Simple class to wrap Embree's ray tracing functionality. More...

#include <EmbreeIntersector.h>

Public Types
typedef Eigen::Matrix< float, Eigen::Dynamic, 3 >	PointMatrixType
typedef Eigen::Matrix< int, Eigen::Dynamic, 3 >	FaceMatrixType
typedef Eigen::RowVector3f	OriginType
typedef Eigen::RowVector3f	DirectionType

Public Member Functions
	EmbreeIntersector ()
virtual	~EmbreeIntersector ()
void	init (const PointMatrixType &V, const FaceMatrixType &F, bool isStatic=false)
	Initialize with a given mesh.
void	init (const std::vector< const PointMatrixType * > &V, const std::vector< const FaceMatrixType * > &F, const std::vector< int > &masks, bool isStatic=false)
	Initialize with a given mesh.
void	deinit ()
	Deinitialize embree datasctructures for current mesh.
bool	intersectRay (const Eigen::RowVector3f &origin, const Eigen::RowVector3f &direction, Hit< float > &hit, float tnear=0, float tfar=std::numeric_limits< float >::infinity(), int mask=0xFFFFFFFF) const
	Given a ray find the first hit.
bool	intersectBeam (const Eigen::RowVector3f &origin, const Eigen::RowVector3f &direction, Hit< float > &hit, float tnear=0, float tfar=std::numeric_limits< float >::infinity(), int mask=0xFFFFFFFF, int geoId=-1, bool closestHit=true, unsigned int samples=4) const
	Given a ray find the first hit This is a conservative hit test where multiple rays within a small radius will be tested and only the closesest hit is returned.
bool	intersectRay (const Eigen::RowVector3f &origin, const Eigen::RowVector3f &direction, std::vector< Hit< float > > &hits, int &num_rays, float tnear=0, float tfar=std::numeric_limits< float >::infinity(), int mask=0xFFFFFFFF) const
	Given a ray find all hits in order.
bool	intersectSegment (const Eigen::RowVector3f &a, const Eigen::RowVector3f &ab, Hit< float > &hit, int mask=0xFFFFFFFF) const
	Given a ray find the first hit.
int	signedIntersectionsRay (const OriginType &origin, const DirectionType &direction, float tnear=0.0f, float tfar=std::numeric_limits< float >::infinity(), int mask=0xFFFFFFFF) const
	Signed ray-mesh crossing count along (origin, direction).

Detailed Description

Simple class to wrap Embree's ray tracing functionality.

Member Typedef Documentation

◆ PointMatrixType

typedef Eigen::Matrix<float,Eigen::Dynamic,3> igl::embree::EmbreeIntersector::PointMatrixType

◆ FaceMatrixType

typedef Eigen::Matrix<int,Eigen::Dynamic,3> igl::embree::EmbreeIntersector::FaceMatrixType

◆ OriginType

typedef Eigen::RowVector3f igl::embree::EmbreeIntersector::OriginType

◆ DirectionType

typedef Eigen::RowVector3f igl::embree::EmbreeIntersector::DirectionType

Constructor & Destructor Documentation

◆ EmbreeIntersector()

igl::embree::EmbreeIntersector::EmbreeIntersector ( )

◆ ~EmbreeIntersector()

virtual igl::embree::EmbreeIntersector::~EmbreeIntersector ( )

virtual

Member Function Documentation

◆ init() [1/2]

void igl::embree::EmbreeIntersector::init	(	const PointMatrixType &	V,
		const FaceMatrixType &	F,
		bool	isStatic = false )

Initialize with a given mesh.

Parameters

[in]	V	#V by 3 list of vertex positions
[in]	F	#F by 3 list of Oriented triangles
[in]	isStatic	scene is optimized for static geometry

Side effects:

The first time this is ever called the embree engine is initialized.

◆ init() [2/2]

void igl::embree::EmbreeIntersector::init	(	const std::vector< const PointMatrixType * > &	V,
		const std::vector< const FaceMatrixType * > &	F,
		const std::vector< int > &	masks,
		bool	isStatic = false )

Initialize with a given mesh.

Parameters

[in]	V	vector of #V by 3 list of vertex positions for each geometry
[in]	F	vector of #F by 3 list of Oriented triangles for each geometry
[in]	masks	a 32 bit mask to identify active geometries.
[in]	isStatic	scene is optimized for static geometry

Side effects:

The first time this is ever called the embree engine is initialized.

◆ deinit()

void igl::embree::EmbreeIntersector::deinit ( )

Deinitialize embree datasctructures for current mesh.

