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Unified igl calls in MeshRaycaster and EigenMesh3D

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MeshRaycaster is still aware of the clipping plane but it now uses EigenMesh3D internally
Public interface of both classes is unchanged
This commit is contained in:
Lukas Matena
2019-11-08 20:18:14 +01:00
parent 645f13a0ae
commit b4795e1292
4 changed files with 51 additions and 92 deletions
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3
src/libslic3r/SLA/SLACommon.hpp
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@@ -189,6 +189,9 @@ public:
// Casting a ray on the mesh, returns the distance where the hit occures.
hit_result query_ray_hit(const Vec3d &s, const Vec3d &dir) const;
// Casts a ray on the mesh and returns all hits
std::vector<hit_result> query_ray_hits(const Vec3d &s, const Vec3d &dir) const;
class si_result {
double m_value;
int m_fidx;

25
src/libslic3r/SLA/SLASupportTreeIGL.cpp
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@@ -272,6 +272,31 @@ EigenMesh3D::query_ray_hit(const Vec3d &s, const Vec3d &dir) const
return ret;
}
std::vector<EigenMesh3D::hit_result>
EigenMesh3D::query_ray_hits(const Vec3d &s, const Vec3d &dir) const
{
std::vector<EigenMesh3D::hit_result> outs;
std::vector<igl::Hit> hits;
m_aabb->intersect_ray(m_V, m_F, s, dir, hits);
// The sort is necessary, the hits are not always sorted.
std::sort(hits.begin(), hits.end(),
[](const igl::Hit& a, const igl::Hit& b) { return a.t < b.t; });
// Convert the igl::Hit into hit_result
outs.reserve(hits.size());
for (const igl::Hit& hit : hits) {
outs.emplace_back(EigenMesh3D::hit_result(*this));
outs.back().m_t = double(hit.t);
outs.back().m_dir = dir;
outs.back().m_source = s;
if(!std::isinf(hit.t) && !std::isnan(hit.t))
outs.back().m_face_id = hit.id;
}
return outs;
}
#ifdef SLIC3R_SLA_NEEDS_WINDTREE
EigenMesh3D::si_result EigenMesh3D::signed_distance(const Vec3d &p) const {
double sign = 0; double sqdst = 0; int i = 0; Vec3d c;

105
src/slic3r/GUI/MeshUtils.cpp
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@@ -5,10 +5,6 @@
#include "slic3r/GUI/Camera.hpp"
// There is an L function in igl that would be overridden by our localization macro.
#undef L
#include <igl/AABB.h>
#include <GL/glew.h>
@@ -99,59 +95,6 @@ void MeshClipper::recalculate_triangles()
}
class MeshRaycaster::AABBWrapper {
public:
AABBWrapper(const TriangleMesh* mesh);
~AABBWrapper() { m_AABB.deinit(); }
typedef Eigen::Map<const Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor | Eigen::DontAlign>> MapMatrixXfUnaligned;
typedef Eigen::Map<const Eigen::Matrix<int, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor | Eigen::DontAlign>> MapMatrixXiUnaligned;
igl::AABB<MapMatrixXfUnaligned, 3> m_AABB;
Vec3f get_hit_pos(const igl::Hit& hit) const;
Vec3f get_hit_normal(const igl::Hit& hit) const;
private:
const TriangleMesh* m_mesh;
};
MeshRaycaster::AABBWrapper::AABBWrapper(const TriangleMesh* mesh)
: m_mesh(mesh)
{
m_AABB.init(
MapMatrixXfUnaligned(m_mesh->its.vertices.front().data(), m_mesh->its.vertices.size(), 3),
MapMatrixXiUnaligned(m_mesh->its.indices.front().data(), m_mesh->its.indices.size(), 3));
