added keyword "public" for deriving SpatialHashTable from SpatialIndex
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ganovelli
parent
4b1be10671
commit
af76e5fde8
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@ -1,316 +1,316 @@
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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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#ifndef VCGLIB_SPATIAL_HASHING
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#define VCGLIB_SPATIAL_HASHING
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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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//#include <map>
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#include <vector>
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#include <algorithm>
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#ifdef _WIN32
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#ifndef __MINGW32__
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#include <hash_map>
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#define STDEXT stdext
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#else
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#include <ext/hash_map>
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#define STDEXT __gnu_cxx
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#endif
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#else
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#include <ext/hash_map>
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#define STDEXT __gnu_cxx
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#endif
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namespace vcg{
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// hashing function
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struct HashFunctor : public std::unary_function<Point3i, size_t>
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{
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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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#ifndef VCGLIB_SPATIAL_HASHING
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#define VCGLIB_SPATIAL_HASHING
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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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//#include <map>
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#include <vector>
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#include <algorithm>
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#ifdef _WIN32
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#ifndef __MINGW32__
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#include <hash_map>
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#define STDEXT stdext
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#else
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#include <ext/hash_map>
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#define STDEXT __gnu_cxx
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#endif
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#else
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#include <ext/hash_map>
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#define STDEXT __gnu_cxx
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#endif
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namespace vcg{
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// hashing function
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struct HashFunctor : public std::unary_function<Point3i, size_t>
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{
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enum
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{ // parameters for hash table
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bucket_size = 4, // 0 < bucket_size
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min_buckets = 8
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};
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size_t operator()(const Point3i &p) const
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{
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const size_t _HASH_P0 = 73856093u;
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const size_t _HASH_P1 = 19349663u;
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const size_t _HASH_P2 = 83492791u;
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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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min_buckets = 8
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};
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size_t operator()(const Point3i &p) const
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{
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const size_t _HASH_P0 = 73856093u;
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const size_t _HASH_P1 = 19349663u;
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const size_t _HASH_P2 = 83492791u;
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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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bool operator()(const Point3i &s1, const Point3i &s2) const
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{ // test if s1 ordered before s2
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return (s1 < s2);
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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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{
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public:
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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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// 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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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; // The real HASH TABLE **************************************
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// This vector is just a handy reference to all the allocated cells,
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// becouse hashed multimaps does not expose a direct list of all the different keys.
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std::vector<Point3i> AllocatedCells;
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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) const {return t!=p.t;}
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void operator ++() {t++;}
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};
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protected:
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///insert a new cell
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void InsertObject(ObjType* s, const Point3i &cell)
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{
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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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vcg::Box3i Add( ObjType* s)
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{
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Box3<ScalarType> b;
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s->GetBBox(b);
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vcg::Box3i bb;
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BoxToIBox(b,bb);
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//then insert all the cell of bb
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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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InsertObject(s,vcg::Point3i(i,j,k));
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return bb;
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}
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/// set an empty spatial hash table
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void InitEmpty(const Box3x &_bbox, vcg::Point3i grid_size)
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{
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Box3x b;
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Box3x &bbox = this->bbox;
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CoordType &dim = this->dim;
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Point3i &siz = this->siz;
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CoordType &voxel = this->voxel;
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assert(!_bbox.IsNull());
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bbox=_bbox;
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dim = bbox.max - bbox.min;
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assert((grid_size.V(0)>0)&&(grid_size.V(1)>0)&&(grid_size.V(2)>0));
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siz=grid_size;
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voxel[0] = dim[0]/siz[0];
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voxel[1] = dim[1]/siz[1];
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voxel[2] = dim[2]/siz[2];
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}
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/// Insert a mesh in the grid.
