656 lines
17 KiB
C++
656 lines
17 KiB
C++
/****************************************************************************
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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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/****************************************************************************
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History
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$Log: not supported by cvs2svn $
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****************************************************************************/
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#ifndef __VCGLIB_UGRID
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#define __VCGLIB_UGRID
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namespace vcg {
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/** Static Uniform Grid
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A spatial search structure for a accessing a container of objects. It is based on a uniform grid overlayed over a protion of space.
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The grid partion the space into cells. Cells contains just pointers to the object that are stored elsewhere.
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The set of object is meant to be static and pointer stable.
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Useful for situation were many space related query are issued over the same dataset (ray tracing, measuring distances between meshes, re-detailing ecc.). Works well for distribution that ar reasonably uniform.
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How to use it:
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*/
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template < class ContainerType >
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class UGrid
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{
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public:
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/** Internal class for keeping the first pointer of object.
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Definizione Link dentro la griglia. Classe di supporto per UGrid.
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*/
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class Link
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{
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public:
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/// Costruttore di default
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inline Link(){};
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/// Costruttore con inizializzatori
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inline Link( ContainerType::iterator const nt, const int ni ){
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assert(ni>=0);
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t = nt;
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i = ni;
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};
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inline bool operator < ( const Link & l ) const{ return i < l.i; }
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inline bool operator <= ( const Link & l ) const{ return i <= l.i; }
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inline bool operator > ( const Link & l ) const{ return i > l.i; }
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inline bool operator >= ( const Link & l ) const{ return i >= l.i; }
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inline bool operator == ( const Link & l ) const{ return i == l.i; }
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inline bool operator != ( const Link & l ) const{ return i != l.i; }
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inline ContainerType::iterator & Elem() {
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return t;
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}
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inline int & Index() {
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return i;
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}
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private:
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/// Puntatore all'elemento T
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ContainerType::iterator t;
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/// Indirizzo del voxel dentro la griglia
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int i;
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};//end class Link
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typedef ContainerType::value_type ObjType;
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typedef ObjType::ScalarType ScalarType;
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typedef Point3<ScalarType> Point3x;
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typedef Box3<ScalarType> Box3x;
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typedef Line3<ScalarType> Line3x;
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Box3x bbox;
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Point3x dim; /// Dimensione spaziale (lunghezza lati) del bbox
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Point3i siz; /// Dimensioni griglia in celle
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Point3x voxel; /// Dimensioni di una cella
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/// Insieme di tutti i links
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vector<Link> links;
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/// Griglia vera e propria
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vector<Link *> grid;
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/// Dato un punto, ritorna la cella che lo contiene
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inline Link ** Grid( const Point3d & p )
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{
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int x = int( (p[0]-bbox.min[0])/voxel[0] );
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int y = int( (p[1]-bbox.min[1])/voxel[1] );
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int z = int( (p[2]-bbox.min[2])/voxel[2] );
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#ifndef NDEBUG
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if ( x<0 || x>=siz[0] || y<0 || y>=siz[1] || z<0 || z>=siz[2] )
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return NULL;
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else
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#endif
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return grid.begin() + ( x+siz[0]*(y+siz[1]*z) );
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}
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/// Date le coordinate ritorna la cella
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inline Link ** Grid( const int x, const int y, const int z )
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{
