/**
* @function Search
*/
void Dijkstra3D::Search()
{
//-- Initialize your states
for( int i = 0; i < mDimX; i++ )
{ for( int j = 0; j < mDimY; j++ )
{ for( int k = 0; k < mDimZ; k++ )
{
mV[ GetRef(i,j,k) ].Init( i, j, k ) ;
if( mGrid->getCell( i, j, k ) != 0 ) //-- If it is an obstacle
{ mV[ GetRef(i,j,k) ].color = 3; } //--Mark as Obstacle (3)
}
}
}
//-- Initialize the goal state
int s = GetRef( mGoalX, mGoalY, mGoalZ ) ;
mV[ s ].color = 1; // gray: In Open List
mV[ s ].dist = 0; // start: 0 distance of itself
//-- Insert to Q (unvisited nodes)
InsertOpenSet( s );
//-- Iterate
int u; int v;
float new_dist;
while( mQ.size() != 0 )
{
u = PopOpenSet( );
//-- All neighbors
std::vector< int > ng = GetNeighbors( u );
for( int i = 0; i < ng.size(); i++ )
{
v = ng[i];
new_dist = ( GetEdgeCost( u, v ) + mV[ u ].dist );
if( new_dist < mV[ v ].dist )
{
mV[ v ].dist = new_dist ;
mV[ v ].parent = u;
}
if( mV[ v ].color == 2 ) //-- Nowhere
{
mV[ v ].color = 1; //-- Add it to the OpenList (queue)
InsertOpenSet( v );
}
else if( mV[ v ].color == 1 )
{
LowerKeyOpenSet( v );
}
else
{ /** Pretty much nothing by now */ }
} //-- End for
mV[u].color = 0; //-- Closed List
} //-- End while
}
void GenerateLOD::CollapseEdge_And_UpdateCost(int EdgeIdx, FbxVector4 *pControlPoints, int &addTriangleIndex, int &addEdgeIndex)
{
int U, V;
const Edge &edge = (*Edges)[EdgeIdx];
if (edge.isUV) {
U = edge.twoPoints[0];
V = edge.twoPoints[1];
}
else {
U = edge.twoPoints[1];
V = edge.twoPoints[0];
}
// Construct triangles in U's adjacent vertices
const std::set<int> &UTi = (*ControlP)[U].Ti;
const std::set<int> &VTi = (*ControlP)[V].Ti;
std::unordered_set<int> UdiffV;
UdiffV.clear();
std::set_difference(UTi.begin(), UTi.end(),
VTi.begin(), VTi.end(),
std::inserter(UdiffV, UdiffV.begin()));
for (const auto &i : UdiffV) {
std::vector<int> TrianglethreePoints;
std::vector<int> TrianglethreeUVs;
const Face &trian_i = (*Triangles)[i];
int flag;
for (int j = 0; j < 3; ++j) {
if (U == trian_i.points[j]) {
flag = j;
break;
}
}
switch (flag)
{
case 2:
{
TrianglethreePoints.push_back(trian_i.points[0]);
TrianglethreeUVs.push_back(trian_i.uvs[0]);
TrianglethreePoints.push_back(trian_i.points[1]);
TrianglethreeUVs.push_back(trian_i.uvs[1]);
TrianglethreePoints.push_back(V);
TrianglethreeUVs.push_back(*((*ControlP)[V].uvSet.begin()));
break;
}
case 1:
{
TrianglethreePoints.push_back(trian_i.points[0]);
TrianglethreeUVs.push_back(trian_i.uvs[0]);
TrianglethreePoints.push_back(V);
TrianglethreeUVs.push_back(*((*ControlP)[V].uvSet.begin()));
TrianglethreePoints.push_back(trian_i.points[2]);
TrianglethreeUVs.push_back(trian_i.uvs[2]);
break;
}
case 0:
{
TrianglethreePoints.push_back(trian_i.points[1]);
TrianglethreeUVs.push_back(trian_i.uvs[1]);