}
MeshRaycaster::MeshRaycaster(const TriangleMesh& mesh)
: m_AABB_wrapper(new AABBWrapper(&mesh)), m_mesh(&mesh)
{
}
MeshRaycaster::~MeshRaycaster()
{
delete m_AABB_wrapper;
}
Vec3f MeshRaycaster::AABBWrapper::get_hit_pos(const igl::Hit& hit) const
{
const stl_triangle_vertex_indices& indices = m_mesh->its.indices[hit.id];
return Vec3f((1-hit.u-hit.v) * m_mesh->its.vertices[indices(0)]
+ hit.u * m_mesh->its.vertices[indices(1)]
+ hit.v * m_mesh->its.vertices[indices(2)]);
}
Vec3f MeshRaycaster::AABBWrapper::get_hit_normal(const igl::Hit& hit) const
{
const stl_triangle_vertex_indices& indices = m_mesh->its.indices[hit.id];
Vec3f a(m_mesh->its.vertices[indices(1)] - m_mesh->its.vertices[indices(0)]);
Vec3f b(m_mesh->its.vertices[indices(2)] - m_mesh->its.vertices[indices(0)]);
return Vec3f(a.cross(b));
}
bool MeshRaycaster::unproject_on_mesh(const Vec2d& mouse_pos, const Transform3d& trafo, const Camera& camera,
Vec3f& position, Vec3f& normal, const ClippingPlane* clipping_plane) const
{
@@ -164,27 +107,20 @@ bool MeshRaycaster::unproject_on_mesh(const Vec2d& mouse_pos, const Transform3d&
::gluUnProject(mouse_pos(0), viewport[3] - mouse_pos(1), 0., model_mat.data(), proj_mat.data(), viewport.data(), &pt1(0), &pt1(1), &pt1(2));
::gluUnProject(mouse_pos(0), viewport[3] - mouse_pos(1), 1., model_mat.data(), proj_mat.data(), viewport.data(), &pt2(0), &pt2(1), &pt2(2));
std::vector<igl::Hit> hits;
Transform3d inv = trafo.inverse();
pt1 = inv * pt1;
pt2 = inv * pt2;
if (! m_AABB_wrapper->m_AABB.intersect_ray(
AABBWrapper::MapMatrixXfUnaligned(m_mesh->its.vertices.front().data(), m_mesh->its.vertices.size(), 3),
AABBWrapper::MapMatrixXiUnaligned(m_mesh->its.indices.front().data(), m_mesh->its.indices.size(), 3),
pt1.cast<float>(), (pt2-pt1).cast<float>(), hits))
std::vector<sla::EigenMesh3D::hit_result> hits = m_emesh.query_ray_hits(pt1, pt2-pt1);
if (hits.empty())
return false; // no intersection found
std::sort(hits.begin(), hits.end(), [](const igl::Hit& a, const igl::Hit& b) { return a.t < b.t; });
unsigned i = 0;
// Remove points that are obscured or cut by the clipping plane
if (clipping_plane) {
for (i=0; i<hits.size(); ++i)
if (! clipping_plane->is_point_clipped(trafo * m_AABB_wrapper->get_hit_pos(hits[i]).cast<double>()))
if (! clipping_plane->is_point_clipped(trafo * hits[i].position()))
break;
if (i==hits.size() || (hits.size()-i) % 2 != 0) {
@@ -195,8 +131,8 @@ bool MeshRaycaster::unproject_on_mesh(const Vec2d& mouse_pos, const Transform3d&
}
// Now stuff the points in the provided vector and calculate normals if asked about them:
position = m_AABB_wrapper->get_hit_pos(hits[i]);
normal = m_AABB_wrapper->get_hit_normal(hits[i]);
position = hits[i].position().cast<float>();
normal = hits[i].normal().cast<float>();
return true;
}
@@ -220,24 +156,21 @@ std::vector<unsigned> MeshRaycaster::get_unobscured_idxs(const Geometry::Transfo
bool is_obscured = false;
// Cast a ray in the direction of the camera and look for intersection with the mesh:
std::vector<igl::Hit> hits;
std::vector<sla::EigenMesh3D::hit_result> hits;
// Offset the start of the ray by EPSILON to account for numerical inaccuracies.
