Hello, I've made a few changes to osgUtil::PolytopeIntersector so that it actually uses double precision floating point numbers everywhere (as long as OSG_USE_FLOAT_PLANE is not defined).
I needed double precision intersections in a project I am working on.
These changes fixed the problems I was having -- this is all testing I
have done.
Notice that I have changed
osgUtil::PolytopeIntersector::Intersection's members to use doubles
(osg::Vec3d, instead of osg::Vec3). I could have added #ifdef's there
too, but I think it is better to not change the types of stuff in the
public interface depending on some preprocessor definition.
The modified files are attached. A diff also follows, for those who like it.
LMB
-----
diff -aur OpenSceneGraph-3.0.1-vanilla/include/osgUtil/PolytopeIntersector
OpenSceneGraph-3.0.1-lmb/include/osgUtil/PolytopeIntersector
--- OpenSceneGraph-3.0.1-vanilla/include/osgUtil/PolytopeIntersector
2011-05-06 09:30:58.000000000 -0300
+++ OpenSceneGraph-3.0.1-lmb/include/osgUtil/PolytopeIntersector
2011-11-25 10:37:24.000000000 -0200
@@ -70,9 +70,9 @@
osg::NodePath nodePath;
osg::ref_ptr<osg::Drawable> drawable;
osg::ref_ptr<osg::RefMatrix> matrix;
- osg::Vec3 localIntersectionPoint;
///< center of all intersection points
+ osg::Vec3d localIntersectionPoint;
///< center of all intersection points
unsigned int numIntersectionPoints;
- osg::Vec3
intersectionPoints[MaxNumIntesectionPoints];
+ osg::Vec3d
intersectionPoints[MaxNumIntesectionPoints];
unsigned int primitiveIndex; ///<
primitive index
};
diff -aur OpenSceneGraph-3.0.1-vanilla/src/osgUtil/PolytopeIntersector.cpp
OpenSceneGraph-3.0.1-lmb/src/osgUtil/PolytopeIntersector.cpp
--- OpenSceneGraph-3.0.1-vanilla/src/osgUtil/PolytopeIntersector.cpp
2011-05-06 09:26:13.000000000 -0300
+++ OpenSceneGraph-3.0.1-lmb/src/osgUtil/PolytopeIntersector.cpp
2011-11-25 10:48:08.000000000 -0200
@@ -63,7 +63,7 @@
value_type _maxDistance; ///< maximum distance of
intersection points from reference plane
unsigned int _index; ///< primitive index
unsigned int _numPoints;
- osg::Vec3 _points[MaxNumIntesections];
+ Vec3_type _points[MaxNumIntesections];
}; // class PolytopeIntersection
typedef std::vector<PolytopeIntersection> Intersections;
@@ -590,12 +590,12 @@
hit.drawable = drawable;
hit.matrix = iv.getModelMatrix();
- osg::Vec3 center;
+ PolytopeIntersectorUtils::Vec3_type center;
for (unsigned int i=0; i<intersection._numPoints; ++i)
{
center += intersection._points[i];
}
- center /= float(intersection._numPoints);
+ center /=
PolytopeIntersectorUtils::value_type(intersection._numPoints);
hit.localIntersectionPoint = center;
hit.numIntersectionPoints = intersection._numPoints;
PolytopeIntersector
Description: Binary data
/* -*-c++-*- OpenSceneGraph - Copyright (C) 1998-2006 Robert Osfield
*
* This library is open source and may be redistributed and/or modified under
* the terms of the OpenSceneGraph Public License (OSGPL) version 0.0 or
* (at your option) any later version. The full license is in LICENSE file
* included with this distribution, and on the openscenegraph.org website.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* OpenSceneGraph Public License for more details.
