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added some more fun features for rendering

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Yggdrasil75
2026-01-29 12:52:31 -05:00
parent c282acd725
commit 820cc1f873
2 changed files with 338 additions and 121 deletions
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182
util/grid/grid3eigen.hpp
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@@ -27,6 +27,12 @@ class Octree {
public:
using PointType = Eigen::Matrix<float, Dim, 1>;
using BoundingBox = std::pair<PointType, PointType>;
enum class Shape {
SPHERE,
CUBE
};
struct NodeData {
T data;
PointType position;
@@ -39,15 +45,28 @@ public:
float emittance;
float refraction;
float reflection;
Shape shape;
NodeData(const T& data, const PointType& pos, bool visible, Eigen::Vector3f color, float size = 0.01f,
bool active = true, int objectId = -1, bool light = false, float emittance = 0.0f, float refraction = 0.0f,
float reflection = 0.0f) : data(data), position(pos), objectId(objectId), active(active), visible(visible),
color(color), size(size), light(light), emittance(emittance), refraction(refraction),
reflection(reflection) {}
bool active = true, int objectId = -1, bool light = false, float emittance = 0.0f,
float refraction = 0.0f, float reflection = 0.0f, Shape shape = Shape::SPHERE)
: data(data), position(pos), objectId(objectId), active(active), visible(visible),
color(color), size(size), light(light), emittance(emittance), refraction(refraction),
reflection(reflection), shape(shape) {}
NodeData() : objectId(-1), active(false), visible(false), size(0.0f), light(false),
emittance(0.0f), refraction(0.0f), reflection(0.0f) {}
emittance(0.0f), refraction(0.0f), reflection(0.0f), shape(Shape::SPHERE) {}
// Helper method to get half-size for cube
PointType getHalfSize() const {
return PointType(size * 0.5f, size * 0.5f, size * 0.5f);
}
// Helper method to get bounding box for cube
BoundingBox getCubeBounds() const {
PointType halfSize = getHalfSize();
return {position - halfSize, position + halfSize};
}
};
struct OctreeNode {
@@ -185,6 +204,7 @@ private:
writeVal(out, pt->emittance);
writeVal(out, pt->refraction);
writeVal(out, pt->reflection);
writeVal(out, static_cast<int>(pt->shape));
}
} else {
// Write bitmask of active children
@@ -228,6 +248,9 @@ private:
readVal(in, pt->emittance);
readVal(in, pt->refraction);
readVal(in, pt->reflection);
int shapeInt;
readVal(in, shapeInt);
pt->shape = static_cast<Shape>(shapeInt);
node->points.push_back(pt);
}
} else {
@@ -315,6 +338,62 @@ private:
return true;
}
bool raySphereIntersect(const PointType& origin, const PointType& dir, const PointType& center,
float radius, float& t) const {
PointType oc = origin - center;
float a = dir.dot(dir);
float b = 2.0f * oc.dot(dir);
float c = oc.dot(oc) - radius * radius;
float discriminant = b * b - 4 * a * c;
if (discriminant < 0) return false;
float sqrtDisc = sqrt(discriminant);
float t0 = (-b - sqrtDisc) / (2.0f * a);
float t1 = (-b + sqrtDisc) / (2.0f * a);
t = t0;
if (t0 < 0.001f) {
t = t1;
if (t1 < 0.001f) return false;
}
return true;
}
// Ray-cube intersection
bool rayCubeIntersect(const PointType& origin, const PointType& dir, const NodeData* cube,
float& t, PointType& normal, PointType& hitPoint) const {
// Use the cube's bounds for intersection
BoundingBox bounds = cube->getCubeBounds();
float tMin, tMax;
if (!rayBoxIntersect(origin, dir, bounds, tMin, tMax)) {
return false;
}
if (tMin < 0.001f) {
if (tMax < 0.001f) return false;
t = tMax;
} else {
t = tMin;
}
hitPoint = origin + dir * t;
const float epsilon = 0.0001f;
normal = PointType::Zero();
for (int i = 0; i < Dim; ++i) {
if (std::abs(hitPoint[i] - bounds.first[i]) < epsilon) {
normal[i] = -1.0f;
} else if (std::abs(hitPoint[i] - bounds.second[i]) < epsilon) {
normal[i] = 1.0f;
}
}
return true;
}
float randomValueNormalDistribution(uint32_t& state) {
std::mt19937 gen(state);
state = gen();
@@ -340,6 +419,7 @@ private:
float rgbToGrayscale(const Eigen::Vector3f& color) const {
return 0.2126f * color[0] + 0.7152f * color[1] + 0.0722f * color[2];
}
public:
Octree(const PointType& minBound, const PointType& maxBound, size_t maxPointsPerNode=16, size_t maxDepth = 16) :
root_(std::make_unique<OctreeNode>(minBound, maxBound)), maxPointsPerNode(maxPointsPerNode),
@@ -348,9 +428,10 @@ public:
Octree() : root_(nullptr), maxPointsPerNode(16), maxDepth(16), size(0) {}
bool set(const T& data, const PointType& pos, bool visible, Eigen::Vector3f color, float size, bool active,
int objectId = -1, bool light = false, float emittance = 0.0f, float refraction = 0.0f, float reflection = 0.0f) {
int objectId = -1, bool light = false, float emittance = 0.0f, float refraction = 0.0f,
