824 lines
25 KiB
C++
824 lines
25 KiB
C++
/* -*-c++-*- OpenSceneGraph - Copyright (C) 1998-2006 Robert Osfield
|
|
*
|
|
* This library is open source and may be redistributed and/or modified under
|
|
* the terms of the OpenSceneGraph Public License (OSGPL) version 0.0 or
|
|
* (at your option) any later version. The full license is in LICENSE file
|
|
* included with this distribution, and on the openscenegraph.org website.
|
|
*
|
|
* This library is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* OpenSceneGraph Public License for more details.
|
|
*/
|
|
|
|
#include <osg/KdTree>
|
|
#include <osg/Geode>
|
|
#include <osg/TriangleIndexFunctor>
|
|
#include <osg/Timer>
|
|
|
|
#include <osg/io_utils>
|
|
|
|
using namespace osg;
|
|
|
|
//#define VERBOSE_OUTPUT
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// BuildKdTree Declarartion - class used for building an single KdTree
|
|
|
|
struct BuildKdTree
|
|
{
|
|
BuildKdTree(KdTree& kdTree):
|
|
_kdTree(kdTree) {}
|
|
|
|
typedef std::vector< osg::Vec3 > CenterList;
|
|
typedef std::vector< unsigned int > Indices;
|
|
typedef std::vector< unsigned int > AxisStack;
|
|
|
|
bool build(KdTree::BuildOptions& options, osg::Geometry* geometry);
|
|
|
|
void computeDivisions(KdTree::BuildOptions& options);
|
|
|
|
int divide(KdTree::BuildOptions& options, osg::BoundingBox& bb, int nodeIndex, unsigned int level);
|
|
|
|
KdTree& _kdTree;
|
|
|
|
osg::BoundingBox _bb;
|
|
AxisStack _axisStack;
|
|
Indices _primitiveIndices;
|
|
CenterList _centers;
|
|
|
|
protected:
|
|
|
|
BuildKdTree& operator = (const BuildKdTree&) { return *this; }
|
|
};
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// Functor for collecting triangle indices from Geometry
|
|
|
|
struct TriangleIndicesCollector
|
|
{
|
|
TriangleIndicesCollector():
|
|
_buildKdTree(0)
|
|
{
|
|
}
|
|
|
|
inline void operator () (unsigned int p0, unsigned int p1, unsigned int p2)
|
|
{
|
|
const osg::Vec3& v0 = (*(_buildKdTree->_kdTree.getVertices()))[p0];
|
|
const osg::Vec3& v1 = (*(_buildKdTree->_kdTree.getVertices()))[p1];
|
|
const osg::Vec3& v2 = (*(_buildKdTree->_kdTree.getVertices()))[p2];
|
|
|
|
// discard degenerate points
|
|
if (v0==v1 || v1==v2 || v1==v2)
|
|
{
|
|
//osg::notify(osg::NOTICE)<<"Disgarding degenerate triangle"<<std::endl;
|
|
return;
|
|
}
|
|
|
|
unsigned int i = _buildKdTree->_kdTree.addTriangle(KdTree::Triangle(p0,p1,p2));
|
|
|
|
osg::BoundingBox bb;
|
|
bb.expandBy(v0);
|
|
bb.expandBy(v1);
|
|
bb.expandBy(v2);
|
|
|
|
_buildKdTree->_centers.push_back(bb.center());
|
|
_buildKdTree->_primitiveIndices.push_back(i);
|
|
|
|
}
|
|
|
|
BuildKdTree* _buildKdTree;
|
|
|
|
};
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// BuildKdTree Implementation
|
|
|
|
bool BuildKdTree::build(KdTree::BuildOptions& options, osg::Geometry* geometry)
|
|
{
|
|
|
|
#ifdef VERBOSE_OUTPUT
|
|
osg::notify(osg::NOTICE)<<"osg::KDTreeBuilder::createKDTree()"<<std::endl;146
|
|
#endif
|
|
|
|
osg::Vec3Array* vertices = dynamic_cast<osg::Vec3Array*>(geometry->getVertexArray());
|
|
