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Introduce a lower overhead data structure for leaves.

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This commit is contained in:
Robert Osfield
2008-06-06 13:21:27 +00:00
parent aa73e1d1d4
commit ed45e32355
1 changed files with 204 additions and 51 deletions
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255
examples/osgkdtree/osgkdtree.cpp
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@@ -44,29 +44,34 @@
namespace osg
{
typedef int value_type;
typedef std::vector< value_type > Indices;
//#define LEAF_OBJECT
//#define VERBOSE_OUTPUT
#ifdef LEAF_OBJECT
class KDNode
{
public:
KDNode():
_leftChild(0),
_rightChild(0) {}
first(0),
second(0) {}
KDNode(const KDNode& rhs):
_leftChild(rhs._leftChild),
_rightChild(rhs._rightChild) {}
first(rhs.first),
second(rhs.second) {}
KDNode& operator = (const KDNode& rhs)
{
_leftChild = rhs._leftChild;
_rightChild = rhs._rightChild;
first = rhs.first;
second = rhs.second;
return *this;
}
typedef short value_type;
value_type _leftChild;
value_type _rightChild;
value_type first;
value_type second;
};
class KDLeaf : public osg::Referenced
@@ -74,9 +79,6 @@ class KDLeaf : public osg::Referenced
public:
KDLeaf() {}
typedef unsigned int index_type;
typedef std::vector< index_type > Indices;
Indices _vertexIndices;
@@ -85,6 +87,12 @@ class KDLeaf : public osg::Referenced
virtual ~KDLeaf() {}
};
#else
typedef std::pair< value_type, value_type> KDNode;
typedef std::pair< value_type, value_type> KDLeaf;
#endif
class KDTree : public osg::Shape
{
public:
@@ -96,12 +104,14 @@ class KDTree : public osg::Shape
Shape(rhs,copyop) {}
META_Shape(osg, KDTree)
typedef std::vector< unsigned int > AxisStack;
typedef std::vector< KDNode > KDNodeList;
typedef std::vector< KDNode > KDNodeList;
#ifdef LEAF_OBJECT
typedef std::vector< osg::ref_ptr<KDLeaf> > KDLeafList;
/// note, leafNum is negative to distinguish from nodeNum
int addLeaf(KDLeaf* leaf) { int num = _kdLeaves.size(); _kdLeaves.push_back(leaf); return -(num+1); }
@@ -130,6 +140,39 @@ class KDTree : public osg::Shape
return _kdLeaves[num].get();
}
#else
typedef std::vector< KDLeaf > KDLeafList;
/// note, leafNum is negative to distinguish from nodeNum
int addLeaf(const KDLeaf& leaf) { int num = _kdLeaves.size(); _kdLeaves.push_back(leaf); return -(num+1); }
int replaceLeaf(int leafNum, const KDLeaf& leaf)
{
int num = -leafNum-1;
if (num>_kdLeaves.size()-1)
{
osg::notify(osg::NOTICE)<<"Warning: replaceChild("<<leafNum<<", leaf), num = "<<num<<" _kdLeaves.size()="<<_kdLeaves.size()<<std::endl;
return leafNum;
}
_kdLeaves[num] = leaf; return leafNum;
}
/// note, leafNum is negative to distinguish from nodeNum
KDLeaf& getLeaf(int leafNum)
{
int num = -leafNum-1;
if (num<0 || num>_kdLeaves.size()-1)
{
osg::notify(osg::NOTICE)<<"Warning: getLeaf("<<leafNum<<", num = "<<num<<") _kdLeaves.size()="<<_kdLeaves.size()<<std::endl;
}
return _kdLeaves[num];
}
#endif
int addNode(const KDNode& node)
{
@@ -155,7 +198,8 @@ class KDTree : public osg::Shape
AxisStack _axisStack;
KDNodeList _kdNodes;
KDLeafList _kdLeaves;
KDLeafList _kdLeaves;
Indices _vertexIndices;
};
class KDTreeTraverser
@@ -173,38 +217,50 @@ class KDTreeTraverser
}
void traverse(KDLeaf& leaf, unsigned int level)
