first release version
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#include <vector>
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#include <vcg/space/box3.h>
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#include <algorithm>
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#include <float.h>
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#include <vcg/space/intersection3.h>
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#include <vcg/simplex/face/distance.h>//to remove
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#ifndef _VCG_SPACE_ITERATORS
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#define _VCG_SPACE_ITERATORS
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namespace vcg{
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template <class Spatial_Idexing,class INTFUNCTOR,class TMARKER>
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class RayIterator
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{
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protected:
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typedef typename Spatial_Idexing::ObjType ObjType;
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typedef typename Spatial_Idexing::ScalarType ScalarType;
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typedef typename vcg::Point3<ScalarType> CoordType;
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typedef typename vcg::Line3<ScalarType> RayType;
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typedef typename Spatial_Idexing::CellIterator CellIterator;
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///control right bonding current cell index (only on initialization)
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void _ControlLimits()
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{
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for (int i=0;i<3;i++)
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{
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vcg::Point3i dim=Si.siz;
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if (CurrentCell.V(i)<0)
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CurrentCell.V(i) = 0;
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else
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if (CurrentCell.V(i)>=dim.V(i))
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CurrentCell.V(i)=dim.V(i)-1;
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}
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}
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///find initial line parameters
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void _FindLinePar()
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{
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/* Punti goal */
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///da verificare se vanno oltre ai limiti
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vcg::Point3i ip;
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Si.PToIP(start,ip);
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Si.IPToP(ip,goal);
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for (int i=0;i<3;i++)
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if(r.Direction().V(i)>0.0)
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goal.V(i)+=Si.voxel.V(i);
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ScalarType gx=goal.X();
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ScalarType gy=goal.Y();
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ScalarType gz=goal.Z();
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dist=(r.Origin()-goal).Norm();
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const float MAXFLOAT = FLT_MAX;
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const float EPSILON = 1e-50f;
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/* Parametri della linea */
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ScalarType tx,ty,tz;
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if( fabs(r.Direction().X())>EPSILON )
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tx = (gx-r.Origin().X())/r.Direction().X();
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else
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tx =MAXFLOAT;
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if( fabs(r.Direction().Y())>EPSILON )
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ty = (gy-r.Origin().Y())/r.Direction().Y();
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else
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ty =MAXFLOAT;
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if( fabs(r.Direction().Z())>EPSILON )
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tz = (gz-r.Origin().Z())/r.Direction().Z();
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else
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tz =MAXFLOAT;
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t=CoordType(tx,ty,tz);
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}
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bool _controlEnd()
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{
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return (((CurrentCell.X()<0)||(CurrentCell.Y()<0)||(CurrentCell.Z()<0))||
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((CurrentCell.X()>=Si.siz.X())||(CurrentCell.Y()>=Si.siz.Y())||(CurrentCell.Z()>=Si.siz.Z())));
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}
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void _NextCell()
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{
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assert(!end);
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if( t.X()<t.Y() && t.X()<t.Z() )
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{
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if(r.Direction().X()<0.0)
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{goal.X() -= Si.voxel.X(); --CurrentCell.X();}
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else
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{goal.X() += Si.voxel.X(); ++CurrentCell.X();}
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t.X() = (goal.X()-r.Origin().X())/r.Direction().X();
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}
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else if( t.Y()<t.Z() ){
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if(r.Direction().Y()<0.0)
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{goal.Y() -= Si.voxel.Y(); --CurrentCell.Y();}
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else
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{goal.Y() += Si.voxel.Y(); ++CurrentCell.Y();}
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t.Y() = (goal.Y()-r.Origin().Y())/r.Direction().Y();
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} else {
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if(r.Direction().Z()<0.0)
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{ goal.Z() -= Si.voxel.Z(); --CurrentCell.Z();}
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else
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{ goal.Z() += Si.voxel.Z(); ++CurrentCell.Z();}
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t.Z() = (goal.Z()-r.Origin().Z())/r.Direction().Z();
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}
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dist=(r.Origin()-goal).Norm();
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end=_controlEnd();
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}
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public:
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///contructor
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RayIterator(Spatial_Idexing &_Si,INTFUNCTOR _int_funct):Si(_Si),int_funct(_int_funct){
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};
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void Init(RayType _r)
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{
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r=_r;
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end=false;
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tm.UnMarkAll();
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//CoordType ip;
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//control if intersect the bounding box of the mesh
