Added new data structure + build algorithm that places triangles into leaves
without being shared, but with varying the boundaries of leaves so that they may overlap.
This commit is contained in:
Robert Osfield
parent
3f025bec5d
commit
178d6ff423
@ -1,10 +1,12 @@
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SET(TARGET_SRC
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fixeddivision.cpp
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variabledivision.cpp
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osgkdtree.cpp
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)
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SET(TARGET_H
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fixeddivision.h
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variabledivision.h
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)
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@ -38,6 +38,7 @@
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#include <osgSim/ElevationSlice>
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#include "fixeddivision.h"
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#include "variabledivision.h"
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int main(int argc, char **argv)
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@ -89,6 +90,22 @@ int main(int argc, char **argv)
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}
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else
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{
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variabledivision::KDTreeBuilder builder;
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builder._maxNumLevels = maxNumLevels;
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builder._targetNumTrianglesPerLeaf = targetNumIndicesPerLeaf;
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builder._processTriangles = processTriangles;
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osg::Timer_t start = osg::Timer::instance()->tick();
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scene->accept(builder);
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osg::Timer_t end = osg::Timer::instance()->tick();
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double time = osg::Timer::instance()->delta_s(start,end);
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osg::notify(osg::NOTICE)<<"Time to build "<<time*1000.0<<"ms "<<builder._numVerticesProcessed<<std::endl;
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osg::notify(osg::NOTICE)<<"build speed "<<(double(builder._numVerticesProcessed)/time)/1000000.0<<"M vertices per second"<<std::endl;
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}
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return 0;
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308
examples/osgkdtree/variabledivision.cpp
Normal file
308
examples/osgkdtree/variabledivision.cpp
Normal file
@ -0,0 +1,308 @@
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/* OpenSceneGraph example, osgintersection.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include "variabledivision.h"
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namespace variabledivision
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{
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struct TriangleIndicesCollector
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{
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TriangleIndicesCollector():
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_kdTree(0)
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{
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}
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inline void operator () (unsigned int p1, unsigned int p2, unsigned int p3)
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{
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unsigned int i = _kdTree->_triangles.size();
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_kdTree->_triangles.push_back(Triangle(p1,p2,p3));
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osg::BoundingBox bb;
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bb.expandBy((*(_kdTree->_vertices))[p1]);
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bb.expandBy((*(_kdTree->_vertices))[p2]);
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bb.expandBy((*(_kdTree->_vertices))[p3]);
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_kdTree->_boundingBoxes.push_back(bb);
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_kdTree->_centers.push_back(bb.center());
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_kdTree->_primitiveIndices.push_back(i);
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}
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KDTree* _kdTree;
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};
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KDTree* KDTreeBuilder::createKDTree(osg::Geometry* geometry)
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{
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#ifdef VERBOSE_OUTPUT
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osg::notify(osg::NOTICE)<<"osg::KDTreeBuilder::createKDTree()"<<std::endl;
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#endif
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osg::Vec3Array* vertices = dynamic_cast<osg::Vec3Array*>(geometry->getVertexArray());
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if (!vertices) return 0;
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if (vertices->size() <= _targetNumTrianglesPerLeaf) return 0;
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osg::ref_ptr<KDTree> kdTree = new KDTree;
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kdTree->_geometry = geometry;
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kdTree->_bb = kdTree->_geometry->getBound();
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kdTree->_vertices = vertices;
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unsigned int estimatedSize = (unsigned int)(2.0*float(vertices->size())/float(_targetNumTrianglesPerLeaf));
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#ifdef VERBOSE_OUTPUT
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osg::notify(osg::NOTICE)<<"kdTree->_kdNodes.reserve()="<<estimatedSize<<std::endl<<std::endl;
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#endif
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kdTree->_kdNodes.reserve(estimatedSize);
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kdTree->_kdLeaves.reserve(estimatedSize);
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computeDivisions(*kdTree);
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_numVerticesProcessed += vertices->size();
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unsigned int estimatedNumTriangles = vertices->size()*2;
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kdTree->_primitiveIndices.reserve(estimatedNumTriangles);
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kdTree->_boundingBoxes.reserve(estimatedNumTriangles);
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kdTree->_triangles.reserve(estimatedNumTriangles);
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kdTree->_centers.reserve(estimatedNumTriangles);
