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gonna get this clean one of these days.

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Yggdrasil75
2025-12-30 15:00:58 -05:00
parent 05f709c00b
commit 02115dcfc0
5 changed files with 133 additions and 846 deletions
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util/basicdefines.hpp Normal file
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#ifndef M_PI
#define M_PI 3.14159265358979323846f
#endif
#ifndef EPSILON
#define EPSILON 0.0000000000000000000000001f
#endif

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util/grid/grid3.hpp
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@@ -7,878 +7,149 @@
#include "../timing_decorator.hpp" #include "../timing_decorator.hpp"
#include "../output/frame.hpp" #include "../output/frame.hpp"
#include "../noise/pnoise2.hpp" #include "../noise/pnoise2.hpp"
#include "../vecmat/mat4.hpp"
#include <vector> #include <vector>
#include <unordered_set>
#include <execution>
#include <algorithm> #include <algorithm>
#include "../ray3.hpp" #include "../basicdefines.hpp"
constexpr float EPSILON = 0.0000000000000000000000001; struct Voxel {
constexpr int CHUNK_SIZE = 16; float active;
//Vec3f position;
/// @brief Represents a single point in the grid with an ID, color, and position. Vec3ui8 color;
class GenericVoxel {
protected:
size_t id;
Vec4ui8 color;
Vec3f pos;
public:
//constructors
GenericVoxel(size_t id, Vec4ui8 color, Vec3f pos) : id(id), color(color), pos(pos) {};
GenericVoxel() : id(0), color(Vec4ui8()), pos(Vec3f()) {};
//getters
size_t getId() const {
return id;
}
Vec3f getPos() const {
return pos;
}
Vec4ui8 getColor() const {
return color;
}
//setters
void setColor(Vec4ui8 newColor) {
color = newColor;
}
void setPos(Vec3f newPos) {
pos = newPos;
}
void setId(size_t newId) {
id = newId;
}
void move(Vec3f newPos) {
pos = newPos;
}
void recolor(Vec4ui8 newColor) {
color.recolor(newColor);
}
}; };
/// @brief A bidirectional lookup helper to map internal IDs to 2D positions and vice-versa. class VoxelGrid {
/// @details Maintains two hashmaps to allow O(1) lookup in either direction.
class reverselookupassistant3 {
private: private:
std::unordered_map<size_t, Vec3f> Positions; size_t width, height, depth;
/// "Positions" reversed - stores the reverse mapping from Vec3f to ID. std::vector<Voxel> voxels;
std::unordered_map<Vec3f, size_t, Vec3f::Hash> ƨnoiƚiƨoꟼ;
size_t next_id;
public: public:
/// @brief Get the Position associated with a specific ID. VoxelGrid(size_t w, size_t h, size_t d) : width(w), height(h), depth(d) {
/// @throws std::out_of_range if the ID does not exist. voxels.resize(w * h * d);
Vec3f at(size_t id) const {
auto it = Positions.at(id);
return it;
} }
/// @brief Get the ID associated with a specific Position. Voxel& get(size_t x, size_t y, size_t z) {
/// @throws std::out_of_range if the Position does not exist. return voxels[z * width * height + y * width + x];
size_t at(const Vec3f& pos) const {
size_t id = ƨnoiƚiƨoꟼ.at(pos);
return id;
} }
/// @brief Finds a position by ID (Wrapper for at). const Voxel& get(size_t x, size_t y, size_t z) const {
Vec3f find(size_t id) { return voxels[z * width * height + y * width + x];
return Positions.at(id);
} }
/// @brief Registers a new position and assigns it a unique ID. void set(size_t x, size_t y, size_t z, float active, Vec3ui8 color) {
/// @return The newly generated ID. //expand grid if needed.
size_t set(const Vec3f& pos) { if (x >= 0 || y >= 0 || z >= 0) {
size_t id = next_id++; if (!(x < width)) {
Positions[id] = pos; width = x;
ƨnoiƚiƨoꟼ[pos] = id; voxels.resize(width*height*depth);
return id; }
else if (!(y < height)) {
height = y;
voxels.resize(width*height*depth);
}
else if (!(z < depth)) {
depth = z;
voxels.resize(width*height*depth);
}
Voxel& v = get(x, y, z);
v.active = std::clamp(active, 0.0f, 1.0f);
v.color = color;
}
} }
/// @brief Removes an entry by ID. bool inGrid(Vec3T voxl) {
size_t remove(size_t id) { return (voxl > 0 && voxl.x < width && voxl.y < height && voxl.z < depth);
Vec3f& pos = Positions[id];
Positions.erase(id);
ƨnoiƚiƨoꟼ.erase(pos);
return id;
} }
/// @brief Removes an entry by Position. bool rayCast(const Ray3f& ray, float maxDistance, Vec3f hitPos, Vec3f hitNormal, Vec3f& hitColor) {
size_t remove(const Vec3f& pos) { hitColor = Vec3f(0,0,0);
size_t id = ƨnoiƚiƨoꟼ[pos]; Vec3f rayDir = ray.direction;
Positions.erase(id); Vec3f rayOrigin = ray.origin;
ƨnoiƚiƨoꟼ.erase(pos); Vec3T currentVoxel = rayOrigin.floorToT();
return id;
}
void reserve(size_t size) {
Positions.reserve(size);
ƨnoiƚiƨoꟼ.reserve(size);
}
size_t size() const { //important note: voxels store a float of "active" which is to be between 0 and 1, with <epsilon being inactive and <1 being transparent.
