Merge branch 'main' into shipgen-integration

tjs20011 · Mar 5, 2025 · 22876e9 · 22876e9
2 parents f92334b + adb4ab8
commit 22876e9
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Showing 3 changed files with 9 additions and 6 deletions.
diff --git a/ExampleMultipleSonarReadings.ipynb → ...amples/ExampleMultipleSonarReadings.ipynb b/ExampleMultipleSonarReadings.ipynb → ...amples/ExampleMultipleSonarReadings.ipynb
@@ -2,10 +2,11 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 1,
    "metadata": {},
    "outputs": [],
    "source": [
+    "import sys; sys.path.append('../..')\n",
     "from Raytrace.TriangleMesh import Ray\n",
     "from Raytrace.BVHMesh import BVHMesh\n",
     "from Raytrace.SideScan import SideScan, ScanReading\n",

diff --git a/ExampleSingleSonarReading.ipynb → .../Examples/ExampleSingleSonarReading.ipynb b/ExampleSingleSonarReading.ipynb → .../Examples/ExampleSingleSonarReading.ipynb
@@ -2,10 +2,11 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 2,
    "metadata": {},
    "outputs": [],
    "source": [
+    "import sys; sys.path.append('../..')\n",
     "from Raytrace.TriangleMesh import Ray\n",
     "from Raytrace.BVHMesh import BVHMesh\n",
     "from Raytrace.SideScan import SideScan, ScanReading\n",

diff --git a/Raytrace/TriangleMesh.py b/Raytrace/TriangleMesh.py
@@ -80,6 +80,7 @@ def triangle_ray_intersection(triangle, ray:Ray, epsilon = 1e-10) -> float:
             return -1
     @staticmethod
     def batch_triangle_ray_intersection(triangle_array, ray:Ray, epsilon = 1e-10) -> np.ndarray:
+        vecdot = lambda a, b : np.sum(a*b, axis=-1)
         # Translated from https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm#C++_implementation
 
         triangle_array_comp = triangle_array.swapaxes(0, 1)
@@ -91,16 +92,16 @@ def batch_triangle_ray_intersection(triangle_array, ray:Ray, epsilon = 1e-10) ->
         v2 = v2 - v0
 
         ray_cross_e2 = np.cross(ray.direction, v2)
-        det = np.vecdot(v1, ray_cross_e2)
+        det = vecdot(v1, ray_cross_e2)
         # if -epsilon < det < epsilon:
         #     return None  # This ray is parallel to this triangle.
         old_error_state = np.seterr(divide='ignore', invalid='ignore')
         inv_det = 1.0 / det
         s = ray.origin - v0
-        u = inv_det * np.vecdot(s, ray_cross_e2)
+        u = inv_det * vecdot(s, ray_cross_e2)
 
         s_cross_e1 = np.cross(s, v1)
-        v = inv_det * np.vecdot(ray.direction, s_cross_e1)
+        v = inv_det * vecdot(ray.direction, s_cross_e1)
 
         valid = u < -epsilon
         np.logical_or(valid, 1 < u, out=valid)
@@ -111,7 +112,7 @@ def batch_triangle_ray_intersection(triangle_array, ray:Ray, epsilon = 1e-10) ->
         t = np.empty(triangle_array.shape[0], dtype=np.float64)
         t.fill(-1)
 
-        np.multiply(inv_det, np.vecdot(v2, s_cross_e1), out = t, where = valid)
+        np.multiply(inv_det, vecdot(v2, s_cross_e1), out = t, where = valid)
 
         np.seterr(**old_error_state)
         return t