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//! This module exports methods to flatten the `BVH` and traverse it iteratively. use aabb::{Bounded, AABB}; use bounding_hierarchy::{BHShape, BoundingHierarchy}; use bvh::{BVHNode, BVH}; use ray::Ray; /// A structure of a node of a flat [`BVH`]. The structure of the nodes allows for an /// iterative traversal approach without the necessity to maintain a stack or queue. /// /// [`BVH`]: struct.BVH.html /// pub struct FlatNode { /// The [`AABB`] of the [`BVH`] node. Prior to testing the [`AABB`] bounds, /// the `entry_index` must be checked. In case the entry_index is [`u32::max_value()`], /// the [`AABB`] is undefined. /// /// [`AABB`]: ../aabb/struct.AABB.html /// [`BVH`]: struct.BVH.html /// [`u32::max_value()`]: https://doc.rust-lang.org/std/u32/constant.MAX.html /// aabb: AABB, /// The index of the `FlatNode` to jump to, if the [`AABB`] test is positive. /// If this value is [`u32::max_value()`] then the current node is a leaf node. /// Leaf nodes contain a shape index and an exit index. In leaf nodes the /// [`AABB`] is undefined. /// /// [`AABB`]: ../aabb/struct.AABB.html /// [`u32::max_value()`]: https://doc.rust-lang.org/std/u32/constant.MAX.html /// entry_index: u32, /// The index of the `FlatNode` to jump to, if the [`AABB`] test is negative. /// /// [`AABB`]: ../aabb/struct.AABB.html /// exit_index: u32, /// The index of the shape in the shapes array. shape_index: u32, } impl BVHNode { /// Creates a flat node from a `BVH` inner node and its `AABB`. Returns the next free index. /// TODO: change the algorithm which pushes `FlatNode`s to a vector to not use indices this /// much. Implement an algorithm which writes directly to a writable slice. fn create_flat_branch<F, FNodeType>( &self, nodes: &[BVHNode], this_aabb: &AABB, vec: &mut Vec<FNodeType>, next_free: usize, constructor: &F, ) -> usize where F: Fn(&AABB, u32, u32, u32) -> FNodeType, { // Create dummy node. let dummy = constructor(&AABB::empty(), 0, 0, 0); vec.push(dummy); assert_eq!(vec.len() - 1, next_free); // Create subtree. let index_after_subtree = self.flatten_custom(nodes, vec, next_free + 1, constructor); // Replace dummy node by actual node with the entry index pointing to the subtree // and the exit index pointing to the next node after the subtree. let navigator_node = constructor( this_aabb, (next_free + 1) as u32, index_after_subtree as u32, u32::max_value(), ); vec[next_free] = navigator_node; index_after_subtree } /// Flattens the [`BVH`], so that it can be traversed in an iterative manner. /// This method constructs custom flat nodes using the `constructor`. /// /// [`BVH`]: struct.BVH.html /// pub fn flatten_custom<F, FNodeType>( &self, nodes: &[BVHNode], vec: &mut Vec<FNodeType>, next_free: usize, constructor: &F, ) -> usize where F: Fn(&AABB, u32, u32, u32) -> FNodeType, { match *self { BVHNode::Node { ref child_l_aabb, child_l_index, ref child_r_aabb, child_r_index, .. } => { let index_after_child_l = nodes[child_l_index].create_flat_branch( nodes, child_l_aabb, vec, next_free, constructor, ); nodes[child_r_index].create_flat_branch( nodes, child_r_aabb, vec, index_after_child_l, constructor, ) } BVHNode::Leaf { shape_index, .. } => { let mut next_shape = next_free; next_shape += 1; let leaf_node = constructor( &AABB::empty(), u32::max_value(), next_shape as u32, shape_index as u32, ); vec.push(leaf_node); next_shape } } } } /// A flat [`BVH`]. Represented by a vector of [`FlatNode`]s. The [`FlatBVH`] is designed for use /// where a recursive traversal of a data structure is not possible, for example shader programs. /// /// [`BVH`]: struct.BVH.html /// [`FlatNode`]: struct.FlatNode.html /// [`FlatBVH`]: struct.FlatBVH.html /// pub type FlatBVH = Vec<FlatNode>; impl BVH { /// Flattens the [`BVH`] so that it can be traversed iteratively. /// Constructs the flat nodes using the supplied function. /// This function can be used, when the flat bvh nodes should be of some particular /// non-default structure. /// The `constructor` is fed the following arguments in this order: /// /// 1 - &AABB: The enclosing `AABB` /// 2 - u32: The index of the nested node /// 3 - u32: The exit index /// 4 - u32: The shape index /// /// [`BVH`]: struct.BVH.html /// /// # Example /// /// ``` /// use bvh::aabb::{AABB, Bounded}; /// use bvh::bvh::BVH; /// use bvh::nalgebra::{Point3, Vector3}; /// use bvh::ray::Ray; /// # use bvh::bounding_hierarchy::BHShape; /// # pub struct UnitBox { /// # pub id: i32, /// # pub pos: Point3<f32>, /// # node_index: usize, /// # } /// # /// # impl UnitBox { /// # pub fn new(id: i32, pos: Point3<f32>) -> UnitBox { /// # UnitBox { /// # id: id, /// # pos: pos, /// # node_index: 0, /// # } /// # } /// # } /// # /// # impl Bounded for UnitBox { /// # fn aabb(&self) -> AABB { /// # let min = self.pos + Vector3::new(-0.5, -0.5, -0.5); /// # let max = self.pos + Vector3::new(0.5, 0.5, 0.5); /// # AABB::with_bounds(min, max) /// # } /// # } /// # /// # impl BHShape for UnitBox { /// # fn set_bh_node_index(&mut self, index: usize) { /// # self.node_index = index; /// # } /// # /// # fn bh_node_index(&self) -> usize { /// # self.node_index /// # } /// # } /// # /// # fn create_bhshapes() -> Vec<UnitBox> { /// # let mut shapes = Vec::new(); /// # for i in 0..1000 { /// # let position = Point3::new(i as f32, i as f32, i as f32); /// # shapes.push(UnitBox::new(i, position)); /// # } /// # shapes /// # } /// /// struct CustomStruct { /// aabb: AABB, /// entry_index: u32, /// exit_index: u32, /// shape_index: u32, /// } /// /// let custom_constructor = |aabb: &AABB, entry, exit, shape_index| { /// CustomStruct { /// aabb: *aabb, /// entry_index: entry, /// exit_index: exit, /// shape_index: shape_index, /// } /// }; /// /// let mut shapes = create_bhshapes(); /// let bvh = BVH::build(&mut shapes); /// let custom_flat_bvh = bvh.flatten_custom(&custom_constructor); /// ``` pub fn flatten_custom<F, FNodeType>(&self, constructor: &F) -> Vec<FNodeType> where F: Fn(&AABB, u32, u32, u32) -> FNodeType, { let mut vec = Vec::new(); self.nodes[0].flatten_custom(&self.nodes, &mut vec, 0, constructor); vec } /// Flattens the [`BVH`] so that it can be traversed iteratively. /// /// [`BVH`]: struct.BVH.html /// /// # Example /// /// ``` /// use bvh::aabb::{AABB, Bounded}; /// use bvh::bvh::BVH; /// use bvh::nalgebra::{Point3, Vector3}; /// use bvh::ray::Ray; /// # use bvh::bounding_hierarchy::BHShape; /// # pub struct UnitBox { /// # pub id: i32, /// # pub pos: Point3<f32>, /// # node_index: usize, /// # } /// # /// # impl UnitBox { /// # pub fn new(id: i32, pos: Point3<f32>) -> UnitBox { /// # UnitBox { /// # id: id, /// # pos: pos, /// # node_index: 0, /// # } /// # } /// # } /// # /// # impl Bounded for UnitBox { /// # fn aabb(&self) -> AABB { /// # let min = self.pos + Vector3::new(-0.5, -0.5, -0.5); /// # let max = self.pos + Vector3::new(0.5, 0.5, 0.5); /// # AABB::with_bounds(min, max) /// # } /// # } /// # /// # impl BHShape for UnitBox { /// # fn set_bh_node_index(&mut self, index: usize) { /// # self.node_index = index; /// # } /// # /// # fn bh_node_index(&self) -> usize { /// # self.node_index /// # } /// # } /// # /// # fn create_bhshapes() -> Vec<UnitBox> { /// # let mut shapes = Vec::new(); /// # for i in 0..1000 { /// # let position = Point3::new(i as f32, i as f32, i as f32); /// # shapes.push(UnitBox::new(i, position)); /// # } /// # shapes /// # } /// /// let mut shapes = create_bhshapes(); /// let bvh = BVH::build(&mut shapes); /// let flat_bvh = bvh.flatten(); /// ``` pub fn flatten(&self) -> FlatBVH { self.flatten_custom(&|aabb, entry, exit, shape| FlatNode { aabb: *aabb, entry_index: entry, exit_index: exit, shape_index: shape, }) } } impl BoundingHierarchy for FlatBVH { /// A [`FlatBVH`] is built from a regular [`BVH`] using the [`flatten`] method. /// /// [`FlatBVH`]: struct.FlatBVH.html /// [`BVH`]: struct.BVH.html /// fn build<T: BHShape>(shapes: &mut [T]) -> FlatBVH { let bvh = BVH::build(shapes); bvh.flatten() } /// Traverses a [`FlatBVH`] structure iteratively. /// /// [`FlatBVH`]: struct.FlatBVH.html /// /// # Examples /// /// ``` /// use bvh::aabb::{AABB, Bounded}; /// use bvh::bounding_hierarchy::BoundingHierarchy; /// use bvh::flat_bvh::FlatBVH; /// use bvh::nalgebra::{Point3, Vector3}; /// use bvh::ray::Ray; /// # use bvh::bounding_hierarchy::BHShape; /// # pub struct UnitBox { /// # pub id: i32, /// # pub pos: Point3<f32>, /// # node_index: usize, /// # } /// # /// # impl UnitBox { /// # pub fn new(id: i32, pos: Point3<f32>) -> UnitBox { /// # UnitBox { /// # id: id, /// # pos: pos, /// # node_index: 0, /// # } /// # } /// # } /// # /// # impl Bounded for UnitBox { /// # fn aabb(&self) -> AABB { /// # let min = self.pos + Vector3::new(-0.5, -0.5, -0.5); /// # let max = self.pos + Vector3::new(0.5, 0.5, 0.5); /// # AABB::with_bounds(min, max) /// # } /// # } /// # /// # impl BHShape for UnitBox { /// # fn set_bh_node_index(&mut self, index: usize) { /// # self.node_index = index; /// # } /// # /// # fn bh_node_index(&self) -> usize { /// # self.node_index /// # } /// # } /// # /// # fn create_bhshapes() -> Vec<UnitBox> { /// # let mut shapes = Vec::new(); /// # for i in 0..1000 { /// # let position = Point3::new(i as f32, i as f32, i as f32); /// # shapes.push(UnitBox::new(i, position)); /// # } /// # shapes /// # } /// /// let origin = Point3::new(0.0,0.0,0.0); /// let direction = Vector3::new(1.0,0.0,0.0); /// let ray = Ray::new(origin, direction); /// let mut shapes = create_bhshapes(); /// let flat_bvh = FlatBVH::build(&mut shapes); /// let hit_shapes = flat_bvh.traverse(&ray, &shapes); /// ``` fn traverse<'a, T: Bounded>(&'a self, ray: &Ray, shapes: &'a [T]) -> Vec<&T> { let mut hit_shapes = Vec::new(); let mut index = 0; // The traversal loop should