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Split flat kdtree cells
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Daniel Oom committed Aug 9, 2024
1 parent 27c68c8 commit 913386d
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Showing 3 changed files with 213 additions and 57 deletions.
147 changes: 126 additions & 21 deletions kdtree/src/build.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ fn starting_box(geometries: &[Geometry]) -> KdCell {

fn build_helper(
geometries: &[Geometry],
cost: &SahCost,
sah: &SahCost,
max_depth: u32,
depth: u32,
cell: KdCell,
Expand All @@ -26,28 +26,28 @@ fn build_helper(
return KdNode::new_leaf(cell.indices);
}

match find_best_split(geometries, cost, &cell) {
match find_best_split(geometries, sah, &cell) {
None => KdNode::new_leaf(cell.indices),
Some(split) => {
if should_terminate(cost, &cell, &split) {
if should_terminate(sah, &cell, &split) {
KdNode::new_leaf(cell.indices)
} else {
let left = build_helper(geometries, cost, max_depth, depth + 1, split.left);
let right = build_helper(geometries, cost, max_depth, depth + 1, split.right);
let left = build_helper(geometries, sah, max_depth, depth + 1, split.left);
let right = build_helper(geometries, sah, max_depth, depth + 1, split.right);
KdNode::new_node(split.plane, left, right)
}
}
}
}

pub fn build_kdtree(geometries: &[Geometry], max_depth: u32, cost: &SahCost) -> KdNode {
pub fn build_kdtree(geometries: &[Geometry], max_depth: u32, sah: &SahCost) -> KdNode {
if max_depth as usize > MAX_DEPTH {
panic!(
"Max depth ({}) must be smaller than hard coded value ({}).",
max_depth, MAX_DEPTH
);
}
*build_helper(geometries, cost, max_depth, 1, starting_box(geometries))
*build_helper(geometries, sah, max_depth, 1, starting_box(geometries))
}

#[cfg(test)]
Expand All @@ -60,7 +60,7 @@ mod tests {
use super::*;

#[test]
fn non_axially_aligned_triangle() {
fn two_oriented_triangles() {
let triangle1 = Triangle {
v0: Vec3::new(0.0, 0.0, 0.0),
v1: Vec3::new(1.0, 0.0, 0.0),
Expand All @@ -72,12 +72,12 @@ mod tests {
v2: Vec3::new(2.0, 1.0, 1.0),
};
let geometries = [triangle1, triangle2].map(Geometry::from);
let cost = SahCost {
let sah = SahCost {
traverse_cost: 0.1,
intersect_cost: 1.0,
empty_factor: 0.8,
};
let actual = build_kdtree(&geometries, 7, &cost);
let actual = build_kdtree(&geometries, 7, &sah);

let expected = KdNode::new_node(
Aap::new_x(1.0),
Expand All @@ -92,7 +92,7 @@ mod tests {
}

#[test]
fn axially_aligned_triangle() {
fn two_axially_aligned_triangles() {
let triangle1 = Triangle {
v0: Vec3::new(0.0, 0.0, 0.0),
v1: Vec3::new(1.0, 0.0, 0.0),
Expand All @@ -103,23 +103,128 @@ mod tests {
v1: Vec3::new(1.0, 0.0, 1.0),
v2: Vec3::new(1.0, 1.0, 1.0),
};
let triangle3 = Triangle {
v0: Vec3::new(0.0, 0.0, 2.0),
v1: Vec3::new(1.0, 0.0, 2.0),
v2: Vec3::new(1.0, 1.0, 2.0),
let geometries = [triangle1, triangle2].map(Geometry::from);
let sah = SahCost {
traverse_cost: 0.0,
intersect_cost: 1.0,
empty_factor: 1.0,
};
let geometries = [triangle1, triangle2, triangle3].map(Geometry::from);
let cost = SahCost {
let actual = build_kdtree(&geometries, 6, &sah);

let expected = KdNode::new_node(
Aap::new_z(0.0),
KdNode::new_leaf(vec![0]),
KdNode::new_node(Aap::new_z(1.0), KdNode::empty(), KdNode::new_leaf(vec![1])),
);
assert_eq!(
actual, *expected,
"\n actual: {}\n expected: {}",
actual, *expected
);
}

