Standardize math types (see #94). API breaking changes. Clean up type…

… warnings.

- Matrix4F objects are now defined to be column-major, and a matrix `M` now
transforms a vector `v` by multiplying with the column vector on the right, like
`Mv`. This shouldn't impact your code unless you were using `GetRowVec` or `GetF`

- `sample_utils`' `vec.h`, `vec.cpp`, `camera.h`, and `camera.cpp` have been removed.
These were copies of their corresponding GVDB classes that were slowly diverging
over time, and are not needed (the only sample impacted as a result is `gFluidSurface`).
If you were using these, include the GVDB headers for drop-in replacements.

- `Vector3DI` and `Vector3DF` are now templatized instantiations of a single
`Vector3D` class. To accomodate this, its functions have been moved inline to
`gvdb_vec.h`. This might increase compilation times a bit - sorry about that!

- `Matrix4F::operator* (const Vector3DF &op)` now returns a `Vector3DF`, the result
of transforming the vector by the matrix, instead of a `Matrix4F`, the result of
multiplying the matrix by `diag(op.x, op.y, op.z, 1)`. The old behavior has been
renamed to `Matrix4F::ScaleInPlace`.

- `ActivateSpaceAtLevel` and `isActive` now take a `Vector3DI` pos instead of a
`Vector3DF`. Previously, the `Vector3DF` was internally casted to a `Vector3DI`.

- `getNumNodes`, `getNumUsedNodes`, and `getNumTotalNodes` now return 64-bit
unsigned integers in order to represent the underlying `DataPtr` structure more
accurately. However, most users of these functions cast them to `ints` in any case.

- The order of arguments in `mmult` have been swapped.

- Removes unused variables `camivprow0...camivprow3` from `ScnInfo`.

- `AllocateNeighbors` now takes a `uint64` instead of an `int`. However, this
change is not very impactful.

- Renames the variables in `Matrix4F::operator()`. By coincidence, this produces
exactly the same behavior as before, so no code changes are needed.

Also includes changes throughout the codebase to fix the type casting warnings
VS 2019 was warning about, removes the `GVDB_VEC`... variables, and adds
documentation for math class functions.

Note that you may have to do a clean rebuild of the project after pulling this
commit, as the mangled type names for the `Vector3` classes have changed.

source/g3DPrint/main_3dprint.cpp

@@ -116,10 +116,10 @@ void Sample::revoxelize()
 	// allows the application to setup rendering to convert from unit voxel grid to world coordinates.
 	// To apply voxel size for 3D printing, we include it in the xform matrix for SolidVoxelize.
 	switch (m_voxelsize_select) {
-	case 0:	m_voxel_size = 0.5;		break;
-	case 1:	m_voxel_size = 0.4;		break;
-	case 2:	m_voxel_size = 0.3;		break;
-	case 3:	m_voxel_size = 0.2;		break;
+	case 0:	m_voxel_size = 0.5f; break;
+	case 1:	m_voxel_size = 0.4f; break;
+	case 2:	m_voxel_size = 0.3f; break;
+	case 3:	m_voxel_size = 0.2f; break;
 	};
 
 	// Create a transform	
@@ -283,14 +283,15 @@ void Sample::render_section ()
 	float h = (float) getHeight();
 	Vector3DF world;
 	world = m_pivot * m_part_size / m_voxel_size;	// GVDB voxel grid to world coordinates
-	world.y *= 1.0 - getCurY() / h;					// Select cross-section on world y-axis 
+	world.y *= 1.0f - getCurY() / h;				// Select cross-section on world y-axis 
 	gvdb1.getScene()->SetCrossSection ( world, Vector3DF(world.x, 1.f, world.z) );
 
 	gvdb1.Render ( SHADE_SECTION2D, 0, 1 );		
 
 	gvdb1.ReadRenderTexGL ( 1, gl_section_tex );
 