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template <class OBJITER>
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void Set(const OBJITER & _oBegin, const OBJITER & _oEnd, const Box3x &_bbox=Box3x() )
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{
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OBJITER i;
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Box3x b;
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Box3x &bbox = this->bbox;
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CoordType &dim = this->dim;
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Point3i &siz = this->siz;
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CoordType &voxel = this->voxel;
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int _size=(int)std::distance<OBJITER>(_oBegin,_oEnd);
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if(!_bbox.IsNull()) this->bbox=_bbox;
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else
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{
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for(i = _oBegin; i!= _oEnd; ++i)
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{
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(*i).GetBBox(b);
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this->bbox.Add(b);
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}
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///inflate the bb calculated
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bbox.Offset(bbox.Diag()/100.0) ;
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}
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dim = bbox.max - bbox.min;
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BestDim( _size, dim, siz );
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// find voxel size
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voxel[0] = dim[0]/siz[0];
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voxel[1] = dim[1]/siz[1];
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voxel[2] = dim[2]/siz[2];
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for(i = _oBegin; i!= _oEnd; ++i)
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Add(&(*i));
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}
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///return the simplexes of the cell that contain p
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void Grid( const Point3<ScalarType> & p, CellIterator & first, CellIterator & last )
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{
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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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}
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///return the simplexes on a specified cell
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void Grid( int x,int y,int z, CellIterator & first, CellIterator & last )
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{
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Grid(vcg::Point3i(x,y,z),first,last);
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}
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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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std::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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void Clear()
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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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ObjPtr GetClosest(OBJPOINTDISTFUNCTOR & _getPointDistance, OBJMARKER & _marker,
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const CoordType & _p, const ScalarType & _maxDist,ScalarType & _minDist, CoordType & _closestPt)
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{
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return (vcg::GridClosest<SpatialHashType,OBJPOINTDISTFUNCTOR,OBJMARKER>(*this,_getPointDistance,_marker, _p,_maxDist,_minDist,_closestPt));
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}
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template <class OBJPOINTDISTFUNCTOR, class OBJMARKER, class OBJPTRCONTAINER,class DISTCONTAINER, class POINTCONTAINER>
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unsigned int GetKClosest(OBJPOINTDISTFUNCTOR & _getPointDistance,OBJMARKER & _marker,
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const unsigned int _k, const CoordType & _p, const ScalarType & _maxDist,OBJPTRCONTAINER & _objectPtrs,
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DISTCONTAINER & _distances, POINTCONTAINER & _points)
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{
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return (vcg::GridGetKClosest<SpatialHashType,
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OBJPOINTDISTFUNCTOR,OBJMARKER,OBJPTRCONTAINER,DISTCONTAINER,POINTCONTAINER>
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(*this,_getPointDistance,_marker,_k,_p,_maxDist,_objectPtrs,_distances,_points));
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}
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template <class OBJPOINTDISTFUNCTOR, class OBJMARKER, class OBJPTRCONTAINER, class DISTCONTAINER, class POINTCONTAINER>
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unsigned int GetInSphere(OBJPOINTDISTFUNCTOR & _getPointDistance,
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OBJMARKER & _marker,
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const CoordType & _p,
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const ScalarType & _r,
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OBJPTRCONTAINER & _objectPtrs,
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DISTCONTAINER & _distances,
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POINTCONTAINER & _points)
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{
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return(vcg::GridGetInSphere<SpatialHashType,
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OBJPOINTDISTFUNCTOR,OBJMARKER,OBJPTRCONTAINER,DISTCONTAINER,POINTCONTAINER>
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(*this,_getPointDistance,_marker,_p,_r,_objectPtrs,_distances,_points));
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}
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template <class OBJMARKER, class OBJPTRCONTAINER>
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unsigned int GetInBox(OBJMARKER & _marker,
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const Box3x _bbox,
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OBJPTRCONTAINER & _objectPtrs)
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{
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return(vcg::GridGetInBox<SpatialHashType,OBJMARKER,OBJPTRCONTAINER>
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(*this,_marker,_bbox,_objectPtrs));
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}
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template <class OBJRAYISECTFUNCTOR, class OBJMARKER>
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ObjPtr DoRay(OBJRAYISECTFUNCTOR & _rayIntersector, OBJMARKER & _marker, const Ray3<ScalarType> & _ray, const ScalarType & _maxDist, ScalarType & _t)
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{
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return(vcg::GridDoRay<SpatialHashType,OBJRAYISECTFUNCTOR,OBJMARKER>
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(*this,_rayIntersector,_marker,_ray,_maxDist,_t));
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}
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}; // end class
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/** Spatial Hash Table Dynamic
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Update the Hmark value on the simplex for dynamic updating of contents of the cell.
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The simplex must have the HMark() function.
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*/
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template < typename ContainerType,class FLT=double>
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class DynamicSpatialHashTable: public SpatialHashTable<ContainerType,FLT>
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{
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public:
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typedef typename SpatialHashTable<ContainerType,FLT>::CoordType CoordType;
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typedef typename SpatialHashTable<ContainerType,FLT>::ObjType ObjType;
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typedef typename SpatialHashTable<ContainerType,FLT>::ObjPtr ObjPtr;
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typedef typename SpatialHashTable<ContainerType,FLT>::Box3x Box3x;
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typedef typename SpatialHashTable<ContainerType,FLT>::CellIterator CellIterator;
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void _UpdateHMark(ObjType* s){ s->HMark() = this->tempMark;}
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void getInCellUpdated(vcg::Point3i cell,std::vector<ObjPtr> &elems)
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{
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CellIterator first,last,l;
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Grid(cell,first,last);
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for (l=first;l!=last;l++)
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{
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if ((l->second)>=(**l).HMark())
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elems.push_back(&(**l));
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}
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}
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};
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}// end namespace
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#endif
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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>, public SpatialIndex<ObjType,FLT>
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{
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public:
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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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// 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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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; // The real HASH TABLE **************************************
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// This vector is just a handy reference to all the allocated cells,
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// becouse hashed multimaps does not expose a direct list of all the different keys.