if (!vertices) return false;
|
|
|
|
if (vertices->size() <= options._targetNumTrianglesPerLeaf) return false;
|
|
|
|
_bb = geometry->getBound();
|
|
_kdTree.setVertices(vertices);
|
|
|
|
unsigned int estimatedSize = (unsigned int)(2.0*float(vertices->size())/float(options._targetNumTrianglesPerLeaf));
|
|
|
|
#ifdef VERBOSE_OUTPUT
|
|
osg::notify(osg::NOTICE)<<"kdTree->_kdNodes.reserve()="<<estimatedSize<<std::endl<<std::endl;
|
|
#endif
|
|
|
|
_kdTree.getNodes().reserve(estimatedSize*5);
|
|
|
|
computeDivisions(options);
|
|
|
|
options._numVerticesProcessed += vertices->size();
|
|
|
|
unsigned int estimatedNumTriangles = vertices->size()*2;
|
|
_primitiveIndices.reserve(estimatedNumTriangles);
|
|
_centers.reserve(estimatedNumTriangles);
|
|
|
|
_kdTree.getTriangles().reserve(estimatedNumTriangles);
|
|
|
|
osg::TriangleIndexFunctor<TriangleIndicesCollector> collectTriangleIndices;
|
|
collectTriangleIndices._buildKdTree = this;
|
|
geometry->accept(collectTriangleIndices);
|
|
|
|
_primitiveIndices.reserve(vertices->size());
|
|
|
|
KdTree::KdNode node(-1, _primitiveIndices.size());
|
|
node.bb = _bb;
|
|
|
|
int nodeNum = _kdTree.addNode(node);
|
|
|
|
osg::BoundingBox bb = _bb;
|
|
nodeNum = divide(options, bb, nodeNum, 0);
|
|
|
|
// now reorder the triangle list so that it's in order as per the primitiveIndex list.
|
|
KdTree::TriangleList triangleList(_kdTree.getTriangles().size());
|
|
for(unsigned int i=0; i<_primitiveIndices.size(); ++i)
|
|
{
|
|
triangleList[i] = _kdTree.getTriangle(_primitiveIndices[i]);
|
|
}
|
|
|
|
_kdTree.getTriangles().swap(triangleList);
|
|
|
|
|
|
#ifdef VERBOSE_OUTPUT
|
|
osg::notify(osg::NOTICE)<<"Root nodeNum="<<nodeNum<<std::endl;
|
|
#endif
|
|
|
|
|
|
// osg::notify(osg::NOTICE)<<"_kdNodes.size()="<<k_kdNodes.size()<<" estimated size = "<<estimatedSize<<std::endl;
|
|
// osg::notify(osg::NOTICE)<<"_kdLeaves.size()="<<_kdLeaves.size()<<" estimated size = "<<estimatedSize<<std::endl<<std::endl;
|
|
|
|
|
|
return !_kdTree.getNodes().empty();
|
|
}
|
|
|
|
void BuildKdTree::computeDivisions(KdTree::BuildOptions& options)
|
|
{
|
|
osg::Vec3 dimensions(_bb.xMax()-_bb.xMin(),
|
|
_bb.yMax()-_bb.yMin(),
|
|
_bb.zMax()-_bb.zMin());
|
|
|
|
#ifdef VERBOSE_OUTPUT
|
|
osg::notify(osg::NOTICE)<<"computeDivisions("<<options._maxNumLevels<<") "<<dimensions<< " { "<<std::endl;
|
|
#endif
|
|
|
|
_axisStack.reserve(options._maxNumLevels);
|
|
|
|
for(unsigned int level=0; level<options._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;
|
|
|
|
_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 BuildKdTree::divide(KdTree::BuildOptions& options, osg::BoundingBox& bb, int nodeIndex, unsigned int level)
|
|
{
|
|
KdTree::KdNode& node = _kdTree.getNode(nodeIndex);
|
|
|
|
bool needToDivide = level < _axisStack.size() &&
|
|
(node.first<0 && static_cast<unsigned int>(node.second)>options._targetNumTrianglesPerLeaf);
|
|
|
|
if (!needToDivide)
|
|
{
|
|
if (node.first<0)
|
|
{
|
|
int istart = -node.first-1;
|
|
int iend = istart+node.second-1;
|
|
|
|
// leaf is done, now compute bound on it.
