[4805] | 1 | /* |
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| 2 | orxonox - the future of 3D-vertical-scrollers |
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| 3 | |
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| 4 | Copyright (C) 2004 orx |
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| 5 | |
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| 6 | This program is free software; you can redistribute it and/or modify |
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| 7 | it under the terms of the GNU General Public License as published by |
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| 8 | the Free Software Foundation; either version 2, or (at your option) |
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| 9 | any later version. |
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| 10 | |
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[4924] | 11 | ### File Specific: |
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[4805] | 12 | main-programmer: Patrick Boenzli |
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| 13 | co-programmer: ... |
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| 14 | */ |
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| 15 | |
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[4808] | 16 | #define DEBUG_SPECIAL_MODULE DEBUG_MODULE_SPATIAL_SEPARATION |
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[4805] | 17 | |
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| 18 | #include "quadtree_node.h" |
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[4923] | 19 | |
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[4902] | 20 | #include "quadtree.h" |
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| 21 | #include "material.h" |
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[4868] | 22 | #include "abstract_model.h" |
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[4851] | 23 | #include "list.h" |
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| 24 | #include "vector.h" |
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[4805] | 25 | |
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| 26 | using namespace std; |
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| 27 | |
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| 28 | |
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| 29 | /** |
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[4836] | 30 | * standard constructor |
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[4924] | 31 | */ |
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[4887] | 32 | QuadtreeNode::QuadtreeNode (sTriangleExt** triangles, int numTriangles, |
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[4896] | 33 | const float* pVertices, int numVertices, |
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[4897] | 34 | Quadtree* quadtree, QuadtreeNode* parent, |
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[4900] | 35 | Rectangle* rect, int treeDepth, const int maxDepth, int index |
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[4897] | 36 | ) |
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[4805] | 37 | { |
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[4924] | 38 | /* save all important variables localy */ |
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[4867] | 39 | this->pTriangles = triangles; |
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| 40 | this->numTriangles = numTriangles; |
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[4868] | 41 | this->pVertices = pVertices; |
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| 42 | this->numVertices = numVertices; |
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[4867] | 43 | this->quadtree = quadtree; |
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[4896] | 44 | this->parent = parent; |
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[4897] | 45 | this->pDimension = rect; |
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[4898] | 46 | this->treeDepth = treeDepth; |
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| 47 | this->maxDepth = maxDepth; |
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[4900] | 48 | this->indexNode = index; |
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[4887] | 49 | |
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[4898] | 50 | /* debug output */ |
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| 51 | for( int i = 0; i < this->treeDepth; ++i) |
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| 52 | PRINT(3)(" |"); |
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[4913] | 53 | PRINT(3)(" | +-| (Event) Building Node Nr. %i Depth: %i/%i, pointer: %p\n", this->indexNode, treeDepth, maxDepth, this); |
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[4898] | 54 | |
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| 55 | for( int i = 0; i < this->treeDepth; ++i) |
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| 56 | PRINT(3)(" |"); |
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| 57 | PRINT(3)(" | +-| (II) Rectangle Center (%5.2f, %5.2f), half axis length: %5.2f\n", |
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| 58 | this->pDimension->getCenter()->x, this->pDimension->getCenter()->z, this->pDimension->getAxis()); |
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| 59 | |
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[4852] | 60 | this->init(); |
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[4805] | 61 | } |
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| 62 | |
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| 63 | |
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| 64 | /** |
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[4845] | 65 | * standard constructor |
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| 66 | */ |
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[4902] | 67 | QuadtreeNode::QuadtreeNode(modelInfo* pModelInfo, Quadtree* quadtree, const int maxDepth) |
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[4845] | 68 | { |
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[4924] | 69 | /* save all important variables localy */ |
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[4845] | 70 | this->pModelInfo = pModelInfo; |
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[4902] | 71 | this->quadtree = quadtree; |
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[4924] | 72 | this->maxDepth = maxDepth; |
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[4925] | 73 | this->treeDepth = 0; |
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| 74 | this->indexNode = 0; |
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[4887] | 75 | |
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[4851] | 76 | /* create an array of triangle references */ |
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| 77 | this->pTriangles = new sTriangleExt*[this->pModelInfo->numTriangles]; |
