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