[372] | 1 | #include <stack>
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| 2 | #include <algorithm>
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| 3 | #include <queue>
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| 4 | #include "Environment.h"
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| 5 | #include "Mesh.h"
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| 6 | #include "KdTree.h"
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[469] | 7 | #include "ViewCell.h"
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[372] | 8 |
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| 9 | int KdNode::mailID = 1;
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| 10 |
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| 11 |
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| 12 | KdNode::KdNode(KdInterior *parent):mParent(parent), mailbox(0)
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| 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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| 29 | environment->GetBoolValue("KdTree.sahUseFaces", mSahUseFaces);
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| 30 |
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| 31 | char splitType[64];
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| 32 | environment->GetStringValue("KdTree.splitMethod", splitType);
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| 33 |
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| 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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| 47 | splitCandidates = NULL;
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| 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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| 53 | if (!splitCandidates)
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| 54 | splitCandidates = new vector<SortableEntry>;
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| 55 |
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| 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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| 63 | ObjectContainer::const_iterator mi;
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| 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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| 68 | }
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| 69 |
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| 70 | cout <<"KdTree Root Box:"<< mBox<<endl;
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| 71 | mRoot = Subdivide(TraversalData(leaf, mBox, 0));
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| 72 |
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| 73 | // remove the allocated array
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| 74 | delete splitCandidates;
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| 75 |
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| 76 | return true;
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| 77 | }
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| 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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| 139 | (leaf->mObjects.size() <= mTermMinCost) ||
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| 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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| 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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| 172 | } else {
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| 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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| 188 | }
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| 189 |
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| 190 | if (costRatio > mMaxCostRatio) {
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| 191 | // cout<<"Too big cost ratio "<<costRatio<<endl;
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| 192 | axis = -1;
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| 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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[469] | 211 | return leaf;
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| 212 |
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[372] | 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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| 242 | ObjectContainer::const_iterator mi;
