blender-archive/source/blender/python/mathutils/mathutils_bvhtree.c

/*
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software Foundation,
 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 */

/** \file
 * \ingroup mathutils
 *
 * This file defines the 'mathutils.bvhtree' module, a general purpose module to access
 * blenders bvhtree for mesh surface nearest-element search and ray casting.
 */

#include <Python.h>

#include "MEM_guardedalloc.h"

#include "BLI_utildefines.h"
#include "BLI_kdopbvh.h"
#include "BLI_polyfill_2d.h"
#include "BLI_math.h"
#include "BLI_ghash.h"
#include "BLI_memarena.h"

#include "BKE_bvhutils.h"

#include "../generic/py_capi_utils.h"
#include "../generic/python_utildefines.h"

#include "mathutils.h"
#include "mathutils_bvhtree.h"  /* own include */

#ifndef MATH_STANDALONE
#include "DNA_object_types.h"
#include "DNA_mesh_types.h"
#include "DNA_meshdata_types.h"

#include "BKE_customdata.h"
#include "BKE_editmesh_bvh.h"
#include "BKE_library.h"
#include "BKE_mesh.h"
#include "BKE_mesh_runtime.h"

#include "DEG_depsgraph_query.h"

#include "bmesh.h"

#include "../bmesh/bmesh_py_types.h"
#endif  /* MATH_STANDALONE */


#include "BLI_strict_flags.h"


/* -------------------------------------------------------------------- */
/** \name Docstring (snippets)
 * \{ */

#define PYBVH_FIND_GENERIC_DISTANCE_DOC \
"   :arg distance: Maximum distance threshold.\n" \
"   :type distance: float\n"

#define PYBVH_FIND_GENERIC_RETURN_DOC \
"   :return: Returns a tuple\n" \
"      (:class:`Vector` location, :class:`Vector` normal, int index, float distance),\n" \
"      Values will all be None if no hit is found.\n" \
"   :rtype: :class:`tuple`\n"

#define PYBVH_FIND_GENERIC_RETURN_LIST_DOC \
"   :return: Returns a list of tuples\n" \
"      (:class:`Vector` location, :class:`Vector` normal, int index, float distance),\n" \
"   :rtype: :class:`list`\n"

#define PYBVH_FROM_GENERIC_EPSILON_DOC \
"   :arg epsilon: Increase the threshold for detecting overlap and raycast hits.\n" \
"   :type epsilon: float\n"

/** \} */

/* sqrt(FLT_MAX) */
#define PYBVH_MAX_DIST_STR "1.84467e+19"
static const float max_dist_default = 1.844674352395373e+19f;

static const char PY_BVH_TREE_TYPE_DEFAULT = 4;
static const char PY_BVH_AXIS_DEFAULT = 6;

typedef struct {
	PyObject_HEAD
	BVHTree *tree;
	float epsilon;

	float (*coords)[3];
	unsigned int (*tris)[3];
	unsigned int coords_len, tris_len;

	/* Optional members */
	/* aligned with 'tris' */
	int *orig_index;
	/* aligned with array that 'orig_index' points to */
	float (*orig_normal)[3];
} PyBVHTree;


/* -------------------------------------------------------------------- */
/** \name Utility helper functions
 * \{ */

static PyObject *bvhtree_CreatePyObject(
        BVHTree *tree, float epsilon,

        float (*coords)[3], unsigned int coords_len,
        unsigned int (*tris)[3], unsigned int tris_len,

        /* optional arrays */
        int *orig_index, float (*orig_normal)[3])
{
	PyBVHTree *result = PyObject_New(PyBVHTree, &PyBVHTree_Type);

	result->tree = tree;
	result->epsilon = epsilon;

	result->coords = coords;
	result->tris = tris;
	result->coords_len = coords_len;
	result->tris_len = tris_len;

	result->orig_index = orig_index;
	result->orig_normal = orig_normal;

	return (PyObject *)result;
}

/** \} */


/* -------------------------------------------------------------------- */
/** \name BVHTreeRayHit to Python utilities
 * \{ */

static void py_bvhtree_raycast_to_py_tuple(const BVHTreeRayHit *hit, PyObject *py_retval)
{
	BLI_assert(hit->index >= 0);
	BLI_assert(PyTuple_GET_SIZE(py_retval) == 4);

	PyTuple_SET_ITEMS(py_retval,
	        Vector_CreatePyObject(hit->co, 3, NULL),
	        Vector_CreatePyObject(hit->no, 3, NULL),
	        PyLong_FromLong(hit->index),
	        PyFloat_FromDouble(hit->dist));

}

static PyObject *py_bvhtree_raycast_to_py(const BVHTreeRayHit *hit)
{
	PyObject *py_retval = PyTuple_New(4);

	py_bvhtree_raycast_to_py_tuple(hit, py_retval);

	return py_retval;
}

static PyObject *py_bvhtree_raycast_to_py_none(void)
{
	PyObject *py_retval = PyTuple_New(4);

	PyC_Tuple_Fill(py_retval, Py_None);

	return py_retval;
}

#if 0
static PyObject *py_bvhtree_raycast_to_py_and_check(const BVHTreeRayHit *hit)
{
	PyObject *py_retval;

	py_retval = PyTuple_New(4);

	if (hit->index != -1) {
		py_bvhtree_raycast_to_py_tuple(hit, py_retval);
	}
	else {
		PyC_Tuple_Fill(py_retval, Py_None);
	}

	return py_retval;
}
#endif

/** \} */


/* -------------------------------------------------------------------- */
/** \name BVHTreeNearest to Python utilities
 * \{ */

static void py_bvhtree_nearest_to_py_tuple(const BVHTreeNearest *nearest, PyObject *py_retval)
{
	BLI_assert(nearest->index >= 0);
	BLI_assert(PyTuple_GET_SIZE(py_retval) == 4);

