352 lines
10 KiB
C++
352 lines
10 KiB
C++
/* 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 <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;
|
|
|
|
};
|
|
|
|
|
|
}
|