Narayan Kamath | c981c48 | 2012-11-02 10:59:05 +0000 | [diff] [blame] | 1 | // This file is part of Eigen, a lightweight C++ template library |
| 2 | // for linear algebra. |
| 3 | // |
| 4 | // Copyright (C) 2009 Ilya Baran <ibaran@mit.edu> |
| 5 | // |
| 6 | // This Source Code Form is subject to the terms of the Mozilla |
| 7 | // Public License v. 2.0. If a copy of the MPL was not distributed |
| 8 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. |
| 9 | |
| 10 | #ifndef EIGEN_BVALGORITHMS_H |
| 11 | #define EIGEN_BVALGORITHMS_H |
| 12 | |
| 13 | namespace Eigen { |
| 14 | |
| 15 | namespace internal { |
| 16 | |
| 17 | #ifndef EIGEN_PARSED_BY_DOXYGEN |
| 18 | template<typename BVH, typename Intersector> |
| 19 | bool intersect_helper(const BVH &tree, Intersector &intersector, typename BVH::Index root) |
| 20 | { |
| 21 | typedef typename BVH::Index Index; |
| 22 | typedef typename BVH::VolumeIterator VolIter; |
| 23 | typedef typename BVH::ObjectIterator ObjIter; |
| 24 | |
| 25 | VolIter vBegin = VolIter(), vEnd = VolIter(); |
| 26 | ObjIter oBegin = ObjIter(), oEnd = ObjIter(); |
| 27 | |
| 28 | std::vector<Index> todo(1, root); |
| 29 | |
| 30 | while(!todo.empty()) { |
| 31 | tree.getChildren(todo.back(), vBegin, vEnd, oBegin, oEnd); |
| 32 | todo.pop_back(); |
| 33 | |
| 34 | for(; vBegin != vEnd; ++vBegin) //go through child volumes |
| 35 | if(intersector.intersectVolume(tree.getVolume(*vBegin))) |
| 36 | todo.push_back(*vBegin); |
| 37 | |
| 38 | for(; oBegin != oEnd; ++oBegin) //go through child objects |
| 39 | if(intersector.intersectObject(*oBegin)) |
| 40 | return true; //intersector said to stop query |
| 41 | } |
| 42 | return false; |
| 43 | } |
| 44 | #endif //not EIGEN_PARSED_BY_DOXYGEN |
| 45 | |
| 46 | template<typename Volume1, typename Object1, typename Object2, typename Intersector> |
| 47 | struct intersector_helper1 |
| 48 | { |
| 49 | intersector_helper1(const Object2 &inStored, Intersector &in) : stored(inStored), intersector(in) {} |
| 50 | bool intersectVolume(const Volume1 &vol) { return intersector.intersectVolumeObject(vol, stored); } |
| 51 | bool intersectObject(const Object1 &obj) { return intersector.intersectObjectObject(obj, stored); } |
| 52 | Object2 stored; |
| 53 | Intersector &intersector; |
| 54 | private: |
| 55 | intersector_helper1& operator=(const intersector_helper1&); |
| 56 | }; |
| 57 | |
| 58 | template<typename Volume2, typename Object2, typename Object1, typename Intersector> |
| 59 | struct intersector_helper2 |
| 60 | { |
| 61 | intersector_helper2(const Object1 &inStored, Intersector &in) : stored(inStored), intersector(in) {} |
| 62 | bool intersectVolume(const Volume2 &vol) { return intersector.intersectObjectVolume(stored, vol); } |
| 63 | bool intersectObject(const Object2 &obj) { return intersector.intersectObjectObject(stored, obj); } |
| 64 | Object1 stored; |
| 65 | Intersector &intersector; |
| 66 | private: |
| 67 | intersector_helper2& operator=(const intersector_helper2&); |
| 68 | }; |
| 69 | |
| 70 | } // end namespace internal |
| 71 | |
| 72 | /** Given a BVH, runs the query encapsulated by \a intersector. |
| 73 | * The Intersector type must provide the following members: \code |
| 74 | bool intersectVolume(const BVH::Volume &volume) //returns true if volume intersects the query |
| 75 | bool intersectObject(const BVH::Object &object) //returns true if the search should terminate immediately |
| 76 | \endcode |
| 77 | */ |
| 78 | template<typename BVH, typename Intersector> |
| 79 | void BVIntersect(const BVH &tree, Intersector &intersector) |
| 80 | { |
| 81 | internal::intersect_helper(tree, intersector, tree.getRootIndex()); |
| 82 | } |
| 83 | |
| 84 | /** Given two BVH's, runs the query on their Cartesian product encapsulated by \a intersector. |
