//--
void
KDTree::VAddObjects(const std::vector<ISpatialObject*>& refObjects)
{
ISpatialObject* pObjectList = NULL;
ISpatialObject* pObjectTemp;
std::vector<ISpatialObject*>::const_iterator iter_object;
for(iter_object = refObjects.begin(); iter_object != refObjects.end(); iter_object++)
{
pObjectTemp = (*iter_object);
pObjectTemp->VSetNext(pObjectList);
pObjectList = pObjectTemp;
// [rad] Store objects locally for fast update / iteration
m_vecObjects.push_back((*iter_object));
}
// [rad] Pre-allocate the tree
Preallocate(s_i32MaxDepth);
Vector3 vec3Min(m_vec3Center.x - m_f32HalfWidth, m_vec3Center.y - m_f32HalfWidth, m_vec3Center.z - m_f32HalfWidth);
Vector3 vec3Max(m_vec3Center.x + m_f32HalfWidth, m_vec3Center.y + m_f32HalfWidth, m_vec3Center.z + m_f32HalfWidth);
// [rad] Based on this info, construct recursively, starting at root
m_pRootNode->Construct(pObjectTemp, refObjects.size(), vec3Min, vec3Max);
}
//--
void
KDTreeNode::RemoveObject(ISpatialObject* pObject)
{
if(m_pObjects == pObject)
{
m_pObjects = m_pObjects->VGetNext();
}
else
{
// [rad] traverse list and remove
ISpatialObject* pIter = m_pObjects;
ISpatialObject* pPrev;
while(pIter)
{
pPrev = pIter;
pIter = pIter->VGetNext();
if(pObject == pIter)
{
// [rad] Remove node and decrement node count
pPrev->VSetNext(pObject->VGetNext());
break;
}
}
}
// [rad] Decrement counts
m_i32ObjectCount--;
m_i32ObjectTotal--;
// [rad] Traverse up and decrement parent total counts
KDTreeNode* pNode = m_pParent;
// [rad] Check if this node still contains this object
while(pNode)
{
pNode->m_i32ObjectTotal--;
// [rad] Go up
pNode = pNode->m_pParent;
}
}
//--
void
UniformGridHashBucket::RemoveObject(ISpatialObject* pObject)
{
/*
// [rad] Iterate over all objects in this bucket
std::vector<ISpatialObject*>::iterator iter_object;
for(iter_object = m_vecObjects.begin(); iter_object != m_vecObjects.end(); iter_object++)
{
if(pObject == (*iter_object))
{
// [rad] Remove this object
m_vecObjects.erase(iter_object);
return;
}
}
*/
if(m_pObjects == pObject)
{
m_pObjects = m_pObjects->VGetNext();
}
else
{
// [rad] traverse list and remove
ISpatialObject* pIter = m_pObjects;
ISpatialObject* pPrev;
while(pIter)
{
pPrev = pIter;
pIter = pIter->VGetNext();
if(pIter == pObject)
{
pPrev->VSetNext(pIter->VGetNext());
break;
}
}
}
}
//--
void
LooseOctree::VUpdate()
{
// [rad] We are completely rebuilding this loose octree
if(m_i32Rebuild)
{
// [rad] We are going to rebuild octree (without dealocating space)
m_pRootNode->Rebuild();
// [rad] Populate the octree
std::vector<ISpatialObject*>::iterator iter_object;
for(iter_object = m_vecObjects.begin(); iter_object != m_vecObjects.end(); iter_object++)
{
m_pRootNode->AddObject((*iter_object));
}
}
else
{
LooseOctreeNode* pNode;
ISpatialObject* pObject;
ISpatialObject* pPrev;
std::vector<ISpatialObject*>::iterator iter_object;
for(iter_object = m_vecObjects.begin(); iter_object != m_vecObjects.end(); iter_object++)
{
pNode = static_cast<LooseOctreeNode*>((*iter_object)->VGetCell());
// [rad] Check if this node still contains the element
if(pNode->CheckContains(*iter_object))
{
continue;
}
else
{
// [rad] Remove element
if(pNode->m_pObjects == (*iter_object))