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#ifndef NDEBUG
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if ( x<0 || x>=siz[0] || y<0 || y>=siz[1] || z<0 || z>=siz[2] )
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assert(0);
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//return NULL;
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else
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#endif
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assert(x+siz[0]*(y+siz[1]*z<grid.size()));
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return &*grid.begin() + ( x+siz[0]*(y+siz[1]*z) );
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}
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void Grid( const Point3d & p, Link * & first, Link * & last )
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{
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Link ** g = Grid(s);
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first = *g;
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last = *(g+1);
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}
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void Grid( const int x, const int y, const int z, Link * & first, Link * & last )
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{
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Link ** g = Grid(x,y,z);
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first = *g;
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last = *(g+1);
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}
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/// Setta il bounding box della griglia
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void SetBBox( const Box3x & b )
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{
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bbox = b;
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dim = b.max - b.min;
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}
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void SetSafeBBox( const Box3x & b )
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{
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Box3x btmp=b;
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btmp.InflateFix(0.01);
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bbox = btmp;
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dim = bbox.max - bbox.min;
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}
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/// Dato un punto 3d ritorna l'indice del box corrispondente
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inline void PToIP(const Point3x & p, Point3i &pi ) const
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{
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Point3x t = p - bbox.min;
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pi[0] = int( t[0]/voxel[0] );
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pi[1] = int( t[1]/voxel[1] );
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pi[2] = int( t[2]/voxel[2] );
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}
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/// Dato un box reale ritorna gli indici dei voxel compresi dentro un ibox
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void BoxToIBox( const Box3x & b, Box3i & ib ) const
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{
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PToIP(b.min,ib.min);
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PToIP(b.max,ib.max);
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}
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#ifdef MONITOR_GRID
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void ShowRayCastingStats() {
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if (n_rays>0) {
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printf("\n%d rays (%f faces in %f voxel per ray)\n",
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n_rays,
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double(n_traversed_elem)/n_rays,
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double(n_traversed_voxel)/n_rays);
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printf("HIT: %d rays (%d%%) (%f faces in %f voxel per ray)\n",
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n_rays_hit,
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(n_rays_hit*100)/n_rays,
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double(n_traversed_elem_hit)/n_rays_hit,
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double(n_traversed_voxel_hit)/n_rays_hit);
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}
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}
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#endif
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void ShowStats(FILE *fp)
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{
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// Conto le entry
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int nentry = 0;
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Hist H;
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H.SetRange(0,1000,1000);
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int pg;
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for(pg=0;pg<grid.size()-1;++pg)
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if( grid[pg]!=grid[pg+1] )
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{
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++nentry;
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H.Add(grid[pg+1]-grid[pg]);
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}
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fprintf(fp,"Uniform Grid: %d x %d x %d (%d voxels), %.1f%% full, %d links \nNon empty Cell Occupancy Distribution Avg: %f (%4.0f %4.0f %4.0f) \n",
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siz[0],siz[1],siz[2],grid.size()-1,
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double(nentry)*100.0/(grid.size()-1),links.size(),H.Avg(),H.Percentile(.25),H.Percentile(.5),H.Percentile(.75)
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);
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}
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void SlicedPPM( const char * filename )
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{
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xstring basename=filename;
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xstring name;
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int ix,iy,iz;
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for(iz=0;iz<siz[2];++iz)
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{
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name.format("%s%03i.ppm",filename,iz);
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FILE * fp = fopen(name,"wb");
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fprintf(fp,
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"P6\n"
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"%d %d\n"
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"255\n"