	PyTuple_SET_ITEMS(py_retval,
	        Vector_CreatePyObject(nearest->co, 3, NULL),
	        Vector_CreatePyObject(nearest->no, 3, NULL),
	        PyLong_FromLong(nearest->index),
	        PyFloat_FromDouble(sqrtf(nearest->dist_sq)));

}

static PyObject *py_bvhtree_nearest_to_py(const BVHTreeNearest *nearest)
{
	PyObject *py_retval = PyTuple_New(4);

	py_bvhtree_nearest_to_py_tuple(nearest, py_retval);

	return py_retval;
}

static PyObject *py_bvhtree_nearest_to_py_none(void)
{
	PyObject *py_retval = PyTuple_New(4);

	PyC_Tuple_Fill(py_retval, Py_None);

	return py_retval;
}

#if 0
static PyObject *py_bvhtree_nearest_to_py_and_check(const BVHTreeNearest *nearest)
{
	PyObject *py_retval;

	py_retval = PyTuple_New(4);

	if (nearest->index != -1) {
		py_bvhtree_nearest_to_py_tuple(nearest, py_retval);
	}
	else {
		PyC_Tuple_Fill(py_retval, Py_None);
	}

	return py_retval;
}
#endif

/** \} */

static void py_bvhtree__tp_dealloc(PyBVHTree *self)
{
	if (self->tree) {
		BLI_bvhtree_free(self->tree);
	}

	MEM_SAFE_FREE(self->coords);
	MEM_SAFE_FREE(self->tris);

	MEM_SAFE_FREE(self->orig_index);
	MEM_SAFE_FREE(self->orig_normal);

	Py_TYPE(self)->tp_free((PyObject *)self);
}


/* -------------------------------------------------------------------- */
/** \name Methods
 * \{ */

static void py_bvhtree_raycast_cb(void *userdata, int index, const BVHTreeRay *ray, BVHTreeRayHit *hit)
{
	const PyBVHTree *self = userdata;

	const float (*coords)[3] = (const float (*)[3])self->coords;
	const unsigned int *tri = self->tris[index];
	const float *tri_co[3] = {coords[tri[0]], coords[tri[1]], coords[tri[2]]};
	float dist;

	if (self->epsilon == 0.0f) {
		dist = bvhtree_ray_tri_intersection(ray, hit->dist, UNPACK3(tri_co));
	}
	else {
		dist = bvhtree_sphereray_tri_intersection(ray, self->epsilon, hit->dist, UNPACK3(tri_co));
	}

	if (dist >= 0 && dist < hit->dist) {
		hit->index = self->orig_index ? self->orig_index[index] : index;
		hit->dist = dist;
		madd_v3_v3v3fl(hit->co, ray->origin, ray->direction, dist);
		if (self->orig_normal) {
			copy_v3_v3(hit->no, self->orig_normal[hit->index]);
		}
		else {
			normal_tri_v3(hit->no, UNPACK3(tri_co));
		}
	}
}

static void py_bvhtree_nearest_point_cb(void *userdata, int index, const float co[3], BVHTreeNearest *nearest)
{
	PyBVHTree *self = userdata;

	const float (*coords)[3] = (const float (*)[3])self->coords;
	const unsigned int *tri = self->tris[index];
	const float *tri_co[3] = {coords[tri[0]], coords[tri[1]], coords[tri[2]]};
	float nearest_tmp[3], dist_sq;

	closest_on_tri_to_point_v3(nearest_tmp, co, UNPACK3(tri_co));
	dist_sq = len_squared_v3v3(co, nearest_tmp);

	if (dist_sq < nearest->dist_sq) {
		nearest->index = self->orig_index ? self->orig_index[index] : index;
		nearest->dist_sq = dist_sq;
		copy_v3_v3(nearest->co, nearest_tmp);
		if (self->orig_normal) {
			copy_v3_v3(nearest->no, self->orig_normal[nearest->index]);
		}
		else {
			normal_tri_v3(nearest->no, UNPACK3(tri_co));
		}
	}
}

PyDoc_STRVAR(py_bvhtree_ray_cast_doc,
".. method:: ray_cast(origin, direction, distance=sys.float_info.max)\n"
"\n"
"   Cast a ray onto the mesh.\n"
"\n"
"   :arg co: Start location of the ray in object space.\n"
"   :type co: :class:`Vector`\n"
"   :arg direction: Direction of the ray in object space.\n"
"   :type direction: :class:`Vector`\n"
PYBVH_FIND_GENERIC_DISTANCE_DOC
PYBVH_FIND_GENERIC_RETURN_DOC
);
static PyObject *py_bvhtree_ray_cast(PyBVHTree *self, PyObject *args)
{
	const char *error_prefix = "ray_cast";
	float co[3], direction[3];
	float max_dist = FLT_MAX;
	BVHTreeRayHit hit;

	/* parse args */
	{
		PyObject *py_co, *py_direction;

		if (!PyArg_ParseTuple(
		        args, (char *)"OO|f:ray_cast",
		        &py_co, &py_direction, &max_dist))
		{
			return NULL;
		}

		if ((mathutils_array_parse(co, 2, 3 | MU_ARRAY_ZERO, py_co, error_prefix) == -1) ||
		    (mathutils_array_parse(direction, 2, 3 | MU_ARRAY_ZERO, py_direction, error_prefix) == -1))
		{
			return NULL;
		}

		normalize_v3(direction);
	}

	hit.dist = max_dist;
	hit.index = -1;