-	renderScreenQuadGL ( gl_section_tex, -1, 0, 0, getWidth()/4, getHeight()/4, 0 );
+	renderScreenQuadGL ( gl_section_tex, -1, 0, 0,
+		static_cast<float>(getWidth())/4, static_cast<float>(getHeight())/4, 0 );
 }
 
 void Sample::display()
@@ -357,7 +358,7 @@ void Sample::draw_topology ( VolumeGVDB* gvdb )
 	Vector3DF bmin, bmax;
 	Node* node;
 	for (int lev=0; lev < 5; lev++ ) {				// draw all levels
-		int node_cnt = gvdb->getNumNodes(lev);
+		int node_cnt = static_cast<int>(gvdb->getNumNodes(lev));
 		for (int n=0; n < node_cnt; n++) {			// draw all nodes at this level
 			node = gvdb->getNodeAtLevel ( n, lev );
 			bmin = gvdb->getWorldMin ( node ) * vs; // get node bounding box

source/gDepthMap/main_depthmap.cpp

@@ -82,15 +82,15 @@ bool Sample::init()
 	gvdb.UpdateApron();
 
 	// Set volume params
-	gvdb.getScene()->SetSteps ( .1, 16, .1 );				// Set raycasting steps
+	gvdb.getScene()->SetSteps ( .1f, 16, .1f );				// Set raycasting steps
 	gvdb.getScene()->SetExtinct ( -1.0f, 1.0f, 0.0f );		// Set volume extinction
 	gvdb.getScene()->SetVolumeRange ( 0.1f, 0.0f, 0.5f );	// Set volume value range
 	gvdb.getScene()->SetCutoff ( 0.005f, 0.005f, 0.0f );
 	gvdb.getScene()->SetBackgroundClr ( 0.1f, 0.2f, 0.4f, 1.0 );		
 	gvdb.getScene()->LinearTransferFunc ( 0.00f, 0.10f, Vector4DF(0,0,0,0), Vector4DF(0,0,0,0.0f) );	
 	gvdb.getScene()->LinearTransferFunc ( 0.10f, 0.50f, Vector4DF(1,1,0,0.1f), Vector4DF(1,0,0,0.3f) );
 	gvdb.getScene()->LinearTransferFunc ( 0.50f, 0.75f, Vector4DF(1,0,0,0.3f), Vector4DF(.2f,.2f,0.2f,0.1f) );
-	gvdb.getScene()->LinearTransferFunc ( 0.75f, 1.00f, Vector4DF(.2f,.2f,0.2f,0.1f), Vector4DF(0.1,0.1,.1,0.3) ); 
+	gvdb.getScene()->LinearTransferFunc ( 0.75f, 1.00f, Vector4DF(.2f,.2f,0.2f,0.1f), Vector4DF(0.1f,0.1f,.1f,0.3f) ); 
 	gvdb.CommitTransferFunc ();
 	gvdb.SetTransform(Vector3DF(-125, -160, -125), Vector3DF(.5, .5, .5), m_rotate, m_translate );
 
@@ -194,7 +194,6 @@ void Sample::update_camera_gl (int w, int h )
 	double aspect = float(w)/float(h);
 	GLfloat proj_mtx[16];
 	GLfloat view_mtx[16];
-	GLfloat invmodel_mtx[16];
 
 	// construct & read back projection matrix 
 	glMatrixMode ( GL_PROJECTION );
@@ -256,7 +255,7 @@ void Sample::render_depth (int w, int h)
 	renderCamSetupGL(gvdb.getScene(), simple_id, &model_mtx);	
 	renderLightSetupGL(gvdb.getScene(), simple_id);
 	checkGL ( "lights" );
-	renderSetMaterialGL(gvdb.getScene(), simple_id, Vector4DF(.1, .1, .1, 1), Vector4DF(.5, .5, .5, 1), Vector4DF(1, 1, 1, 1));
+	renderSetMaterialGL(gvdb.getScene(), simple_id, Vector4DF(.1f, .1f, .1f, 1), Vector4DF(.5f, .5f, .5f, 1), Vector4DF(1, 1, 1, 1));
 	checkGL ( "mats" );
 
