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Cleaned up osgkdtree example

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This commit is contained in:
Robert Osfield 2008-07-12 11:19:25 +00:00
parent de33a031d4
commit ccb50019e4
6 changed files with 5 additions and 1538 deletions
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7
examples/osgkdtree/CMakeLists.txt
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@ -1,14 +1,7 @@
SET(TARGET_SRC
fixeddivision.cpp
variabledivision.cpp
osgkdtree.cpp
)
SET(TARGET_H
fixeddivision.h
variabledivision.h
)
SET(TARGET_ADDED_LIBRARIES osgSim )

491
examples/osgkdtree/fixeddivision.cpp
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@ -1,491 +0,0 @@
/* OpenSceneGraph example, osgintersection.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* 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,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include "fixeddivision.h"
namespace fixeddivision
{
struct TriangleIndicesCollector
{
TriangleIndicesCollector():
_indices(0)
{
}
inline void operator () (unsigned int v1, unsigned int v2, unsigned int v3)
{
_indices->push_back(v1);
_indices->push_back(v2);
_indices->push_back(v3);
}
Indices* _indices;
};
KDTree* KDTreeBuilder::createKDTree(osg::Geometry* geometry)
{
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<"osg::KDTreeBuilder::createKDTree()"<<std::endl;
#endif
osg::Vec3Array* vertices = dynamic_cast<osg::Vec3Array*>(geometry->getVertexArray());
if (!vertices) return 0;
if (vertices->size() <= _targetNumVerticesPerLeaf) return 0;
osg::ref_ptr<KDTree> kdTree = new KDTree;
kdTree->_geometry = geometry;
kdTree->_bb = kdTree->_geometry->getBound();
kdTree->_vertices = vertices;
unsigned int estimatedSize = (unsigned int)(2.0*float(vertices->size())/float(_targetNumVerticesPerLeaf));
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<"kdTree->_kdNodes.reserve()="<<estimatedSize<<std::endl<<std::endl;
#endif
kdTree->_kdNodes.reserve(estimatedSize);
kdTree->_kdLeaves.reserve(estimatedSize);
computeDivisions(*kdTree);
_numVerticesProcessed += vertices->size();
if (_processTriangles)
{
osg::TriangleIndexFunctor<TriangleIndicesCollector> collectTriangleIndices;
collectTriangleIndices._indices = &(kdTree->_vertexIndices);
geometry->accept(collectTriangleIndices);
KDPrimitiveLeaf* primitiveLeaf = createKDPrimitiveLeaf();
primitiveLeaf->_indices.insert(primitiveLeaf->_indices.end(),
kdTree->_vertexIndices.begin(),
kdTree->_vertexIndices.end());
// osg::notify(osg::NOTICE)<<"kdTree->_vertexIndices.size()="<<kdTree->_vertexIndices.size()<<std::endl;
int leafNum = kdTree->addPrimitiveLeaf(primitiveLeaf);
osg::BoundingBox bb = kdTree->_bb;
int nodeNum = divideTriangles(*kdTree, bb, leafNum, 0);
std::cout<<"_vertexIndices.size() = "<<kdTree->_vertexIndices.size()<<std::endl;
std::cout<<"_primtiveLeaf.size() = "<<kdTree->_primitiveList.size()<<std::endl;
unsigned int numIndices = 0;
for(KDTree::KDPrimitiveList::iterator itr = kdTree->_primitiveList.begin();
itr != kdTree->_primitiveList.end();
++itr)
{
numIndices += (*itr)->_indices.size();
}
std::cout<<"total numIndices = "<<numIndices<<std::endl;
typedef std::map<Triangle, unsigned int> TriangleMap;
TriangleMap triangleMap;
for(KDTree::KDPrimitiveList::iterator itr = kdTree->_primitiveList.begin();
itr != kdTree->_primitiveList.end();
++itr)
{
Indices& indices = (*itr)->_indices;
for(unsigned int i=0; i<indices.size(); i+=3)
{
++triangleMap[Triangle(indices[i],indices[i+1], indices[i+2])];
}
}
int totalNumTriangles = triangleMap.size();
int totalNumReferences = 0;
for(TriangleMap::iterator tm_itr = triangleMap.begin();
tm_itr != triangleMap.end();
++tm_itr)
{