	/* may fail if the mesh has no faces, in that case the ray-cast misses */
	if (self->tree) {
		if (BLI_bvhtree_ray_cast(
		        self->tree, co, direction, 0.0f, &hit,
		        py_bvhtree_raycast_cb, self) != -1)
		{
			return py_bvhtree_raycast_to_py(&hit);
		}
	}

	return py_bvhtree_raycast_to_py_none();
}

PyDoc_STRVAR(py_bvhtree_find_nearest_doc,
".. method:: find_nearest(origin, distance=" PYBVH_MAX_DIST_STR ")\n"
"\n"
"   Find the nearest element (typically face index) to a point.\n"
"\n"
"   :arg co: Find nearest element to this point.\n"
"   :type co: :class:`Vector`\n"
PYBVH_FIND_GENERIC_DISTANCE_DOC
PYBVH_FIND_GENERIC_RETURN_DOC
);
static PyObject *py_bvhtree_find_nearest(PyBVHTree *self, PyObject *args)
{
	const char *error_prefix = "find_nearest";
	float co[3];
	float max_dist = max_dist_default;

	BVHTreeNearest nearest;

	/* parse args */
	{
		PyObject *py_co;

		if (!PyArg_ParseTuple(
		        args, (char *)"O|f:find_nearest",
		        &py_co, &max_dist))
		{
			return NULL;
		}

		if (mathutils_array_parse(co, 2, 3 | MU_ARRAY_ZERO, py_co, error_prefix) == -1) {
			return NULL;
		}
	}

	nearest.index = -1;
	nearest.dist_sq = max_dist * max_dist;

	/* may fail if the mesh has no faces, in that case the ray-cast misses */
	if (self->tree) {
		if (BLI_bvhtree_find_nearest(
		        self->tree, co, &nearest,
		        py_bvhtree_nearest_point_cb, self) != -1)
		{
			return py_bvhtree_nearest_to_py(&nearest);
		}
	}

	return py_bvhtree_nearest_to_py_none();
}

struct PyBVH_RangeData {
	PyBVHTree *self;
	PyObject *result;
	float dist_sq;
};

static void py_bvhtree_nearest_point_range_cb(void *userdata, int index, const float co[3], float UNUSED(dist_sq_bvh))
{
	struct PyBVH_RangeData *data = userdata;
	PyBVHTree *self = data->self;

	const float (*coords)[3] = (const float (*)[3])self->coords;
	const unsigned int *tri = self->tris[index];
	const float *tri_co[3] = {coords[tri[0]], coords[tri[1]], coords[tri[2]]};
	float nearest_tmp[3], dist_sq;

	closest_on_tri_to_point_v3(nearest_tmp, co, UNPACK3(tri_co));
	dist_sq = len_squared_v3v3(co, nearest_tmp);

	if (dist_sq < data->dist_sq) {
		BVHTreeNearest nearest;
		nearest.index = self->orig_index ? self->orig_index[index] : index;
		nearest.dist_sq = dist_sq;
		copy_v3_v3(nearest.co, nearest_tmp);
		if (self->orig_normal) {
			copy_v3_v3(nearest.no, self->orig_normal[nearest.index]);
		}
		else {
			normal_tri_v3(nearest.no, UNPACK3(tri_co));
		}

		PyList_APPEND(data->result, py_bvhtree_nearest_to_py(&nearest));
	}
}

PyDoc_STRVAR(py_bvhtree_find_nearest_range_doc,
".. method:: find_nearest_range(origin, distance=" PYBVH_MAX_DIST_STR ")\n"
"\n"
"   Find the nearest elements (typically face index) to a point in the distance range.\n"
"\n"
"   :arg co: Find nearest elements to this point.\n"
"   :type co: :class:`Vector`\n"
PYBVH_FIND_GENERIC_DISTANCE_DOC
PYBVH_FIND_GENERIC_RETURN_LIST_DOC
);
static PyObject *py_bvhtree_find_nearest_range(PyBVHTree *self, PyObject *args)
{
	const char *error_prefix = "find_nearest_range";
	float co[3];
	float max_dist = max_dist_default;

	/* parse args */
	{
		PyObject *py_co;

		if (!PyArg_ParseTuple(
		        args, (char *)"O|f:find_nearest_range",
		        &py_co, &max_dist))
		{
			return NULL;
		}

		if (mathutils_array_parse(co, 2, 3 | MU_ARRAY_ZERO, py_co, error_prefix) == -1) {
			return NULL;
		}
	}

	PyObject *ret = PyList_New(0);

	if (self->tree) {
		struct PyBVH_RangeData data = {
			.self = self,
			.result = ret,
			.dist_sq = SQUARE(max_dist),
		};

		BLI_bvhtree_range_query(
		        self->tree, co, max_dist,
		        py_bvhtree_nearest_point_range_cb, &data);
	}

	return ret;
}


BLI_INLINE unsigned int overlap_hash(const void *overlap_v)
{
	const BVHTreeOverlap *overlap = overlap_v;
	/* same constants as edge-hash */
	return (((unsigned int)overlap->indexA * 65) ^ ((unsigned int)overlap->indexA * 31));
}

BLI_INLINE bool overlap_cmp(const void *a_v, const void *b_v)
{
	const BVHTreeOverlap *a = a_v;
	const BVHTreeOverlap *b = b_v;
	return (memcmp(a, b, sizeof(*a)) != 0);
}

struct PyBVHTree_OverlapData {
	PyBVHTree *tree_pair[2];
	float epsilon;
};

static bool py_bvhtree_overlap_cb(void *userdata, int index_a, int index_b, int UNUSED(thread))
{
	struct PyBVHTree_OverlapData *data = userdata;
	PyBVHTree *tree_a = data->tree_pair[0];
	PyBVHTree *tree_b = data->tree_pair[1];
	const unsigned int *tri_a = tree_a->tris[index_a];
	const unsigned int *tri_b = tree_b->tris[index_b];
	const float *tri_a_co[3] = {tree_a->coords[tri_a[0]], tree_a->coords[tri_a[1]], tree_a->coords[tri_a[2]]};
	const float *tri_b_co[3] = {tree_b->coords[tri_b[0]], tree_b->coords[tri_b[1]], tree_b->coords[tri_b[2]]};
	float ix_pair[2][3];
	int verts_shared = 0;

	if (tree_a == tree_b) {
		if (UNLIKELY(index_a == index_b)) {
			return false;
		}

		verts_shared = (
		        ELEM(tri_a_co[0], UNPACK3(tri_b_co)) +
		        ELEM(tri_a_co[1], UNPACK3(tri_b_co)) +
		        ELEM(tri_a_co[2], UNPACK3(tri_b_co)));

