78 lines
2.8 KiB
Python
78 lines
2.8 KiB
Python
from itertools import product
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import matplotlib.pyplot as plt
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import numpy as np
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def check_line_voxel(px, py, pz, dx, dy, dz, vx, vy, vz, c):
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"""Check if a line intersects a voxel.
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Parameters:
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- px, py, pz: voxel coner coordinates
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- dx, dy, dz: line origin coordinates
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- vx, vy, vz: line direction coordinates
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- c: voxel size
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"""
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# Compute the intersection bounds
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kx1 = (px - dx) / vx
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ky1 = (py - dy) / vy
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kz1 = (pz - dz) / vz
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kx2 = (px - dx + c) / vx
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ky2 = (py - dy + c) / vy
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kz2 = (pz - dz + c) / vz
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# Order the bounds
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kxmin = np.min(np.concatenate([kx1[:, np.newaxis], kx2[:, np.newaxis]], axis=1), axis=1)
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kymin = np.min(np.concatenate([ky1[:, np.newaxis], ky2[:, np.newaxis]], axis=1), axis=1)
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kzmin = np.min(np.concatenate([kz1[:, np.newaxis], kz2[:, np.newaxis]], axis=1), axis=1)
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kxmax = np.max(np.concatenate([kx1[:, np.newaxis], kx2[:, np.newaxis]], axis=1), axis=1)
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kymax = np.max(np.concatenate([ky1[:, np.newaxis], ky2[:, np.newaxis]], axis=1), axis=1)
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kzmax = np.max(np.concatenate([kz1[:, np.newaxis], kz2[:, np.newaxis]], axis=1), axis=1)
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# Check if the bounds overlap
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kmax = np.min(np.concatenate([kxmax[:, np.newaxis], kymax[:, np.newaxis], kzmax[:, np.newaxis]], axis=1), axis=1)
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kmin = np.max(np.concatenate([kxmin[:, np.newaxis], kymin[:, np.newaxis], kzmin[:, np.newaxis]], axis=1), axis=1)
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return kmin <= kmax
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c = 1.0
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points = np.array(
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[[x, y, z] for x, y, z in product(np.arange(-5.0, 4.0, c), np.arange(-5.0, 4.0, c), np.arange(-5.0, 4.0, c))]
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)
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while True:
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fig = plt.figure()
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ax = plt.axes(projection="3d")
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d = np.random.rand(3) * 1 - 0.5
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v = np.random.rand(3) * 1 - 0.5
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px, py, pz = points[:, 0], points[:, 1], points[:, 2]
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dx, dy, dz = d
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vx, vy, vz = v
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bool_vect = check_line_voxel(px, py, pz, dx, dy, dz, vx, vy, vz, c)
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# plot cube
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for i, (px, py, pz) in enumerate(points):
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if not bool_vect[i]:
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continue
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ax.plot([px, px + c], [py, py], [pz, pz], "b")
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ax.plot([px, px + c], [py, py], [pz + c, pz + c], "b")
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ax.plot([px, px + c], [py + c, py + c], [pz, pz], "b")
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ax.plot([px, px + c], [py + c, py + c], [pz + c, pz + c], "b")
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ax.plot([px, px], [py, py + c], [pz, pz], "b")
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ax.plot([px, px], [py, py + c], [pz + c, pz + c], "b")
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ax.plot([px + c, px + c], [py, py + c], [pz, pz], "b")
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ax.plot([px + c, px + c], [py, py + c], [pz + c, pz + c], "b")
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ax.plot([px, px], [py, py], [pz, pz + c], "b")
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ax.plot([px, px], [py + c, py + c], [pz, pz + c], "b")
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ax.plot([px + c, px + c], [py, py], [pz, pz + c], "b")
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ax.plot([px + c, px + c], [py + c, py + c], [pz, pz + c], "b")
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# plot line
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ax.plot([dx, dx + vx], [dy, dy + vy], [dz, dz + vz], "g")
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plt.show()
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