void traverse(KDTree& tree, KDLeaf& leaf, unsigned int level)
{
output(level)<<"leaf("<<level<<") { ";
#ifdef LEAF_OBJECT
for(unsigned int i=0; i<leaf._vertexIndices.size(); ++i)
{
if (i==0) osg::notify(osg::NOTICE)<<leaf._vertexIndices[i];
else osg::notify(osg::NOTICE)<<", "<<leaf._vertexIndices[i];
}
#else
unsigned int end = leaf.first+leaf.second;
for(unsigned int i=leaf.first; i<end; ++i)
{
if (i==leaf.first) osg::notify(osg::NOTICE)<<tree._vertexIndices[i];
else osg::notify(osg::NOTICE)<<", "<<tree._vertexIndices[i];
}
#endif
osg::notify(osg::NOTICE)<<"}"<<std::endl;;
}
void traverse(KDTree& tree, KDNode::value_type nodeIndex, unsigned int level)
void traverse(KDTree& tree, value_type nodeIndex, unsigned int level)
{
output(level)<<"traverse("<<nodeIndex<<", "<< level<<") { "<<std::endl;
if (nodeIndex>=0)
{
KDNode& node = tree._kdNodes[nodeIndex];
if (node._leftChild) traverse(tree,node._leftChild,level+1);
if (node.first) traverse(tree,node.first,level+1);
else output(level+1)<<"empty left child()"<<std::endl;
if (node._rightChild) traverse(tree,node._rightChild,level+1);
if (node.second) traverse(tree,node.second,level+1);
else output(level+1)<<"empty right child()"<<std::endl;
}
else
{
KDNode::value_type leafIndex = -nodeIndex-1;
value_type leafIndex = -nodeIndex-1;
#ifdef LEAF_OBJECT
KDLeaf& leaf = *(tree._kdLeaves[leafIndex]);
traverse(leaf, level);
#else
KDLeaf& leaf = tree._kdLeaves[leafIndex];
#endif
traverse(tree, leaf, level);
}
output(level)<<"}"<<std::endl;;
@@ -220,7 +276,11 @@ class KDTreeTraverser
}
else if (!tree._kdLeaves.empty())
{
traverse(*tree._kdLeaves.front(), 0);
#ifdef LEAF_OBJECT
traverse(tree, *tree._kdLeaves.front(), 0);
#else
traverse(tree, tree._kdLeaves.front(), 0);
#endif
}
}
@@ -268,7 +328,7 @@ class KDTreeBuilder : public osg::NodeVisitor
KDTree* KDTreeBuilder::createKDTree(osg::Geometry* geometry)
{
#if VERBOSE_OUTPUT
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<"osg::KDTreeBuilder::createKDTree()"<<std::endl;
#endif
@@ -282,7 +342,7 @@ KDTree* KDTreeBuilder::createKDTree(osg::Geometry* geometry)
unsigned int estimatedSize = (unsigned int)(float(vertices->size())/float(_targetNumVerticesPerLeaf)*1.5);
#if VERBOSE_OUTPUT
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<"kdTree->_kdNodes.reserve()="<<estimatedSize<<std::endl<<std::endl;
#endif
@@ -294,6 +354,7 @@ KDTree* KDTreeBuilder::createKDTree(osg::Geometry* geometry)
_numVerticesProcessed += vertices->size();
#ifdef LEAF_OBJECT
// create initial leaf list
KDLeaf* leaf = new KDLeaf;
leaf->_vertexIndices.reserve(vertices->size());
@@ -301,17 +362,29 @@ KDTree* KDTreeBuilder::createKDTree(osg::Geometry* geometry)
{
leaf->_vertexIndices.push_back(i);
}
#else
kdTree->_vertexIndices.reserve(vertices->size());
for(unsigned int i=0; i<vertices->size(); ++i)
{
kdTree->_vertexIndices.push_back(i);
}
KDLeaf leaf(0, kdTree->_vertexIndices.size());
#endif
osg::BoundingBox bb = kdTree->_bb;
int leafNum = kdTree->addLeaf(leaf);
osg::BoundingBox bb = kdTree->_bb;
int nodeNum = divide(*kdTree, bb, leafNum, 0);
#if VERBOSE_OUTPUT
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<"Root nodeNum="<<nodeNum<<std::endl;
#endif
#if VERBOSE_OUTPUT
#ifdef VERBOSE_OUTPUT
KDTreeTraverser traverser;
traverser.traverse(*kdTree);
