1 | #include <stack>
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2 | #include <algorithm>
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3 | #include <queue>
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4 | #include "Environment.h"
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5 | #include "Mesh.h"
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6 | #include "KdTree.h"
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7 | #include "ViewCell.h"
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8 | #include "Beam.h"
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9 | #include "ViewCell.h"
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10 | #include "IntersectableWrapper.h"
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11 |
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12 |
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13 |
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14 | using namespace std;
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15 |
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16 |
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17 | #define TYPE_INTERIOR -2
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18 | #define TYPE_LEAF -3
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19 |
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20 |
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21 | namespace GtpVisibilityPreprocessor {
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22 |
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23 | int KdNode::sMailId = 1;
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24 | int KdNode::sReservedMailboxes = 1;
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25 |
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26 |
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27 | inline static bool ilt(Intersectable *obj1, Intersectable *obj2)
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28 | {
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29 | return obj1->mId < obj2->mId;
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30 | }
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31 |
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32 |
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33 | KdNode::KdNode(KdInterior *parent):
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34 | mParent(parent), mMailbox(0), mIntersectable(NULL)
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35 | {
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36 | if (parent)
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37 | mDepth = parent->mDepth+1;
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38 | else
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39 | mDepth = 0;
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40 | }
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41 |
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42 |
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43 | KdInterior::~KdInterior()
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44 | {
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45 | // recursivly destroy children
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46 | DEL_PTR(mFront);
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47 | DEL_PTR(mBack);
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48 | }
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49 |
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50 |
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51 | KdLeaf::~KdLeaf()
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52 | {
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53 | DEL_PTR(mViewCell);
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54 | }
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55 |
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56 |
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57 | KdTree::KdTree()
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58 | {
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59 | mRoot = new KdLeaf(NULL, 0);
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60 | Environment::GetSingleton()->GetIntValue("KdTree.Termination.maxNodes",
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61 | mTermMaxNodes);
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62 | Environment::GetSingleton()->GetIntValue("KdTree.Termination.maxDepth",
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63 | mTermMaxDepth);
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64 | Environment::GetSingleton()->GetIntValue("KdTree.Termination.minCost",
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65 | mTermMinCost);
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66 | Environment::GetSingleton()->GetFloatValue("KdTree.Termination.maxCostRatio",
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67 | mMaxCostRatio);
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68 | Environment::GetSingleton()->GetFloatValue("KdTree.Termination.ct_div_ci",
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69 | mCt_div_ci);
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70 | Environment::GetSingleton()->GetFloatValue("KdTree.splitBorder",
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71 | mSplitBorder);
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72 | Environment::GetSingleton()->GetFloatValue("KdTree.pvsArea",
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73 | mKdPvsArea);
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74 |
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75 | Environment::GetSingleton()->GetBoolValue("KdTree.sahUseFaces",
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76 | mSahUseFaces);
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77 |
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78 | char splitType[64];
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79 | Environment::GetSingleton()->GetStringValue("KdTree.splitMethod", splitType);
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80 |
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81 | mSplitMethod = SPLIT_SPATIAL_MEDIAN;
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82 | if (strcmp(splitType, "spatialMedian") == 0)
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83 | mSplitMethod = SPLIT_SPATIAL_MEDIAN;
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84 | else
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85 | if (strcmp(splitType, "objectMedian") == 0)
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86 | mSplitMethod = SPLIT_OBJECT_MEDIAN;
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87 | else
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88 | if (strcmp(splitType, "SAH") == 0)
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89 | mSplitMethod = SPLIT_SAH;
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90 | else {
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91 | cerr<<"Wrong kd split type "<<splitType<<endl;
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92 | exit(1);
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93 | }
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94 | splitCandidates = NULL;
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95 | }
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96 |
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97 |
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98 | KdTree::~KdTree()
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99 | {
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100 | DEL_PTR(mRoot);
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101 | CLEAR_CONTAINER(mKdIntersectables);
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102 | }
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103 |
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104 |
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105 | bool
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106 | KdTree::Construct()
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107 | {
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108 | if (!splitCandidates)
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109 | splitCandidates = new vector<SortableEntry *>;
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110 |
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111 | // first construct a leaf that will get subdivide
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112 | KdLeaf *leaf = (KdLeaf *) mRoot;
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113 |
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114 | mStat.nodes = 1;
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115 |
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116 | mBox.Initialize();
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117 | ObjectContainer::const_iterator mi;
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118 | for ( mi = leaf->mObjects.begin();
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119 | mi != leaf->mObjects.end();
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120 | mi++) {
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121 | // cout<<(*mi)->GetBox()<<endl;
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122 | mBox.Include((*mi)->GetBox());
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123 | }
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124 |
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125 | cout <<"KdTree Root Box:"<<mBox<<endl;
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126 | mRoot = Subdivide(TraversalData(leaf, mBox, 0));
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127 |
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128 | // remove the allocated array
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129 | CLEAR_CONTAINER(*splitCandidates);
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130 | delete splitCandidates;
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131 |