|
|
node.bb.init();
|
|
for(int i=istart; i<=iend; ++i)
|
|
{
|
|
const KdTree::Triangle& tri = _kdTree.getTriangle(_primitiveIndices[i]);
|
|
const osg::Vec3& v0 = (*_kdTree.getVertices())[tri.p0];
|
|
const osg::Vec3& v1 = (*_kdTree.getVertices())[tri.p1];
|
|
const osg::Vec3& v2 = (*_kdTree.getVertices())[tri.p2];
|
|
node.bb.expandBy(v0);
|
|
node.bb.expandBy(v1);
|
|
node.bb.expandBy(v2);
|
|
|
|
}
|
|
|
|
if (node.bb.valid())
|
|
{
|
|
float epsilon = 1e-6f;
|
|
node.bb._min.x() -= epsilon;
|
|
node.bb._min.y() -= epsilon;
|
|
node.bb._min.z() -= epsilon;
|
|
node.bb._max.x() += epsilon;
|
|
node.bb._max.y() += epsilon;
|
|
node.bb._max.z() += epsilon;
|
|
}
|
|
|
|
#ifdef VERBOSE_OUTPUT
|
|
if (!node.bb.valid())
|
|
{
|
|
osg::notify(osg::NOTICE)<<"After reset "<<node.first<<","<<node.second<<std::endl;
|
|
osg::notify(osg::NOTICE)<<" bb._min ("<<node.bb._min<<")"<<std::endl;
|
|
osg::notify(osg::NOTICE)<<" bb._max ("<<node.bb._max<<")"<<std::endl;
|
|
}
|
|
else
|
|
{
|
|
osg::notify(osg::NOTICE)<<"Set bb for nodeIndex = "<<nodeIndex<<std::endl;
|
|
}
|
|
#endif
|
|
}
|
|
|
|
return nodeIndex;
|
|
|
|
}
|
|
|
|
int axis = _axisStack[level];
|
|
|
|
#ifdef VERBOSE_OUTPUT
|
|
osg::notify(osg::NOTICE)<<"divide("<<nodeIndex<<", "<<level<< "), axis="<<axis<<std::endl;
|
|
#endif
|
|
|
|
if (node.first<0)
|
|
{
|
|
// leaf node as first <= 0, so look at dividing it.