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if(vcg::Intersection<ScalarType>(Si.bbox,r,start))
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{
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Si.PToIP(start,CurrentCell);
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_ControlLimits();
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_FindLinePar();
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//go to first intersection
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while ((!End())&& Refresh())
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_NextCell();
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}
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else
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end=true;
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}
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bool End()
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{return end;}
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///refresh current cell intersection , return true if there are
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///at lest 1 intersection
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bool Refresh()
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{
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//Elems.clear();
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Spatial_Idexing::CellIterator first,last,l;
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///take first, last iterators to elements in the cell
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Si.Grid(CurrentCell.X(),CurrentCell.Y(),CurrentCell.Z(),first,last);
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for(l=first;l!=last;++l)
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{
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ObjType* elem=&(*(*l));
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/* CoordType p0 = elem->V(0)->P();
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CoordType p1 = elem->V(1)->P();
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CoordType p2 = elem->V(2)->P();*/
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//ScalarType dist=0;
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CoordType Int;
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if((!tm.IsMarked(elem))&&(int_funct((**l),r,Int)))
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{
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Elems.push_back(Entry_Type(elem,(r.Origin()-Int).Norm(),Int));
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//std::push_heap<ElemIterator>(Elems.begin(),Elems.end());
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tm.Mark(elem);
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}
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/////different types of intersections as required
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//if ((!_Unique)&&(_DoubleIntersect(r,p0,p1,p2,Int)))
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// Elems.push_back(Entry_Type(elem,(r.Origin()-Int).Norm(),Int));
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//else
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//if ((_Unique)&&(_UniqueIntersection(r,p0,p1,p2,Int)))
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// Elems.push_back(Entry_Type(elem,(r.Origin()-Int).Norm(),Int));
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}
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////then control if there are more than 1 element
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if (Elems.size()>1)
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std::sort(Elems.begin(),Elems.end());
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CurrentElem=Elems.end();
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CurrentElem--;
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return((Elems.size()==0)||(Dist()>dist));
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}
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void operator ++()
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{
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//if (CurrentElem!=Elems.end())
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if (Elems.size()>0)
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{
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CurrentElem--;
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//std::pop_heap<ElemIterator>(Elems.begin(),Elems.end());
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Elems.pop_back();
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}
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/*if (CurrentElem==Elems.end())
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{*/
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if (Dist()>dist)
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{
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if (!End())
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{
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_NextCell();
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while ((!End())&&Refresh())
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_NextCell();
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}
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}
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}
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ObjType &operator *(){return *((*CurrentElem).elem);}
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CoordType IntPoint()
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{return ((*CurrentElem).intersection);}
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ScalarType Dist()
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{
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if (Elems.size()>0)
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return ((*CurrentElem).dist);
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else
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return ((ScalarType)FLT_MAX);
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}
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//{return ((*CurrentElem).dist);}
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///set the current spatial indexing structure used
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void SetIndexStructure(Spatial_Idexing &_Si)
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{Si=_Si;}
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protected:
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///structure that mantain for the current cell pre-calculated data
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typedef struct Entry_Type
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{
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public:
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Entry_Type(ObjType* _elem,ScalarType _dist,CoordType _intersection)
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{
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elem=_elem;
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dist=_dist;
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intersection=_intersection;
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}
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inline bool operator < ( const Entry_Type & l ) const{return (dist > l.dist); }
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ObjType* elem;
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ScalarType dist;
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CoordType intersection;
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};
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RayType r; //ray to find intersections
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Spatial_Idexing &Si; //reference to spatial index algorithm
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bool end; //true if the scan is terminated
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INTFUNCTOR &int_funct;
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TMARKER tm;
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std::vector<Entry_Type> Elems; //element loaded from curren cell
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typedef typename std::vector<Entry_Type>::iterator ElemIterator;
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ElemIterator CurrentElem; //iterator to current element