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132 | float area = GetPvsArea();
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133 |
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134 | SetPvsTerminationNodes(area);
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135 |
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136 | return true;
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137 | }
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138 |
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139 | float
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140 | KdTree::GetPvsArea() const {
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141 | return GetBox().SurfaceArea() * mKdPvsArea;
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142 | }
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143 |
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144 | KdNode *
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145 | KdTree::Subdivide(const TraversalData &tdata)
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146 | {
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147 |
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148 | KdNode *result = NULL;
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149 |
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150 | priority_queue<TraversalData> tStack;
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151 | // stack<STraversalData> tStack;
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152 |
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153 | tStack.push(tdata);
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154 | AxisAlignedBox3 backBox, frontBox;
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155 |
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156 | while (!tStack.empty()) {
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157 | // cout<<mStat.Nodes()<<" "<<mTermMaxNodes<<endl;
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158 | if (mStat.Nodes() > mTermMaxNodes) {
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159 | // if ( GetMemUsage() > maxMemory ) {
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160 | // count statistics on unprocessed leafs
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161 | while (!tStack.empty()) {
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162 | EvaluateLeafStats(tStack.top());
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163 | tStack.pop();
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164 | }
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165 | break;
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166 | }
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167 |
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168 |
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169 | TraversalData data = tStack.top();
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170 | tStack.pop();
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171 |
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172 | KdNode *node = SubdivideNode((KdLeaf *) data.mNode,
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173 | data.mBox,
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174 | backBox,
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175 | frontBox
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176 | );
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177 |
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178 | if (result == NULL)
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179 | result = node;
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180 |
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181 | if (!node->IsLeaf()) {
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182 | KdInterior *interior = (KdInterior *) node;
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183 | // push the children on the stack
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184 | tStack.push(TraversalData(interior->mBack, backBox, data.mDepth+1));
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185 | tStack.push(TraversalData(interior->mFront, frontBox, data.mDepth+1));
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186 |
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187 | }
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188 | else {
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189 | EvaluateLeafStats(data);
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190 | }
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191 | }
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192 |
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193 | return result;
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194 |
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195 | }
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196 |
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197 |
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198 | bool
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199 | KdTree::TerminationCriteriaMet(const KdLeaf *leaf)
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200 | {
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201 | const bool criteriaMet =
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202 | ((int)leaf->mObjects.size() <= mTermMinCost) ||
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203 | (leaf->mDepth >= mTermMaxDepth);
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204 |
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205 | if (0 && criteriaMet)
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206 | cerr<<"\n OBJECTS="<<(int)leaf->mObjects.size()<<endl;
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207 |
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208 | return criteriaMet;
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209 | }
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210 |
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211 |
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212 | int
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213 | KdTree::SelectPlane(KdLeaf *leaf,
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214 | const AxisAlignedBox3 &box,
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215 | float &position
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216 | )
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217 | {
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218 | int axis = -1;
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219 |
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220 | switch (mSplitMethod)
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221 | {
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222 | case SPLIT_SPATIAL_MEDIAN: {
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223 | axis = box.Size().DrivingAxis();
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224 | position = (box.Min()[axis] + box.Max()[axis])*0.5f;
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225 | break;
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226 | }
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227 | case SPLIT_SAH: {
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228 | int objectsBack, objectsFront;
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229 | float costRatio;
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230 | bool mOnlyDrivingAxis = true;
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231 |
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232 | if (mOnlyDrivingAxis) {
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233 | axis = box.Size().DrivingAxis();
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234 | costRatio = BestCostRatio(leaf,
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235 | box,
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236 | axis,
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237 | position,
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238 | objectsBack,
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239 | objectsFront);
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240 | }
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241 | else {
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242 | // for all 3 axes
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243 | costRatio = MAX_FLOAT;
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244 | for (int i=0; i < 3; i++) {
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245 | float p;
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246 | float r = BestCostRatio(leaf,
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247 | box,
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248 | i,
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249 | p,
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250 | objectsBack,
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251 | objectsFront);
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252 | if (r < costRatio) {
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253 | costRatio = r;
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254 | axis = i;
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255 | position = p;
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256 | }
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257 | }
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258 | }
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259 |
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260 | if (costRatio > mMaxCostRatio) {
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261 | //cout<<"Too big cost ratio "<<costRatio<<endl;
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262 | axis = -1;
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263 | }
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264 | break;
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265 | }
