Force-update BVHs when updating query engine (#271)

* Force-update BVHs when updating query engine * Do not invalidate trimesh * Adding unit tests + fix BVH build
doyubkim · Nov 21, 2019 · e46b019 · e46b019
1 parent 3d298e3
commit e46b019
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Showing 10 changed files with 200 additions and 88 deletions.
diff --git a/include/jet/detail/bvh2-inl.h b/include/jet/detail/bvh2-inl.h
@@ -1,4 +1,4 @@
-// Copyright (c) 2019 Doyub Kim
+// Copyright (c) Doyub Kim
 //
 // I am making my contributions/submissions to this project solely in my
 // personal capacity and am not conveying any rights to any intellectual
@@ -56,6 +56,7 @@ void Bvh2<T>::build(const std::vector<T>& items,
     }
 
     _nodes.clear();
+    _bound = BoundingBox2D();
 
     for (size_t i = 0; i < _items.size(); ++i) {
         _bound.merge(_itemBounds[i]);

diff --git a/include/jet/detail/bvh3-inl.h b/include/jet/detail/bvh3-inl.h
@@ -1,4 +1,4 @@
-// Copyright (c) 2019 Doyub Kim
+// Copyright (c) Doyub Kim
 //
 // I am making my contributions/submissions to this project solely in my
 // personal capacity and am not conveying any rights to any intellectual
@@ -56,6 +56,7 @@ void Bvh3<T>::build(const std::vector<T>& items,
     }
 
     _nodes.clear();
+    _bound = BoundingBox3D();
 
     for (size_t i = 0; i < _items.size(); ++i) {
         _bound.merge(_itemBounds[i]);

diff --git a/src/jet/implicit_surface_set2.cpp b/src/jet/implicit_surface_set2.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Doyub Kim
+// Copyright (c) Doyub Kim
 //
 // I am making my contributions/submissions to this project solely in my
 // personal capacity and am not conveying any rights to any intellectual
@@ -39,7 +39,10 @@ ImplicitSurfaceSet2::ImplicitSurfaceSet2(const ImplicitSurfaceSet2& other)
       _surfaces(other._surfaces),
       _unboundedSurfaces(other._unboundedSurfaces) {}
 
-void ImplicitSurfaceSet2::updateQueryEngine() { buildBvh(); }
+void ImplicitSurfaceSet2::updateQueryEngine() {
+    invalidateBvh();
+    buildBvh();
+}
 
 bool ImplicitSurfaceSet2::isBounded() const {
     // All surfaces should be bounded.

diff --git a/src/jet/implicit_surface_set3.cpp b/src/jet/implicit_surface_set3.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Doyub Kim
+// Copyright (c) Doyub Kim
 //
 // I am making my contributions/submissions to this project solely in my
 // personal capacity and am not conveying any rights to any intellectual
@@ -39,7 +39,10 @@ ImplicitSurfaceSet3::ImplicitSurfaceSet3(const ImplicitSurfaceSet3& other)
       _surfaces(other._surfaces),
       _unboundedSurfaces(other._unboundedSurfaces) {}
 
-void ImplicitSurfaceSet3::updateQueryEngine() { buildBvh(); }
+void ImplicitSurfaceSet3::updateQueryEngine() {
+    invalidateBvh();
+    buildBvh();
+}
 
 bool ImplicitSurfaceSet3::isBounded() const {
     // All surfaces should be bounded.

diff --git a/src/jet/surface_set2.cpp b/src/jet/surface_set2.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Doyub Kim
+// Copyright (c) Doyub Kim
 //
 // I am making my contributions/submissions to this project solely in my
 // personal capacity and am not conveying any rights to any intellectual
@@ -30,7 +30,10 @@ SurfaceSet2::SurfaceSet2(const SurfaceSet2& other)
     invalidateBvh();
 }
 
-void SurfaceSet2::updateQueryEngine() { buildBvh(); }
+void SurfaceSet2::updateQueryEngine() {
+    invalidateBvh();
+    buildBvh();
+}
 
 bool SurfaceSet2::isBounded() const {
     // All surfaces should be bounded.

