541 lines
17 KiB
C++
541 lines
17 KiB
C++
#include <array>
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#include <cstdint>
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#include <memory>
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#include <unordered_map>
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#include <functional>
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#include <cmath>
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#include <iostream>
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#include "../vectorlogic/vec3.hpp"
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static inline uint32_t FindLowestOn(uint64_t v)
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{
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#if defined(_MSC_VER) && defined(TREEXY_USE_INTRINSICS)
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unsigned long index;
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_BitScanForward64(&index, v);
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return static_cast<uint32_t>(index);
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#elif (defined(__GNUC__) || defined(__clang__)) && defined(TREEXY_USE_INTRINSICS)
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return static_cast<uint32_t>(__builtin_ctzll(v));
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#else
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static const unsigned char DeBruijn[64] = {
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0, 1, 2, 53, 3, 7, 54, 27, 4, 38, 41, 8, 34, 55, 48, 28,
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62, 5, 39, 46, 44, 42, 22, 9, 24, 35, 59, 56, 49, 18, 29, 11,
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63, 52, 6, 26, 37, 40, 33, 47, 61, 45, 43, 21, 23, 58, 17, 10,
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51, 25, 36, 32, 60, 20, 57, 16, 50, 31, 19, 15, 30, 14, 13, 12,
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};
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// disable unary minus on unsigned warning
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#if defined(_MSC_VER) && !defined(__NVCC__)
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#pragma warning(push)
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#pragma warning(disable : 4146)
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#endif
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return DeBruijn[uint64_t((v & -v) * UINT64_C(0x022FDD63CC95386D)) >> 58];
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#if defined(_MSC_VER) && !defined(__NVCC__)
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#pragma warning(pop)
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#endif
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#endif
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}
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inline uint32_t CountOn(uint64_t v)
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{
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#if defined(_MSC_VER) && defined(_M_X64)
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v = __popcnt64(v);
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#elif (defined(__GNUC__) || defined(__clang__))
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v = __builtin_popcountll(v);
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#else
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// Software Implementation
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v = v - ((v >> 1) & uint64_t(0x5555555555555555));
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v = (v & uint64_t(0x3333333333333333)) + ((v >> 2) & uint64_t(0x3333333333333333));
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v = (((v + (v >> 4)) & uint64_t(0xF0F0F0F0F0F0F0F)) * uint64_t(0x101010101010101)) >> 56;
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#endif
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return static_cast<uint32_t>(v);
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}
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template<uint32_t LOG2DIM>
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class Mask {
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private:
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static constexpr uint32_t SIZE = std::pow(2, 3 * LOG2DIM);
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static constexpr uint32_t WORD_COUNT = SIZE / 64;
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uint64_t mWords[WORD_COUNT];
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uint32_t findFirstOn() const {
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const uint64_t *w = mWords;
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uint32_t n = 0;
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while (n < WORD_COUNT && !*w) {
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++w;
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++n;
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}
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return n == WORD_COUNT ? SIZE : (n << 6) + FindLowestOn(*w);
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}
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uint32_t findNextOn(uint32_t start) const {
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uint32_t n = start >> 6;
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if (n >= WORD_COUNT) {
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return SIZE;
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}
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uint32_t m = start & 63;
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uint64_t b = mWords[n];
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if (b & (uint64_t(1) << m)) {
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return start;
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}
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b &= ~uint64_t(0) << m;
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while (!b && ++n < WORD_COUNT) {
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b = mWords[n];
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}
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return (!b ? SIZE : (n << 6) + FindLowestOn(b));
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}
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public:
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static size_t memUsage() {
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return sizeof(Mask);
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}
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static uint32_t bitCount() {
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return SIZE;
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}
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static uint32_t wordCount() {
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return WORD_COUNT;
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}
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uint64_t getWord(size_t n) const {
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return mWords[n];
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}
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void setWord(size_t n, uint64_t v) {
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mWords[n] = v;
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}
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uint32_t countOn() const {
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uint32_t sum = 0;
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uint32_t n = WORD_COUNT;
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for (const uint64_t* w = mWords; n--; ++w) {
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sum += CountOn(*w);
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}
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return sum;
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}
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class Iterator {
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private:
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uint32_t mPos;
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const Mask* mParent;
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public:
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Iterator() : mPos(Mask::SIZE), mParent(nullptr) {}
