Heavy restructured the whole spatial hashing. Much shorter code. The dynamic part is now missing...
This commit is contained in:
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c4ca67e959
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@ -19,94 +19,15 @@
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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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Revision 1.24 2006/12/06 17:47:50 marfr960
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end() replaced by pointer lastPlusOne
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Revision 1.23 2006/10/02 09:25:49 ganovelli
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reverted to version 1.20 for critical bug
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Revision 1.20 2006/07/26 08:12:56 pietroni
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added InitEmpty Function
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Revision 1.19 2006/07/10 12:43:13 turini
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explicit cast in _IsInHtable() to resolve a warning
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Revision 1.18 2006/04/20 08:30:27 cignoni
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small GCC compiling issues
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Revision 1.17 2006/01/23 21:26:57 ponchio
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gcc compatibility (templates mostly)
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bbox -> this->bbox
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More consistent use of Box3x and such.
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Revision 1.16 2006/01/23 15:26:31 ponchio
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P1 --> HASH_P1
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Old definition was conflicting with functions in segment.h
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Revision 1.15 2005/11/23 15:55:35 pietroni
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1 warning corrected
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Revision 1.14 2005/11/07 14:15:36 pietroni
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added dynamic spatial hashing class for dynamic updating of entries (and relative functions)
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Revision 1.13 2005/10/05 17:04:18 pietroni
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corrected bug on Set Function .... bbox must be exetended in order to have'nt any object on his borde
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Revision 1.12 2005/10/03 13:58:21 pietroni
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added GetInSphere and GetInBox functions
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Revision 1.11 2005/10/03 10:05:26 pietroni
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changed Set functions, added possibility to pass the bbox as parameter
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Revision 1.10 2005/09/30 13:14:59 pietroni
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added wrapping to functions defined in GridClosest:
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- GetClosest
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- GetKClosest
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- DoRay
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Revision 1.9 2005/09/21 14:22:49 pietroni
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Added DynamicSpatialHAshTable class
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Revision 1.8 2005/09/19 13:35:45 pietroni
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use of standard grid interface
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use of vector instead of map inside the cell
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removed closest iterator
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Revision 1.7 2005/06/15 11:44:47 pietroni
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minor changes
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Revision 1.6 2005/06/01 13:47:59 pietroni
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resolved hash code conflicts
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Revision 1.5 2005/03/15 09:50:44 ganovelli
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there was a debug line, now removed
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Revision 1.4 2005/03/14 15:11:18 ganovelli
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ClosestK added and other minor changes
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Revision 1.3 2005/03/11 15:25:29 ganovelli
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added ClosersIterator and other minor changes. Not compatible with the previous version.
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Still other modifications to do (temporary commit)
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Revision 1.2 2005/02/21 12:13:25 ganovelli
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added vcg header
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****************************************************************************/
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#ifndef VCGLIB_SPATIAL_HASHING
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#define VCGLIB_SPATIAL_HASHING
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#define HASH_P0 73856093
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#define HASH_P1 19349663
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#define HASH_P2 83492791
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#define HASH_P0 73856093u
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#define HASH_P1 19349663u
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#define HASH_P2 83492791u
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#include <vcg/space/index/grid_util.h>
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#include <vcg/space/index/grid_closest.h>
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@ -129,191 +50,65 @@ added vcg header
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namespace vcg{
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// hashing function
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struct HashFunctor : public unary_function<Point3i, size_t>
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{
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size_t operator()(const Point3i &p) const
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{
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return size_t(p.V(0))*HASH_P0 ^ size_t(p.V(1))*HASH_P1 ^ size_t(p.V(2))*HASH_P2;
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}
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};
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/** Spatial Hash Table
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Spatial Hashing as described in
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"Optimized Spatial Hashing for Coll ision Detection of Deformable Objects",
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Matthias Teschner and Bruno Heidelberger and Matthias Muller and Danat Pomeranets and Markus Gross
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*/
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template < typename OBJTYPE,class FLT=double>
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class SpatialHashTable:public BasicGrid<FLT>, SpatialIndex<OBJTYPE,FLT>
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template < typename ObjType,class FLT=double>
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class SpatialHashTable:public BasicGrid<FLT>, SpatialIndex<ObjType,FLT>
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{
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public:
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typedef OBJTYPE ObjType;
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typedef SpatialHashTable SpatialHashType;
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typedef ObjType* ObjPtr;
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typedef typename ObjType::ScalarType ScalarType;
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typedef Point3<ScalarType> CoordType;
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typedef typename BasicGrid<FLT>::Box3x Box3x;
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// typedef typename SpatialHashTable<ObjType,FLT> SpatialHashType;
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typedef SpatialHashTable SpatialHashType;
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//typedef typename SpatialHashTable<ObjType,FLT> GridType;
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// Hash table definition
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// the hash index directly the grid structure.