diff --git a/src/jet/surface_set3.cpp b/src/jet/surface_set3.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Doyub Kim
+// Copyright (c) Doyub Kim
 //
 // I am making my contributions/submissions to this project solely in my
 // personal capacity and am not conveying any rights to any intellectual
@@ -30,7 +30,10 @@ SurfaceSet3::SurfaceSet3(const SurfaceSet3& other)
     invalidateBvh();
 }
 
-void SurfaceSet3::updateQueryEngine() { buildBvh(); }
+void SurfaceSet3::updateQueryEngine() {
+    invalidateBvh();
+    buildBvh();
+}
 
 bool SurfaceSet3::isBounded() const {
     // All surfaces should be bounded.

diff --git a/src/tests/unit_tests/implicit_surface_set2_tests.cpp b/src/tests/unit_tests/implicit_surface_set2_tests.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Doyub Kim
+// Copyright (c) Doyub Kim
 //
 // I am making my contributions/submissions to this project solely in my
 // personal capacity and am not conveying any rights to any intellectual
@@ -211,18 +211,18 @@ TEST(ImplicitSurfaceSet2, MixedBoundTypes) {
     BoundingBox2D domain(Vector2D(), Vector2D(1, 2));
 
     auto plane = Plane2::builder()
-            .withNormal({0, 1})
-            .withPoint({0.0, 0.25 * domain.height()})
-            .makeShared();
+                     .withNormal({0, 1})
+                     .withPoint({0.0, 0.25 * domain.height()})
+                     .makeShared();
 
     auto sphere = Sphere2::builder()
-            .withCenter(domain.midPoint())
-            .withRadius(0.15 * domain.width())
-            .makeShared();
+                      .withCenter(domain.midPoint())
+                      .withRadius(0.15 * domain.width())
+                      .makeShared();
 
     auto surfaceSet = ImplicitSurfaceSet2::builder()
-            .withExplicitSurfaces({plane, sphere})
-            .makeShared();
+                          .withExplicitSurfaces({plane, sphere})
+                          .makeShared();
 
     EXPECT_FALSE(surfaceSet->isBounded());
 
@@ -271,3 +271,26 @@ TEST(ImplicitSurfaceSet2, IsInside) {
     EXPECT_TRUE(surfaceSet->isInside(Vector2D(0.5, 1.0) + offset));
     EXPECT_FALSE(surfaceSet->isInside(Vector2D(0.5, 1.5) + offset));
 }
+
+TEST(ImplicitSurfaceSet2, UpdateQueryEngine) {
+    auto sphere =
+        Sphere2::builder().withCenter({-1.0, 1.0}).withRadius(0.5).makeShared();
+
+    auto surfaceSet = ImplicitSurfaceSet2::builder()
+                          .withExplicitSurfaces({sphere})
+                          .withTransform(Transform2({1.0, 2.0}, 0.0))
+                          .makeShared();
+
+    auto bbox1 = surfaceSet->boundingBox();
+    EXPECT_BOUNDING_BOX2_EQ(BoundingBox2D({-0.5, 2.5}, {0.5, 3.5}), bbox1);
+
+    surfaceSet->transform = Transform2({3.0, -4.0}, 0.0);
+    surfaceSet->updateQueryEngine();
+    auto bbox2 = surfaceSet->boundingBox();
+    EXPECT_BOUNDING_BOX2_EQ(BoundingBox2D({1.5, -3.5}, {2.5, -2.5}), bbox2);
+
+    sphere->transform = Transform2({-6.0, 9.0}, 0.0);
+    surfaceSet->updateQueryEngine();
+    auto bbox3 = surfaceSet->boundingBox();
+    EXPECT_BOUNDING_BOX2_EQ(BoundingBox2D({-4.5, 5.5}, {-3.5, 6.5}), bbox3);
+}
diff --git a/src/tests/unit_tests/implicit_surface_set3_tests.cpp b/src/tests/unit_tests/implicit_surface_set3_tests.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Doyub Kim
+// Copyright (c) Doyub Kim
 //
 // I am making my contributions/submissions to this project solely in my
 // personal capacity and am not conveying any rights to any intellectual
@@ -215,18 +215,18 @@ TEST(ImplicitSurfaceSet3, MixedBoundTypes) {
     BoundingBox3D domain(Vector3D(), Vector3D(1, 2, 1));
 