float reflection = 0.0f, Shape shape = Shape::SPHERE) {
auto pointData = std::make_shared<NodeData>(data, pos, visible, color, size, active, objectId,
light, emittance, refraction, reflection);
light, emittance, refraction, reflection, shape);
if (insertRecursive(root_.get(), pointData, 0)) {
this->size++;
return true;
@@ -375,6 +456,7 @@ public:
serializeNode(out, root_.get());
out.close();
std::cout << "successfully saved grid to " << filename << std::endl;
return true;
}
@@ -401,6 +483,7 @@ public:
deserializeNode(in, root_.get());
in.close();
std::cout << "successfully loaded grid from " << filename << std::endl;
return true;
}
@@ -512,8 +595,8 @@ public:
bool update(const PointType& oldPos, const PointType& newPos, const T& newData = T(), bool newVisible = true,
Eigen::Vector3f newColor = Eigen::Vector3f(1.0f, 1.0f, 1.0f), float newSize = 0.01f, bool newActive = true,
int newObjectId = -2, bool newLight = false, float newEmittance = 0.0f, float newRefraction = 0.0f, float newReflection = 0.0f,
float tolerance = 0.0001f) {
int newObjectId = -2, bool newLight = false, float newEmittance = 0.0f, float newRefraction = 0.0f,
float newReflection = 0.0f, Shape newShape = Shape::SPHERE, float tolerance = 0.0001f) {
// Find the existing point
auto pointData = find(oldPos, tolerance);
@@ -533,6 +616,7 @@ public:
float emittanceCopy = pointData->emittance;
float refractionCopy = pointData->refraction;
float reflectionCopy = pointData->reflection;
Shape shapeCopy = pointData->shape;
// Remove the old point
if (!remove(oldPos, tolerance)) {
@@ -549,7 +633,8 @@ public:
newLight ? newLight : lightCopy,
newEmittance > 0 ? newEmittance : emittanceCopy,
newRefraction >= 0 ? newRefraction : refractionCopy,
newReflection >= 0 ? newReflection : reflectionCopy);
newReflection >= 0 ? newReflection : reflectionCopy,
newShape);
} else {
// Just update properties in place
pointData->data = newData;
@@ -563,6 +648,7 @@ public:
pointData->emittance = newEmittance;
pointData->refraction = newRefraction;
pointData->reflection = newReflection;
pointData->shape = newShape;
return true;
}
}
@@ -630,6 +716,14 @@ public:
return true;
}
bool setShape(const PointType& pos, Shape shape, float tolerance = 0.0001f) {
auto pointData = find(pos, tolerance);
if (!pointData) return false;
pointData->shape = shape;
return true;
}
std::vector<std::shared_ptr<NodeData>> voxelTraverse(const PointType& origin, const PointType& direction,
float maxDist, bool stopAtFirstHit) const {
std::vector<std::shared_ptr<NodeData>> hits;
@@ -643,14 +737,25 @@ public:
for (const auto& pointData : node->points) {
if (!pointData->active) continue;
PointType toPoint = pointData->position - origin;
float projection = toPoint.dot(dir);
if (projection >= 0 && projection <= maxDist) {
PointType closestPoint = origin + dir * projection;
float distSq = (pointData->position - closestPoint).squaredNorm();
if (distSq < pointData->size * pointData->size) {
hits.emplace_back(pointData);
if (stopAtFirstHit) return;
if (pointData->shape == Shape::SPHERE) {
PointType center = pointData->position;
float radius = pointData->size;
float t;
if (raySphereIntersect(origin, dir, center, radius, t)) {
if (t >= 0 && t <= maxDist) {
hits.emplace_back(pointData);
if (stopAtFirstHit) return;
}
}
} else {
float t;
PointType normal, hitPoint;
if (rayCubeIntersect(origin, dir, pointData.get(), t, normal, hitPoint)) {
if (t >= 0 && t <= maxDist) {
hits.emplace_back(pointData);
if (stopAtFirstHit) return;
}
}
}
}
@@ -737,23 +842,36 @@ public:
auto obj = hits[0];
PointType center = obj->position;
float radius = obj->size;
PointType L_vec = center - rayOrig;
float tca = L_vec.dot(rayDir);
float d2 = L_vec.dot(L_vec) - tca * tca;
float radius2 = radius * radius;
PointType hitPoint;
PointType normal;
float t = 0.0f;
// Calculate intersection based on shape
if (obj->shape == Shape::SPHERE) {
// Sphere intersection
PointType center = obj->position;
float radius = obj->size;
PointType L_vec = center - rayOrig;
float tca = L_vec.dot(rayDir);
float d2 = L_vec.dot(L_vec) - tca * tca;
float radius2 = radius * radius;
float t = tca;
if (d2 <= radius2) {
float thc = std::sqrt(radius2 - d2);
t = tca - thc;
if (t < 0.001f) t = tca + thc;
if (d2 <= radius2) {
float thc = std::sqrt(radius2 - d2);
t = tca - thc;
if (t < 0.001f) t = tca + thc;
}
hitPoint = rayOrig + rayDir * t;
normal = (hitPoint - center).normalized();
} else {
// Cube intersection
PointType cubeNormal;
if (!rayCubeIntersect(rayOrig, rayDir, obj.get(), t, normal, hitPoint)) {
return space;
}
}
PointType hitPoint = rayOrig + rayDir * t;
PointType normal = (hitPoint - center).normalized();
Eigen::Vector3f finalColor = space;
if (obj->light) {