 	// Render polygons for color and depth
@@ -336,8 +335,8 @@ void Sample::motion(int x, int y, int dx, int dy)
 			m_translate.z -= dy;
 			gvdb.SetTransform(Vector3DF(-125, -160, -125), Vector3DF(.5, .5, .5), m_rotate, m_translate);
 		} else if (ctrl) {
-			m_rotate.y += dx*0.1;
-			m_rotate.x += dy*0.1;
+			m_rotate.y += dx*0.1f;
+			m_rotate.x += dy*0.1f;
 			gvdb.SetTransform(Vector3DF(-125, -160, -125), Vector3DF(.5, .5, .5), m_rotate, m_translate);
 		} else {
 			// Adjust orbit angles

source/gFluidSurface/cutil_math.h

@@ -252,7 +252,7 @@ inline __host__ __device__ float2 normalize(float2 v)
 // floor
 inline __host__ __device__ float2 floor(const float2 v)
 {
-    return make_float2(floor(v.x), floor(v.y));
+    return make_float2(floorf(v.x), floorf(v.y));
 }
 
 // reflect
@@ -416,7 +416,7 @@ inline __host__ __device__ float3 normalize(float3 v)
 // floor
 inline __host__ __device__ float3 floor(const float3 v)
 {
-    return make_float3(floor(v.x), floor(v.y), floor(v.z));
+    return make_float3(floorf(v.x), floorf(v.y), floorf(v.z));
 }
 
 // reflect
@@ -558,7 +558,7 @@ inline __host__ __device__ float4 normalize(float4 v)
 // floor
 inline __host__ __device__ float4 floor(const float4 v)
 {
-    return make_float4(floor(v.x), floor(v.y), floor(v.z), floor(v.w));
+    return make_float4(floorf(v.x), floorf(v.y), floorf(v.z), floorf(v.w));
 }
 
 // int3 functions

source/gFluidSurface/main_fluid_surface.cpp

@@ -36,7 +36,7 @@ using namespace nvdb;
 // Sample utils
 #include "main.h"			// window system 
 #include "nv_gui.h"			// gui system
-#include "vec.h"
+#include "gvdb_vec.h"
 #include <GL/glew.h>
 
 #ifdef USE_OPTIX
@@ -425,7 +425,7 @@ void Sample::draw_topology ()
 	Vector3DF bmin, bmax;
 	Node* node;
 	for (int lev=0; lev < 5; lev++ ) {				// draw all levels
-		int node_cnt = gvdb.getNumNodes(lev);				
+		int node_cnt = static_cast<int>(gvdb.getNumNodes(lev));				
 		for (int n=0; n < node_cnt; n++) {			// draw all nodes at this level
 			node = gvdb.getNodeAtLevel ( n, lev );
 			bmin = gvdb.getWorldMin ( node );		// get node bounding box

source/gInteractiveGL/main_interactive_gl.cpp

@@ -105,7 +105,7 @@ void Sample::reshape (int w, int h)
 
 void Sample::display() 
 {
-	m_angs.y += 0.05;		
+	m_angs.y += 0.05f;		
 	gvdb.SetTransform(m_pretrans, m_scale, m_angs, m_trans);
 
 	// Render volume

source/gInteractiveOptix/main_interactive_optix.cpp

@@ -84,7 +84,7 @@ void Sample::RebuildOptixGraph ( int shading )
 	matp->spec_power = 80.0;
 	matp->env_color  = Vector3DF(0, 0, 0);
 	matp->refl_width = 0.3f;
-	matp->refl_color = Vector3DF(.8, .8, .8 );
+	matp->refl_color = Vector3DF(.8f, .8f, .8f );
 	matp->refr_width = 0.0f;
 	matp->refr_color = Vector3DF(0, 0, 0);
 	matp->refr_ior = 1.2f;
@@ -181,7 +181,7 @@ bool Sample::init()
 