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std::vector<Point3i> AllocatedCells;
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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) const {return t!=p.t;}
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void operator ++() {t++;}
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};
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protected:
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///insert a new cell
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void InsertObject(ObjType* s, const Point3i &cell)
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{
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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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vcg::Box3i Add( ObjType* s)
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{
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Box3<ScalarType> b;
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s->GetBBox(b);
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vcg::Box3i bb;
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BoxToIBox(b,bb);
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//then insert all the cell of bb
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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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InsertObject(s,vcg::Point3i(i,j,k));
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return bb;
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}
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/// set an empty spatial hash table
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void InitEmpty(const Box3x &_bbox, vcg::Point3i grid_size)
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{
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Box3x b;
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Box3x &bbox = this->bbox;
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CoordType &dim = this->dim;
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Point3i &siz = this->siz;
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CoordType &voxel = this->voxel;
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assert(!_bbox.IsNull());
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bbox=_bbox;
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dim = bbox.max - bbox.min;
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assert((grid_size.V(0)>0)&&(grid_size.V(1)>0)&&(grid_size.V(2)>0));
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siz=grid_size;
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|
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voxel[0] = dim[0]/siz[0];
|
||||
voxel[1] = dim[1]/siz[1];
|
||||
voxel[2] = dim[2]/siz[2];
|
||||
}
|
||||
|
||||
/// Insert a mesh in the grid.
|
||||
template <class OBJITER>
|
||||
void Set(const OBJITER & _oBegin, const OBJITER & _oEnd, const Box3x &_bbox=Box3x() )
|
||||
{
|
||||
OBJITER i;
|
||||
Box3x b;
|
||||
Box3x &bbox = this->bbox;
|
||||
CoordType &dim = this->dim;
|
||||
Point3i &siz = this->siz;
|
||||
CoordType &voxel = this->voxel;
|
||||
|
||||
int _size=(int)std::distance<OBJITER>(_oBegin,_oEnd);
|
||||
if(!_bbox.IsNull()) this->bbox=_bbox;
|
||||
else
|
||||
{
|
||||
for(i = _oBegin; i!= _oEnd; ++i)
|
||||
{
|
||||
(*i).GetBBox(b);
|
||||
this->bbox.Add(b);
|
||||
}
|
||||
///inflate the bb calculated
|
||||
bbox.Offset(bbox.Diag()/100.0) ;
|
||||
}
|
||||
|
||||
dim = bbox.max - bbox.min;
|
||||
BestDim( _size, dim, siz );
|
||||
// find voxel size
|
||||
voxel[0] = dim[0]/siz[0];
|
||||
voxel[1] = dim[1]/siz[1];
|
||||
voxel[2] = dim[2]/siz[2];
|
||||
|
||||
for(i = _oBegin; i!= _oEnd; ++i)
|
||||
Add(&(*i));
|
||||
}
|
||||
|
||||
|
||||
///return the simplexes of the cell that contain p
|
||||
void Grid( const Point3<ScalarType> & p, CellIterator & first, CellIterator & last )
|
||||
{
|
||||
vcg::Point3i _c;
|
||||
this->PToIP(p,_c);
|
||||
Grid(_c,first,last);
|
||||
}
|
||||
|
||||
///return the simplexes on a specified cell
|
||||
void Grid( int x,int y,int z, CellIterator & first, CellIterator & last )