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266 |
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267 | }
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268 | return axis;
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269 | }
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270 |
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271 | KdNode*
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272 | KdTree::SubdivideNode(
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273 | KdLeaf *leaf,
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274 | const AxisAlignedBox3 &box,
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275 | AxisAlignedBox3 &backBBox,
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276 | AxisAlignedBox3 &frontBBox
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277 | )
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278 | {
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279 | if (TerminationCriteriaMet(leaf))
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280 | return leaf;
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281 |
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282 | float position;
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283 |
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284 | // select subdivision axis
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285 | int axis = SelectPlane( leaf, box, position );
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286 |
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287 | if (axis == -1) {
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288 | return leaf;
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289 | }
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290 |
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291 | mStat.nodes += 2;
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292 | mStat.splits[axis]++;
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293 |
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294 | // add the new nodes to the tree
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295 | KdInterior *node = new KdInterior(leaf->mParent);
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296 |
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297 | node->mAxis = axis;
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298 | node->mPosition = position;
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299 | node->mBox = box;
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300 |
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301 | backBBox = box;
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302 | frontBBox = box;
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303 |
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304 | // first count ray sides
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305 | int objectsBack = 0;
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306 | int objectsFront = 0;
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307 |
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308 | backBBox.SetMax(axis, position);
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309 | frontBBox.SetMin(axis, position);
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310 |
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311 | ObjectContainer::const_iterator mi;
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312 |
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313 | for ( mi = leaf->mObjects.begin();
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314 | mi != leaf->mObjects.end();
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315 | mi++) {
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316 | // determine the side of this ray with respect to the plane
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317 | AxisAlignedBox3 box = (*mi)->GetBox();
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318 | if (box.Max(axis) > position )
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319 | objectsFront++;
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320 |
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321 | if (box.Min(axis) < position )
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322 | objectsBack++;
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323 | }
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324 |
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325 | KdLeaf *back = new KdLeaf(node, objectsBack);
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326 | KdLeaf *front = new KdLeaf(node, objectsFront);
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327 |
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328 | // replace a link from node's parent
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329 | if ( leaf->mParent )
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330 | leaf->mParent->ReplaceChildLink(leaf, node);
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331 |
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332 | // and setup child links
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333 | node->SetupChildLinks(back, front);
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334 |
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335 | for (mi = leaf->mObjects.begin();
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336 | mi != leaf->mObjects.end();
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337 | mi++) {
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338 | // determine the side of this ray with respect to the plane
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339 | AxisAlignedBox3 box = (*mi)->GetBox();
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340 |
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341 | // matt: no more ref
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342 | // for handling multiple objects: keep track of references
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343 | //if (leaf->IsRoot())
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344 | // (*mi)->mReferences = 1; // initialise references at root
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345 |
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346 | // matt: no more ref
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347 | //-- (*mi)->mReferences; // remove parent ref
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348 |
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349 |
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350 | if (box.Max(axis) >= position )
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351 | {
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352 | front->mObjects.push_back(*mi);
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353 | //++ (*mi)->mReferences;
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354 | }
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355 |
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356 | if (box.Min(axis) < position )
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357 | {
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358 | back->mObjects.push_back(*mi);
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359 | // matt: no more ref
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360 | // ++ (*mi)->mReferences;
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361 | }
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362 |
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363 | mStat.objectRefs -= (int)leaf->mObjects.size();
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364 | mStat.objectRefs += objectsBack + objectsFront;
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365 | }
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366 |
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367 | // store objects referenced in more than one leaf
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368 | // for easy access
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369 | ProcessMultipleRefs(back);
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370 | ProcessMultipleRefs(front);
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371 |
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372 | delete leaf;
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373 | return node;
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374 | }
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375 |
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376 |
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377 | void KdTree::ProcessMultipleRefs(KdLeaf *leaf) const
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378 | {
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379 | // find objects from multiple kd-leaves
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380 | ObjectContainer::const_iterator oit, oit_end = leaf->mObjects.end();
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381 |
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382 | for (oit = leaf->mObjects.begin(); oit != oit_end; ++ oit)
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383 | {
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384 | Intersectable *object = *oit;
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385 |
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386 | // matt: no more ref
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387 | /*
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388 | if (object->mReferences > 1) {
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389 | leaf->mMultipleObjects.push_back(object);
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390 | }
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391 | */
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392 | }
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393 | }
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394 |
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395 |
