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Merged
merged 3 commits into from
Apr 20, 2020
Merged

Multiple updates; test passer #103

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dcc4787
Add collinear cases to angular/azimuthal hit; update tests; remove
ak-2485 Apr 17, 2020
34ce1ed
Delete angular_hit.m~
ak-2485 Apr 17, 2020
fc3f010
Delete sphericalCoordinateTraversal.m~
ak-2485 Apr 17, 2020
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10 changes: 5 additions & 5 deletions matlab/spherical-traversal/SphericalCoordinateTraversalExample.m
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
min_bound = [-20, -20.0, -20.0];
min_bound = [-20, -20.0, -20.0];
max_bound = [20.0, 20.0, 20.0];
ray_origin = [-13.0, -13.0, -13.0];
ray_direction = [1.0, 1.0, 1.0];
ray_origin = [13.0, -15.0, -15.0];
ray_direction = [-1.0, 1.0, 1.0];
sphere_center = [0.0, 0.0, 0.0];
sphere_max_radius = 10.0;

Expand All @@ -10,7 +10,7 @@
num_azimuthal_sections = 4;
t_begin = 0.0;
t_end = 30.0;
verbose = true;
verbose = false;

[rVoxels, thetaVoxels, phiVoxels] = sphericalCoordinateTraversal(min_bound, max_bound, ray_origin, ray_direction, ...
sphere_center, sphere_max_radius, num_radial_sections, num_angular_sections, num_azimuthal_sections, t_begin, t_end, verbose)
sphere_center, sphere_max_radius, num_radial_sections, num_angular_sections, num_azimuthal_sections, t_begin, t_end, verbose)
121 changes: 83 additions & 38 deletions matlab/spherical-traversal/angular_hit.m
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
function [tMaxTheta, tStepTheta] = angular_hit(ray_origin, ray_direction, current_voxel_ID_theta,...
num_angular_sections, sphere_center, pointArray, t, t_end, verbose)
sphere_center, P_max, sphere_max_radius, t, t_end, verbose)
% Determines whether an angular hit occurs for the given ray.
% Input:
% ray_origin: vector of the origin of the ray in cartesian coordinate.
Expand All @@ -22,7 +22,7 @@
if verbose
fprintf("\nCurrent Voxel ID Theta: %d\n", current_voxel_ID_theta)
end

pointArray = [P_max(current_voxel_ID_theta+1,:) ; P_max(current_voxel_ID_theta+2,:)];
% Get current ray location to use as start point
p = ray_origin + ray_direction * t;
% Get ray exit point to use as end point
Expand All @@ -43,12 +43,34 @@
perpvw_max = v(1) * w_max(2) - v(2) * w_max(1);

% check to see if ray is parallel to each angular voxel boundary
% if the ray is parallel to or collinear with a given voxel boundary,
% then intersection does not occur between the given voxel boundary and
% the ray.
if approximatelyEqual(perpuv_min,0.0,1e-12,1e-8) ; parallel_min = 1; else; parallel_min = 0; end
if approximatelyEqual(perpuv_max,0.0,1e-12,1e-8) ; parallel_max = 1; else; parallel_max = 0; end

if approximatelyEqual(perpuv_min,0.0,1e-12,1e-8)
parallel_min = 1;
% check to see if the ray is colliner with the angular voxel boundary
if approximatelyEqual(perpuw_min,0.0,1e-12,1e-8) && ...
approximatelyEqual(perpvw_min,0.0,1e-12,1e-8)
collinear_min = 1;
p_min = sphere_center;
else
collinear_min = 0;
end
else
parallel_min = 0;
collinear_min = 0;
end
if approximatelyEqual(perpuv_max,0.0,1e-12,1e-8)
parallel_max = 1;
if approximatelyEqual(perpuw_max,0.0,1e-12,1e-8) && ...
approximatelyEqual(perpvw_max,0.0,1e-12,1e-8)
collinear_max = 1;
p_max = sphere_center;
else
collinear_max = 0;
end
else
parallel_max = 0;
collinear_max = 0;
end
% Determine intersection points, p_min and p_max
if parallel_min == 0
a = perpvw_min / perpuv_min;
b = perpuw_min / perpuv_min;
Expand All @@ -62,7 +84,6 @@
else
intersect_min = 0;
end

if parallel_max == 0
a = perpvw_max / perpuv_max;
b = perpuw_max / perpuv_max;
Expand All @@ -76,71 +97,95 @@
else
intersect_max = 0;
end

