[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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[505] | 8 | #include "Beam.h"
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[372] | 9 |
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| 10 | int KdNode::mailID = 1;
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| 11 |
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| 12 |
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| 13 | KdNode::KdNode(KdInterior *parent):mParent(parent), mailbox(0)
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| 14 | {
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| 15 | if (parent)
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| 16 | mDepth = parent->mDepth+1;
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| 17 | else
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| 18 | mDepth = 0;
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| 19 | }
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| 20 |
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| 21 | KdTree::KdTree()
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| 22 | {
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| 23 | mRoot = new KdLeaf(NULL, 0);
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| 24 | environment->GetIntValue("KdTree.Termination.maxDepth", mTermMaxDepth);
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| 25 | environment->GetIntValue("KdTree.Termination.minCost", mTermMinCost);
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| 26 | environment->GetFloatValue("KdTree.Termination.maxCostRatio", mMaxCostRatio);
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| 27 | environment->GetFloatValue("KdTree.Termination.ct_div_ci", mCt_div_ci);
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| 28 | environment->GetFloatValue("KdTree.splitBorder", mSplitBorder);
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| 29 |
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| 30 | environment->GetBoolValue("KdTree.sahUseFaces", mSahUseFaces);
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| 31 |
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| 32 | char splitType[64];
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| 33 | environment->GetStringValue("KdTree.splitMethod", splitType);
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| 34 |
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| 35 | mSplitMethod = SPLIT_SPATIAL_MEDIAN;
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| 36 | if (strcmp(splitType, "spatialMedian") == 0)
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| 37 | mSplitMethod = SPLIT_SPATIAL_MEDIAN;
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| 38 | else
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| 39 | if (strcmp(splitType, "objectMedian") == 0)
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| 40 | mSplitMethod = SPLIT_OBJECT_MEDIAN;
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| 41 | else
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| 42 | if (strcmp(splitType, "SAH") == 0)
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| 43 | mSplitMethod = SPLIT_SAH;
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| 44 | else {
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| 45 | cerr<<"Wrong kd split type "<<splitType<<endl;
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| 46 | exit(1);
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| 47 | }
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| 48 | splitCandidates = NULL;
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| 49 | }
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| 50 |
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| 51 | bool
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| 52 | KdTree::Construct()
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| 53 | {
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| 54 | if (!splitCandidates)
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| 55 | splitCandidates = new vector<SortableEntry>;
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| 56 |
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| 57 | // first construct a leaf that will get subdivide
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| 58 | KdLeaf *leaf = (KdLeaf *) mRoot;
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| 59 |
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| 60 | mStat.nodes = 1;
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| 61 |
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| 62 | mBox.Initialize();
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| 63 |
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| 64 | ObjectContainer::const_iterator mi;
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| 65 | for ( mi = leaf->mObjects.begin();
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| 66 | mi != leaf->mObjects.end();
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| 67 | mi++) {
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| 68 | mBox.Include((*mi)->GetBox());
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| 69 | }
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| 70 |
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| 71 | cout <<"KdTree Root Box:"<< mBox<<endl;
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| 72 | mRoot = Subdivide(TraversalData(leaf, mBox, 0));
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| 73 |
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| 74 | // remove the allocated array
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| 75 | delete splitCandidates;
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| 76 |
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| 77 | return true;
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| 78 | }
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| 79 |
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| 80 | KdNode *
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| 81 | KdTree::Subdivide(const TraversalData &tdata)
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| 82 | {
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| 83 |
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| 84 | KdNode *result = NULL;
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| 85 |
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| 86 | priority_queue<TraversalData> tStack;
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| 87 | // stack<STraversalData> tStack;
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| 88 |
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| 89 | tStack.push(tdata);
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| 90 | AxisAlignedBox3 backBox, frontBox;
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| 91 |
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| 92 |