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396 | void
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397 | KdTreeStatistics::Print(ostream &app) const
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398 | {
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399 | app << "===== KdTree statistics ===============\n";
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400 |
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401 | app << "#N_NODES ( Number of nodes )\n" << nodes << "\n";
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402 |
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403 | app << "#N_LEAVES ( Number of leaves )\n" << Leaves() << "\n";
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404 |
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405 | app << "#N_SPLITS ( Number of splits in axes x y z dx dy dz)\n";
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406 | for (int i=0; i<7; i++)
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407 | app << splits[i] <<" ";
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408 | app <<endl;
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409 |
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410 | app << "#N_RAYREFS ( Number of rayRefs )\n" <<
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411 | rayRefs << "\n";
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412 |
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413 | app << "#N_RAYRAYREFS ( Number of rayRefs / ray )\n" <<
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414 | rayRefs/(double)rays << "\n";
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415 |
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416 | app << "#N_LEAFRAYREFS ( Number of rayRefs / leaf )\n" <<
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417 | rayRefs/(double)Leaves() << "\n";
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418 |
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419 | app << "#N_MAXOBJECTREFS ( Max number of object refs / leaf )\n" <<
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420 | maxObjectRefs << "\n";
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421 |
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422 | app << "#N_NONEMPTYRAYREFS ( Number of rayRefs in nonEmpty leaves / non empty leaf )\n" <<
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423 | rayRefsNonZeroQuery/(double)(Leaves() - zeroQueryNodes) << "\n";
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424 |
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425 | app << "#N_LEAFDOMAINREFS ( Number of query domain Refs / leaf )\n" <<
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426 | objectRefs/(double)Leaves() << "\n";
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427 |
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428 | // app << setprecision(4);
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429 |
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430 | app << "#N_PEMPTYLEAVES ( Percentage of leaves with zero query domains )\n"<<
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431 | zeroQueryNodes*100/(double)Leaves()<<endl;
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432 |
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433 | app << "#N_PMAXDEPTHLEAVES ( Percentage of leaves at maxdepth )\n"<<
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434 | maxDepthNodes*100/(double)Leaves()<<endl;
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435 |
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436 | app << "#N_PMINCOSTLEAVES ( Percentage of leaves with minCost )\n"<<
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437 | minCostNodes*100/(double)Leaves()<<endl;
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438 |
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439 | app << "#N_ADDED_RAYREFS (Number of dynamically added ray references )\n"<<
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440 | addedRayRefs<<endl;
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441 |
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442 | app << "#N_REMOVED_RAYREFS (Number of dynamically removed ray references )\n"<<
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443 | removedRayRefs<<endl;
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444 |
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445 | // app << setprecision(4);
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446 |
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447 | // app << "#N_CTIME ( Construction time [s] )\n"
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448 | // << Time() << " \n";
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449 |
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450 | app << "===== END OF KdTree statistics ==========\n";
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451 |
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452 | }
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453 |
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454 |
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455 |
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456 | void
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457 | KdTree::EvaluateLeafStats(const TraversalData &data)
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458 | {
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459 |
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460 | // the node became a leaf -> evaluate stats for leafs
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461 | KdLeaf *leaf = (KdLeaf *)data.mNode;
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462 |
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463 | if (data.mDepth > mTermMaxDepth)
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464 | mStat.maxDepthNodes++;
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465 |
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466 | if ( (int)(leaf->mObjects.size()) < mTermMinCost)
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467 | mStat.minCostNodes++;
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468 |
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469 |
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470 | if ( (int)(leaf->mObjects.size()) > mStat.maxObjectRefs)
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471 | mStat.maxObjectRefs = (int)leaf->mObjects.size();
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472 |
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473 | }
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474 |
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475 |
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476 |
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477 | void
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478 | KdTree::SortSubdivisionCandidates(
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479 | KdLeaf *node,
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480 | const int axis
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481 | )
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482 | {
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483 | CLEAR_CONTAINER(*splitCandidates);
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484 | //splitCandidates->clear();
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485 |
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486 | int requestedSize = 2*(int)node->mObjects.size();
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487 |
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488 | // creates a sorted split candidates array
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489 | if (splitCandidates->capacity() > 500000 &&
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490 | requestedSize < (int)(splitCandidates->capacity()/10) ) {
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491 | delete splitCandidates;
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492 | splitCandidates = new vector<SortableEntry *>;
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493 | }
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494 |
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495 | splitCandidates->reserve(requestedSize);
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496 |
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497 | // insert all queries
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498 | for(ObjectContainer::const_iterator mi = node->mObjects.begin();
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499 | mi != node->mObjects.end();
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500 | mi++)
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501 | {
|
---|
502 | AxisAlignedBox3 box = (*mi)->GetBox();
|
---|
503 |
|
---|
504 | splitCandidates->push_back(new SortableEntry(SortableEntry::BOX_MIN,
|
---|
505 | box.Min(axis),
|
---|
506 | *mi)
|
---|
507 | );
|
---|
508 |
|
---|
509 | splitCandidates->push_back(new SortableEntry(SortableEntry::BOX_MAX,
|
---|
510 | box.Max(axis),
|
---|
511 | *mi)
|
---|
512 | );
|
---|
513 | }
|
---|
514 |
|
---|
515 | stable_sort(splitCandidates->begin(), splitCandidates->end(), iltS);
|
---|
516 | }
|
---|
517 |
|
---|
518 |
|
---|
519 | float
|
---|
520 | KdTree::BestCostRatio(
|
---|
521 | KdLeaf *node,
|
---|
522 | const AxisAlignedBox3 &box,
|
---|
523 | const int axis,
|
---|
524 | float &position,
|
---|
525 | int &objectsBack,
|
---|
526 | int &objectsFront
|
---|
527 | )
|
---|
528 | {
|
---|
529 |
|
---|
530 | #define DEBUG_COST 0
|
---|
531 |
|
---|
532 | #if DEBUG_COST
|
---|
533 | static int nodeId = -1;
|
---|
534 | char filename[256];
|
---|
535 |
|
---|
536 | static int lastAxis = 100;
|
---|
537 | if (axis <= lastAxis)
|
---|
538 | nodeId++;
|
---|
539 |
|
---|
540 | lastAxis = axis;
|
---|
541 |
|
---|
542 | sprintf(filename, "sah-cost%d-%d.log", nodeId, axis);
|
---|
543 | ofstream costStream;
|
---|
544 |
|
---|
545 | if (nodeId < 100)
|
---|
