Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "elsaDefines.h"
       4             : #include "BoundingBox.h"
       5             : 
       6             : #include "spdlog/fmt/fmt.h"
       7             : 
       8             : #include <Eigen/Geometry>
       9             : #include <limits>
      10             : #include <optional>
      11             : #include <functional>
      12             : 
      13             : namespace elsa
      14             : {
      15             :     /**
      16             :      * @brief Helper struct for results of intersection tests
      17             :      */
      18             :     struct IntersectionResult {
      19             :         /// the parameters for entry/exit points
      20             :         real_t _tmin, _tmax;
      21             : 
      22             :         /// default constructor
      23             :         IntersectionResult()
      24             :             : _tmin{std::numeric_limits<real_t>::infinity()},
      25             :               _tmax{std::numeric_limits<real_t>::infinity()}
      26           0 :         {
      27           0 :         }
      28             : 
      29             :         /// simple constructor with values tmin, tmax
      30      291026 :         IntersectionResult(real_t tmin, real_t tmax) : _tmin{tmin}, _tmax{tmax} {}
      31             :     };
      32             : 
      33             :     /**
      34             :      * @brief The intersection class computes intersections between rays and axis-aligned bounding
      35             :      * boxes (AABBs)
      36             :      *
      37             :      * @author Tobias Lasser - initial code, modernization
      38             :      * @author David Frank - various fixes
      39             :      * @author Maximilian Hornung - modularization
      40             :      * @author Nikola Dinev - various fixes
      41             :      */
      42             :     class Intersection
      43             :     {
      44             :     public:
      45             :         /**
      46             :          * @brief Compute entry and exit point of ray in a volume (given as an AABB)
      47             :          *
      48             :          * @param[in] aabb the volume specified through an axis-aligned bounding box
      49             :          * @param[in] r the ray which we test for intersection with aabb
      50             : 
      51             :          * @returns nullopt if the volume is not hit, otherwise IntersectionResult
      52             :          *          with entry/exit parameters tmin/tmax
      53             :          *
      54             :          * If the ray is running along a border of the bounding box, the lower bound will
      55             :          * be counted as in the bounding and the upper bound will be  counted as outside.
      56             :          *
      57             :          * Method adapted from
      58             :          https://tavianator.com/fast-branchless-raybounding-box-intersections-part-2-nans/
      59             :          */
      60             :         static std::optional<IntersectionResult> withRay(const BoundingBox& aabb,
      61             :                                                          const RealRay_t& r);
      62             : 
      63             :         static std::optional<IntersectionResult> xPlanesWithRay(BoundingBox aabb,
      64             :                                                                 const RealRay_t& r);
      65             :     };
      66             : 
      67             :     /**
      68             :      * @brief min helper function which behaves like the IEEE standard suggests
      69             :      *
      70             :      * @param[in] x first value to find minimum of
      71             :      * @param[in] y second value to find minimum of
      72             :      * @returns the smaller value of x and y
      73             :      *
      74             :      * This function is used, because it tries to suppress NaN's. This behavior is
      75             :      * crucial for edge cases of the intersection algorithm. std::min(x,y) does
      76             :      * not provide this security and should be avoided in this case
      77             :      */
      78             :     template <typename T1, typename T2>
      79             :     constexpr T1 minNum(T1 x, T2 y)
      80      332156 :     {
      81      332156 :         return std::not_equal_to<>()(y, y) ? x : (std::less<>()(x, y) ? x : y);
      82      332156 :     }
      83             : 
      84             :     /**
      85             :      * @brief max helper function which behaves like the IEEE standard suggests
      86             :      *
      87             :      * @param[in] x first value to find maximum of
      88             :      * @param[in] y second value to find maximum of
      89             :      * @returns the bigger value of x and y
      90             :      *
      91             :      * Same thing for NaN's as for the min function
      92             :      */
      93             :     template <typename T1, typename T2>
      94             :     constexpr T1 maxNum(T1 x, T2 y)
      95      637956 :     {
      96      637956 :         return std::not_equal_to<>()(y, y) ? x : (std::greater<>()(x, y) ? x : y);
      97      637956 :     }
      98             : 
      99             : } // namespace elsa
     100             : 
     101             : template <>
     102             : struct fmt::formatter<elsa::IntersectionResult> {
     103             :     template <typename ParseContext>
     104             :     constexpr auto parse(ParseContext& ctx)
     105           0 :     {
     106           0 :         return ctx.begin();
     107           0 :     }
     108             : 
     109             :     template <typename FormatContext>
     110             :     auto format(const elsa::IntersectionResult& hit, FormatContext& ctx)
     111           0 :     {
     112           0 :         return fmt::format_to(ctx.out(), "{{ tmin: {}, tmax: {} }}", hit._tmin, hit._tmax);
     113           0 :     }
     114             : };