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use std::{collections::BinaryHeap, ops::ControlFlow};
use crate::{
config::{DEFAULT_NEIGHBOR_QUEUE_CAPACITY, DEFAULT_SEARCH_STACK_CAPACITY},
neighbors::NeighborWorkspace,
ray::Ray3D,
raycast as scalar_raycast,
traversal::{SearchWorkspace, upper_bound_level},
};
use super::{Index3D, Index3DView};
impl Index3D {
/// Return the indices of all items whose boxes the ray segment touches.
///
/// # Example
///
/// ```
/// use packed_spatial_index::{Box3D, Index3DBuilder, Point3D, Ray3D};
///
/// let mut builder = Index3DBuilder::new(2);
/// builder.add(Box3D::new(0.0, 0.0, 0.0, 1.0, 1.0, 1.0));
/// builder.add(Box3D::new(5.0, 5.0, 5.0, 6.0, 6.0, 6.0));
/// let index = builder.finish().unwrap();
///
/// let ray = Ray3D::new(Point3D::new(-1.0, 0.5, 0.5), 1.0, 0.0, 0.0, 10.0);
/// assert_eq!(index.raycast(ray), vec![0]);
/// assert_eq!(index.raycast_closest(ray), Some((0, 1.0)));
/// ```
pub fn raycast(&self, ray: Ray3D) -> Vec<usize> {
let mut results = Vec::new();
self.raycast_into(ray, &mut results);
results
}
/// Raycast with a reusable result buffer.
pub fn raycast_into(&self, ray: Ray3D, results: &mut Vec<usize>) {
let mut stack = Vec::with_capacity(DEFAULT_SEARCH_STACK_CAPACITY);
self.raycast_into_stack(ray, results, &mut stack);
}
/// Raycast with reusable result and traversal buffers.
pub fn raycast_with<'a>(&self, ray: Ray3D, workspace: &'a mut SearchWorkspace) -> &'a [usize] {
self.raycast_into_stack(ray, &mut workspace.results, &mut workspace.stack);
&workspace.results
}
/// Buffer-explicit raycast (mirrors `search_into_stack`).
#[doc(hidden)]
pub fn raycast_into_stack(&self, ray: Ray3D, results: &mut Vec<usize>, stack: &mut Vec<usize>) {
scalar_raycast::collect_hits(
self.entries.len(),
self.num_items,
self.node_size,
self.level_bounds.len(),
|level| self.level_bounds[level],
|pos| self.indices[pos],
|pos| ray.intersects_box(self.entries[pos]),
true,
results,
stack,
);
}
/// Return the nearest item whose box the ray segment enters, as
/// `(item index, entry t)`, or `None` when the segment hits nothing.
///
/// Nodes are visited front-to-back by entry distance and pruned once a
/// closer hit is known, so the cost is roughly independent of
/// `max_distance` after the first hit. `t` is `0.0` when the ray origin
/// starts inside the item's box, and is measured in units of the ray
/// direction length (see [`Ray3D::new`]).
pub fn raycast_closest(&self, ray: Ray3D) -> Option<(usize, f64)> {
let mut workspace = NeighborWorkspace::new();
self.raycast_closest_with(ray, &mut workspace)
}
/// Closest-hit raycast with a reusable priority-queue workspace.
pub fn raycast_closest_with(
&self,
ray: Ray3D,
workspace: &mut NeighborWorkspace,
) -> Option<(usize, f64)> {
scalar_raycast::closest_hit(
self.entries.len(),
self.num_items,
self.node_size,
ray.max_distance,
|node| self.level_bounds[upper_bound_level(&self.level_bounds, node)],
|pos| self.indices[pos],
|pos| ray.enter_t(self.entries[pos]),
&mut workspace.node_queue,
)
}
/// Visit items in nondecreasing entry-`t` order along the ray segment.
