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