public void IntersectPoint(Vector3 point, WorkerCallback intersectCallback)
{
Balance();
MDLCallback callback = new MDLCallback(intersectCallback, m_objects.ToArray(), (uint)m_objects.Count);
m_tree.IntersectPoint(point, callback);
}
public void IntersectRay(Ray ray, WorkerCallback intersectCallback, ref float maxDist)
{
Balance();
MDLCallback temp_cb = new MDLCallback(intersectCallback, m_objects.ToArray(), (uint)m_objects.Count);
m_tree.IntersectRay(ray, temp_cb, ref maxDist, true);
}
// Optimized verson of intersectRay function for rays with vertical directions
public void IntersectZAllignedRay(Ray ray, WorkerCallback intersectCallback, ref float max_dist)
{
Cell cell = Cell.ComputeCell(ray.Origin.X, ray.Origin.Y);
if (!cell.IsValid())
{
return;
}
Node node = nodes[cell.x][cell.y];
if (node != null)
{
node.IntersectRay(ray, intersectCallback, ref max_dist);
}
}
public void IntersectPoint(Vector3 point, WorkerCallback intersectCallback)
{
Cell cell = Cell.ComputeCell(point.X, point.Y);
if (!cell.IsValid())
{
return;
}
Node node = nodes[cell.x][cell.y];
if (node != null)
{
node.IntersectPoint(point, intersectCallback);
}
}
public void IntersectRay(Ray ray, WorkerCallback intersectCallback, ref float max_dist, Vector3 end)
{
Cell cell = Cell.ComputeCell(ray.Origin.X, ray.Origin.Y);
if (!cell.IsValid())
{
return;
}
Cell last_cell = Cell.ComputeCell(end.X, end.Y);
if (cell == last_cell)
{
Node node = nodes[cell.x][cell.y];
if (node != null)
{
node.IntersectRay(ray, intersectCallback, ref max_dist);
}
return;
}
float voxel = CELL_SIZE;
float kx_inv = ray.invDirection().X, bx = ray.Origin.X;
float ky_inv = ray.invDirection().Y, by = ray.Origin.Y;
int stepX, stepY;
float tMaxX, tMaxY;
if (kx_inv >= 0)
{
stepX = 1;
float x_border = (cell.x + 1) * voxel;
tMaxX = (x_border - bx) * kx_inv;
}
else
{
stepX = -1;
float x_border = (cell.x - 1) * voxel;
tMaxX = (x_border - bx) * kx_inv;
}
if (ky_inv >= 0)
{
stepY = 1;
float y_border = (cell.y + 1) * voxel;
tMaxY = (y_border - by) * ky_inv;
}
else
{
stepY = -1;
float y_border = (cell.y - 1) * voxel;
tMaxY = (y_border - by) * ky_inv;
}
float tDeltaX = voxel * Math.Abs(kx_inv);
float tDeltaY = voxel * Math.Abs(ky_inv);
do
{
Node node = nodes[cell.x][cell.y];
if (node != null)
{
node.IntersectRay(ray, intersectCallback, ref max_dist);
}
if (cell == last_cell)
{
break;
}
if (tMaxX < tMaxY)
{
tMaxX += tDeltaX;
cell.x += stepX;
}
else
{
tMaxY += tDeltaY;
cell.y += stepY;
}
} while (cell.IsValid());
}
public void IntersectRay(Ray ray, WorkerCallback intersectCallback, ref float max_dist)
{
IntersectRay(ray, intersectCallback, ref max_dist, ray.Origin + ray.Direction * max_dist);
}
public void IntersectPoint(Vector3 p, WorkerCallback intersectCallback)
{
if (!bounds.contains(p))
{
return;
}
StackNode[] stack = new StackNode[64];
int stackPos = 0;
int node = 0;
while (true)
{
while (true)
{
uint tn = tree[node];
uint axis = (uint)(tn & (3 << 30)) >> 30;
bool BVH2 = Convert.ToBoolean(tn & (1 << 29));
int offset = (int)(tn & ~(7 << 29));
if (!BVH2)
{
if (axis < 3)
{
// "normal" interior node
float tl = IntBitsToFloat(tree[node + 1]);
float tr = IntBitsToFloat(tree[node + 2]);
// point is between clip zones
if (tl < p[(int)axis] && tr > p[axis])
{
break;
}
int right = offset + 3;
node = right;
// point is in right node only
if (tl < p[(int)axis])
{
continue;
}
node = offset; // left
// point is in left node only
if (tr > p[axis])
{
continue;
}
// point is in both nodes
// push back right node
stack[stackPos].node = (uint)right;
stackPos++;
continue;
}
else
{
// leaf - test some objects
uint n = tree[node + 1];
while (n > 0)
{
intersectCallback.Invoke(p, objects[offset]); // !!!
