public static void Voxelize(Mesh mesh, int resolution, out List <Voxel_t> voxels, out float unit, bool surfaceOnly = false)
{
mesh.RecalculateBounds();
var bounds = mesh.bounds;
// From the specified resolution, calculate the unit length of one voxel
float maxLength = Mathf.Max(bounds.size.x, Mathf.Max(bounds.size.y, bounds.size.z));
unit = maxLength / resolution;
// half of the unit length
var hunit = unit * 0.5f;
// The bounds extended by "half of the unit length constituting one voxel" is defined as the scope of voxelization
var start = bounds.min - new Vector3(hunit, hunit, hunit); // Minimum bounds to voxel
var end = bounds.max + new Vector3(hunit, hunit, hunit); // Maximum bounds to voxel
var size = end - start; // Size of bounds to voxel
// The size of three-dimensional voxel data is determined based on the unit length of the voxel and the scope of voxelization
var width = Mathf.CeilToInt(size.x / unit);
var height = Mathf.CeilToInt(size.y / unit);
var depth = Mathf.CeilToInt(size.z / unit);
var volume = new Voxel_t[width, height, depth];
// In the subsequent processing,
// in order to refer to the position and size of each voxel data, generate an AABB array.
var boxes = new Bounds[width, height, depth];
var voxelUnitSize = Vector3.one * unit;
for (int x = 0; x < width; x++)
{
for (int y = 0; y < height; y++)
{
for (int z = 0; z < depth; z++)
{
var p = new Vector3(x, y, z) * unit + start;
var aabb = new Bounds(p, voxelUnitSize);
boxes[x, y, z] = aabb;
}
}
}
var vertices = mesh.vertices;
var indices = mesh.triangles;
// direction to fill the voxels
var direction = Vector3.forward;
for (int i = 0, n = indices.Length; i < n; i += 3)
{
// a target triangle
var tri = new Triangle(
vertices[indices[i]],
vertices[indices[i + 1]],
vertices[indices[i + 2]],
direction
);
// calculate a AABB of a triangle
var min = tri.bounds.min - start;
var max = tri.bounds.max - start;
int iminX = Mathf.RoundToInt(min.x / unit), iminY = Mathf.RoundToInt(min.y / unit), iminZ = Mathf.RoundToInt(min.z / unit);
int imaxX = Mathf.RoundToInt(max.x / unit), imaxY = Mathf.RoundToInt(max.y / unit), imaxZ = Mathf.RoundToInt(max.z / unit);
iminX = Mathf.Clamp(iminX, 0, width - 1);
iminY = Mathf.Clamp(iminY, 0, height - 1);
iminZ = Mathf.Clamp(iminZ, 0, depth - 1);
imaxX = Mathf.Clamp(imaxX, 0, width - 1);
imaxY = Mathf.Clamp(imaxY, 0, height - 1);
imaxZ = Mathf.Clamp(imaxZ, 0, depth - 1);
uint front = (uint)(tri.frontFacing ? 1 : 0);
// inside AABB of a triangle,
// check intersections a triangle and voxels
for (int x = iminX; x <= imaxX; x++)
{
for (int y = iminY; y <= imaxY; y++)
{
for (int z = iminZ; z <= imaxZ; z++)
{
if (Intersects(tri, boxes[x, y, z]))
{
var voxel = volume[x, y, z];
voxel.position = boxes[x, y, z].center;
if ((voxel.front & 1) == 0)
{
voxel.front = front;
}
else
{
voxel.front = voxel.front & front;
}
voxel.fill = 1;
volume[x, y, z] = voxel;
}
}
}
}
}
if (!surfaceOnly)
{
// fill inside of a mesh
for (int x = 0; x < width; x++)
{
for (int y = 0; y < height; y++)
{
// fill inside of a mesh from z-nearest side (x, y, 0)
for (int z = 0; z < depth; z++)
{
// continue if (x, y, z) is empty
if (volume[x, y, z].IsEmpty())
{
continue;
}
// step forward to front face
int ifront = z;
for (; ifront < depth && volume[x, y, ifront].IsFrontFace(); ifront++)
{
}
// break if position is out of bounds
if (ifront >= depth)
{
break;
}
int iback = ifront;
// step forward to empty
for (; iback < depth && volume[x, y, iback].IsEmpty(); iback++)
{
}
if (iback >= depth)
{
break;
}
// check if iback is back voxel
if (volume[x, y, iback].IsBackFace())
{
// step forward to back face
for (; iback < depth && volume[x, y, iback].IsBackFace(); iback++)
{
}
}
// fill from ifront to iback
for (int z2 = ifront; z2 < iback; z2++)
{
var p = boxes[x, y, z2].center;
var voxel = volume[x, y, z2];
voxel.position = p;
voxel.fill = 1;
