void ObstacleKDTree::buildTree( const std::vector< Obstacle * > obstacles ) {
deleteTree();
_obstacles.assign( obstacles.begin(), obstacles.end() );
if ( _obstacles.size() > 0 ) {
std::vector< Obstacle * > temp;
temp.assign( _obstacles.begin(), _obstacles.end() );
_tree = buildTreeRecursive( temp );
}
}
void BVH::buildAccelStructure(const std::vector<Shape*>& sceneData){
Assert(scene.empty());
//Get bounding boxes for each shape
scene.reserve(sceneData.size()); //Reserve space ahead of time to avoid realloc's
for(size_t i = 0; i < sceneData.size(); i++){
//Bound current primitive
BoundingBox currBBox = sceneData[i]->worldSpaceBound();
//Add bbox and shape to list
BVH::ShapeWBound curr(sceneData[i], currBBox);
scene.push_back(curr);
}
//Build tree recursively in a top down manner
root = buildTreeRecursive(0, scene.begin(), scene.end());
}
void KdTreeAccelerator::buildTree()
{
// compute bounds for kd-tree construction
std::vector<BBox> primitiveBounds;
primitiveBounds.reserve(m_primitives.size());
for(uint i = 0; i < m_primitives.size(); ++i)
{
Triangle& prim = m_primitives[i];
BBox b = prim.getBBox();
m_boundingBox = BBox::Union(m_boundingBox, b);
primitiveBounds.push_back(b);
}
// allocate memory for construction
BoundEdge* edges[3];
for(int i = 0; i < 3; ++i)
edges[i] = new BoundEdge[2 * m_primitives.size()];
uint* prims0 = new uint[m_primitives.size()];
uint* prims1 = new uint[(m_maxDepth+1) * m_primitives.size()];
// initialize overlapping primitives (all at the beginning)
uint* overlappingPrimitives = new uint[m_primitives.size()];
for(uint i = 0; i < m_primitives.size(); ++i)
{
overlappingPrimitives[i] = i;
}
// start to recursively build the tree
buildTreeRecursive(0, m_boundingBox, primitiveBounds, overlappingPrimitives,
(int)m_primitives.size(), m_maxDepth, edges, prims0, prims1, 0);
// release allocated memory
for(int i = 0; i < 3; ++i)
delete [] edges[i];
delete [] prims0;
delete [] prims1;
}
ObstacleTreeNode* ObstacleKDTree::buildTreeRecursive( const std::vector<Obstacle*>& obstacles) {
if ( obstacles.empty() ) {
return 0x0;
} else {
ObstacleTreeNode* const node = new ObstacleTreeNode;
size_t optimalSplit = 0;
size_t minLeft = obstacles.size();
size_t minRight = obstacles.size();
for (size_t i = 0; i < obstacles.size(); ++i) {
size_t leftSize = 0;
size_t rightSize = 0;
const Obstacle* const obstacleI = obstacles[i];
const Vector2 I0 = obstacleI->getP0();
const Vector2 I1 = obstacleI->getP1();
/* Compute optimal split node. */
for (size_t j = 0; j < obstacles.size(); ++j) {
if (i == j) {
continue;
}
const Obstacle* const obstacleJ = obstacles[j];
const Vector2 J0 = obstacleJ->getP0();
const Vector2 J1 = obstacleJ->getP1();
const float j1LeftOfI = leftOf( I0, I1, J0 );
const float j2LeftOfI = leftOf( I0, I1, J1 );
if (j1LeftOfI >= -EPS && j2LeftOfI >= -EPS) {
++leftSize;
} else if (j1LeftOfI <= EPS && j2LeftOfI <= EPS ) {
++rightSize;
} else {
++leftSize;
++rightSize;
}
if (std::make_pair(std::max(leftSize, rightSize), std::min(leftSize, rightSize)) >= std::make_pair(std::max(minLeft, minRight), std::min(minLeft, minRight))) {
break;
}
}
if (std::make_pair(std::max(leftSize, rightSize), std::min(leftSize, rightSize)) < std::make_pair(std::max(minLeft, minRight), std::min(minLeft, minRight))) {
