mirror of https://github.com/mosra/magnum.git
Squareys
8 years ago
committed by
Vladimír Vondruš
4 changed files with 963 additions and 30 deletions
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/*
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This file is part of Magnum. |
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Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018 |
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Vladimír Vondruš <mosra@centrum.cz> |
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Copyright © 2018 Jonathan Hale <squareys@googlemail.com> |
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Permission is hereby granted, free of charge, to any person obtaining a |
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copy of this software and associated documentation files (the "Software"), |
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to deal in the Software without restriction, including without limitation |
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the rights to use, copy, modify, merge, publish, distribute, sublicense, |
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and/or sell copies of the Software, and to permit persons to whom the |
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Software is furnished to do so, subject to the following conditions: |
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The above copyright notice and this permission notice shall be included |
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in all copies or substantial portions of the Software. |
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL |
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THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER |
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DEALINGS IN THE SOFTWARE. |
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*/ |
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#include <Corrade/TestSuite/Tester.h> |
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#include <random> |
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#include <tuple> |
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#include <utility> |
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#include "Magnum/Math/Geometry/Intersection.h" |
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#include "Magnum/Math/Angle.h" |
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#include "Magnum/Math/Matrix4.h" |
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namespace Magnum { namespace Math { namespace Geometry { namespace Test { |
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template<class T> bool rangeFrustumNaive(const Math::Range3D<T>& box, const Math::Frustum<T>& frustum) { |
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for(const Math::Vector4<T>& plane: frustum.planes()) { |
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bool cornerHit = 0; |
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for(UnsignedByte c = 0; c != 8; ++c) { |
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const Math::Vector3<T> corner = Math::lerp(box.min(), box.max(), Math::BoolVector<3>{c}); |
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if(Distance::pointPlaneScaled<T>(corner, plane) >= T(0)) { |
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cornerHit = true; |
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break; |
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} |
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} |
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/* All corners are outside this plane */ |
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if(!cornerHit) return false; |
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} |
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return true; |
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} |
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/* @brief Ground truth, slow sphere cone intersection - calculating exact distances,
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* no optimizations, no precomputations |
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* @param sphereCenter Sphere center |
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* @param radius Sphere radius |
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* @param origin Origin of the cone |
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* @param normal Cone normal |
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* @param angle Cone opening angle (0 < angle < pi). |
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* |
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* Returns `true` if the sphere intersects with the cone. */ |
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template<class T> bool sphereConeGT( |
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const Math::Vector3<T>& sphereCenter, const T radius, |
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const Math::Vector3<T>& origin, const Math::Vector3<T>& normal, const Math::Rad<T> angle) { |
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const Math::Vector3<T> diff = sphereCenter - origin; |
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const Math::Vector3<T> dir = diff.normalized(); |
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const Math::Rad<T> halfAngle = angle/T(2); |
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/* Compute angle between normal and point */ |
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const Math::Rad<T> actual = Math::acos(dot(normal, dir)); |
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/* Distance from cone surface */ |
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const T distanceFromCone = Math::sin(actual - halfAngle)*diff.length(); |
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/* Either the sphere center lies in cone, or cone is max radius away from the cone */ |
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return actual <= halfAngle || distanceFromCone <= radius; |
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} |
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template<class T> |
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Math::Matrix4<T> coneViewFromCone(const Math::Vector3<T>& origin, const Math::Vector3<T>& normal) { |
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return Math::Matrix4<T>::lookAt(origin, origin + normal, Math::Vector3<T>::yAxis()).inverted(); |
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} |
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typedef Math::Vector2<Float> Vector2; |
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typedef Math::Vector3<Float> Vector3; |
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typedef Math::Vector4<Float> Vector4; |
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typedef Math::Matrix4<Float> Matrix4; |
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typedef Math::Frustum<Float> Frustum; |
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typedef Math::Range3D<Float> Range3D; |
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typedef Math::Deg<Float> Deg; |
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typedef Math::Rad<Float> Rad; |
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struct IntersectionBenchmark: Corrade::TestSuite::Tester { |
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explicit IntersectionBenchmark(); |
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void rangeFrustumNaive(); |
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void rangeFrustum(); |
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void rangeCone(); |
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void sphereFrustum(); |
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void sphereConeNaive(); |
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void sphereCone(); |
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void sphereConeView(); |
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Frustum _frustum; |
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std::tuple<Vector3, Vector3, Rad> _cone; |
