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vcglib/vcg/space/index/grid_closest.h

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/****************************************************************************
* VCGLib o o *
* Visual and Computer Graphics Library o o *
* _ O _ *
* Copyright(C) 2004-2016 \/)\/ *
* 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. *
* *
****************************************************************************/
///** Returns the closest posistion of a point _p and its distance
//@param _p a 3d point
//@param _maxDist maximum distance not to search beyond.
//@param _getPointDistance (templated type) a functor object used to calculate distance from a grid object to the point _p.
//@param _minDist the returned closest distance
//@param _closestPt the returned closest point
//@return The closest element
//*/
///*
// A DISTFUNCT object must implement an operator () with signature:
// bool operator () (const ObjType& obj, const CoordType & _p, ScalarType & min_dist, CoordType & _closestPt);
//*/
#ifndef __VCGLIB_GRID_CLOSEST
#define __VCGLIB_GRID_CLOSEST
#include <vcg/space/index/space_iterators.h>
namespace vcg{
template <class SPATIAL_INDEX, class OBJPOINTDISTFUNCTOR, class OBJMARKER>
typename SPATIAL_INDEX::ObjPtr GridClosest(SPATIAL_INDEX &Si,
OBJPOINTDISTFUNCTOR _getPointDistance,
OBJMARKER & _marker,
const typename OBJPOINTDISTFUNCTOR::QueryType & _p_obj,
const typename SPATIAL_INDEX::ScalarType & _maxDist,
typename SPATIAL_INDEX::ScalarType & _minDist,
typename SPATIAL_INDEX:: CoordType &_closestPt)
{
typedef typename SPATIAL_INDEX::ObjPtr ObjPtr;
typedef typename SPATIAL_INDEX::CoordType CoordType;
typedef typename SPATIAL_INDEX::ScalarType ScalarType;
typedef typename SPATIAL_INDEX::Box3x Box3x;
Point3<ScalarType> _p = OBJPOINTDISTFUNCTOR::Pos(_p_obj);
// Initialize min_dist with _maxDist to exploit early rejection test.
_minDist = _maxDist;
ObjPtr winner=NULL;
_marker.UnMarkAll();
ScalarType newradius = Si.voxel.Norm();
ScalarType radius;
Box3i iboxdone,iboxtodo;
CoordType t_res;
typename SPATIAL_INDEX::CellIterator first,last,l;
if(Si.bbox.IsInEx(_p))
{
Point3i _ip;
Si.PToIP(_p,_ip);
Si.Grid( _ip[0],_ip[1],_ip[2], first, last );
for(l=first;l!=last;++l)
{
ObjPtr elem=&(**l);
if (!elem->IsD())
{
if (_getPointDistance((**l), _p_obj,_minDist, t_res)) // <-- NEW: use of distance functor
{
winner=elem;
_closestPt=t_res;
newradius=_minDist; //
}
_marker.Mark(elem);
}
}
iboxdone=Box3i(_ip,_ip);
}
int ix,iy,iz;
Box3i ibox(Point3i(0,0,0),Si.siz-Point3i(1,1,1));
do
{
radius=newradius;
Box3x boxtodo=Box3x(_p,radius);
//boxtodo.Intersect(Si.bbox);
Si.BoxToIBox(boxtodo, iboxtodo);
iboxtodo.Intersect(ibox);
if(!boxtodo.IsNull())
{
for (ix=iboxtodo.min[0]; ix<=iboxtodo.max[0]; ix++)
for (iy=iboxtodo.min[1]; iy<=iboxtodo.max[1]; iy++)
for (iz=iboxtodo.min[2]; iz<=iboxtodo.max[2]; iz++)
if(ix<iboxdone.min[0] || ix>iboxdone.max[0] || // this test is to avoid to re-process already analyzed cells.