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osg::TriangleIndexFunctor<TriangleIndicesCollector> collectTriangleIndices;
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collectTriangleIndices._kdTree = kdTree.get();
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geometry->accept(collectTriangleIndices);
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kdTree->_primitiveIndices.reserve(vertices->size());
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KDLeaf leaf(0, kdTree->_primitiveIndices.size());
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int leafNum = kdTree->addLeaf(leaf);
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osg::BoundingBox bb = kdTree->_bb;
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int nodeNum = divide(*kdTree, bb, leafNum, 0);
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#ifdef VERBOSE_OUTPUT
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osg::notify(osg::NOTICE)<<"Root nodeNum="<<nodeNum<<std::endl;
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#endif
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#ifdef VERBOSE_OUTPUT
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KDTreeTraverser traverser;
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traverser.traverse(*kdTree);
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osg::notify(osg::NOTICE)<<"Final kdTree->_kdNodes.size()="<<kdTree->_kdNodes.size()<<std::endl;
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osg::notify(osg::NOTICE)<<"Final kdTree->_kdLeaves.size()="<<kdTree->_kdLeaves.size()<<std::endl;
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osg::notify(osg::NOTICE)<<"osg::KDTreeBuilder::createKDTree() completed"<<std::endl<<std::endl;
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#endif
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// osg::notify(osg::NOTICE)<<"kdTree->_kdNodes.size()="<<kdTree->_kdNodes.size()<<" estimated size = "<<estimatedSize<<std::endl;
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// osg::notify(osg::NOTICE)<<"kdTree->_kdLeaves.size()="<<kdTree->_kdLeaves.size()<<" estimated size = "<<estimatedSize<<std::endl<<std::endl;
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return kdTree.release();
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}
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void KDTreeBuilder::computeDivisions(KDTree& kdTree)
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{
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osg::Vec3 dimensions(kdTree._bb.xMax()-kdTree._bb.xMin(),
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kdTree._bb.yMax()-kdTree._bb.yMin(),
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kdTree._bb.zMax()-kdTree._bb.zMin());
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#ifdef VERBOSE_OUTPUT
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osg::notify(osg::NOTICE)<<"computeDivisions("<<_maxNumLevels<<") "<<dimensions<< " { "<<std::endl;
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#endif
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kdTree._axisStack.reserve(_maxNumLevels);
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int level = 0;
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for(unsigned int level=0; level<_maxNumLevels; ++level)
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{
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int axis = 0;
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if (dimensions[0]>=dimensions[1])
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{
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if (dimensions[0]>=dimensions[2]) axis = 0;
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else axis = 2;
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}
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else if (dimensions[1]>=dimensions[2]) axis = 1;
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else axis = 2;
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kdTree._axisStack.push_back(axis);
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dimensions[axis] /= 2.0f;
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#ifdef VERBOSE_OUTPUT
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osg::notify(osg::NOTICE)<<" "<<level<<", "<<dimensions<<", "<<axis<<std::endl;
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#endif
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}
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#ifdef VERBOSE_OUTPUT
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osg::notify(osg::NOTICE)<<"}"<<std::endl;
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#endif
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}
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int KDTreeBuilder::divide(KDTree& kdTree, osg::BoundingBox& bb, int nodeIndex, unsigned int level)
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{
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if (kdTree._axisStack.size()<=level) return nodeIndex;
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int axis = kdTree._axisStack[level];
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#ifdef VERBOSE_OUTPUT
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//osg::notify(osg::NOTICE)<<"divide("<<nodeIndex<<", "<<level<< "), axis="<<axis<<std::endl;
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#endif
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if (nodeIndex>=0)
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{
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#ifdef VERBOSE_OUTPUT
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osg::notify(osg::NOTICE)<<" divide node"<<std::endl;
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#endif
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KDNode& node = kdTree.getNode(nodeIndex);
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return nodeIndex;
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}
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else
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{
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if (kdTree.getLeaf(nodeIndex).second<=_targetNumTrianglesPerLeaf) return nodeIndex;
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//osg::notify(osg::NOTICE)<<" divide leaf"<<std::endl;
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int nodeNum = kdTree.addNode(KDNode());
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float original_min = bb._min[axis];
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float original_max = bb._max[axis];
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float mid = (original_min+original_max)*0.5f;
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{
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KDLeaf& leaf = kdTree.getLeaf(nodeIndex);
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//osg::Vec3Array* vertices = kdTree._vertices.get();
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KDTree::CenterList& centers = kdTree._centers;
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int end = leaf.first+leaf.second-1;
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int left = leaf.first;
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int right = leaf.first+leaf.second-1;
