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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11 | ### File Specific: |
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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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16 | #define DEBUG_SPECIAL_MODULE DEBUG_MODULE_SPATIAL_SEPARATION |
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17 | |
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18 | #include "quadtree_node.h" |
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19 | |
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20 | #include "quadtree.h" |
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21 | #include "material.h" |
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22 | #include "abstract_model.h" |
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23 | #include "list.h" |
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24 | #include "vector.h" |
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25 | #include "debug.h" |
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26 | |
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27 | using namespace std; |
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28 | |
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29 | |
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30 | /** |
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31 | * standard constructor |
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32 | */ |
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33 | QuadtreeNode::QuadtreeNode (sTriangleExt** triangles, int numTriangles, |
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34 | const float* pVertices, int numVertices, |
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35 | Quadtree* quadtree, QuadtreeNode* parent, |
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36 | Rectangle* rect, int treeDepth, const int maxDepth, int index |
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37 | ) |
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38 | { |
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39 | /* save all important variables localy */ |
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40 | this->numTriangles = numTriangles; |
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41 | this->pTriangles = triangles; |
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42 | this->numVertices = numVertices; |
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43 | this->pVertices = pVertices; |
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44 | |
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45 | this->quadtree = quadtree; |
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46 | this->parent = parent; |
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47 | this->pDimension = rect; |
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48 | this->treeDepth = treeDepth; |
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49 | this->maxDepth = maxDepth; |
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50 | this->indexNode = index; |
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51 | |
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52 | /* debug output */ |
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53 | for( int i = 0; i < this->treeDepth; ++i) |
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54 | PRINT(3)(" |"); |
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55 | PRINT(3)(" | +-| (Event) Building Node Nr. %i Depth: %i/%i, pointer: %p\n", this->indexNode, treeDepth, maxDepth, this); |
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56 | |
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57 | for( int i = 0; i < this->treeDepth; ++i) |
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58 | PRINT(3)(" |"); |
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59 | PRINT(3)(" | +-| (II) Rectangle Center (%5.2f, %5.2f), half axis length: %5.2f\n", |
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60 | this->pDimension->getCenter().x, this->pDimension->getCenter().z, this->pDimension->getAxis()); |
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61 | |
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62 | this->init(); |
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63 | } |
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64 | |
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65 | |
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66 | /** |
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67 | * standard constructor |
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68 | */ |
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69 | QuadtreeNode::QuadtreeNode(modelInfo* pModelInfo, Quadtree* quadtree, const int maxDepth) |
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70 | { |
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71 | /* save all important variables localy */ |
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72 | this->pModelInfo = pModelInfo; |
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73 | this->quadtree = quadtree; |
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74 | this->maxDepth = maxDepth; |
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75 | this->treeDepth = 0; |
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76 | this->indexNode = 0; |
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77 | |
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78 | /* create an array of triangle references */ |
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79 | this->pTriangles = new sTriangleExt*[this->pModelInfo->numTriangles]; |
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80 | this->numTriangles = this->pModelInfo->numTriangles; |
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81 | this->pVertices = this->pModelInfo->pVertices; |
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82 | this->numVertices = this->pModelInfo->numVertices; |
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83 | for( int i = 0; i < this->pModelInfo->numTriangles; ++i) |
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84 | this->pTriangles[i] = &this->pModelInfo->pTriangles[i]; |
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85 | |
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86 | /* debug output */ |
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87 | for( int i = 0; i < this->treeDepth; ++i) |
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88 | PRINT(3)(" |"); |
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89 | PRINT(3)(" | +-| (Event) Building Node Nr. %i Depth: %i/%i, pointer: %p\n", this->indexNode, treeDepth, maxDepth, this); |
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90 | |
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91 | /* set some important variables */ |
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92 | this->pDimension = this->getDimFromModel(); |
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93 | |
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94 | this->init(); |
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95 | } |
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96 | |
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97 | |
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98 | /** |
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99 | * takes the rest of the initialisation process |
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100 | */ |
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101 | void QuadtreeNode::init() |
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102 | { |
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103 | this->setClassID(CL_QUADTREE_NODE, "QuadtreeNode"); |