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Iterator(uint32_t pos, const Mask* parent) : mPos(pos), mParent(parent) {}
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Iterator& operator=(const Iterator&) = default;
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uint32_t operator*() const {
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return mPos;
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}
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operator bool() const {
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return mPos != Mask::SIZE;
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}
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Iterator& operator++() {
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mPos = mParent -> findNextOn(mPos + 1);
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return *this;
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}
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};
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Mask() {
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for (uint32_t i = 0; i < WORD_COUNT; ++i) {
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mWords[i] = 0;
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}
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}
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Mask(bool on) {
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const uint64_t v = on ? ~uint64_t(0) : uint64_t(0);
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for (uint32_t i = 0; i < WORD_COUNT; ++i) {
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mWords[i] = v;
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}
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}
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Mask(const Mask &other) {
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for (uint32_t i = 0; i < WORD_COUNT; ++i) {
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mWords[i] = other.mWords[i];
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}
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}
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template<typename WordT>
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WordT getWord(int n) const {
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return reinterpret_cast<const WordT *>(mWords)[n];
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}
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Mask &operator=(const Mask &other) {
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// static_assert(sizeof(Mask) == sizeof(Mask), "Mismatching sizeof");
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// static_assert(WORD_COUNT == Mask::WORD_COUNT, "Mismatching word count");
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// static_assert(LOG2DIM == Mask::LOG2DIM, "Mismatching LOG2DIM");
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uint64_t *src = reinterpret_cast<const uint64_t* >(&other);
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uint64_t *dst = mWords;
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for (uint32_t i = 0; i < WORD_COUNT; ++i) {
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*dst++ = *src++;
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}
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return *this;
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}
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bool operator==(const Mask &other) const {
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for (uint32_t i = 0; i < WORD_COUNT; ++i) {
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if (mWords[i] != other.mWords[i]) return false;
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}
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return true;
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}
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bool operator!=(const Mask &other) const {
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return !((*this) == other);
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}
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Iterator beginOn() const {
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return Iterator(this->findFirstOn(), this);
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}
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/// @brief return true if bit n is set.
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/// @param n the bit to check
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/// @return true otherwise return false
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bool isOn(uint32_t n) const {
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return 0 != (mWords[n >> 6] & (uint64_t(1) << (n&63)));
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}
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bool isOn() const {
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for (uint32_t i = 0; i < WORD_COUNT; ++i) {
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if (mWords[i] != ~uint64_t(0)) return false;
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}
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return true;
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}
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bool isOff() const {
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for (uint32_t i = 0; i < WORD_COUNT; ++i) {
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if (mWords[i] != ~uint64_t(0)) return true;
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}
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return false;
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}
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bool setOn(uint32_t n) {
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uint64_t &word = mWords[n >> 6];
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const uint64_t bit = (uint64_t(1) << (n & 63));
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bool wasOn = word & bit;
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word |= bit;
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return wasOn;
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}
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void setOff(uint32_t n) {
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mWords[n >> 6] &= ~(uint64_t(1) << (n & 63));
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}
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void set(uint32_t n, bool On) {
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#if 1
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auto &word = mWords[n >> 6];
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n &= 63;
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word &= ~(uint64_t(1) << n);
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word |= uint64_t(On) << n;
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#else
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On ? this->setOn(n) : this->setOff(n);
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#endif
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}
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void setOn() {
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for (uint32_t i = 0; i < WORD_COUNT; ++i) {
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mWords[i] = ~uint64_t(0);
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}
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}
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void setOff() {
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for (uint32_t i = 0; i < WORD_COUNT; ++i) {
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mWords[i] = uint64_t(0);
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}
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}
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void set(bool on) {
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const uint64_t v = on ? ~uint64_t(0) : uint64_t(0);
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for (uint32_t i = 0; i < WORD_COUNT; ++i) {
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mWords[i] = v;
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}
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}
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void toggle() {
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uint32_t n = WORD_COUNT;
