[372] | 1 | // ================================================================
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| 2 | // $Id$
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| 3 | // ****************************************************************
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| 4 | //
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| 5 | // Initial coding by
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| 6 | /**
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| 7 | @author Jiri Bittner
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| 8 | */
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| 9 |
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| 10 | #ifndef __VSSTREE_H__
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| 11 | #define __VSSTREE_H__
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| 12 |
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| 13 | // Standard headers
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| 14 | #include <iomanip>
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| 15 | #include <vector>
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| 16 | #include <functional>
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| 17 | #include <stack>
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| 18 |
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| 19 |
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| 20 | // User headers
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| 21 | #include "VssRay.h"
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| 22 | #include "AxisAlignedBox3.h"
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| 23 |
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| 24 |
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| 25 | #define USE_KDNODE_VECTORS 1
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| 26 | #define _RSS_STATISTICS
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| 27 | #define _RSS_TRAVERSAL_STATISTICS
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| 28 |
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| 29 |
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| 30 | #include "Statistics.h"
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| 31 |
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| 32 | // --------------------------------------------------------------
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| 33 | // Static statistics for kd-tree search
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| 34 | // --------------------------------------------------------------
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| 35 | class VssStatistics :
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| 36 | public StatisticsBase
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| 37 | {
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| 38 | public:
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| 39 | // total number of nodes
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| 40 | int nodes;
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| 41 | // number of splits along each of the axes
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| 42 | int splits[7];
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| 43 | // totals number of rays
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| 44 | int rays;
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| 45 | // total number of query domains
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| 46 | int queryDomains;
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| 47 | // total number of ray references
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| 48 | int rayRefs;
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| 49 | // refs in non empty leafs
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| 50 | int rayRefsNonZeroQuery;
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| 51 | // total number of query references
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| 52 | int queryDomainRefs;
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| 53 | // nodes with zero queries
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| 54 | int zeroQueryNodes;
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| 55 | // max depth nodes
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| 56 | int maxDepthNodes;
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| 57 | // max depth nodes
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| 58 | int minCostNodes;
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| 59 | // max number of rays per node
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| 60 | int maxRayRefs;
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| 61 | // number of dynamically added ray refs
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| 62 | int addedRayRefs;
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| 63 | // number of dynamically removed ray refs
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| 64 | int removedRayRefs;
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| 65 |
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| 66 | // Constructor
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| 67 | VssStatistics() {
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| 68 | Reset();
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| 69 | }
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| 70 |
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| 71 | int Nodes() const {return nodes;}
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| 72 | int Interior() const { return nodes/2; }
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| 73 | int Leaves() const { return (nodes/2) + 1; }
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| 74 |
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| 75 | void Reset() {
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| 76 | nodes = 0;
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| 77 | for (int i=0; i<7; i++)
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| 78 | splits[i] = 0;
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| 79 | rays = queryDomains = 0;
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| 80 | rayRefs = rayRefsNonZeroQuery = queryDomainRefs = 0;
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| 81 | zeroQueryNodes = 0;
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| 82 | maxDepthNodes = 0;
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| 83 | minCostNodes = 0;
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| 84 | maxRayRefs = 0;
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| 85 | addedRayRefs = removedRayRefs = 0;
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| 86 | }
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| 87 |
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| 88 |
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| 89 | void
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| 90 | Print(ostream &app) const;
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| 91 |
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| 92 | friend ostream &operator<<(ostream &s, const VssStatistics &stat) {
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| 93 | stat.Print(s);
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| 94 | return s;
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| 95 | }
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| 96 |
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| 97 | };
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| 98 |
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| 99 |
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| 100 | // --------------------------------------------------------------
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| 101 | // For sorting rays
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| 102 | // --------------------------------------------------------------
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| 103 | struct SSortableEntry
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| 104 | {
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| 105 | enum EType {
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| 106 | ERayMin,
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| 107 | ERayMax
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| 108 | };
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| 109 |
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| 110 | int type;
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| 111 | float value;
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| 112 | void *data;
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| 113 |
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| 114 | SSortableEntry() {}
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| 115 | SSortableEntry(const int t, const float v, void *d):type(t),
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| 116 | value(v),
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| 117 | data(d) {}
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| 118 |
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| 119 | friend bool operator<(const SSortableEntry &a, const SSortableEntry &b) {
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| 120 | return a.value < b.value;
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| 121 | }
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| 122 | };
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| 123 |
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| 124 |
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| 125 | class VssTreeInterior;
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| 126 |
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| 127 |
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| 128 | // --------------------------------------------------------------
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| 129 | // KD-tree node - abstract class
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| 130 | // --------------------------------------------------------------
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| 131 | class VssTreeNode
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| 132 | {
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| 133 | public:
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| 134 |
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| 135 | #define USE_FIXEDPOINT_T 1
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| 136 |
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| 137 | struct RayInfo
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| 138 | {
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| 139 | // pointer to the actual ray
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| 140 | VssRay *mRay;
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| 141 |
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| 142 | // endpoints - do we need them?
