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Fix missing clearance AABB check and add check_all clearance bool. Minor cleanup to use vert/normal maps.

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This commit is contained in:
Dion Moult
2024-02-07 09:28:19 +11:00
parent 47dd8ec4dd
commit b658b74b90
2 changed files with 81 additions and 98 deletions
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src/ifcgeom_schema_agnostic/IfcGeomTree.h
+79 -96
View File
@@ -757,7 +757,7 @@ namespace IfcGeom {
else return 0.0f;
}
bool test_intersection(const T& tA, const T& tB, const TopoDS_Shape& A, const TopoDS_Shape& B, double tolerance, bool check_all = true) const {
bool test_intersection(const T& tA, const T& tB, double tolerance, bool check_all = true) const {
// If there are verts of A inside shape B (protrusion):
// 1. For each vert, find the shortest distance to the closest face
// 2. Find the innermost vert (i.e. the vert that has the longest distance)
@@ -796,7 +796,6 @@ namespace IfcGeom {
bvh_a_max[2] += 1e-3;
BVH_Box<Standard_Real, 3> box_a(bvh_a_min, bvh_a_max);
//BVH_Box<Standard_Real, 3> box_a(bvh_a->MinPoint(i), bvh_a->MaxPoint(i));
std::stack<int> stack;
stack.push(0);
@@ -814,7 +813,6 @@ namespace IfcGeom {
bvh_b_max[1] += max_protrusion + 1e-3;
bvh_b_max[2] += max_protrusion + 1e-3;
//if (box_a.IsOut(bvh_b->MinPoint(j), bvh_b->MaxPoint(j))) {
if (box_a.IsOut(bvh_b_min, bvh_b_max)) {
continue;
}
@@ -950,6 +948,7 @@ namespace IfcGeom {
if ( ! valid_tris_b.at(j)) {
continue;
}
const std::array<BVH_Vec3d, 3>& verts = verts_b.at(j);
const BVH_Vec3d& v1_b = verts[0];
const BVH_Vec3d& v2_b = verts[1];
@@ -1050,7 +1049,7 @@ namespace IfcGeom {
return false;
}
bool test_collision(const T& tA, const T& tB, const TopoDS_Shape& A, const TopoDS_Shape& B, bool allow_touching) const {
bool test_collision(const T& tA, const T& tB, bool allow_touching) const {
// OBB check
auto obb_a = obbs_.find(tA)->second;
auto obb_b = obbs_.find(tB)->second;
@@ -1079,7 +1078,6 @@ namespace IfcGeom {
bvh_a_max[2] += 1e-3;
BVH_Box<Standard_Real, 3> box_a(bvh_a_min, bvh_a_max);
//BVH_Box<Standard_Real, 3> box_a(bvh_a->MinPoint(i), bvh_a->MaxPoint(i));
std::stack<int> stack;
stack.push(0);
@@ -1097,7 +1095,6 @@ namespace IfcGeom {
bvh_b_max[1] += 1e-3;
bvh_b_max[2] += 1e-3;
//if (box_a.IsOut(bvh_b->MinPoint(j), bvh_b->MaxPoint(j))) {
if (box_a.IsOut(bvh_b_min, bvh_b_max)) {
continue;
}
@@ -1118,16 +1115,27 @@ namespace IfcGeom {
return false;
}
BRepExtrema_TriangleSet triangle_set_a = triangle_sets_.find(tA)->second;
BRepExtrema_TriangleSet triangle_set_b = triangle_sets_.find(tB)->second;
const std::unordered_map<int, bool>& valid_tris_a = valid_tris_.find(tA)->second;
const std::unordered_map<int, bool>& valid_tris_b = valid_tris_.find(tB)->second;
const std::unordered_map<int, std::array<BVH_Vec3d, 3>>& verts_a = verts_.find(tA)->second;
const std::unordered_map<int, std::array<BVH_Vec3d, 3>>& verts_b = verts_.find(tB)->second;
const std::unordered_map<int, gp_Vec>& normals_a = normals_.find(tA)->second;
const std::unordered_map<int, gp_Vec>& normals_b = normals_.find(tB)->second;
for (const auto& pair : bvh_clashes) {
int bvh_a_i = pair.first;
std::vector<int> bvh_b_is = pair.second;
const int bvh_a_i = pair.first;
