// Turn a span of N boxes into N/2 boxes, by pairing boxes
// Except, of course, if N is odd, then we get N/2+1, where the +1
// box has a single child box (ie just a copy).
// [TODO] instead merge that extra box into on of parents? Reduces tree depth by 1
int cluster_boxes(int iStart, int iCount, ref int iBoxCur, ref int iIndicesCur)
{
int[] indices = new int[iCount];
for (int i = 0; i < iCount; ++i)
{
indices[i] = iStart + i;
}
int nDim = 0;
Array.Sort(indices, (a, b) => {
float axis_min_a = box_centers[a][nDim] - box_extents[a][nDim];
float axis_min_b = box_centers[b][nDim] - box_extents[b][nDim];
return((axis_min_a == axis_min_b) ? 0 :
(axis_min_a < axis_min_b) ? -1 : 1);
});
int nPairs = iCount / 2;
int nLeft = iCount - 2 * nPairs;
// this is dumb! but lets us test the rest...
for (int pi = 0; pi < nPairs; pi++)
{
int i0 = indices[2 * pi];
int i1 = indices[2 * pi + 1];
Vector3f center, extent;
get_combined_box(i0, i1, out center, out extent);
// append new box
int iBox = iBoxCur++;
box_to_index.insert(iIndicesCur, iBox);
index_list.insert(i0 + 1, iIndicesCur++);
index_list.insert(i1 + 1, iIndicesCur++);
box_centers.insert(center, iBox);
box_extents.insert(extent, iBox);
}
// [todo] could we merge with last other box? need a way to tell
// that there are 3 children though...could use negative index for that?
if (nLeft > 0)
{
if (nLeft > 1)
{
Util.gBreakToDebugger();
}
int iLeft = indices[2 * nPairs];
duplicate_box(iLeft, ref iBoxCur, ref iIndicesCur);
}
return(nPairs + nLeft);
}
// accumulate triangle counts and track each box-parent index.
// also checks that triangles are contained in boxes
private void test_coverage(int[] tri_counts, int[] parent_indices, int iBox)
{
int idx = box_to_index[iBox];
debug_check_child_tris_in_box(iBox);
if (idx < triangles_end)
{
// triange-list case, array is [N t1 t2 ... tN]
int n = index_list[idx];
AxisAlignedBox3f box = get_box(iBox);
for (int i = 1; i <= n; ++i)
{
int ti = index_list[idx + i];
tri_counts[ti]++;
Index3i tv = mesh.GetTriangle(ti);
for (int j = 0; j < 3; ++j)
{
Vector3f v = (Vector3f)mesh.GetVertex(tv[j]);
if (!box.Contains(v))
{
Util.gBreakToDebugger();
}
}
}
}
else
{
int i0 = index_list[idx];
if (i0 < 0)
{
// negative index means we only have one 'child' box to descend into
i0 = (-i0) - 1;
parent_indices[i0] = iBox;
test_coverage(tri_counts, parent_indices, i0);
}
else
{
// positive index, two sequential child box indices to descend into
i0 = i0 - 1;
parent_indices[i0] = iBox;
test_coverage(tri_counts, parent_indices, i0);
int i1 = index_list[idx + 1];
i1 = i1 - 1;
parent_indices[i1] = iBox;
test_coverage(tri_counts, parent_indices, i1);
}
}
}
// do full tree traversal below iBox to make sure that all child points are contained
void debug_check_child_points_in_box(int iBox)
{
AxisAlignedBox3d box = get_box(iBox);
TreeTraversal t = new TreeTraversal()
{
NextPointF = (vID) => {
Vector3d v = points.GetVertex(vID);
if (box.Contains(v) == false)
{
Util.gBreakToDebugger();
}
}
};
tree_traversal(iBox, 0, t);
}
// 1) make sure we can reach every tri in mesh through tree (also demo of how to traverse tree...)
