pymomentum-cpu 0.0.0__cp312-cp312-manylinux_2_39_x86_64.whl

include/axel/Ray.h

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+/*
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+
+#pragma once
+
+#include <Eigen/Core>
+
+namespace axel {
+inline constexpr double kRayMinDistanceEpsilon{1e-3};
+
+template <typename ScalarType>
+struct Ray3 {
+  Eigen::Vector3<ScalarType> origin;
+  ScalarType minT = static_cast<ScalarType>(kRayMinDistanceEpsilon);
+
+  Eigen::Vector3<ScalarType> direction;
+  ScalarType maxT = std::numeric_limits<ScalarType>::max();
+
+  inline Ray3() = default;
+
+  inline Ray3(const Eigen::Vector3<ScalarType>& origin, const Eigen::Vector3<ScalarType>& direction)
+      : origin(origin), direction(direction) {}
+
+  inline Ray3(
+      const Eigen::Vector3<ScalarType>& origin,
+      const Eigen::Vector3<ScalarType>& direction,
+      const ScalarType maxT)
+      : origin(origin), direction(direction), maxT(maxT) {}
+
+  inline Ray3(
+      const Eigen::Vector3<ScalarType>& origin,
+      const Eigen::Vector3<ScalarType>& direction,
+      const ScalarType maxT,
+      const ScalarType minT)
+      : origin(origin), minT(minT), direction(direction), maxT(maxT) {}
+};
+
+using Ray3d = Ray3<double>;
+using Ray3f = Ray3<float>;
+
+} // namespace axel