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| 143 | #if USE_FIXEDPOINT_T
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| 144 | short mMinT, mMaxT;
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| 145 | #else
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| 146 | float mMinT, mMaxT;
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| 147 | #endif
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| 148 |
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| 149 | RayInfo():mRay(NULL) {}
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| 150 |
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| 151 | RayInfo(VssRay *r):mRay(r), mMinT(0),
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| 152 | #if USE_FIXEDPOINT_T
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| 153 | #define FIXEDPOINT_ONE 0x7FFE
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| 154 | // mMaxT(0xFFFF)
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| 155 | mMaxT(FIXEDPOINT_ONE)
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| 156 | #else
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| 157 | mMaxT(1.0f)
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| 158 | #endif
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| 159 | {}
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| 160 |
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| 161 | RayInfo(VssRay *r,
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| 162 | const float _min,
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| 163 | const float _max
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| 164 | ):mRay(r) {
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| 165 | SetMinT(_min);
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| 166 | SetMaxT(_max);
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| 167 | }
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| 168 |
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| 169 | RayInfo(VssRay *r,
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| 170 | const short _min,
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| 171 | const float _max
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| 172 | ):mRay(r), mMinT(_min) {
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| 173 | SetMaxT(_max);
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| 174 | }
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| 175 |
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| 176 | RayInfo(VssRay *r,
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| 177 | const float _min,
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| 178 | const short _max
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| 179 | ):mRay(r), mMaxT(_max) {
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| 180 | SetMinT(_min);
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| 181 | }
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| 182 |
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| 183 | friend bool operator<(const RayInfo &a, const RayInfo &b) {
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| 184 | return a.mRay < b.mRay;
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| 185 | }
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| 186 |
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| 187 |
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| 188 | float ExtrapOrigin(const int axis) const {
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| 189 | return mRay->GetOrigin(axis) + GetMinT()*mRay->GetDir(axis);
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| 190 | }
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| 191 |
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| 192 | float ExtrapTermination(const int axis) const {
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| 193 | return mRay->GetOrigin(axis) + GetMaxT()*mRay->GetDir(axis);
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| 194 | }
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| 195 |
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| 196 | #if USE_FIXEDPOINT_T
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| 197 | float GetMinT () const { return mMinT/(float)(FIXEDPOINT_ONE); }
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| 198 | float GetMaxT () const { return mMaxT/(float)(FIXEDPOINT_ONE); }
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| 199 |
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| 200 | void SetMinT (const float t) {
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| 201 | mMinT = (short) (t*(float)(FIXEDPOINT_ONE));
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| 202 | }
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| 203 |
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| 204 | void SetMaxT (const float t) {
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| 205 | mMaxT = (short) (t*(float)(FIXEDPOINT_ONE));
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| 206 | mMaxT++;
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| 207 | // if (mMaxT!=0xFFFF)
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| 208 | // mMaxT++;
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| 209 | }
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| 210 | #else
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| 211 | float GetMinT () const { return mMinT; }
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| 212 | float GetMaxT () const { return mMaxT; }
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| 213 |
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| 214 | void SetMinT (const float t) { mMinT = t; }
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| 215 | void SetMaxT (const float t) { mMaxT = t; }
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| 216 | #endif
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| 217 | };
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| 218 |
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| 219 |
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| 220 | typedef vector<RayInfo> RayInfoContainer;
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| 221 |
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| 222 | enum { EInterior, ELeaf };
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| 223 |
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| 224 | /////////////////////////////////
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| 225 | // The actual data goes here
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| 226 |
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| 227 | // link to the parent
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| 228 | VssTreeInterior *parent;
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| 229 |
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| 230 | enum {SPLIT_X=0, SPLIT_Y, SPLIT_Z, SPLIT_DIRX, SPLIT_DIRY, SPLIT_DIRZ};
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| 231 |
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| 232 | // splitting axis
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| 233 | char axis;
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| 234 |
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| 235 | // depth
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| 236 | unsigned char depth;
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| 237 |
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| 238 | // short depth;
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| 239 | //
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| 240 | /////////////////////////////////
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| 241 |
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| 242 | inline VssTreeNode(VssTreeInterior *p);
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| 243 |
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| 244 |
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| 245 | virtual ~VssTreeNode() {};
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| 246 | virtual int Type() const = 0;
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| 247 |
