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Update SdfLib to latest version.

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PiperOrigin-RevId: 574140359
Change-Id: Icbbf1c863204bef45252cfd184e0d80046261dc4
This commit is contained in:
Alessio Quaglino
2023-10-17 07:19:40 -07:00
committed by Copybara-Service
parent 393cfec1e8
commit db067a3b94
2 changed files with 4 additions and 588 deletions
Download Patch File Download Diff File Expand all files Collapse all files
cmake/MujocoDependencies.cmake
+4 -3
View File
@@ -59,7 +59,7 @@ set(MUJOCO_DEP_VERSION_benchmark
)
set(MUJOCO_DEP_VERSION_sdflib
492847fa81e46653114da48e8886730ccefed377
7c49cfba9bbec763b5d0f7b90b26555f3dde8088
CACHE STRING "Version of `SdfLib` to be fetched."
)
@@ -184,6 +184,9 @@ findorfetch(
EXCLUDE_FROM_ALL
)
option(SDFLIB_USE_ASSIMP OFF)
option(SDFLIB_USE_OPENMP OFF)
option(SDFLIB_USE_ENOKI OFF)
findorfetch(
USE_SYSTEM_PACKAGE
OFF
@@ -195,8 +198,6 @@ findorfetch(
https://github.com/UPC-ViRVIG/SdfLib.git
GIT_TAG
${MUJOCO_DEP_VERSION_sdflib}
PATCH_COMMAND
git apply --reject --whitespace=fix ${mujoco_SOURCE_DIR}/cmake/sdflib-optional-dependencies.patch
TARGETS
SdfLib
EXCLUDE_FROM_ALL
cmake/sdflib-optional-dependencies.patch
-585
View File
@@ -1,585 +0,0 @@
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 20551cf..0d2a364 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -70,15 +70,25 @@ add_custom_target(copyShaders ALL SOURCES ${SHADER_FILES})
# Add dependencies
add_subdirectory(libs)
+if(SDFLIB_USE_ENOKI)
+ target_link_libraries(${PROJECT_NAME} PUBLIC enoki)
+ target_link_libraries(${PROJECT_NAME} PUBLIC fcpw)
+ target_compile_definitions(${PROJECT_NAME} PUBLIC -DENOKI_AVAILABLE)
+endif()
+
+if(SDFLIB_USE_ASSIMP)
+ target_link_libraries(${PROJECT_NAME} PUBLIC assimp)
+ target_compile_definitions(${PROJECT_NAME} PUBLIC -DASSIMP_AVAILABLE)
+endif()
+
+if(SDFLIB_BUILD_APPS OR SDFLIB_BUILD_DEBUG_APPS)
+ target_link_libraries(${PROJECT_NAME} PUBLIC args)
+ target_link_libraries(${PROJECT_NAME} PUBLIC stb_image)
+endif()
+
target_link_libraries(${PROJECT_NAME} PUBLIC glm)
-target_link_libraries(${PROJECT_NAME} PUBLIC assimp)
-target_link_libraries(${PROJECT_NAME} PUBLIC args)
target_link_libraries(${PROJECT_NAME} PUBLIC spdlog)
target_link_libraries(${PROJECT_NAME} PUBLIC cereal)
-target_link_libraries(${PROJECT_NAME} PUBLIC enoki)
-target_link_libraries(${PROJECT_NAME} PUBLIC eigen)
-target_link_libraries(${PROJECT_NAME} PUBLIC fcpw)
-target_link_libraries(${PROJECT_NAME} PUBLIC stb_image)
target_link_libraries(${PROJECT_NAME} PUBLIC icg)
if(CMAKE_CXX_COMPILER_ID MATCHES GNU)
@@ -86,17 +96,22 @@ if(CMAKE_CXX_COMPILER_ID MATCHES GNU)
endif()
# Add openMP
-if (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
- message("Enabling openmp llvm extension")
- set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /openmp:llvm")
-else()
- find_package(OpenMP)
- if(NOT OpenMP_CXX_FOUND)
- message(FATAL_ERROR "OpenMP not found")
- endif()
- message("OpenMP version ${OpenMP_CXX_VERSION}")
- target_link_libraries(${PROJECT_NAME} PUBLIC OpenMP::OpenMP_CXX)
-endif()
+if(SDFLIB_USE_OPENMP)
+ if (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+ message("Enabling openmp llvm extension")
+ set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /openmp:llvm")
+ target_compile_definitions(${PROJECT_NAME} PUBLIC -DOPENMP_AVAILABLE)
+ else()
+ find_package(OpenMP)
+ if(OpenMP_CXX_FOUND)
+ message("OpenMP version ${OpenMP_CXX_VERSION}")
