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commit eb66fd5255973af11480ba1b910c06f82aca463f
Author: Nigel Morris <[email protected]>
Date:   Thu Jan 9 19:22:35 2025 +0000

    Ruff format, variable names update

commit 66c28f705001fb81f95bf9acde3a7efd8ac71186
Author: Nigel Morris <[email protected]>
Date:   Thu Jan 9 16:50:08 2025 +0000

    Implemented voxel-mesh intersection
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@nmorrisad
nmorrisad committed Jan 9, 2025
1 parent 4d2a78d commit cccdd25
Showing 1 changed file with 45 additions and 39 deletions.
84 changes: 45 additions & 39 deletions xlb/operator/boundary_masker/mesh_boundary_masker.py
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Original file line number Diff line number Diff line change
Expand Up @@ -61,72 +61,78 @@ def index_to_position(index: wp.vec3i):

# Function to precompute useful values per triangle, assuming spacing is (1,1,1)
@wp.func
def pre_compute( v: wp.mat33f, # triangle vertices
normal: wp.vec3f ): # triangle normal
c = wp.vec3f(float(normal[0] > 0.0),float(normal[1] > 0.0),float(normal[2] > 0.0))
def pre_compute(
verts: wp.mat33f, # triangle vertices
normal: wp.vec3f, # triangle normal
):
corner = wp.vec3f(float(normal[0] > 0.0), float(normal[1] > 0.0), float(normal[2] > 0.0))

d1 = wp.dot(normal, c-v[0])
d2 = wp.dot(normal, wp.vec3f(1.,1.,1.) - c - v[0])
dist1 = wp.dot(normal, corner - verts[0])
dist2 = wp.dot(normal, wp.vec3f(1.0, 1.0, 1.0) - corner - verts[0])

edges = wp.transpose(wp.mat33(v[1]-v[0],v[2]-v[1],v[0]-v[2]))
ne0 = wp.mat33f(0.0)
ne1 = wp.mat33f(0.0)
de = wp.mat33f(0.0)
edges = wp.transpose(wp.mat33(verts[1] - verts[0], verts[2] - verts[1], verts[0] - verts[2]))
normal_edge0 = wp.mat33f(0.0)
normal_edge1 = wp.mat33f(0.0)
dist_edge = wp.mat33f(0.0)

for ax0 in range(0,3):
ax2 = ( ax0 + 2 ) % 3
for axis0 in range(0, 3):
axis2 = (axis0 + 2) % 3

sgn = 1.0
if ( normal[ax2] < 0.0 ):
if normal[axis2] < 0.0:
sgn = -1.0

for i in range(0,3):
ne0[i][ax0] = -1.0 * sgn * edges[i][ax0]
ne1[i][ax0] = sgn * edges[i][ax0]
for i in range(0, 3):
normal_edge0[i][axis0] = -1.0 * sgn * edges[i][axis0]
normal_edge1[i][axis0] = sgn * edges[i][axis0]

de[i][ax0] = -1. * ( ne0[i][ax0] * v[i][ax0] + ne1[i][ax0] * v[i][ax0] ) \
+ wp.max(0., ne0[i][ax0] ) + wp.max(0., ne1[i][ax0])
dist_edge[i][axis0] = (
-1.0 * (normal_edge0[i][axis0] * verts[i][axis0] + normal_edge1[i][axis0] * verts[i][axis0])
+ wp.max(0.0, normal_edge0[i][axis0])
+ wp.max(0.0, normal_edge1[i][axis0])
)

return d1, d2, ne0, ne1, de
return dist1, dist2, normal_edge0, normal_edge1, dist_edge

# Check whether this triangle intersects the unit cube at position low
@wp.func
def triangle_box_intersect( low: wp.vec3f,
normal: wp.vec3f,
d1: wp.float32,
d2: wp.float32,
ne0: wp.mat33f,
ne1: wp.mat33f,
de: wp.mat33f ):
if ( ( wp.dot(normal, low ) + d1 ) * ( wp.dot( normal, low ) + d2 ) <= 0.0 ):
def triangle_box_intersect(
low: wp.vec3f,
normal: wp.vec3f,
dist1: wp.float32,
dist2: wp.float32,
normal_edge0: wp.mat33f,
normal_edge1: wp.mat33f,
dist_edge: wp.mat33f,
):
if (wp.dot(normal, low) + dist1) * (wp.dot(normal, low) + dist2) <= 0.0:
intersect = True
# Loop over primary axis for projection
for ax0 in range(0,3):
ax1 = ( ax0 + 1 ) % 3
for i in range(0,3):
intersect = intersect and ( ne0[i][ax0] * low[ax0] + ne1[i][ax0] * low[ax1] + de[i][ax0] >= 0.0 )
for ax0 in range(0, 3):
ax1 = (ax0 + 1) % 3
for i in range(0, 3):
intersect = intersect and (normal_edge0[i][ax0] * low[ax0] + normal_edge1[i][ax0] * low[ax1] + dist_edge[i][ax0] >= 0.0)

return intersect
else:
return False

@wp.func
def mesh_voxel_intersect( mesh_id: wp.uint64, low: wp.vec3 ):

query = wp.mesh_query_aabb(mesh_id, low, low + wp.vec3f(1.,1.,1.))
def mesh_voxel_intersect(mesh_id: wp.uint64, low: wp.vec3):
query = wp.mesh_query_aabb(mesh_id, low, low + wp.vec3f(1.0, 1.0, 1.0))

for f in query:
v0 = wp.mesh_eval_position(mesh_id, f, 1.0, 0.0)
v1 = wp.mesh_eval_position(mesh_id, f, 0.0, 1.0)
v2 = wp.mesh_eval_position(mesh_id, f, 0.0, 0.0)
normal = wp.mesh_eval_face_normal(mesh_id, f)

v = wp.transpose(wp.mat33f(v0,v1,v2))
v = wp.transpose(wp.mat33f(v0, v1, v2))

# TODO: run this on triangles in advance
d1, d2, ne0, ne1, de = pre_compute( v= v, normal= normal )
d1, d2, ne0, ne1, de = pre_compute(verts=v, normal=normal)

if triangle_box_intersect(low=low, normal=normal, d1=d1, d2=d2, ne0=ne0, ne1=ne1, de=de):
if triangle_box_intersect(low=low, normal=normal, dist1=d1, dist2=d2, normal_edge0=ne0, normal_edge1=ne1, dist_edge=de):
return True

return False
Expand Down Expand Up @@ -177,9 +183,9 @@ def warp_implementation(
):
assert bc.mesh_vertices is not None, f'Please provide the mesh vertices for {bc.__class__.__name__} BC using keyword "mesh_vertices"!'
assert bc.indices is None, f"Please use IndicesBoundaryMasker operator if {bc.__class__.__name__} is imposed on known indices of the grid!"
assert (
bc.mesh_vertices.shape[1] == self.velocity_set.d
), "Mesh points must be reshaped into an array (N, 3) where N indicates number of points!"
assert bc.mesh_vertices.shape[1] == self.velocity_set.d, (
"Mesh points must be reshaped into an array (N, 3) where N indicates number of points!"
)
mesh_vertices = bc.mesh_vertices
id_number = bc.id

Expand Down

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