[162] | 1 | #include <stack> |
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| 2 | #include <algorithm> |
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| 3 | #include <queue> |
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| 4 | #include "Environment.h" |
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| 5 | #include "Mesh.h" |
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[65] | 6 | #include "KdTree.h" |
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| 7 | |
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[162] | 8 | |
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[177] | 9 | int KdNode::mailID = 1; |
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[162] | 10 | |
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| 11 | |
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[177] | 12 | KdNode::KdNode(KdInterior *parent):mParent(parent), mailbox(0) |
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[162] | 13 | { |
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| 14 | if (parent) |
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| 15 | mDepth = parent->mDepth+1; |
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| 16 | else |
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| 17 | mDepth = 0; |
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| 18 | } |
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| 19 | |
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| 20 | KdTree::KdTree() |
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| 21 | { |
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| 22 | mRoot = new KdLeaf(NULL, 0); |
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| 23 | environment->GetIntValue("KdTree.Termination.maxDepth", mTermMaxDepth); |
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| 24 | environment->GetIntValue("KdTree.Termination.minCost", mTermMinCost); |
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| 25 | environment->GetFloatValue("KdTree.Termination.maxCostRatio", mMaxCostRatio); |
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| 26 | environment->GetFloatValue("KdTree.Termination.ct_div_ci", mCt_div_ci); |
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| 27 | environment->GetFloatValue("KdTree.splitBorder", mSplitBorder); |
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| 28 | |
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[170] | 29 | environment->GetBoolValue("KdTree.sahUseFaces", mSahUseFaces); |
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| 30 | |
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[162] | 31 | char splitType[64]; |
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| 32 | environment->GetStringValue("KdTree.splitMethod", splitType); |
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[65] | 33 | |
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[162] | 34 | mSplitMethod = SPLIT_SPATIAL_MEDIAN; |
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| 35 | if (strcmp(splitType, "spatialMedian") == 0) |
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| 36 | mSplitMethod = SPLIT_SPATIAL_MEDIAN; |
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| 37 | else |
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| 38 | if (strcmp(splitType, "objectMedian") == 0) |
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| 39 | mSplitMethod = SPLIT_OBJECT_MEDIAN; |
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| 40 | else |
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| 41 | if (strcmp(splitType, "SAH") == 0) |
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| 42 | mSplitMethod = SPLIT_SAH; |
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| 43 | else { |
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| 44 | cerr<<"Wrong kd split type "<<splitType<<endl; |
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| 45 | exit(1); |
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| 46 | } |
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[170] | 47 | splitCandidates = NULL; |
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[162] | 48 | } |
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| 49 | |
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| 50 | bool |
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| 51 | KdTree::Construct() |
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| 52 | { |
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[170] | 53 | if (!splitCandidates) |
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| 54 | splitCandidates = new vector<SortableEntry>; |
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| 55 | |
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[162] | 56 | // first construct a leaf that will get subdivide |
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| 57 | KdLeaf *leaf = (KdLeaf *) mRoot; |
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| 58 | |
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| 59 | mStat.nodes = 1; |
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| 60 | |
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| 61 | mBox.Initialize(); |
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| 62 | |
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[176] | 63 | ObjectContainer::const_iterator mi; |
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[162] | 64 | for ( mi = leaf->mObjects.begin(); |
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| 65 | mi != leaf->mObjects.end(); |
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| 66 | mi++) { |
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| 67 | mBox.Include((*mi)->GetBox()); |
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[65] | 68 | } |
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| 69 | |
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[170] | 70 | cout <<"KdTree Root Box:"<< mBox<<endl; |
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[162] | 71 | mRoot = Subdivide(TraversalData(leaf, mBox, 0)); |
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| 72 | |
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[170] | 73 | // remove the allocated array |
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| 74 | delete splitCandidates; |
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| 75 | |
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[162] | 76 | return true; |
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[65] | 77 | } |
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[162] | 78 | |
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| 79 | KdNode * |
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| 80 | KdTree::Subdivide(const TraversalData &tdata) |
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| 81 | { |