*/
#include <osgUtil/PolytopeIntersector>
#include <osg/Geometry>
#include <osg/Notify>
#include <osg/io_utils>
#include <osg/TemplatePrimitiveFunctor>
using namespace osgUtil;
namespace PolytopeIntersectorUtils
{
#ifdef OSG_USE_FLOAT_PLANE
typedef float value_type;
typedef osg::Vec3f Vec3_type;
#else
typedef double value_type;
typedef osg::Vec3d Vec3_type;
#endif
typedef osg::Polytope::ClippingMask PlaneMask;
typedef std::vector<std::pair<PlaneMask,Vec3_type> > CandList_t;
class PolytopeIntersection {
public:
enum { MaxNumIntesections = PolytopeIntersector::Intersection::MaxNumIntesectionPoints };
PolytopeIntersection(unsigned int index, const CandList_t& cands, const osg::Plane &referencePlane) :
_maxDistance(-1.0), _index(index-1), _numPoints(0)
{
Vec3_type center;
for (CandList_t::const_iterator it=cands.begin(); it!=cands.end(); ++it)
{
PlaneMask mask = it->first;
if (mask==0) continue;
_points[_numPoints++] = it->second;
center += it->second;
value_type distance = referencePlane.distance(it->second);
if (distance > _maxDistance) _maxDistance = distance;
if (_numPoints==MaxNumIntesections) break;
}
center /= value_type(_numPoints);
_distance = referencePlane.distance( center );
}
bool operator<(const PolytopeIntersection& rhs) const { return _distance < rhs._distance; }
value_type _distance; ///< distance from reference plane
value_type _maxDistance; ///< maximum distance of intersection points from reference plane
unsigned int _index; ///< primitive index
unsigned int _numPoints;
Vec3_type _points[MaxNumIntesections];
}; // class PolytopeIntersection
typedef std::vector<PolytopeIntersection> Intersections;
class PolytopePrimitiveIntersector {
public:
typedef osg::Polytope::PlaneList PlaneList;
/// a line defined by the intersection of two planes
struct PlanesLine
{
PlanesLine(PlaneMask m, Vec3_type p, Vec3_type d) :
mask(m), pos(p), dir(d) {}
PlaneMask mask;
Vec3_type pos;
Vec3_type dir;
};
typedef std::vector<PlanesLine> LinesList;
PolytopePrimitiveIntersector() :
_index(0),
_limitOneIntersection( false ),
_dimensionMask( PolytopeIntersector::AllDims ),
_plane_mask(0x0),
_candidates(20) {}
void addIntersection(unsigned int index, const CandList_t& cands) {
intersections.push_back( PolytopeIntersection( index, cands, _referencePlane ) );
}
value_type eps() { return 1e-6; }
/// check which candidate points lie within the polytope volume
/// mark outliers with mask == 0, return number of remaining candidates
unsigned int checkCandidatePoints(PlaneMask inside_mask)
{
PlaneMask selector_mask = 0x1;
unsigned int numCands=_candidates.size();
for(PlaneList::const_iterator it=_planes.begin();
it!=_planes.end() && numCands>0;
++it, selector_mask <<= 1)
{
const osg::Plane& plane=*it;
if (selector_mask & inside_mask) continue;
for (CandList_t::iterator pointIt=_candidates.begin(); pointIt!=_candidates.end(); ++pointIt)
{
PlaneMask& mask=pointIt->first;
if (mask==0) continue;
if (selector_mask & mask) continue;
if (plane.distance(pointIt->second)<0.0f)
{
mask=0; // mark as outside
--numCands;
if (numCands==0) return 0;
}
}
}
return numCands;
}
// handle points
void operator()(const Vec3_type v1, bool treatVertexDataAsTemporary)
{
++_index;
if ((_dimensionMask & PolytopeIntersector::DimZero) == 0) return;
if (_limitOneIntersection && !intersections.empty()) return;
for (PlaneList::const_iterator it=_planes.begin(); it!=_planes.end(); ++it)
