Raycasting operations. More...

Classes
struct	ClosestPointResult

class	EmbreeRayCaster
	A wrapper for Embree's raycasting API to compute ray intersections with (instances of) meshes. More...

class	RaycasterMesh

class	RaycasterMeshDerived

Enumerations
enum	RayCasterType { EMBREE_DEFAULT = 1 , EMBREE_DYNAMIC = 2 , EMBREE_ROBUST = 4 , EMBREE_COMPACT = 8 }

enum	RayCasterQuality { BUILD_QUALITY_LOW , BUILD_QUALITY_MEDIUM , BUILD_QUALITY_HIGH }

enum class	ProjectMode { CLOSEST_VERTEX , CLOSEST_POINT , RAY_CASTING }
	Main projection mode. More...

enum class	CastMode { ONE_WAY , BOTH_WAYS }
	Ray-casting mode. More...

enum class	WrapMode { CONSTANT , CLOSEST_VERTEX , CLOSEST_POINT }
	Wraping mode for vertices without a hit. More...

Functions
template<typename Scalar >
std::unique_ptr< EmbreeRayCaster< Scalar > >	create_ray_caster (RayCasterType engine, RayCasterQuality quality=BUILD_QUALITY_LOW)

template<typename Scalar >
bool	embree_closest_point (RTCPointQueryFunctionArguments *args)

template<typename SourceMeshType , typename TargetMeshType , typename DerivedVector = Eigen::Matrix<ScalarOf<SourceMeshType>, 3, 1>, typename DefaultScalar = typename SourceMeshType::Scalar>
void	project_attributes (const SourceMeshType &source, TargetMeshType &target, const std::vector< std::string > &names, ProjectMode project_mode, const Eigen::MatrixBase< DerivedVector > &direction=DerivedVector(0, 0, 1), CastMode cast_mode=CastMode::BOTH_WAYS, WrapMode wrap_mode=WrapMode::CONSTANT, DefaultScalar default_value=DefaultScalar(0), std::function< void(typename TargetMeshType::Index, bool)> user_callback=nullptr, EmbreeRayCaster< ScalarOf< SourceMeshType > > *ray_caster=nullptr, std::function< bool(IndexOf< TargetMeshType >)> skip_vertex=nullptr)
	Project vertex attributes from one mesh to another. More...

template<typename SourceMeshType , typename TargetMeshType >
void	project_attributes_closest_point (const SourceMeshType &source, TargetMeshType &target, const std::vector< std::string > &names, EmbreeRayCaster< ScalarOf< SourceMeshType > > *ray_caster=nullptr, std::function< bool(IndexOf< TargetMeshType >)> skip_vertex=nullptr)
	Project vertex attributes from one mesh to another, by copying attributes from the closest point on the input mesh. More...

template<typename SourceMeshType , typename TargetMeshType , typename DerivedVector , typename DefaultScalar = typename SourceMeshType::Scalar>
void	project_attributes_directional (const SourceMeshType &source, TargetMeshType &target, const std::vector< std::string > &names, const Eigen::MatrixBase< DerivedVector > &direction, CastMode cast_mode=CastMode::BOTH_WAYS, WrapMode wrap_mode=WrapMode::CONSTANT, DefaultScalar default_value=DefaultScalar(0), std::function< void(typename TargetMeshType::Index, bool)> user_callback=nullptr, EmbreeRayCaster< ScalarOf< SourceMeshType > > *ray_caster=nullptr, std::function< bool(IndexOf< TargetMeshType >)> skip_vertex=nullptr)
	Project vertex attributes from one mesh to another, by projecting target vertices along a prescribed direction, and interpolating surface values from facet corners of the source mesh. More...

const std::map< std::string, ProjectMode > &	project_modes ()

const std::map< std::string, CastMode > &	cast_modes ()

const std::map< std::string, WrapMode > &	wrap_modes ()

template<typename ParticleDataType , typename MeshType , typename DefaultScalar = typename ParticleDataType::value_type::Scalar, typename MatrixType = typename Eigen::Matrix<DefaultScalar, 4, 4>, typename VectorType = typename Eigen::Matrix<DefaultScalar, 3, 1>>
void	project_particles_directional (const ParticleDataType &origins, const MeshType &mesh_proj_on, const VectorType &direction, ParticleDataType &out_origins, ParticleDataType &out_normals, const MatrixType &parent_transforms=MatrixType::Identity(), EmbreeRayCaster< ScalarOf< MeshType > > *ray_caster=nullptr, bool has_normals=true)
	Project particles (a particle contains origin and tangent info) to another mesh, by projecting their positions along a prescribed direction. More...

Detailed Description

Raycasting operations.