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while(left<right)
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{
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while(left<right && (centers[kdTree._primitiveIndices[left]][axis]<=mid)) { ++left; }
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while(left<right && (centers[kdTree._primitiveIndices[right]][axis]>mid)) { --right; }
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while(left<right && (centers[kdTree._primitiveIndices[right]][axis]>mid)) { --right; }
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if (left<right)
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{
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std::swap(kdTree._primitiveIndices[left], kdTree._primitiveIndices[right]);
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++left;
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--right;
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}
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}
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if (left==right)
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{
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if (centers[kdTree._primitiveIndices[left]][axis]<=mid) ++left;
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else --right;
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}
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KDLeaf leftLeaf(leaf.first, (right-leaf.first)+1);
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KDLeaf rightLeaf(left, (end-left)+1);
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#if 0
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osg::notify(osg::NOTICE)<<"In leaf.first ="<<leaf.first <<" leaf.second ="<<leaf.second<<std::endl;
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osg::notify(osg::NOTICE)<<" leftLeaf.first ="<<leftLeaf.first <<" leftLeaf.second ="<<leftLeaf.second<<std::endl;
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osg::notify(osg::NOTICE)<<" rightLeaf.first="<<rightLeaf.first<<" rightLeaf.second="<<rightLeaf.second<<std::endl;
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osg::notify(osg::NOTICE)<<" left="<<left<<" right="<<right<<std::endl;
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if (leaf.second != (leftLeaf.second +rightLeaf.second))
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{
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osg::notify(osg::NOTICE)<<"*** Error in size, leaf.second="<<leaf.second
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<<", leftLeaf.second="<<leftLeaf.second
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<<", rightLeaf.second="<<rightLeaf.second<<std::endl;
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}
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else
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{
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osg::notify(osg::NOTICE)<<"Size OK, leaf.second="<<leaf.second
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<<", leftLeaf.second="<<leftLeaf.second
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<<", rightLeaf.second="<<rightLeaf.second<<std::endl;
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}
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#endif
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if (leftLeaf.second<=0)
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{
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//osg::notify(osg::NOTICE)<<"LeftLeaf empty"<<std::endl;
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kdTree.getNode(nodeNum).first = 0;
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kdTree.getNode(nodeNum).second = kdTree.replaceLeaf(nodeIndex, rightLeaf);
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}
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else if (rightLeaf.second<=0)
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{
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//osg::notify(osg::NOTICE)<<"RightLeaf empty"<<std::endl;
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kdTree.getNode(nodeNum).first = kdTree.replaceLeaf(nodeIndex, leftLeaf);
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kdTree.getNode(nodeNum).second = 0;
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}
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else
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{
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kdTree.getNode(nodeNum).first = kdTree.replaceLeaf(nodeIndex, leftLeaf);
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kdTree.getNode(nodeNum).second = kdTree.addLeaf(rightLeaf);
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}
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}
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int originalLeftChildIndex = kdTree.getNode(nodeNum).first;
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int originalRightChildIndex = kdTree.getNode(nodeNum).second;
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float restore = bb._max[axis];
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bb._max[axis] = mid;
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//osg::notify(osg::NOTICE)<<" divide leftLeaf "<<kdTree.getNode(nodeNum).first<<std::endl;
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int leftChildIndex = divide(kdTree, bb, originalLeftChildIndex, level+1);
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bb._max[axis] = restore;
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restore = bb._min[axis];
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bb._min[axis] = mid;
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//osg::notify(osg::NOTICE)<<" divide rightLeaf "<<kdTree.getNode(nodeNum).second<<std::endl;
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int rightChildIndex = divide(kdTree, bb, originalRightChildIndex, level+1);
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bb._min[axis] = restore;
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kdTree.getNode(nodeNum).first = leftChildIndex;
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kdTree.getNode(nodeNum).second = rightChildIndex;
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return nodeNum;
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}
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}
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}
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275
examples/osgkdtree/variabledivision.h
Normal file
275
examples/osgkdtree/variabledivision.h
Normal file
@ -0,0 +1,275 @@
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/* OpenSceneGraph example, osgintersection.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
|
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* in the Software without restriction, including without limitation the rights
|
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
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* copies of the Software, and to permit persons to whom the Software is
|
||||
* furnished to do so, subject to the following conditions:
|
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*
|
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
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* THE SOFTWARE.
