[2632] | 1 | // =================================================================== |
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| 2 | // $Id: $ |
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| 3 | // |
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| 4 | // ktbs.cpp |
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| 5 | // The classes for building up CKTB tree by statistical optimization. |
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| 6 | // This building up is based on sampling. |
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| 7 | // |
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| 8 | // REPLACEMENT_STRING |
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| 9 | // |
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| 10 | // Copyright by Vlastimil Havran, 2007 - email to "vhavran AT seznam.cz" |
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| 11 | // Initial coding by Vlasta Havran, January 2008. |
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| 12 | |
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| 13 | // standard headers |
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| 14 | #include <algorithm> |
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| 15 | #include <iostream> |
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| 16 | #include <string> |
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| 17 | |
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| 18 | // GOLEM headers |
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| 19 | #include "ktbs.h" |
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| 20 | #include "timer.h" |
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| 21 | #include "Environment.h" |
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| 22 | |
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| 23 | //#define _DEBUG |
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| 24 | |
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| 25 | #define AVOIDCHECKLIST |
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| 26 | |
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| 27 | #define _USE_OPTIMIZE_DIVIDE_AX |
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| 28 | |
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| 29 | // Note that the RADIX SORT does not work properly with -mtune=pentium3 for GCC.4.0 !!!! |
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| 30 | // Note that the RADIX SORT does not work properly with -mtune=pentium4 for GCC.3.4 !!!! |
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| 31 | // The reason is unknown, probably the bug in compiler |
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| 32 | |
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| 33 | namespace GtpVisibilityPreprocessor { |
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| 34 | |
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| 35 | // ------------------------------------------------ |
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| 36 | // for debugging cost function in the scene |
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| 37 | //#define _DEBUG_COSTFUNCTION |
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| 38 | #ifdef _DEBUG_COSTFUNCTION |
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| 39 | |
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| 40 | const int indexToFindSS = 0; |
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| 41 | |
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| 42 | static CFileIO ffcost; |
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| 43 | static int costEvalCnt; |
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| 44 | static int costCntObjects; |
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| 45 | static int costIndexDebug; |
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| 46 | static string fnameCost; |
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| 47 | static float maxCost; |
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| 48 | static float minCost; |
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| 49 | static float maxPos; |
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| 50 | static float minPos; |
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| 51 | static float minPosAxis; |
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| 52 | static float maxPosAxis; |
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| 53 | static bool _alreadyDebugged = false; |
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| 54 | static bool _streamOpened = false; |
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| 55 | |
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| 56 | static void |
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| 57 | InitCostStream(int indexDebug, int cntObjects, |
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| 58 | float minx, float maxx) |
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| 59 | { |
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| 60 | maxCost = -INFINITY; |
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| 61 | minCost = INFINITY; |
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| 62 | costEvalCnt = 0; |
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| 63 | costIndexDebug = indexDebug; |
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| 64 | costCntObjects = cntObjects; |
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| 65 | minPosAxis = minx; |
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| 66 | maxPosAxis = maxx; |
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| 67 | |
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| 68 | // and init the stream - rewrite |
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| 69 | string name = "debugcostfile" |
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| 70 | //Environment::GetSingleton()->GetBoolValue("OutputFileName", name); |
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| 71 | char lns[100]; |
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| 72 | sprintf(lns, "%05d.res", indexDebug); |
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| 73 | ChangeFilenameExtension(name, string(lns), fnameCost); |
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| 74 | |
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| 75 | ffcost.SetFilename(fnameCost.c_str()); |
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| 76 | if (ffcost.OpenInMode(CFileIO::EE_Mode_w)) { |
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| 77 | cerr << "Opening of stream failed" << endl; |
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| 78 | abort();; |
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| 79 | } |
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| 80 | cout << "Saving debug to " << fnameCost << endl; |
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| 81 | ffcost.WriteChars("\n"); |
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| 82 | sprintf(lns, "#CntObjects = %d\n", costCntObjects); |
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| 83 | ffcost.WriteChars(lns); |
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| 84 | sprintf(lns, "#IndexToDebug = %d\n", costIndexDebug); |
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| 85 | ffcost.WriteChars(lns); |
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| 86 | ffcost.WriteChars("#File "); |
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| 87 | ffcost.WriteChars(fnameCost.c_str()); |
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| 88 | ffcost.WriteChars("\n"); |
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| 89 | ffcost.WriteChars("#==============================================\n"); |
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| 90 | |
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| 91 | cout << "#---------------------------------------" << endl; |
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| 92 | _streamOpened = true; |
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| 93 | } |
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| 94 | |
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| 95 | static void |
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| 96 | CloseCostStream() |
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| 97 | { |
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| 98 | if (_streamOpened) { |
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| 99 | char lns[255]; |
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| 100 | ffcost.WriteChars("#==============================================\n"); |
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| 101 | ffcost.WriteChars("#EndOfFile\n"); |
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| 102 | sprintf(lns, "#minCost = %8.6f minPos = %8.6f\n", minCost, minPos); |
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| 103 | ffcost.WriteChars(lns); |
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| 104 | sprintf(lns, "#maxCost = %8.6f maxPos = %8.6f\n", maxCost, maxPos); |
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| 105 | ffcost.WriteChars(lns); |
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| 106 | sprintf(lns, "#ratioMin/Max = %6.5f\n", |
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| 107 | minCost/maxCost); |
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| 108 | ffcost.WriteChars(lns); |
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| 109 | sprintf(lns, "#CntEval = %d\n", costEvalCnt); |
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| 110 | ffcost.WriteChars(lns); |
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| 111 | sprintf(lns, "#CntObjects = %d\n", costCntObjects); |
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| 112 | ffcost.WriteChars(lns); |
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| 113 | sprintf(lns, "#IndexToDebug = %d\n", costIndexDebug); |
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| 114 | ffcost.WriteChars(lns); |
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| 115 | sprintf(lns, "#MinPosAxis = %8.6f maxPosAxis = %8.6f\n", minPosAxis, maxPosAxis); |
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| 116 | ffcost.WriteChars(lns); |
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| 117 | ffcost.WriteChars("#File "); |
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| 118 | ffcost.WriteChars(fnameCost.c_str()); |
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| 119 | ffcost.WriteChars("\n"); |
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| 120 | ffcost.Close(); |
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| 121 | //cout << "#=======================================" << endl; |
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| 122 | _streamOpened = false; |
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| 123 | _alreadyDebugged = true; |
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| 124 | // Temporarily |
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| 125 | exit(0); |
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| 126 | } |
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| 127 | } |
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| 128 | |
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| 129 | static void |
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| 130 | ReportCostStream(float pos, float cost) |
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| 131 | { |
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| 132 | // Here we normalize a position to the interval <0-1> |
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| 133 | float posn = (pos - minPosAxis)/(maxPosAxis - minPosAxis); |
