added DoRay and Closest Point queries
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@ -24,114 +24,177 @@
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#ifndef __VCGLIB_GRID_CLOSEST
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#define __VCGLIB_GRID_CLOSEST
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#include <vcg/space/index/space_iterators.h>
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#include <vcg/space/index/index2D/space_iterators_2D.h>
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#include <vcg/space/intersection2.h>
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namespace vcg{
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template <class SPATIALINDEXING,class OBJMARKER, class OBJPTRCONTAINER>
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unsigned int GridGetInBox2D(SPATIALINDEXING &_Si,
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OBJMARKER & _marker,
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const vcg::Box2<typename SPATIALINDEXING::ScalarType> &_bbox,
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OBJPTRCONTAINER & _objectPtrs,
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bool update_global_mark=true)
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{
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typename SPATIALINDEXING::CellIterator first,last,l;
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//_objectPtrs.clear();
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vcg::Box2i ibbox;
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Box2i Si_ibox(Point2i(0,0),_Si.siz-Point2i(1,1));
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_Si.BoxToIBox(_bbox, ibbox);
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ibbox.Intersect(Si_ibox);
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template <class SPATIALINDEXING,class OBJMARKER, class OBJPTRCONTAINER>
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unsigned int GridGetInBox2D(SPATIALINDEXING &_Si,
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OBJMARKER & _marker,
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const vcg::Box2<typename SPATIALINDEXING::ScalarType> &_bbox,
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OBJPTRCONTAINER & _objectPtrs,
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bool update_global_mark=true)
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{
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typename SPATIALINDEXING::CellIterator first,last,l;
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//_objectPtrs.clear();
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vcg::Box2i ibbox;
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Box2i Si_ibox(Point2i(0,0),_Si.siz-Point2i(1,1));
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_Si.BoxToIBox(_bbox, ibbox);
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ibbox.Intersect(Si_ibox);
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if (update_global_mark)
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_marker.UnMarkAll();
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if (update_global_mark)
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_marker.UnMarkAll();
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if (ibbox.IsNull())
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return 0;
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else
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{
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int ix,iy;
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for (ix=ibbox.min[0]; ix<=ibbox.max[0]; ix++)
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for (iy=ibbox.min[1]; iy<=ibbox.max[1]; iy++)
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{
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_Si.Grid( ix, iy, first, last );
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for(l=first;l!=last;++l)
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if (!(**l).IsD())
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{
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typename SPATIALINDEXING::ObjPtr elem=&(**l);
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vcg::Box2<typename SPATIALINDEXING::ScalarType> box_elem;
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elem->GetBBox(box_elem);
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if(( ! _marker.IsMarked(elem))&&(box_elem.Collide(_bbox))){
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_objectPtrs.push_back(elem);
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_marker.Mark(elem);
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}
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}
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}
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return (static_cast<unsigned int>(_objectPtrs.size()));
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}
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}
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/*template <class SPATIALINDEXING,class OBJMARKER, class OBJPTRCONTAINER>
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unsigned int GridGetInBoxes2D(SPATIALINDEXING &_Si,
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OBJMARKER & _marker,
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const std::vector<vcg::Box2<typename SPATIALINDEXING::ScalarType> > &_bbox,
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OBJPTRCONTAINER & _objectPtrs)
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{
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typename SPATIALINDEXING::CellIterator first,last,l;
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_objectPtrs.clear();
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_marker.UnMarkAll();
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for (int i=0;i<_bbox.size();i++)
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GridGetInBox2D(_Si,_marker,_bbox[i],_objectPtrs,false);
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return (static_cast<unsigned int>(_objectPtrs.size()));
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}*/
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template <class SPATIALINDEXING,class OBJMARKER, class OBJPTRCONTAINER>
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unsigned int GridGetInBoxes2D(SPATIALINDEXING &_Si,
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OBJMARKER & _marker,
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const std::vector<vcg::Box2<typename SPATIALINDEXING::ScalarType> > &_bbox,
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OBJPTRCONTAINER & _objectPtrs)
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{
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typename SPATIALINDEXING::CellIterator first,last,l;
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_objectPtrs.clear();
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_marker.UnMarkAll();
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std::vector<vcg::Point2i> cells;
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for (int i=0;i<_bbox.size();i++)
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if (ibbox.IsNull())
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return 0;
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else
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{
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int ix,iy;
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for (ix=ibbox.min[0]; ix<=ibbox.max[0]; ix++)
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for (iy=ibbox.min[1]; iy<=ibbox.max[1]; iy++)
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{
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vcg::Box2i ibbox;
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Box2i Si_ibox(Point2i(0,0),_Si.siz-Point2i(1,1));
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_Si.BoxToIBox(_bbox[i], ibbox);
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ibbox.Intersect(Si_ibox);
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if (ibbox.IsNull())continue;
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int ix,iy;
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for (ix=ibbox.min[0]; ix<=ibbox.max[0]; ix++)
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for (iy=ibbox.min[1]; iy<=ibbox.max[1]; iy++)
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cells.push_back(vcg::Point2i(ix,iy));
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}
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//printf("%d \n",cells.size());
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std::sort(cells.begin(),cells.end());
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std::vector<vcg::Point2i>::iterator it=std::unique(cells.begin(),cells.end());
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cells.resize( it - cells.begin() );
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for (int i=0;i<cells.size();i++)
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{
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_Si.Grid( cells[i].X(), cells[i].Y(), first, last );
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_Si.Grid( ix, iy, first, last );
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for(l=first;l!=last;++l)
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if (!(**l).IsD())
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{
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typename SPATIALINDEXING::ObjPtr elem=&(**l);
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if ( ! _marker.IsMarked(elem))
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if (!(**l).IsD())
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{
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_objectPtrs.push_back(elem);
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_marker.Mark(elem);
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typename SPATIALINDEXING::ObjPtr elem=&(**l);