		/* if 2 points are shared, bail out */
		if (verts_shared >= 2) {
			return false;
		}
	}

	return (isect_tri_tri_epsilon_v3(UNPACK3(tri_a_co), UNPACK3(tri_b_co), ix_pair[0], ix_pair[1], data->epsilon) &&
	        ((verts_shared == 0) || (len_squared_v3v3(ix_pair[0], ix_pair[1]) > data->epsilon)));
}

PyDoc_STRVAR(py_bvhtree_overlap_doc,
".. method:: overlap(other_tree)\n"
"\n"
"   Find overlapping indices between 2 trees.\n"
"\n"
"   :arg other_tree: Other tree to perform overlap test on.\n"
"   :type other_tree: :class:`BVHTree`\n"
"   :return: Returns a list of unique index pairs,"
"      the first index referencing this tree, the second referencing the **other_tree**.\n"
"   :rtype: :class:`list`\n"
);
static PyObject *py_bvhtree_overlap(PyBVHTree *self, PyBVHTree *other)
{
	struct PyBVHTree_OverlapData data;
	BVHTreeOverlap *overlap;
	unsigned int overlap_len = 0;
	PyObject *ret;

	if (!PyBVHTree_CheckExact(other)) {
		PyErr_SetString(PyExc_ValueError, "Expected a BVHTree argument");
		return NULL;
	}

	data.tree_pair[0] = self;
	data.tree_pair[1] = other;
	data.epsilon = max_ff(self->epsilon, other->epsilon);

	overlap = BLI_bvhtree_overlap(self->tree, other->tree, &overlap_len, py_bvhtree_overlap_cb, &data);

	ret = PyList_New(0);

	if (overlap == NULL) {
		/* pass */
	}
	else {
		bool use_unique = (self->orig_index || other->orig_index);
		GSet *pair_test = use_unique ? BLI_gset_new_ex(overlap_hash, overlap_cmp, __func__, overlap_len) : NULL;
		/* simple case, no index remapping */
		unsigned int i;

		for (i = 0; i < overlap_len; i++) {
			PyObject *item;
			if (use_unique) {
				if (self->orig_index) {
					overlap[i].indexA = self->orig_index[overlap[i].indexA];
				}
				if (other->orig_index) {
					overlap[i].indexB = other->orig_index[overlap[i].indexB];
				}

				/* skip if its already added */
				if (!BLI_gset_add(pair_test, &overlap[i])) {
					continue;
				}
			}

			item = PyTuple_New(2);
			PyTuple_SET_ITEMS(item,
			        PyLong_FromLong(overlap[i].indexA),
			        PyLong_FromLong(overlap[i].indexB));

			PyList_Append(ret, item);
			Py_DECREF(item);
		}

		if (pair_test) {
			BLI_gset_free(pair_test, NULL);
		}
	}

	if (overlap) {
		MEM_freeN(overlap);
	}

	return ret;
}

/** \} */


/* -------------------------------------------------------------------- */
/** \name Class Methods
 * \{ */

PyDoc_STRVAR(C_BVHTree_FromPolygons_doc,
".. classmethod:: FromPolygons(vertices, polygons, all_triangles=False, epsilon=0.0)\n"
"\n"
"   BVH tree constructed geometry passed in as arguments.\n"
"\n"
"   :arg vertices: float triplets each representing ``(x, y, z)``\n"
"   :type vertices: float triplet sequence\n"
"   :arg polygons: Sequence of polyugons, each containing indices to the vertices argument.\n"
"   :type polygons: Sequence of sequences containing ints\n"
"   :arg all_triangles: Use when all **polygons** are triangles for more efficient conversion.\n"
"   :type all_triangles: bool\n"
PYBVH_FROM_GENERIC_EPSILON_DOC
);
static PyObject *C_BVHTree_FromPolygons(PyObject *UNUSED(cls), PyObject *args, PyObject *kwargs)
{
	const char *error_prefix = "BVHTree.FromPolygons";
	const char *keywords[] = {"vertices", "polygons", "all_triangles", "epsilon", NULL};

	PyObject *py_coords, *py_tris;
	PyObject *py_coords_fast = NULL, *py_tris_fast = NULL;

	MemArena *poly_arena = NULL;
	MemArena *pf_arena = NULL;

	float (*coords)[3] = NULL;
	unsigned int (*tris)[3] = NULL;
	unsigned int coords_len, tris_len;
	float epsilon = 0.0f;
	bool all_triangles = false;

	/* when all_triangles is False */
	int *orig_index = NULL;
	float (*orig_normal)[3] = NULL;

	unsigned int i;
	bool valid = true;


	if (!PyArg_ParseTupleAndKeywords(
	        args, kwargs, (char *)"OO|$O&f:BVHTree.FromPolygons", (char **)keywords,
	        &py_coords, &py_tris,
	        PyC_ParseBool, &all_triangles,
	        &epsilon))
	{
		return NULL;
	}

	if (!(py_coords_fast = PySequence_Fast(py_coords, error_prefix)) ||
	    !(py_tris_fast  = PySequence_Fast(py_tris, error_prefix)))
	{
		Py_XDECREF(py_coords_fast);
		return NULL;
	}

	if (valid) {
		PyObject **py_coords_fast_items = PySequence_Fast_ITEMS(py_coords_fast);
		coords_len = (unsigned int)PySequence_Fast_GET_SIZE(py_coords_fast);
		coords = MEM_mallocN((size_t)coords_len * sizeof(*coords), __func__);

		for (i = 0; i < coords_len; i++) {
			PyObject *py_vert = py_coords_fast_items[i];

