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/****************************************************************************
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* VCGLib o o *
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* Visual and Computer Graphics Library o o *
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* _ O _ *
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* Copyright(C) 2004 \/)\/ *
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* Visual Computing Lab /\/| *
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* ISTI - Italian National Research Council | *
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* \ *
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* All rights reserved. *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
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* for more details. *
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* *
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****************************************************************************/
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/****************************************************************************
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History
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$Log: not supported by cvs2svn $
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****************************************************************************/
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#ifndef __VCGLIB_AABBBINARYTREE_TYPE_H
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#define __VCGLIB_AABBBINARYTREE_TYPE_H
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// standard headers
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#include <assert.h>
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// stl headers
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#include <vector>
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// vcg headers
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#include <vcg/space/point3.h>
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#include <vcg/space/box3.h>
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/***************************************************************************************/
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namespace vcg {
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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class AABBBinaryTree {
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public:
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typedef AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE> ClassType;
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typedef OBJTYPE ObjType;
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typedef ObjType * ObjPtr;
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typedef SCALARTYPE ScalarType;
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typedef NODEAUXDATATYPE NodeAuxDataType;
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typedef Point3<ScalarType> CoordType;
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typedef std::vector<ObjPtr> ObjPtrVector;
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typedef typename ObjPtrVector::iterator ObjPtrVectorIterator;
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typedef typename ObjPtrVector::const_iterator ObjPtrVectorConstIterator;
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public:
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class AABBBinaryTreeNode {
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public:
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AABBBinaryTreeNode * parent;
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AABBBinaryTreeNode * children[2];
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CoordType boxCenter;
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CoordType boxHalfDims;
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ObjPtrVectorIterator oBegin;
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ObjPtrVectorIterator oEnd;
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unsigned char splitAxis;
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NodeAuxDataType auxData;
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inline AABBBinaryTreeNode(AABBBinaryTreeNode * pParent = 0);
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inline ~AABBBinaryTreeNode(void);
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inline void Clear(void);
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inline bool IsLeaf(void) const;
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inline unsigned int ObjectsCount(void) const;
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inline unsigned int & Flags(void);
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inline const unsigned int & Flags(void) const;
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inline ScalarType & ScalarValue(void);
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inline const ScalarType & ScalarValue(void) const;
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inline int & IntValue(void);
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inline const int & IntValue(void) const;
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inline unsigned int & UIntValue(void);
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inline const unsigned int & UIntValue(void) const;
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inline void * & PtrValue(void);
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inline const void * & PtrValue(void) const;
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protected:
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union SharedDataUnion {
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unsigned int flags;
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int intValue;
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unsigned int uintValue;
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ScalarType scalarValue;
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void * ptrValue;
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};
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SharedDataUnion sharedData;
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};
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typedef AABBBinaryTreeNode NodeType;
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ObjPtrVector pObjects;
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NodeType * pRoot;
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inline AABBBinaryTree(void);
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inline ~AABBBinaryTree(void);
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inline void Clear(void);
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template <class OBJITERATOR, class OBJITERATORPTRFUNCT, class OBJBOXFUNCT, class OBJBARYCENTERFUNCT>
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inline bool Set(const OBJITERATOR & oBegin, const OBJITERATOR & oEnd, OBJITERATORPTRFUNCT & objPtr, OBJBOXFUNCT & objBox, OBJBARYCENTERFUNCT & objBarycenter, const unsigned int maxElemsPerLeaf = 1, const ScalarType & leafBoxMaxVolume = ((ScalarType)0), const bool useVariance = true);
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protected:
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template <class OBJBOXFUNCT, class OBJBARYCENTERFUNCT>
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inline static NodeType * BoundObjects(NodeType * parent, const ObjPtrVectorIterator & oBegin, const ObjPtrVectorIterator & oEnd, const unsigned int size, const unsigned int maxElemsPerLeaf, const ScalarType & leafBoxMaxVolume, const bool useVariance, OBJBOXFUNCT & getBox, OBJBARYCENTERFUNCT & getBarycenter);
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template <class OBJBARYCENTERFUNCT>
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inline static int BalanceMedian(const ObjPtrVectorIterator & oBegin, const ObjPtrVectorIterator & oEnd, const int size, const int splitAxis, OBJBARYCENTERFUNCT & getBarycenter, ObjPtrVectorIterator & medianIter);
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};
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::AABBBinaryTree(void) {
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this->pObjects.clear();
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this->pRoot = 0;
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}
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::~AABBBinaryTree(void) {
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this->pObjects.clear();
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delete this->pRoot;
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}
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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void AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::Clear(void) {
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this->pObjects.clear();
