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// Copyright 2009-2021 Intel Corporation
// SPDX-License-Identifier: Apache-2.0
#include "../common/tutorial/tutorial.h"
#include "../common/tutorial/benchmark_render.h"
#include "../common/tutorial/statistics.h"
#include <set>
#include "../../common/sys/mutex.h"
#include "../common/core/ray.h"
#include "../../kernels/geometry/triangle_triangle_intersector.h"
#include "clothModel.h"
namespace embree
{
void updateScene ();
// RTCDevice g_device = nullptr;
RTCScene g_scene = nullptr;
using SurfacePoint = std::pair<unsigned,unsigned>;
using Collision = std::pair<SurfacePoint, SurfacePoint>;
using Collisions = std::vector<Collision>;
Collisions sim_collisions;
// bool use_user_geometry = false;
std::vector<std::unique_ptr<collide2::Mesh>> meshes;
unsigned int clothID;
bool benchmark = false;
int numPhi = 45;
int numTheta = 2*numPhi;
size_t NX = 50;
size_t NZ = 50;
SpinLock mutex;
bool pause = false;
bool intersect_triangle_triangle (unsigned geomID0, unsigned primID0, unsigned geomID1, unsigned primID1)
{
//CSTAT(bvh_collide_prim_intersections1++);
/* special culling for scene intersection with itself */
if (geomID0 == geomID1 && primID0 == primID1) {
return false;
}
//CSTAT(bvh_collide_prim_intersections2++);
auto mesh0 = meshes[geomID0].get ();
auto mesh1 = meshes[geomID1].get ();
auto const & tri0 = (Triangle&) mesh0->tris_[primID0];
auto const & tri1 = (Triangle&) mesh1->tris_[primID1];
if (geomID0 == geomID1)
{
/* ignore intersection with topological neighbors */
const vint4 t0(tri0.v0,tri0.v1,tri0.v2,tri0.v2);
if (any(vint4(tri1.v0) == t0)) return false;
if (any(vint4(tri1.v1) == t0)) return false;
if (any(vint4(tri1.v2) == t0)) return false;
}
//CSTAT(bvh_collide_prim_intersections3++);
const Vec3fa a0 = mesh0->x_[tri0.v0];
const Vec3fa a1 = mesh0->x_[tri0.v1];
const Vec3fa a2 = mesh0->x_[tri0.v2];
const Vec3fa b0 = mesh1->x_[tri1.v0];
const Vec3fa b1 = mesh1->x_[tri1.v1];
const Vec3fa b2 = mesh1->x_[tri1.v2];
return isa::TriangleTriangleIntersector::intersect_triangle_triangle(a0,a1,a2,b0,b1,b2);
}
void CollideFunc (void* userPtr, RTCCollision* collisions, unsigned int num_collisions)
{
for (size_t i=0; i<num_collisions;)
{
bool intersect = intersect_triangle_triangle(collisions[i].geomID0,collisions[i].primID0,
collisions[i].geomID1,collisions[i].primID1);
if (intersect) i++;
else collisions[i] = collisions[--num_collisions];
}
if (num_collisions == 0)
return;
Lock<SpinLock> lock(mutex);
for (size_t i=0; i<num_collisions; i++)
{
const unsigned geomID0 = collisions[i].geomID0;
const unsigned primID0 = collisions[i].primID0;
const unsigned geomID1 = collisions[i].geomID1;
const unsigned primID1 = collisions[i].primID1;
static_cast<Collisions*>(userPtr)->push_back(std::make_pair(std::make_pair(geomID0,primID0),std::make_pair(geomID1,primID1)));
}
}
void triangle_bounds_func(const struct RTCBoundsFunctionArguments* args)
{
void* ptr = args->geometryUserPtr;
unsigned geomID = (unsigned) (size_t) ptr;
auto const & mesh = *meshes[geomID];
BBox3fa bounds = empty;
bounds.extend(mesh.x_[mesh.tris_[args->primID].v0]);
bounds.extend(mesh.x_[mesh.tris_[args->primID].v1]);
bounds.extend(mesh.x_[mesh.tris_[args->primID].v2]);
*(BBox3fa*) args->bounds_o = bounds;
}
void triangle_intersect_func(const RTCIntersectFunctionNArguments* args)
{
void* ptr = args->geometryUserPtr;
::Ray* ray = (::Ray*)args->rayhit;
unsigned int primID = args->primID;
unsigned geomID = (unsigned) (size_t) ptr;
auto const & mesh = *meshes[geomID];
auto & v0 = mesh.x_[mesh.tris_[args->primID].v0];
auto & v1 = mesh.x_[mesh.tris_[args->primID].v1];
auto & v2 = mesh.x_[mesh.tris_[args->primID].v2];
auto e1 = v0-v1;
auto e2 = v2-v0;
auto Ng = cross(e1,e2);
/* calculate denominator */
auto O = Vec3fa(ray->org);
auto D = Vec3fa(ray->dir);
auto C = v0 - O;
auto R = cross(D,C);
float den = dot(Ng,D);
float rcpDen = rcp(den);
/* perform edge tests */
float u = dot(R,e2)*rcpDen;
float v = dot(R,e1)*rcpDen;
/* perform backface culling */
bool valid = (den != 0.0f) & (u >= 0.0f) & (v >= 0.0f) & (u+v<=1.0f);
if (likely(!valid)) return;
/* perform depth test */
float t = dot(Vec3fa(Ng),C)*rcpDen;
valid &= (t > ray->tnear()) & (t < ray->tfar);
if (likely(!valid)) return;
/* update hit */
ray->tfar = t;
ray->u = u;
ray->v = v;
ray->geomID = geomID;
ray->primID = primID;
ray->Ng = Ng;
}
struct Tutorial : public TutorialApplication
{
Tutorial()
: TutorialApplication("collide",FEATURE_RTCORE)
{
registerOption("benchmark-collision", [] (Ref<ParseStream> cin, const FileName& path) {
benchmark = true;
}, "--benchmark-collision: benchmarks collision detection");
registerOption("complexity", [] (Ref<ParseStream> cin, const FileName& path) {
int N = cin->getInt();
numPhi = N;
numTheta = 2*numPhi;
NX = N;
NZ = N;
}, "--complexity: sets grid and sphere geometric complexity");
camera.from = Vec3fa(-2.5f,2.5f,-2.5f);
camera.to = Vec3fa(0.0f,0.0f,0.0f);
}
#if defined(USE_GLFW)
void keypressed(int key) override
{
if (key == 32 /* */) initializeClothPositions ((collide2::ClothModel &) (*meshes[clothID]));
if (key == 80 /*p*/) { pause = !pause; }
if (pause == true && key == 78 /*n*/) { updateScene (); }
else TutorialApplication::keypressed(key);
}
#endif
};
}
int main(int argc, char** argv) {
if (embree::TutorialBenchmark::benchmark(argc, argv)) {
return embree::TutorialBenchmark(embree::renderBenchFunc<embree::Tutorial>).main(argc, argv, "collide");
}
return embree::Tutorial().main(argc,argv);
}
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