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 |
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10 |
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11 |
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12 | namespace GtpVisibilityPreprocessor {
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13 |
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14 | int KdNode::mailID = 1;
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15 |
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16 | KdNode::KdNode(KdInterior *parent):mParent(parent), mailbox(0)
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17 | {
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18 | if (parent)
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19 | mDepth = parent->mDepth+1;
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20 | else
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21 | mDepth = 0;
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22 | }
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23 |
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24 | KdTree::KdTree()
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25 | {
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26 | mRoot = new KdLeaf(NULL, 0);
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27 | environment->GetIntValue("KdTree.Termination.maxNodes", mTermMaxNodes);
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28 | environment->GetIntValue("KdTree.Termination.maxDepth", mTermMaxDepth);
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29 | environment->GetIntValue("KdTree.Termination.minCost", mTermMinCost);
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30 | environment->GetFloatValue("KdTree.Termination.maxCostRatio", mMaxCostRatio);
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31 | environment->GetFloatValue("KdTree.Termination.ct_div_ci", mCt_div_ci);
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32 | environment->GetFloatValue("KdTree.splitBorder", mSplitBorder);
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33 |
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34 | environment->GetBoolValue("KdTree.sahUseFaces", mSahUseFaces);
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35 |
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36 | char splitType[64];
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37 | environment->GetStringValue("KdTree.splitMethod", splitType);
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38 |
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39 | mSplitMethod = SPLIT_SPATIAL_MEDIAN;
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40 | if (strcmp(splitType, "spatialMedian") == 0)
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41 | mSplitMethod = SPLIT_SPATIAL_MEDIAN;
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42 | else
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43 | if (strcmp(splitType, "objectMedian") == 0)
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44 | mSplitMethod = SPLIT_OBJECT_MEDIAN;
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45 | else
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46 | if (strcmp(splitType, "SAH") == 0)
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47 | mSplitMethod = SPLIT_SAH;
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48 | else {
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49 | cerr<<"Wrong kd split type "<<splitType<<endl;
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50 | exit(1);
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51 | }
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52 | splitCandidates = NULL;
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53 | }
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54 |
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55 | bool
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56 | KdTree::Construct()
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57 | {
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58 | if (!splitCandidates)
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59 | splitCandidates = new vector<SortableEntry>;
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60 |
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61 | // first construct a leaf that will get subdivide
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62 | KdLeaf *leaf = (KdLeaf *) mRoot;
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63 |
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64 | mStat.nodes = 1;
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65 |
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66 | mBox.Initialize();
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67 | ObjectContainer::const_iterator mi;
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68 | for ( mi = leaf->mObjects.begin();
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69 | mi != leaf->mObjects.end();
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70 | mi++) {
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71 | // cout<<(*mi)->GetBox()<<endl;
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72 | mBox.Include((*mi)->GetBox());
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73 | }
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74 |
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75 | cout <<"KdTree Root Box:"<<mBox<<endl;
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76 | mRoot = Subdivide(TraversalData(leaf, mBox, 0));
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77 |
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78 | // remove the allocated array
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79 | delete splitCandidates;
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80 |
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81 | return true;
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82 | }
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83 |
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84 | KdNode *
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85 | KdTree::Subdivide(const TraversalData &tdata)
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86 | {
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87 |
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88 | KdNode *result = NULL;
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89 |
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90 | priority_queue<TraversalData> tStack;
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91 | // stack<STraversalData> tStack;
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92 |
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93 | tStack.push(tdata);
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94 | AxisAlignedBox3 backBox, frontBox;
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95 |
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96 | while (!tStack.empty()) {