totalNumReferences += tm_itr->second;
}
std::cout<<"Average number of references = "<<double(totalNumReferences)/double(totalNumTriangles)<<std::endl;
}
else
{
kdTree->_vertexIndices.reserve(vertices->size());
for(unsigned int i=0; i<vertices->size(); ++i)
{
kdTree->_vertexIndices.push_back(i);
}
KDLeaf leaf(0, kdTree->_vertexIndices.size());
int leafNum = kdTree->addLeaf(leaf);
osg::BoundingBox bb = kdTree->_bb;
int nodeNum = dividePoints(*kdTree, bb, leafNum, 0);
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<"Root nodeNum="<<nodeNum<<std::endl;
#endif
}
#ifdef VERBOSE_OUTPUT
KDTreeTraverser traverser;
traverser.traverse(*kdTree);
osg::notify(osg::NOTICE)<<"Final kdTree->_kdNodes.size()="<<kdTree->_kdNodes.size()<<std::endl;
osg::notify(osg::NOTICE)<<"Final kdTree->_kdLeaves.size()="<<kdTree->_kdLeaves.size()<<std::endl;
osg::notify(osg::NOTICE)<<"osg::KDTreeBuilder::createKDTree() completed"<<std::endl<<std::endl;
#endif
// osg::notify(osg::NOTICE)<<"kdTree->_kdNodes.size()="<<kdTree->_kdNodes.size()<<" estimated size = "<<estimatedSize<<std::endl;
// osg::notify(osg::NOTICE)<<"kdTree->_kdLeaves.size()="<<kdTree->_kdLeaves.size()<<" estimated size = "<<estimatedSize<<std::endl<<std::endl;
return kdTree.release();
}
void KDTreeBuilder::computeDivisions(KDTree& kdTree)
{
osg::Vec3 dimensions(kdTree._bb.xMax()-kdTree._bb.xMin(),
kdTree._bb.yMax()-kdTree._bb.yMin(),
kdTree._bb.zMax()-kdTree._bb.zMin());
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<"computeDivisions("<<_maxNumLevels<<") "<<dimensions<< " { "<<std::endl;
#endif
kdTree._axisStack.reserve(_maxNumLevels);
int level = 0;
for(unsigned int level=0; level<_maxNumLevels; ++level)
{
int axis = 0;
if (dimensions[0]>=dimensions[1])
{
if (dimensions[0]>=dimensions[2]) axis = 0;
else axis = 2;
}
else if (dimensions[1]>=dimensions[2]) axis = 1;
else axis = 2;
kdTree._axisStack.push_back(axis);
dimensions[axis] /= 2.0f;
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<" "<<level<<", "<<dimensions<<", "<<axis<<std::endl;
#endif
}
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<"}"<<std::endl;
#endif
}
int KDTreeBuilder::divideTriangles(KDTree& kdTree, osg::BoundingBox& bb, int nodeIndex, unsigned int level)
{
if (kdTree._axisStack.size()<=level) return nodeIndex;
int axis = kdTree._axisStack[level];
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<"divideTriangles("<<nodeIndex<<", "<<level<< "), axis="<<axis<<std::endl;
#endif
if (nodeIndex>=0)
{
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<" divide node"<<std::endl;
#endif
KDNode& node = kdTree.getNode(nodeIndex);
return nodeIndex;
}
else
{
if (kdTree.getPrimitiveLeaf(nodeIndex)->_indices.size()<=_targetNumIndicesPerLeaf) return nodeIndex;
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<" divide leaf"<<std::endl;
#endif
int nodeNum = kdTree.addNode(KDNode());
float original_min = bb._min[axis];
float original_max = bb._max[axis];
float mid = (original_min+original_max)*0.5f;
{
KDPrimitiveLeaf* leaf = kdTree.getPrimitiveLeaf(nodeIndex);
osg::Vec3Array* vertices = kdTree._vertices.get();
Indices& indices = leaf->_indices;
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<" divide leaf->_indices.size()="<<leaf->_indices.size()<<std::endl;
#endif
osg::ref_ptr<KDPrimitiveLeaf> leftLeaf = createKDPrimitiveLeaf();
osg::ref_ptr<KDPrimitiveLeaf> rightLeaf = createKDPrimitiveLeaf();
for(int i = 0; i<indices.size(); )
{
int numLeft = 0;
int numRight = 0;
int i1 = indices[i++];
if ((*vertices)[i1][axis]<=mid) ++numLeft;
else ++numRight;
int i2 = indices[i++];
if ((*vertices)[i2][axis]<=mid) ++numLeft;
else ++numRight;
int i3 = indices[i++];
if ((*vertices)[i3][axis]<=mid) ++numLeft;
else ++numRight;
if (numLeft>0)
