Moved KdTree build code into osg::KdTree
This commit is contained in:
Robert Osfield
parent
10595e49e3
commit
3965fe357b
@ -118,7 +118,6 @@ class KDTree : public osg::Shape
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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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@ -26,17 +26,28 @@ class OSG_EXPORT KdTree : public osg::Shape
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public:
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KdTree() {}
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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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KdTree(const KdTree& rhs, const osg::CopyOp& copyop=osg::CopyOp::SHALLOW_COPY);
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META_Shape(osg, KdTree)
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struct BuildOptions
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{
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BuildOptions():
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_numVerticesProcessed(0),
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_targetNumTrianglesPerLeaf(4),
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_maxNumLevels(24) {}
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unsigned int _numVerticesProcessed;
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unsigned int _targetNumTrianglesPerLeaf;
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unsigned int _maxNumLevels;
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};
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/** Build the kdtree from the specified source geometry object.
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* retun true on success. */
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virtual bool build(osg::Geometry* geometry);
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virtual bool build(BuildOptions& buildOptions, osg::Geometry* geometry);
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struct LineSegmentIntersection
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{
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@ -68,13 +79,13 @@ class OSG_EXPORT KdTree : public osg::Shape
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typedef int value_type;
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typedef std::vector< value_type > Indices;
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struct KDNode
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struct KdNode
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{
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KDNode():
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KdNode():
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first(0),
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second(0) {}
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KDNode(value_type f, value_type s):
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KdNode(value_type f, value_type s):
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first(f),
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second(s) {}
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@ -85,13 +96,13 @@ class OSG_EXPORT KdTree : public osg::Shape
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};
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struct KDLeaf
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struct KdLeaf
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{
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KDLeaf():
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KdLeaf():
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first(0),
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second(0) {}
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KDLeaf(value_type f, value_type s):
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KdLeaf(value_type f, value_type s):
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first(f),
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second(s) {}
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@ -120,6 +131,93 @@ class OSG_EXPORT KdTree : public osg::Shape
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unsigned int _p3;
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};
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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)
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{
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int num = -leafNum-1;
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if (num<0 || num>_kdLeaves.size()-1)
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{
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osg::notify(osg::NOTICE)<<"Warning: getLeaf("<<leafNum<<", num = "<<num<<") _kdLeaves.size()="<<_kdLeaves.size()<<std::endl;
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}
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return _kdLeaves[num];
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}
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int addNode(const KdNode& node)
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{
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int num = _kdNodes.size();
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_kdNodes.push_back(node);
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return num;
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}
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/// note, nodeNum is positive to distinguish from leftNum
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KdNode& getNode(int nodeNum)
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{
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if (nodeNum<0 || nodeNum>_kdNodes.size()-1)
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{
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osg::notify(osg::NOTICE)<<"Warning: getNode("<<nodeNum<<") _kdNodes.size()="<<_kdNodes.size()<<std::endl;
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}
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return _kdNodes[nodeNum];
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}
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osg::BoundingBox& getBounindingBox(int nodeNum)
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{
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if (nodeNum<0)
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{
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int num = -nodeNum-1;
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return _kdLeaves[num].bb;
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}
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else
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{
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return _kdNodes[nodeNum].bb;
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}
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}
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void computeDivisions(BuildOptions& options);
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int divide(BuildOptions& options, osg::BoundingBox& bb, int nodeIndex, unsigned int level);
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typedef std::vector< osg::BoundingBox > BoundingBoxList;
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typedef std::vector< Triangle > TriangleList;
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typedef std::vector< osg::Vec3 > CenterList;
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osg::observer_ptr<osg::Geometry> _geometry;
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osg::BoundingBox _bb;
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AxisStack _axisStack;
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KDNodeList _kdNodes;
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KDLeafList _kdLeaves;
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osg::ref_ptr<osg::Vec3Array> _vertices;
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Indices _primitiveIndices;
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BoundingBoxList _boundingBoxes;
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TriangleList _triangles;
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CenterList _centers;
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};
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@ -131,13 +229,10 @@ class OSG_EXPORT KdTreeBuilder : public osg::NodeVisitor
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void apply(osg::Geode& geode);
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KdTree::BuildOptions _buildOptions;
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osg::ref_ptr<osg::KdTree> _kdTreePrototype;
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unsigned int _maxNumLevels;
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unsigned int _targetNumTrianglesPerLeaf;
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unsigned int _numVerticesProcessed;
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protected:
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virtual ~KdTreeBuilder() {}
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@ -14,20 +14,292 @@
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#include <osg/KdTree>
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#include <osg/Geode>
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#include <osg/io_utils>
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#include <osg/TriangleIndexFunctor>
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using namespace osg;
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//#define VERBOSE_OUTPUT
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////////////////////////////////////////////////////////////////////////////////
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//
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// Functor for collecting triangle indices from Geometry