546 | costStream.open(filename);
|
---|
547 |
|
---|
548 | #endif
|
---|
549 |
|
---|
550 | SortSubdivisionCandidates(node, axis);
|
---|
551 |
|
---|
552 | // go through the lists, count the number of objects left and right
|
---|
553 | // and evaluate the following cost funcion:
|
---|
554 | // C = ct_div_ci + (ol + or)/queries
|
---|
555 |
|
---|
556 | float totalIntersections = 0.0f;
|
---|
557 | vector<SortableEntry *>::const_iterator ci;
|
---|
558 |
|
---|
559 | for(ci = splitCandidates->begin();
|
---|
560 | ci < splitCandidates->end();
|
---|
561 | ci++)
|
---|
562 | if ((*ci)->type == SortableEntry::BOX_MIN) {
|
---|
563 | totalIntersections += (*ci)->intersectable->IntersectionComplexity();
|
---|
564 | }
|
---|
565 |
|
---|
566 | float intersectionsLeft = 0;
|
---|
567 | float intersectionsRight = totalIntersections;
|
---|
568 |
|
---|
569 | int objectsLeft = 0, objectsRight = (int)node->mObjects.size();
|
---|
570 |
|
---|
571 | float minBox = box.Min(axis);
|
---|
572 | float maxBox = box.Max(axis);
|
---|
573 | float boxArea = box.SurfaceArea();
|
---|
574 |
|
---|
575 | float minBand = minBox + mSplitBorder*(maxBox - minBox);
|
---|
576 | float maxBand = minBox + (1.0f - mSplitBorder)*(maxBox - minBox);
|
---|
577 |
|
---|
578 | float minSum = 1e20f;
|
---|
579 |
|
---|
580 | for(ci = splitCandidates->begin();
|
---|
581 | ci < splitCandidates->end();
|
---|
582 | ci++) {
|
---|
583 | switch ((*ci)->type) {
|
---|
584 | case SortableEntry::BOX_MIN:
|
---|
585 | objectsLeft++;
|
---|
586 | intersectionsLeft += (*ci)->intersectable->IntersectionComplexity();
|
---|
587 | break;
|
---|
588 | case SortableEntry::BOX_MAX:
|
---|
589 | objectsRight--;
|
---|
590 | intersectionsRight -= (*ci)->intersectable->IntersectionComplexity();
|
---|
591 | break;
|
---|
592 | } // switch
|
---|
593 |
|
---|
594 | if ((*ci)->value > minBand && (*ci)->value < maxBand) {
|
---|
595 | AxisAlignedBox3 lbox = box;
|
---|
596 | AxisAlignedBox3 rbox = box;
|
---|
597 | lbox.SetMax(axis, (*ci)->value);
|
---|
598 | rbox.SetMin(axis, (*ci)->value);
|
---|
599 |
|
---|
600 | float sum;
|
---|
601 | if (mSahUseFaces)
|
---|
602 | sum = intersectionsLeft*lbox.SurfaceArea() + intersectionsRight*rbox.SurfaceArea();
|
---|
603 | else
|
---|
604 | sum = objectsLeft*lbox.SurfaceArea() + objectsRight*rbox.SurfaceArea();
|
---|
605 |
|
---|
606 | // cout<<"pos="<<(*ci).value<<"\t q=("<<ql<<","<<qr<<")\t r=("<<rl<<","<<rr<<")"<<endl;
|
---|
607 | // cout<<"cost= "<<sum<<endl;
|
---|
608 |
|
---|
609 | #if DEBUG_COST
|
---|
610 | if (nodeId < 100) {
|
---|
611 | float oldCost = mSahUseFaces ? totalIntersections : node->mObjects.size();
|
---|
612 | float newCost = mCt_div_ci + sum/boxArea;
|
---|
613 | float ratio = newCost/oldCost;
|
---|
614 | costStream<<(*ci)->value<<" "<<ratio<<endl;
|
---|
615 | }
|
---|
616 | #endif
|
---|
617 |
|
---|
618 | if (sum < minSum) {
|
---|
619 | minSum = sum;
|
---|
620 | position = (*ci)->value;
|
---|
621 |
|
---|
622 | objectsBack = objectsLeft;
|
---|
623 | objectsFront = objectsRight;
|
---|
624 | }
|
---|
625 | }
|
---|
626 | } // for ci
|
---|
627 |
|
---|
628 | float oldCost = mSahUseFaces ? totalIntersections : node->mObjects.size();
|
---|
629 | float newCost = mCt_div_ci + minSum/boxArea;
|
---|
630 | float ratio = newCost/oldCost;
|
---|
631 |
|
---|
632 | #if 0
|
---|
633 | cout<<"===================="<<endl;
|
---|
634 | cout<<"costRatio="<<ratio<<" pos="<<position<<" t="<<(position - minBox)/(maxBox - minBox)
|
---|
635 | <<"\t o=("<<objectsBack<<","<<objectsFront<<")"<<endl;
|
---|
636 | #endif
|
---|
637 | return ratio;
|
---|
638 | }
|
---|
639 |
|
---|
640 | int
|
---|
641 | KdTree::CastRay(
|
---|
642 | Ray &ray
|
---|
643 | )
|
---|
644 | {
|
---|
645 |
|
---|
646 | int hits = 0;
|
---|
647 |
|
---|
648 | stack<RayTraversalData> tStack;
|
---|
649 |
|
---|
650 | float maxt = 1e6;
|
---|
651 | float mint = 0;
|
---|
652 |
|
---|
653 | // ray.ComputeInvertedDir();
|
---|
654 | Intersectable::NewMail();
|
---|
655 |
|
---|
656 | if (!mBox.GetMinMaxT(ray, &mint, &maxt))
|
---|
657 | return 0;
|
---|
658 |
|
---|
659 | if (mint < 0)
|
---|
660 | mint = 0;
|
---|
661 |
|
---|
662 |
|
---|
663 | maxt += Limits::Threshold;
|
---|
664 |
|
---|
665 | Vector3 entp = ray.Extrap(mint);
|
---|
666 | Vector3 extp = ray.Extrap(maxt);
|
---|
667 |
|
---|
668 | KdNode *node = mRoot;
|
---|
669 | KdNode *farChild;
|
---|
670 | float position;
|
---|
671 | int axis;
|
---|
672 |
|
---|
673 |
|
---|
674 | while (1) {
|
---|
675 | if (!node->IsLeaf()) {
|
---|
676 | KdInterior *in = (KdInterior *) node;
|
---|
677 | position = in->mPosition;
|
---|
678 | axis = in->mAxis;
|
---|
679 |
|
---|
680 | if (entp[axis] <= position) {
|
---|
681 | if (extp[axis] <= position) {
|
---|
682 | node = in->mBack;
|
---|
683 | // cases N1,N2,N3,P5,Z2,Z3
|
---|
684 | continue;
|
---|
685 | }
|
---|
686 | else {
|
---|
687 | // case N4
|
---|
688 | node = in->mBack;
|
---|
689 | farChild = in->mFront;
|
---|
690 | }
|
---|
691 | }
|
---|
692 | else {
|
---|
693 | if (position <= extp[axis]) {
|
---|
694 | node = in->mFront;
|
---|
695 | // cases P1,P2,P3,N5,Z1
|
---|
696 | continue;
|
---|
697 | }
|
---|
698 | else {
|
---|
699 | node = in->mFront;
|
---|
700 | farChild = in->mBack;
|
---|
701 | // case P4
|
---|
702 | }
|
---|
703 | }
|
---|
704 | // $$ modification 3.5.2004 - hints from Kamil Ghais
|
---|
705 | // case N4 or P4
|
---|
706 | float tdist = (position - ray.GetLoc(axis)) / ray.GetDir(axis);
|
---|
707 | tStack.push(RayTraversalData(farChild, extp, maxt));
|
---|
708 | extp = ray.GetLoc() + ray.GetDir()*tdist;
|
---|
709 | maxt = tdist;
|
---|
710 | }
|
---|
711 | else {
|
---|
712 | // compute intersection with all objects in this leaf
|
---|
713 | KdLeaf *leaf = (KdLeaf *) node;
|
---|
714 | if (ray.mFlags & Ray::STORE_KDLEAVES)
|
---|
715 | ray.kdLeaves.push_back(leaf);
|
---|
716 |
|
---|
717 | ObjectContainer::const_iterator mi;
|
---|
718 | for ( mi = leaf->mObjects.begin();
|
---|
719 | mi != leaf->mObjects.end();
|
---|
720 | mi++) {
|
---|
721 | Intersectable *object = *mi;
|
---|
722 | if (!object->Mailed() ) {
|
---|
723 | object->Mail();
|
---|
724 | if (ray.mFlags & Ray::STORE_TESTED_OBJECTS)
|
---|
725 | ray.testedObjects.push_back(object);
|
---|
726 |
|
---|
727 | static int oi=1;
|
---|
728 | if (MeshDebug)
|
---|
729 | cout<<"Object "<<oi++;
|
---|
730 |
|
---|
731 | hits += object->CastRay(ray);
|
---|
732 |
|
---|
733 | if (MeshDebug) {
|
---|
734 | if (!ray.intersections.empty())
|
---|
735 | cout<<"nearest t="<<ray.intersections[0].mT<<endl;
|
---|
736 | else
|
---|
737 | cout<<"nearest t=-INF"<<endl;
|
---|
738 | }
|
---|
739 | }
|
---|
740 | }
|
---|
741 |
|
---|
742 | if (hits && ray.GetType() == Ray::LOCAL_RAY)
|
---|
743 | if (ray.intersections[0].mT <= maxt)
|
---|
744 | break;
|
---|
745 |
|
---|
746 | // get the next node from the stack
|
---|
747 | if (tStack.empty())
|
---|
748 | break;
|
---|
749 |
|
---|
750 | entp = extp;
|
---|
751 | mint = maxt;
|
---|
752 | if (ray.GetType() == Ray::LINE_SEGMENT && mint > 1.0f)
|
---|
753 | break;
|
---|
754 |
|
---|
755 | RayTraversalData &s = tStack.top();
|
---|
756 | node = s.mNode;
|
---|
757 | extp = s.mExitPoint;
|
---|
758 | maxt = s.mMaxT;
|
---|
759 | tStack.pop();
|
---|
760 | }
|
---|
761 | }
|
---|
762 | return hits;
|
---|
763 | }
|
---|
764 |
|
---|
765 | int KdTree::CastLineSegment2(const Vector3 &origin,
|
---|
766 | const Vector3 &termination,
|
---|
767 | ViewCellContainer &viewcells)
|
---|
768 | {
|
---|
769 | int hits = 0;
|
---|
770 |
|
---|
771 | float mint = 0.0f, maxt = 1.0f;
|
---|
772 | const Vector3 dir = termination - origin;
|
---|
773 |
|
---|
774 | stack<RayTraversalData> tStack;
|
---|
775 |
|
---|
776 | Intersectable::NewMail();
|
---|
777 |
|
---|
778 | //maxt += Limits::Threshold;
|
---|
779 |
|
---|
780 | Vector3 entp = origin;
|
---|
781 | Vector3 extp = termination;
|
---|
782 |
|
---|
783 | KdNode *node = mRoot;
|
---|
784 | KdNode *farChild;
|
---|
785 |
|
---|
786 | float position;
|
---|
787 | int axis;
|
---|
788 |
|
---|
789 | while (1)
|
---|
790 | {
|
---|
791 | if (!node->IsLeaf())
|
---|
792 | {
|
---|
793 | KdInterior *in = static_cast<KdInterior *>(node);
|
---|
794 | position = in->mPosition;
|
---|
795 | axis = in->mAxis;
|
---|
796 |
|
---|
797 | if (entp[axis] <= position)
|
---|
798 | {
|
---|
799 | if (extp[axis] <= position)
|
---|
800 | {
|
---|
801 | node = in->mBack;
|
---|
802 | // cases N1,N2,N3,P5,Z2,Z3
|
---|
803 | continue;
|
---|
804 | }
|
---|
805 | else
|
---|
806 | {
|
---|
807 | // case N4
|
---|
808 | node = in->mBack;
|
---|
809 | farChild = in->mFront;
|
---|
810 | }
|
---|
811 | }
|
---|
812 | else
|
---|
813 | {
|
---|
814 | if (position <= extp[axis])
|
---|
815 | {
|
---|
816 | node = in->mFront;
|
---|
817 | // cases P1,P2,P3,N5,Z1
|
---|
818 | continue;
|
---|
819 | }
|
---|
820 | else
|
---|
821 | {
|
---|
822 | node = in->mFront;
|
---|
823 | farChild = in->mBack;
|
---|
824 | // case P4
|
---|
825 | }
|
---|
826 | }
|
---|
827 |
|
---|
828 | // $$ modification 3.5.2004 - hints from Kamil Ghais
|
---|
829 | // case N4 or P4
|
---|
830 | float tdist = (position - origin[axis]) / dir[axis];
|
---|
831 | //tStack.push(RayTraversalData(farChild, extp, maxt)); //TODO
|
---|
832 | extp = origin + dir * tdist;
|
---|
833 | maxt = tdist;
|
---|
834 | }
|
---|
835 | else
|
---|
836 | {
|
---|
837 | // compute intersection with all objects in this leaf
|
---|
838 | KdLeaf *leaf = static_cast<KdLeaf *>(node);
|
---|
839 |
|
---|
840 | // add view cell to intersections
|
---|
841 | ViewCell *vc = leaf->mViewCell;
|
---|
842 |
|
---|
843 | if (!vc->Mailed())
|
---|
844 | {
|
---|
845 | vc->Mail();
|
---|
846 | viewcells.push_back(vc);
|
---|
847 | ++ hits;
|
---|
848 | }
|
---|
849 |
|
---|
850 | // get the next node from the stack
|
---|
851 | if (tStack.empty())
|
---|
852 | break;
|
---|
853 |
|
---|
854 | entp = extp;
|
---|
855 | mint = maxt;
|
---|
856 |
|
---|
857 | RayTraversalData &s = tStack.top();
|
---|
858 | node = s.mNode;
|
---|
859 | extp = s.mExitPoint;
|
---|