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| 93 | while (!tStack.empty()) {
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| 94 |
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| 95 | #if 0
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| 96 | if ( GetMemUsage() > maxMemory ) {
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| 97 | // count statistics on unprocessed leafs
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| 98 | while (!tStack.empty()) {
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| 99 | EvaluateLeafStats(tStack.top());
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| 100 | tStack.pop();
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| 101 | }
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| 102 | break;
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| 103 | }
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| 104 | #endif
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| 105 |
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| 106 | TraversalData data = tStack.top();
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| 107 | tStack.pop();
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| 108 |
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| 109 | KdNode *node = SubdivideNode((KdLeaf *) data.mNode,
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| 110 | data.mBox,
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| 111 | backBox,
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| 112 | frontBox
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| 113 | );
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| 114 | if (result == NULL)
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| 115 | result = node;
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| 116 |
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| 117 | if (!node->IsLeaf()) {
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| 118 |
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| 119 | KdInterior *interior = (KdInterior *) node;
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| 120 | // push the children on the stack
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| 121 | tStack.push(TraversalData(interior->mBack, backBox, data.mDepth+1));
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| 122 | tStack.push(TraversalData(interior->mFront, frontBox, data.mDepth+1));
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| 123 |
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| 124 | } else {
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| 125 | EvaluateLeafStats(data);
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| 126 | }
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| 127 | }
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| 128 |
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| 129 | return result;
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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 |
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| 135 | bool
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| 136 | KdTree::TerminationCriteriaMet(const KdLeaf *leaf)
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| 137 | {
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| 138 | // cerr<<"\n OBJECTS="<<leaf->mObjects.size()<<endl;
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| 139 | return
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| 140 | (leaf->mObjects.size() <= mTermMinCost) ||
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| 141 | (leaf->mDepth >= mTermMaxDepth);
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| 142 |
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| 143 | }
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| 144 |
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| 145 |
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| 146 | int
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| 147 | KdTree::SelectPlane(KdLeaf *leaf,
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| 148 | const AxisAlignedBox3 &box,
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| 149 | float &position
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| 150 | )
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| 151 | {
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| 152 | int axis = -1;
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| 153 |
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| 154 | switch (mSplitMethod)
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| 155 | {
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| 156 | case SPLIT_SPATIAL_MEDIAN: {
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| 157 | axis = box.Size().DrivingAxis();
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| 158 | position = (box.Min()[axis] + box.Max()[axis])*0.5f;
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| 159 | break;
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| 160 | }
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| 161 | case SPLIT_SAH: {
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| 162 | int objectsBack, objectsFront;
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| 163 | float costRatio;
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| 164 | bool mOnlyDrivingAxis = false;
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| 165 | if (mOnlyDrivingAxis) {
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| 166 | axis = box.Size().DrivingAxis();
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| 167 | costRatio = BestCostRatio(leaf,
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| 168 | box,
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| 169 | axis,
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| 170 | position,
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| 171 | objectsBack,
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| 172 | objectsFront);
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| 173 | } else {
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| 174 | costRatio = MAX_FLOAT;
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| 175 | for (int i=0; i < 3; i++) {
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| 176 | float p;
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| 177 | float r = BestCostRatio(leaf,
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| 178 | box,
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| 179 | i,
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| 180 | p,
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| 181 | objectsBack,
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| 182 | objectsFront);
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| 183 | if (r < costRatio) {
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| 184 | costRatio = r;
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| 185 | axis = i;
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| 186 | position = p;