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| 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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[469] | 279 | mStat.objectRefs -= (int)leaf->mObjects.size();
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[372] | 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_NODES ( Number of nodes )\n" << nodes << "\n";
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| 295 |
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| 296 | app << "#N_LEAVES ( Number of leaves )\n" << Leaves() << "\n";
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| 297 |
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| 298 | app << "#N_SPLITS ( Number of splits in axes x y z dx dy dz \n";
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| 299 | for (int i=0; i<7; i++)
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| 300 | app << splits[i] <<" ";
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| 301 | app <<endl;
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| 302 |
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| 303 | app << "#N_RAYREFS ( Number of rayRefs )\n" <<
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| 304 | rayRefs << "\n";
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| 305 |
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| 306 | app << "#N_RAYRAYREFS ( Number of rayRefs / ray )\n" <<
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| 307 | rayRefs/(double)rays << "\n";
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| 308 |
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| 309 | app << "#N_LEAFRAYREFS ( Number of rayRefs / leaf )\n" <<
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| 310 | rayRefs/(double)Leaves() << "\n";
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| 311 |
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| 312 | app << "#N_MAXOBJECTREFS ( Max number of rayRefs / leaf )\n" <<
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| 313 | maxObjectRefs << "\n";
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| 314 |
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| 315 | app << "#N_NONEMPTYRAYREFS ( Number of rayRefs in nonEmpty leaves / non empty leaf )\n" <<
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| 316 | rayRefsNonZeroQuery/(double)(Leaves() - zeroQueryNodes) << "\n";
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| 317 |
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| 318 | app << "#N_LEAFDOMAINREFS ( Number of query domain Refs / leaf )\n" <<
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| 319 | objectRefs/(double)Leaves() << "\n";
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| 320 |
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| 321 | // app << setprecision(4);
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| 322 |
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| 323 | app << "#N_PEMPTYLEAVES ( Percentage of leaves with zero query domains )\n"<<
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| 324 | zeroQueryNodes*100/(double)Leaves()<<endl;
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| 325 |
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| 326 | app << "#N_PMAXDEPTHLEAVES ( Percentage of leaves at maxdepth )\n"<<
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| 327 | maxDepthNodes*100/(double)Leaves()<<endl;
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| 328 |
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| 329 | app << "#N_PMINCOSTLEAVES ( Percentage of leaves with minCost )\n"<<
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| 330 | minCostNodes*100/(double)Leaves()<<endl;
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| 331 |
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| 332 | app << "#N_ADDED_RAYREFS (Number of dynamically added ray references )\n"<<
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| 333 | addedRayRefs<<endl;
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| 334 |
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| 335 | app << "#N_REMOVED_RAYREFS (Number of dynamically removed ray references )\n"<<
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| 336 | removedRayRefs<<endl;
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| 337 |
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| 338 | // app << setprecision(4);
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| 339 |
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| 340 | // app << "#N_CTIME ( Construction time [s] )\n"