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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(KdTree::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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////////////////////////////////////////////////////////////////////////////////
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//
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// KdTree
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bool KdTree::build(osg::Geometry* geometry)
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KdTree::KdTree()
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{
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}
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KdTree::KdTree(const KdTree& rhs, const osg::CopyOp& copyop):
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Shape(rhs)
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{
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}
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bool KdTree::build(BuildOptions& options, osg::Geometry* geometry)
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{
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osg::notify(osg::NOTICE)<<"KdTree::build("<<geometry<<")"<<std::endl;
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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 false;
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if (vertices->size() <= options._targetNumTrianglesPerLeaf) return false;
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_geometry = geometry;
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_bb = _geometry->getBound();
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_vertices = vertices;
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unsigned int estimatedSize = (unsigned int)(2.0*float(vertices->size())/float(options._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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_kdNodes.reserve(estimatedSize);
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_kdLeaves.reserve(estimatedSize);
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computeDivisions(options);
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options._numVerticesProcessed += vertices->size();
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unsigned int estimatedNumTriangles = vertices->size()*2;
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_primitiveIndices.reserve(estimatedNumTriangles);
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_boundingBoxes.reserve(estimatedNumTriangles);
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_triangles.reserve(estimatedNumTriangles);
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_centers.reserve(estimatedNumTriangles);
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osg::TriangleIndexFunctor<TriangleIndicesCollector> collectTriangleIndices;
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collectTriangleIndices._kdTree = this;
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geometry->accept(collectTriangleIndices);
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_primitiveIndices.reserve(vertices->size());
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KdLeaf leaf(0, _primitiveIndices.size());
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int leafNum = addLeaf(leaf);
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osg::BoundingBox bb = _bb;
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int nodeNum = divide(options, 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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// osg::notify(osg::NOTICE)<<"_kdNodes.size()="<<k_kdNodes.size()<<" estimated size = "<<estimatedSize<<std::endl;
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// osg::notify(osg::NOTICE)<<"_kdLeaves.size()="<<_kdLeaves.size()<<" estimated size = "<<estimatedSize<<std::endl<<std::endl;
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return true;
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}
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void KdTree::computeDivisions(BuildOptions& options)
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{
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osg::Vec3 dimensions(_bb.xMax()-_bb.xMin(),
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_bb.yMax()-_bb.yMin(),
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_bb.zMax()-_bb.zMin());
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#ifdef VERBOSE_OUTPUT
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osg::notify(osg::NOTICE)<<"computeDivisions("<<options._maxNumLevels<<") "<<dimensions<< " { "<<std::endl;
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#endif
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_axisStack.reserve(options._maxNumLevels);
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int level = 0;
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for(unsigned int level=0; level<options._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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_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 KdTree::divide(BuildOptions& options, osg::BoundingBox& bb, int nodeIndex, unsigned int level)
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{
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if (_axisStack.size()<=level) return nodeIndex;
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int axis = _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 = 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 (getLeaf(nodeIndex).second<=options._targetNumTrianglesPerLeaf) return nodeIndex;
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//osg::notify(osg::NOTICE)<<" divide leaf"<<std::endl;
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int nodeNum = 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 = getLeaf(nodeIndex);
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//osg::Vec3Array* vertices = kdTree._vertices.get();
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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[_primitiveIndices[left]][axis]<=mid)) { ++left; }
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while(left<right && (_centers[_primitiveIndices[right]][axis]>mid)) { --right; }
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while(left<right && (_centers[_primitiveIndices[right]][axis]>mid)) { --right; }
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if (left<right)
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{
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std::swap(_primitiveIndices[left], _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[_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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getNode(nodeNum).first = 0;
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getNode(nodeNum).second = 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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getNode(nodeNum).first = replaceLeaf(nodeIndex, leftLeaf);
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getNode(nodeNum).second = 0;
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}
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else
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{
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getNode(nodeNum).first = replaceLeaf(nodeIndex, leftLeaf);
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getNode(nodeNum).second = addLeaf(rightLeaf);
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}
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}
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int originalLeftChildIndex = getNode(nodeNum).first;
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int originalRightChildIndex = 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(options, 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(options, bb, originalRightChildIndex, level+1);
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bb._min[axis] = restore;
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getNode(nodeNum).first = leftChildIndex;
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getNode(nodeNum).second = rightChildIndex;
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return nodeNum;
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}
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}
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bool KdTree::intersect(const osg::Vec3& start, const osg::Vec3& end, LineSegmentIntersections& intersections)
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{
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osg::notify(osg::NOTICE)<<"KdTree::intersect("<<start<<","<<end<<")"<<std::endl;
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@ -38,10 +310,7 @@ bool KdTree::intersect(const osg::Vec3& start, const osg::Vec3& end, LineSegment
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//
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// KdTreeBuilder
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KdTreeBuilder::KdTreeBuilder():
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osg::NodeVisitor(osg::NodeVisitor::TRAVERSE_ALL_CHILDREN),
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_maxNumLevels(16),
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_targetNumTrianglesPerLeaf(4),
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_numVerticesProcessed(0)
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osg::NodeVisitor(osg::NodeVisitor::TRAVERSE_ALL_CHILDREN)
|
||||
{
|
||||
_kdTreePrototype = new osg::KdTree;
|
||||
}
|
||||
@ -60,7 +329,7 @@ void KdTreeBuilder::apply(osg::Geode& geode)
|
||||
|
||||
osg::ref_ptr<osg::KdTree> kdTree = dynamic_cast<osg::KdTree*>(_kdTreePrototype->cloneType());
|
||||
|
||||
if (kdTree->build(geom))
|
||||
if (kdTree->build(_buildOptions, geom))
|
||||
{
|
||||
geom->setShape(kdTree.get());
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user