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104 | |
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105 | /* init the rest of the variables for both init types */ |
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106 | this->offset = 0.0f; |
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107 | this->nodeIter = -1; |
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108 | this->bDraw = false; |
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109 | |
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110 | this->parent = NULL; |
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111 | this->nodeA = NULL; |
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112 | this->nodeB = NULL; |
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113 | this->nodeC = NULL; |
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114 | this->nodeD = NULL; |
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115 | this->nodes = new QuadtreeNode*[4]; |
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116 | for(int i = 0; i < 4; ++i) |
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117 | this->nodes[i] = NULL; |
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118 | |
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119 | /* now separate the nodes */ |
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120 | if( this->treeDepth < this->maxDepth) |
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121 | this->separateNode(); |
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122 | } |
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123 | |
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124 | |
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125 | /** |
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126 | * standard deconstructor |
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127 | */ |
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128 | QuadtreeNode::~QuadtreeNode () |
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129 | { |
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130 | if( this->nodeA) |
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131 | delete this->nodeA; |
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132 | if( this->nodeB) |
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133 | delete this->nodeB; |
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134 | if( this->nodeC) |
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135 | delete this->nodeC; |
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136 | if( this->nodeD) |
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137 | delete this->nodeD; |
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138 | |
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139 | if( this->nodes) |
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140 | delete [] this->nodes; |
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141 | |
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142 | if( this->pTriangles) |
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143 | delete [] this->pTriangles; |
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144 | |
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145 | if( this->pDimension) |
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146 | delete this->pDimension; |
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147 | } |
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148 | |
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149 | |
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150 | |
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151 | /** |
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152 | * this functions builds up a hash table containing all leafs of the Quadtree in a sorted array |
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153 | * @param nodeList the nodelist array to add them |
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154 | * @param index the current index in the array |
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155 | |
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156 | 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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157 | order. this is why there will be needed a quicksort later on. |
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158 | */ |
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159 | void QuadtreeNode::buildHashTable(QuadtreeNode** nodeList, int* index) |
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160 | { |
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161 | if( this->nodeIter == -1) |
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162 | this->nodeIter = *index; |
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163 | |
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164 | /* offset #of elements in a row #of rows in a quadtree */ |
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165 | int threshold = this->nodeIter + (int)pow(2, this->maxDepth) * (int)pow(2, maxDepth - treeDepth - 1); |
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166 | int loopLimit = (*index < threshold)?2:4; |
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167 | |
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168 | /* is it a leaf? */ |
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169 | if( this->treeDepth < this->maxDepth) |
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170 | for(int i = (*index < threshold)?0:2; i < loopLimit; ++i) |
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171 | this->nodes[i]->buildHashTable(nodeList, index); |
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172 | else |
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173 | nodeList[(*index)++] = this; |
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174 | } |
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175 | |
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176 | |
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177 | |
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178 | /** |
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179 | * gives the signal to separate the model into a quadtree |
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180 | * @param treeDepth the max depth, the steps to go if treeDept == 0 leaf reached |
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181 | |
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182 | * @todo ATTENION: This function is currently not used and not implemented, but would be a nice addon |
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183 | */ |
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184 | void QuadtreeNode::separateNode(float minLength) |
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185 | { |
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186 | /* dimension calculation & limit checking */ |
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187 | if( minLength <= this->pDimension->getAxis()) |
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188 | return; |
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189 | |
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190 | /* node separation */ |
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191 | // this->separateNode(); |
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192 | // this->nodeA->separateNode(minLength); |
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193 | // this->nodeB->separateNode(minLength); |
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194 | // this->nodeC->separateNode(minLength); |
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195 | // this->nodeD->separateNode(minLength); |
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196 | } |
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197 | |