+ target_link_libraries(${PROJECT_NAME} PUBLIC OpenMP::OpenMP_CXX)
+ target_compile_definitions(${PROJECT_NAME} PUBLIC -DOPENMP_AVAILABLE)
+ else()
+ message("Disabling openmp")
+ endif()
+ endif()
+endif()
# Add executable
if (NOT UNIX)
@@ -160,6 +175,7 @@ if(SDFLIB_BUILD_DEBUG_APPS)
add_executable(GJKtest src/tools/GJKtest/main.cpp)
target_link_libraries(GJKtest PUBLIC ${PROJECT_NAME})
+ target_link_libraries(${PROJECT_NAME} PUBLIC eigen)
add_executable(CalculateInterpolationParameters src/tools/CalculateInterpolationParameters/main.cpp)
target_link_libraries(CalculateInterpolationParameters PUBLIC ${PROJECT_NAME})
diff --git a/include/SdfLib/ExactOctreeSdf.h b/include/SdfLib/ExactOctreeSdf.h
index 79ad82d..06dd7ac 100644
--- a/include/SdfLib/ExactOctreeSdf.h
+++ b/include/SdfLib/ExactOctreeSdf.h
@@ -214,6 +214,8 @@ private:
};
}
+#ifdef OPENMP_AVAILABLE
#include "ExactOctreeSdfDepthFirst.h"
+#endif
#endif
\ No newline at end of file
diff --git a/include/SdfLib/InterpolationMethods.h b/include/SdfLib/InterpolationMethods.h
index 077dfb2..f707d5b 100644
--- a/include/SdfLib/InterpolationMethods.h
+++ b/include/SdfLib/InterpolationMethods.h
@@ -4,7 +4,10 @@
#include <array>
#include "utils/TriangleUtils.h"
+
+#ifdef ENOKI_AVAILABLE
#include "enoki/array.h"
+#endif
namespace sdflib
{
@@ -236,15 +239,6 @@ struct TriLinearInterpolation
// outCoeff[63] = 8 * inValues[0][0] + 4 * inValues[0][1] * nodeSize + 4 * inValues[0][2] * nodeSize + 4 * inValues[0][3] * nodeSize + -8 * inValues[1][0] + 4 * inValues[1][1] * nodeSize + -4 * inValues[1][2] * nodeSize + -4 * inValues[1][3] * nodeSize + -8 * inValues[2][0] + -4 * inValues[2][1] * nodeSize + 4 * inValues[2][2] * nodeSize + -4 * inValues[2][3] * nodeSize + 8 * inValues[3][0] + -4 * inValues[3][1] * nodeSize + -4 * inValues[3][2] * nodeSize + 4 * inValues[3][3] * nodeSize + -8 * inValues[4][0] + -4 * inValues[4][1] * nodeSize + -4 * inValues[4][2] * nodeSize + 4 * inValues[4][3] * nodeSize + 8 * inValues[5][0] + -4 * inValues[5][1] * nodeSize + 4 * inValues[5][2] * nodeSize + -4 * inValues[5][3] * nodeSize + 8 * inValues[6][0] + 4 * inValues[6][1] * nodeSize + -4 * inValues[6][2] * nodeSize + -4 * inValues[6][3] * nodeSize + -8 * inValues[7][0] + 4 * inValues[7][1] * nodeSize + 4 * inValues[7][2] * nodeSize + 4 * inValues[7][3] * nodeSize + 0.0f;
// }
-// inline static float interpolateValue(const std::array<float, NUM_COEFFICIENTS>& values, glm::vec3 fracPart)
-// {
-// return 0.0f
-// + values[0] + values[1] * fracPart[0] + values[2] * fracPart[0] * fracPart[0] + values[3] * fracPart[0] * fracPart[0] * fracPart[0] + values[4] * fracPart[1] + values[5] * fracPart[0] * fracPart[1] + values[6] * fracPart[0] * fracPart[0] * fracPart[1] + values[7] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] + values[8] * fracPart[1] * fracPart[1] + values[9] * fracPart[0] * fracPart[1] * fracPart[1] + values[10] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] + values[11] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] + values[12] * fracPart[1] * fracPart[1] * fracPart[1] + values[13] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] + values[14] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] + values[15] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1]