			if (mathutils_array_parse(coords[i], 3, 3, py_vert, "BVHTree vertex: ") == -1) {
				valid = false;
				break;
			}
		}
	}

	if (valid == false) {
		/* pass */
	}
	else if (all_triangles) {
		/* all triangles, simple case */
		PyObject **py_tris_fast_items = PySequence_Fast_ITEMS(py_tris_fast);
		tris_len = (unsigned int)PySequence_Fast_GET_SIZE(py_tris_fast);
		tris = MEM_mallocN((size_t)tris_len * sizeof(*tris), __func__);

		for (i = 0; i < tris_len; i++) {
			PyObject *py_tricoords = py_tris_fast_items[i];
			PyObject *py_tricoords_fast;
			PyObject **py_tricoords_fast_items;
			unsigned int *tri = tris[i];
			int j;

			if (!(py_tricoords_fast = PySequence_Fast(py_tricoords, error_prefix))) {
				valid = false;
				break;
			}

			if (PySequence_Fast_GET_SIZE(py_tricoords_fast) != 3) {
				Py_DECREF(py_tricoords_fast);
				PyErr_Format(PyExc_ValueError,
				             "%s: non triangle found at index %d with length of %d",
				             error_prefix, i, PySequence_Fast_GET_SIZE(py_tricoords_fast));
				valid = false;
				break;
			}

			py_tricoords_fast_items = PySequence_Fast_ITEMS(py_tricoords_fast);

			for (j = 0; j < 3; j++) {
				tri[j] = PyC_Long_AsU32(py_tricoords_fast_items[j]);
				if (UNLIKELY(tri[j] >= (unsigned int)coords_len)) {
					PyErr_Format(PyExc_ValueError,
					             "%s: index %d must be less than %d",
					             error_prefix, tri[j], coords_len);

					/* decref below */
					valid = false;
					break;
				}
			}

			Py_DECREF(py_tricoords_fast);
		}
	}
	else {
		/* ngon support (much more involved) */
		const unsigned int polys_len = (unsigned int)PySequence_Fast_GET_SIZE(py_tris_fast);
		struct PolyLink {
			struct PolyLink *next;
			unsigned int len;
			unsigned int poly[0];
		} *plink_first = NULL, **p_plink_prev = &plink_first, *plink = NULL;
		int poly_index;

		tris_len = 0;

		poly_arena = BLI_memarena_new(BLI_MEMARENA_STD_BUFSIZE, __func__);

		for (i = 0; i < polys_len; i++) {
			PyObject *py_tricoords = PySequence_Fast_GET_ITEM(py_tris_fast, i);
			PyObject *py_tricoords_fast;
			PyObject **py_tricoords_fast_items;
			unsigned int py_tricoords_len;
			unsigned int j;

			if (!(py_tricoords_fast = PySequence_Fast(py_tricoords, error_prefix))) {
				valid = false;
				break;
			}

			py_tricoords_len = (unsigned int)PySequence_Fast_GET_SIZE(py_tricoords_fast);
			py_tricoords_fast_items = PySequence_Fast_ITEMS(py_tricoords_fast);

			plink = BLI_memarena_alloc(poly_arena, sizeof(*plink) + (sizeof(int) * (size_t)py_tricoords_len));

			plink->len = (unsigned int)py_tricoords_len;
			*p_plink_prev = plink;
			p_plink_prev = &plink->next;

			for (j = 0; j < py_tricoords_len; j++) {
				plink->poly[j] = PyC_Long_AsU32(py_tricoords_fast_items[j]);
				if (UNLIKELY(plink->poly[j] >= (unsigned int)coords_len)) {
					PyErr_Format(PyExc_ValueError,
					             "%s: index %d must be less than %d",
					             error_prefix, plink->poly[j], coords_len);
					/* decref below */
					valid = false;
					break;
				}
			}

			Py_DECREF(py_tricoords_fast);

			if (py_tricoords_len >= 3) {
				tris_len += (py_tricoords_len - 2);
			}
		}
		*p_plink_prev = NULL;

		/* all ngon's are parsed, now tessellate */

		pf_arena = BLI_memarena_new(BLI_POLYFILL_ARENA_SIZE, __func__);
		tris = MEM_mallocN(sizeof(*tris) * (size_t)tris_len, __func__);

		orig_index = MEM_mallocN(sizeof(*orig_index) * (size_t)tris_len, __func__);
		orig_normal = MEM_mallocN(sizeof(*orig_normal) * (size_t)polys_len, __func__);

		for (plink = plink_first, poly_index = 0, i = 0; plink; plink = plink->next, poly_index++) {
			if (plink->len == 3) {
				unsigned int *tri = tris[i];
				memcpy(tri, plink->poly, sizeof(unsigned int[3]));
				orig_index[i] = poly_index;
				normal_tri_v3(orig_normal[poly_index], coords[tri[0]], coords[tri[1]], coords[tri[2]]);
				i++;
			}
			else if (plink->len > 3) {
				float (*proj_coords)[2] = BLI_memarena_alloc(pf_arena, sizeof(*proj_coords) * plink->len);
				float *normal = orig_normal[poly_index];
				const float *co_prev;
				const float *co_curr;
				float axis_mat[3][3];
				unsigned int (*tris_offset)[3] = &tris[i];
				unsigned int j;

				/* calc normal and setup 'proj_coords' */
				zero_v3(normal);
				co_prev = coords[plink->poly[plink->len - 1]];
				for (j = 0; j < plink->len; j++) {
					co_curr = coords[plink->poly[j]];
					add_newell_cross_v3_v3v3(normal, co_prev, co_curr);
					co_prev = co_curr;
				}
				normalize_v3(normal);

				axis_dominant_v3_to_m3_negate(axis_mat, normal);

				for (j = 0; j < plink->len; j++) {
					mul_v2_m3v3(proj_coords[j], axis_mat, coords[plink->poly[j]]);
				}