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| 187 | }
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| 188 | }
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| 189 | }
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| 190 |
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| 191 | if (costRatio > mMaxCostRatio) {
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| 192 | // cout<<"Too big cost ratio "<<costRatio<<endl;
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| 193 | axis = -1;
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| 194 | }
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| 195 | break;
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| 196 | }
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| 197 |
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| 198 | }
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| 199 | return axis;
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| 200 | }
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| 201 |
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| 202 | KdNode *
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| 203 | KdTree::SubdivideNode(
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| 204 | KdLeaf *leaf,
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| 205 | const AxisAlignedBox3 &box,
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| 206 | AxisAlignedBox3 &backBBox,
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| 207 | AxisAlignedBox3 &frontBBox
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| 208 | )
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| 209 | {
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| 210 |
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| 211 | if (TerminationCriteriaMet(leaf))
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[469] | 212 | return leaf;
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| 213 |
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[372] | 214 | float position;
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| 215 |
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| 216 | // select subdivision axis
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| 217 | int axis = SelectPlane( leaf, box, position );
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| 218 |
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| 219 | if (axis == -1) {
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| 220 | return leaf;
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| 221 | }
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| 222 |
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| 223 | mStat.nodes+=2;
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| 224 | mStat.splits[axis]++;
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| 225 |
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| 226 | // add the new nodes to the tree
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| 227 | KdInterior *node = new KdInterior(leaf->mParent);
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| 228 |
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| 229 | node->mAxis = axis;
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| 230 | node->mPosition = position;
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| 231 | node->mBox = box;
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| 232 |
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| 233 | backBBox = box;
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| 234 | frontBBox = box;
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| 235 |
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| 236 | // first count ray sides
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| 237 | int objectsBack = 0;
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| 238 | int objectsFront = 0;
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| 239 |
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| 240 | backBBox.SetMax(axis, position);
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| 241 | frontBBox.SetMin(axis, position);
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| 242 |
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| 243 | ObjectContainer::const_iterator mi;
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| 244 |
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| 245 | for ( mi = leaf->mObjects.begin();
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| 246 | mi != leaf->mObjects.end();
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| 247 | mi++) {
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| 248 | // determine the side of this ray with respect to the plane
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| 249 | AxisAlignedBox3 box = (*mi)->GetBox();
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| 250 | if (box.Max(axis) > position )
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| 251 | objectsFront++;
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| 252 |
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| 253 | if (box.Min(axis) < position )
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| 254 | objectsBack++;
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| 255 | }
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| 256 |
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| 257 |
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| 258 | KdLeaf *back = new KdLeaf(node, objectsBack);
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| 259 | KdLeaf *front = new KdLeaf(node, objectsFront);
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| 260 |
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| 261 | // replace a link from node's parent
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| 262 | if ( leaf->mParent )
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| 263 | leaf->mParent->ReplaceChildLink(leaf, node);
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| 264 |
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| 265 | // and setup child links
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| 266 | node->SetupChildLinks(back, front);
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| 267 |
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| 268 | for (mi = leaf->mObjects.begin();
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| 269 | mi != leaf->mObjects.end();
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| 270 | mi++) {
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| 271 | // determine the side of this ray with respect to the plane
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| 272 | AxisAlignedBox3 box = (*mi)->GetBox();
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| 273 |
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| 274 | if (box.Max(axis) >= position )