     auto plane = Plane3::builder()
-            .withNormal({0, 1, 0})
-            .withPoint({0, 0.25 * domain.height(), 0})
-            .makeShared();
+                     .withNormal({0, 1, 0})
+                     .withPoint({0, 0.25 * domain.height(), 0})
+                     .makeShared();
 
     auto sphere = Sphere3::builder()
-            .withCenter(domain.midPoint())
-            .withRadius(0.15 * domain.width())
-            .makeShared();
+                      .withCenter(domain.midPoint())
+                      .withRadius(0.15 * domain.width())
+                      .makeShared();
 
     auto surfaceSet = ImplicitSurfaceSet3::builder()
-            .withExplicitSurfaces({plane, sphere})
-            .makeShared();
+                          .withExplicitSurfaces({plane, sphere})
+                          .makeShared();
 
     EXPECT_FALSE(surfaceSet->isBounded());
 
@@ -275,3 +275,32 @@ TEST(ImplicitSurfaceSet3, IsInside) {
     EXPECT_TRUE(surfaceSet->isInside(Vector3D(0.5, 1.0, 0.5) + offset));
     EXPECT_FALSE(surfaceSet->isInside(Vector3D(0.5, 1.5, 0.5) + offset));
 }
+
+TEST(ImplicitSurfaceSet3, UpdateQueryEngine) {
+    auto sphere = Sphere3::builder()
+                      .withCenter({-1.0, 1.0, 2.0})
+                      .withRadius(0.5)
+                      .makeShared();
+
+    auto surfaceSet =
+        ImplicitSurfaceSet3::builder()
+            .withExplicitSurfaces({sphere})
+            .withTransform(Transform3({1.0, 2.0, -1.0}, QuaternionD()))
+            .makeShared();
+
+    auto bbox1 = surfaceSet->boundingBox();
+    EXPECT_BOUNDING_BOX2_EQ(BoundingBox3D({-0.5, 2.5, 0.5}, {0.5, 3.5, 1.5}),
+                            bbox1);
+
+    surfaceSet->transform = Transform3({3.0, -4.0, 7.0}, QuaternionD());
+    surfaceSet->updateQueryEngine();
+    auto bbox2 = surfaceSet->boundingBox();
+    EXPECT_BOUNDING_BOX2_EQ(BoundingBox3D({1.5, -3.5, 4.5}, {2.5, -2.5, 5.5}),
+                            bbox2);
+
+    sphere->transform = Transform3({-6.0, 9.0, 2.0}, QuaternionD());
+    surfaceSet->updateQueryEngine();
+    auto bbox3 = surfaceSet->boundingBox();
+    EXPECT_BOUNDING_BOX2_EQ(BoundingBox3D({-4.5, 5.5, 10.5}, {-3.5, 6.5, 11.5}),
+                            bbox3);
+}
diff --git a/src/tests/unit_tests/surface_set2_tests.cpp b/src/tests/unit_tests/surface_set2_tests.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Doyub Kim
+// Copyright (c) Doyub Kim
 //
 // I am making my contributions/submissions to this project solely in my
 // personal capacity and am not conveying any rights to any intellectual
@@ -387,18 +387,17 @@ TEST(SurfaceSet2, MixedBoundTypes) {
     BoundingBox2D domain(Vector2D(), Vector2D(1, 2));
 
     auto plane = Plane2::builder()
-            .withNormal({0, 1})
-            .withPoint({0.0, 0.25 * domain.height()})
-            .makeShared();
+                     .withNormal({0, 1})
+                     .withPoint({0.0, 0.25 * domain.height()})
+                     .makeShared();
 
     auto sphere = Sphere2::builder()
-            .withCenter(domain.midPoint())
-            .withRadius(0.15 * domain.width())
-            .makeShared();
+                      .withCenter(domain.midPoint())
+                      .withRadius(0.15 * domain.width())
+                      .makeShared();
 
-    auto surfaceSet = SurfaceSet2::builder()
-            .withSurfaces({plane, sphere})
-            .makeShared();
+    auto surfaceSet =
+        SurfaceSet2::builder().withSurfaces({plane, sphere}).makeShared();
 
