Fix BVH
ray intersections with it seem to be working now in testing
This commit is contained in:
Colby Klein
GitHub
parent
654089031d
commit
a1f7f7d3fc
163
modules/bvh.lua
163
modules/bvh.lua
@ -48,14 +48,20 @@ local function new(triangles, maxTrianglesPerNode)
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-- create the root node, add all the triangles to it
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local triangleCount = #triangles
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local extents = tree:calcExtents(0, triangleCount, EPSILON)
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tree._rootNode = Node(extents[1], extents[2], 0, triangleCount, 0)
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local extents = tree:calcExtents(1, triangleCount, EPSILON)
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tree._rootNode = Node(extents[1], extents[2], 1, triangleCount, 1)
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tree._nodesToSplit = { tree._rootNode }
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for _, node in ipairs(tree._nodesToSplit) do
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tree:splitNode(node)
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local function split_r(node)
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local left, right = tree:splitNode(tree._rootNode)
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if left then
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split_r(left)
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end
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if right then
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split_r(right)
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end
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end
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tree._nodesToSplit = {}
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split_r(tree._rootNode)
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return tree
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end
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@ -66,9 +72,9 @@ function BVH:intersectRay(rayOrigin, rayDirection, backfaceCulling)
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local intersectingTriangles = {}
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local invRayDirection = vec3(
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1.0 / rayDirection.x,
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1.0 / rayDirection.y,
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1.0 / rayDirection.z
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1 / rayDirection.x,
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1 / rayDirection.y,
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1 / rayDirection.z
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)
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-- go over the BVH tree, and extract the list of triangles that lie in nodes that intersect the ray.
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@ -86,7 +92,7 @@ function BVH:intersectRay(rayOrigin, rayDirection, backfaceCulling)
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end
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for i=node._startIndex, node._endIndex do
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table.insert(trianglesInIntersectingNodes, self._bboxArray[i*7])
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table.insert(trianglesInIntersectingNodes, self._bboxArray[1+(i-1)*7])
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end
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end
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end
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@ -101,15 +107,16 @@ function BVH:intersectRay(rayOrigin, rayDirection, backfaceCulling)
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for i=1, #trianglesInIntersectingNodes do
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local triIndex = trianglesInIntersectingNodes[i]
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triangle[1].x = self._trianglesArray[triIndex*9]
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triangle[1].y = self._trianglesArray[triIndex*9+1]
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triangle[1].z = self._trianglesArray[triIndex*9+2]
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triangle[2].x = self._trianglesArray[triIndex*9+3]
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triangle[2].y = self._trianglesArray[triIndex*9+4]
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triangle[2].z = self._trianglesArray[triIndex*9+5]
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triangle[3].x = self._trianglesArray[triIndex*9+6]
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triangle[3].y = self._trianglesArray[triIndex*9+7]
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triangle[3].z = self._trianglesArray[triIndex*9+8]
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-- print(triIndex, #self._trianglesArray)
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triangle[1].x = self._trianglesArray[1+(triIndex-1)*9]
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triangle[1].y = self._trianglesArray[1+(triIndex-1)*9+1]
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triangle[1].z = self._trianglesArray[1+(triIndex-1)*9+2]
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triangle[2].x = self._trianglesArray[1+(triIndex-1)*9+3]
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triangle[2].y = self._trianglesArray[1+(triIndex-1)*9+4]
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triangle[2].z = self._trianglesArray[1+(triIndex-1)*9+5]
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triangle[3].x = self._trianglesArray[1+(triIndex-1)*9+6]
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triangle[3].y = self._trianglesArray[1+(triIndex-1)*9+7]
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triangle[3].z = self._trianglesArray[1+(triIndex-1)*9+8]
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local intersectionPoint, intersectionDistance = intersect.ray_triangle(ray, triangle, backfaceCulling)
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@ -127,31 +134,31 @@ function BVH:intersectRay(rayOrigin, rayDirection, backfaceCulling)
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end
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function BVH.calcBoundingBoxes(trianglesArray)
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local p0x, p0y, p0z
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local p1x, p1y, p1z
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local p2x, p2y, p2z
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local p3x, p3y, p3z
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local minX, minY, minZ
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local maxX, maxY, maxZ
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local bboxArray = {}
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for i=1, #trianglesArray / 9 do
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p0x = trianglesArray[i*9]
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p0y = trianglesArray[i*9+1]
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p0z = trianglesArray[i*9+2]
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p1x = trianglesArray[i*9+3]
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p1y = trianglesArray[i*9+4]
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p1z = trianglesArray[i*9+5]
