commit 9091cf25808a0c164c1ea2555ddf5eef895f985f
parent be3a7a49dedfc98ef4fb3d42837a715e2ab72257
Author: Christophe Coustet <christophe.coustet@meso-star.com>
Date: Tue, 12 Jan 2021 15:57:52 +0100
Improve closest_point accuracy
Diffstat:
1 file changed, 83 insertions(+), 77 deletions(-)
diff --git a/src/s3d_scene_view_closest_point.c b/src/s3d_scene_view_closest_point.c
@@ -38,7 +38,10 @@
#include "s3d_scene_view_c.h"
#include "s3d_sphere.h"
+#include <rsys/float2.h>
#include <rsys/float3.h>
+#include <rsys/double2.h>
+#include <rsys/double3.h>
#include <rsys/float33.h>
struct point_query_context {
@@ -50,103 +53,103 @@ struct point_query_context {
/*******************************************************************************
* Helper functions
******************************************************************************/
-static INLINE float*
+static INLINE double*
closest_point_triangle
- (const float p[3], /* Point */
- const float a[3], /* 1st triangle vertex */
- const float b[3], /* 2nd triangle vertex */
- const float c[3], /* 3rd triangle vertex */
- float closest_pt[3], /* Closest position */
- float uv[2]) /* UV of the closest position */
+ (const double p[3], /* Point */
+ const double a[3], /* 1st triangle vertex */
+ const double b[3], /* 2nd triangle vertex */
+ const double c[3], /* 3rd triangle vertex */
+ double closest_pt[3], /* Closest position */
+ double uv[2]) /* UV of the closest position */
{
- float ab[3], ac[3], ap[3], bp[3], cp[3];
- float d1, d2, d3, d4, d5, d6;
- float va, vb, vc;
- float rcp_triangle_area;
- float v, w;
+ double ab[3], ac[3], ap[3], bp[3], cp[3];
+ double d1, d2, d3, d4, d5, d6;
+ double va, vb, vc;
+ double rcp_triangle_area;
+ double v, w;
ASSERT(p && a && b && c && closest_pt && uv);
- f3_sub(ab, b, a);
- f3_sub(ac, c, a);
+ d3_sub(ab, b, a);
+ d3_sub(ac, c, a);
/* Check if the closest point is the triangle vertex 'a' */
- f3_sub(ap, p, a);
- d1 = f3_dot(ab, ap);
- d2 = f3_dot(ac, ap);
- if(d1 <= 0.f && d2 <= 0.f) {
- uv[0] = 1.f;
- uv[1] = 0.f;
- return f3_set(closest_pt, a);
+ d3_sub(ap, p, a);
+ d1 = d3_dot(ab, ap);
+ d2 = d3_dot(ac, ap);
+ if(d1 <= 0 && d2 <= 0) {
+ uv[0] = 1;
+ uv[1] = 0;
+ return d3_set(closest_pt, a);
}
/* Check if the closest point is the triangle vertex 'b' */
- f3_sub(bp, p, b);
- d3 = f3_dot(ab, bp);
- d4 = f3_dot(ac, bp);
- if(d3 >= 0.f && d4 <= d3) {
- uv[0] = 0.f;
- uv[1] = 1.f;
- return f3_set(closest_pt, b);
+ d3_sub(bp, p, b);
+ d3 = d3_dot(ab, bp);
+ d4 = d3_dot(ac, bp);
+ if(d3 >= 0 && d4 <= d3) {
+ uv[0] = 0;
+ uv[1] = 1;
+ return d3_set(closest_pt, b);
}
/* Check if the closest point is the triangle vertex 'c' */
- f3_sub(cp, p, c);
- d5 = f3_dot(ab, cp);
- d6 = f3_dot(ac, cp);
- if(d6 >= 0.f && d5 <= d6) {
- uv[0] = 0.f;
- uv[1] = 0.f;
- return f3_set(closest_pt, c);
+ d3_sub(cp, p, c);
+ d5 = d3_dot(ab, cp);
+ d6 = d3_dot(ac, cp);
+ if(d6 >= 0 && d5 <= d6) {
+ uv[0] = 0;
+ uv[1] = 0;
+ return d3_set(closest_pt, c);
}
/* Check if the closest point is on the triangle edge 'ab' */
