public static void test_AABBTree_RayHit(int meshCase = 8)
{
DMesh3 mesh = MakeSpatialTestMesh(meshCase);
DMeshAABBTree3 tree = new DMeshAABBTree3(mesh);
tree.Build();
tree.TestCoverage();
AxisAlignedBox3d bounds = mesh.CachedBounds;
Vector3d ext = bounds.Extents;
Vector3d c = bounds.Center;
double r = bounds.DiagonalLength / 4;
Random rand = new Random(316136327);
tree.FindNearestHitTriangle(
new Ray3f(100 * Vector3f.One, Vector3f.One));
// test rays out from center of box, and rays in towards it
// (should all hit for standard test cases)
int hits = 0;
int N = (meshCase > 7) ? 1000 : 10000;
#if true
for (int ii = 0; ii < N; ++ii)
{
if (ii % 100 == 0)
{
System.Console.WriteLine("{0} / {1}", ii, N);
}
Vector3d p = (ii < N / 2) ? c : c + 2 * r * rand.Direction();
Vector3d d = (ii < N / 2) ? rand.Direction() : (c - p).Normalized;
Ray3d ray = new Ray3d(p, d);
int tNearBrute = MeshQueries.FindHitTriangle_LinearSearch(mesh, ray);
int tNearTree = tree.FindNearestHitTriangle(ray);
//System.Console.WriteLine("{0} - {1}", tNearBrute, tree.TRI_TEST_COUNT);
if (tNearBrute == DMesh3.InvalidID)
{
Debug.Assert(tNearBrute == tNearTree);
continue;
}
++hits;
IntrRay3Triangle3 qBrute = MeshQueries.TriangleIntersection(mesh, tNearBrute, ray);
IntrRay3Triangle3 qTree = MeshQueries.TriangleIntersection(mesh, tNearTree, ray);
double dotBrute = mesh.GetTriNormal(tNearBrute).Dot(ray.Direction);
double dotTree = mesh.GetTriNormal(tNearTree).Dot(ray.Direction);
Debug.Assert(Math.Abs(qBrute.RayParameter - qTree.RayParameter) < MathUtil.ZeroTolerance);
}
Debug.Assert(hits == N);
System.Console.WriteLine("in/out rays: {0} hits out of {1} rays", hits, N);
#endif
// random rays
hits = 0;
for (int ii = 0; ii < N; ++ii)
{
if (ii % 100 == 0)
{
System.Console.WriteLine("{0} / {1}", ii, N);
}
Vector3d target = c + rand.PointInRange(r);
Vector3d o = c + rand.PointInRange(10 * r);
Ray3d ray = new Ray3d(o, (target - o).Normalized);
int tNearBrute = MeshQueries.FindHitTriangle_LinearSearch(mesh, ray);
int tNearTree = tree.FindNearestHitTriangle(ray);
//System.Console.WriteLine("{0} - {1}", tNearBrute, tree.TRI_TEST_COUNT);
if (tNearBrute == DMesh3.InvalidID)
{
Debug.Assert(tNearBrute == tNearTree);
continue;
}
++hits;
IntrRay3Triangle3 qBrute = MeshQueries.TriangleIntersection(mesh, tNearBrute, ray);
IntrRay3Triangle3 qTree = MeshQueries.TriangleIntersection(mesh, tNearTree, ray);
double dotBrute = mesh.GetTriNormal(tNearBrute).Dot(ray.Direction);
double dotTree = mesh.GetTriNormal(tNearTree).Dot(ray.Direction);
Debug.Assert(Math.Abs(qBrute.RayParameter - qTree.RayParameter) < MathUtil.ZeroTolerance);
}
System.Console.WriteLine("random rays: hit {0} of {1} rays", hits, N);
}
int[] insert_points(Vector3d[] points, DMesh3 mesh)
{
int[] MapV = new int[points.Length];
HashSet <int> newV = new HashSet <int>();
for (int i = 0; i < points.Length; ++i)
{
MapV[i] = DMesh3.InvalidID;
Vector3d pt = points[i];
pt.Normalize();
Ray3d ray = new Ray3d(Vector3d.Zero, pt);
int hit_tid =
MeshQueries.FindHitTriangle_LinearSearch(mesh, ray);
if (hit_tid == DMesh3.InvalidID)
{
continue;
}
Index3i hit_tri = mesh.GetTriangle(hit_tid);
IntrRay3Triangle3 intr =
MeshQueries.TriangleIntersection(mesh, hit_tid, ray);
Vector3d bary = intr.TriangleBaryCoords;
bool done = false;
for (int j = 0; j < 3 && done == false; ++j)
{
if (bary[j] > 0.9)
{
// hit-vertex case
if (newV.Contains(hit_tri[j]) == false)
{
MapV[i] = hit_tri[j];
newV.Add(MapV[i]);
done = true;
}
}
else if (bary[j] < 0.1)
{
// hit-edge case
DMesh3.EdgeSplitInfo split_info;
MeshResult splitResult = mesh.SplitEdge(hit_tri[(j + 1) % 3], hit_tri[(j + 2) % 3], out split_info);
if (splitResult == MeshResult.Ok)
{
MapV[i] = split_info.vNew;
newV.Add(MapV[i]);
mesh.SetVertex(split_info.vNew, points[i]);
done = true;
}
}
}
if (done)
{
continue;
}
DMesh3.PokeTriangleInfo poke_info;
MeshResult result = mesh.PokeTriangle(hit_tid, out poke_info);
if (result == MeshResult.Ok)
{
MapV[i] = poke_info.new_vid;
newV.Add(MapV[i]);
mesh.SetVertex(poke_info.new_vid, points[i]);
}
}
return(MapV);
}
// [RMS] this only tests some basic cases...
