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Implement hierachy culling in KdTree::intersect(..)

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This commit is contained in:
Robert Osfield
2008-07-07 20:27:56 +00:00
parent f1db402f2b
commit 134c86c2d5
3 changed files with 291 additions and 17 deletions
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30
include/osg/KdTree
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@@ -34,10 +34,7 @@ class OSG_EXPORT KdTree : public osg::Shape
struct BuildOptions
{
BuildOptions():
_numVerticesProcessed(0),
_targetNumTrianglesPerLeaf(4),
_maxNumLevels(24) {}
BuildOptions();
int _numVerticesProcessed;
int _targetNumTrianglesPerLeaf;
@@ -163,6 +160,17 @@ class OSG_EXPORT KdTree : public osg::Shape
return _kdLeaves[num];
}
const KdLeaf& getLeaf(int leafNum) const
{
int num = -leafNum-1;
if (num<0 || num>static_cast<int>(_kdLeaves.size())-1)
{
osg::notify(osg::NOTICE)<<"Warning: getLeaf("<<leafNum<<", num = "<<num<<") _kdLeaves.size()="<<_kdLeaves.size()<<std::endl;
}
return _kdLeaves[num];
}
int addNode(const KdNode& node)
{
int num = _kdNodes.size();
@@ -179,8 +187,18 @@ class OSG_EXPORT KdTree : public osg::Shape
}
return _kdNodes[nodeNum];
}
/// note, nodeNum is positive to distinguish from leftNum
const KdNode& getNode(int nodeNum) const
{
if (nodeNum<0 || nodeNum>static_cast<int>(_kdNodes.size())-1)
{
osg::notify(osg::NOTICE)<<"Warning: getNode("<<nodeNum<<") _kdNodes.size()="<<_kdNodes.size()<<std::endl;
}
return _kdNodes[nodeNum];
}
osg::BoundingBox& getBounindingBox(int nodeNum)
osg::BoundingBox& getBoundingBox(int nodeNum)
{
if (nodeNum<0)
{
@@ -199,6 +217,8 @@ class OSG_EXPORT KdTree : public osg::Shape
int divide(BuildOptions& options, osg::BoundingBox& bb, int nodeIndex, unsigned int level);
bool intersect(const KdLeaf& leaf, const osg::Vec3& start, const osg::Vec3& end, LineSegmentIntersections& intersections) const;
bool intersect(const KdNode& node, const osg::Vec3& start, const osg::Vec3& end, const osg::Vec3& s, const osg::Vec3& e, LineSegmentIntersections& intersections) const;
bool intersectAndClip(osg::Vec3& s, osg::Vec3& e, const osg::BoundingBox& bb) const;
typedef std::vector< osg::BoundingBox > BoundingBoxList;
typedef std::vector< Triangle > TriangleList;

245
src/osg/KdTree.cpp
View File

@@ -19,7 +19,7 @@
using namespace osg;
//#define VERBOSE_OUTPUT
// #define VERBOSE_OUTPUT
////////////////////////////////////////////////////////////////////////////////
//
@@ -57,6 +57,17 @@ struct TriangleIndicesCollector
//
// KdTree
KdTree::BuildOptions::BuildOptions():
_numVerticesProcessed(0),
_targetNumTrianglesPerLeaf(8),
_maxNumLevels(24)
{
}
////////////////////////////////////////////////////////////////////////////////
//
// KdTree
KdTree::KdTree()
{
}
@@ -117,6 +128,29 @@ bool KdTree::build(BuildOptions& options, osg::Geometry* geometry)
osg::BoundingBox bb = _bb;
int nodeNum = divide(options, bb, leafNum, 0);
#if 0
for(KdLeafList::iterator itr = _kdLeaves.begin();
itr != _kdLeaves.end();
++itr)
{
KdLeaf& leaf = *itr;
leaf.bb.init();
int iend = leaf.first+leaf.second;
for(int i=leaf.first; i<iend; ++i)
{
const Triangle& tri = _triangles[_primitiveIndices[i]];
const osg::Vec3& v1 = (*_vertices)[tri._p1];
const osg::Vec3& v2 = (*_vertices)[tri._p2];
const osg::Vec3& v3 = (*_vertices)[tri._p3];
leaf.bb.expandBy(v1);
leaf.bb.expandBy(v2);
leaf.bb.expandBy(v3);
}
// osg::notify(osg::NOTICE)<<"leaf.bb.min("<<leaf.bb._min<<") max("<<leaf.bb._max<<")"<<std::endl;
}
#endif
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<"Root nodeNum="<<nodeNum<<std::endl;
#endif
@@ -186,7 +220,25 @@ int KdTree::divide(BuildOptions& options, osg::BoundingBox& bb, int nodeIndex, u
else
{
if (getLeaf(nodeIndex).second<=options._targetNumTrianglesPerLeaf) return nodeIndex;
if (getLeaf(nodeIndex).second<=options._targetNumTrianglesPerLeaf)
{
// leaf is done, now compute bound on it.