vc = d1*d4 - d3*d2;
- if(vc <= 0.f && d1 >= 0.f && d3 <= 0.f) {
- const float s = d1 / (d1 - d3);
+ if(vc <= 0 && d1 >= 0 && d3 <= 0) {
+ const double s = d1 / (d1 - d3);
closest_pt[0] = a[0] + s*ab[0];
closest_pt[1] = a[1] + s*ab[1];
closest_pt[2] = a[2] + s*ab[2];
- uv[0] = 1.f - s;
+ uv[0] = 1 - s;
uv[1] = s;
return closest_pt;
}
/* Check if the closest point is on the triangle edge 'ac' */
vb = d5*d2 - d1*d6;
- if(vb <= 0.f && d2 >= 0.f && d6 <= 0.f) {
- const float s = d2 / (d2 - d6);
+ if(vb <= 0 && d2 >= 0 && d6 <= 0) {
+ const double s = d2 / (d2 - d6);
closest_pt[0] = a[0] + s*ac[0];
closest_pt[1] = a[1] + s*ac[1];
closest_pt[2] = a[2] + s*ac[2];
- uv[0] = 1.f - s;
- uv[1] = 0.f;
+ uv[0] = 1 - s;
+ uv[1] = 0;
return closest_pt;
}
/* Check if the closest point is on the triangle edge 'bc' */
va = d3*d6 - d5*d4;
- if(va <= 0.f && (d4 - d3) >= 0.f && (d5 - d6) >= 0.f) {
- const float s = (d4 - d3) / ((d4 - d3) + (d5 - d6));
+ if(va <= 0 && (d4 - d3) >= 0 && (d5 - d6) >= 0) {
+ const double s = (d4 - d3) / ((d4 - d3) + (d5 - d6));
closest_pt[0] = b[0] + s*(c[0] - b[0]);
closest_pt[1] = b[1] + s*(c[1] - b[1]);
closest_pt[2] = b[2] + s*(c[2] - b[2]);
- uv[0] = 0.f;
- uv[1] = 1.f - s;
+ uv[0] = 0;
+ uv[1] = 1 - s;
return closest_pt;
}
/* The closest point lies in the triangle: compute its barycentric
* coordinates */
- rcp_triangle_area = 1.f / (va + vb + vc);
+ rcp_triangle_area = 1 / (va + vb + vc);
v = vb * rcp_triangle_area;
w = vc * rcp_triangle_area;
/* Save the uv barycentric coordinates */
- uv[0] = 1.f - v - w;
+ uv[0] = 1 - v - w;
uv[1] = v;
- ASSERT(eq_epsf(uv[0] + uv[1] + w, 1.f, 1.e-4f));
+ ASSERT(eq_eps(uv[0] + uv[1] + w, 1, 1.e-4));
- if(uv[0] < 0.f) { /* Handle precision issues */
+ if(uv[0] < 0) { /* Handle precision issues */
if(uv[1] > w) uv[1] += uv[0];
uv[0] = 0;
}
@@ -170,14 +173,15 @@ closest_point_mesh
struct s3d_hit* out_hit = NULL;
struct hit_filter* filter = NULL;
const uint32_t* ids = NULL;
- float closest_point[3];
- float query_pos_ws[3]; /* World space query position */
- float query_pos_ls[3]; /* Local space query position */
- float v0[3], v1[3], v2[3];
- float E0[3], E1[3], Ng[3];
- float vec[3];
- float uv[2];
+ double closest_point[3];
+ double query_pos_ws[3]; /* World space query position */
+ double query_pos_ls[3]; /* Local space query position */
+ double v0[3], v1[3], v2[3];
+ double E0[3], E1[3], Ng[3];
+ double vec[3];
+ double uv[2];
float dst;
+ float pos[3], dir[3];
int flip_surface = 0;
ASSERT(args && geom && geom->type == GEOM_MESH);
ASSERT(args->primID < mesh_get_ntris(geom->data.mesh));
@@ -187,9 +191,9 @@ closest_point_mesh
/* Fetch triangle vertices */
ASSERT(geom->data.mesh->attribs_type[S3D_POSITION] == S3D_FLOAT3);
- f3_set(v0, mesh_get_pos(geom->data.mesh) + ids[0]*3/*#coords per vertex*/);
- f3_set(v1, mesh_get_pos(geom->data.mesh) + ids[1]*3/*#coords per vertex*/);
- f3_set(v2, mesh_get_pos(geom->data.mesh) + ids[2]*3/*#coords per vertex*/);
+ d3_set_f3(v0, mesh_get_pos(geom->data.mesh) + ids[0]*3/*#coords per vertex*/);