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198 | |
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199 | /** |
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200 | * gives the signal to separate the model into a quadtree |
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201 | * @param treeDepth the max depth, the steps to go if treeDept == 0 leaf reached |
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202 | */ |
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203 | void QuadtreeNode::separateNode() |
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204 | { |
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205 | /* separate the four regions into the four lists */ |
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206 | tList<sTriangleExt*>* listA = new tList<sTriangleExt*>(); //!< triangle list of nodeA |
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207 | tList<sTriangleExt*>* listB = new tList<sTriangleExt*>(); //!< triangle list of nodeB |
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208 | tList<sTriangleExt*>* listC = new tList<sTriangleExt*>(); //!< triangle list of nodeC |
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209 | tList<sTriangleExt*>* listD = new tList<sTriangleExt*>(); //!< triangle list of nodeD |
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210 | const float* pVert; //!< pointer to the vertices |
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211 | Vector rectCenter; //!< vector to the center of the rect |
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212 | |
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213 | rectCenter = this->pDimension->getCenter(); |
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214 | for( int i = 0; i < this->numTriangles; ++i) |
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215 | { |
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216 | for( int j = 0; j < 3; ++j) |
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217 | { |
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218 | pVert = &this->pVertices[this->pTriangles[i]->indexToVertices[j]]; |
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219 | if( pVert[0] > rectCenter.x + this->offset && pVert[2] > rectCenter.z + this->offset) |
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220 | listA->add(&this->pTriangles[i]); |
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221 | if( pVert[0] < rectCenter.x + this->offset && pVert[2] > rectCenter.z + this->offset) |
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222 | listB->add(&this->pTriangles[i]); |
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223 | if( pVert[0] < rectCenter.x + this->offset && pVert[2] < rectCenter.z + this->offset) |
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224 | listC->add(&this->pTriangles[i]); |
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225 | if( pVert[0] > rectCenter.x + this->offset && pVert[2] < rectCenter.z + this->offset) |
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226 | listD->add(&this->pTriangles[i]); |
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227 | } |
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228 | } |
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229 | for( int i = 0; i < treeDepth; ++i) |
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230 | PRINT(3)(" |"); |
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231 | 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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232 | |
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233 | |
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234 | /* Separating into to the triangle arrays */ |
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235 | sTriangleExt** pTriA; //!< Triangle array A |
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236 | sTriangleExt** pTriB; //!< Triangle array B |
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237 | sTriangleExt** pTriC; //!< Triangle array C |
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238 | sTriangleExt** pTriD; //!< Triangle array D |
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239 | int lenA; //!< length array A |
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240 | int lenB; //!< length array B |
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241 | int lenC; //!< length array C |
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242 | int lenD; //!< length array D |
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243 | tIterator<sTriangleExt*>* iterator; //!< iterator for the list iterations |
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244 | sTriangleExt** tempTri; //!< temp save place for triangle pointer |
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245 | int counter; //!< counter for the while loops |
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246 | |
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247 | lenA = listA->getSize(); |
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248 | lenB = listB->getSize(); |
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249 | lenC = listC->getSize(); |
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250 | lenD = listD->getSize(); |
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251 | |
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252 | pTriA = new sTriangleExt*[lenA]; |
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253 | pTriB = new sTriangleExt*[lenB]; |
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254 | pTriC = new sTriangleExt*[lenC]; |
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255 | pTriD = new sTriangleExt*[lenD]; |
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256 | |
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257 | counter = 0; |
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258 | iterator = listA->getIterator(); |
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259 | tempTri = iterator->firstElement(); |
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260 | while( tempTri) |
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261 | { |
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262 | pTriA[counter] = *tempTri; |
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263 | tempTri = iterator->nextElement(); |
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264 | ++counter; |
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265 | } |
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266 | delete iterator; |
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267 | |
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268 | counter = 0; |
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269 | iterator = listB->getIterator(); |
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270 | tempTri = iterator->firstElement(); |
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271 | while( tempTri) |
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272 | { |
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273 | pTriB[counter] = *tempTri; |
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274 | tempTri = iterator->nextElement(); |
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275 | ++counter; |
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276 | } |
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277 | delete iterator; |
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278 | |
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279 | counter = 0; |
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280 | iterator = listC->getIterator(); |
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281 | tempTri = iterator->firstElement(); |
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282 | while( tempTri) |