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p2x = trianglesArray[i*9+6]
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p2y = trianglesArray[i*9+7]
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p2z = trianglesArray[i*9+8]
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p1x = trianglesArray[1+(i-1)*9]
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p1y = trianglesArray[1+(i-1)*9+1]
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p1z = trianglesArray[1+(i-1)*9+2]
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p2x = trianglesArray[1+(i-1)*9+3]
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p2y = trianglesArray[1+(i-1)*9+4]
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p2z = trianglesArray[1+(i-1)*9+5]
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p3x = trianglesArray[1+(i-1)*9+6]
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p3y = trianglesArray[1+(i-1)*9+7]
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p3z = trianglesArray[1+(i-1)*9+8]
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minX = math.min(p0x, p1x, p2x)
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minY = math.min(p0y, p1y, p2y)
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minZ = math.min(p0z, p1z, p2z)
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maxX = math.max(p0x, p1x, p2x)
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maxY = math.max(p0y, p1y, p2y)
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maxZ = math.max(p0z, p1z, p2z)
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minX = math.min(p1x, p2x, p3x)
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minY = math.min(p1y, p2y, p3y)
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minZ = math.min(p1z, p2z, p3z)
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maxX = math.max(p1x, p2x, p3x)
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maxY = math.max(p1y, p2y, p3y)
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maxZ = math.max(p1z, p2z, p3z)
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BVH.setBox(bboxArray, i, i, minX, minY, minZ, maxX, maxY, maxZ)
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end
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@ -174,12 +181,12 @@ function BVH:calcExtents(startIndex, endIndex, expandBy)
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local maxZ = -math.huge
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for i=startIndex, endIndex do
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minX = math.min(self._bboxArray[i*7+1], minX)
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minY = math.min(self._bboxArray[i*7+2], minY)
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minZ = math.min(self._bboxArray[i*7+3], minZ)
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maxX = math.max(self._bboxArray[i*7+4], maxX)
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maxY = math.max(self._bboxArray[i*7+5], maxY)
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maxZ = math.max(self._bboxArray[i*7+6], maxZ)
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minX = math.min(self._bboxArray[1+(i-1)*7+1], minX)
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minY = math.min(self._bboxArray[1+(i-1)*7+2], minY)
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minZ = math.min(self._bboxArray[1+(i-1)*7+3], minZ)
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maxX = math.max(self._bboxArray[1+(i-1)*7+4], maxX)
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maxY = math.max(self._bboxArray[1+(i-1)*7+5], maxY)
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maxZ = math.max(self._bboxArray[1+(i-1)*7+6], maxZ)
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end
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return {
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@ -195,9 +202,9 @@ function BVH:splitNode(node)
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end
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local startIndex = node._startIndex
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local endIndex = node._endIndex
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local endIndex = node._endIndex
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local leftNode = { {},{},{} }
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local leftNode = { {},{},{} }
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local rightNode = { {},{},{} }
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local extentCenters = { node:centerX(), node:centerY(), node:centerZ() }
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@ -207,12 +214,11 @@ function BVH:splitNode(node)
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node._extentsMax.z - node._extentsMin.z
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}
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-- NOTE: Indices might be off by 1?
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local objectCenter = {}
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for i=startIndex, endIndex do
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objectCenter[1] = (self._bboxArray[i * 7 + 1] + self._bboxArray[i * 7 + 4]) * 0.5 -- center = (min + max) / 2
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objectCenter[2] = (self._bboxArray[i * 7 + 2] + self._bboxArray[i * 7 + 5]) * 0.5 -- center = (min + max) / 2
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objectCenter[3] = (self._bboxArray[i * 7 + 3] + self._bboxArray[i * 7 + 6]) * 0.5 -- center = (min + max) / 2
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objectCenter[1] = (self._bboxArray[1+(i-1)*7+1] + self._bboxArray[1+(i-1)*7+4]) * 0.5 -- center = (min + max) / 2
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objectCenter[2] = (self._bboxArray[1+(i-1)*7+2] + self._bboxArray[1+(i-1)*7+5]) * 0.5 -- center = (min + max) / 2
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objectCenter[3] = (self._bboxArray[1+(i-1)*7+3] + self._bboxArray[1+(i-1)*7+6]) * 0.5 -- center = (min + max) / 2
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for j=1, 3 do
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if objectCenter[j] < extentCenters[j] then
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@ -227,9 +233,9 @@ function BVH:splitNode(node)
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-- here, dont try to split any more (cause it will always fail, and we'll
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-- enter an infinite loop
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local splitFailed = {
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(#leftNode[1] == 0) or (#rightNode[1] == 0),
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(#leftNode[2] == 0) or (#rightNode[2] == 0),
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(#leftNode[3] == 0) or (#rightNode[3] == 0)
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#leftNode[1] == 0 or #rightNode[1] == 0,
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#leftNode[2] == 0 or #rightNode[2] == 0,
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#leftNode[3] == 0 or #rightNode[3] == 0
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}
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if splitFailed[1] and splitFailed[2] and splitFailed[3] then
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@ -239,7 +245,7 @@ function BVH:splitNode(node)
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-- choose the longest split axis. if we can't split by it, choose next best one.