| 85 | * The Intersector type must provide the following members: \code |
| 86 | bool intersectVolumeVolume(const BVH1::Volume &v1, const BVH2::Volume &v2) //returns true if product of volumes intersects the query |
| 87 | bool intersectVolumeObject(const BVH1::Volume &v1, const BVH2::Object &o2) //returns true if the volume-object product intersects the query |
| 88 | bool intersectObjectVolume(const BVH1::Object &o1, const BVH2::Volume &v2) //returns true if the volume-object product intersects the query |
| 89 | bool intersectObjectObject(const BVH1::Object &o1, const BVH2::Object &o2) //returns true if the search should terminate immediately |
| 90 | \endcode |
| 91 | */ |
| 92 | template<typename BVH1, typename BVH2, typename Intersector> |
| 93 | void BVIntersect(const BVH1 &tree1, const BVH2 &tree2, Intersector &intersector) //TODO: tandem descent when it makes sense |
| 94 | { |
| 95 | typedef typename BVH1::Index Index1; |
| 96 | typedef typename BVH2::Index Index2; |
| 97 | typedef internal::intersector_helper1<typename BVH1::Volume, typename BVH1::Object, typename BVH2::Object, Intersector> Helper1; |
| 98 | typedef internal::intersector_helper2<typename BVH2::Volume, typename BVH2::Object, typename BVH1::Object, Intersector> Helper2; |
| 99 | typedef typename BVH1::VolumeIterator VolIter1; |
| 100 | typedef typename BVH1::ObjectIterator ObjIter1; |
| 101 | typedef typename BVH2::VolumeIterator VolIter2; |
| 102 | typedef typename BVH2::ObjectIterator ObjIter2; |
| 103 | |
| 104 | VolIter1 vBegin1 = VolIter1(), vEnd1 = VolIter1(); |
| 105 | ObjIter1 oBegin1 = ObjIter1(), oEnd1 = ObjIter1(); |
| 106 | VolIter2 vBegin2 = VolIter2(), vEnd2 = VolIter2(), vCur2 = VolIter2(); |
| 107 | ObjIter2 oBegin2 = ObjIter2(), oEnd2 = ObjIter2(), oCur2 = ObjIter2(); |
| 108 | |
| 109 | std::vector<std::pair<Index1, Index2> > todo(1, std::make_pair(tree1.getRootIndex(), tree2.getRootIndex())); |
| 110 | |
| 111 | while(!todo.empty()) { |
| 112 | tree1.getChildren(todo.back().first, vBegin1, vEnd1, oBegin1, oEnd1); |
| 113 | tree2.getChildren(todo.back().second, vBegin2, vEnd2, oBegin2, oEnd2); |
| 114 | todo.pop_back(); |
| 115 | |
| 116 | for(; vBegin1 != vEnd1; ++vBegin1) { //go through child volumes of first tree |
| 117 | const typename BVH1::Volume &vol1 = tree1.getVolume(*vBegin1); |
| 118 | for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree |
| 119 | if(intersector.intersectVolumeVolume(vol1, tree2.getVolume(*vCur2))) |
| 120 | todo.push_back(std::make_pair(*vBegin1, *vCur2)); |
| 121 | } |
| 122 | |
| 123 | for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree |
| 124 | Helper1 helper(*oCur2, intersector); |
| 125 | if(internal::intersect_helper(tree1, helper, *vBegin1)) |
| 126 | return; //intersector said to stop query |
| 127 | } |
| 128 | } |
| 129 | |
| 130 | for(; oBegin1 != oEnd1; ++oBegin1) { //go through child objects of first tree |
| 131 | for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree |
| 132 | Helper2 helper(*oBegin1, intersector); |
| 133 | if(internal::intersect_helper(tree2, helper, *vCur2)) |
| 134 | return; //intersector said to stop query |
| 135 | } |
| 136 | |
| 137 | for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree |
| 138 | if(intersector.intersectObjectObject(*oBegin1, *oCur2)) |
| 139 | return; //intersector said to stop query |
| 140 | } |
| 141 | } |
| 142 | } |
| 143 | } |
| 144 | |
| 145 | namespace internal { |
| 146 | |
| 147 | #ifndef EIGEN_PARSED_BY_DOXYGEN |
| 148 | template<typename BVH, typename Minimizer> |
| 149 | typename Minimizer::Scalar minimize_helper(const BVH &tree, Minimizer &minimizer, typename BVH::Index root, typename Minimizer::Scalar minimum) |