{
leftLeaf->_indices.push_back(i1); leftLeaf->_indices.push_back(i2);
leftLeaf->_indices.push_back(i3);
}
if (numRight>0)
{
rightLeaf->_indices.push_back(i1);
rightLeaf->_indices.push_back(i2);
rightLeaf->_indices.push_back(i3);
}
#if 0
if (numRight>0 && numLeft>0)
{
std::cout<<"In both"<<std::endl;
}
else
{
std::cout<<"In one"<<std::endl;
}
#endif
}
disposeKDPrimitiveLeaf(leaf);
if (leftLeaf->_indices.empty())
{
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<"LeftLeaf empty"<<std::endl;
#endif
kdTree.getNode(nodeNum).first = 0;
kdTree.getNode(nodeNum).second = kdTree.replacePrimitiveLeaf(nodeIndex, rightLeaf.get());
}
else if (rightLeaf->_indices.empty())
{
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<"RightLeaf empty"<<std::endl;
#endif
kdTree.getNode(nodeNum).first = kdTree.replacePrimitiveLeaf(nodeIndex, leftLeaf.get());
kdTree.getNode(nodeNum).second = 0;
}
else
{
kdTree.getNode(nodeNum).first = kdTree.replacePrimitiveLeaf(nodeIndex, leftLeaf.get());
kdTree.getNode(nodeNum).second = kdTree.addPrimitiveLeaf(rightLeaf.get());
}
}
int originalLeftChildIndex = kdTree.getNode(nodeNum).first;
int originalRightChildIndex = kdTree.getNode(nodeNum).second;
float restore = bb._max[axis];
bb._max[axis] = mid;
//osg::notify(osg::NOTICE)<<" divide leftLeaf "<<kdTree.getNode(nodeNum).first<<std::endl;
int leftChildIndex = divideTriangles(kdTree, bb, originalLeftChildIndex, level+1);
bb._max[axis] = restore;
restore = bb._min[axis];
bb._min[axis] = mid;
//osg::notify(osg::NOTICE)<<" divide rightLeaf "<<kdTree.getNode(nodeNum).second<<std::endl;
int rightChildIndex = divideTriangles(kdTree, bb, originalRightChildIndex, level+1);
bb._min[axis] = restore;
kdTree.getNode(nodeNum).first = leftChildIndex;
kdTree.getNode(nodeNum).second = rightChildIndex;
return nodeNum;
}
}
int KDTreeBuilder::dividePoints(KDTree& kdTree, osg::BoundingBox& bb, int nodeIndex, unsigned int level)
{
if (kdTree._axisStack.size()<=level) return nodeIndex;
int axis = kdTree._axisStack[level];
#ifdef VERBOSE_OUTPUT
//osg::notify(osg::NOTICE)<<"divide("<<nodeIndex<<", "<<level<< "), axis="<<axis<<std::endl;
#endif
if (nodeIndex>=0)
{
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<" divide node"<<std::endl;
#endif
KDNode& node = kdTree.getNode(nodeIndex);
return nodeIndex;
}
else
{
if (kdTree.getLeaf(nodeIndex).second<=_targetNumVerticesPerLeaf) return nodeIndex;
//osg::notify(osg::NOTICE)<<" divide leaf"<<std::endl;
int nodeNum = kdTree.addNode(KDNode());
float original_min = bb._min[axis];
float original_max = bb._max[axis];
float mid = (original_min+original_max)*0.5f;
{
KDLeaf& leaf = kdTree.getLeaf(nodeIndex);
osg::Vec3Array* vertices = kdTree._vertices.get();
//osg::notify(osg::NOTICE)<<" divide leaf->_vertexIndices.size()="<<leaf->_vertexIndices.size()<<std::endl;
int end = leaf.first+leaf.second-1;
int left = leaf.first;
int right = leaf.first+leaf.second-1;
while(left<right)
{
while(left<right && ((*vertices)[kdTree._vertexIndices[left]])[axis]<=mid) { ++left; }
while(left<right && ((*vertices)[kdTree._vertexIndices[right]])[axis]>mid) { --right; }
if (left<right)
{
std::swap(kdTree._vertexIndices[left], kdTree._vertexIndices[right]);
++left;
--right;
}
}
if (left==right)
{
if (((*vertices)[kdTree._vertexIndices[left]])[axis]<=mid) ++left;
else --right;
}
KDLeaf leftLeaf(leaf.first, (right-leaf.first)+1);
KDLeaf rightLeaf(left, (end-left)+1);
#if 0
osg::notify(osg::NOTICE)<<"In leaf.first ="<<leaf.first <<" leaf.second ="<<leaf.second<<std::endl;
osg::notify(osg::NOTICE)<<" leftLeaf.first ="<<leftLeaf.first <<" leftLeaf.second ="<<leftLeaf.second<<std::endl;
osg::notify(osg::NOTICE)<<" rightLeaf.first="<<rightLeaf.first<<" rightLeaf.second="<<rightLeaf.second<<std::endl;