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| 341 | // << Time() << " \n";
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| 342 |
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| 343 | app << "===== END OF KdTree statistics ==========\n";
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| 344 |
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| 345 | }
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| 346 |
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| 347 |
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| 348 |
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| 349 | void
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| 350 | KdTree::EvaluateLeafStats(const TraversalData &data)
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| 351 | {
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| 352 |
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| 353 | // the node became a leaf -> evaluate stats for leafs
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| 354 | KdLeaf *leaf = (KdLeaf *)data.mNode;
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| 355 |
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| 356 | if (data.mDepth > mTermMaxDepth)
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| 357 | mStat.maxDepthNodes++;
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| 358 |
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| 359 | if ( (int)(leaf->mObjects.size()) < mTermMinCost)
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| 360 | mStat.minCostNodes++;
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| 361 |
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| 362 |
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| 363 | if ( (int)(leaf->mObjects.size()) > mStat.maxObjectRefs)
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[469] | 364 | mStat.maxObjectRefs = (int)leaf->mObjects.size();
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[372] | 365 |
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| 366 | }
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| 367 |
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| 368 |
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| 369 |
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| 370 | void
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| 371 | KdTree::SortSplitCandidates(
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| 372 | KdLeaf *node,
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| 373 | const int axis
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| 374 | )
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| 375 | {
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| 376 | splitCandidates->clear();
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| 377 |
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[469] | 378 | int requestedSize = 2*(int)node->mObjects.size();
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[372] | 379 | // creates a sorted split candidates array
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| 380 | if (splitCandidates->capacity() > 500000 &&
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| 381 | requestedSize < (int)(splitCandidates->capacity()/10) ) {
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| 382 | delete splitCandidates;
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| 383 | splitCandidates = new vector<SortableEntry>;
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| 384 | }
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| 385 |
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| 386 | splitCandidates->reserve(requestedSize);
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| 387 |
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| 388 | // insert all queries
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| 389 | for(ObjectContainer::const_iterator mi = node->mObjects.begin();
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| 390 | mi != node->mObjects.end();
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| 391 | mi++) {
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| 392 | AxisAlignedBox3 box = (*mi)->GetBox();
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| 393 |
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| 394 | splitCandidates->push_back(SortableEntry(SortableEntry::BOX_MIN,
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| 395 | box.Min(axis),
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| 396 | *mi)
