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 | // initial size of the pvs
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46 | int initialPvsSize;
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47 | // total number of query domains
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48 | int queryDomains;
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49 | // total number of ray references
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50 | int rayRefs;
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51 |
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52 | // max depth nodes
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53 | int maxDepthNodes;
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54 | // max depth nodes
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55 | int minCostNodes;
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56 | // max ray contribution nodes
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57 | int maxRayContribNodes;
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58 | // max depth nodes
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59 | int minSizeNodes;
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60 |
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61 | // max number of rays per node
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62 | int maxRayRefs;
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63 | // number of dynamically added ray refs
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64 | int addedRayRefs;
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65 | // number of dynamically removed ray refs
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66 | int removedRayRefs;
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67 |
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68 | // Constructor
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69 | VssStatistics() {
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70 | Reset();
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71 | }
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72 |
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73 | int Nodes() const {return nodes;}
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74 | int Interior() const { return nodes/2; }
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75 | int Leaves() const { return (nodes/2) + 1; }
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76 |
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77 | void Reset() {
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78 | nodes = 0;
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79 | for (int i=0; i<7; i++)
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80 | splits[i] = 0;
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81 | rays = queryDomains = 0;
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82 | rayRefs = 0;
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83 | maxDepthNodes = 0;
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84 | minCostNodes = 0;
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85 | maxRayRefs = 0;
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86 | addedRayRefs = removedRayRefs = 0;
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87 | initialPvsSize = 0;
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88 | maxRayContribNodes = 0;
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89 | minSizeNodes = 0;
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90 | }
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91 |
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92 |
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93 | void
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94 | Print(ostream &app) const;
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95 |
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96 | friend ostream &operator<<(ostream &s, const VssStatistics &stat) {
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97 | stat.Print(s);
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98 | return s;
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99 | }
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100 |
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101 | };
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102 |
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103 |
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104 | // --------------------------------------------------------------
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105 | // For sorting rays
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106 | // --------------------------------------------------------------
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107 | struct SortableEntry
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108 | {
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109 | enum EType {
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110 | ERayMin,
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111 | ERayMax
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112 | };
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113 |
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114 | int type;
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115 | float value;
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116 | void *data;
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117 |
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118 | SortableEntry() {}
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119 | SortableEntry(const int t, const float v, void *d):type(t),
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120 | value(v),
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121 | data(d) {}
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122 |
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123 | friend bool operator<(const SortableEntry &a, const SortableEntry &b) {
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124 | return a.value < b.value;
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125 | }
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126 | };
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127 |
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128 |
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129 | class VssTreeInterior;
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130 |
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131 |
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132 | // --------------------------------------------------------------
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133 | // KD-tree node - abstract class
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134 | // --------------------------------------------------------------
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135 | class VssTreeNode
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136 | {
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137 | public:
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138 |
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139 | #define USE_FIXEDPOINT_T 1
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140 |
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141 | struct RayInfo
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142 | {
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143 | // pointer to the actual ray
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144 | VssRay *mRay;
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145 |
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146 | // endpoints - do we need them?