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| 82 | |
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| 83 | KdNode *result = NULL; |
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| 84 | |
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| 85 | priority_queue<TraversalData> tStack; |
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| 86 | // stack<STraversalData> tStack; |
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| 87 | |
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| 88 | tStack.push(tdata); |
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| 89 | AxisAlignedBox3 backBox, frontBox; |
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| 90 | |
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| 91 | |
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| 92 | while (!tStack.empty()) { |
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| 93 | |
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| 94 | #if 0 |
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| 95 | if ( GetMemUsage() > maxMemory ) { |
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| 96 | // count statistics on unprocessed leafs |
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| 97 | while (!tStack.empty()) { |
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| 98 | EvaluateLeafStats(tStack.top()); |
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| 99 | tStack.pop(); |
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| 100 | } |
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| 101 | break; |
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| 102 | } |
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| 103 | #endif |
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| 104 | |
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| 105 | TraversalData data = tStack.top(); |
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| 106 | tStack.pop(); |
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| 107 | |
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| 108 | KdNode *node = SubdivideNode((KdLeaf *) data.mNode, |
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| 109 | data.mBox, |
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| 110 | backBox, |
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| 111 | frontBox |
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| 112 | ); |
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| 113 | if (result == NULL) |
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| 114 | result = node; |
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| 115 | |
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| 116 | if (!node->IsLeaf()) { |
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| 117 | |
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| 118 | KdInterior *interior = (KdInterior *) node; |
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| 119 | // push the children on the stack |
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| 120 | tStack.push(TraversalData(interior->mBack, backBox, data.mDepth+1)); |
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| 121 | tStack.push(TraversalData(interior->mFront, frontBox, data.mDepth+1)); |
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| 122 | |
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| 123 | } else { |
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| 124 | EvaluateLeafStats(data); |
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| 125 | } |
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| 126 | } |
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| 127 | |
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| 128 | return result; |
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| 129 | |
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| 130 | } |
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| 131 | |
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| 132 | |
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| 133 | |
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| 134 | bool |
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| 135 | KdTree::TerminationCriteriaMet(const KdLeaf *leaf) |
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| 136 | { |
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| 137 | // cerr<<"\n OBJECTS="<<leaf->mObjects.size()<<endl; |
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| 138 | return |
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[170] | 139 | (leaf->mObjects.size() <= mTermMinCost) || |
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[162] | 140 | (leaf->mDepth >= mTermMaxDepth); |
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| 141 | |
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| 142 | } |
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| 143 | |
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| 144 | |
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| 145 | int |
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| 146 | KdTree::SelectPlane(KdLeaf *leaf, |
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| 147 | const AxisAlignedBox3 &box, |
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| 148 | float &position |
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| 149 | ) |
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| 150 | { |
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| 151 | int axis = -1; |
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| 152 | |
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| 153 | switch (mSplitMethod) |
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| 154 | { |
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| 155 | case SPLIT_SPATIAL_MEDIAN: { |
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| 156 | axis = box.Size().DrivingAxis(); |
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| 157 | position = (box.Min()[axis] + box.Max()[axis])*0.5f; |
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| 158 | break; |
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| 159 | } |
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| 160 | case SPLIT_SAH: { |
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| 161 | int objectsBack, objectsFront; |
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| 162 | float costRatio; |
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| 163 | bool mOnlyDrivingAxis = false; |
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| 164 | if (mOnlyDrivingAxis) { |
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[333] | 165 | axis = box.Size().DrivingAxis(); |
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| 166 | costRatio = BestCostRatio(leaf, |
