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vcglib/vcg/space/index/spatial_hashing.h

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/****************************************************************************
* 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. *
* *
****************************************************************************/
// marco
// added comments
// corrected bad reference in void Grid( const Point3i & _c, CellIterator & first, CellIterator & last )
/****************************************************************************
History
$Log: not supported by cvs2svn $
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 <vcg/space/index/grid_util.h>
#include <vcg/space/index/grid_closest.h>
//#include <map>
#include <vector>
#include <algorithm>
#ifdef WIN32
#ifndef __MINGW32__
#include <hash_map>
#define STDEXT stdext
#else
#include <ext/hash_map>
#define STDEXT __gnu_cxx
#endif
#else
#include <ext/hash_map>
#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<OBJTYPE,FLT>
{
public:
typedef OBJTYPE ObjType;
typedef ObjType* ObjPtr;
typedef typename ObjType::ScalarType ScalarType;
typedef Point3<ScalarType> CoordType;
typedef typename BasicGrid<OBJTYPE, FLT>::Box3x Box3x;
// typedef typename SpatialHashTable<ObjType,FLT> SpatialHashType;
typedef SpatialHashTable SpatialHashType;
//typedef typename SpatialHashTable<ObjType,FLT> GridType;
//type of container of pointer to object in a Cell
//typedef typename std::pair<ObjType*,int> EntryType ;
/* EntryType is the entry data tyep stored into a cell.
* It is composed by:
* - a ObjType* pointer, pointing to the simplex to spatially index
* - an integer (temporal mark ??? ) ???
*/
class EntryType : public std::pair<ObjType*,int>
{
public:
EntryType(ObjType* sim,const int &_tempMark)
{
this->first=sim;
this->second=_tempMark;
}
ObjType& operator *(){return (*this->first);}
};
typedef typename std::vector<EntryType> CellContainerType;
typedef typename CellContainerType::iterator IteMap;
typedef EntryType* CellIterator;
//This Class Identify the cell
struct Cell
{
protected:
Point3i cell_n; // cell index
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
//record of the hash table
typedef typename std::pair<int,Cell> HRecord;
//hash table definition
typedef typename STDEXT::hash_multimap<int,Cell> Htable;
//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;
std::pair<IteHtable, IteHtable> p = hash_table.equal_range(h);
IteHtable i = p.first;
bool found = false;
if ( ((*i).second.CellN() == cell) )
found = true;
else
{
do {
i++;
if ((*i).second.CellN() == cell)
{
found = true;
break;
}
} while (i != p.second);
}
if (!found) /// 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))
{
entry_inserted++;
_InsertNewHentry(s,cell);
}
else///there is the entry specified by the iterator I so update only the temporary mark
{
entry_updated++;
(*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:
int entry_inserted, entry_updated;
/////We need some extra space for numerical precision.
//template <class Box3Type>
// 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<ScalarType> 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[i] is the lenght of the edge i of the cell
// siz[i] is the number of cells in direction i
// dim[i] is the spatial dimension of the grid
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;
entry_inserted = 0;
entry_updated = 0;
int _size = std::distance<OBJITER>(_oBegin,_oEnd);
HashSpace = _size;
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
*
* @param _c is the 3D integer index of the cell [IN]
* @param first is the pointer to the first entry stored into the cell _c
* @param second is the pointer to the last entry stored into the cell _c
* @note an entry is a pair composed by the simplex (e.g., a vertex, a face, ...) indexed by the grid and
* an integer representing a temporal time stamp
* @note the time stamp is not used here, it is used in the dynamic version of the spatial hashing
*/
void Grid( const Point3i & _c, CellIterator & first, CellIterator & last )
{
IteHtable I;
if (_IsInHtable(_c,I))//if there is the cell then
{
// (*I) is the pair<int, cell> corresponding to _c
// (*I).second is the cell
// (*I).second._entries is the vector of simplices stored into the cell
// (*I).second._entries.begin() is the pointer to the first entry
// *(*I).second._entries.begin() is the pointer to the pointer to the first entry
// &*(*I).second._entries.begin() is the address of the pointer to the pointer to the first entry (hooray)
// WARNING : (*I).second._entries.end() does not point to an entry, it is just a marker to end
// of the vector
first = &(*(*I).second._entries.begin());
last= &*((*I).second._entries.end() - 1);
}
else
{ ///return 2 equals pointers
first =&(*(*hash_table.begin()).second._entries.begin());
last = &(*((*hash_table.begin()).second._entries.begin() ));
}
}
///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 <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
#undef HASH_P0
#undef HASH_P1
#undef HASH_P2
#endif
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