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*/
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#ifndef VARIABLEDIVISION_H
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#define VARIABLEDIVISION_H
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#include <osgDB/ReadFile>
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#include <osg/ArgumentParser>
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#include <osg/ApplicationUsage>
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#include <osg/Timer>
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#include <osg/CoordinateSystemNode>
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#include <osg/Notify>
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#include <osg/io_utils>
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#include <osg/Geometry>
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#include <osg/TriangleIndexFunctor>
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#include <osgUtil/IntersectionVisitor>
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#include <osgUtil/LineSegmentIntersector>
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#include <osgUtil/UpdateVisitor>
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#include <osgSim/LineOfSight>
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#include <osgSim/HeightAboveTerrain>
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#include <osgSim/ElevationSlice>
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#include <iostream>
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namespace variabledivision
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{
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typedef int value_type;
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typedef std::vector< value_type > Indices;
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//#define VERBOSE_OUTPUT
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typedef std::pair< value_type, value_type> KDNode;
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typedef std::pair< value_type, value_type> KDLeaf;
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struct Triangle
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{
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Triangle(unsigned int p1, unsigned int p2, unsigned int p3):
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_p1(p1), _p2(p2), _p3(p3) {}
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bool operator < (const Triangle& rhs) const
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{
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if (_p1<rhs._p1) return true;
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if (_p1>rhs._p1) return false;
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if (_p2<rhs._p2) return true;
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if (_p2>rhs._p2) return false;
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return _p3<rhs._p3;
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}
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unsigned int _p1;
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unsigned int _p2;
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unsigned int _p3;
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};
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class KDTree : public osg::Shape
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{
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public:
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KDTree() {}
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KDTree(const KDTree& rhs, const osg::CopyOp& copyop=osg::CopyOp::SHALLOW_COPY):
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Shape(rhs,copyop) {}
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META_Shape(osg, KDTree)
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typedef std::vector< unsigned int > AxisStack;
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typedef std::vector< KDNode > KDNodeList;
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typedef std::vector< KDLeaf > KDLeafList;
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/// note, leafNum is negative to distinguish from nodeNum
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int addLeaf(const KDLeaf& leaf) { int num = _kdLeaves.size(); _kdLeaves.push_back(leaf); return -(num+1); }
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int replaceLeaf(int leafNum, const KDLeaf& leaf)
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{
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int num = -leafNum-1;
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if (num>_kdLeaves.size()-1)
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{
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osg::notify(osg::NOTICE)<<"Warning: replaceChild("<<leafNum<<", leaf), num = "<<num<<" _kdLeaves.size()="<<_kdLeaves.size()<<std::endl;
