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Tobias Wood
2023-11-29 11:12:48 +00:00
parent 9ea520fc45
commit f38e16c193
534 changed files with 103368 additions and 116934 deletions
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199
unsupported/Eigen/src/BVH/BVAlgorithms.h
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@@ -13,14 +13,13 @@
// IWYU pragma: private
#include "./InternalHeaderCheck.h"
namespace Eigen {
namespace Eigen {
namespace internal {
#ifndef EIGEN_PARSED_BY_DOXYGEN
template<typename BVH, typename Intersector>
bool intersect_helper(const BVH &tree, Intersector &intersector, typename BVH::Index root)
{
template <typename BVH, typename Intersector>
bool intersect_helper(const BVH &tree, Intersector &intersector, typename BVH::Index root) {
typedef typename BVH::Index Index;
typedef typename BVH::VolumeIterator VolIter;
typedef typename BVH::ObjectIterator ObjIter;
@@ -30,47 +29,45 @@ bool intersect_helper(const BVH &tree, Intersector &intersector, typename BVH::I
std::vector<Index> todo(1, root);
while(!todo.empty()) {
while (!todo.empty()) {
tree.getChildren(todo.back(), vBegin, vEnd, oBegin, oEnd);
todo.pop_back();
for(; vBegin != vEnd; ++vBegin) //go through child volumes
if(intersector.intersectVolume(tree.getVolume(*vBegin)))
todo.push_back(*vBegin);
for (; vBegin != vEnd; ++vBegin) // go through child volumes
if (intersector.intersectVolume(tree.getVolume(*vBegin))) todo.push_back(*vBegin);
for(; oBegin != oEnd; ++oBegin) //go through child objects
if(intersector.intersectObject(*oBegin))
return true; //intersector said to stop query
for (; oBegin != oEnd; ++oBegin) // go through child objects
if (intersector.intersectObject(*oBegin)) return true; // intersector said to stop query
}
return false;
}
#endif //not EIGEN_PARSED_BY_DOXYGEN
#endif // not EIGEN_PARSED_BY_DOXYGEN
template<typename Volume1, typename Object1, typename Object2, typename Intersector>
struct intersector_helper1
{
template <typename Volume1, typename Object1, typename Object2, typename Intersector>
struct intersector_helper1 {
intersector_helper1(const Object2 &inStored, Intersector &in) : stored(inStored), intersector(in) {}
bool intersectVolume(const Volume1 &vol) { return intersector.intersectVolumeObject(vol, stored); }
bool intersectObject(const Object1 &obj) { return intersector.intersectObjectObject(obj, stored); }
Object2 stored;
Intersector &intersector;
private:
intersector_helper1& operator=(const intersector_helper1&);
private:
intersector_helper1 &operator=(const intersector_helper1 &);
};
template<typename Volume2, typename Object2, typename Object1, typename Intersector>
struct intersector_helper2
{
template <typename Volume2, typename Object2, typename Object1, typename Intersector>
struct intersector_helper2 {
intersector_helper2(const Object1 &inStored, Intersector &in) : stored(inStored), intersector(in) {}
bool intersectVolume(const Volume2 &vol) { return intersector.intersectObjectVolume(stored, vol); }
bool intersectObject(const Object2 &obj) { return intersector.intersectObjectObject(stored, obj); }
Object1 stored;
Intersector &intersector;
private:
intersector_helper2& operator=(const intersector_helper2&);
private:
intersector_helper2 &operator=(const intersector_helper2 &);
};
} // end namespace internal
} // end namespace internal
/** Given a BVH, runs the query encapsulated by \a intersector.
* The Intersector type must provide the following members: \code
@@ -78,27 +75,31 @@ private:
bool intersectObject(const BVH::Object &object) //returns true if the search should terminate immediately
\endcode
*/
template<typename BVH, typename Intersector>
void BVIntersect(const BVH &tree, Intersector &intersector)
{
template <typename BVH, typename Intersector>
void BVIntersect(const BVH &tree, Intersector &intersector) {
internal::intersect_helper(tree, intersector, tree.getRootIndex());
}
/** Given two BVH's, runs the query on their Cartesian product encapsulated by \a intersector.