860 | maxt = s.mMaxT;
|
---|
861 | tStack.pop();
|
---|
862 | }
|
---|
863 | }
|
---|
864 | return hits;
|
---|
865 | }
|
---|
866 |
|
---|
867 | int KdTree::CastLineSegment(const Vector3 &origin,
|
---|
868 | const Vector3 &termination,
|
---|
869 | ViewCellContainer &viewcells)
|
---|
870 | {
|
---|
871 | int hits = 0;
|
---|
872 |
|
---|
873 | float mint = 0.0f, maxt = 1.0f;
|
---|
874 | const Vector3 dir = termination - origin;
|
---|
875 |
|
---|
876 | stack<RayTraversalData> tStack;
|
---|
877 |
|
---|
878 | Intersectable::NewMail();
|
---|
879 |
|
---|
880 | //maxt += Limits::Threshold;
|
---|
881 |
|
---|
882 | Vector3 entp = origin;
|
---|
883 | Vector3 extp = termination;
|
---|
884 |
|
---|
885 | KdNode *node = mRoot;
|
---|
886 | KdNode *farChild;
|
---|
887 |
|
---|
888 | float position;
|
---|
889 | float tdist;
|
---|
890 |
|
---|
891 | while (1)
|
---|
892 | {
|
---|
893 | if (!node->IsLeaf())
|
---|
894 | {
|
---|
895 | KdInterior *in = static_cast<KdInterior *>(node);
|
---|
896 | position = in->mPosition;
|
---|
897 | switch (in->mAxis) {
|
---|
898 | case 0:
|
---|
899 | if (entp.x <= position)
|
---|
900 | {
|
---|
901 | if (extp.x <= position)
|
---|
902 | {
|
---|
903 | node = in->mBack;
|
---|
904 | // cases N1,N2,N3,P5,Z2,Z3
|
---|
905 | continue;
|
---|
906 | }
|
---|
907 | else
|
---|
908 | {
|
---|
909 | // case N4
|
---|
910 | node = in->mBack;
|
---|
911 | farChild = in->mFront;
|
---|
912 | }
|
---|
913 | }
|
---|
914 | else
|
---|
915 | {
|
---|
916 | if (position <= extp.x)
|
---|
917 | {
|
---|
918 | node = in->mFront;
|
---|
919 | // cases P1,P2,P3,N5,Z1
|
---|
920 | continue;
|
---|
921 | }
|
---|
922 | else
|
---|
923 | {
|
---|
924 | node = in->mFront;
|
---|
925 | farChild = in->mBack;
|
---|
926 | // case P4
|
---|
927 | }
|
---|
928 | }
|
---|
929 |
|
---|
930 | // $$ modification 3.5.2004 - hints from Kamil Ghais
|
---|
931 | // case N4 or P4
|
---|
932 | tdist = (position - origin.x) / dir.x;
|
---|
933 | //tStack.push(RayTraversalData(farChild, extp, maxt)); //TODO
|
---|
934 | extp = origin + dir * tdist;
|
---|
935 | maxt = tdist;
|
---|
936 |
|
---|
937 | break;
|
---|
938 | case 1:
|
---|
939 |
|
---|
940 | if (entp.y <= position)
|
---|
941 | {
|
---|
942 | if (extp.y <= position)
|
---|
943 | {
|
---|
944 | node = in->mBack;
|
---|
945 | // cases N1,N2,N3,P5,Z2,Z3
|
---|
946 | continue;
|
---|
947 | }
|
---|
948 | else
|
---|
949 | {
|
---|
950 | // case N4
|
---|
951 | node = in->mBack;
|
---|
952 | farChild = in->mFront;
|
---|
953 | }
|
---|
954 | }
|
---|
955 | else
|
---|
956 | {
|
---|
957 | if (position <= extp.y)
|
---|
958 | {
|
---|
959 | node = in->mFront;
|
---|
960 | // cases P1,P2,P3,N5,Z1
|
---|
961 | continue;
|
---|
962 | }
|
---|
963 | else
|
---|
964 | {
|
---|
965 | node = in->mFront;
|
---|
966 | farChild = in->mBack;
|
---|
967 | // case P4
|
---|
968 | }
|
---|
969 | }
|
---|
970 |
|
---|
971 | // $$ modification 3.5.2004 - hints from Kamil Ghais
|
---|
972 | // case N4 or P4
|
---|
973 | tdist = (position - origin.y) / dir.y;
|
---|
974 | //tStack.push(RayTraversalData(farChild, extp, maxt)); //TODO
|
---|
975 | extp = origin + dir * tdist;
|
---|
976 | maxt = tdist;
|
---|
977 |
|
---|
978 | break;
|
---|
979 | case 2:
|
---|
980 | if (entp.z <= position)
|
---|
981 | {
|
---|
982 | if (extp.z <= position)
|
---|
983 | {
|
---|
984 | node = in->mBack;
|
---|
985 | // cases N1,N2,N3,P5,Z2,Z3
|
---|
986 | continue;
|
---|
987 | }
|
---|
988 | else
|
---|
989 | {
|
---|
990 | // case N4
|
---|
991 | node = in->mBack;
|
---|
992 | farChild = in->mFront;
|
---|
993 | }
|
---|
994 | }
|
---|
995 | else
|
---|
996 | {
|
---|
997 | if (position <= extp.z)
|
---|
998 | {
|
---|
999 | node = in->mFront;
|
---|
1000 | // cases P1,P2,P3,N5,Z1
|
---|
1001 | continue;
|
---|
1002 | }
|
---|
1003 | else
|
---|
1004 | {
|
---|
1005 | node = in->mFront;
|
---|
1006 | farChild = in->mBack;
|
---|
1007 | // case P4
|
---|
1008 | }
|
---|
1009 | }
|
---|
1010 |
|
---|
1011 | // $$ modification 3.5.2004 - hints from Kamil Ghais
|
---|
1012 | // case N4 or P4
|
---|
1013 | tdist = (position - origin.z) / dir.z;
|
---|
1014 | //tStack.push(RayTraversalData(farChild, extp, maxt)); //TODO
|
---|
1015 | extp = origin + dir * tdist;
|
---|
1016 | maxt = tdist;
|
---|
1017 |
|
---|
1018 | break;
|
---|
1019 |
|
---|
1020 | }
|
---|
1021 |
|
---|
1022 | }
|
---|
1023 | else
|
---|
1024 | {
|
---|
1025 | // compute intersection with all objects in this leaf
|
---|
1026 | KdLeaf *leaf = static_cast<KdLeaf *>(node);
|
---|
1027 |
|
---|
1028 | // add view cell to intersections
|
---|
1029 | ViewCell *vc = leaf->mViewCell;
|
---|
1030 |
|
---|
1031 | if (!vc->Mailed())
|
---|
1032 | {
|
---|
1033 | vc->Mail();
|
---|
1034 | viewcells.push_back(vc);
|
---|
1035 | ++ hits;
|
---|
1036 | }
|
---|
1037 |
|
---|
1038 | // get the next node from the stack
|
---|
1039 | if (tStack.empty())
|
---|
1040 | break;
|
---|
1041 |
|
---|
1042 | entp = extp;
|
---|
1043 | mint = maxt;
|
---|
1044 |
|
---|
1045 | RayTraversalData &s = tStack.top();
|
---|
1046 | node = s.mNode;
|
---|
1047 | extp = s.mExitPoint;
|
---|
1048 | maxt = s.mMaxT;
|
---|
1049 | tStack.pop();
|
---|
1050 | }
|
---|
1051 | }
|
---|
1052 | return hits;
|
---|
1053 | }
|
---|
1054 |
|
---|
1055 | void
|
---|
1056 | KdTree::CollectKdObjects(const AxisAlignedBox3 &box,
|
---|
1057 | ObjectContainer &objects
|
---|
1058 | )
|
---|
1059 | {
|
---|
1060 | stack<KdNode *> nodeStack;
|
---|
1061 |
|
---|
1062 | nodeStack.push(mRoot);
|
---|
1063 |
|
---|
1064 | while (!nodeStack.empty()) {
|
---|
1065 | KdNode *node = nodeStack.top();
|
---|
1066 | nodeStack.pop();
|
---|
1067 | if (node->IsLeaf() || node->mPvsTermination == 1) {
|
---|
1068 | if (!node->Mailed()) {
|
---|
1069 | Intersectable *object = GetOrCreateKdIntersectable(node);
|
---|
1070 | node->Mail();
|
---|
1071 | objects.push_back(object);
|
---|
1072 | }
|
---|
1073 | }
|
---|
1074 | else {
|
---|
1075 | KdInterior *interior = (KdInterior *)node;
|
---|
1076 |
|
---|
1077 | if ( box.Max()[interior->mAxis] > interior->mPosition )
|
---|
1078 | nodeStack.push(interior->mFront);
|
---|
1079 |
|
---|
1080 | if (box.Min()[interior->mAxis] < interior->mPosition)
|
---|
1081 | nodeStack.push(interior->mBack);
|
---|
1082 | }
|
---|
1083 | } // while
|
---|
1084 | }
|
---|
1085 |
|
---|
1086 | void
|
---|
1087 | KdTree::CollectSmallKdObjects(const AxisAlignedBox3 &box,
|
---|
1088 | ObjectContainer &objects,
|
---|
1089 | const float maxAreaFrac
|
---|
1090 | )
|
---|
1091 | {
|
---|
1092 | stack<KdNode *> nodeStack;
|
---|
1093 |
|
---|
1094 | nodeStack.push(mRoot);
|
---|
1095 | float maxArea = GetPvsArea()*maxAreaFrac;
|
---|
1096 |
|
---|
1097 | while (!nodeStack.empty()) {
|
---|
1098 | KdNode *node = nodeStack.top();
|
---|
1099 | nodeStack.pop();
|
---|
1100 | if (!node->Mailed()) {
|
---|
1101 | if (node->IsLeaf() || GetSurfaceArea(node) <= maxArea) {
|
---|
1102 | Intersectable *object = GetOrCreateKdIntersectable(node);
|
---|
1103 | if (!node->Mailed()) {
|
---|
1104 | node->Mail();
|
---|
1105 | objects.push_back(object);
|
---|
1106 | }
|
---|
1107 | }
|
---|
1108 | else {
|
---|
1109 | KdInterior *interior = (KdInterior *)node;
|
---|
1110 |
|
---|
1111 | if ( box.Max()[interior->mAxis] > interior->mPosition )
|
---|
1112 | nodeStack.push(interior->mFront);
|
---|
1113 |
|
---|
1114 | if (box.Min()[interior->mAxis] < interior->mPosition)
|
---|
1115 | nodeStack.push(interior->mBack);
|
---|
1116 | }
|
---|
1117 | }
|
---|
1118 | } // while
|
---|
1119 | }
|
---|
1120 |
|
---|
1121 |
|
---|
1122 | void
|
---|
1123 | KdTree::CollectObjects(const AxisAlignedBox3 &box,
|
---|
1124 | ObjectContainer &objects)
|
---|
1125 | {
|
---|
1126 | stack<KdNode *> nodeStack;
|
---|
1127 |
|
---|
1128 | nodeStack.push(mRoot);
|
---|
1129 |
|
---|
1130 | while (!nodeStack.empty()) {
|
---|
1131 | KdNode *node = nodeStack.top();
|
---|
1132 | nodeStack.pop();
|
---|
1133 | if (node->IsLeaf()) {
|
---|
1134 | KdLeaf *leaf = (KdLeaf *)node;
|
---|
1135 | for (int j=0; j < leaf->mObjects.size(); j++) {
|
---|
1136 | Intersectable *object = leaf->mObjects[j];
|
---|
1137 | if (!object->Mailed() && Overlap(box, object->GetBox())) {
|
---|
1138 | object->Mail();
|
---|
1139 | objects.push_back(object);
|
---|
1140 | }
|
---|
1141 | }
|
---|
1142 | } else {
|
---|
1143 | KdInterior *interior = (KdInterior *)node;
|
---|
1144 |
|
---|
1145 | if ( box.Max()[interior->mAxis] > interior->mPosition )
|
---|
1146 | nodeStack.push(interior->mFront);
|
---|
1147 |
|
---|
1148 | if (box.Min()[interior->mAxis] < interior->mPosition)
|
---|
1149 | nodeStack.push(interior->mBack);
|
---|
1150 | }
|
---|
1151 | }
|
---|
1152 | }
|
---|
1153 |
|
---|
1154 | void
|
---|
1155 | KdTree::CollectObjects(KdNode *n, ObjectContainer &objects)
|
---|
1156 | {
|
---|
1157 | stack<KdNode *> nodeStack;
|
---|
1158 |
|
---|
1159 | nodeStack.push(n);
|
---|
1160 |
|
---|
1161 | while (!nodeStack.empty()) {
|
---|
1162 | KdNode *node = nodeStack.top();
|
---|
1163 | nodeStack.pop();
|
---|
1164 | if (node->IsLeaf()) {
|
---|
1165 | KdLeaf *leaf = (KdLeaf *)node;
|
---|
1166 | for (int j=0; j < leaf->mObjects.size(); j++) {
|
---|
1167 | Intersectable *object = leaf->mObjects[j];
|
---|
1168 | if (!object->Mailed()) {
|
---|
1169 | object->Mail();
|
---|
1170 | objects.push_back(object);
|
---|
1171 | }
|
---|
1172 | }
|
---|
1173 | } else {
|
---|
1174 | KdInterior *interior = (KdInterior *)node;
|
---|
1175 | nodeStack.push(interior->mFront);
|
---|
1176 | nodeStack.push(interior->mBack);
|
---|
1177 | }
|
---|
1178 | }
|
---|
1179 | }
|
---|
1180 |
|
---|
1181 | // Find random neighbor which was not mailed
|
---|
1182 | KdNode *
|
---|
1183 | KdTree::FindRandomNeighbor(KdNode *n,
|
---|
1184 | bool onlyUnmailed
|
---|
1185 | )
|
---|
1186 | {
|
---|
1187 | stack<KdNode *> nodeStack;
|
---|
1188 |
|
---|
1189 | nodeStack.push(mRoot);
|
---|
1190 |
|
---|
1191 | AxisAlignedBox3 box = GetBox(n);
|
---|
1192 | int mask = rand();
|
---|
1193 |
|
---|
1194 | while (!nodeStack.empty()) {
|
---|
1195 | KdNode *node = nodeStack.top();