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| 167 | box, |
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| 168 | axis, |
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| 169 | position, |
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| 170 | objectsBack, |
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| 171 | objectsFront); |
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[162] | 172 | } else { |
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[333] | 173 | costRatio = MAX_FLOAT; |
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| 174 | for (int i=0; i < 3; i++) { |
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| 175 | float p; |
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| 176 | float r = BestCostRatio(leaf, |
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| 177 | box, |
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| 178 | i, |
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| 179 | p, |
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| 180 | objectsBack, |
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| 181 | objectsFront); |
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| 182 | if (r < costRatio) { |
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| 183 | costRatio = r; |
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| 184 | axis = i; |
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| 185 | position = p; |
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| 186 | } |
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| 187 | } |
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[162] | 188 | } |
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| 189 | |
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| 190 | if (costRatio > mMaxCostRatio) { |
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[333] | 191 | // cout<<"Too big cost ratio "<<costRatio<<endl; |
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| 192 | axis = -1; |
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[162] | 193 | } |
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| 194 | break; |
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| 195 | } |
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| 196 | |
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| 197 | } |
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| 198 | return axis; |
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| 199 | } |
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| 200 | |
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| 201 | KdNode * |
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| 202 | KdTree::SubdivideNode( |
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| 203 | KdLeaf *leaf, |
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| 204 | const AxisAlignedBox3 &box, |
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| 205 | AxisAlignedBox3 &backBBox, |
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| 206 | AxisAlignedBox3 &frontBBox |
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| 207 | ) |
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| 208 | { |
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| 209 | |
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| 210 | if (TerminationCriteriaMet(leaf)) |
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| 211 | return leaf; |
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| 212 | |
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| 213 | float position; |
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| 214 | |
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| 215 | // select subdivision axis |
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| 216 | int axis = SelectPlane( leaf, box, position ); |
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| 217 | |
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| 218 | if (axis == -1) { |
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| 219 | return leaf; |
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| 220 | } |
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| 221 | |
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| 222 | mStat.nodes+=2; |
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| 223 | mStat.splits[axis]++; |
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| 224 | |
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| 225 | // add the new nodes to the tree |
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| 226 | KdInterior *node = new KdInterior(leaf->mParent); |
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| 227 | |
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| 228 | node->mAxis = axis; |
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| 229 | node->mPosition = position; |
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| 230 | node->mBox = box; |
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| 231 | |
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| 232 | backBBox = box; |
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| 233 | frontBBox = box; |
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| 234 | |
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| 235 | // first count ray sides |
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| 236 | int objectsBack = 0; |
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| 237 | int objectsFront = 0; |
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| 238 | |
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| 239 | backBBox.SetMax(axis, position); |
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| 240 | frontBBox.SetMin(axis, position); |
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| 241 | |
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[176] | 242 | ObjectContainer::const_iterator mi; |
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[162] | 243 | |
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| 244 | for ( mi = leaf->mObjects.begin(); |
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| 245 | mi != leaf->mObjects.end(); |
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| 246 | mi++) { |
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| 247 | // determine the side of this ray with respect to the plane |
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| 248 | AxisAlignedBox3 box = (*mi)->GetBox(); |
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| 249 | if (box.Max(axis) > position ) |
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| 250 | objectsFront++; |
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| 251 | |
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| 252 | if (box.Min(axis) < position ) |
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| 253 | objectsBack++; |
