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Replace threeyd tri-tri intersect library with physx implementation.

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This commit is contained in:
Dion Moult
2024-02-08 10:21:56 +11:00
parent 09efd68e6e
commit 77d9688296
4 changed files with 290 additions and 1813 deletions
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src/ifcgeom_schema_agnostic/IfcGeomTree.h
+43 -57
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@@ -55,7 +55,6 @@
#include <IntTools_FaceFace.hxx>
#include <STEPConstruct_PointHasher.hxx>
#include <boost/stacktrace.hpp>
#include "triangleintersects.hpp"
#include "clash_utils.h"
@@ -755,9 +754,9 @@ namespace IfcGeom {
const gp_Pnt& v3_a_pnt = verts[2];
const gp_Vec& normal_a = normals_a.at(i);
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> t1c = {v3_a_pnt.X(), v3_a_pnt.Y(), v3_a_pnt.Z()};
const gp_Vec v1_a_vec(v1_a_pnt.XYZ());
const gp_Vec v2_a_vec(v2_a_pnt.XYZ());
const gp_Vec v3_a_vec(v3_a_pnt.XYZ());
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) {
@@ -773,29 +772,19 @@ namespace IfcGeom {
tri_count_++;
std::array<double, 3> t2a = {v1_b_pnt.X(), v1_b_pnt.Y(), v1_b_pnt.Z()};
std::array<double, 3> t2b = {v2_b_pnt.X(), v2_b_pnt.Y(), v2_b_pnt.Z()};
std::array<double, 3> t2c = {v3_b_pnt.X(), v3_b_pnt.Y(), v3_b_pnt.Z()};
const gp_Vec v1_b_vec(v1_b_pnt.XYZ());
const gp_Vec v2_b_vec(v2_b_pnt.XYZ());
const gp_Vec v3_b_vec(v3_b_pnt.XYZ());
// Allow a deviation of 0.25 degrees in coplanarity check
if (std::abs(normal_a.Dot(normal_b)) >= 0.99999f) {
continue;
}
std::array<double, 3> int1, int2;
bool is_coplanar;
// From 3YOURMIND / 3YDMoeller - MIT license
// https://github.com/3YOURMIND/3YDMoeller
// Perhaps this can be replaced with NVIDIA's method?
// https://github.com/NVIDIA-Omniverse/PhysX/blob/main/physx/source/geomutils/src/intersection/GuIntersectionTriangleTriangle.cpp
if (threeyd::moeller::TriangleIntersects<std::array<double, 3>>::triangle(t1a, t1b, t1c, t2a, t2b, t2c, int1, int2, is_coplanar)) {
if (is_coplanar) {
continue; // Touching, but not intersecting.
}
gp_Vec int1, int2;
if (trianglesIntersect(v1_a_vec, v2_a_vec, v3_a_vec, v1_b_vec, v2_b_vec, v3_b_vec, int1, int2, ! allow_touching)) {
if (allow_touching) {
protrusion_points_.push_back(int1);
protrusion_points_.push_back({int1.X(), int1.Y(), int1.Z()});
return true;
}
@@ -804,65 +793,62 @@ namespace IfcGeom {
// 2. The point of intersection is not along the edge of triangle A.
// 3. The point of intersection is not a vertex of triangle B.
gp_Pnt int1_pnt(int1[0], int1[1], int1[2]);
gp_Pnt int2_pnt(int2[0], int2[1], int2[2]);
if (
! is_point_on_line(int1_pnt, v1_a_pnt, v2_a_pnt)
&& ! is_point_on_line(int1_pnt, v1_a_pnt, v3_a_pnt)
&& ! is_point_on_line(int1_pnt, v2_a_pnt, v3_a_pnt)
! is_point_on_line(int1, v1_a_vec, v2_a_vec)
&& ! is_point_on_line(int1, v1_a_vec, v3_a_vec)
&& ! is_point_on_line(int1, v2_a_vec, v3_a_vec)
) {
if (
int1_pnt.Distance(v1_b_pnt) > 1e-4
&& int1_pnt.Distance(v2_b_pnt) > 1e-4
&& int1_pnt.Distance(v3_b_pnt) > 1e-4
(v1_b_vec - int1).Magnitude() > 1e-4
