1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
|
/****************************************************************************
* VCGLib o o *
* Visual and Computer Graphics Library o o *
* _ O _ *
* Copyright(C) 2004-2016 \/)\/ *
* 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. *
* *
****************************************************************************/
///** Returns the closest posistion of a point _p and its distance
//@param _p a 3d point
//@param _maxDist maximum distance not to search beyond.
//@param _getPointDistance (templated type) a functor object used to calculate distance from a grid object to the point _p.
//@param _minDist the returned closest distance
//@param _closestPt the returned closest point
//@return The closest element
//*/
///*
// A DISTFUNCT object must implement an operator () with signature:
// bool operator () (const ObjType& obj, const CoordType & _p, ScalarType & min_dist, CoordType & _closestPt);
//*/
#ifndef __VCGLIB_GRID_CLOSEST
#define __VCGLIB_GRID_CLOSEST
#include <vcg/space/index/space_iterators.h>
namespace vcg{
template <class SPATIAL_INDEX, class OBJPOINTDISTFUNCTOR, class OBJMARKER>
typename SPATIAL_INDEX::ObjPtr GridClosest(SPATIAL_INDEX &Si,
OBJPOINTDISTFUNCTOR _getPointDistance,
OBJMARKER & _marker,
const typename OBJPOINTDISTFUNCTOR::QueryType & _p_obj,
const typename SPATIAL_INDEX::ScalarType & _maxDist,
typename SPATIAL_INDEX::ScalarType & _minDist,
typename SPATIAL_INDEX:: CoordType &_closestPt)
{
typedef typename SPATIAL_INDEX::ObjPtr ObjPtr;
typedef typename SPATIAL_INDEX::CoordType CoordType;
typedef typename SPATIAL_INDEX::ScalarType ScalarType;
typedef typename SPATIAL_INDEX::Box3x Box3x;
Point3<ScalarType> _p = OBJPOINTDISTFUNCTOR::Pos(_p_obj);
// Initialize min_dist with _maxDist to exploit early rejection test.
_minDist = _maxDist;
ObjPtr winner=NULL;
_marker.UnMarkAll();
ScalarType newradius = Si.voxel.Norm();
ScalarType radius;
Box3i iboxdone,iboxtodo;
CoordType t_res;
typename SPATIAL_INDEX::CellIterator first,last,l;
if(Si.bbox.IsInEx(_p))
{
Point3i _ip;
Si.PToIP(_p,_ip);
Si.Grid( _ip[0],_ip[1],_ip[2], first, last );
for(l=first;l!=last;++l)
{
ObjPtr elem=&(**l);
if (!elem->IsD())
{
if (_getPointDistance((**l), _p_obj,_minDist, t_res)) // <-- NEW: use of distance functor
{
winner=elem;
_closestPt=t_res;
newradius=_minDist; //
}
_marker.Mark(elem);
}
}
iboxdone=Box3i(_ip,_ip);
}
int ix,iy,iz;
Box3i ibox(Point3i(0,0,0),Si.siz-Point3i(1,1,1));
do
{
radius=newradius;
Box3x boxtodo=Box3x(_p,radius);
//boxtodo.Intersect(Si.bbox);
Si.BoxToIBox(boxtodo, iboxtodo);
iboxtodo.Intersect(ibox);
if(!boxtodo.IsNull())
{
for (ix=iboxtodo.min[0]; ix<=iboxtodo.max[0]; ix++)
for (iy=iboxtodo.min[1]; iy<=iboxtodo.max[1]; iy++)
for (iz=iboxtodo.min[2]; iz<=iboxtodo.max[2]; iz++)
if(ix<iboxdone.min[0] || ix>iboxdone.max[0] || // this test is to avoid to re-process already analyzed cells.