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| 254 | } |
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| 255 | |
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| 256 | |
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| 257 | KdLeaf *back = new KdLeaf(node, objectsBack); |
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| 258 | KdLeaf *front = new KdLeaf(node, objectsFront); |
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| 259 | |
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| 260 | // replace a link from node's parent |
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| 261 | if ( leaf->mParent ) |
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| 262 | leaf->mParent->ReplaceChildLink(leaf, node); |
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| 263 | |
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| 264 | // and setup child links |
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| 265 | node->SetupChildLinks(back, front); |
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| 266 | |
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| 267 | for (mi = leaf->mObjects.begin(); |
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| 268 | mi != leaf->mObjects.end(); |
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| 269 | mi++) { |
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| 270 | // determine the side of this ray with respect to the plane |
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| 271 | AxisAlignedBox3 box = (*mi)->GetBox(); |
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| 272 | |
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| 273 | if (box.Max(axis) >= position ) |
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| 274 | front->mObjects.push_back(*mi); |
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| 275 | |
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| 276 | if (box.Min(axis) < position ) |
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| 277 | back->mObjects.push_back(*mi); |
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| 278 | |
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| 279 | mStat.objectRefs -= leaf->mObjects.size(); |
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| 280 | mStat.objectRefs += objectsBack + objectsFront; |
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| 281 | } |
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| 282 | |
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| 283 | delete leaf; |
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| 284 | return node; |
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| 285 | } |
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| 286 | |
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| 287 | |
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| 288 | |
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| 289 | void |
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| 290 | KdTreeStatistics::Print(ostream &app) const |
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| 291 | { |
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| 292 | app << "===== KdTree statistics ===============\n"; |
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| 293 | |
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| 294 | app << "#N_RAYS Number of rays )\n" |
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| 295 | << rays <<endl; |
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| 296 | app << "#N_DOMAINS ( Number of query domains )\n" |
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| 297 | << queryDomains <<endl; |
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| 298 | |
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| 299 | app << "#N_NODES ( Number of nodes )\n" << nodes << "\n"; |
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| 300 | |
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| 301 | app << "#N_LEAVES ( Number of leaves )\n" << Leaves() << "\n"; |
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| 302 | |
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| 303 | app << "#N_SPLITS ( Number of splits in axes x y z dx dy dz \n"; |
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| 304 | for (int i=0; i<7; i++) |
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| 305 | app << splits[i] <<" "; |
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| 306 | app <<endl; |
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| 307 | |
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| 308 | app << "#N_RAYREFS ( Number of rayRefs )\n" << |
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| 309 | rayRefs << "\n"; |
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| 310 | |
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| 311 | app << "#N_RAYRAYREFS ( Number of rayRefs / ray )\n" << |
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| 312 | rayRefs/(double)rays << "\n"; |
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| 313 | |
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| 314 | app << "#N_LEAFRAYREFS ( Number of rayRefs / leaf )\n" << |
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| 315 | rayRefs/(double)Leaves() << "\n"; |
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| 316 | |
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| 317 | app << "#N_MAXOBJECTREFS ( Max number of rayRefs / leaf )\n" << |
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| 318 | maxObjectRefs << "\n"; |
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| 319 | |
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| 320 | app << "#N_NONEMPTYRAYREFS ( Number of rayRefs in nonEmpty leaves / non empty leaf )\n" << |
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| 321 | rayRefsNonZeroQuery/(double)(Leaves() - zeroQueryNodes) << "\n"; |
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| 322 | |
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| 323 | app << "#N_LEAFDOMAINREFS ( Number of query domain Refs / leaf )\n" << |
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| 324 | objectRefs/(double)Leaves() << "\n"; |
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| 325 | |
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| 326 | // app << setprecision(4); |
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| 327 | |
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| 328 | app << "#N_PEMPTYLEAVES ( Percentage of leaves with zero query domains )\n"<< |
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| 329 | zeroQueryNodes*100/(double)Leaves()<<endl; |
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| 330 | |
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| 331 | app << "#N_PMAXDEPTHLEAVES ( Percentage of leaves at maxdepth )\n"<< |