{
pNode->m_pObjects = pNode->m_pObjects->VGetNext();
}
else
{
// [rad] traverse list and remove
pObject = pNode->m_pObjects;
while(pObject)
{
pPrev = pObject;
pObject = pObject->VGetNext();
if(pObject == (*iter_object))
{
pPrev->VSetNext(pObject->VGetNext());
break;
}
}
}
// [rad] Go up one node
pNode = pNode->m_pParent;
// [rad] Check if this node still contains this object
while(pNode)
{
// [rad] Check if contains, here we use non-loose
// check, because it's possible that object will be
// stuck in the parent's node (since it might happen
// that object will be in it's loose dimensions)
if(pNode->CheckContainsNonLoose(*iter_object))
{
pNode->AddObject((*iter_object));
break;
}
else
{
pNode = pNode->m_pParent;
}
}
//m_pRootNode->AddObject(*iter_object);
}
}
}
// [rad] Do top-down collision testing
std::vector<ISpatialObject*>::iterator iter_object;
for(iter_object = m_vecObjects.begin(); iter_object != m_vecObjects.end(); iter_object++)
{
m_pRootNode->CheckCollisions((*iter_object));
}
}
//--
void
KDTreeNode::Construct(ISpatialObject* pObjectList, int i32ObjectCount,
const Vector3& refVectorMin, const Vector3& refVectorMax)
{
// [rad] Store voxel info
m_vec3Max = refVectorMax;
m_vec3Min = refVectorMin;
// [rad] Split plane position is already stored
ISpatialObject* pIter = pObjectList;
ISpatialObject* pObjectTemp;
ISpatialObject* pObject;
// [rad] If there are no children, or there's less objects than bins,
// store everything in this node
if(!m_pChildLeft || !m_pChildRight || i32ObjectCount < s_i32BinCount)
{
// [rad] There's no splitpane and position is not important
m_f32SplitPosition = 0.0f;
//m_i32SplitPane = -1;
// [rad] Copy elements...
m_pObjects = pObjectList;
m_i32ObjectCount = i32ObjectCount;
m_i32ObjectTotal = i32ObjectCount;
// [rad] Iterate through all elements and set this node as a containing cell
pIter = m_pObjects;
while(pIter)
{
pIter->VSetCell(this);
pIter = pIter->VGetNext();
}
return;
}
// [rad] Compute sizes
float f32Span = m_vec3Max[m_i32SplitPane] - m_vec3Min[m_i32SplitPane];
float f32BucketSize = f32Span / static_cast<float>(s_i32BinCount);
float f32Offset = -m_vec3Min[m_i32SplitPane];
int i32BinIndex;
int i32Index;
// [rad] Clean prefix sums and previous values
for(i32Index = 0; i32Index < s_i32BinCount; i32Index++)
{
s_vecBins.at(i32Index).first = 0;
s_vecBins.at(i32Index).second = 0;
s_vecSums.at(i32Index).first = 0;
s_vecSums.at(i32Index).second = 0;
}
// [rad] Go linearly through the list and do binning
pIter = pObjectList;
Vector3 vec3Center;
float f32Radius;
while(pIter)
{
// [rad] Get center and radius of this object
vec3Center = pIter->VGetPosition();
f32Radius = pIter->VGetRadius();
// [rad] Increment proper bins
i32BinIndex = static_cast<int>(floorf((f32Offset + vec3Center[m_i32SplitPane] - f32Radius) * s_i32BinCount / f32Span));
s_vecBins[i32BinIndex].first++;
i32BinIndex = static_cast<int>(floorf((f32Offset + vec3Center[m_i32SplitPane] + f32Radius) * s_i32BinCount / f32Span));
s_vecBins[i32BinIndex].second++;
// [rad] iterate to next element in list
pIter = pIter->VGetNext();
}
// [rad] Compute prefix sums
int i32SumMin = 0;
int i32SumMax = 0;