volume[x, y, z2] = voxel;
}
// advance loop to (x, y, iback)
z = iback;
}
}
}
}
// get non-empty voxels
voxels = new List <Voxel_t>();
for (int x = 0; x < width; x++)
{
for (int y = 0; y < height; y++)
{
for (int z = 0; z < depth; z++)
{
if (!volume[x, y, z].IsEmpty())
{
voxels.Add(volume[x, y, z]);
}
}
}
}
}
public static GPUVoxelData Voxelize(ComputeShader voxelizer, Bounds bounds, Mesh mesh, int resolution = 64)
{
// From the specified resolution, calculate the unit length of one voxel
float maxLength = Mathf.Max(bounds.size.x, Mathf.Max(bounds.size.y, bounds.size.z));
var unit = maxLength / resolution;
// half of the unit length
var hunit = unit * 0.5f;
// The bounds extended by "half of the unit length constituting one voxel" is defined as the scope of voxelization
var start = bounds.min - new Vector3(hunit, hunit, hunit); // Minimum bounds to voxel
var end = bounds.max + new Vector3(hunit, hunit, hunit); // Maximum bounds to voxel
var size = end - start; // Size of bounds to voxel
// The size of three-dimensional voxel data is determined based on the unit length of the voxel and the scope of voxelization
int width = Mathf.CeilToInt(size.x / unit);
int height = Mathf.CeilToInt(size.y / unit);
int depth = Mathf.CeilToInt(size.z / unit);
// generate ComputeBuffer representing Voxel_t array
var voxelBuffer = new ComputeBuffer(width * height * depth, Marshal.SizeOf(typeof(Voxel_t)));
var voxels = new Voxel_t[voxelBuffer.count];
voxelBuffer.SetData(voxels); // initialize
// send voxel data to GPU
voxelizer.SetVector("_Start", start);
voxelizer.SetVector("_End", end);
voxelizer.SetVector("_Size", size);
voxelizer.SetFloat("_Unit", unit);
voxelizer.SetFloat("_InvUnit", 1f / unit);
voxelizer.SetFloat("_HalfUnit", hunit);
voxelizer.SetInt("_Width", width);
voxelizer.SetInt("_Height", height);
voxelizer.SetInt("_Depth", depth);
// generate ComputeBuffer representing vertex array
var vertices = mesh.vertices;
var vertBuffer = new ComputeBuffer(vertices.Length, Marshal.SizeOf(typeof(Vector3)));
vertBuffer.SetData(vertices);
// generate ComputeBuffer representing triangle array
var triangles = mesh.triangles;
var triBuffer = new ComputeBuffer(triangles.Length, Marshal.SizeOf(typeof(int)));
triBuffer.SetData(triangles);
// send mesh data to GPU kernel "SurfaceFront" and "SurfaceBack"
var surfaceFrontKer = new Kernel(voxelizer, "SurfaceFront");
voxelizer.SetBuffer(surfaceFrontKer.Index, "_VoxelBuffer", voxelBuffer);
voxelizer.SetBuffer(surfaceFrontKer.Index, "_VertBuffer", vertBuffer);
voxelizer.SetBuffer(surfaceFrontKer.Index, "_TriBuffer", triBuffer);
// set triangle count in a mesh
var triangleCount = triBuffer.count / 3;
voxelizer.SetInt("_TriangleCount", triangleCount);
// execute surface construction in front triangles
voxelizer.Dispatch(surfaceFrontKer.Index, triangleCount / (int)surfaceFrontKer.ThreadX + 1, (int)surfaceFrontKer.ThreadY, (int)surfaceFrontKer.ThreadZ);
// execute surface construction in back triangles
var surfaceBackKer = new Kernel(voxelizer, "SurfaceBack");
voxelizer.SetBuffer(surfaceBackKer.Index, "_VoxelBuffer", voxelBuffer);
voxelizer.SetBuffer(surfaceBackKer.Index, "_VertBuffer", vertBuffer);
voxelizer.SetBuffer(surfaceBackKer.Index, "_TriBuffer", triBuffer);
voxelizer.Dispatch(surfaceBackKer.Index, triangleCount / (int)surfaceBackKer.ThreadX + 1, (int)surfaceBackKer.ThreadY, (int)surfaceBackKer.ThreadZ);
// send voxel data to GPU kernel "Volume"
var volumeKer = new Kernel(voxelizer, "Volume");
voxelizer.SetBuffer(volumeKer.Index, "_VoxelBuffer", voxelBuffer);
// execute to fill voxels inside of a mesh
voxelizer.Dispatch(volumeKer.Index, width / (int)volumeKer.ThreadX + 1, height / (int)volumeKer.ThreadY + 1, (int)surfaceFrontKer.ThreadZ);
// dispose unnecessary mesh data
vertBuffer.Release();
triBuffer.Release();
return(new GPUVoxelData(voxelBuffer, width, height, depth, unit));
}