EmbreeRaycaster.hpp

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/*
 * EmbreeRaycaster.hpp
 *
 *  @date 25.01.2020
 *  @author Alexander Mock <amock@uos.de>
 */

#ifndef LVR2_ALGORITHM_RAYCASTING_EMBREERAYCASTER
#define LVR2_ALGORITHM_RAYCASTING_EMBREERAYCASTER

#include <embree3/rtcore.h>
#include <stdio.h>

#include "lvr2/algorithm/raycasting/RaycasterBase.hpp"
#include "lvr2/io/MeshBuffer.hpp"
#include "lvr2/types/MatrixTypes.hpp"
#include "Intersection.hpp"

namespace lvr2 {

void EmbreeErrorFunction(void* userPtr, enum RTCError error, const char* str);

template<typename IntT>
class EmbreeRaycaster : public RaycasterBase<IntT> {
public:
    EmbreeRaycaster(const MeshBufferPtr mesh);
    ~EmbreeRaycaster();

    bool castRay(
        const Vector3f& origin,
        const Vector3f& direction,
        IntT& intersection);

protected:

    RTCDevice initializeDevice();
    RTCScene initializeScene(RTCDevice device, const MeshBufferPtr mesh);

    inline RTCRayHit lvr2embree(
        const Vector3f& origin, 
        const Vector3f& direction) const
    {
        RTCRayHit rayhit;
        rayhit.ray.org_x = origin.x();
        rayhit.ray.org_y = origin.y();
        rayhit.ray.org_z = origin.z();
        rayhit.ray.dir_x = direction.x();
        rayhit.ray.dir_y = direction.y();
        rayhit.ray.dir_z = direction.z();
        rayhit.ray.tnear = 0;
        rayhit.ray.tfar = INFINITY;
        rayhit.ray.mask = 0;
        rayhit.ray.flags = 0;
        rayhit.hit.geomID = RTC_INVALID_GEOMETRY_ID;
        rayhit.hit.instID[0] = RTC_INVALID_GEOMETRY_ID;
        return rayhit;
    }

    RTCDevice m_device;
    RTCScene m_scene;
    RTCIntersectContext m_context;
};

} // namespace lvr2

#include "EmbreeRaycaster.tcc"

#endif // LVR2_ALGORITHM_RAYCASTING_EMBREERAYCASTER