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| 134 | |
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| 135 | if (_streamOpened) { |
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| 136 | costEvalCnt++; |
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| 137 | if (cost < minCost) { |
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| 138 | minCost = cost; |
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| 139 | minPos = pos; |
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| 140 | } |
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| 141 | if (cost > maxCost) { |
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| 142 | maxCost = cost; |
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| 143 | maxPos = pos; |
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| 144 | } |
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| 145 | char lns[255]; |
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| 146 | sprintf(lns, "%8.6f %8.6f\n", posn, cost); |
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| 147 | //cout << lns << endl; |
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| 148 | ffcost.WriteChars(lns); |
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| 149 | } |
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| 150 | } |
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| 151 | #endif // _DEBUG_COSTFUNCTION |
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| 152 | |
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| 153 | // ------------------------------------------------------- |
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| 154 | // the next two axes for a given one |
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| 155 | const CKTBAxes::Axes |
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| 156 | CKTBSBuildUp::oaxes[3][2]= |
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| 157 | {{CKTBAxes::EE_Y_axis, CKTBAxes::EE_Z_axis}, |
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| 158 | {CKTBAxes::EE_Z_axis, CKTBAxes::EE_X_axis}, |
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| 159 | {CKTBAxes::EE_X_axis, CKTBAxes::EE_Y_axis}}; |
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| 160 | |
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| 161 | //---------------------------------------------------------------- |
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| 162 | //---------- Implementation of CKTB tree with irregular ----------- |
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| 163 | //---------- placed splitting planes ----------------------------- |
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| 164 | //---------------------------------------------------------------- |
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| 165 | |
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| 166 | // default constructor |
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| 167 | CKTBSBuildUp::CKTBSBuildUp() |
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| 168 | { |
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| 169 | // verbose is set |
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| 170 | verbose = true; |
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| 171 | |
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| 172 | // Maximum depth of the tree is set and stack is allocated |
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| 173 | maxTreeDepth = MAX_HEIGHT; |
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| 174 | stackDepth = maxTreeDepth + 2; |
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| 175 | stackID = new GALIGN16 SInputData[stackDepth]; |
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| 176 | assert(stackID); |
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| 177 | stackIndex = 0; |
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| 178 | return; |
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| 179 | } |
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| 180 | |
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| 181 | // destructor |
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| 182 | CKTBSBuildUp::~CKTBSBuildUp() |
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| 183 | { |
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| 184 | delete [] stackID; |
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| 185 | stackID = 0; |
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| 186 | } |
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| 187 | |
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| 188 | void |
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| 189 | CKTBSBuildUp::ProvideID(ostream &app) |
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| 190 | { |
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| 191 | bool tempvar; |
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| 192 | |
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| 193 | string termCrit; |
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| 194 | Environment::GetSingleton()->GetStringValue("BSP.termCrit", termCrit); |
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| 195 | app << "#BSP.termCrit\t\tTermination criteria to build up BSP tree\n"; |
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| 196 | app << termCrit << "\n"; |
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| 197 | |
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| 198 | maxCountTrials = 0; |
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| 199 | if ( (!termCrit.compare("auto")) && |
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| 200 | (!termCrit.compare("auto2")) ) { |
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| 201 | // everything except auto settings, when depth is determined |
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| 202 | // It should be reported for adhoc and possibly others |
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| 203 | Environment::GetSingleton()->GetIntValue("BSP.maxDepthAllowed", |
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| 204 | maxDepthAllowed); |
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| 205 | Environment::GetSingleton()->GetIntValue("BSP.maxListLength", |
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| 206 | maxListLength); |
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| 207 | app << "#MaxDepth (Dmax)\tMaximal allowed depth of the BSP tree\n"; |
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| 208 | app << maxDepthAllowed << "\n"; |
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| 209 | app << "#MaxListLength (Noilf)\tMaximal number of solids in one cell\n"; |
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| 210 | app << maxListLength << "\n"; |
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| 211 | // maximum number of trials to further subdivide |
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| 212 | maxCountTrials = (int)(1.0 + 0.2 * (float)maxDepthAllowed); |
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| 213 | if (maxCountTrials < 3) |
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| 214 | maxCountTrials = 3; |
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| 215 | } |
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| 216 | else { |
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| 217 | if (!termCrit.compare("auto2") ) { |
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| 218 | Environment::GetSingleton()->GetIntValue("BSP.maxListLength", |
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| 219 | maxListLength); |
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| 220 | app << "#MaxDepth (Dmax)\tMaximal allowed depth of the BSP tree\n"; |
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| 221 | } |
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| 222 | } |
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| 223 | |
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| 224 | float eCt, eCi, eCd; |
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| 225 | Environment::GetSingleton()->GetFloatValue("BSP.decisionCost", eCd); |
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| 226 | Environment::GetSingleton()->GetFloatValue("BSP.intersectionCost", eCi); |
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| 227 | Environment::GetSingleton()->GetFloatValue("BSP.traversalCost", eCt); |
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| 228 | |
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| 229 | // Ci should no be changed from 1.0, only Cd and Ct should be changed |
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| 230 | app << "#SetBSP.(Cd, Ci, Ct) \tDecision, Intersection, "; |
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| 231 | app << "and Traversal costs\n"; |
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| 232 | app << " ( " << eCd << ", " << eCi << " ," << eCt << " )\n"; |
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| 233 | |
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| 234 | return; |
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| 235 | } |
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| 236 | |
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| 237 | // Init required parameters |
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| 238 | void |
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| 239 | CKTBSBuildUp::InitReqPref(SReqPrefParams *pars) |
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| 240 | { |
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| 241 | // nothing is obligatory as default |
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| 242 | pars->reqPosition = Limits::Infinity; |
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| 243 | pars->reqAxis = CKTBAxes::EE_Leaf; |
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| 244 | pars->useReqAxis = false; |
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| 245 | |
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| 246 | // the values for automatic termination criteria, since it was |
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| 247 | // not subdivided |
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| 248 | pars->ratioLast = 1000.0; |
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| 249 | pars->ratioLastButOne = 1000.0; |
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| 250 | pars->failedSubDivCount = 0; |
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| 251 | |
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| 252 | Environment::GetSingleton()->GetIntValue("BSP.axisSelectionAlg", |
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| 253 | _algorithmForAxisSelection); |
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| 254 | if (_algorithmForAxisSelection != 0) { |
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| 255 | // The axis as prefered one - testing all 3 axes. Start |
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| 256 | // from the axis cutting the longest side of the box |
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| 257 | pars->reqAxis = (CKTBAxes::Axes)(wBbox.Diagonal().DrivingAxis()); |
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| 258 | } |
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| 259 | |
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| 260 | return; |
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| 261 | } |
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| 262 | |
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| 263 | // creates all the auxiliary structures for building up CKTB tree |