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| 275 | front->mObjects.push_back(*mi);
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| 276 |
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| 277 | if (box.Min(axis) < position )
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| 278 | back->mObjects.push_back(*mi);
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| 279 |
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[469] | 280 | mStat.objectRefs -= (int)leaf->mObjects.size();
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[372] | 281 | mStat.objectRefs += objectsBack + objectsFront;
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| 282 | }
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| 283 |
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| 284 | delete leaf;
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| 285 | return node;
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| 286 | }
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| 287 |
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| 288 |
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| 289 |
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| 290 | void
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| 291 | KdTreeStatistics::Print(ostream &app) const
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| 292 | {
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| 293 | app << "===== KdTree statistics ===============\n";
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| 294 |
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| 295 | app << "#N_NODES ( Number of nodes )\n" << nodes << "\n";
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| 296 |
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| 297 | app << "#N_LEAVES ( Number of leaves )\n" << Leaves() << "\n";
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| 298 |
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| 299 | app << "#N_SPLITS ( Number of splits in axes x y z dx dy dz \n";
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| 300 | for (int i=0; i<7; i++)
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| 301 | app << splits[i] <<" ";
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| 302 | app <<endl;
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| 303 |
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| 304 | app << "#N_RAYREFS ( Number of rayRefs )\n" <<
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| 305 | rayRefs << "\n";
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| 306 |
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| 307 | app << "#N_RAYRAYREFS ( Number of rayRefs / ray )\n" <<
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| 308 | rayRefs/(double)rays << "\n";
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| 309 |
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| 310 | app << "#N_LEAFRAYREFS ( Number of rayRefs / leaf )\n" <<
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| 311 | rayRefs/(double)Leaves() << "\n";
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| 312 |
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| 313 | app << "#N_MAXOBJECTREFS ( Max number of rayRefs / leaf )\n" <<
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| 314 | maxObjectRefs << "\n";
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| 315 |
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| 316 | app << "#N_NONEMPTYRAYREFS ( Number of rayRefs in nonEmpty leaves / non empty leaf )\n" <<
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| 317 | rayRefsNonZeroQuery/(double)(Leaves() - zeroQueryNodes) << "\n";
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| 318 |
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| 319 | app << "#N_LEAFDOMAINREFS ( Number of query domain Refs / leaf )\n" <<
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| 320 | objectRefs/(double)Leaves() << "\n";
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| 321 |
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| 322 | // app << setprecision(4);
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| 323 |
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| 324 | app << "#N_PEMPTYLEAVES ( Percentage of leaves with zero query domains )\n"<<
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| 325 | zeroQueryNodes*100/(double)Leaves()<<endl;
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| 326 |
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| 327 | app << "#N_PMAXDEPTHLEAVES ( Percentage of leaves at maxdepth )\n"<<
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| 328 | maxDepthNodes*100/(double)Leaves()<<endl;
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| 329 |
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| 330 | app << "#N_PMINCOSTLEAVES ( Percentage of leaves with minCost )\n"<<
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| 331 | minCostNodes*100/(double)Leaves()<<endl;
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| 332 |
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| 333 | app << "#N_ADDED_RAYREFS (Number of dynamically added ray references )\n"<<
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| 334 | addedRayRefs<<endl;
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| 335 |
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| 336 | app << "#N_REMOVED_RAYREFS (Number of dynamically removed ray references )\n"<<
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| 337 | removedRayRefs<<endl;
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| 338 |
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| 339 | // app << setprecision(4);
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| 340 |
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| 341 | // app << "#N_CTIME ( Construction time [s] )\n"
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| 342 | // << Time() << " \n";
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| 343 |
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| 344 | app << "===== END OF KdTree statistics ==========\n";
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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 |
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| 350 | void
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| 351 | KdTree::EvaluateLeafStats(const TraversalData &data)
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| 352 | {
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| 353 |
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| 354 | // the node became a leaf -> evaluate stats for leafs
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| 355 | KdLeaf *leaf = (KdLeaf *)data.mNode;
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| 356 |
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| 357 | if (data.mDepth > mTermMaxDepth)
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| 358 | mStat.maxDepthNodes++;