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97 | // cout<<mStat.Nodes()<<" "<<mTermMaxNodes<<endl;
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98 | if (mStat.Nodes() > mTermMaxNodes) {
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99 | // if ( GetMemUsage() > maxMemory ) {
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100 | // count statistics on unprocessed leafs
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101 | while (!tStack.empty()) {
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102 | EvaluateLeafStats(tStack.top());
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103 | tStack.pop();
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104 | }
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105 | break;
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106 | }
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107 |
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108 |
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109 | TraversalData data = tStack.top();
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110 | tStack.pop();
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111 |
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112 | KdNode *node = SubdivideNode((KdLeaf *) data.mNode,
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113 | data.mBox,
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114 | backBox,
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115 | frontBox
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116 | );
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117 |
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118 | if (result == NULL)
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119 | result = node;
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120 |
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121 | if (!node->IsLeaf()) {
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122 |
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123 | KdInterior *interior = (KdInterior *) node;
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124 | // push the children on the stack
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125 | tStack.push(TraversalData(interior->mBack, backBox, data.mDepth+1));
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126 | tStack.push(TraversalData(interior->mFront, frontBox, data.mDepth+1));
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127 |
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128 | } else {
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129 | EvaluateLeafStats(data);
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130 | }
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131 | }
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132 |
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133 | return result;
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134 |
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135 | }
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136 |
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137 |
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138 |
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139 | bool
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140 | KdTree::TerminationCriteriaMet(const KdLeaf *leaf)
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141 | {
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142 | // cerr<<"\n OBJECTS="<<leaf->mObjects.size()<<endl;
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143 | return
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144 | (leaf->mObjects.size() <= mTermMinCost) ||
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145 | (leaf->mDepth >= mTermMaxDepth);
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146 |
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147 | }
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148 |
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149 |
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150 | int
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151 | KdTree::SelectPlane(KdLeaf *leaf,
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152 | const AxisAlignedBox3 &box,
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153 | float &position
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154 | )
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155 | {
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156 | int axis = -1;
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157 |
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158 | switch (mSplitMethod)
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159 | {
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160 | case SPLIT_SPATIAL_MEDIAN: {
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161 | axis = box.Size().DrivingAxis();
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162 | position = (box.Min()[axis] + box.Max()[axis])*0.5f;
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163 | break;
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164 | }
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165 | case SPLIT_SAH: {
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166 | int objectsBack, objectsFront;
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167 | float costRatio;
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168 | bool mOnlyDrivingAxis = false;
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169 | if (mOnlyDrivingAxis) {
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170 | axis = box.Size().DrivingAxis();
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171 | costRatio = BestCostRatio(leaf,
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172 | box,
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173 | axis,
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174 | position,
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175 | objectsBack,
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176 | objectsFront);
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177 | } else {
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178 | costRatio = MAX_FLOAT;
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179 | for (int i=0; i < 3; i++) {
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180 | float p;
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181 | float r = BestCostRatio(leaf,
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182 | box,
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183 | i,
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184 | p,
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185 | objectsBack,
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186 | objectsFront);
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187 | if (r < costRatio) {
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188 | costRatio = r;
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189 | axis = i;