|
|
|
|
int istart = -node.first-1;
|
|
int iend = istart+node.second-1;
|
|
|
|
//osg::notify(osg::NOTICE)<<" divide leaf"<<std::endl;
|
|
|
|
float original_min = bb._min[axis];
|
|
float original_max = bb._max[axis];
|
|
|
|
float mid = (original_min+original_max)*0.5f;
|
|
|
|
int originalLeftChildIndex = 0;
|
|
int originalRightChildIndex = 0;
|
|
bool insitueDivision = false;
|
|
|
|
{
|
|
//osg::Vec3Array* vertices = kdTree._vertices.get();
|
|
int left = istart;
|
|
int right = iend;
|
|
|
|
while(left<right)
|
|
{
|
|
while(left<right && (_centers[_primitiveIndices[left]][axis]<=mid)) { ++left; }
|
|
|
|
while(left<right && (_centers[_primitiveIndices[right]][axis]>mid)) { --right; }
|
|
|
|
while(left<right && (_centers[_primitiveIndices[right]][axis]>mid)) { --right; }
|
|
|
|
if (left<right)
|
|
{
|
|
std::swap(_primitiveIndices[left], _primitiveIndices[right]);
|
|
++left;
|
|
--right;
|
|
}
|
|
}
|
|
|
|
if (left==right)
|
|
{
|
|
if (_centers[_primitiveIndices[left]][axis]<=mid) ++left;
|
|
else --right;
|
|
}
|
|
|
|
KdTree::KdNode leftLeaf(-istart-1, (right-istart)+1);
|
|
KdTree::KdNode rightLeaf(-left-1, (iend-left)+1);
|
|
|
|
#if 0
|
|
osg::notify(osg::NOTICE)<<"In node.first ="<<node.first <<" node.second ="<<node.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 (node.second != (leftLeaf.second +rightLeaf.second))
|
|
{
|
|
osg::notify(osg::NOTICE)<<"*** Error in size, leaf.second="<<node.second
|
|
<<", leftLeaf.second="<<leftLeaf.second
|
|
<<", rightLeaf.second="<<rightLeaf.second<<std::endl;
|
|
}
|
|
else
|
|
{
|
|
osg::notify(osg::NOTICE)<<"Size OK, leaf.second="<<node.second
|
|
<<", leftLeaf.second="<<leftLeaf.second
|
|
<<", rightLeaf.second="<<rightLeaf.second<<std::endl;
|
|
}
|
|
#endif
|
|
|
|
if (leftLeaf.second<=0)
|
|
{
|
|
//osg::notify(osg::NOTICE)<<"LeftLeaf empty"<<std::endl;
|
|
originalLeftChildIndex = 0;
|
|
//originalRightChildIndex = addNode(rightLeaf);
|
|
originalRightChildIndex = nodeIndex;
|
|
insitueDivision = true;
|
|
}
|
|
else if (rightLeaf.second<=0)
|
|
{
|
|
//osg::notify(osg::NOTICE)<<"RightLeaf empty"<<std::endl;
|
|
// originalLeftChildIndex = addNode(leftLeaf);
|
|
originalLeftChildIndex = nodeIndex;
|
|
originalRightChildIndex = 0;
|
|
insitueDivision = true;
|
|
}
|
|
else
|
|
{
|
|
originalLeftChildIndex = _kdTree.addNode(leftLeaf);
|
|
originalRightChildIndex = _kdTree.addNode(rightLeaf);
|
|
}
|
|
}
|
|
|
|
|
|
float restore = bb._max[axis];
|
|
bb._max[axis] = mid;
|
|
|
|
//osg::notify(osg::NOTICE)<<" divide leftLeaf "<<kdTree.getNode(nodeNum).first<<std::endl;
|
|
int leftChildIndex = originalLeftChildIndex!=0 ? divide(options, bb, originalLeftChildIndex, level+1) : 0;
|
|
|
|
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 = originalRightChildIndex!=0 ? divide(options, bb, originalRightChildIndex, level+1) : 0;
|
|
|
|
bb._min[axis] = restore;
|
|
|
|
|
|
if (!insitueDivision)
|
|
{
|
|
// take a second reference to node we are working on as the std::vector<> resize could
|
|
// have invalidate the previous node ref.