return Positions.size(); //as progression occurs, add to hitColor all passed voxels multiplied by active. once active reaches 1, stop progression.
} //if active doesnt reach 1 before the edge of the grid is reached, then return the total.
//always return true if any active voxels are hit
//Ray3T and Vec3T are size_t.
Vec3f step;
Vec3f tMax;
Vec3f tDelta;
Vec3T cvoxel = ray.origin.floor();
//initialization
if (!inGrid(cvoxel)) {
/*
The initialization phase begins by identifying the voxel in which the ray origin, →
u, is found. If the ray origin is outside the grid, we find the point in which the ray enters the grid and take the adjacent voxel. The integer
variables X and Y are initialized to the starting voxel coordinates. In addition, the variables stepX and
stepY are initialized to either 1 or -1 indicating whether X and Y are incremented or decremented as the
ray crosses voxel boundaries (this is determined by the sign of the x and y components of →
v).
Next, we determine the value of t at which the ray crosses the first vertical voxel boundary and
store it in variable tMaxX. We perform a similar computation in y and store the result in tMaxY. The
minimum of these two values will indicate how much we can travel along the ray and still remain in the
current voxel.
*/
size_t getNext_id() { //update to also include z in this
return next_id + 1; }
}
size_t bucket_count() { /*
return Positions.bucket_count(); Finally, we compute tDeltaX and tDeltaY. TDeltaX indicates how far along the ray we must move
} (in units of t) for the horizontal component of such a movement to equal the width of a voxel. Similarly,
we store in tDeltaY the amount of movement along the ray which has a vertical component equal to the
height of a voxel.
*/
bool empty() const { //also include tDeltaZ in this.
return Positions.empty();
}
void clear() { /*loop {
Positions.clear(); if(tMaxX < tMaxY) {
Positions.rehash(0); tMaxX= tMaxX + tDeltaX;
ƨnoiƚiƨoꟼ.clear(); X= X + stepX;
ƨnoiƚiƨoꟼ.rehash(0);
next_id = 0;
}
using iterator = typename std::unordered_map<size_t, Vec3f>::iterator;
using const_iterator = typename std::unordered_map<size_t, Vec3f>::const_iterator;
iterator begin() {
return Positions.begin();
}
iterator end() {
return Positions.end();
}
const_iterator begin() const {
return Positions.begin();
}
const_iterator end() const {
return Positions.end();
}
const_iterator cbegin() const {
return Positions.cbegin();
}
const_iterator cend() const {
return Positions.cend();
}
bool contains(size_t id) const {
return (Positions.find(id) != Positions.end());
}
bool contains(const Vec3f& pos) const {
return (ƨnoiƚiƨoꟼ.find(pos) != ƨnoiƚiƨoꟼ.end());
}
};
class Chunk3 : public GenericVoxel {
private:
Vec3f chunkCoord;
std::unordered_set<size_t> voxelIDs;
bool isCompressed = false;
int detailLevel;
std::vector<GenericVoxel> fullVoxels;
std::vector<uint16_t> compressedVoxels;
public:
//overload GenericVoxel
Vec4ui8 getColor() {
if (isCompressed) {
return color;
} else { } else {
if (fullVoxels.empty()) { tMaxY= tMaxY + tDeltaY;
return Vec4ui8(); Y= Y + stepY;
}
Vec4ui8 accumulatedColor(0, 0, 0, 0);
for (const auto& voxel : fullVoxels) {
accumulatedColor = accumulatedColor + voxel.getColor();
}
float count = static_cast<float>(fullVoxels.size());
return accumulatedColor / count;
} }
} NextVoxel(X,Y);
}*/
Chunk3(const Vec3f& coord) : chunkCoord(coord) {} /*
We loop until either we find a voxel with a non-empty object list or we fall out of the end of the grid.