 	// Set volume params		
 	gvdb.SetTransform(Vector3DF(-125, -160, -125), Vector3DF(.25, .25, .25), Vector3DF(0, 0, 0), m_translate);
-	gvdb.SetEpsilon(0.001, 256);
+	gvdb.SetEpsilon(0.001f, 256);
 	gvdb.getScene()->SetSteps ( 0.2f, 16, 0.2f );			// SCN_PSTEP, SCN_SSTEP, SCN_FSTEP - Raycasting steps
 	gvdb.getScene()->SetExtinct ( -1.0f, 1.0f, 0.0f );		// SCN_EXTINCT, SCN_ALBEDO - Volume extinction	
 	gvdb.getScene()->SetVolumeRange(0.1f, 0.0f, 0.3f);		// Threshold: Isoval, Vmin, Vmax
@@ -254,10 +254,9 @@ void Sample::draw_topology()
 	start3D(gvdb.getScene()->getCamera());		// start 3D drawing
 	Vector3DF bmin, bmax;
 	Node* node;
-	Node* node2;
 
 	for (int lev = 0; lev < 5; lev++) {				// draw all levels
-		int node_cnt = gvdb.getNumTotalNodes(lev);
+		int node_cnt = static_cast<int>(gvdb.getNumTotalNodes(lev));
 		for (int n = 0; n < node_cnt; n++) {			// draw all nodes at this level
 			node = gvdb.getNodeAtLevel(n, lev);
 			if (!int(node->mFlags)) continue;

source/gPointCloud/main_point_cloud.cpp

@@ -218,7 +218,8 @@ void Sample::RebuildOptixGraph(int shading)
 			sprintf ( filepath, "%s%s", model_list[n].fpath, model_list[n].fname );
 		}
 		nvprintf ( "Load model %s...", filepath );
-		id = gvdb.getScene()->AddModel( filepath, model_list[n].scal, model_list[n].offs.x, model_list[n].offs.y, model_list[n].offs.z);
+		id = static_cast<int>(gvdb.getScene()->AddModel(filepath,
+			model_list[n].scal, model_list[n].offs.x, model_list[n].offs.y, model_list[n].offs.z));
 		gvdb.CommitGeometry( id );
 