osg::notify(osg::NOTICE)<<" left="<<left<<" right="<<right<<std::endl;
if (leaf.second != (leftLeaf.second +rightLeaf.second))
{
osg::notify(osg::NOTICE)<<"*** Error in size, leaf.second="<<leaf.second
<<", leftLeaf.second="<<leftLeaf.second
<<", rightLeaf.second="<<rightLeaf.second<<std::endl;
}
else
{
osg::notify(osg::NOTICE)<<"Size OK, leaf.second="<<leaf.second
<<", leftLeaf.second="<<leftLeaf.second
<<", rightLeaf.second="<<rightLeaf.second<<std::endl;
}
#endif
if (leftLeaf.second<=0)
{
//osg::notify(osg::NOTICE)<<"LeftLeaf empty"<<std::endl;
kdTree.getNode(nodeNum).first = 0;
kdTree.getNode(nodeNum).second = kdTree.replaceLeaf(nodeIndex, rightLeaf);
}
else if (rightLeaf.second<=0)
{
//osg::notify(osg::NOTICE)<<"RightLeaf empty"<<std::endl;
kdTree.getNode(nodeNum).first = kdTree.replaceLeaf(nodeIndex, leftLeaf);
kdTree.getNode(nodeNum).second = 0;
}
else
{
kdTree.getNode(nodeNum).first = kdTree.replaceLeaf(nodeIndex, leftLeaf);
kdTree.getNode(nodeNum).second = kdTree.addLeaf(rightLeaf);
}
}
int originalLeftChildIndex = kdTree.getNode(nodeNum).first;
int originalRightChildIndex = kdTree.getNode(nodeNum).second;
float restore = bb._max[axis];
bb._max[axis] = mid;
//osg::notify(osg::NOTICE)<<" divide leftLeaf "<<kdTree.getNode(nodeNum).first<<std::endl;
int leftChildIndex = dividePoints(kdTree, bb, originalLeftChildIndex, level+1);
bb._max[axis] = restore;
restore = bb._min[axis];
bb._min[axis] = mid;
//osg::notify(osg::NOTICE)<<" divide rightLeaf "<<kdTree.getNode(nodeNum).second<<std::endl;
int rightChildIndex = dividePoints(kdTree, bb, originalRightChildIndex, level+1);
bb._min[axis] = restore;
kdTree.getNode(nodeNum).first = leftChildIndex;
kdTree.getNode(nodeNum).second = rightChildIndex;
return nodeNum;
}
}
}

356
examples/osgkdtree/fixeddivision.h
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@ -1,356 +0,0 @@
/* OpenSceneGraph example, osgintersection.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* 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,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#ifndef FIXIEDDIVISION_H
#define FIXIEDDIVISION_H
#include <osgDB/ReadFile>
#include <osg/ArgumentParser>
#include <osg/ApplicationUsage>
#include <osg/Timer>
#include <osg/CoordinateSystemNode>
#include <osg/Notify>
#include <osg/io_utils>
#include <osg/Geometry>
#include <osg/TriangleIndexFunctor>
#include <osgUtil/IntersectionVisitor>
#include <osgUtil/LineSegmentIntersector>
#include <osgUtil/UpdateVisitor>
#include <osgSim/LineOfSight>
#include <osgSim/HeightAboveTerrain>
#include <osgSim/ElevationSlice>
#include <iostream>
namespace fixeddivision
{
typedef int value_type;
typedef std::vector< value_type > Indices;
// #define VERBOSE_OUTPUT
typedef std::pair< value_type, value_type> KDNode;
typedef std::pair< value_type, value_type> KDLeaf;
struct Triangle
{
Triangle(unsigned int p1, unsigned int p2, unsigned int p3):
_p1(p1), _p2(p2), _p3(p3) {}
bool operator < (const Triangle& rhs) const
{
if (_p1<rhs._p1) return true;
if (_p1>rhs._p1) return false;
if (_p2<rhs._p2) return true;
if (_p2>rhs._p2) return false;
return _p3<rhs._p3;
}
unsigned int _p1;
unsigned int _p2;
unsigned int _p3;
};
class KDPrimitiveLeaf : public osg::Referenced
{
public:
KDPrimitiveLeaf() {}
Indices _indices;
protected:
virtual ~KDPrimitiveLeaf() {}
};
class KDTree : public osg::Shape
{
public:
KDTree() {}
KDTree(const KDTree& rhs, const osg::CopyOp& copyop=osg::CopyOp::SHALLOW_COPY):
Shape(rhs,copyop) {}
META_Shape(osg, KDTree)
typedef std::vector< unsigned int > AxisStack;
typedef std::vector< KDNode > KDNodeList;
typedef std::vector< KDLeaf > KDLeafList;
/// note, leafNum is negative to distinguish from nodeNum