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,siz[0]
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,siz[1]
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);
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for(ix=0;ix<siz[0];++ix)
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{
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for(iy=0;iy<siz[1];++iy)
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{
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Link ** ii= Grid(ix,iy,iz);
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if( *ii != *(ii+1) )
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{
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unsigned char c = 255;
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fwrite(&c,1,1,fp);
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fwrite(&c,1,1,fp);
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fwrite(&c,1,1,fp);
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}
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else
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{
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unsigned char c = 0;
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fwrite(&c,1,1,fp);
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fwrite(&c,1,1,fp);
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fwrite(&c,1,1,fp);
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}
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}
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}
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fclose(fp);
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}
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}
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void PPM( const char * filename )
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{
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int ix,iy,iz;
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FILE * fp = fopen(filename,"wb");
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fprintf(fp,
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"P6\n"
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"%d %d\n"
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"255\n"
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,(siz[1]+1)*siz[0]
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,siz[2]
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);
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for(iz=0;iz<siz[2];++iz)
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for(ix=0;ix<siz[0];++ix)
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{
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for(iy=0;iy<siz[1];++iy)
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{
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int i = ix+siz[0]*(iy+siz[1]*iz);
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if( grid[i]!=grid[i+1] )
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{
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unsigned char c = 255;
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fwrite(&c,1,1,fp);
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fwrite(&c,1,1,fp);
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fwrite(&c,1,1,fp);
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}
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else
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{
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unsigned char c = 0;
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fwrite(&c,1,1,fp);
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fwrite(&c,1,1,fp);
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fwrite(&c,1,1,fp);
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}
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}
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{
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unsigned char c = 0;
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fwrite(&c,1,1,fp);
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fwrite(&c,1,1,fp);
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c = 255;
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fwrite(&c,1,1,fp);
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}
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}
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fclose(fp);
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}
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/** Returns the closest posistion of a point p and its distance
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@param p a 3d point
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@return The closest element
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*/
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T * GetClosest( const Point3x & p, ScalarType & min_dist, Point3x & res)
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{
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ScalarType dx = ( (p[0]-bbox.min[0])/voxel[0] );
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ScalarType dy = ( (p[1]-bbox.min[1])/voxel[1] );
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ScalarType dz = ( (p[2]-bbox.min[2])/voxel[2] );
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int ix = int( dx );
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int iy = int( dy );
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int iz = int( dz );
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double voxel_min=voxel[0];
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if (voxel_min<voxel[1]) voxel_min=voxel[1];
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if (voxel_min<voxel[2]) voxel_min=voxel[2];
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ScalarType radius=(dx-ScalarType(ix));
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if (radius>0.5) radius=(1.0-radius); radius*=voxel[0];
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/*ScalarType radio_if[6];
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radio_if[0]= (dx-double(ix) )*voxel[0] ;
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radio_if[1]= (dy-double(iy) )*voxel[1] ;
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radio_if[2]= (dz-double(iz) )*voxel[2] ;
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radio_if[3]= (1.0+double(ix)-dx)*voxel[0] ;
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radio_if[4]= (1.0+double(iy)-dy)*voxel[1] ;
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radio_if[5]= (1.0+double(iz)-dz)*voxel[2] ;*/
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ScalarType
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tmp=dy-ScalarType(iy); if (tmp>0.5) tmp=1.0-tmp; tmp*=voxel[1]; if (radius>tmp) radius=tmp;
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tmp=dz-ScalarType(iz); if (tmp>0.5) tmp=1.0-tmp; tmp*=voxel[2]; if (radius>tmp) radius=tmp;
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Point3x t_res;
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//ScalarType min_dist=1e10;
