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/****************************************************************************
* VCGLib o o *
* Visual and Computer Graphics Library o o *
* _ O _ *
* Copyright(C) 2004 \/)\/ *
* Visual Computing Lab /\/| *
* ISTI - Italian National Research Council | *
* \ *
* All rights reserved. *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
* This program 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 *
* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
* for more details. *
* *
****************************************************************************/
/****************************************************************************
History
$Log: not supported by cvs2svn $
Revision 1.1 2005/09/26 18:33:16 m_di_benedetto
First Commit.
****************************************************************************/
#ifndef __VCGLIB_AABBBINARYTREE_CLOSEST_H
#define __VCGLIB_AABBBINARYTREE_CLOSEST_H
// stl headers
#include <limits>
#include <vector>
// vcg headers
#include <vcg/math/base.h>
#include <vcg/space/index/aabb_binary_tree/base.h>
#include <wrap/utils.h>
/***************************************************************************/
namespace vcg {
template <class TREETYPE>
class AABBBinaryTreeClosest {
public:
typedef AABBBinaryTreeClosest<TREETYPE> ClassType;
typedef TREETYPE TreeType;
typedef typename TreeType::ScalarType ScalarType;
typedef typename TreeType::CoordType CoordType;
typedef typename TreeType::NodeType NodeType;
typedef typename TreeType::ObjPtr ObjPtr;
template <class OBJPOINTDISTANCEFUNCT>
static inline ObjPtr Closest(TreeType & tree, OBJPOINTDISTANCEFUNCT & getPointDistance, const CoordType & p, const ScalarType & maxDist, ScalarType & minDist, CoordType & q) {
typedef OBJPOINTDISTANCEFUNCT ObjPointDistanceFunct;
typedef std::vector<NodeType *> NodePtrVector;
typedef typename NodePtrVector::const_iterator NodePtrVector_ci;
NodeType * pRoot = tree.pRoot;
if (pRoot == 0) {
return (0);
}
NodePtrVector clist1;
NodePtrVector clist2;
NodePtrVector leaves;
NodePtrVector * candidates = &clist1;
NodePtrVector * newCandidates = &clist2;
clist1.reserve(tree.pObjects.size());
clist2.reserve(tree.pObjects.size());
leaves.reserve(tree.pObjects.size());
clist1.resize(0);
clist2.resize(0);
leaves.resize(0);
ScalarType minMaxDist = maxDist * maxDist;
candidates->push_back(pRoot);
while (!candidates->empty()) {
newCandidates->resize(0);
for (NodePtrVector_ci bv=candidates->begin(); bv!=candidates->end(); ++bv) {
const CoordType dc = Abs(p - (*bv)->boxCenter);
const ScalarType maxDist = (dc + (*bv)->boxHalfDims).SquaredNorm();
(*bv)->ScalarValue() = LowClampToZero(dc - (*bv)->boxHalfDims).SquaredNorm();
if (maxDist < minMaxDist) {
minMaxDist = maxDist;
}
}
for (NodePtrVector_ci ci=candidates->begin(); ci!=candidates->end(); ++ci) {
if ((*ci)->ScalarValue() < minMaxDist) {
if ((*ci)->IsLeaf()) {
leaves.push_back(*ci);
}
else {
if ((*ci)->children[0] != 0) {
newCandidates->push_back((*ci)->children[0]);
}
if ((*ci)->children[1] != 0) {
newCandidates->push_back((*ci)->children[1]);
}
}
}
}
NodePtrVector * cSwap = candidates;
candidates = newCandidates;
newCandidates = cSwap;
}
clist1.clear();
clist2.clear();
ObjPtr closestObject = 0;
CoordType closestPoint;
ScalarType closestDist = math::Sqrt(minMaxDist) + std::numeric_limits<ScalarType>::epsilon();
ScalarType closestDistSq = closestDist * closestDist;
for (NodePtrVector_ci ci=leaves.begin(); ci!=leaves.end(); ++ci) {
if ((*ci)->ScalarValue() < closestDistSq) {
for (typename TreeType::ObjPtrVectorConstIterator si=(*ci)->oBegin; si!=(*ci)->oEnd; ++si) {
if (getPointDistance(*(*si), p, closestDist, closestPoint)) {
closestDistSq = closestDist * closestDist;
closestObject = (*si);
q = closestPoint;
minDist = closestDist;
}
}
}
}
leaves.clear();
return (closestObject);
}
};
} // end namespace vcg
#endif // #ifndef __VCGLIB_AABBBINARYTREE_CLOSEST_H
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