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| 359 |
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| 360 | if ( (int)(leaf->mObjects.size()) < mTermMinCost)
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| 361 | mStat.minCostNodes++;
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| 362 |
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| 363 |
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| 364 | if ( (int)(leaf->mObjects.size()) > mStat.maxObjectRefs)
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[469] | 365 | mStat.maxObjectRefs = (int)leaf->mObjects.size();
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[372] | 366 |
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| 367 | }
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| 368 |
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| 369 |
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| 370 |
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| 371 | void
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| 372 | KdTree::SortSplitCandidates(
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| 373 | KdLeaf *node,
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| 374 | const int axis
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| 375 | )
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| 376 | {
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| 377 | splitCandidates->clear();
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| 378 |
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[469] | 379 | int requestedSize = 2*(int)node->mObjects.size();
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[372] | 380 | // creates a sorted split candidates array
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| 381 | if (splitCandidates->capacity() > 500000 &&
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| 382 | requestedSize < (int)(splitCandidates->capacity()/10) ) {
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| 383 | delete splitCandidates;
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| 384 | splitCandidates = new vector<SortableEntry>;
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| 385 | }
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| 386 |
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| 387 | splitCandidates->reserve(requestedSize);
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| 388 |
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| 389 | // insert all queries
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| 390 | for(ObjectContainer::const_iterator mi = node->mObjects.begin();
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| 391 | mi != node->mObjects.end();
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| 392 | mi++) {
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| 393 | AxisAlignedBox3 box = (*mi)->GetBox();
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| 394 |
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| 395 | splitCandidates->push_back(SortableEntry(SortableEntry::BOX_MIN,
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| 396 | box.Min(axis),
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| 397 | *mi)
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| 398 | );
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| 399 |
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| 400 |
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| 401 | splitCandidates->push_back(SortableEntry(SortableEntry::BOX_MAX,
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| 402 | box.Max(axis),
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| 403 | *mi)
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| 404 | );
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| 405 | }
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| 406 |
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| 407 | stable_sort(splitCandidates->begin(), splitCandidates->end());
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| 408 | }
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| 409 |
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| 410 |
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| 411 | float
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| 412 | KdTree::BestCostRatio(
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| 413 | KdLeaf *node,
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| 414 | const AxisAlignedBox3 &box,
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| 415 | const int axis,
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| 416 | float &position,
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| 417 | int &objectsBack,
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| 418 | int &objectsFront
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| 419 | )
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| 420 | {
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| 421 |
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| 422 | SortSplitCandidates(node, axis);
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| 423 |
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| 424 | // go through the lists, count the number of objects left and right
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| 425 | // and evaluate the following cost funcion:
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| 426 | // C = ct_div_ci + (ol + or)/queries
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| 427 |
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| 428 | float totalIntersections = 0.0f;
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| 429 | vector<SortableEntry>::const_iterator ci;
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| 430 |
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| 431 | for(ci = splitCandidates->begin();
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| 432 | ci < splitCandidates->end();
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| 433 | ci++)
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| 434 | if ((*ci).type == SortableEntry::BOX_MIN) {
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| 435 | totalIntersections += (*ci).intersectable->IntersectionComplexity();
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| 436 | }
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| 437 |
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| 438 | float intersectionsLeft = 0;
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| 439 | float intersectionsRight = totalIntersections;
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| 440 |
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[469] | 441 | int objectsLeft = 0, objectsRight = (int)node->mObjects.size();
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[372] | 442 |
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| 443 | float minBox = box.Min(axis);
