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scene_basics.h
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scene_basics.h
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#include <stdlib.h>
#include <string.h>
#include <fstream>
#include <math.h>
#include <array>
#include <stdio.h>
#include <cuda.h>
#include <cuda_runtime.h>
#include <Eigen/Geometry>
#include <Eigen/Dense>
#include "tiny_obj_loader.h"
#define MIN_DOT 1e-4
#define EPSILON 1e-2
#ifdef USE_DOUBLE
typedef double real_t;
#else
typedef float real_t;
#endif
typedef Eigen::Vector3f vecF;
typedef Eigen::Vector3i vecI;
typedef Eigen::VectorXf vecXF;
typedef Eigen::Matrix4f mat4F;
typedef Eigen::Matrix3f mat3F;
typedef Eigen::MatrixX3f matXF;
typedef Eigen::Affine3f aff3F;
__host__ __device__ vecF CMIN(vecF x, vecF y) {return vecF(min(x[0],y[0]),min(x[1],y[1]),min(x[2],y[2]));}
__host__ __device__ vecF CMAX(vecF x, vecF y) {return vecF(max(x[0],y[0]),max(x[1],y[1]),max(x[2],y[2]));}
__host__ __device__ void PRINT(vecF v) {printf("%f %f %f\n",v[0],v[1],v[2]);}
__host__ __device__ void PRINT(Eigen::MatrixXf m) {for (int i = 0; i < m.rows(); i++) {for(int j = 0; j < m.cols(); j++) {printf("%f ",m(i,j));} printf("\n");}}
struct mat_t {
real_t diffuse[3];
real_t specular[3];
real_t transmittance[3];
real_t emission[3];
real_t shininess;
real_t ior; // index of refraction
real_t dissolve;
int illum;
void copy(void *dst, void *src, size_t size) {
cudaMemcpy(dst,src,size,cudaMemcpyHostToDevice);
}
mat_t(material_t material) {
copy(diffuse,material.diffuse,3*sizeof(real_t));
copy(specular,material.specular,3*sizeof(real_t));
copy(transmittance,material.transmittance,3*sizeof(real_t));
copy(emission,material.emission,3*sizeof(real_t));
copy(&shininess,&material.shininess,sizeof(real_t));
copy(&ior,&material.ior,sizeof(real_t));
copy(&dissolve,&material.dissolve,sizeof(real_t));
copy(&illum,&material.illum,sizeof(int));
}
mat_t() {}
};
class Triangle {
public:
int idx, idxE;
mat_t material;
vecF vertices[3];
mat3F normals;
vecF normal;
vecF center;
float area;
__host__ __device__ Triangle(int i, material_t m, vecF vs[], vecF *ns)
: material(m)
{
idx = i;
idxE = -1;
center = vecF::Zero();
for (int j = 0; j < 3; j++){
vertices[j] = vs[j];
center += vs[j]/3.;
}
vecF a = vertices[1] - vertices[0];
vecF b = vertices[2] - vertices[1];
normal = a.cross(b);
area = normal.norm() / 2.;
normal.normalize();
for (int i = 0; i < 3; i++) {
normals.col(i) = (ns) ? ns[i] : normal;
}
}
__host__ __device__ Triangle() {}
__host__ __device__ vecF getNormal(vecF point) {
vecF weights; float weight;
for (int i = 0; i < 3; i++) {
weight = 0.5 * abs((vertices[(i+1)%3] - point).cross(vertices[(i+2)%3] - point).norm()) / area;
weights[i] = weight;
}
vecF normal = normals * weights;
normal.normalize();
return normal;
}
};
struct ObjParams_t{
vecF pos;
vecF ori;
vecF scl;
char *obj_file;
char *mtl_file;
ObjParams_t(float p[3], float o[3], float sc[3], char *ob, char *m) {
pos = vecF(p[0],p[1],p[2]);
ori = vecF(o[0],o[1],o[2]);
scl = vecF(sc[0],sc[1],sc[2]);
obj_file = ob;
mtl_file = m;
}
ObjParams_t(vecF p, vecF o, vecF sc, char *ob, char *m) {
pos = p;
ori = o;
scl = sc;
obj_file = ob;
mtl_file = m;
}
ObjParams_t() {}
};
class Mesh {
public:
vecF m_position;
Triangle *m_triangles;
Triangle **m_emissives;
int m_nV,m_nF,m_nT,m_nE;
Mesh(ObjParams_t obj) {
// Transform
aff3F T = aff3F::Identity();
// Translate
T.translate(obj.pos);
// Rotate
float angle = obj.ori.norm();
obj.ori.normalize();
T.rotate(Eigen::AngleAxisf(angle,obj.ori));
// Scale
T.scale(obj.scl);
std::vector<vecF> vs;
std::vector<vecF> ns;
std::vector<vecI> fs;
std::vector<material_t> ms;
if (!ParseFromString(obj.obj_file,obj.mtl_file,&vs,&ns,&fs,&ms,T)) {exit(1);}
