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Optimise by removing unnecessary (very slow) triangle shrinking, more optimal OBBs, check OBB first for points_in_b prior to doing raycast (much faster now), and return the surface point of the protrusion too for convenience.

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This commit is contained in:
Dion Moult
2024-02-03 16:14:26 +11:00
parent d0333ac7cd
commit 080b628df5
1 changed files with 33 additions and 47 deletions
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src/ifcgeom_schema_agnostic/IfcGeomTree.h
+33 -47
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@@ -328,45 +328,20 @@ namespace IfcGeom {
return total_intersections % 2 != 0; return total_intersections % 2 != 0;
} }
std::array<gp_Pnt, 3> shrink_triangle(
const gp_Pnt& v1,
const gp_Pnt& v2,
const gp_Pnt& v3,
double insetDistance
) const {
gp_Pnt centroid((v1.X() + v2.X() + v3.X()) / 3.0,
(v1.Y() + v2.Y() + v3.Y()) / 3.0,
(v1.Z() + v2.Z() + v3.Z()) / 3.0);
if (v1.Distance(centroid) < insetDistance
|| v2.Distance(centroid) < insetDistance
|| v3.Distance(centroid) < insetDistance) {
return std::array<gp_Pnt, 3> {v1, v2, v3};
}
auto moveTowards = [&](const gp_Pnt& vertex) -> gp_Pnt {
gp_Vec direction(vertex, centroid);
direction.Normalize();
return gp_Pnt(vertex.XYZ() + direction.XYZ() * insetDistance);
};
return std::array<gp_Pnt, 3> {moveTowards(v1), moveTowards(v2), moveTowards(v3)};
}
bool test_intersection(const T& tA, const T& tB, const TopoDS_Shape& A, const TopoDS_Shape& B, double tolerance) const { bool test_intersection(const T& tA, const T& tB, const TopoDS_Shape& A, const TopoDS_Shape& B, double tolerance) const {
// Attempt 3: // Attempt 3:
// 1. For each vert of A that is inside shape B, find the shortest distance to the closest face // 1. For each vert of A that is inside shape B, find the shortest distance to the closest face
// 2. Of those verts, find the innermost vert (i.e. the vert that has the longest distance) // 2. Of those verts, find the innermost vert (i.e. the vert that has the longest distance)
// OBB check // OBB check
auto a_larger = obbs_.find(tA)->second; auto obb_a = obbs_.find(tA)->second;
auto b_larger = obbs_.find(tB)->second; auto obb_b = obbs_.find(tB)->second;
// Maybe for clashing we should shrink in order to prevent touches. obb_b.Enlarge(-tolerance);
// a_larger.Enlarge(extend); if (obb_a.IsOut(obb_b)) {
if (a_larger.IsOut(b_larger)) {
return false; return false;
} }
// No need to search beyond the distance of the max protrusion.