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| 444 | float maxBox = box.Max(axis);
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| 445 | float boxArea = box.SurfaceArea();
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| 446 |
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| 447 | float minBand = minBox + mSplitBorder*(maxBox - minBox);
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| 448 | float maxBand = minBox + (1.0f - mSplitBorder)*(maxBox - minBox);
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| 449 |
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[469] | 450 | float minSum = 1e20f;
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[372] | 451 |
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| 452 | for(ci = splitCandidates->begin();
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| 453 | ci < splitCandidates->end();
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| 454 | ci++) {
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| 455 | switch ((*ci).type) {
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| 456 | case SortableEntry::BOX_MIN:
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| 457 | objectsLeft++;
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| 458 | intersectionsLeft += (*ci).intersectable->IntersectionComplexity();
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| 459 | break;
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| 460 | case SortableEntry::BOX_MAX:
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| 461 | objectsRight--;
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| 462 | intersectionsRight -= (*ci).intersectable->IntersectionComplexity();
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| 463 | break;
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| 464 | }
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| 465 |
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| 466 | if ((*ci).value > minBand && (*ci).value < maxBand) {
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| 467 | AxisAlignedBox3 lbox = box;
|
---|
| 468 | AxisAlignedBox3 rbox = box;
|
---|
| 469 | lbox.SetMax(axis, (*ci).value);
|
---|
| 470 | rbox.SetMin(axis, (*ci).value);
|
---|
| 471 |
|
---|
| 472 | float sum;
|
---|
| 473 | if (mSahUseFaces)
|
---|
[374] | 474 | sum = intersectionsLeft*lbox.SurfaceArea() + intersectionsRight*rbox.SurfaceArea();
|
---|
[372] | 475 | else
|
---|
[374] | 476 | sum = objectsLeft*lbox.SurfaceArea() + objectsRight*rbox.SurfaceArea();
|
---|
[372] | 477 |
|
---|
| 478 | // cout<<"pos="<<(*ci).value<<"\t q=("<<ql<<","<<qr<<")\t r=("<<rl<<","<<rr<<")"<<endl;
|
---|
| 479 | // cout<<"cost= "<<sum<<endl;
|
---|
| 480 |
|
---|
| 481 | if (sum < minSum) {
|
---|
[374] | 482 | minSum = sum;
|
---|
| 483 | position = (*ci).value;
|
---|
| 484 |
|
---|
| 485 | objectsBack = objectsLeft;
|
---|
| 486 | objectsFront = objectsRight;
|
---|
[372] | 487 | }
|
---|
| 488 | }
|
---|
| 489 | }
|
---|
| 490 |
|
---|
| 491 | float oldCost = mSahUseFaces ? totalIntersections : node->mObjects.size();
|
---|
| 492 | float newCost = mCt_div_ci + minSum/boxArea;
|
---|
| 493 | float ratio = newCost/oldCost;
|
---|
| 494 |
|
---|
| 495 | #if 0
|
---|
| 496 | cout<<"===================="<<endl;
|
---|
| 497 | cout<<"costRatio="<<ratio<<" pos="<<position<<" t="<<(position - minBox)/(maxBox - minBox)
|
---|
| 498 | <<"\t o=("<<objectsBack<<","<<objectsFront<<")"<<endl;
|
---|
| 499 | #endif
|
---|
| 500 | return ratio;
|
---|
| 501 | }
|
---|
| 502 |
|
---|
| 503 | int
|
---|
| 504 | KdTree::CastRay(
|
---|
[462] | 505 | Ray &ray
|
---|
| 506 | )
|
---|
[372] | 507 | {
|
---|
| 508 | int hits = 0;
|
---|
| 509 |
|
---|
| 510 | stack<RayTraversalData> tStack;
|
---|
| 511 |
|
---|
| 512 | float maxt = 1e6;
|
---|
| 513 | float mint = 0;
|
---|
[492] | 514 |
|
---|
[372] | 515 | Intersectable::NewMail();
|
---|
| 516 |
|
---|
| 517 | if (!mBox.GetMinMaxT(ray, &mint, &maxt))
|
---|
| 518 | return 0;
|
---|
| 519 |
|
---|
| 520 | if (mint < 0)
|
---|
| 521 | mint = 0;
|
---|
| 522 |
|
---|
| 523 | maxt += Limits::Threshold;
|
---|
| 524 |
|
---|
| 525 | Vector3 entp = ray.Extrap(mint);
|
---|
| 526 | Vector3 extp = ray.Extrap(maxt);
|
---|
| 527 |
|
---|
| 528 | KdNode *node = mRoot;
|
---|
| 529 | KdNode *farChild;
|
---|
| 530 | float position;
|
---|
| 531 | int axis;
|
---|
| 532 |
|
---|
| 533 | while (1) {
|
---|
| 534 | if (!node->IsLeaf()) {
|
---|
| 535 | KdInterior *in = (KdInterior *) node;
|
---|
| 536 | position = in->mPosition;
|
---|
| 537 | axis = in->mAxis;
|
---|
| 538 |
|
---|
| 539 | if (entp[axis] <= position) {
|
---|
[376] | 540 | if (extp[axis] <= position) {
|
---|
| 541 | node = in->mBack;
|
---|
| 542 | // cases N1,N2,N3,P5,Z2,Z3
|
---|
| 543 | continue;
|
---|
| 544 | } else {
|
---|
| 545 | // case N4
|
---|
| 546 | node = in->mBack;
|
---|
| 547 | farChild = in->mFront;
|
---|
| 548 | }
|
---|
[372] | 549 | }
|
---|
| 550 | else {
|
---|
[376] | 551 | if (position <= extp[axis]) {
|
---|
| 552 | node = in->mFront;
|
---|
| 553 | // cases P1,P2,P3,N5,Z1
|
---|
| 554 | continue;
|
---|
| 555 | } else {
|
---|
| 556 | node = in->mFront;
|
---|
| 557 | farChild = in->mBack;
|
---|
| 558 | // case P4
|
---|
| 559 | }
|
---|
| 560 | }
|
---|
[372] | 561 | // $$ modification 3.5.2004 - hints from Kamil Ghais
|
---|
| 562 | // case N4 or P4
|
---|
| 563 | float tdist = (position - ray.GetLoc(axis)) / ray.GetDir(axis);
|
---|
| 564 | tStack.push(RayTraversalData(farChild, extp, maxt));
|
---|
| 565 | extp = ray.GetLoc() + ray.GetDir()*tdist;
|
---|
| 566 | maxt = tdist;
|
---|
[376] | 567 | } else {
|
---|
| 568 | // compute intersection with all objects in this leaf
|
---|
| 569 | KdLeaf *leaf = (KdLeaf *) node;
|
---|
| 570 | if (ray.mFlags & Ray::STORE_KDLEAVES)
|
---|
| 571 | ray.kdLeaves.push_back(leaf);
|
---|
| 572 |
|
---|
| 573 | ObjectContainer::const_iterator mi;
|
---|
| 574 | for ( mi = leaf->mObjects.begin();
|
---|
| 575 | mi != leaf->mObjects.end();
|
---|
| 576 | mi++) {
|
---|
| 577 | Intersectable *object = *mi;
|
---|
| 578 | if (!object->Mailed() ) {
|
---|
| 579 | object->Mail();
|
---|
| 580 | if (ray.mFlags & Ray::STORE_TESTED_OBJECTS)
|
---|
| 581 | ray.testedObjects.push_back(object);
|
---|
| 582 | hits += object->CastRay(ray);
|
---|
| 583 | }
|
---|
[374] | 584 | }
|
---|
[376] | 585 |
|
---|
| 586 | if (hits && ray.GetType() == Ray::LOCAL_RAY)
|
---|
| 587 | if (ray.intersections[0].mT <= maxt)
|
---|
| 588 | break;
|
---|
| 589 |
|
---|
| 590 | // get the next node from the stack
|
---|
| 591 | if (tStack.empty())
|
---|
[374] | 592 | break;
|
---|
[376] | 593 |
|
---|
| 594 | entp = extp;
|
---|
| 595 | mint = maxt;
|
---|
| 596 | if (ray.GetType() == Ray::LINE_SEGMENT && mint > 1.0f)
|
---|
| 597 | break;
|
---|
| 598 |
|
---|
| 599 | RayTraversalData &s = tStack.top();
|
---|
| 600 | node = s.mNode;
|
---|
| 601 | extp = s.mExitPoint;
|
---|
| 602 | maxt = s.mMaxT;
|
---|
| 603 | tStack.pop();
|
---|
| 604 | }
|