| 150 | { |
| 151 | typedef typename Minimizer::Scalar Scalar; |
| 152 | typedef typename BVH::Index Index; |
| 153 | typedef std::pair<Scalar, Index> QueueElement; //first element is priority |
| 154 | typedef typename BVH::VolumeIterator VolIter; |
| 155 | typedef typename BVH::ObjectIterator ObjIter; |
| 156 | |
| 157 | VolIter vBegin = VolIter(), vEnd = VolIter(); |
| 158 | ObjIter oBegin = ObjIter(), oEnd = ObjIter(); |
| 159 | std::priority_queue<QueueElement, std::vector<QueueElement>, std::greater<QueueElement> > todo; //smallest is at the top |
| 160 | |
| 161 | todo.push(std::make_pair(Scalar(), root)); |
| 162 | |
| 163 | while(!todo.empty()) { |
| 164 | tree.getChildren(todo.top().second, vBegin, vEnd, oBegin, oEnd); |
| 165 | todo.pop(); |
| 166 | |
| 167 | for(; oBegin != oEnd; ++oBegin) //go through child objects |
| 168 | minimum = (std::min)(minimum, minimizer.minimumOnObject(*oBegin)); |
| 169 | |
| 170 | for(; vBegin != vEnd; ++vBegin) { //go through child volumes |
| 171 | Scalar val = minimizer.minimumOnVolume(tree.getVolume(*vBegin)); |
| 172 | if(val < minimum) |
| 173 | todo.push(std::make_pair(val, *vBegin)); |
| 174 | } |
| 175 | } |
| 176 | |
| 177 | return minimum; |
| 178 | } |
| 179 | #endif //not EIGEN_PARSED_BY_DOXYGEN |
| 180 | |
| 181 | |
| 182 | template<typename Volume1, typename Object1, typename Object2, typename Minimizer> |
| 183 | struct minimizer_helper1 |
| 184 | { |
| 185 | typedef typename Minimizer::Scalar Scalar; |
| 186 | minimizer_helper1(const Object2 &inStored, Minimizer &m) : stored(inStored), minimizer(m) {} |
| 187 | Scalar minimumOnVolume(const Volume1 &vol) { return minimizer.minimumOnVolumeObject(vol, stored); } |
| 188 | Scalar minimumOnObject(const Object1 &obj) { return minimizer.minimumOnObjectObject(obj, stored); } |
| 189 | Object2 stored; |
| 190 | Minimizer &minimizer; |
| 191 | private: |
Carlos Hernandez | 7faaa9f | 2014-08-05 17:53:32 -0700 | [diff] [blame] | 192 | minimizer_helper1& operator=(const minimizer_helper1&); |
Narayan Kamath | c981c48 | 2012-11-02 10:59:05 +0000 | [diff] [blame] | 193 | }; |
| 194 | |
| 195 | template<typename Volume2, typename Object2, typename Object1, typename Minimizer> |
| 196 | struct minimizer_helper2 |
| 197 | { |
| 198 | typedef typename Minimizer::Scalar Scalar; |
| 199 | minimizer_helper2(const Object1 &inStored, Minimizer &m) : stored(inStored), minimizer(m) {} |
| 200 | Scalar minimumOnVolume(const Volume2 &vol) { return minimizer.minimumOnObjectVolume(stored, vol); } |
| 201 | Scalar minimumOnObject(const Object2 &obj) { return minimizer.minimumOnObjectObject(stored, obj); } |
| 202 | Object1 stored; |
| 203 | Minimizer &minimizer; |
| 204 | private: |
| 205 | minimizer_helper2& operator=(const minimizer_helper2&); |
| 206 | }; |
| 207 | |
| 208 | } // end namespace internal |
| 209 | |
| 210 | /** Given a BVH, runs the query encapsulated by \a minimizer. |
| 211 | * \returns the minimum value. |
| 212 | * The Minimizer type must provide the following members: \code |
| 213 | typedef Scalar //the numeric type of what is being minimized--not necessarily the Scalar type of the BVH (if it has one) |
| 214 | Scalar minimumOnVolume(const BVH::Volume &volume) |
| 215 | Scalar minimumOnObject(const BVH::Object &object) |
| 216 | \endcode |
| 217 | */ |
| 218 | template<typename BVH, typename Minimizer> |
| 219 | typename Minimizer::Scalar BVMinimize(const BVH &tree, Minimizer &minimizer) |
| 220 | { |
| 221 | return internal::minimize_helper(tree, minimizer, tree.getRootIndex(), (std::numeric_limits<typename Minimizer::Scalar>::max)()); |
| 222 | } |
| 223 | |
| 224 | /** Given two BVH's, runs the query on their cartesian product encapsulated by \a minimizer. |
| 225 | * \returns the minimum value. |