 		m = gvdb.getScene()->getModel ( id );
@@ -272,19 +273,19 @@ void Sample::parse_value ( int mode, std::string tag, std::string val )
 	case M_POINTS:
 		if (strEq(tag,"path")) m_pntpath = strTrim(val);
 		if (strEq(tag,"file")) m_pntfile = strTrim(val);
-		if (strEq(tag,"mat")) m_pntmat= strToNum(val);
-		if (strEq(tag,"frame")) m_frame = strToNum(val);
-		if (strEq(tag,"fstep")) m_fstep = strToNum(val);
+		if (strEq(tag,"mat")) m_pntmat= static_cast<int>(strToNum(val));
+		if (strEq(tag,"frame")) m_frame = static_cast<int>(strToNum(val));
+		if (strEq(tag, "fstep")) m_fstep = static_cast<int>(strToNum(val));
 		break;
 	case M_POLYS:
 		if (strEq(tag,"path")) m_polypath = val;
 		if (strEq(tag,"file")) m_polyfile = val;
-		if (strEq(tag,"mat")) m_polymat= strToNum(val);
-		if (strEq(tag,"frame")) m_pframe = strToNum(val);
-		if (strEq(tag,"fstep")) m_pfstep = strToNum(val);
+		if (strEq(tag, "mat")) m_polymat = static_cast<int>(strToNum(val));
+		if (strEq(tag, "frame")) m_pframe = static_cast<int>(strToNum(val));
+		if (strEq(tag, "fstep")) m_pfstep = static_cast<int>(strToNum(val));
 		break;
 	case M_MATERIAL: {
-		int i = mat_list.size()-1;
+		int i = static_cast<int>(mat_list.size()-1);
 		matp = &mat_list[i];
 		if (strEq(tag,"lightwid"))	matp->light_width = strToNum(val);	
 		if (strEq(tag,"shwid"))		matp->shadow_width = strToNum(val);
@@ -305,9 +306,9 @@ void Sample::parse_value ( int mode, std::string tag, std::string val )
 		if (strEq(tag,"reframt"))	matp->refr_amount = strToNum(val);		
 		} break;
 	case M_RENDER: 
-		if (strEq(tag,"width"))		m_w = strToNum(val);
-		if (strEq(tag,"height"))	m_h = strToNum(val);
-		if (strEq(tag,"samples"))	m_max_samples = strToNum(val);		
+		if (strEq(tag,"width"))		m_w = static_cast<int>(strToNum(val));
+		if (strEq(tag,"height"))	m_h = static_cast<int>(strToNum(val));
+		if (strEq(tag,"samples"))	m_max_samples = static_cast<int>(strToNum(val));		
 		if (strEq(tag,"backclr"))	{ strToVec3( val, "<",",",">", &vec.x); gvdb.getScene()->SetBackgroundClr(vec.x,vec.y,vec.z, 1.0); }
 		if (strEq(tag,"envmap"))	m_envfile = val;
 		if (strEq(tag,"outpath"))	m_outpath = val;
@@ -321,7 +322,7 @@ void Sample::parse_value ( int mode, std::string tag, std::string val )
 		if (strEq(tag,"extinct"))	{ strToVec3( val, "<",",",">", &vec.x); scn->SetExtinct(vec.x,vec.y,vec.z); }
 		if (strEq(tag,"range"))		{ strToVec3( val, "<",",",">", &vec.x); scn->SetVolumeRange(vec.x,vec.y,vec.z); }
 		if (strEq(tag,"cutoff"))	{ strToVec3( val, "<",",",">", &vec.x); scn->SetCutoff(vec.x,vec.y,vec.z); }
-		if (strEq(tag,"smooth"))	m_smooth = strToNum(val);
+		if (strEq(tag,"smooth"))	m_smooth = static_cast<int>(strToNum(val));
 		if (strEq(tag,"smoothp")) { strToVec3(val, "<", ",", ">", &vec.x); m_smoothp = vec; }		
 		} break;
 	case M_CAMERA: {
@@ -341,10 +342,10 @@ void Sample::parse_value ( int mode, std::string tag, std::string val )
 		lgt->setOrbit ( lgt->getAng(), lgt->getToPos(), lgt->getOrbitDist(), lgt->getDolly() );
 		} break;
 	case M_MODEL: {
-		int id = model_list.size()-1;
+		int id = static_cast<int>(model_list.size()-1);
 		if (strEq(tag,"path"))		strncpy( model_list[id].fpath, val.c_str(), 1024);
 		if (strEq(tag,"file"))		strncpy( model_list[id].fname, val.c_str(), 1024);
-		if (strEq(tag,"mat"))		model_list[id].mat = strToNum(val);
+		if (strEq(tag,"mat"))		model_list[id].mat = static_cast<int>(strToNum(val));
 		if (strEq(tag,"scale"))		model_list[id].scal = strToNum(val);
 		if (strEq(tag,"offset"))	{ strToVec3( val, "<",",",">", &vec.x);  model_list[id].offs = vec; }
 		} break;
@@ -395,7 +396,7 @@ void Sample::on_arg(std::string arg, std::string val)
 	}
 
 	if (arg.compare("-frame") == 0) {		
-		m_frame = strToNum(val);
+		m_frame = static_cast<int>(strToNum(val));
 		nvprintf("frame: %d\n", m_frame);	
 	}
 
@@ -412,7 +413,7 @@ void Sample::on_arg(std::string arg, std::string val)
 		nvprintf("render scale: %f\n", m_renderscale);
 	}
 	if (arg.compare("-io") == 0) {
-		m_io_method = strToNum(val);
+		m_io_method = static_cast<int>(strToNum(val));
 		nvprintf("io method: %d\n", m_io_method);
 	}
 }
@@ -559,8 +560,6 @@ void Sample::load_points ( std::string pntpath, std::string pntfile, int frame )
 	}
 
 	nvprintf ( "Load points from %s...", filepath );
-
-	float buf[3];
 