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| 248 |
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| 249 | bool IsLeaf() const { return axis == -1; }
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| 250 |
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| 251 | virtual void Print(ostream &s) const = 0;
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| 252 |
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| 253 | virtual int GetAccessTime() {
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| 254 | return 0x7FFFFFF;
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| 255 | }
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| 256 |
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| 257 |
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| 258 |
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| 259 | };
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| 260 |
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| 261 | // --------------------------------------------------------------
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| 262 | // KD-tree node - interior node
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| 263 | // --------------------------------------------------------------
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| 264 | class VssTreeInterior :
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| 265 | public VssTreeNode
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| 266 | {
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| 267 | public:
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| 268 | // plane in local modelling coordinates
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| 269 | float position;
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| 270 |
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| 271 | // pointers to children
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| 272 | VssTreeNode *back, *front;
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| 273 |
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| 274 | // the bbox of the node
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| 275 | AxisAlignedBox3 bbox;
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| 276 |
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| 277 | // the bbox of the node
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| 278 | AxisAlignedBox3 dirBBox;
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| 279 |
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| 280 | // data for caching
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| 281 | long accesses;
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| 282 | long lastAccessTime;
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| 283 |
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| 284 | VssTreeInterior(VssTreeInterior *p):VssTreeNode(p),
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| 285 | back(NULL),
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| 286 | front(NULL),
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| 287 | accesses(0),
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| 288 | lastAccessTime(-1)
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| 289 | { }
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| 290 |
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| 291 | virtual int GetAccessTime() {
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| 292 | return lastAccessTime;
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| 293 | }
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| 294 |
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| 295 | void SetupChildLinks(VssTreeNode *b, VssTreeNode *f) {
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| 296 | back = b;
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| 297 | front = f;
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| 298 | b->parent = f->parent = this;
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| 299 | }
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| 300 |
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| 301 | void ReplaceChildLink(VssTreeNode *oldChild, VssTreeNode *newChild) {
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| 302 | if (back == oldChild)
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| 303 | back = newChild;
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| 304 | else
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| 305 | front = newChild;
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| 306 | }
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| 307 |
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| 308 | virtual int Type() const { return EInterior; }
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| 309 |
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| 310 | virtual ~VssTreeInterior() {
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| 311 | if (back)
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| 312 | delete back;
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| 313 | if (front)
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| 314 | delete front;
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| 315 | }
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| 316 |
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| 317 | virtual void Print(ostream &s) const {
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| 318 | if (axis == 0)
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| 319 | s<<"x ";
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| 320 | else
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| 321 | if (axis == 1)
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| 322 | s<<"y ";
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| 323 | else
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| 324 | s<<"z ";
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| 325 | s<<position<<" ";
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| 326 | back->Print(s);
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| 327 | front->Print(s);
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| 328 | }
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| 329 |
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| 330 |
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| 331 | int ComputeRayIntersection(const RayInfo &rayData,
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| 332 | float &t
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| 333 | ) {
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| 334 |
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| 335 | // intersect the ray with the plane
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| 336 | float denom = rayData.mRay->GetDir(axis);
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| 337 |
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| 338 | if (fabs(denom) < 1e-20)
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| 339 | //if (denom == 0.0f)
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| 340 | return (rayData.mRay->GetOrigin(axis) > position) ? 1 : -1;
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| 341 |
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| 342 | t = (position - rayData.mRay->GetOrigin(axis))/denom;
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| 343 |
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| 344 | if (t < rayData.GetMinT())
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| 345 | return (denom > 0) ? 1 : -1;
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| 346 |
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| 347 | if (t > rayData.GetMaxT())
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| 348 | return (denom > 0) ? -1 : 1;
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| 349 |
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| 350 | return 0;
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| 351 | }
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| 352 |
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| 353 | };