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| 397 | );
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| 398 |
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| 399 |
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| 400 | splitCandidates->push_back(SortableEntry(SortableEntry::BOX_MAX,
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| 401 | box.Max(axis),
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| 402 | *mi)
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| 403 | );
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| 404 | }
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| 405 |
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| 406 | stable_sort(splitCandidates->begin(), splitCandidates->end());
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| 407 | }
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| 408 |
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| 409 |
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| 410 | float
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| 411 | KdTree::BestCostRatio(
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| 412 | KdLeaf *node,
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| 413 | const AxisAlignedBox3 &box,
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| 414 | const int axis,
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| 415 | float &position,
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| 416 | int &objectsBack,
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| 417 | int &objectsFront
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| 418 | )
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| 419 | {
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| 420 |
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| 421 | SortSplitCandidates(node, axis);
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| 422 |
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| 423 | // go through the lists, count the number of objects left and right
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| 424 | // and evaluate the following cost funcion:
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| 425 | // C = ct_div_ci + (ol + or)/queries
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| 426 |
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| 427 | float totalIntersections = 0.0f;
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| 428 | vector<SortableEntry>::const_iterator ci;
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| 429 |
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| 430 | for(ci = splitCandidates->begin();
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| 431 | ci < splitCandidates->end();
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| 432 | ci++)
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| 433 | if ((*ci).type == SortableEntry::BOX_MIN) {
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| 434 | totalIntersections += (*ci).intersectable->IntersectionComplexity();
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| 435 | }
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| 436 |
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| 437 | float intersectionsLeft = 0;
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| 438 | float intersectionsRight = totalIntersections;
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| 439 |
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[469] | 440 | int objectsLeft = 0, objectsRight = (int)node->mObjects.size();
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[372] | 441 |
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| 442 | float minBox = box.Min(axis);
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| 443 | float maxBox = box.Max(axis);
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| 444 | float boxArea = box.SurfaceArea();
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| 445 |
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| 446 | float minBand = minBox + mSplitBorder*(maxBox - minBox);
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| 447 | float maxBand = minBox + (1.0f - mSplitBorder)*(maxBox - minBox);
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| 448 |
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[469] | 449 | float minSum = 1e20f;
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[372] | 450 |
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| 451 | for(ci = splitCandidates->begin();
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| 452 | ci < splitCandidates->end();