|
---|
1196 | nodeStack.pop();
|
---|
1197 | if (node->IsLeaf()) {
|
---|
1198 | if ( node != n && (!onlyUnmailed || !node->Mailed()) )
|
---|
1199 | return node;
|
---|
1200 | } else {
|
---|
1201 | KdInterior *interior = (KdInterior *)node;
|
---|
1202 | if (interior->mPosition > box.Max(interior->mAxis))
|
---|
1203 | nodeStack.push(interior->mBack);
|
---|
1204 | else
|
---|
1205 | if (interior->mPosition < box.Min(interior->mAxis))
|
---|
1206 | nodeStack.push(interior->mFront);
|
---|
1207 | else {
|
---|
1208 | // random decision
|
---|
1209 | if (mask&1)
|
---|
1210 | nodeStack.push(interior->mBack);
|
---|
1211 | else
|
---|
1212 | nodeStack.push(interior->mFront);
|
---|
1213 | mask = mask>>1;
|
---|
1214 | }
|
---|
1215 | }
|
---|
1216 | }
|
---|
1217 |
|
---|
1218 | return NULL;
|
---|
1219 | }
|
---|
1220 |
|
---|
1221 | int
|
---|
1222 | KdTree::FindNeighbors(KdNode *n,
|
---|
1223 | vector<KdNode *> &neighbors,
|
---|
1224 | bool onlyUnmailed
|
---|
1225 | )
|
---|
1226 | {
|
---|
1227 | stack<KdNode *> nodeStack;
|
---|
1228 |
|
---|
1229 | nodeStack.push(mRoot);
|
---|
1230 |
|
---|
1231 | AxisAlignedBox3 box = GetBox(n);
|
---|
1232 |
|
---|
1233 | while (!nodeStack.empty()) {
|
---|
1234 | KdNode *node = nodeStack.top();
|
---|
1235 | nodeStack.pop();
|
---|
1236 | if (node->IsLeaf()) {
|
---|
1237 | if ( node != n && (!onlyUnmailed || !node->Mailed()) )
|
---|
1238 | neighbors.push_back(node);
|
---|
1239 | }
|
---|
1240 | else {
|
---|
1241 | KdInterior *interior = (KdInterior *)node;
|
---|
1242 | if (interior->mPosition > box.Max(interior->mAxis))
|
---|
1243 | nodeStack.push(interior->mBack);
|
---|
1244 | else {
|
---|
1245 | if (interior->mPosition < box.Min(interior->mAxis))
|
---|
1246 | nodeStack.push(interior->mFront);
|
---|
1247 | else {
|
---|
1248 | // random decision
|
---|
1249 | nodeStack.push(interior->mBack);
|
---|
1250 | nodeStack.push(interior->mFront);
|
---|
1251 | }
|
---|
1252 | }
|
---|
1253 | }
|
---|
1254 | }
|
---|
1255 |
|
---|
1256 | return (int)neighbors.size();
|
---|
1257 | }
|
---|
1258 |
|
---|
1259 | // Find random neighbor which was not mailed
|
---|
1260 | KdNode *
|
---|
1261 | KdTree::GetRandomLeaf(const Plane3 &plane)
|
---|
1262 | {
|
---|
1263 | stack<KdNode *> nodeStack;
|
---|
1264 |
|
---|
1265 | nodeStack.push(mRoot);
|
---|
1266 |
|
---|
1267 | int mask = rand();
|
---|
1268 |
|
---|
1269 | while (!nodeStack.empty()) {
|
---|
1270 | KdNode *node = nodeStack.top();
|
---|
1271 | nodeStack.pop();
|
---|
1272 | if (node->IsLeaf()) {
|
---|
1273 | return node;
|
---|
1274 | } else {
|
---|
1275 | KdInterior *interior = (KdInterior *)node;
|
---|
1276 | KdNode *next;
|
---|
1277 | if (GetBox(interior->mBack).Side(plane) < 0)
|
---|
1278 | next = interior->mFront;
|
---|
1279 | else
|
---|
1280 | if (GetBox(interior->mFront).Side(plane) < 0)
|
---|
1281 | next = interior->mBack;
|
---|
1282 | else {
|
---|
1283 | // random decision
|
---|
1284 | if (mask&1)
|
---|
1285 | next = interior->mBack;
|
---|
1286 | else
|
---|
1287 | next = interior->mFront;
|
---|
1288 | mask = mask>>1;
|
---|
1289 | }
|
---|
1290 | nodeStack.push(next);
|
---|
1291 | }
|
---|
1292 | }
|
---|
1293 |
|
---|
1294 |
|
---|
1295 | return NULL;
|
---|
1296 | }
|
---|
1297 |
|
---|
1298 | void
|
---|
1299 | KdTree::CollectLeaves(vector<KdLeaf *> &leaves)
|
---|
1300 | {
|
---|
1301 | stack<KdNode *> nodeStack;
|
---|
1302 | nodeStack.push(mRoot);
|
---|
1303 |
|
---|
1304 | while (!nodeStack.empty()) {
|
---|
1305 | KdNode *node = nodeStack.top();
|
---|
1306 | nodeStack.pop();
|
---|
1307 | if (node->IsLeaf()) {
|
---|
1308 | KdLeaf *leaf = (KdLeaf *)node;
|
---|
1309 | leaves.push_back(leaf);
|
---|
1310 | } else {
|
---|
1311 | KdInterior *interior = (KdInterior *)node;
|
---|
1312 | nodeStack.push(interior->mBack);
|
---|
1313 | nodeStack.push(interior->mFront);
|
---|
1314 | }
|
---|
1315 | }
|
---|
1316 | }
|
---|
1317 |
|
---|
1318 | void
|
---|
1319 | KdTree::CreateAndCollectViewCells(ViewCellContainer &vc) const
|
---|
1320 | {
|
---|
1321 | stack<KdNode *> nodeStack;
|
---|
1322 | nodeStack.push(mRoot);
|
---|
1323 |
|
---|
1324 | while (!nodeStack.empty()) {
|
---|
1325 | KdNode *node = nodeStack.top();
|
---|
1326 | nodeStack.pop();
|
---|
1327 | if (node->IsLeaf()) {
|
---|
1328 | KdLeaf *leaf = (KdLeaf *)node;
|
---|
1329 | // kdtree used as view cell container => create view cell
|
---|
1330 | KdViewCell *viewCell = new KdViewCell();
|
---|
1331 | leaf->mViewCell = viewCell;
|
---|
1332 | // push back pointer to this leaf
|
---|
1333 | viewCell->mLeaves[0] = leaf;
|
---|
1334 | vc.push_back(viewCell);
|
---|
1335 | } else {
|
---|
1336 | KdInterior *interior = (KdInterior *)node;
|
---|
1337 | nodeStack.push(interior->mBack);
|
---|
1338 | nodeStack.push(interior->mFront);
|
---|
1339 | }
|
---|
1340 | }
|
---|
1341 | }
|
---|
1342 |
|
---|
1343 |
|
---|
1344 | KdNode *
|
---|
1345 | KdTree::GetRandomLeaf(const bool onlyUnmailed)
|
---|
1346 | {
|
---|
1347 | stack<KdNode *> nodeStack;
|
---|
1348 | nodeStack.push(mRoot);
|
---|
1349 |
|
---|
1350 | int mask = rand();
|
---|
1351 |
|
---|
1352 | while (!nodeStack.empty()) {
|
---|
1353 | KdNode *node = nodeStack.top();
|
---|
1354 | nodeStack.pop();
|
---|
1355 | if (node->IsLeaf()) {
|
---|
1356 | if ( (!onlyUnmailed || !node->Mailed()) )
|
---|
1357 | return node;
|
---|
1358 | } else {
|
---|
1359 | KdInterior *interior = (KdInterior *)node;
|
---|
1360 | // random decision
|
---|
1361 | if (mask&1)
|
---|
1362 | nodeStack.push(interior->mBack);
|
---|
1363 | else
|
---|
1364 | nodeStack.push(interior->mFront);
|
---|
1365 | mask = mask>>1;
|
---|
1366 | }
|
---|
1367 | }
|
---|
1368 | return NULL;
|
---|
1369 | }
|
---|
1370 |
|
---|
1371 |
|
---|
1372 | int KdTree::CastBeam(Beam &beam)
|
---|
1373 | {
|
---|
1374 | stack<KdNode *> nodeStack;
|
---|
1375 | nodeStack.push(mRoot);
|
---|
1376 |
|
---|
1377 | while (!nodeStack.empty()) {
|
---|
1378 | KdNode *node = nodeStack.top();
|
---|
1379 | nodeStack.pop();
|
---|
1380 |
|
---|
1381 | int side = beam.ComputeIntersection(GetBox(node));
|
---|
1382 | switch (side) {
|
---|
1383 | case -1:
|
---|
1384 | beam.mKdNodes.push_back(node);
|
---|
1385 | break;
|
---|
1386 | case 0:
|
---|
1387 | if (node->IsLeaf())
|
---|
1388 | beam.mKdNodes.push_back(node);
|
---|
1389 | else {
|
---|
1390 | KdInterior *interior = (KdInterior *)node;
|
---|
1391 | KdNode *first = interior->mBack;
|
---|
1392 | KdNode *second = interior->mFront;
|
---|
1393 |
|
---|
1394 | if (interior->mAxis < 3) {
|
---|
1395 | // spatial split -> decide on the order of the nodes
|
---|
1396 | if (beam.mPlanes[0].mNormal[interior->mAxis] > 0)
|
---|
1397 | swap(first, second);
|
---|
1398 | }
|
---|
1399 |
|
---|
1400 | nodeStack.push(first);
|
---|
1401 | nodeStack.push(second);
|
---|
1402 | }
|
---|
1403 | break;
|
---|
1404 | // default: cull
|
---|
1405 | }
|
---|
1406 | }
|
---|
1407 |
|
---|
1408 | if (beam.mFlags & Beam::STORE_OBJECTS)
|
---|
1409 | {
|
---|
1410 | vector<KdNode *>::const_iterator it, it_end = beam.mKdNodes.end();
|
---|
1411 |
|
---|
1412 | Intersectable::NewMail();
|
---|
1413 | for (it = beam.mKdNodes.begin(); it != it_end; ++ it)
|
---|
1414 | {
|
---|
1415 | CollectObjects(*it, beam.mObjects);
|
---|
1416 | }
|
---|
1417 | }
|
---|
1418 |
|
---|
1419 | return (int)beam.mKdNodes.size();
|
---|
1420 | }
|
---|
1421 |
|
---|
1422 |
|
---|
1423 | void KdTree::ExportBinLeaf(OUT_STREAM &stream, KdLeaf *leaf)
|
---|
1424 | {
|
---|
1425 | ObjectContainer::const_iterator it, it_end = leaf->mObjects.end();
|
---|
1426 |
|
---|
1427 | int type = TYPE_LEAF;
|
---|
1428 | int size = (int)leaf->mObjects.size();
|
---|
1429 |
|
---|
1430 | stream.write(reinterpret_cast<char *>(&type), sizeof(int));
|
---|
1431 | stream.write(reinterpret_cast<char *>(&size), sizeof(int));
|
---|
1432 |
|
---|
1433 | for (it = leaf->mObjects.begin(); it != it_end; ++ it)
|
---|
1434 | {
|
---|
1435 | Intersectable *obj = *it;
|
---|
1436 | int id = obj->mId;
|
---|
1437 |
|
---|
1438 | //stream.write(reinterpret_cast<char *>(&origin), sizeof(Vector3));
|
---|
1439 | stream.write(reinterpret_cast<char *>(&id), sizeof(int));
|
---|
1440 | }
|
---|
1441 | }
|
---|
1442 |
|
---|
1443 |
|
---|
1444 | KdLeaf *KdTree::ImportBinLeaf(IN_STREAM &stream,
|
---|
1445 | KdInterior *parent,
|
---|
1446 | const ObjectContainer &objects)
|
---|
1447 | {
|
---|
1448 | int leafId = TYPE_LEAF;
|
---|
1449 | int objId = leafId;
|
---|
1450 | int size;
|
---|
1451 |
|
---|
1452 | stream.read(reinterpret_cast<char *>(&size), sizeof(int));
|
---|
1453 | KdLeaf *leaf = new KdLeaf(parent, size);
|
---|
1454 |
|
---|
1455 | MeshInstance dummyInst(NULL);
|
---|
1456 |
|
---|
1457 | // read object ids
|
---|
1458 | // note: this can also be done geometrically
|
---|
1459 | for (int i = 0; i < size; ++ i)
|
---|
1460 | {
|
---|
1461 | stream.read(reinterpret_cast<char *>(&objId), sizeof(int));
|
---|
1462 | dummyInst.SetId(objId);
|
---|
1463 |
|
---|
1464 | ObjectContainer::const_iterator oit =
|
---|
1465 | lower_bound(objects.begin(), objects.end(), (Intersectable *)&dummyInst, ilt);
|
---|
1466 |
|
---|
1467 | if ((oit != objects.end()) && ((*oit)->GetId() == objId))
|
---|
1468 | leaf->mObjects.push_back(*oit);
|
---|
1469 | else
|
---|
1470 | Debug << "error: object with id " << objId << " does not exist" << endl;
|
---|
1471 | }
|
---|
1472 |
|
---|
1473 | return leaf;
|
---|
1474 | }
|
---|
1475 |
|
---|
1476 |
|
---|
1477 | void KdTree::ExportBinInterior(OUT_STREAM &stream, KdInterior *interior)
|
---|
1478 | {
|
---|
1479 | int interiorid = TYPE_INTERIOR;
|
---|
1480 | stream.write(reinterpret_cast<char *>(&interiorid), sizeof(int));
|
---|
1481 |
|
---|
1482 | int axis = interior->mAxis;
|
---|
1483 | float pos = interior->mPosition;
|
---|
1484 |
|
---|
1485 | stream.write(reinterpret_cast<char *>(&axis), sizeof(int));
|
---|
1486 | stream.write(reinterpret_cast<char *>(&pos), sizeof(float));
|
---|
1487 | }
|
---|
1488 |
|
---|
1489 |
|
---|
1490 | KdInterior *KdTree::ImportBinInterior(IN_STREAM &stream, KdInterior *parent)