minLeft = leftSize;
minRight = rightSize;
optimalSplit = i;
}
}
/* Build split node. */
std::vector<Obstacle*> leftObstacles(minLeft);
std::vector<Obstacle*> rightObstacles(minRight);
size_t leftCounter = 0;
size_t rightCounter = 0;
const size_t i = optimalSplit;
const Obstacle* const obstacleI = obstacles[i];
const Vector2 I0 = obstacleI->getP0();
const Vector2 I1 = obstacleI->getP1();
for (size_t j = 0; j < obstacles.size(); ++j) {
if (i == j) {
continue;
}
Obstacle* const obstacleJ = obstacles[j];
const Vector2 J0 = obstacleJ->getP0();
const Vector2 J1 = obstacleJ->getP1();
const float j1LeftOfI = leftOf( I0, I1, J0 );
const float j2LeftOfI = leftOf( I0, I1, J1 );
if (j1LeftOfI >= -EPS && j2LeftOfI >= -EPS ) {
leftObstacles[leftCounter++] = obstacles[j];
} else if (j1LeftOfI <= EPS && j2LeftOfI <= EPS ) {
rightObstacles[rightCounter++] = obstacles[j];
} else {
/* Split obstacle j. */
const float t = det( I1 - I0, J0 - I0 ) / det( I1 -I0, J0 - J1 );
const Vector2 splitpoint = J0 + t * ( J1 - J0 );
Obstacle* const newObstacle = new Obstacle();
newObstacle->_point = splitpoint;
newObstacle->_prevObstacle = obstacleJ;
newObstacle->_nextObstacle = obstacleJ->_nextObstacle;
if ( newObstacle->_nextObstacle ) {
obstacleJ->_nextObstacle = newObstacle;
}
newObstacle->_isConvex = true;
newObstacle->_unitDir = obstacleJ->_unitDir;
newObstacle->_length = abs( J1 - newObstacle->_point );
newObstacle->_id = _obstacles.size();
newObstacle->_class = obstacleJ->_class;
_obstacles.push_back(newObstacle);
obstacleJ->_nextObstacle = newObstacle;
obstacleJ->_length = abs( J0 - newObstacle->_point );
if (j1LeftOfI > 0.0f) {
leftObstacles[leftCounter++] = obstacleJ;
rightObstacles[rightCounter++] = newObstacle;
} else {
rightObstacles[rightCounter++] = obstacleJ;
leftObstacles[leftCounter++] = newObstacle;
}
}
}
node->_obstacle = obstacleI;
node->_left = buildTreeRecursive(leftObstacles);
node->_right = buildTreeRecursive(rightObstacles);
return node;
}
}
BVH::BVHNode* BVH::buildTreeRecursive(int level,
std::vector<BVH::ShapeWBound>::iterator startIncl,
std::vector<BVH::ShapeWBound>::iterator endIncl )
{
std::cout << "btr level: " << level << std::endl;
//We need to bound the primitives in the range [startIncl, endIncl]
//within the std::vector scene
//if there are <= primsPerLeaf primitives in this range, then we create a leaf node
const int numPrimsInRange = std::distance(startIncl, endIncl);
std::cout << "\tnum prims = " << numPrimsInRange << std::endl;
Assert(numPrimsInRange >= 0);
const bool makingLeaf = numPrimsInRange <= primsPerLeaf;
//Compute a bounding box for all the primitives in this node
//Note that here I use "std::accumulate," which I think should be
//called "std::fold" for the functional programming "fold" function
//found in languages like ML
BoundingBox bbox;
if(numPrimsInRange != 0){
bbox = std::accumulate(startIncl, endIncl, bbox, BVH::unionBBoxes);
}
std::cout << "\tbounding box: " << bbox << std::endl;
//If no primitives are in range that indicates an edge case in which all the
//primitives are in the other subtree and we should just build a degenerate
//bounding box and make it a leaf.
