rtc

for (int y = 0; y < H; ++y) {
        for (int x = 0; x < W; ++x) {
            RTCRay ray;
            float j = x - W/2.0 + 0.5;
            float i = y - H/2.0 + 0.5;

            auto direction = camera_dir + j * dx + i * dy;
            memcpy(ray.org, &camera_pos, sizeof(camera_pos)); //ray.org = camera_pos;
            memcpy(ray.dir, &direction, sizeof(direction)); //ray.dir = camera_dir;
            ray.tnear = 0.00001f;
            ray.tfar = 100000000.0f;
            ray.geomID = RTC_INVALID_GEOMETRY_ID;
            rtcIntersect(main_scene, ray);

            if (ray.geomID != RTC_INVALID_GEOMETRY_ID) {
                glm::vec3 norm(ray.Ng[0], ray.Ng[1], ray.Ng[2]);
                norm = glm::normalize(norm);
                norm = -norm;
                auto worldLight = 0.5f;
                auto intensity = -glm::dot(norm, light);
                intensity = glm::clamp(intensity, 0.0f, 1.0f);
                auto white = glm::vec3(255.0f, 255.0f, 255.0f);
                auto color = white * (worldLight + intensity) / (worldLight + 1.0f);

                //out << 255 << " " << 255 << " " << 255 << "\n";
                out << (int)color.x << " " << (int)color.y << " " << (int)color.z << "\n";
                //std::cout << color.x << " " << color.y << " " << color.z << " ";

                //out << depthmap.x << ' ' << depthmap.y << ' ' << depthmap.z << '\n';
            }
            else { out << 0 << " " << 130 << " " << 200 << "\n"; }
        }