---|
[372] | 605 | }
|
---|
| 606 | return hits;
|
---|
| 607 | }
|
---|
| 608 |
|
---|
[469] | 609 | int KdTree::CastLineSegment(const Vector3 &origin,
|
---|
| 610 | const Vector3 &termination,
|
---|
| 611 | vector<ViewCell *> &viewcells)
|
---|
| 612 | {
|
---|
| 613 | int hits = 0;
|
---|
| 614 |
|
---|
| 615 | float mint = 0.0f, maxt = 1.0f;
|
---|
| 616 | const Vector3 dir = termination - origin;
|
---|
| 617 |
|
---|
[475] | 618 | stack<RayTraversalData> tStack;
|
---|
[469] | 619 |
|
---|
| 620 | Intersectable::NewMail();
|
---|
| 621 |
|
---|
| 622 | //maxt += Limits::Threshold;
|
---|
| 623 |
|
---|
| 624 | Vector3 entp = origin;
|
---|
| 625 | Vector3 extp = termination;
|
---|
| 626 |
|
---|
| 627 | KdNode *node = mRoot;
|
---|
| 628 | KdNode *farChild;
|
---|
| 629 |
|
---|
| 630 | float position;
|
---|
| 631 | int axis;
|
---|
| 632 |
|
---|
| 633 | while (1)
|
---|
| 634 | {
|
---|
| 635 | if (!node->IsLeaf())
|
---|
| 636 | {
|
---|
| 637 | KdInterior *in = dynamic_cast<KdInterior *>(node);
|
---|
| 638 | position = in->mPosition;
|
---|
| 639 | axis = in->mAxis;
|
---|
| 640 |
|
---|
| 641 | if (entp[axis] <= position)
|
---|
| 642 | {
|
---|
| 643 | if (extp[axis] <= position)
|
---|
| 644 | {
|
---|
| 645 | node = in->mBack;
|
---|
| 646 | // cases N1,N2,N3,P5,Z2,Z3
|
---|
| 647 | continue;
|
---|
| 648 | }
|
---|
| 649 | else
|
---|
| 650 | {
|
---|
| 651 | // case N4
|
---|
| 652 | node = in->mBack;
|
---|
| 653 | farChild = in->mFront;
|
---|
| 654 | }
|
---|
| 655 | }
|
---|
| 656 | else
|
---|
| 657 | {
|
---|
| 658 | if (position <= extp[axis])
|
---|
| 659 | {
|
---|
| 660 | node = in->mFront;
|
---|
| 661 | // cases P1,P2,P3,N5,Z1
|
---|
| 662 | continue;
|
---|
| 663 | }
|
---|
| 664 | else
|
---|
| 665 | {
|
---|
| 666 | node = in->mFront;
|
---|
| 667 | farChild = in->mBack;
|
---|
| 668 | // case P4
|
---|
| 669 | }
|
---|
| 670 | }
|
---|
| 671 |
|
---|
| 672 | // $$ modification 3.5.2004 - hints from Kamil Ghais
|
---|
| 673 | // case N4 or P4
|
---|
| 674 | float tdist = (position - origin[axis]) / dir[axis];
|
---|
| 675 | //tStack.push(RayTraversalData(farChild, extp, maxt)); //TODO
|
---|
| 676 | extp = origin + dir * tdist;
|
---|
| 677 | maxt = tdist;
|
---|
| 678 | }
|
---|
| 679 | else
|
---|
| 680 | {
|
---|
| 681 | // compute intersection with all objects in this leaf
|
---|
| 682 | KdLeaf *leaf = dynamic_cast<KdLeaf *>(node);
|
---|
| 683 |
|
---|
| 684 | // add view cell to intersections
|
---|
| 685 | ViewCell *vc = leaf->mViewCell;
|
---|
| 686 |
|
---|
| 687 | if (!vc->Mailed())
|
---|
| 688 | {
|
---|
| 689 | vc->Mail();
|
---|
| 690 | viewcells.push_back(vc);
|
---|
| 691 | ++ hits;
|
---|
| 692 | }
|
---|
| 693 |
|
---|
| 694 | // get the next node from the stack
|
---|
| 695 | if (tStack.empty())
|
---|
| 696 | break;
|
---|
| 697 |
|
---|
| 698 | entp = extp;
|
---|
| 699 | mint = maxt;
|
---|
| 700 |
|
---|
| 701 | RayTraversalData &s = tStack.top();
|
---|
| 702 | node = s.mNode;
|
---|
| 703 | extp = s.mExitPoint;
|
---|
| 704 | maxt = s.mMaxT;
|
---|
| 705 | tStack.pop();
|
---|
| 706 | }
|
---|
| 707 | }
|
---|
| 708 |
|
---|
| 709 | return hits;
|
---|
| 710 | }
|
---|
| 711 |
|
---|
| 712 |
|
---|
[372] | 713 | void
|
---|
| 714 | KdTree::CollectObjects(KdNode *n, ObjectContainer &objects)
|
---|
| 715 | {
|
---|
| 716 | stack<KdNode *> nodeStack;
|
---|
| 717 |
|
---|
| 718 | nodeStack.push(n);
|
---|
| 719 |
|
---|
| 720 | while (!nodeStack.empty()) {
|
---|
| 721 | KdNode *node = nodeStack.top();
|
---|
| 722 | nodeStack.pop();
|
---|
| 723 | if (node->IsLeaf()) {
|
---|
| 724 | KdLeaf *leaf = (KdLeaf *)node;
|
---|
| 725 | for (int j=0; j < leaf->mObjects.size(); j++) {
|
---|
[374] | 726 | Intersectable *object = leaf->mObjects[j];
|
---|
| 727 | if (!object->Mailed()) {
|
---|
| 728 | object->Mail();
|
---|
| 729 | objects.push_back(object);
|
---|
| 730 | }
|
---|
[372] | 731 | }
|
---|
| 732 | } else {
|
---|
| 733 | KdInterior *interior = (KdInterior *)node;
|
---|
| 734 | nodeStack.push(interior->mFront);
|
---|
| 735 | nodeStack.push(interior->mBack);
|
---|
| 736 | }
|
---|
| 737 | }
|
---|
| 738 | }
|
---|
| 739 |
|
---|
| 740 | // Find random neighbor which was not mailed
|
---|
| 741 | KdNode *
|
---|
| 742 | KdTree::FindRandomNeighbor(KdNode *n,
|
---|
| 743 | bool onlyUnmailed
|
---|
| 744 | )
|
---|
| 745 | {
|
---|
| 746 | stack<KdNode *> nodeStack;
|
---|
| 747 |
|
---|
| 748 | nodeStack.push(mRoot);
|
---|
| 749 |
|
---|
| 750 | AxisAlignedBox3 box = GetBox(n);
|
---|
| 751 | int mask = rand();
|
---|
| 752 |
|
---|
| 753 | while (!nodeStack.empty()) {
|
---|
| 754 | KdNode *node = nodeStack.top();
|
---|
| 755 | nodeStack.pop();
|
---|
| 756 | if (node->IsLeaf()) {
|
---|
| 757 | if ( node != n && (!onlyUnmailed || !node->Mailed()) )
|
---|
| 758 | return node;
|
---|
| 759 | } else {
|
---|
| 760 | KdInterior *interior = (KdInterior *)node;
|
---|
| 761 | if (interior->mPosition > box.Max(interior->mAxis))
|
---|
| 762 | nodeStack.push(interior->mBack);
|
---|
| 763 | else
|
---|
| 764 | if (interior->mPosition < box.Min(interior->mAxis))
|
---|
| 765 | nodeStack.push(interior->mFront);
|
---|
| 766 | else {
|
---|
| 767 | // random decision
|
---|
| 768 | if (mask&1)
|
---|
| 769 | nodeStack.push(interior->mBack);
|
---|
| 770 | else
|
---|
| 771 | nodeStack.push(interior->mFront);
|
---|
| 772 | mask = mask>>1;
|
---|
| 773 | }
|
---|
| 774 | }
|
---|
| 775 | }
|
---|
| 776 |
|
---|
| 777 | return NULL;
|
---|
| 778 | }
|
---|
| 779 |
|
---|
| 780 | int
|
---|
| 781 | KdTree::FindNeighbors(KdNode *n,
|
---|
| 782 | vector<KdNode *> &neighbors,
|
---|
| 783 | bool onlyUnmailed
|
---|
| 784 | )
|
---|
| 785 | {
|
---|
| 786 | stack<KdNode *> nodeStack;
|
---|
| 787 |
|
---|
| 788 | nodeStack.push(mRoot);
|
---|
| 789 |
|
---|
| 790 | AxisAlignedBox3 box = GetBox(n);
|
---|
| 791 |
|
---|
| 792 | while (!nodeStack.empty()) {
|
---|
| 793 | KdNode *node = nodeStack.top();
|
---|
| 794 | nodeStack.pop();
|
---|
| 795 | if (node->IsLeaf()) {
|
---|
| 796 | if ( node != n && (!onlyUnmailed || !node->Mailed()) )
|
---|
| 797 | neighbors.push_back(node);
|
---|
| 798 | } else {
|
---|
| 799 | KdInterior *interior = (KdInterior *)node;
|
---|
| 800 | if (interior->mPosition > box.Max(interior->mAxis))
|
---|
[374] | 801 | nodeStack.push(interior->mBack);
|
---|
[372] | 802 | else
|
---|
[374] | 803 | if (interior->mPosition < box.Min(interior->mAxis))
|
---|
| 804 | nodeStack.push(interior->mFront);
|
---|
| 805 | else {
|
---|
| 806 | // random decision
|
---|
| 807 | nodeStack.push(interior->mBack);
|
---|
| 808 | nodeStack.push(interior->mFront);
|
---|
| 809 | }
|
---|
[372] | 810 | }
|
---|
| 811 | }
|
---|
| 812 |
|
---|
[469] | 813 | return (int)neighbors.size();
|
---|
[372] | 814 | }
|
---|
| 815 |
|
---|
| 816 | // Find random neighbor which was not mailed
|
---|
| 817 | KdNode *
|
---|
| 818 | KdTree::GetRandomLeaf(const Plane3 &plane)
|
---|
| 819 | {
|
---|
| 820 | stack<KdNode *> nodeStack;