const std::vector<int>& bvh_b_is = pair.second;
for (int i=bvh_a->BegPrimitive(bvh_a_i); i<=bvh_a->EndPrimitive(bvh_a_i); ++i) {
BVH_Vec3d v1, v2, v3;
triangle_set_a.GetVertices(i, v1, v2, v3);
if ( ! valid_tris_a.at(i)) {
continue;
}
const std::array<BVH_Vec3d, 3>& verts = verts_a.at(i);
const BVH_Vec3d& v1 = verts[0];
const BVH_Vec3d& v2 = verts[1];
const BVH_Vec3d& v3 = verts[2];
const gp_Vec& normal_a = normals_a.at(i);
gp_Pnt v1_a_pnt(v1[0], v1[1], v1[2]);
gp_Pnt v2_a_pnt(v2[0], v2[1], v2[2]);
@@ -1137,21 +1145,17 @@ namespace IfcGeom {
std::array<double, 3> t1b = {v2[0], v2[1], v2[2]};
std::array<double, 3> t1c = {v3[0], v3[1], v3[2]};
gp_Vec normal_a;
try {
gp_Vec dir1_a(v1_a_pnt, v2_a_pnt);
gp_Vec dir2_a(v1_a_pnt, v3_a_pnt);
normal_a = dir1_a.Crossed(dir2_a).Normalized();
} catch (...) {
continue;
}
std::array<gp_Pnt, 3> points_a = {v1_a_pnt, v2_a_pnt, v3_a_pnt};
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) {
BVH_Vec3d v1_b, v2_b, v3_b;
triangle_set_b.GetVertices(j, v1_b, v2_b, v3_b);
if ( ! valid_tris_b.at(j)) {
continue;
}
const std::array<BVH_Vec3d, 3>& verts = verts_b.at(j);
const BVH_Vec3d& v1_b = verts[0];
const BVH_Vec3d& v2_b = verts[1];
const BVH_Vec3d& v3_b = verts[2];
const gp_Vec& normal_b = normals_b.at(j);
tri_count_++;
@@ -1163,15 +1167,6 @@ namespace IfcGeom {
std::array<double, 3> t2b = {v2_b[0], v2_b[1], v2_b[2]};
std::array<double, 3> t2c = {v3_b[0], v3_b[1], v3_b[2]};
gp_Vec normal_b;
try {
gp_Vec dir1_b(v1_b_pnt, v2_b_pnt);
gp_Vec dir2_b(v1_b_pnt, v3_b_pnt);
normal_b = dir1_b.Crossed(dir2_b).Normalized();
} catch (...) {
continue;
}
// Allow a deviation of 0.25 degrees in coplanarity check
if (std::abs(normal_a.Dot(normal_b)) >= 0.99999f) {
continue;
@@ -1269,9 +1264,9 @@ namespace IfcGeom {
return false;
}
bool test_clearance(const T& tA, const T& tB, const TopoDS_Shape& A, const TopoDS_Shape& B, double clearance) const {
bool test_clearance(const T& tA, const T& tB, double clearance, bool check_all) const {
// OBB check
auto obb_a = obbs_.find(tA)->second;
const auto& obb_a = obbs_.find(tA)->second;
auto obb_b = obbs_.find(tB)->second;
obb_b.Enlarge(clearance);
if (obb_a.IsOut(obb_b)) {
@@ -1298,7 +1293,6 @@ namespace IfcGeom {
bvh_a_max[2] += 1e-3;
BVH_Box<Standard_Real, 3> box_a(bvh_a_min, bvh_a_max);
//BVH_Box<Standard_Real, 3> box_a(bvh_a->MinPoint(i), bvh_a->MaxPoint(i));
std::stack<int> stack;
stack.push(0);
@@ -1316,7 +1310,6 @@ namespace IfcGeom {
bvh_b_max[1] += clearance + 1e-3;
bvh_b_max[2] += clearance + 1e-3;
//if (box_a.IsOut(bvh_b->MinPoint(j), bvh_b->MaxPoint(j))) {
if (box_a.IsOut(bvh_b_min, bvh_b_max)) {
continue;
}
@@ -1337,35 +1330,43 @@ namespace IfcGeom {
return false;
}
BRepExtrema_TriangleSet triangle_set_a = triangle_sets_.find(tA)->second;
BRepExtrema_TriangleSet triangle_set_b = triangle_sets_.find(tB)->second;
const std::unordered_map<int, std::array<BVH_Vec3d, 3>>& verts_a = verts_.find(tA)->second;
const std::unordered_map<int, std::array<BVH_Vec3d, 3>>& verts_b = verts_.find(tB)->second;
double min_clearance = std::numeric_limits<double>::infinity();
std::array<double, 3> clearance_point1;
std::array<double, 3> clearance_point2;
for (const auto& pair : bvh_clashes) {
int bvh_a_i = pair.first;
std::vector<int> bvh_b_is = pair.second;
const int bvh_a_i = pair.first;