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147 | #if USE_FIXEDPOINT_T
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148 | short mMinT, mMaxT;
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149 | #else
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150 | float mMinT, mMaxT;
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151 | #endif
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152 |
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153 | RayInfo():mRay(NULL) {}
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154 |
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155 | RayInfo(VssRay *r):mRay(r), mMinT(0),
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156 | #if USE_FIXEDPOINT_T
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157 | #define FIXEDPOINT_ONE 0x7FFE
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158 | // mMaxT(0xFFFF)
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159 | mMaxT(FIXEDPOINT_ONE)
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160 | #else
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161 | mMaxT(1.0f)
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162 | #endif
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163 | {}
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164 |
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165 | RayInfo(VssRay *r,
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166 | const float _min,
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167 | const float _max
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168 | ):mRay(r) {
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169 | SetMinT(_min);
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170 | SetMaxT(_max);
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171 | }
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172 |
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173 | RayInfo(VssRay *r,
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174 | const short _min,
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175 | const float _max
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176 | ):mRay(r), mMinT(_min) {
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177 | SetMaxT(_max);
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178 | }
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179 |
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180 | RayInfo(VssRay *r,
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181 | const float _min,
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182 | const short _max
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183 | ):mRay(r), mMaxT(_max) {
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184 | SetMinT(_min);
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185 | }
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186 |
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187 | friend bool operator<(const RayInfo &a, const RayInfo &b) {
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188 | return a.mRay < b.mRay;
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189 | }
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190 |
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191 |
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192 | float ExtrapOrigin(const int axis) const {
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193 | return mRay->GetOrigin(axis) + GetMinT()*mRay->GetDir(axis);
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194 | }
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195 |
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196 | float ExtrapTermination(const int axis) const {
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197 | return mRay->GetOrigin(axis) + GetMaxT()*mRay->GetDir(axis);
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198 | }
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199 |
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200 | #if USE_FIXEDPOINT_T
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201 | float GetMinT () const { return mMinT/(float)(FIXEDPOINT_ONE); }
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202 | float GetMaxT () const { return mMaxT/(float)(FIXEDPOINT_ONE); }
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203 |
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204 | void SetMinT (const float t) {
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205 | mMinT = (short) (t*(float)(FIXEDPOINT_ONE));
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206 | }
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207 |
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208 | void SetMaxT (const float t) {
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209 | mMaxT = (short) (t*(float)(FIXEDPOINT_ONE));
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210 | mMaxT++;
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211 | // if (mMaxT!=0xFFFF)
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212 | // mMaxT++;
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213 | }
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214 | #else
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215 | float GetMinT () const { return mMinT; }
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216 | float GetMaxT () const { return mMaxT; }
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217 |
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218 | void SetMinT (const float t) { mMinT = t; }
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219 | void SetMaxT (const float t) { mMaxT = t; }
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220 | #endif
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221 |
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222 |
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223 | int ComputeRayIntersection(const float axis,
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224 | const float position,
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225 | float &t
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226 | ) const {
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227 |
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228 | // intersect the ray with the plane
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229 | float denom = mRay->GetDir(axis);
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230 |
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231 | if (fabs(denom) < 1e-20)
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232 | //if (denom == 0.0f)
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233 | return (mRay->GetOrigin(axis) > position) ? 1 : -1;
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234 |
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235 | t = (position - mRay->GetOrigin(axis))/denom;
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236 |
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237 | if (t < GetMinT())
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238 | return (denom > 0) ? 1 : -1;
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239 |
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240 | if (t > GetMaxT())
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241 | return (denom > 0) ? -1 : 1;
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242 |
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243 | return 0;
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244 | }
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245 |
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246 |
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247 | };
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248 |
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249 |
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250 | typedef vector<RayInfo> RayInfoContainer;
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251 |
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252 | enum { EInterior, ELeaf };
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253 |
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254 | /////////////////////////////////
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255 | // The actual data goes here
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256 |
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257 | // link to the parent
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258 | VssTreeInterior *parent;
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259 |
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260 | enum {SPLIT_X=0, SPLIT_Y, SPLIT_Z, SPLIT_DIRX, SPLIT_DIRY, SPLIT_DIRZ};
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261 |
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262 | // splitting axis
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263 | char axis;
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264 |
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265 | // depth
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266 | unsigned char depth;
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267 |
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268 | // short depth;
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269 | //
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270 | /////////////////////////////////
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271 |
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272 | inline VssTreeNode(VssTreeInterior *p);
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273 |
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274 |
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275 | virtual ~VssTreeNode() {};
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276 | virtual int Type() const = 0;
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277 |
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278 |
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279 | bool IsLeaf() const { return axis == -1; }
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280 |
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281 | virtual void Print(ostream &s) const = 0;