|
---|
1491 | {
|
---|
1492 | KdInterior *interior = new KdInterior(parent);
|
---|
1493 |
|
---|
1494 | int axis;
|
---|
1495 | float pos;
|
---|
1496 |
|
---|
1497 | stream.read(reinterpret_cast<char *>(&axis), sizeof(int));
|
---|
1498 | stream.read(reinterpret_cast<char *>(&pos), sizeof(float));
|
---|
1499 |
|
---|
1500 | interior->mAxis = axis;
|
---|
1501 | interior->mPosition = pos;
|
---|
1502 |
|
---|
1503 | return interior;
|
---|
1504 | }
|
---|
1505 |
|
---|
1506 |
|
---|
1507 | bool KdTree::ExportBinTree(const string &filename)
|
---|
1508 | {
|
---|
1509 | OUT_STREAM stream(filename.c_str(), OUT_BIN_MODE);
|
---|
1510 |
|
---|
1511 | if (!stream.is_open()) return false;
|
---|
1512 |
|
---|
1513 | // export binary version of mesh
|
---|
1514 | queue<KdNode *> tStack;
|
---|
1515 | tStack.push(mRoot);
|
---|
1516 |
|
---|
1517 | while(!tStack.empty())
|
---|
1518 | {
|
---|
1519 | KdNode *node = tStack.front();
|
---|
1520 | tStack.pop();
|
---|
1521 |
|
---|
1522 | if (node->IsLeaf())
|
---|
1523 | {
|
---|
1524 | //Debug << "l";
|
---|
1525 | ExportBinLeaf(stream, static_cast<KdLeaf *>(node));
|
---|
1526 | }
|
---|
1527 | else
|
---|
1528 | {
|
---|
1529 | //Debug << "i";
|
---|
1530 | KdInterior *interior = static_cast<KdInterior *>(node);
|
---|
1531 |
|
---|
1532 | ExportBinInterior(stream, interior);
|
---|
1533 |
|
---|
1534 | tStack.push(interior->mFront);
|
---|
1535 | tStack.push(interior->mBack);
|
---|
1536 | }
|
---|
1537 | }
|
---|
1538 |
|
---|
1539 | return true;
|
---|
1540 | }
|
---|
1541 |
|
---|
1542 |
|
---|
1543 | KdNode *KdTree::ImportNextNode(IN_STREAM &stream,
|
---|
1544 | KdInterior *parent,
|
---|
1545 | const ObjectContainer &objects)
|
---|
1546 | {
|
---|
1547 | int nodeType;
|
---|
1548 | stream.read(reinterpret_cast<char *>(&nodeType), sizeof(int));
|
---|
1549 |
|
---|
1550 | if (nodeType == TYPE_LEAF)
|
---|
1551 | return ImportBinLeaf(stream, static_cast<KdInterior *>(parent), objects);
|
---|
1552 |
|
---|
1553 | if (nodeType == TYPE_INTERIOR)
|
---|
1554 | return ImportBinInterior(stream, static_cast<KdInterior *>(parent));
|
---|
1555 |
|
---|
1556 | Debug << "error! loading failed!" << endl;
|
---|
1557 | return NULL;
|
---|
1558 | }
|
---|
1559 |
|
---|
1560 |
|
---|
1561 | bool KdTree::ImportBinTree(const string &filename, ObjectContainer &objects)
|
---|
1562 | {
|
---|
1563 | // export binary version of mesh
|
---|
1564 | queue<TraversalData> tStack;
|
---|
1565 | IN_STREAM stream(filename.c_str(), IN_BIN_MODE);
|
---|
1566 |
|
---|
1567 | if (!stream.is_open()) return false;
|
---|
1568 |
|
---|
1569 | // sort objects by their id
|
---|
1570 | // if (!is_sorted(objects.begin(), objects.end(), ilt))
|
---|
1571 | sort(objects.begin(), objects.end(), ilt);
|
---|
1572 |
|
---|
1573 | mBox.Initialize();
|
---|
1574 | ObjectContainer::const_iterator oit, oit_end = objects.end();
|
---|
1575 |
|
---|
1576 | ///////////////////////////
|
---|
1577 | //-- compute bounding box of object space
|
---|
1578 |
|
---|
1579 | for (oit = objects.begin(); oit != oit_end; ++ oit)
|
---|
1580 | {
|
---|
1581 | const AxisAlignedBox3 box = (*oit)->GetBox();
|
---|
1582 | mBox.Include(box);
|
---|
1583 | }
|
---|
1584 |
|
---|
1585 | // hack: we make a new root
|
---|
1586 | DEL_PTR(mRoot);
|
---|
1587 |
|
---|
1588 | mRoot = ImportNextNode(stream, NULL, objects);
|
---|
1589 |
|
---|
1590 | tStack.push(TraversalData(mRoot, mBox, 0));
|
---|
1591 | mStat.Reset();
|
---|
1592 | mStat.nodes = 1;
|
---|
1593 |
|
---|
1594 | while(!tStack.empty())
|
---|
1595 | {
|
---|
1596 | TraversalData tData = tStack.front();
|
---|
1597 | tStack.pop();
|
---|
1598 |
|
---|
1599 | KdNode *node = tData.mNode;
|
---|
1600 |
|
---|
1601 | if (!node->IsLeaf())
|
---|
1602 | {
|
---|
1603 | mStat.nodes += 2;
|
---|
1604 |
|
---|
1605 | //Debug << "i" ;
|
---|
1606 | KdInterior *interior = static_cast<KdInterior *>(node);
|
---|
1607 | interior->mBox = tData.mBox;
|
---|
1608 |
|
---|
1609 | KdNode *front = ImportNextNode(stream, interior, objects);
|
---|
1610 | KdNode *back = ImportNextNode(stream, interior, objects);
|
---|
1611 |
|
---|
1612 | interior->SetupChildLinks(back, front);
|
---|
1613 |
|
---|
1614 | ++ mStat.splits[interior->mAxis];
|
---|
1615 |
|
---|
1616 | // compute new bounding box
|
---|
1617 | AxisAlignedBox3 frontBox, backBox;
|
---|
1618 |
|
---|
1619 | tData.mBox.Split(interior->mAxis,
|
---|
1620 | interior->mPosition,
|
---|
1621 | frontBox,
|
---|
1622 | backBox);
|
---|
1623 |
|
---|
1624 | tStack.push(TraversalData(front, frontBox, tData.mDepth + 1));
|
---|
1625 | tStack.push(TraversalData(back, backBox, tData.mDepth + 1));
|
---|
1626 | }
|
---|
1627 | else
|
---|
1628 | {
|
---|
1629 | EvaluateLeafStats(tData);
|
---|
1630 | //cout << "l";
|
---|
1631 | }
|
---|
1632 | }
|
---|
1633 |
|
---|
1634 | float area = GetBox().SurfaceArea()*mKdPvsArea;
|
---|
1635 |
|
---|
1636 | SetPvsTerminationNodes(area);
|
---|
1637 |
|
---|
1638 | Debug << mStat << endl;
|
---|
1639 |
|
---|
1640 | return true;
|
---|
1641 | }
|
---|
1642 |
|
---|
1643 |
|
---|
1644 | KdIntersectable *
|
---|
1645 | KdTree::GetOrCreateKdIntersectable(KdNode *node)
|
---|
1646 | {
|
---|
1647 | if (node == NULL)
|
---|
1648 | return NULL;
|
---|
1649 |
|
---|
1650 | if (node->mIntersectable == NULL)
|
---|
1651 | {
|
---|
1652 | // not in map => create new entry
|
---|
1653 | const int id = (int)mKdIntersectables.size();
|
---|
1654 | KdIntersectable *kdObj = new KdIntersectable(node, GetBox(node));
|
---|
1655 | node->mIntersectable = kdObj;
|
---|
1656 |
|
---|
1657 | mKdIntersectables.push_back(kdObj);
|
---|
1658 | kdObj->SetId(id);
|
---|
1659 | #ifdef USE_BIT_PVS
|
---|
1660 | // hack: for kd pvs the kd intersecables are the pvs objects
|
---|
1661 | ObjectPvsIterator::sObjects.push_back(kdObj);
|
---|
1662 | #endif
|
---|
1663 | }
|
---|
1664 |
|
---|
1665 | return node->mIntersectable;
|
---|
1666 | }
|
---|
1667 |
|
---|
1668 |
|
---|
1669 | void
|
---|
1670 | KdTree::SetPvsTerminationNodes(const float maxArea)
|
---|
1671 | {
|
---|
1672 | stack<KdNode *> nodeStack;
|
---|
1673 |
|
---|
1674 | nodeStack.push(mRoot);
|
---|
1675 |
|
---|
1676 | float area = 0.0f;
|
---|
1677 | float radius = 0.0f;
|
---|
1678 | int nodes = 0;
|
---|
1679 |
|
---|
1680 | while (!nodeStack.empty()) {
|
---|
1681 | KdNode *node = nodeStack.top();
|
---|
1682 | nodeStack.pop();
|
---|
1683 |
|
---|
1684 | node->mPvsTermination = 0;
|
---|
1685 | if (node->IsLeaf() || (GetSurfaceArea(node) <= maxArea) ) {
|
---|
1686 | area += GetSurfaceArea(node);
|
---|
1687 | radius += GetBox(node).Radius();
|
---|
1688 | nodes++;
|
---|
1689 | node->mPvsTermination = 1;
|
---|
1690 | // create dummy kd intersectable
|
---|
1691 | Intersectable *object = GetOrCreateKdIntersectable(node);
|
---|
1692 | } else {
|
---|
1693 | KdInterior *interior = (KdInterior *)node;
|
---|
1694 | nodeStack.push(interior->mFront);
|
---|
1695 | nodeStack.push(interior->mBack);
|
---|
1696 | }
|
---|
1697 | }
|
---|
1698 |
|
---|
1699 | if (nodes) {
|
---|
1700 | area /= nodes;
|
---|
1701 | radius /= nodes;
|
---|
1702 | cout<<"Number of nodes for storing in the PVS = "<<nodes<<endl;
|
---|
1703 | cout<<"Average rel. node area = "<<area/GetSurfaceArea(mRoot)<<endl;
|
---|
1704 | cout<<"Average rel. node radius = "<<radius/GetBox(mRoot).Radius()<<endl;
|
---|
1705 | cout<<"Avg node radius = "<<radius<<endl;
|
---|
1706 | }
|
---|
1707 |
|
---|
1708 | }
|
---|
1709 |
|
---|
1710 |
|
---|
1711 | /*KdNode *
|
---|
1712 | KdTree::GetPvsNode(const Triangle3 &tri) const
|
---|
1713 | {
|
---|
1714 | KdNode *node = mRoot;
|
---|
1715 |
|
---|
1716 | while (node->mPvsTermination == 0 )
|
---|
1717 | {
|
---|
1718 | KdInterior *inter = (KdInterior *)node;
|
---|
1719 | if (point[inter->mAxis] < inter->mPosition)
|
---|
1720 | node = inter->mBack;
|
---|
1721 | else
|
---|
1722 | node = inter->mFront;
|
---|
1723 | }
|
---|
1724 |
|
---|
1725 | return node;
|
---|
1726 | }*/
|
---|
1727 |
|
---|
1728 |
|
---|
1729 |
|
---|
1730 | KdNode *
|
---|
1731 | KdTree::GetPvsNode(const Vector3 &point) const
|
---|
1732 | {
|
---|
1733 | KdNode *node = mRoot;
|
---|
1734 |
|
---|
1735 | while (node->mPvsTermination == 0 ) {
|
---|
1736 | KdInterior *inter = (KdInterior *)node;
|
---|
1737 | if (point[inter->mAxis] < inter->mPosition)
|
---|
1738 | node = inter->mBack;
|
---|
1739 | else
|
---|
1740 | node = inter->mFront;
|
---|
1741 | }
|
---|
1742 |
|
---|
1743 | return node;
|
---|
1744 | }
|
---|
1745 |
|
---|
1746 | KdNode *
|
---|
1747 | KdTree::GetNode(const Vector3 &point,
|
---|
1748 | const float maxArea) const
|
---|
1749 | {
|
---|
1750 | KdNode *node = mRoot;
|
---|
1751 |
|
---|
1752 | while (!node->IsLeaf() && (GetSurfaceArea(node) > maxArea) ) {
|
---|
1753 | KdInterior *inter = (KdInterior *)node;
|
---|
1754 | if (point[inter->mAxis] < inter->mPosition)
|
---|
1755 | node = inter->mBack;
|
---|
1756 | else
|
---|
1757 | node = inter->mFront;
|
---|
1758 | }
|
---|
1759 |
|
---|
1760 | return node;
|
---|
1761 | }
|
---|
1762 |
|
---|
1763 |
|
---|
1764 | void KdTree::GetBoxIntersections(const AxisAlignedBox3 &box,
|
---|
1765 | vector<KdLeaf *> &leaves)
|
---|
1766 | {
|
---|
1767 | stack<KdNode *> tStack;
|
---|
1768 |
|
---|
1769 | tStack.push(mRoot);
|
---|
1770 |
|
---|
1771 | while (!tStack.empty())
|
---|
1772 | {
|
---|
1773 | KdNode *node = tStack.top();
|
---|
1774 | tStack.pop();
|
---|
1775 |
|
---|
1776 | if (node->IsLeaf())
|
---|
1777 | {
|
---|
1778 | leaves.push_back(static_cast<KdLeaf *>(node));
|
---|
1779 | }
|
---|
1780 | else // interior
|
---|
1781 | {
|
---|
1782 | KdInterior *interior = static_cast<KdInterior *>(node);
|
---|
1783 |
|
---|
1784 | if (box.Max(interior->mAxis) >= interior->mPosition)
|
---|
1785 | {
|
---|
1786 | tStack.push(interior->mFront);
|
---|
1787 | }
|
---|
1788 |
|
---|
1789 | if (box.Min(interior->mAxis) < interior->mPosition)
|
---|
1790 | {
|
---|
1791 | tStack.push(interior->mBack);
|
---|
1792 | }
|
---|
1793 | }
|
---|
1794 | }
|
---|
1795 | }
|
---|
1796 |
|
---|
1797 |
|
---|
1798 |
|
---|
1799 | }
|
---|