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| 78 | this->numTriangles = this->pModelInfo->numTriangles; |
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| 79 | this->pVertices = this->pModelInfo->pVertices; |
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[4868] | 80 | this->numVertices = this->pModelInfo->numVertices; |
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[4851] | 81 | for( int i = 0; i < this->pModelInfo->numTriangles; ++i) |
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| 82 | this->pTriangles[i] = &this->pModelInfo->pTriangles[i]; |
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[4900] | 83 | |
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[4898] | 84 | /* debug output */ |
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| 85 | for( int i = 0; i < this->treeDepth; ++i) |
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| 86 | PRINT(3)(" |"); |
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[4913] | 87 | PRINT(3)(" | +-| (Event) Building Node Nr. %i Depth: %i/%i, pointer: %p\n", this->indexNode, treeDepth, maxDepth, this); |
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[4898] | 88 | |
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[4924] | 89 | /* set some important variables */ |
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[4897] | 90 | this->pDimension = this->getDimFromModel(); |
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[4924] | 91 | |
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[4852] | 92 | this->init(); |
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[4845] | 93 | } |
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| 94 | |
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[4852] | 95 | |
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| 96 | /** |
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[4923] | 97 | * takes the rest of the initialisation process |
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[4852] | 98 | */ |
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| 99 | void QuadtreeNode::init() |
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| 100 | { |
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| 101 | this->setClassID(CL_QUADTREE_NODE, "QuadtreeNode"); |
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| 102 | |
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[4924] | 103 | /* init the rest of the variables for both init types */ |
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[4852] | 104 | this->offset = 0.0f; |
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[4914] | 105 | this->nodeIter = -1; |
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[4921] | 106 | this->bDraw = false; |
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[4899] | 107 | |
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[4896] | 108 | this->parent = NULL; |
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[4867] | 109 | this->nodeA = NULL; |
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| 110 | this->nodeB = NULL; |
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| 111 | this->nodeC = NULL; |
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| 112 | this->nodeD = NULL; |
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[4907] | 113 | this->nodes = new QuadtreeNode*[4]; |
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[4911] | 114 | for(int i = 0; i < 4; ++i) |
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| 115 | this->nodes[i] = NULL; |
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[4898] | 116 | |
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[4924] | 117 | /* now separate the nodes */ |
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[4899] | 118 | if( this->treeDepth < this->maxDepth) |
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| 119 | this->separateNode(); |
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[4852] | 120 | } |
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| 121 | |
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[4887] | 122 | |
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[4845] | 123 | /** |
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[4836] | 124 | * standard deconstructor |
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[4852] | 125 | */ |
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[4805] | 126 | QuadtreeNode::~QuadtreeNode () |
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| 127 | { |
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[4867] | 128 | if( this->nodeA != NULL) |
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| 129 | delete this->nodeA; |
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| 130 | if( this->nodeB != NULL) |
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| 131 | delete this->nodeB; |
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| 132 | if( this->nodeC != NULL) |
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| 133 | delete this->nodeC; |
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| 134 | if( this->nodeD != NULL) |
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| 135 | delete this->nodeD; |
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[4805] | 136 | } |
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[4812] | 137 | |
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| 138 | |
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[4887] | 139 | |
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[4922] | 140 | /** |
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[4924] | 141 | * this functions builds up a hash table containing all leafs of the Quadtree in a sorted array |
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| 142 | * @param nodeList the nodelist array to add them |
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| 143 | * @param index the current index in the array |
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[4922] | 144 | |
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[4923] | 145 | The algorithm used for this purpose is home-brown. its not to fast but and the nodes are not always in the right |
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| 146 | order. this is why there will be needed a quicksort later on. |
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[4922] | 147 | */ |
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[4911] | 148 | void QuadtreeNode::buildHashTable(QuadtreeNode** nodeList, int* index) |
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| 149 | { |
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[4914] | 150 | if( this->nodeIter == -1) |
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| 151 | this->nodeIter = *index; |
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[4911] | 152 | |
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[4914] | 153 | /* offset #of elements in a row #of rows in a quadtree */ |
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| 154 | int threshold = this->nodeIter + (int)pow(2, this->maxDepth) * (int)pow(2, maxDepth - treeDepth - 1); |