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for (auto* w = mWords; n--; ++w) {
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*w = ~*w;
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}
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}
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void toggle(uint32_t n) {
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mWords[n >> 6] ^= uint64_t(1) << (n & 63);
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}
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};
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template <typename DataT, int Log2DIM>
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class Grid {
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public:
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constexpr static int DIM = 1 << Log2DIM;
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constexpr static int SIZE = DIM * DIM * DIM;
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std::array<DataT, SIZE> data;
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Mask<Log2DIM> mask;
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};
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template <typename DataT, int INNER_BITS = 2, int LEAF_BITS = 3>
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class VoxelGrid {
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public:
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constexpr static int32_t Log2N = INNER_BITS + LEAF_BITS;
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using LeafGrid = Grid<DataT, LEAF_BITS>;
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using InnerGrid = Grid<std::shared_ptr<LeafGrid>, INNER_BITS>;
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using RootMap = std::unordered_map<Vec3i, InnerGrid>;
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RootMap root_map;
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const double resolution;
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const double inv_resolution;
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const double half_resolution;
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VoxelGrid(double voxel_size) : resolution(voxel_size), inv_resolution(1.0 / voxel_size), half_resolution(0.5 * voxel_size) {}
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size_t getMemoryUsage() const {
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size_t total_size = 0;
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for (unsigned i = 0; i < root_map.bucket_count(); ++i) {
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size_t bucket_size = root_map.bucket_size(i);
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if (bucket_size == 0) {
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total_size++;
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} else {
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total_size += bucket_size;
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}
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}
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size_t entry_size = sizeof(Vec3i) + sizeof(InnerGrid) + sizeof(void *);
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total_size += root_map.size() * entry_size;
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for (const auto& [key, inner_grid] : root_map) {
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total_size += inner_grid.mask.countOn() * sizeof(LeafGrid);
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}
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return total_size;
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}
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static inline Vec3i PosToCoord(float x, float y, float z) {
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// union VI {
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// __m128i m;
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// int32_t i[4];
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// };
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// static __m128 RES = _mm_set1_ps(inv_resolution);
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// __m128 vect = _mm_set_ps(x, y, z, 0.0);
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// __m128 res = _mm_mul_ps(vect, RES);
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// VI out;
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// out.m = _mm_cvttps_epi32(_mm_floor_ps(res));
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// return {out.i[3], out.i[2], out.i[1]};
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return Vec3f(x,y,z).floorToI();
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}
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static inline Vec3i posToCoord(double x, double y, double z) {
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return Vec3f(x,y,z).floorToI();
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}
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static inline Vec3i posToCoord(const Vec3d &pos) {
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return pos.floorToI();
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}
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Vec3d Vec3iToPos(const Vec3i& coord) const {
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return (coord.toDouble() * resolution) + half_resolution;
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}
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template <class VisitorFunction>
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void forEachCell(VisitorFunction func) {
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constexpr static int32_t MASK_LEAF = ((1 << LEAF_BITS) - 1);
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constexpr static int32_t MASK_INNER = ((1 << INNER_BITS) - 1);
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for (auto& map_it : root_map) {
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const Vec3i& root_coord = map_it.first;
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int32_t xA = root_coord.x;
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int32_t yA = root_coord.y;
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int32_t zA = root_coord.z;
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InnerGrid& inner_grid = map_it.second;
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auto& mask2 = inner_grid.mask;
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for (auto inner_it = mask2.beginOn(); inner_it; ++inner_it) {
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const int32_t inner_index = *inner_it;
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int32_t xB = xA | ((inner_index & MASK_INNER) << LEAF_BITS);
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int32_t yB = yA | (((inner_index >> INNER_BITS) & MASK_INNER) << LEAF_BITS);
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int32_t zB = zA | (((inner_index >> (INNER_BITS* 2)) & MASK_INNER) << LEAF_BITS);
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auto& leaf_grid = inner_grid.data[inner_index];
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auto& mask1 = leaf_grid->mask;
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for (auto leaf_it = mask1.beginOn(); leaf_it; ++leaf_it){
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const int32_t leaf_index = *leaf_it;
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Vec3i pos = Vec3i(xB | (leaf_index & MASK_LEAF),
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yB | ((leaf_index >> LEAF_BITS) & MASK_LEAF),
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zB | ((leaf_index >> (LEAF_BITS * 2)) & MASK_LEAF));
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func(leaf_grid->data[leaf_index], pos);
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}
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}
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}
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}
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class Accessor {
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private:
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RootMap &root_;
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Vec3i prev_root_coord_;
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Vec3i prev_inner_coord_;
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InnerGrid* prev_inner_ptr_ = nullptr;
