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NanoVDB Math: refactor onto MatBase/VecBase, fix correctness bugs, add tests #2207

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NanoVDB Math: refactor onto MatBase/VecBase, fix correctness bugs, add tests #2207

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9537c82
NanoVDB Math: refactor onto MatBase/VecBase, fix bugs, add tests
swahtz May 20, 2026
d4c1198
NanoVDB Math: make Vec*::size constexpr to fix linker ODR-use
swahtz May 20, 2026
1b8c667
NanoVDB Math: use lowercase `size` in cross-type Vec* static_asserts
swahtz May 20, 2026
1bef1d7
nanovdb math: address Copilot review — long double rounding
swahtz May 22, 2026
d154d5c
nanovdb math: NANOVDB_ASSERT bounds checks on every operator[] in Math.h
swahtz May 28, 2026
2f95f15
nanovdb math: constexpr sweep across Math.h
swahtz May 28, 2026
b4924f9
nanovdb math: drop constexpr from Rgba8::operator< / == / packed()
swahtz May 28, 2026
9b9a6da
comment cleanup
swahtz May 28, 2026
8597823
nanovdb math: constexpr matMult / Map::applyMap / BBox::transform
swahtz May 28, 2026
ba68440
nanovdb math: add VecBase::x() / y() / z() / w() named accessors
swahtz May 28, 2026
b2cf24c
nanovdb math: alignas on power-of-2 Vec / Mat classes
swahtz May 29, 2026
5890f0d
nanovdb math: [[nodiscard]] on every value-returning query in Math.h
swahtz May 29, 2026
001dbe3
nanovdb math: noexcept sweep + explicit ctors + final on derived classes
swahtz May 29, 2026
993d4bd
NanoVDB Math: convert scalar*Vec/Mat operators to hidden friends
swahtz May 29, 2026
a1072df
NanoVDB Math: delegate Vec/Mat ctors via VecBase/MatBase init list
swahtz May 29, 2026
5183bf0
NanoVDB Math: small audit cleanups (const-correctness, dedupe, symmetry)
swahtz May 29, 2026
c129f34
seperate floorAs/ceilAs doxygen comments
swahtz May 29, 2026
556232d
NanoVDB Math: keep explicit cross-template Vec ctor, fix call sites
swahtz May 29, 2026
894dbc9
NanoVDB Math: doxygen sweep — accurate per-method docs
swahtz May 29, 2026
c10a237
NanoVDB Math: fix PySampleFromVoxels.cu cross-precision Vec assign
swahtz May 29, 2026
80ae020
comment cleanup
swahtz May 29, 2026
1db126b
NanoVDB Math: add const normalized() to VecBase and Vec2/Vec3/Vec4
swahtz Jun 3, 2026
f4beed6
add pendingchanges
swahtz Aug 25, 2026
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26 changes: 13 additions & 13 deletions nanovdb/nanovdb/NanoVDB.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1406,7 +1406,7 @@ struct Map
double mTaperD; // 8B, placeholder for taper value

/// @brief Default constructor for the identity map
__hostdev__ Map()
__hostdev__ constexpr Map()
: mMatF{ 1.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 1.0f}
, mInvMatF{1.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 1.0f}
, mVecF{0.0f, 0.0f, 0.0f}
Expand All @@ -1417,7 +1417,7 @@ struct Map
, mTaperD{1.0}
{
}
__hostdev__ Map(double s, const Vec3d& t = Vec3d(0.0, 0.0, 0.0))
__hostdev__ constexpr Map(double s, const Vec3d& t = Vec3d(0.0, 0.0, 0.0))
: mMatF{float(s), 0.0f, 0.0f, 0.0f, float(s), 0.0f, 0.0f, 0.0f, float(s)}
, mInvMatF{1.0f / float(s), 0.0f, 0.0f, 0.0f, 1.0f / float(s), 0.0f, 0.0f, 0.0f, 1.0f / float(s)}
, mVecF{float(t[0]), float(t[1]), float(t[2])}
Expand Down Expand Up @@ -1449,15 +1449,15 @@ struct Map
/// @param ijk 3D vector to be mapped - typically floating point index coordinates
/// @return Forward mapping for affine transformation, i.e. (mat x ijk) + translation
template<typename Vec3T>
__hostdev__ Vec3T applyMap(const Vec3T& ijk) const { return math::matMult(mMatD, mVecD, ijk); }
__hostdev__ constexpr Vec3T applyMap(const Vec3T& ijk) const { return math::matMult(mMatD, mVecD, ijk); }

/// @brief Apply the forward affine transformation to a vector using 32bit floating point arithmetics.
/// @note Typically this operation is used for the scale, rotation and translation of index -> world mapping
/// @tparam Vec3T Template type of the 3D vector to be mapped
/// @param ijk 3D vector to be mapped - typically floating point index coordinates
/// @return Forward mapping for affine transformation, i.e. (mat x ijk) + translation
template<typename Vec3T>
__hostdev__ Vec3T applyMapF(const Vec3T& ijk) const { return math::matMult(mMatF, mVecF, ijk); }
__hostdev__ constexpr Vec3T applyMapF(const Vec3T& ijk) const { return math::matMult(mMatF, mVecF, ijk); }