Vec3f getCoord() const { return chunkCoord; } Extending the algorithm to three dimensions simply requires that we add the appropriate z variables and
find the minimum of tMaxX, tMaxY and tMaxZ during each iteration. This results in:
std::pair<Vec3f, Vec3f> getBounds() const { list= NIL;
Vec3f minBound( do {
chunkCoord.x*CHUNK_SIZE, if(tMaxX < tMaxY) {
chunkCoord.y*CHUNK_SIZE, if(tMaxX < tMaxZ) {
chunkCoord.z*CHUNK_SIZE X= X + stepX;
); if(X == justOutX)
Vec3f maxBound( return(NIL);
minBound.x+CHUNK_SIZE, tMaxX= tMaxX + tDeltaX;
minBound.y+CHUNK_SIZE,
minBound.z+CHUNK_SIZE
);
return {minBound, maxBound};
}
Vec3f worldToChunkPos(const Vec3f& worldPos) const {
auto [minBound, _] = getBounds();
return worldPos - minBound;
}
std::vector<uint8_t> compress() {
for (auto value : fullVoxels) {
}
}
};
/// @brief Accelerates spatial queries by bucketizing positions into a grid.
class SpatialGrid3 {
private:
float cellSize;
public:
std::unordered_map<Vec3f, std::unordered_set<size_t>, Vec3f::Hash> grid;
/// @brief Initializes the spatial grid.
/// @param cellSize The dimension of the spatial buckets. Larger cells mean more items per bucket but fewer buckets.
SpatialGrid3(float cellSize = 2.0f) : cellSize(cellSize) {}
/// @brief Converts world coordinates to spatial grid coordinates.
Vec3f worldToGrid(const Vec3f& worldPos) const {
return (worldPos / cellSize).floor();
}
/// @brief Adds an object ID to the spatial index at the given position.
void insert(size_t id, const Vec3f& pos) {
Vec3f gridPos = worldToGrid(pos);
grid[gridPos].insert(id);
}
/// @brief Removes an object ID from the spatial index.
void remove(size_t id, const Vec3f& pos) {
Vec3f gridPos = worldToGrid(pos);
auto cellIt = grid.find(gridPos);
if (cellIt != grid.end()) {
cellIt->second.erase(id);
if (cellIt->second.empty()) {
grid.erase(cellIt);
}
}
}
/// @brief Moves an object within the spatial index (removes from old cell, adds to new if changed).
void update(size_t id, const Vec3f& oldPos, const Vec3f& newPos) {
Vec3f oldGridPos = worldToGrid(oldPos);
Vec3f newGridPos = worldToGrid(newPos);
if (oldGridPos != newGridPos) {
remove(id, oldPos);
insert(id, newPos);
}
}
/// @brief Returns all IDs located in the specific grid cell containing 'center'.
std::unordered_set<size_t> find(const Vec3f& center) const {
auto cellIt = grid.find(worldToGrid(center));
if (cellIt != grid.end()) {
return cellIt->second;
}
return std::unordered_set<size_t>();
}
/// @brief Finds all object IDs within a square area around the center.
/// @param center The world position center.
/// @param radius The search radius (defines the bounds of grid cells to check).
/// @return A vector of candidate IDs (Note: this returns objects in valid grid cells, further distance checks may be required).
std::vector<size_t> queryRange(const Vec3f& center, float radius) const {
std::vector<size_t> results;
float radiusSq = radius * radius;
// Calculate grid bounds for the query
Vec3f minGrid = worldToGrid(center - Vec3f(radius, radius, radius));
Vec3f maxGrid = worldToGrid(center + Vec3f(radius, radius, radius));
size_t estimatedSize = (maxGrid.x - minGrid.x + 1) * (maxGrid.y - minGrid.y + 1) * (maxGrid.z - minGrid.z + 1) * 10;
results.reserve(estimatedSize);
// Check all relevant grid cells
for (int x = minGrid.x; x <= maxGrid.x; ++x) {
for (int y = minGrid.y; y <= maxGrid.y; ++y) {
for (int z = minGrid.z; z <= minGrid.z; ++z) {
auto cellIt = grid.find(Vec3f(x, y, z));
if (cellIt != grid.end()) {
results.insert(results.end(), cellIt->second.begin(), cellIt->second.end());
}
}
}
}
return results;
}
void clear() {