m_position = obj.pos;
cudaMallocManaged(&m_triangles,sizeof(Triangle)*fs.size());
std::vector<Triangle *> es;
for (int i = 0; i < fs.size(); i++) {
vecI face = fs[i];
vecF tri_v[] = {vs[face[0]],
vs[face[1]],
vs[face[2]]};
vecF *tri_n = NULL;
if (ns.size() == vs.size()) {
vecF normals[] = {ns[face[0]],
ns[face[1]],
ns[face[2]]};
tri_n = normals;
}
new(m_triangles+i) Triangle(i,ms[i],tri_v,tri_n);
real_t *e = ms[i].emission;
if (e[0] > 0. || e[1] > 0. || e[2] > 0.) {
m_triangles[i].idxE = es.size();
es.push_back(&(m_triangles[i]));
}
}
m_nT = fs.size();
cudaMallocManaged(&m_emissives,sizeof(Triangle *)*es.size());
cudaMemcpy(m_emissives,es.data(),sizeof(Triangle *)*es.size(),cudaMemcpyHostToDevice);
m_nE = es.size();
}
Mesh() {}
~Mesh() {
for (int i = 0; i < m_nT; i++) {
(m_triangles+i)->~Triangle();
}
cudaFree(m_triangles);
cudaFree(m_emissives);
}
private:
bool ParseFromString(const std::string &obj_file,
const std::string &mtl_file,
std::vector<vecF> *vertices,
std::vector<vecF> *vert_normals,
std::vector<vecI> *faces,
std::vector<material_t> *face_materials,
aff3F T) {
std::filebuf obj_fb;
if(!obj_fb.open(obj_file,std::ios_base::in)) {
printf("Error: Object File was not able to be opened\n");
std::cerr << "Error: " << strerror(errno) << std::endl;
exit(1);
}
std::istream obj_ifs(&obj_fb);
bool inString = mtl_file[0] == '*';
std::ifstream mtl_ifs(inString ? NULL : mtl_file.c_str());
MaterialStreamReader mtl_ss(mtl_ifs);
attrib_t attrib;
std::vector<shape_t> shapes;
std::vector<material_t> materials;
std::string warning;
std::string error;
bool valid_ = LoadObj(&attrib, &shapes, &materials, &warning, &error, &obj_ifs, &mtl_ss, true, true);
std::vector<real_t> v_xyz = attrib.vertices;
std::vector<real_t> n_xyz = attrib.normals;
for (int i = 0; i < v_xyz.size() / 3; i++) {
vertices->push_back(T * vecF(v_xyz[3*i],v_xyz[3*i+1],v_xyz[3*i+2]));
}
mat3F T_2 = T.linear().transpose().inverse();
for (int i = 0; i < n_xyz.size() / 3; i++) {
vert_normals->push_back(T_2 * vecF(n_xyz[3*i],n_xyz[3*i+1],n_xyz[3*i+2]));
}
std::vector<index_t> f_idx;
std::vector<int> mat_ids;
// Include mat
material_t rand_mat;
InitMaterial(&rand_mat);
if (inString) {
std::stringstream ss(mtl_file.substr(1,mtl_file.size()-2));
std::string line;
while(std::getline(ss,line,'\n')) {
const char *token = line.c_str();
if (token[0] == 'K' && IS_SPACE((token[2]))) {
char k = token[1];
token += 2;
real_t r, g, b;
parseReal3(&r, &g, &b, &token);
if (k == 'd') {
rand_mat.diffuse[0] = r;
rand_mat.diffuse[1] = g;
rand_mat.diffuse[2] = b;
}
}
}
}
for (int i = 0; i < shapes.size(); i++) {
f_idx = shapes[i].mesh.indices;
mat_ids = shapes[i].mesh.material_ids;
for (int j = 0; j < mat_ids.size(); j++) {
faces->push_back(vecI(f_idx[3*j].vertex_index,
f_idx[3*j+1].vertex_index,
f_idx[3*j+2].vertex_index));
int mat_id = mat_ids[j];
material_t mat;
if (mat_id != -1) {
mat = materials[mat_id];
} else {
mat = rand_mat;
}
face_materials->push_back(mat);
}
}
return valid_;
}
};
class Ray {
public:
vecF p;
vecF d;
__host__ __device__ Ray(vecF point, vecF direction) {
p = point;
d = direction;
}
__host__ __device__ Ray(const Ray &ray) {
p = ray.p;
d = ray.d;
}
__host__ __device__ void transform(mat4F m) {
// 4D transformation
Eigen::Vector4f p_temp;
p_temp << p,1.;
Eigen::Vector4f d_temp;
d_temp << d,0.;
p_temp = m * p_temp;
d_temp = m * d_temp;
p = p_temp.head<3>();
d = d_temp.head<3>();
d.normalize();
}
};
__host__ __device__ struct intersection_t {
float t;
vecF hit;
Triangle *tri;
__host__ __device__ intersection_t() {
t = INFINITY;
hit = vecF::Zero();
tri = NULL;
}
__host__ __device__ operator bool() {return tri != NULL;}
};
__host__ __device__ struct bbox_t {
vecF min = vecF::Zero();
vecF max = vecF::Zero();
vecF extent = vecF::Zero();