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| 155 | int loopLimit = (*index < threshold)?2:4; |
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[4913] | 156 | |
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[4911] | 157 | /* is it a leaf? */ |
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| 158 | if( this->treeDepth < this->maxDepth) |
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[4914] | 159 | for(int i = (*index < threshold)?0:2; i < loopLimit; ++i) |
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[4911] | 160 | this->nodes[i]->buildHashTable(nodeList, index); |
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| 161 | else |
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| 162 | nodeList[(*index)++] = this; |
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| 163 | } |
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| 164 | |
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| 165 | |
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| 166 | |
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[4812] | 167 | /** |
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[4836] | 168 | * gives the signal to separate the model into a quadtree |
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| 169 | * @param treeDepth the max depth, the steps to go if treeDept == 0 leaf reached |
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[4924] | 170 | |
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| 171 | * @todo ATTENION: This function is currently not used and not implemented, but would be a nice addon |
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[4923] | 172 | */ |
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[4819] | 173 | void QuadtreeNode::separateNode(float minLength) |
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[4852] | 174 | { |
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[4888] | 175 | /* dimension calculation & limit checking */ |
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[4867] | 176 | if( minLength <= this->pDimension->getAxis()) |
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| 177 | return; |
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[4887] | 178 | |
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[4888] | 179 | /* node separation */ |
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[4899] | 180 | // this->separateNode(); |
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| 181 | // this->nodeA->separateNode(minLength); |
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| 182 | // this->nodeB->separateNode(minLength); |
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| 183 | // this->nodeC->separateNode(minLength); |
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| 184 | // this->nodeD->separateNode(minLength); |
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[4852] | 185 | } |
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[4819] | 186 | |
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| 187 | |
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| 188 | /** |
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[4851] | 189 | * gives the signal to separate the model into a quadtree |
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| 190 | * @param treeDepth the max depth, the steps to go if treeDept == 0 leaf reached |
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[4924] | 191 | */ |
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[4851] | 192 | void QuadtreeNode::separateNode() |
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| 193 | { |
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[4924] | 194 | /* separate the four regions into the four lists */ |
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[4851] | 195 | tList<sTriangleExt*>* listA = new tList<sTriangleExt*>(); //!< triangle list of nodeA |
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| 196 | tList<sTriangleExt*>* listB = new tList<sTriangleExt*>(); //!< triangle list of nodeB |
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| 197 | tList<sTriangleExt*>* listC = new tList<sTriangleExt*>(); //!< triangle list of nodeC |
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| 198 | tList<sTriangleExt*>* listD = new tList<sTriangleExt*>(); //!< triangle list of nodeD |
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| 199 | const float* pVert; //!< pointer to the vertices |
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| 200 | const Vector* rectCenter; //!< vector to the center of the rect |
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| 201 | |
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| 202 | rectCenter = this->pDimension->getCenter(); |
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| 203 | for( int i = 0; i < this->numTriangles; ++i) |
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[4924] | 204 | { |
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| 205 | for( int j = 0; j < 3; ++j) |
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[4851] | 206 | { |
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[4924] | 207 | pVert = &this->pVertices[this->pTriangles[i]->indexToVertices[j]]; |
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| 208 | if( pVert[0] > rectCenter->x + this->offset && pVert[2] > rectCenter->z + this->offset) |
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| 209 | listA->add(&this->pTriangles[i]); |
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| 210 | if( pVert[0] < rectCenter->x + this->offset && pVert[2] > rectCenter->z + this->offset) |
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| 211 | listB->add(&this->pTriangles[i]); |
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| 212 | if( pVert[0] < rectCenter->x + this->offset && pVert[2] < rectCenter->z + this->offset) |
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| 213 | listC->add(&this->pTriangles[i]); |
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| 214 | if( pVert[0] > rectCenter->x + this->offset && pVert[2] < rectCenter->z + this->offset) |
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| 215 | listD->add(&this->pTriangles[i]); |
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[4851] | 216 | } |
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[4924] | 217 | } |
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| 218 | for( int i = 0; i < treeDepth; ++i) |
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| 219 | PRINT(3)(" |"); |
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| 220 | PRINT(3)(" | +-| (II) Quadtree Counts - separating: A: %i, B: %i, C: %i, D: %i\n", listA->getSize(), listB->getSize(), listC->getSize(), listD->getSize()); |
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[4853] | 221 | |
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[4924] | 222 | |
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| 223 | /* Separating into to the triangle arrays */ |
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[4853] | 224 | sTriangleExt** pTriA; //!< Triangle array A |