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vcg::Point3i CurrentCell; //current cell
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//used for raterization
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CoordType start;
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CoordType goal;
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ScalarType dist;
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CoordType t;
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};
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template <class Spatial_Idexing>
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class ClosestIterator
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{
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typedef typename Spatial_Idexing::ObjType ObjType;
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typedef typename Spatial_Idexing::ScalarType ScalarType;
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typedef typename vcg::Point3<ScalarType> CoordType;
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typedef typename Spatial_Idexing::CellIterator CellIterator;
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///find the radius of curren sphere
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///considering more nearest cell to current radius
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void _FindSphereRadius()
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{
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//find diffence between the initial point
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//and the cell narest to the sphere
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CoordType min;
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CoordType max;
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Si.IPToP(explored.min,min);
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Si.IPToP(explored.max,max);
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CoordType diff_min=p-min;
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CoordType diff_max=p-max;
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ScalarType diffx=std::min<ScalarType>(fabs(diff_min.X()),fabs(diff_max.X()));
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ScalarType diffy=std::min<ScalarType>(fabs(diff_min.Y()),fabs(diff_max.Y()));
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ScalarType diffz=std::min<ScalarType>(fabs(diff_min.Z()),fabs(diff_max.Z()));
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ScalarType diff=std::min<ScalarType>(diffx,std::min<ScalarType>(diffy,diffz));
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//radius_min=0;
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radius=diff;
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//radius+=diff;
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if (radius>max_dist)
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radius=max_dist;
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}
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///control right cell value of current bounding box
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/// of explored cells
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void _ControlLimits()
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{
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vcg::Point3i dim=Si.siz;
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for (int i=0;i<3;i++)
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{
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if (explored.min.V(i)<-1)
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explored.min.V(i) = -1;
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if (explored.max.V(i)>Si.siz.V(i))
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explored.max.V(i) =Si.siz.V(i);
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}
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}
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bool _OutOfLimits(vcg::Point3i p)
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{
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for (int i=0;i<3;i++)
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if ((p.V(i)==-1)||(p.V(i)>=Si.siz.V(i)))
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return true ;
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return false;
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}
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///control the end of scanning
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void _ControlEnd()
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{
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if ((explored.min==vcg::Point3i(-1,-1,-1))&&(explored.max==Si.siz)&&(Elems.size()==0))
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end =true;
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}
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///add cell to the curren set of explored cells
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void _NextShell()
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{
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radius+=voxel_min;
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//control bounds
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if (radius>max_dist)
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radius=max_dist;
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//expand the box
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explored.min-=vcg::Point3i(1,1,1);
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explored.max+=vcg::Point3i(1,1,1);
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//control right limits of the bound
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_ControlLimits();
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}
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public:
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///contructor
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ClosestIterator(Spatial_Idexing &_Si):Si(_Si){}
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///set the current spatial indexing structure used
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void SetIndexStructure(Spatial_Idexing &_Si)
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{Si=_Si;}
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///initialize the Itarator
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void Init(CoordType _p,const ScalarType &_max_dist)
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{
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//CoordType vox=Si.Voxel();
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CoordType vox=Si.voxel;
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voxel_min=std::min<ScalarType>(vox.V(0),std::min<ScalarType>(vox.V(1),vox.V(2)));
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p=_p;
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max_dist=_max_dist;
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//initialize the explored region
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//finding cell coordinate of initial point
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vcg::Point3i c;
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Si.PToIP(p,c);
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assert( c.X()>=0 && c.X()<Si.siz.X() && c.Y()>=0 && c.Y()<Si.siz.Y() && c.Z()>=0 && c.Z()<Si.siz.Z() );
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//explored=vcg::Box3i(c,c+vcg::Point3i(1,1,1));
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explored=vcg::Box3i(c,c);
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radius=0;
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//radius_min=0;
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Elems.clear();
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end=false;
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_FindSphereRadius();
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Refresh();
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///until don't find an element
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///that is inside the radius
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while ((!End())&&(Dist()>radius))
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{
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if (radius>=max_dist)