* The Intersector type must provide the following members: \code
bool intersectVolumeVolume(const BVH1::Volume &v1, const BVH2::Volume &v2) //returns true if product of volumes intersects the query
bool intersectVolumeObject(const BVH1::Volume &v1, const BVH2::Object &o2) //returns true if the volume-object product intersects the query
bool intersectObjectVolume(const BVH1::Object &o1, const BVH2::Volume &v2) //returns true if the volume-object product intersects the query
bool intersectObjectObject(const BVH1::Object &o1, const BVH2::Object &o2) //returns true if the search should terminate immediately
\endcode
bool intersectVolumeVolume(const BVH1::Volume &v1, const BVH2::Volume &v2) //returns true if product of volumes
intersects the query bool intersectVolumeObject(const BVH1::Volume &v1, const BVH2::Object &o2) //returns true if the
volume-object product intersects the query bool intersectObjectVolume(const BVH1::Object &o1, const BVH2::Volume &v2)
//returns true if the volume-object product intersects the query bool intersectObjectObject(const BVH1::Object &o1,
const BVH2::Object &o2) //returns true if the search should terminate immediately \endcode
*/
template<typename BVH1, typename BVH2, typename Intersector>
void BVIntersect(const BVH1 &tree1, const BVH2 &tree2, Intersector &intersector) //TODO: tandem descent when it makes sense
template <typename BVH1, typename BVH2, typename Intersector>
void BVIntersect(const BVH1 &tree1, const BVH2 &tree2,
Intersector &intersector) // TODO: tandem descent when it makes sense
{
typedef typename BVH1::Index Index1;
typedef typename BVH2::Index Index2;
typedef internal::intersector_helper1<typename BVH1::Volume, typename BVH1::Object, typename BVH2::Object, Intersector> Helper1;
typedef internal::intersector_helper2<typename BVH2::Volume, typename BVH2::Object, typename BVH1::Object, Intersector> Helper2;
typedef internal::intersector_helper1<typename BVH1::Volume, typename BVH1::Object, typename BVH2::Object,
Intersector>
Helper1;
typedef internal::intersector_helper2<typename BVH2::Volume, typename BVH2::Object, typename BVH1::Object,
Intersector>
Helper2;
typedef typename BVH1::VolumeIterator VolIter1;
typedef typename BVH1::ObjectIterator ObjIter1;
typedef typename BVH2::VolumeIterator VolIter2;
@@ -111,35 +112,32 @@ void BVIntersect(const BVH1 &tree1, const BVH2 &tree2, Intersector &intersector)
std::vector<std::pair<Index1, Index2> > todo(1, std::make_pair(tree1.getRootIndex(), tree2.getRootIndex()));
while(!todo.empty()) {
while (!todo.empty()) {
tree1.getChildren(todo.back().first, vBegin1, vEnd1, oBegin1, oEnd1);
tree2.getChildren(todo.back().second, vBegin2, vEnd2, oBegin2, oEnd2);
todo.pop_back();
for(; vBegin1 != vEnd1; ++vBegin1) { //go through child volumes of first tree
for (; vBegin1 != vEnd1; ++vBegin1) { // go through child volumes of first tree
const typename BVH1::Volume &vol1 = tree1.getVolume(*vBegin1);
for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree
if(intersector.intersectVolumeVolume(vol1, tree2.getVolume(*vCur2)))
for (vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { // go through child volumes of second tree
if (intersector.intersectVolumeVolume(vol1, tree2.getVolume(*vCur2)))
todo.push_back(std::make_pair(*vBegin1, *vCur2));
}
for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree
for (oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) { // go through child objects of second tree
Helper1 helper(*oCur2, intersector);
if(internal::intersect_helper(tree1, helper, *vBegin1))
return; //intersector said to stop query
if (internal::intersect_helper(tree1, helper, *vBegin1)) return; // intersector said to stop query
}
}
for(; oBegin1 != oEnd1; ++oBegin1) { //go through child objects of first tree
for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree
for (; oBegin1 != oEnd1; ++oBegin1) { // go through child objects of first tree
for (vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { // go through child volumes of second tree
Helper2 helper(*oBegin1, intersector);