TrianglethreePoints.push_back(trian_i.points[2]);
TrianglethreeUVs.push_back(trian_i.uvs[2]);
TrianglethreePoints.push_back(V);
TrianglethreeUVs.push_back(*((*ControlP)[V].uvSet.begin()));
break;
}
default:
break;
}
//(*Triangles)[addTriangleIndex] = Face();
Face &face = (*Triangles)[addTriangleIndex];
face.points = TrianglethreePoints;
face.uvs = TrianglethreeUVs;
face.normal = GetNormal(pControlPoints,
TrianglethreePoints[0],
TrianglethreePoints[1],
TrianglethreePoints[2]);
(*ControlP)[TrianglethreePoints[0]].Ti.insert(addTriangleIndex);
(*ControlP)[TrianglethreePoints[1]].Ti.insert(addTriangleIndex);
(*ControlP)[TrianglethreePoints[2]].Ti.insert(addTriangleIndex);
addTriangleIndex += 1;
}
//MessageBox(NULL, "OK5", "This", 0);
// Delete all U's adjacent triangles from Dict (*Triangles)
// And delete it in Is's adjacent vertex's Ti
for (const auto &triangleIndex : (*ControlP)[U].Ti) {
for (const auto &idx : (*Triangles)[triangleIndex].points) {
if (idx != U)
(*ControlP)[idx].Ti.erase(triangleIndex);
}
(*Triangles).erase(triangleIndex);
}
for (const auto &i : (*ControlP)[U].Vi) {
//MessageBox(NULL, "OK a1", "This", 0);
(*ControlP)[i].Vi.erase(U);
//MessageBox(NULL, "OK a2", "This", 0);
}
//# # Delete (*Edges) from U's adjacent vertex's Ei
for (const auto &i : (*ControlP)[U].Ei) {
const Edge &edge_i = (*Edges)[i];
if (U == edge_i.twoPoints[0])
(*ControlP)[edge_i.twoPoints[1]].Ei.erase(i);
else
(*ControlP)[edge_i.twoPoints[0]].Ei.erase(i);
if (edge_i.ShouldCollapse) {
const FbxDouble &cost = edge_i.Cost;
std::vector<int>::iterator it = find((*CostToEdge)[cost].begin(), (*CostToEdge)[cost].end(), i);
(*CostToEdge)[cost].erase(it);
}
(*Edges).erase(i); //# include edge U <----> V
}
//MessageBox(NULL, "OK8", "This", 0);
// Construct new edges
const std::set<int> &UVi = (*ControlP)[U].Vi;
const std::set<int> &VVi = (*ControlP)[V].Vi;
UdiffV.clear();
std::set_difference(UVi.begin(), UVi.end(),
VVi.begin(), VVi.end(),
std::inserter(UdiffV, UdiffV.begin()));
UdiffV.erase(V);
for (const auto &i : UdiffV) {
Edge &edge_i = (*Edges)[addEdgeIndex];
//(*Edges)[addEdgeIndex] = Edge();
edge_i.twoPoints = { i, V };
(*ControlP)[i].Ei.insert(addEdgeIndex);
(*ControlP)[V].Ei.insert(addEdgeIndex);
(*ControlP)[i].Vi.insert(V);
(*ControlP)[V].Vi.insert(i);
if ((*ControlP)[i].uvSet.size() > 1) {
edge_i.ShouldCollapse = false;
addEdgeIndex += 1;
continue;
}
bool isUtoV;
FbxDouble cost;
GetEdgeCost(isUtoV, cost, i, V, pControlPoints);
edge_i.Cost = cost;
edge_i.isUV = isUtoV;
HeapCost->push(cost);
//if ((*CostToEdge).find(cost) != (*CostToEdge).end())
(*CostToEdge)[cost].push_back(addEdgeIndex);
//else
//(*CostToEdge)[cost] = std::vector<int>({addEdgeIndex});
addEdgeIndex += 1;
}
(*ControlP).erase(U);
}