-// + values[16] * fracPart[2] + values[17] * fracPart[0] * fracPart[2] + values[18] * fracPart[0] * fracPart[0] * fracPart[2] + values[19] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[2] + values[20] * fracPart[1] * fracPart[2] + values[21] * fracPart[0] * fracPart[1] * fracPart[2] + values[22] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[2] + values[23] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[2] + values[24] * fracPart[1] * fracPart[1] * fracPart[2] + values[25] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[2] + values[26] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[2] + values[27] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[2] + values[28] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] + values[29] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] + values[30] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] + values[31] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2]
-// + values[32] * fracPart[2] * fracPart[2] + values[33] * fracPart[0] * fracPart[2] * fracPart[2] + values[34] * fracPart[0] * fracPart[0] * fracPart[2] * fracPart[2] + values[35] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[2] * fracPart[2] + values[36] * fracPart[1] * fracPart[2] * fracPart[2] + values[37] * fracPart[0] * fracPart[1] * fracPart[2] * fracPart[2] + values[38] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[2] * fracPart[2] + values[39] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[2] * fracPart[2] + values[40] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] + values[41] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] + values[42] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] + values[43] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] + values[44] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] + values[45] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] + values[46] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] + values[47] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2]
-// + values[48] * fracPart[2] * fracPart[2] * fracPart[2] + values[49] * fracPart[0] * fracPart[2] * fracPart[2] * fracPart[2] + values[50] * fracPart[0] * fracPart[0] * fracPart[2] * fracPart[2] * fracPart[2] + values[51] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[2] * fracPart[2] * fracPart[2] + values[52] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[53] * fracPart[0] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[54] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[55] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[56] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[57] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[58] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[59] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[60] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[61] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[62] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[63] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2];
-// }
-
// inline static void interpolateVertexValues(const std::array<float, NUM_COEFFICIENTS>& values, glm::vec3 fracPart, float nodeSize, std::array<float, VALUES_PER_VERTEX>& outValues)
// {
// outValues[0] = 0.0f
@@ -383,6 +377,7 @@ struct TriCubicInterpolation