std::vector<BVH::ShapeWBound>::iterator leftStart, rightStart, leftEnd, rightEnd;
if(makingLeaf){ //Making a leaf node
std::cout << "Making a leaf." << std::endl;
//Construct leaf
BVH::BVHNode* newLeaf = new BVH::BVHNode(bbox, true);
//Add data to the leaf
//the data is a list of integers, where each integer is an index into
//the array of primitives
newLeaf->prims = makePrimList(scene, startIncl, endIncl);
std::cout << "Made a leaf." << std::endl;
return newLeaf;
}else{ //Making an internal node
//Allocate new node
BVH::BVHNode* newInternal = new BVH::BVHNode(bbox, false);
//Split the node based on the chosen split strategy
BoundingBox leftBBox, rightBBox;
if(strat == BVH::SPLIT_SAH){ //SAH = "Surface area heuristic"
Assert(false);
return NULL;//TODO: Implement
}else if(strat == BVH::SPLIT_CENTER){ //Split down the center
//We need to choose an axis to split on: X,Y, or Z
//we choose based on the level in the tree
const size_t axis = level % 3;
std::cout << "\taxis = " << axis << std::endl;
BBoxCentroidSorter sorter(axis);
//Find the item that would take the nth position in
//the array in the event that it was sorted
//Note that this is faster than the O(n log(n))
//from naive sorting
std::vector<BVH::ShapeWBound>::iterator midIter;
//TODO: What should miditer be before this call?
midIter = startIncl + (numPrimsInRange/2);
std::nth_element(startIncl, midIter, endIncl, sorter);
std::cout << "\tcompleted the partition." << std::endl;
//Compute bounding boxes for each subtree
/*
std::cout << "\tBEGIN TEST CALLS." << std::endl;
BVH::ShapeWBound t1 = *startIncl;
std::cout << "\tstart bbox = " << t1 << std::endl;
BVH::ShapeWBound t2 = *midIter;
std::cout << "\tmid bbox = " << t2 << std::endl;
BVH::ShapeWBound t3 = *endIncl;
std::cout << "\tend bbox = " << t3 << std::endl;
std::cout << "\tEND TEST CALLS." << std::endl;
*/
BoundingBox leftBBox =
std::accumulate(startIncl, midIter-1, BoundingBox(), BVH::unionBBoxes);
std::cout << "\tleft subtree bbox = " << leftBBox << std::endl;
BoundingBox rightBBox =
std::accumulate(midIter , endIncl , BoundingBox(), BVH::unionBBoxes);
std::cout << "\tright subtree bbox = " << rightBBox << std::endl;
std::cout << "\tcomputed subtree bounding boxes." << std::endl;
//Partition the resulting objects into "those in the left subtree"
//and "those in the right subtree"
BVH::InBBoxTester bboxCheck(leftBBox);
std::vector<BVH::ShapeWBound>::iterator bound =
std::partition(startIncl, endIncl, bboxCheck);
//Make sure that each primitive is in one of the two bounding boxes
//TODO: Do this, but only in debug mode
}else{ //We did not consider some strategy! (Should never happen)
Assert(false);
return NULL;
}
//Partition the primitives into each node
//Recursively create children
std::cout << "\tabout to make 2 recursive calls." << std::endl;
newInternal->setLeftChild (
buildTreeRecursive(level + 1, leftStart , leftEnd ));
newInternal->setRightChild(
buildTreeRecursive(level + 1, rightStart, rightEnd));
return newInternal;
}
}
void KdTreeAccelerator::initializeInteriorNode(int node, const BBox& nodeBounds,
const std::vector<BBox>& primitiveBounds, uint* overlappingPrimitives,
int numOverlappingPrimitives, int depth, BoundEdge* edges[3],
uint* prims0, uint* prims1, int badRefines)
{
// Choose split axis and position for interior node
int bestAxis = -1;