+ d3_set_f3(v1, mesh_get_pos(geom->data.mesh) + ids[1]*3/*#coords per vertex*/);
+ d3_set_f3(v2, mesh_get_pos(geom->data.mesh) + ids[2]*3/*#coords per vertex*/);
/* Local copy of the query position */
query_pos_ws[0] = args->query->x;
@@ -202,16 +206,16 @@ closest_point_mesh
query_pos_ls[2] = query_pos_ws[2];
} else {
const float* world2inst;
- float a[3], b[3], c[3];
+ double a[3], b[3], c[3], tmp[3];
ASSERT(args->context->instStackSize == 1);
ASSERT(inst && inst->type == GEOM_INSTANCE);
world2inst = args->context->world2inst[0];
/* Transform the query position in instance space */
- f3_mulf(a, world2inst+0, query_pos_ws[0]);
- f3_mulf(b, world2inst+4, query_pos_ws[1]);
- f3_mulf(c, world2inst+8, query_pos_ws[2]);
+ d3_muld(a, d3_set_f3(tmp, world2inst+0), query_pos_ws[0]);
+ d3_muld(b, d3_set_f3(tmp, world2inst+4), query_pos_ws[1]);
+ d3_muld(c, d3_set_f3(tmp, world2inst+8), query_pos_ws[2]);
query_pos_ls[0] = a[0] + b[0] + c[0] + world2inst[12];
query_pos_ls[1] = a[1] + b[1] + c[1] + world2inst[13];
query_pos_ls[2] = a[2] + b[2] + c[2] + world2inst[14];
@@ -223,8 +227,8 @@ closest_point_mesh
closest_point_triangle(query_pos_ls, v0, v1, v2, closest_point, uv);
/* Compute the distance */
- f3_sub(vec, closest_point, query_pos_ls);
- dst = f3_len(vec);
+ d3_sub(vec, closest_point, query_pos_ls);
+ dst = (float)d3_len(vec);
/* Transform the distance in world space */
if(args->context->instStackSize != 0) {
@@ -235,23 +239,23 @@ closest_point_mesh
if(dst >= args->query->radius) return 0;
/* Compute the triangle normal in world space */
- f3_sub(E0, v2, v0);
- f3_sub(E1, v1, v0);
- f3_cross(Ng, E0, E1);
+ d3_sub(E0, v2, v0);
+ d3_sub(E1, v1, v0);
+ d3_cross(Ng, E0, E1);
/* Flip the geometric normal wrt the flip surface flag */
flip_surface ^= geom->flip_surface;
- if(flip_surface) f3_minus(Ng, Ng);
+ if(flip_surface) d3_minus(Ng, Ng);
/* Setup the hit */
hit.prim.shape__ = geom;
hit.prim.inst__ = inst;
hit.distance = dst;
- hit.uv[0] = uv[0];
- hit.uv[1] = uv[1];
- hit.normal[0] = Ng[0];
- hit.normal[1] = Ng[1];
- hit.normal[2] = Ng[2];
+ hit.uv[0] = (float)uv[0];
+ hit.uv[1] = (float)uv[1];
+ hit.normal[0] = (float)Ng[0];
+ hit.normal[1] = (float)Ng[1];
+ hit.normal[2] = (float)Ng[2];
hit.prim.prim_id = args->primID;
hit.prim.geom_id = geom->name;
hit.prim.inst_id = inst ? inst->name : S3D_INVALID_ID;
@@ -260,12 +264,14 @@ closest_point_mesh
+ geom->scene_prim_id_offset
+ (inst ? inst->scene_prim_id_offset : 0);
- /* `vec' is the direction along which the closest point was found. We thus
+ /* `dir' is the direction along which the closest point was found. We thus
* submit it to the filter function as the direction corresponding to the
* computed hit */
+ f3_set_d3(dir, vec);
+ f3_set_d3(pos, query_pos_ws);
filter = &geom->data.mesh->filter;
if(filter->func
- && filter->func(&hit, query_pos_ws, vec, query_data, filter->data)) {
+ && filter->func(&hit, pos, dir, query_data, filter->data)) {
return 0; /* This point is filtered. Discard it! */
}