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| 264 | CKTBSBuildUp::SInputData* |
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| 265 | CKTBSBuildUp::Init(ObjectContainer *objlist, const AxisAlignedBox3 &box) |
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| 266 | { |
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| 267 | #ifdef _RANDOMIZE_POSITION |
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| 268 | //world->_environment.GetFloat("SetBSP.randomizePosition.Eps", randomEps); |
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| 269 | #endif // _RANDOMIZE_POSITION |
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| 270 | |
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| 271 | #ifdef _KTB_CONSTR_STATS |
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| 272 | _stats_interiorCount = 0; |
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| 273 | _stats_bboxCount = 0; |
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| 274 | _stats_leafNodeCount = 0; |
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| 275 | _stats_emptyLeftNodeCount = 0; |
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| 276 | // Aggregate statistics |
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| 277 | _maxDepth = 0; |
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| 278 | _sumLeafDepth = 0; |
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| 279 | _sumFullLeafDepth = 0; |
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| 280 | _sumObjectRefCount = 0; |
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| 281 | _maxObjectRefInLeaf = 0; |
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| 282 | // surface areas |
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| 283 | _sumSurfaceAreaLeaves = 0.f; |
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| 284 | _sumSurfaceAreaMULcntLeaves = 0.f; |
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| 285 | _sumSurfaceAreaInteriorNodes = 0.f; |
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| 286 | #endif |
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| 287 | |
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| 288 | // If to print out the tree during contruction |
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| 289 | Environment::GetSingleton()->GetBoolValue("BSP.printCuts", _printCuts); |
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| 290 | |
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| 291 | // if to cut off empty space in postprocessing and how it is performed |
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| 292 | Environment::GetSingleton()->GetIntValue("BSP.absMaxAllowedDepth", |
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| 293 | absMaxAllowedDepth); |
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| 294 | Environment::GetSingleton()->GetIntValue("BSP.maxEmptyCutDepth", |
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| 295 | maxEmptyCutDepth); |
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| 296 | Environment::GetSingleton()->GetIntValue("BSP.algAutoTermination", |
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| 297 | algorithmAutoTermination); |
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| 298 | Environment::GetSingleton()->GetFloatValue("BSP.biasFreeCuts", |
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| 299 | biasFreeCuts); |
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| 300 | |
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| 301 | // if to make tagging lists inside the tree |
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| 302 | Environment::GetSingleton()->GetBoolValue("BSP.minBoxes.use", |
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| 303 | makeMinBoxes); |
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| 304 | Environment::GetSingleton()->GetBoolValue("BSP.minBoxes.tight", |
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| 305 | makeTightMinBoxes); |
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| 306 | Environment::GetSingleton()->GetIntValue("BSP.minBoxes.minObjects", |
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| 307 | minObjectsToCreateMinBox); |
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| 308 | Environment::GetSingleton()->GetIntValue("BSP.minBoxes.minDepthDistance", |
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| 309 | minDepthDistanceBetweenMinBoxes); |
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| 310 | Environment::GetSingleton()->GetFloatValue("BSP.minBoxes.minSA2ratio", |
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| 311 | minSA2ratioMinBoxes); |
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| 312 | |
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| 313 | // How many items can be allocated at once |
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| 314 | int maxItemsAtOnce = 1; |
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| 315 | if (makeMinBoxes) { |
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| 316 | #ifdef _KTB8Bytes |
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| 317 | // We need to allocate for boxes the memory in a row |
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| 318 | maxItemsAtOnce = 5; // 8x5=40 = 16+24; |
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| 319 | #else |
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| 320 | maxItemsAtOnce = 4; // 12x4=48 = 24+24; |
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| 321 | #endif // _KTB8Bytes |
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| 322 | assert(minObjectsToCreateMinBox >= 1); |
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| 323 | assert(minDepthDistanceBetweenMinBoxes >= 0); |
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| 324 | assert(minDepthDistanceBetweenMinBoxes <= 50); |
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| 325 | } |
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| 326 | |
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| 327 | // the array of preferred parameters used as a stack |
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| 328 | pars = new SReqPrefParams[MAX_HEIGHT]; |
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| 329 | assert(pars); |
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| 330 | |
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| 331 | // Initiate the allocator |
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| 332 | InitAux(0, MAX_HEIGHT - 1, maxItemsAtOnce); |
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| 333 | |
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| 334 | // since six planes are enough to cull empty space from leaves |
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| 335 | if ( (maxEmptyCutDepth < 0) || |
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| 336 | (maxEmptyCutDepth > 6) ) { |
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| 337 | cerr << "BSP.maxEmptyCutDepth = " << maxEmptyCutDepth |
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| 338 | << " must be in range <0,6>\n"; |
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| 339 | abort();; |
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| 340 | } |
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| 341 | |
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| 342 | wBbox.Convert(box); // the box of the whole scene |
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| 343 | boxSize = box.Diagonal(); // the size of the box along the axes |
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| 344 | |
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| 345 | wholeBoxArea = wBbox.SA2(); // the half of the surface area of the box |
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| 346 | // the array of bounding boxes and duplications to the objects |
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| 347 | int objlistcnt = objlist->size(); |
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| 348 | |
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| 349 | SInputData* data = AllocNewData(); |
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| 350 | // set the box |
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| 351 | data->box = wBbox; |
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| 352 | data->tightbox = wBbox; |
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| 353 | data->objlist = new ObjectContainer(objlist->begin(), objlist->end()); |
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| 354 | data->count = objlistcnt; |
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| 355 | |
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| 356 | // Initialization of the first value to insert the min boxes |
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| 357 | data->lastMinBoxSA2 = box.SurfaceArea() * 10000.f; |
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| 358 | data->lastDepthForMinBoxes = -20; // for root you always put the node |
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| 359 | data->lastMinBoxNode = 0; |
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| 360 | |
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| 361 | // Init the parameters from the environment file |
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| 362 | InitReqPref(&(data->pars)); |
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| 363 | |
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| 364 | // the number of buckets; |
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| 365 | state.bucketN = 128; |
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| 366 | state.bucketMin = new int[state.bucketN]; |
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| 367 | assert(state.bucketMin); |
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| 368 | state.bucketMax = new int[state.bucketN]; |
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| 369 | assert(state.bucketMin); |
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| 370 | |
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| 371 | // Init the termination criteria |
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| 372 | string termCrit; |
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| 373 | Environment::GetSingleton()->GetStringValue("BSP.termCrit", termCrit); |
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| 374 | |
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| 375 | maxCountTrials = 0; |
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| 376 | if (!termCrit.compare("adhoc")) { |
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| 377 | // termination criteria are the max depth of the hierarchy, number |
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| 378 | // of primitives |
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| 379 | data->modeSubDiv = EE_SUBDIVADHOC; |
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| 380 | Environment::GetSingleton()->GetIntValue("BSP.maxListLength", |
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| 381 | maxListLength); |
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| 382 | Environment::GetSingleton()->GetIntValue("BSP.maxDepthAllowed", |
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| 383 | maxDepthAllowed); |
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| 384 | } |
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| 385 | else { |
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| 386 | if ( (!termCrit.compare("auto")) || |
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| 387 | (!termCrit.compare("auto2")) ) { |
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| 388 | // automatic termination criteria are used, everything is computed |
