cast<uint8_t>(type)]);
-    if (old_subface != nullptr) release_surface(type, old_subface);
+    surfaces.visit(static_cast<uint8_t>(type), [&](auto&& surface_container) {
+        surface_construct_helper(surface_container, matrix, additional_structure, subface);
+    });
+    if (old_subface != nullptr && old_subface.get_ptr() != subface.get_ptr()) release_surface(type, old_subface);
 }
 
 template <typename T>
@@ -47,8 +48,8 @@ void surface_release_helper(flat_object_set<T>& container, const marked_subface_
 
 void primitive_data_center_t::release_surface(surface_type type, const marked_subface_ptr_t<subface>& subface)
 {
-    std::visit([&](auto&& surface_container) { surface_release_helper(surface_container, subface); },
-               surfaces[static_cast<uint8_t>(type)]);
+    surfaces.visit(static_cast<uint8_t>(type),
+                   [&](auto&& surface_container) { surface_release_helper(surface_container, subface); });
 }
 
 template <typename T, typename F>
@@ -67,27 +68,27 @@ void direct_release_helper(flat_object_set<T>& container, const pointer_wrapper<
 
 internal::extrude_axis* primitive_data_center_t::require_axis(axis_type type, const internal::extrude_axis& temp_axis_ptr)
 {
-    std::visit([&](auto&& axis_container) { return direct_acquire_helper(axis_container, temp_axis_ptr); },
-               axes[static_cast<uint8_t>(type)]);
-    return nullptr;
+    return axes.visit(static_cast<uint8_t>(type),
+                      [&](auto&& axis_container) { return direct_acquire_helper(axis_container, temp_axis_ptr); });
+    // return nullptr;
 }
 
 void primitive_data_center_t::release_axis(axis_type type, const pointer_wrapper<internal::extrude_axis>& axis)
 {
-    std::visit([&](auto&& axis_container) { direct_release_helper(axis_container, axis); }, axes[static_cast<uint8_t>(type)]);
+    axes.visit(static_cast<uint8_t>(type), [&](auto&& axis_container) { direct_release_helper(axis_container, axis); });
 }
 
 internal::pattern* primitive_data_center_t::require_pattern(pattern_type type, const internal::pattern& temp_pattern_ptr)
 {
-    std::visit([&](auto&& pattern_container) { return direct_acquire_helper(pattern_container, temp_pattern_ptr); },
-               patterns[static_cast<uint8_t>(type)]);
-    return nullptr;
+    return patterns.visit(static_cast<uint8_t>(type),
+                          [&](auto&& pattern_container) { return direct_acquire_helper(pattern_container, temp_pattern_ptr); });
+    // return nullptr;
 }
 
 void primitive_data_center_t::release_pattern(pattern_type type, const pointer_wrapper<internal::pattern>& pattern)
 {
-    std::visit([&](auto&& pattern_container) { direct_release_helper(pattern_container, pattern); },
-               patterns[static_cast<uint8_t>(type)]);
+    patterns.visit(static_cast<uint8_t>(type),
+                   [&](auto&& pattern_container) { direct_release_helper(pattern_container, pattern); });
 }
 
 namespace internal

primitive_process/src/subface/simple/cone_face.cpp

@@ -12,15 +12,9 @@ double cone_function_impl::eval_sdf(pointer_wrapper<subface> object, Eigen::Vect
     const auto            t = (q.x() + q.y()) / 2;
     if (t <= 0) // 最近距离是圆锥顶点
     {
-        return object->local_to_world_scale().cwiseProduct(local_p.head<3>()).norm();
+        return q.norm();
     } else {    // 最近距离在圆锥面上
-        if (len > epsilon) {
-            const auto vec = local_p.head<3>() - Eigen::Vector3d{local_p.x() * t / len, local_p.y() * t / len, -t};
-            return object->local_to_world_scale().cwiseProduct(vec).norm();
-        } else {
-            const Eigen::Vector2d q_ = {object->local_to_world_scale().minCoeff(), -t};
-            return -q_.norm();
-        }
+        return (q.x() - q.y()) / 2;
     }
 }
 