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282 |
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283 | virtual int GetAccessTime() {
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284 | return 0x7FFFFFF;
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285 | }
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286 |
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287 |
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288 |
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289 | };
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290 |
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291 | // --------------------------------------------------------------
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292 | // KD-tree node - interior node
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293 | // --------------------------------------------------------------
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294 | class VssTreeInterior :
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295 | public VssTreeNode
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296 | {
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297 | public:
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298 | // plane in local modelling coordinates
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299 | float position;
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300 |
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301 | // pointers to children
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302 | VssTreeNode *back, *front;
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303 |
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304 | // the bbox of the node
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305 | AxisAlignedBox3 bbox;
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306 |
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307 | // the bbox of the node
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308 | AxisAlignedBox3 dirBBox;
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309 |
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310 | // data for caching
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311 | long accesses;
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312 | long lastAccessTime;
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313 |
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314 | VssTreeInterior(VssTreeInterior *p):VssTreeNode(p),
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315 | back(NULL),
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316 | front(NULL),
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317 | accesses(0),
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318 | lastAccessTime(-1)
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319 | { }
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320 |
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321 | virtual int GetAccessTime() {
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322 | return lastAccessTime;
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323 | }
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324 |
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325 | void SetupChildLinks(VssTreeNode *b, VssTreeNode *f) {
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326 | back = b;
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327 | front = f;
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328 | b->parent = f->parent = this;
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329 | }
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330 |
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331 | void ReplaceChildLink(VssTreeNode *oldChild, VssTreeNode *newChild) {
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332 | if (back == oldChild)
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333 | back = newChild;
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334 | else
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335 | front = newChild;
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336 | }
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337 |
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338 | virtual int Type() const { return EInterior; }
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339 |
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340 | virtual ~VssTreeInterior() {
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341 | if (back)
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342 | delete back;
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343 | if (front)
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344 | delete front;
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345 | }
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346 |
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347 | virtual void Print(ostream &s) const {
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348 | if (axis == 0)
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349 | s<<"x ";
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350 | else
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351 | if (axis == 1)
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352 | s<<"y ";
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353 | else
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354 | s<<"z ";
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355 | s<<position<<" ";
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356 | back->Print(s);
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357 | front->Print(s);
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358 | }
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359 |
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360 |
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361 |
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362 | int ComputeRayIntersection(const RayInfo &rayData,
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363 | float &t
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364 | ) {
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365 | return rayData.ComputeRayIntersection(axis, position, t);
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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 | // --------------------------------------------------------------
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372 | // KD-tree node - leaf node
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373 | // --------------------------------------------------------------
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374 | class VssTreeLeaf :
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375 | public VssTreeNode
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376 | {
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377 | public:
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378 | static int mailID;
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379 | int mailbox;
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380 |
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381 | RayInfoContainer rays;
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382 | int mPvsSize;
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383 |
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384 | VssTreeLeaf(VssTreeInterior *p,
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385 | const int nRays
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386 | ):VssTreeNode(p), rays(), mPvsSize(0) {
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387 | rays.reserve(nRays);
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388 | }
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389 |
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390 | virtual ~VssTreeLeaf() { }
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391 |
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392 | virtual int Type() const { return ELeaf; }
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393 |
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394 | virtual void Print(ostream &s) const {
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395 | s<<endl<<"L: r="<<rays.size()<<endl;
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396 | };
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397 |
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398 | void AddRay(const RayInfo &data) {
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399 | rays.push_back(data);
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400 | data.mRay->Ref();
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401 | }
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402 |
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403 | void Mail() { mailbox = mailID; }
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404 | static void NewMail() { mailID++; }
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405 | bool Mailed() const { return mailbox == mailID; }
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406 |
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407 | bool Mailed(const int mail) {
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408 | return mailbox >= mailID + mail;
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409 | }
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410 |
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411 | float GetAvgRayContribution() const {
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412 | return mPvsSize/(float)rays.size();
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413 | }
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414 | };
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415 |
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416 | // Inline functions
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417 | inline
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418 | VssTreeNode::VssTreeNode(VssTreeInterior *p):
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419 | parent(p), axis(-1), depth(p ? p->depth + 1 : 0) {}
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420 |