double max_protrusion = max_protrusions_.find(tB)->second; double max_protrusion = max_protrusions_.find(tB)->second;
// Collide BVH trees of shape A vs B // Collide BVH trees of shape A vs B
@@ -439,6 +414,7 @@ namespace IfcGeom {
double protrusion = -std::numeric_limits<double>::infinity(); double protrusion = -std::numeric_limits<double>::infinity();
std::array<double, 3> protrusion_point; std::array<double, 3> protrusion_point;
std::array<double, 3> surface_point;
for (const auto& pair : bvh_clashes) { for (const auto& pair : bvh_clashes) {
int bvh_a_i = pair.first; int bvh_a_i = pair.first;
@@ -459,12 +435,6 @@ namespace IfcGeom {
gp_Pnt v2_a_pnt(v2[0], v2[1], v2[2]); gp_Pnt v2_a_pnt(v2[0], v2[1], v2[2]);
gp_Pnt v3_a_pnt(v3[0], v3[1], v3[2]); gp_Pnt v3_a_pnt(v3[0], v3[1], v3[2]);
// Shrink triangle slightly to prevent getting "touching" clashes
std::array<gp_Pnt, 3> shrunk_verts = shrink_triangle(v1_a_pnt, v2_a_pnt, v3_a_pnt, 0.002);
v1_a_pnt = shrunk_verts[0];
v2_a_pnt = shrunk_verts[1];
v3_a_pnt = shrunk_verts[2];
std::array<double, 3> t1a = {v1_a_pnt.X(), v1_a_pnt.Y(), v1_a_pnt.Z()}; std::array<double, 3> t1a = {v1_a_pnt.X(), v1_a_pnt.Y(), v1_a_pnt.Z()};
std::array<double, 3> t1b = {v2_a_pnt.X(), v2_a_pnt.Y(), v2_a_pnt.Z()}; std::array<double, 3> t1b = {v2_a_pnt.X(), v2_a_pnt.Y(), v2_a_pnt.Z()};
std::array<double, 3> t1c = {v3_a_pnt.X(), v3_a_pnt.Y(), v3_a_pnt.Z()}; std::array<double, 3> t1c = {v3_a_pnt.X(), v3_a_pnt.Y(), v3_a_pnt.Z()};
@@ -484,16 +454,24 @@ namespace IfcGeom {
for (const auto& v : points_a) { for (const auto& v : points_a) {
if (points_not_in_b_cache.find(v) != points_not_in_b_cache.end()) { if (points_not_in_b_cache.find(v) != points_not_in_b_cache.end()) {
continue; continue;
} else if (points_in_b_cache.find(v) != points_in_b_cache.end()) { }
if (points_in_b_cache.find(v) != points_in_b_cache.end()) {
points_in_b.push_back(v); points_in_b.push_back(v);
continue;
}
if (obb_b.IsOut(v)) {
points_not_in_b_cache.insert(v);
continue;
}
if (is_point_in_shape(v, bvh_b, triangle_set_b)
&& is_point_in_shape(v, bvh_b, triangle_set_b, true)) {
points_in_b.push_back(v);
points_in_b_cache.insert(v);
} else { } else {
if (is_point_in_shape(v, bvh_b, triangle_set_b) points_not_in_b_cache.insert(v);
&& is_point_in_shape(v, bvh_b, triangle_set_b, true)) {
points_in_b.push_back(v);
points_in_b_cache.insert(v);
} else {
points_not_in_b_cache.insert(v);
}
} }
} }
@@ -503,6 +481,7 @@ namespace IfcGeom {
double v_protrusion = std::numeric_limits<double>::infinity(); double v_protrusion = std::numeric_limits<double>::infinity();
std::array<double, 3> v_protrusion_point; std::array<double, 3> v_protrusion_point;
std::array<double, 3> v_surface_point;
for (const auto& bvh_b_i : bvh_b_is) { for (const auto& bvh_b_i : bvh_b_is) {
for (int j=bvh_b->BegPrimitive(bvh_b_i); j<=bvh_b->EndPrimitive(bvh_b_i); ++j) { for (int j=bvh_b->BegPrimitive(bvh_b_i); j<=bvh_b->EndPrimitive(bvh_b_i); ++j) {
@@ -576,6 +555,7 @@ namespace IfcGeom {
// std::cout << "New v_protrusion winner of " << current_v_protrusion << std::endl; // std::cout << "New v_protrusion winner of " << current_v_protrusion << std::endl;
v_protrusion = current_v_protrusion; v_protrusion = current_v_protrusion;
v_protrusion_point = {v.X(), v.Y(), v.Z()}; v_protrusion_point = {v.X(), v.Y(), v.Z()};
v_surface_point = {point_on_b.X(), point_on_b.Y(), point_on_b.Z()};
} }
} }
} }
@@ -587,6 +567,7 @@ namespace IfcGeom {