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283 | { |
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284 | pTriC[counter] = *tempTri; |
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285 | tempTri = iterator->nextElement(); |
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286 | ++counter; |
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287 | } |
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288 | delete iterator; |
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289 | |
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290 | counter = 0; |
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291 | iterator = listD->getIterator(); |
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292 | tempTri = iterator->firstElement(); |
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293 | while( tempTri) |
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294 | { |
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295 | pTriD[counter] = *tempTri; |
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296 | tempTri = iterator->nextElement(); |
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297 | ++counter; |
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298 | } |
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299 | delete iterator; |
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300 | |
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301 | /* now do cleanup */ |
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302 | delete listA; |
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303 | delete listB; |
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304 | delete listC; |
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305 | delete listD; |
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306 | |
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307 | |
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308 | /* now create the rectangle dimensions */ |
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309 | Vector v; //!< temp saving place |
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310 | Rectangle* rA; //!< new size of the node A |
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311 | Rectangle* rB; //!< new size of the node B |
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312 | Rectangle* rC; //!< new size of the node C |
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313 | Rectangle* rD; //!< new size of the node D |
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314 | |
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315 | |
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316 | v.x = this->pDimension->getCenter().x + this->pDimension->getAxis() / 2.0f; |
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317 | v.y = 0.0; |
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318 | v.z = this->pDimension->getCenter().z + this->pDimension->getAxis() / 2.0f; |
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319 | rA = new Rectangle(v, this->pDimension->getAxis() / 2.0f); |
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320 | |
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321 | v.z = this->pDimension->getCenter().z - this->pDimension->getAxis() / 2.0f; |
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322 | rB = new Rectangle(v, this->pDimension->getAxis() / 2.0f); |
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323 | |
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324 | v.x = this->pDimension->getCenter().x - this->pDimension->getAxis() / 2.0f; |
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325 | rC = new Rectangle(v, this->pDimension->getAxis() / 2.0f); |
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326 | |
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327 | v.z = this->pDimension->getCenter().z + this->pDimension->getAxis() / 2.0f; |
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328 | rD = new Rectangle(v, this->pDimension->getAxis() / 2.0f); |
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329 | |
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330 | |
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331 | /* now create the new nodes */ |
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332 | 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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333 | 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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334 | 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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335 | 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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336 | |
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337 | /* map the array references, this is for faster and automatical interfacing \todo: use only array */ |
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338 | this->nodes[0] = this->nodeA; |
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339 | this->nodes[1] = this->nodeB; |
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340 | this->nodes[2] = this->nodeC; |
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341 | this->nodes[3] = this->nodeD; |
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342 | } |
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343 | |
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344 | |
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345 | /** |
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346 | * gets the maximal dimension of a model |
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347 | * @return the dimension of the AbstractModel as a Rectangle |
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348 | |
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349 | The rectangle is x-z axis aligned. ATTENTION: if there are any vertices in the model, that exceed the |
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350 | size of 999999.0, there probably will be some errors in the dimensions calculations. Write an email to |
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351 | patrick@orxonox.ethz.ch if you will ever encounter a model bigger than 999999.0 units, I will realy be |
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352 | happy to see orxonox used to extensivly :) |
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353 | */ |
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354 | Rectangle* QuadtreeNode::getDimFromModel() |
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355 | { |
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356 | float maxX, maxY; //!< the maximal coordinates axis |
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357 | float minX, minY; //!< minimal axis coorindates |
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358 | const float* pVertices; //!< pointer to the current vertices |
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359 | |
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360 | maxX = -999999; maxY = -999999; |
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361 | minX = 999999; minY = 999999; |
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362 | /* get maximal/minimal x/y */ |
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363 | for( int i = 0; i < this->numTriangles; ++i) |
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364 | { |
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365 | for( int j = 0; j < 3; ++j) |
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366 | { |
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367 | |
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368 | pVertices = &this->pVertices[this->pTriangles[i]->indexToVertices[j]]; |
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369 | if( pVertices[0] > maxX) |
