/**************************************************************************** * VCGLib o o * * Visual and Computer Graphics Library o o * * _ O _ * * Copyright(C) 2004 \/)\/ * * Visual Computing Lab /\/| * * ISTI - Italian National Research Council | * * \ * * All rights reserved. * * * * This program is free software; you can redistribute it and/or modify * * it under the terms of the GNU General Public License as published by * * the Free Software Foundation; either version 2 of the License, or * * (at your option) any later version. * * * * This program is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * * GNU General Public License (http://www.gnu.org/licenses/gpl.txt) * * for more details. * * * ****************************************************************************/ /**************************************************************************** History $Log: not supported by cvs2svn $ Revision 1.24 2006/12/06 17:47:50 marfr960 end() replaced by pointer lastPlusOne Revision 1.23 2006/10/02 09:25:49 ganovelli reverted to version 1.20 for critical bug Revision 1.20 2006/07/26 08:12:56 pietroni added InitEmpty Function Revision 1.19 2006/07/10 12:43:13 turini explicit cast in _IsInHtable() to resolve a warning Revision 1.18 2006/04/20 08:30:27 cignoni small GCC compiling issues Revision 1.17 2006/01/23 21:26:57 ponchio gcc compatibility (templates mostly) bbox -> this->bbox More consistent use of Box3x and such. Revision 1.16 2006/01/23 15:26:31 ponchio P1 --> HASH_P1 Old definition was conflicting with functions in segment.h Revision 1.15 2005/11/23 15:55:35 pietroni 1 warning corrected Revision 1.14 2005/11/07 14:15:36 pietroni added dynamic spatial hashing class for dynamic updating of entries (and relative functions) Revision 1.13 2005/10/05 17:04:18 pietroni corrected bug on Set Function .... bbox must be exetended in order to have'nt any object on his borde Revision 1.12 2005/10/03 13:58:21 pietroni added GetInSphere and GetInBox functions Revision 1.11 2005/10/03 10:05:26 pietroni changed Set functions, added possibility to pass the bbox as parameter Revision 1.10 2005/09/30 13:14:59 pietroni added wrapping to functions defined in GridClosest: - GetClosest - GetKClosest - DoRay Revision 1.9 2005/09/21 14:22:49 pietroni Added DynamicSpatialHAshTable class Revision 1.8 2005/09/19 13:35:45 pietroni use of standard grid interface use of vector instead of map inside the cell removed closest iterator Revision 1.7 2005/06/15 11:44:47 pietroni minor changes Revision 1.6 2005/06/01 13:47:59 pietroni resolved hash code conflicts Revision 1.5 2005/03/15 09:50:44 ganovelli there was a debug line, now removed Revision 1.4 2005/03/14 15:11:18 ganovelli ClosestK added and other minor changes Revision 1.3 2005/03/11 15:25:29 ganovelli added ClosersIterator and other minor changes. Not compatible with the previous version. Still other modifications to do (temporary commit) Revision 1.2 2005/02/21 12:13:25 ganovelli added vcg header ****************************************************************************/ #ifndef VCGLIB_SPATIAL_HASHING #define VCGLIB_SPATIAL_HASHING #define HASH_P0 73856093 #define HASH_P1 19349663 #define HASH_P2 83492791 #include #include //#include #include #include #ifdef WIN32 #ifndef __MINGW32__ #include #define STDEXT stdext #else #include #define STDEXT __gnu_cxx #endif #else #include #define STDEXT __gnu_cxx #endif namespace vcg{ /** Spatial Hash Table Spatial Hashing as described in "Optimized Spatial Hashing for Coll ision Detection of Deformable Objects", Matthias Teschner and Bruno Heidelberger and