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T* winner=NULL;
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Link *first, *last, *l;
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if ((ix>=0) && (iy>=0) && (iz>=0) && (ix<siz[0]) && (iy<siz[1]) && (iz<siz[2])) {
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Grid( ix, iy, iz, first, last );
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for(l=first;l!=last;++l)
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{
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if (l->Elem()->Dist(p,min_dist,t_res)) {
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winner=&*(l->Elem());
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res=t_res;
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}
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};
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};
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//return winner;
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Point3i done_min=Point3i(ix,iy,iz), done_max=Point3i(ix,iy,iz);
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//printf(".");
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while (min_dist>radius) {
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//if (dy-ScalarType(iy))
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done_min[0]--; if (done_min[0]<0) done_min[0]=0;
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done_min[1]--; if (done_min[1]<0) done_min[1]=0;
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done_min[2]--; if (done_min[2]<0) done_min[2]=0;
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done_max[0]++; if (done_max[0]>=siz[0]-1) done_max[0]=siz[0]-1;
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done_max[1]++; if (done_max[1]>=siz[1]-1) done_max[1]=siz[1]-1;
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done_max[2]++; if (done_max[2]>=siz[2]-1) done_max[2]=siz[2]-1;
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radius+=voxel_min;
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//printf("+");
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for (ix=done_min[0]; ix<=done_max[0]; ix++)
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for (iy=done_min[1]; iy<=done_max[1]; iy++)
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for (iz=done_min[2]; iz<=done_max[2]; iz++)
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{
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Grid( ix, iy, iz, first, last );
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for(l=first;l!=last;++l)
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{
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if (l->Elem()->Dist(p,min_dist,t_res)) {
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winner=&*(l->Elem());
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res=t_res;
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};
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};
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}
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};
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return winner;
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};
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T * DoRay( Line3x & ray, double & dist , double &p_a, double &p_b)
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{
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int ix,iy,iz;
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double gx,gy,gz;
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if(!bbox.IsIn(ray.orig))
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{
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//printf(".");
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Point3x ip;
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if(Intersection(bbox,ray,ip))
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{
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ix = int( (ip.x() - bbox.min.x())/voxel.x() );
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iy = int( (ip.y() - bbox.min.y())/voxel.y() );
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iz = int( (ip.z() - bbox.min.z())/voxel.z() );
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if(ix<0) ix = 0;
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if(iy<0) iy = 0;
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if(iz<0) iz = 0;
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if(ix>=siz[0]) ix = siz[0]-1;
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if(iy>=siz[1]) iy = siz[1]-1;
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if(iz>=siz[2]) iz = siz[2]-1;
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}
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else
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return 0;
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}
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else
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{
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/* Indici di voxel */
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ix = int( (ray.orig.x() - bbox.min.x())/voxel.x() );
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iy = int( (ray.orig.y() - bbox.min.y())/voxel.y() );
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iz = int( (ray.orig.z() - bbox.min.z())/voxel.z() );
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}
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/* Punti goal */
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if(ray.dire.x()>0.0) gx=double(ix+1)*voxel.x()+bbox.min.x();
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else gx=double(ix )*voxel.x()+bbox.min.x();
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if(ray.dire.y()>0.0) gy=double(iy+1)*voxel.y()+bbox.min.y();
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else gy=double(iy )*voxel.y()+bbox.min.y();
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if(ray.dire.z()>0.0) gz=double(iz+1)*voxel.z()+bbox.min.z();
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else gz=double( iz )*voxel.z()+bbox.min.z();
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const ScalarType MAXFLOAT = 1e50;
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const ScalarType EPSILON = 1e-50;
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/* Parametri della linea */
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double tx,ty,tz;
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if( fabs(ray.dire.x())>EPSILON ) tx = (gx-ray.orig.x())/ray.dire.x();
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else tx = MAXFLOAT;
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if( fabs(ray.dire.y())>EPSILON ) ty = (gy-ray.orig.y())/ray.dire.y();
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else ty = MAXFLOAT;
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if( fabs(ray.dire.z())>EPSILON ) tz = (gz-ray.orig.z())/ray.dire.z();
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else tz = MAXFLOAT;