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370 | maxX = pVertices[0]; |
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371 | if( pVertices[2] > maxY) |
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372 | maxY = pVertices[2]; |
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373 | |
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374 | if( pVertices[0] < minX) |
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375 | minX = pVertices[0]; |
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376 | if( pVertices[2] < minY) |
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377 | minY = pVertices[2]; |
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378 | } |
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379 | } |
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380 | |
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381 | Rectangle* rect = new Rectangle(); |
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382 | 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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383 | rect->setAxis(fmax(((fabs(maxX) + fabs(minX)) / 2.0f), ((fabs(maxY) + fabs(minY)) / 2.0f))); |
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384 | |
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385 | for( int i = 0; i < this->treeDepth; ++i) |
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386 | PRINT(3)(" |"); |
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387 | 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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388 | return rect; |
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389 | } |
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390 | |
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391 | |
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392 | /** |
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393 | * checks if a point is included in this quadtree |
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394 | * @param v the vector to be checked |
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395 | * @returns true if the vector is included |
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396 | */ |
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397 | bool QuadtreeNode::includesPoint(const Vector& v) const |
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398 | { |
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399 | Vector center = this->pDimension->getCenter(); |
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400 | float ax = this->pDimension->getAxis(); |
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401 | |
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402 | if( v.x > center.x - ax && v.x < center.x + ax && |
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403 | v.z > center.z - ax && v.z < center.z + ax ) |
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404 | return true; |
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405 | return false; |
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406 | } |
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407 | |
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408 | |
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409 | |
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410 | float QuadtreeNode::getHeight(const Vector& position) const |
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411 | { |
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412 | Vector a, b, c; |
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413 | sTriangleExt* tri; |
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414 | |
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415 | for( int i = 0; i < this->numTriangles; ++i) |
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416 | { |
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417 | a = *(sVec3D*)&this->pVertices[this->pTriangles[i]->indexToVertices[0]]; |
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418 | b = *(sVec3D*)&this->pVertices[this->pTriangles[i]->indexToVertices[1]]; |
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419 | c = *(sVec3D*)&this->pVertices[this->pTriangles[i]->indexToVertices[2]]; |
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420 | |
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421 | if( unlikely(this->pointInTriangle(position, a, b, c))) |
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422 | { |
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423 | tri = this->pTriangles[i]; |
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424 | break; |
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425 | } |
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426 | } |
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427 | |
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428 | /* calculate height out of the data collected above */ |
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429 | |
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430 | } |
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431 | |
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432 | |
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433 | /** |
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434 | * get triangles that includes the position |
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435 | * @param position the position that is going to be checked |
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436 | * @returns the triangle in which the position is included, NULL if there is no such triangle |
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437 | |
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438 | There is some random behaviour if there are more than one triangle at the same y |
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439 | coordinate. At the moment the function just takes the first triangle, that included the |
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440 | vector |
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441 | */ |
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442 | sTriangleExt* QuadtreeNode::getTriangle(const Vector& position) const |
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443 | { |
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444 | Vector a, b, c; |
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445 | PRINTF(0)("Get Triangle, %i\n", this->numTriangles); |
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446 | |
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447 | for( int i = 0; i < numTriangles; ++i) |
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448 | { |
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449 | |
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450 | a = *(sVec3D*)&this->pVertices[this->pTriangles[i]->indexToVertices[0]]; |
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451 | b = *(sVec3D*)&this->pVertices[this->pTriangles[i]->indexToVertices[1]]; |
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452 | c = *(sVec3D*)&this->pVertices[this->pTriangles[i]->indexToVertices[2]]; |
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453 | |
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454 | if( unlikely(this->pointInTriangle(position, a, b, c))) |
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455 | return this->pTriangles[i]; |
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456 | |
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457 | } |
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458 | return NULL; |
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459 | } |
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460 | |
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461 | |