Matthias Muller and Danat Pomeranets and Markus Gross */ template < typename OBJTYPE,class FLT=double> class SpatialHashTable:public BasicGrid { public: typedef OBJTYPE ObjType; typedef ObjType* ObjPtr; typedef typename ObjType::ScalarType ScalarType; typedef Point3 CoordType; typedef typename BasicGrid::Box3x Box3x; // typedef typename SpatialHashTable SpatialHashType; typedef SpatialHashTable SpatialHashType; //typedef typename SpatialHashTable GridType; //type of container of pointer to object in a Cell //typedef typename std::pair EntryType ; class EntryType : public std::pair { public: EntryType(ObjType* sim,const int &_tempMark) { this->first=sim; this->second=_tempMark; } ObjType& operator *(){return (*this->first);} }; typedef typename std::vector CellContainerType; typedef typename CellContainerType::iterator IteMap; typedef EntryType* CellIterator; //This Class Identify the cell struct Cell { protected: Point3i cell_n;//cell number public: //elements CellContainerType _entries; Cell() {} Cell(ObjType* sim,Point3i _cell,const int &_tempMark) { _entries.push_back(EntryType(sim,_tempMark)); cell_n=_cell; } ///return the number of elements stored in the cell int Size() {return (int)(_entries.size());} ///find the simplex into the cell bool Find(ObjType* sim,IteMap &I) { for (I=_entries.begin();I<_entries.end();I++) if ((*I).first==sim) return true; return false; } ///update or insert an element into a cell void Update(ObjType* sim, const int & _tempMark) { IteMap I; if (Find(sim,I)) (*I).second=_tempMark; else _entries.push_back(EntryType(sim,_tempMark)); } Point3i CellN() {return cell_n;} bool operator ==(const Cell &h) {return (cell_n==h.CellN());} bool operator !=(const Cell &h) {return ((cell_n!=h.CellN()));} }; // end struct Cell //hash table definition typedef typename STDEXT::hash_multimap Htable; //record of the hash table typedef typename std::pair HRecord; //iterator to the hash table typedef typename Htable::iterator IteHtable; SpatialHashTable(){HashSpace=1000;};//default value for hash_space ~SpatialHashTable(){}; int tempMark; protected: Htable hash_table; ///number of possible hash code [0...HashSpace] int HashSpace; ///number of conflicts created int conflicts; ///insert a new cell void _InsertNewHentry(ObjType* s,Point3i cell) { int h=Hash(cell); hash_table.insert(HRecord(h,Cell(s,cell,tempMark))); } ///return true and return the iterator to the cell if exist bool _IsInHtable(Point3i cell,IteHtable &result) { int h=Hash(cell); int count = (int) hash_table.count(h); if (count==0)///in this case there is no entry for that key return false; else { std::pair p =hash_table.equal_range(h); IteHtable i = p.first; while((i != p.second)&&((*i).second.CellN()!=cell))++i; if (i==p.second)///the scan is terminated and we have not found the right cell { conflicts++; return false; } else ///we have found the right cell { result=i; return true; } } } virtual void _UpdateHMark(ObjType* s){(void)s;} ///insert an element in a specified cell if the cell doesn't exist than ///create it. void _InsertInCell(ObjType* s,Point3i cell) { IteHtable I; if (!