{
const osg::Plane& plane=*it;
const value_type d1=plane.distance(v1);
if (d1<0.0f) return; // point outside
}
_candidates.clear();
_candidates.push_back( CandList_t::value_type(_plane_mask, v1));
addIntersection(_index, _candidates);
}
// handle lines
void operator()(const Vec3_type v1, const Vec3_type v2, bool treatVertexDataAsTemporary)
{
++_index;
if ((_dimensionMask & PolytopeIntersector::DimOne) == 0) return;
if (_limitOneIntersection && !intersections.empty()) return;
PlaneMask selector_mask = 0x1;
PlaneMask inside_mask = 0x0;
_candidates.clear();
bool v1Inside = true;
bool v2Inside = true;
for (PlaneList::const_iterator it=_planes.begin(); it!=_planes.end(); ++it, selector_mask<<=1)
{
const osg::Plane& plane=*it;
const value_type d1=plane.distance(v1);
const value_type d2=plane.distance(v2);
const bool d1IsNegative = (d1<0.0f);
const bool d2IsNegative = (d2<0.0f);
if (d1IsNegative && d2IsNegative) return; // line outside
if (!d1IsNegative && !d2IsNegative)
{
inside_mask |= selector_mask;
continue; // completly inside
}
if (d1IsNegative) v1Inside = false;
if (d2IsNegative) v2Inside = false;
if (d1==0.0f)
{
_candidates.push_back( CandList_t::value_type(selector_mask, v1) );
}
else if (d2==0.0f)
{
_candidates.push_back( CandList_t::value_type(selector_mask, v2) );
}
else if (d1IsNegative && !d2IsNegative)
{
_candidates.push_back( CandList_t::value_type(selector_mask, (v1-(v2-v1)*(d1/(-d1+d2))) ) );
} else if (!d1IsNegative && d2IsNegative)
{
_candidates.push_back( CandList_t::value_type(selector_mask, (v1+(v2-v1)*(d1/(d1-d2))) ) );
}
}
if (inside_mask==_plane_mask)
{
_candidates.push_back( CandList_t::value_type(_plane_mask, v1) );
_candidates.push_back( CandList_t::value_type(_plane_mask, v2) );
addIntersection(_index, _candidates);
return;
}
unsigned int numCands=checkCandidatePoints(inside_mask);
if (numCands>0)
{
if (v1Inside) _candidates.push_back( CandList_t::value_type(_plane_mask, v1) );
if (v2Inside) _candidates.push_back( CandList_t::value_type(_plane_mask, v2) );
addIntersection(_index, _candidates);
}
}
// handle triangles
void operator()(const Vec3_type v1, const Vec3_type v2, const Vec3_type v3, bool treatVertexDataAsTemporary)
{
++_index;
if ((_dimensionMask & PolytopeIntersector::DimTwo) == 0) return;
if (_limitOneIntersection && !intersections.empty()) return;
PlaneMask selector_mask = 0x1;
PlaneMask inside_mask = 0x0;
_candidates.clear();
for(PlaneList::const_iterator it=_planes.begin();
it!=_planes.end();
++it, selector_mask <<= 1)
{
const osg::Plane& plane=*it;
const value_type d1=plane.distance(v1);
const value_type d2=plane.distance(v2);
const value_type d3=plane.distance(v3);
const bool d1IsNegative = (d1<0.0f);
const bool d2IsNegative = (d2<0.0f);
const bool d3IsNegative = (d3<0.0f);
if (d1IsNegative && d2IsNegative && d3IsNegative) return; // triangle outside
if (!d1IsNegative && !d2IsNegative && !d3IsNegative)
{
inside_mask |= selector_mask;
continue; // completly inside
}
// edge v1-v2 intersects
if (d1==0.0f)
{
_candidates.push_back( CandList_t::value_type(selector_mask, v1) );
}
else if (d2==0.0f)
{
_candidates.push_back( CandList_t::value_type(selector_mask, v2) );
}
else if (d1IsNegative && !d2IsNegative)
{
_candidates.push_back( CandList_t::value_type(selector_mask, (v1-(v2-v1)*(d1/(-d1+d2))) ) );
}
else if (!d1IsNegative && d2IsNegative)
{