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| 453 | ci++) {
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| 454 | switch ((*ci).type) {
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| 455 | case SortableEntry::BOX_MIN:
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| 456 | objectsLeft++;
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| 457 | intersectionsLeft += (*ci).intersectable->IntersectionComplexity();
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| 458 | break;
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| 459 | case SortableEntry::BOX_MAX:
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| 460 | objectsRight--;
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| 461 | intersectionsRight -= (*ci).intersectable->IntersectionComplexity();
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| 462 | break;
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| 463 | }
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| 464 |
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| 465 | if ((*ci).value > minBand && (*ci).value < maxBand) {
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| 466 | AxisAlignedBox3 lbox = box;
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| 467 | AxisAlignedBox3 rbox = box;
|
---|
| 468 | lbox.SetMax(axis, (*ci).value);
|
---|
| 469 | rbox.SetMin(axis, (*ci).value);
|
---|
| 470 |
|
---|
| 471 | float sum;
|
---|
| 472 | if (mSahUseFaces)
|
---|
[374] | 473 | sum = intersectionsLeft*lbox.SurfaceArea() + intersectionsRight*rbox.SurfaceArea();
|
---|
[372] | 474 | else
|
---|
[374] | 475 | sum = objectsLeft*lbox.SurfaceArea() + objectsRight*rbox.SurfaceArea();
|
---|
[372] | 476 |
|
---|
| 477 | // cout<<"pos="<<(*ci).value<<"\t q=("<<ql<<","<<qr<<")\t r=("<<rl<<","<<rr<<")"<<endl;
|
---|
| 478 | // cout<<"cost= "<<sum<<endl;
|
---|
| 479 |
|
---|
| 480 | if (sum < minSum) {
|
---|
[374] | 481 | minSum = sum;
|
---|
| 482 | position = (*ci).value;
|
---|
| 483 |
|
---|
| 484 | objectsBack = objectsLeft;
|
---|
| 485 | objectsFront = objectsRight;
|
---|
[372] | 486 | }
|
---|
| 487 | }
|
---|
| 488 | }
|
---|
| 489 |
|
---|
| 490 | float oldCost = mSahUseFaces ? totalIntersections : node->mObjects.size();
|
---|
| 491 | float newCost = mCt_div_ci + minSum/boxArea;
|
---|
| 492 | float ratio = newCost/oldCost;
|
---|
| 493 |
|
---|
| 494 | #if 0
|
---|
| 495 | cout<<"===================="<<endl;
|
---|
| 496 | cout<<"costRatio="<<ratio<<" pos="<<position<<" t="<<(position - minBox)/(maxBox - minBox)
|
---|
| 497 | <<"\t o=("<<objectsBack<<","<<objectsFront<<")"<<endl;
|
---|
| 498 | #endif
|
---|
| 499 | return ratio;
|
---|
| 500 | }
|
---|
| 501 |
|
---|
| 502 | int
|
---|
| 503 | KdTree::CastRay(
|
---|
[462] | 504 | Ray &ray
|
---|
| 505 | )
|
---|
[372] | 506 | {
|
---|
| 507 | int hits = 0;
|
---|
| 508 |
|
---|
| 509 | stack<RayTraversalData> tStack;
|
---|
| 510 |
|
---|
| 511 | float maxt = 1e6;
|
---|
| 512 | float mint = 0;
|
---|
[492] | 513 |
|
---|
[372] | 514 | Intersectable::NewMail();
|
---|
| 515 |
|
---|
| 516 | if (!mBox.GetMinMaxT(ray, &mint, &maxt))
|
---|
| 517 | return 0;
|
---|
| 518 |
|
---|
| 519 | if (mint < 0)
|
---|
| 520 | mint = 0;
|
---|
| 521 |
|
---|
| 522 | maxt += Limits::Threshold;
|
---|
| 523 |
|
---|
| 524 | Vector3 entp = ray.Extrap(mint);
|
---|
| 525 | Vector3 extp = ray.Extrap(maxt);
|
---|
| 526 |
|
---|
| 527 | KdNode *node = mRoot;
|
---|
| 528 | KdNode *farChild;
|
---|
| 529 | float position;
|
---|
| 530 | int axis;
|
---|
| 531 |
|
---|
| 532 | while (1) {
|
---|
| 533 | if (!node->IsLeaf()) {
|
---|
| 534 | KdInterior *in = (KdInterior *) node;
|
---|
| 535 | position = in->mPosition;
|
---|
| 536 | axis = in->mAxis;
|
---|
| 537 |
|
---|
| 538 | if (entp[axis] <= position) {
|
---|
[376] | 539 | if (extp[axis] <= position) {
|
---|
| 540 | node = in->mBack;
|
---|
| 541 | // cases N1,N2,N3,P5,Z2,Z3
|
---|
| 542 | continue;
|
---|
| 543 | } else {
|
---|
| 544 | // case N4
|
---|
| 545 | node = in->mBack;
|
---|
| 546 | farChild = in->mFront;
|
---|
| 547 | }
|
---|
[372] | 548 | }
|
---|
| 549 | else {
|
---|
[376] | 550 | if (position <= extp[axis]) {
|
---|
| 551 | node = in->mFront;
|
---|
| 552 | // cases P1,P2,P3,N5,Z1
|
---|
| 553 | continue;
|
---|
| 554 | } else {
|
---|
| 555 | node = in->mFront;
|
---|
| 556 | farChild = in->mBack;
|
---|
| 557 | // case P4
|
---|
| 558 | }
|
---|
| 559 | }
|
---|
[372] | 560 | // $$ modification 3.5.2004 - hints from Kamil Ghais
|
---|
| 561 | // case N4 or P4