Enumeration Type Documentation

◆ RayCasterType

enum RayCasterType

Enumerator
EMBREE_DEFAULT	Corresponds to RTC_SCENE_FLAG_NONE.
EMBREE_DYNAMIC	Corresponds to RTC_SCENE_FLAG_DYNAMIC.
EMBREE_ROBUST	Corresponds to RTC_SCENE_FLAG_ROBUST.
EMBREE_COMPACT	Corresponds to RTC_SCENE_FLAG_COMPACT.

◆ RayCasterQuality

enum RayCasterQuality

Enumerator
BUILD_QUALITY_LOW	Corresponds to RTC_BUILD_QUALITY_LOW.
BUILD_QUALITY_MEDIUM	Corresponds to RTC_BUILD_QUALITY_MEDIUM.
BUILD_QUALITY_HIGH	Corresponds to RTC_BUILD_QUALITY_HIGH.

◆ ProjectMode

enum class ProjectMode

strong

Main projection mode.

Enumerator
CLOSEST_VERTEX	Copy attribute from the closest vertex on the source mesh.
CLOSEST_POINT	Interpolate attribute from the closest point on the source mesh.
RAY_CASTING	Copy attribute by projecting along a prescribed direction on the source mesh.

◆ CastMode

enum class CastMode

strong

Ray-casting mode.

Enumerator
ONE_WAY	Cast a ray forward in the prescribed direction.
BOTH_WAYS	Cast a ray both forward and backward in the prescribed direction.

◆ WrapMode

enum class WrapMode

strong

Wraping mode for vertices without a hit.

Enumerator
CONSTANT	Fill with a constant value (defaults to 0).
CLOSEST_VERTEX	Copy attribute from the closest vertex on the source mesh.
CLOSEST_POINT	Interpolate attribute from the closest point on the source mesh.

Function Documentation

◆ project_attributes()

void project_attributes	(	const SourceMeshType &	source,
		TargetMeshType &	target,
		const std::vector< std::string > &	names,
		ProjectMode	project_mode,
		const Eigen::MatrixBase< DerivedVector > &	direction = `DerivedVector(0, 0, 1)`,
		CastMode	cast_mode = `CastMode::BOTH_WAYS`,
		WrapMode	wrap_mode = `WrapMode::CONSTANT`,
		DefaultScalar	default_value = `DefaultScalar(0)`,
		std::function< void(typename TargetMeshType::Index, bool)>	user_callback = `nullptr`,
		EmbreeRayCaster< ScalarOf< SourceMeshType > > *	ray_caster = `nullptr`,
		std::function< bool(IndexOf< TargetMeshType >)>	skip_vertex = `nullptr`
	)

Project vertex attributes from one mesh to another.

Different projection modes can be prescribed.

Parameters

[in]	source	Source mesh.
[in,out]	target	Target mesh to be modified.
[in]	names	Name of the vertex attributes to transfer.
[in]	project_mode	Projection mode to choose from.
[in]	direction	Raycasting direction to project attributes.
[in]	cast_mode	Whether to project forward along the ray, or to project along the whole ray (both forward and backward).
[in]	wrap_mode	Wrapping mode for values where there is no hit.
[in]	default_value	Scalar used to fill attributes in CONSTANT wrapping mode.
[in]	user_callback	Optional user callback that can be used to set attribute values depending on whether there is a hit or not.
[in,out]	ray_caster	If provided, the use ray_caster to perform the queries instead. The source mesh will assume to have been added to `ray_caster` in advance, and this function will not try to add it. This allows to use a different ray caster than the one computed by this function, and allows to nest function calls.
[in]	skip_vertex	If provided, whether to skip assignment for a target vertex or not. This can be used for partial assignment (e.g. to only set boundary vertices of a mesh).

Template Parameters

SourceMeshType	Source mesh type.
TargetMeshType	Target mesh type.
DerivedVector	Vector type for the direction.
DefaultScalar	Scalar type used to fill attributes.

◆ project_attributes_closest_point()

void project_attributes_closest_point	(	const SourceMeshType &	source,
		TargetMeshType &	target,
		const std::vector< std::string > &	names,
		EmbreeRayCaster< ScalarOf< SourceMeshType > > *	ray_caster = `nullptr`,
		std::function< bool(IndexOf< TargetMeshType >)>	skip_vertex = `nullptr`
	)

Project vertex attributes from one mesh to another, by copying attributes from the closest point on the input mesh.

Values are linearly interpolated from the face corners.