@@ -333,7 +406,7 @@ void KDTreeBuilder::computeDivisions(KDTree& kdTree)
kdTree._bb.yMax()-kdTree._bb.yMin(),
kdTree._bb.zMax()-kdTree._bb.zMin());
#if VERBOSE_OUTPUT
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<"computeDivisions("<<_maxNumLevels<<") "<<dimensions<< " { "<<std::endl;
#endif
@@ -354,12 +427,12 @@ void KDTreeBuilder::computeDivisions(KDTree& kdTree)
kdTree._axisStack.push_back(axis);
dimensions[axis] /= 2.0f;
#if VERBOSE_OUTPUT
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<" "<<level<<", "<<dimensions<<", "<<axis<<std::endl;
#endif
}
#if VERBOSE_OUTPUT
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<"}"<<std::endl;
#endif
}
@@ -371,13 +444,13 @@ int KDTreeBuilder::divide(KDTree& kdTree, osg::BoundingBox& bb, int nodeIndex, u
int axis = kdTree._axisStack[level];
#if VERBOSE_OUTPUT
#ifdef VERBOSE_OUTPUT
//osg::notify(osg::NOTICE)<<"divide("<<nodeIndex<<", "<<level<< "), axis="<<axis<<std::endl;
#endif
if (nodeIndex>=0)
{
#if VERBOSE_OUTPUT
#ifdef VERBOSE_OUTPUT
osg::notify(osg::NOTICE)<<" divide node"<<std::endl;
#endif
KDNode& node = kdTree.getNode(nodeIndex);
@@ -385,8 +458,12 @@ int KDTreeBuilder::divide(KDTree& kdTree, osg::BoundingBox& bb, int nodeIndex, u
}
else
{
#ifdef LEAF_OBJECT
if (kdTree.getLeaf(nodeIndex)->_vertexIndices.size()<=_targetNumVerticesPerLeaf) return nodeIndex;
#else
if (kdTree.getLeaf(nodeIndex).second<=_targetNumVerticesPerLeaf) return nodeIndex;
#endif
//osg::notify(osg::NOTICE)<<" divide leaf"<<std::endl;
int nodeNum = kdTree.addNode(KDNode());
@@ -396,6 +473,7 @@ int KDTreeBuilder::divide(KDTree& kdTree, osg::BoundingBox& bb, int nodeIndex, u
float mid = (original_min+original_max)*0.5f;
#ifdef LEAF_OBJECT
{
osg::ref_ptr<KDLeaf> leaf = kdTree.getLeaf(nodeIndex);
@@ -423,32 +501,105 @@ int KDTreeBuilder::divide(KDTree& kdTree, osg::BoundingBox& bb, int nodeIndex, u
if (leftLeaf->_vertexIndices.empty())
{
//osg::notify(osg::NOTICE)<<"LeftLeaf empty"<<std::endl;
kdTree.getNode(nodeNum)._leftChild = 0;
kdTree.getNode(nodeNum)._rightChild = kdTree.replaceLeaf(nodeIndex, rightLeaf.get());
kdTree.getNode(nodeNum).first = 0;
kdTree.getNode(nodeNum).second = kdTree.replaceLeaf(nodeIndex, rightLeaf.get());
}
else if (rightLeaf->_vertexIndices.empty())
{
//osg::notify(osg::NOTICE)<<"RightLeaf empty"<<std::endl;
kdTree.getNode(nodeNum)._leftChild = kdTree.replaceLeaf(nodeIndex, leftLeaf.get());
kdTree.getNode(nodeNum)._rightChild = 0;
kdTree.getNode(nodeNum).first = kdTree.replaceLeaf(nodeIndex, leftLeaf.get());
kdTree.getNode(nodeNum).second = 0;
}
else
{
kdTree.getNode(nodeNum)._leftChild = kdTree.replaceLeaf(nodeIndex, leftLeaf.get());
kdTree.getNode(nodeNum)._rightChild = kdTree.addLeaf(rightLeaf.get());
kdTree.getNode(nodeNum).first = kdTree.replaceLeaf(nodeIndex, leftLeaf.get());
kdTree.getNode(nodeNum).second = kdTree.addLeaf(rightLeaf.get());
}
}
#else
{
KDLeaf& leaf = kdTree.getLeaf(nodeIndex);
osg::Vec3Array* vertices = dynamic_cast<osg::Vec3Array*>(kdTree._geometry->getVertexArray());
//osg::notify(osg::NOTICE)<<" divide leaf->_vertexIndices.size()="<<leaf->_vertexIndices.size()<<std::endl;
unsigned int estimatedSize = leaf.second;
int end = leaf.first+leaf.second-1;
int left = leaf.first;
int right = leaf.first+leaf.second-1;
while(left<right)
{
while(left<right && ((*vertices)[kdTree._vertexIndices[left]])[axis]<=mid) { ++left; }
