450 lines
9.6 KiB
C
450 lines
9.6 KiB
C
/*
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: none of this file.
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*
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* Contributor(s): Janne Karhu
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* Brecht Van Lommel
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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/** \file blender/blenlib/intern/BLI_kdtree.c
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* \ingroup bli
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*/
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#include "MEM_guardedalloc.h"
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#include "BLI_math.h"
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#include "BLI_kdtree.h"
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#ifndef SWAP
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#define SWAP(type, a, b) { type sw_ap; sw_ap=(a); (a)=(b); (b)=sw_ap; }
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#endif
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typedef struct KDTreeNode {
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struct KDTreeNode *left, *right;
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float co[3], nor[3];
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int index;
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short d;
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} KDTreeNode;
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struct KDTree {
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KDTreeNode *nodes;
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int totnode;
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KDTreeNode *root;
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};
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KDTree *BLI_kdtree_new(int maxsize)
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{
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KDTree *tree;
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tree= MEM_callocN(sizeof(KDTree), "KDTree");
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tree->nodes= MEM_callocN(sizeof(KDTreeNode)*maxsize, "KDTreeNode");
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tree->totnode= 0;
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return tree;
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}
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void BLI_kdtree_free(KDTree *tree)
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{
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if(tree) {
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MEM_freeN(tree->nodes);
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MEM_freeN(tree);
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}
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}
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void BLI_kdtree_insert(KDTree *tree, int index, float *co, float *nor)
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{
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KDTreeNode *node= &tree->nodes[tree->totnode++];
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node->index= index;
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copy_v3_v3(node->co, co);
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if(nor) copy_v3_v3(node->nor, nor);
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}
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static KDTreeNode *kdtree_balance(KDTreeNode *nodes, int totnode, int axis)
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{
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KDTreeNode *node;
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float co;
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int left, right, median, i, j;
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if(totnode <= 0)
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return NULL;
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else if(totnode == 1)
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return nodes;
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/* quicksort style sorting around median */
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left= 0;
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right= totnode-1;
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median= totnode/2;
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while(right > left) {
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co= nodes[right].co[axis];
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i= left-1;
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j= right;
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while(1) {
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while(nodes[++i].co[axis] < co);
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while(nodes[--j].co[axis] > co && j>left);
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if(i >= j) break;
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SWAP(KDTreeNode, nodes[i], nodes[j]);
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}
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SWAP(KDTreeNode, nodes[i], nodes[right]);
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if(i >= median)
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right= i-1;
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if(i <= median)
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left= i+1;
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}
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/* set node and sort subnodes */
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node= &nodes[median];
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node->d= axis;
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node->left= kdtree_balance(nodes, median, (axis+1)%3);
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node->right= kdtree_balance(nodes+median+1, (totnode-(median+1)), (axis+1)%3);
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return node;
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}
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void BLI_kdtree_balance(KDTree *tree)
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{
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tree->root= kdtree_balance(tree->nodes, tree->totnode, 0);
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}
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static float squared_distance(float *v2, float *v1, float *UNUSED(n1), float *n2)
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{
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float d[3], dist;
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d[0]= v2[0]-v1[0];
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d[1]= v2[1]-v1[1];
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d[2]= v2[2]-v1[2];
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dist = dot_v3v3(d, d);
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//if(n1 && n2 && (dot_v3v3(n1, n2) < 0.0f))
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if(n2 && (dot_v3v3(d, n2) < 0.0f))
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dist *= 10.0f;
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return dist;
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}
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int BLI_kdtree_find_nearest(KDTree *tree, float *co, float *nor, KDTreeNearest *nearest)
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{
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KDTreeNode *root, *node, *min_node;
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KDTreeNode **stack, *defaultstack[100];
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float min_dist, cur_dist;
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int totstack, cur=0;
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if(!tree->root)
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return -1;
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stack= defaultstack;
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totstack= 100;
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root= tree->root;
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min_node= root;
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min_dist= squared_distance(root->co,co,root->nor,nor);
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if(co[root->d] < root->co[root->d]) {
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if(root->right)
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stack[cur++]=root->right;
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if(root->left)