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return leafNum;
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}
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_kdLeaves[num] = leaf; return leafNum;
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}
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/// note, leafNum is negative to distinguish from nodeNum
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KDLeaf& getLeaf(int leafNum)
|
||||
{
|
||||
int num = -leafNum-1;
|
||||
if (num<0 || num>_kdLeaves.size()-1)
|
||||
{
|
||||
osg::notify(osg::NOTICE)<<"Warning: getLeaf("<<leafNum<<", num = "<<num<<") _kdLeaves.size()="<<_kdLeaves.size()<<std::endl;
|
||||
}
|
||||
|
||||
return _kdLeaves[num];
|
||||
}
|
||||
|
||||
int addNode(const KDNode& node)
|
||||
{
|
||||
int num = _kdNodes.size();
|
||||
_kdNodes.push_back(node);
|
||||
return num;
|
||||
}
|
||||
|
||||
/// note, nodeNum is positive to distinguish from leftNum
|
||||
KDNode& getNode(int nodeNum)
|
||||
{
|
||||
if (nodeNum<0 || nodeNum>_kdNodes.size()-1)
|
||||
{
|
||||
osg::notify(osg::NOTICE)<<"Warning: getNode("<<nodeNum<<") _kdNodes.size()="<<_kdNodes.size()<<std::endl;
|
||||
}
|
||||
return _kdNodes[nodeNum];
|
||||
}
|
||||
|
||||
|
||||
typedef std::vector< osg::BoundingBox > BoundingBoxList;
|
||||
typedef std::vector< Triangle > TriangleList;
|
||||
typedef std::vector< osg::Vec3 > CenterList;
|
||||
|
||||
osg::observer_ptr<osg::Geometry> _geometry;
|
||||
|
||||
osg::BoundingBox _bb;
|
||||
|
||||
AxisStack _axisStack;
|
||||
KDNodeList _kdNodes;
|
||||
KDLeafList _kdLeaves;
|
||||
|
||||
osg::ref_ptr<osg::Vec3Array> _vertices;
|
||||
|
||||
Indices _primitiveIndices;
|
||||
|
||||
BoundingBoxList _boundingBoxes;
|
||||
TriangleList _triangles;
|
||||
CenterList _centers;
|
||||
};
|
||||
|
||||
class KDTreeTraverser
|
||||
{
|
||||
public:
|
||||
|
||||
|
||||
std::ostream& output(unsigned int level)
|
||||
{
|
||||
for(unsigned int i=0; i<level; ++i)
|
||||
{
|
||||
osg::notify(osg::NOTICE)<<" ";
|
||||
}
|
||||
return osg::notify(osg::NOTICE);
|
||||
}
|
||||
|
||||
|
||||
void traverse(KDTree& tree, KDLeaf& leaf, unsigned int level)
|
||||
{
|
||||
output(level)<<"leaf("<<level<<") { ";
|
||||
|
||||
unsigned int end = leaf.first+leaf.second;
|
||||
for(unsigned int i=leaf.first; i<end; ++i)
|
||||
{
|
||||
if (i==leaf.first) osg::notify(osg::NOTICE)<<tree._primitiveIndices[i];
|
||||
else osg::notify(osg::NOTICE)<<", "<<tree._primitiveIndices[i];
|
||||
}
|
||||
|
||||
osg::notify(osg::NOTICE)<<"}"<<std::endl;;
|
||||
|
||||
}
|
||||
|
||||
void traverse(KDTree& tree, value_type nodeIndex, unsigned int level)
|
||||
{
|
||||
output(level)<<"traverse("<<nodeIndex<<", "<< level<<") { "<<std::endl;
|
||||
|
||||
if (nodeIndex>=0)
|
||||
{
|
||||
KDNode& node = tree._kdNodes[nodeIndex];
|
||||
if (node.first) traverse(tree,node.first,level+1);
|
||||
else output(level+1)<<"empty left child()"<<std::endl;
|
||||
|
||||
if (node.second) traverse(tree,node.second,level+1);
|
||||
else output(level+1)<<"empty right child()"<<std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
value_type leafIndex = -nodeIndex-1;
|
||||
|
||||
KDLeaf& leaf = tree._kdLeaves[leafIndex];
|
||||
traverse(tree, leaf, level);
|
||||
|
||||
}
|
||||
|
||||
output(level)<<"}"<<std::endl;;
|
||||
}
|
||||
|
||||
|
||||
void traverse(KDTree& tree)
|
||||
{
|
||||
osg::notify(osg::NOTICE)<<"traverse(tree)"<<std::endl;
|
||||
if (!tree._kdNodes.empty())
|
||||
{
|
||||
traverse(tree,0,0);
|
||||
}
|
||||
else if (!tree._kdLeaves.empty())
|
||||
{
|
||||
traverse(tree, tree._kdLeaves.front(), 0);
|
||||
}
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
class KDTreeBuilder : public osg::NodeVisitor
|
||||
{
|
||||
public:
|
||||
|
||||
KDTreeBuilder():
|
||||
osg::NodeVisitor(osg::NodeVisitor::TRAVERSE_ALL_CHILDREN),
|
||||
_maxNumLevels(16),
|
||||
_targetNumTrianglesPerLeaf(4),
|
||||
_numVerticesProcessed(0),
|
||||
_processTriangles(true)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
void apply(osg::Geode& geode)
|
||||
{
|
||||
for(unsigned int i=0; i<geode.getNumDrawables(); ++i)
|
||||
{
|
||||
osg::Geometry* geom = geode.getDrawable(i)->asGeometry();
|
||||
if (geom)
|
||||
{
|
||||
geom->setShape(createKDTree(geom));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
KDTree* createKDTree(osg::Geometry* geometry);
|
||||
|
||||
void computeDivisions(KDTree& kdTree);
|
||||
|
||||
int divide(KDTree& kdTree, osg::BoundingBox& bb, int nodeIndex, unsigned int level);
|
||||
|
||||
unsigned int _maxNumLevels;
|
||||
unsigned int _targetNumTrianglesPerLeaf;
|
||||
|
||||
unsigned int _numVerticesProcessed;
|
||||
bool _processTriangles;
|
||||
|
||||
};
|
||||
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
Loading…
Reference in New Issue
Block a user