				BLI_polyfill_calc_arena(proj_coords, plink->len, 1, tris_offset, pf_arena);

				j = plink->len - 2;
				while (j--) {
					unsigned int *tri = tris_offset[j];
					/* remap to global indices */
					tri[0] = plink->poly[tri[0]];
					tri[1] = plink->poly[tri[1]];
					tri[2] = plink->poly[tri[2]];

					orig_index[i] = poly_index;
					i++;
				}

				BLI_memarena_clear(pf_arena);
			}
			else {
				zero_v3(orig_normal[poly_index]);
			}
		}
	}

	Py_DECREF(py_coords_fast);
	Py_DECREF(py_tris_fast);

	if (pf_arena) {
		BLI_memarena_free(pf_arena);
	}

	if (poly_arena) {
		BLI_memarena_free(poly_arena);
	}

	if (valid) {
		BVHTree *tree;

		tree = BLI_bvhtree_new((int)tris_len, epsilon, PY_BVH_TREE_TYPE_DEFAULT, PY_BVH_AXIS_DEFAULT);
		if (tree) {
			for (i = 0; i < tris_len; i++) {
				float co[3][3];

				copy_v3_v3(co[0], coords[tris[i][0]]);
				copy_v3_v3(co[1], coords[tris[i][1]]);
				copy_v3_v3(co[2], coords[tris[i][2]]);

				BLI_bvhtree_insert(tree, (int)i, co[0], 3);
			}

			BLI_bvhtree_balance(tree);
		}

		return bvhtree_CreatePyObject(
		        tree, epsilon,
		        coords, coords_len,
		        tris, tris_len,
		        orig_index, orig_normal);
	}
	else {
		if (coords)
			MEM_freeN(coords);
		if (tris)
			MEM_freeN(tris);

		return NULL;
	}
}


#ifndef MATH_STANDALONE

PyDoc_STRVAR(C_BVHTree_FromBMesh_doc,
".. classmethod:: FromBMesh(bmesh, epsilon=0.0)\n"
"\n"
"   BVH tree based on :class:`BMesh` data.\n"
"\n"
"   :arg bmesh: BMesh data.\n"
"   :type bmesh: :class:`BMesh`\n"
PYBVH_FROM_GENERIC_EPSILON_DOC
);
static PyObject *C_BVHTree_FromBMesh(PyObject *UNUSED(cls), PyObject *args, PyObject *kwargs)
{
	const char *keywords[] = {"bmesh", "epsilon", NULL};

	BPy_BMesh *py_bm;

	float (*coords)[3] = NULL;
	unsigned int (*tris)[3] = NULL;
	unsigned int coords_len, tris_len;
	float epsilon = 0.0f;

	BMesh *bm;
	BMLoop *(*looptris)[3];

	if (!PyArg_ParseTupleAndKeywords(
	        args, kwargs, (char *)"O!|$f:BVHTree.FromBMesh", (char **)keywords,
	        &BPy_BMesh_Type, &py_bm, &epsilon))
	{
		return NULL;
	}

	bm = py_bm->bm;

	/* Get data for tessellation */
	{
		int tris_len_dummy;

		coords_len = (unsigned int)bm->totvert;
		tris_len = (unsigned int)poly_to_tri_count(bm->totface, bm->totloop);

		coords = MEM_mallocN(sizeof(*coords) * (size_t)coords_len, __func__);
		tris = MEM_mallocN(sizeof(*tris) * (size_t)tris_len, __func__);

		looptris = MEM_mallocN(sizeof(*looptris) * (size_t)tris_len, __func__);

		BM_mesh_calc_tessellation(bm, looptris, &tris_len_dummy);
		BLI_assert(tris_len_dummy == (int)tris_len);
	}

	{
		BMIter iter;
		BVHTree *tree;
		unsigned int i;

		int *orig_index = NULL;
		float (*orig_normal)[3] = NULL;

		tree = BLI_bvhtree_new((int)tris_len, epsilon, PY_BVH_TREE_TYPE_DEFAULT, PY_BVH_AXIS_DEFAULT);
		if (tree) {
			BMFace *f;
			BMVert *v;

			orig_index = MEM_mallocN(sizeof(*orig_index) * (size_t)tris_len, __func__);
			orig_normal = MEM_mallocN(sizeof(*orig_normal) * (size_t)bm->totface, __func__);

			BM_ITER_MESH_INDEX (v, &iter, bm, BM_VERTS_OF_MESH, i) {
				copy_v3_v3(coords[i], v->co);
				BM_elem_index_set(v, (int)i);  /* set_inline */
			}
			BM_ITER_MESH_INDEX (f, &iter, bm, BM_FACES_OF_MESH, i) {
				copy_v3_v3(orig_normal[i], f->no);
				BM_elem_index_set(f, (int)i);  /* set_inline */
			}
			bm->elem_index_dirty &= (char)~(BM_VERT | BM_FACE);

			for (i = 0; i < tris_len; i++) {
				float co[3][3];

				tris[i][0] = (unsigned int)BM_elem_index_get(looptris[i][0]->v);
				tris[i][1] = (unsigned int)BM_elem_index_get(looptris[i][1]->v);
				tris[i][2] = (unsigned int)BM_elem_index_get(looptris[i][2]->v);

				copy_v3_v3(co[0], coords[tris[i][0]]);
				copy_v3_v3(co[1], coords[tris[i][1]]);
				copy_v3_v3(co[2], coords[tris[i][2]]);

				BLI_bvhtree_insert(tree, (int)i, co[0], 3);
				orig_index[i] = BM_elem_index_get(looptris[i][0]->f);
			}

			BLI_bvhtree_balance(tree);
		}

		MEM_freeN(looptris);

		return bvhtree_CreatePyObject(
		        tree, epsilon,
		        coords, coords_len,
		        tris, tris_len,
		        orig_index, orig_normal);
	}
}