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421 |
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422 |
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423 | // ---------------------------------------------------------------
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424 | // Main LSDS search class
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425 | // ---------------------------------------------------------------
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426 | class VssTree
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427 | {
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428 | struct TraversalData
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429 | {
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430 | VssTreeNode *node;
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431 | AxisAlignedBox3 bbox;
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432 | int depth;
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433 | float priority;
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434 |
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435 | TraversalData() {}
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436 |
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437 | TraversalData(VssTreeNode *n, const float p):
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438 | node(n), priority(p)
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439 | {}
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440 |
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441 | TraversalData(VssTreeNode *n,
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442 | const AxisAlignedBox3 &b,
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443 | const int d):
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444 | node(n), bbox(b), depth(d) {}
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445 |
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446 |
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447 | // comparator for the
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448 | struct less_priority : public
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449 | binary_function<const TraversalData, const TraversalData, bool> {
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450 |
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451 | bool operator()(const TraversalData a, const TraversalData b) {
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452 | return a.priority < b.priority;
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453 | }
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454 |
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455 | };
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456 |
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457 | // ~TraversalData() {}
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458 | // TraversalData(const TraversalData &s):node(s.node), bbox(s.bbox), depth(s.depth) {}
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459 |
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460 | friend bool operator<(const TraversalData &a,
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461 | const TraversalData &b) {
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462 | // return a.node->queries.size() < b.node->queries.size();
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463 | VssTreeLeaf *leafa = (VssTreeLeaf *) a.node;
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464 | VssTreeLeaf *leafb = (VssTreeLeaf *) b.node;
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465 | #if 0
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466 | return
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467 | leafa->rays.size()*a.bbox.GetVolume()
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468 | <
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469 | leafb->rays.size()*b.bbox.GetVolume();
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470 | #endif
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471 | #if 1
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472 | return
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473 | leafa->mPvsSize*a.bbox.GetVolume()
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474 | <
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475 | leafb->mPvsSize*b.bbox.GetVolume();
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476 | #endif
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477 | #if 0
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478 | return
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479 | leafa->mPvsSize
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480 | <
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481 | leafb->mPvsSize;
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482 | #endif
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483 | #if 0
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484 | return
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485 | leafa->mPvsSize/(leafa->rays.size()+1)
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486 | >
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487 | leafb->mPvsSize/(leafb->rays.size()+1);
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488 | #endif
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489 | #if 0
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490 | return
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491 | leafa->mPvsSize*leafa->rays.size()
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492 | <
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493 | leafb->mPvsSize*leafb->rays.size();
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494 | #endif
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495 | }
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496 | };
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497 |
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498 | // simplified data for ray traversal only...
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499 |
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500 | struct RayTraversalData {
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501 |
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502 | VssTreeNode::RayInfo rayData;
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503 | VssTreeNode *node;
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504 |
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505 | RayTraversalData() {}
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506 | RayTraversalData(VssTreeNode *n,
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507 | const VssTreeNode::RayInfo &data):
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508 | rayData(data), node(n) {}
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509 | };
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510 |
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511 | public:
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512 | /////////////////////////////
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513 | // The core pointer
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514 | VssTreeNode *root;
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515 |
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516 | /////////////////////////////
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517 | // Basic properties
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518 |
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519 | // total number of nodes of the tree
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520 | int nodes;
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521 | // axis aligned bounding box of the scene
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522 | AxisAlignedBox3 bbox;
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523 |
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524 | // axis aligned bounding box of directions
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525 | AxisAlignedBox3 dirBBox;
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526 |
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527 | /////////////////////////////
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528 | // Construction parameters
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529 |
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530 | // epsilon used for the construction
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531 | float epsilon;
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532 |
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533 | // ratio between traversal and intersection costs
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534 | float ct_div_ci;
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535 | // max depth of the tree
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536 | int termMaxDepth;
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537 | // minimal ratio of the volume of the cell and the query volume
|
---|
538 | float termMinSize;
|
---|
539 |
|
---|
540 | // minimal pvs per node to still get subdivided
|
---|
541 | int termMinPvs;
|
---|
542 |
|
---|
543 | // maximal cost ration to subdivide a node
|
---|
544 | float termMaxCostRatio;
|
---|
545 |
|
---|
546 | // maximal contribution per ray to subdivide the node
|
---|
547 | float termMaxRayContribution;
|
---|
548 |
|
---|
549 |
|
---|
550 | // randomized construction
|
---|
551 | bool randomize;
|
---|
552 |
|
---|
553 | // type of the splitting to use fo rthe tree construction
|
---|
554 | enum {ESplitRegular, ESplitHeuristic };
|
---|
555 | int splitType;
|
---|
556 |
|
---|
557 | // maximal size of the box on which the refdir splitting can be performed
|
---|
558 | // (relative to the scene bbox
|
---|
559 | float refDirBoxMaxSize;
|
---|
560 |
|
---|
561 | // maximum alovable memory in MB
|
---|
562 | float maxTotalMemory;
|
---|
563 |
|
---|
564 | // maximum alovable memory for static kd tree in MB
|
---|
565 | float maxStaticMemory;
|
---|
566 |
|
---|
567 | // this is used during the construction depending
|
---|
568 | // on the type of the tree and queries...