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190 | position = p;
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191 | }
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192 | }
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193 | }
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194 |
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195 | if (costRatio > mMaxCostRatio) {
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196 | //cout<<"Too big cost ratio "<<costRatio<<endl;
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197 | axis = -1;
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198 | }
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199 | break;
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200 | }
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201 |
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202 | }
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203 | return axis;
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204 | }
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205 |
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206 | KdNode *
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207 | KdTree::SubdivideNode(
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208 | KdLeaf *leaf,
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209 | const AxisAlignedBox3 &box,
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210 | AxisAlignedBox3 &backBBox,
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211 | AxisAlignedBox3 &frontBBox
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212 | )
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213 | {
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214 |
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215 | if (TerminationCriteriaMet(leaf))
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216 | return leaf;
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217 |
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218 | float position;
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219 |
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220 | // select subdivision axis
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221 | int axis = SelectPlane( leaf, box, position );
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222 |
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223 | if (axis == -1) {
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224 | return leaf;
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225 | }
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226 |
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227 | mStat.nodes+=2;
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228 | mStat.splits[axis]++;
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229 |
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230 | // add the new nodes to the tree
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231 | KdInterior *node = new KdInterior(leaf->mParent);
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232 |
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233 | node->mAxis = axis;
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234 | node->mPosition = position;
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235 | node->mBox = box;
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236 |
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237 | backBBox = box;
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238 | frontBBox = box;
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239 |
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240 | // first count ray sides
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241 | int objectsBack = 0;
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242 | int objectsFront = 0;
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243 |
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244 | backBBox.SetMax(axis, position);
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245 | frontBBox.SetMin(axis, position);
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246 |
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247 | ObjectContainer::const_iterator mi;
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248 |
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249 | for ( mi = leaf->mObjects.begin();
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250 | mi != leaf->mObjects.end();
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251 | mi++) {
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252 | // determine the side of this ray with respect to the plane
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253 | AxisAlignedBox3 box = (*mi)->GetBox();
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254 | if (box.Max(axis) > position )
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255 | objectsFront++;
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256 |
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257 | if (box.Min(axis) < position )
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258 | objectsBack++;
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259 | }
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260 |
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261 |
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262 | KdLeaf *back = new KdLeaf(node, objectsBack);
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263 | KdLeaf *front = new KdLeaf(node, objectsFront);
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264 |
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265 | // replace a link from node's parent
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266 | if ( leaf->mParent )
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267 | leaf->mParent->ReplaceChildLink(leaf, node);
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268 |
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269 | // and setup child links
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270 | node->SetupChildLinks(back, front);
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271 |
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272 | for (mi = leaf->mObjects.begin();
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273 | mi != leaf->mObjects.end();
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274 | mi++) {
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275 | // determine the side of this ray with respect to the plane
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276 | AxisAlignedBox3 box = (*mi)->GetBox();
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277 |
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278 | if (box.Max(axis) >= position )
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279 | front->mObjects.push_back(*mi);
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280 |
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281 | if (box.Min(axis) < position )