&& (v2_b_vec - int1).Magnitude() > 1e-4
&& (v3_b_vec - int1).Magnitude() > 1e-4
) {
protrusion_points_.push_back(int1);
protrusion_points_.push_back({int1.X(), int1.Y(), int1.Z()});
return true;
}
}
if (
! is_point_on_line(int1_pnt, v1_b_pnt, v2_b_pnt)
&& ! is_point_on_line(int1_pnt, v1_b_pnt, v3_b_pnt)
&& ! is_point_on_line(int1_pnt, v2_b_pnt, v3_b_pnt)
! is_point_on_line(int1, v1_b_vec, v2_b_vec)
&& ! is_point_on_line(int1, v1_b_vec, v3_b_vec)
&& ! is_point_on_line(int1, v2_b_vec, v3_b_vec)
) {
if (
int1_pnt.Distance(v1_a_pnt) > 1e-4
&& int1_pnt.Distance(v2_a_pnt) > 1e-4
&& int1_pnt.Distance(v3_a_pnt) > 1e-4
(v1_a_vec - int1).Magnitude() > 1e-4
&& (v2_a_vec - int1).Magnitude() > 1e-4
&& (v3_a_vec - int1).Magnitude() > 1e-4
) {
protrusion_points_.push_back(int1);
protrusion_points_.push_back({int1.X(), int1.Y(), int1.Z()});
return true;
}
}
if (
! is_point_on_line(int2_pnt, v1_a_pnt, v2_a_pnt)
&& ! is_point_on_line(int2_pnt, v1_a_pnt, v3_a_pnt)
&& ! is_point_on_line(int2_pnt, v2_a_pnt, v3_a_pnt)
! is_point_on_line(int2, v1_a_vec, v2_a_vec)
&& ! is_point_on_line(int2, v1_a_vec, v3_a_vec)
&& ! is_point_on_line(int2, v2_a_vec, v3_a_vec)
) {
if (
int2_pnt.Distance(v1_b_pnt) > 1e-4
&& int2_pnt.Distance(v2_b_pnt) > 1e-4
&& int2_pnt.Distance(v3_b_pnt) > 1e-4
(v1_b_vec - int2).Magnitude() > 1e-4
&& (v2_b_vec - int2).Magnitude() > 1e-4
&& (v3_b_vec - int2).Magnitude() > 1e-4
) {
protrusion_points_.push_back(int2);
protrusion_points_.push_back({int2.X(), int2.Y(), int2.Z()});
return true;
}
}
if (
! is_point_on_line(int2_pnt, v1_b_pnt, v2_b_pnt)
&& ! is_point_on_line(int2_pnt, v1_b_pnt, v3_b_pnt)
&& ! is_point_on_line(int2_pnt, v2_b_pnt, v3_b_pnt)
! is_point_on_line(int2, v1_b_vec, v2_b_vec)
&& ! is_point_on_line(int2, v1_b_vec, v3_b_vec)
&& ! is_point_on_line(int2, v2_b_vec, v3_b_vec)
) {
if (
int2_pnt.Distance(v1_a_pnt) > 1e-4
&& int2_pnt.Distance(v2_a_pnt) > 1e-4
&& int2_pnt.Distance(v3_a_pnt) > 1e-4
(v1_a_vec - int2).Magnitude() > 1e-4
&& (v2_a_vec - int2).Magnitude() > 1e-4
&& (v3_a_vec - int2).Magnitude() > 1e-4
) {
protrusion_points_.push_back(int2);
protrusion_points_.push_back({int2.X(), int2.Y(), int2.Z()});
return true;
}
}
@@ -957,9 +943,9 @@ namespace IfcGeom {
const gp_Pnt& v2_a_pnt = verts[1];
const gp_Pnt& v3_a_pnt = verts[2];
const gp_Vec v1_a_vec(v1_a_pnt.X(), v1_a_pnt.Y(), v1_a_pnt.Z());
const gp_Vec v2_a_vec(v2_a_pnt.X(), v2_a_pnt.Y(), v2_a_pnt.Z());
const gp_Vec v3_a_vec(v3_a_pnt.X(), v3_a_pnt.Y(), v3_a_pnt.Z());
const gp_Vec v1_a_vec(v1_a_pnt.XYZ());
const gp_Vec v2_a_vec(v2_a_pnt.XYZ());
const gp_Vec v3_a_vec(v3_a_pnt.XYZ());
const std::array<gp_Vec, 3> p = {v1_a_vec, v2_a_vec, v3_a_vec};
@@ -972,9 +958,9 @@ namespace IfcGeom {
tri_count_++;
const gp_Vec v1_b_vec(v1_b_pnt.X(), v1_b_pnt.Y(), v1_b_pnt.Z());
const gp_Vec v2_b_vec(v2_b_pnt.X(), v2_b_pnt.Y(), v2_b_pnt.Z());
const gp_Vec v3_b_vec(v3_b_pnt.X(), v3_b_pnt.Y(), v3_b_pnt.Z());
const gp_Vec v1_b_vec(v1_b_pnt.XYZ());
const gp_Vec v2_b_vec(v2_b_pnt.XYZ());
const gp_Vec v3_b_vec(v3_b_pnt.XYZ());
const std::array<gp_Vec, 3> q = {v1_b_vec, v2_b_vec, v3_b_vec};