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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7 | #include "ViewCell.h"
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8 | #include "Beam.h"
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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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212 | return leaf;
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213 |
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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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280 | mStat.objectRefs -= (int)leaf->mObjects.size();
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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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365 | mStat.maxObjectRefs = (int)leaf->mObjects.size();
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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 |
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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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379 | int requestedSize = 2*(int)node->mObjects.size();
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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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441 | int objectsLeft = 0, objectsRight = (int)node->mObjects.size();
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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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450 | float minSum = 1e20f;
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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;
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468 | AxisAlignedBox3 rbox = box;
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469 | lbox.SetMax(axis, (*ci).value);
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470 | rbox.SetMin(axis, (*ci).value);
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471 |
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472 | float sum;
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473 | if (mSahUseFaces)
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474 | sum = intersectionsLeft*lbox.SurfaceArea() + intersectionsRight*rbox.SurfaceArea();
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475 | else
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476 | sum = objectsLeft*lbox.SurfaceArea() + objectsRight*rbox.SurfaceArea();
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477 |
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478 | // cout<<"pos="<<(*ci).value<<"\t q=("<<ql<<","<<qr<<")\t r=("<<rl<<","<<rr<<")"<<endl;
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479 | // cout<<"cost= "<<sum<<endl;
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480 |
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481 | if (sum < minSum) {
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482 | minSum = sum;
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483 | position = (*ci).value;
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484 |
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485 | objectsBack = objectsLeft;
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486 | objectsFront = objectsRight;
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487 | }
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488 | }
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489 | }
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490 |
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491 | float oldCost = mSahUseFaces ? totalIntersections : node->mObjects.size();
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492 | float newCost = mCt_div_ci + minSum/boxArea;
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493 | float ratio = newCost/oldCost;
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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(
|
---|
505 | Ray &ray
|
---|
506 | )
|
---|
507 | {
|
---|
508 | int hits = 0;
|
---|
509 |
|
---|
510 | stack<RayTraversalData> tStack;
|
---|
511 |
|
---|
512 | float maxt = 1e6;
|
---|
513 | float mint = 0;
|
---|
514 |
|
---|
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) {
|
---|
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 | }
|
---|
549 | }
|
---|
550 | else {
|
---|
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 | }
|
---|
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;
|
---|
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 | }
|
---|
584 | }
|
---|
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())
|
---|
592 | break;
|
---|
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 | }
|
---|
605 | }
|
---|
606 | return hits;
|
---|
607 | }
|
---|
608 |
|
---|
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 |
|
---|
618 | stack<RayTraversalData> tStack;
|
---|
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 |
|
---|
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++) {
|
---|
726 | Intersectable *object = leaf->mObjects[j];
|
---|
727 | if (!object->Mailed()) {
|
---|
728 | object->Mail();
|
---|
729 | objects.push_back(object);
|
---|
730 | }
|
---|
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))
|
---|
801 | nodeStack.push(interior->mBack);
|
---|
802 | else
|
---|
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 | }
|
---|
810 | }
|
---|
811 | }
|
---|
812 |
|
---|
813 | return (int)neighbors.size();
|
---|
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 |
|
---|
875 | void
|
---|
876 | KdTree::CreateAndCollectViewCells(ViewCellContainer &vc) const
|
---|
877 | {
|
---|
878 | stack<KdNode *> nodeStack;
|
---|
879 | nodeStack.push(mRoot);
|
---|
880 |
|
---|
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
|
---|
887 | KdViewCell *viewCell = new KdViewCell();
|
---|
888 | leaf->mViewCell = viewCell;
|
---|
889 | // push back pointer to this leaf
|
---|
890 | viewCell->mLeaves.push_back(leaf);
|
---|
891 | vc.push_back(viewCell);
|
---|
892 | } else {
|
---|
893 | KdInterior *interior = (KdInterior *)node;
|
---|
894 | nodeStack.push(interior->mBack);
|
---|
895 | nodeStack.push(interior->mFront);
|
---|
896 | }
|
---|
897 | }
|
---|
898 | }
|
---|
899 |
|
---|
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
|
---|
923 | float contribution;
|
---|
924 | if (leaf->mKdPvs.AddSample(node, 1.0f, contribution))
|
---|
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 | {
|
---|
943 | stack<KdNode *> nodeStack;
|
---|
944 | nodeStack.push(mRoot);
|
---|
945 |
|
---|
946 | int mask = rand();
|
---|
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 | }
|
---|
966 |
|
---|
967 |
|
---|
968 | int
|
---|
969 | KdTree::CastBeam(
|
---|
970 | Beam &beam
|
---|
971 | )
|
---|
972 | {
|
---|
973 | stack<KdNode *> nodeStack;
|
---|
974 | nodeStack.push(mRoot);
|
---|
975 |
|
---|
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 | }
|
---|
998 |
|
---|
999 | nodeStack.push(first);
|
---|
1000 | nodeStack.push(second);
|
---|
1001 | }
|
---|
1002 | break;
|
---|
1003 | // default: cull
|
---|
1004 | }
|
---|
1005 | }
|
---|
1006 |
|
---|
1007 | if (beam.mFlags & Beam::STORE_OBJECTS)
|
---|
1008 | {
|
---|
1009 | vector<KdNode *>::const_iterator it, it_end = beam.mKdNodes.end();
|
---|
1010 |
|
---|
1011 | Intersectable::NewMail();
|
---|
1012 | for (it = beam.mKdNodes.begin(); it != it_end; ++ it)
|
---|
1013 | {
|
---|
1014 | CollectObjects(*it, beam.mObjects);
|
---|
1015 | }
|
---|
1016 | }
|
---|
1017 |
|
---|
1018 | return beam.mKdNodes.size();
|
---|
1019 | }
|
---|