while(left<right && ((*vertices)[kdTree._vertexIndices[right]])[axis]>mid) { --right; }
if (left<right)
{
std::swap(kdTree._vertexIndices[left], kdTree._vertexIndices[right]);
++left;
--right;
}
}
if (left==right)
{
if (((*vertices)[kdTree._vertexIndices[left]])[axis]<=mid) ++left;
else --right;
}
KDLeaf leftLeaf(leaf.first, (right-leaf.first)+1);
KDLeaf rightLeaf(left, (end-left)+1);
#if 0
osg::notify(osg::NOTICE)<<"In leaf.first ="<<leaf.first <<" leaf.second ="<<leaf.second<<std::endl;
osg::notify(osg::NOTICE)<<" leftLeaf.first ="<<leftLeaf.first <<" leftLeaf.second ="<<leftLeaf.second<<std::endl;
osg::notify(osg::NOTICE)<<" rightLeaf.first="<<rightLeaf.first<<" rightLeaf.second="<<rightLeaf.second<<std::endl;
osg::notify(osg::NOTICE)<<" left="<<left<<" right="<<right<<std::endl;
if (leaf.second != (leftLeaf.second +rightLeaf.second))
{
osg::notify(osg::NOTICE)<<"*** Error in size, leaf.second="<<leaf.second
<<", leftLeaf.second="<<leftLeaf.second
<<", rightLeaf.second="<<rightLeaf.second<<std::endl;
}
else
{
osg::notify(osg::NOTICE)<<"Size OK, leaf.second="<<leaf.second
<<", leftLeaf.second="<<leftLeaf.second
<<", rightLeaf.second="<<rightLeaf.second<<std::endl;
}
#endif
if (leftLeaf.second<=0)
{
//osg::notify(osg::NOTICE)<<"LeftLeaf empty"<<std::endl;
kdTree.getNode(nodeNum).first = 0;
kdTree.getNode(nodeNum).second = kdTree.replaceLeaf(nodeIndex, rightLeaf);
}
else if (rightLeaf.second<=0)
{
//osg::notify(osg::NOTICE)<<"RightLeaf empty"<<std::endl;
kdTree.getNode(nodeNum).first = kdTree.replaceLeaf(nodeIndex, leftLeaf);
kdTree.getNode(nodeNum).second = 0;
}
else
{
kdTree.getNode(nodeNum).first = kdTree.replaceLeaf(nodeIndex, leftLeaf);
kdTree.getNode(nodeNum).second = kdTree.addLeaf(rightLeaf);
}
}
#endif
int originalLeftChildIndex = kdTree.getNode(nodeNum)._leftChild;
int originalRightChildIndex = kdTree.getNode(nodeNum)._rightChild;
int originalLeftChildIndex = kdTree.getNode(nodeNum).first;
int originalRightChildIndex = kdTree.getNode(nodeNum).second;
float restore = bb._max[axis];
bb._max[axis] = mid;
//osg::notify(osg::NOTICE)<<" divide leftLeaf "<<kdTree.getNode(nodeNum)._leftChild<<std::endl;
//osg::notify(osg::NOTICE)<<" divide leftLeaf "<<kdTree.getNode(nodeNum).first<<std::endl;
int leftChildIndex = divide(kdTree, bb, originalLeftChildIndex, level+1);
bb._max[axis] = restore;
@@ -456,13 +607,13 @@ int KDTreeBuilder::divide(KDTree& kdTree, osg::BoundingBox& bb, int nodeIndex, u
restore = bb._min[axis];
bb._min[axis] = mid;
//osg::notify(osg::NOTICE)<<" divide rightLeaf "<<kdTree.getNode(nodeNum)._rightChild<<std::endl;
//osg::notify(osg::NOTICE)<<" divide rightLeaf "<<kdTree.getNode(nodeNum).second<<std::endl;
int rightChildIndex = divide(kdTree, bb, originalRightChildIndex, level+1);
bb._min[axis] = restore;
kdTree.getNode(nodeNum)._leftChild = leftChildIndex;
kdTree.getNode(nodeNum)._rightChild = rightChildIndex;
kdTree.getNode(nodeNum).first = leftChildIndex;
kdTree.getNode(nodeNum).second = rightChildIndex;
return nodeNum;
}
@@ -487,7 +638,9 @@ int main(int argc, char **argv)
osgUtil::UpdateVisitor updateVisitor;
updateVisitor.setFrameStamp(new osg::FrameStamp);
scene->accept(updateVisitor);
scene->getBound();
osg::Timer_t start = osg::Timer::instance()->tick();