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mhogg / pyoctree

Octree structure containing a 3D triangular mesh model
MIT License
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Pyoctree not finding intersections #43

Closed mattangus closed 7 months ago

mattangus commented 4 years ago

I think I may have found a bug. Here is a code snippet:

import pyoctree
from pyoctree import pyoctree as ot
import numpy as np
print(pyoctree.__version__)

faces = np.array([[0, 1, 1430], [1, 1430, 1431], [1, 2, 1431], [2, 1431, 1432], [2, 3, 1432], [3, 1432, 1433], [3, 4, 1433], [4, 1433, 1434], [4, 5, 1434], [5, 1434, 1435], [5, 6, 1435], [6, 1435, 1436], [6, 7, 1436], [7, 1436, 1437], [7, 8, 1437], [8, 1437, 1438], [8, 9, 1438], [9, 1438, 1439], [9, 10, 1439], [10, 1439, 1440], [10, 11, 1440], [11, 1440, 1441], [11, 12, 1441], [12, 1441, 1442], [12, 13, 1442], [13, 1442, 1443], [13, 14, 1443], [14, 1443, 1444], [14, 15, 1444], [15, 1444, 1445], [15, 16, 1445], [16, 1445, 1446], [16, 17, 1446], [17, 1446, 1447], [17, 18, 1447], [18, 1447, 1448], [18, 19, 1448], [19, 1448, 1449], [19, 20, 1449], [20, 1449, 1450], [20, 21, 1450], [21, 1450, 1451], [21, 22, 1451], [22, 1451, 1452], [22, 23, 1452], [23, 1452, 1453], [23, 24, 1453], [24, 1453, 1454], [24, 25, 1454], [25, 1454, 1455], [25, 26, 1455], [26, 1455, 1456], [26, 27, 1456], [27, 1456, 1457], [27, 28, 1457], [28, 1457, 1458], [28, 29, 1458], [29, 1458, 1459], [29, 30, 1459], [30, 1459, 1460], [30, 31, 1460], [31, 1460, 1461], [31, 32, 1461], [32, 1461, 1462], [32, 33, 1462], [33, 1462, 1463], [33, 34, 1463], [34, 1463, 1464], [34, 35, 1464], [35, 1464, 1465], [35, 36, 1465], [36, 1465, 1466], [36, 37, 1466], [37, 1466, 1467], [37, 38, 1467], [38, 1467, 1468], [38, 39, 1468], [39, 1468, 1469], [39, 40, 1469], [40, 1469, 1470], [40, 41, 1470], [41, 1470, 1471], [41, 42, 1471], [42, 1471, 1472], [42, 43, 1472], [43, 1472, 1473], [43, 44, 1473], [44, 1473, 1474], [44, 45, 1474], [45, 1474, 1475], [45, 46, 1475], [46, 1475, 1476], [46, 47, 1476], [47, 1476, 1477], [47, 48, 1477], [48, 1477, 1478], [48, 49, 1478], [49, 1478, 1479], [49, 50, 1479], [50, 1479, 1480], [50, 51, 1480], [51, 1480, 1481], [51, 52, 1481], [52, 1481, 1482], [52, 53, 1482], [53, 1482, 1483], [53, 54, 1483], [54, 1483, 1484], [54, 55, 1484], [55, 1484, 1485], [55, 56, 1485], [56, 1485, 1486], [56, 57, 1486], [57, 1486, 1487], [57, 58, 1487], [58, 1487, 1488], [58, 59, 1488], [59, 1488, 1489], 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[-90.26304626464844, -94.11528778076172, -5.1199774742126465], [-89.09352111816406, -93.9518814086914, -5.034144878387451], [-87.72614288330078, -93.74092102050781, -4.943314552307129], [-86.42848205566406, -93.5486068725586, -4.847329616546631], [-85.03718566894531, -93.34014892578125, -4.756537914276123], [-83.73721313476562, -93.15239715576172, -4.673423767089844], [-82.35958862304688, -92.94499206542969, -4.579376697540283], [-80.95893859863281, -92.73661041259766, -4.488867282867432], [-79.48974609375, -92.52252197265625, -4.402862071990967], [-78.05032348632812, -92.32223510742188, -4.30249547958374], [-76.6841049194336, -92.13706970214844, -4.212831974029541], [-75.14836120605469, -91.92123413085938, -4.120669364929199], [-73.75785064697266, -91.74043273925781, -4.030489921569824], [-72.2982406616211, -91.54326629638672, -3.940019369125366], [-70.85990905761719, -91.35120391845703, -3.84932017326355], [-69.38748931884766, -91.1528091430664, -3.759547710418701], [-67.99394226074219, -90.96601104736328, -3.66853404045105], [-66.49756622314453, -90.7530746459961, -3.5743558406829834], [-65.00599670410156, -90.5433120727539, -3.4845504760742188], [-63.52946853637695, -90.33721923828125, -3.388312339782715], [-62.05750274658203, -90.12946319580078, -3.2955238819122314], [-60.620750427246094, -89.9241943359375, -3.208467960357666], [-59.15311050415039, -89.7059097290039, -3.111199140548706], [-57.736183166503906, -89.49085998535156, -3.021928548812866], [-56.16563415527344, -89.23949432373047, -2.9230940341949463], [-54.65540313720703, -89.00765228271484, -2.8300979137420654], [-53.1263542175293, -88.77396392822266, -2.7342870235443115], [-51.5859489440918, -88.54259490966797, -2.6345579624176025], [-50.03041458129883, -88.31379699707031, -2.532477378845215], [-48.52504348754883, -88.09991455078125, -2.4349889755249023], [-47.00552749633789, -87.88310241699219, -2.335427761077881], [-45.53995895385742, -87.67591857910156, -2.2312793731689453], [-44.04408264160156, -87.45952606201172, -2.134986162185669], [-42.5655517578125, -87.24700927734375, -2.0295729637145996], [-41.12080764770508, -87.0391616821289, -1.9355336427688599], [-39.69819259643555, -86.83082580566406, -1.8439061641693115], [-38.26901626586914, -86.61714172363281, -1.749350905418396], [-36.82734298706055, -86.40087890625, -1.6590538024902344], [-35.40229797363281, -86.1908950805664, -1.563631534576416], [-34.12286376953125, -86.00582122802734, -1.4661465883255005], [-32.79133605957031, -85.79752349853516, -1.376159906387329], [-31.381023406982422, -85.56924438476562, -1.2882080078125], [-29.971906661987305, -85.34770965576172, -1.194860577583313], [-28.70439338684082, -85.1558837890625, -1.1113274097442627], [-27.358896255493164, -84.94354248046875, -1.0261590480804443], [-26.07372283935547, -84.74554443359375, -0.9399546980857849], [-24.794071197509766, -84.54713439941406, -0.8538006544113159], [-23.53064727783203, -84.3512191772461, -0.7699095606803894], [-22.27066421508789, -84.1556396484375, -0.6850435137748718], [-21.067272186279297, -83.97096252441406, -0.6057831048965454], [-19.828277587890625, -83.77786254882812, -0.5217041969299316], [-18.686344146728516, -83.60395812988281, -0.44315609335899353], [-17.480680465698242, -83.41411590576172, -0.3631955087184906], [-16.390974044799805, -83.24732971191406, -0.28682759404182434], [-15.341690063476562, -83.08202362060547, -0.21969619393348694], [-14.40018081665039, -82.92992401123047, -0.1451052725315094], [-13.55647087097168, -82.78396606445312, -0.08362867683172226], [-12.625349998474121, -82.6051025390625, -0.016562366858124733], [-11.958308219909668, -82.47856140136719, 0.04308602958917618], [-11.349732398986816, -82.34925079345703, 0.09691689163446426], [-10.530522346496582, -82.15148162841797, 0.1474681794643402], [-10.021929740905762, -82.03364562988281, 0.1915818154811859], [-9.898781776428223, -82.01581573486328, 0.23160406947135925], [-9.11547565460205, -81.77360534667969, 0.2746107280254364], [-8.968520164489746, -81.73724365234375, 0.30021604895591736], [-8.787125587463379, -81.68143463134766, 0.33056744933128357], [-8.273200035095215, -81.50740051269531, 0.3524700105190277], [-8.518324851989746, -81.60174560546875, 0.37228986620903015], [-8.413620948791504, -81.56288146972656, 0.3904690444469452], [-7.9915971755981445, -81.39704895019531, 0.4098336398601532], [-8.101326942443848, -81.44541931152344, 0.4242684543132782], [-8.224271774291992, -81.50493621826172, 0.44489786028862], [-8.008013725280762, -81.40472412109375, 0.46214744448661804], [-8.129571914672852, -81.47259521484375, 0.4831201732158661], [-8.277586936950684, -81.56453704833984, 0.5038264989852905], [-8.36768913269043, -81.63037109375, 0.5255796909332275], [-8.469352722167969, -81.71235656738281, 0.5433093309402466], [-8.784540176391602, -81.98387908935547, 0.5656864643096924], [-8.762948036193848, -81.97637939453125, 0.5919170379638672], [-8.92093276977539, -82.1594467163086, 0.6191220283508301], [-8.716304779052734, -81.94142150878906, 0.6478589773178101], [-8.698077201843262, -81.94371032714844, 0.6686021089553833], [-8.90113353729248, -82.28115844726562, 0.6917779445648193], [-8.742788314819336, -82.04569244384766, 0.7182693481445312], [-8.670242309570312, -81.95262145996094, 0.7422773838043213], [-8.54434871673584, -81.72931671142578, 0.7660481929779053], [-8.533852577209473, -81.76908111572266, 0.7876195907592773], [-8.447453498840332, -81.57588958740234, 0.8115319013595581], [-8.377301216125488, -81.40846252441406, 0.8301305770874023], [-8.304245948791504, -81.1848373413086, 0.850871205329895], [-8.241866111755371, -80.95806884765625, 0.8668731451034546], [-8.192834854125977, -80.75379180908203, 0.8883017301559448], [-8.146942138671875, -80.37034606933594, 0.907129168510437], [-8.115232467651367, -79.92525482177734, 0.9256631135940552], [-8.102622985839844, -79.37899017333984, 0.94257652759552], [-8.11797046661377, -78.62924194335938, 0.9606684446334839], [-8.152023315429688, -77.78572082519531, 0.9803866147994995], [-8.194574356079102, -76.952392578125, 0.9994364976882935], [-8.26128101348877, -75.95950317382812, 1.010459065437317], [-8.328875541687012, -74.97815704345703, 1.0250164270401], [-8.413686752319336, -73.82907104492188, 1.0331403017044067], [-8.489547729492188, -72.65946960449219, 1.0436946153640747], [-8.5494384765625, -71.58634948730469, 1.055846095085144], [-8.614795684814453, -70.45928955078125, 1.0640982389450073], [-8.679859161376953, -69.31297302246094, 1.0764127969741821], [-8.747132301330566, -68.11228942871094, 1.0880762338638306], [-8.80872917175293, -66.91954803466797, 1.096727728843689], [-8.869234085083008, -65.70170593261719, 1.1125825643539429], [-8.925382614135742, -64.51058959960938, 1.1263188123703003], [-8.984294891357422, -63.29647445678711, 1.1395059823989868], [-9.048055648803711, -61.98193359375, 1.152532935142517], [-9.094748497009277, -60.80101776123047, 1.1612862348556519], [-9.154088020324707, -59.498512268066406, 1.1740306615829468], [-9.20405387878418, -58.25630187988281, 1.180737853050232], [-9.2559175491333, -57.016536712646484, 1.1913450956344604], [-9.312759399414062, -55.70429992675781, 1.1999696493148804], [-9.357945442199707, -54.51304626464844, 1.2123552560806274], [-9.419119834899902, -53.12627410888672, 1.2123304605484009], [-9.44959831237793, -52.09389877319336, 1.2272666692733765], [-9.522330284118652, -50.72379684448242, 1.2354665994644165], [-9.568170547485352, -49.578399658203125, 1.2484499216079712], [-9.625017166137695, -48.440059661865234, 1.2586547136306763], [-9.702261924743652, -47.14836883544922, 1.2673043012619019], [-9.762397766113281, -46.00999450683594, 1.2816089391708374], [-9.814882278442383, -45.08631896972656, 1.3047000169754028], [-9.943303108215332, -43.587764739990234, 1.3140991926193237], [-9.9968843460083, -42.616703033447266, 1.3278619050979614], [-10.091261863708496, -41.4460334777832, 1.342849850654602]])
segs = np.array([[[-0.8258466124534607, 76.60325622558594, 1000.0], [-0.8258466124534607, 76.60325622558594, -1000.0]], [[-1.9099116325378418, 78.55892944335938, 1000.0], [-1.9099116325378418, 78.55892944335938, -1000.0]]])

