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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* 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 GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#include <sofa/component/collision/SpatialGridPointModel.h>
#include <sofa/component/collision/CubeModel.h>
#include <sofa/core/ObjectFactory.h>
#include <vector>
#include <sofa/helper/system/gl.h>
namespace sofa
{
namespace component
{
namespace collision
{
SOFA_DECL_CLASS(SpatialGridPointModel)
int SpatialGridPointModelClass = core::RegisterObject("Collision model which represents a set of points, spatially grouped using a SpatialGridContainer")
.add< SpatialGridPointModel >()
;
SpatialGridPointModel::SpatialGridPointModel()
: d_leafScale(initData(&d_leafScale,0,"leafScale","at which level should the first cube layer be constructed.\nNote that this must not be greater than GRIDDIM_LOG2"))
, grid(NULL)
{
}
void SpatialGridPointModel::init()
{
this->PointModel::init();
this->getContext()->get(grid);
if (grid==NULL)
{
serr <<"SpatialGridPointModel requires a Vec3 SpatialGridContainer" << sendl;
return;
}
}
bool SpatialGridPointModel::OctreeSorter::operator()(const Grid::Key& k1, const Grid::Key& k2)
{
for (int scale = root_shift; scale >= 0; --scale)
{
for (int c=k1.size()-1;c>=0;--c)
{
if ((k1[c]>>scale) < (k2[c]>>scale))
return true;
if ((k1[c]>>scale) > (k2[c]>>scale))
return false;
}
}
// they are equal
return false;
}
void SpatialGridPointModel::computeBoundingTree(int maxDepth)
{
if (!grid)
{
this->PointModel::computeBoundingTree(maxDepth);
return;
}
const bool verbose = this->f_printLog.getValue();
int lscale = d_leafScale.getValue();
if (lscale > Grid::GRIDDIM_LOG2) lscale = Grid::GRIDDIM_LOG2;
int ldim = (1<<lscale);
int nleaf = Grid::GRIDDIM/ldim;
CubeModel* cubeModel = createPrevious<CubeModel>();
const int npoints = mstate->getX()->size();
bool updated = false;
if (npoints != size)
{
resize(npoints);
updated = true;
}
if (updated) cubeModel->resize(0);
if (!isMoving() && !cubeModel->empty() && !updated) return; // No need to recompute BBox if immobile
std::vector<OctreeCell> cells;
Grid* g = grid->getGrid();
Grid::const_iterator itgbegin = g->gridBegin();
Grid::const_iterator itgend = g->gridEnd();
//sout << "input: ";
bool sorted = true;
for (Grid::const_iterator itg = itgbegin; itg != itgend; ++itg)
{
Grid::Key k = itg->first;
Grid::Grid* g = itg->second;
if (g->empty) continue;
for (int z0 = 0; z0<nleaf; z0++)
for (int y0 = 0; y0<nleaf; y0++)
for (int x0 = 0; x0<nleaf; x0++)
{
int pfirst = -1;
int plast = -1;
Grid::Key k2;
k2[0] = k[0]*nleaf + x0;
k2[1] = k[1]*nleaf + y0;
k2[2] = k[2]*nleaf + z0;
for (int z = 0; z<ldim; z++)
for (int y = 0; y<ldim; y++)
for (int x = 0; x<ldim; x++)
{
Grid::Cell* c = g->cell+((z0*ldim+z)*Grid::DZ+(y0*ldim+y)*Grid::DY+(x0*ldim+x)*Grid::DX);
if (!c->plist.empty())
{
if (pfirst==-1)
pfirst = c->plist.front().index;
else if (c->plist.front().index != plast+1)
sorted = false;
plast = c->plist.back().index;
if (c->plist.back().index - c->plist.front().index +1 != (int)c->plist.size())
sorted = false;
}
}
if (pfirst == -1) continue;
cells.push_back(OctreeCell(k2, pfirst, plast));
//sout << " " << k2;
}
/*
int pfirst = -1;
int plast = -1;
for (int i=0; i<Grid::NCELL; ++i)
{
Grid::Cell* c = g->cell+i;
if (!c->plist.empty())
{
pfirst = c->plist.front().index;
break;
}
}
if (pfirst == -1) continue; // empty
for (int i=Grid::NCELL-1; i>=0; --i)
{
Grid::Cell* c = g->cell+i;
if (!c->plist.empty())
{
plast = c->plist.back().index;
break;
}
}
cells.push_back(OctreeCell(k, pfirst, plast));
//sout << " " << k;
*/
}
if (!sorted)
{
serr << "ERROR(SpatialGridPointModel): points are not sorted in spatial grid."<<sendl;
}
//sout << sendl;
cubeModel->resize(cells.size());
if (cells.empty()) return;
OctreeSorter s(maxDepth);
Vector3::value_type cellSize = g->getCellWidth()*ldim; // *GRIDDIM;
std::sort(cells.begin(), cells.end(), s);
//sout << "sorted: ";
for (unsigned int i=0;i<cells.size();i++)
{
Grid::Key k = cells[i].k;
//sout << " " << k;
int pfirst = cells[i].pfirst;
int plast = cells[i].plast;
Vector3 minElem, maxElem;
for (unsigned int c=0;c<k.size();++c)
{
minElem[c] = k[c]*cellSize;
maxElem[c] = (k[c]+1)*cellSize;
}
cubeModel->setLeafCube(i, std::make_pair(Iterator(this,pfirst),Iterator(this,plast+1)), minElem, maxElem); // define the bounding box of the current cell
}
//sout << sendl;
//cubeModel->computeBoundingTree(maxDepth);
int depth = 0;
while (depth < maxDepth && cells.size() > 8)
{
if (verbose) sout << "SpatialGridPointModel: cube depth "<<depth<<": "<<cells.size()<<" cells ("<<(size*100/cells.size())*0.01<<" points/cell)."<<sendl;
// compact cells inplace
int parent = -1;
for (unsigned int i=0;i<cells.size();++i)
{
Grid::Key k = cells[i].k;
//sout << " " << k;
for (unsigned int c=0;c<k.size();++c)
k[c] >>= 1;
if (parent == -1 || !(k == cells[parent].k))
{ // new parent
//sout << "->"<<k;
++parent;
cells[parent].k = k;
cells[parent].pfirst = i;
cells[parent].plast = i;
}
else
{ // continuing
cells[parent].plast = i;
}
}
//sout << sendl;
if (cells.size() > (unsigned int)parent+1)
{
cells.resize(parent+1);
CubeModel* prevCubeModel = cubeModel;
cubeModel = cubeModel->createPrevious<CubeModel>();
cubeModel->resize(0);
for (unsigned int i=0;i<cells.size();++i)
{
Grid::Key k = cells[i].k;
int pfirst = cells[i].pfirst;
int plast = cells[i].plast;
Cube cfirst(prevCubeModel, pfirst);
Cube clast(prevCubeModel, plast);
cubeModel->addCube(Cube(prevCubeModel,pfirst),Cube(prevCubeModel,plast+1));
}
}
++depth;
}
CubeModel* root = cubeModel->createPrevious<CubeModel>();
while (dynamic_cast<CubeModel*>(root->getPrevious()) != NULL)
{
root = dynamic_cast<CubeModel*>(root->getPrevious());
}
root->resize(0);
root->addCube(Cube(cubeModel,0), Cube(cubeModel,cubeModel->getSize()));
}
} // namespace collision
} // namespace component
} // namespace sofa
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