void setP(vecF p) {
min = p;
max = p;
extent = vecF::Zero();
}
void expandToInclude(vecF o) {
min = CMIN(min,o);
max = CMAX(max,o);
extent = max - min;
}
void expandToInclude(bbox_t o) {
min = CMIN(min,o.min);
max = CMAX(max,o.max);
extent = max - min;
}
int maxDimension() {
int argmax = 0;
float max = 0.;
for (int i = 0; i < 3; i++) {
if (extent[i] > max) {
max = extent[i];
argmax = i;
}
}
return argmax;
}
float surfaceArea() {return vecF(extent[1],extent[2],extent[0]).dot(extent) * 2.;}
__host__ __device__ bool intersect(Ray ray, float &tmin, float &tmax) {
aff3F div_arg = aff3F::Identity();
div_arg.scale(ray.d.cwiseInverse());
vecF l1 = div_arg * (min - ray.p);
vecF l2 = div_arg * (max - ray.p);
for (int i = 0; i < 3; i++) {
if (std::isnan(l1[i])) {
l1[i] = (min[i] - ray.p[i]) * INFINITY;
}
if (std::isnan(l2[i])) {
l2[i] = (max[i] - ray.p[i]) * INFINITY;
}
}
vecF lmax = CMAX(l1,l2);
vecF lmin = CMIN(l1,l2);
for (int i = 0; i < 3; i++) {
if (lmin[i] > 0 || lmax[i] <= lmin[i]) {
return false;
}
}
tmin = lmin.maxCoeff();
tmax = lmax.minCoeff();
return true;
}
};
class Object {
public:
Object(ObjParams_t obj) : m_mesh(obj) {
// Set Bounding Box
m_bbox.setP(obj.pos);
for (int i = 0; i < m_mesh.m_nT; i++) {
for (int j = 0; j < 3; j++) {
m_bbox.expandToInclude(m_mesh.m_triangles[i].vertices[j]);
}
}
};
__host__ __device__ Object() {}
__host__ __device__ bbox_t getBBox() {
bbox_t box = m_bbox;
return box;
}
__host__ __device__ vecF getPosition() {
return vecF(m_mesh.m_position);
}
__host__ __device__ void getIntersection(Ray ray, intersection_t &intersection) {
float t, denom, sd;
vecF normal, center, point;
Triangle *tri;
bool has_int;
int nT = m_mesh.m_nT;
for (int i = 0; i < nT; i++) {
tri = &(m_mesh.m_triangles[i]);
center = tri->center;
normal = tri->normal;
denom = normal.dot(ray.d);
if (abs(denom) < MIN_DOT) {continue;}
t = (ray.p - center).dot(normal) / -denom;
if (t < EPSILON || t >= intersection.t) {continue;}
point = ray.p + ray.d * t;
has_int = true;
for (int j = 0; j < 3; j++) {
sd = signedDistance(point,tri->vertices[j],tri->vertices[(j+1)%3],normal);
if (sd > 0) {has_int = false; break;}
}
if (!has_int) {continue;}
intersection.t = t;
intersection.hit = point;
intersection.tri = tri;
}
}
__host__ __device__ Triangle** getEmissives() {return m_mesh.m_emissives;}
__host__ __device__ int nEmissives() {return m_mesh.m_nE;}
__host__ __device__ int nTriangles() {return m_mesh.m_nT;}
void setOffsets(int currT, int currE) {
for (int i = 0; i < m_mesh.m_nT; i++) {
m_mesh.m_triangles[i].idx += currT;
}
for (int i = 0; i < m_mesh.m_nE; i++) {
m_mesh.m_emissives[i]->idxE += currE;
}
}
std::vector<float> getMaterials() {
std::vector<float> materials;
for (int i = 0; i < m_mesh.m_nT; i++) {
mat_t mat = (m_mesh.m_triangles + i)->material;
for (int j = 0; j < 3; j++) {materials.push_back(mat.diffuse[j]);}
}
return materials;
}
void setMaterials(std::vector<float> materials) {
int idx = 0;
for (int i = 0; i < m_mesh.m_nT; i++) {
Triangle *t = m_mesh.m_triangles + i;
for (int j = 0; j < 3; j++) {t->material.diffuse[j] = materials[idx]; idx++;}
}
}
private:
Mesh m_mesh;
bbox_t m_bbox;
__host__ __device__ float signedDistance(vecF point, vecF s0, vecF s1, vecF normal) {
vecF out = (s1 - s0).cross(normal);
out.normalize();
float d = -out.dot(s1 + s0) / 2.;
return point.dot(out) + d;
}
__host__ __device__ vecXF signedDistance(matXF point, matXF s0, matXF s1, matXF normal) {
matXF diff = s1 - s0;
matXF out(s0.rows(),3);
for (int i = 0; i < s0.rows(); i++) {
out.row(i) = diff.row(i).cross(normal.row(i));
out.row(i) /= out.row(i).norm();
}
matXF mean = (s1 + s0) / 2.;
vecXF d = -out.cwiseProduct(mean).rowwise().sum();
return point.cwiseProduct(out).rowwise().sum() + d;
}
};