/// @brief Apply the linear forward 3x3 transformation to an input 3d vector using 64bit floating point arithmetics,
/// e.g. scale and rotation WITHOUT translation.
Expand All @@ -1466,7 +1466,7 @@ struct Map
/// @param ijk 3D vector to be mapped - typically floating point index coordinates
/// @return linear forward 3x3 mapping of the input vector
template<typename Vec3T>
__hostdev__ Vec3T applyJacobian(const Vec3T& ijk) const { return math::matMult(mMatD, ijk); }
__hostdev__ constexpr Vec3T applyJacobian(const Vec3T& ijk) const { return math::matMult(mMatD, ijk); }

/// @brief Apply the linear forward 3x3 transformation to an input 3d vector using 32bit floating point arithmetics,
/// e.g. scale and rotation WITHOUT translation.
Expand All @@ -1475,15 +1475,15 @@ struct Map
/// @param ijk 3D vector to be mapped - typically floating point index coordinates
/// @return linear forward 3x3 mapping of the input vector
template<typename Vec3T>
__hostdev__ Vec3T applyJacobianF(const Vec3T& ijk) const { return math::matMult(mMatF, ijk); }
__hostdev__ constexpr Vec3T applyJacobianF(const Vec3T& ijk) const { return math::matMult(mMatF, ijk); }

/// @brief Apply the inverse affine mapping to a vector using 64bit floating point arithmetics.
/// @note Typically this operation is used for the world -> index mapping
/// @tparam Vec3T Template type of the 3D vector to be mapped
/// @param xyz 3D vector to be mapped - typically floating point world coordinates
/// @return Inverse affine mapping of the input @c xyz i.e. (xyz - translation) x mat^-1
template<typename Vec3T>
__hostdev__ Vec3T applyInverseMap(const Vec3T& xyz) const
__hostdev__ constexpr Vec3T applyInverseMap(const Vec3T& xyz) const
{
return math::matMult(mInvMatD, Vec3T(xyz[0] - mVecD[0], xyz[1] - mVecD[1], xyz[2] - mVecD[2]));
}
Expand All @@ -1494,7 +1494,7 @@ struct Map
/// @param xyz 3D vector to be mapped - typically floating point world coordinates
/// @return Inverse affine mapping of the input @c xyz i.e. (xyz - translation) x mat^-1
template<typename Vec3T>
__hostdev__ Vec3T applyInverseMapF(const Vec3T& xyz) const
__hostdev__ constexpr Vec3T applyInverseMapF(const Vec3T& xyz) const
{
return math::matMult(mInvMatF, Vec3T(xyz[0] - mVecF[0], xyz[1] - mVecF[1], xyz[2] - mVecF[2]));
}
Expand All @@ -1506,7 +1506,7 @@ struct Map
/// @param ijk 3D vector to be mapped - typically floating point index coordinates
/// @return linear inverse 3x3 mapping of the input vector i.e. xyz x mat^-1
template<typename Vec3T>
__hostdev__ Vec3T applyInverseJacobian(const Vec3T& xyz) const { return math::matMult(mInvMatD, xyz); }
__hostdev__ constexpr Vec3T applyInverseJacobian(const Vec3T& xyz) const { return math::matMult(mInvMatD, xyz); }

/// @brief Apply the linear inverse 3x3 transformation to an input 3d vector using 32bit floating point arithmetics,
/// e.g. inverse scale and inverse rotation WITHOUT translation.
Expand All @@ -1515,7 +1515,7 @@ struct Map
/// @param ijk 3D vector to be mapped - typically floating point index coordinates
/// @return linear inverse 3x3 mapping of the input vector i.e. xyz x mat^-1
template<typename Vec3T>
__hostdev__ Vec3T applyInverseJacobianF(const Vec3T& xyz) const { return math::matMult(mInvMatF, xyz); }
__hostdev__ constexpr Vec3T applyInverseJacobianF(const Vec3T& xyz) const { return math::matMult(mInvMatF, xyz); }

/// @brief Apply the transposed inverse 3x3 transformation to an input 3d vector using 64bit floating point arithmetics,
/// e.g. inverse scale and inverse rotation WITHOUT translation.
Expand All @@ -1524,12 +1524,12 @@ struct Map
/// @param ijk 3D vector to be mapped - typically floating point index coordinates
/// @return linear inverse 3x3 mapping of the input vector i.e. xyz x mat^-1
template<typename Vec3T>
__hostdev__ Vec3T applyIJT(const Vec3T& xyz) const { return math::matMultT(mInvMatD, xyz); }
__hostdev__ constexpr Vec3T applyIJT(const Vec3T& xyz) const { return math::matMultT(mInvMatD, xyz); }
template<typename Vec3T>
__hostdev__ Vec3T applyIJTF(const Vec3T& xyz) const { return math::matMultT(mInvMatF, xyz); }
__hostdev__ constexpr Vec3T applyIJTF(const Vec3T& xyz) const { return math::matMultT(mInvMatF, xyz); }

/// @brief Return a voxels size in each coordinate direction, measured at the origin
__hostdev__ Vec3d getVoxelSize() const { return this->applyMap(Vec3d(1)) - this->applyMap(Vec3d(0)); }
__hostdev__ constexpr Vec3d getVoxelSize() const { return this->applyMap(Vec3d(1)) - this->applyMap(Vec3d(0)); }
}; // Map

template<typename MatT, typename Vec3T>
Expand Down
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