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LeafGrid* prev_leaf_ptr_ = nullptr;
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public:
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Accessor(RootMap& root) : root_(root) {}
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bool setValue(const Vec3i& coord, const DataT& value) {
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LeafGrid* leaf_ptr = prev_leaf_ptr_;
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const Vec3i inner_key = getInnerKey(coord);
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if (inner_key != prev_inner_coord_ || !prev_leaf_ptr_) {
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InnerGrid* inner_ptr = prev_inner_ptr_;
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const Vec3i root_key = getRootKey(coord);
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if (root_key != prev_root_coord_ || !prev_inner_ptr_) {
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auto root_it = root_.find(root_key);
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if (root_it == root_.end()) {
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root_it = root_.insert({root_key, InnerGrid()}).first;
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}
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inner_ptr = &(root_it->second);
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prev_root_coord_ = root_key;
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prev_inner_ptr_ = inner_ptr;
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}
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const uint32_t inner_index = getInnerIndex(coord);
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auto& inner_data = inner_ptr->data[inner_index];
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if (inner_ptr->mask.setOn(inner_index) == false) {
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inner_data = std::make_shared<LeafGrid>();
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}
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leaf_ptr = inner_data.get();
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prev_inner_coord_ = inner_key;
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prev_leaf_ptr_ = leaf_ptr;
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}
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const uint32_t leaf_index = getLeafIndex(coord);
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bool was_on = leaf_ptr->mask.setOn(leaf_index);
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leaf_ptr->data[leaf_index] = value;
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return was_on;
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}
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DataT* value(const Vec3i& coord) {
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LeafGrid* leaf_ptr = prev_leaf_ptr_;
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const Vec3i inner_key = getInnerKey(coord);
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if (inner_key != prev_inner_coord_ || !prev_inner_ptr_) {
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InnerGrid* inner_ptr = prev_inner_ptr_;
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const Vec3i root_key = getRootKey(coord);
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if (root_key != prev_root_coord_ || !prev_inner_ptr_) {
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auto it = root_.find(root_key);
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if (it == root_.end()) {
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return nullptr;
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}
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inner_ptr = &(it->second);
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prev_inner_coord_ = root_key;
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prev_inner_ptr_ = inner_ptr;
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}
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const uint32_t inner_index = getInnerIndex(coord);
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auto& inner_data = inner_ptr->data[inner_index];
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if (!inner_ptr->mask.isOn(inner_index)) {
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return nullptr;
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}
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leaf_ptr = inner_ptr->data[inner_index].get();
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prev_inner_coord_ = inner_key;
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prev_leaf_ptr_ = leaf_ptr;
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}
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const uint32_t leaf_index = getLeafIndex(coord);
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if (!leaf_ptr->mask.isOn(leaf_index)) {
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return nullptr;
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}
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return &(leaf_ptr->data[leaf_index]);
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}
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const InnerGrid* lastInnerGrid() const {
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return prev_inner_ptr_;
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}
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const LeafGrid* lastLeafGrid() const {
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return prev_leaf_ptr_;
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}
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};
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Accessor createAccessor() {
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return Accessor(root_map);
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}
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static inline Vec3i getRootKey(const Vec3i& coord) {
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constexpr static int32_t MASK = ~((1 << Log2N) - 1);
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return {coord.x & MASK, coord.y & MASK, coord.z & MASK};
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}
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static inline Vec3i getInnerKey(const Vec3i &coord)
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{
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constexpr static int32_t MASK = ~((1 << LEAF_BITS) - 1);
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return {coord.x & MASK, coord.y & MASK, coord.z & MASK};
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}
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static inline uint32_t getInnerIndex(const Vec3i &coord)
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{
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constexpr static int32_t MASK = ((1 << INNER_BITS) - 1);
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// clang-format off
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return ((coord.x >> LEAF_BITS) & MASK) +
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(((coord.y >> LEAF_BITS) & MASK) << INNER_BITS) +
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(((coord.z >> LEAF_BITS) & MASK) << (INNER_BITS * 2));
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// clang-format on
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}
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static inline uint32_t getLeafIndex(const Vec3i &coord)
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{
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constexpr static int32_t MASK = ((1 << LEAF_BITS) - 1);
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// clang-format off
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return (coord.x & MASK) +
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((coord.y & MASK) << LEAF_BITS) +
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((coord.z & MASK) << (LEAF_BITS * 2));
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// clang-format on
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}
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bool setVoxelColor(const Vec3d& worldPos, const Vec3ui8& color) {
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Vec3i coord = posToCoord(worldPos);
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|
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
|
|
}
|
|
});
|
|
}
|
|
}; |