[372] | 1 | #ifndef _KdTree_H__
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| 2 | #define _KdTree_H__
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| 3 |
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| 4 | #include <functional>
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| 5 | using namespace std;
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| 6 |
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| 7 | #include "Containers.h"
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| 8 | #include "AxisAlignedBox3.h"
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| 9 | #include "Ray.h"
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| 10 | #include "Pvs.h"
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[469] | 11 | #include "Viewcell.h"
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[372] | 12 |
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| 13 | class KdNode;
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| 14 | class KdLeaf;
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| 15 | class KdInterior;
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| 16 | class Intersectable;
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[469] | 17 | //class KdViewCell;
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[512] | 18 | class Beam;
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[372] | 19 |
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| 20 | // --------------------------------------------------------------
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| 21 | // Static statistics for kd-tree search
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| 22 | // --------------------------------------------------------------
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| 23 | class KdTreeStatistics
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| 24 | {
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| 25 | public:
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| 26 | // total number of nodes
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| 27 | int nodes;
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| 28 | // number of splits along each of the axes
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| 29 | int splits[7];
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| 30 | // totals number of rays
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| 31 | int rays;
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| 32 | // total number of query domains
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| 33 | int queryDomains;
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| 34 | // total number of ray references
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| 35 | int rayRefs;
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| 36 | // refs in non empty leafs
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| 37 | int rayRefsNonZeroQuery;
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| 38 | // total number of query references
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| 39 | int objectRefs;
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| 40 | // nodes with zero queries
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| 41 | int zeroQueryNodes;
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| 42 | // max depth nodes
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| 43 | int maxDepthNodes;
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| 44 | // max depth nodes
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| 45 | int minCostNodes;
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| 46 | // max number of rays per node
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| 47 | int maxObjectRefs;
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| 48 | // number of dynamically added ray refs
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| 49 | int addedRayRefs;
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| 50 | // number of dynamically removed ray refs
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| 51 | int removedRayRefs;
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| 52 |
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| 53 | // Constructor
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| 54 | KdTreeStatistics() {
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| 55 | Reset();
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| 56 | }
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| 57 |
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| 58 | int Nodes() const {return nodes;}
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| 59 | int Interior() const { return nodes/2; }
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| 60 | int Leaves() const { return (nodes/2) + 1; }
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| 61 |
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| 62 | void Reset() {
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| 63 | nodes = 0;
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| 64 | for (int i=0; i<7; i++)
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| 65 | splits[i] = 0;
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| 66 | rays = queryDomains = 0;
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| 67 | rayRefs = rayRefsNonZeroQuery = objectRefs = 0;
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| 68 | zeroQueryNodes = 0;
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| 69 | maxDepthNodes = 0;
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| 70 | minCostNodes = 0;
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| 71 | maxObjectRefs = 0;
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| 72 | addedRayRefs = removedRayRefs = 0;
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| 73 | }
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| 74 |
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| 75 | void
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| 76 | Print(ostream &app) const;
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| 77 |
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| 78 | friend ostream &operator<<(ostream &s, const KdTreeStatistics &stat) {
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| 79 | stat.Print(s);
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| 80 | return s;
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| 81 | }
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| 82 |
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| 83 | };
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| 84 |
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| 85 |
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| 86 | class KdInterior;
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| 87 | /** Abstract class for kd-tree node */
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| 88 | class KdNode {
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| 89 | public:
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| 90 | static int mailID;
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| 91 | int mailbox;
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| 92 |
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| 93 | void Mail() { mailbox = mailID; }
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| 94 | static void NewMail() { mailID++; }
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| 95 | bool Mailed() const { return mailbox == mailID; }
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| 96 |
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| 97 |
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| 98 | KdNode(KdInterior *parent);