KdLeaf& leaf = getLeaf(nodeIndex);
leaf.bb.init();
int iend = leaf.first+leaf.second;
for(int i=leaf.first; i<iend; ++i)
{
const Triangle& tri = _triangles[_primitiveIndices[i]];
const osg::Vec3& v1 = (*_vertices)[tri._p1];
const osg::Vec3& v2 = (*_vertices)[tri._p2];
const osg::Vec3& v3 = (*_vertices)[tri._p3];
leaf.bb.expandBy(v1);
leaf.bb.expandBy(v2);
leaf.bb.expandBy(v3);
}
return nodeIndex;
}
//osg::notify(osg::NOTICE)<<" divide leaf"<<std::endl;
@@ -292,6 +344,10 @@ int KdTree::divide(BuildOptions& options, osg::BoundingBox& bb, int nodeIndex, u
getNode(nodeNum).first = leftChildIndex;
getNode(nodeNum).second = rightChildIndex;
getNode(nodeNum).bb.init();
if (leftChildIndex!=0) getNode(nodeNum).bb.expandBy(getBoundingBox(leftChildIndex));
if (rightChildIndex!=0) getNode(nodeNum).bb.expandBy(getBoundingBox(rightChildIndex));
return nodeNum;
}
}
@@ -423,7 +479,7 @@ bool KdTree::intersect(const KdLeaf& leaf, const osg::Vec3& start, const osg::Ve
intersections.insert(intersection);
osg::notify(osg::NOTICE)<<" got intersection ("<<in<<") ratio="<<r<<std::endl;
// osg::notify(osg::NOTICE)<<" got intersection ("<<in<<") ratio="<<r<<std::endl;
intersects = true;
}
@@ -431,16 +487,187 @@ bool KdTree::intersect(const KdLeaf& leaf, const osg::Vec3& start, const osg::Ve
return intersects;
}
bool KdTree::intersect(const KdNode& node, const osg::Vec3& start, const osg::Vec3& end, const osg::Vec3& s, const osg::Vec3& e, LineSegmentIntersections& intersections) const
{
//osg::notify(osg::NOTICE)<<" Intersect "<<&node<<std::endl;
//osg::Vec3 ls(start), le(end);
osg::Vec3 ls(s), le(e);
int numIntersectionsBefore = intersections.size();
if (intersectAndClip(ls, le, node.bb))
{
if (node.first>0) intersect(getNode(node.first), start, end, ls, le, intersections);
else if (node.first<0) intersect(getLeaf(node.first), start, end, intersections);
if (node.second>0) intersect(getNode(node.second), start, end, ls, le, intersections);
else if (node.second<0) intersect(getLeaf(node.second), start, end, intersections);
}
return numIntersectionsBefore != intersections.size();
}
bool KdTree::intersectAndClip(osg::Vec3& s, osg::Vec3& e, const osg::BoundingBox& bb) const
{
// compate s and e against the xMin to xMax range of bb.
if (s.x()<=e.x())
{
// trivial reject of segment wholely outside.
if (e.x()<bb.xMin()) return false;
if (s.x()>bb.xMax()) return false;
if (s.x()<bb.xMin())
{
// clip s to xMin.
s = s+(e-s)*(bb.xMin()-s.x())/(e.x()-s.x());
}
if (e.x()>bb.xMax())
{
// clip e to xMax.