|
||||
{
|
||||
Grid(vcg::Point3i(x,y,z),first,last);
|
||||
}
|
||||
|
||||
///return the simplexes on a specified cell
|
||||
void Grid( const Point3i & _c, CellIterator & first, CellIterator & end )
|
||||
{
|
||||
std::pair<HashIterator,HashIterator> CellRange = hash_table.equal_range(_c);
|
||||
first.t=CellRange.first;
|
||||
end.t=CellRange.second;
|
||||
}
|
||||
|
||||
void Clear()
|
||||
{
|
||||
hash_table.clear();
|
||||
AllocatedCells.clear();
|
||||
}
|
||||
|
||||
|
||||
template <class OBJPOINTDISTFUNCTOR, class OBJMARKER>
|
||||
ObjPtr GetClosest(OBJPOINTDISTFUNCTOR & _getPointDistance, OBJMARKER & _marker,
|
||||
const CoordType & _p, const ScalarType & _maxDist,ScalarType & _minDist, CoordType & _closestPt)
|
||||
{
|
||||
return (vcg::GridClosest<SpatialHashType,OBJPOINTDISTFUNCTOR,OBJMARKER>(*this,_getPointDistance,_marker, _p,_maxDist,_minDist,_closestPt));
|
||||
}
|
||||
|
||||
|
||||
template <class OBJPOINTDISTFUNCTOR, class OBJMARKER, class OBJPTRCONTAINER,class DISTCONTAINER, class POINTCONTAINER>
|
||||
unsigned int GetKClosest(OBJPOINTDISTFUNCTOR & _getPointDistance,OBJMARKER & _marker,
|
||||
const unsigned int _k, const CoordType & _p, const ScalarType & _maxDist,OBJPTRCONTAINER & _objectPtrs,
|
||||
DISTCONTAINER & _distances, POINTCONTAINER & _points)
|
||||
{
|
||||
return (vcg::GridGetKClosest<SpatialHashType,
|
||||
OBJPOINTDISTFUNCTOR,OBJMARKER,OBJPTRCONTAINER,DISTCONTAINER,POINTCONTAINER>
|
||||
(*this,_getPointDistance,_marker,_k,_p,_maxDist,_objectPtrs,_distances,_points));
|
||||
}
|
||||
|
||||
template <class OBJPOINTDISTFUNCTOR, class OBJMARKER, class OBJPTRCONTAINER, class DISTCONTAINER, class POINTCONTAINER>
|
||||
unsigned int GetInSphere(OBJPOINTDISTFUNCTOR & _getPointDistance,
|
||||
OBJMARKER & _marker,
|
||||
const CoordType & _p,
|
||||
const ScalarType & _r,
|
||||
OBJPTRCONTAINER & _objectPtrs,
|
||||
DISTCONTAINER & _distances,
|
||||
POINTCONTAINER & _points)
|
||||
{
|
||||
return(vcg::GridGetInSphere<SpatialHashType,
|
||||
OBJPOINTDISTFUNCTOR,OBJMARKER,OBJPTRCONTAINER,DISTCONTAINER,POINTCONTAINER>
|
||||
(*this,_getPointDistance,_marker,_p,_r,_objectPtrs,_distances,_points));
|
||||
}
|
||||
|
||||
template <class OBJMARKER, class OBJPTRCONTAINER>
|
||||
unsigned int GetInBox(OBJMARKER & _marker,
|
||||
const Box3x _bbox,
|
||||
OBJPTRCONTAINER & _objectPtrs)
|
||||
{
|
||||
return(vcg::GridGetInBox<SpatialHashType,OBJMARKER,OBJPTRCONTAINER>
|
||||
(*this,_marker,_bbox,_objectPtrs));
|
||||
}
|
||||
|
||||
template <class OBJRAYISECTFUNCTOR, class OBJMARKER>
|
||||
ObjPtr DoRay(OBJRAYISECTFUNCTOR & _rayIntersector, OBJMARKER & _marker, const Ray3<ScalarType> & _ray, const ScalarType & _maxDist, ScalarType & _t)
|
||||
{
|
||||
return(vcg::GridDoRay<SpatialHashType,OBJRAYISECTFUNCTOR,OBJMARKER>
|
||||
(*this,_rayIntersector,_marker,_ray,_maxDist,_t));
|
||||
}
|
||||
|
||||
|
||||
}; // end class
|
||||
|
||||
/** Spatial Hash Table Dynamic
|
||||
Update the Hmark value on the simplex for dynamic updating of contents of the cell.
|
||||
The simplex must have the HMark() function.
|
||||
*/
|
||||
template < typename ContainerType,class FLT=double>
|
||||
class DynamicSpatialHashTable: public SpatialHashTable<ContainerType,FLT>
|
||||
{
|
||||
public:
|
||||
typedef typename SpatialHashTable<ContainerType,FLT>::CoordType CoordType;
|
||||
typedef typename SpatialHashTable<ContainerType,FLT>::ObjType ObjType;
|
||||
typedef typename SpatialHashTable<ContainerType,FLT>::ObjPtr ObjPtr;
|
||||
typedef typename SpatialHashTable<ContainerType,FLT>::Box3x Box3x;
|
||||
typedef typename SpatialHashTable<ContainerType,FLT>::CellIterator CellIterator;
|
||||
|
||||
void _UpdateHMark(ObjType* s){ s->HMark() = this->tempMark;}
|
||||
|
||||
void getInCellUpdated(vcg::Point3i cell,std::vector<ObjPtr> &elems)
|
||||
{
|
||||
CellIterator first,last,l;
|
||||
Grid(cell,first,last);
|
||||
for (l=first;l!=last;l++)
|
||||
{
|
||||
if ((l->second)>=(**l).HMark())
|
||||
elems.push_back(&(**l));
|
||||
}
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}// end namespace
|
||||
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Reference in New Issue