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| 99 |
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| 100 | /** Determines whether this node is a leaf or interior node
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| 101 | @return true if leaf
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| 102 | */
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| 103 | virtual bool IsLeaf() const = 0;
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| 104 |
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| 105 | /** Determines whether this node is the root of the tree
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| 106 | @return true if root
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| 107 | */
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| 108 | virtual bool IsRoot() const {
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| 109 | return mParent == NULL;
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| 110 | }
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| 111 |
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| 112 | /** Parent of the node - the parent is a little overhead for maintanance of the tree,
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| 113 | but allows various optimizations of tree traversal algorithms */
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| 114 | KdInterior *mParent;
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| 115 | int mDepth;
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| 116 | };
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| 117 |
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| 118 | /** Implementation of the kd-tree interior node */
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| 119 | class KdInterior : public KdNode {
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| 120 |
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| 121 | public:
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| 122 |
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| 123 | KdInterior(KdInterior *parent):KdNode(parent), mBack(NULL), mFront(NULL) {}
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| 124 |
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| 125 | /** \sa KdNode::IsLeaf() */
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| 126 | virtual bool IsLeaf() const { return false; }
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| 127 |
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| 128 | /** splitting axis */
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| 129 | int mAxis;
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| 130 | /** splitting position, absolute position within the bounding box of this node */
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| 131 | float mPosition;
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| 132 | /** bounding box of interior node */
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| 133 | AxisAlignedBox3 mBox;
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| 134 |
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| 135 | /** back node */
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| 136 | KdNode *mBack;
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| 137 | /** front node */
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| 138 | KdNode *mFront;
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| 139 |
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| 140 | void SetupChildLinks(KdNode *b, KdNode *f) {
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| 141 | mBack = b;
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| 142 | mFront = f;
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| 143 | b->mParent = f->mParent = this;
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| 144 | }
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| 145 |
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| 146 | void ReplaceChildLink(KdNode *oldChild, KdNode *newChild) {
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| 147 | if (mBack == oldChild)
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| 148 | mBack = newChild;
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| 149 | else
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| 150 | mFront = newChild;
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| 151 | }
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| 152 |
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| 153 |
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| 154 | };
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| 155 |
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| 156 |
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| 157 | /** Implementation of the kd-tree leaf node */
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| 158 | class KdLeaf : public KdNode {
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| 159 | public:
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[469] | 160 | KdLeaf(KdInterior *parent, const int objects):
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| 161 | KdNode(parent), mViewCell(NULL) {
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[372] | 162 | mObjects.reserve(objects);
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| 163 | }
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| 164 |
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[469] | 165 | void AddPassingRay(const Ray &ray, const int contributions) {
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[372] | 166 | mPassingRays.AddRay(ray, contributions);
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| 167 | // Debug << "adding passing ray" << endl;
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| 168 | }
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| 169 |
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| 170 |
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| 171 | void AddPassingRay2(const Ray &ray,
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[469] | 172 | const int objects,
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| 173 | const int viewcells
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| 174 | ) {
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[372] | 175 | mPassingRays.AddRay2(ray, objects, viewcells);
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| 176 | // Debug << "adding passing ray" << endl;
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| 177 | }
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| 178 |
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| 179 | /** \sa KdNode::IsLeaf() */
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| 180 | virtual bool IsLeaf() const { return true; }
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| 181 |
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| 182 |
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| 183 | /** pointers to occluders contained in this node */
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| 184 | ObjectContainer mObjects;
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| 185 |
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| 186 | /** Ray set description of the rays passing through this node */
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| 187 | PassingRaySet mPassingRays;
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| 188 |
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| 189 | /** PVS consisting of visible KdTree nodes */
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| 190 | KdPvs mKdPvs;
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| 191 |
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[469] | 192 | /** pointer to view cell.