for(i32Index = 0; i32Index < s_i32BinCount; i32Index++)
{
i32SumMin += s_vecBins.at(i32Index).first;
i32SumMax += s_vecBins.at(i32Index).second;
s_vecSums.at(i32Index).first = i32SumMin;
s_vecSums.at(i32Index).second = i32SumMax;
}
// [rad] Compute split candidate
int i32MinDiff = std::numeric_limits<int>::max();
int i32BinDiff;
int i32SplitPosition = 0;
for(i32Index = 0; i32Index < s_i32BinCount; i32Index++)
{
i32BinDiff = abs(s_vecSums.at(i32Index).first - s_vecSums.at(s_i32BinCount - i32Index - 1).second);
if(i32BinDiff < i32MinDiff)
{
// [rad] This is a good candidate
i32MinDiff = i32BinDiff;
i32SplitPosition = i32Index;
}
}
// [rad] Find real split position
//m_f32SplitPosition = ((i32SplitPosition * f32Span) / f32BucketSize) - f32Offset;
m_f32SplitPosition = m_vec3Min[m_i32SplitPane] + i32SplitPosition * f32BucketSize;
// [rad] Now go insert objects into child nodes
ISpatialObject* pObjectListLeft = NULL;
ISpatialObject* pObjectListRight = NULL;
int i32CountLeft = 0;
int i32CountRight = 0;
pIter = pObjectList;
while(pIter)
{
pObject = pIter->VGetNext();
// [rad] Get center and radius of this object
vec3Center = pIter->VGetPosition();
f32Radius = pIter->VGetRadius();
// [rad] Check where this object belongs
if(vec3Center[m_i32SplitPane] + f32Radius <= m_f32SplitPosition)
{
// [rad] Left child
pIter->VSetNext(pObjectListLeft);
pObjectListLeft = pIter;
i32CountLeft++;
}
else if(vec3Center[m_i32SplitPane] - f32Radius >= m_f32SplitPosition)
{
// [rad] Right child
pIter->VSetNext(pObjectListRight);
pObjectListRight = pIter;
i32CountRight++;
}
else
{
pIter->VSetCell(this);
pIter->VSetNext(m_pObjects);
m_pObjects = pIter;
m_i32ObjectCount++;
}
pIter = pObject;
}
// [rad] We'll keep track of how many objects we have in this node
// and in children
m_i32ObjectTotal += i32ObjectCount;
Vector3 vec3Min = refVectorMin;
vec3Min[m_i32SplitPane] = m_f32SplitPosition;
Vector3 vec3Max = refVectorMax;
vec3Max[m_i32SplitPane] = m_f32SplitPosition;
// [rad] Recurse into left child
m_pChildLeft->Construct(pObjectListLeft, i32CountLeft,
refVectorMin, vec3Max);
// [rad] Recurse into right child
m_pChildRight->Construct(pObjectListRight, i32CountRight,
vec3Min, refVectorMax);
}
//--
ISpatialObject*
KDTreeNode::Invalidate()
{
ISpatialObject* pIter;
ISpatialObject* pTemp;
ISpatialObject* pObjects = NULL;
int i32ObjectCount;
// [rad] If this is a leaf
if(!m_pChildLeft || !m_pChildRight)
{
pObjects = m_pObjects;
i32ObjectCount = m_i32ObjectCount;
m_i32ObjectCount = 0;
m_i32ObjectTotal = 0;
m_pObjects = NULL;
return(pObjects);
}
ISpatialObject* pObjectsLeft = NULL;
if(m_pChildLeft->m_i32ObjectTotal)
{
pObjectsLeft = m_pChildLeft->Invalidate();
}
ISpatialObject* pObjectsRight = NULL;
if(m_pChildRight->m_i32ObjectTotal)
{
pObjectsRight = m_pChildRight->Invalidate();
}
pIter = pObjectsLeft;
while(pIter)
{
pTemp = pIter->VGetNext();
pIter->VSetNext(pObjects);
pObjects = pIter;
pIter = pTemp;
}
pIter = pObjectsRight;
while(pIter)
{
pTemp = pIter->VGetNext();
pIter->VSetNext(pObjects);
pObjects = pIter;
pIter = pTemp;
}
pIter = m_pObjects;
while(pIter)
{
pTemp = pIter->VGetNext();
pIter->VSetNext(pObjects);
pObjects = pIter;
pIter = pTemp;
}
/*