_candidates.push_back( CandList_t::value_type(selector_mask, (v1+(v2-v1)*(d1/(d1-d2))) ) );
}
// edge v1-v3 intersects
if (d3==0.0f)
{
_candidates.push_back( CandList_t::value_type(selector_mask, v3) );
}
else if (d1IsNegative && !d3IsNegative)
{
_candidates.push_back( CandList_t::value_type(selector_mask, (v1-(v3-v1)*(d1/(-d1+d3))) ) );
}
else if (!d1IsNegative && d3IsNegative)
{
_candidates.push_back( CandList_t::value_type(selector_mask, (v1+(v3-v1)*(d1/(d1-d3))) ) );
}
// edge v2-v3 intersects
if (d2IsNegative && !d3IsNegative)
{
_candidates.push_back( CandList_t::value_type(selector_mask, (v2-(v3-v2)*(d2/(-d2+d3))) ) );
} else if (!d2IsNegative && d3IsNegative)
{
_candidates.push_back( CandList_t::value_type(selector_mask, (v2+(v3-v2)*(d2/(d2-d3))) ) );
}
}
if (_plane_mask==inside_mask)
{ // triangle lies inside of all planes
_candidates.push_back( CandList_t::value_type(_plane_mask, v1) );
_candidates.push_back( CandList_t::value_type(_plane_mask, v2) );
_candidates.push_back( CandList_t::value_type(_plane_mask, v3) );
addIntersection(_index, _candidates);
return;
}
if (_candidates.empty() && _planes.size()<3) return;
unsigned int numCands=checkCandidatePoints(inside_mask);
if (numCands>0)
{
addIntersection(_index, _candidates);
return;
}
// handle case where the polytope goes through the triangle
// without containing any point of it
LinesList& lines=getPolytopeLines();
_candidates.clear();
// check all polytope lines against the triangle
// use algorithm from "Real-time rendering" (second edition) pp.580
const Vec3_type e1=v2-v1;
const Vec3_type e2=v3-v1;
for (LinesList::const_iterator it=lines.begin(); it!=lines.end(); ++it)
{
const PlanesLine& line=*it;
Vec3_type p=line.dir^e2;
const value_type a=e1*p;
if (osg::absolute(a)<eps()) continue;
const value_type f=1.0f/a;
const Vec3_type s=(line.pos-v1);
const value_type u=f*(s*p);
if (u<0.0f || u>1.0f) continue;
const Vec3_type q=s^e1;
const value_type v=f*(line.dir*q);
if (v<0.0f || u+v>1.0f) continue;
const value_type t=f*(e2*q);
_candidates.push_back(CandList_t::value_type(line.mask, line.pos+line.dir*t));
}
numCands=checkCandidatePoints(inside_mask);
if (numCands>0)
{
addIntersection(_index, _candidates);
return;
}
}
/// handle quads
void operator()(const Vec3_type v1, const Vec3_type v2, const Vec3_type v3, const Vec3_type v4, bool treatVertexDataAsTemporary)
{
if ((_dimensionMask & PolytopeIntersector::DimTwo) == 0)
{
++_index;
return;
}
this->operator()(v1,v2,v3,treatVertexDataAsTemporary);
--_index;
this->operator()(v1,v3,v4,treatVertexDataAsTemporary);
}
void setDimensionMask(unsigned int dimensionMask) { _dimensionMask = dimensionMask; }
void setLimitOneIntersection(bool limit) { _limitOneIntersection = limit; }
void setPolytope(osg::Polytope& polytope, osg::Plane& referencePlane)
{
_referencePlane = referencePlane;
const PlaneMask currentMask = polytope.getCurrentMask();
PlaneMask selector_mask = 0x1;
const PlaneList& planeList = polytope.getPlaneList();
unsigned int numActivePlanes = 0;
PlaneList::const_iterator itr;
for(itr=planeList.begin(); itr!=planeList.end(); ++itr)
{
if (currentMask&selector_mask) ++numActivePlanes;
selector_mask <<= 1;
}
_plane_mask = 0x0;
_planes.clear();
_planes.reserve(numActivePlanes);
_lines.clear();
selector_mask=0x1;
for(itr=planeList.begin(); itr!=planeList.end(); ++itr)
{
if (currentMask&selector_mask)
{
_planes.push_back(*itr);
_plane_mask <<= 1;
_plane_mask |= 0x1;