| 226 | * The Minimizer type must provide the following members: \code |
| 227 | typedef Scalar //the numeric type of what is being minimized--not necessarily the Scalar type of the BVH (if it has one) |
| 228 | Scalar minimumOnVolumeVolume(const BVH1::Volume &v1, const BVH2::Volume &v2) |
| 229 | Scalar minimumOnVolumeObject(const BVH1::Volume &v1, const BVH2::Object &o2) |
| 230 | Scalar minimumOnObjectVolume(const BVH1::Object &o1, const BVH2::Volume &v2) |
| 231 | Scalar minimumOnObjectObject(const BVH1::Object &o1, const BVH2::Object &o2) |
| 232 | \endcode |
| 233 | */ |
| 234 | template<typename BVH1, typename BVH2, typename Minimizer> |
| 235 | typename Minimizer::Scalar BVMinimize(const BVH1 &tree1, const BVH2 &tree2, Minimizer &minimizer) |
| 236 | { |
| 237 | typedef typename Minimizer::Scalar Scalar; |
| 238 | typedef typename BVH1::Index Index1; |
| 239 | typedef typename BVH2::Index Index2; |
| 240 | typedef internal::minimizer_helper1<typename BVH1::Volume, typename BVH1::Object, typename BVH2::Object, Minimizer> Helper1; |
| 241 | typedef internal::minimizer_helper2<typename BVH2::Volume, typename BVH2::Object, typename BVH1::Object, Minimizer> Helper2; |
| 242 | typedef std::pair<Scalar, std::pair<Index1, Index2> > QueueElement; //first element is priority |
| 243 | typedef typename BVH1::VolumeIterator VolIter1; |
| 244 | typedef typename BVH1::ObjectIterator ObjIter1; |
| 245 | typedef typename BVH2::VolumeIterator VolIter2; |
| 246 | typedef typename BVH2::ObjectIterator ObjIter2; |
| 247 | |
| 248 | VolIter1 vBegin1 = VolIter1(), vEnd1 = VolIter1(); |
| 249 | ObjIter1 oBegin1 = ObjIter1(), oEnd1 = ObjIter1(); |
| 250 | VolIter2 vBegin2 = VolIter2(), vEnd2 = VolIter2(), vCur2 = VolIter2(); |
| 251 | ObjIter2 oBegin2 = ObjIter2(), oEnd2 = ObjIter2(), oCur2 = ObjIter2(); |
| 252 | std::priority_queue<QueueElement, std::vector<QueueElement>, std::greater<QueueElement> > todo; //smallest is at the top |
| 253 | |
| 254 | Scalar minimum = (std::numeric_limits<Scalar>::max)(); |
| 255 | todo.push(std::make_pair(Scalar(), std::make_pair(tree1.getRootIndex(), tree2.getRootIndex()))); |
| 256 | |
| 257 | while(!todo.empty()) { |
| 258 | tree1.getChildren(todo.top().second.first, vBegin1, vEnd1, oBegin1, oEnd1); |
| 259 | tree2.getChildren(todo.top().second.second, vBegin2, vEnd2, oBegin2, oEnd2); |
| 260 | todo.pop(); |
| 261 | |
| 262 | for(; oBegin1 != oEnd1; ++oBegin1) { //go through child objects of first tree |
| 263 | for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree |
| 264 | minimum = (std::min)(minimum, minimizer.minimumOnObjectObject(*oBegin1, *oCur2)); |
| 265 | } |
| 266 | |
| 267 | for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree |
| 268 | Helper2 helper(*oBegin1, minimizer); |
| 269 | minimum = (std::min)(minimum, internal::minimize_helper(tree2, helper, *vCur2, minimum)); |
| 270 | } |
| 271 | } |
| 272 | |
| 273 | for(; vBegin1 != vEnd1; ++vBegin1) { //go through child volumes of first tree |
| 274 | const typename BVH1::Volume &vol1 = tree1.getVolume(*vBegin1); |
| 275 | |
| 276 | for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree |
| 277 | Helper1 helper(*oCur2, minimizer); |
| 278 | minimum = (std::min)(minimum, internal::minimize_helper(tree1, helper, *vBegin1, minimum)); |
| 279 | } |
| 280 | |
| 281 | for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree |
| 282 | Scalar val = minimizer.minimumOnVolumeVolume(vol1, tree2.getVolume(*vCur2)); |
| 283 | if(val < minimum) |
| 284 | todo.push(std::make_pair(val, std::make_pair(*vBegin1, *vCur2))); |
| 285 | } |
| 286 | } |
| 287 | } |
| 288 | return minimum; |
| 289 | } |
| 290 | |
| 291 | } // end namespace Eigen |
| 292 | |
| 293 | #endif // EIGEN_BVALGORITHMS_H |