|
|
KdTree::KdNode& newNodeRef = _kdTree.getNode(nodeIndex);
|
|
|
|
newNodeRef.first = leftChildIndex;
|
|
newNodeRef.second = rightChildIndex;
|
|
|
|
insitueDivision = true;
|
|
|
|
newNodeRef.bb.init();
|
|
if (leftChildIndex!=0) newNodeRef.bb.expandBy(_kdTree.getNode(leftChildIndex).bb);
|
|
if (rightChildIndex!=0) newNodeRef.bb.expandBy(_kdTree.getNode(rightChildIndex).bb);
|
|
|
|
if (!newNodeRef.bb.valid())
|
|
{
|
|
osg::notify(osg::NOTICE)<<"leftChildIndex="<<leftChildIndex<<" && originalLeftChildIndex="<<originalLeftChildIndex<<std::endl;
|
|
osg::notify(osg::NOTICE)<<"rightChildIndex="<<rightChildIndex<<" && originalRightChildIndex="<<originalRightChildIndex<<std::endl;
|
|
|
|
osg::notify(osg::NOTICE)<<"Invalid BB leftChildIndex="<<leftChildIndex<<", "<<rightChildIndex<<std::endl;
|
|
osg::notify(osg::NOTICE)<<" bb._min ("<<newNodeRef.bb._min<<")"<<std::endl;
|
|
osg::notify(osg::NOTICE)<<" bb._max ("<<newNodeRef.bb._max<<")"<<std::endl;
|
|
|
|
if (leftChildIndex!=0)
|
|
{
|
|
osg::notify(osg::NOTICE)<<" getNode(leftChildIndex).bb min = "<<_kdTree.getNode(leftChildIndex).bb._min<<std::endl;
|
|
osg::notify(osg::NOTICE)<<" max = "<<_kdTree.getNode(leftChildIndex).bb._max<<std::endl;
|
|
}
|
|
if (rightChildIndex!=0)
|
|
{
|
|
osg::notify(osg::NOTICE)<<" getNode(rightChildIndex).bb min = "<<_kdTree.getNode(rightChildIndex).bb._min<<std::endl;
|
|
osg::notify(osg::NOTICE)<<" max = "<<_kdTree.getNode(rightChildIndex).bb._max<<std::endl;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
osg::notify(osg::NOTICE)<<"NOT expecting to get here"<<std::endl;
|
|
}
|
|
|
|
return nodeIndex;
|
|
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// IntersectKdTree
|
|
//
|
|
struct IntersectKdTree
|
|
{
|
|
IntersectKdTree(const osg::Vec3Array& vertices,
|
|
const KdTree::KdNodeList& nodes,
|
|
const KdTree::TriangleList& triangles,
|
|
KdTree::LineSegmentIntersections& intersections,
|
|
const osg::Vec3& s, const osg::Vec3& e):
|
|
_vertices(vertices),
|
|
_kdNodes(nodes),
|
|
_triangles(triangles),
|
|
_intersections(intersections),
|
|
_s(s),
|
|
_e(e)
|
|
{
|
|
_d = e - s;
|
|
_length = _d.length();
|
|
_inverse_length = _length!=0.0f ? 1.0f/_length : 0.0;
|
|
_d *= _inverse_length;
|
|
|
|
_d_invX = _d.x()!=0.0f ? _d/_d.x() : osg::Vec3(0.0f,0.0f,0.0f);
|
|
_d_invY = _d.y()!=0.0f ? _d/_d.y() : osg::Vec3(0.0f,0.0f,0.0f);
|
|
_d_invZ = _d.z()!=0.0f ? _d/_d.z() : osg::Vec3(0.0f,0.0f,0.0f);
|
|
}
|
|
|
|
void intersect(const KdTree::KdNode& node, const osg::Vec3& s, const osg::Vec3& e) const;
|
|
bool intersectAndClip(osg::Vec3& s, osg::Vec3& e, const osg::BoundingBox& bb) const;
|
|
|
|
const osg::Vec3Array& _vertices;
|
|
const KdTree::KdNodeList& _kdNodes;
|
|
const KdTree::TriangleList& _triangles;
|
|
KdTree::LineSegmentIntersections& _intersections;
|
|
|
|
osg::Vec3 _s;
|
|
osg::Vec3 _e;
|
|
|
|
osg::Vec3 _d;
|
|
float _length;
|
|
float _inverse_length;
|
|
|
|
osg::Vec3 _d_invX;
|
|
osg::Vec3 _d_invY;
|
|
osg::Vec3 _d_invZ;
|
|
|
|
|
|
protected:
|
|
|
|
IntersectKdTree& operator = (const IntersectKdTree&) { return *this; }
|
|
};
|
|
|
|
|
|
