BVHRaycaster: CPU version of BVH Raycasting: WIP. More...

#include <BVHRaycaster.hpp>

Inheritance diagram for lvr2::BVHRaycaster< IntT >:

Classes
struct	Ray
	Data type to store information about a ray. More...

struct	TriangleIntersectionResult
	A struct to return the calculation results of a triangle intersection. More...

Public Member Functions
	BVHRaycaster (const MeshBufferPtr mesh, unsigned int stack_size=64)
	Constructor: Stores mesh as member. More...

bool	castRay (const Vector3f &origin, const Vector3f &direction, IntT &intersection)
	Cast a single ray onto the mesh. More...

Public Member Functions inherited from lvr2::RaycasterBase< IntT >
virtual void	castRays (const Vector3f &origin, const std::vector< Vector3f > &directions, std::vector< IntT > &intersections, std::vector< uint8_t > &hits)
	Cast a ray from single origin with multiple directions onto the mesh. More...

virtual void	castRays (const Vector3f &origin, const std::vector< std::vector< Vector3f > > &directions, std::vector< std::vector< IntT > > &intersections, std::vector< std::vector< uint8_t > > &hits)
	Cast a ray from a single origin with multiple directions (in matrix form) onto the mesh. More...

virtual void	castRays (const std::vector< Vector3f > &origins, const std::vector< Vector3f > &directions, std::vector< IntT > &intersections, std::vector< uint8_t > &hits)
	Cast from multiple ray origin/direction pairs onto the mesh. More...

virtual void	castRays (const std::vector< Vector3f > &origins, const std::vector< std::vector< Vector3f > > &directions, std::vector< std::vector< IntT > > &intersections, std::vector< std::vector< uint8_t > > &hits)
	Cast rays with multiples origins. Each origin has multiples directions. More...

	RaycasterBase (const MeshBufferPtr mesh)
	Constructor: Stores mesh as member. More...

Protected Member Functions
Vector3f	barycentric (const Vector3f &p, const Vector3f &a, const Vector3f &b, const Vector3f &c) const

Protected Attributes
BVHTree< BaseVector< float > >	m_bvh

const unsigned int *	m_BVHindicesOrTriLists

const float *	m_BVHlimits

indexArray	m_faces

const unsigned int	m_stack_size

const float *	m_TriangleIntersectionData

const unsigned int *	m_TriIdxList

floatArr	m_vertices

Private Member Functions
float	distanceSquare (const Vector3f &a, const Vector3f &b) const
	Calculates the squared distance of two vectors. More...

TriangleIntersectionResult	intersectTrianglesBVH (const unsigned int clBVHindicesOrTriLists, Vector3f origin, Ray ray, const float clBVHlimits, const float clTriangleIntersectionData, const unsigned int clTriIdxList)
	Calculates the closest intersection of a raycast into a scene of triangles, given a bounding volume hierarchy. More...

bool	rayIntersectsBox (Vector3f origin, Ray ray, const float *boxPtr)
	Calculates whether a ray intersects a box. More...

Detailed Description

template<typename IntT>
class lvr2::BVHRaycaster< IntT >

BVHRaycaster: CPU version of BVH Raycasting: WIP.

Definition at line 56 of file BVHRaycaster.hpp.

Constructor & Destructor Documentation

◆ BVHRaycaster()

template<typename IntT >

lvr2::BVHRaycaster< IntT >::BVHRaycaster	(	const MeshBufferPtr	mesh,
		unsigned int	stack_size = `64`
	)

Constructor: Stores mesh as member.

Member Function Documentation

◆ barycentric()

template<typename IntT >

Vector3f lvr2::BVHRaycaster< IntT >::barycentric	(	const Vector3f &	p,
		const Vector3f &	a,
		const Vector3f &	b,
		const Vector3f &	c
	)		const

inlineprotected

Definition at line 101 of file BVHRaycaster.hpp.

◆ castRay()

template<typename IntT >

bool lvr2::BVHRaycaster< IntT >::castRay	(	const Vector3f &	origin,
		const Vector3f &	direction,
		IntT &	intersection
	)

virtual

Cast a single ray onto the mesh.

Parameters

[in]	origin	Ray origin
[in]	direction	Ray direction
[out]	intersection	User defined intersection output

Returns: true Intersection found; false Not intersection found

Implements lvr2::RaycasterBase< IntT >.