/* return various derived meshes based on requested settings */
static Mesh *bvh_get_mesh(
        const char *funcname, struct Depsgraph *depsgraph, struct Scene *scene, Object *ob,
        const bool use_deform, const bool use_cage, bool *r_free_mesh)
{
	Object *ob_eval = DEG_get_evaluated_object(depsgraph, ob);
	/* we only need minimum mesh data for topology and vertex locations */
	CustomDataMask mask = CD_MASK_BAREMESH;
	const bool use_render = DEG_get_mode(depsgraph) == DAG_EVAL_RENDER;
	*r_free_mesh = false;

	/* Write the display mesh into the dummy mesh */
	if (use_deform) {
		if (use_render) {
			if (use_cage) {
				PyErr_Format(PyExc_ValueError,
				             "%s(...): cage arg is unsupported when dependency graph evaluation mode is RENDER", funcname);
				return NULL;
			}
			else {
				*r_free_mesh = true;
				return mesh_create_eval_final_render(depsgraph, scene, ob, mask);
			}
		}
		else if (ob_eval != NULL) {
			if (use_cage) {
				return mesh_get_eval_deform(depsgraph, scene, ob_eval, mask);  /* ob->derivedDeform */
			}
			else {
				return mesh_get_eval_final(depsgraph, scene, ob_eval, mask);  /* ob->derivedFinal */
			}
		}
		else {
			PyErr_Format(PyExc_ValueError,
			             "%s(...): Cannot get evaluated data from given dependency graph / object pair", funcname);
			return NULL;
		}
	}
	else {
		/* !use_deform */
		if (use_render) {
			if (use_cage) {
				PyErr_Format(PyExc_ValueError,
				             "%s(...): cage arg is unsupported when dependency graph evaluation mode is RENDER", funcname);
				return NULL;
			}
			else {
				*r_free_mesh = true;
				return mesh_create_eval_no_deform_render(depsgraph, scene, ob, NULL, mask);
			}
		}
		else {
			if (use_cage) {
				PyErr_Format(PyExc_ValueError,
				             "%s(...): cage arg is unsupported when deform=False and dependency graph evaluation mode is not RENDER", funcname);
				return NULL;
			}
			else {
				*r_free_mesh = true;
				return mesh_create_eval_no_deform(depsgraph, scene, ob, NULL, mask);
			}
		}
	}
}

PyDoc_STRVAR(C_BVHTree_FromObject_doc,
".. classmethod:: FromObject(object, depsgraph, deform=True, render=False, cage=False, epsilon=0.0)\n"
"\n"
"   BVH tree based on :class:`Object` data.\n"
"\n"
"   :arg object: Object data.\n"
"   :type object: :class:`Object`\n"
"   :arg depsgraph: Depsgraph to use for evaluating the mesh.\n"
"   :type depsgraph: :class:`Depsgraph`\n"
"   :arg deform: Use mesh with deformations.\n"
"   :type deform: bool\n"
"   :arg cage: Use modifiers cage.\n"
"   :type cage: bool\n"
PYBVH_FROM_GENERIC_EPSILON_DOC
);
static PyObject *C_BVHTree_FromObject(PyObject *UNUSED(cls), PyObject *args, PyObject *kwargs)
{
	/* note, options here match 'bpy_bmesh_from_object' */
	const char *keywords[] = {"object", "depsgraph", "deform", "cage", "epsilon", NULL};

	PyObject *py_ob, *py_depsgraph;
	Object *ob;
	struct Depsgraph *depsgraph;
	struct Scene *scene;
	Mesh *mesh;
	bool use_deform = true;
	bool use_cage = false;
	bool free_mesh = false;

	const MLoopTri *lt;
	const MLoop *mloop;

	float (*coords)[3] = NULL;
	unsigned int (*tris)[3] = NULL;
	unsigned int coords_len, tris_len;
	float epsilon = 0.0f;

	if (!PyArg_ParseTupleAndKeywords(
	        args, kwargs, (char *)"OO|$O&O&f:BVHTree.FromObject", (char **)keywords,
	        &py_ob, &py_depsgraph,
	        PyC_ParseBool, &use_deform,
	        PyC_ParseBool, &use_cage,
	        &epsilon) ||
	    ((ob = PyC_RNA_AsPointer(py_ob, "Object")) == NULL) ||
	    ((depsgraph = PyC_RNA_AsPointer(py_depsgraph, "Depsgraph")) == NULL))
	{
		return NULL;
	}

	scene = DEG_get_evaluated_scene(depsgraph);
	mesh = bvh_get_mesh("BVHTree", depsgraph, scene, ob, use_deform, use_cage, &free_mesh);

	if (mesh == NULL) {
		return NULL;
	}

	/* Get data for tessellation */
	{
		lt = BKE_mesh_runtime_looptri_ensure(mesh);

		tris_len = (unsigned int)BKE_mesh_runtime_looptri_len(mesh);
		coords_len = (unsigned int)mesh->totvert;

		coords = MEM_mallocN(sizeof(*coords) * (size_t)coords_len, __func__);
		tris = MEM_mallocN(sizeof(*tris) * (size_t)tris_len, __func__);

		MVert *mv = mesh->mvert;
		for (int i = 0; i < mesh->totvert; i++, mv++) {
			copy_v3_v3(coords[i], mv->co);
		}

		mloop = mesh->mloop;
	}

	{
		BVHTree *tree;
		unsigned int i;

		int *orig_index = NULL;
		float (*orig_normal)[3] = NULL;

		tree = BLI_bvhtree_new((int)tris_len, epsilon, PY_BVH_TREE_TYPE_DEFAULT, PY_BVH_AXIS_DEFAULT);
		if (tree) {
			orig_index = MEM_mallocN(sizeof(*orig_index) * (size_t)tris_len, __func__);
			CustomData *pdata = &mesh->pdata;
			orig_normal = CustomData_get_layer(pdata, CD_NORMAL); /* can be NULL */
			if (orig_normal) {
				orig_normal = MEM_dupallocN(orig_normal);
			}

			for (i = 0; i < tris_len; i++, lt++) {
				float co[3][3];

				tris[i][0] = mloop[lt->tri[0]].v;
				tris[i][1] = mloop[lt->tri[1]].v;
				tris[i][2] = mloop[lt->tri[2]].v;

				copy_v3_v3(co[0], coords[tris[i][0]]);
				copy_v3_v3(co[1], coords[tris[i][1]]);
				copy_v3_v3(co[2], coords[tris[i][2]]);