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| 389 | // automatically from number of objects etc. |
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| 390 | int estHeight = (int)(log((float)initcnt)/log((float)2.0) + 0.9); |
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| 391 | // cout << "EstHeight=" << estHeight << endl; |
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| 392 | maxDepthAllowed = (int)((float)estHeight * 1.15f + 1.6f); |
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| 393 | |
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| 394 | // maximum number of trials to further subdivide |
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| 395 | maxCountTrials = (int)(1.0 + 0.2 * (float)maxDepthAllowed); |
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| 396 | if (maxCountTrials < 3) |
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| 397 | maxCountTrials = 3; |
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| 398 | |
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| 399 | // for 'auto2' we specify the length of the object list by hand |
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| 400 | if (!termCrit.compare("auto2")) |
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| 401 | Environment::GetSingleton()->GetIntValue("BSP.maxListLength", |
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| 402 | maxListLength); |
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| 403 | else |
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| 404 | // for 'auto' we set the length of the object list that is supposed |
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| 405 | // to be the best for ray shooting |
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| 406 | maxListLength = 1; |
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| 407 | |
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| 408 | if (verbose) { |
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| 409 | cout << "TERMCRIT:maximum height of a leaf set to " |
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| 410 | << maxDepthAllowed << "\n"; |
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| 411 | cout << "TERMCRIT:maximum number of objects in leaf set to " |
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| 412 | << maxListLength << "\n" ; |
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| 413 | } |
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| 414 | // set the mode to be recognized |
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| 415 | data->modeSubDiv = EE_SUBDIVAUTOMATIC; |
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| 416 | } |
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| 417 | else { |
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| 418 | cerr << " unknown termination criteria for BSP tree\n"; |
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| 419 | cerr << "It was specified: " << termCrit << "\n"; |
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| 420 | cerr << "Allowed types = auto, auto2, adhoc" << endl; |
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| 421 | exit(3);; |
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| 422 | } |
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| 423 | } |
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| 424 | |
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| 425 | // for some evaluation it is necessary to determine the following costs |
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| 426 | Environment::GetSingleton()->GetFloatValue("BSP.traversalCost", Ct); |
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| 427 | Environment::GetSingleton()->GetFloatValue("BSP.intersectionCost", Ci); |
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| 428 | if (verbose) |
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| 429 | cout << "Ct=" << Ct << " Ci=" << Ci << "\n"; |
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| 430 | |
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| 431 | if (cutEmptySpace) { |
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| 432 | // correct the maximum abs depth, when late cutting is allowed |
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| 433 | if (absMaxAllowedDepth < maxDepthAllowed) |
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| 434 | absMaxAllowedDepth = maxDepthAllowed; |
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| 435 | if (absMaxAllowedDepth > (maxDepthAllowed + maxEmptyCutDepth) ) |
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| 436 | absMaxAllowedDepth = maxDepthAllowed + maxEmptyCutDepth; |
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| 437 | if (absMaxAllowedDepth >= MAX_HEIGHT) { |
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| 438 | absMaxAllowedDepth = MAX_HEIGHT; |
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| 439 | maxDepthAllowed = MAX_HEIGHT - maxEmptyCutDepth; |
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| 440 | } |
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| 441 | |
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| 442 | if (verbose) { |
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| 443 | cout << "Cutting off empty spaces ON\n"; |
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| 444 | cout << "BSP.absMaxAllowedDepth = " << absMaxAllowedDepth << "\n"; |
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| 445 | cout << "BSP.maxEmptyCutDepth = " << maxEmptyCutDepth << endl; |
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| 446 | } |
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| 447 | } |
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| 448 | |
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| 449 | if (verbose) |
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| 450 | cout << "MaxListLength = " << maxListLength << endl; |
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| 451 | |
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| 452 | return data; |
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| 453 | } |
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| 454 | |
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| 455 | // interface function for building up CKTB tree |
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| 456 | SKTBNodeT* |
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| 457 | CKTBSBuildUp::BuildUp(ObjectContainer &objlist, |
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| 458 | const AxisAlignedBox3 &box, |
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| 459 | bool verboseF) |
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| 460 | { |
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| 461 | // check the number of objects |
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| 462 | if (objlist.size() == 0) |
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| 463 | return 0; // nothing |
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| 464 | |
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| 465 | // --------------------------------------------------- |
---|
| 466 | // Rewriting the triangles to the just wrappers to save |
---|
| 467 | // the memory during building!!!! |
---|
| 468 | bool useWrappers = false; |
---|
| 469 | if (useWrappers) { |
---|
| 470 | cout << "WARNING: using only wrappers, not objects to save the memory!" |
---|
| 471 | << endl; |
---|
| 472 | cout << "Size of(AxisAlignedBox3Intersectable) = " << sizeof(AxisAlignedBox3Intersectable) << endl; |
---|
| 473 | cout << "Size of(TriangleIntersectable) = " << sizeof(TriangleIntersectable) << endl; |
---|
| 474 | for (ObjectContainer::iterator it = objlist.begin(); |
---|
| 475 | it != objlist.end(); it++) { |
---|
| 476 | // take the triangle |
---|
| 477 | Intersectable *i = *it; |
---|
| 478 | // store the properties to new variables |
---|
| 479 | AxisAlignedBox3 b = i->GetBox(); |
---|
| 480 | int mId = i->mId; |
---|
| 481 | // delete the triangle |
---|
| 482 | delete i; |
---|
| 483 | // create the wrapper with the same box as triangle |
---|
| 484 | AxisAlignedBox3Intersectable *a = new AxisAlignedBox3Intersectable(b); |
---|
| 485 | a->mId = mId; |
---|
| 486 | // and put it back to the list of objects |
---|
| 487 | *it = a; |
---|
| 488 | } // for |
---|
| 489 | cout << "Rewriting to wrappers is finished!" << endl; |
---|
| 490 | } // if |
---|
| 491 | // --------------------------------------------------- |
---|
| 492 | |
---|
| 493 | initcnt = objlist.size(); |
---|
| 494 | |
---|
| 495 | // copy verbose to be used consistenly further on |
---|
| 496 | this->verbose = verboseF; |
---|
| 497 | |
---|
| 498 | // the boundary entries |
---|
| 499 | SInputData *d = Init(&objlist, box); |
---|
| 500 | |
---|
| 501 | |
---|
| 502 | if (verbose) |
---|
| 503 | cout << "Building up KTB tree for " << objlist.size() |
---|
| 504 | << " objects by sampling." << endl << flush; |
---|
| 505 | |
---|
| 506 | // ----------------------------------------------- |
---|
| 507 | // Start to build the tree |
---|
| 508 | if ( (cutEmptySpace) && |
---|
| 509 | (initcnt <= maxListLength)) { |
---|
| 510 | // only cutting off empty space for initial leaf |
---|
| 511 | d->modeSubDiv = EE_SUBDIVCUTEMPTY; |
---|
| 512 | root = SubDiv(d); |
---|
| 513 | } |
---|
| 514 | else { |
---|
| 515 | // normal subdivision scheme, creating whole tree |
---|
| 516 | root = SubDiv(d); |
---|
| 517 | } |
---|
| 518 | |
---|
| 519 | #ifdef _DEBUG |
---|
| 520 | if (GetDepth() != 0) { |
---|
| 521 | cerr << "Using depth value does not work correctly, depth = " |
---|
| 522 | << GetDepth() << endl; |
---|
| 523 | } |
---|
| 524 | #endif |
---|
| 525 | assert(root); |
---|
| 526 | |
---|
| 527 | // the pointer to the root node |
---|
| 528 | return GetRootNode(); |
---|
| 529 | } |
---|
| 530 | |
---|
| 531 | int |
---|
| 532 | CKTBSBuildUp::UpdateEvaluation(float &eval, const float &newEval) |
---|
| 533 | { |
---|
| 534 | if (newEval < eval) { |
---|
| 535 | eval = newEval; |
---|
| 536 | return 1; // updated |
---|
| 537 | } |
---|
| 538 | return 0; // not updated |
---|
| 539 | } |
---|
| 540 | |
---|
| 541 | // recursive function for subdividing the CKTB tree into two |
---|
| 542 | // halves .. creates one node of CKTB tree |
---|
| 543 | // list .. list of boundaries, count .. number of objects in current node |
---|
| 544 | // bb .. current bounding box of node, (pars,reqGlobAxis, modeSubDiv) .. cut pref. |
---|
| 545 | SKTBNodeT* |
---|
| 546 | CKTBSBuildUp::SubDiv(SInputData *d) |
---|
| 547 | { |
---|
| 548 | #if 0 |
---|
| 549 | static int index = 0; |
---|
| 550 | cout << "SubDiv index = " << index << endl; |
---|
| 551 | const int indexToFind = 13916; |
---|
| 552 | if (index == indexToFind) { |
---|
| 553 | cout << " IndexToFind = " << indexToFind << endl; |
---|
| 554 | cout << " You should start debug" << endl; |
---|
| 555 | } |
---|
| 556 | index++; |
---|
| 557 | #endif |
---|
| 558 | |
---|
| 559 | // This is the node to return from this function |
---|
| 560 | SKTBNodeT *nodeToReturn = 0; |
---|
| 561 | |
---|
| 562 | // if to make the interior node extended by the box here |
---|
| 563 | makeMinBoxHere = false; |
---|
| 564 | |
---|
| 565 | // ----------------------------------------------------- |
---|
| 566 | if (makeMinBoxes) { |
---|
| 567 | if ( (d->count >= minObjectsToCreateMinBox) && |
---|
| 568 | (GetDepth() - d->lastDepthForMinBoxes >= minDepthDistanceBetweenMinBoxes) ) { |
---|
| 569 | makeMinBoxHere = true; |
---|
| 570 | d->lastDepthForMinBoxes = GetDepth(); |
---|
| 571 | d->lastMinBoxSA2 = d->box.SA2(); |
---|
| 572 | } |
---|
| 573 | } |
---|
| 574 | |
---|
| 575 | if ( (makeMinBoxHere) && (makeTightMinBoxes) ) { |
---|
| 576 | // In case we should make the box of the current |