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// We use a MultiMap because we need to store many object (faces) inside each cell of the grid.
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//type of container of pointer to object in a Cell
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//typedef typename std::pair<ObjType*,int> EntryType ;
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class EntryType : public std::pair<ObjType*,int>
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{
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public:
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EntryType(ObjType* sim,const int &_tempMark)
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{
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this->first=sim;
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this->second=_tempMark;
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}
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typedef typename STDEXT::hash_multimap<Point3i, ObjType *, HashFunctor> HashType;
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typedef typename HashType::iterator HashIterator;
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HashType hash_table;
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std::vector<Point3i> AllocatedCells;
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ObjType& operator *(){return (*this->first);}
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// Class to abstract a HashIterator (that stores also the key,
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// while the interface of the generic spatial indexing need only simple object (face) pointers.
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struct CellIterator
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{
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CellIterator(){}
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HashIterator t;
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ObjPtr &operator *(){return t->second;}
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bool operator != (const CellIterator & p) {return t!=p.t;}
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void operator ++() {t++;}
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};
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typedef typename std::vector<EntryType> CellContainerType;
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typedef typename CellContainerType::iterator IteMap;
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typedef EntryType* CellIterator;
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//This Class Identify the cell
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struct Cell
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{
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protected:
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Point3i cell_n;//cell number
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public:
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//elements
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CellContainerType _entries;
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Cell()
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{}
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Cell(ObjType* sim,Point3i _cell,const int &_tempMark)
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{
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_entries.push_back(EntryType(sim,_tempMark));
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cell_n=_cell;
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}
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///return the number of elements stored in the cell
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int Size()
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{return (int)(_entries.size());}
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///find the simplex into the cell
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bool Find(ObjType* sim,IteMap &I)
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{
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for (I=_entries.begin();I<_entries.end();I++)
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if ((*I).first==sim)
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return true;
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return false;
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}
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///update or insert an element into a cell
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void Update(ObjType* sim, const int & _tempMark)
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{
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IteMap I;
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if (Find(sim,I))
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(*I).second=_tempMark;
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else
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_entries.push_back(EntryType(sim,_tempMark));
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}
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Point3i CellN()
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{return cell_n;}
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bool operator ==(const Cell &h)
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{return (cell_n==h.CellN());}
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bool operator !=(const Cell &h)
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{return ((cell_n!=h.CellN()));}
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}; // end struct Cell
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//hash table definition
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typedef typename STDEXT::hash_multimap<int,Cell> Htable;
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//record of the hash table
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typedef typename std::pair<int,Cell> HRecord;
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//iterator to the hash table
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typedef typename Htable::iterator IteHtable;
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SpatialHashTable(){HashSpace=1000;};//default value for hash_space
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~SpatialHashTable(){};
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int tempMark;
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protected:
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Htable hash_table;
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///number of possible hash code [0...HashSpace]
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int HashSpace;
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///number of conflicts created
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int conflicts;
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///insert a new cell
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void _InsertNewHentry(ObjType* s,Point3i cell)
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void InsertObject(ObjType* s,Point3i cell)
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{
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int h=Hash(cell);
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hash_table.insert(HRecord(h,Cell(s,cell,tempMark)));
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}
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///return true and return the iterator to the cell if exist
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bool _IsInHtable(Point3i cell,IteHtable &result)
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{
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int h=Hash(cell);
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int count = (int) hash_table.count(h);
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if (count==0)///in this case there is no entry for that key
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return false;
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else
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{
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std::pair<IteHtable, IteHtable> p =hash_table.equal_range(h);
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IteHtable i = p.first;
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while((i != p.second)&&((*i).second.CellN()!=cell))++i;
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if (i==p.second)///the scan is terminated and we have not found the right cell
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{
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conflicts++;
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return false;
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}
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else ///we have found the right cell
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{
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result=i;
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return true;
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}
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}
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}
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virtual void _UpdateHMark(ObjType* s){(void)s;}
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///insert an element in a specified cell if the cell doesn't exist than
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///create it.