Reimplemented in lvr2::CLRaycaster< IntT >.

◆ distanceSquare()

template<typename IntT >

float lvr2::BVHRaycaster< IntT >::distanceSquare	(	const Vector3f &	a,
		const Vector3f &	b
	)		const

inlineprivate

Calculates the squared distance of two vectors.

Parameters

a	First vector
b	Second vector

Returns: The square distance

Definition at line 143 of file BVHRaycaster.hpp.

◆ intersectTrianglesBVH()

template<typename IntT >

TriangleIntersectionResult lvr2::BVHRaycaster< IntT >::intersectTrianglesBVH	(	const unsigned int *	clBVHindicesOrTriLists,
		Vector3f	origin,
		Ray	ray,
		const float *	clBVHlimits,
		const float *	clTriangleIntersectionData,
		const unsigned int *	clTriIdxList
	)

private

Calculates the closest intersection of a raycast into a scene of triangles, given a bounding volume hierarchy.

Parameters

clBVHindicesOrTriLists	Compressed BVH Node data, that stores for each node, whether it is a leaf node and triangle indices lists for leaf nodes and the indices of their child nodes for inner nodes
origin	Origin of the ray
ray	Direction of the ray
clBVHlimits	3d upper and lower limits for each bounding box in the BVH
clTriangleIntersectionData	Precomputed intersection data for each triangle
clTriIdxList	List of triangle indices

Returns: The TriangleIntersectionResult, containing information about the triangle intersection

◆ rayIntersectsBox()

template<typename IntT >

bool lvr2::BVHRaycaster< IntT >::rayIntersectsBox	(	Vector3f	origin,
		Ray	ray,
		const float *	boxPtr
	)

private

Calculates whether a ray intersects a box.

Parameters

origin	The origin of the ray
ray	The ray
boxPtr	A pointer to the box data

Returns: A boolean indicating whether the ray hits the box

Member Data Documentation

◆ m_bvh

template<typename IntT >

BVHTree<BaseVector<float> > lvr2::BVHRaycaster< IntT >::m_bvh

protected

Definition at line 124 of file BVHRaycaster.hpp.

◆ m_BVHindicesOrTriLists

template<typename IntT >

const unsigned int* lvr2::BVHRaycaster< IntT >::m_BVHindicesOrTriLists

protected

Definition at line 129 of file BVHRaycaster.hpp.

◆ m_BVHlimits

template<typename IntT >

const float* lvr2::BVHRaycaster< IntT >::m_BVHlimits

protected

Definition at line 130 of file BVHRaycaster.hpp.

◆ m_faces

template<typename IntT >

indexArray lvr2::BVHRaycaster< IntT >::m_faces

protected

Definition at line 126 of file BVHRaycaster.hpp.

◆ m_stack_size

template<typename IntT >

const unsigned int lvr2::BVHRaycaster< IntT >::m_stack_size

protected

Definition at line 133 of file BVHRaycaster.hpp.

◆ m_TriangleIntersectionData

template<typename IntT >

const float* lvr2::BVHRaycaster< IntT >::m_TriangleIntersectionData

protected

Definition at line 131 of file BVHRaycaster.hpp.

◆ m_TriIdxList

template<typename IntT >

const unsigned int* lvr2::BVHRaycaster< IntT >::m_TriIdxList

protected

Definition at line 132 of file BVHRaycaster.hpp.

◆ m_vertices

template<typename IntT >

floatArr lvr2::BVHRaycaster< IntT >::m_vertices

protected

Definition at line 127 of file BVHRaycaster.hpp.

The documentation for this class was generated from the following file:

BVHRaycaster.hpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

template<typename IntT> class lvr2::BVHRaycaster< IntT >

Constructor & Destructor Documentation

◆ BVHRaycaster()

Member Function Documentation

◆ barycentric()

◆ castRay()

◆ distanceSquare()

◆ intersectTrianglesBVH()

◆ rayIntersectsBox()

Member Data Documentation

◆ m_bvh

◆ m_BVHindicesOrTriLists

◆ m_BVHlimits

◆ m_faces

◆ m_stack_size

◆ m_TriangleIntersectionData

◆ m_TriIdxList

◆ m_vertices

template<typename IntT>
class lvr2::BVHRaycaster< IntT >