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| 193 | */
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| 194 | KdViewCell *mViewCell;
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[372] | 195 | };
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| 196 |
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| 197 |
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| 198 |
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| 199 | /** KdTree for indexing scene entities - occluders/occludees/viewcells */
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| 200 | class KdTree {
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| 201 |
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| 202 | protected:
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| 203 | struct TraversalData
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| 204 | {
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| 205 | KdNode *mNode;
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| 206 | AxisAlignedBox3 mBox;
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| 207 | int mDepth;
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| 208 | float mPriority;
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| 209 |
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| 210 | TraversalData() {}
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| 211 |
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| 212 | TraversalData(KdNode *n, const float p):
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| 213 | mNode(n), mPriority(p)
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| 214 | {}
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| 215 |
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| 216 | TraversalData(KdNode *n,
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| 217 | const AxisAlignedBox3 &b,
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| 218 | const int d):
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| 219 | mNode(n), mBox(b), mDepth(d) {}
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| 220 |
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| 221 |
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| 222 | bool operator<(
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[752] | 223 | const TraversalData &b) const {
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[372] | 224 | KdLeaf *leafa = (KdLeaf *) mNode;
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| 225 | KdLeaf *leafb = (KdLeaf *) b.mNode;
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| 226 | return
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[752] | 227 | leafa->mObjects.size()*mBox.SurfaceArea()
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| 228 | <
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| 229 | leafb->mObjects.size()*b.mBox.SurfaceArea();
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[372] | 230 | }
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| 231 |
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| 232 |
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| 233 | // comparator for the
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| 234 | struct less_priority : public
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| 235 | binary_function<const TraversalData, const TraversalData, bool> {
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| 236 |
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| 237 | bool operator()(const TraversalData a, const TraversalData b) {
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| 238 | return a.mPriority < b.mPriority;
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| 239 | }
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| 240 |
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| 241 | };
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| 242 |
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| 243 | };
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| 244 |
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| 245 |
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| 246 |
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| 247 | public:
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| 248 |
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| 249 | enum {SPLIT_OBJECT_MEDIAN,
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| 250 | SPLIT_SPATIAL_MEDIAN,
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| 251 | SPLIT_SAH};
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| 252 |
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| 253 | KdTree();
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| 254 |
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| 255 |
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| 256 | /** Insert view cell into the tree */
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| 257 | virtual void InsertViewCell(ViewCell *viewCell) {
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| 258 | // mRoot->mViewcells.push_back(viewCell);
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| 259 | }
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| 260 |
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| 261 | virtual bool Construct();
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| 262 |
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| 263 | /** Check whether subdivision criteria are met for the given subtree.
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| 264 | If not subdivide the leafs of the subtree. The criteria are specified in
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| 265 | the environment as well as the subdivision method. By default surface area
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| 266 | heuristics is used.
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| 267 |
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| 268 | @param subtree root of the subtree
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| 269 |
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| 270 | @return true if subdivision was performed, false if subdivision criteria
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| 271 | were already met
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| 272 | */
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| 273 | virtual KdNode *Subdivide(const TraversalData &tdata);
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| 274 |
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| 275 | /** Get the root of the tree */
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| 276 | KdNode *GetRoot() const {
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| 277 | return mRoot;
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| 278 | }
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| 279 |
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| 280 |
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| 281 | AxisAlignedBox3 GetBox() const { return mBox; }
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| 282 |
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| 283 | int
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| 284 | CastRay(
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[504] | 285 | Ray &ray
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| 286 | );
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| 287 |
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[372] | 288 |
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[504] | 289 | int
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[505] | 290 | CastBeam(
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[512] | 291 | Beam &beam
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[505] | 292 | );
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[504] | 293 |
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| 294 |
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[469] | 295 | /** Casts line segment into tree.
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| 296 | @returns intersected view cells.
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| 297 | */
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| 298 | int CastLineSegment(const Vector3 &origin,
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| 299 | const Vector3 &termination,
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| 300 | vector<ViewCell *> &viewcells);
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| 301 |
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| 302 |
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[372] | 303 | const KdTreeStatistics &GetStatistics() const {
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| 304 | return mStat;
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| 305 | }
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| 306 |
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| 307 | void
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| 308 | CollectObjects(KdNode *n, ObjectContainer &objects);
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| 309 |
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| 310 | void
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| 311 | CollectLeaves(vector<KdLeaf *> &leaves);
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| 312 |
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[469] | 313 | /** If the kd tree is used as view cell container, this
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| 314 | methods creates the view cells.