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void _InsertInCell(ObjType* s,Point3i cell)
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{
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IteHtable I;
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if (!_IsInHtable(cell,I))
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_InsertNewHentry(s,cell);
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else///there is the entry specified by the iterator I so update only the temporary mark
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(*I).second.Update(s,tempMark);
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}
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// hashing
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const int Hash(Point3i p) const
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{
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return ((p.V(0)*HASH_P0 ^ p.V(1)*HASH_P1 ^ p.V(2)*HASH_P2)%HashSpace);
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if(hash_table.count(cell)==0) AllocatedCells.push_back(cell);
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hash_table.insert(typename HashType::value_type(cell, s));
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}
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public:
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/////We need some extra space for numerical precision.
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//template <class Box3Type>
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// void SetBBox( const Box3Type & b )
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//{
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// bbox.Import( b );
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// ScalarType t = bbox.Diag()/100.0;
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// if(t == 0) t = ScalarType(1e20); // <--- Some doubts on this (Cigno 5/1/04)
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// bbox.Offset(t);
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// dim = bbox.max - bbox.min;
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//}
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vcg::Box3i Add( ObjType* s)
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{
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Box3<ScalarType> b;
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for (int i=bb.min.X();i<=bb.max.X();i++)
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for (int j=bb.min.Y();j<=bb.max.Y();j++)
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for (int k=bb.min.Z();k<=bb.max.Z();k++)
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_InsertInCell(s,vcg::Point3i(i,j,k));
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InsertObject(s,vcg::Point3i(i,j,k));
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_UpdateHMark(s);
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return bb;
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}
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@ -393,7 +187,6 @@ namespace vcg{
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///return the simplexes of the cell that contain p
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void Grid( const Point3d & p, CellIterator & first, CellIterator & last )
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{
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IteHtable I;
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vcg::Point3i _c;
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this->PToIP(p,_c);
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Grid(_c,first,last);
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@ -408,44 +201,21 @@ namespace vcg{
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///return the simplexes on a specified cell
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void Grid( const Point3i & _c, CellIterator & first, CellIterator & end )
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{
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IteHtable I;
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if (_IsInHtable(_c,I))//if there is the cell then
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{ ///return pointers to first and last element cell elems
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first = &*(*I).second._entries.begin();
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end = &((*I).second._entries.back()) + 1;
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}
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else
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{ ///return 2 equals pointers
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first = 0;
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end = 0;
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}
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pair<HashIterator,HashIterator> CellRange = hash_table.equal_range(_c);
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first.t=CellRange.first;
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end.t=CellRange.second;
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}
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///return the number of elemnts in the cell and the iterator to the cell
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///if the cell exist
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int numElemCell(Point3i _c,IteHtable &I)
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{
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if (_IsInHtable(_c,I))
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return ((*I).second.Size());
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else
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return 0;
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}
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///return the number of cell created
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int CellNumber()
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{return (hash_table.size());}
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int Conflicts()
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{return conflicts;}
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void Clear()
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{hash_table.clear();}
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void SetHashKeySpace(int n)
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{HashSpace=n;}
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void UpdateTmark()
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{tempMark++;}
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{
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hash_table.clear();
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AllocatedCells.clear();
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}
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template <class OBJPOINTDISTFUNCTOR, class OBJMARKER>
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@ -530,6 +300,8 @@ namespace vcg{
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}// end namespace
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#undef HASH_P0
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