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282 | back->mObjects.push_back(*mi);
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283 |
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284 | mStat.objectRefs -= (int)leaf->mObjects.size();
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285 | mStat.objectRefs += objectsBack + objectsFront;
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286 | }
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287 |
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288 | delete leaf;
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289 | return node;
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290 | }
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291 |
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292 |
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293 |
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294 | void
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295 | KdTreeStatistics::Print(ostream &app) const
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296 | {
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297 | app << "===== KdTree statistics ===============\n";
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298 |
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299 | app << "#N_NODES ( Number of nodes )\n" << nodes << "\n";
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300 |
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301 | app << "#N_LEAVES ( Number of leaves )\n" << Leaves() << "\n";
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302 |
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303 | app << "#N_SPLITS ( Number of splits in axes x y z dx dy dz)\n";
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304 | for (int i=0; i<7; i++)
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305 | app << splits[i] <<" ";
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306 | app <<endl;
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307 |
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308 | app << "#N_RAYREFS ( Number of rayRefs )\n" <<
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309 | rayRefs << "\n";
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310 |
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311 | app << "#N_RAYRAYREFS ( Number of rayRefs / ray )\n" <<
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312 | rayRefs/(double)rays << "\n";
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313 |
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314 | app << "#N_LEAFRAYREFS ( Number of rayRefs / leaf )\n" <<
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315 | rayRefs/(double)Leaves() << "\n";
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316 |
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317 | app << "#N_MAXOBJECTREFS ( Max number of rayRefs / leaf )\n" <<
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318 | maxObjectRefs << "\n";
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319 |
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320 | app << "#N_NONEMPTYRAYREFS ( Number of rayRefs in nonEmpty leaves / non empty leaf )\n" <<
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321 | rayRefsNonZeroQuery/(double)(Leaves() - zeroQueryNodes) << "\n";
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322 |
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323 | app << "#N_LEAFDOMAINREFS ( Number of query domain Refs / leaf )\n" <<
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324 | objectRefs/(double)Leaves() << "\n";
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325 |
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326 | // app << setprecision(4);
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327 |
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328 | app << "#N_PEMPTYLEAVES ( Percentage of leaves with zero query domains )\n"<<
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329 | zeroQueryNodes*100/(double)Leaves()<<endl;
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330 |
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331 | app << "#N_PMAXDEPTHLEAVES ( Percentage of leaves at maxdepth )\n"<<
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332 | maxDepthNodes*100/(double)Leaves()<<endl;
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333 |
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334 | app << "#N_PMINCOSTLEAVES ( Percentage of leaves with minCost )\n"<<
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335 | minCostNodes*100/(double)Leaves()<<endl;
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336 |
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337 | app << "#N_ADDED_RAYREFS (Number of dynamically added ray references )\n"<<
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338 | addedRayRefs<<endl;
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339 |
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340 | app << "#N_REMOVED_RAYREFS (Number of dynamically removed ray references )\n"<<
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341 | removedRayRefs<<endl;
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342 |
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343 | // app << setprecision(4);
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344 |
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345 | // app << "#N_CTIME ( Construction time [s] )\n"
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346 | // << Time() << " \n";
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347 |
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348 | app << "===== END OF KdTree statistics ==========\n";
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349 |
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350 | }
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351 |
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352 |
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353 |
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354 | void
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355 | KdTree::EvaluateLeafStats(const TraversalData &data)
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356 | {
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357 |
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358 | // the node became a leaf -> evaluate stats for leafs
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359 | KdLeaf *leaf = (KdLeaf *)data.mNode;
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360 |
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361 | if (data.mDepth > mTermMaxDepth)
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362 | mStat.maxDepthNodes++;
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363 |
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364 | if ( (int)(leaf->mObjects.size()) < mTermMinCost)