---|
| 577 | // interior node and this should be tight, we have |
---|
| 578 | // to first compute its extent before splitting |
---|
| 579 | SBBox tightbox; |
---|
| 580 | GetTightBox(*d, tightbox); |
---|
| 581 | // Here we decrease the box to the minimum size |
---|
| 582 | d->box = tightbox; |
---|
| 583 | } |
---|
| 584 | |
---|
| 585 | // ------------------------------------------------------------------ |
---|
| 586 | // if we are forced to make subdivision at given point |
---|
| 587 | if (d->pars.reqPosition != Limits::Infinity) { |
---|
| 588 | // this code preceeds switch(mode) since 2-level evaluation |
---|
| 589 | d->position = d->pars.reqPosition; |
---|
| 590 | d->axis = d->pars.reqAxis; |
---|
| 591 | // next subdivison will not be forced |
---|
| 592 | d->pars.reqPosition = Limits::Infinity; |
---|
| 593 | d->pars.reqAxis = CKTBAxes::EE_Leaf; |
---|
| 594 | IncDepth(); |
---|
| 595 | SKTBNodeT* n = MakeOneCut(d); |
---|
| 596 | if (!nodeToReturn) |
---|
| 597 | nodeToReturn = n; |
---|
| 598 | DecDepth(); |
---|
| 599 | return nodeToReturn; |
---|
| 600 | } |
---|
| 601 | |
---|
| 602 | // ------------------------------------------------------------------------- |
---|
| 603 | // determine between subdivision modes - different termination criteria |
---|
| 604 | switch (d->modeSubDiv) { // subdivision mode |
---|
| 605 | case EE_SUBDIVCUTEMPTY: { // cutting off empty space |
---|
| 606 | if ((GetDepth() >= absMaxAllowedDepth) || |
---|
| 607 | (GetDepth() >= (startEmptyCutDepth + maxEmptyCutDepth)) || |
---|
| 608 | (d->count == 0) ) { |
---|
| 609 | SKTBNodeT* n = MakeLeaf(d); |
---|
| 610 | if (!nodeToReturn) |
---|
| 611 | nodeToReturn = n; |
---|
| 612 | // cout << "LEC\n"; |
---|
| 613 | return nodeToReturn; |
---|
| 614 | } |
---|
| 615 | // to require the axis has no meaning in cutting off |
---|
| 616 | d->pars.reqAxis = d->axis = CKTBAxes::EE_Leaf; |
---|
| 617 | break; |
---|
| 618 | } |
---|
| 619 | // both adhoc, clustering and automatic termination criteria |
---|
| 620 | case EE_SUBDIVADHOC: |
---|
| 621 | case EE_SUBDIVAUTOMATIC: { |
---|
| 622 | // automatic termination criteria are used in this phase as |
---|
| 623 | // the absolute threshold similarly to SUBDIVADHOC mode |
---|
| 624 | if ( (GetDepth() >= maxDepthAllowed) || |
---|
| 625 | (d->count <= maxListLength)) { |
---|
| 626 | SKTBNodeT* n = MakeLeaf(d); |
---|
| 627 | if (!nodeToReturn) |
---|
| 628 | nodeToReturn = n; |
---|
| 629 | // cout << "LLA\n"; |
---|
| 630 | return nodeToReturn; |
---|
| 631 | } |
---|
| 632 | break; |
---|
| 633 | } |
---|
| 634 | default: { |
---|
| 635 | cerr << " unknown subdivision mode in ibsp.cpp\n"; |
---|
| 636 | abort();; |
---|
| 637 | } |
---|
| 638 | } // switch(modeSubDiv) |
---|
| 639 | |
---|
| 640 | // the axis where splitting should be done |
---|
| 641 | CKTBAxes::Axes axis = CKTBAxes::EE_Leaf; |
---|
| 642 | d->twoSplits = -1; |
---|
| 643 | d->bestCost = WorstEvaluation() * 0.5f; |
---|
| 644 | d->position = MAXFLOAT; |
---|
| 645 | const bool secondPositionMax = true; |
---|
| 646 | |
---|
| 647 | #define CallGetSplitPlane GetSplitPlaneOpt |
---|
| 648 | |
---|
| 649 | // if the axis is required in pars structure for some reasons |
---|
| 650 | if (d->pars.useReqAxis) { |
---|
| 651 | axis = d->pars.reqAxis; |
---|
| 652 | // The next subdivision is not prescribed |
---|
| 653 | d->pars.useReqAxis = false; |
---|
| 654 | switch(axis) { |
---|
| 655 | case CKTBAxes::EE_X_axis : { |
---|
| 656 | state.InitXaxis(d->count, d->box); // init |
---|
| 657 | CallGetSplitPlane(d, 0); // evaluate |
---|
| 658 | break; |
---|
| 659 | } |
---|
| 660 | case CKTBAxes::EE_Y_axis : { |
---|
| 661 | state.InitYaxis(d->count, d->box); // init |
---|
| 662 | CallGetSplitPlane(d, 1); // evaluate |
---|
| 663 | break; |
---|
| 664 | } |
---|
| 665 | case CKTBAxes::EE_Z_axis : { |
---|
| 666 | state.InitZaxis(d->count, d->box); // init |
---|
| 667 | CallGetSplitPlane(d, 2); // evaluate |
---|
| 668 | break; |
---|
| 669 | } |
---|
| 670 | default: { |
---|
| 671 | cerr << "No other option is allowed here" << endl; |
---|
| 672 | abort();; |
---|
| 673 | } |
---|
| 674 | } |
---|
| 675 | // compute the cost, normalized by surface area |
---|
| 676 | state.NormalizeCostBySA2(); |
---|
| 677 | d->bestCost /= state.areaWholeSA2; |
---|
| 678 | if (UpdateEvaluation(d->bestCost, state.bestCost)) { |
---|
| 679 | // Compute correct position to be used for splitting |
---|
| 680 | d->position = state.bestPosition; |
---|
| 681 | d->twoSplits = state.bestTwoSplits; // one or two splitting planes planed |
---|
| 682 | if (d->twoSplits > 1) { |
---|
| 683 | if (secondPositionMax) |
---|
| 684 | d->position2 = state.bestPosition2; |
---|
| 685 | else |
---|
| 686 | d->position2 = state.box.Max(axis); |
---|
| 687 | } |
---|
| 688 | } |
---|
| 689 | } |
---|
| 690 | else { |
---|
| 691 | int algorithmForAxisSel = _algorithmForAxisSelection; |
---|
| 692 | if (d->modeSubDiv == EE_SUBDIVCUTEMPTY) |
---|
| 693 | algorithmForAxisSel = 0; |
---|
| 694 | |
---|
| 695 | // only a single axis will be tested |
---|
| 696 | bool useSingleAxis = true; |
---|
| 697 | |
---|
| 698 | // the required axis is by global function .. e.g. cyclic change x, y, z |
---|
| 699 | switch (algorithmForAxisSel) { |
---|
| 700 | case 0: { |
---|
| 701 | // all three axis will be used, starting from x, y, z |
---|
| 702 | useSingleAxis = false; |
---|
| 703 | break; |
---|
| 704 | } |
---|
| 705 | case 1: { |
---|
| 706 | // cyclic order of axes, x, y, z, x, y.... |
---|
| 707 | axis = d->pars.reqAxis; |
---|
| 708 | // compute the axis for the next subdivision step |
---|
| 709 | d->pars.reqAxis = oaxes[axis][0]; |
---|
| 710 | break; |
---|
| 711 | } |
---|
| 712 | case 2 : { |
---|
| 713 | // The next time will be determined the same way |
---|
| 714 | axis = (CKTBAxes::Axes)(d->box.Diagonal().DrivingAxis()); |
---|
| 715 | break; |
---|
| 716 | } |
---|
| 717 | case 3 : { |
---|
| 718 | float p = RandomValue(0.0f, 1.0f); |
---|
| 719 | const float thresholdAxisP = 0.8f; |
---|
| 720 | if (p < thresholdAxisP) { |
---|
| 721 | axis = (CKTBAxes::Axes)(d->box.Diagonal().DrivingAxis()); |
---|
| 722 | } |
---|
| 723 | else { |
---|
| 724 | // Use the axis prescribed from previous step |
---|
| 725 | axis = d->pars.reqAxis; |
---|
| 726 | } |
---|
| 727 | // for the next time, different axis |
---|
| 728 | d->pars.reqAxis = oaxes[axis][0]; |
---|
| 729 | break; |
---|
| 730 | } |
---|
| 731 | case 4 : { |
---|
| 732 | float p = RandomValue(0.0f, 1.0f); |
---|
| 733 | const float thresholdAxisP = 0.3f; |
---|
| 734 | if (p < thresholdAxisP) { |
---|
| 735 | axis = (CKTBAxes::Axes)(d->box.Diagonal().DrivingAxis()); |
---|
| 736 | } |
---|
| 737 | else { |
---|
| 738 | // Use the axis prescribed from previous step |
---|
| 739 | axis = d->pars.reqAxis; |
---|
| 740 | } |
---|
| 741 | // for the next time, different axis |
---|
| 742 | d->pars.reqAxis = oaxes[axis][0]; |
---|
| 743 | break; |
---|
| 744 | } |
---|
| 745 | case 5 : { |
---|
| 746 | float p = RandomValue(0.0f, 1.0f); |
---|
| 747 | const float thresholdAxisP = 0.2f; |
---|
| 748 | d->pars.reqAxis = (CKTBAxes::Axes)-1; |
---|
| 749 | if (p < thresholdAxisP) { |
---|
| 750 | axis = (CKTBAxes::Axes)(d->box.Diagonal().DrivingAxis()); |
---|
| 751 | // for the next time, different axis |
---|
| 752 | } |
---|
| 753 | else { |
---|
| 754 | // Use the axis for which cost model gets minimum, |
---|
| 755 | // compute it for all axes x, y, z |
---|
| 756 | useSingleAxis = false; |
---|
| 757 | } |
---|
| 758 | break; |
---|
| 759 | } |
---|
| 760 | default: { |
---|
| 761 | cerr << "Selection algorithm = " << algorithmForAxisSel |
---|
| 762 | << " for axis is not implemented" << endl; |
---|
| 763 | abort();; |
---|
| 764 | } |
---|
| 765 | } // switch |
---|
| 766 | |
---|
| 767 | // How the algorithm is used |
---|
| 768 | if (useSingleAxis) { |
---|
| 769 | // ------------------------------------------- |
---|
| 770 | // Compute subdivision only for one axis |
---|
| 771 | switch(axis) { |
---|
| 772 | case CKTBAxes::EE_X_axis : { |
---|
| 773 | state.InitXaxis(d->count, d->box); // init |
---|
| 774 | CallGetSplitPlane(d, 0); // evaluate |
---|
| 775 | break; |
---|
| 776 | } |
---|
| 777 | case CKTBAxes::EE_Y_axis : { |
---|
| 778 | state.InitYaxis(d->count, d->box); // init |
---|
| 779 | CallGetSplitPlane(d, 1); // evaluate |
---|
| 780 | break; |
---|
| 781 | } |
---|
| 782 | case CKTBAxes::EE_Z_axis : { |
---|
| 783 | state.InitZaxis(d->count, d->box); // init |
---|
| 784 | CallGetSplitPlane(d, 2); // evaluate |
---|
| 785 | break; |
---|
| 786 | } |
---|
| 787 | //case CKTBAxes::EE_Leaf : { |
---|
| 788 | //goto MAKE_LEAF; |
---|
| 789 | //} |
---|
| 790 | default: { |
---|
| 791 | cerr << "Selection algorithm = " << algorithmForAxisSel |
---|
| 792 | << " for axis = " << axis <<" is not implemented" << endl; |
---|
| 793 | abort();; |
---|
| 794 | } |
---|
| 795 | } |
---|
| 796 | state.NormalizeCostBySA2(); |
---|
| 797 | d->bestCost /= state.areaWholeSA2; |
---|
| 798 | if (UpdateEvaluation(d->bestCost, state.bestCost)) { |
---|
| 799 | // Compute correct position to be used for splitting |
---|
| 800 | d->position = state.bestPosition; |
---|
| 801 | d->twoSplits = state.bestTwoSplits; // one or two splitting planes planed |
---|
| 802 | if (d->twoSplits > 1) { |
---|
| 803 | if (secondPositionMax) |
---|
| 804 | d->position2 = state.bestPosition2; |
---|
| 805 | else |
---|
| 806 | d->position2 = state.box.Max(axis); |
---|
| 807 | } |
---|
| 808 | } |
---|
| 809 | } |
---|
| 810 | else { |
---|
| 811 | // no axis is required, we can pickup any we like. We test all three axes |
---|
| 812 | // and we pickup the minimum cost for all three axes. |
---|
| 813 | state.InitXaxis(d->count, d->box); // init for x axis |
---|
| 814 | CallGetSplitPlane(d, 0); // evaluate for x axis |
---|
| 815 | if (UpdateEvaluation(d->bestCost, state.bestCost)) { |
---|
| 816 | axis = CKTBAxes::EE_X_axis; // the x-axis should be used |
---|
| 817 | // Compute correct position to be used for splitting |
---|
| 818 | d->bestCost = state.bestCost; |
---|
| 819 | d->position = state.bestPosition; |
---|
| 820 | d->twoSplits = state.bestTwoSplits; // one or two splitting planes planed |
---|
| 821 | if (d->twoSplits > 1) { |
---|
| 822 | if (secondPositionMax) |
---|
| 823 | d->position2 = state.bestPosition2; |
---|
| 824 | else |
---|
| 825 | d->position2 = state.box.Max(axis); |
---|
| 826 | } |
---|
| 827 | } |
---|
| 828 | // ----------------------- |
---|
| 829 | // now test for y axis |
---|
| 830 | state.InitYaxis(d->count, d->box); // init for x axis |
---|
| 831 | CallGetSplitPlane(d, 1); // evaluate for x axis |
---|
| 832 | if (UpdateEvaluation(d->bestCost, state.bestCost)) { |
---|
| 833 | axis = CKTBAxes::EE_Y_axis; // the y-axis should be used |
---|
| 834 | // Compute correct position to be used for splitting |
---|
| 835 | d->bestCost = state.bestCost; |
---|
| 836 | d->position = state.bestPosition; |
---|
| 837 | d->twoSplits = state.bestTwoSplits; // one or two splitting planes planed |
---|
| 838 | if (d->twoSplits > 1) { |
---|
| 839 | if (secondPositionMax) |
---|
| 840 | d->position2 = state.bestPosition2; |
---|
| 841 | else |
---|
| 842 | d->position2 = state.box.Max(axis); |
---|
| 843 | } |
---|
| 844 | } |
---|
| 845 | // ----------------------- |
---|
| 846 | // now test for z axis |
---|
| 847 | state.InitZaxis(d->count, d->box); // init for x axis |
---|
| 848 | CallGetSplitPlane(d, 2); // evaluate for x axis |
---|
| 849 | if (UpdateEvaluation(d->bestCost, state.bestCost)) { |
---|
| 850 | axis = CKTBAxes::EE_Z_axis; // the z-axis should be used |
---|
| 851 | // Compute correct position to be used for splitting |
---|
| 852 | d->bestCost = state.bestCost; |
---|