public static void test_RayBoxIntersect()
{
Random rand = new Random(316136327);
// check that box hit works
for (int ii = 0; ii < 1000; ++ii)
{
// generate random triangle
Triangle3d t = new Triangle3d(rand.PointInRange(10), rand.PointInRange(10), rand.PointInRange(10));
AxisAlignedBox3d bounds = new AxisAlignedBox3d(t.V0);
bounds.Contain(t.V1);
bounds.Contain(t.V2);
Vector3d c = (t.V0 + t.V1 + t.V2) / 3.0;
for (int jj = 0; jj < 1000; ++jj)
{
Vector3d d = rand.Direction();
Ray3d ray = new Ray3d(c - 100 * d, d);
IntrRay3AxisAlignedBox3 bhit = new IntrRay3AxisAlignedBox3(ray, bounds);
Debug.Assert(bhit.Find());
IntrRay3Triangle3 thit = new IntrRay3Triangle3(ray, t);
Debug.Assert(thit.Find());
Debug.Assert(bhit.RayParam0 < thit.RayParameter);
}
}
int N = 100;
for (int ii = 0; ii < N; ++ii)
{
// generate random boxes
Vector3d c = rand.PointInRange(10);
Vector3d e = rand.PositivePoint();
AxisAlignedBox3d aabox = new AxisAlignedBox3d(c - e, c + e);
Box3d obox = new Box3d(c, Vector3d.AxisX, Vector3d.AxisY, Vector3d.AxisZ, e);
double r = aabox.DiagonalLength;
// center-out tests
for (int jj = 0; jj < N; ++jj)
{
Ray3d ray = new Ray3d(c, rand.Direction());
assert_same_hit(aabox, obox, ray, true);
}
// outside-in tests
for (int jj = 0; jj < N; ++jj)
{
Vector3d p = c + 2 * r * rand.Direction();
Ray3d ray = new Ray3d(p, (c - p).Normalized);
assert_same_hit(aabox, obox, ray, true);
}
}
// random rays
int hits = 0;
int InnerN = 1000;
for (int ii = 0; ii < N; ++ii)
{
// generate random boxe
Vector3d c = rand.PointInRange(10);
Vector3d e = rand.PositivePoint();
// every tenth box, set an axis to degenerate
if (ii % 10 == 0)
{
e[rand.Next() % 3] = 0;
}
AxisAlignedBox3d aabox = new AxisAlignedBox3d(c - e, c + e);
Box3d obox = new Box3d(c, Vector3d.AxisX, Vector3d.AxisY, Vector3d.AxisZ, e);
double r = aabox.DiagonalLength;
TrivialBox3Generator boxgen = new TrivialBox3Generator()
{
Box = obox
};
boxgen.Generate();
DMesh3 mesh = new DMesh3();
boxgen.MakeMesh(mesh);
for (int i = 0; i < InnerN; ++i)
{
Vector3d target = c + rand.PointInRange(r);
Vector3d o = c + rand.PointInRange(10 * r);
Ray3d ray = new Ray3d(o, (target - o).Normalized);
assert_same_hit(aabox, obox, ray, false);
int hitT = MeshQueries.FindHitTriangle_LinearSearch(mesh, ray);
bool bMeshHit = (hitT != DMesh3.InvalidID);
if (bMeshHit)
{
++hits;
}
IntrRay3AxisAlignedBox3 aabbhit = new IntrRay3AxisAlignedBox3(ray, aabox);
Debug.Assert(aabbhit.Find() == bMeshHit);
Debug.Assert(aabbhit.Test() == bMeshHit);
}
}
System.Console.WriteLine("hit {0} of {1} rays", hits, N * InnerN);
}