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365 | mStat.minCostNodes++;
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366 |
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367 |
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368 | if ( (int)(leaf->mObjects.size()) > mStat.maxObjectRefs)
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369 | mStat.maxObjectRefs = (int)leaf->mObjects.size();
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370 |
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371 | }
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372 |
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373 |
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374 |
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375 | void
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376 | KdTree::SortSplitCandidates(
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377 | KdLeaf *node,
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378 | const int axis
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379 | )
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380 | {
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381 | splitCandidates->clear();
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382 |
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383 | int requestedSize = 2*(int)node->mObjects.size();
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384 | // creates a sorted split candidates array
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385 | if (splitCandidates->capacity() > 500000 &&
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386 | requestedSize < (int)(splitCandidates->capacity()/10) ) {
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387 | delete splitCandidates;
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388 | splitCandidates = new vector<SortableEntry>;
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389 | }
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390 |
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391 | splitCandidates->reserve(requestedSize);
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392 |
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393 | // insert all queries
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394 | for(ObjectContainer::const_iterator mi = node->mObjects.begin();
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395 | mi != node->mObjects.end();
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396 | mi++) {
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397 | AxisAlignedBox3 box = (*mi)->GetBox();
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398 |
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399 | splitCandidates->push_back(SortableEntry(SortableEntry::BOX_MIN,
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400 | box.Min(axis),
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401 | *mi)
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402 | );
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403 |
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404 |
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405 | splitCandidates->push_back(SortableEntry(SortableEntry::BOX_MAX,
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406 | box.Max(axis),
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407 | *mi)
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408 | );
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409 | }
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410 |
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411 | stable_sort(splitCandidates->begin(), splitCandidates->end());
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412 | }
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413 |
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414 |
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415 | float
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416 | KdTree::BestCostRatio(
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417 | KdLeaf *node,
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418 | const AxisAlignedBox3 &box,
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419 | const int axis,
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420 | float &position,
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421 | int &objectsBack,
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422 | int &objectsFront
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423 | )
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424 | {
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425 |
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426 | SortSplitCandidates(node, axis);
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427 |
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428 | // go through the lists, count the number of objects left and right
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429 | // and evaluate the following cost funcion:
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430 | // C = ct_div_ci + (ol + or)/queries
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431 |
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432 | float totalIntersections = 0.0f;
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433 | vector<SortableEntry>::const_iterator ci;
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434 |
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435 | for(ci = splitCandidates->begin();
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436 | ci < splitCandidates->end();
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437 | ci++)
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438 | if ((*ci).type == SortableEntry::BOX_MIN) {
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439 | totalIntersections += (*ci).intersectable->IntersectionComplexity();
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440 | }
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441 |
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442 | float intersectionsLeft = 0;
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443 | float intersectionsRight = totalIntersections;
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444 |
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445 | int objectsLeft = 0, objectsRight = (int)node->mObjects.size();
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446 |
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447 | float minBox = box.Min(axis);
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448 | float maxBox = box.Max(axis);
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449 | float boxArea = box.SurfaceArea();
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450 |
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451 | float minBand = minBox + mSplitBorder*(maxBox - minBox);
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452 | float maxBand = minBox + (1.0f - mSplitBorder)*(maxBox - minBox);