const std::vector<int>& bvh_b_is = pair.second;
for (int i=bvh_a->BegPrimitive(bvh_a_i); i<=bvh_a->EndPrimitive(bvh_a_i); ++i) {
BVH_Vec3d v1, v2, v3;
triangle_set_a.GetVertices(i, v1, v2, v3);
const std::array<BVH_Vec3d, 3>& verts = verts_a.at(i);
const BVH_Vec3d& v1 = verts[0];
const BVH_Vec3d& v2 = verts[1];
const BVH_Vec3d& v3 = verts[2];
gp_Vec v1_a_vec(v1[0], v1[1], v1[2]);
gp_Vec v2_a_vec(v2[0], v2[1], v2[2]);
gp_Vec v3_a_vec(v3[0], v3[1], v3[2]);
const gp_Vec v1_a_vec(v1[0], v1[1], v1[2]);
const gp_Vec v2_a_vec(v2[0], v2[1], v2[2]);
const gp_Vec v3_a_vec(v3[0], v3[1], v3[2]);
std::array<gp_Vec, 3> p = {v1_a_vec, v2_a_vec, v3_a_vec};
const std::array<gp_Vec, 3> p = {v1_a_vec, v2_a_vec, v3_a_vec};
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) {
BVH_Vec3d v1_b, v2_b, v3_b;
triangle_set_b.GetVertices(j, v1_b, v2_b, v3_b);
const std::array<BVH_Vec3d, 3>& verts = verts_b.at(j);
const BVH_Vec3d& v1_b = verts[0];
const BVH_Vec3d& v2_b = verts[1];
const BVH_Vec3d& v3_b = verts[2];
tri_count_++;
gp_Vec v1_b_vec(v1_b[0], v1_b[1], v1_b[2]);
gp_Vec v2_b_vec(v2_b[0], v2_b[1], v2_b[2]);
gp_Vec v3_b_vec(v3_b[0], v3_b[1], v3_b[2]);
const gp_Vec v1_b_vec(v1_b[0], v1_b[1], v1_b[2]);
const gp_Vec v2_b_vec(v2_b[0], v2_b[1], v2_b[2]);
const gp_Vec v3_b_vec(v3_b[0], v3_b[1], v3_b[2]);
std::array<gp_Vec, 3> q = {v1_b_vec, v2_b_vec, v3_b_vec};
const std::array<gp_Vec, 3> q = {v1_b_vec, v2_b_vec, v3_b_vec};
gp_Vec cp;
gp_Vec cq;
@@ -1374,18 +1375,29 @@ namespace IfcGeom {
distanceTriangleTriangleSquared(cp, cq, p, q);
double distance = (cq - cp).Magnitude();
if (distance < clearance) {
std::array<double, 3> cp_arr3 = {cp.X(), cp.Y(), cp.Z()};
std::array<double, 3> cq_arr3 = {cq.X(), cq.Y(), cq.Z()};
protrusion_distances_.push_back(distance);
protrusion_points_.push_back(cp_arr3);
surface_points_.push_back(cq_arr3);
return true;
if (distance < clearance && distance < min_clearance) {
min_clearance = distance;
clearance_point1 = {cp.X(), cp.Y(), cp.Z()};
clearance_point2 = {cq.X(), cq.Y(), cq.Z()};
if ( ! check_all || min_clearance < 1e-4) {
protrusion_distances_.push_back(min_clearance);
protrusion_points_.push_back(clearance_point1);
surface_points_.push_back(clearance_point2);
return true;
}
}
}
}
}
}
if (min_clearance < clearance) {
protrusion_distances_.push_back(min_clearance);
protrusion_points_.push_back(clearance_point1);
surface_points_.push_back(clearance_point2);
return true;
}
return false;
}
@@ -1522,11 +1534,11 @@ namespace IfcGeom {
gp_Pnt v3_pnt(v3[0], v3[1], v3[2]);
gp_Vec normal;
try {
verts[i] = {v1, v2, v3};
gp_Vec dir1(v1_pnt, v2_pnt);
gp_Vec dir2(v1_pnt, v3_pnt);
normal = dir1.Crossed(dir2).Normalized();
normals[i] = normal;
verts[i] = {v1, v2, v3};
valid_tris[i] = true;
} catch (...) {
valid_tris[i] = false;
@@ -1625,26 +1637,17 @@ namespace IfcGeom {
if (ts.empty()) {
return ts;
}
std::cout << "Passes box check" << std::endl;
const TopoDS_Shape& A = shapes_.find(t)->second;
std::vector<T> ts_filtered;
ts_filtered.reserve(ts.size());
std::cout << "We have to check X box results " << ts.size() << std::endl;
int i = 0;
typename std::vector<T>::const_iterator it = ts.begin();
for (it = ts.begin(); it != ts.end(); ++it) {
const TopoDS_Shape& B = shapes_.find(*it)->second;
if (t == *it) {
continue; // Don't clash against itself.
