From 6c949435607b6548eeba5622c274518d2cb04436 Mon Sep 17 00:00:00 2001 From: forty-twoo <1013417276@qq.com> Date: Fri, 25 Nov 2022 17:07:15 +0800 Subject: [PATCH] construct bvh --- CMakeLists.txt | 2 +- include/bvh.hpp | 4 +- include/show_in_libigl.hpp | 5 --- include/show_libigl.hpp | 12 ++++++ src/bvh.cpp | 6 +-- src/main.cpp | 66 +++++++++++++++++------------ src/newton.cpp | 4 ++ src/show_in_libigl.cpp | 25 ----------- src/show_libigl.cpp | 85 ++++++++++++++++++++++++++++++++++++++ 9 files changed, 146 insertions(+), 63 deletions(-) delete mode 100644 include/show_in_libigl.hpp create mode 100644 include/show_libigl.hpp delete mode 100644 src/show_in_libigl.cpp create mode 100644 src/show_libigl.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index 61fc09a..8a67cd1 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -32,4 +32,4 @@ source_group("3rdparty" FILES ${THRDPARTY_FILES}) add_executable(${PROJECT_NAME} ${SRC_FILES} ${HEADER_FILES} ${THRDPARTY_FILES} ) -target_link_libraries(${PROJECT_NAME} PUBLIC igl::glfw) +target_link_libraries(${PROJECT_NAME} PUBLIC igl::glfw cln ginac) diff --git a/include/bvh.hpp b/include/bvh.hpp index c5e606d..e72aa5a 100644 --- a/include/bvh.hpp +++ b/include/bvh.hpp @@ -45,8 +45,8 @@ public: }; BVH_AABB_NodePtr Build_NurbsCurve(tinynurbs::RationalCurve &curve, BVH_AABB_NodePtr &curNode, int curLevel, double t, double tstep); BVH_AABB_NodePtr Build_NurbsSurface(tinynurbs::RationalSurface &surface, BVH_AABB_NodePtr &curNode, int curLevel, double u, double v, double ustep, double vstep); - AABB &UnionBound(const AABB &a, const AABB &b); - AABB &UpdateBound(const AABB &bound, const glm::vec3 &p); + AABB UnionBound(const AABB &a, const AABB &b); + AABB UpdateBound(const AABB &bound, const glm::vec3 &p); }; #endif // !BVH_H_ diff --git a/include/show_in_libigl.hpp b/include/show_in_libigl.hpp deleted file mode 100644 index 3509798..0000000 --- a/include/show_in_libigl.hpp +++ /dev/null @@ -1,5 +0,0 @@ -#include "bvh.hpp" -#include - -void ShowCurve_Igl(igl::opengl::glfw::Viewer viewer, tinynurbs::RationalCurve &curve, double sampleNum); -void ShowSurface_Igl(igl::opengl::glfw::Viewer viewer, tinynurbs::RationalSurface &surface, double sampleNumU, double sampleNumV); \ No newline at end of file diff --git a/include/show_libigl.hpp b/include/show_libigl.hpp new file mode 100644 index 0000000..cb91271 --- /dev/null +++ b/include/show_libigl.hpp @@ -0,0 +1,12 @@ +#ifndef SHOW_LIBIGL_H_ +#define SHOW_LIBIGL_H_ + +#include "bvh.hpp" +#include + +void ShowCurve_Igl(igl::opengl::glfw::Viewer &viewer, tinynurbs::RationalCurve &curve, double sampleNum); +void ShowSurface_Igl(igl::opengl::glfw::Viewer &viewer, tinynurbs::RationalSurface &surface, double sampleNumU, double sampleNumV); +void ShowBVHNode(igl::opengl::glfw::Viewer &viewer, BVH_AABB_NodePtr bvhNode); +void ShowAABB(igl::opengl::glfw::Viewer &viewer, AABB bound); + +#endif \ No newline at end of file diff --git a/src/bvh.cpp b/src/bvh.cpp index 44330a9..5bc816d 100644 --- a/src/bvh.cpp +++ b/src/bvh.cpp @@ -1,6 +1,6 @@ #include "bvh.hpp" -AABB &BVH_AABB::UnionBound(const AABB &a, const AABB &b) +AABB BVH_AABB::UnionBound(const