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| 354 |
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| 355 |
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| 356 | // --------------------------------------------------------------
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| 357 | // KD-tree node - leaf node
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| 358 | // --------------------------------------------------------------
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| 359 | class VssTreeLeaf :
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| 360 | public VssTreeNode
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| 361 | {
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| 362 | public:
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| 363 | static int mailID;
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| 364 | int mailbox;
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| 365 |
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| 366 | RayInfoContainer rays;
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| 367 |
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| 368 |
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| 369 | VssTreeLeaf(VssTreeInterior *p, const int n):VssTreeNode(p), rays() {
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| 370 | rays.reserve(n);
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| 371 | }
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| 372 |
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| 373 | virtual ~VssTreeLeaf() { }
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| 374 |
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| 375 | virtual int Type() const { return ELeaf; }
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| 376 |
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| 377 | virtual void Print(ostream &s) const {
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| 378 | s<<endl<<"L: r="<<rays.size()<<endl;
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| 379 | };
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| 380 |
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| 381 | void AddRay(const RayInfo &data) {
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| 382 | rays.push_back(data);
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| 383 | data.mRay->Ref();
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| 384 | }
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| 385 |
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| 386 | void Mail() { mailbox = mailID; }
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| 387 | static void NewMail() { mailID++; }
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| 388 | bool Mailed() const { return mailbox == mailID; }
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| 389 |
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| 390 | bool Mailed(const int mail) {
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| 391 | return mailbox >= mailID + mail;
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| 392 | }
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| 393 |
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| 394 | };
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| 395 |
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| 396 | // Inline functions
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| 397 | inline
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| 398 | VssTreeNode::VssTreeNode(VssTreeInterior *p):
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| 399 | parent(p), axis(-1), depth(p ? p->depth + 1 : 0) {}
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| 400 |
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| 401 |
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| 402 |
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| 403 | // ---------------------------------------------------------------
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| 404 | // Main LSDS search class
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| 405 | // ---------------------------------------------------------------
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| 406 | class VssTree
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| 407 | {
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| 408 | struct TraversalData
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| 409 | {
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| 410 | VssTreeNode *node;
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| 411 | AxisAlignedBox3 bbox;
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| 412 | int depth;
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| 413 | float priority;
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| 414 |
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| 415 | TraversalData() {}
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| 416 |
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| 417 | TraversalData(VssTreeNode *n, const float p):
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| 418 | node(n), priority(p)
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| 419 | {}
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| 420 |
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| 421 | TraversalData(VssTreeNode *n,
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| 422 | const AxisAlignedBox3 &b,
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| 423 | const int d):
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| 424 | node(n), bbox(b), depth(d) {}
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| 425 |
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| 426 |
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| 427 | // comparator for the
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| 428 | struct less_priority : public
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| 429 | binary_function<const TraversalData, const TraversalData, bool> {
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| 430 |
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| 431 | bool operator()(const TraversalData a, const TraversalData b) {
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| 432 | return a.priority < b.priority;
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| 433 | }
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| 434 |
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| 435 | };
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| 436 |
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| 437 | // ~TraversalData() {}
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| 438 | // TraversalData(const TraversalData &s):node(s.node), bbox(s.bbox), depth(s.depth) {}
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| 439 |
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| 440 | friend bool operator<(const TraversalData &a,
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| 441 | const TraversalData &b) {
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| 442 | // return a.node->queries.size() < b.node->queries.size();
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| 443 | VssTreeLeaf *leafa = (VssTreeLeaf *) a.node;
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| 444 | VssTreeLeaf *leafb = (VssTreeLeaf *) b.node;
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| 445 | // return leafa->rays.size()*a.bbox.GetVolume() < leafb->rays.size()*b.bbox.GetVolume();
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| 446 | return
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| 447 | leafa->rays.size()*a.bbox.GetVolume()
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| 448 | <
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| 449 | leafb->rays.size()*b.bbox.GetVolume();
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| 450 | }
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| 451 | };
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| 452 |
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| 453 | // simplified data for ray traversal only...