primitive_process/src/subface/simple/cylinder_face.cpp

@@ -6,14 +6,7 @@ namespace internal
 double cylinder_function_impl::eval_sdf(pointer_wrapper<subface> object, Eigen::Vector3d p)
 {
     Eigen::Vector4d local_p = object->world_to_local * Eigen::Vector4d{p.x(), p.y(), p.z(), 1.0};
-    const double    len     = local_p.head<2>().norm();
-
-    if (len > epsilon) {
-        Eigen::Vector2d normal = local_p.head<2>() / len;
-        return object->local_to_world_scale().head<2>().cwiseProduct(normal).norm() * (len * len - 1);
-    } else {
-        return -object->local_to_world_scale().minCoeff();
-    }
+    return local_p.head<2>().norm() - 1;
 }
 
 Eigen::Vector3d cylinder_function_impl::eval_sdf_grad(pointer_wrapper<subface> object, Eigen::Vector3d p)

primitive_process/src/subface/simple/plane.cpp

@@ -5,7 +5,7 @@ namespace internal
 double plane_function_impl::eval_sdf(pointer_wrapper<subface> object, Eigen::Vector3d p)
 {
     Eigen::Vector4d local_p = object->world_to_local * Eigen::Vector4d{p.x(), p.y(), p.z(), 1.0};
-    return object->local_to_world_scale().x() * local_p.x();
+    return local_p.x();
 }
 
 Eigen::Vector3d plane_function_impl::eval_sdf_grad(pointer_wrapper<subface> object, Eigen::Vector3d p)

primitive_process/src/subface/simple/sphere_face.cpp

@@ -6,14 +6,7 @@ namespace internal
 double sphere_function_impl::eval_sdf(pointer_wrapper<subface> object, Eigen::Vector3d p)
 {
     Eigen::Vector4d local_p = object->world_to_local * Eigen::Vector4d{p.x(), p.y(), p.z(), 1.0};
-    const double    len     = local_p.head<3>().norm();
-
-    if (len > std::numeric_limits<double>::epsilon()) {
-        Eigen::Vector3d normal = local_p.head<3>() / len;
-        return object->local_to_world_scale().cwiseProduct(normal).norm() * (len * len - 1);
-    } else {
-        return -object->local_to_world_scale().minCoeff();
-    }
+    return local_p.head<3>().norm() - 1;
 }
 
 Eigen::Vector3d sphere_function_impl::eval_sdf_grad(pointer_wrapper<subface> object, Eigen::Vector3d p)

shared_module/container/wrapper/heter_array.hpp

@@ -0,0 +1,43 @@
+#pragma once
+
+#include <array>
+#include <variant>
+
+template <typename... Ts>
+struct heter_array {
+    heter_array() : data(this->default_ctor_impl(std::make_index_sequence<N>{})) {}
+
+    ~heter_array() = default;
+
+    heter_array(const heter_array&)            = default;
+    heter_array(heter_array&&)                 = default;
+    heter_array& operator=(const heter_array&) = default;
+    heter_array& operator=(heter_array&&)      = default;
+
+    auto& operator[](size_t i) { return data[i]; }
+
+    const auto& operator[](size_t i) const { return data[i]; }
+
+    template <typename F>
+    decltype(auto) visit(size_t i, F&& f)
+    {
+        return std::visit(std::forward<F>(f), data[i]);
+    }
+
+    template <typename F>
+    decltype(auto) visit(size_t i, F&& f) const
+    {
+        return std::visit(std::forward<F>(f), data[i]);
+    }
+
+protected:
+    template <size_t... Is>
+    static auto default_ctor_impl(std::index_sequence<Is...>)
+    {
+        return std::array<heter_type, N>{heter_type{std::in_place_index<Is>}...};
+    }
+
+    using heter_type            = std::variant<Ts...>;
+    static constexpr size_t   N = sizeof...(Ts);
+    std::array<heter_type, N> data{};
+};