     EXPECT_FALSE(surfaceSet->isBounded());
 
@@ -409,26 +408,24 @@ TEST(SurfaceSet2, MixedBoundTypes) {
 }
 
 TEST(SurfaceSet2, IsValidGeometry) {
-    auto surfaceSet = SurfaceSet2::builder()
-            .makeShared();
+    auto surfaceSet = SurfaceSet2::builder().makeShared();
 
     EXPECT_FALSE(surfaceSet->isValidGeometry());
 
     BoundingBox2D domain(Vector2D(), Vector2D(1, 2));
 
     auto plane = Plane2::builder()
-            .withNormal({0, 1})
-            .withPoint({0, 0.25 * domain.height()})
-            .makeShared();
+                     .withNormal({0, 1})
+                     .withPoint({0, 0.25 * domain.height()})
+                     .makeShared();
 
     auto sphere = Sphere2::builder()
-            .withCenter(domain.midPoint())
-            .withRadius(0.15 * domain.width())
-            .makeShared();
+                      .withCenter(domain.midPoint())
+                      .withRadius(0.15 * domain.width())
+                      .makeShared();
 
-    auto surfaceSet2 = SurfaceSet2::builder()
-            .withSurfaces({plane, sphere})
-            .makeShared();
+    auto surfaceSet2 =
+        SurfaceSet2::builder().withSurfaces({plane, sphere}).makeShared();
 
     EXPECT_TRUE(surfaceSet2->isValidGeometry());
 
@@ -442,21 +439,44 @@ TEST(SurfaceSet2, IsInside) {
     Vector2D offset(1, 2);
 
     auto plane = Plane2::builder()
-            .withNormal({0, 1})
-            .withPoint({0, 0.25 * domain.height()})
-            .makeShared();
+                     .withNormal({0, 1})
+                     .withPoint({0, 0.25 * domain.height()})
+                     .makeShared();
 
     auto sphere = Sphere2::builder()
-            .withCenter(domain.midPoint())
-            .withRadius(0.15 * domain.width())
-            .makeShared();
+                      .withCenter(domain.midPoint())
+                      .withRadius(0.15 * domain.width())
+                      .makeShared();
 
     auto surfaceSet = SurfaceSet2::builder()
-            .withSurfaces({plane, sphere})
-            .withTransform(Transform2(offset, 0.0))
-            .makeShared();
+                          .withSurfaces({plane, sphere})
+                          .withTransform(Transform2(offset, 0.0))
+                          .makeShared();
 
     EXPECT_TRUE(surfaceSet->isInside(Vector2D(0.5, 0.25) + offset));
     EXPECT_TRUE(surfaceSet->isInside(Vector2D(0.5, 1.0) + offset));
     EXPECT_FALSE(surfaceSet->isInside(Vector2D(0.5, 1.5) + offset));
 }
+
+TEST(SurfaceSet2, UpdateQueryEngine) {
+    auto sphere =
+        Sphere2::builder().withCenter({-1.0, 1.0}).withRadius(0.5).makeShared();
+
+    auto surfaceSet = SurfaceSet2::builder()
+                          .withSurfaces({sphere})
+                          .withTransform(Transform2({1.0, 2.0}, 0.0))
+                          .makeShared();
+
+    auto bbox1 = surfaceSet->boundingBox();
+    EXPECT_BOUNDING_BOX2_EQ(BoundingBox2D({-0.5, 2.5}, {0.5, 3.5}), bbox1);
+
+    surfaceSet->transform = Transform2({3.0, -4.0}, 0.0);
+    surfaceSet->updateQueryEngine();
+    auto bbox2 = surfaceSet->boundingBox();
+    EXPECT_BOUNDING_BOX2_EQ(BoundingBox2D({1.5, -3.5}, {2.5, -2.5}), bbox2);
+
+    sphere->transform = Transform2({-6.0, 9.0}, 0.0);
+    surfaceSet->updateQueryEngine();
+    auto bbox3 = surfaceSet->boundingBox();
+    EXPECT_BOUNDING_BOX2_EQ(BoundingBox2D({-4.5, 5.5}, {-3.5, 6.5}), bbox3);
+}