# uncomment this and it will find intersections
# faces = faces[1:]

tree = ot.PyOctree(verts.astype(np.float64), faces.astype(np.int32))

for ls in segs:
    intersections = tree.rayIntersection(ls.astype(np.float32))
    if len(intersections) != 0:
        print("intersection found!", intersections[0].p)
    else:
        print(ls[0], ls[1], "has no intersection")

The result is:

0.2.10
checking: 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 2630, 2631, 2632, 2633, 2634, 2635, 2636, 2637, 2638, 2639, 2640, 2641
[-8.25846612e-01  7.66032562e+01  1.00000000e+03] [-8.25846612e-01  7.66032562e+01 -1.00000000e+03] has no intersection
checking: 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 2630, 2631, 2632, 2633, 2634, 2635, 2636, 2637, 2638, 2639, 2640, 2641
intersection found! [-1.90991163 78.55892944  1.55145169]

If you uncomment the faces = faces[1:] then the result is:

0.2.10
checking: 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 2629, 2630, 2631, 2632, 2633, 2634, 2635, 2636, 2637, 2638, 2639, 2640
intersection found! [-0.82584661 76.60325623  1.567839  ]
checking: 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 2629, 2630, 2631, 2632, 2633, 2634, 2635, 2636, 2637, 2638, 2639, 2640
intersection found! [-1.90991163 78.55892944  1.55145169]

No vertices are changing between execution, just filtering out the first face. The triangles to check are just offset by 1 as expected. Any idea what is happening here?