if(internal::intersect_helper(tree2, helper, *vCur2))
return; //intersector said to stop query
if (internal::intersect_helper(tree2, helper, *vCur2)) return; // intersector said to stop query
}
for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree
if(intersector.intersectObjectObject(*oBegin1, *oCur2))
return; //intersector said to stop query
for (oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) { // go through child objects of second tree
if (intersector.intersectObjectObject(*oBegin1, *oCur2)) return; // intersector said to stop query
}
}
}
@@ -148,101 +146,98 @@ void BVIntersect(const BVH1 &tree1, const BVH2 &tree2, Intersector &intersector)
namespace internal {
#ifndef EIGEN_PARSED_BY_DOXYGEN
template<typename BVH, typename Minimizer>
typename Minimizer::Scalar minimize_helper(const BVH &tree, Minimizer &minimizer, typename BVH::Index root, typename Minimizer::Scalar minimum)
{
template <typename BVH, typename Minimizer>
typename Minimizer::Scalar minimize_helper(const BVH &tree, Minimizer &minimizer, typename BVH::Index root,
typename Minimizer::Scalar minimum) {
typedef typename Minimizer::Scalar Scalar;
typedef typename BVH::Index Index;
typedef std::pair<Scalar, Index> QueueElement; //first element is priority
typedef std::pair<Scalar, Index> QueueElement; // first element is priority
typedef typename BVH::VolumeIterator VolIter;
typedef typename BVH::ObjectIterator ObjIter;
VolIter vBegin = VolIter(), vEnd = VolIter();
ObjIter oBegin = ObjIter(), oEnd = ObjIter();
std::priority_queue<QueueElement, std::vector<QueueElement>, std::greater<QueueElement> > todo; //smallest is at the top
std::priority_queue<QueueElement, std::vector<QueueElement>, std::greater<QueueElement> >
todo; // smallest is at the top
todo.push(std::make_pair(Scalar(), root));
while(!todo.empty()) {
while (!todo.empty()) {
tree.getChildren(todo.top().second, vBegin, vEnd, oBegin, oEnd);
todo.pop();
for(; oBegin != oEnd; ++oBegin) //go through child objects
for (; oBegin != oEnd; ++oBegin) // go through child objects
minimum = (std::min)(minimum, minimizer.minimumOnObject(*oBegin));
for(; vBegin != vEnd; ++vBegin) { //go through child volumes
for (; vBegin != vEnd; ++vBegin) { // go through child volumes
Scalar val = minimizer.minimumOnVolume(tree.getVolume(*vBegin));
if(val < minimum)
todo.push(std::make_pair(val, *vBegin));
if (val < minimum) todo.push(std::make_pair(val, *vBegin));
}
}
return minimum;
}
#endif //not EIGEN_PARSED_BY_DOXYGEN
#endif // not EIGEN_PARSED_BY_DOXYGEN
template<typename Volume1, typename Object1, typename Object2, typename Minimizer>
struct minimizer_helper1
{
template <typename Volume1, typename Object1, typename Object2, typename Minimizer>
struct minimizer_helper1 {
typedef typename Minimizer::Scalar Scalar;
minimizer_helper1(const Object2 &inStored, Minimizer &m) : stored(inStored), minimizer(m) {}
Scalar minimumOnVolume(const Volume1 &vol) { return minimizer.minimumOnVolumeObject(vol, stored); }
Scalar minimumOnObject(const Object1 &obj) { return minimizer.minimumOnObjectObject(obj, stored); }
Object2 stored;
Minimizer &minimizer;
private:
minimizer_helper1& operator=(const minimizer_helper1&);
private:
minimizer_helper1 &operator=(const minimizer_helper1 &);
};
template<typename Volume2, typename Object2, typename Object1, typename Minimizer>
struct minimizer_helper2
{
template <typename Volume2, typename Object2, typename Object1, typename Minimizer>
struct minimizer_helper2 {
typedef typename Minimizer::Scalar Scalar;
minimizer_helper2(const Object1 &inStored, Minimizer &m) : stored(inStored), minimizer(m) {}
Scalar minimumOnVolume(const Volume2 &vol) { return minimizer.minimumOnObjectVolume(stored, vol); }
Scalar minimumOnObject(const Object2 &obj) { return minimizer.minimumOnObjectObject(stored, obj); }
Object1 stored;
Minimizer &minimizer;
private:
minimizer_helper2& operator=(const minimizer_helper2&);
private:
minimizer_helper2 &operator=(const minimizer_helper2 &);
};
} // end namespace internal
} // end namespace internal
/** Given a BVH, runs the query encapsulated by \a minimizer.