}
selector_mask <<= 1;
}
}
/// get boundary lines of polytope
LinesList& getPolytopeLines()
{
if (!_lines.empty()) return _lines;
PlaneMask selector_mask = 0x1;
for (PlaneList::const_iterator it=_planes.begin(); it!=_planes.end();
++it, selector_mask <<= 1 ) {
const osg::Plane& plane1=*it;
const Vec3_type normal1=plane1.getNormal();
const Vec3_type point1=normal1*(-plane1[3]); /// canonical point on plane1
PlaneMask sub_selector_mask = (selector_mask<<1);
for (PlaneList::const_iterator jt=it+1; jt!=_planes.end(); ++jt, sub_selector_mask <<= 1 ) {
const osg::Plane& plane2=*jt;
const Vec3_type normal2=plane2.getNormal();
if (osg::absolute(normal1*normal2) > (1.0-eps())) continue;
const Vec3_type lineDirection = normal1^normal2;
const Vec3_type searchDirection = lineDirection^normal1; /// search dir in plane1
const value_type seachDist = -plane2.distance(point1)/(searchDirection*normal2);
if (osg::isNaN(seachDist)) continue;
const Vec3_type linePoint=point1+searchDirection*seachDist;
_lines.push_back(PlanesLine(selector_mask|sub_selector_mask, linePoint, lineDirection));
}
}
return _lines;
}
unsigned int getNumPlanes() const { return _planes.size(); }
Intersections intersections;
osg::Plane _referencePlane;
unsigned int _index;
private:
bool _limitOneIntersection;
unsigned int _dimensionMask;
PlaneList _planes; ///< active planes extracted from polytope
LinesList _lines; ///< all intersection lines of two polytope planes
PlaneMask _plane_mask; ///< mask for all planes of the polytope
CandList_t _candidates;
}; // class PolytopePrimitiveIntersector
} // namespace PolytopeIntersectorUtils
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//
// PolytopeIntersector
//
PolytopeIntersector::PolytopeIntersector(const osg::Polytope& polytope):
_parent(0),
_polytope(polytope),
_dimensionMask( AllDims )
{
if (!_polytope.getPlaneList().empty())
{
_referencePlane = _polytope.getPlaneList().back();
}
}
PolytopeIntersector::PolytopeIntersector(CoordinateFrame cf, const osg::Polytope& polytope):
Intersector(cf),
_parent(0),
_polytope(polytope),
_dimensionMask( AllDims )
{
if (!_polytope.getPlaneList().empty())
{
_referencePlane = _polytope.getPlaneList().back();
}
}
PolytopeIntersector::PolytopeIntersector(CoordinateFrame cf, double xMin, double yMin, double xMax, double yMax):
Intersector(cf),
_parent(0),
_dimensionMask( AllDims )
{
double zNear = 0.0;
switch(cf)
{
case WINDOW : zNear = 0.0; break;
case PROJECTION : zNear = 1.0; break;
case VIEW : zNear = 0.0; break;
case MODEL : zNear = 0.0; break;
}
_polytope.add(osg::Plane(1.0, 0.0, 0.0, -xMin));
_polytope.add(osg::Plane(-1.0,0.0 ,0.0, xMax));
_polytope.add(osg::Plane(0.0, 1.0, 0.0,-yMin));
_polytope.add(osg::Plane(0.0,-1.0,0.0, yMax));
_polytope.add(osg::Plane(0.0,0.0,1.0, zNear));
_referencePlane = _polytope.getPlaneList().back();
}
Intersector* PolytopeIntersector::clone(osgUtil::IntersectionVisitor& iv)
{
if (_coordinateFrame==MODEL && iv.getModelMatrix()==0)
{
osg::ref_ptr<PolytopeIntersector> pi = new PolytopeIntersector(_polytope);
pi->_parent = this;
pi->_intersectionLimit = this->_intersectionLimit;
pi->_dimensionMask = this->_dimensionMask;
pi->_referencePlane = this->_referencePlane;
return pi.release();
}
// compute the matrix that takes this Intersector from its CoordinateFrame into the local MODEL coordinate frame
// that geometry in the scene graph will always be in.