#[test]
fn one_cube() {
let triangles = [
// Front
Triangle {
v0: Vec3::new(0.0, 0.0, 0.0),
v1: Vec3::new(1.0, 0.0, 0.0),
v2: Vec3::new(1.0, 1.0, 0.0),
},
Triangle {
v0: Vec3::new(0.0, 0.0, 0.0),
v1: Vec3::new(0.0, 1.0, 0.0),
v2: Vec3::new(1.0, 1.0, 0.0),
},
// Back
Triangle {
v0: Vec3::new(0.0, 0.0, 1.0),
v1: Vec3::new(1.0, 0.0, 1.0),
v2: Vec3::new(1.0, 1.0, 1.0),
},
Triangle {
v0: Vec3::new(0.0, 0.0, 1.0),
v1: Vec3::new(0.0, 1.0, 1.0),
v2: Vec3::new(1.0, 1.0, 1.0),
},
// Bottom
Triangle {
v0: Vec3::new(0.0, 0.0, 0.0),
v1: Vec3::new(1.0, 0.0, 0.0),
v2: Vec3::new(1.0, 0.0, 1.0),
},
Triangle {
v0: Vec3::new(0.0, 0.0, 0.0),
v1: Vec3::new(0.0, 0.0, 1.0),
v2: Vec3::new(1.0, 0.0, 1.0),
},
// Top
Triangle {
v0: Vec3::new(0.0, 1.0, 0.0),
v1: Vec3::new(1.0, 1.0, 0.0),
v2: Vec3::new(1.0, 1.0, 1.0),
},
Triangle {
v0: Vec3::new(0.0, 1.0, 0.0),
v1: Vec3::new(0.0, 1.0, 1.0),
v2: Vec3::new(1.0, 1.0, 1.0),
},
// Right
Triangle {
v0: Vec3::new(0.0, 0.0, 0.0),
v1: Vec3::new(0.0, 0.0, 1.0),
v2: Vec3::new(0.0, 1.0, 1.0),
},
Triangle {
v0: Vec3::new(0.0, 0.0, 0.0),
v1: Vec3::new(0.0, 1.0, 0.0),
v2: Vec3::new(0.0, 1.0, 1.0),
},
// Left
Triangle {
v0: Vec3::new(1.0, 0.0, 0.0),
v1: Vec3::new(1.0, 1.0, 0.0),
v2: Vec3::new(1.0, 1.0, 1.0),
},
Triangle {
v0: Vec3::new(1.0, 0.0, 0.0),
v1: Vec3::new(1.0, 0.0, 1.0),
v2: Vec3::new(1.0, 1.0, 1.0),
},
];
let geometries = triangles.map(Geometry::from);
let sah = SahCost {
traverse_cost: 0.0,
intersect_cost: 1.0,
empty_factor: 1.0,
};
let actual = build_kdtree(&geometries, 6, &cost);
let actual = build_kdtree(&geometries, 10, &sah);

let expected = KdNode::new_node(
Aap::new_z(1.0),
KdNode::new_leaf(vec![0, 1]),
KdNode::new_leaf(vec![2, 1]),
Aap::new_x(0.0),
KdNode::new_leaf(vec![8, 9]),
KdNode::new_node(
Aap::new_x(1.0),
KdNode::new_node(
Aap::new_y(0.0),
KdNode::new_leaf(vec![4, 5]),
KdNode::new_node(
Aap::new_y(1.0),
KdNode::new_node(
Aap::new_z(0.0),
KdNode::new_leaf(vec![0, 1]),
KdNode::new_node(
Aap::new_z(1.0),
KdNode::empty(),
KdNode::new_leaf(vec![2, 3]),
),
),
KdNode::new_leaf(vec![6, 7]),
),
),
KdNode::new_leaf(vec![10, 11]),
),
);
assert_eq!(
actual, *expected,
Expand Down
3 changes: 2 additions & 1 deletion kdtree/src/partitioning.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,8 @@ pub(crate) fn split_and_partition_clipped_geometries(
plane: Aap,
) -> KdPartitioning {
let (left_aabb, right_aabb) = parent_aabb.split(&plane);
let (left_indices, middle_indices, right_indices) = partition_clipped_geometries(clipped, &plane);
let (left_indices, middle_indices, right_indices) =
partition_clipped_geometries(clipped, &plane);
KdPartitioning {
plane,
parent_aabb,
Expand Down
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