grid.clear();
grid.rehash(0);
}
};
class Grid3 {
protected:
//all positions
reverselookupassistant3 Positions;
std::unordered_map<size_t, GenericVoxel> Pixels;
std::vector<size_t> unassignedIDs;
float neighborRadius = 1.0f;
SpatialGrid3 spatialGrid;
float spatialCellSize = neighborRadius * 1.5f;
// Default background color for empty spaces
Vec4ui8 defaultBackgroundColor = Vec4ui8(0, 0, 0, 0);
PNoise2 noisegen;
bool regenpreventer = false;
public:
Grid3& noiseGenGrid(Vec3f min, Vec3f max, float minChance = 0.1f
, float maxChance = 1.0f, bool color = true, int noisemod = 42) {
TIME_FUNCTION;
noisegen = PNoise2(noisemod);
std::cout << "generating a noise grid with the following: "<< min << " by " << max << "chance min: " << minChance
<< " max: " << maxChance << " gen colors: " << color << std::endl;
std::vector<Vec3f> poses;
std::vector<Vec4ui8> colors;
#pragma omp parallel for
for (int x = min.x; x < max.x; x++) {
#pragma omp parallel for
for (int y = min.y; y < max.y; y++) {
#pragma omp parallel for
for (int z = min.z; z < max.z; z++) {
float nx = (x+noisemod)/(max.x+EPSILON)/0.1;
float ny = (y+noisemod)/(max.y+EPSILON)/0.1;
float nz = (z+noisemod)/(max.z+EPSILON)/0.1;
Vec3 pos = Vec3f(nx,ny,nz);
float alpha = noisegen.permute(pos);
if (alpha > minChance && alpha < maxChance) {
if (color) {
float red = noisegen.permute(Vec3f(nx, ny, nz)*0.3);
float green = noisegen.permute(Vec3f(nx, ny, nz)*0.6);
float blue = noisegen.permute(Vec3f(nx, ny, nz)*0.9);
Vec4 newc = Vec4ui8(red,green,blue,1.0);
#pragma omp critical
colors.push_back(newc);
#pragma omp critical
poses.push_back(Vec3f(x,y,z));
} else {
Vec4 newc = Vec4ui8(alpha,alpha,alpha,1.0);
#pragma omp critical
colors.push_back(newc);
#pragma omp critical
poses.push_back(Vec3f(x,y,z));
}
}
}
}
}
std::cout << "noise generated" << std::endl;
bulkAddObjects(poses,colors);
return *this;
}
size_t addObject(const Vec3f& pos, const Vec4ui8& color, float size = 1.0f) {
size_t id = Positions.set(pos);
Pixels.emplace(id, GenericVoxel(id, color, pos));
spatialGrid.insert(id, pos);
return id;
}
/// @brief Sets the default background color.
void setDefault(const Vec4ui8& color) {
defaultBackgroundColor = color;
}
/// @brief Moves an object to a new position and updates spatial indexing.
void setPosition(size_t id, const Vec3f& newPosition) {
Vec3f oldPosition = Positions.at(id);
Pixels.at(id).move(newPosition);
spatialGrid.update(id, oldPosition, newPosition);
Positions.at(id).move(newPosition);
}
void setColor(size_t id, const Vec4ui8 color) {
Pixels.at(id).recolor(color);
}
void setNeighborRadius(float radius) {
neighborRadius = radius;
//optimizeSpatialGrid();
}
Vec4ui8 getDefaultBackgroundColor() const {
return defaultBackgroundColor;
}
Vec3f getPositionID(size_t id) const {
Vec3f it = Positions.at(id);
return it;
}
size_t getPositionVec(const Vec3f& pos, float radius = 0.0f) const {
TIME_FUNCTION;
if (radius == 0.0f) {
// Exact match - use spatial grid to find the cell
Vec3f gridPos = spatialGrid.worldToGrid(pos);
auto cellIt = spatialGrid.grid.find(gridPos);
if (cellIt != spatialGrid.grid.end()) {
for (size_t id : cellIt->second) {
if (Positions.at(id) == pos) {
return id;
}
}
}
return -1;
} else { } else {
auto results = getPositionVecRegion(pos, radius); Z= Z + stepZ;
if (!results.empty()) { if(Z == justOutZ)
return results[0]; // Return first found return(NIL);
} tMaxZ= tMaxZ + tDeltaZ;
return -1;
} }
}
size_t getOrCreatePositionVec(const Vec3f& pos, float radius = 0.0f, bool create = true) {
//TIME_FUNCTION; //called too many times and average time is less than 0.0000001 so ignore it.