|
---|
569 | float maxMemory;
|
---|
570 |
|
---|
571 |
|
---|
572 | // minimal acess time for collapse
|
---|
573 | int accessTimeThreshold;
|
---|
574 |
|
---|
575 | // minimal depth at which to perform collapse
|
---|
576 | int minCollapseDepth;
|
---|
577 |
|
---|
578 |
|
---|
579 | // reusable array of split candidates
|
---|
580 | vector<SortableEntry> *splitCandidates;
|
---|
581 | /////////////////////////////
|
---|
582 |
|
---|
583 | VssStatistics stat;
|
---|
584 |
|
---|
585 |
|
---|
586 | VssTree();
|
---|
587 | virtual ~VssTree();
|
---|
588 |
|
---|
589 | virtual void
|
---|
590 | Construct(
|
---|
591 | VssRayContainer &rays,
|
---|
592 | AxisAlignedBox3 *forcedBoundingBox = NULL
|
---|
593 | );
|
---|
594 |
|
---|
595 | // incemental construction
|
---|
596 | virtual void UpdateRays(VssRayContainer &remove,
|
---|
597 | VssRayContainer &add
|
---|
598 | );
|
---|
599 |
|
---|
600 |
|
---|
601 |
|
---|
602 | VssTreeNode *
|
---|
603 | Locate(const Vector3 &v);
|
---|
604 |
|
---|
605 | VssTreeNode *
|
---|
606 | SubdivideNode(VssTreeLeaf *leaf,
|
---|
607 | const AxisAlignedBox3 &box,
|
---|
608 | AxisAlignedBox3 &backBox,
|
---|
609 | AxisAlignedBox3 &frontBox
|
---|
610 | );
|
---|
611 |
|
---|
612 | VssTreeNode *
|
---|
613 | Subdivide(const TraversalData &tdata);
|
---|
614 |
|
---|
615 | int
|
---|
616 | SelectPlane(VssTreeLeaf *leaf,
|
---|
617 | const AxisAlignedBox3 &box,
|
---|
618 | float &position,
|
---|
619 | int &raysBack,
|
---|
620 | int &raysFront,
|
---|
621 | int &pvsBack,
|
---|
622 | int &pvsFront
|
---|
623 | );
|
---|
624 |
|
---|
625 | void
|
---|
626 | SortSplitCandidates(
|
---|
627 | VssTreeLeaf *node,
|
---|
628 | const int axis
|
---|
629 | );
|
---|
630 |
|
---|
631 |
|
---|
632 | // return memory usage in MB
|
---|
633 | float GetMemUsage() const {
|
---|
634 | return
|
---|
635 | (sizeof(VssTree) +
|
---|
636 | stat.Leaves()*sizeof(VssTreeLeaf) +
|
---|
637 | stat.Interior()*sizeof(VssTreeInterior) +
|
---|
638 | stat.rayRefs*sizeof(VssTreeNode::RayInfo))/(1024.0f*1024.0f);
|
---|
639 | }
|
---|
640 |
|
---|
641 | float GetRayMemUsage() const {
|
---|
642 | return
|
---|
643 | stat.rays*(sizeof(VssRay))/(1024.0f*1024.0f);
|
---|
644 | }
|
---|
645 |
|
---|
646 | float
|
---|
647 | BestCostRatioHeuristic(
|
---|
648 | VssTreeLeaf *node,
|
---|
649 | int &axis,
|
---|
650 | float &position,
|
---|
651 | int &raysBack,
|
---|
652 | int &raysFront,
|
---|
653 | int &pvsBack,
|
---|
654 | int &pvsFront
|
---|
655 | );
|
---|
656 |
|
---|
657 | float
|
---|
658 | BestCostRatioRegular(
|
---|
659 | VssTreeLeaf *node,
|
---|
660 | int &axis,
|
---|
661 | float &position,
|
---|
662 | int &raysBack,
|
---|
663 | int &raysFront,
|
---|
664 | int &pvsBack,
|
---|
665 | int &pvsFront
|
---|
666 |
|
---|
667 | );
|
---|
668 |
|
---|
669 | float
|
---|
670 | EvalCostRatio(
|
---|
671 | VssTreeLeaf *node,
|
---|
672 | const int axis,
|
---|