terminate when `max_length` is set as the next node index. let max_length = self.len(); // Iterate while the node index is valid. while index < max_length { let node = &self[index]; if node.entry_index == u32::max_value() { // If the entry_index is MAX_UINT32, then it's a leaf node. let shape = &shapes[node.shape_index as usize]; if ray.intersects_aabb(&shape.aabb()) { hit_shapes.push(shape); } // Exit the current node. index = node.exit_index as usize; } else if ray.intersects_aabb(&node.aabb) { // If entry_index is not MAX_UINT32 and the AABB test passes, then // proceed to the node in entry_index (which goes down the bvh branch). index = node.entry_index as usize; } else { // If entry_index is not MAX_UINT32 and the AABB test fails, then // proceed to the node in exit_index (which defines the next untested partition). index = node.exit_index as usize; } } hit_shapes } /// Prints a textual representation of a [`FlatBVH`]. /// /// [`FlatBVH`]: struct.FlatBVH.html /// fn pretty_print(&self) { for (i, node) in self.iter().enumerate() { println!( "{}\tentry {}\texit {}\tshape {}", i, node.entry_index, node.exit_index, node.shape_index ); } } } #[cfg(test)] mod tests { use bvh::BVH; use flat_bvh::FlatBVH; use testbase::{ build_1200_triangles_bh, build_120k_triangles_bh, build_12k_triangles_bh, build_some_bh, create_n_cubes, default_bounds, intersect_1200_triangles_bh, intersect_120k_triangles_bh, intersect_12k_triangles_bh, traverse_some_bh, }; #[test] /// Tests whether the building procedure succeeds in not failing. fn test_build_flat_bvh() { build_some_bh::<FlatBVH>(); } #[test] /// Runs some primitive tests for intersections of a ray with a fixed scene given /// as a `FlatBVH`. fn test_traverse_flat_bvh() { traverse_some_bh::<FlatBVH>(); } #[bench] /// Benchmark the flattening of a BVH with 120,000 triangles. fn bench_flatten_120k_triangles_bvh(b: &mut ::test::Bencher) { let bounds = default_bounds(); let mut triangles = create_n_cubes(10_000, &bounds); let bvh = BVH::build(&mut triangles); b.iter(|| { bvh.flatten(); }); } #[bench] /// Benchmark the construction of a `FlatBVH` with 1,200 triangles. fn bench_build_1200_triangles_flat_bvh(mut b: &mut ::test::Bencher) { build_1200_triangles_bh::<FlatBVH>(&mut b); } #[bench] /// Benchmark the construction of a `FlatBVH` with 12,000 triangles. fn bench_build_12k_triangles_flat_bvh(mut b: &mut ::test::Bencher) { build_12k_triangles_bh::<FlatBVH>(&mut b); } #[bench] /// Benchmark the construction of a `FlatBVH` with 120,000 triangles. fn bench_build_120k_triangles_flat_bvh(mut b: &mut ::test::Bencher) { build_120k_triangles_bh::<FlatBVH>(&mut b); } #[bench] /// Benchmark intersecting 1,200 triangles using the recursive `FlatBVH`. fn bench_intersect_1200_triangles_flat_bvh(mut b: &mut ::test::Bencher) { intersect_1200_triangles_bh::<FlatBVH>(&mut b); } #[bench] /// Benchmark intersecting 12,000 triangles using the recursive `FlatBVH`. fn bench_intersect_12k_triangles_flat_bvh(mut b: &mut ::test::Bencher) { intersect_12k_triangles_bh::<FlatBVH>(&mut b); } #[bench] /// Benchmark intersecting 120,000 triangles using the recursive `FlatBVH`. fn bench_intersect_120k_triangles_flat_bvh(mut b: &mut ::test::Bencher) { intersect_120k_triangles_bh::<FlatBVH>(&mut b); } }