|
---|
| 821 |
|
---|
| 822 | nodeStack.push(mRoot);
|
---|
| 823 |
|
---|
| 824 | int mask = rand();
|
---|
| 825 |
|
---|
| 826 | while (!nodeStack.empty()) {
|
---|
| 827 | KdNode *node = nodeStack.top();
|
---|
| 828 | nodeStack.pop();
|
---|
| 829 | if (node->IsLeaf()) {
|
---|
| 830 | return node;
|
---|
| 831 | } else {
|
---|
| 832 | KdInterior *interior = (KdInterior *)node;
|
---|
| 833 | KdNode *next;
|
---|
| 834 | if (GetBox(interior->mBack).Side(plane) < 0)
|
---|
| 835 | next = interior->mFront;
|
---|
| 836 | else
|
---|
| 837 | if (GetBox(interior->mFront).Side(plane) < 0)
|
---|
| 838 | next = interior->mBack;
|
---|
| 839 | else {
|
---|
| 840 | // random decision
|
---|
| 841 | if (mask&1)
|
---|
| 842 | next = interior->mBack;
|
---|
| 843 | else
|
---|
| 844 | next = interior->mFront;
|
---|
| 845 | mask = mask>>1;
|
---|
| 846 | }
|
---|
| 847 | nodeStack.push(next);
|
---|
| 848 | }
|
---|
| 849 | }
|
---|
| 850 |
|
---|
| 851 |
|
---|
| 852 | return NULL;
|
---|
| 853 | }
|
---|
| 854 |
|
---|
| 855 | void
|
---|
| 856 | KdTree::CollectLeaves(vector<KdLeaf *> &leaves)
|
---|
| 857 | {
|
---|
| 858 | stack<KdNode *> nodeStack;
|
---|
| 859 | nodeStack.push(mRoot);
|
---|
| 860 |
|
---|
| 861 | while (!nodeStack.empty()) {
|
---|
| 862 | KdNode *node = nodeStack.top();
|
---|
| 863 | nodeStack.pop();
|
---|
| 864 | if (node->IsLeaf()) {
|
---|
| 865 | KdLeaf *leaf = (KdLeaf *)node;
|
---|
| 866 | leaves.push_back(leaf);
|
---|
| 867 | } else {
|
---|
| 868 | KdInterior *interior = (KdInterior *)node;
|
---|
| 869 | nodeStack.push(interior->mBack);
|
---|
| 870 | nodeStack.push(interior->mFront);
|
---|
| 871 | }
|
---|
| 872 | }
|
---|
| 873 | }
|
---|
| 874 |
|
---|
[469] | 875 | void
|
---|
| 876 | KdTree::CreateAndCollectViewCells(ViewCellContainer &vc) const
|
---|
| 877 | {
|
---|
| 878 | stack<KdNode *> nodeStack;
|
---|
| 879 | nodeStack.push(mRoot);
|
---|
[372] | 880 |
|
---|
[469] | 881 | while (!nodeStack.empty()) {
|
---|
| 882 | KdNode *node = nodeStack.top();
|
---|
| 883 | nodeStack.pop();
|
---|
| 884 | if (node->IsLeaf()) {
|
---|
| 885 | KdLeaf *leaf = (KdLeaf *)node;
|
---|
| 886 | // kdtree used as view cell container => create view cell
|
---|
[471] | 887 | KdViewCell *viewCell = new KdViewCell();
|
---|
| 888 | leaf->mViewCell = viewCell;
|
---|
| 889 | // push back pointer to this leaf
|
---|
[580] | 890 | viewCell->mLeaf = leaf;
|
---|
[471] | 891 | vc.push_back(viewCell);
|
---|
[469] | 892 | } else {
|
---|
| 893 | KdInterior *interior = (KdInterior *)node;
|
---|
| 894 | nodeStack.push(interior->mBack);
|
---|
| 895 | nodeStack.push(interior->mFront);
|
---|
| 896 | }
|
---|
| 897 | }
|
---|
| 898 | }
|
---|
| 899 |
|
---|
[372] | 900 | int
|
---|
| 901 | KdTree::CollectLeafPvs()
|
---|
| 902 | {
|
---|
| 903 | int totalPvsSize = 0;
|
---|
| 904 | stack<KdNode *> nodeStack;
|
---|
| 905 |
|
---|
| 906 | nodeStack.push(mRoot);
|
---|
| 907 |
|
---|
| 908 | while (!nodeStack.empty()) {
|
---|
| 909 | KdNode *node = nodeStack.top();
|
---|
| 910 | nodeStack.pop();
|
---|
| 911 | if (node->IsLeaf()) {
|
---|
| 912 | KdLeaf *leaf = (KdLeaf *)node;
|
---|
| 913 | for (int j=0; j < leaf->mObjects.size(); j++) {
|
---|
| 914 | Intersectable *object = leaf->mObjects[j];
|
---|
| 915 | if (!object->Mailed()) {
|
---|
| 916 | object->Mail();
|
---|
| 917 | // add this node to pvs of all nodes it can see
|
---|
| 918 | KdPvsMap::iterator ni = object->mKdPvs.mEntries.begin();
|
---|
| 919 | for (; ni != object->mKdPvs.mEntries.end(); ni++) {
|
---|
| 920 | KdNode *node = (*ni).first;
|
---|
| 921 | // $$ JB TEMPORARY solution -> should add object PVS or explictly computed
|
---|
| 922 | // kd tree PVS
|
---|
[466] | 923 | float contribution;
|
---|
[556] | 924 | if (leaf->mKdPvs.AddSample(node, 1.0f, contribution))
|
---|
[372] | 925 | totalPvsSize++;
|
---|
| 926 | }
|
---|
| 927 | }
|
---|
| 928 | }
|
---|
| 929 | } else {
|
---|
| 930 | KdInterior *interior = (KdInterior *)node;
|
---|
| 931 | nodeStack.push(interior->mFront);
|
---|
| 932 | nodeStack.push(interior->mBack);
|
---|
| 933 | }
|
---|
| 934 | }
|
---|
| 935 |
|
---|
| 936 | return totalPvsSize;
|
---|
| 937 | }
|
---|
| 938 |
|
---|
| 939 |
|
---|
| 940 | KdNode *
|
---|
| 941 | KdTree::GetRandomLeaf(const bool onlyUnmailed)
|
---|
| 942 | {
|
---|
[507] | 943 | stack<KdNode *> nodeStack;
|
---|
[372] | 944 | nodeStack.push(mRoot);
|
---|
[507] | 945 |
|
---|
| 946 | int mask = rand();
|
---|
[372] | 947 |
|
---|
| 948 | while (!nodeStack.empty()) {
|
---|
| 949 | KdNode *node = nodeStack.top();
|
---|
| 950 | nodeStack.pop();
|
---|
| 951 | if (node->IsLeaf()) {
|
---|
| 952 | if ( (!onlyUnmailed || !node->Mailed()) )
|
---|
| 953 | return node;
|
---|
| 954 | } else {
|
---|
| 955 | KdInterior *interior = (KdInterior *)node;
|
---|
| 956 | // random decision
|
---|
| 957 | if (mask&1)
|
---|
| 958 | nodeStack.push(interior->mBack);
|
---|
| 959 | else
|
---|
| 960 | nodeStack.push(interior->mFront);
|
---|
| 961 | mask = mask>>1;
|
---|
| 962 | }
|
---|
| 963 | }
|
---|
| 964 | return NULL;
|
---|
| 965 | }
|
---|
[504] | 966 |
|
---|
| 967 |
|
---|
| 968 | int
|
---|
[507] | 969 | KdTree::CastBeam(
|
---|
[512] | 970 | Beam &beam
|
---|
[507] | 971 | )
|
---|
[504] | 972 | {
|
---|
[507] | 973 | stack<KdNode *> nodeStack;
|
---|
| 974 | nodeStack.push(mRoot);
|
---|
[504] | 975 |
|
---|
[507] | 976 | while (!nodeStack.empty()) {
|
---|
| 977 | KdNode *node = nodeStack.top();
|
---|
| 978 | nodeStack.pop();
|
---|
| 979 |
|
---|
| 980 | int side = beam.ComputeIntersection(GetBox(node));
|
---|
| 981 | switch (side) {
|
---|
| 982 | case -1:
|
---|
| 983 | beam.mKdNodes.push_back(node);
|
---|
| 984 | break;
|
---|
| 985 | case 0:
|
---|
| 986 | if (node->IsLeaf())
|
---|
| 987 | beam.mKdNodes.push_back(node);
|
---|
| 988 | else {
|
---|
| 989 | KdInterior *interior = (KdInterior *)node;
|
---|
| 990 | KdNode *first = interior->mBack;
|
---|
| 991 | KdNode *second = interior->mFront;
|
---|
| 992 |
|
---|
| 993 | if (interior->mAxis < 3) {
|
---|
| 994 | // spatial split -> decide on the order of the nodes
|
---|
| 995 | if (beam.mPlanes[0].mNormal[interior->mAxis] > 0)
|
---|
| 996 | swap(first, second);
|
---|
| 997 | }
|
---|
[504] | 998 |
|
---|
[507] | 999 | nodeStack.push(first);
|
---|
| 1000 | nodeStack.push(second);
|
---|
| 1001 | }
|
---|
| 1002 | break;
|
---|
| 1003 | // default: cull
|
---|
| 1004 | }
|
---|
| 1005 | }
|
---|
| 1006 |
|
---|
[532] | 1007 | if (beam.mFlags & Beam::STORE_OBJECTS)
|
---|
| 1008 | {
|
---|
| 1009 | vector<KdNode *>::const_iterator it, it_end = beam.mKdNodes.end();
|
---|
[535] | 1010 |
|
---|
[532] | 1011 | Intersectable::NewMail();
|
---|
| 1012 | for (it = beam.mKdNodes.begin(); it != it_end; ++ it)
|
---|
| 1013 | {
|
---|
| 1014 | CollectObjects(*it, beam.mObjects);
|
---|
| 1015 | }
|
---|
| 1016 | }
|
---|
| 1017 |
|
---|
[507] | 1018 | return beam.mKdNodes.size();
|
---|
[504] | 1019 | }
|
---|