| 853 | d->position = state.bestPosition; |
---|
| 854 | d->twoSplits = state.bestTwoSplits; // one or two splitting planes planed |
---|
| 855 | if (d->twoSplits > 1) { |
---|
| 856 | if (secondPositionMax) |
---|
| 857 | d->position2 = state.bestPosition2; |
---|
| 858 | else |
---|
| 859 | d->position2 = state.box.Max(axis); |
---|
| 860 | } |
---|
| 861 | } |
---|
| 862 | // Now we have to renormalize the cost for purpose of termination the building |
---|
| 863 | d->bestCost /= state.areaWholeSA2; |
---|
| 864 | } // arbitrary order of axes |
---|
| 865 | } // for which axis to compute surface area heuristics |
---|
| 866 | |
---|
| 867 | // ---------------------------------------------------------- |
---|
| 868 | // when automatic termination criteria should be used |
---|
| 869 | if (d->modeSubDiv == EE_SUBDIVAUTOMATIC) { |
---|
| 870 | bool stopSubdivision = false; |
---|
| 871 | float ratio; |
---|
| 872 | // which algorithm to use for automatic termination criteria |
---|
| 873 | switch (algorithmAutoTermination) { |
---|
| 874 | // -------------------------------------------------- |
---|
| 875 | case 0: { // This is described in my thesis. |
---|
| 876 | // This is the cost of unsubdivided node |
---|
| 877 | float leafCost = (float)(d->count); |
---|
| 878 | ratio = d->bestCost / leafCost; |
---|
| 879 | const float minRatio = 0.75; |
---|
| 880 | if (ratio > minRatio) |
---|
| 881 | stopSubdivision = true; |
---|
| 882 | break; |
---|
| 883 | } |
---|
| 884 | // -------------------------------------------------- |
---|
| 885 | case 1: { |
---|
| 886 | // This is the cost of unsubdivided node, with uniformly distributed |
---|
| 887 | // objects and the spatial median subdivision, without any object straddling |
---|
| 888 | // the splitting plane. In some sense ideal setting for uniform distribution. |
---|
| 889 | Vector3 s = d->box.Diagonal(); |
---|
| 890 | // Taking the widest side of the object to be subdivided |
---|
| 891 | int diagAxis = s.DrivingAxis(); |
---|
| 892 | // Half of the width |
---|
| 893 | // ---------------------- |
---|
| 894 | float w2 = s[diagAxis] * 0.5; |
---|
| 895 | float t = s[oaxes[diagAxis][0]]; |
---|
| 896 | float h = s[oaxes[diagAxis][1]]; |
---|
| 897 | float sah2 = w2*(t+h) + h*t; // half of the surface area of a child |
---|
| 898 | // This is the cost for case when the node is subdivided in the half and |
---|
| 899 | // the half of the object is on the left and half of the objects on the right |
---|
| 900 | // This is not the best cost possible !!! |
---|
| 901 | // = float subdividedCost = 2 * (sah2/state.areaWholeSA2 * count/2); |
---|
| 902 | float subdividedCost = sah2/state.areaWholeSA2 * (float)(d->count); |
---|
| 903 | ratio = d->bestCost / subdividedCost; |
---|
| 904 | // This is the max ratio allowed for splitting node subdivision |
---|
| 905 | |
---|
| 906 | // The computed ratio = 1.0 corresponds to 'ideal case', so the threshold |
---|
| 907 | // must be higher than 1.0 ! |
---|
| 908 | const float minRatio = 1.1; |
---|
| 909 | if (ratio > minRatio) |
---|
| 910 | stopSubdivision = true; |
---|
| 911 | break; |
---|
| 912 | } |
---|
| 913 | default : { |
---|
| 914 | cerr << "Uknown algorithm for automatic termination criteria = " |
---|
| 915 | << algorithmAutoTermination << endl; |
---|
| 916 | } |
---|
| 917 | |
---|
| 918 | } // switch |
---|
| 919 | |
---|
| 920 | //cout << "R=" << ratio << " "; |
---|
| 921 | if (stopSubdivision) { |
---|
| 922 | // cout << "F" << pars.failedSubDivCount << " "; |
---|
| 923 | // when small improvement by the subdivision is reached |
---|
| 924 | d->pars.failedSubDivCount++; |
---|
| 925 | if (d->pars.failedSubDivCount > maxCountTrials) { |
---|
| 926 | // make leaf and finish with this KD-tree branch |
---|
| 927 | // cout << "L, cnt=" << count << " ,d=" << GetDepth()() |
---|
| 928 | // << " ,c=" << bestQ << " ,rat=" << ratio << "\n"; |
---|
| 929 | // possibly cut empty space before leaf is created |
---|
| 930 | if (cutEmptySpace) { |
---|
| 931 | // setting initial depth if empty space cutting |
---|
| 932 | startEmptyCutDepth = GetDepth(); |
---|
| 933 | IncDepth(); |
---|
| 934 | d->modeSubDiv = EE_SUBDIVCUTEMPTY; |
---|
| 935 | // create the leaf first, with late empty cutting |
---|
| 936 | SKTBNodeT *n = SubDiv(d); |
---|
| 937 | if (!nodeToReturn) |
---|
| 938 | nodeToReturn = n; |
---|
| 939 | DecDepth(); |
---|
| 940 | return nodeToReturn; // and finish by constructing a leaf |
---|
| 941 | } |
---|
| 942 | |
---|
| 943 | // make leaf and finish |
---|
| 944 | SKTBNodeT *n = MakeLeaf(d); |
---|
| 945 | if (!nodeToReturn) |
---|
| 946 | nodeToReturn = n; |
---|
| 947 | return nodeToReturn; |
---|
| 948 | } |
---|
| 949 | } |
---|
| 950 | |
---|
| 951 | // Do not stop subdivision now |
---|
| 952 | |
---|
| 953 | // update the progress in the parameters |
---|
| 954 | d->pars.ratioLastButOne = d->pars.ratioLast; |
---|
| 955 | d->pars.ratioLast = ratio; |
---|
| 956 | |
---|
| 957 | // assure that axis is defined, if finding the splitting plane has failed |
---|
| 958 | if ( (axis == CKTBAxes::EE_Leaf) || |
---|
| 959 | (d->position == MAXFLOAT) ) { |
---|
| 960 | // compute the spatial median for arbitrary axis |
---|
| 961 | axis = (CKTBAxes::Axes)int(RandomValue(0.f, 2.98f)); |
---|
| 962 | // set position based algorithm for the next cut and children |
---|
| 963 | d->position = (d->box.Min(axis) + d->box.Max(axis)) * 0.5f; |
---|
| 964 | d->twoSplits = 1; |
---|
| 965 | } |
---|
| 966 | } // subdivision automatic |
---|
| 967 | |
---|
| 968 | // ----------------------------------------------- |
---|
| 969 | // We have evaluated surface area heuristics above |
---|
| 970 | // if no winner for subdivision exists, make a leaf |
---|
| 971 | if ( (axis == CKTBAxes::EE_Leaf) || |
---|
| 972 | (d->position == MAXFLOAT) ) |
---|
| 973 | { |
---|
| 974 | //cerr << "This shall not happen" << endl; |
---|
| 975 | SKTBNodeT *n = MakeLeaf(d); |
---|
| 976 | if (!nodeToReturn) |
---|
| 977 | nodeToReturn = n; |
---|
| 978 | // cout << "LL\n"; |
---|
| 979 | return nodeToReturn; |
---|
| 980 | } |
---|
| 981 | |
---|
| 982 | if (verbose) { |
---|
| 983 | #ifdef _DEBUG |
---|
| 984 | |
---|
| 985 | //#define _KTBPRINTCUTS |
---|
| 986 | #ifndef _KTBPRINTCUTS |
---|
| 987 | if (GetDepth() == 0) |
---|
| 988 | #else |
---|
| 989 | if (_printCuts) |
---|
| 990 | #endif |
---|
| 991 | { |
---|
| 992 | cout << "position: " << d->position << ", axis: " |
---|
| 993 | << (int)axis << ", depth=" << GetDepth() << ", box:" << endl; |
---|
| 994 | Describe(d->box, cout, 0); |
---|
| 995 | cout << endl; |
---|
| 996 | } |
---|
| 997 | #endif // _DEBUG |
---|
| 998 | } |
---|
| 999 | |
---|
| 1000 | #ifdef _DEBUG |
---|
| 1001 | if (d->twoSplits == -1) { |
---|
| 1002 | cerr << "Some problem in implementation" << endl; |
---|
| 1003 | abort();; |
---|
| 1004 | } |
---|
| 1005 | #endif |
---|
| 1006 | |
---|
| 1007 | // copy the parameters to use for splitting |
---|
| 1008 | d->axis = axis; |
---|
| 1009 | |
---|
| 1010 | if (d->twoSplits == 1) { |
---|
| 1011 | // create interior node with two successors |
---|
| 1012 | // case (1) |
---|
| 1013 | // DEBUG << "case 1 \n"; |
---|
| 1014 | // Make easy cut, using one position |
---|
| 1015 | IncDepth(); |
---|
| 1016 | SKTBNodeT* n = MakeOneCut(d); |
---|
| 1017 | if (!nodeToReturn) |
---|
| 1018 | nodeToReturn = n; |
---|
| 1019 | DecDepth(); |
---|
| 1020 | return nodeToReturn; |
---|
| 1021 | } |
---|
| 1022 | |
---|
| 1023 | #if 1 |
---|
| 1024 | cerr << "Unexpected use in this implementation" << endl; |
---|
| 1025 | cerr << "ABORTING " << endl; |
---|
| 1026 | abort();; |
---|
| 1027 | #endif |
---|
| 1028 | |
---|
| 1029 | // case case |
---|
| 1030 | // (2) or (3) structure must be created |
---|
| 1031 | // O O # |
---|
| 1032 | // / \ / \ # |
---|
| 1033 | // L RI LI R # |
---|
| 1034 | // / \ / \ # |
---|
| 1035 | // RL RR LL LR # |
---|
| 1036 | |
---|
| 1037 | #ifdef _DEBUG |
---|
| 1038 | if ( (d->box.Min()[axis] >= d->position) || |
---|
| 1039 | (d->position >= d->position2) || |
---|
| 1040 | (d->position2 >= d->box.Max()[axis]) ) { |
---|
| 1041 | cerr << " the case 2 or 3 is defined incorrectly\n"; |
---|
| 1042 | abort();; |
---|
| 1043 | } |
---|
| 1044 | #endif |
---|
| 1045 | |
---|
| 1046 | // To be reworked !!! |
---|
| 1047 | abort();; |
---|
| 1048 | if (d->twoSplits == 2) { |
---|
| 1049 | // ----------------------------------------- |
---|
| 1050 | // case (2) |
---|
| 1051 | // DEBUG << "case 2 \n"; |
---|
| 1052 | |
---|
| 1053 | // make L part, linked in DFS order |
---|
| 1054 | int cntLeft = 1; |
---|
| 1055 | int cntRight = 0; |
---|
| 1056 | IncDepth(); |
---|
| 1057 | SKTBNodeT *n = MakeOneCut(d); |
---|
| 1058 | if (!nodeToReturn) |
---|
| 1059 | nodeToReturn = n; |
---|
| 1060 | |
---|
| 1061 | // make RI part, linked to the left node explictly |
---|
| 1062 | SBBox rbb = d->box; // the bounding box |
---|
| 1063 | rbb.Reduce(axis, 1, d->position); |
---|
| 1064 | d->box = rbb; |
---|
| 1065 | d->pars.reqAxis = axis; |
---|
| 1066 | d->pars.reqPosition = d->position2; |
---|
| 1067 | SKTBNodeT *n2 = SubDiv(d); |
---|
| 1068 | DecDepth(); |
---|
| 1069 | //Link the node |
---|
| 1070 | SetInteriorNodeLinks(n, 0, n2); |
---|
| 1071 | return nodeToReturn; |
---|
| 1072 | } |
---|
| 1073 | |
---|
| 1074 | // ----------------------------------------- |
---|
| 1075 | // case (3) ????????????????? I am not sure if this is correct implementation !!! VH |
---|
| 1076 | // DEBUG << "case 3 \n"; |
---|
| 1077 | |
---|
| 1078 | // make LI part |
---|
| 1079 | SBBox lbb = d->box; // the bounding box |
---|
| 1080 | lbb.Reduce(axis, 0, d->position2); |
---|
| 1081 | int cntLeft = 0; |
---|
| 1082 | int cntRight = 1; |
---|
| 1083 | d->box = lbb; |
---|
| 1084 | d->position = d->position2; |
---|
| 1085 | d->axis = axis; |
---|
| 1086 | // the next subdivision step for R part |
---|
| 1087 | d->pars.reqAxis = axis; |
---|
| 1088 | d->pars.reqPosition = d->position; |
---|
| 1089 | |
---|
| 1090 | IncDepth(); |
---|
| 1091 | SKTBNodeT *nl = SubDiv(d); |
---|
| 1092 | if (!nodeToReturn) |
---|
| 1093 | nodeToReturn = nl; |
---|
| 1094 | |
---|
| 1095 | // make R part |
---|
| 1096 | SKTBNodeT *n = MakeOneCut(d); |
---|
| 1097 | DecDepth(); |
---|
| 1098 | SetInteriorNodeLinks(nl, 0, n); |
---|
| 1099 | // return left node, linked in DFS order to the previous one |
---|
| 1100 | return nodeToReturn; |
---|
| 1101 | } |
---|
| 1102 | |
---|
| 1103 | |
---|
| 1104 | |
---|
| 1105 | // makes cutting on the given position on given axis |
---|
| 1106 | // at value position, bb is the bounding box of current node, |
---|
| 1107 | // count is the number of objects in the node |
---|
| 1108 | // flags LeftF and RightF declares if to continue down after the recursion |
---|
| 1109 | SKTBNodeT * |
---|
| 1110 | CKTBSBuildUp::MakeOneCut(SInputData *d) |
---|
| 1111 | { |
---|
| 1112 | #ifdef _DEBUG |
---|
| 1113 | assert(d->position >= d->box.Min(d->axis)); |
---|
| 1114 | assert(d->position <= d->box.Max(d->axis)); |
---|
| 1115 | #endif |
---|
| 1116 | |
---|
| 1117 | SKTBNodeT *nodeToReturn = 0; |
---|
| 1118 | |
---|
| 1119 | #ifdef _KTB_CONSTR_STATS |
---|
| 1120 | // surface area of the interior nodes to be subdivided |
---|
| 1121 | _sumSurfaceAreaInteriorNodes += d->box.SA2(); |
---|
| 1122 | #endif // _KTB_CONSTR_STATS |
---|
| 1123 | |
---|
| 1124 | //if (splitClip) { |
---|
| 1125 | // // empty object list to store the pointers to the split objects |
---|
| 1126 | // ObjectContainer objlist; |
---|
| 1127 | // cerr << "Not yet handled" << endl; |
---|
| 1128 | // abort();; |
---|
| 1129 | // } |
---|
| 1130 | |
---|
| 1131 | #if 0 |
---|
| 1132 | // check if the lists are correctly sorted .. in debug |
---|
| 1133 | static int index = 0; |
---|
| 1134 | #if 1 |
---|