Also called on destruction: no need to call if you just want to init() once and destroy.

◆ intersectRay() [1/2]

bool igl::embree::EmbreeIntersector::intersectRay	(	const Eigen::RowVector3f &	origin,
		const Eigen::RowVector3f &	direction,
		Hit< float > &	hit,
		float	tnear = 0,
		float	tfar = std::numeric_limits< float >::infinity(),
		int	mask = 0xFFFFFFFF ) const

Given a ray find the first hit.

Parameters

[in]	origin	3d origin point of ray
[in]	direction	3d (not necessarily normalized) direction vector of ray
[in]	tnear	start of ray segment
[in]	tfar	end of ray segment
[in]	masks	a 32 bit mask to identify active geometries.
[out]	hit	information about hit

Returns: true if and only if there was a hit

◆ intersectBeam()

bool igl::embree::EmbreeIntersector::intersectBeam	(	const Eigen::RowVector3f &	origin,
		const Eigen::RowVector3f &	direction,
		Hit< float > &	hit,
		float	tnear = 0,
		float	tfar = std::numeric_limits< float >::infinity(),
		int	mask = 0xFFFFFFFF,
		int	geoId = -1,
		bool	closestHit = true,
		unsigned int	samples = 4 ) const

Given a ray find the first hit This is a conservative hit test where multiple rays within a small radius will be tested and only the closesest hit is returned.

Parameters

[in]	origin	3d origin point of ray
[in]	direction	3d (not necessarily normalized) direction vector of ray
[in]	tnear	start of ray segment
[in]	tfar	end of ray segment
[in]	masks	a 32 bit mask to identify active geometries.
[in]	geoId	id of geometry mask (default std::numeric_limits<float>::infinity() if no: no masking)
[in]	closestHit	true for gets closest hit, false for furthest hit
[out]	hit	information about hit

Returns: true if and only if there was a hit

◆ intersectRay() [2/2]

bool igl::embree::EmbreeIntersector::intersectRay	(	const Eigen::RowVector3f &	origin,
		const Eigen::RowVector3f &	direction,
		std::vector< Hit< float > > &	hits,
		int &	num_rays,
		float	tnear = 0,
		float	tfar = std::numeric_limits< float >::infinity(),
		int	mask = 0xFFFFFFFF ) const

Given a ray find all hits in order.

Parameters

[in]	origin	3d origin point of ray
[in]	direction	3d (not necessarily normalized) direction vector of ray
[in]	tnear	start of ray segment
[in]	tfar	end of ray segment
[in]	masks	a 32 bit mask to identify active geometries.
[out]	hit	information about hit
[out]	num_rays	number of rays shot (at least one)

Returns: true if and only if there was a hit

◆ intersectSegment()

bool igl::embree::EmbreeIntersector::intersectSegment	(	const Eigen::RowVector3f &	a,
		const Eigen::RowVector3f &	ab,
		Hit< float > &	hit,
		int	mask = 0xFFFFFFFF ) const

Given a ray find the first hit.

Parameters

[in]	a	3d first end point of segment
[in]	ab	3d vector from a to other endpoint b
[out]	hit	information about hit

Returns: true if and only if there was a hit

◆ signedIntersectionsRay()

int igl::embree::EmbreeIntersector::signedIntersectionsRay	(	const OriginType &	origin,
		const DirectionType &	direction,
		float	tnear = 0.0f,
		float	tfar = std::numeric_limits< float >::infinity(),
		int	mask = 0xFFFFFFFF ) const

Signed ray-mesh crossing count along (origin, direction).

Visits every hit (occluded ray + argument filter rejecting each) and accumulates sign(direction · Ng) per hit.

Parameters

[in]	origin	ray origin
[in]	direction	ray direction (need not be normalized)
[in]	tnear	start of ray segment
[in]	tfar	end of ray segment
[in]	mask	a 32 bit mask to identify active geometries

Returns: signed crossing count

The documentation for this class was generated from the following file:

include/igl/embree/EmbreeIntersector.h

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ PointMatrixType

◆ FaceMatrixType

◆ OriginType

◆ DirectionType

Constructor & Destructor Documentation

◆ EmbreeIntersector()

◆ ~EmbreeIntersector()

Member Function Documentation

◆ init() [1/2]

Side effects:

◆ init() [2/2]

Side effects:

◆ deinit()

◆ intersectRay() [1/2]

◆ intersectBeam()

◆ intersectRay() [2/2]

◆ intersectSegment()

◆ signedIntersectionsRay()