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| 332 | maxDepthNodes*100/(double)Leaves()<<endl; |
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| 333 | |
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| 334 | app << "#N_PMINCOSTLEAVES ( Percentage of leaves with minCost )\n"<< |
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| 335 | minCostNodes*100/(double)Leaves()<<endl; |
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| 336 | |
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| 337 | app << "#N_ADDED_RAYREFS (Number of dynamically added ray references )\n"<< |
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| 338 | addedRayRefs<<endl; |
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| 339 | |
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| 340 | app << "#N_REMOVED_RAYREFS (Number of dynamically removed ray references )\n"<< |
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| 341 | removedRayRefs<<endl; |
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| 342 | |
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| 343 | // app << setprecision(4); |
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| 344 | |
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| 345 | // app << "#N_CTIME ( Construction time [s] )\n" |
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| 346 | // << Time() << " \n"; |
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| 347 | |
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| 348 | app << "===== END OF KdTree statistics ==========\n"; |
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| 349 | |
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| 350 | } |
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| 351 | |
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| 352 | |
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| 353 | |
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| 354 | void |
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| 355 | KdTree::EvaluateLeafStats(const TraversalData &data) |
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| 356 | { |
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| 357 | |
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| 358 | // the node became a leaf -> evaluate stats for leafs |
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| 359 | KdLeaf *leaf = (KdLeaf *)data.mNode; |
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| 360 | |
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| 361 | if (data.mDepth > mTermMaxDepth) |
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| 362 | mStat.maxDepthNodes++; |
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| 363 | |
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| 364 | if ( (int)(leaf->mObjects.size()) < mTermMinCost) |
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| 365 | mStat.minCostNodes++; |
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| 366 | |
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| 367 | |
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| 368 | if ( (int)(leaf->mObjects.size()) > mStat.maxObjectRefs) |
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| 369 | mStat.maxObjectRefs = leaf->mObjects.size(); |
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| 370 | |
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| 371 | } |
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| 372 | |
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| 373 | |
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| 374 | |
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| 375 | void |
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| 376 | KdTree::SortSplitCandidates( |
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| 377 | KdLeaf *node, |
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| 378 | const int axis |
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| 379 | ) |
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| 380 | { |
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| 381 | splitCandidates->clear(); |
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| 382 | |
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| 383 | int requestedSize = 2*node->mObjects.size(); |
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| 384 | // creates a sorted split candidates array |
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| 385 | if (splitCandidates->capacity() > 500000 && |
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| 386 | requestedSize < (int)(splitCandidates->capacity()/10) ) { |
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| 387 | delete splitCandidates; |
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| 388 | splitCandidates = new vector<SortableEntry>; |
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| 389 | } |
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| 390 | |
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| 391 | splitCandidates->reserve(requestedSize); |
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| 392 | |
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| 393 | // insert all queries |
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[176] | 394 | for(ObjectContainer::const_iterator mi = node->mObjects.begin(); |
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| 395 | mi != node->mObjects.end(); |
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[162] | 396 | mi++) { |
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| 397 | AxisAlignedBox3 box = (*mi)->GetBox(); |
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| 398 | |
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[176] | 399 | splitCandidates->push_back(SortableEntry(SortableEntry::BOX_MIN, |
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[162] | 400 | box.Min(axis), |
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[176] | 401 | *mi) |
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[162] | 402 | ); |
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| 403 | |
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| 404 | |
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[176] | 405 | splitCandidates->push_back(SortableEntry(SortableEntry::BOX_MAX, |
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[162] | 406 | box.Max(axis), |
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[176] | 407 | *mi) |
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[162] | 408 | ); |
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| 409 | } |
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| 410 | |
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| 411 | stable_sort(splitCandidates->begin(), splitCandidates->end()); |