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delete this->pRoot;
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this->pRoot = 0;
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}
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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template <class OBJITERATOR, class OBJITERATORPTRFUNCT, class OBJBOXFUNCT, class OBJBARYCENTERFUNCT>
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bool AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::Set(const OBJITERATOR & oBegin, const OBJITERATOR & oEnd, OBJITERATORPTRFUNCT & objPtr, OBJBOXFUNCT & objBox, OBJBARYCENTERFUNCT & objBarycenter, const unsigned int maxElemsPerLeaf, const ScalarType & leafBoxMaxVolume, const bool useVariance) {
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this->Clear();
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if ((maxElemsPerLeaf == 0) && (leafBoxMaxVolume <= ((ScalarType)0))) {
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return (false);
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}
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const unsigned int size = (unsigned int)std::distance(oBegin, oEnd);
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this->pObjects.reserve(size);
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for (OBJITERATOR oi=oBegin; oi!=oEnd; ++oi) {
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this->pObjects.push_back(objPtr(*oi));
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}
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this->pRoot = ClassType::BoundObjects(0, this->pObjects.begin(), this->pObjects.end(), size, maxElemsPerLeaf, leafBoxMaxVolume, useVariance, objBox, objBarycenter);
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return (this->pRoot != 0);
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}
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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template <class OBJBOXFUNCT, class OBJBARYCENTERFUNCT>
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typename AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::NodeType * AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::BoundObjects(NodeType * parent, const ObjPtrVectorIterator & oBegin, const ObjPtrVectorIterator & oEnd, const unsigned int size, const unsigned int maxElemsPerLeaf, const ScalarType & leafBoxMaxVolume, const bool useVariance, OBJBOXFUNCT & getBox, OBJBARYCENTERFUNCT & getBarycenter) {
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if (size <= 0) {
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return (0);
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}
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NodeType * pNode = new NodeType(parent);
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if (pNode == 0) {
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return (0);
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}
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pNode->children[0] = 0;
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pNode->children[1] = 0;
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pNode->oBegin = oBegin;
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pNode->oEnd = oEnd;
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Box3<ScalarType> bbox;
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bbox.SetNull();
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for (ObjPtrVectorConstIterator oi=pNode->oBegin; oi!=pNode->oEnd; ++oi) {
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Box3<ScalarType> tbox;
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getBox(*(*oi), tbox);
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bbox.Add(tbox);
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}
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pNode->boxCenter = bbox.Center();
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pNode->boxHalfDims = bbox.Dim() / ((ScalarType)2);
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const bool bMaxObjectsReached = (((maxElemsPerLeaf > 0) && (size <= maxElemsPerLeaf)) || (size == 1));
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const bool bMaxVolumeReached = ((leafBoxMaxVolume > ((ScalarType)0)) && (bbox.Volume() <= leafBoxMaxVolume));
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const bool isLeaf = bMaxObjectsReached || bMaxVolumeReached;
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if (isLeaf) {
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pNode->splitAxis = 0;
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return (pNode);
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}
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CoordType pSplit;
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if (useVariance) {
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CoordType mean((ScalarType)0, (ScalarType)0, (ScalarType)0);
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CoordType variance((ScalarType)0, (ScalarType)0, (ScalarType)0);
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for (ObjPtrVectorIterator oi=oBegin; oi!=oEnd; ++oi) {
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CoordType bc;
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getBarycenter(*(*oi), bc);
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mean += bc;
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variance[0] += bc[0] * bc[0];
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variance[1] += bc[1] * bc[1];
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variance[2] += bc[2] * bc[2];
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}
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variance[0] -= (mean[0] * mean[0]) / ((ScalarType)size);
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variance[1] -= (mean[1] * mean[1]) / ((ScalarType)size);
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variance[2] -= (mean[2] * mean[2]) / ((ScalarType)size);
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pSplit = variance;
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}
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else {
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pSplit = pNode->boxHalfDims;
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}
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ScalarType maxDim = pSplit[0];
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unsigned char splitAxis = 0;
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if (maxDim < pSplit[1]) {
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maxDim = pSplit[1];
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splitAxis = 1;
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}
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if (maxDim < pSplit[2]) {
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maxDim = pSplit[2];
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splitAxis = 2;
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}
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pNode->splitAxis = splitAxis;
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ObjPtrVectorIterator median;
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const int lSize = ClassType::BalanceMedian(pNode->oBegin, pNode->oEnd, size, splitAxis, getBarycenter, median);
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const int rSize = size - lSize;
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if (lSize > 0) {
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pNode->children[0] = ClassType::BoundObjects(pNode, pNode->oBegin, median, lSize, maxElemsPerLeaf, leafBoxMaxVolume, useVariance, getBox, getBarycenter);
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if (pNode->children[0] == 0) {
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delete pNode;
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return (0);
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}
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}
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if (rSize > 0) {
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pNode->children[1] = ClassType::BoundObjects(pNode, median, pNode->oEnd, rSize, maxElemsPerLeaf, leafBoxMaxVolume, useVariance, getBox, getBarycenter);
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if (pNode->children[1] == 0) {
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delete pNode;
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return (0);
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}
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}
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return (pNode);
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}
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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template <class OBJBARYCENTERFUNCT>
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int AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::BalanceMedian(const ObjPtrVectorIterator & oBegin, const ObjPtrVectorIterator & oEnd, const int size, const int splitAxis, OBJBARYCENTERFUNCT & getBarycenter, ObjPtrVectorIterator & medianIter) {