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local splitOrder = { 1, 2, 3 }
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table.sort(splitOrder, function(a, b)
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return (extentsLength[b] - extentsLength[a])
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return extentsLength[b] - extentsLength[a]
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end)
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local leftElements
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@ -247,7 +253,6 @@ function BVH:splitNode(node)
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for i=1, 3 do
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local candidateIndex = splitOrder[i]
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if not splitFailed[candidateIndex] then
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leftElements = leftNode[candidateIndex]
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rightElements = rightNode[candidateIndex]
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@ -273,15 +278,16 @@ function BVH:splitNode(node)
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table.insert(concatenatedElements, element)
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end
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-- print(#leftElements, #rightElements, #concatenatedElements)
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for i=1, #concatenatedElements do
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currElement = concatenatedElements[i]
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BVH.copyBox(self._bboxArray, currElement, self._bboxHelper, helperPos)
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helperPos = helperPos + 1
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end
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-- NOTE: Maybe off by 1
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-- copy results back to main array
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for i=node._startIndex * 7, node._endIndex * 7 do
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for i=1+(node._startIndex-1)*7, 1+(node._endIndex-1)*7 do
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self._bboxArray[i] = self._bboxHelper[i]
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end
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@ -297,8 +303,7 @@ function BVH:splitNode(node)
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node:clearShapes()
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-- add new nodes to the split queue
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table.insert(self._nodesToSplit, node0)
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table.insert(self._nodesToSplit, node1)
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return node0, node1
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end
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function BVH._calcTValues(minVal, maxVal, rayOriginCoord, invdir)
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@ -356,37 +361,37 @@ function BVH.intersectNodeBox(rayOrigin, invRayDirection, node)
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end
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function BVH.setBox(bboxArray, pos, triangleId, minX, minY, minZ, maxX, maxY, maxZ)
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bboxArray[pos*7] = triangleId
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bboxArray[pos*7+1] = minX
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bboxArray[pos*7+2] = minY
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bboxArray[pos*7+3] = minZ
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bboxArray[pos*7+4] = maxX
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bboxArray[pos*7+5] = maxY
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bboxArray[pos*7+6] = maxZ
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bboxArray[1+(pos-1)*7] = triangleId
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bboxArray[1+(pos-1)*7+1] = minX
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bboxArray[1+(pos-1)*7+2] = minY
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bboxArray[1+(pos-1)*7+3] = minZ
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bboxArray[1+(pos-1)*7+4] = maxX
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bboxArray[1+(pos-1)*7+5] = maxY
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bboxArray[1+(pos-1)*7+6] = maxZ
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end
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function BVH.copyBox(sourceArray, sourcePos, destArray, destPos)
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destArray[destPos*7] = sourceArray[sourcePos*7]
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destArray[destPos*7+1] = sourceArray[sourcePos*7+1]
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destArray[destPos*7+2] = sourceArray[sourcePos*7+2]
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destArray[destPos*7+3] = sourceArray[sourcePos*7+3]
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destArray[destPos*7+4] = sourceArray[sourcePos*7+4]
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destArray[destPos*7+5] = sourceArray[sourcePos*7+5]
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destArray[destPos*7+6] = sourceArray[sourcePos*7+6]
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destArray[1+(destPos-1)*7] = sourceArray[1+(sourcePos-1)*7]
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destArray[1+(destPos-1)*7+1] = sourceArray[1+(sourcePos-1)*7+1]
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destArray[1+(destPos-1)*7+2] = sourceArray[1+(sourcePos-1)*7+2]
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destArray[1+(destPos-1)*7+3] = sourceArray[1+(sourcePos-1)*7+3]
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destArray[1+(destPos-1)*7+4] = sourceArray[1+(sourcePos-1)*7+4]
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destArray[1+(destPos-1)*7+5] = sourceArray[1+(sourcePos-1)*7+5]
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destArray[1+(destPos-1)*7+6] = sourceArray[1+(sourcePos-1)*7+6]
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end
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function BVH.getBox(bboxArray, pos, outputBox)
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outputBox.triangleId = bboxArray[pos*7]
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outputBox.minX = bboxArray[pos*7+1]
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outputBox.minY = bboxArray[pos*7+2]
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outputBox.minZ = bboxArray[pos*7+3]
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outputBox.maxX = bboxArray[pos*7+4]
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outputBox.maxY = bboxArray[pos*7+5]
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outputBox.maxZ = bboxArray[pos*7+6]
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outputBox.triangleId = bboxArray[1+(pos-1)*7]
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outputBox.minX = bboxArray[1+(pos-1)*7+1]
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outputBox.minY = bboxArray[1+(pos-1)*7+2]
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outputBox.minZ = bboxArray[1+(pos-1)*7+3]
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outputBox.maxX = bboxArray[1+(pos-1)*7+4]
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outputBox.maxY = bboxArray[1+(pos-1)*7+5]
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outputBox.maxZ = bboxArray[1+(pos-1)*7+6]
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end
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local function new_node(extentsMin, extentsMax, startIndex, endIndex, level)
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return {
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return setmetatable({
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_extentsMin = extentsMin,
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_extentsMax = extentsMax,
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_startIndex = startIndex,
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@ -394,7 +399,7 @@ local function new_node(extentsMin, extentsMax, startIndex, endIndex, level)
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_level = level
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--_node0 = nil
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--_node1 = nil
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}
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}, BVHNode)
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end
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function BVHNode:elementCount()
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