ISpatialObject* pIterLeft = NULL;
ISpatialObject* pIterParent = NULL;
ISpatialObject* pTemp;
// [rad] traverse left link list looking for end
if(pObjectsLeft)
{
pIterLeft = pObjectsLeft;
while(1)
{
pTemp = pIterLeft->VGetNext();
if(!pTemp)
{
break;
}
pIterLeft = pTemp;
}
}
// [rad] traverse straddling collection (stored at this node) looking for end
if(m_pObjects)
{
pIterParent = m_pObjects;
while(1)
{
pTemp = pIterParent->VGetNext();
if(!pTemp)
{
break;
}
pIterParent = pTemp;
}
}
// [rad] Glue 3 single link lists together
if(pIterLeft && pIterParent)
{
pIterParent->VSetNext(pObjectsRight);
pIterLeft->VSetNext(pIterParent);
pObjects = pIterLeft;
}
else if(pIterLeft)
{
pIterLeft->VSetNext(pObjectsRight);
pObjects = pIterLeft;
}
else if(pIterParent)
{
pIterParent->VSetNext(pObjectsRight);
pObjects = pIterParent;
}
else
{
pObjects = pObjectsRight;
}
*/
m_i32ObjectCount = 0;
m_i32ObjectTotal = 0;
m_pObjects = NULL;
return(pObjects);
}
//--
void
Octree::VUpdate()
{
ISpatialObject* pElement;
// [rad] We are rebuilding octree every frame
if(m_i32Rebuild)
{
ISpatialObject* pObjectList = NULL;
// [rad] We are going to rebuild octree (without dealocating space)
m_pRootNode->Rebuild();
// [rad] Populate the octree
std::vector<ISpatialObject*>::iterator iter_object;
for(iter_object = m_vecObjects.begin(); iter_object != m_vecObjects.end(); iter_object++)
{
pElement = (*iter_object);
//m_pRootNode->AddObject((*iter_object));
pElement->VSetNext(pObjectList);
pObjectList = pElement;
}
m_pRootNode->AddObjects(pObjectList, m_vecObjects.size());
}
else
{
// [rad] Instead of rebuilding octree every frame we will remove objects
// bottom-up
OctreeNode* pNode;
ISpatialObject* pObject;
ISpatialObject* pPrev;
std::vector<ISpatialObject*>::iterator iter_object;
for(iter_object = m_vecObjects.begin(); iter_object != m_vecObjects.end(); iter_object++)
{
pElement = (*iter_object);
pNode = static_cast<OctreeNode*>(pElement->VGetCell());
// [rad] Remove element
if(pNode->m_pObjects == pElement)
{
// [rad] Remove object from the list (first position)
pNode->m_pObjects = pNode->m_pObjects->VGetNext();
}
else
{
// [rad] traverse list and remove
pObject = pNode->m_pObjects;
while(pObject)
{
pPrev = pObject;
pObject = pObject->VGetNext();
if(pObject == pElement)
{
// [rad] Remove object from the list
pPrev->VSetNext(pObject->VGetNext());
break;
}
}
}
// [rad] Decrement node's object count
pNode->m_i32ObjectCount--;
// [rad] Attempt to re-insert element
if(pNode->CheckContains(pElement))
{
pNode->AddObject(pElement);
}
else
{
// [rad] Go up one node
pNode = pNode->m_pParent;
// [rad] Check if this node still contains this object
while(pNode)
{
// [rad] Check if contains
if(pNode->CheckContains(pElement))
{
pNode->AddObject(pElement);
break;
}
else
{
pNode = pNode->m_pParent;
}
}
}
}
}
// [rad] Check collisionsgdb1
std::vector<OctreeNode*> vecAncestors;
m_pRootNode->CheckCollisions(vecAncestors);
}
//--
void
OctreeNode::AddObjects(ISpatialObject* pObjectList, int i32ObjectCount)
{
ISpatialObject* pIter;
ISpatialObject* pObject;
// [rad] Check if we can stop splitting
if(i32ObjectCount < s_i32MinSplitCount)
{
m_pObjects = pObjectList;
pIter = m_pObjects;
