public AmanatidesIntersector(HeightField heightField)
: base(heightField)
{
this.epsilonForRayDir = 0.001f;
this.epsilonForCorners = 0.0001f;
this.epsilonForClosePixelDepth = 0.05f;
}
private static void MeasureIntersectionPerformance(HeightField heightfield, Vector3 start, Vector3 end, int iterations)
{
Vector3 direction = end - start;
MyIntersector intersector = new MyIntersector(heightfield);
FootprintDebugInfo debugInfo = new FootprintDebugInfo();
Intersection isec = intersector.Intersect(start, end, ref debugInfo);
int visitedPixels = debugInfo.VisitedPixels.Count;
Stopwatch sw = Stopwatch.StartNew();
for (int i = 0; i < iterations; i++)
{
Intersection intersection = intersector.Intersect(start, end);
}
sw.Stop();
Console.WriteLine("Intersection?: {0}", isec != null);
Console.WriteLine("Ray length: {0:0.0}", direction.Length);
Console.WriteLine("Visited pixels: {0}", visitedPixels);
Console.WriteLine("Iterations: {0}", iterations);
Console.WriteLine("Total time: {0} ms", sw.ElapsedMilliseconds);
Console.WriteLine("Average time: {0:0.000} ms", sw.ElapsedMilliseconds / (double)iterations);
double throughput = iterations / ((double)sw.ElapsedMilliseconds * 0.001);
Console.WriteLine("Throughput: {0:0.000} traversals/s", throughput);
Console.WriteLine("Throughput of visited pixels: {0:0.000} Mpx/s", throughput * visitedPixels * 1e-6);
}
public AmanatidesIntersector(HeightField heightField)
: base(heightField)
{
this.epsilonForRayDir = 0.001f;
this.epsilonForCorners = 0.0001f;
this.epsilonForClosePixelDepth = 0.05f;
}
public void TrySimpleHeightfield1x1WithPerpendicularRay()
{
FloatMapImage data = new FloatMapImage(1, 1, PixelFormat.Greyscale);
data.Image[0, 0, 0] = 0.5f;
HeightField heightfield = new HeightField(new[] { data });
Vector3 start = new Vector3(0.1f, 0.1f, 0.25f);
Vector3 end = new Vector3(0.1f, 0.1f, 0.75f);
IntersectAndReport(heightfield, start, end);
}
public void TrySimpleHeightfield2x2()
{
FloatMapImage data = new FloatMapImage(2, 2, PixelFormat.Greyscale);
data.Image[0, 0, 0] = 0.5f;
data.Image[0, 1, 0] = 0.5f;
data.Image[1, 0, 0] = 0.5f;
data.Image[1, 1, 0] = 0.5f;
HeightField heightfield = new HeightField(new[] { data });
Vector3 start = new Vector3(0.5f, 1.5f, 0.0f);
Vector3 end = new Vector3(2, 2, 1);
IntersectAndReport(heightfield, start, end);
}
internal override Intersection Intersect(
Vector3 start, Vector3 end,
ref FootprintDebugInfo debugInfo)
{
int stepCount = 5;
//float near = 2;
//float far = 10;
//Vector2 start = (near / (float)ray.Direction.Z) * new Vector2((float)ray.Origin.X, (float)ray.Origin.Y);
//Vector3d rayEnd = ray.Origin + ray.Direction;
//Vector2 end = (far / (float)ray.Direction.Z) * new Vector2((float)rayEnd.X, (float)rayEnd.Y);
Vector2 startXY = start.Xy;
Vector2 endXY = end.Xy;
float depthSize = 1;
float currentDepth = 0;
float isecDepth = 1;
Vector2 position = startXY;
for (int i = 0; i < stepCount; i++)
{
depthSize *= 0.5f;
position = startXY + currentDepth * endXY;
float hfDepth = HeightField.GetDepthBilinear(position, 0);
if (currentDepth >= hfDepth)
{
isecDepth = currentDepth;
currentDepth -= 2 * depthSize;
}
currentDepth += depthSize;
}
if (isecDepth < (1 - 0.0001))
{
return(new Intersection(new Vector3d(position.X, position.Y, isecDepth)));
}
else
{
return(null);
}
}
internal override Intersection Intersect(Vector3 start, Vector3 end, ref FootprintDebugInfo debugInfo)
{
int steps = (int)Math.Floor(Math.Max((end - start).Xy.Length, 1));
Vector3 rayStep = (end - start) / (float)steps;
//Vector3 rayStep = (end - start) / (float)Steps;
Vector3 currentPos = start;
int prevIndicator = GetRayLayerIndicator(start.Z, HeightField.GetDepthBilinear(start.Xy, 0));
int isecLayer = 0;
for (int i = 0; i < steps; i++)
{
currentPos += rayStep;
float layerDepth = HeightField.GetDepthBilinear(currentPos.Xy, 0);
int indicator = GetRayLayerIndicator(currentPos.Z, layerDepth);
if (layerDepth > 0)
{
// some data present
// Find the first layer with indicator value 1. In case
// of a single layer it is the single value.