///
/// The visitor receives `(item index, entry t)`. Return
/// [`ControlFlow::Break`] to stop early - for example after the first N
/// occluders. `t` is `0.0` when the ray origin starts inside a box.
pub fn visit_raycast<B, F>(&self, ray: Ray3D, mut visitor: F) -> ControlFlow<B>
where
F: FnMut(usize, f64) -> ControlFlow<B>,
{
let mut queue = BinaryHeap::with_capacity(DEFAULT_NEIGHBOR_QUEUE_CAPACITY);
scalar_raycast::visit_hits(
self.entries.len(),
self.num_items,
self.node_size,
|node| self.level_bounds[upper_bound_level(&self.level_bounds, node)],
|pos| self.indices[pos],
|pos| ray.enter_t(self.entries[pos]),
&mut queue,
&mut visitor,
)
}
}
impl Index3DView<'_> {
/// Return the indices of all items whose boxes the ray segment touches.
pub fn raycast(&self, ray: Ray3D) -> Vec<usize> {
let mut results = Vec::new();
self.raycast_into(ray, &mut results);
results
}
/// Raycast with a reusable result buffer.
pub fn raycast_into(&self, ray: Ray3D, results: &mut Vec<usize>) {
let mut stack = Vec::with_capacity(DEFAULT_SEARCH_STACK_CAPACITY);
self.raycast_into_stack(ray, results, &mut stack);
}
/// Raycast with reusable result and traversal buffers.
pub fn raycast_with<'na>(
&self,
ray: Ray3D,
workspace: &'na mut SearchWorkspace,
) -> &'na [usize] {
self.raycast_into_stack(ray, &mut workspace.results, &mut workspace.stack);
&workspace.results
}
/// Buffer-explicit raycast (mirrors `search_into_stack`).
#[doc(hidden)]
pub fn raycast_into_stack(&self, ray: Ray3D, results: &mut Vec<usize>, stack: &mut Vec<usize>) {
scalar_raycast::collect_hits(
self.num_nodes,
self.num_items,
self.node_size,
self.level_count,
|level| self.level_bound_unchecked(level),
|pos| self.index_at_unchecked(pos),
|pos| ray.intersects_box(self.entry_at_unchecked(pos)),
false,
results,
stack,
);
}
/// Return the nearest item whose box the ray segment enters, as
/// `(item index, entry t)`, or `None` when the segment hits nothing.
/// See [`Index3D::raycast_closest`](crate::Index3D::raycast_closest).
pub fn raycast_closest(&self, ray: Ray3D) -> Option<(usize, f64)> {
let mut workspace = NeighborWorkspace::new();
self.raycast_closest_with(ray, &mut workspace)
}
/// Closest-hit raycast with a reusable priority-queue workspace.
pub fn raycast_closest_with(
&self,
ray: Ray3D,
workspace: &mut NeighborWorkspace,
) -> Option<(usize, f64)> {
scalar_raycast::closest_hit(
self.num_nodes,
self.num_items,
self.node_size,
ray.max_distance,
|node| self.level_bound_unchecked(self.upper_bound_level(node)),
|pos| self.index_at_unchecked(pos),
|pos| ray.enter_t(self.entry_at_unchecked(pos)),
&mut workspace.node_queue,
)
}
/// Visit items in nondecreasing entry-`t` order along the ray segment.
///
/// The visitor receives `(item index, entry t)`. Return
/// [`ControlFlow::Break`] to stop early - for example after the first N
/// occluders. `t` is `0.0` when the ray origin starts inside a box.
pub fn visit_raycast<B, F>(&self, ray: Ray3D, mut visitor: F) -> ControlFlow<B>
where
F: FnMut(usize, f64) -> ControlFlow<B>,
{
let mut queue = BinaryHeap::with_capacity(DEFAULT_NEIGHBOR_QUEUE_CAPACITY);
scalar_raycast::visit_hits(
self.num_nodes,
self.num_items,
self.node_size,
|node| self.level_bound_unchecked(self.upper_bound_level(node)),
|pos| self.index_at_unchecked(pos),
|pos| ray.enter_t(self.entry_at_unchecked(pos)),
&mut queue,
&mut visitor,
)
}
}