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| 225 | sTriangleExt** pTriB; //!< Triangle array B |
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| 226 | sTriangleExt** pTriC; //!< Triangle array C |
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| 227 | sTriangleExt** pTriD; //!< Triangle array D |
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[4867] | 228 | int lenA; //!< length array A |
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| 229 | int lenB; //!< length array B |
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| 230 | int lenC; //!< length array C |
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| 231 | int lenD; //!< length array D |
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[4853] | 232 | tIterator<sTriangleExt*>* iterator; //!< iterator for the list iterations |
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[4855] | 233 | sTriangleExt** tempTri; //!< temp save place for triangle pointer |
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[4854] | 234 | int counter; //!< counter for the while loops |
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[4853] | 235 | |
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| 236 | lenA = listA->getSize(); |
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| 237 | lenB = listB->getSize(); |
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| 238 | lenC = listC->getSize(); |
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| 239 | lenD = listD->getSize(); |
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[4887] | 240 | |
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[4853] | 241 | pTriA = new sTriangleExt*[listA->getSize()]; |
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| 242 | pTriB = new sTriangleExt*[listB->getSize()]; |
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[4887] | 243 | pTriC = new sTriangleExt*[listC->getSize()]; |
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[4853] | 244 | pTriD = new sTriangleExt*[listD->getSize()]; |
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| 245 | |
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[4854] | 246 | counter = 0; |
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[4853] | 247 | iterator = listA->getIterator(); |
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[4855] | 248 | tempTri = iterator->nextElement(); |
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[4854] | 249 | while( tempTri) |
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[4924] | 250 | { |
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| 251 | pTriA[counter] = *tempTri; |
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| 252 | tempTri = iterator->nextElement(); |
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| 253 | ++counter; |
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| 254 | } |
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[4854] | 255 | counter = 0; |
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| 256 | iterator = listB->getIterator(); |
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[4855] | 257 | tempTri = iterator->nextElement(); |
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[4854] | 258 | while( tempTri) |
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[4924] | 259 | { |
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| 260 | pTriB[counter] = *tempTri; |
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| 261 | tempTri = iterator->nextElement(); |
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| 262 | ++counter; |
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| 263 | } |
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[4854] | 264 | counter = 0; |
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| 265 | iterator = listC->getIterator(); |
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[4855] | 266 | tempTri = iterator->nextElement(); |
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[4854] | 267 | while( tempTri) |
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[4924] | 268 | { |
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| 269 | pTriC[counter] = *tempTri; |
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| 270 | tempTri = iterator->nextElement(); |
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| 271 | ++counter; |
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| 272 | } |
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[4854] | 273 | counter = 0; |
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| 274 | iterator = listD->getIterator(); |
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[4855] | 275 | tempTri = iterator->nextElement(); |
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[4854] | 276 | while( tempTri) |
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[4924] | 277 | { |
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| 278 | pTriD[counter] = *tempTri; |
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| 279 | tempTri = iterator->nextElement(); |
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| 280 | ++counter; |
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| 281 | } |
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[4853] | 282 | |
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[4859] | 283 | /* now do cleanup */ |
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| 284 | delete listA; |
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| 285 | delete listB; |
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| 286 | delete listC; |
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| 287 | delete listD; |
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| 288 | delete iterator; |
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| 289 | |
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[4897] | 290 | |
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| 291 | /* now create the rectangle dimensions */ |
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[4924] | 292 | Vector v; //!< temp saving place |
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| 293 | Rectangle* rA; //!< new size of the node A |
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| 294 | Rectangle* rB; //!< new size of the node B |
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| 295 | Rectangle* rC; //!< new size of the node C |
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| 296 | Rectangle* rD; //!< new size of the node D |
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[4897] | 297 | |
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[4924] | 298 | |
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[4898] | 299 | v.x = this->pDimension->getCenter()->x + this->pDimension->getAxis() / 2.0f; |
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[4900] | 300 | v.y = 0.0; |
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[4898] | 301 | v.z = this->pDimension->getCenter()->z + this->pDimension->getAxis() / 2.0f; |