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stack[cur++]=root->left;
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}
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else {
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if(root->left)
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stack[cur++]=root->left;
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if(root->right)
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stack[cur++]=root->right;
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}
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while(cur--){
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node=stack[cur];
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cur_dist = node->co[node->d] - co[node->d];
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if(cur_dist<0.0f){
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cur_dist= -cur_dist*cur_dist;
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if(-cur_dist<min_dist){
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cur_dist=squared_distance(node->co,co,node->nor,nor);
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if(cur_dist<min_dist){
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min_dist=cur_dist;
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min_node=node;
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}
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if(node->left)
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stack[cur++]=node->left;
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}
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if(node->right)
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stack[cur++]=node->right;
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}
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else{
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cur_dist= cur_dist*cur_dist;
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if(cur_dist<min_dist){
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cur_dist=squared_distance(node->co,co,node->nor,nor);
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if(cur_dist<min_dist){
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min_dist=cur_dist;
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min_node=node;
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}
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if(node->right)
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stack[cur++]=node->right;
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}
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if(node->left)
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stack[cur++]=node->left;
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}
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if(cur+3 > totstack){
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KDTreeNode **temp=MEM_callocN((totstack+100)*sizeof(KDTreeNode*), "psys_treestack");
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memcpy(temp,stack,totstack*sizeof(KDTreeNode*));
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if(stack != defaultstack)
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MEM_freeN(stack);
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stack=temp;
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totstack+=100;
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}
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}
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if(nearest) {
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nearest->index= min_node->index;
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nearest->dist= sqrt(min_dist);
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copy_v3_v3(nearest->co, min_node->co);
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}
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if(stack != defaultstack)
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MEM_freeN(stack);
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return min_node->index;
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}
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static void add_nearest(KDTreeNearest *ptn, int *found, int n, int index, float dist, float *co)
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{
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int i;
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if(*found<n) (*found)++;
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for(i=*found-1; i>0; i--) {
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if(dist >= ptn[i-1].dist)
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break;
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else
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ptn[i]= ptn[i-1];
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}
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ptn[i].index= index;
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ptn[i].dist= dist;
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copy_v3_v3(ptn[i].co, co);
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}
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/* finds the nearest n entries in tree to specified coordinates */
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int BLI_kdtree_find_n_nearest(KDTree *tree, int n, float *co, float *nor, KDTreeNearest *nearest)
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{
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KDTreeNode *root, *node= NULL;
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KDTreeNode **stack, *defaultstack[100];
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float cur_dist;
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int i, totstack, cur=0, found=0;
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if(!tree->root)
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return 0;
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stack= defaultstack;
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totstack= 100;
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root= tree->root;
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cur_dist= squared_distance(root->co,co,root->nor,nor);
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add_nearest(nearest,&found,n,root->index,cur_dist,root->co);
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if(co[root->d] < root->co[root->d]) {
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if(root->right)
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stack[cur++]=root->right;
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if(root->left)
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stack[cur++]=root->left;
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}
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else {
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if(root->left)
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stack[cur++]=root->left;
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if(root->right)
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stack[cur++]=root->right;
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}
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while(cur--){
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node=stack[cur];
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cur_dist = node->co[node->d] - co[node->d];
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if(cur_dist<0.0f){
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cur_dist= -cur_dist*cur_dist;
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if(found<n || -cur_dist<nearest[found-1].dist){
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cur_dist=squared_distance(node->co,co,node->nor,nor);
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if(found<n || cur_dist<nearest[found-1].dist)
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add_nearest(nearest,&found,n,node->index,cur_dist,node->co);
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if(node->left)
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stack[cur++]=node->left;
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}
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if(node->right)
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stack[cur++]=node->right;
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}
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else{
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cur_dist= cur_dist*cur_dist;
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if(found<n || cur_dist<nearest[found-1].dist){
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cur_dist=squared_distance(node->co,co,node->nor,nor);
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if(found<n || cur_dist<nearest[found-1].dist)