void IntersectKdTree::intersect(const KdTree::KdNode& node, const osg::Vec3& ls, const osg::Vec3& le) const
|
|
{
|
|
if (node.first<0)
|
|
{
|
|
// treat as a leaf
|
|
|
|
//osg::notify(osg::NOTICE)<<"KdTree::intersect("<<&leaf<<")"<<std::endl;
|
|
int istart = -node.first-1;
|
|
int iend = istart + node.second;
|
|
|
|
for(int i=istart; i<iend; ++i)
|
|
{
|
|
//const Triangle& tri = _triangles[_primitiveIndices[i]];
|
|
const KdTree::Triangle& tri = _triangles[i];
|
|
// osg::notify(osg::NOTICE)<<" tri("<<tri.p1<<","<<tri.p2<<","<<tri.p3<<")"<<std::endl;
|
|
|
|
const osg::Vec3& v0 = _vertices[tri.p0];
|
|
const osg::Vec3& v1 = _vertices[tri.p1];
|
|
const osg::Vec3& v2 = _vertices[tri.p2];
|
|
|
|
osg::Vec3 T = _s - v0;
|
|
osg::Vec3 E2 = v2 - v0;
|
|
osg::Vec3 E1 = v1 - v0;
|
|
|
|
osg::Vec3 P = _d ^ E2;
|
|
|
|
float det = P * E1;
|
|
|
|
float r,r0,r1,r2;
|
|
|
|
const float esplison = 1e-10f;
|
|
if (det>esplison)
|
|
{
|
|
float u = (P*T);
|
|
if (u<0.0 || u>det) continue;
|
|
|
|
osg::Vec3 Q = T ^ E1;
|
|
float v = (Q*_d);
|
|
if (v<0.0 || v>det) continue;
|
|
|
|
if ((u+v)> det) continue;
|
|
|
|
float inv_det = 1.0f/det;
|
|
float t = (Q*E2)*inv_det;
|
|
if (t<0.0 || t>_length) continue;
|
|
|
|
u *= inv_det;
|
|
v *= inv_det;
|
|
|
|
r0 = 1.0f-u-v;
|
|
r1 = u;
|
|
r2 = v;
|
|
r = t * _inverse_length;
|
|
}
|
|
else if (det<-esplison)
|
|
{
|
|
|
|
float u = (P*T);
|
|
if (u>0.0 || u<det) continue;
|
|
|
|
osg::Vec3 Q = T ^ E1;
|
|
float v = (Q*_d);
|
|
if (v>0.0 || v<det) continue;
|
|
|
|
if ((u+v) < det) continue;
|
|
|
|
float inv_det = 1.0f/det;
|
|
float t = (Q*E2)*inv_det;
|
|
if (t<0.0 || t>_length) continue;
|
|
|
|
u *= inv_det;
|
|
v *= inv_det;
|
|
|
|
r0 = 1.0f-u-v;
|
|
r1 = u;
|
|
r2 = v;
|
|
r = t * _inverse_length;
|
|
}
|
|
else
|
|
{
|
|
continue;
|
|
}
|
|
|
|
osg::Vec3 in = v0*r0 + v1*r1 + v2*r2;
|
|
osg::Vec3 normal = E1^E2;
|
|
normal.normalize();
|
|
|
|
#if 1
|
|
_intersections.push_back(KdTree::LineSegmentIntersection());
|
|
KdTree::LineSegmentIntersection& intersection = _intersections.back();
|
|
|
|
intersection.ratio = r;
|
|
intersection.primitiveIndex = i;
|
|
intersection.intersectionPoint = in;
|
|
intersection.intersectionNormal = normal;
|
|
|
|
intersection.p0 = tri.p0;
|
|
intersection.p1 = tri.p1;
|
|
intersection.p2 = tri.p2;
|
|
intersection.r0 = r0;
|
|
intersection.r1 = r1;
|
|
intersection.r2 = r2;
|
|
|
|
#endif
|
|
// osg::notify(osg::NOTICE)<<" got intersection ("<<in<<") ratio="<<r<<std::endl;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (node.first>0)
|
|
{
|
|
osg::Vec3 l(ls), e(le);
|
|
if (intersectAndClip(l,e, _kdNodes[node.first].bb))
|
|
{
|
|
intersect(_kdNodes[node.first], l, e);
|
|
}
|
|
}
|
|
if (node.second>0)
|
|
{
|
|
osg::Vec3 l(ls), e(le);
|
|
if (intersectAndClip(l,e, _kdNodes[node.second].bb))
|
|
{
|
|
intersect(_kdNodes[node.second], l, e);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
bool IntersectKdTree::intersectAndClip(osg::Vec3& s, osg::Vec3& e, const osg::BoundingBox& bb) const
|
|
{
|
|
//return true;
|
|
|
|
//if (!bb.valid()) return true;
|
|
|
|
// compate s and e against the xMin to xMax range of bb.