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[4924] | 302 | rA = new Rectangle(v, this->pDimension->getAxis() / 2.0f); |
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[4898] | 303 | v.z = this->pDimension->getCenter()->z - this->pDimension->getAxis() / 2.0f; |
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[4924] | 304 | rB = new Rectangle(v, this->pDimension->getAxis() / 2.0f); |
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[4898] | 305 | v.x = this->pDimension->getCenter()->x - this->pDimension->getAxis() / 2.0f; |
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[4924] | 306 | rC = new Rectangle(v, this->pDimension->getAxis() / 2.0f); |
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[4898] | 307 | v.z = this->pDimension->getCenter()->z + this->pDimension->getAxis() / 2.0f; |
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[4924] | 308 | rD = new Rectangle(v, this->pDimension->getAxis() / 2.0f); |
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[4897] | 309 | |
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[4924] | 310 | /* now create the new nodes */ |
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[4900] | 311 | this->nodeA = new QuadtreeNode(pTriA, lenA, this->pVertices, this->numVertices, this->quadtree, this, rA, this->treeDepth + 1, this->maxDepth, (this->treeDepth + 1) * 10 + 0); |
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| 312 | this->nodeB = new QuadtreeNode(pTriB, lenB, this->pVertices, this->numVertices, this->quadtree, this, rB, this->treeDepth + 1, this->maxDepth, (this->treeDepth + 1) * 10 + 1); |
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| 313 | this->nodeC = new QuadtreeNode(pTriC, lenC, this->pVertices, this->numVertices, this->quadtree, this, rC, this->treeDepth + 1, this->maxDepth, (this->treeDepth + 1) * 10 + 2); |
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[4924] | 314 | this->nodeD = new QuadtreeNode(pTriD, lenD, this->pVertices, this->numVertices, this->quadtree, this, rD, this->treeDepth + 1, this->maxDepth, (this->treeDepth + 1) * 10 + 3); |
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[4900] | 315 | |
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[4907] | 316 | /* map the array references, this is for faster and automatical interfacing \todo: use only array */ |
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| 317 | this->nodes[0] = this->nodeA; |
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| 318 | this->nodes[1] = this->nodeB; |
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| 319 | this->nodes[2] = this->nodeC; |
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| 320 | this->nodes[3] = this->nodeD; |
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[4851] | 321 | } |
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| 322 | |
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| 323 | |
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| 324 | /** |
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[4924] | 325 | * gets the maximal dimension of a model |
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| 326 | * @return the dimension of the AbstractModel as a Rectangle |
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[4887] | 327 | |
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[4868] | 328 | The rectangle is x-z axis aligned. ATTENTION: if there are any vertices in the model, that exceed the |
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| 329 | size of 999999.0, there probably will be some errors in the dimensions calculations. Write an email to |
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| 330 | patrick@orxonox.ethz.ch if you will ever encounter a model bigger than 999999.0 units, I will realy be |
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| 331 | happy to see orxonox used to extensivly :) |
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| 332 | */ |
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[4897] | 333 | Rectangle* QuadtreeNode::getDimFromModel() |
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[4868] | 334 | { |
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| 335 | float maxX, maxY; //!< the maximal coordinates axis |
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| 336 | float minX, minY; //!< minimal axis coorindates |
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| 337 | const float* pVertices; //!< pointer to the current vertices |
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[4887] | 338 | |
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[4868] | 339 | maxX = -999999; maxY = -999999; |
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| 340 | minX = 999999; minY = 999999; |
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| 341 | /* get maximal/minimal x/y */ |
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[4887] | 342 | for( int i = 0; i < this->numTriangles; ++i) |
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[4868] | 343 | { |
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[4887] | 344 | for( int j = 0; j < 3; ++j) |
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| 345 | { |
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[4868] | 346 | |
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[4887] | 347 | pVertices = &this->pVertices[this->pTriangles[i]->indexToVertices[j]]; |
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| 348 | if( pVertices[0] > maxX) |
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| 349 | maxX = pVertices[0]; |
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| 350 | if( pVertices[2] > maxY) |
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| 351 | maxY = pVertices[2]; |
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| 352 | |
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| 353 | if( pVertices[0] < minX) |
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| 354 | minX = pVertices[0]; |
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| 355 | if( pVertices[2] < minY) |
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| 356 | minY = pVertices[2]; |
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| 357 | } |
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[4868] | 358 | } |
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| 359 | |
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| 360 | Rectangle* rect = new Rectangle(); |
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| 361 | rect->setCenter((maxX + minX) / 2.0f, 0.0f, (maxY + minY) / 2.0f); /* this is little strange, since y is in opengl the up vector */ |
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| 362 | rect->setAxis(fmax(((fabs(maxX) + fabs(minX)) / 2.0f), ((fabs(maxY) + fabs(minY)) / 2.0f))); |
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| 363 | |
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[4887] | 364 | for( int i = 0; i < this->treeDepth; ++i) |
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[4888] | 365 | PRINT(3)(" |"); |