e = s+(e-s)*(bb.xMax()-s.x())/(e.x()-s.x());
}
}
else
{
if (s.x()<bb.xMin()) return false;
if (e.x()>bb.xMax()) return false;
if (e.x()<bb.xMin())
{
// clip s to xMin.
e = s+(e-s)*(bb.xMin()-s.x())/(e.x()-s.x());
}
if (s.x()>bb.xMax())
{
// clip e to xMax.
s = s+(e-s)*(bb.xMax()-s.x())/(e.x()-s.x());
}
}
// compate s and e against the yMin to yMax range of bb.
if (s.y()<=e.y())
{
// trivial reject of segment wholely outside.
if (e.y()<bb.yMin()) return false;
if (s.y()>bb.yMax()) return false;
if (s.y()<bb.yMin())
{
// clip s to yMin.
s = s+(e-s)*(bb.yMin()-s.y())/(e.y()-s.y());
}
if (e.y()>bb.yMax())
{
// clip e to yMax.
e = s+(e-s)*(bb.yMax()-s.y())/(e.y()-s.y());
}
}
else
{
if (s.y()<bb.yMin()) return false;
if (e.y()>bb.yMax()) return false;
if (e.y()<bb.yMin())
{
// clip s to yMin.
e = s+(e-s)*(bb.yMin()-s.y())/(e.y()-s.y());
}
if (s.y()>bb.yMax())
{
// clip e to yMax.
s = s+(e-s)*(bb.yMax()-s.y())/(e.y()-s.y());
}
}
// compate s and e against the zMin to zMax range of bb.
if (s.z()<=e.z())
{
// trivial reject of segment wholely outside.
if (e.z()<bb.zMin()) return false;
if (s.z()>bb.zMax()) return false;
if (s.z()<bb.zMin())
{
// clip s to zMin.
s = s+(e-s)*(bb.zMin()-s.z())/(e.z()-s.z());
}
if (e.z()>bb.zMax())
{
// clip e to zMax.
e = s+(e-s)*(bb.zMax()-s.z())/(e.z()-s.z());
}
}
else
{
if (s.z()<bb.zMin()) return false;
if (e.z()>bb.zMax()) return false;
if (e.z()<bb.zMin())
{
// clip s to zMin.
e = s+(e-s)*(bb.zMin()-s.z())/(e.z()-s.z());
}
if (s.z()>bb.zMax())
{
// clip e to zMax.
s = s+(e-s)*(bb.zMax()-s.z())/(e.z()-s.z());
}
}
// osg::notify(osg::NOTICE)<<"clampped segment "<<s<<" "<<e<<std::endl;
// if (s==e) return false;
return true;
}
bool KdTree::intersect(const osg::Vec3& start, const osg::Vec3& end, LineSegmentIntersections& intersections) const
{
// osg::notify(osg::NOTICE)<<"KdTree::intersect("<<start<<","<<end<<")"<<std::endl;
//osg::notify(osg::NOTICE)<<"KdTree::intersect("<<start<<","<<end<<")"<<std::endl;
bool intersects = false;
for(KdLeafList::const_iterator itr = _kdLeaves.begin();
itr != _kdLeaves.end();
++itr)
int option = 2;
switch(option)
{
if (intersect(*itr, start, end, intersections)) intersects = true;
case(0):
{
for(KdLeafList::const_iterator itr = _kdLeaves.begin();
itr != _kdLeaves.end();
++itr)
{
if (intersect(*itr, start, end, intersections)) intersects = true;
}
break;
}
case(1):
{
for(KdLeafList::const_iterator itr = _kdLeaves.begin();
itr != _kdLeaves.end();
++itr)
{
osg::Vec3 s(start), e(end);
if (intersectAndClip(s,e,itr->bb))
{
if (intersect(*itr, start, end, intersections)) intersects = true;
}
}
break;
}
case(2):
{
//osg::notify(osg::NOTICE)<<"_kdNodes.size()="<<_kdNodes.size()<<std::endl;
osg::Vec3 s(start), e(end);
if (intersect(getNode(0), start, end, s,e, intersections)) intersects = true;
break;
}
}
return intersects;

33
src/osgUtil/LineSegmentIntersector.cpp
View File

@@ -19,6 +19,7 @@
#include <osg/io_utils>
#include <osg/TriangleFunctor>
#include <osg/KdTree>