iy<iboxdone.min[1] || iy>iboxdone.max[1] ||
iz<iboxdone.min[2] || iz>iboxdone.max[2] )
{
Si.Grid( ix, iy, iz, first, last );
for(l=first;l!=last;++l) if (!(**l).IsD())
{
ObjPtr elem=&(**l);
if (!elem->IsD())
{
if( ! _marker.IsMarked(elem))
{
if (_getPointDistance((**l), _p_obj, _minDist, t_res))
{
winner=elem;
_closestPt=t_res;
};
_marker.Mark(elem);
}
}
}
}
}
if(!winner) newradius=radius+Si.voxel.Norm();
else newradius = _minDist;
iboxdone=iboxtodo;
}
while (_minDist>radius);
return winner;
}
template <class SPATIALINDEXING,class OBJPOINTDISTFUNCTOR, class OBJMARKER,
class OBJPTRCONTAINER, class DISTCONTAINER, class POINTCONTAINER>
unsigned int GridGetKClosest(SPATIALINDEXING &_Si,
OBJPOINTDISTFUNCTOR & _getPointDistance,
OBJMARKER & _marker,
const unsigned int _k,
const typename SPATIALINDEXING::CoordType & _p,
const typename SPATIALINDEXING::ScalarType & _maxDist,
OBJPTRCONTAINER & _objectPtrs,
DISTCONTAINER & _distances,
POINTCONTAINER & _points)
{
typedef vcg::ClosestIterator<SPATIALINDEXING,OBJPOINTDISTFUNCTOR,OBJMARKER> ClosestIteratorType;
ClosestIteratorType Cli=ClosestIteratorType(_Si,_getPointDistance);
Cli.SetMarker(_marker);
Cli.Init(_p,_maxDist);
unsigned int i=0;
_objectPtrs.clear();
_distances.clear();
_points.clear();
while ((!Cli.End())&&(i<_k))
{
_objectPtrs.push_back(&(*Cli));
_distances.push_back(Cli.Dist());
_points.push_back(Cli.NearestPoint());
++Cli;
i++;
}
return (i);
}
template <class SPATIALINDEXING,class OBJRAYISECTFUNCTOR, class OBJMARKER>
typename SPATIALINDEXING::ObjPtr GridDoRay(SPATIALINDEXING &_Si,
OBJRAYISECTFUNCTOR &_rayIntersector,
OBJMARKER &_marker,
const Ray3<typename SPATIALINDEXING::ScalarType> & _ray,
const typename SPATIALINDEXING::ScalarType & _maxDist,
typename SPATIALINDEXING::ScalarType & _t)
{
typedef vcg::RayIterator<SPATIALINDEXING,OBJRAYISECTFUNCTOR,OBJMARKER> RayIteratorType;
RayIteratorType RayIte=RayIteratorType(_Si,_rayIntersector,_maxDist);
RayIte.SetMarker(_marker);
RayIte.Init(_ray);
if (!RayIte.End())
{
_t=RayIte.Dist();
return(&(*RayIte));
}
return 0;
}
template <class SPATIALINDEXING, class OBJPOINTDISTFUNCTOR, class OBJMARKER, class OBJPTRCONTAINER, class DISTCONTAINER, class POINTCONTAINER>
unsigned int GridGetInSphere(SPATIALINDEXING &_Si,
OBJPOINTDISTFUNCTOR & _getPointDistance,
OBJMARKER & _marker,
const typename SPATIALINDEXING::CoordType & _p,
const typename SPATIALINDEXING::ScalarType & _r,
OBJPTRCONTAINER & _objectPtrs,
DISTCONTAINER & _distances,
POINTCONTAINER & _points)
{
typedef vcg::ClosestIterator<SPATIALINDEXING,OBJPOINTDISTFUNCTOR,OBJMARKER> ClosestIteratorType;
ClosestIteratorType Cli=ClosestIteratorType(_Si,_getPointDistance);
Cli.SetMarker(_marker);
Cli.Init(_p,_r);
_objectPtrs.clear();
_distances.clear();
_points.clear();
while (!Cli.End())
{
_objectPtrs.push_back(&(*Cli));
_distances.push_back(Cli.Dist());
_points.push_back(Cli.NearestPoint());
++Cli;
}
return ((int)_objectPtrs.size());
}
template <class SPATIALINDEXING,class OBJMARKER, class OBJPTRCONTAINER>
unsigned int GridGetInBox(SPATIALINDEXING &_Si,
OBJMARKER & _marker,
const vcg::Box3<typename SPATIALINDEXING::ScalarType> &_bbox,
OBJPTRCONTAINER & _objectPtrs)
{
typename SPATIALINDEXING::CellIterator first,last,l;
_objectPtrs.clear();
vcg::Box3i ibbox;
Box3i Si_ibox(Point3i(0,0,0),_Si.siz-Point3i(1,1,1));
_Si.BoxToIBox(_bbox, ibbox);
ibbox.Intersect(Si_ibox);
_marker.UnMarkAll();
if (ibbox.IsNull())
return 0;
else
{
int ix,iy,iz;
for (ix=ibbox.min[0]; ix<=ibbox.max[0]; ix++)
for (iy=ibbox.min[1]; iy<=ibbox.max[1]; iy++)
for (iz=ibbox.min[2]; iz<=ibbox.max[2]; iz++)
{
_Si.Grid( ix, iy, iz, first, last );
for(l=first;l!=last;++l)
if (!(**l).IsD())
{
typename SPATIALINDEXING::ObjPtr elem=&(**l);
vcg::Box3<typename SPATIALINDEXING::ScalarType> box_elem;
elem->GetBBox(box_elem);
if(( ! _marker.IsMarked(elem))&&(box_elem.Collide(_bbox))){
_objectPtrs.push_back(elem);
_marker.Mark(elem);
}
}
}
return (static_cast<unsigned int>(_objectPtrs.size()));
}
}
}//end namespace vcg
#endif
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