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453 |
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454 | float minSum = 1e20f;
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455 |
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456 | for(ci = splitCandidates->begin();
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457 | ci < splitCandidates->end();
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458 | ci++) {
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459 | switch ((*ci).type) {
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460 | case SortableEntry::BOX_MIN:
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461 | objectsLeft++;
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462 | intersectionsLeft += (*ci).intersectable->IntersectionComplexity();
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463 | break;
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464 | case SortableEntry::BOX_MAX:
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465 | objectsRight--;
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466 | intersectionsRight -= (*ci).intersectable->IntersectionComplexity();
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467 | break;
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468 | }
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469 |
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470 | if ((*ci).value > minBand && (*ci).value < maxBand) {
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471 | AxisAlignedBox3 lbox = box;
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472 | AxisAlignedBox3 rbox = box;
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473 | lbox.SetMax(axis, (*ci).value);
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474 | rbox.SetMin(axis, (*ci).value);
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475 |
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476 | float sum;
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477 | if (mSahUseFaces)
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478 | sum = intersectionsLeft*lbox.SurfaceArea() + intersectionsRight*rbox.SurfaceArea();
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479 | else
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480 | sum = objectsLeft*lbox.SurfaceArea() + objectsRight*rbox.SurfaceArea();
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481 |
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482 | // cout<<"pos="<<(*ci).value<<"\t q=("<<ql<<","<<qr<<")\t r=("<<rl<<","<<rr<<")"<<endl;
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483 | // cout<<"cost= "<<sum<<endl;
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484 |
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485 | if (sum < minSum) {
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486 | minSum = sum;
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487 | position = (*ci).value;
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488 |
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489 | objectsBack = objectsLeft;
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490 | objectsFront = objectsRight;
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491 | }
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492 | }
|
---|
493 | }
|
---|
494 |
|
---|
495 | float oldCost = mSahUseFaces ? totalIntersections : node->mObjects.size();
|
---|
496 | float newCost = mCt_div_ci + minSum/boxArea;
|
---|
497 | float ratio = newCost/oldCost;
|
---|
498 |
|
---|
499 | #if 0
|
---|
500 | cout<<"===================="<<endl;
|
---|
501 | cout<<"costRatio="<<ratio<<" pos="<<position<<" t="<<(position - minBox)/(maxBox - minBox)
|
---|
502 | <<"\t o=("<<objectsBack<<","<<objectsFront<<")"<<endl;
|
---|
503 | #endif
|
---|
504 | return ratio;
|
---|
505 | }
|
---|
506 |
|
---|
507 | int
|
---|
508 | KdTree::CastRay(
|
---|
509 | Ray &ray
|
---|
510 | )
|
---|
511 | {
|
---|
512 | int hits = 0;
|
---|
513 |
|
---|
514 | stack<RayTraversalData> tStack;
|
---|
515 |
|
---|
516 | float maxt = 1e6;
|
---|
517 | float mint = 0;
|
---|
518 |
|
---|
519 | Intersectable::NewMail();
|
---|
520 |
|
---|
521 | if (!mBox.GetMinMaxT(ray, &mint, &maxt))
|
---|
522 | return 0;
|
---|
523 |
|
---|
524 | if (mint < 0)
|
---|
525 | mint = 0;
|
---|
526 |
|
---|
527 | maxt += Limits::Threshold;
|
---|
528 |
|
---|
529 | Vector3 entp = ray.Extrap(mint);
|
---|
530 | Vector3 extp = ray.Extrap(maxt);
|
---|
531 |
|
---|
532 | KdNode *node = mRoot;
|
---|
533 | KdNode *farChild;
|
---|
534 | float position;
|
---|
535 | int axis;
|
---|
536 |
|
---|
537 |
|
---|
538 | while (1) {
|
---|
539 | if (!node->IsLeaf()) {
|
---|
540 | KdInterior *in = (KdInterior *) node;
|
---|
541 | position = in->mPosition;
|
---|
542 | axis = in->mAxis;
|
---|
543 |
|
---|
544 | if (entp[axis] <= position) {
|
---|
545 | if (extp[axis] <= position) {
|
---|
546 | node = in->mBack;
|
---|
547 | // cases N1,N2,N3,P5,Z2,Z3
|
---|
548 | continue;
|
---|
549 | } else {
|
---|
550 | // case N4
|
---|
551 | node = in->mBack;
|
---|
552 | farChild = in->mFront;
|
---|
553 | }
|
---|
554 | }
|
---|
555 | else {
|
---|
556 | if (position <= extp[axis]) {
|
---|
557 | node = in->mFront;
|
---|
558 | // cases P1,P2,P3,N5,Z1
|
---|
559 | continue;
|
---|
560 | } else {
|
---|
561 | node = in->mFront;
|
---|
562 | farChild = in->mBack;
|
---|
563 | // case P4
|
---|
564 | }
|
---|
565 | }
|
---|
566 | // $$ modification 3.5.2004 - hints from Kamil Ghais
|
---|
567 | // case N4 or P4
|
---|
568 | float tdist = (position - ray.GetLoc(axis)) / ray.GetDir(axis);
|
---|
569 | tStack.push(RayTraversalData(farChild, extp, maxt));
|
---|
570 | extp = ray.GetLoc() + ray.GetDir()*tdist;
|
---|
571 | maxt = tdist;
|
---|
572 | } else {
|
---|
573 | // compute intersection with all objects in this leaf
|
---|
574 | KdLeaf *leaf = (KdLeaf *) node;
|
---|
575 | if (ray.mFlags & Ray::STORE_KDLEAVES)
|
---|
576 | ray.kdLeaves.push_back(leaf);
|
---|
577 |
|
---|
578 | ObjectContainer::const_iterator mi;
|
---|
579 | for ( mi = leaf->mObjects.begin();
|
---|
580 | mi != leaf->mObjects.end();
|
---|
581 | mi++) {
|
---|
582 | Intersectable *object = *mi;
|
---|
583 | if (!object->Mailed() ) {
|
---|
584 | object->Mail();
|
---|
585 | if (ray.mFlags & Ray::STORE_TESTED_OBJECTS)
|
---|
586 | ray.testedObjects.push_back(object);
|
---|
587 | hits += object->CastRay(ray);
|
---|
588 | }
|
---|
589 | }
|
---|
590 |
|
---|
591 | if (hits && ray.GetType() == Ray::LOCAL_RAY)
|
---|
592 | if (ray.intersections[0].mT <= maxt)
|
---|
593 | break;
|
---|
594 |
|
---|
595 | // get the next node from the stack
|
---|
596 | if (tStack.empty())
|
---|
597 | break;
|
---|
598 |
|
---|
599 | entp = extp;
|
---|
600 | mint = maxt;
|
---|
601 | if (ray.GetType() == Ray::LINE_SEGMENT && mint > 1.0f)
|
---|
602 | break;
|
---|
603 |
|
---|
604 | RayTraversalData &s = tStack.top();
|
---|
605 | node = s.mNode;
|
---|
606 | extp = s.mExitPoint;
|
---|
607 | maxt = s.mMaxT;
|
---|
608 | tStack.pop();