				BLI_bvhtree_insert(tree, (int)i, co[0], 3);
				orig_index[i] = (int)lt->poly;
			}

			BLI_bvhtree_balance(tree);
		}

		if (free_mesh) {
			BKE_id_free(NULL, mesh);
		}

		return bvhtree_CreatePyObject(
		        tree, epsilon,
		        coords, coords_len,
		        tris, tris_len,
		        orig_index, orig_normal);
	}
}
#endif  /* MATH_STANDALONE */

/** \} */


/* -------------------------------------------------------------------- */
/** \name Module & Type definition
 * \{ */

static PyMethodDef py_bvhtree_methods[] = {
	{"ray_cast", (PyCFunction)py_bvhtree_ray_cast, METH_VARARGS, py_bvhtree_ray_cast_doc},
	{"find_nearest", (PyCFunction)py_bvhtree_find_nearest, METH_VARARGS, py_bvhtree_find_nearest_doc},
	{"find_nearest_range", (PyCFunction)py_bvhtree_find_nearest_range, METH_VARARGS, py_bvhtree_find_nearest_range_doc},
	{"overlap", (PyCFunction)py_bvhtree_overlap, METH_O, py_bvhtree_overlap_doc},

	/* class methods */
	{"FromPolygons", (PyCFunction) C_BVHTree_FromPolygons, METH_VARARGS | METH_KEYWORDS | METH_CLASS, C_BVHTree_FromPolygons_doc},
#ifndef MATH_STANDALONE
	{"FromBMesh", (PyCFunction) C_BVHTree_FromBMesh, METH_VARARGS | METH_KEYWORDS | METH_CLASS, C_BVHTree_FromBMesh_doc},
	{"FromObject", (PyCFunction) C_BVHTree_FromObject, METH_VARARGS | METH_KEYWORDS | METH_CLASS, C_BVHTree_FromObject_doc},
#endif
	{NULL, NULL, 0, NULL},
};

PyTypeObject PyBVHTree_Type = {
	PyVarObject_HEAD_INIT(NULL, 0)
	"BVHTree",                                   /* tp_name */
	sizeof(PyBVHTree),                           /* tp_basicsize */
	0,                                           /* tp_itemsize */
	/* methods */
	(destructor)py_bvhtree__tp_dealloc,          /* tp_dealloc */
	NULL,                                        /* tp_print */
	NULL,                                        /* tp_getattr */
	NULL,                                        /* tp_setattr */
	NULL,                                        /* tp_compare */
	NULL,                                        /* tp_repr */
	NULL,                                        /* tp_as_number */
	NULL,                                        /* tp_as_sequence */
	NULL,                                        /* tp_as_mapping */
	NULL,                                        /* tp_hash */
	NULL,                                        /* tp_call */
	NULL,                                        /* tp_str */
	NULL,                                        /* tp_getattro */
	NULL,                                        /* tp_setattro */
	NULL,                                        /* tp_as_buffer */
	Py_TPFLAGS_DEFAULT,                          /* tp_flags */
	NULL,                                        /* Documentation string */
	NULL,                                        /* tp_traverse */
	NULL,                                        /* tp_clear */
	NULL,                                        /* tp_richcompare */
	0,                                           /* tp_weaklistoffset */
	NULL,                                        /* tp_iter */
	NULL,                                        /* tp_iternext */
	py_bvhtree_methods,                          /* tp_methods */
	NULL,                                        /* tp_members */
	NULL,                                        /* tp_getset */
	NULL,                                        /* tp_base */
	NULL,                                        /* tp_dict */
	NULL,                                        /* tp_descr_get */
	NULL,                                        /* tp_descr_set */
	0,                                           /* tp_dictoffset */
	NULL,                                        /* tp_init */
	(allocfunc)PyType_GenericAlloc,              /* tp_alloc */
	(newfunc)PyType_GenericNew,                  /* tp_new */
	(freefunc)0,                                 /* tp_free */
	NULL,                                        /* tp_is_gc */
	NULL,                                        /* tp_bases */
	NULL,                                        /* tp_mro */
	NULL,                                        /* tp_cache */
	NULL,                                        /* tp_subclasses */
	NULL,                                        /* tp_weaklist */
	(destructor) NULL                            /* tp_del */
};

/* -------------------------------------------------------------------- */
/* Module definition */

PyDoc_STRVAR(py_bvhtree_doc,
"BVH tree structures for proximity searches and ray casts on geometry."
);
static struct PyModuleDef bvhtree_moduledef = {
	PyModuleDef_HEAD_INIT,
	"mathutils.bvhtree",                         /* m_name */
	py_bvhtree_doc,                              /* m_doc */
	0,                                           /* m_size */
	NULL,                                        /* m_methods */
	NULL,                                        /* m_reload */
	NULL,                                        /* m_traverse */
	NULL,                                        /* m_clear */
	NULL                                         /* m_free */
};

PyMODINIT_FUNC PyInit_mathutils_bvhtree(void)
{
	PyObject *m = PyModule_Create(&bvhtree_moduledef);

	if (m == NULL) {
		return NULL;
	}

	/* Register classes */
	if (PyType_Ready(&PyBVHTree_Type) < 0) {
		return NULL;
	}

	PyModule_AddObject(m, "BVHTree", (PyObject *)&PyBVHTree_Type);

	return m;
}

/** \} */