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| 412 | } |
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| 413 | |
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| 414 | |
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| 415 | float |
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| 416 | KdTree::BestCostRatio( |
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[333] | 417 | KdLeaf *node, |
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| 418 | const AxisAlignedBox3 &box, |
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| 419 | const int axis, |
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| 420 | float &position, |
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| 421 | int &objectsBack, |
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| 422 | int &objectsFront |
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| 423 | ) |
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[162] | 424 | { |
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| 425 | |
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| 426 | SortSplitCandidates(node, axis); |
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| 427 | |
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| 428 | // go through the lists, count the number of objects left and right |
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| 429 | // and evaluate the following cost funcion: |
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| 430 | // C = ct_div_ci + (ol + or)/queries |
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| 431 | |
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[176] | 432 | float totalIntersections = 0.0f; |
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[170] | 433 | vector<SortableEntry>::const_iterator ci; |
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| 434 | |
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| 435 | for(ci = splitCandidates->begin(); |
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| 436 | ci < splitCandidates->end(); |
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| 437 | ci++) |
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[176] | 438 | if ((*ci).type == SortableEntry::BOX_MIN) { |
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| 439 | totalIntersections += (*ci).intersectable->IntersectionComplexity(); |
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[170] | 440 | } |
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[333] | 441 | |
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[176] | 442 | float intersectionsLeft = 0; |
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| 443 | float intersectionsRight = totalIntersections; |
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[333] | 444 | |
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[165] | 445 | int objectsLeft = 0, objectsRight = node->mObjects.size(); |
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[170] | 446 | |
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[162] | 447 | float minBox = box.Min(axis); |
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| 448 | float maxBox = box.Max(axis); |
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| 449 | float boxArea = box.SurfaceArea(); |
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| 450 | |
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| 451 | float minBand = minBox + mSplitBorder*(maxBox - minBox); |
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| 452 | float maxBand = minBox + (1.0f - mSplitBorder)*(maxBox - minBox); |
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| 453 | |
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| 454 | float minSum = 1e20; |
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| 455 | |
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[170] | 456 | for(ci = splitCandidates->begin(); |
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[162] | 457 | ci < splitCandidates->end(); |
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| 458 | ci++) { |
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| 459 | switch ((*ci).type) { |
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[176] | 460 | case SortableEntry::BOX_MIN: |
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[165] | 461 | objectsLeft++; |
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[176] | 462 | intersectionsLeft += (*ci).intersectable->IntersectionComplexity(); |
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[162] | 463 | break; |
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[176] | 464 | case SortableEntry::BOX_MAX: |
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[165] | 465 | objectsRight--; |
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[176] | 466 | intersectionsRight -= (*ci).intersectable->IntersectionComplexity(); |
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[162] | 467 | break; |
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| 468 | } |
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| 469 | |
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| 470 | if ((*ci).value > minBand && (*ci).value < maxBand) { |
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| 471 | AxisAlignedBox3 lbox = box; |
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| 472 | AxisAlignedBox3 rbox = box; |
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| 473 | lbox.SetMax(axis, (*ci).value); |
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| 474 | rbox.SetMin(axis, (*ci).value); |
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| 475 | |
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[170] | 476 | float sum; |
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| 477 | if (mSahUseFaces) |
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[176] | 478 | sum = intersectionsLeft*lbox.SurfaceArea() + intersectionsRight*rbox.SurfaceArea(); |
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[170] | 479 | else |
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| 480 | sum = objectsLeft*lbox.SurfaceArea() + objectsRight*rbox.SurfaceArea(); |
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[162] | 481 | |
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| 482 | // cout<<"pos="<<(*ci).value<<"\t q=("<<ql<<","<<qr<<")\t r=("<<rl<<","<<rr<<")"<<endl; |
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| 483 | // cout<<"cost= "<<sum<<endl; |
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| 484 | |
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| 485 | if (sum < minSum) { |
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| 486 | minSum = sum; |
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| 487 | position = (*ci).value; |
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| 488 | |