_IsInHtable(cell,I)) _InsertNewHentry(s,cell); else///there is the entry specified by the iterator I so update only the temporary mark (*I).second.Update(s,tempMark); } // hashing const int Hash(Point3i p) const { return ((p.V(0)*HASH_P0 ^ p.V(1)*HASH_P1 ^ p.V(2)*HASH_P2)%HashSpace); } public: /////We need some extra space for numerical precision. //template // void SetBBox( const Box3Type & b ) //{ // bbox.Import( b ); // ScalarType t = bbox.Diag()/100.0; // if(t == 0) t = ScalarType(1e20); // <--- Some doubts on this (Cigno 5/1/04) // bbox.Offset(t); // dim = bbox.max - bbox.min; //} vcg::Box3i Add( ObjType* s) { Box3 b; s->GetBBox(b); vcg::Box3i bb; BoxToIBox(b,bb); //then insert all the cell of bb for (int i=bb.min.X();i<=bb.max.X();i++) for (int j=bb.min.Y();j<=bb.max.Y();j++) for (int k=bb.min.Z();k<=bb.max.Z();k++) _InsertInCell(s,vcg::Point3i(i,j,k)); _UpdateHMark(s); return bb; } /// set an empty spatial hash table void InitEmpty(const Box3x &_bbox, vcg::Point3i grid_size) { Box3x b; Box3x &bbox = this->bbox; CoordType &dim = this->dim; Point3i &siz = this->siz; CoordType &voxel = this->voxel; assert(!_bbox.IsNull()); bbox=_bbox; dim = bbox.max - bbox.min; assert((grid_size.V(0)>0)&&(grid_size.V(1)>0)&&(grid_size.V(2)>0)); siz=grid_size; 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 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(_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 ScalarType infl=bbox.Diag()/_size; bbox.min -= CoordType(infl,infl,infl); bbox.max += CoordType(infl,infl,infl); } 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 Point3d & p, CellIterator & first, CellIterator & last ) { IteHtable I; 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 ) { IteHtable I; if (_IsInHtable(_c,I))//if there is the cell then { ///return pointers to first and last element cell elems first = &*(*I).second._entries.begin(); end = &((*I).second._entries.back()) + 1; } else { ///return 2 equals pointers first = 0; end = 0; } } ///return the number of elemnts in the cell and the iterator to the cell ///if the cell exist int numElemCell(Point3i _c,IteHtable &I) { if (_IsInHtable(_c,I)) return ((*I).second.Size()); else return 0; } ///return the number of cell created int CellNumber() {return (hash_table.size());} int Conflicts() {return conflicts;} void Clear() {hash_table.clear();} void SetHashKeySpace(int n) {HashSpace=n;} void UpdateTmark() {tempMark++;} template ObjPtr GetClosest(OBJPOINTDISTFUNCTOR & _getPointDistance, OBJMARKER & _marker, const CoordType & _p, const ScalarType & _maxDist,ScalarType & _minDist, CoordType & _closestPt) { return (vcg::GridClosest(*this,_getPointDistance,_marker, _p,_maxDist,_minDist,_closestPt)); } template 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 (*this,_getPointDistance,_marker,_k,_p,_maxDist,_objectPtrs,_distances,_points)); } template unsigned int GetInSphere(OBJPOINTDISTFUNCTOR & _getPointDistance, OBJMARKER & _marker, const CoordType & _p, const ScalarType & _r, OBJPTRCONTAINER & _objectPtrs, DISTCONTAINER & _distances, POINTCONTAINER & _points) { return(vcg::GridGetInSphere (*this,_getPointDistance,_marker,_p,_r,_objectPtrs,_distances,_points)); } template unsigned int GetInBox(OBJMARKER & _marker, const Box3x _bbox, OBJPTRCONTAINER & _objectPtrs) { return(vcg::GridGetInBox (*this,_marker,_bbox,_objectPtrs)); } template ObjPtr DoRay(OBJRAYISECTFUNCTOR & _rayIntersector, OBJMARKER & _marker, const Ray3 & _ray, const ScalarType & _maxDist, ScalarType & _t) { return(vcg::GridDoRay (*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 { public: typedef typename SpatialHashTable::CoordType CoordType; typedef typename SpatialHashTable::ObjType ObjType; typedef typename SpatialHashTable::ObjPtr ObjPtr; typedef typename SpatialHashTable::Box3x Box3x; typedef typename SpatialHashTable::CellIterator CellIterator; void _UpdateHMark(ObjType* s){ s->HMark() = this->tempMark;} void getInCellUpdated(vcg::Point3i cell,std::vector &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 #undef HASH_P0 #undef HASH_P1 #undef HASH_P2 #endif