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| 366 | PRINT(3)(" | +-| (II) Rectangle Dimension (%5.2f, %5.2f) to (%5.2f, %5.2f), Center (%5.2f, %5.2f)\n", minX, minY, maxX, maxY, rect->getCenter()->x, rect->getCenter()->z, rect->getAxis()); |
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[4868] | 367 | return rect; |
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| 368 | } |
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| 369 | |
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[4902] | 370 | |
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[4923] | 371 | /** |
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[4924] | 372 | * checks if a point is included in this quadtree |
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| 373 | * @param v the vector to be checked |
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| 374 | * @returns true if the vector is included |
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[4923] | 375 | */ |
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[4920] | 376 | bool QuadtreeNode::includesPoint(const Vector& v) |
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| 377 | { |
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| 378 | Vector center = *this->pDimension->getCenter(); |
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| 379 | float ax = this->pDimension->getAxis(); |
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[4922] | 380 | |
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[4920] | 381 | if( v.x > center.x - ax && v.x < center.x + ax && |
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| 382 | v.z > center.z - ax && v.z < center.z + ax ) |
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[4922] | 383 | { |
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| 384 | this->bDraw = true; |
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| 385 | return true; |
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| 386 | } |
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| 387 | return false; |
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[4920] | 388 | } |
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| 389 | |
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[4922] | 390 | |
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[4902] | 391 | /** |
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[4923] | 392 | * draws all the debug quadtree squares |
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[4902] | 393 | */ |
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[4922] | 394 | void QuadtreeNode::drawTree() const |
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[4902] | 395 | { |
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[4913] | 396 | if( this->treeDepth == this->maxDepth) |
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[4912] | 397 | { |
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| 398 | Vector t1 = *this->pDimension->getCenter(); |
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| 399 | float ax = this->pDimension->getAxis(); |
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| 400 | float h = 50.0f; |
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[4902] | 401 | |
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[4921] | 402 | this->quadtree->getMaterial(this->indexNode)->select(); |
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[4912] | 403 | glBegin(GL_QUADS); |
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[4922] | 404 | glVertex3f(t1.x + ax, h - this->treeDepth * 10.0f, t1.z + ax); |
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| 405 | glVertex3f(t1.x - ax, h - this->treeDepth * 10.0f, t1.z + ax); |
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| 406 | glVertex3f(t1.x - ax, h - this->treeDepth * 10.0f, t1.z - ax); |
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| 407 | glVertex3f(t1.x + ax, h - this->treeDepth * 10.0f, t1.z - ax); |
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[4912] | 408 | glEnd(); |
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| 409 | } |
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[4913] | 410 | |
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| 411 | |
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[4902] | 412 | if( this->nodeA != NULL) |
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[4922] | 413 | this->nodeA->drawTree(); |
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[4902] | 414 | if( this->nodeB != NULL) |
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[4922] | 415 | this->nodeB->drawTree(); |
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[4902] | 416 | if( this->nodeC != NULL) |
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[4922] | 417 | this->nodeC->drawTree(); |
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[4902] | 418 | if( this->nodeD != NULL) |
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[4922] | 419 | this->nodeD->drawTree(); |
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[4902] | 420 | } |
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[4921] | 421 | |
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[4922] | 422 | |
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[4923] | 423 | /** |
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| 424 | * draws only this quadtree square |
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| 425 | */ |
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[4921] | 426 | void QuadtreeNode::draw() const |
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| 427 | { |
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| 428 | if( likely(!bDraw)) |
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| 429 | return; |
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| 430 | Vector t1 = *this->pDimension->getCenter(); |
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| 431 | float ax = this->pDimension->getAxis(); |
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| 432 | float h = 70.0f; |
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| 433 | |
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| 434 | glBegin(GL_QUADS); |
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| 435 | this->quadtree->getMaterial(this->indexNode)->select(); |
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[4922] | 436 | |
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| 437 | glVertex3f(t1.x + ax, h, t1.z + ax); |
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| 438 | glVertex3f(t1.x - ax, h, t1.z + ax); |
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| 439 | glVertex3f(t1.x - ax, h, t1.z - ax); |
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| 440 | glVertex3f(t1.x + ax, h, t1.z - ax); |
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| 441 | |
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[4921] | 442 | glEnd(); |
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| 443 | |
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| 444 | } |
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