* \returns the minimum value.
* The Minimizer type must provide the following members: \code
typedef Scalar //the numeric type of what is being minimized--not necessarily the Scalar type of the BVH (if it has one)
Scalar minimumOnVolume(const BVH::Volume &volume)
Scalar minimumOnObject(const BVH::Object &object)
\endcode
typedef Scalar //the numeric type of what is being minimized--not necessarily the Scalar type of the BVH (if it has
one) Scalar minimumOnVolume(const BVH::Volume &volume) Scalar minimumOnObject(const BVH::Object &object) \endcode
*/
template<typename BVH, typename Minimizer>
typename Minimizer::Scalar BVMinimize(const BVH &tree, Minimizer &minimizer)
{
return internal::minimize_helper(tree, minimizer, tree.getRootIndex(), (std::numeric_limits<typename Minimizer::Scalar>::max)());
template <typename BVH, typename Minimizer>
typename Minimizer::Scalar BVMinimize(const BVH &tree, Minimizer &minimizer) {
return internal::minimize_helper(tree, minimizer, tree.getRootIndex(),
(std::numeric_limits<typename Minimizer::Scalar>::max)());
}
/** Given two BVH's, runs the query on their cartesian product encapsulated by \a minimizer.
* \returns the minimum value.
* The Minimizer type must provide the following members: \code
typedef Scalar //the numeric type of what is being minimized--not necessarily the Scalar type of the BVH (if it has one)
Scalar minimumOnVolumeVolume(const BVH1::Volume &v1, const BVH2::Volume &v2)
Scalar minimumOnVolumeObject(const BVH1::Volume &v1, const BVH2::Object &o2)
Scalar minimumOnObjectVolume(const BVH1::Object &o1, const BVH2::Volume &v2)
typedef Scalar //the numeric type of what is being minimized--not necessarily the Scalar type of the BVH (if it has
one) Scalar minimumOnVolumeVolume(const BVH1::Volume &v1, const BVH2::Volume &v2) Scalar minimumOnVolumeObject(const
BVH1::Volume &v1, const BVH2::Object &o2) Scalar minimumOnObjectVolume(const BVH1::Object &o1, const BVH2::Volume &v2)
Scalar minimumOnObjectObject(const BVH1::Object &o1, const BVH2::Object &o2)
\endcode
*/
template<typename BVH1, typename BVH2, typename Minimizer>
typename Minimizer::Scalar BVMinimize(const BVH1 &tree1, const BVH2 &tree2, Minimizer &minimizer)
{
template <typename BVH1, typename BVH2, typename Minimizer>
typename Minimizer::Scalar BVMinimize(const BVH1 &tree1, const BVH2 &tree2, Minimizer &minimizer) {
typedef typename Minimizer::Scalar Scalar;
typedef typename BVH1::Index Index1;
typedef typename BVH2::Index Index2;
typedef internal::minimizer_helper1<typename BVH1::Volume, typename BVH1::Object, typename BVH2::Object, Minimizer> Helper1;
typedef internal::minimizer_helper2<typename BVH2::Volume, typename BVH2::Object, typename BVH1::Object, Minimizer> Helper2;
typedef std::pair<Scalar, std::pair<Index1, Index2> > QueueElement; //first element is priority
typedef internal::minimizer_helper1<typename BVH1::Volume, typename BVH1::Object, typename BVH2::Object, Minimizer>
Helper1;