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| 454 |
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| 455 | struct RayTraversalData {
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| 456 |
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| 457 | VssTreeNode::RayInfo rayData;
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| 458 | VssTreeNode *node;
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| 459 |
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| 460 | RayTraversalData() {}
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| 461 | RayTraversalData(VssTreeNode *n,
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| 462 | const VssTreeNode::RayInfo &data):
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| 463 | rayData(data), node(n) {}
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| 464 | };
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| 465 |
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| 466 | public:
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| 467 | /////////////////////////////
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| 468 | // The core pointer
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| 469 | VssTreeNode *root;
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| 470 |
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| 471 | /////////////////////////////
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| 472 | // Basic properties
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| 473 |
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| 474 | // total number of nodes of the tree
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| 475 | int nodes;
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| 476 | // axis aligned bounding box of the scene
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| 477 | AxisAlignedBox3 bbox;
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| 478 |
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| 479 | // axis aligned bounding box of directions
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| 480 | AxisAlignedBox3 dirBBox;
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| 481 |
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| 482 | /////////////////////////////
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| 483 | // Construction parameters
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| 484 |
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| 485 | // epsilon used for the construction
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| 486 | float epsilon;
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| 487 |
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| 488 | // ratio between traversal and intersection costs
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| 489 | float ct_div_ci;
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| 490 | // max depth of the tree
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| 491 | int termMaxDepth;
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| 492 | // minimal cost of the node to still get subdivided
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| 493 | int termMinCost;
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| 494 | // minimal ratio of the volume of the cell and the query volume
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| 495 | float termMinSize;
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| 496 |
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| 497 | // minimal cost imporvement to subdivide a node
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| 498 | float maxCostRatio;
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| 499 |
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| 500 | // randomized construction
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| 501 | bool randomize;
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| 502 |
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| 503 | // type of the splitting to use fo rthe tree construction
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| 504 | enum {ESplitRegular, ESplitVolume, ESplitQueries };
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| 505 | int splitType;
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| 506 |
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| 507 | // maximal size of the box on which the refdir splitting can be performed
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| 508 | // (relative to the scene bbox
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| 509 | float refDirBoxMaxSize;
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| 510 |
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| 511 | // maximum alovable memory in MB
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| 512 | float maxTotalMemory;
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| 513 |
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| 514 | // maximum alovable memory for static kd tree in MB
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| 515 | float maxStaticMemory;
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| 516 |
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| 517 | // this is used during the construction depending
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| 518 | // on the type of the tree and queries...
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| 519 | float maxMemory;
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| 520 |
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| 521 |
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| 522 | // minimal acess time for collapse
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| 523 | int accessTimeThreshold;
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| 524 |
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| 525 | // minimal depth at which to perform collapse
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| 526 | int minCollapseDepth;
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| 527 |
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| 528 |
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| 529 | // reusable array of split candidates
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| 530 | vector<SSortableEntry> *splitCandidates;
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| 531 | /////////////////////////////