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[165] | 489 | objectsBack = objectsLeft; |
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| 490 | objectsFront = objectsRight; |
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[162] | 491 | } |
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| 492 | } |
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| 493 | } |
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| 494 | |
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[176] | 495 | float oldCost = mSahUseFaces ? totalIntersections : node->mObjects.size(); |
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[162] | 496 | float newCost = mCt_div_ci + minSum/boxArea; |
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| 497 | float ratio = newCost/oldCost; |
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[170] | 498 | |
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[162] | 499 | #if 0 |
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| 500 | cout<<"===================="<<endl; |
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| 501 | cout<<"costRatio="<<ratio<<" pos="<<position<<" t="<<(position - minBox)/(maxBox - minBox) |
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| 502 | <<"\t o=("<<objectsBack<<","<<objectsFront<<")"<<endl; |
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| 503 | #endif |
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| 504 | return ratio; |
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| 505 | } |
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| 506 | |
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| 507 | int |
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| 508 | KdTree::CastRay( |
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| 509 | Ray &ray |
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| 510 | ) |
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| 511 | { |
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| 512 | int hits = 0; |
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| 513 | |
---|
| 514 | stack<RayTraversalData> tStack; |
---|
| 515 | |
---|
| 516 | float maxt = 1e6; |
---|
| 517 | float mint = 0; |
---|
| 518 | |
---|
[176] | 519 | Intersectable::NewMail(); |
---|
| 520 | |
---|
[162] | 521 | if (!mBox.GetMinMaxT(ray, &mint, &maxt)) |
---|
| 522 | return 0; |
---|
| 523 | |
---|
| 524 | if (mint < 0) |
---|
| 525 | mint = 0; |
---|
| 526 | |
---|
| 527 | maxt += Limits::Threshold; |
---|
| 528 | |
---|
| 529 | Vector3 entp = ray.Extrap(mint); |
---|
| 530 | Vector3 extp = ray.Extrap(maxt); |
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| 531 | |
---|
| 532 | KdNode *node = mRoot; |
---|
| 533 | KdNode *farChild; |
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| 534 | float position; |
---|
| 535 | int axis; |
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| 536 | |
---|
| 537 | while (1) { |
---|
| 538 | if (!node->IsLeaf()) { |
---|
| 539 | KdInterior *in = (KdInterior *) node; |
---|
| 540 | position = in->mPosition; |
---|
| 541 | axis = in->mAxis; |
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| 542 | |
---|
| 543 | if (entp[axis] <= position) { |
---|
| 544 | if (extp[axis] <= position) { |
---|
| 545 | node = in->mBack; |
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| 546 | // cases N1,N2,N3,P5,Z2,Z3 |
---|
| 547 | continue; |
---|
| 548 | } else { |
---|
| 549 | // case N4 |
---|
| 550 | node = in->mBack; |
---|
| 551 | farChild = in->mFront; |
---|
| 552 | } |
---|
| 553 | } |
---|
| 554 | else { |
---|
| 555 | if (position <= extp[axis]) { |
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| 556 | node = in->mFront; |
---|
| 557 | // cases P1,P2,P3,N5,Z1 |
---|
| 558 | continue; |
---|
| 559 | } else { |
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| 560 | node = in->mFront; |
---|
| 561 | farChild = in->mBack; |
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| 562 | // case P4 |
---|
| 563 | } |
---|
[241] | 564 | } |
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[162] | 565 | // $$ modification 3.5.2004 - hints from Kamil Ghais |
---|
| 566 | // case N4 or P4 |
---|
| 567 | float tdist = (position - ray.GetLoc(axis)) / ray.GetDir(axis); |
---|
| 568 | tStack.push(RayTraversalData(farChild, extp, maxt)); |
---|
| 569 | extp = ray.GetLoc() + ray.GetDir()*tdist; |
---|
| 570 | maxt = tdist; |
---|
[241] | 571 | } else { |
---|
[162] | 572 | // compute intersection with all objects in this leaf |
---|
| 573 | KdLeaf *leaf = (KdLeaf *) node; |
---|
[362] | 574 | ray.kdLeaves.push_back(leaf); |
---|
[162] | 575 | |
---|
[176] | 576 | ObjectContainer::const_iterator mi; |
---|
[162] | 577 | for ( mi = leaf->mObjects.begin(); |
---|
| 578 | mi != leaf->mObjects.end(); |
---|
| 579 | mi++) { |
---|
[176] | 580 | Intersectable *object = *mi; |
---|
| 581 | if (!object->Mailed() ) { |
---|
| 582 | object->Mail(); |
---|
[162] | 583 | //ray.meshes.push_back(mesh); |
---|
[176] | 584 | hits += object->CastRay(ray); |
---|
[162] | 585 | } |
---|
| 586 | } |
---|
| 587 | |
---|
| 588 | if (hits && ray.GetType() == Ray::LOCAL_RAY) |
---|
| 589 | if (ray.intersections[0].mT <= maxt) |
---|
| 590 | break; |
---|
| 591 | |
---|
| 592 | // get the next node from the stack |
---|
| 593 | if (tStack.empty()) |
---|
| 594 | break; |
---|
| 595 | |
---|
| 596 | entp = extp; |
---|
| 597 | mint = maxt; |
---|
[245] | 598 | if (ray.GetType() == Ray::LINE_SEGMENT && mint > 1.0f) |
---|
| 599 | break; |
---|
| 600 | |
---|
[162] | 601 | RayTraversalData &s = tStack.top(); |
---|
| 602 | node = s.mNode; |
---|
| 603 | extp = s.mExitPoint; |
---|
| 604 | maxt = s.mMaxT; |
---|
| 605 | tStack.pop(); |
---|
| 606 | } |
---|
| 607 | } |
---|
| 608 | |
---|
| 609 | |
---|
| 610 | return hits; |
---|
| 611 | } |
---|
| 612 | |
---|
[176] | 613 | void |
---|
| 614 | KdTree::CollectObjects(KdNode *n, ObjectContainer &objects) |
---|
| 615 | { |
---|
| 616 | stack<KdNode *> nodeStack; |
---|
| 617 | |
---|
| 618 | nodeStack.push(n); |
---|
| 619 | |
---|
| 620 | while (!nodeStack.empty()) { |
---|
| 621 | KdNode *node = nodeStack.top(); |
---|
| 622 | nodeStack.pop(); |
---|
| 623 | if (node->IsLeaf()) { |
---|
| 624 | KdLeaf *leaf = (KdLeaf *)node; |
---|
| 625 | for (int j=0; j < leaf->mObjects.size(); j++) { |
---|
| 626 | Intersectable *object = leaf->mObjects[j]; |
---|
| 627 | if (!object->Mailed()) { |
---|
| 628 | object->Mail(); |
---|
| 629 | objects.push_back(object); |
---|
| 630 | } |
---|
| 631 | } |
---|
| 632 | } else { |
---|
| 633 | KdInterior *interior = (KdInterior *)node; |
---|
| 634 | nodeStack.push(interior->mFront); |
---|
| 635 | nodeStack.push(interior->mBack); |
---|
| 636 | } |
---|
| 637 | } |
---|
| 638 | } |
---|
[177] | 639 | |
---|
| 640 | // Find random neighbor which was not mailed |