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462 | /** |
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463 | * checks if the point is in the triangle |
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464 | * @param point to be checked |
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465 | * @param rectangle edge a |
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466 | * @param rectangle edge b |
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467 | * @param rectangle edge c |
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468 | * @returns true if the point is inside |
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469 | */ |
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470 | bool QuadtreeNode::pointInTriangle(const Vector&p, const Vector& a, const Vector& b, const Vector& c) const |
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471 | { |
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472 | |
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473 | PRINTF(0)("p: (%f, %f, %f)\n", p.x, p.y, p.z); |
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474 | PRINTF(0)("a: (%f, %f, %f)\n", a.x, a.y, a.z); |
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475 | PRINTF(0)("b: (%f, %f, %f)\n", b.x, b.y, b.z); |
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476 | PRINTF(0)("c: (%f, %f, %f)\n", c.x, c.y, c.z); |
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477 | |
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478 | if( this->sameSide(p, a, b, c) && this->sameSide(p, b, a, c) && sameSide(p, c, a, b)) |
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479 | return true; |
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480 | return false; |
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481 | } |
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482 | |
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483 | |
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484 | /** |
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485 | * checks if two points are on the same side |
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486 | * @param point one to be checked |
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487 | * @param point two to be checked |
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488 | * @param begining point of the line |
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489 | * @param end of the line |
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490 | */ |
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491 | bool QuadtreeNode::sameSide(const Vector& p1, const Vector&p2, const Vector& a, const Vector& b) const |
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492 | { |
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493 | Vector cp1 = (b - a).cross(p1 - a); |
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494 | Vector cp2 = (b - a).cross(p2 - a); |
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495 | |
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496 | if( unlikely(cp1.dot(cp2) >= 0)) return true; |
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497 | return false; |
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498 | } |
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499 | |
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500 | |
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501 | /** |
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502 | * draws all the debug quadtree squares |
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503 | */ |
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504 | void QuadtreeNode::drawTree() const |
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505 | { |
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506 | if( this->treeDepth == this->maxDepth) |
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507 | { |
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508 | Vector t1 = this->pDimension->getCenter(); |
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509 | float ax = this->pDimension->getAxis(); |
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510 | float h = 50.0f; |
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511 | |
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512 | this->quadtree->getMaterial(this->indexNode)->select(); |
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513 | glBegin(GL_QUADS); |
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514 | glVertex3f(t1.x + ax, h - this->treeDepth * 10.0f, t1.z + ax); |
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515 | glVertex3f(t1.x - ax, h - this->treeDepth * 10.0f, t1.z + ax); |
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516 | glVertex3f(t1.x - ax, h - this->treeDepth * 10.0f, t1.z - ax); |
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517 | glVertex3f(t1.x + ax, h - this->treeDepth * 10.0f, t1.z - ax); |
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518 | glEnd(); |
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519 | } |
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520 | |
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521 | |
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522 | if( this->nodeA != NULL) |
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523 | this->nodeA->drawTree(); |
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524 | if( this->nodeB != NULL) |
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525 | this->nodeB->drawTree(); |
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526 | if( this->nodeC != NULL) |
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527 | this->nodeC->drawTree(); |
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528 | if( this->nodeD != NULL) |
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529 | this->nodeD->drawTree(); |
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530 | } |
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531 | |
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532 | |
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533 | /** |
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534 | * draws only this quadtree square |
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535 | */ |
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536 | void QuadtreeNode::draw() const |
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537 | { |
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538 | if( likely(!this->bDraw)) |
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539 | return; |
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540 | |
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541 | Vector t1 = this->pDimension->getCenter(); |
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542 | float ax = this->pDimension->getAxis(); |
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543 | float h = 70.0f; |
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544 | |
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545 | glBegin(GL_QUADS); |
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546 | this->quadtree->getMaterial(this->indexNode)->select(); |
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547 | |
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548 | glVertex3f(t1.x + ax, h, t1.z + ax); |
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549 | glVertex3f(t1.x - ax, h, t1.z + ax); |
---|
550 | glVertex3f(t1.x - ax, h, t1.z - ax); |
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551 | glVertex3f(t1.x + ax, h, t1.z - ax); |
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552 | |
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553 | glEnd(); |
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554 | } |
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