outCoeff[63] = 8 * inValues[0][0] + 4 * inValues[0][1] + 4 * inValues[0][2] + 4 * inValues[0][3] + 2 * inValues[0][4] + 2 * inValues[0][5] + 2 * inValues[0][6] + 1 * inValues[0][7] + -8 * inValues[1][0] + 4 * inValues[1][1] + -4 * inValues[1][2] + -4 * inValues[1][3] + 2 * inValues[1][4] + 2 * inValues[1][5] + -2 * inValues[1][6] + 1 * inValues[1][7] + -8 * inValues[2][0] + -4 * inValues[2][1] + 4 * inValues[2][2] + -4 * inValues[2][3] + 2 * inValues[2][4] + -2 * inValues[2][5] + 2 * inValues[2][6] + 1 * inValues[2][7] + 8 * inValues[3][0] + -4 * inValues[3][1] + -4 * inValues[3][2] + 4 * inValues[3][3] + 2 * inValues[3][4] + -2 * inValues[3][5] + -2 * inValues[3][6] + 1 * inValues[3][7] + -8 * inValues[4][0] + -4 * inValues[4][1] + -4 * inValues[4][2] + 4 * inValues[4][3] + -2 * inValues[4][4] + 2 * inValues[4][5] + 2 * inValues[4][6] + 1 * inValues[4][7] + 8 * inValues[5][0] + -4 * inValues[5][1] + 4 * inValues[5][2] + -4 * inValues[5][3] + -2 * inValues[5][4] + 2 * inValues[5][5] + -2 * inValues[5][6] + 1 * inValues[5][7] + 8 * inValues[6][0] + 4 * inValues[6][1] + -4 * inValues[6][2] + -4 * inValues[6][3] + -2 * inValues[6][4] + -2 * inValues[6][5] + 2 * inValues[6][6] + 1 * inValues[6][7] + -8 * inValues[7][0] + 4 * inValues[7][1] + 4 * inValues[7][2] + 4 * inValues[7][3] + -2 * inValues[7][4] + -2 * inValues[7][5] + -2 * inValues[7][6] + 1 * inValues[7][7];
}
+#ifdef ENOKI_AVAILABLE
using vec4 = enoki::Array<float, 4>;
inline static float interpolateValue(const std::array<float, NUM_COEFFICIENTS>& values, glm::vec3 fracPart)
@@ -433,6 +428,16 @@ struct TriCubicInterpolation
return sum;
}
+#else
+ inline static float interpolateValue(const std::array<float, NUM_COEFFICIENTS>& values, glm::vec3 fracPart)
+ {
+ return 0.0f
+ + values[0] + values[1] * fracPart[0] + values[2] * fracPart[0] * fracPart[0] + values[3] * fracPart[0] * fracPart[0] * fracPart[0] + values[4] * fracPart[1] + values[5] * fracPart[0] * fracPart[1] + values[6] * fracPart[0] * fracPart[0] * fracPart[1] + values[7] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] + values[8] * fracPart[1] * fracPart[1] + values[9] * fracPart[0] * fracPart[1] * fracPart[1] + values[10] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] + values[11] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] + values[12] * fracPart[1] * fracPart[1] * fracPart[1] + values[13] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] + values[14] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] + values[15] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1]
+ + values[16] * fracPart[2] + values[17] * fracPart[0] * fracPart[2] + values[18] * fracPart[0] * fracPart[0] * fracPart[2] + values[19] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[2] + values[20] * fracPart[1] * fracPart[2] + values[21] * fracPart[0] * fracPart[1] * fracPart[2] + values[22] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[2] + values[23] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[2] + values[24] * fracPart[1] * fracPart[1] * fracPart[2] + values[25] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[2] + values[26] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[2] + values[27] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[2] + values[28] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] + values[29] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] + values[30] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] + values[31] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2]