|
---|
609 | }
|
---|
610 | }
|
---|
611 | return hits;
|
---|
612 | }
|
---|
613 |
|
---|
614 | int KdTree::CastLineSegment(const Vector3 &origin,
|
---|
615 | const Vector3 &termination,
|
---|
616 | vector<ViewCell *> &viewcells)
|
---|
617 | {
|
---|
618 | int hits = 0;
|
---|
619 |
|
---|
620 | float mint = 0.0f, maxt = 1.0f;
|
---|
621 | const Vector3 dir = termination - origin;
|
---|
622 |
|
---|
623 | stack<RayTraversalData> tStack;
|
---|
624 |
|
---|
625 | Intersectable::NewMail();
|
---|
626 |
|
---|
627 | //maxt += Limits::Threshold;
|
---|
628 |
|
---|
629 | Vector3 entp = origin;
|
---|
630 | Vector3 extp = termination;
|
---|
631 |
|
---|
632 | KdNode *node = mRoot;
|
---|
633 | KdNode *farChild;
|
---|
634 |
|
---|
635 | float position;
|
---|
636 | int axis;
|
---|
637 |
|
---|
638 | while (1)
|
---|
639 | {
|
---|
640 | if (!node->IsLeaf())
|
---|
641 | {
|
---|
642 | KdInterior *in = dynamic_cast<KdInterior *>(node);
|
---|
643 | position = in->mPosition;
|
---|
644 | axis = in->mAxis;
|
---|
645 |
|
---|
646 | if (entp[axis] <= position)
|
---|
647 | {
|
---|
648 | if (extp[axis] <= position)
|
---|
649 | {
|
---|
650 | node = in->mBack;
|
---|
651 | // cases N1,N2,N3,P5,Z2,Z3
|
---|
652 | continue;
|
---|
653 | }
|
---|
654 | else
|
---|
655 | {
|
---|
656 | // case N4
|
---|
657 | node = in->mBack;
|
---|
658 | farChild = in->mFront;
|
---|
659 | }
|
---|
660 | }
|
---|
661 | else
|
---|
662 | {
|
---|
663 | if (position <= extp[axis])
|
---|
664 | {
|
---|
665 | node = in->mFront;
|
---|
666 | // cases P1,P2,P3,N5,Z1
|
---|
667 | continue;
|
---|
668 | }
|
---|
669 | else
|
---|
670 | {
|
---|
671 | node = in->mFront;
|
---|
672 | farChild = in->mBack;
|
---|
673 | // case P4
|
---|
674 | }
|
---|
675 | }
|
---|
676 |
|
---|
677 | // $$ modification 3.5.2004 - hints from Kamil Ghais
|
---|
678 | // case N4 or P4
|
---|
679 | float tdist = (position - origin[axis]) / dir[axis];
|
---|
680 | //tStack.push(RayTraversalData(farChild, extp, maxt)); //TODO
|
---|
681 | extp = origin + dir * tdist;
|
---|
682 | maxt = tdist;
|
---|
683 | }
|
---|
684 | else
|
---|
685 | {
|
---|
686 | // compute intersection with all objects in this leaf
|
---|
687 | KdLeaf *leaf = dynamic_cast<KdLeaf *>(node);
|
---|
688 |
|
---|
689 | // add view cell to intersections
|
---|
690 | ViewCell *vc = leaf->mViewCell;
|
---|
691 |
|
---|
692 | if (!vc->Mailed())
|
---|
693 | {
|
---|
694 | vc->Mail();
|
---|
695 | viewcells.push_back(vc);
|
---|
696 | ++ hits;
|
---|
697 | }
|
---|
698 |
|
---|
699 | // get the next node from the stack
|
---|
700 | if (tStack.empty())
|
---|
701 | break;
|
---|
702 |
|
---|
703 | entp = extp;
|
---|
704 | mint = maxt;
|
---|
705 |
|
---|
706 | RayTraversalData &s = tStack.top();
|
---|
707 | node = s.mNode;
|
---|
708 | extp = s.mExitPoint;
|
---|
709 | maxt = s.mMaxT;
|
---|
710 | tStack.pop();
|
---|
711 | }
|
---|
712 | }
|
---|
713 |
|
---|
714 | return hits;
|
---|
715 | }
|
---|
716 |
|
---|
717 |
|
---|
718 | void
|
---|
719 | KdTree::CollectObjects(const AxisAlignedBox3 &box,
|
---|
720 | ObjectContainer &objects)
|
---|
721 | {
|
---|
722 | stack<KdNode *> nodeStack;
|
---|
723 |
|
---|
724 | nodeStack.push(mRoot);
|
---|
725 |
|
---|
726 | while (!nodeStack.empty()) {
|
---|
727 | KdNode *node = nodeStack.top();
|
---|
728 | nodeStack.pop();
|
---|
729 | if (node->IsLeaf()) {
|
---|
730 | KdLeaf *leaf = (KdLeaf *)node;
|
---|
731 | for (int j=0; j < leaf->mObjects.size(); j++) {
|
---|
732 | Intersectable *object = leaf->mObjects[j];
|
---|
733 | if (!object->Mailed()) {
|
---|
734 | object->Mail();
|
---|
735 | objects.push_back(object);
|
---|
736 | }
|
---|
737 | }
|
---|
738 | } else {
|
---|
739 | KdInterior *interior = (KdInterior *)node;
|
---|
740 |
|
---|
741 | if ( box.Max()[interior->mAxis] > interior->mPosition )
|
---|
742 | nodeStack.push(interior->mFront);
|
---|
743 |
|
---|
744 | if (box.Min()[interior->mAxis] < interior->mPosition)
|
---|
745 | nodeStack.push(interior->mBack);
|
---|
746 | }
|
---|
747 | }
|
---|
748 | }
|
---|
749 |
|
---|
750 | void
|
---|
751 | KdTree::CollectObjects(KdNode *n, ObjectContainer &objects)
|
---|
752 | {
|
---|
753 | stack<KdNode *> nodeStack;
|
---|
754 |
|
---|
755 | nodeStack.push(n);
|
---|
756 |
|
---|
757 | while (!nodeStack.empty()) {
|
---|
758 | KdNode *node = nodeStack.top();
|
---|
759 | nodeStack.pop();
|
---|
760 | if (node->IsLeaf()) {
|
---|
761 | KdLeaf *leaf = (KdLeaf *)node;
|
---|
762 | for (int j=0; j < leaf->mObjects.size(); j++) {
|
---|
763 | Intersectable *object = leaf->mObjects[j];
|
---|
764 | if (!object->Mailed()) {
|
---|
765 | object->Mail();
|
---|
766 | objects.push_back(object);
|
---|
767 | }
|
---|
768 | }
|
---|
769 | } else {
|
---|
770 | KdInterior *interior = (KdInterior *)node;
|
---|
771 | nodeStack.push(interior->mFront);
|
---|
772 | nodeStack.push(interior->mBack);
|
---|
773 | }
|
---|
774 | }
|
---|
775 | }
|
---|
776 |
|
---|
777 | // Find random neighbor which was not mailed
|
---|
778 | KdNode *
|
---|
779 | KdTree::FindRandomNeighbor(KdNode *n,
|
---|
780 | bool onlyUnmailed
|
---|
781 | )
|
---|
782 | {
|
---|
783 | stack<KdNode *> nodeStack;
|
---|
784 |
|
---|
785 | nodeStack.push(mRoot);
|
---|
786 |
|
---|
787 | AxisAlignedBox3 box = GetBox(n);
|
---|
788 | int mask = rand();
|
---|
789 |
|
---|
790 | while (!nodeStack.empty()) {
|
---|
791 | KdNode *node = nodeStack.top();
|
---|
792 | nodeStack.pop();
|
---|
793 | if (node->IsLeaf()) {
|
---|
794 | if ( node != n && (!onlyUnmailed || !node->Mailed()) )
|
---|
795 | return node;
|
---|
796 | } else {
|
---|
797 | KdInterior *interior = (KdInterior *)node;
|
---|
798 | if (interior->mPosition > box.Max(interior->mAxis))
|
---|
799 | nodeStack.push(interior->mBack);
|
---|
800 | else
|
---|
801 | if (interior->mPosition < box.Min(interior->mAxis))
|
---|
802 | nodeStack.push(interior->mFront);
|
---|
803 | else {
|
---|
804 | // random decision
|
---|
805 | if (mask&1)
|
---|
806 | nodeStack.push(interior->mBack);
|
---|
807 | else
|
---|
808 | nodeStack.push(interior->mFront);
|
---|
809 | mask = mask>>1;
|
---|
810 | }
|
---|
811 | }
|
---|
812 | }
|
---|
813 |
|
---|
814 | return NULL;
|
---|
815 | }
|
---|
816 |
|
---|
817 | int
|
---|
818 | KdTree::FindNeighbors(KdNode *n,
|
---|
819 | vector<KdNode *> &neighbors,
|
---|
820 | bool onlyUnmailed
|
---|
821 | )
|
---|
822 | {
|
---|
823 | stack<KdNode *> nodeStack;
|
---|
824 |
|
---|
825 | nodeStack.push(mRoot);
|
---|
826 |
|
---|
827 | AxisAlignedBox3 box = GetBox(n);
|
---|
828 |
|
---|
829 | while (!nodeStack.empty()) {
|
---|
830 | KdNode *node = nodeStack.top();
|
---|
831 | nodeStack.pop();
|
---|
832 | if (node->IsLeaf()) {
|
---|
833 | if ( node != n && (!onlyUnmailed || !node->Mailed()) )
|
---|
834 | neighbors.push_back(node);
|
---|
835 | } else {
|
---|
836 | KdInterior *interior = (KdInterior *)node;
|
---|
837 | if (interior->mPosition > box.Max(interior->mAxis))
|
---|
838 | nodeStack.push(interior->mBack);
|
---|
839 | else
|
---|