int addLeaf(const KDLeaf& leaf) { int num = _kdLeaves.size(); _kdLeaves.push_back(leaf); return -(num+1); }
int replaceLeaf(int leafNum, const KDLeaf& leaf)
{
int num = -leafNum-1;
if (num>_kdLeaves.size()-1)
{
osg::notify(osg::NOTICE)<<"Warning: replaceChild("<<leafNum<<", leaf), num = "<<num<<" _kdLeaves.size()="<<_kdLeaves.size()<<std::endl;
return leafNum;
}
_kdLeaves[num] = leaf; return leafNum;
}
/// note, leafNum is negative to distinguish from nodeNum
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];
}
/// note, leafNum is negative to distinguish from nodeNum
int addPrimitiveLeaf(KDPrimitiveLeaf* leaf) { int num = _primitiveList.size(); _primitiveList.push_back(leaf); return -(num+1); }
int replacePrimitiveLeaf(int leafNum, KDPrimitiveLeaf* leaf)
{
int num = -leafNum-1;
if (num>_primitiveList.size()-1)
{
osg::notify(osg::NOTICE)<<"Warning: replaceChild("<<leafNum<<", leaf), num = "<<num<<" _primitiveList.size()="<<_primitiveList.size()<<std::endl;
return leafNum;
}
_primitiveList[num] = leaf; return leafNum;
}
/// note, leafNum is negative to distinguish from nodeNum
KDPrimitiveLeaf* getPrimitiveLeaf(int leafNum)
{
int num = -leafNum-1;
if (num<0 || num>_primitiveList.size()-1)
{
osg::notify(osg::NOTICE)<<"Warning: getLeaf("<<leafNum<<", num = "<<num<<") _primitiveList.size()="<<_primitiveList.size()<<std::endl;
}
return _primitiveList[num].get();
}
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];
}
osg::observer_ptr<osg::Geometry> _geometry;
osg::BoundingBox _bb;
AxisStack _axisStack;
KDNodeList _kdNodes;
KDLeafList _kdLeaves;
osg::ref_ptr<osg::Vec3Array> _vertices;
Indices _vertexIndices;
typedef std::vector< osg::ref_ptr<KDPrimitiveLeaf> > KDPrimitiveList;
KDPrimitiveList _primitiveList;
};
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._vertexIndices[i];
else osg::notify(osg::NOTICE)<<", "<<tree._vertexIndices[i];
}
osg::notify(osg::NOTICE)<<"}"<<std::endl;;
}
void traverse(KDTree& tree, KDPrimitiveLeaf& leaf, unsigned int level)
{
output(level)<<"leaf("<<level<<") size()="<<leaf._indices.size()<<"{ ";
for(unsigned int i=0; i<leaf._indices.size(); ++i)
{
if (i==0) osg::notify(osg::NOTICE)<<leaf._indices[i];
else osg::notify(osg::NOTICE)<<", "<<leaf._indices[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;
if (leafIndex<tree._primitiveList.size())
{
KDPrimitiveLeaf& leaf = *(tree._primitiveList[leafIndex]);
traverse(tree, leaf, level);
}
else
{
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),
_targetNumVerticesPerLeaf(8),
_targetNumIndicesPerLeaf(15),
_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 divideTriangles(KDTree& kdTree, osg::BoundingBox& bb, int nodeIndex, unsigned int level);
int dividePoints(KDTree& kdTree, osg::BoundingBox& bb, int nodeIndex, unsigned int level);
unsigned int _maxNumLevels;
unsigned int _targetNumVerticesPerLeaf;
unsigned int _targetNumIndicesPerLeaf;
unsigned int _numVerticesProcessed;
bool _processTriangles;
inline void disposeKDPrimitiveLeaf(KDPrimitiveLeaf* leaf)
{
leaf->_indices.clear();
_leafRecycleList.push_back(leaf);
}
inline KDPrimitiveLeaf* createKDPrimitiveLeaf()
{
if (_leafRecycleList.empty()) return new KDPrimitiveLeaf;
osg::ref_ptr<KDPrimitiveLeaf> leaf = _leafRecycleList.back();
_leafRecycleList.pop_back();
return leaf.release();
}
typedef std::list< osg::ref_ptr<KDPrimitiveLeaf> > LeafRecyleList;
LeafRecyleList _leafRecycleList;
};
}
#endif

63
examples/osgkdtree/osgkdtree.cpp
View File

@ -39,11 +39,10 @@
#include <osgViewer/Viewer>
#include "fixeddivision.h"
#include "variabledivision.h"
#include <osg/KdTree>
#include <iostream>
int main(int argc, char **argv)
{
// use an ArgumentParser object to manage the program arguments.