+ + values[32] * fracPart[2] * fracPart[2] + values[33] * fracPart[0] * fracPart[2] * fracPart[2] + values[34] * fracPart[0] * fracPart[0] * fracPart[2] * fracPart[2] + values[35] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[2] * fracPart[2] + values[36] * fracPart[1] * fracPart[2] * fracPart[2] + values[37] * fracPart[0] * fracPart[1] * fracPart[2] * fracPart[2] + values[38] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[2] * fracPart[2] + values[39] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[2] * fracPart[2] + values[40] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] + values[41] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] + values[42] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] + values[43] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] + values[44] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] + values[45] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] + values[46] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] + values[47] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2]
+ + values[48] * fracPart[2] * fracPart[2] * fracPart[2] + values[49] * fracPart[0] * fracPart[2] * fracPart[2] * fracPart[2] + values[50] * fracPart[0] * fracPart[0] * fracPart[2] * fracPart[2] * fracPart[2] + values[51] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[2] * fracPart[2] * fracPart[2] + values[52] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[53] * fracPart[0] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[54] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[55] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[56] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[57] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[58] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[59] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[60] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[61] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[62] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2] + values[63] * fracPart[0] * fracPart[0] * fracPart[0] * fracPart[1] * fracPart[1] * fracPart[1] * fracPart[2] * fracPart[2] * fracPart[2];
+ }
+#endif
inline static glm::vec3 interpolateGradient(const std::array<float, NUM_COEFFICIENTS>& values, glm::vec3 fracPart)
{
@@ -493,4 +498,4 @@ struct TriCubicInterpolation
};
}
-#endif
\ No newline at end of file
+#endif
diff --git a/include/SdfLib/TrianglesInfluence.h b/include/SdfLib/TrianglesInfluence.h
index 3f3d33f..fc2ca52 100644
--- a/include/SdfLib/TrianglesInfluence.h
+++ b/include/SdfLib/TrianglesInfluence.h
@@ -1,7 +1,10 @@
#ifndef TRIANGLES_INFLUENCE_H
#define TRIANGLES_INFLUENCE_H
+#ifdef ENOKI_AVAILABLE
#include <fcpw/fcpw.h>
+#endif
+
#include "utils/Mesh.h"
#include "utils/TriangleUtils.h"
#include "OctreeSdfUtils.h"
@@ -1008,6 +1011,7 @@ struct VHQueries
}
};
+#ifdef ENOKI_AVAILABLE
template<typename T>
struct FCPWQueries
{
@@ -1118,6 +1122,8 @@ struct FCPWQueries
{
}
};
+#endif
+
}
-#endif
\ No newline at end of file
+#endif
diff --git a/include/SdfLib/utils/Mesh.h b/include/SdfLib/utils/Mesh.h
index 28d5486..7d21e44 100644
--- a/include/SdfLib/utils/Mesh.h
+++ b/include/SdfLib/utils/Mesh.h
@@ -4,9 +4,11 @@
#include <string>
#include <vector>
#include <glm/glm.hpp>
+#ifdef ASSIMP_AVAILABLE
#include <assimp/Importer.hpp>
#include <assimp/scene.h>
#include <assimp/postprocess.h>
+#endif
#include "SdfLib/utils/UsefullSerializations.h"
namespace sdflib
@@ -43,6 +45,23 @@ struct BoundingBox
return glm::length(glm::max(q,glm::vec3(0.0f))) + glm::min(glm::max(q.x, glm::max(q.y,q.z)),0.0f);
}
+ float getDistance(glm::vec3 point, glm::vec3& outGradient) const
+ {
+ glm::vec3 a = glm::abs(point) - getSize();
+ int k = a[0] > a[1] ? 0 : 1;
+ int l = a[2] > a[k] ? 2 : k;
+ if (a[l] < 0) {
+ outGradient[l] = point[l] / glm::abs(point[l]);
+ } else {
+ glm::vec3 b = glm::max(a, glm::vec3(0.0f));
+ float c = glm::length(b);