AABB &a, const AABB &b) { AABB ret; ret.Bmin = glm::vec3(fmin(a.Bmin.x, b.Bmin.x), @@ -13,7 +13,7 @@ AABB &BVH_AABB::UnionBound(const AABB &a, const AABB &b) return ret; } -AABB &BVH_AABB::UpdateBound(const AABB &bound, const glm::vec3 &p) +AABB BVH_AABB::UpdateBound(const AABB &bound, const glm::vec3 &p) { AABB ret; ret.Bmin = glm::vec3(fmin(bound.Bmin.x, p.x), @@ -28,7 +28,7 @@ AABB &BVH_AABB::UpdateBound(const AABB &bound, const glm::vec3 &p) BVH_AABB_NodePtr BVH_AABB::Build_NurbsCurve(tinynurbs::RationalCurve &curve, BVH_AABB_NodePtr &curNode, int curLevel, double t, double tstep) { - if (curLevel == Hlevel) + if (curLevel + 1 == Hlevel) { for (double i = t; i < t + tstep; i += tstep / sampleNum) { diff --git a/src/main.cpp b/src/main.cpp index 5d8283a..48c9043 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -1,34 +1,46 @@ #include +#include +#include "bvh.hpp" +#include "show_libigl.hpp" int main(int argc, char *argv[]) { - // Inline mesh of a cube - const Eigen::MatrixXd V = (Eigen::MatrixXd(8, 3) << 0.0, 0.0, 0.0, - 0.0, 0.0, 1.0, - 0.0, 1.0, 0.0, - 0.0, 1.0, 1.0, - 1.0, 0.0, 0.0, - 1.0, 0.0, 1.0, - 1.0, 1.0, 0.0, - 1.0, 1.0, 1.0) - .finished(); - const Eigen::MatrixXi F = (Eigen::MatrixXi(12, 3) << 0, 6, 4, - 0, 2, 6, - 0, 3, 2, - 0, 1, 3, - 2, 7, 6, - 2, 3, 7, - 4, 6, 7, - 4, 7, 5, - 0, 4, 5, - 0, 5, 1, - 1, 5, 7, - 1, 7, 3) - .finished(); - - // Plot the mesh igl::opengl::glfw::Viewer viewer; - viewer.data().set_mesh(V, F); - viewer.data().set_face_based(true); + + viewer.data().point_size = 5; + + /* + tinynurbs::RationalCurve crv; // Planar curve using float32 + crv.control_points = {glm::vec3(-3, 0, 0), // std::vector of 3D points + glm::vec3(-2, 2, 3), + glm::vec3(-1, 5, 0), + glm::vec3(-3, -1, -1), + glm::vec3(7, 6, 4)}; + crv.knots = {0, 0, 0, 1, 2, 3, 3, 3}; // std::vector of floats + crv.degree = 2; + crv.weights = {1, 1, 1, 1, 1}; + + ShowCurve_Igl(viewer, crv, 100); + BVH_AABB bvh_curve(5, 2, 100); + double tstep = *(crv.knots.end() - 1); + bvh_curve.Build_NurbsCurve(crv, bvh_curve.bvh_aabb_node, 0, 0, tstep); + ShowBVHNode(viewer, bvh_curve.bvh_aabb_node); + */ + tinynurbs::RationalCurve crv; // Planar curve using float32 + crv.control_points = {glm::vec3(-3, -3, -3), // std::vector of 3D points + glm::vec3(-2, -2, -2), + glm::vec3(-1, -1, -1), + glm::vec3(0, 0, 0), + glm::vec3(1, 1, 1)}; + crv.knots = {0, 0, 0, 1, 2, 3, 3, 3}; // std::vector of floats + crv.degree = 2; + crv.weights = {1, 1, 1, 1, 1}; + + ShowCurve_Igl(viewer, crv, 100); + BVH_AABB bvh_curve(5, 2, 100); + double tstep = *(crv.knots.end() - 1); + bvh_curve.Build_NurbsCurve(crv, bvh_curve.bvh_aabb_node, 0, 0, tstep); + ShowBVHNode(viewer, bvh_curve.bvh_aabb_node); + viewer.launch(); } diff --git a/src/newton.cpp b/src/newton.cpp index 902affd..2ab8f0b 100644 --- a/src/newton.cpp +++ b/src/newton.cpp @@ -1,6 +1,8 @@ #include "newton.hpp" // 默认id参数不用传，表示四个变量四个方程，id=1 or 2 的时候是2x2的方程组， id=3时是6x6的方程组, id=4 (x0,x1,x2... xn-1) 表示的方程组 + +/* vector newton(const MUL_F &F, const vector &init_point, const numeric &eps, bool &isConvergence, int id) { vector symbols = {get_symbol("u"), get_symbol("v"), get_symbol("s"), get_symbol("t")}; @@ -150,3 +152,5 @@ vector newton(const MUL_F &F, const vector &init_point, const // } return x_val; } + +*/ \ No newline at end of file diff --git a/src/show_in_libigl.cpp b/src/show_in_libigl.cpp deleted file mode 100644 index 91a6ffc..0000000 --- a/src/show_in_libigl.cpp +++ /dev/null @@ -1,25 +0,0 @@ -#include "show_in_libigl.hpp" - -void ShowCurve_Igl(igl::opengl::glfw::Viewer viewer, tinynurbs::RationalCurve &curve, double sampleNum) -{ - double T = *(curve.knots.end() - 1); - - for (double i = 0; i < T; i += T / sampleNum) - { - auto point = tinynurbs::curvePoint(curve, i); - pt << point.x, point.y, point.z; - viewer.data().add_points(pt, Eigen::RowVector3d(0, 1, 0)); - } -} - -void ShowSurface_Igl(igl::opengl::glfw::Viewer viewer, tinynurbs::RationalCurve &curve, double sampleNumU, double sampleNumV) -{ - double T = *(curve.knots.end() - 1); - - for (double i = 0; i < T; i += T / sampleNum) - { - auto point = tinynurbs::curvePoint(curve, i); - pt << point.x, point.y, point.z; - viewer.data().add_points(pt, Eigen::RowVector3d(0, 1, 0)); - } -} \ No newline at end of file diff --git a/src/show_libigl.cpp b/src/show_libigl.cpp new file mode 100644 index 0000000..1eda6f4 --- /dev/null +++ b/src/show_libigl.cpp @@ -0,0 +1,85 @@ +#include "bvh.hpp" +#include "show_libigl.hpp" + +void ShowCurve_Igl(igl::opengl::glfw::Viewer &viewer, tinynurbs::RationalCurve &curve, double sampleNum) +{ + double T = *(curve.knots.end() - 1); + + for (double i = 0; i < T; i += T / sampleNum) + { + auto point = tinynurbs::curvePoint(curve, i); + Eigen::RowVector3d pt; + pt << point.x, point.y, point.z; + viewer.data().add_points(pt, Eigen::RowVector3d(1, 1, 0)); + } +} + +void ShowSurface_Igl(igl::opengl::glfw::Viewer &viewer, tinynurbs::RationalSurface &surface, double sampleNumU, double sampleNumV) +{ + double U = *(surface.knots_u.end() - 1); + double V = *(surface.knots_v.end() - 1); + + for (double u = 0; u <= U; u += U / sampleNumU) + { + for (double v = 0; v <= V; v += V / sampleNumV) + { + auto point = tinynurbs::surfacePoint(surface, u, v); + Eigen::RowVector3d pt; + pt << point.x, point.y, point.z; + viewer.data().add_points(pt, Eigen::RowVector3d(1, 0.7, 0.5)); + } + } +} + +void ShowAABB(igl::opengl::glfw::Viewer &viewer, AABB bound) +{ + + Eigen::Vector3d m; + m << bound.Bmin.x, bound.Bmin.y, bound.Bmin.z; + Eigen::Vector3d M; + M << bound.Bmax.x, bound.Bmax.y, bound.Bmax.z; + + Eigen::MatrixXd V_box(8, 3); + V_box << m(0), m(1), m(2), + M(0), m(1), m(2), + M(0), M(1), m(2), + m(0), M(1), m(2), + m(0), m(1), M(2), + M(0), m(1), M(2), + M(0), M(1), M(2), + m(0), M(1), M(2); + + Eigen::MatrixXi E_box(12, 2); + E_box << 0, 1, + 1, 2, + 2, 3, + 3, 0, + 4, 5, + 5, 6, + 6, 7, + 7, 4, + 0, 4, + 1, 5, + 2, 6, + 7, 3; + + for (unsigned i = 0; i < E_box.rows(); ++i) + viewer.data().add_edges( + V_box.row(E_box(i, 0)), + V_box.row(E_box(i, 1)), + Eigen::RowVector3d(1, 1, 1)); + return; +} + +void ShowBVHNode(igl::opengl::glfw::Viewer &viewer, BVH_AABB_NodePtr bvhNode) +{ + if (bvhNode == NULL) + return; + + ShowAABB(viewer, bvhNode->bound); + + for (auto it : bvhNode->childPtr) + { + ShowBVHNode(viewer, it); + } +}