|
|
if (s.x()<=e.x())
|
|
{
|
|
|
|
// trivial reject of segment wholely outside.
|
|
if (e.x()<bb.xMin()) return false;
|
|
if (s.x()>bb.xMax()) return false;
|
|
|
|
if (s.x()<bb.xMin())
|
|
{
|
|
// clip s to xMin.
|
|
s = s+_d_invX*(bb.xMin()-s.x());
|
|
}
|
|
|
|
if (e.x()>bb.xMax())
|
|
{
|
|
// clip e to xMax.
|
|
e = s+_d_invX*(bb.xMax()-s.x());
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (s.x()<bb.xMin()) return false;
|
|
if (e.x()>bb.xMax()) return false;
|
|
|
|
if (e.x()<bb.xMin())
|
|
{
|
|
// clip s to xMin.
|
|
e = s+_d_invX*(bb.xMin()-s.x());
|
|
}
|
|
|
|
if (s.x()>bb.xMax())
|
|
{
|
|
// clip e to xMax.
|
|
s = s+_d_invX*(bb.xMax()-s.x());
|
|
}
|
|
}
|
|
|
|
// compate s and e against the yMin to yMax range of bb.
|
|
if (s.y()<=e.y())
|
|
{
|
|
|
|
// trivial reject of segment wholely outside.
|
|
if (e.y()<bb.yMin()) return false;
|
|
if (s.y()>bb.yMax()) return false;
|
|
|
|
if (s.y()<bb.yMin())
|
|
{
|
|
// clip s to yMin.
|
|
s = s+_d_invY*(bb.yMin()-s.y());
|
|
}
|
|
|
|
if (e.y()>bb.yMax())
|
|
{
|
|
// clip e to yMax.
|
|
e = s+_d_invY*(bb.yMax()-s.y());
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (s.y()<bb.yMin()) return false;
|
|
if (e.y()>bb.yMax()) return false;
|
|
|
|
if (e.y()<bb.yMin())
|
|
{
|
|
// clip s to yMin.
|
|
e = s+_d_invY*(bb.yMin()-s.y());
|
|
}
|
|
|
|
if (s.y()>bb.yMax())
|
|
{
|
|
// clip e to yMax.
|
|
s = s+_d_invY*(bb.yMax()-s.y());
|
|
}
|
|
}
|
|
|
|
// compate s and e against the zMin to zMax range of bb.
|
|
if (s.z()<=e.z())
|
|
{
|
|
|
|
// trivial reject of segment wholely outside.
|
|
if (e.z()<bb.zMin()) return false;
|
|
if (s.z()>bb.zMax()) return false;
|
|
|
|
if (s.z()<bb.zMin())
|
|
{
|
|
// clip s to zMin.
|
|
s = s+_d_invZ*(bb.zMin()-s.z());
|
|
}
|
|
|
|
if (e.z()>bb.zMax())
|
|
{
|
|
// clip e to zMax.