std::cout << "New actual protrusion winner of " << v_protrusion << std::endl; std::cout << "New actual protrusion winner of " << v_protrusion << std::endl;
protrusion = v_protrusion; protrusion = v_protrusion;
protrusion_point = v_protrusion_point; protrusion_point = v_protrusion_point;
surface_point = v_surface_point;
} }
} }
} }
@@ -595,6 +576,7 @@ namespace IfcGeom {
if (protrusion > tolerance) { if (protrusion > tolerance) {
protrusion_distances_.push_back(protrusion); protrusion_distances_.push_back(protrusion);
protrusion_points_.push_back(protrusion_point); protrusion_points_.push_back(protrusion_point);
surface_points_.push_back(surface_point);
return true; return true;
} }
return false; return false;
@@ -642,6 +624,7 @@ namespace IfcGeom {
mutable std::vector<double> distances_; mutable std::vector<double> distances_;
mutable std::vector<double> protrusion_distances_; mutable std::vector<double> protrusion_distances_;
mutable std::vector<std::array<double, 3>> protrusion_points_; mutable std::vector<std::array<double, 3>> protrusion_points_;
mutable std::vector<std::array<double, 3>> surface_points_;
mutable long long tri_count_ = 0; mutable long long tri_count_ = 0;
public: public:
@@ -669,7 +652,7 @@ namespace IfcGeom {
shapes_[t] = s; shapes_[t] = s;
Bnd_OBB obb; Bnd_OBB obb;
BRepBndLib::AddOBB(s, obb); BRepBndLib::AddOBB(s, obb, true, true, false);
obbs_[t] = obb; obbs_[t] = obb;
max_protrusions_[t] = std::min(std::min(obb.XHSize(), obb.YHSize()), obb.ZHSize()) * 2; max_protrusions_[t] = std::min(std::min(obb.XHSize(), obb.YHSize()), obb.ZHSize()) * 2;
@@ -795,6 +778,7 @@ namespace IfcGeom {
std::vector<T> clash_intersection(const T& t, double tolerance = 0.002) const { std::vector<T> clash_intersection(const T& t, double tolerance = 0.002) const {
protrusion_distances_.clear(); protrusion_distances_.clear();
protrusion_points_.clear(); protrusion_points_.clear();
surface_points_.clear();
std::vector<T> ts = select_box(t, true, 1e-5); std::vector<T> ts = select_box(t, true, 1e-5);
if (ts.empty()) { if (ts.empty()) {
@@ -858,7 +842,6 @@ namespace IfcGeom {
std::vector<T> select(const TopoDS_Shape& s, bool completely_within = false, double extend = -1.e-5) const { std::vector<T> select(const TopoDS_Shape& s, bool completely_within = false, double extend = -1.e-5) const {
distances_.clear(); distances_.clear();
protrusion_distances_.clear(); protrusion_distances_.clear();
protrusion_points_.clear();
Bnd_Box bb; Bnd_Box bb;
BRepBndLib::AddClose(s, bb); BRepBndLib::AddClose(s, bb);
@@ -896,7 +879,6 @@ namespace IfcGeom {
std::vector<T> select(const gp_Pnt& p, double extend=0.0) const { std::vector<T> select(const gp_Pnt& p, double extend=0.0) const {
distances_.clear(); distances_.clear();
protrusion_distances_.clear(); protrusion_distances_.clear();
protrusion_points_.clear();
std::vector<T> ts = select_box(p, extend); std::vector<T> ts = select_box(p, extend);
if (ts.empty()) { if (ts.empty()) {
@@ -1072,6 +1054,10 @@ namespace IfcGeom {
return protrusion_points_; return protrusion_points_;
} }
const std::vector<std::array<double, 3>>& surface_points() const {
return surface_points_;
}
std::vector<IfcGeom::ray_intersection_result> select_ray(const gp_Pnt& p0, const gp_Dir& d, double length = 1000.) const { std::vector<IfcGeom::ray_intersection_result> select_ray(const gp_Pnt& p0, const gp_Dir& d, double length = 1000.) const {
gp_Pnt p1 = p0.XYZ() + d.XYZ() * length; gp_Pnt p1 = p0.XYZ() + d.XYZ() * length;
auto E = BRepBuilderAPI_MakeEdge(p0, p1).Edge(); auto E = BRepBuilderAPI_MakeEdge(p0, p1).Edge();