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bunch of fixes to the grid33 version

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Yggdrasil75
2026-01-13 07:51:03 -05:00
parent 5d614e6737
commit 3a183e0f92
5 changed files with 206 additions and 16 deletions
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81
util/grid/grid33.hpp
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@@ -45,9 +45,7 @@ inline uint32_t CountOn(uint64_t v)
// Software Implementation
v = v - ((v >> 1) & uint64_t(0x5555555555555555));
v = (v & uint64_t(0x3333333333333333)) + ((v >> 2) & uint64_t(0x3333333333333333));
v = (((v + (v >> 4)) & uint64_t(0xF0F0F0F0F0F0F0F)) *
uint64_t(0x101010101010101)) >>
56;
v = (((v + (v >> 4)) & uint64_t(0xF0F0F0F0F0F0F0F)) * uint64_t(0x101010101010101)) >> 56;
#endif
return static_cast<uint32_t>(v);
}
@@ -70,7 +68,7 @@ private:
}
uint32_t findNextOn(uint32_t start) const {
uint32_t n start >> 6;
uint32_t n = start >> 6;
if (n >= WORD_COUNT) {
return SIZE;
}
@@ -126,7 +124,7 @@ public:
Iterator& operator=(const Iterator&) = default;
uint32_t opeator*() const {
uint32_t operator*() const {
return mPos;
}
@@ -138,7 +136,7 @@ public:
mPos = mParent -> findNextOn(mPos + 1);
return *this;
}
}
};
Mask() {
for (uint32_t i = 0; i < WORD_COUNT; ++i) {
@@ -269,6 +267,7 @@ public:
template <typename DataT, int Log2DIM>
class Grid {
public:
constexpr static int DIM = 1 << Log2DIM;
constexpr static int SIZE = DIM * DIM * DIM;
std::array<DataT, SIZE> data;
@@ -277,8 +276,6 @@ class Grid {
template <typename DataT, int INNER_BITS = 2, int LEAF_BITS = 3>
class VoxelGrid {
private:
public:
constexpr static int32_t Log2N = INNER_BITS + LEAF_BITS;
using LeafGrid = Grid<DataT, LEAF_BITS>;
@@ -310,7 +307,7 @@ public:
return total_size;
}
static inline Veci PosToCoord(float x, float y, float z) {
static inline Vec3i PosToCoord(float x, float y, float z) {
// union VI {
// __m128i m;
// int32_t i[4];
@@ -333,7 +330,7 @@ public:
return pos.floorToI();
}
Vec3d Vec3ioPos(const Vec3i &coord) {
Vec3d Vec3iToPos(const Vec3i& coord) const {
return (coord.toDouble() * resolution) + half_resolution;
}
@@ -342,7 +339,10 @@ public:
constexpr static int32_t MASK_LEAF = ((1 << LEAF_BITS) - 1);
constexpr static int32_t MASK_INNER = ((1 << INNER_BITS) - 1);
for (auto& map_it : root_map) {
const auto& [xA, yA, zA] = (map_it.first);
const Vec3i& root_coord = map_it.first;
int32_t xA = root_coord.x;
int32_t yA = root_coord.y;
int32_t zA = root_coord.z;
InnerGrid& inner_grid = map_it.second;
auto& mask2 = inner_grid.mask;
for (auto inner_it = mask2.beginOn(); inner_it; ++inner_it) {
@@ -364,7 +364,6 @@ public:
}
}
class Accessor {
private:
RootMap &root_;
@@ -383,7 +382,7 @@ public:
if (root_key != prev_root_coord_ || !prev_inner_ptr_) {
auto root_it = root_.find(root_key);
if (root_it == root_.end()) {
root_it = root_insert({root_key, InnerGrid()}).first;
root_it = root_.insert({root_key, InnerGrid()}).first;
}
inner_ptr = &(root_it->second);
@@ -426,7 +425,7 @@ public:
}
const uint32_t inner_index = getInnerIndex(coord);
auto& inner_data - inner_ptr->data[inner_index];
auto& inner_data = inner_ptr->data[inner_index];
if (!inner_ptr->mask.isOn(inner_index)) {
return nullptr;
@@ -452,7 +451,7 @@ public:
const LeafGrid* lastLeafGrid() const {
return prev_leaf_ptr_;
}
}
};
Accessor createAccessor() {
return Accessor(root_map);
@@ -488,4 +487,56 @@ public:
((coord.z & MASK) << (LEAF_BITS * 2));
// clang-format on
}
bool setVoxelColor(const Vec3d& worldPos, const Vec3ui8& color) {
Vec3i coord = posToCoord(worldPos);
Accessor accessor = createAccessor();
return accessor.setValue(coord, color);
}
Vec3ui8* getVoxelColor(const Vec3d& worldPos) {
Vec3i coord = posToCoord(worldPos);
Accessor accessor = createAccessor();
return accessor.value(coord);
}
// Render with projection (simple orthographic projection)
void renderProjectedToRGBBuffer(std::vector<uint8_t>& buffer, int width, int height, const Vec3d& viewDir = Vec3d(0, 0, 1),
const Vec3d& upDir = Vec3d(0, 1, 0)) {
// Clear buffer
buffer.clear();
buffer.resize(width * height * 3, 0);
// Create view matrix (simplified orthographic projection)
Vec3d view = viewDir.normalized();
Vec3d up = upDir.normalized();
Vec3d right = view.cross(up).normalized();
up = right.cross(view).normalized(); // Re-orthogonalize
// For each voxel, project to screen
forEachCell([&](const Vec3ui8& color, const Vec3i& coord) {
// Convert voxel coordinate to world position
Vec3d worldPos = Vec3iToPos(coord);
// Simple orthographic projection: drop view direction component
double xProj = worldPos.dot(right);
double yProj = worldPos.dot(up);
// Normalize to pixel coordinates (assuming unit size)
int px = static_cast<int>((xProj + 0.5) * width);
int py = static_cast<int>((yProj + 0.5) * height);
// Clamp to image bounds
if (px >= 0 && px < width && py >= 0 && py < height) {
int index = (py * width + px) * 3;
Vec3ui8 finalColor = color;
// Write RGB
buffer[index] = finalColor.x; // R
buffer[index + 1] = finalColor.y; // G
buffer[index + 2] = finalColor.z; // B
}
});
}
};