#include <osg/Timer>
using namespace osgUtil;
@@ -294,13 +295,18 @@ void LineSegmentIntersector::intersect(osgUtil::IntersectionVisitor& iv, osg::Dr
e += (delta_e_end * scale);
}
osg::Timer_t before_kdTree = osg::Timer::instance()->tick();
unsigned int numKdTreeHits = 0;
unsigned int numConventionalHits = 0;
osg::KdTree* kdTree = dynamic_cast<osg::KdTree*>(drawable->getShape());
osg::Vec3d kdTreeHit;
if (kdTree)
{
osg::KdTree::LineSegmentIntersections intersections;
if (kdTree->intersect(s,e,intersections))
{
osg::notify(osg::NOTICE)<<"Got KdTree intersections"<<std::endl;
// osg::notify(osg::NOTICE)<<"Got KdTree intersections"<<std::endl;
for(osg::KdTree::LineSegmentIntersections::iterator itr = intersections.begin();
itr != intersections.end();
++itr)
@@ -322,30 +328,35 @@ void LineSegmentIntersector::intersect(osgUtil::IntersectionVisitor& iv, osg::Dr
hit.primitiveIndex = lsi.primitiveIndex;
hit.localIntersectionPoint = _start*(1.0-remap_ratio) + _end*remap_ratio;
kdTreeHit = hit.localIntersectionPoint;
osg::notify(osg::NOTICE)<<"KdTree: ratio="<<hit.ratio<<" ("<<hit.localIntersectionPoint<<")"<<std::endl;
// osg::notify(osg::NOTICE)<<"KdTree: ratio="<<hit.ratio<<" ("<<hit.localIntersectionPoint<<")"<<std::endl;
hit.localIntersectionNormal = lsi.intersectionNormal;
hit.indexList.swap(lsi.indexList);
hit.ratioList.swap(lsi.ratioList);
++numKdTreeHits;
insertIntersection(hit);
}
}
return;
// return;
}
else
{
// osg::notify(osg::NOTICE)<<"Not KdTree available"<<std::endl;
}
osg::Timer_t after_kdTree = osg::Timer::instance()->tick();
osg::TriangleFunctor<LineSegmentIntersectorUtils::TriangleIntersector> ti;
ti.set(s,e);
drawable->accept(ti);
osg::Vec3d conventionalHit;
if (ti._hit)
{
osg::Geometry* geometry = drawable->asGeometry();
@@ -371,6 +382,7 @@ void LineSegmentIntersector::intersect(osgUtil::IntersectionVisitor& iv, osg::Dr
hit.primitiveIndex = triHit._index;
hit.localIntersectionPoint = _start*(1.0-remap_ratio) + _end*remap_ratio;
conventionalHit = hit.localIntersectionPoint;
// osg::notify(osg::NOTICE)<<"Conventional: ratio="<<hit.ratio<<" ("<<hit.localIntersectionPoint<<")"<<std::endl;
@@ -401,10 +413,25 @@ void LineSegmentIntersector::intersect(osgUtil::IntersectionVisitor& iv, osg::Dr
}
insertIntersection(hit);
++numConventionalHits;
}
}
osg::Timer_t after_conventional = osg::Timer::instance()->tick();
double timeKdTree = osg::Timer::instance()->delta_m(before_kdTree, after_kdTree);
double timeConventional = osg::Timer::instance()->delta_m(after_kdTree, after_conventional);
#if 1
if (kdTree)
{
osg::notify(osg::NOTICE)<<"KdTree ("<<kdTreeHit<<") intersections = "<<numKdTreeHits<< " time = "<<timeKdTree<<std::endl;
osg::notify(osg::NOTICE)<<"Conventional ("<<conventionalHit<<") intersections = "<<numConventionalHits<< " time = "<<timeConventional<<std::endl;
osg::notify(osg::NOTICE)<<"Ratio = "<<timeConventional/timeKdTree<<std::endl;
osg::notify(osg::NOTICE)<<std::endl;
}
#endif
}
void LineSegmentIntersector::reset()