840 | if (interior->mPosition < box.Min(interior->mAxis))
|
---|
841 | nodeStack.push(interior->mFront);
|
---|
842 | else {
|
---|
843 | // random decision
|
---|
844 | nodeStack.push(interior->mBack);
|
---|
845 | nodeStack.push(interior->mFront);
|
---|
846 | }
|
---|
847 | }
|
---|
848 | }
|
---|
849 |
|
---|
850 | return (int)neighbors.size();
|
---|
851 | }
|
---|
852 |
|
---|
853 | // Find random neighbor which was not mailed
|
---|
854 | KdNode *
|
---|
855 | KdTree::GetRandomLeaf(const Plane3 &plane)
|
---|
856 | {
|
---|
857 | stack<KdNode *> nodeStack;
|
---|
858 |
|
---|
859 | nodeStack.push(mRoot);
|
---|
860 |
|
---|
861 | int mask = rand();
|
---|
862 |
|
---|
863 | while (!nodeStack.empty()) {
|
---|
864 | KdNode *node = nodeStack.top();
|
---|
865 | nodeStack.pop();
|
---|
866 | if (node->IsLeaf()) {
|
---|
867 | return node;
|
---|
868 | } else {
|
---|
869 | KdInterior *interior = (KdInterior *)node;
|
---|
870 | KdNode *next;
|
---|
871 | if (GetBox(interior->mBack).Side(plane) < 0)
|
---|
872 | next = interior->mFront;
|
---|
873 | else
|
---|
874 | if (GetBox(interior->mFront).Side(plane) < 0)
|
---|
875 | next = interior->mBack;
|
---|
876 | else {
|
---|
877 | // random decision
|
---|
878 | if (mask&1)
|
---|
879 | next = interior->mBack;
|
---|
880 | else
|
---|
881 | next = interior->mFront;
|
---|
882 | mask = mask>>1;
|
---|
883 | }
|
---|
884 | nodeStack.push(next);
|
---|
885 | }
|
---|
886 | }
|
---|
887 |
|
---|
888 |
|
---|
889 | return NULL;
|
---|
890 | }
|
---|
891 |
|
---|
892 | void
|
---|
893 | KdTree::CollectLeaves(vector<KdLeaf *> &leaves)
|
---|
894 | {
|
---|
895 | stack<KdNode *> nodeStack;
|
---|
896 | nodeStack.push(mRoot);
|
---|
897 |
|
---|
898 | while (!nodeStack.empty()) {
|
---|
899 | KdNode *node = nodeStack.top();
|
---|
900 | nodeStack.pop();
|
---|
901 | if (node->IsLeaf()) {
|
---|
902 | KdLeaf *leaf = (KdLeaf *)node;
|
---|
903 | leaves.push_back(leaf);
|
---|
904 | } else {
|
---|
905 | KdInterior *interior = (KdInterior *)node;
|
---|
906 | nodeStack.push(interior->mBack);
|
---|
907 | nodeStack.push(interior->mFront);
|
---|
908 | }
|
---|
909 | }
|
---|
910 | }
|
---|
911 |
|
---|
912 | void
|
---|
913 | KdTree::CreateAndCollectViewCells(ViewCellContainer &vc) const
|
---|
914 | {
|
---|
915 | stack<KdNode *> nodeStack;
|
---|
916 | nodeStack.push(mRoot);
|
---|
917 |
|
---|
918 | while (!nodeStack.empty()) {
|
---|
919 | KdNode *node = nodeStack.top();
|
---|
920 | nodeStack.pop();
|
---|
921 | if (node->IsLeaf()) {
|
---|
922 | KdLeaf *leaf = (KdLeaf *)node;
|
---|
923 | // kdtree used as view cell container => create view cell
|
---|
924 | KdViewCell *viewCell = new KdViewCell();
|
---|
925 | leaf->mViewCell = viewCell;
|
---|
926 | // push back pointer to this leaf
|
---|
927 | viewCell->mLeaf = leaf;
|
---|
928 | vc.push_back(viewCell);
|
---|
929 | } else {
|
---|
930 | KdInterior *interior = (KdInterior *)node;
|
---|
931 | nodeStack.push(interior->mBack);
|
---|
932 | nodeStack.push(interior->mFront);
|
---|
933 | }
|
---|
934 | }
|
---|
935 | }
|
---|
936 |
|
---|
937 | int
|
---|
938 | KdTree::CollectLeafPvs()
|
---|
939 | {
|
---|
940 | int totalPvsSize = 0;
|
---|
941 | stack<KdNode *> nodeStack;
|
---|
942 |
|
---|
943 | nodeStack.push(mRoot);
|
---|
944 |
|
---|
945 | while (!nodeStack.empty()) {
|
---|
946 | KdNode *node = nodeStack.top();
|
---|
947 | nodeStack.pop();
|
---|
948 | if (node->IsLeaf()) {
|
---|
949 | KdLeaf *leaf = (KdLeaf *)node;
|
---|
950 | for (int j=0; j < leaf->mObjects.size(); j++) {
|
---|
951 | Intersectable *object = leaf->mObjects[j];
|
---|
952 | if (!object->Mailed()) {
|
---|
953 | object->Mail();
|
---|
954 | // add this node to pvs of all nodes it can see
|
---|
955 | KdPvsMap::iterator ni = object->mKdPvs.mEntries.begin();
|
---|
956 | for (; ni != object->mKdPvs.mEntries.end(); ni++) {
|
---|
957 | KdNode *node = (*ni).first;
|
---|
958 | // $$ JB TEMPORARY solution -> should add object PVS or explictly computed
|
---|
959 | // kd tree PVS
|
---|
960 | float contribution;
|
---|
961 | if (leaf->mKdPvs.AddSample(node, 1.0f, contribution))
|
---|
962 | totalPvsSize++;
|
---|
963 | }
|
---|
964 | }
|
---|
965 | }
|
---|
966 | } else {
|
---|
967 | KdInterior *interior = (KdInterior *)node;
|
---|
968 | nodeStack.push(interior->mFront);
|
---|
969 | nodeStack.push(interior->mBack);
|
---|
970 | }
|
---|
971 | }
|
---|
972 |
|
---|
973 | return totalPvsSize;
|
---|
974 | }
|
---|
975 |
|
---|
976 |
|
---|
977 | KdNode *
|
---|
978 | KdTree::GetRandomLeaf(const bool onlyUnmailed)
|
---|
979 | {
|
---|
980 | stack<KdNode *> nodeStack;
|
---|
981 | nodeStack.push(mRoot);
|
---|
982 |
|
---|
983 | int mask = rand();
|
---|
984 |
|
---|
985 | while (!nodeStack.empty()) {
|
---|
986 | KdNode *node = nodeStack.top();
|
---|
987 | nodeStack.pop();
|
---|
988 | if (node->IsLeaf()) {
|
---|
989 | if ( (!onlyUnmailed || !node->Mailed()) )
|
---|
990 | return node;
|
---|
991 | } else {
|
---|
992 | KdInterior *interior = (KdInterior *)node;
|
---|
993 | // random decision
|
---|
994 | if (mask&1)
|
---|
995 | nodeStack.push(interior->mBack);
|
---|
996 | else
|
---|
997 | nodeStack.push(interior->mFront);
|
---|
998 | mask = mask>>1;
|
---|
999 | }
|
---|
1000 | }
|
---|
1001 | return NULL;
|
---|
1002 | }
|
---|
1003 |
|
---|
1004 |
|
---|
1005 | int
|
---|
1006 | KdTree::CastBeam(
|
---|
1007 | Beam &beam
|
---|
1008 | )
|
---|
1009 | {
|
---|
1010 | stack<KdNode *> nodeStack;
|
---|
1011 | nodeStack.push(mRoot);
|
---|
1012 |
|
---|
1013 | while (!nodeStack.empty()) {
|
---|
1014 | KdNode *node = nodeStack.top();
|
---|
1015 | nodeStack.pop();
|
---|
1016 |
|
---|
1017 | int side = beam.ComputeIntersection(GetBox(node));
|
---|
1018 | switch (side) {
|
---|
1019 | case -1:
|
---|
1020 | beam.mKdNodes.push_back(node);
|
---|
1021 | break;
|
---|
1022 | case 0:
|
---|
1023 | if (node->IsLeaf())
|
---|
1024 | beam.mKdNodes.push_back(node);
|
---|
1025 | else {
|
---|
1026 | KdInterior *interior = (KdInterior *)node;
|
---|
1027 | KdNode *first = interior->mBack;
|
---|
1028 | KdNode *second = interior->mFront;
|
---|
1029 |
|
---|
1030 | if (interior->mAxis < 3) {
|
---|
1031 | // spatial split -> decide on the order of the nodes
|
---|
1032 | if (beam.mPlanes[0].mNormal[interior->mAxis] > 0)
|
---|
1033 | swap(first, second);
|
---|
1034 | }
|
---|
1035 |
|
---|
1036 | nodeStack.push(first);
|
---|
1037 | nodeStack.push(second);
|
---|
1038 | }
|
---|
1039 | break;
|
---|
1040 | // default: cull
|
---|
1041 | }
|
---|
1042 | }
|
---|
1043 |
|
---|
1044 | if (beam.mFlags & Beam::STORE_OBJECTS)
|
---|
1045 | {
|
---|
1046 | vector<KdNode *>::const_iterator it, it_end = beam.mKdNodes.end();
|
---|
1047 |
|
---|
1048 | Intersectable::NewMail();
|
---|
1049 | for (it = beam.mKdNodes.begin(); it != it_end; ++ it)
|
---|
1050 | {
|
---|
1051 | CollectObjects(*it, beam.mObjects);
|
---|
1052 | }
|
---|
1053 | }
|
---|
1054 |
|
---|
1055 | return (int)beam.mKdNodes.size();
|
---|
1056 | }
|
---|
1057 |
|
---|
1058 | } |
---|