typedef internal::minimizer_helper2<typename BVH2::Volume, typename BVH2::Object, typename BVH1::Object, Minimizer>
Helper2;
typedef std::pair<Scalar, std::pair<Index1, Index2> > QueueElement; // first element is priority
typedef typename BVH1::VolumeIterator VolIter1;
typedef typename BVH1::ObjectIterator ObjIter1;
typedef typename BVH2::VolumeIterator VolIter2;
@@ -252,45 +247,45 @@ typename Minimizer::Scalar BVMinimize(const BVH1 &tree1, const BVH2 &tree2, Mini
ObjIter1 oBegin1 = ObjIter1(), oEnd1 = ObjIter1();
VolIter2 vBegin2 = VolIter2(), vEnd2 = VolIter2(), vCur2 = VolIter2();
ObjIter2 oBegin2 = ObjIter2(), oEnd2 = ObjIter2(), oCur2 = ObjIter2();
std::priority_queue<QueueElement, std::vector<QueueElement>, std::greater<QueueElement> > todo; //smallest is at the top
std::priority_queue<QueueElement, std::vector<QueueElement>, std::greater<QueueElement> >
todo; // smallest is at the top
Scalar minimum = (std::numeric_limits<Scalar>::max)();
todo.push(std::make_pair(Scalar(), std::make_pair(tree1.getRootIndex(), tree2.getRootIndex())));
while(!todo.empty()) {
while (!todo.empty()) {
tree1.getChildren(todo.top().second.first, vBegin1, vEnd1, oBegin1, oEnd1);
tree2.getChildren(todo.top().second.second, vBegin2, vEnd2, oBegin2, oEnd2);
todo.pop();
for(; oBegin1 != oEnd1; ++oBegin1) { //go through child objects of first tree
for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree
for (; oBegin1 != oEnd1; ++oBegin1) { // go through child objects of first tree
for (oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) { // go through child objects of second tree
minimum = (std::min)(minimum, minimizer.minimumOnObjectObject(*oBegin1, *oCur2));
}
for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree
for (vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { // go through child volumes of second tree
Helper2 helper(*oBegin1, minimizer);
minimum = (std::min)(minimum, internal::minimize_helper(tree2, helper, *vCur2, minimum));
}
}
for(; vBegin1 != vEnd1; ++vBegin1) { //go through child volumes of first tree
for (; vBegin1 != vEnd1; ++vBegin1) { // go through child volumes of first tree
const typename BVH1::Volume &vol1 = tree1.getVolume(*vBegin1);
for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree
for (oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) { // go through child objects of second tree
Helper1 helper(*oCur2, minimizer);
minimum = (std::min)(minimum, internal::minimize_helper(tree1, helper, *vBegin1, minimum));
}
for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree
for (vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { // go through child volumes of second tree
Scalar val = minimizer.minimumOnVolumeVolume(vol1, tree2.getVolume(*vCur2));
if(val < minimum)
todo.push(std::make_pair(val, std::make_pair(*vBegin1, *vCur2)));
if (val < minimum) todo.push(std::make_pair(val, std::make_pair(*vBegin1, *vCur2)));
}
}
}
return minimum;
}
} // end namespace Eigen
} // end namespace Eigen
#endif // EIGEN_BVALGORITHMS_H
#endif // EIGEN_BVALGORITHMS_H