673 | const float position,
|
---|
674 | int &raysBack,
|
---|
675 | int &raysFront,
|
---|
676 | int &pvsBack,
|
---|
677 | int &pvsFront
|
---|
678 | );
|
---|
679 |
|
---|
680 | AxisAlignedBox3 GetBBox(const VssTreeNode *node) {
|
---|
681 | if (node->parent == NULL)
|
---|
682 | return bbox;
|
---|
683 |
|
---|
684 | if (!node->IsLeaf())
|
---|
685 | return ((VssTreeInterior *)node)->bbox;
|
---|
686 |
|
---|
687 | if (node->parent->axis >= 3)
|
---|
688 | return node->parent->bbox;
|
---|
689 |
|
---|
690 | AxisAlignedBox3 box(node->parent->bbox);
|
---|
691 | if (node->parent->front == node)
|
---|
692 | box.SetMin(node->parent->axis, node->parent->position);
|
---|
693 | else
|
---|
694 | box.SetMax(node->parent->axis, node->parent->position);
|
---|
695 | return box;
|
---|
696 | }
|
---|
697 |
|
---|
698 | AxisAlignedBox3 GetDirBBox(const VssTreeNode *node) {
|
---|
699 |
|
---|
700 | if (node->parent == NULL)
|
---|
701 | return dirBBox;
|
---|
702 |
|
---|
703 | if (!node->IsLeaf() )
|
---|
704 | return ((VssTreeInterior *)node)->dirBBox;
|
---|
705 |
|
---|
706 | if (node->parent->axis < 3)
|
---|
707 | return node->parent->dirBBox;
|
---|
708 |
|
---|
709 | AxisAlignedBox3 dBBox(node->parent->dirBBox);
|
---|
710 |
|
---|
711 | if (node->parent->front == node)
|
---|
712 | dBBox.SetMin(node->parent->axis - 3, node->parent->position);
|
---|
713 | else
|
---|
714 | dBBox.SetMax(node->parent->axis - 3, node->parent->position);
|
---|
715 | return dBBox;
|
---|
716 | }
|
---|
717 |
|
---|
718 | int
|
---|
719 | ReleaseMemory(const int time);
|
---|
720 |
|
---|
721 | int
|
---|
722 | CollapseSubtree(VssTreeNode *node, const int time);
|
---|
723 |
|
---|
724 | void
|
---|
725 | CountAccess(VssTreeInterior *node, const long time) {
|
---|
726 | node->accesses++;
|
---|
727 | node->lastAccessTime = time;
|
---|
728 | }
|
---|
729 |
|
---|
730 | VssTreeNode *
|
---|
731 | SubdivideLeaf(
|
---|
732 | VssTreeLeaf *leaf,
|
---|
733 | const float SAThreshold
|
---|
734 | );
|
---|
735 |
|
---|
736 | void
|
---|
737 | RemoveRay(VssRay *ray,
|
---|
738 | vector<VssTreeLeaf *> *affectedLeaves,
|
---|
739 | const bool removeAllScheduledRays
|
---|
740 | );
|
---|
741 |
|
---|
742 | void
|
---|
743 | AddRay(VssRay *ray);
|
---|
744 |
|
---|
745 | void
|
---|
746 | TraverseInternalNode(
|
---|
747 | RayTraversalData &data,
|
---|
748 | stack<RayTraversalData> &tstack);
|
---|
749 |
|
---|
750 | void
|
---|
751 | EvaluateLeafStats(const TraversalData &data);
|
---|
752 |
|
---|
753 | void
|
---|
754 | EvalLeafPvs(VssTreeLeaf *leaf);
|
---|
755 |
|
---|
756 | int
|
---|
757 | GetRootPvsSize() const {
|
---|
758 | return GetPvsSize(root, bbox);
|
---|
759 | }
|
---|
760 |
|
---|
761 | int
|
---|
762 | GetPvsSize(VssTreeNode *node, const AxisAlignedBox3 &box) const;
|
---|
763 |
|
---|
764 | };
|
---|
765 |
|
---|
766 |
|
---|
767 | #endif // __LSDS_KDTREE_H__
|
---|
768 |
|
---|