osg::Matrix matrix;
switch (_coordinateFrame)
{
case(WINDOW):
if (iv.getWindowMatrix()) matrix.preMult( *iv.getWindowMatrix() );
if (iv.getProjectionMatrix()) matrix.preMult( *iv.getProjectionMatrix() );
if (iv.getViewMatrix()) matrix.preMult( *iv.getViewMatrix() );
if (iv.getModelMatrix()) matrix.preMult( *iv.getModelMatrix() );
break;
case(PROJECTION):
if (iv.getProjectionMatrix()) matrix.preMult( *iv.getProjectionMatrix() );
if (iv.getViewMatrix()) matrix.preMult( *iv.getViewMatrix() );
if (iv.getModelMatrix()) matrix.preMult( *iv.getModelMatrix() );
break;
case(VIEW):
if (iv.getViewMatrix()) matrix.preMult( *iv.getViewMatrix() );
if (iv.getModelMatrix()) matrix.preMult( *iv.getModelMatrix() );
break;
case(MODEL):
if (iv.getModelMatrix()) matrix = *iv.getModelMatrix();
break;
}
osg::Polytope transformedPolytope;
transformedPolytope.setAndTransformProvidingInverse(_polytope, matrix);
osg::ref_ptr<PolytopeIntersector> pi = new PolytopeIntersector(transformedPolytope);
pi->_parent = this;
pi->_intersectionLimit = this->_intersectionLimit;
pi->_dimensionMask = this->_dimensionMask;
pi->_referencePlane = this->_referencePlane;
pi->_referencePlane.transformProvidingInverse(matrix);
return pi.release();
}
bool PolytopeIntersector::enter(const osg::Node& node)
{
if (reachedLimit()) return false;
return !node.isCullingActive() || _polytope.contains( node.getBound() );
}
void PolytopeIntersector::leave()
{
// do nothing.
}
void PolytopeIntersector::intersect(osgUtil::IntersectionVisitor& iv, osg::Drawable* drawable)
{
if (reachedLimit()) return;
if ( !_polytope.contains( drawable->getBound() ) ) return;
osg::TemplatePrimitiveFunctor<PolytopeIntersectorUtils::PolytopePrimitiveIntersector> func;
func.setPolytope( _polytope, _referencePlane );
func.setDimensionMask( _dimensionMask );
func.setLimitOneIntersection( _intersectionLimit == LIMIT_ONE_PER_DRAWABLE || _intersectionLimit == LIMIT_ONE );
drawable->accept(func);
if (func.intersections.empty()) return;
for(PolytopeIntersectorUtils::Intersections::const_iterator it=func.intersections.begin();
it!=func.intersections.end();
++it)
{
const PolytopeIntersectorUtils::PolytopeIntersection& intersection = *it;
Intersection hit;
hit.distance = intersection._distance;
hit.maxDistance = intersection._maxDistance;
hit.primitiveIndex = intersection._index;
hit.nodePath = iv.getNodePath();
hit.drawable = drawable;
hit.matrix = iv.getModelMatrix();
PolytopeIntersectorUtils::Vec3_type center;
for (unsigned int i=0; i<intersection._numPoints; ++i)
{
center += intersection._points[i];
}
center /= PolytopeIntersectorUtils::value_type(intersection._numPoints);
hit.localIntersectionPoint = center;
hit.numIntersectionPoints = intersection._numPoints;
std::copy(&intersection._points[0], &intersection._points[intersection._numPoints],
&hit.intersectionPoints[0]);
insertIntersection(hit);
}
}
void PolytopeIntersector::reset()
{
Intersector::reset();
_intersections.clear();
}
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