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const int iMedian = (size + 1) / 2;
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ObjPtrVectorIterator l, r, i, j;
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ObjPtr iTmp;
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ScalarType pos;
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ObjPtrVectorIterator median = oBegin + iMedian;
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CoordType bc;
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l = oBegin;
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r = oEnd - 1;
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while (l < r) {
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getBarycenter(*(*r), bc);
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pos = bc[splitAxis];
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i = l;
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j = r - 1;
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while (true) {
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getBarycenter(*(*i), bc);
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while ((bc[splitAxis] <= pos) && (i < r)) {
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i++;
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getBarycenter(*(*i), bc);
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}
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getBarycenter(*(*j), bc);
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while ((bc[splitAxis] > pos) && (j > l)) {
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j--;
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getBarycenter(*(*j), bc);
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}
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if (i >= j) {
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break;
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}
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iTmp = (*i);
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(*i) = (*j);
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(*j) = iTmp;
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}
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iTmp = (*i);
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(*i) = (*r);
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(*r) = iTmp;
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if (i >= (median)) {
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r = i - 1;
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}
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if (i <= (median)) {
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l = i + 1;
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}
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}
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medianIter = median;
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return (iMedian);
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}
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::AABBBinaryTreeNode::AABBBinaryTreeNode(NodeType * pParent) {
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this->parent = pParent;
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this->children[0] = 0;
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this->children[1] = 0;
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}
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::AABBBinaryTreeNode::~AABBBinaryTreeNode(void) {
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delete this->children[0];
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delete this->children[1];
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}
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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void AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::AABBBinaryTreeNode::Clear(void) {
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delete this->children[0];
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this->children[0] = 0;
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delete this->children[1];
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this->children[1] = 0;
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}
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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bool AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::AABBBinaryTreeNode::IsLeaf(void) const {
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return ((this->children[0] == 0) && (this->children[1] == 0));
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}
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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unsigned int AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::AABBBinaryTreeNode::ObjectsCount(void) const {
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return ((unsigned int)(std::distance(this->oBegin, this->oEnd)));
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}
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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unsigned int & AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::AABBBinaryTreeNode::Flags(void) {
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return (this->sharedData.flags);
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}
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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const unsigned int & AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::AABBBinaryTreeNode::Flags(void) const {
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return (this->sharedData.flags);
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}
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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int & AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::AABBBinaryTreeNode::IntValue(void) {
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return (this->sharedData.intValue);
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}
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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const int & AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::AABBBinaryTreeNode::IntValue(void) const {
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return (this->sharedData.intValue);
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}
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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unsigned int & AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::AABBBinaryTreeNode::UIntValue(void) {
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return (this->sharedData.uintValue);
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}
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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const unsigned int & AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::AABBBinaryTreeNode::UIntValue(void) const {
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return (this->sharedData.uintValue);
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}
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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typename AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::ScalarType & AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::AABBBinaryTreeNode::ScalarValue(void) {
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return (this->sharedData.scalarValue);
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}
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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const typename AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::ScalarType & AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::AABBBinaryTreeNode::ScalarValue(void) const {
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return (this->sharedData.scalarValue);
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}
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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void * & AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::AABBBinaryTreeNode::PtrValue(void) {
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return (this->sharedData.ptrValue);
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}
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template <class OBJTYPE, class SCALARTYPE, class NODEAUXDATATYPE>
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const void * & AABBBinaryTree<OBJTYPE, SCALARTYPE, NODEAUXDATATYPE>::AABBBinaryTreeNode::PtrValue(void) const {
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return (this->sharedData.ptrValue);
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}
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} // end namespace vcg
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#endif // #ifndef __VCGLIB_AABBBINARYTREE_TYPE_H
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