yggdrasil75/stupidsimcpp
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added eigen, dropping my own for the speed potential. its still kinda broken, but its faster.

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yggdrasil75
2026-01-26 21:06:53 -05:00
parent c3916d146a
commit e0764318b4
2 changed files with 16 additions and 19 deletions
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31
util/grid/grid3eigen.hpp
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@@ -4,6 +4,13 @@
#include "../../eigen/Eigen/Dense"
#include "../timing_decorator.hpp"
#include "../output/frame.hpp"
#include <vector>
#include <array>
#include <memory>
#include <algorithm>
#include <limits>
#include <cmath>
#ifdef SSE
#include <immintrin.h>
#endif
@@ -181,8 +188,6 @@ private:
arr[i].second = values[i];
arr[i].first = (uint8_t)indices[i];
}
#else
auto a0 = arr[0], a1 = arr[1], a2 = arr[2], a3 = arr[3];
auto a4 = arr[4], a5 = arr[5], a6 = arr[6], a7 = arr[7];
@@ -247,7 +252,7 @@ private:
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),
maxDepth(maxDepth), size(size) {}
maxDepth(maxDepth), size(0) {}
bool set(const T& data, const PointType& pos, Eigen::Vector3f color, float size, bool active) {
auto pointData = std::make_shared<NodeData>(data, pos, color, size, active);
@@ -269,20 +274,12 @@ public:
if (!node || tMin > tMax) return;
if (node->isLeaf) {
for (const auto& pointData : node->points) {
//if (!pointData->active) continue;
// Calculate intersection with axis-aligned cube
float halfSize = pointData->size * 0.5f;
PointType cubeMin = pointData->position - PointType::Constant(halfSize);
PointType cubeMax = pointData->position + PointType::Constant(halfSize);
// Ray-cube intersection test
float cubeTMin = tMin;
float cubeTMax = tMax;
if (rayBoxIntersect(origin, dir, {cubeMin, cubeMax}, cubeTMin, cubeTMax)) {
// Check if intersection is within max distance
if (cubeTMin <= maxDist) {
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;
}