while(pIter)
{
pIter->VSetCell(this);
pIter = pIter->VGetNext();
}
m_i32ObjectCount = i32ObjectCount;
return;
}
int i32Index = 0;
ISpatialObject* apChildObjects[8];
int aiChildCounts[8];
for(i32Index = 0; i32Index < 8; i32Index++)
{
apChildObjects[i32Index] = NULL;
aiChildCounts[i32Index] = 0;
}
pIter = pObjectList;
while(pIter)
{
pObject = pIter->VGetNext();
int i32Position = 0;
int i32Straddle = 0;
float f32Radius = pIter->VGetRadius();
Vector3 vec3Center = pIter->VGetPosition();
for(i32Index = 0; i32Index < 3; i32Index++)
{
if(m_vec3Center[i32Index] < vec3Center[i32Index])
{
if(m_vec3Center[i32Index] > vec3Center[i32Index] - f32Radius)
{
// [rad] Straddle occurs
i32Straddle = 1;
break;
}
else
{
i32Position |= (1 << i32Index);
}
}
else
{
if(m_vec3Center[i32Index] < vec3Center[i32Index] + f32Radius)
{
// [rad] Straddle occurs
i32Straddle = 1;
break;
}
}
}
if(!i32Straddle && m_pChildren[i32Position])
{
// [rad] Contained in existing child node
//m_pChildren[i32Position]->AddObject(pObject);
pIter->VSetNext(apChildObjects[i32Position]);
apChildObjects[i32Position] = pIter;
aiChildCounts[i32Position]++;
}
else
{
// [rad] Store this node for fast back-link
pIter->VSetCell(this);
// [rad] Straddling or no child node available
pIter->VSetNext(m_pObjects);
m_pObjects = pIter;
m_i32ObjectCount++;
}
pIter = pObject;
}
// [rad] At this point
for(i32Index = 0; i32Index < 8; i32Index++)
{
// [rad] Delegate to children
if(m_pChildren[i32Index] && aiChildCounts[i32Index])
{
m_pChildren[i32Index]->AddObjects(apChildObjects[i32Index], aiChildCounts[i32Index]);
}
}
}
//--
void
Octree::VAddObjects(const std::vector<ISpatialObject*>& refObjects)
{
float f32MinDiameter = 1.0e38f;
float f32CellSize = 2.0f * m_f32HalfWidth;
float f32Diameter;
int i32Depth = 0;
int i32Divisions = 1;
std::vector<ISpatialObject*>::const_iterator iter_object;
for(iter_object = refObjects.begin(); iter_object != refObjects.end(); iter_object++)
{
f32Diameter = (*iter_object)->VGetRadius();
if(f32Diameter < f32MinDiameter)
{
// [rad] Found a smaller object, update
f32MinDiameter = f32Diameter;
}
}
// [rad] Make cell size 'x' times as big as the smallest diameter
f32MinDiameter *= s_f32MaxObjectNodeRatio;
// [rad] Calculate depth
f32CellSize = 2.0f * m_f32HalfWidth;
while(f32MinDiameter <= f32CellSize)
{
// [rad] Don't make more than max depth
if(s_i32MaxDepth == i32Depth)
{
break;
}
i32Divisions *= 2;
f32CellSize = 2.0f * m_f32HalfWidth / static_cast<float>(i32Divisions);
i32Depth++;
}
// [rad] Delete everything but the root
m_pRootNode->Free();
// [rad] Pre-allocate the tree
Preallocate(i32Depth);
ISpatialObject* pObjectList = NULL;
ISpatialObject* pObjectTemp;
// [rad] Insert the elements into the tree
for(iter_object = refObjects.begin(); iter_object != refObjects.end(); iter_object++)
{
if(m_i32Rebuild)
{
m_pRootNode->AddObject((*iter_object));
}
else
{
pObjectTemp = (*iter_object);
pObjectTemp->VSetNext(pObjectList);
pObjectList = pObjectTemp;
}
// [rad] Store locally in a list, for fast iteration
m_vecObjects.push_back((*iter_object));
}
if(!m_i32Rebuild)
{
// [rad] Add objects
m_pRootNode->AddObjects(pObjectList, m_vecObjects.size());
}
}