int bestOffset = -1;
float bestCost = INFINITY;
float oldCost = m_intersectionCost * float(numOverlappingPrimitives);
float totalSA = nodeBounds.getSurfaceArea();
float invTotalSA = 1.f / totalSA;
glm::vec3 d = nodeBounds.getMax() - nodeBounds.getMin();
uint axis = nodeBounds.getAxisMaximumExtent();
int retries = 0;
// label for jump to choose another split
retrySplit:
// Initialize edges for choosen axis
for(int i = 0; i < numOverlappingPrimitives; ++i)
{
int primitive = overlappingPrimitives[i];
const BBox& bbox = primitiveBounds[primitive];
edges[axis][2 * i + 0] = BoundEdge(bbox.getMin()[axis], primitive, true);
edges[axis][2 * i + 1] = BoundEdge(bbox.getMax()[axis], primitive, false);
}
std::sort(&edges[axis][0], &edges[axis][2*numOverlappingPrimitives]);
// Compute cost of all splits for the choosen axis to find best
int nBelow = 0;
int nAbove = numOverlappingPrimitives;
for(int i = 0; i < 2 * numOverlappingPrimitives; ++i)
{
if(edges[axis][i].m_type == BoundEdge::END) --nAbove;
float split = edges[axis][i].m_t;
if(split > nodeBounds.getMin()[axis] && split < nodeBounds.getMax()[axis])
{
// compute cost of split at i-th edge
uint oA0 = (axis + 1) % 3; // first other axis
uint oA1 = (axis + 2) % 3; // second other axis
float belowSA = 2 * (d[oA0] * d[oA1] + (split - nodeBounds.getMin()[axis]) * (d[oA0] + d[oA1]));
float aboveSA = 2 * (d[oA0] * d[oA1] + (nodeBounds.getMax()[axis] - split) * (d[oA0] + d[oA1]));
float pBelow = belowSA * invTotalSA;
float pAbove = aboveSA * invTotalSA;
float bonus = (nAbove==0 || nBelow==0) ? m_emptyBonus : 0.f;
float cost = m_intersectionCost * (1.f - bonus) * (pBelow * nBelow + pAbove * nAbove)
+ m_traversalCost;
// update best split if this split has lower costs
if(cost < bestCost)
{
bestCost = cost;
bestAxis = axis;
bestOffset = i;
}
}
if(edges[axis][i].m_type == BoundEdge::START) ++nBelow;
}
// try another axis of no good slit was found
if(bestAxis == -1 && retries < 2)
{
++retries;
axis = (axis + 1) % 3;
goto retrySplit;
}
// Create lead if no good splits were found
if (bestCost > oldCost) ++badRefines;
if ((bestCost > 4.f * oldCost && numOverlappingPrimitives < 16) ||
bestAxis == -1 || badRefines == 3) {
m_nodes[node].initLeaf(overlappingPrimitives, numOverlappingPrimitives);
return;
}
// Classify overlapping primitives with respect to split
int n0 = 0, n1 = 0;
for (int i = 0; i < bestOffset; ++i) {
if (edges[bestAxis][i].m_type == BoundEdge::START) {
prims0[n0++] = edges[bestAxis][i].m_primitive;
}
}
for (int i = bestOffset+1; i < 2*numOverlappingPrimitives; ++i) {
if (edges[bestAxis][i].m_type == BoundEdge::END) {
prims1[n1++] = edges[bestAxis][i].m_primitive;
}
}
// Recursively initialize child nodes
float split = edges[bestAxis][bestOffset].m_t;
glm::vec3 min = nodeBounds.getMax();
glm::vec3 max = nodeBounds.getMin();
min[bestAxis] = split;
max[bestAxis] = split;
BBox bounds0 = nodeBounds;
BBox bounds1 = nodeBounds;
bounds0.setMax(max);
bounds1.setMin(min);
buildTreeRecursive(node + 1, bounds0, primitiveBounds, prims0, n0, depth - 1,
edges, prims0, prims1 + numOverlappingPrimitives, badRefines);
uint aboveChild = m_nextFreeNode;
m_nodes[node].initInterior(bestAxis, aboveChild, split);
buildTreeRecursive(aboveChild, bounds1, primitiveBounds, prims1, n1, depth - 1,
edges, prims0, prims1 + numOverlappingPrimitives, badRefines);
}