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vcg::Box2<typename SPATIALINDEXING::ScalarType> box_elem;
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box_elem=elem->BBox();
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if (update_global_mark)
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{
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if(( ! _marker.IsMarked(elem))&&(box_elem.Collide(_bbox)))
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{
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_objectPtrs.push_back(elem);
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_marker.Mark(elem);
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}
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}else
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{
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if(box_elem.Collide(_bbox))
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_objectPtrs.push_back(elem);
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}
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}
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}
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}
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return (static_cast<unsigned int>(_objectPtrs.size()));
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}
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return (static_cast<unsigned int>(_objectPtrs.size()));
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}
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}
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}//end namespace vcg
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template <class SPATIAL_INDEX, class OBJPOINTDISTFUNCTOR, class OBJMARKER>
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typename SPATIAL_INDEX::ObjPtr GridClosest2D(SPATIAL_INDEX &Si,
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OBJPOINTDISTFUNCTOR _getPointDistance,
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OBJMARKER & _marker,
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const typename OBJPOINTDISTFUNCTOR::QueryType & _p_obj,
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const typename SPATIAL_INDEX::ScalarType & _maxDist,
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typename SPATIAL_INDEX::ScalarType & _minDist,
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typename SPATIAL_INDEX:: CoordType &_closestPt)
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{
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typedef typename SPATIAL_INDEX::ObjPtr ObjPtr;
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typedef SPATIAL_INDEX SpatialIndex;
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typedef typename SPATIAL_INDEX::CoordType CoordType;
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typedef typename SPATIAL_INDEX::ScalarType ScalarType;
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typedef typename SPATIAL_INDEX::Box2x Box2x;
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Point2<ScalarType> _p = OBJPOINTDISTFUNCTOR::Pos(_p_obj);
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// Initialize min_dist with _maxDist to exploit early rejection test.
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_minDist = _maxDist;
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ObjPtr winner=NULL;
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_marker.UnMarkAll();
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ScalarType newradius = Si.voxel.Norm();
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ScalarType radius;
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Box2i iboxdone,iboxtodo;
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CoordType t_res;
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typename SPATIAL_INDEX::CellIterator first,last,l;
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if(Si.bbox.IsInEx(_p))
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{
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Point2i _ip;
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Si.PToIP(_p,_ip);
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Si.Grid( _ip[0],_ip[1], first, last );
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for(l=first;l!=last;++l)
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{
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ObjPtr elem=&(**l);
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if (!elem->IsD())
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{
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if (_getPointDistance((**l), _p_obj,_minDist, t_res))
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{
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winner=elem;
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_closestPt=t_res;
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newradius=_minDist; //
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}
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_marker.Mark(elem);
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}
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}
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iboxdone=Box2i(_ip,_ip);
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}
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int ix,iy;
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Box2i ibox(Point2i(0,0),Si.siz-Point2i(1,1));
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do
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{
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radius=newradius;
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Box2x boxtodo=Box2x(_p,radius);
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//boxtodo.Intersect(Si.bbox);
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Si.BoxToIBox(boxtodo, iboxtodo);
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iboxtodo.Intersect(ibox);
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if(!boxtodo.IsNull())
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{
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for (ix=iboxtodo.min[0]; ix<=iboxtodo.max[0]; ix++)
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for (iy=iboxtodo.min[1]; iy<=iboxtodo.max[1]; iy++)
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if(ix<iboxdone.min[0] || ix>iboxdone.max[0] || // this test is to avoid to re-process already analyzed cells.
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iy<iboxdone.min[1] || iy>iboxdone.max[1] )
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{
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Si.Grid( ix, iy, first, last );
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for(l=first;l!=last;++l) if (!(**l).IsD())
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{
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ObjPtr elem=&(**l);
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if (!elem->IsD())
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{
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if( ! _marker.IsMarked(elem))
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{
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if (_getPointDistance((**l), _p_obj, _minDist, t_res))
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{
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winner=elem;
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_closestPt=t_res;
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};
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_marker.Mark(elem);
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}
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}
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}
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}
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}
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if(!winner) newradius=radius+Si.voxel.Norm();
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else newradius = _minDist;
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iboxdone=iboxtodo;
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}
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while (_minDist>radius);
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return winner;
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}
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template <class SPATIALINDEXING,class OBJRAYISECTFUNCTOR, class OBJMARKER>
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typename SPATIALINDEXING::ObjPtr GridDoRay(SPATIALINDEXING &_Si,
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OBJRAYISECTFUNCTOR &_rayIntersector,
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OBJMARKER &_marker,
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const Ray2<typename SPATIALINDEXING::ScalarType> & _ray,
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const typename SPATIALINDEXING::ScalarType & _maxDist,
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typename SPATIALINDEXING::ScalarType & _t)
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{
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typedef vcg::RayIterator2D<SPATIALINDEXING,OBJRAYISECTFUNCTOR,OBJMARKER> RayIteratorType;
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RayIteratorType RayIte=RayIteratorType(_Si,_rayIntersector,_maxDist,_marker);
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RayIte.Init(_ray);
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if (!RayIte.End())
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{
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_t=RayIte.Dist();
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return(&(*RayIte));
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}
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return NULL;
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}
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}//end namespace vcg
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#endif
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