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T * bestf = NULL;
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#ifdef MONITOR_GRID
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int n_traversed_voxel0=0,n_traversed_elem0=0;
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n_rays++;
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#endif
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for(;;)
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{
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Link *first, *last, *l;
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Grid( ix, iy, iz, first, last );
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#ifdef MONITOR_GRID
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n_traversed_voxel++;n_traversed_voxel0++;
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#endif
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for(l=first;l!=last;++l)
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{
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#ifdef MONITOR_GRID
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n_traversed_elem++;n_traversed_elem0++;
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#endif
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//return &(*(l->Elem()));
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if(l->Elem()->Intersect(ray,dist, p_a, p_b)) {
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#ifdef MONITOR_GRID
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n_traversed_voxel_hit+=n_traversed_voxel0;
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n_traversed_elem_hit+=n_traversed_elem0;
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n_rays_hit++;
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#endif
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return &(*(l->Elem()));
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//{
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// bestf = &(*(l->Elem())); break;
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//}
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}
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//if(bestf) break;
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}
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if( tx<ty && tx<tz ){
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if(ray.dire.x()<0.0) { gx -= voxel.x(); --ix; if(ix<0 ) break; }
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else { gx += voxel.x(); ++ix; if(ix>=siz[0]) break; }
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tx = (gx-ray.orig.x())/ray.dire.x();
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} else if( ty<tz ){
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if(ray.dire.y()<0.0) { gy -= voxel.y(); --iy; if(iy<0 ) break; }
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else { gy += voxel.y(); ++iy; if(iy>=siz[1]) break; }
|
|
ty = (gy-ray.orig.y())/ray.dire.y();
|
|
} else {
|
|
if(ray.dire.z()<0.0) { gz -= voxel.z(); --iz; if(iz<0 ) break; }
|
|
else { gz += voxel.z(); ++iz; if(iz>=siz[2]) break; }
|
|
tz = (gz-ray.orig.z())/ray.dire.z();
|
|
}
|
|
}
|
|
return bestf;
|
|
}
|
|
|
|
|
|
/// Inserisce una mesh nella griglia. Nota: prima bisogna
|
|
/// chiamare SetBBox che setta dim in maniera corretta
|
|
void Set( S & s )
|
|
{
|
|
Set(s,s.size());
|
|
}
|
|
|
|
|
|
/// Inserisce una mesh nella griglia. Nota: prima bisogna
|
|
/// chiamare SetBBox che setta dim in maniera corretta
|
|
void Set( S & s,int _size )
|
|
{
|
|
Point3i _siz;
|
|
|
|
BestDim( _size, dim, _siz );
|
|
Set(s,_siz);
|
|
}
|
|
void Set(S & s, Point3i _siz)
|
|
{
|
|
siz=_siz;
|
|
// Calcola la dimensione della griglia
|
|
voxel[0] = dim[0]/siz[0];
|
|
voxel[1] = dim[1]/siz[1];
|
|
voxel[2] = dim[2]/siz[2];
|
|
|
|
// "Alloca" la griglia: +1 per la sentinella
|
|
grid.resize( siz[0]*siz[1]*siz[2]+1 );
|
|
|
|
// Ciclo inserimento dei tetraedri: creazione link
|
|
links.clear();
|
|
S::iterator pt;
|
|
for(pt=s.begin(); pt!=s.end(); ++pt)
|
|
{
|
|
Box3x bb; // Boundig box del tetraedro corrente
|
|
(*pt).GetBBox(bb);
|
|
bb.Intersect(bbox);
|
|
if(! bb.IsNull() )
|
|
{
|
|
Box3i ib; // Boundig box in voxels
|
|
BoxToIBox( bb,ib );
|
|
/*ib.min-=Point3i(1,1,1);
|
|
ib.max+=Point3i(1,1,1);
|
|
if (ib.min[0]<0) ib.min[0]=0;
|
|
if (ib.min[1]<0) ib.min[1]=0;
|
|
if (ib.min[2]<0) ib.min[2]=0;
|
|
if (ib.max[0]>siz[0]) ib.max[0]=siz[0];
|
|
if (ib.max[1]>siz[1]) ib.max[1]=siz[1];
|
|
if (ib.max[2]>siz[2]) ib.max[2]=siz[2];*/
|
|
|
|
int x,y,z;
|
|
for(z=ib.min[2];z<=ib.max[2];++z)
|
|
{
|
|
int bz = z*siz[1];
|
|
for(y=ib.min[1];y<=ib.max[1];++y)
|
|
{
|
|
int by = (y+bz)*siz[0];
|
|
for(x=ib.min[0];x<=ib.max[0];++x)
|
|
// Inserire calcolo cella corrente
|
|
// if( pt->Intersect( ... )
|
|
links.push_back( Link(pt,by+x) );
|
|
}
|
|
}
|
|
}
|
|
}
|
|
// Push della sentinella
|
|
links.push_back( Link(NULL,grid.size()-1) );
|
|
|
|
// Ordinamento dei links
|
|
sort( links.begin(), links.end() );
|
|
|
|
// Creazione puntatori ai links
|
|
vector<Link>::iterator pl;
|
|
int pg;
|
|
pl = links.begin();
|
|
for(pg=0;pg<grid.size();++pg)
|
|
{
|
|
assert(pl!=links.end());
|
|
|
|
grid[pg] = &*pl;
|
|
while( pg == pl->Index() ) // Trovato inizio
|
|
{
|
|
++pl; // Ricerca prossimo blocco
|
|
if(pl==links.end())
|
|
break;
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
/** Calcolo dimensioni griglia.
|
|
Calcola la dimensione della griglia in funzione
|
|
della ratio del bounding box e del numero di elementi
|
|
*/
|
|
static void BestDim( const int elems, const Point3x & size, Point3i & dim )
|
|
{
|
|
const int mincells = 27; // Numero minimo di celle
|
|
const double GFactor = 1.0; // GridEntry = NumElem*GFactor
|
|
double diag = size.Norm(); // Diagonale del box
|
|
double eps = diag*1e-4; // Fattore di tolleranza
|
|
|
|
assert(elems>0);
|
|
assert(size[0]>=0.0);
|
|
assert(size[1]>=0.0);
|
|
assert(size[2]>=0.0);
|
|
|
|
int ncell = int(elems*GFactor); // Calcolo numero di voxel
|
|
if(ncell<mincells)
|
|
ncell = mincells;
|
|
|
|
dim[0] = 1;
|
|
dim[1] = 1;
|
|
dim[2] = 1;
|
|
|
|
if(size[0]>eps)
|
|
{
|
|
if(size[1]>eps)
|
|
{
|
|
if(size[2]>eps)
|
|
{
|
|
double k = pow(ncell/(size[0]*size[1]*size[2]),1.0/3.0);
|
|
dim[0] = int(size[0] * k);
|
|
dim[1] = int(size[1] * k);
|
|
dim[2] = int(size[2] * k);
|
|
}
|
|
else
|
|
{
|
|
dim[0] = int(::sqrt(ncell*size[0]/size[1]));
|
|
dim[1] = int(::sqrt(ncell*size[1]/size[0]));
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if(size[2]>eps)
|
|
{
|
|
dim[0] = int(::sqrt(ncell*size[0]/size[2]));
|
|
dim[2] = int(::sqrt(ncell*size[2]/size[0]));
|
|
}
|
|
else
|
|
dim[0] = int(ncell);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if(size[1]>eps)
|
|
{
|
|
if(size[2]>eps)
|
|
{
|
|
dim[1] = int(::sqrt(ncell*size[1]/size[2]));
|
|
dim[2] = int(::sqrt(ncell*size[2]/size[1]));
|
|
}
|
|
else
|
|
dim[1] = int(ncell);
|
|
}
|
|
else if(size[2]>eps)
|
|
dim[2] = int(ncell);
|
|
}
|
|
}
|
|
|
|
|
|
int MemUsed()
|
|
{
|
|
return sizeof(UGrid)+ sizeof(Link)*links.size() + sizeof(Link *) * grid.size();
|
|
}
|
|
}; //end class UGrid
|
|
|
|
} // end namespace
|
|
|
|
#endif
|