+ outGradient[0] = a[0] > 0 ? b[0] / c * point[0] / glm::abs(point[0]) : 0;
+ outGradient[1] = a[1] > 0 ? b[1] / c * point[1] / glm::abs(point[1]) : 0;
+ outGradient[2] = a[2] > 0 ? b[2] / c * point[2] / glm::abs(point[2]) : 0;
+ }
+ return getDistance(point);
+ }
+
template<class Archive>
void serialize(Archive & archive)
{
@@ -54,8 +73,10 @@ class Mesh
{
public:
Mesh() {}
+#ifdef ASSIMP_AVAILABLE
Mesh(std::string filePath);
Mesh(const aiMesh* mesh);
+#endif
Mesh(glm::vec3* vertices, uint32_t numVertices,
uint32_t* indices, uint32_t numIndices);
@@ -74,7 +95,9 @@ public:
void computeNormals();
void applyTransform(glm::mat4 trans);
private:
+#ifdef ASSIMP_AVAILABLE
void initMesh(const aiMesh* mesh);
+#endif
std::vector<glm::vec3> mVertices;
std::vector<uint32_t> mIndices;
@@ -83,4 +106,4 @@ private:
};
}
-#endif
\ No newline at end of file
+#endif
diff --git a/include/SdfLib/utils/TriangleUtils.h b/include/SdfLib/utils/TriangleUtils.h
index 9f930ed..6ee2304 100644
--- a/include/SdfLib/utils/TriangleUtils.h
+++ b/include/SdfLib/utils/TriangleUtils.h
@@ -2,6 +2,7 @@
#define TRIANGLE_UTILS_H
#include <glm/glm.hpp>
+#include <algorithm>
#include <vector>
#include <array>
#include <map>
@@ -401,4 +402,4 @@ namespace TriangleUtils
}
}
-#endif
\ No newline at end of file
+#endif
diff --git a/libs/CMakeLists.txt b/libs/CMakeLists.txt
index b48bf39..ea22b9a 100644
--- a/libs/CMakeLists.txt
+++ b/libs/CMakeLists.txt
@@ -14,37 +14,41 @@ if(NOT glm_lib_POPULATED)
endif()
# assimp
-FetchContent_Declare(assimp_lib
- GIT_REPOSITORY https://github.com/assimp/assimp.git
- GIT_TAG 9519a62dd20799c5493c638d1ef5a6f484e5faf1 # 5.2.5
-)
-
-if(NOT assimp_lib)
- FetchContent_Populate(assimp_lib)
-
- set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
- set(BUILD_SHARED_LIBS OFF)
- set(ASSIMP_BUILD_ASSIMP_TOOLS OFF)
- set(ASSIMP_BUILD_TESTS OFF)
- set(ASSIMP_INSTALL OFF)
- set(ASSIMP_INJECT_DEBUG_POSTFIX OFF)
- set(ASSIMP_BUILD_ASSIMP_VIEW OFF)
+if(SDF_USE_ASSIMP)
+ FetchContent_Declare(assimp_lib
+ GIT_REPOSITORY https://github.com/assimp/assimp.git
+ GIT_TAG 9519a62dd20799c5493c638d1ef5a6f484e5faf1 # 5.2.5
+ )
- add_subdirectory(${assimp_lib_SOURCE_DIR} ${assimp_lib_BINARY_DIR})
+ if(NOT assimp_lib)
+ FetchContent_Populate(assimp_lib)
+
+ set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
+ set(BUILD_SHARED_LIBS OFF)
+ set(ASSIMP_BUILD_ASSIMP_TOOLS OFF)
+ set(ASSIMP_BUILD_TESTS OFF)
+ set(ASSIMP_INSTALL OFF)
+ set(ASSIMP_INJECT_DEBUG_POSTFIX OFF)
+ set(ASSIMP_BUILD_ASSIMP_VIEW OFF)
+
+ add_subdirectory(${assimp_lib_SOURCE_DIR} ${assimp_lib_BINARY_DIR})
+ endif()
endif()
# args
-FetchContent_Declare(args_lib
- GIT_REPOSITORY https://github.com/Taywee/args.git
- GIT_TAG a48e1f880813b367d2354963a58dedbf2b708584 # 6.3.0
-)
-
-FetchContent_GetProperties(args_lib)
-if(NOT args_lib_POPULATED)
- FetchContent_Populate(args_lib)
- add_library(args INTERFACE)
- target_include_directories(args INTERFACE ${args_lib_SOURCE_DIR})
-endif()
+if(SDFLIB_BUILD_APPS OR SDFLIB_BUILD_DEBUG_APPS)
+ FetchContent_Declare(args_lib
+ GIT_REPOSITORY https://github.com/Taywee/args.git
+ GIT_TAG a48e1f880813b367d2354963a58dedbf2b708584 # 6.3.0
+ )
+
+ FetchContent_GetProperties(args_lib)
+ if(NOT args_lib_POPULATED)
+ FetchContent_Populate(args_lib)
+ add_library(args INTERFACE)
+ target_include_directories(args INTERFACE ${args_lib_SOURCE_DIR})
+ endif()
+ endif()
# spdlog
FetchContent_Declare(spdlog_lib
@@ -76,47 +80,53 @@ if(NOT cereal_lib_POPULATED)
endif()
# Enoki
-FetchContent_Declare(enoki_lib