include/axel/SignedDistanceField.h

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+/*
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+
+#pragma once
+
+#include <vector>
+
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+
+#include "axel/BoundingBox.h"
+#include "axel/common/Types.h"
+
+namespace axel {
+
+/**
+ * A 3D signed distance field implementation that stores distance values in a uniform grid.
+ * Provides efficient trilinear interpolation for smooth distance queries.
+ *
+ * The SDF uses a regular 3D grid where each cell stores the signed distance to the nearest surface.
+ * Negative values indicate inside the surface, positive values indicate outside.
+ */
+template <typename ScalarType>
+class SignedDistanceField {
+ public:
+  using Scalar = ScalarType;
+  using Vector3 = Eigen::Vector3<Scalar>;
+  using BoundingBoxType = BoundingBox<Scalar>;
+
+  /// Default "very far" distance value used for uninitialized voxels
+  static constexpr Scalar kVeryFarDistance = std::numeric_limits<Scalar>::max();
+
+  /**
+   * Constructs an empty SDF with the given dimensions and bounds.
+   * All voxels are initialized to the specified initial value.
+   *
+   * @param bounds The 3D bounding box that defines the spatial extent of the SDF
+   * @param resolution Grid resolution in each dimension (nx, ny, nz)
+   * @param initialValue Initial distance value for all voxels (default: kVeryFarDistance)
+   */
+  SignedDistanceField(
+      const BoundingBoxType& bounds,
+      const Eigen::Vector3<Index>& resolution,
+      Scalar initialValue = kVeryFarDistance);
+
+  /**
+   * Constructs an SDF with the given dimensions, bounds, and initial data.
+   *
+   * @param bounds The 3D bounding box that defines the spatial extent of the SDF
+   * @param resolution Grid resolution in each dimension (nx, ny, nz)
+   * @param data Initial distance values. Must have size resolution.x() * resolution.y() *
+   * resolution.z()
+   */
+  SignedDistanceField(
+      const BoundingBoxType& bounds,
+      const Eigen::Vector3<Index>& resolution,
+      std::vector<Scalar> data);
+
+  /**
+   * Get the distance value at a specific grid cell using integer indices.
+   * No bounds checking is performed for performance.
+   *
+   * @param i Grid index in x dimension
+   * @param j Grid index in y dimension
+   * @param k Grid index in z dimension
+   * @return The signed distance value at grid cell (i,j,k)
+   */
+  [[nodiscard]] Scalar at(Index i, Index j, Index k) const;
+
+  /**
+   * Set the distance value at a specific grid cell using integer indices.
+   * No bounds checking is performed for performance.
+   *
+   * @param i Grid index in x dimension
+   * @param j Grid index in y dimension
+   * @param k Grid index in z dimension
+   * @param value The signed distance value to store
+   */
+  void set(Index i, Index j, Index k, Scalar value);
+
+  /**
+   * Sample the SDF at a continuous 3D position using trilinear interpolation.
+   * If the query point is outside the SDF bounds, returns the nearest boundary value.
+   *
+   * @param position 3D world-space position to query
+   * @return Interpolated signed distance value
+   */
+  [[nodiscard]] Scalar sample(const Vector3& position) const;
+
+  /**
+   * Sample the SDF gradient at a continuous 3D position using analytical gradients
+   * from trilinear interpolation. The gradient points in the direction of increasing distance.
+   *
+   * @param position 3D world-space position to query
+   * @return Gradient vector at the given position
+   */
+  [[nodiscard]] Vector3 gradient(const Vector3& position) const;
+
+  /**
+   * Sample both the SDF value and gradient at a continuous 3D position using
+   * trilinear interpolation. More efficient than calling sample() and gradient()
+   * separately as it uses the same 8 corner values for both computations.
+   *
+   * @param position 3D world-space position to query
+   * @return Pair of (value, gradient) at the given position
+   */
+  [[nodiscard]] std::pair<Scalar, Vector3> sampleWithGradient(const Vector3& position) const;
+
+  /**
+   * Convert a 3D world-space position to continuous grid coordinates.
+   *
+   * @param position 3D world-space position
+   * @return Continuous grid coordinates (may be fractional)
+   */
+  [[nodiscard]] Vector3 worldToGrid(const Vector3& position) const;
+
+  /**
+   * Convert continuous grid coordinates to 3D world-space position.
+   *
+   * @param gridPos Continuous grid coordinates
+   * @return 3D world-space position
+   */
+  [[nodiscard]] Vector3 gridToWorld(const Vector3& gridPos) const;
+
+  /**
+   * Get the world-space position of a grid cell center given discrete indices.
+   * This is equivalent to gridToWorld(Vector3(i, j, k)).
+   *
+   * @param i Grid index in x dimension
+   * @param j Grid index in y dimension
+   * @param k Grid index in z dimension
+   * @return 3D world-space position of the grid cell center
+   */
+  [[nodiscard]] Vector3 gridLocation(Index i, Index j, Index k) const;
+
+  /**
+   * Check if the given grid coordinates are within bounds.
+   *
+   * @param i Grid index in x dimension
+   * @param j Grid index in y dimension
+   * @param k Grid index in z dimension
+   * @return True if indices are within valid range
+   */
+  [[nodiscard]] bool isValidIndex(Index i, Index j, Index k) const;
+
+  /**
+   * Get the resolution of the SDF grid.
+   *
+   * @return Grid resolution as (nx, ny, nz)
+   */
+  [[nodiscard]] const Eigen::Vector3<Index>& resolution() const;
+
+  /**
+   * Get the bounding box of the SDF.
+   *
+   * @return The 3D bounding box
+   */
+  [[nodiscard]] const BoundingBoxType& bounds() const;
+
+  /**
+   * Get the voxel size in each dimension.
+   *
+   * @return Voxel size as (dx, dy, dz)
+   */
+  [[nodiscard]] Vector3 voxelSize() const;
+
+  /**
+   * Get the total number of voxels in the SDF.
+   *
+   * @return Total number of grid cells
+   */
+  [[nodiscard]] Size totalVoxels() const;
+
+  /**
+   * Get read-only access to the underlying data array.
+   * Data is stored in row-major order: data[k * nx * ny + j * nx + i]
+   *
+   * @return Const reference to the data vector
+   */
+  [[nodiscard]] const std::vector<Scalar>& data() const;
+
+  /**
+   * Get mutable access to the underlying data array.
+   * Data is stored in row-major order: data[k * nx * ny + j * nx + i]
+   *
+   * @return Mutable reference to the data vector
+   */
+  [[nodiscard]] std::vector<Scalar>& data();
+
+  /**
+   * Fill the entire SDF with a constant value.
+   *
+   * @param value The value to fill with
+   */
+  void fill(Scalar value);
+
+  /**
+   * Clear the SDF and reset it to zero values.
+   */
+  void clear();
+
+ private:
+  /**
+   * Convert 3D grid indices to a linear array index.
+   *
+   * @param i Grid index in x dimension
+   * @param j Grid index in y dimension
+   * @param k Grid index in z dimension
+   * @return Linear array index
+   */
+  [[nodiscard]] Size linearIndex(Index i, Index j, Index k) const;
+
+  /**
+   * Clamp grid coordinates to valid bounds.
+   *
+   * @param gridPos Input grid coordinates
+   * @return Clamped grid coordinates
+   */
+  [[nodiscard]] Vector3 clampToGrid(const Vector3& gridPos) const;
+
+  BoundingBoxType bounds_;
+  Eigen::Vector3<Index> resolution_;
+  Vector3 voxelSize_;
+  std::vector<Scalar> data_;
+};
+
+using SignedDistanceFieldf = SignedDistanceField<float>;
+using SignedDistanceFieldd = SignedDistanceField<double>;
+
+extern template class SignedDistanceField<float>;
+extern template class SignedDistanceField<double>;
+
+} // namespace axel