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end=true;
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_NextShell();
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Refresh();
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_ControlEnd();
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}
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//set to the last element ..the nearest
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CurrentElem=Elems.end();
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CurrentElem--;
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}
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//return true if the scan is complete
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bool End()
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{return end;}
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///refresh Object found also considering current shere radius,
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//and object comes from previos that are already in the stack
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void Refresh()
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{
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int x,y,z;
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for( z = explored.min.Z(); z <= explored.max.Z(); ++z)
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for(y = explored.min.Y(); y <=explored.max.Y(); ++y)
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for(x = explored.min.X(); x <= explored.max.X();)
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{
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/*vcg::Point3i CurrentCell=vcg::Point3i(x,y,z);*/
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Spatial_Idexing::CellIterator first,last,l;
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///take first, last iterators to elements in the cell
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if (!_OutOfLimits(vcg::Point3i(x,y,z)))
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{
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Si.Grid(x,y,z,first,last);
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for(l=first;l!=last;++l)
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{
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ObjType *elem=&(**l);
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///to change with functor
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ScalarType dist=(elem->P()-p).Norm();
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//if (dist>radius_min){
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CoordType intersect=elem->P();
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Elems.push_back(Entry_Type(elem,fabs(dist),intersect));
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//}
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}
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}
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if( ( ( y == explored.min.Y()) || ( y == explored.max.Y())) ||
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( ( z == explored.min.Z()) || ( z == explored.max.Z())) ||
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( x == explored.max.X()))
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++x;
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else
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x=explored.max.X();
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}
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std::sort(Elems.begin(),Elems.end());
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std::unique(Elems.begin(),Elems.end());
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CurrentElem=Elems.end();
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CurrentElem--;
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}
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void operator ++()
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{
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if (Elems.size()>0)
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{
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CurrentElem--;
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Elems.pop_back();
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}
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if (Dist()>radius)
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{
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_NextShell();
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Refresh();
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//continue to scan until finish the scanning or the
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//first element (the nearest for ordering of the structure)
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//is at distance<radius
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while ((!End())&&(Dist()>radius))
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{
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if (radius>=max_dist)
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end=true;
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_NextShell();
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Refresh();
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_ControlEnd();
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}
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}
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}
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ObjType &operator *(){return *((*CurrentElem).elem);}
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//return distance of the element form the point if no element
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//are in the vector then return max dinstance
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ScalarType Dist()
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{
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if (Elems.size()>0)
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return ((*CurrentElem).dist);
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else
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return ((ScalarType)FLT_MAX);
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}
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CoordType IntPoint()
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{return ((*CurrentElem).intersection);}
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private:
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///structure that mantain for the current cell pre-calculated data
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typedef struct Entry_Type
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{
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public:
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Entry_Type(ObjType* _elem,ScalarType _dist,CoordType _intersection)
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{
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elem=_elem;
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dist=_dist;
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intersection=_intersection;
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}
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inline bool operator < ( const Entry_Type & l ) const{return (dist > l.dist); }
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inline bool operator == ( const Entry_Type & l ) const{return (elem == l.elem); }
|
||||
|
||||
ObjType* elem;
|
||||
ScalarType dist;
|
||||
CoordType intersection;
|
||||
};
|
||||
|
||||
CoordType p; //initial point
|
||||
Spatial_Idexing &Si; //reference to spatial index algorithm
|
||||
bool end; //true if the scan is terminated
|
||||
ScalarType max_dist; //max distance when the scan terminate
|
||||
vcg::Box3i explored; //current bounding box explored
|
||||
ScalarType radius; //curret radius for sphere expansion
|
||||
//ScalarType radius_min; //curret radius of explored simplexes
|
||||
ScalarType voxel_min; //minimum value of the voxel
|
||||
std::vector<Entry_Type> Elems; //element loaded from the current sphere
|
||||
|
||||
typedef typename std::vector<Entry_Type>::iterator ElemIterator;
|
||||
ElemIterator CurrentElem; //iterator to current element
|
||||
|
||||
};
|
||||
}
|
||||
#endif
|
||||
Loading…
Reference in New Issue