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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 1.3 2005/10/05 01:40:56 m_di_benedetto
Node children are now tested in ascending ray-T order.
Revision 1.2 2005/09/28 19:48:31 m_di_benedetto
Removed hit point parameter, #included aabbtree base.
Revision 1.1 2005/09/26 18:33:16 m_di_benedetto
First Commit.
****************************************************************************/
#ifndef __VCGLIB_AABBBINARYTREE_RAY_H
#define __VCGLIB_AABBBINARYTREE_RAY_H
// vcg headers
#include <vcg/space/ray3.h>
#include <vcg/space/index/aabb_binary_tree/base.h>
/***************************************************************************/
namespace vcg {
template <class TREETYPE>
class AABBBinaryTreeRay {
public:
typedef AABBBinaryTreeRay<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 OBJRAYISECTFUNCT>
static inline ObjPtr Ray(TreeType & tree, OBJRAYISECTFUNCT & rayIntersection, const Ray3<ScalarType> & ray, const ScalarType & maxDist, ScalarType & t) {
typedef std::vector<NodeType *> NodePtrVector;
typedef typename NodePtrVector::const_iterator NodePtrVector_ci;
NodeType * pRoot = tree.pRoot;
if (pRoot == 0) {
return (0);
}
const CoordType & rayDirection = ray.Direction();
t = maxDist / rayDirection.Norm();
Ray3Ex rayex;
rayex.r = ray;
rayex.invDirection[0] = ((ScalarType)1) / rayDirection[0];
rayex.invDirection[1] = ((ScalarType)1) / rayDirection[1];
rayex.invDirection[2] = ((ScalarType)1) / rayDirection[2];
rayex.sign[0] = (rayex.invDirection[0] < ((ScalarType)0)) ? (1) : (0);
rayex.sign[1] = (rayex.invDirection[1] < ((ScalarType)0)) ? (1) : (0);
rayex.sign[2] = (rayex.invDirection[2] < ((ScalarType)0)) ? (1) : (0);
ObjPtr closestObj = 0;
ClassType::DepthFirstRayIsect(pRoot, rayIntersection, rayex, t, closestObj);
return (closestObj);
}
protected:
class Ray3Ex {
public:
Ray3<ScalarType> r;
CoordType invDirection;
unsigned char sign[3];
};
static inline bool IntersectionBoxRay(const CoordType & boxCenter, const CoordType & boxHalfDims, const Ray3Ex & ray, ScalarType & t0) {
const CoordType bounds[2] = {
boxCenter - boxHalfDims,
boxCenter + boxHalfDims
};
ScalarType tmin, tmax;
ScalarType tcmin, tcmax;
const CoordType & origin = ray.r.Origin();
tmin = (bounds[ray.sign[0]][0] - origin[0]) * ray.invDirection[0];
tmax = (bounds[1 - ray.sign[0]][0] - origin[0]) * ray.invDirection[0];
tcmin = (bounds[ray.sign[1]][1] - origin[1]) * ray.invDirection[1];
tcmax = (bounds[1 - ray.sign[1]][1] - origin[1]) * ray.invDirection[1];
if ((tmin > tcmax) || (tcmin > tmax)) { return (false); }
if (tcmin > tmin) { tmin = tcmin; }
if (tcmax < tmax) { tmax = tcmax; }
tcmin = (bounds[ray.sign[2]][2] - origin[2]) * ray.invDirection[2];
tcmax = (bounds[1-ray.sign[2]][2] - origin[2]) * ray.invDirection[2];
if ((tmin > tcmax) || (tcmin > tmax)) { return (false); }
if (tcmin > tmin) { tmin = tcmin; }
//if (tcmax < tmax) { tmax = tcmax; }
t0 = (tmin >= ((ScalarType)0)) ? (tmin) :((ScalarType)0);
return (true);
}
template <class OBJRAYISECTFUNCT>
static inline void DepthFirstRayIsect(const NodeType * node, OBJRAYISECTFUNCT & rayIntersection, const Ray3Ex & ray, ScalarType & rayT, ObjPtr & closestObj) {
if (node == 0) {
return;
}
ScalarType rt;
if (!ClassType::IntersectionBoxRay(node->boxCenter, node->boxHalfDims, ray, rt)) {
return;
}
if (rt >= rayT) {
return;
}
if (node->IsLeaf()) {
for (typename TreeType::ObjPtrVectorConstIterator si=node->oBegin; si!=node->oEnd; ++si) {
if (rayIntersection(*(*si), ray.r, rt)) {
if (rt < rayT) {
rayT = rt;
closestObj = (*si);
}
}
}
return;
}
ClassType::DepthFirstRayIsect(node->children[0], rayIntersection, ray, rayT, closestObj);
ClassType::DepthFirstRayIsect(node->children[1], rayIntersection, ray, rayT, closestObj);
}
};
} // end namespace vcg
#endif // #ifndef __VCGLIB_AABBBINARYTREE_RAY_H
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