|
---|
| 562 | float tdist = (position - ray.GetLoc(axis)) / ray.GetDir(axis);
|
---|
| 563 | tStack.push(RayTraversalData(farChild, extp, maxt));
|
---|
| 564 | extp = ray.GetLoc() + ray.GetDir()*tdist;
|
---|
| 565 | maxt = tdist;
|
---|
[376] | 566 | } else {
|
---|
| 567 | // compute intersection with all objects in this leaf
|
---|
| 568 | KdLeaf *leaf = (KdLeaf *) node;
|
---|
| 569 | if (ray.mFlags & Ray::STORE_KDLEAVES)
|
---|
| 570 | ray.kdLeaves.push_back(leaf);
|
---|
| 571 |
|
---|
| 572 | ObjectContainer::const_iterator mi;
|
---|
| 573 | for ( mi = leaf->mObjects.begin();
|
---|
| 574 | mi != leaf->mObjects.end();
|
---|
| 575 | mi++) {
|
---|
| 576 | Intersectable *object = *mi;
|
---|
| 577 | if (!object->Mailed() ) {
|
---|
| 578 | object->Mail();
|
---|
| 579 | if (ray.mFlags & Ray::STORE_TESTED_OBJECTS)
|
---|
| 580 | ray.testedObjects.push_back(object);
|
---|
| 581 | hits += object->CastRay(ray);
|
---|
| 582 | }
|
---|
[374] | 583 | }
|
---|
[376] | 584 |
|
---|
| 585 | if (hits && ray.GetType() == Ray::LOCAL_RAY)
|
---|
| 586 | if (ray.intersections[0].mT <= maxt)
|
---|
| 587 | break;
|
---|
| 588 |
|
---|
| 589 | // get the next node from the stack
|
---|
| 590 | if (tStack.empty())
|
---|
[374] | 591 | break;
|
---|
[376] | 592 |
|
---|
| 593 | entp = extp;
|
---|
| 594 | mint = maxt;
|
---|
| 595 | if (ray.GetType() == Ray::LINE_SEGMENT && mint > 1.0f)
|
---|
| 596 | break;
|
---|
| 597 |
|
---|
| 598 | RayTraversalData &s = tStack.top();
|
---|
| 599 | node = s.mNode;
|
---|
| 600 | extp = s.mExitPoint;
|
---|
| 601 | maxt = s.mMaxT;
|
---|
| 602 | tStack.pop();
|
---|
| 603 | }
|
---|
[372] | 604 | }
|
---|
| 605 | return hits;
|
---|
| 606 | }
|
---|
| 607 |
|
---|
[469] | 608 | int KdTree::CastLineSegment(const Vector3 &origin,
|
---|
| 609 | const Vector3 &termination,
|
---|
| 610 | vector<ViewCell *> &viewcells)
|
---|
| 611 | {
|
---|
| 612 | int hits = 0;
|
---|
| 613 |
|
---|
| 614 | float mint = 0.0f, maxt = 1.0f;
|
---|
| 615 | const Vector3 dir = termination - origin;
|
---|
| 616 |
|
---|
[475] | 617 | stack<RayTraversalData> tStack;
|
---|
[469] | 618 |
|
---|
| 619 | Intersectable::NewMail();
|
---|
| 620 |
|
---|
| 621 | //maxt += Limits::Threshold;
|
---|
| 622 |
|
---|
| 623 | Vector3 entp = origin;
|
---|
| 624 | Vector3 extp = termination;
|
---|
| 625 |
|
---|
| 626 | KdNode *node = mRoot;
|
---|
| 627 | KdNode *farChild;
|
---|
| 628 |
|
---|
| 629 | float position;
|
---|
| 630 | int axis;
|
---|
| 631 |
|
---|
| 632 | while (1)
|
---|
| 633 | {
|
---|
| 634 | if (!node->IsLeaf())
|
---|
| 635 | {
|
---|
| 636 | KdInterior *in = dynamic_cast<KdInterior *>(node);
|
---|
| 637 | position = in->mPosition;
|
---|
| 638 | axis = in->mAxis;
|
---|
| 639 |
|
---|
| 640 | if (entp[axis] <= position)
|
---|
| 641 | {
|
---|
| 642 | if (extp[axis] <= position)
|
---|
| 643 | {
|
---|
| 644 | node = in->mBack;
|
---|
| 645 | // cases N1,N2,N3,P5,Z2,Z3
|
---|
| 646 | continue;
|
---|
| 647 | }
|
---|
| 648 | else
|
---|
| 649 | {
|
---|
| 650 | // case N4
|
---|
| 651 | node = in->mBack;
|
---|
| 652 | farChild = in->mFront;
|
---|
| 653 | }
|
---|
| 654 | }
|
---|
| 655 | else
|
---|
| 656 | {
|
---|
| 657 | if (position <= extp[axis])
|
---|
| 658 | {
|
---|
| 659 | node = in->mFront;
|
---|
| 660 | // cases P1,P2,P3,N5,Z1
|
---|
| 661 | continue;
|
---|
| 662 | }
|
---|
| 663 | else
|
---|
| 664 | {
|
---|
| 665 | node = in->mFront;
|
---|
| 666 | farChild = in->mBack;
|
---|
| 667 | // case P4
|
---|
| 668 | }
|
---|
| 669 | }
|
---|
| 670 |
|
---|
| 671 | // $$ modification 3.5.2004 - hints from Kamil Ghais
|
---|
| 672 | // case N4 or P4
|
---|
| 673 | float tdist = (position - origin[axis]) / dir[axis];
|
---|
| 674 | //tStack.push(RayTraversalData(farChild, extp, maxt)); //TODO
|
---|
| 675 | extp = origin + dir * tdist;
|
---|
| 676 | maxt = tdist;
|
---|
| 677 | }
|
---|
| 678 | else
|
---|
| 679 | {
|
---|
| 680 | // compute intersection with all objects in this leaf
|
---|
| 681 | KdLeaf *leaf = dynamic_cast<KdLeaf *>(node);
|
---|
| 682 |
|
---|
| 683 | // add view cell to intersections
|
---|
| 684 | ViewCell *vc = leaf->mViewCell;
|
---|
| 685 |
|
---|
| 686 | if (!vc->Mailed())
|
---|
| 687 | {
|
---|
| 688 | vc->Mail();
|
---|
| 689 | viewcells.push_back(vc);
|
---|
| 690 | ++ hits;
|
---|
| 691 | }
|
---|
| 692 |
|
---|
| 693 | // get the next node from the stack
|
---|
| 694 | if (tStack.empty())
|
---|
| 695 | break;
|
---|
| 696 |
|
---|
| 697 | entp = extp;
|
---|
| 698 | mint = maxt;
|
---|
| 699 |
|
---|
| 700 | RayTraversalData &s = tStack.top();