int indicatorDiff = prevIndicator - indicator;
if (indicatorDiff == 1)
{
isecLayer = 1;
}
if (isecLayer != 0)
{
if (debugInfo != null)
{
debugInfo.LayerOfIntersection = isecLayer - 1;
}
return(new Intersection((Vector3d)currentPos));
// TODO: grab color from the particular color layer
}
}
prevIndicator = indicator;
}
return(null);
}
public MyIntersector(HeightField heightField)
: base(heightField)
{
this.epsilonForCorners = 0.001f;
this.epsilonForClosePixelDepth = 0.05f;
}
public BinarySearchIntersector(HeightField heightField)
: base(heightField)
{
}
public LinearSearchIntersector(HeightField heightField)
: base(heightField)
{
Steps = 10;
}
private static void IntersectAndReport(HeightField heightfield, Vector3 start, Vector3 end)
{
MyIntersector intersector = new MyIntersector(heightfield);
Intersection intersection = intersector.Intersect(start, end);
Console.WriteLine((intersection != null) ? intersection.Position.ToString() : "no intersection");
}
private static void TryIntersectionPerformance()
{
List<FloatMapImage> layers = new List<FloatMapImage>();
layers.Add(((Bitmap)Bitmap.FromFile("../../data/2011-05-30_04-50-47_depth_0.png")).ToFloatMap());
layers.Add(((Bitmap)Bitmap.FromFile("../../data/2011-05-30_04-50-47_depth_1.png")).ToFloatMap());
layers.Add(((Bitmap)Bitmap.FromFile("../../data/2011-05-30_04-50-47_depth_2.png")).ToFloatMap());
layers.Add(((Bitmap)Bitmap.FromFile("../../data/2011-05-30_04-50-47_depth_3.png")).ToFloatMap());
layers.Add(((Bitmap)Bitmap.FromFile("../../data/2011-05-30_04-50-47_depth_4.png")).ToFloatMap());
HeightField heightfield = new HeightField(layers);
// no isec
//Vector3 start = new Vector3(169, 181, 0);
//Vector3 end = new Vector3(14, 191, 1);
// isec at layer 4
//Vector3 start = new Vector3(178, 180, 0);
//Vector3 end = new Vector3(33, 38, 1);
// no isec with 5 layers, traversing the filled areas
//Vector3 start = new Vector3(9, 190, 0);
//Vector3 end = new Vector3(131, 19, 1);
Vector3 start = new Vector3(100, 100, 0);
Vector3 end = new Vector3(117.5f, 115.5f, 1);
int iterations = 100000;
MeasureIntersectionPerformance(heightfield, start, end, iterations);
}
public BinarySearchIntersector(HeightField heightField)
: base(heightField)
{
}
private void clearAllLayersToolStripMenuItem_Click(object sender, EventArgs e)
{
layerBitmaps.Clear();
layers.Clear();
heightField = emptyHeightField;
UpdateHeightfieldPanel();
}
public MyIntersector(HeightField heightField)
: base(heightField)
{
this.epsilonForCorners = 0.001f;
this.epsilonForClosePixelDepth = 0.05f;
}
public AbstractIntersector(HeightField heightField)
{
this.HeightField = heightField;
}
public AbstractIntersector(HeightField heightField)
{
this.HeightField = heightField;
}
public LinearSearchIntersector(HeightField heightField)
: base(heightField)
{
Steps = 10;
}
private static void TryFootprintTraversalPerformance()
{
//HeightField heightfield = new HeightField(1000, 1000);
//Vector3 start = new Vector3(2.5, 1.5, 0);
//Vector3 end = new Vector3(999.5f, 998.5f, 1);
HeightField heightfield = new HeightField(200, 200);
//Vector3 start = new Vector3(169, 181, 0);
//Vector3 end = new Vector3(14, 191, 1);
//Vector3 start = new Vector3(178, 180, 0);
//Vector3 end = new Vector3(33, 38, 1);
//Vector3 start = new Vector3(9, 190, 0);
//Vector3 end = new Vector3(131, 19, 1);
Vector3 start = new Vector3(100, 100, 0);
Vector3 end = new Vector3(104.5f, 105.5f, 1);
//HeightField heightfield = new HeightField(200, 200);
//Vector3 start = new Vector3(100, 100.1, 0);
//Vector3 end = new Vector3(102.1, 102.2, 1);
int iterations = 100000;
MeasureIntersectionPerformance(heightfield, start, end, iterations);
}
private void addLayerToolStripMenuItem_Click(object sender, EventArgs e)
{
if (openFileDialog.ShowDialog() == DialogResult.OK)
{
foreach (var fileName in openFileDialog.FileNames)
{
Bitmap newLayerBitmap = (Bitmap)Bitmap.FromFile(fileName);
layerBitmaps.Add(newLayerBitmap);
layers.Add(newLayerBitmap.ToFloatMap());
}
heightField = new HeightField(layers.ToArray());
selectedIntersector.HeightField = heightField;
UpdateHeightfieldPanel();
}
}