|
|
e = s+_d_invZ*(bb.zMax()-s.z());
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (s.z()<bb.zMin()) return false;
|
|
if (e.z()>bb.zMax()) return false;
|
|
|
|
if (e.z()<bb.zMin())
|
|
{
|
|
// clip s to zMin.
|
|
e = s+_d_invZ*(bb.zMin()-s.z());
|
|
}
|
|
|
|
if (s.z()>bb.zMax())
|
|
{
|
|
// clip e to zMax.
|
|
s = s+_d_invZ*(bb.zMax()-s.z());
|
|
}
|
|
}
|
|
|
|
// osg::notify(osg::NOTICE)<<"clampped segment "<<s<<" "<<e<<std::endl;
|
|
|
|
// if (s==e) return false;
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// KdTree::BuildOptions
|
|
|
|
KdTree::BuildOptions::BuildOptions():
|
|
_numVerticesProcessed(0),
|
|
_targetNumTrianglesPerLeaf(4),
|
|
_maxNumLevels(32)
|
|
{
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// KdTree
|
|
|
|
KdTree::KdTree()
|
|
{
|
|
}
|
|
|
|
KdTree::KdTree(const KdTree& rhs, const osg::CopyOp& copyop):
|
|
Shape(rhs, copyop),
|
|
_vertices(rhs._vertices),
|
|
_kdNodes(rhs._kdNodes),
|
|
_triangles(rhs._triangles)
|
|
{
|
|
}
|
|
|
|
bool KdTree::build(BuildOptions& options, osg::Geometry* geometry)
|
|
{
|
|
BuildKdTree build(*this);
|
|
return build.build(options, geometry);
|
|
}
|
|
|
|
bool KdTree::intersect(const osg::Vec3& start, const osg::Vec3& end, LineSegmentIntersections& intersections) const
|
|
{
|
|
if (_kdNodes.empty())
|
|
{
|
|
osg::notify(osg::NOTICE)<<"Warning: _kdTree is empty"<<std::endl;
|
|
return false;
|
|
}
|
|
|
|
unsigned int numIntersectionsBefore = intersections.size();
|
|
|
|
IntersectKdTree intersector(*_vertices,
|
|
_kdNodes,
|
|
_triangles,
|
|
intersections,
|
|
start, end);
|
|
|
|
intersector.intersect(getNode(0), start, end);
|
|
|
|
return numIntersectionsBefore != intersections.size();
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// KdTreeBuilder
|
|
KdTreeBuilder::KdTreeBuilder():
|
|
osg::NodeVisitor(osg::NodeVisitor::TRAVERSE_ALL_CHILDREN)
|
|
{
|
|
_kdTreePrototype = new osg::KdTree;
|
|
}
|
|
|
|
KdTreeBuilder::KdTreeBuilder(const KdTreeBuilder& rhs):
|
|
osg::NodeVisitor(osg::NodeVisitor::TRAVERSE_ALL_CHILDREN),
|
|
_buildOptions(rhs._buildOptions),
|
|
_kdTreePrototype(rhs._kdTreePrototype)
|
|
{
|
|
}
|
|
|
|
void KdTreeBuilder::apply(osg::Geode& geode)
|
|
{
|
|
for(unsigned int i=0; i<geode.getNumDrawables(); ++i)
|
|
{
|
|
|
|
osg::Geometry* geom = geode.getDrawable(i)->asGeometry();
|
|
if (geom)
|
|
{
|
|
osg::KdTree* previous = dynamic_cast<osg::KdTree*>(geom->getShape());
|
|
if (previous) continue;
|
|
|
|
osg::ref_ptr<osg::KdTree> kdTree = dynamic_cast<osg::KdTree*>(_kdTreePrototype->cloneType());
|
|
|
|
if (kdTree->build(_buildOptions, geom))
|
|
{
|
|
geom->setShape(kdTree.get());
|
|
}
|
|
}
|
|
}
|
|
}
|