// 2) make sure that triangles are contained in parent boxes
public void TestCoverage()
{
int[] tri_counts = new int[mesh.MaxTriangleID];
Array.Clear(tri_counts, 0, tri_counts.Length);
int[] parent_indices = new int[box_to_index.Length];
Array.Clear(parent_indices, 0, parent_indices.Length);
test_coverage(tri_counts, parent_indices, root_index);
foreach (int ti in mesh.TriangleIndices())
{
if (tri_counts[ti] != 1)
{
Util.gBreakToDebugger();
}
}
}
// 1) make sure we can reach every point through tree (also demo of how to traverse tree...)
// 2) make sure that points are contained in parent boxes
public void TestCoverage()
{
int[] point_counts = new int[points.MaxVertexID];
Array.Clear(point_counts, 0, point_counts.Length);
int[] parent_indices = new int[box_to_index.Length];
Array.Clear(parent_indices, 0, parent_indices.Length);
test_coverage(point_counts, parent_indices, root_index);
foreach (int ti in points.VertexIndices())
{
if (point_counts[ti] != 1)
{
Util.gBreakToDebugger();
}
}
}
// accumulate point counts and track each box-parent index.
// also checks that points are contained in boxes
private void test_coverage(int[] point_counts, int[] parent_indices, int iBox)
{
int idx = box_to_index[iBox];
debug_check_child_points_in_box(iBox);
if (idx < points_end)
{
// point-list case, array is [N t1 t2 ... tN]
int n = index_list[idx];
AxisAlignedBox3d box = get_box(iBox);
for (int i = 1; i <= n; ++i)
{
int vi = index_list[idx + i];
point_counts[vi]++;
Vector3d v = points.GetVertex(vi);
if (!box.Contains(v))
{
Util.gBreakToDebugger();
}
}
}
else
{
int i0 = index_list[idx];
if (i0 < 0)
{
// negative index means we only have one 'child' box to descend into
i0 = (-i0) - 1;
parent_indices[i0] = iBox;
test_coverage(point_counts, parent_indices, i0);
}
else
{
// positive index, two sequential child box indices to descend into
i0 = i0 - 1;
parent_indices[i0] = iBox;
test_coverage(point_counts, parent_indices, i0);
int i1 = index_list[idx + 1];
i1 = i1 - 1;
parent_indices[i1] = iBox;
test_coverage(point_counts, parent_indices, i1);
}
}
}
// do full tree traversal below iBox to make sure that all child triangles are contained
void debug_check_child_tris_in_box(int iBox)
{
AxisAlignedBox3f box = get_box(iBox);
TreeTraversal t = new TreeTraversal()
{
NextTriangleF = (tID) => {
Index3i tv = mesh.GetTriangle(tID);
for (int j = 0; j < 3; ++j)
{
Vector3f v = (Vector3f)mesh.GetVertex(tv[j]);
if (box.Contains(v) == false)
{
Util.gBreakToDebugger();
}
}
}
};
tree_traversal(iBox, 0, t);
}
// do full tree traversal below iBox and make sure that all triangles are further
// than box-distance-sqr
void debug_check_child_tri_distances(int iBox, Vector3d p)
{
double fBoxDistSqr = box_distance_sqr(iBox, p);
TreeTraversal t = new TreeTraversal()
{
NextTriangleF = (tID) => {
double fTriDistSqr = MeshQueries.TriDistanceSqr(mesh, tID, p);
if (fTriDistSqr < fBoxDistSqr)
{
if (Math.Abs(fTriDistSqr - fBoxDistSqr) > MathUtil.ZeroTolerance * 100)
{
Util.gBreakToDebugger();
}
}
}
};
tree_traversal(iBox, 0, t);
}
protected virtual void DebugCheckVertexConstraints()
{
if (constraints == null)
{
return;
}
foreach (KeyValuePair <int, VertexConstraint> vc in constraints.VertexConstraintsItr())
{
int vid = vc.Key;
if (vc.Value.Target != null)
{
Vector3d curpos = mesh.GetVertex(vid);
Vector3d projected = vc.Value.Target.Project(curpos, vid);
if (curpos.DistanceSquared(projected) > 0.0001f)
{
Util.gBreakToDebugger();
}
}
}
}
// do full tree traversal below iBox and make sure that all points are further
// than box-distance-sqr
void debug_check_child_point_distances(int iBox, Vector3d p)
{
double fBoxDistSqr = box_distance_sqr(iBox, ref p);
TreeTraversal t = new TreeTraversal()
{
NextPointF = (vID) => {
Vector3d v = points.GetVertex(vID);
double fDistSqr = p.DistanceSquared(v);
if (fDistSqr < fBoxDistSqr)
{
if (Math.Abs(fDistSqr - fBoxDistSqr) > MathUtil.ZeroTolerance * 100)
{
Util.gBreakToDebugger();
}
}
}
};
tree_traversal(iBox, 0, t);
}
// Turn a span of N boxes into N/2 boxes, by pairing boxes
// Except, of course, if N is odd, then we get N/2+1, where the +1
// box has a single child box (ie just a copy).