iy<iboxdone.min[1] || iy>iboxdone.max[1] ||
iz<iboxdone.min[2] || iz>iboxdone.max[2] )
{
Si.Grid( ix, iy, iz, first, last );
for(l=first;l!=last;++l) if (!(**l).IsD())
{
ObjPtr elem=&(**l);
if (!elem->IsD())
{
if( ! _marker.IsMarked(elem))
{
if (_getPointDistance((**l), _p_obj, _minDist, t_res))
{
winner=elem;
_closestPt=t_res;
};
_marker.Mark(elem);
}
}
}
}
}
if(!winner) newradius=radius+Si.voxel.Norm();
else newradius = _minDist;
iboxdone=iboxtodo;
}
while (_minDist>radius);
return winner;
}
template <class SPATIALINDEXING,class OBJPOINTDISTFUNCTOR, class OBJMARKER,
class OBJPTRCONTAINER, class DISTCONTAINER, class POINTCONTAINER>
unsigned int GridGetKClosest(SPATIALINDEXING &_Si,
OBJPOINTDISTFUNCTOR & _getPointDistance,
OBJMARKER & _marker,
const unsigned int _k,
const typename SPATIALINDEXING::CoordType & _p,
const typename SPATIALINDEXING::ScalarType & _maxDist,
OBJPTRCONTAINER & _objectPtrs,
DISTCONTAINER & _distances,
POINTCONTAINER & _points)
{
typedef vcg::ClosestIterator<SPATIALINDEXING,OBJPOINTDISTFUNCTOR,OBJMARKER> ClosestIteratorType;
ClosestIteratorType Cli=ClosestIteratorType(_Si,_getPointDistance);
Cli.SetMarker(_marker);
Cli.Init(_p,_maxDist);
unsigned int i=0;
_objectPtrs.clear();
_distances.clear();
_points.clear();
while ((!Cli.End())&&(i<_k))
{
_objectPtrs.push_back(&(*Cli));
_distances.push_back(Cli.Dist());
_points.push_back(Cli.NearestPoint());
++Cli;
i++;
}
return (i);
}
template <class SPATIALINDEXING,class OBJRAYISECTFUNCTOR, class OBJMARKER>
typename SPATIALINDEXING::ObjPtr GridDoRay(SPATIALINDEXING &_Si,
OBJRAYISECTFUNCTOR &_rayIntersector,
OBJMARKER &_marker,
const Ray3<typename SPATIALINDEXING::ScalarType> & _ray,
const typename SPATIALINDEXING::ScalarType & _maxDist,
typename SPATIALINDEXING::ScalarType & _t)
{
typedef vcg::RayIterator<SPATIALINDEXING,OBJRAYISECTFUNCTOR,OBJMARKER> RayIteratorType;
RayIteratorType RayIte=RayIteratorType(_Si,_rayIntersector,_maxDist);
RayIte.SetMarker(_marker);
RayIte.Init(_ray);
if (!RayIte.End())
{
_t=RayIte.Dist();
return(&(*RayIte));
}
return 0;
}
template <class SPATIALINDEXING, class OBJPOINTDISTFUNCTOR, class OBJMARKER, class OBJPTRCONTAINER, class DISTCONTAINER, class POINTCONTAINER>
unsigned int GridGetInSphere(SPATIALINDEXING &_Si,
OBJPOINTDISTFUNCTOR & _getPointDistance,
OBJMARKER & _marker,
const typename SPATIALINDEXING::CoordType & _p,
const typename SPATIALINDEXING::ScalarType & _r,
OBJPTRCONTAINER & _objectPtrs,
DISTCONTAINER & _distances,
POINTCONTAINER & _points)
{
typedef vcg::ClosestIterator<SPATIALINDEXING,OBJPOINTDISTFUNCTOR,OBJMARKER> ClosestIteratorType;
ClosestIteratorType Cli=ClosestIteratorType(_Si,_getPointDistance);
Cli.SetMarker(_marker);
Cli.Init(_p,_r);
_objectPtrs.clear();
_distances.clear();
_points.clear();
while (!Cli.End())
{
_objectPtrs.push_back(&(*Cli));
_distances.push_back(Cli.Dist());
_points.push_back(Cli.NearestPoint());
++Cli;
}
return ((int)_objectPtrs.size());
}
template <class SPATIALINDEXING,class OBJMARKER, class OBJPTRCONTAINER>
unsigned int GridGetInBox(SPATIALINDEXING &_Si,
OBJMARKER & _marker,
const vcg::Box3<typename SPATIALINDEXING::ScalarType> &_bbox,
OBJPTRCONTAINER & _objectPtrs)
{
typename SPATIALINDEXING::CellIterator first,last,l;
_objectPtrs.clear();
vcg::Box3i ibbox;
Box3i Si_ibox(Point3i(0,0,0),_Si.siz-Point3i(1,1,1));
_Si.BoxToIBox(_bbox, ibbox);
ibbox.Intersect(Si_ibox);
_marker.UnMarkAll();
if (ibbox.IsNull())
return 0;
else
{
int ix,iy,iz;
for (ix=ibbox.min[0]; ix<=ibbox.max[0]; ix++)
{
for (iy=ibbox.min[1]; iy<=ibbox.max[1]; iy++)
{
for (iz=ibbox.min[2]; iz<=ibbox.max[2]; iz++)
{
_Si.Grid( ix, iy, iz, first, last );
for(l=first;l!=last;++l)
{
if (!(**l).IsD())
{
typename SPATIALINDEXING::ObjPtr elem=&(**l);
vcg::Box3<typename SPATIALINDEXING::ScalarType> box_elem;
elem->GetBBox(box_elem);
if(( ! _marker.IsMarked(elem))&&(box_elem.Collide(_bbox)))
{
_objectPtrs.push_back(elem);
_marker.Mark(elem);
}
}
}
}
}
}
return (static_cast<unsigned int>(_objectPtrs.size()));
}
}
}//end namespace vcg
#endif
|