if (radius == 0.0f) {
Vec3f gridPos = spatialGrid.worldToGrid(pos);
auto cellIt = spatialGrid.grid.find(gridPos);
if (cellIt != spatialGrid.grid.end()) {
for (size_t id : cellIt->second) {
if (Positions.at(id) == pos) {
return id;
}
}
}
if (create) {
return addObject(pos, defaultBackgroundColor, 1.0f);
}
throw std::out_of_range("Position not found");
} else { } else {
auto results = getPositionVecRegion(pos, radius); if(tMaxY < tMaxZ) {
if (!results.empty()) { Y= Y + stepY;
return results[0]; if(Y == justOutY)
} return(NIL);
if (create) { tMaxY= tMaxY + tDeltaY;
return addObject(pos, defaultBackgroundColor, 1.0f); } else {
} Z= Z + stepZ;
throw std::out_of_range("No positions found in radius"); if(Z == justOutZ)
return(NIL);
tMaxZ= tMaxZ + tDeltaZ;
} }
}
std::vector<size_t> getPositionVecRegion(const Vec3f& pos, float radius = 1.0f) const {
//TIME_FUNCTION;
float searchRadius = (radius == 0.0f) ? std::numeric_limits<float>::epsilon() : radius;
// Get candidates from spatial grid
std::vector<size_t> candidates = spatialGrid.queryRange(pos, searchRadius);
// Fine-filter by exact distance
std::vector<size_t> results;
float radiusSq = searchRadius * searchRadius;
for (size_t id : candidates) {
if (Positions.at(id).distanceSquared(pos) <= radiusSq) {
results.push_back(id);
}
} }
list= ObjectList[X][Y][Z];
return results; } while(list == NIL);
return(list);*/
} }
Vec4ui8 getColor(size_t id) {
return Pixels.at(id).getColor();
}
std::pair<Vec3f,Vec3f> getBoundingBox(Vec3f& minCorner, Vec3f& maxCorner) const {
TIME_FUNCTION;
if (Positions.empty()) {
std::cout << "empty" << std::endl;
minCorner = Vec3f(0, 0, 0);
maxCorner = Vec3f(0, 0, 0);
}
// Initialize with first position
auto it = Positions.begin();
minCorner = it->second;
maxCorner = it->second;
// Find min and max coordinates
for (const auto& [id, pos] : Positions) {
minCorner.x = std::min(minCorner.x, pos.x);
minCorner.y = std::min(minCorner.y, pos.y);
minCorner.z = std::min(minCorner.z, pos.z);
maxCorner.x = std::max(maxCorner.x, pos.x);
maxCorner.y = std::max(maxCorner.y, pos.y);
maxCorner.z = std::max(maxCorner.z, pos.z);
}
// std::cout << "bounding box: " << minCorner << ", " << maxCorner << std::endl;
return std::make_pair(minCorner, maxCorner);
}
frame getGridRegionAsFrame(const Vec3f& minCorner, const Vec3f& maxCorner, const Vec2& res,
const Ray3<float>& View, frame::colormap outChannels = frame::colormap::RGB) const {
TIME_FUNCTION;
// Calculate volume dimensions
float width = maxCorner.x - minCorner.x;
float height = maxCorner.y - minCorner.y;
float depth = maxCorner.z - minCorner.z;
size_t outputWidth = static_cast<int>(res.x);
size_t outputHeight = static_cast<int>(res.y);
// Validate dimensions
if (width <= 0 || height <= 0 || depth <= 0 || outputWidth <= 0 || outputHeight <= 0) {
frame outframe = frame();
outframe.colorFormat = outChannels;
return outframe;
}
frame outframe(outputWidth, outputHeight, outChannels);
std::unordered_map<Vec2, Vec4ui8> colorBuffer;
std::unordered_map<Vec2, Vec4ui8> colorAccumBuffer;
std::unordered_map<Vec2, int> countBuffer;
std::unordered_map<Vec2, float> depthBuffer;
size_t bufferSize = outputWidth * outputHeight;
colorBuffer.reserve(bufferSize);
colorAccumBuffer.reserve(bufferSize);
countBuffer.reserve(bufferSize);
depthBuffer.reserve(bufferSize);
Vec3f viewDirection = View.direction;
Vec3f viewOrigin = View.origin;
Vec3f viewRight = Vec3f(1, 0, 0);
Vec3f viewUp = Vec3f(0, 1, 0);
float xScale = outputWidth / width;
float yScale = outputHeight / height;
size_t voxelCount = 0;
for (const auto& [id, pos] : Positions) {
if (pos.x >= minCorner.x && pos.x <= maxCorner.x &&
pos.y >= minCorner.y && pos.y <= maxCorner.y &&
pos.z >= minCorner.z && pos.z <= maxCorner.z) {
voxelCount++;
float relX = pos.x - minCorner.x;
