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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. *
* *
****************************************************************************/
#ifndef VCGLIB_SPATIAL_HASHING
#define VCGLIB_SPATIAL_HASHING
#define HASH_P0 73856093u
#define HASH_P1 19349663u
#define HASH_P2 83492791u
#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{
// hashing function
struct HashFunctor : public unary_function<Point3i, size_t>
{
size_t operator()(const Point3i &p) const
{
return size_t(p.V(0))*HASH_P0 ^ size_t(p.V(1))*HASH_P1 ^ size_t(p.V(2))*HASH_P2;
}
};
/** 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<FLT>, SpatialIndex<ObjType,FLT>
{
public:
typedef SpatialHashTable SpatialHashType;
typedef ObjType* ObjPtr;
typedef typename ObjType::ScalarType ScalarType;
typedef Point3<ScalarType> CoordType;
typedef typename BasicGrid<FLT>::Box3x Box3x;
// Hash table definition
// the hash index directly the grid structure.
// We use a MultiMap because we need to store many object (faces) inside each cell of the grid.
typedef typename STDEXT::hash_multimap<Point3i, ObjType *, HashFunctor> HashType;
typedef typename HashType::iterator HashIterator;
HashType hash_table;
std::vector<Point3i> AllocatedCells;
// Class to abstract a HashIterator (that stores also the key,
// while the interface of the generic spatial indexing need only simple object (face) pointers.
struct CellIterator
{
CellIterator(){}
HashIterator t;
ObjPtr &operator *(){return t->second;}
bool operator != (const CellIterator & p) {return t!=p.t;}
void operator ++() {t++;}
};
protected:
///insert a new cell
void InsertObject(ObjType* s,Point3i cell)
{
if(hash_table.count(cell)==0) AllocatedCells.push_back(cell);
hash_table.insert(typename HashType::value_type(cell, s));
}
public:
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++)
InsertObject(s,vcg::Point3i(i,j,k));
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 <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;
int _size=(int)std::distance<OBJITER>(_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 )
{
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 )
{
pair<HashIterator,HashIterator> CellRange = hash_table.equal_range(_c);
first.t=CellRange.first;
end.t=CellRange.second;
}
///return the number of cell created
int CellNumber()
{return (hash_table.size());}
void Clear()
{
hash_table.clear();
AllocatedCells.clear();
}
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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