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| 315 | @returns the newly created view cells in a view cell container
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| 316 | */
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| 317 | void
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| 318 | CreateAndCollectViewCells(ViewCellContainer &viewCells) const;
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| 319 |
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[372] | 320 | AxisAlignedBox3 GetBox(const KdNode *node) const {
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| 321 | KdInterior *parent = node->mParent;
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| 322 | if (parent == NULL)
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| 323 | return mBox;
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| 324 |
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| 325 | if (!node->IsLeaf())
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| 326 | return ((KdInterior *)node)->mBox;
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| 327 |
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| 328 | AxisAlignedBox3 box(parent->mBox);
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| 329 | if (parent->mFront == node)
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| 330 | box.SetMin(parent->mAxis, parent->mPosition);
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| 331 | else
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| 332 | box.SetMax(parent->mAxis, parent->mPosition);
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| 333 | return box;
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| 334 | }
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| 335 |
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| 336 | KdNode *
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| 337 | FindRandomNeighbor(KdNode *n,
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[469] | 338 | bool onlyUnmailed
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| 339 | );
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[372] | 340 |
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| 341 | KdNode *
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| 342 | KdTree::GetRandomLeaf(const Plane3 &halfspace);
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| 343 |
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| 344 | KdNode *
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| 345 | GetRandomLeaf(const bool onlyUnmailed = false);
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| 346 |
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| 347 | int
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| 348 | FindNeighbors(KdNode *n,
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| 349 | vector<KdNode *> &neighbors,
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| 350 | bool onlyUnmailed
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| 351 | );
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| 352 |
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| 353 | int
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| 354 | CollectLeafPvs();
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| 355 |
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| 356 | protected:
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| 357 |
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| 358 | struct RayData {
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| 359 | // pointer to the actual ray
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| 360 | Ray *ray;
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| 361 |
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| 362 | // endpoints - do we need them?
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| 363 | #if USE_FIXEDPOINT_T
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| 364 | short tmin, tmax;
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| 365 | #else
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| 366 | float tmin, tmax;
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| 367 | #endif
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| 368 |
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| 369 | RayData():ray(NULL) {}
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| 370 | RayData(Ray *r):ray(r), tmin(0),
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| 371 |
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| 372 | #if USE_FIXEDPOINT_T
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| 373 | #define FIXEDPOINT_ONE 0x7FFE
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| 374 | // tmax(0xFFFF)
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| 375 | tmax(FIXEDPOINT_ONE)
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| 376 | #else
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| 377 | tmax(1.0f)
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| 378 | #endif
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| 379 | {}
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| 380 |
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| 381 | RayData(Ray *r,
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| 382 | const float _min,
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| 383 | const float _max
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| 384 | ):ray(r) {
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| 385 | SetTMin(_min);
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| 386 | SetTMax(_max);
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| 387 | }
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| 388 |
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| 389 | RayData(Ray *r,
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| 390 | const short _min,
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| 391 | const float _max
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| 392 | ):ray(r), tmin(_min) {
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| 393 | SetTMax(_max);
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| 394 | }
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| 395 |
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| 396 | RayData(Ray *r,
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| 397 | const float _min,
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| 398 | const short _max
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| 399 | ):ray(r), tmax(_max) {
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| 400 | SetTMin(_min);
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| 401 | }
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| 402 |
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| 403 | friend bool operator<(const RayData &a, const RayData &b) {
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| 404 | return a.ray < b.ray;
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| 405 | }
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| 406 |
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| 407 |
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| 408 | float ExtrapOrigin(const int axis) const {
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| 409 | return ray->GetLoc(axis) + GetTMin()*ray->GetDir(axis);
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| 410 | }
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| 411 |
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| 412 | float ExtrapTermination(const int axis) const {
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| 413 | return ray->GetLoc(axis) + GetTMax()*ray->GetDir(axis);
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| 414 | }
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| 415 |
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| 416 | #if USE_FIXEDPOINT_T
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| 417 | float GetTMin () const { return tmin/(float)(FIXEDPOINT_ONE); }
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| 418 | float GetTMax () const { return tmax/(float)(FIXEDPOINT_ONE); }
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| 419 |
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| 420 | void SetTMin (const float t) {
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| 421 | tmin = (short) (t*(float)(FIXEDPOINT_ONE));
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| 422 | }
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| 423 |
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| 424 | void SetTMax (const float t) {