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Matrix4 _coneView; |
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std::vector<Range3D> _boxes; |
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std::vector<Vector4> _spheres; |
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}; |
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IntersectionBenchmark::IntersectionBenchmark() { |
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addBenchmarks({&IntersectionBenchmark::rangeFrustumNaive, |
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&IntersectionBenchmark::rangeFrustum, |
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&IntersectionBenchmark::rangeCone, |
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&IntersectionBenchmark::sphereFrustum, |
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&IntersectionBenchmark::sphereConeNaive, |
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&IntersectionBenchmark::sphereCone, |
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&IntersectionBenchmark::sphereConeView}, 25); |
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/* Generate random data for the benchmarks */ |
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std::random_device rnd; |
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std::mt19937 g(rnd()); |
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/* Position distribution */ |
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std::uniform_real_distribution<float> pd(-10.0f, 10.0f); |
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/* Cone angle distribution */ |
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std::uniform_real_distribution<float> ad(1.0f, 179.0f); |
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_cone = std::make_tuple(Vector3{pd(g), pd(g), pd(g)}, |
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Vector3{pd(g), pd(g), pd(g)}.normalized(), |
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Rad(Deg(ad(g)))); |
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_coneView = coneViewFromCone(std::get<0>(_cone), std::get<1>(_cone)); |
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_frustum = Frustum::fromMatrix(_coneView*Matrix4::perspectiveProjection(std::get<2>(_cone), 1.0f, 0.001f, 100.0f)); |
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_boxes.reserve(512); |
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_spheres.reserve(512); |
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for(int i = 0; i < 512; ++i) { |
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Vector3 center{pd(g), pd(g), pd(g)}; |
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Vector3 extents{pd(g), pd(g), pd(g)}; |
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_boxes.emplace_back(center - extents, center + extents); |
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_spheres.emplace_back(center, extents.length()); |
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} |
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} |
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void IntersectionBenchmark::rangeFrustumNaive() { |
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volatile bool b = false; |
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CORRADE_BENCHMARK(50) for(auto& box: _boxes) { |
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b = b ^ Test::rangeFrustumNaive<Float>(box, _frustum); |
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} |
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} |
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void IntersectionBenchmark::rangeFrustum() { |
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volatile bool b = false; |
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CORRADE_BENCHMARK(50) for(auto& box: _boxes) { |
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b = b ^ Intersection::rangeFrustum(box, _frustum); |
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} |
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} |
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void IntersectionBenchmark::rangeCone() { |
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volatile bool b = false; |
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CORRADE_BENCHMARK(50) { |
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const Float tanAngle = Math::tan(std::get<2>(_cone)); |
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const Float tanAngleSqPlusOne = tanAngle*tanAngle + 1.0f; |
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for(auto& box: _boxes) { |
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b = b ^ Intersection::rangeCone(box, std::get<0>(_cone), std::get<1>(_cone), tanAngleSqPlusOne); |
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} |
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} |
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} |
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void IntersectionBenchmark::sphereFrustum() { |
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volatile bool b = false; |
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CORRADE_BENCHMARK(50) for(auto& sphere: _spheres) { |
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b = b ^ Intersection::sphereFrustum(sphere.xyz(), sphere.w(), _frustum); |
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} |
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} |
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void IntersectionBenchmark::sphereConeNaive() { |
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volatile bool b = false; |
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CORRADE_BENCHMARK(50) for(auto& sphere: _spheres) { |
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b = b ^ sphereConeGT<Float>(sphere.xyz(), sphere.w(), std::get<0>(_cone), std::get<1>(_cone), std::get<2>(_cone)); |
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} |
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} |
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void IntersectionBenchmark::sphereCone() { |
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volatile bool b = false; |
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CORRADE_BENCHMARK(50) { |
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const Float sinAngle = Math::sin(std::get<2>(_cone)); |
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const Float tanAngle = Math::tan(std::get<2>(_cone)); |
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const Float tanAngleSqPlusOne = tanAngle*tanAngle + 1.0f; |
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for(auto& sphere: _spheres) { |
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b = b ^ Intersection::sphereCone(sphere.xyz(), sphere.w(), std::get<0>(_cone), std::get<1>(_cone), sinAngle, tanAngleSqPlusOne); |
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} |
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} |
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} |
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void IntersectionBenchmark::sphereConeView() { |
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volatile bool b = false; |
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CORRADE_BENCHMARK(50) { |
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const Float sinAngle = Math::sin(std::get<2>(_cone)); |
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const Float cosAngle = Math::cos(std::get<2>(_cone)); |
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const Float tanAngle = Math::tan(std::get<2>(_cone)); |
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for(auto& sphere: _spheres) { |
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b = b ^ Intersection::sphereConeView(sphere.xyz(), sphere.w(), _coneView, sinAngle, cosAngle, tanAngle); |
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} |
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} |
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} |
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}}}} |
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CORRADE_TEST_MAIN(Magnum::Math::Geometry::Test::IntersectionBenchmark) |
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