float relY = pos.y - minCorner.y;
float relZ = pos.z - minCorner.z;
Vec3f toVoxel = pos - viewOrigin;
float distance = toVoxel.length();
Vec3f viewPlanePos = pos - (toVoxel.dot(viewDirection)) * viewDirection;
float screenX = viewPlanePos.dot(viewRight);
float screenY = viewPlanePos.dot(viewUp);
int pixX = static_cast<int>((screenX - minCorner.x) * xScale);
int pixY = static_cast<int>((screenY - minCorner.y) * yScale);
pixX = std::max(0, std::min(pixX, static_cast<int>(outputWidth) - 1));
pixY = std::max(0, std::min(pixY, static_cast<int>(outputHeight) - 1));
Vec2 pixelPos(pixX, pixY);
Vec4ui8 voxelColor = Pixels.at(id).getColor();
float depth = relZ;
bool shouldRender = true;
auto depthIt = depthBuffer.find(pixelPos);
if (depthIt != depthBuffer.end()) {
if (depth > depthIt->second) {
shouldRender = false;
} else {
depthBuffer[pixelPos] = depth;
}
} else {
depthBuffer[pixelPos] = depth;
}
if (shouldRender) {
colorAccumBuffer[pixelPos] += voxelColor;
countBuffer[pixelPos]++;
colorBuffer[pixelPos] = voxelColor;
}
}
}
switch (outChannels) {
case frame::colormap::RGBA: {
std::vector<uint8_t> pixelBuffer(outputWidth * outputHeight * 4, 0);
for (size_t y = 0; y < outputHeight; ++y) {
for (size_t x = 0; x < outputWidth; ++x) {
Vec2 pixelPos(x, y);
size_t index = (y * outputWidth + x) * 4;
Vec4ui8 finalColor;
auto countIt = countBuffer.find(pixelPos);
if (countIt != countBuffer.end() && countIt->second > 0) {
finalColor = colorAccumBuffer[pixelPos] / static_cast<float>(countIt->second);
finalColor = finalColor.clamp(0.0f, 1.0f);
finalColor = finalColor * 255.0f;
} else {
finalColor = defaultBackgroundColor * 255.0f;
}
pixelBuffer[index + 0] = static_cast<uint8_t>(finalColor.r);
pixelBuffer[index + 1] = static_cast<uint8_t>(finalColor.g);
pixelBuffer[index + 2] = static_cast<uint8_t>(finalColor.b);
pixelBuffer[index + 3] = static_cast<uint8_t>(finalColor.a);
}
}
outframe.setData(pixelBuffer);
break;
}
case frame::colormap::BGR: {
std::vector<uint8_t> pixelBuffer(outputWidth * outputHeight * 3, 0);
for (size_t y = 0; y < outputHeight; ++y) {
for (size_t x = 0; x < outputWidth; ++x) {
Vec2 pixelPos(x, y);
size_t index = (y * outputWidth + x) * 3;
Vec4ui8 finalColor;
auto countIt = countBuffer.find(pixelPos);
if (countIt != countBuffer.end() && countIt->second > 0) {
finalColor = colorAccumBuffer[pixelPos] / static_cast<float>(countIt->second);
finalColor = finalColor.clamp(0.0f, 1.0f);
finalColor = finalColor * 255.0f;
} else {
finalColor = defaultBackgroundColor * 255.0f;
}
pixelBuffer[index + 2] = static_cast<uint8_t>(finalColor.r);
pixelBuffer[index + 1] = static_cast<uint8_t>(finalColor.g);
pixelBuffer[index + 0] = static_cast<uint8_t>(finalColor.b);
}
}
outframe.setData(pixelBuffer);
break;
}
case frame::colormap::RGB:
default: {
std::vector<uint8_t> pixelBuffer(outputWidth * outputHeight * 3, 0);
for (size_t y = 0; y < outputHeight; ++y) {
for (size_t x = 0; x < outputWidth; ++x) {
Vec2 pixelPos(x, y);
size_t index = (y * outputWidth + x) * 3;
Vec4ui8 finalColor;
auto countIt = countBuffer.find(pixelPos);
if (countIt != countBuffer.end() && countIt->second > 0) {
finalColor = colorAccumBuffer[pixelPos] / static_cast<float>(countIt->second);
finalColor = finalColor.clamp(0.0f, 1.0f);
finalColor = finalColor * 255.0f;
} else {
finalColor = defaultBackgroundColor * 255.0f;
}
pixelBuffer[index + 0] = static_cast<uint8_t>(finalColor.r);
pixelBuffer[index + 1] = static_cast<uint8_t>(finalColor.g);
pixelBuffer[index + 2] = static_cast<uint8_t>(finalColor.b);
}
}
outframe.setData(pixelBuffer);
break;
}
}
return outframe;
}
frame getGridAsFrame(const Vec2& res, const Ray3<float>& View, frame::colormap outChannels = frame::colormap::RGB) const {
Vec3f Min;
Vec3f Max;
auto a = getBoundingBox(Min, Max);