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| 425 | tmax = (short) (t*(float)(FIXEDPOINT_ONE));
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| 426 | tmax++;
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| 427 | // if (tmax!=0xFFFF)
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| 428 | // tmax++;
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| 429 | }
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| 430 | #else
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| 431 | float GetTMin () const { return tmin; }
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| 432 | float GetTMax () const { return tmax; }
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| 433 |
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| 434 | void SetTMin (const float t) { tmin = t; }
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| 435 | void SetTMax (const float t) { tmax = t; }
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| 436 | #endif
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| 437 | };
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| 438 |
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| 439 | struct RayTraversalData {
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| 440 | KdNode *mNode;
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| 441 | Vector3 mExitPoint;
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| 442 | float mMaxT;
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| 443 |
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| 444 | RayTraversalData() {}
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| 445 | RayTraversalData(KdNode *n,
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| 446 | const Vector3 &p,
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| 447 | const float maxt):
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| 448 | mNode(n), mExitPoint(p), mMaxT(maxt) {}
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| 449 | };
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| 450 |
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| 451 | // --------------------------------------------------------------
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| 452 | // For sorting objects
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| 453 | // --------------------------------------------------------------
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| 454 | struct SortableEntry
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| 455 | {
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| 456 | enum {
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| 457 | BOX_MIN,
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| 458 | BOX_MAX
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| 459 | };
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| 460 |
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| 461 | int type;
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| 462 | float value;
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| 463 | Intersectable *intersectable;
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| 464 |
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| 465 | SortableEntry() {}
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| 466 | SortableEntry(const int t, const float v, Intersectable *i):type(t),
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| 467 | value(v),
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| 468 | intersectable(i) {}
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| 469 |
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| 470 | bool operator<(const SortableEntry &b) const {
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| 471 | return value < b.value;
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| 472 | }
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| 473 |
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| 474 | };
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| 475 |
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| 476 | // reusable array of split candidates
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| 477 | vector<SortableEntry> *splitCandidates;
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| 478 |
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| 479 | float
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| 480 | BestCostRatio(
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| 481 | KdLeaf *node,
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| 482 | const AxisAlignedBox3 &box,
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| 483 | const int axis,
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| 484 | float &position,
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| 485 | int &objectsBack,
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| 486 | int &objectsFront
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| 487 | );
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| 488 |
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| 489 | void
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| 490 | SortSplitCandidates(
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| 491 | KdLeaf *node,
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| 492 | const int axis
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| 493 | );
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| 494 |
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| 495 | void
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| 496 | EvaluateLeafStats(const TraversalData &data);
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| 497 |
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| 498 | KdNode *
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| 499 | SubdivideNode(
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| 500 | KdLeaf *leaf,
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| 501 | const AxisAlignedBox3 &box,
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| 502 | AxisAlignedBox3 &backBBox,
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| 503 | AxisAlignedBox3 &frontBBox
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| 504 | );
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| 505 |
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| 506 | bool
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| 507 | TerminationCriteriaMet(const KdLeaf *leaf);
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| 508 |
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| 509 | int
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| 510 | SelectPlane(KdLeaf *leaf,
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| 511 | const AxisAlignedBox3 &box,
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| 512 | float &position
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| 513 | );
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| 514 |
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| 515 |
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[752] | 516 | int mTermMaxNodes;
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[372] | 517 | float mSplitBorder;
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| 518 | int mTermMaxDepth;
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| 519 | int mTermMinCost;
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| 520 | float mMaxCostRatio;
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| 521 | float mCt_div_ci;
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| 522 | int mSplitMethod;
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| 523 | bool mSahUseFaces;
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| 524 | /// root of the tree
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| 525 | KdNode *mRoot;
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| 526 | /// bounding box of the tree root
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| 527 | AxisAlignedBox3 mBox;
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| 528 | KdTreeStatistics mStat;
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| 529 |
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| 530 | };
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| 531 |
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| 532 |
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| 533 |
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| 534 |
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| 535 |
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| 536 |
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| 537 | #endif
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