| 1135 | cout << "MakeOneCut index = " << index << " .. check axis = " |
---|
| 1136 | << d->axis << " count = " << d->count |
---|
| 1137 | << " depth = " << GetDepth() << endl; |
---|
| 1138 | const int indexToFind = 3743; |
---|
| 1139 | if (index == indexToFind) { |
---|
| 1140 | |
---|
| 1141 | cout << "Debug should start " << endl; |
---|
| 1142 | cout << "index = indexToFind" << endl; |
---|
| 1143 | } |
---|
| 1144 | #endif |
---|
| 1145 | index++; |
---|
| 1146 | #endif |
---|
| 1147 | |
---|
| 1148 | // We have to allocate a new node for right child |
---|
| 1149 | SInputData* rightData = AllocNewData(); |
---|
| 1150 | // Copy the basic data from parent |
---|
| 1151 | rightData->CopyBasicData(d); |
---|
| 1152 | // We compute the tight box after the splitting |
---|
| 1153 | rightData->tightbox.Initialize(); |
---|
| 1154 | rightData->objlist = new ObjectContainer; |
---|
| 1155 | assert(rightData->objlist); |
---|
| 1156 | |
---|
| 1157 | // we compute the tight box for the objects on the |
---|
| 1158 | // left of the splitting plane |
---|
| 1159 | d->tightbox.Initialize(); |
---|
| 1160 | |
---|
| 1161 | // Simply go through the list of primitives and those that belong |
---|
| 1162 | // to the left keep on the left (d), those that belong to the right |
---|
| 1163 | // assign to the right list |
---|
| 1164 | int cntL = 0, cntR = 0; |
---|
| 1165 | { |
---|
| 1166 | ObjectContainer::iterator endit = d->objlist->end(); |
---|
| 1167 | int axis = d->axis; |
---|
| 1168 | AxisAlignedBox3 obox; |
---|
| 1169 | for (ObjectContainer::iterator it = d->objlist->begin(); it != endit; it++) { |
---|
| 1170 | Intersectable *obj = *it; |
---|
| 1171 | obox = obj->GetBox(); |
---|
| 1172 | if (obox.Max(axis) > d->position) { |
---|
| 1173 | rightData->objlist->push_back(obj); |
---|
| 1174 | cntR++; |
---|
| 1175 | // the number of objects on the right of the splitting plane |
---|
| 1176 | rightData->tightbox.Include(obox); |
---|
| 1177 | } |
---|
| 1178 | if (obox.Min(axis) >= d->position) { |
---|
| 1179 | // we simply shorten the list - this object belongs only to the right list |
---|
| 1180 | (*it) = *(endit-1); |
---|
| 1181 | it--; |
---|
| 1182 | endit--; |
---|
| 1183 | } |
---|
| 1184 | else { |
---|
| 1185 | // the number of objects on the right of the splitting plane |
---|
| 1186 | cntL++; |
---|
| 1187 | d->tightbox.Include(obox); |
---|
| 1188 | } |
---|
| 1189 | } // for |
---|
| 1190 | } |
---|
| 1191 | |
---|
| 1192 | assert(cntL + cntR >= d->count); |
---|
| 1193 | |
---|
| 1194 | // --------------------------------------------- |
---|
| 1195 | // initialize the left bounding box 'bb' |
---|
| 1196 | d->box.Reduce(d->axis, 0, d->position); |
---|
| 1197 | d->objlist->resize(cntL); |
---|
| 1198 | |
---|
| 1199 | // initialize the right bounding box 'rbb' |
---|
| 1200 | rightData->box.Reduce(d->axis, 1, d->position); |
---|
| 1201 | |
---|
| 1202 | // Set correct number of objects |
---|
| 1203 | d->count = cntL; |
---|
| 1204 | rightData->count = cntR; |
---|
| 1205 | |
---|
| 1206 | d->tightbox = Intersect(d->tightbox, d->box); |
---|
| 1207 | rightData->tightbox = |
---|
| 1208 | Intersect(rightData->tightbox, rightData->box); |
---|
| 1209 | |
---|
| 1210 | // Allocate the representation of the interior node |
---|
| 1211 | SKTBNodeT *node = 0; |
---|
| 1212 | |
---|
| 1213 | if (makeMinBoxHere) { |
---|
| 1214 | // ------------------------------------------------------- |
---|
| 1215 | // interior node with the box |
---|
| 1216 | node = AllocInteriorNodeWithBox(// interior node data |
---|
| 1217 | d->axis, d->position, cntL, cntR, |
---|
| 1218 | // box data |
---|
| 1219 | d->box, d->lastMinBoxNode, |
---|
| 1220 | d->lastDepthForMinBoxes); |
---|
| 1221 | |
---|
| 1222 | //cout << "depth = " << GetDepth() << " node = " << node |
---|
| 1223 | // << " lastMinBoxNode = " << d->lastMinBoxNode << endl; |
---|
| 1224 | |
---|
| 1225 | d->lastMinBoxNode = node; // we have to remember the last node |
---|
| 1226 | rightData->lastMinBoxNode = node; |
---|
| 1227 | makeMinBoxHere = false; // reset for the next time |
---|
| 1228 | } |
---|
| 1229 | else |
---|
| 1230 | // normal interior node (=without box) |
---|
| 1231 | node = AllocInteriorNode(d->axis, d->position, cntL, cntR); |
---|
| 1232 | |
---|
| 1233 | #ifdef _DEBUG |
---|
| 1234 | if (!node) { |
---|
| 1235 | cerr << "Allocation of Interior Node failed.\n"; |
---|
| 1236 | abort();; |
---|
| 1237 | } |
---|
| 1238 | #endif // _DEBUG |
---|
| 1239 | // set the node to be returned |
---|
| 1240 | if (!nodeToReturn) |
---|
| 1241 | nodeToReturn = nodeToLink; |
---|
| 1242 | assert(node); |
---|
| 1243 | assert(nodeToReturn); |
---|
| 1244 | |
---|
| 1245 | // --------------------------------------------- |
---|
| 1246 | // initialize the left bounding box 'bb' |
---|
| 1247 | d->box.Reduce(d->axis, 0, d->position); |
---|
| 1248 | |
---|
| 1249 | // initialize the right bounding box 'rbb' |
---|
| 1250 | rightData->box.Reduce(d->axis, 1, d->position); |
---|
| 1251 | |
---|
| 1252 | // Set correct number of objects |
---|
| 1253 | d->count = cntL; |
---|
| 1254 | rightData->count = cntR; |
---|
| 1255 | |
---|
| 1256 | // The children nodes to be created |
---|
| 1257 | SKTBNodeT *nodeL=0, *nodeR=0; |
---|
| 1258 | |
---|
| 1259 | // Recurse to the left child |
---|
| 1260 | if (d->makeSubdivisionLeft) { |
---|
| 1261 | // subdivide branches |
---|
| 1262 | ESubdivMode modeLeft = d->modeSubDiv ; |
---|
| 1263 | if ( (cutEmptySpace) && |
---|
| 1264 | (modeLeft != EE_SUBDIVCUTEMPTY) && |
---|
| 1265 | (d->count <= maxListLength) ) { |
---|
| 1266 | // setting initial depth if empty space cutting |
---|
| 1267 | startEmptyCutDepth = GetDepth(); |
---|
| 1268 | d->modeSubDiv = EE_SUBDIVCUTEMPTY; |
---|
| 1269 | } |
---|
| 1270 | // DEBUG << "Left cnt= " << (cnt[0] >> 1) << " depth= " |
---|
| 1271 | // << GetDepth() << "\n"; |
---|
| 1272 | nodeL = SubDiv(d); |
---|
| 1273 | } |
---|
| 1274 | |
---|
| 1275 | // Recurse to the right child |
---|
| 1276 | if (rightData->makeSubdivisionRight) { |
---|
| 1277 | ESubdivMode modeRight = d->modeSubDiv ; |
---|
| 1278 | if ( (cutEmptySpace) && |
---|
| 1279 | (modeRight != EE_SUBDIVCUTEMPTY) && |
---|
| 1280 | (rightData->count <= maxListLength) ) { |
---|
| 1281 | // setting initial depth if empty space cutting |
---|
| 1282 | startEmptyCutDepth = GetDepth(); |
---|
| 1283 | rightData->modeSubDiv = EE_SUBDIVCUTEMPTY; |
---|
| 1284 | } |
---|
| 1285 | // DEBUG << "Right cnt= " << (cnt[1] >> 1) << " depth= " |
---|
| 1286 | // << GetDepth() << "\n"; |
---|
| 1287 | nodeR = SubDiv(rightData); |
---|
| 1288 | |
---|
| 1289 | } |
---|
| 1290 | |
---|
| 1291 | delete rightData->objlist; |
---|
| 1292 | rightData->objlist = 0; |
---|
| 1293 | delete d->objlist; |
---|
| 1294 | d->objlist = 0; |
---|
| 1295 | |
---|
| 1296 | // Free the data to be reused further on |
---|
| 1297 | FreeLastData(); |
---|
| 1298 | |
---|
| 1299 | // Set the node pointers to the children for created node |
---|
| 1300 | SetInteriorNodeLinks(node, nodeL, nodeR); |
---|
| 1301 | |
---|
| 1302 | return nodeToReturn; // return the node |
---|
| 1303 | } |
---|
| 1304 | |
---|
| 1305 | // returns a box enclosing all the objects in the node |
---|
| 1306 | void |
---|
| 1307 | CKTBSBuildUp::GetTightBox(const SInputData &d, SBBox &tbox) |
---|
| 1308 | { |
---|
| 1309 | tbox = d.tightbox; |
---|
| 1310 | } |
---|
| 1311 | |
---|
| 1312 | // make the full leaf from current node |
---|
| 1313 | SKTBNodeT* |
---|
| 1314 | CKTBSBuildUp::MakeLeaf(SInputData *d) |
---|
| 1315 | { |
---|
| 1316 | #ifdef _KTBPRINTCUTS |
---|
| 1317 | cout << " Creating leaf, depth = " << GetDepth() |
---|
| 1318 | << " cntObjs = " << count << endl; |
---|
| 1319 | //exit(3); |
---|
| 1320 | #endif |
---|
| 1321 | |
---|
| 1322 | #ifdef _KTB_CONSTR_STATS |
---|
| 1323 | // update the statistics |
---|
| 1324 | float sa2bb; |
---|
| 1325 | _sumSurfaceAreaLeaves += (sa2bb = d->box.SA2()); |
---|
| 1326 | _sumSurfaceAreaMULcntLeaves += ((float)d->count * sa2bb); |
---|
| 1327 | #endif // _KTB_CONSTR_STATS |
---|
| 1328 | |
---|
| 1329 | // ------------------------------------------------------ |
---|
| 1330 | // The version with allocating empty leaves. This makes |
---|
| 1331 | // sense since in DFS order it works correctly |
---|
| 1332 | SKTBNodeT *node = AllocLeaf(d->count); |
---|
| 1333 | |
---|
| 1334 | if (d->count > 0) { |
---|
| 1335 | // copy the list of objects |
---|
| 1336 | ObjectContainer *objlist = d->objlist; |
---|
| 1337 | assert(objlist->size() == d->count); |
---|
| 1338 | // Do not delete the object list, it is used as allocated above |
---|
| 1339 | SetFullLeaf(node, objlist); |
---|
| 1340 | // We delete the object list since this is used at the level of leaves |
---|
| 1341 | d->objlist = 0; |
---|
| 1342 | } |
---|
| 1343 | |
---|
| 1344 | // We assume that the allocation of the single leaf cannot |
---|
| 1345 | // fail, since this one shall be the last in the sequence. |
---|
| 1346 | assert(node == nodeToLink); |
---|
| 1347 | |
---|
| 1348 | // Return the node to be used in the linking |
---|
| 1349 | return nodeToLink; |
---|
| 1350 | } |
---|
| 1351 | |
---|
| 1352 | // -------------------------------------------------------------------- |
---|
| 1353 | // class CKTBSBuildUp::CTestAx |
---|
| 1354 | |
---|
| 1355 | // The initialization for the first axis to be tested, this time *****Z axis******* |
---|
| 1356 | void |
---|
| 1357 | CKTBSBuildUp::SSplitState::InitXaxis(int cnt, const SBBox &boxN) |
---|
| 1358 | { |
---|
| 1359 | // initialize the variables, mainly for surface area estimates |
---|
| 1360 | cntAll = cnt; // the number of all objects in the bounding box |
---|
| 1361 | cntLeft = 0; // the count of bounding boxes on the left |
---|
| 1362 | cntRight = cnt; // the count of bounding boxes on the right |
---|
| 1363 | thickness = 0; // the count of bounding boxes straddling the splitting plane |
---|
| 1364 | axis = CKTBAxes::EE_X_axis; // the axis, where the splitting is proposed |
---|
| 1365 | box = boxN; // the box, that is subdivided |
---|
| 1366 | //int topAxis = 1; // axis that is considered in top .. depth |
---|
| 1367 | //int frontAxis = 2; // axis that is considered in front .. height |
---|
| 1368 | // the size of bounding box along the axis to be split |
---|
| 1369 | width = box.Max().x - box.Min().x; |
---|
| 1370 | // and along two other axes |
---|
| 1371 | topw = box.Max().y - box.Min().y; |
---|
| 1372 | frontw = box.Max().z - box.Min().z; |
---|
| 1373 | // surface area of the splitting plane .. one face !! |
---|
| 1374 | areaSplitPlane = topw * frontw; |
---|
| 1375 | // the sum of length of the boxes not to be subdivided |
---|
| 1376 | areaSumLength = topw + frontw; |
---|
| 1377 | // The surface are of the whole box |
---|
| 1378 | areaWholeSA2 = width * areaSumLength + areaSplitPlane; |
---|
| 1379 | // initial evaluation .. the worst cost |
---|
| 1380 | bestCost = WorstEvaluation(); |
---|
| 1381 | // the buckets are zeroed |
---|
| 1382 | InitBuckets(); |
---|
| 1383 | } |
---|
| 1384 | |
---|
| 1385 | // The initialization for the first axis to be tested, this time *****Y axis******* |
---|
| 1386 | // This can be run independently. |
---|
| 1387 | void |
---|
| 1388 | CKTBSBuildUp::SSplitState::InitYaxis(int cnt, const SBBox &boxN) |
---|
| 1389 | { |
---|
| 1390 | // initialize the variables, mainly for surface area estimates |
---|
| 1391 | cntAll = cnt; // the number of all objects in the bounding box |
---|
| 1392 | cntLeft = 0; // the count of bounding boxes on the left |
---|
| 1393 | cntRight = cnt; // the count of bounding boxes on the right |
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| 1394 | thickness = 0; // the count of bounding boxes straddling the splitting plane |