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| 532 |
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| 533 | VssStatistics stat;
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| 534 |
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| 535 |
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| 536 | VssTree();
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| 537 | virtual ~VssTree();
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| 538 |
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| 539 | virtual void
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| 540 | Construct(
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| 541 | VssRayContainer &rays,
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| 542 | const bool onlyStaticPart
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| 543 | );
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| 544 |
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| 545 | // incemental construction
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| 546 | virtual void UpdateRays(VssRayContainer &remove,
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| 547 | VssRayContainer &add
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| 548 | );
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| 549 |
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| 550 |
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| 551 |
|
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| 552 | VssTreeNode *
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| 553 | Locate(const Vector3 &v);
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| 554 |
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| 555 | VssTreeNode *
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| 556 | SubdivideNode(VssTreeLeaf *leaf,
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| 557 | const AxisAlignedBox3 &box,
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| 558 | AxisAlignedBox3 &backBox,
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| 559 | AxisAlignedBox3 &frontBox
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| 560 | );
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| 561 |
|
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| 562 | VssTreeNode *
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| 563 | Subdivide(const TraversalData &tdata);
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| 564 |
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| 565 | int
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| 566 | SelectPlane(VssTreeLeaf *leaf,
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| 567 | const AxisAlignedBox3 &box,
|
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| 568 | float &position
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| 569 | );
|
---|
| 570 |
|
---|
| 571 | void
|
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| 572 | SortSplitCandidates(
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---|
| 573 | VssTreeLeaf *node,
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---|
| 574 | const int axis
|
---|
| 575 | );
|
---|
| 576 |
|
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| 577 |
|
---|
| 578 | // return memory usage in MB
|
---|
| 579 | float GetMemUsage() const {
|
---|
| 580 | return
|
---|
| 581 | (sizeof(VssTree) +
|
---|
| 582 | stat.Leaves()*sizeof(VssTreeLeaf) +
|
---|
| 583 | stat.Interior()*sizeof(VssTreeInterior) +
|
---|
| 584 | stat.rayRefs*sizeof(VssTreeNode::RayInfo))/(1024.0f*1024.0f);
|
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| 585 | }
|
---|
| 586 |
|
---|
| 587 | float GetRayMemUsage() const {
|
---|
| 588 | return
|
---|
| 589 | stat.rays*(sizeof(VssRay))/(1024.0f*1024.0f);
|
---|
| 590 | }
|
---|
| 591 |
|
---|
| 592 |
|
---|
| 593 | AxisAlignedBox3 GetBBox(const VssTreeNode *node) {
|
---|
| 594 | if (node->parent == NULL)
|
---|
| 595 | return bbox;
|
---|
| 596 |
|
---|
| 597 | if (!node->IsLeaf())
|
---|
| 598 | return ((VssTreeInterior *)node)->bbox;
|
---|
| 599 |
|
---|
| 600 | if (node->parent->axis >= 3)
|
---|
| 601 | return node->parent->bbox;
|
---|
| 602 |
|
---|
| 603 | AxisAlignedBox3 box(node->parent->bbox);
|
---|
| 604 | if (node->parent->front == node)
|
---|
| 605 | box.SetMin(node->parent->axis, node->parent->position);
|
---|
| 606 | else
|
---|
| 607 | box.SetMax(node->parent->axis, node->parent->position);
|
---|
| 608 | return box;
|
---|
| 609 | }
|
---|
| 610 |
|
---|
| 611 | AxisAlignedBox3 GetDirBBox(const VssTreeNode *node) {
|
---|
| 612 |
|
---|
| 613 | if (node->parent == NULL)
|
---|
| 614 | return dirBBox;
|
---|
| 615 |
|
---|
| 616 | if (!node->IsLeaf() )
|
---|
| 617 | return ((VssTreeInterior *)node)->dirBBox;
|
---|
| 618 |
|
---|
| 619 | if (node->parent->axis < 3)
|
---|
| 620 | return node->parent->dirBBox;
|
---|
| 621 |
|
---|
| 622 | AxisAlignedBox3 dBBox(node->parent->dirBBox);
|
---|
| 623 |
|
---|
| 624 | if (node->parent->front == node)
|
---|
| 625 | dBBox.SetMin(node->parent->axis - 3, node->parent->position);
|
---|
| 626 | else
|
---|
| 627 | dBBox.SetMax(node->parent->axis - 3, node->parent->position);
|
---|
| 628 | return dBBox;
|
---|
| 629 | }
|
---|
| 630 |
|
---|
| 631 | int
|
---|
| 632 | ReleaseMemory(const int time);
|
---|
| 633 |
|
---|
| 634 | int
|
---|
| 635 | CollapseSubtree(VssTreeNode *node, const int time);
|
---|
| 636 |
|
---|
| 637 | void
|
---|
| 638 | CountAccess(VssTreeInterior *node, const long time) {
|
---|
| 639 | node->accesses++;
|
---|
| 640 | node->lastAccessTime = time;
|
---|
| 641 | }
|
---|
| 642 |
|
---|
| 643 | VssTreeNode *
|
---|
| 644 | SubdivideLeaf(
|
---|
| 645 | VssTreeLeaf *leaf,
|
---|
| 646 | const float SAThreshold
|
---|
| 647 | );
|
---|
| 648 |
|
---|
| 649 | void
|
---|
| 650 | RemoveRay(VssRay *ray,
|
---|
| 651 | vector<VssTreeLeaf *> *affectedLeaves,
|
---|
| 652 | const bool removeAllScheduledRays
|
---|
| 653 | );
|
---|
| 654 |
|
---|
| 655 | void
|
---|
| 656 | AddRay(VssRay *ray);
|
---|
| 657 |
|
---|
| 658 | void
|
---|
| 659 | TraverseInternalNode(
|
---|
| 660 | RayTraversalData &data,
|
---|
| 661 | stack<RayTraversalData> &tstack);
|
---|
| 662 |
|
---|
| 663 | void
|
---|
| 664 | EvaluateLeafStats(const TraversalData &data);
|
---|
| 665 |
|
---|
| 666 | };
|
---|
| 667 |
|
---|
| 668 |
|
---|
| 669 | #endif // __LSDS_KDTREE_H__
|
---|
| 670 |
|
---|