 	// Read # of points
 	m_numpnts = 0;
@@ -645,7 +644,6 @@ void Sample::load_points ( std::string pntpath, std::string pntfile, int frame )
 		fread(&wMax.z, sizeof(float), 1, fph);	
 
 		// Allocate memory for points
-		ushort outbuf[3];
 		PERF_PUSH("  Buffer alloc");
 		gvdb.AllocData(m_pnt1, m_numpnts, sizeof(ushort) * 3, true);
 		gvdb.AllocData(m_pnts, m_numpnts, sizeof(Vector3DF), false);
@@ -721,7 +719,7 @@ void Sample::render_update()
 	// Rebuild GVDB Render topology
 	PERF_PUSH("Dynamic Topology");
 	//gvdb.RequestFullRebuild ( true );
-	gvdb.RebuildTopology(m_numpnts, m_radius*2.0, m_origin);
+	gvdb.RebuildTopology(m_numpnts, m_radius*2.0f, m_origin);
 	gvdb.FinishTopology(false, true);	// false. no commit pool	false. no compute bounds
 	gvdb.UpdateAtlas();
 	PERF_POP();
@@ -732,8 +730,8 @@ void Sample::render_update()
 
 	int scPntLen = 0;
 	int subcell_size = 4;
-	gvdb.InsertPointsSubcell_FP16 (subcell_size, m_numpnts, m_radius, m_origin, scPntLen);
-	gvdb.GatherLevelSet_FP16 (subcell_size, m_numpnts, m_radius, m_origin, scPntLen, 0, 0);
+	gvdb.InsertPointsSubcell_FP16 (subcell_size, m_numpnts, static_cast<float>(m_radius), m_origin, scPntLen);
+	gvdb.GatherLevelSet_FP16 (subcell_size, m_numpnts, static_cast<float>(m_radius), m_origin, scPntLen, 0, 0);
 	gvdb.UpdateApron(0, 3.0f);
 	PERF_POP();
 
@@ -814,7 +812,7 @@ void Sample::draw_topology ()
 	Camera3D* cam = gvdb.getScene()->getCamera();
 	start3D(cam);
 	for (int lev=0; lev < 5; lev++ ) {				// draw all levels
-		int node_cnt = g->getNumTotalNodes(lev);
+		int node_cnt = static_cast<int>(g->getNumTotalNodes(lev));
 		for (int n=0; n < node_cnt; n++) {			// draw all nodes at this level
 			node = g->getNodeAtLevel ( n, lev );
 			if (!int(node->mFlags)) continue;
@@ -839,7 +837,7 @@ void Sample::draw_points ()
 	start3D(cam);
 	for (int n=0; n < m_numpnts; n++ ) {
 		p1 = *fpos++; 
-		p2 = p1+Vector3DF(0.01,0.01,0.01);		
+		p2 = p1+Vector3DF(0.01f,0.01f,0.01f);		
 		c =  p1 / Vector3DF(256.0,256,256);
 		drawLine3D ( p1.x, p1.y, p1.z, p2.x, p2.y, p2.z, c.x, c.y, c.z, 1);		
 	}
@@ -859,7 +857,7 @@ void Sample::display()
 	if (m_key && m_frame >= 1100 && m_frame <= 1340 ) {
 		float u = float(m_frame - 1100) / (1340 - 1100);
 		Vector3DF a0, t0, d0; 
-		a0 = interp(Vector3DF(0,35,0), Vector3DF(0, 24.6,0), u);
+		a0 = interp(Vector3DF(0,35,0), Vector3DF(0, 24.6f,0), u);
 		t0 = interp(Vector3DF(240, 0, 0), Vector3DF(362, -201, 20), u);
 		d0 = interp(Vector3DF(1600, 0, 0), Vector3DF(2132, 0, 0), u);
 		Camera3D* cam = gvdb.getScene()->getCamera();