// [TODO] instead merge that extra box into on of parents? Reduces tree depth by 1
int cluster_boxes_nearsearch(int iStart, int iCount, ref int iBoxCur, ref int iIndicesCur)
{
int[] indices = new int[iCount];
for (int i = 0; i < iCount; ++i)
{
indices[i] = iStart + i;
}
Func <int, int, double> boxMetric = combined_box_volume;
//Func<int, int, double> boxMetric = combined_box_length;
// sort indices by x axis
// cycling axes (ie at each depth) seems to produce much worse results...
int nDim = 0;
Array.Sort(indices, (a, b) => {
float axis_min_a = box_centers[a][nDim] - box_extents[a][nDim];
float axis_min_b = box_centers[b][nDim] - box_extents[b][nDim];
return((axis_min_a == axis_min_b) ? 0 :
(axis_min_a < axis_min_b) ? -1 : 1);
});
int nPairs = iCount / 2;
int nLeft = iCount - 2 * nPairs;
// bounded greedy clustering.
// Search ahead next N boxes in sorted-by-axis list, and find
// the one that creates minimal box metric when combined with us.
int N = BottomUpClusterLookahead;
int[] nextNi = new int[N];
double[] nextNc = new double[N];
int pj;
for (int pi = 0; pi < iCount - 1; pi++)
{
int i0 = indices[pi];
if (i0 < 0)
{
continue;
}
int nStop = Math.Min(N, iCount - pi - 1);
for (int k = 0; k < nStop; ++k)
{
pj = pi + k + 1;
nextNi[k] = pj;
int ik = indices[pj];
if (ik < 0)
{
nextNc[k] = double.MaxValue;
}
else
{
nextNc[k] = boxMetric(i0, ik);
}
}
Array.Sort(nextNc, nextNi, 0, nStop);
if (nextNc[0] == double.MaxValue)
{
continue;
}
pj = nextNi[0];
int i1 = indices[pj];
if (i1 < 0)
{
Util.gBreakToDebugger();
}
Vector3f center, extent;
get_combined_box(i0, i1, out center, out extent);
// append new box
int iBox = iBoxCur++;
box_to_index.insert(iIndicesCur, iBox);
index_list.insert(i0 + 1, iIndicesCur++);
index_list.insert(i1 + 1, iIndicesCur++);
box_centers.insert(center, iBox);
box_extents.insert(extent, iBox);
indices[pi] = -(indices[pi] + 1);
indices[pj] = -(indices[pj] + 1);
}
// [todo] could we merge with last other box? need a way to tell
// that there are 3 children though...could use negative index for that?
if (nLeft > 0)
{
int iLeft = -1;
for (int i = 0; iLeft < 0 && i < indices.Length; ++i)
{
if (indices[i] >= 0)
{
iLeft = indices[i];
}
}
duplicate_box(iLeft, ref iBoxCur, ref iIndicesCur);
}
return(nPairs + nLeft);
}