--n;
++offset;
}
break;
}
}
else // BVH2 node (empty space cut off left and right)
{
if (axis > 2)
{
return; // should not happen
}
float tl = IntBitsToFloat(tree[node + 1]);
float tr = IntBitsToFloat(tree[node + 2]);
node = offset;
if (tl > p[axis] || tr < p[axis])
{
break;
}
continue;
}
} // traversal loop
// stack is empty?
if (stackPos == 0)
{
return;
}
// move back up the stack
stackPos--;
node = (int)stack[stackPos].node;
}
}
public void IntersectRay(Ray r, WorkerCallback intersectCallback, ref float maxDist, bool stopAtFirst = false)
{
float intervalMin = -1.0f;
float intervalMax = -1.0f;
Vector3 org = r.Origin;
Vector3 dir = r.Direction;
Vector3 invDir = new();
for (int i = 0; i < 3; ++i)
{
invDir[i] = 1.0f / dir[i];
if (MathFunctions.fuzzyNe(dir[i], 0.0f))
{
float t1 = (bounds.Lo[i] - org[i]) * invDir[i];
float t2 = (bounds.Hi[i] - org[i]) * invDir[i];
if (t1 > t2)
{
MathFunctions.Swap <float>(ref t1, ref t2);
}
if (t1 > intervalMin)
{
intervalMin = t1;
}
if (t2 < intervalMax || intervalMax < 0.0f)
{
intervalMax = t2;
}
// intervalMax can only become smaller for other axis,
// and intervalMin only larger respectively, so stop early
if (intervalMax <= 0 || intervalMin >= maxDist)
{
return;
}
}
}
if (intervalMin > intervalMax)
{
return;
}
intervalMin = Math.Max(intervalMin, 0.0f);
intervalMax = Math.Min(intervalMax, maxDist);
uint[] offsetFront = new uint[3];
uint[] offsetBack = new uint[3];
uint[] offsetFront3 = new uint[3];
uint[] offsetBack3 = new uint[3];
// compute custom offsets from direction sign bit
for (int i = 0; i < 3; ++i)
{
offsetFront[i] = FloatToRawIntBits(dir[i]) >> 31;
offsetBack[i] = offsetFront[i] ^ 1;
offsetFront3[i] = offsetFront[i] * 3;
offsetBack3[i] = offsetBack[i] * 3;
// avoid always adding 1 during the inner loop
++offsetFront[i];
++offsetBack[i];
}
StackNode[] stack = new StackNode[64];
int stackPos = 0;
int node = 0;
while (true)
{
while (true)
{
uint tn = tree[node];
uint axis = (uint)(tn & (3 << 30)) >> 30;
bool BVH2 = Convert.ToBoolean(tn & (1 << 29));
int offset = (int)(tn & ~(7 << 29));
if (!BVH2)
{
if (axis < 3)
{
// "normal" interior node
float tf = (IntBitsToFloat(tree[(int)(node + offsetFront[axis])]) - org[axis]) * invDir[axis];
float tb = (IntBitsToFloat(tree[(int)(node + offsetBack[axis])]) - org[axis]) * invDir[axis];
// ray passes between clip zones
if (tf < intervalMin && tb > intervalMax)
{
break;
}
int back = (int)(offset + offsetBack3[axis]);
node = back;
// ray passes through far node only
if (tf < intervalMin)
{
intervalMin = (tb >= intervalMin) ? tb : intervalMin;
continue;
}
node = offset + (int)offsetFront3[axis]; // front
// ray passes through near node only
if (tb > intervalMax)
{
intervalMax = (tf <= intervalMax) ? tf : intervalMax;
continue;
}
// ray passes through both nodes
// push back node
stack[stackPos].node = (uint)back;
stack[stackPos].tnear = (tb >= intervalMin) ? tb : intervalMin;
stack[stackPos].tfar = intervalMax;
stackPos++;
// update ray interval for front node
intervalMax = (tf <= intervalMax) ? tf : intervalMax;
continue;
}
else
{
// leaf - test some objects
int n = (int)tree[node + 1];
while (n > 0)
{
bool hit = intersectCallback.Invoke(r, objects[offset], ref maxDist, stopAtFirst);
if (stopAtFirst && hit)
{
return;
}
--n;
++offset;
}
break;
}
}
else
{
if (axis > 2)
{
return; // should not happen
}
float tf = (IntBitsToFloat(tree[(int)(node + offsetFront[axis])]) - org[axis]) * invDir[axis];
float tb = (IntBitsToFloat(tree[(int)(node + offsetBack[axis])]) - org[axis]) * invDir[axis];
node = offset;
intervalMin = (tf >= intervalMin) ? tf : intervalMin;
intervalMax = (tb <= intervalMax) ? tb : intervalMax;
if (intervalMin > intervalMax)
{
break;
}
continue;
}
} // traversal loop
do
{
// stack is empty?
if (stackPos == 0)
{
return;
}
// move back up the stack
stackPos--;
intervalMin = stack[stackPos].tnear;
if (maxDist < intervalMin)
{
continue;
}
node = (int)stack[stackPos].node;
intervalMax = stack[stackPos].tfar;
break;
} while (true);
}
}
public MDLCallback(WorkerCallback callback, T[] objects_array, uint size)
{
objects = objects_array;
_callback = callback;
objects_size = size;
}