if (m_AABB_wrapper->m_AABB.intersect_ray(
AABBWrapper::MapMatrixXfUnaligned(m_mesh->its.vertices.front().data(), m_mesh->its.vertices.size(), 3),
AABBWrapper::MapMatrixXiUnaligned(m_mesh->its.indices.front().data(), m_mesh->its.indices.size(), 3),
inverse_trafo * pt + direction_to_camera_mesh * EPSILON, direction_to_camera_mesh, hits)) {
hits = m_emesh.query_ray_hits((inverse_trafo * pt + direction_to_camera_mesh * EPSILON).cast<double>(),
direction_to_camera.cast<double>());
std::sort(hits.begin(), hits.end(), [](const igl::Hit& h1, const igl::Hit& h2) { return h1.t < h2.t; });
if (! hits.empty()) {
// If the closest hit facet normal points in the same direction as the ray,
// we are looking through the mesh and should therefore discard the point:
if (m_AABB_wrapper->get_hit_normal(hits.front()).dot(direction_to_camera_mesh) > 0.f)
if (hits.front().normal().dot(direction_to_camera_mesh.cast<double>()) > 0)
is_obscured = true;
// Eradicate all hits that the caller wants to ignore
for (unsigned j=0; j<hits.size(); ++j) {
const igl::Hit& hit = hits[j];
if (clipping_plane && clipping_plane->is_point_clipped(trafo.get_matrix() * m_AABB_wrapper->get_hit_pos(hit).cast<double>())) {
if (clipping_plane && clipping_plane->is_point_clipped(trafo.get_matrix() * hits[j].position())) {
hits.erase(hits.begin()+j);
--j;
}
@@ -258,17 +191,15 @@ std::vector<unsigned> MeshRaycaster::get_unobscured_idxs(const Geometry::Transfo
Vec3f MeshRaycaster::get_closest_point(const Vec3f& point, Vec3f* normal) const
{
int idx = 0;
Eigen::Matrix<float, 1, 3> closest_point;
m_AABB_wrapper->m_AABB.squared_distance(
AABBWrapper::MapMatrixXfUnaligned(m_mesh->its.vertices.front().data(), m_mesh->its.vertices.size(), 3),
AABBWrapper::MapMatrixXiUnaligned(m_mesh->its.indices.front().data(), m_mesh->its.indices.size(), 3),
point, idx, closest_point);
Vec3d closest_point;
m_emesh.squared_distance(point.cast<double>(), idx, closest_point);
if (normal) {
igl::Hit imag_hit;
imag_hit.id = idx;
*normal = m_AABB_wrapper->get_hit_normal(imag_hit);
const stl_triangle_vertex_indices& indices = m_mesh->its.indices[idx];
Vec3f a(m_mesh->its.vertices[indices(1)] - m_mesh->its.vertices[indices(0)]);
Vec3f b(m_mesh->its.vertices[indices(2)] - m_mesh->its.vertices[indices(0)]);
*normal = Vec3f(a.cross(b));
}
return closest_point;
return closest_point.cast<float>();
}

10
src/slic3r/GUI/MeshUtils.hpp
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@@ -3,6 +3,7 @@
#include "libslic3r/Point.hpp"
#include "libslic3r/Geometry.hpp"
#include "libslic3r/SLA/SLACommon.hpp"
#include <cfloat>
@@ -93,8 +94,9 @@ private:
class MeshRaycaster {
public:
MeshRaycaster(const TriangleMesh& mesh);
~MeshRaycaster();
MeshRaycaster(const TriangleMesh& mesh)
: m_mesh(&mesh), m_emesh(mesh)
{}
void set_transformation(const Geometry::Transformation& trafo);
void set_camera(const Camera& camera);
@@ -107,9 +109,7 @@ public:
Vec3f get_closest_point(const Vec3f& point, Vec3f* normal = nullptr) const;
private:
// PIMPL wrapper around igl::AABB so I don't have to include the header-only IGL here
class AABBWrapper;
AABBWrapper* m_AABB_wrapper;
sla::EigenMesh3D m_emesh;
const TriangleMesh* m_mesh = nullptr;
};