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faster fastvoxeltraverse

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Yggdrasil75
2026-01-30 07:05:52 -05:00
parent c6038722e5
commit c8aa34dcda
1 changed files with 67 additions and 30 deletions
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95
util/grid/grid3eigen.hpp
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@@ -1002,6 +1002,68 @@ public:
return outFrame;
}
std::shared_ptr<NodeData> fastVoxelTraverse(const PointType& origin, const PointType& direction,
float maxDist) const {
std::shared_ptr<NodeData> hit;
if (empty()) return hit;
std::function<void(OctreeNode*, const PointType&, const PointType&, float, float)> traverseNode =
[&](OctreeNode* node, const PointType& origin, const PointType& dir, float tMin, float tMax) {
if (!node || tMin > tMax) return;
if (node->isLeaf) {
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) {
hit = pointData;
return;
}
}
}
} else {
std::array<std::pair<int, float>, 8> childOrder;
PointType center = node->center;
for (int i = 0; i < 8; ++i) {
if (node->children[i]) {
PointType childCenter = node->children[i]->center;
float dist = (childCenter - origin).dot(dir);
childOrder[i] = {i, dist};
} else {
childOrder[i] = {i, std::numeric_limits<float>::lowest()};
}
}
bitonic_sort_8(childOrder);
for (int i = 0; i < 8; ++i) {
int childIdx = childOrder[i].first;
if (node->children[childIdx]) {
const auto& childBounds = node->children[childIdx]->bounds;
float childtMin = tMin;
float childtMax = tMax;
if (rayBoxIntersect(origin, dir, childBounds, childtMin, childtMax)) {
traverseNode(node->children[childIdx].get(), origin, dir, childtMin, childtMax);
if (hit != nullptr) return;
}
}
}
}
};
float tMin, tMax;
if (rayBoxIntersect(origin, direction, root_->bounds, tMin, tMax)) {
tMax = std::min(tMax, maxDist);
traverseNode(root_.get(), origin, direction, tMin, tMax);
}
return hit;
}
frame fastRenderFrame(const Camera& cam, int height, int width, frame::colormap colorformat = frame::colormap::RGB) {
PointType origin = cam.origin;
@@ -1041,48 +1103,23 @@ public:
Eigen::Vector3f color = backgroundColor_; // Start with background color
auto hits = voxelTraverse(origin, rayDir, std::numeric_limits<float>::max(), true);
if (!hits.empty()) {
auto obj = hits[0];
auto hit = fastVoxelTraverse(origin, rayDir, std::numeric_limits<float>::max());
if (hit != nullptr) {
auto obj = hit;
// Simple shading: use object color directly
color = obj->color;
// If it's a light, add emittance
if (obj->light) {
color = color * obj->emittance;
}
// Simple lighting based on ray direction (fake diffuse)
PointType normal;
if (obj->shape == Shape::SPHERE) {
PointType center = obj->position;
float radius = obj->size;
PointType L_vec = center - origin;
float tca = L_vec.dot(rayDir);
float d2 = L_vec.dot(L_vec) - tca * tca;
float radius2 = radius * radius;
if (d2 <= radius2) {
float thc = std::sqrt(radius2 - d2);
float t = tca - thc;
if (t < 0.001f) t = tca + thc;
PointType hitPoint = origin + rayDir * t;
normal = (hitPoint - center).normalized();
}
} else {
// For cubes, use a simple approximation
normal = -rayDir; // Face the camera
}
PointType normal = -rayDir;
// Simple directional lighting
float lightDot = std::max(0.2f, normal.dot(-rayDir));
color = color * lightDot;
}
color = color.cwiseMax(0.0f).cwiseMin(1.0f);
switch(colorformat) {
case frame::colormap::B:
colorBuffer[idx ] = static_cast<uint8_t>(rgbToGrayscale(color) * 255.0f);