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add_nearest(nearest,&found,n,node->index,cur_dist,node->co);
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if(node->right)
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stack[cur++]=node->right;
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}
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if(node->left)
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stack[cur++]=node->left;
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}
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if(cur+3 > totstack){
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KDTreeNode **temp=MEM_callocN((totstack+100)*sizeof(KDTreeNode*), "psys_treestack");
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memcpy(temp,stack,totstack*sizeof(KDTreeNode*));
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if(stack != defaultstack)
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MEM_freeN(stack);
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stack=temp;
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totstack+=100;
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}
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}
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for(i=0; i<found; i++)
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nearest[i].dist= sqrt(nearest[i].dist);
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if(stack != defaultstack)
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MEM_freeN(stack);
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return found;
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}
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static int range_compare(const void * a, const void * b)
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{
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const KDTreeNearest *kda = a;
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const KDTreeNearest *kdb = b;
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if(kda->dist < kdb->dist)
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return -1;
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else if(kda->dist > kdb->dist)
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return 1;
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else
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return 0;
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}
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static void add_in_range(KDTreeNearest **ptn, int found, int *totfoundstack, int index, float dist, float *co)
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{
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KDTreeNearest *to;
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if(found+1 > *totfoundstack) {
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KDTreeNearest *temp=MEM_callocN((*totfoundstack+50)*sizeof(KDTreeNode), "psys_treefoundstack");
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memcpy(temp, *ptn, *totfoundstack * sizeof(KDTreeNearest));
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if(*ptn)
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MEM_freeN(*ptn);
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*ptn = temp;
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*totfoundstack+=50;
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}
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to = (*ptn) + found;
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to->index = index;
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to->dist = sqrt(dist);
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copy_v3_v3(to->co, co);
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}
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int BLI_kdtree_range_search(KDTree *tree, float range, float *co, float *nor, KDTreeNearest **nearest)
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{
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KDTreeNode *root, *node= NULL;
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KDTreeNode **stack, *defaultstack[100];
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KDTreeNearest *foundstack=NULL;
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float range2 = range*range, dist2;
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int totstack, cur=0, found=0, totfoundstack=0;
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if(!tree || !tree->root)
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return 0;
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stack= defaultstack;
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totstack= 100;
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root= tree->root;
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if(co[root->d] + range < root->co[root->d]) {
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if(root->left)
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stack[cur++]=root->left;
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}
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else if(co[root->d] - range > root->co[root->d]) {
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if(root->right)
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stack[cur++]=root->right;
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}
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else {
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dist2 = squared_distance(root->co, co, root->nor, nor);
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if(dist2 <= range2)
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add_in_range(&foundstack, found++, &totfoundstack, root->index, dist2, root->co);
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if(root->left)
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stack[cur++]=root->left;
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if(root->right)
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stack[cur++]=root->right;
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}
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while(cur--) {
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node=stack[cur];
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if(co[node->d] + range < node->co[node->d]) {
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if(node->left)
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stack[cur++]=node->left;
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}
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else if(co[node->d] - range > node->co[node->d]) {
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if(node->right)
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stack[cur++]=node->right;
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}
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else {
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dist2 = squared_distance(node->co, co, node->nor, nor);
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if(dist2 <= range2)
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add_in_range(&foundstack, found++, &totfoundstack, node->index, dist2, node->co);
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if(node->left)
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stack[cur++]=node->left;
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if(node->right)
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stack[cur++]=node->right;
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}
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if(cur+3 > totstack){
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KDTreeNode **temp=MEM_callocN((totstack+100)*sizeof(KDTreeNode*), "psys_treestack");
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memcpy(temp,stack,totstack*sizeof(KDTreeNode*));
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if(stack != defaultstack)
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MEM_freeN(stack);
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stack=temp;
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totstack+=100;
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}
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}
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if(stack != defaultstack)
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MEM_freeN(stack);
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if(found)
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qsort(foundstack, found, sizeof(KDTreeNearest), range_compare);
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*nearest = foundstack;
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return found;
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}
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