|
---|
| 701 | node = s.mNode;
|
---|
| 702 | extp = s.mExitPoint;
|
---|
| 703 | maxt = s.mMaxT;
|
---|
| 704 | tStack.pop();
|
---|
| 705 | }
|
---|
| 706 | }
|
---|
| 707 |
|
---|
| 708 | return hits;
|
---|
| 709 | }
|
---|
| 710 |
|
---|
| 711 |
|
---|
[372] | 712 | void
|
---|
| 713 | KdTree::CollectObjects(KdNode *n, ObjectContainer &objects)
|
---|
| 714 | {
|
---|
| 715 | stack<KdNode *> nodeStack;
|
---|
| 716 |
|
---|
| 717 | nodeStack.push(n);
|
---|
| 718 |
|
---|
| 719 | while (!nodeStack.empty()) {
|
---|
| 720 | KdNode *node = nodeStack.top();
|
---|
| 721 | nodeStack.pop();
|
---|
| 722 | if (node->IsLeaf()) {
|
---|
| 723 | KdLeaf *leaf = (KdLeaf *)node;
|
---|
| 724 | for (int j=0; j < leaf->mObjects.size(); j++) {
|
---|
[374] | 725 | Intersectable *object = leaf->mObjects[j];
|
---|
| 726 | if (!object->Mailed()) {
|
---|
| 727 | object->Mail();
|
---|
| 728 | objects.push_back(object);
|
---|
| 729 | }
|
---|
[372] | 730 | }
|
---|
| 731 | } else {
|
---|
| 732 | KdInterior *interior = (KdInterior *)node;
|
---|
| 733 | nodeStack.push(interior->mFront);
|
---|
| 734 | nodeStack.push(interior->mBack);
|
---|
| 735 | }
|
---|
| 736 | }
|
---|
| 737 | }
|
---|
| 738 |
|
---|
| 739 | // Find random neighbor which was not mailed
|
---|
| 740 | KdNode *
|
---|
| 741 | KdTree::FindRandomNeighbor(KdNode *n,
|
---|
| 742 | bool onlyUnmailed
|
---|
| 743 | )
|
---|
| 744 | {
|
---|
| 745 | stack<KdNode *> nodeStack;
|
---|
| 746 |
|
---|
| 747 | nodeStack.push(mRoot);
|
---|
| 748 |
|
---|
| 749 | AxisAlignedBox3 box = GetBox(n);
|
---|
| 750 | int mask = rand();
|
---|
| 751 |
|
---|
| 752 | while (!nodeStack.empty()) {
|
---|
| 753 | KdNode *node = nodeStack.top();
|
---|
| 754 | nodeStack.pop();
|
---|
| 755 | if (node->IsLeaf()) {
|
---|
| 756 | if ( node != n && (!onlyUnmailed || !node->Mailed()) )
|
---|
| 757 | return node;
|
---|
| 758 | } else {
|
---|
| 759 | KdInterior *interior = (KdInterior *)node;
|
---|
| 760 | if (interior->mPosition > box.Max(interior->mAxis))
|
---|
| 761 | nodeStack.push(interior->mBack);
|
---|
| 762 | else
|
---|
| 763 | if (interior->mPosition < box.Min(interior->mAxis))
|
---|
| 764 | nodeStack.push(interior->mFront);
|
---|
| 765 | else {
|
---|
| 766 | // random decision
|
---|
| 767 | if (mask&1)
|
---|
| 768 | nodeStack.push(interior->mBack);
|
---|
| 769 | else
|
---|
| 770 | nodeStack.push(interior->mFront);
|
---|
| 771 | mask = mask>>1;
|
---|
| 772 | }
|
---|
| 773 | }
|
---|
| 774 | }
|
---|
| 775 |
|
---|
| 776 | return NULL;
|
---|
| 777 | }
|
---|
| 778 |
|
---|
| 779 | int
|
---|
| 780 | KdTree::FindNeighbors(KdNode *n,
|
---|
| 781 | vector<KdNode *> &neighbors,
|
---|
| 782 | bool onlyUnmailed
|
---|
| 783 | )
|
---|
| 784 | {
|
---|
| 785 | stack<KdNode *> nodeStack;
|
---|
| 786 |
|
---|
| 787 | nodeStack.push(mRoot);
|
---|
| 788 |
|
---|
| 789 | AxisAlignedBox3 box = GetBox(n);
|
---|
| 790 |
|
---|
| 791 | while (!nodeStack.empty()) {
|
---|
| 792 | KdNode *node = nodeStack.top();
|
---|
| 793 | nodeStack.pop();
|
---|
| 794 | if (node->IsLeaf()) {
|
---|
| 795 | if ( node != n && (!onlyUnmailed || !node->Mailed()) )
|
---|
| 796 | neighbors.push_back(node);
|
---|
| 797 | } else {
|
---|
| 798 | KdInterior *interior = (KdInterior *)node;
|
---|
| 799 | if (interior->mPosition > box.Max(interior->mAxis))
|
---|
[374] | 800 | nodeStack.push(interior->mBack);
|
---|
[372] | 801 | else
|
---|
[374] | 802 | if (interior->mPosition < box.Min(interior->mAxis))
|
---|
| 803 | nodeStack.push(interior->mFront);
|
---|
| 804 | else {
|
---|
| 805 | // random decision
|
---|
| 806 | nodeStack.push(interior->mBack);
|
---|
| 807 | nodeStack.push(interior->mFront);
|
---|
| 808 | }
|
---|
[372] | 809 | }
|
---|
| 810 | }
|
---|
| 811 |
|
---|
[469] | 812 | return (int)neighbors.size();
|
---|
[372] | 813 | }
|
---|
| 814 |
|
---|
| 815 | // Find random neighbor which was not mailed
|
---|
| 816 | KdNode *
|
---|
| 817 | KdTree::GetRandomLeaf(const Plane3 &plane)
|
---|
| 818 | {
|
---|
| 819 | stack<KdNode *> nodeStack;
|
---|
| 820 |
|
---|
| 821 | nodeStack.push(mRoot);
|
---|
| 822 |
|
---|
| 823 | int mask = rand();
|
---|
| 824 |
|
---|
| 825 | while (!nodeStack.empty()) {
|
---|
| 826 | KdNode *node = nodeStack.top();
|
---|
| 827 | nodeStack.pop();
|
---|
| 828 | if (node->IsLeaf()) {
|
---|
| 829 | return node;
|
---|
| 830 | } else {
|
---|
| 831 | KdInterior *interior = (KdInterior *)node;
|
---|
| 832 | KdNode *next;
|
---|
| 833 | if (GetBox(interior->mBack).Side(plane) < 0)
|
---|
| 834 | next = interior->mFront;