---|
| 1395 | axis = CKTBAxes::EE_Y_axis; // the axis, where the splitting is proposed |
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| 1396 | box = boxN; // the box, that is subdivided |
---|
| 1397 | //int frontAxis = oaxes[axis][0]; // axis that is considered in front .. height - x-axis |
---|
| 1398 | //int topAxis = oaxes[axis][1]; // axis that is considered in top .. depth - y-axis |
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| 1399 | // the size along the second axis - height |
---|
| 1400 | frontw = box.Max().x - box.Min().x; |
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| 1401 | // the size of bounding box along the axis to be split - width |
---|
| 1402 | width = box.Max().y - box.Min().y; |
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| 1403 | // The size along third axis - depth |
---|
| 1404 | topw = box.Max().z - box.Min().z; |
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| 1405 | // surface area of the splitting plane .. one face !! |
---|
| 1406 | areaSplitPlane = topw * frontw; |
---|
| 1407 | // the sum of length of the boxes not to be subdivided |
---|
| 1408 | areaSumLength = topw + frontw; |
---|
| 1409 | areaWholeSA2 = width * areaSumLength + areaSplitPlane; |
---|
| 1410 | // initial evaluation .. the worst cost |
---|
| 1411 | bestCost = WorstEvaluation(); |
---|
| 1412 | // the buckets are zeroed |
---|
| 1413 | InitBuckets(); |
---|
| 1414 | } |
---|
| 1415 | |
---|
| 1416 | // The initialization for the first axis to be tested, this time *****Z axis******* |
---|
| 1417 | // This can be run independently. |
---|
| 1418 | void |
---|
| 1419 | CKTBSBuildUp::SSplitState::InitZaxis(int cnt, const SBBox &boxN) |
---|
| 1420 | { |
---|
| 1421 | // initialize the variables, mainly for surface area estimates |
---|
| 1422 | cntAll = cnt; // the number of all objects in the bounding box |
---|
| 1423 | cntLeft = 0; // the count of bounding boxes on the left |
---|
| 1424 | cntRight = cnt; // the count of bounding boxes on the right |
---|
| 1425 | thickness = 0; // the count of bounding boxes straddling the splitting plane |
---|
| 1426 | axis = CKTBAxes::EE_Z_axis; // the axis, where the splitting is proposed |
---|
| 1427 | box = boxN; // the box, that is subdivided |
---|
| 1428 | //int frontAxis = oaxes[axis][1]; // axis that is considered in front .. height - x axis |
---|
| 1429 | //int topAxis = oaxes[axis][0]; // axis that is considered in top .. depth - y axis |
---|
| 1430 | // The size along third axis - depth |
---|
| 1431 | topw = box.Max().x - box.Min().x; |
---|
| 1432 | // the size along the second axis - height |
---|
| 1433 | frontw = box.Max().y - box.Min().y; |
---|
| 1434 | // the size of bounding box along the axis to be split - width |
---|
| 1435 | width = box.Max().z - box.Min().z; |
---|
| 1436 | // surface area of the splitting plane .. one face !! |
---|
| 1437 | areaSplitPlane = topw * frontw; |
---|
| 1438 | // the sum of length of the boxes not to be subdivided |
---|
| 1439 | areaSumLength = topw + frontw; |
---|
| 1440 | areaWholeSA2 = width * areaSumLength + areaSplitPlane; |
---|
| 1441 | // initial evaluation .. the worst cost |
---|
| 1442 | bestCost = WorstEvaluation(); |
---|
| 1443 | // the buckets are zeroed |
---|
| 1444 | InitBuckets(); |
---|
| 1445 | } |
---|
| 1446 | |
---|
| 1447 | // This is the computation of the cost using surface area heuristics |
---|
| 1448 | // using LINEAR ESTIMATE |
---|
| 1449 | void |
---|
| 1450 | CKTBSBuildUp::EvaluateCost(SSplitState &state) |
---|
| 1451 | { |
---|
| 1452 | // the surface area of the bounding box for the left child |
---|
| 1453 | assert(state.position > -1e-9); |
---|
| 1454 | float areaLeft = state.position * state.areaSumLength + state.areaSplitPlane; |
---|
| 1455 | |
---|
| 1456 | // the surface area of the right bounding box for the right child |
---|
| 1457 | assert(state.width - state.position > -1e-9); |
---|
| 1458 | float areaRight = (state.width - state.position) * state.areaSumLength + |
---|
| 1459 | state.areaSplitPlane; |
---|
| 1460 | |
---|
| 1461 | // computation of the cost .. smaller is better |
---|
| 1462 | float cost = areaLeft * state.cntLeft + areaRight * state.cntRight; |
---|
| 1463 | |
---|
| 1464 | #ifdef _DEBUG_COSTFUNCTION |
---|
| 1465 | // Put there normalized position and cost also normalized somehow |
---|
| 1466 | ReportCostStream(state.position / state.width, |
---|
| 1467 | cost / (state.areaWholeSA2 * state.cntAll)); |
---|
| 1468 | #endif |
---|
| 1469 | |
---|
| 1470 | // This normalization is not in fact necessary here |
---|
| 1471 | //cost //= state.areaWholeSA2; |
---|
| 1472 | if (cost < state.bestCost) { |
---|
| 1473 | state.bestCost = cost; |
---|
| 1474 | // The iterator pointing to the best boundary |
---|
| 1475 | state.bestPosition = state.position; |
---|
| 1476 | // The number of objects whose boundaries are duplicated |
---|
| 1477 | //state.bestThickness = state.thickness; |
---|
| 1478 | } |
---|
| 1479 | return; |
---|
| 1480 | } |
---|
| 1481 | |
---|
| 1482 | // This is the computation of the cost using surface area heuristics |
---|
| 1483 | void |
---|
| 1484 | CKTBSBuildUp::EvaluateCostFreeCut(SSplitState &state) |
---|
| 1485 | { |
---|
| 1486 | // This is assumed to work for free cut (no object intersected) |
---|
| 1487 | assert(state.thickness == 0); |
---|
| 1488 | assert((state.cntLeft == 0) || (state.cntRight == 0)); |
---|
| 1489 | |
---|
| 1490 | // the surface area of the bounding box for the left child |
---|
| 1491 | assert(state.position > -1e-9); |
---|
| 1492 | float areaLeft = state.position * state.areaSumLength + state.areaSplitPlane; |
---|
| 1493 | |
---|
| 1494 | // the surface area of the right bounding box for the right child |
---|
| 1495 | assert(state.width - state.position > -1e-9); |
---|
| 1496 | float areaRight = (state.width - state.position) * state.areaSumLength + |
---|
| 1497 | state.areaSplitPlane; |
---|
| 1498 | |
---|
| 1499 | // computation of the cost .. smaller is better |
---|
| 1500 | float cost = biasFreeCuts *(areaLeft * state.cntLeft + areaRight * state.cntRight); |
---|
| 1501 | |
---|
| 1502 | #ifdef _DEBUG_COSTFUNCTION |
---|
| 1503 | // Put there normalized position and cost also normalized somehow |
---|
| 1504 | ReportCostStream(state.position / state.width, |
---|
| 1505 | cost / (state.areaWholeSA2 * state.cntAll)); |
---|
| 1506 | #endif |
---|
| 1507 | |
---|
| 1508 | // This normalization is not in fact necessary here |
---|
| 1509 | //cost //= state.areaWholeSA2; |
---|
| 1510 | if (cost < state.bestCost) { |
---|
| 1511 | state.bestCost = cost; |
---|
| 1512 | // The iterator pointing to the best boundary |
---|
| 1513 | state.bestPosition = state.position; |
---|
| 1514 | // The number of objects whose boundaries are duplicated |
---|
| 1515 | // state.bestThickness = 0; |
---|
| 1516 | } |
---|
| 1517 | return; |
---|
| 1518 | } |
---|
| 1519 | |
---|
| 1520 | // --------------------------------------------------------------------- |
---|
| 1521 | // For a given X-axis search for the best splitting plane position. |
---|
| 1522 | // This is implemented by sampling |
---|
| 1523 | void |
---|
| 1524 | CKTBSBuildUp::GetSplitPlaneOpt(SInputData *d, int axisToTest) |
---|
| 1525 | { |
---|
| 1526 | // some necessary space is required to cut off |
---|
| 1527 | const float MinPosition = d->tightbox.Min(axisToTest); |
---|
| 1528 | const float MaxPosition = d->tightbox.Max(axisToTest); |
---|
| 1529 | const float bMinPosition = d->box.Min(axisToTest); |
---|
| 1530 | state.bestTwoSplits = 1; |
---|
| 1531 | |
---|
| 1532 | // This makes no sense to compute, if the width of the box |
---|
| 1533 | // is zero! |
---|
| 1534 | if (bMinPosition == d->box.Max(axisToTest)) { |
---|
| 1535 | state.bestPosition = bMinPosition; |
---|
| 1536 | return; |
---|
| 1537 | } |
---|
| 1538 | |
---|
| 1539 | int bucketN = state.bucketN; |
---|
| 1540 | |
---|
| 1541 | for (int i = 0; i < bucketN; i++) { |
---|
| 1542 | state.bucketMin[i] = 0; |
---|
| 1543 | state.bucketMax[i] = 0; |
---|
| 1544 | } |
---|
| 1545 | |
---|
| 1546 | float mult = (float)bucketN / (MaxPosition - MinPosition); |
---|
| 1547 | |
---|
| 1548 | ObjectContainer::iterator endit = d->objlist->end(); |
---|
| 1549 | int axis = axisToTest; |
---|
| 1550 | AxisAlignedBox3 obox; |
---|
| 1551 | for (ObjectContainer::iterator it = d->objlist->begin(); it != endit; it++) { |
---|
| 1552 | Intersectable *obj = *it; |
---|
| 1553 | obox = obj->GetBox(); |
---|
| 1554 | float v = obox.Min(axis); |
---|
| 1555 | if (v < MinPosition) |
---|
| 1556 | state.bucketMin[0]++; |
---|
| 1557 | else |
---|
| 1558 | if (v > MaxPosition) |
---|
| 1559 | state.bucketMin[bucketN-1]++; |
---|
| 1560 | else { |
---|
| 1561 | assert(v >= MinPosition); |
---|
| 1562 | assert(v <= MaxPosition); |
---|
| 1563 | int bucketPos = (int)((v - MinPosition) * mult); |
---|
| 1564 | assert(bucketPos >= 0); |
---|
| 1565 | assert(bucketPos <= bucketN); |
---|
| 1566 | if (bucketPos == bucketN) |
---|
| 1567 | bucketPos = bucketN-1; |
---|
| 1568 | state.bucketMin[bucketPos]++; |
---|
| 1569 | } |
---|
| 1570 | |
---|
| 1571 | float v2 = obox.Max(axis); |
---|
| 1572 | if (v2 < MinPosition) |
---|
| 1573 | state.bucketMax[0]++; |
---|
| 1574 | else |
---|
| 1575 | if (v2 > MaxPosition) |
---|
| 1576 | state.bucketMax[bucketN-1]++; |
---|
| 1577 | else { |
---|
| 1578 | assert(v2 >= MinPosition); |
---|
| 1579 | assert(v2 <= MaxPosition); |
---|
| 1580 | int bucketPos2 = (int)((v2 - MinPosition) * mult); |
---|
| 1581 | assert(bucketPos2 >= 0); |
---|
| 1582 | assert(bucketPos2 <= bucketN); |
---|
| 1583 | if (bucketPos2 == bucketN) |
---|
| 1584 | bucketPos2 = bucketN-1; |
---|
| 1585 | state.bucketMax[bucketPos2]++; |
---|
| 1586 | } |
---|
| 1587 | } // for |
---|
| 1588 | |
---|
| 1589 | // First evaluate the cost, when the splitting plane is on the left |
---|
| 1590 | state.position = MinPosition - bMinPosition; |
---|
| 1591 | assert(state.position >= 0.f); |
---|
| 1592 | assert(state.position <= state.width); |
---|
| 1593 | state.cntLeft = 0; |
---|
| 1594 | state.cntRight = d->count; |
---|
| 1595 | state.thickness = 0; |
---|
| 1596 | EvaluateCostFreeCut(state); |
---|
| 1597 | int cntLeft = 0; |
---|
| 1598 | int cntRight = d->count; |
---|
| 1599 | int thickness = 0; |
---|
| 1600 | // -------------------------------------- |
---|
| 1601 | float imult = (MaxPosition - MinPosition) / (float)bucketN; |
---|
| 1602 | for (int i = 0; i < bucketN-1; i++) { |
---|
| 1603 | cntLeft += state.bucketMin[i]; |
---|
| 1604 | cntRight -= state.bucketMax[i]; |
---|
| 1605 | thickness = cntLeft + cntRight - d->count; |
---|
| 1606 | assert(thickness >= 0); |
---|
| 1607 | state.cntLeft = cntLeft; |
---|
| 1608 | state.cntRight = cntRight; |
---|
| 1609 | state.thickness = thickness; |
---|
| 1610 | state.position = MinPosition - bMinPosition + imult * ((float)(i+1)); |
---|
| 1611 | assert(state.position >= 0); |
---|
| 1612 | assert(state.position <= state.width); |
---|
| 1613 | |
---|
| 1614 | EvaluateCost(state); |
---|
| 1615 | } // for |
---|
| 1616 | |
---|
| 1617 | // free cut |
---|
| 1618 | state.position = MaxPosition - bMinPosition; |
---|
| 1619 | assert(state.position >= 0); |
---|
| 1620 | assert(state.position <= state.width); |
---|
| 1621 | state.cntLeft = d->count; |
---|
| 1622 | state.cntRight = 0; |
---|
| 1623 | state.thickness = 0; |
---|
| 1624 | EvaluateCostFreeCut(state); |
---|
| 1625 | |
---|
| 1626 | // we move back to the space |
---|
| 1627 | state.bestPosition += bMinPosition; |
---|
| 1628 | |
---|
| 1629 | // In this case the best result is kept in 'state' variable |
---|
| 1630 | return; |
---|
| 1631 | } // CTestAx::GetSplitPlaneOpt (for X, Y, Z) |
---|
| 1632 | |
---|
| 1633 | } |
---|
| 1634 | |
---|