- GIT_REPOSITORY https://github.com/mitsuba-renderer/enoki.git
- GIT_TAG 2a18afa
-)
-FetchContent_GetProperties(enoki_lib)
-if(NOT enoki_lib_POPULATED)
- FetchContent_Populate(enoki_lib)
- add_library(enoki INTERFACE)
- add_subdirectory(${enoki_lib_SOURCE_DIR} ${enoki_lib_BINARY_DIR})
- target_include_directories(enoki INTERFACE ${enoki_lib_SOURCE_DIR}/include)
-endif()
-
-# eigen
-FetchContent_Declare(eigen_lib
-GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
-GIT_TAG 46126273552afe13692929523d34006f54c19719 # 3.4
-)
+if(SDFLIB_USE_ENOKI)
+ FetchContent_Declare(enoki_lib
+ GIT_REPOSITORY https://github.com/mitsuba-renderer/enoki.git
+ GIT_TAG 2a18afa
+ )
+ FetchContent_GetProperties(enoki_lib)
+ if(NOT enoki_lib_POPULATED)
+ FetchContent_Populate(enoki_lib)
+ add_library(enoki INTERFACE)
+ add_subdirectory(${enoki_lib_SOURCE_DIR} ${enoki_lib_BINARY_DIR})
+ target_include_directories(enoki INTERFACE ${enoki_lib_SOURCE_DIR}/include)
+ endif()
-FetchContent_GetProperties(eigen_lib)
-if(NOT eigen_lib_POPULATED)
- FetchContent_Populate(eigen_lib)
- add_library(eigen INTERFACE)
- target_include_directories(eigen INTERFACE ${eigen_lib_SOURCE_DIR})
+ # FCPW
+ FetchContent_Declare(fcpw_lib
+ GIT_REPOSITORY https://github.com/rohan-sawhney/fcpw.git
+ GIT_TAG dd65ec2
+ )
+
+ FetchContent_GetProperties(fcpw_lib)
+ if(NOT fcpw_lib_POPULATED)
+ FetchContent_Populate(fcpw_lib)
+ add_subdirectory(${fcpw_lib_SOURCE_DIR} ${fcpw_lib_BINARY_DIR})
+ target_include_directories(fcpw INTERFACE ${fcpw_lib_SOURCE_DIR})
+ endif()
endif()
-# FCPW
-FetchContent_Declare(fcpw_lib
- GIT_REPOSITORY https://github.com/rohan-sawhney/fcpw.git
- GIT_TAG dd65ec2
-)
-
-FetchContent_GetProperties(fcpw_lib)
-if(NOT fcpw_lib_POPULATED)
- FetchContent_Populate(fcpw_lib)
- add_subdirectory(${fcpw_lib_SOURCE_DIR} ${fcpw_lib_BINARY_DIR})
- target_include_directories(fcpw INTERFACE ${fcpw_lib_SOURCE_DIR})
-endif()
+# eigen
+if(SDFLIB_BUILD_DEBUG_APPS)
+ FetchContent_Declare(eigen_lib
+ GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
+ GIT_TAG 46126273552afe13692929523d34006f54c19719 # 3.4
+ )
+
+ FetchContent_GetProperties(eigen_lib)
+ if(NOT eigen_lib_POPULATED)
+ FetchContent_Populate(eigen_lib)
+ add_library(eigen INTERFACE)
+ target_include_directories(eigen INTERFACE ${eigen_lib_SOURCE_DIR})
+ endif()
+ endif()
# stb
-add_library(stb_image INTERFACE)
-target_include_directories(stb_image INTERFACE stb)
+if(SDFLIB_BUILD_APPS OR SDFLIB_BUILD_DEBUG_APPS)
+ add_library(stb_image INTERFACE)
+ target_include_directories(stb_image INTERFACE stb)
+ endif()
# icg
add_library(icg INTERFACE)
diff --git a/src/sdf/OctreeSdf.cpp b/src/sdf/OctreeSdf.cpp
index ef8ed4d..0e1eb97 100644
--- a/src/sdf/OctreeSdf.cpp
+++ b/src/sdf/OctreeSdf.cpp
@@ -6,7 +6,9 @@
#include "SdfLib/InterpolationMethods.h"
#include "sdf/OctreeSdfDepthFirst.h"
#include "sdf/OctreeSdfBreadthFirst.h"
+#ifdef OPENMP_AVAILABLE
#include "sdf/OctreeSdfBreadthFirstNoDelay.h"
+#endif
#include <array>
#include <stack>
@@ -46,8 +48,11 @@ OctreeSdf::OctreeSdf(const Mesh& mesh, BoundingBox box,
break;
case OctreeSdf::InitAlgorithm::CONTINUITY:
//initOctreeWithContinuity<PerNodeRegionTrianglesInfluence<InterpolationMethod>>(mesh, startDepth, depth, terminationThreshold, terminationRule);
- // initOctreeWithContinuity<VHQueries<InterpolationMethod>>(mesh, startDepth, depth, terminationThreshold, terminationRule);
+#ifdef OPENMP_AVAILABLE
initOctreeWithContinuityNoDelay<VHQueries<InterpolationMethod>>(mesh, startDepth, depth, terminationThreshold, terminationRule, numThreads);