|
---|
| 835 | else
|
---|
| 836 | if (GetBox(interior->mFront).Side(plane) < 0)
|
---|
| 837 | next = interior->mBack;
|
---|
| 838 | else {
|
---|
| 839 | // random decision
|
---|
| 840 | if (mask&1)
|
---|
| 841 | next = interior->mBack;
|
---|
| 842 | else
|
---|
| 843 | next = interior->mFront;
|
---|
| 844 | mask = mask>>1;
|
---|
| 845 | }
|
---|
| 846 | nodeStack.push(next);
|
---|
| 847 | }
|
---|
| 848 | }
|
---|
| 849 |
|
---|
| 850 |
|
---|
| 851 | return NULL;
|
---|
| 852 | }
|
---|
| 853 |
|
---|
| 854 | void
|
---|
| 855 | KdTree::CollectLeaves(vector<KdLeaf *> &leaves)
|
---|
| 856 | {
|
---|
| 857 | stack<KdNode *> nodeStack;
|
---|
| 858 | nodeStack.push(mRoot);
|
---|
| 859 |
|
---|
| 860 | while (!nodeStack.empty()) {
|
---|
| 861 | KdNode *node = nodeStack.top();
|
---|
| 862 | nodeStack.pop();
|
---|
| 863 | if (node->IsLeaf()) {
|
---|
| 864 | KdLeaf *leaf = (KdLeaf *)node;
|
---|
| 865 | leaves.push_back(leaf);
|
---|
| 866 | } else {
|
---|
| 867 | KdInterior *interior = (KdInterior *)node;
|
---|
| 868 | nodeStack.push(interior->mBack);
|
---|
| 869 | nodeStack.push(interior->mFront);
|
---|
| 870 | }
|
---|
| 871 | }
|
---|
| 872 | }
|
---|
| 873 |
|
---|
[469] | 874 | void
|
---|
| 875 | KdTree::CreateAndCollectViewCells(ViewCellContainer &vc) const
|
---|
| 876 | {
|
---|
| 877 | stack<KdNode *> nodeStack;
|
---|
| 878 | nodeStack.push(mRoot);
|
---|
[372] | 879 |
|
---|
[469] | 880 | while (!nodeStack.empty()) {
|
---|
| 881 | KdNode *node = nodeStack.top();
|
---|
| 882 | nodeStack.pop();
|
---|
| 883 | if (node->IsLeaf()) {
|
---|
| 884 | KdLeaf *leaf = (KdLeaf *)node;
|
---|
| 885 | // kdtree used as view cell container => create view cell
|
---|
[471] | 886 | KdViewCell *viewCell = new KdViewCell();
|
---|
| 887 | leaf->mViewCell = viewCell;
|
---|
| 888 | // push back pointer to this leaf
|
---|
| 889 | viewCell->mLeaves.push_back(leaf);
|
---|
| 890 | vc.push_back(viewCell);
|
---|
[469] | 891 | } else {
|
---|
| 892 | KdInterior *interior = (KdInterior *)node;
|
---|
| 893 | nodeStack.push(interior->mBack);
|
---|
| 894 | nodeStack.push(interior->mFront);
|
---|
| 895 | }
|
---|
| 896 | }
|
---|
| 897 | }
|
---|
| 898 |
|
---|
[372] | 899 | int
|
---|
| 900 | KdTree::CollectLeafPvs()
|
---|
| 901 | {
|
---|
| 902 | int totalPvsSize = 0;
|
---|
| 903 | stack<KdNode *> nodeStack;
|
---|
| 904 |
|
---|
| 905 | nodeStack.push(mRoot);
|
---|
| 906 |
|
---|
| 907 | while (!nodeStack.empty()) {
|
---|
| 908 | KdNode *node = nodeStack.top();
|
---|
| 909 | nodeStack.pop();
|
---|
| 910 | if (node->IsLeaf()) {
|
---|
| 911 | KdLeaf *leaf = (KdLeaf *)node;
|
---|
| 912 | for (int j=0; j < leaf->mObjects.size(); j++) {
|
---|
| 913 | Intersectable *object = leaf->mObjects[j];
|
---|
| 914 | if (!object->Mailed()) {
|
---|
| 915 | object->Mail();
|
---|
| 916 | // add this node to pvs of all nodes it can see
|
---|
| 917 | KdPvsMap::iterator ni = object->mKdPvs.mEntries.begin();
|
---|
| 918 | for (; ni != object->mKdPvs.mEntries.end(); ni++) {
|
---|
| 919 | KdNode *node = (*ni).first;
|
---|
| 920 | // $$ JB TEMPORARY solution -> should add object PVS or explictly computed
|
---|
| 921 | // kd tree PVS
|
---|
[466] | 922 | float contribution;
|
---|
| 923 | if (leaf->mKdPvs.AddSample(node, contribution))
|
---|
[372] | 924 | totalPvsSize++;
|
---|
| 925 | }
|
---|
| 926 | }
|
---|
| 927 | }
|
---|
| 928 | } else {
|
---|
| 929 | KdInterior *interior = (KdInterior *)node;
|
---|
| 930 | nodeStack.push(interior->mFront);
|
---|
| 931 | nodeStack.push(interior->mBack);
|
---|
| 932 | }
|
---|
| 933 | }
|
---|
| 934 |
|
---|
| 935 | return totalPvsSize;
|
---|
| 936 | }
|
---|
| 937 |
|
---|
| 938 |
|
---|
| 939 | KdNode *
|
---|
| 940 | KdTree::GetRandomLeaf(const bool onlyUnmailed)
|
---|
| 941 | {
|
---|
| 942 | stack<KdNode *> nodeStack;
|
---|
| 943 | nodeStack.push(mRoot);
|
---|
| 944 |
|
---|
| 945 | int mask = rand();
|
---|
| 946 |
|
---|
| 947 | while (!nodeStack.empty()) {
|
---|
| 948 | KdNode *node = nodeStack.top();
|
---|
| 949 | nodeStack.pop();
|
---|
| 950 | if (node->IsLeaf()) {
|
---|
| 951 | if ( (!onlyUnmailed || !node->Mailed()) )
|
---|
| 952 | return node;
|
---|
| 953 | } else {
|
---|
| 954 | KdInterior *interior = (KdInterior *)node;
|
---|
| 955 | // random decision
|
---|
| 956 | if (mask&1)
|
---|
| 957 | nodeStack.push(interior->mBack);
|
---|
| 958 | else
|
---|
| 959 | nodeStack.push(interior->mFront);
|
---|
| 960 | mask = mask>>1;
|
---|
| 961 | }
|
---|
| 962 | }
|
---|
| 963 | return NULL;
|
---|
| 964 | }
|
---|