@ -51,12 +50,9 @@ int main(int argc, char **argv)
int maxNumLevels = 16;
int targetNumIndicesPerLeaf = 16;
bool processTriangles = true;
while (arguments.read("--max", maxNumLevels)) {}
while (arguments.read("--leaf", targetNumIndicesPerLeaf)) {}
while (arguments.read("--points")) processTriangles = false;
while (arguments.read("--triangles")) processTriangles = true;
osgDB::Registry::instance()->setBuildKdTreesHint(osgDB::ReaderWriter::Options::BUILD_KDTREES);
@ -68,56 +64,7 @@ int main(int argc, char **argv)
return 0;
}
osgUtil::UpdateVisitor updateVisitor;
updateVisitor.setFrameStamp(new osg::FrameStamp);
scene->accept(updateVisitor);
scene->getBound();
if (arguments.read("--fd"))
{
fixeddivision::KDTreeBuilder builder;
builder._maxNumLevels = maxNumLevels;
builder._targetNumIndicesPerLeaf = targetNumIndicesPerLeaf;
builder._processTriangles = processTriangles;
osg::Timer_t start = osg::Timer::instance()->tick();
scene->accept(builder);
osg::Timer_t end = osg::Timer::instance()->tick();
double time = osg::Timer::instance()->delta_s(start,end);
osg::notify(osg::NOTICE)<<"Time to build "<<time*1000.0<<"ms "<<builder._numVerticesProcessed<<std::endl;
osg::notify(osg::NOTICE)<<"build speed "<<(double(builder._numVerticesProcessed)/time)/1000000.0<<"M vertices per second"<<std::endl;
}
else if (arguments.read("--vd"))
{
variabledivision::KDTreeBuilder builder;
builder._maxNumLevels = maxNumLevels;
builder._targetNumTrianglesPerLeaf = targetNumIndicesPerLeaf;
builder._processTriangles = processTriangles;
osg::Timer_t start = osg::Timer::instance()->tick();
scene->accept(builder);
osg::Timer_t end = osg::Timer::instance()->tick();
double time = osg::Timer::instance()->delta_s(start,end);
osg::notify(osg::NOTICE)<<"Time to build "<<time*1000.0<<"ms "<<builder._numVerticesProcessed<<std::endl;
osg::notify(osg::NOTICE)<<"build speed "<<(double(builder._numVerticesProcessed)/time)/1000000.0<<"M vertices per second"<<std::endl;
}
else
{
osgViewer::Viewer viewer;
viewer.setSceneData(scene.get());
return viewer.run();
}
return 0;
osgViewer::Viewer viewer;
viewer.setSceneData(scene.get());
return viewer.run();
}

309
examples/osgkdtree/variabledivision.cpp
View File

@ -1,309 +0,0 @@
/* OpenSceneGraph example, osgintersection.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* 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,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include "variabledivision.h"
namespace variabledivision
{
struct TriangleIndicesCollector
{
TriangleIndicesCollector():
_kdTree(0)
{
}
inline void operator () (unsigned int p1, unsigned int p2, unsigned int p3)
{
unsigned int i = _kdTree->_triangles.size();
_kdTree->_triangles.push_back(Triangle(p1,p2,p3));
osg::BoundingBox bb;
bb.expandBy((*(_kdTree->_vertices))[p1]);
bb.expandBy((*(_kdTree->_vertices))[p2]);
bb.expandBy((*(_kdTree->_vertices))[p3]);
_kdTree->_boundingBoxes.push_back(bb);
_kdTree->_centers.push_back(bb.center());
_kdTree->_primitiveIndices.push_back(i);
}
KDTree* _kdTree;
};
KDTree* KDTreeBuilder::createKDTree(osg::Geometry* geometry)
{
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<"osg::KDTreeBuilder::createKDTree()"<<std::endl;
#endif
osg::Vec3Array* vertices = dynamic_cast<osg::Vec3Array*>(geometry->getVertexArray());
if (!vertices) return 0;
if (vertices->size() <= _targetNumTrianglesPerLeaf) return 0;
osg::ref_ptr<KDTree> kdTree = new KDTree;
kdTree->_geometry = geometry;
kdTree->_bb = kdTree->_geometry->getBound();
kdTree->_vertices = vertices;
unsigned int estimatedSize = (unsigned int)(2.0*float(vertices->size())/float(_targetNumTrianglesPerLeaf));
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<"kdTree->_kdNodes.reserve()="<<estimatedSize<<std::endl<<std::endl;
#endif
kdTree->_kdNodes.reserve(estimatedSize);
kdTree->_kdLeaves.reserve(estimatedSize);
computeDivisions(*kdTree);
_numVerticesProcessed += vertices->size();
unsigned int estimatedNumTriangles = vertices->size()*2;
kdTree->_primitiveIndices.reserve(estimatedNumTriangles);
kdTree->_boundingBoxes.reserve(estimatedNumTriangles);
kdTree->_triangles.reserve(estimatedNumTriangles);
kdTree->_centers.reserve(estimatedNumTriangles);