return getGridRegionAsFrame(a.first, a.second, res, View, outChannels);
}
size_t removeID(size_t id) {
Vec3f oldPosition = Positions.at(id);
Positions.remove(id);
Pixels.erase(id);
unassignedIDs.push_back(id);
spatialGrid.remove(id, oldPosition);
return id;
}
void bulkUpdatePositions(const std::unordered_map<size_t, Vec3f>& newPositions) {
TIME_FUNCTION;
for (const auto& [id, newPos] : newPositions) {
Vec3f oldPosition = Positions.at(id);
Positions.at(id).move(newPos);
Pixels.at(id).move(newPos);
spatialGrid.update(id, oldPosition, newPos);
}
}
std::vector<size_t> bulkAddObjects(const std::vector<Vec3f> poses, std::vector<Vec4ui8> colors) {
TIME_FUNCTION;
std::vector<size_t> ids;
ids.reserve(poses.size());
// Reserve space in maps to avoid rehashing
if (Positions.bucket_count() < Positions.size() + poses.size()) {
Positions.reserve(Positions.size() + poses.size());
Pixels.reserve(Positions.size() + poses.size());
}
// Batch insertion
std::vector<size_t> newids;
for (size_t i = 0; i < poses.size(); ++i) {
size_t id = Positions.set(poses[i]);
Pixels.emplace(id, GenericVoxel(id, colors[i], poses[i]));
spatialGrid.insert(id,poses[i]);
newids.push_back(id);
}
shrinkIfNeeded();
return newids;
}
void shrinkIfNeeded() {
//TODO: garbage collector
}
void clear() {
Positions.clear();
Pixels.clear();
spatialGrid.clear();
Pixels.rehash(0);
defaultBackgroundColor = Vec4ui8(0, 0, 0, 0);
}
void optimizeSpatialGrid() {
TIME_FUNCTION;
//std::cout << "optimizeSpatialGrid()" << std::endl;
spatialCellSize = neighborRadius * neighborRadius;
spatialGrid = SpatialGrid3(spatialCellSize);
// Rebuild spatial grid
spatialGrid.clear();
for (const auto& [id, pos] : Positions) {
spatialGrid.insert(id, pos);
}
}
std::vector<size_t> getNeighbors(size_t id) const {
Vec3f pos = Positions.at(id);
std::vector<size_t> candidates = spatialGrid.queryRange(pos, neighborRadius);
std::vector<size_t> neighbors;
float radiusSq = neighborRadius * neighborRadius;
for (size_t candidateId : candidates) {
if (candidateId == id) continue;
if (!Positions.contains(candidateId)) continue;
if (pos.distanceSquared(Positions.at(candidateId)) <= radiusSq) {
if (Pixels.find(candidateId) != Pixels.end()) {
std::cerr << "NOT IN PIXELS! ERROR! ERROR!" <<std::endl;
continue;
}
neighbors.push_back(candidateId);
}
}
return neighbors;
}
std::vector<size_t> getNeighborsRange(size_t id, float dist) const {
Vec3f pos = Positions.at(id);
std::vector<size_t> candidates = spatialGrid.queryRange(pos, neighborRadius);
std::vector<size_t> neighbors;
float radiusSq = dist * dist;
for (size_t candidateId : candidates) {
if (candidateId != id && pos.distanceSquared(Positions.at(candidateId)) <= radiusSq) {
neighbors.push_back(candidateId);
}
}
return neighbors;
}
Grid3& backfillGrid() {
TIME_FUNCTION;
Vec3f Min;
Vec3f Max;
getBoundingBox(Min, Max);
std::vector<Vec3f> newPos;
std::vector<Vec4ui8> newColors;
for (size_t x = Min.x; x < Max.x; x++) {
for (size_t y = Min.y; y < Max.y; y++) {
for (size_t z = Min.z; z < Max.z; z++) {
Vec3f pos = Vec3f(x,y,z);
if (Positions.contains(pos)) continue;
Vec4ui8 color = defaultBackgroundColor;
float size = 0.1;
newPos.push_back(pos);
newColors.push_back(color);
}
}
}
bulkAddObjects(newPos, newColors);
return *this;
}
bool checkConsistency() const {
std::cout << "=== Consistency Check ===" << std::endl;
std::cout << "Positions size: " << Positions.size() << std::endl;
std::cout << "Pixels size: " << Pixels.size() << std::endl;
// Check 1: All Pixels should have corresponding Positions
for (const auto& [id, voxel] : Pixels) {
if (!Positions.contains(id)) {
std::cout << "ERROR: Pixel ID " << id << " not in Positions!" << std::endl;
return false;
}
}
// Check 2: All Positions should have corresponding Pixels (maybe not always true?)