Parameters

[in]	source	Source mesh.
[in,out]	target	Target mesh to be modified.
[in]	names	Name of the vertex attributes to transfer.
[in,out]	ray_caster	If provided, the use ray_caster to perform the queries instead. The source mesh will assume to have been added to `ray_caster` in advance, and this function will not try to add it. This allows to use a different ray caster than the one computed by this function, and allows to nest function calls.
[in]	skip_vertex	If provided, whether to skip assignment for a target vertex or not. This can be used for partial assignment (e.g. to only set boundary vertices of a mesh).

Template Parameters

SourceMeshType	Source mesh type.
TargetMeshType	Target mesh type.

◆ project_attributes_directional()

void project_attributes_directional	(	const SourceMeshType &	source,
		TargetMeshType &	target,
		const std::vector< std::string > &	names,
		const Eigen::MatrixBase< DerivedVector > &	direction,
		CastMode	cast_mode = `CastMode::BOTH_WAYS`,
		WrapMode	wrap_mode = `WrapMode::CONSTANT`,
		DefaultScalar	default_value = `DefaultScalar(0)`,
		std::function< void(typename TargetMeshType::Index, bool)>	user_callback = `nullptr`,
		EmbreeRayCaster< ScalarOf< SourceMeshType > > *	ray_caster = `nullptr`,
		std::function< bool(IndexOf< TargetMeshType >)>	skip_vertex = `nullptr`
	)

Project vertex attributes from one mesh to another, by projecting target vertices along a prescribed direction, and interpolating surface values from facet corners of the source mesh.

Note: In the future may want to support using a vector field instead of a constant direction for projection.

Parameters

[in]	source	Source mesh.
[in,out]	target	Target mesh to be modified.
[in]	names	Name of the vertex attributes to transfer.
[in]	direction	Raycasting direction to project attributes.
[in]	cast_mode	Whether to project forward along the ray, or to project along the whole ray (both forward and backward).
[in]	wrap_mode	Wrapping mode for values where there is no hit.
[in]	default_value	Scalar used to fill attributes in CONSTANT wrapping mode.
[in]	user_callback	Optional user callback that can be used to set attribute values depending on whether there is a hit or not.
[in,out]	ray_caster	If provided, the use ray_caster to perform the queries instead. The source mesh will assume to have been added to `ray_caster` in advance, and this function will not try to add it. This allows to use a different ray caster than the one computed by this function, and allows to nest function calls.
[in]	skip_vertex	If provided, whether to skip assignment for a target vertex or not. This can be used for partial assignment (e.g. to only set boundary vertices of a mesh).

Template Parameters

SourceMeshType	Source mesh type.
TargetMeshType	Target mesh type.
DerivedVector	Vector type for the direction.
DefaultScalar	Scalar type used to fill attributes.

◆ project_particles_directional()

void project_particles_directional	(	const ParticleDataType &	origins,
		const MeshType &	mesh_proj_on,
		const VectorType &	direction,
		ParticleDataType &	out_origins,
		ParticleDataType &	out_normals,
		const MatrixType &	parent_transforms = `MatrixType::Identity()`,
		EmbreeRayCaster< ScalarOf< MeshType > > *	ray_caster = `nullptr`,
		bool	has_normals = `true`
	)

Project particles (a particle contains origin and tangent info) to another mesh, by projecting their positions along a prescribed direction.

The returned results are particles whose transform is recorded in the local coordinate.

Note

How to compute the particle transformation after the projection:

           Assuming the projection transformation is P and the cumulated parents transformation
           is C, The matrix M that transforms local to world coordinates is given by:

           M = P * C
             = C * (C^-1 * P * C)

           Where the matrix in parenthesis is the new axis system matrix after projection:
           P' = C^-1 * P * C

           We compute P * C, and then deduce P'

Parameters

[in]	origins	Origin of the particles.
[in]	mesh_proj_on	Mesh to be projected on.
[in]	direction	Raycasting direction to project attributes.
[out]	out_origins	Output origin of the particles.
[out]	out_normals	Output normal of the polygon at intersections.
[in]	parent_transforms	Cumulated parent transforms applied on the particles
[in,out]	ray_caster	If provided, the use ray_caster to perform the queries instead. The target mesh will assume to have been added to `ray_caster` in advance, and this function will not try to add it. This allows to use a different ray caster than the one computed by this function, and allows to nest function calls.
[in]	has_normals	Whether to compute and output normals

Template Parameters

ParticleDataType	Particle data vector type.
MeshType	Mesh type.
DefaultScalar	Scalar type used in computation.
MatrixType	Matrix type for the transform.
VectorType	Vector type for the direction.

Classes

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ RayCasterType

◆ RayCasterQuality

◆ ProjectMode

◆ CastMode

◆ WrapMode

Function Documentation

◆ project_attributes()

◆ project_attributes_closest_point()

◆ project_attributes_directional()

◆ project_particles_directional()