osg::TriangleIndexFunctor<TriangleIndicesCollector> collectTriangleIndices;
collectTriangleIndices._kdTree = kdTree.get();
geometry->accept(collectTriangleIndices);
kdTree->_primitiveIndices.reserve(vertices->size());
KDLeaf leaf(0, kdTree->_primitiveIndices.size());
int leafNum = kdTree->addLeaf(leaf);
osg::BoundingBox bb = kdTree->_bb;
int nodeNum = divide(*kdTree, bb, leafNum, 0);
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<"Root nodeNum="<<nodeNum<<std::endl;
#endif
#ifdef VERBOSE_OUTPUT
KDTreeTraverser traverser;
traverser.traverse(*kdTree);
osg::notify(osg::NOTICE)<<"Final kdTree->_kdNodes.size()="<<kdTree->_kdNodes.size()<<std::endl;
osg::notify(osg::NOTICE)<<"Final kdTree->_kdLeaves.size()="<<kdTree->_kdLeaves.size()<<std::endl;
osg::notify(osg::NOTICE)<<"osg::KDTreeBuilder::createKDTree() completed"<<std::endl<<std::endl;
#endif
// osg::notify(osg::NOTICE)<<"kdTree->_kdNodes.size()="<<kdTree->_kdNodes.size()<<" estimated size = "<<estimatedSize<<std::endl;
// osg::notify(osg::NOTICE)<<"kdTree->_kdLeaves.size()="<<kdTree->_kdLeaves.size()<<" estimated size = "<<estimatedSize<<std::endl<<std::endl;
return kdTree.release();
}
void KDTreeBuilder::computeDivisions(KDTree& kdTree)
{
osg::Vec3 dimensions(kdTree._bb.xMax()-kdTree._bb.xMin(),
kdTree._bb.yMax()-kdTree._bb.yMin(),
kdTree._bb.zMax()-kdTree._bb.zMin());
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<"computeDivisions("<<_maxNumLevels<<") "<<dimensions<< " { "<<std::endl;
#endif
kdTree._axisStack.reserve(_maxNumLevels);
int level = 0;
for(unsigned int level=0; level<_maxNumLevels; ++level)
{
int axis = 0;
if (dimensions[0]>=dimensions[1])
{
if (dimensions[0]>=dimensions[2]) axis = 0;
else axis = 2;
}
else if (dimensions[1]>=dimensions[2]) axis = 1;
else axis = 2;
kdTree._axisStack.push_back(axis);
dimensions[axis] /= 2.0f;
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<" "<<level<<", "<<dimensions<<", "<<axis<<std::endl;
#endif
}
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<"}"<<std::endl;
#endif
}
int KDTreeBuilder::divide(KDTree& kdTree, osg::BoundingBox& bb, int nodeIndex, unsigned int level)
{
if (kdTree._axisStack.size()<=level) return nodeIndex;
int axis = kdTree._axisStack[level];
#ifdef VERBOSE_OUTPUT
//osg::notify(osg::NOTICE)<<"divide("<<nodeIndex<<", "<<level<< "), axis="<<axis<<std::endl;
#endif
if (nodeIndex>=0)
{
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<" divide node"<<std::endl;
#endif
KDNode& node = kdTree.getNode(nodeIndex);
return nodeIndex;
}
else
{
if (kdTree.getLeaf(nodeIndex).second<=_targetNumTrianglesPerLeaf) return nodeIndex;
//osg::notify(osg::NOTICE)<<" divide leaf"<<std::endl;
int nodeNum = kdTree.addNode(KDNode());
float original_min = bb._min[axis];
float original_max = bb._max[axis];
float mid = (original_min+original_max)*0.5f;
{
KDLeaf& leaf = kdTree.getLeaf(nodeIndex);
//osg::Vec3Array* vertices = kdTree._vertices.get();
KDTree::CenterList& centers = kdTree._centers;
int end = leaf.first+leaf.second-1;
int left = leaf.first;
int right = leaf.first+leaf.second-1;
while(left<right)
{
while(left<right && (centers[kdTree._primitiveIndices[left]][axis]<=mid)) { ++left; }
while(left<right && (centers[kdTree._primitiveIndices[right]][axis]>mid)) { --right; }
while(left<right && (centers[kdTree._primitiveIndices[right]][axis]>mid)) { --right; }
if (left<right)
{
std::swap(kdTree._primitiveIndices[left], kdTree._primitiveIndices[right]);
++left;
--right;
}
}
if (left==right)
{
if (centers[kdTree._primitiveIndices[left]][axis]<=mid) ++left;
else --right;
}
KDLeaf leftLeaf(leaf.first, (right-leaf.first)+1);
KDLeaf rightLeaf(left, (end-left)+1);
#if 0
osg::notify(osg::NOTICE)<<"In leaf.first ="<<leaf.first <<" leaf.second ="<<leaf.second<<std::endl;
osg::notify(osg::NOTICE)<<" leftLeaf.first ="<<leftLeaf.first <<" leftLeaf.second ="<<leftLeaf.second<<std::endl;
osg::notify(osg::NOTICE)<<" rightLeaf.first="<<rightLeaf.first<<" rightLeaf.second="<<rightLeaf.second<<std::endl;
osg::notify(osg::NOTICE)<<" left="<<left<<" right="<<right<<std::endl;
if (leaf.second != (leftLeaf.second +rightLeaf.second))
{
osg::notify(osg::NOTICE)<<"*** Error in size, leaf.second="<<leaf.second
<<", leftLeaf.second="<<leftLeaf.second