for (const auto& [id, pos] : Positions) {
if (Pixels.find(id) == Pixels.end()) {
std::cout << "ERROR: Position ID " << id << " not in Pixels!" << std::endl;
std::cout << " Position: " << pos << std::endl;
return false;
}
}
std::cout << "Consistency check passed!" << std::endl;
return true;
}
}; };
#endif #endif

8
util/grid/gridtest.hpp
View File

@@ -69,7 +69,7 @@ public:
if (rayDirection[i] >= 0) { if (rayDirection[i] >= 0) {
t0[i] = (0 - rayOrigin[i]) / rayDirection[i]; t0[i] = (0 - rayOrigin[i]) / rayDirection[i];
t1[i] = (width - rayOrigin[i]) / rayDirection[i]; t1[i] = (width - rayOrigin[i]) / rayDirection[i];
} else { } else {
t0[i] = (width - rayOrigin[i]) / rayDirection[i]; t0[i] = (width - rayOrigin[i]) / rayDirection[i];
t1[i] = (0 - rayOrigin[i]) / rayDirection[i]; t1[i] = (0 - rayOrigin[i]) / rayDirection[i];
} }
@@ -84,7 +84,7 @@ public:
if (tEnter > 0) { if (tEnter > 0) {
voxel = Vec3f((rayOrigin + rayDirection * tEnter).floor()); voxel = Vec3f((rayOrigin + rayDirection * tEnter).floor());
} }
} }
// Initialize step and tMax based on ray direction // Initialize step and tMax based on ray direction
@@ -93,7 +93,7 @@ public:
step[i] = -1; step[i] = -1;
tMax[i] = ((float)voxel[i] - rayOrigin[i]) / rayDirection[i]; tMax[i] = ((float)voxel[i] - rayOrigin[i]) / rayDirection[i];
tDelta[i] = -1.0f / rayDirection[i]; tDelta[i] = -1.0f / rayDirection[i];
} else { } else {
step[i] = 1; step[i] = 1;
tMax[i] = ((float)(voxel[i] + 1) - rayOrigin[i]) / rayDirection[i]; tMax[i] = ((float)(voxel[i] + 1) - rayOrigin[i]) / rayDirection[i];
tDelta[i] = 1.0f / rayDirection[i]; tDelta[i] = 1.0f / rayDirection[i];
@@ -174,7 +174,7 @@ public:
Vec3f up; Vec3f up;
float fov; float fov;
Camera() : position(0, 0, -10), forward(0, 0, 1), up(0, 1, 0), fov(45.0f) {} Camera() : position(0, 0, -10), forward(0, 0, 1), up(0, 1, 0), fov(80.0f) {}
Mat4f getViewMatrix() const { Mat4f getViewMatrix() const {
return lookAt(position, position + forward, up); return lookAt(position, position + forward, up);

1
util/ray3.hpp
View File

@@ -75,5 +75,6 @@ public:
}; };
using Ray3f = Ray3<float>; using Ray3f = Ray3<float>;
using Ray3T = Ray3<size_t>;
#endif #endif

13
util/vectorlogic/vec3.hpp
View File

@@ -187,6 +187,10 @@ public:
(x == other.x && y == other.y && z > other.z); (x == other.x && y == other.y && z > other.z);
} }
bool operator>(size_t scalar) const {
return (x > scalar && y > scalar && z > scalar);
}
bool operator>=(const Vec3& other) const { bool operator>=(const Vec3& other) const {
return (x > other.x) || return (x > other.x) ||
(x == other.x && y > other.y) || (x == other.x && y > other.y) ||
@@ -201,8 +205,12 @@ public:
return Vec3(std::floor(x), std::floor(y), std::floor(z)); return Vec3(std::floor(x), std::floor(y), std::floor(z));
} }
Vec3i floorToI() const { Vec3<int> floorToI() const {
return Vec3i(static_cast<int>(std::floor(x)), static_cast<int>(std::floor(x)), static_cast<int>(std::floor(z))) return Vec3<int>(static_cast<int>(std::floor(x)), static_cast<int>(std::floor(x)), static_cast<int>(std::floor(z)));
}
Vec3<size_t> floorToT() const {
return Vec3<size_t>(static_cast<size_t>(std::floor(x)), static_cast<size_t>(std::floor(x)), static_cast<size_t>(std::floor(z)));
} }
Vec3 ceil() const { Vec3 ceil() const {
@@ -393,6 +401,7 @@ using Vec3f = Vec3<float>;
using Vec3d = Vec3<double>; using Vec3d = Vec3<double>;
using Vec3i = Vec3<int>; using Vec3i = Vec3<int>;
using Vec3ui8 = Vec3<uint8_t>; using Vec3ui8 = Vec3<uint8_t>;
using Vec3T = Vec3<size_t>;
template<typename T> template<typename T>
inline std::ostream& operator<<(std::ostream& os, const Vec3<T>& vec) { inline std::ostream& operator<<(std::ostream& os, const Vec3<T>& vec) {