% Compute inverses of slopes
if ~approximatelyEqual(ray_direction(1),0.0,1e-12,1e-8)
inv_dir = 1/ray_direction(1);
else
inv_dir = 1/ray_direction(2);
end

if intersect_max == 1
% Compute intersection times
if intersect_max == 1 || collinear_max == 1
if ~approximatelyEqual(ray_direction(1),0.0,1e-12,1e-8)
inv_dir = 1/ray_direction(1);
t_max = (p_max(1) - ray_origin(1)) * inv_dir;
else
inv_dir = 1/ray_direction(2);
t_max = (p_max(2) - ray_origin(2)) * inv_dir;
end
end

if intersect_min == 1
if intersect_min == 1 || collinear_min == 1
if ~approximatelyEqual(ray_direction(1),0.0,1e-12,1e-8)
inv_dir = 1/ray_direction(1);
t_min = (p_min(1) - ray_origin(1)) * inv_dir;
else
inv_dir = 1/ray_direction(2);
t_min = (p_min(2) - ray_origin(2)) * inv_dir;
end
end

if intersect_max == 1 && intersect_min == 0 && ...
t < t_max && t_max < t_end && ...
~approximatelyEqual(t,t_max,1e-12,1e-8)
% Determine tStepTheta, tMaxTheta
if intersect_max == 1 && intersect_min == 0 && collinear_min == 0 &&...
strictlyLess(t,t_max,1e-12,1e-8) && strictlyLess(t_max,t_end,1e-12,1e-8)
tStepTheta = 1;
tMaxTheta = t_max;
elseif intersect_min == 1 && intersect_max == 0 && ...
t < t_min && t_min < t_end && ...
~approximatelyEqual(t,t_min,1e-12,1e-8)
elseif intersect_min == 1 && intersect_max == 0 && collinear_max == 0 && ...
strictlyLess(t,t_min,1e-12,1e-8) && ...
strictlyLess(t_min,t_end,1e-12,1e-8)
tStepTheta = -1;
tMaxTheta = t_min;
elseif intersect_min == 1 && intersect_max == 1
elseif (intersect_min == 1 && intersect_max == 1) || ...
(intersect_min == 1 && collinear_max == 1) || ...
(collinear_min == 1 && intersect_max == 1)
% hit the min & max boundary simultaneously.
if approximatelyEqual(t_min,t_max,1e-12,1e-8) && ...
t < t_min && t_min < t_end && ...
~approximatelyEqual(t,t_min,1e-12,1e-8)
strictlyLess(t,t_min,1e-12,1e-8) && ...
strictlyLess(t_min,t_end,1e-12,1e-8)
tMaxTheta = t_max;
if verbose
fprintf("hit origin t\n")
end
pert_t = 0.1;
pert_x = sphere_center(1) + ray_direction(1) * pert_t;
pert_y = sphere_center(2) + ray_direction(2) * pert_t;
a = sphere_center(1) - pert_x;
b = sphere_center(2) - pert_y;
l = sqrt(a^2 + b^2);
sphere_center_xy = [sphere_center(1), sphere_center(2)];
p1 = sphere_center_xy - (sphere_max_radius/l) .* [a b];
i = 1;
while i < length(P_max)
d1 = (P_max(i,1)-p1(1))^2 + (P_max(i,2)-p1(2))^2;
d2 = (P_max(i+1,1)-p1(1))^2 + (P_max(i+1,2)-p1(2))^2;
d3 = (P_max(i,1)-P_max(i+1,1))^2 + (P_max(i,2)-P_max(i+1,2))^2;
if strictlyLess(d1+d2,d3,1e-12,1e-8) || ...
approximatelyEqual(d1+d2,d3,1e-12,1e-8)
next_vox = i - 1 ;
i = length(P_max);
end
i = i + 1;
end
if ~approximatelyEqual(ray_direction(2),0.0,1e-12,1e-8)
% change in theta is dependent on the slope of the line
tStepTheta = - num_angular_sections/2;
step = abs(current_voxel_ID_theta - next_vox);
if strictlyLess(ray_direction(2),0.0,1e-12,1e-8)
tStepTheta = step;
elseif strictlyLess(0.0,ray_direction(2),1e-12,1e-8)
tStepTheta = -step;
else
tStepTheta = num_angular_sections/2;
if strictlyLess(ray_direction(1),0.0,1e-12,1e-8)
tStepTheta = step;
else
tStepTheta = -step;
end
end
% hit min bound
elseif t < t_min && t_min < t_end && ...
(t_min < t_max || approximatelyEqual(t,t_max,1e-12,1e-8)) && ...
~approximatelyEqual(t,t_min,1e-12,1e-8)
elseif strictlyLess(t,t_min,1e-12,1e-8) && ...
strictlyLess(t_min,t_end,1e-12,1e-8) && ...
(strictlyLess(t_min,t_max,1e-12,1e-8) || ...
approximatelyEqual(t,t_max,1e-12,1e-8))
tStepTheta = -1;
tMaxTheta = t_min;
if verbose
fprintf("hit min bound\n")
end
% hit max bound
elseif t < t_max && t_max < t_end && ...
(t_max < t_min || approximatelyEqual(t,t_min,1e-12,1e-8)) && ...
~approximatelyEqual(t,t_max,1e-12,1e-8)
elseif strictlyLess(t,t_max,1e-12,1e-8) && ...
strictlyLess(t_max,t_end,1e-12,1e-8) && ...
(strictlyLess(t_max,t_min,1e-12,1e-8) || ...
approximatelyEqual(t,t_min,1e-12,1e-8))
tStepTheta = 1;
tMaxTheta = t_max;
if verbose
Expand Down
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