<<", rightLeaf.second="<<rightLeaf.second<<std::endl;
}
else
{
osg::notify(osg::NOTICE)<<"Size OK, leaf.second="<<leaf.second
<<", leftLeaf.second="<<leftLeaf.second
<<", rightLeaf.second="<<rightLeaf.second<<std::endl;
}
#endif
if (leftLeaf.second<=0)
{
//osg::notify(osg::NOTICE)<<"LeftLeaf empty"<<std::endl;
kdTree.getNode(nodeNum).first = 0;
kdTree.getNode(nodeNum).second = kdTree.replaceLeaf(nodeIndex, rightLeaf);
}
else if (rightLeaf.second<=0)
{
//osg::notify(osg::NOTICE)<<"RightLeaf empty"<<std::endl;
kdTree.getNode(nodeNum).first = kdTree.replaceLeaf(nodeIndex, leftLeaf);
kdTree.getNode(nodeNum).second = 0;
}
else
{
kdTree.getNode(nodeNum).first = kdTree.replaceLeaf(nodeIndex, leftLeaf);
kdTree.getNode(nodeNum).second = kdTree.addLeaf(rightLeaf);
}
}
int originalLeftChildIndex = kdTree.getNode(nodeNum).first;
int originalRightChildIndex = kdTree.getNode(nodeNum).second;
float restore = bb._max[axis];
bb._max[axis] = mid;
//osg::notify(osg::NOTICE)<<" divide leftLeaf "<<kdTree.getNode(nodeNum).first<<std::endl;
int leftChildIndex = divide(kdTree, bb, originalLeftChildIndex, level+1);
bb._max[axis] = restore;
restore = bb._min[axis];
bb._min[axis] = mid;
//osg::notify(osg::NOTICE)<<" divide rightLeaf "<<kdTree.getNode(nodeNum).second<<std::endl;
int rightChildIndex = divide(kdTree, bb, originalRightChildIndex, level+1);
bb._min[axis] = restore;
kdTree.getNode(nodeNum).first = leftChildIndex;
kdTree.getNode(nodeNum).second = rightChildIndex;
return nodeNum;
}
}
}

317
examples/osgkdtree/variabledivision.h
View File

@ -1,317 +0,0 @@
/* OpenSceneGraph example, osgintersection.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* 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,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#ifndef VARIABLEDIVISION_H
#define VARIABLEDIVISION_H
#include <osgDB/ReadFile>
#include <osg/ArgumentParser>
#include <osg/ApplicationUsage>
#include <osg/Timer>
#include <osg/CoordinateSystemNode>
#include <osg/Notify>
#include <osg/io_utils>
#include <osg/Geometry>
#include <osg/TriangleIndexFunctor>
#include <osgUtil/IntersectionVisitor>
#include <osgUtil/LineSegmentIntersector>
#include <osgUtil/UpdateVisitor>
#include <osgSim/LineOfSight>
#include <osgSim/HeightAboveTerrain>
#include <osgSim/ElevationSlice>
#include <iostream>
namespace variabledivision
{
typedef int value_type;
typedef std::vector< value_type > Indices;
//#define VERBOSE_OUTPUT
struct KDNode
{
KDNode():
first(0),
second(0) {}
KDNode(value_type f, value_type s):
first(f),
second(s) {}
value_type first;
value_type second;
osg::BoundingBox bb;
};
struct KDLeaf
{
KDLeaf():
first(0),
second(0) {}
KDLeaf(value_type f, value_type s):
first(f),
second(s) {}
value_type first;
value_type second;
osg::BoundingBox bb;
};
struct Triangle
{
Triangle(unsigned int p1, unsigned int p2, unsigned int p3):
_p1(p1), _p2(p2), _p3(p3) {}
bool operator < (const Triangle& rhs) const
{
if (_p1<rhs._p1) return true;
if (_p1>rhs._p1) return false;
if (_p2<rhs._p2) return true;
if (_p2>rhs._p2) return false;
return _p3<rhs._p3;
}
unsigned int _p1;
unsigned int _p2;
unsigned int _p3;
};
class KDTree : public osg::Shape
{
public:
KDTree() {}
KDTree(const KDTree& rhs, const osg::CopyOp& copyop=osg::CopyOp::SHALLOW_COPY):
Shape(rhs,copyop) {}
META_Shape(osg, KDTree)
typedef std::vector< unsigned int > AxisStack;
typedef std::vector< KDNode > KDNodeList;
typedef std::vector< KDLeaf > KDLeafList;
/// note, leafNum is negative to distinguish from nodeNum
int addLeaf(const KDLeaf& leaf) { int num = _kdLeaves.size(); _kdLeaves.push_back(leaf); return -(num+1); }
int replaceLeaf(int leafNum, const KDLeaf& leaf)
{
int num = -leafNum-1;
if (num>_kdLeaves.size()-1)
{
osg::notify(osg::NOTICE)<<"Warning: replaceChild("<<leafNum<<", leaf), num = "<<num<<" _kdLeaves.size()="<<_kdLeaves.size()<<std::endl;
return leafNum;
}
_kdLeaves[num] = leaf; return leafNum;
}
/// note, leafNum is negative to distinguish from nodeNum
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];
}
osg::BoundingBox& getBounindingBox(int nodeNum)
{
if (nodeNum<0)
{
int num = -nodeNum-1;
return _kdLeaves[num].bb;
}
else
{
return _kdNodes[nodeNum].bb;
}
}
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