File size: 2,157 Bytes
0a95064 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 | # -*- coding: utf-8 -*-
# Max-Planck-Gesellschaft zur Förderung der Wissenschaften e.V. (MPG) is
# holder of all proprietary rights on this computer program.
# You can only use this computer program if you have closed
# a license agreement with MPG or you get the right to use the computer
# program from someone who is authorized to grant you that right.
# Any use of the computer program without a valid license is prohibited and
# liable to prosecution.
#
# Copyright©2019 Max-Planck-Gesellschaft zur Förderung
# der Wissenschaften e.V. (MPG). acting on behalf of its Max Planck Institute
# for Intelligent Systems. All rights reserved.
#
# Contact: ps-license@tuebingen.mpg.de
from __future__ import absolute_import
from __future__ import print_function
from __future__ import division
import sys
import torch
import torch.nn as nn
import torch.autograd as autograd
# from loguru import logger
import mesh_mesh_intersection
import mesh_mesh_intersect_cuda
class MeshMeshIntersectionFunction(autograd.Function):
@staticmethod
@torch.no_grad()
def forward(ctx, query_triangles, target_triangles, print_timings=False,
max_collisions=32,
*args, **kwargs):
outputs = mesh_mesh_intersect_cuda.mesh_to_mesh_forward(
query_triangles, target_triangles, print_timings=print_timings,
max_collisions=max_collisions)
# ctx.save_for_backward(query_triangles, outputs)
collision_faces, collision_bcs = outputs
return collision_faces, collision_bcs
@staticmethod
def backward(ctx, grad_output, *args, **kwargs):
raise NotImplementedError
class MeshMeshIntersection(nn.Module):
def __init__(self, max_collisions=32):
super(MeshMeshIntersection, self).__init__()
self.max_collisions = max_collisions
# MeshMeshIntersectionFunction.max_collisions = self.max_collisions
def forward(self, query_triangles, target_triangles,
print_timings=False):
return MeshMeshIntersectionFunction.apply(
query_triangles, target_triangles, print_timings,
self.max_collisions)
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