}
i++;
std::cout << "Currently doing" << i << std::endl;
if (test_intersection(t, *it, A, B, tolerance, check_all)) {
if (test_intersection(t, *it, tolerance, check_all)) {
ts_filtered.push_back(*it);
}
}
@@ -1661,26 +1664,17 @@ namespace IfcGeom {
if (ts.empty()) {
return ts;
}
std::cout << "Passes box check" << std::endl;
const TopoDS_Shape& A = shapes_.find(t)->second;
std::vector<T> ts_filtered;
ts_filtered.reserve(ts.size());
std::cout << "We have to check X box results " << ts.size() << std::endl;
int i = 0;
typename std::vector<T>::const_iterator it = ts.begin();
for (it = ts.begin(); it != ts.end(); ++it) {
const TopoDS_Shape& B = shapes_.find(*it)->second;
if (t == *it) {
continue; // Don't clash against itself.
}
i++;
std::cout << "Currently doing" << i << std::endl;
if (test_collision(t, *it, A, B, allow_touching)) {
if (test_collision(t, *it, allow_touching)) {
ts_filtered.push_back(*it);
}
}
@@ -1689,35 +1683,26 @@ namespace IfcGeom {
return ts_filtered;
}
std::vector<T> clash_clearance(const T& t, double clearance) const {
std::vector<T> clash_clearance(const T& t, double clearance, bool check_all) const {
protrusion_distances_.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, clearance);
if (ts.empty()) {
return ts;
}
std::cout << "Passes box check" << std::endl;
const TopoDS_Shape& A = shapes_.find(t)->second;
std::vector<T> ts_filtered;
ts_filtered.reserve(ts.size());
std::cout << "We have to check X box results " << ts.size() << std::endl;
int i = 0;
typename std::vector<T>::const_iterator it = ts.begin();
for (it = ts.begin(); it != ts.end(); ++it) {
const TopoDS_Shape& B = shapes_.find(*it)->second;
if (t == *it) {
continue; // Don't clash against itself.
}
i++;
std::cout << "Currently doing" << i << std::endl;
if (test_clearance(t, *it, A, B, clearance)) {
if (test_clearance(t, *it, clearance, check_all)) {
ts_filtered.push_back(*it);
}
}
@@ -1773,11 +1758,9 @@ namespace IfcGeom {
for (it = ts.begin(); it != ts.end(); ++it) {
const TopoDS_Shape& B = shapes_.find(*it)->second;
/*
if (test(s, B, completely_within, extend)) {
ts_filtered.push_back(*it);
}
*/
}
return ts_filtered;
src/ifcopenshell-python/ifcopenshell/geom/main.py
+2 -2
View File
@@ -199,13 +199,13 @@ class tree(ifcopenshell_wrapper.tree):
args = [self, unwrap(value), allow_touching]
return [entity_instance(e) for e in ifcopenshell_wrapper.tree.clash_collision(*args)]
def clash_clearance(self, value, clearance=0.05):
def clash_clearance(self, value, clearance=0.05, check_all=False):
def unwrap(value):
if isinstance(value, entity_instance):
return value.wrapped_data
return value
args = [self, unwrap(value), clearance]
args = [self, unwrap(value), clearance, check_all]
return [entity_instance(e) for e in ifcopenshell_wrapper.tree.clash_clearance(*args)]