---|
| 641 | KdNode * |
---|
| 642 | KdTree::FindRandomNeighbor(KdNode *n, |
---|
[354] | 643 | bool onlyUnmailed |
---|
| 644 | ) |
---|
[177] | 645 | { |
---|
| 646 | stack<KdNode *> nodeStack; |
---|
| 647 | |
---|
| 648 | nodeStack.push(mRoot); |
---|
| 649 | |
---|
| 650 | AxisAlignedBox3 box = GetBox(n); |
---|
| 651 | int mask = rand(); |
---|
| 652 | |
---|
| 653 | while (!nodeStack.empty()) { |
---|
| 654 | KdNode *node = nodeStack.top(); |
---|
| 655 | nodeStack.pop(); |
---|
| 656 | if (node->IsLeaf()) { |
---|
| 657 | if ( node != n && (!onlyUnmailed || !node->Mailed()) ) |
---|
| 658 | return node; |
---|
| 659 | } else { |
---|
| 660 | KdInterior *interior = (KdInterior *)node; |
---|
| 661 | if (interior->mPosition > box.Max(interior->mAxis)) |
---|
| 662 | nodeStack.push(interior->mBack); |
---|
| 663 | else |
---|
| 664 | if (interior->mPosition < box.Min(interior->mAxis)) |
---|
| 665 | nodeStack.push(interior->mFront); |
---|
| 666 | else { |
---|
| 667 | // random decision |
---|
| 668 | if (mask&1) |
---|
| 669 | nodeStack.push(interior->mBack); |
---|
| 670 | else |
---|
| 671 | nodeStack.push(interior->mFront); |
---|
| 672 | mask = mask>>1; |
---|
| 673 | } |
---|
| 674 | } |
---|
| 675 | } |
---|
| 676 | |
---|
| 677 | return NULL; |
---|
| 678 | } |
---|
[181] | 679 | |
---|
| 680 | int |
---|
| 681 | KdTree::FindNeighbors(KdNode *n, |
---|
| 682 | vector<KdNode *> &neighbors, |
---|
| 683 | bool onlyUnmailed |
---|
| 684 | ) |
---|
| 685 | { |
---|
| 686 | stack<KdNode *> nodeStack; |
---|
| 687 | |
---|
| 688 | nodeStack.push(mRoot); |
---|
| 689 | |
---|
| 690 | AxisAlignedBox3 box = GetBox(n); |
---|
| 691 | |
---|
| 692 | while (!nodeStack.empty()) { |
---|
| 693 | KdNode *node = nodeStack.top(); |
---|
| 694 | nodeStack.pop(); |
---|
| 695 | if (node->IsLeaf()) { |
---|
| 696 | if ( node != n && (!onlyUnmailed || !node->Mailed()) ) |
---|
| 697 | neighbors.push_back(node); |
---|
| 698 | } else { |
---|
| 699 | KdInterior *interior = (KdInterior *)node; |
---|
| 700 | if (interior->mPosition > box.Max(interior->mAxis)) |
---|
| 701 | nodeStack.push(interior->mBack); |
---|
| 702 | else |
---|
| 703 | if (interior->mPosition < box.Min(interior->mAxis)) |
---|
| 704 | nodeStack.push(interior->mFront); |
---|
| 705 | else { |
---|
| 706 | // random decision |
---|
| 707 | nodeStack.push(interior->mBack); |
---|
| 708 | nodeStack.push(interior->mFront); |
---|
| 709 | } |
---|
| 710 | } |
---|
| 711 | } |
---|
| 712 | |
---|
| 713 | return neighbors.size(); |
---|
| 714 | } |
---|
[191] | 715 | |
---|
[245] | 716 | // Find random neighbor which was not mailed |
---|
| 717 | KdNode * |
---|
| 718 | KdTree::GetRandomLeaf(const Plane3 &plane) |
---|
| 719 | { |
---|
| 720 | stack<KdNode *> nodeStack; |
---|
| 721 | |
---|
| 722 | nodeStack.push(mRoot); |
---|
| 723 | |
---|
| 724 | int mask = rand(); |
---|
| 725 | |
---|
| 726 | while (!nodeStack.empty()) { |
---|
| 727 | KdNode *node = nodeStack.top(); |
---|
| 728 | nodeStack.pop(); |
---|
| 729 | if (node->IsLeaf()) { |
---|
| 730 | return node; |
---|
| 731 | } else { |
---|
| 732 | KdInterior *interior = (KdInterior *)node; |
---|
| 733 | KdNode *next; |
---|
| 734 | if (GetBox(interior->mBack).Side(plane) < 0) |
---|
| 735 | next = interior->mFront; |
---|
| 736 | else |
---|
| 737 | if (GetBox(interior->mFront).Side(plane) < 0) |
---|
| 738 | next = interior->mBack; |
---|
| 739 | else { |
---|
| 740 | // random decision |
---|
| 741 | if (mask&1) |
---|
| 742 | next = interior->mBack; |
---|
| 743 | else |
---|
| 744 | next = interior->mFront; |
---|
| 745 | mask = mask>>1; |
---|
| 746 | } |
---|
| 747 | nodeStack.push(next); |
---|
| 748 | } |
---|
| 749 | } |
---|
| 750 | |
---|
| 751 | |
---|
| 752 | return NULL; |
---|
| 753 | } |
---|
| 754 | |
---|
[191] | 755 | void |
---|
| 756 | KdTree::CollectLeaves(vector<KdLeaf *> &leaves) |
---|
| 757 | { |
---|
| 758 | stack<KdNode *> nodeStack; |
---|
| 759 | nodeStack.push(mRoot); |
---|
| 760 | |
---|
| 761 | while (!nodeStack.empty()) { |
---|
| 762 | KdNode *node = nodeStack.top(); |
---|
| 763 | nodeStack.pop(); |
---|
| 764 | if (node->IsLeaf()) { |
---|
| 765 | KdLeaf *leaf = (KdLeaf *)node; |
---|
| 766 | leaves.push_back(leaf); |
---|
| 767 | } else { |
---|
| 768 | KdInterior *interior = (KdInterior *)node; |
---|
| 769 | nodeStack.push(interior->mBack); |
---|
| 770 | nodeStack.push(interior->mFront); |
---|
| 771 | } |
---|
| 772 | } |
---|
| 773 | } |
---|
| 774 | |
---|
| 775 | |
---|
| 776 | int |
---|
| 777 | KdTree::CollectLeafPvs() |
---|
| 778 | { |
---|
| 779 | int totalPvsSize = 0; |
---|
| 780 | stack<KdNode *> nodeStack; |
---|
| 781 | |
---|
| 782 | nodeStack.push(mRoot); |
---|
| 783 | |
---|
| 784 | while (!nodeStack.empty()) { |
---|
| 785 | KdNode *node = nodeStack.top(); |
---|
| 786 | nodeStack.pop(); |
---|
| 787 | if (node->IsLeaf()) { |
---|
| 788 | KdLeaf *leaf = (KdLeaf *)node; |
---|
| 789 | for (int j=0; j < leaf->mObjects.size(); j++) { |
---|
| 790 | Intersectable *object = leaf->mObjects[j]; |
---|
| 791 | if (!object->Mailed()) { |
---|
| 792 | object->Mail(); |
---|
| 793 | // add this node to pvs of all nodes it can see |
---|
| 794 | KdPvsMap::iterator ni = object->mKdPvs.mEntries.begin(); |
---|
| 795 | for (; ni != object->mKdPvs.mEntries.end(); ni++) { |
---|
| 796 | KdNode *node = (*ni).first; |
---|
| 797 | // $$ JB TEMPORARY solution -> should add object PVS or explictly computed |
---|
| 798 | // kd tree PVS |
---|
[311] | 799 | if (leaf->mKdPvs.AddSample(node)) |
---|
[191] | 800 | totalPvsSize++; |
---|
| 801 | } |
---|
| 802 | } |
---|
| 803 | } |
---|
| 804 | } else { |
---|
| 805 | KdInterior *interior = (KdInterior *)node; |
---|
| 806 | nodeStack.push(interior->mFront); |
---|
| 807 | nodeStack.push(interior->mBack); |
---|
| 808 | } |
---|
| 809 | } |
---|
| 810 | |
---|
| 811 | return totalPvsSize; |
---|
| 812 | } |
---|
[354] | 813 | |
---|
| 814 | |
---|
| 815 | KdNode * |
---|
| 816 | KdTree::GetRandomLeaf(const bool onlyUnmailed) |
---|
| 817 | { |
---|
| 818 | stack<KdNode *> nodeStack; |
---|
| 819 | nodeStack.push(mRoot); |
---|
| 820 | |
---|
| 821 | int mask = rand(); |
---|
| 822 | |
---|
| 823 | while (!nodeStack.empty()) { |
---|
| 824 | KdNode *node = nodeStack.top(); |
---|
| 825 | nodeStack.pop(); |
---|
| 826 | if (node->IsLeaf()) { |
---|
| 827 | if ( (!onlyUnmailed || !node->Mailed()) ) |
---|
| 828 | return node; |
---|
| 829 | } else { |
---|
| 830 | KdInterior *interior = (KdInterior *)node; |
---|
| 831 | // random decision |
---|
| 832 | if (mask&1) |
---|
| 833 | nodeStack.push(interior->mBack); |
---|
| 834 | else |
---|
| 835 | nodeStack.push(interior->mFront); |
---|
| 836 | mask = mask>>1; |
---|
| 837 | } |
---|
| 838 | } |
---|
| 839 | return NULL; |
---|
| 840 | } |
---|