+#else
+ initOctreeWithContinuity<VHQueries<InterpolationMethod>>(mesh, startDepth, depth, terminationThreshold, terminationRule);
+#endif
break;
// case OctreeSdf::InitAlgorithm::GPU_IMPLEMENTATION:
// Timer time;
@@ -78,7 +83,7 @@ float OctreeSdf::getDistance(glm::vec3 sample) const
startArrayPos.y < 0 || startArrayPos.y >= mStartGridSize ||
startArrayPos.z < 0 || startArrayPos.z >= mStartGridSize)
{
- return mBox.getDistance(sample) + glm::sqrt(3.0f) * mBox.getSize().x;
+ return mBox.getDistance(sample) + mMinBorderValue;
}
const OctreeNode* currentNode = &mOctreeData[startArrayPos.z * mStartGridXY + startArrayPos.y * mStartGridSize + startArrayPos.x];
@@ -108,7 +113,7 @@ float OctreeSdf::getDistance(glm::vec3 sample, glm::vec3& outGradient) const
startArrayPos.y < 0 || startArrayPos.y >= mStartGridSize ||
startArrayPos.z < 0 || startArrayPos.z >= mStartGridSize)
{
- return mBox.getDistance(sample) + mMinBorderValue;
+ return mBox.getDistance(sample, outGradient) + mMinBorderValue;
}
const OctreeNode* currentNode = &mOctreeData[startArrayPos.z * mStartGridXY + startArrayPos.y * mStartGridSize + startArrayPos.x];
@@ -253,4 +258,4 @@ void OctreeSdf::getDepthDensity(std::vector<float>& depthsDensity)
size *= 0.125f;
}
}
-}
\ No newline at end of file
+}
diff --git a/src/sdf/OctreeSdfDepthFirst.h b/src/sdf/OctreeSdfDepthFirst.h
index 53ee4b2..196d191 100644
--- a/src/sdf/OctreeSdfDepthFirst.h
+++ b/src/sdf/OctreeSdfDepthFirst.h
@@ -7,7 +7,10 @@
#include "SdfLib/OctreeSdfUtils.h"
#include <array>
#include <stack>
+#ifdef OPENMP_AVAILABLE
#include <omp.h>
+#endif
+
namespace sdflib
{
@@ -381,7 +384,9 @@ void OctreeSdf::initOctree(const Mesh& mesh, uint32_t startDepth, uint32_t maxDe
};
const uint32_t voxlesPerAxis = 1 << startDepth;
+#ifdef OPENMP_AVAILABLE
if(numThreads < 2)
+#endif
{
// Create the grid
mOctreeData.resize(voxlesPerAxis * voxlesPerAxis * voxlesPerAxis);
@@ -402,7 +407,8 @@ void OctreeSdf::initOctree(const Mesh& mesh, uint32_t startDepth, uint32_t maxDe
mValueRange = mainThread.valueRange;
}
- else
+#ifdef OPENMP_AVAILABLE
+ else
{
std::vector<ThreadContext> threadsContext(numThreads, mainThread);
@@ -511,6 +517,7 @@ void OctreeSdf::initOctree(const Mesh& mesh, uint32_t startDepth, uint32_t maxDe
}
#endif
}
+#endif
#ifdef SDFLIB_PRINT_STATISTICS
SPDLOG_INFO("Used an octree of max depth {}", maxDepth);
@@ -544,4 +551,4 @@ void OctreeSdf::initOctree(const Mesh& mesh, uint32_t startDepth, uint32_t maxDe
}
}
-#endif
\ No newline at end of file
+#endif
diff --git a/src/utils/Mesh.cpp b/src/utils/Mesh.cpp
index b407d38..6fff5fe 100644
--- a/src/utils/Mesh.cpp
+++ b/src/utils/Mesh.cpp
@@ -5,6 +5,7 @@
namespace sdflib
{
+#ifdef ASSIMP_AVAILABLE
Mesh::Mesh(std::string filePath)
{
Assimp::Importer import;
@@ -28,6 +29,7 @@ Mesh::Mesh(const aiMesh* mesh)
{
initMesh(mesh);
}
+#endif
Mesh::Mesh(glm::vec3* vertices, uint32_t numVertices,
uint32_t* indices, uint32_t numIndices)
@@ -39,7 +41,7 @@ Mesh::Mesh(glm::vec3* vertices, uint32_t numVertices,
std::memcpy(mIndices.data(), indices, sizeof(uint32_t) * numIndices);
}
-
+#ifdef ASSIMP_AVAILABLE
void Mesh::initMesh(const aiMesh* mesh)
{
if(!(mesh->mPrimitiveTypes & aiPrimitiveType_TRIANGLE))
@@ -83,6 +85,7 @@ void Mesh::initMesh(const aiMesh* mesh)
computeNormals();
}
}
+#endif
void Mesh::computeBoundingBox()
{
@@ -134,4 +137,4 @@ void Mesh::applyTransform(glm::mat4 trans)
computeBoundingBox();
}
-}
\ No newline at end of file
+}