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pcNode.cpp
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#include "calcUtils.h"
#include "pcNode.h"
#include "ocNode.h"
CPcNode::CPcNode()
{
pcNodes=nullptr;
}
CPcNode::CPcNode(double boxS,const C3Vector& boxCenter,double cellS,int cellPts,const std::vector<double>& points,std::vector<size_t>& ptsOriginalIndices,std::vector<bool>& ptsInvalidityIndicators,const std::vector<unsigned char>& rgbData,bool rgbForEachPt)
{
double boxHsp=boxS*double(0.5001);
pcNodes=nullptr;
// Compute points relative to this box:
std::vector<double> points2;
std::vector<unsigned char> rgbData2;
std::vector<size_t> ptsOriginalIndices2;
for (size_t i=0;i<points.size()/3;i++)
{
C3Vector pt(&points[3*i]);
pt-=boxCenter;
if ( (fabs(pt(0))<boxHsp)&&(fabs(pt(1))<boxHsp)&&(fabs(pt(2))<boxHsp) )
{
points2.push_back(pt(0));
points2.push_back(pt(1));
points2.push_back(pt(2));
ptsOriginalIndices2.push_back(ptsOriginalIndices[i]);
if (rgbForEachPt)
{
rgbData2.push_back(rgbData[3*i+0]);
rgbData2.push_back(rgbData[3*i+1]);
rgbData2.push_back(rgbData[3*i+2]);
}
}
}
if (!rgbForEachPt)
{
rgbData2.push_back(rgbData[0]);
rgbData2.push_back(rgbData[1]);
rgbData2.push_back(rgbData[2]);
}
if (points2.size()>0)
{
if ( (boxS>cellS*double(1.001))||(int(points2.size()/3)>cellPts) )
{ // subdivide
pcNodes=new CPcNode* [8];
for (size_t i=0;i<8;i++)
pcNodes[i]=new CPcNode(boxS*0.5,ocNodeTranslations[i]*boxS,cellS,cellPts,points2,ptsOriginalIndices2,ptsInvalidityIndicators,rgbData2,rgbForEachPt);
}
else
{ // we are at a leaf. Populate it
for (size_t i=0;i<points2.size()/3;i++)
{
if (!ptsInvalidityIndicators[ptsOriginalIndices2[i]])
{
ptsInvalidityIndicators[ptsOriginalIndices2[i]]=true;
pts.push_back(points2[3*i+0]);
pts.push_back(points2[3*i+1]);
pts.push_back(points2[3*i+2]);
if (!rgbForEachPt)
{
rgbs.push_back(rgbData2[0]);
rgbs.push_back(rgbData2[1]);
rgbs.push_back(rgbData2[2]);
}
else
{
rgbs.push_back(rgbData2[3*i+0]);
rgbs.push_back(rgbData2[3*i+1]);
rgbs.push_back(rgbData2[3*i+2]);
}
}
}
}
}
}
CPcNode::~CPcNode()
{
if (pcNodes!=nullptr)
{
for (size_t i=0;i<8;i++)
delete pcNodes[i];
delete[] pcNodes;
}
}
CPcNode* CPcNode::copyYourself() const
{
CPcNode* newPcNode=new CPcNode();
if (pts.size()>0)
{
newPcNode->pts.assign(pts.begin(),pts.end());
newPcNode->rgbs.assign(rgbs.begin(),rgbs.end());
}
else
{
if (pcNodes!=nullptr)
{
newPcNode->pcNodes=new CPcNode* [8];
for (size_t i=0;i<8;i++)
newPcNode->pcNodes[i]=pcNodes[i]->copyYourself();
}
}
return(newPcNode);
}
void CPcNode::scaleYourself(double f)
{
if (pts.size()>0)
{
for (size_t i=0;i<pts.size();i++)
pts[i]*=f;
}
else
{
if (pcNodes!=nullptr)
{
for (size_t i=0;i<8;i++)
pcNodes[i]->scaleYourself(f);
}
}
}
void CPcNode::serialize(std::vector<unsigned char>& data) const
{
int s=int(pts.size());
pushData(data,&s,sizeof(int));
for (size_t i=0;i<pts.size();i++)
pushData(data,&pts[i],sizeof(double));
for (size_t i=0;i<rgbs.size();i++)
data.push_back(rgbs[i]);
if (pcNodes!=nullptr)
{
data.push_back(1);
for (size_t i=0;i<8;i++)
pcNodes[i]->serialize(data);
}
else
data.push_back(0);
}
void CPcNode::deserialize(const unsigned char* data,int& pos)
{
int ptsize=(reinterpret_cast<const int*>(data+pos))[0];pos+=sizeof(int);
for (int i=0;i<ptsize;i++)
{
pts.push_back((reinterpret_cast<const double*>(data+pos))[0]);
pos+=sizeof(double);
}
for (int i=0;i<ptsize;i++)
rgbs.push_back(data[pos++]);
if (data[pos++]!=0)
{
pcNodes=new CPcNode* [8];
for (size_t i=0;i<8;i++)
{
pcNodes[i]=new CPcNode();
pcNodes[i]->deserialize(data,pos);
}
}
}
void CPcNode::serializeOld(std::vector<unsigned char>& data) const
{
int s=int(pts.size());
pushData(data,&s,sizeof(int));
for (size_t i=0;i<pts.size();i++)
{
float a=(float)pts[i];
pushData(data,&a,sizeof(float));
}
for (size_t i=0;i<rgbs.size();i++)
data.push_back(rgbs[i]);
if (pcNodes!=nullptr)
{
data.push_back(1);
for (size_t i=0;i<8;i++)
pcNodes[i]->serializeOld(data);
}
else
data.push_back(0);
}
void CPcNode::deserializeOld(const unsigned char* data,int& pos)
{
int ptsize=(reinterpret_cast<const int*>(data+pos))[0];pos+=sizeof(int);
pts.resize(ptsize);
for (int i=0;i<ptsize;i++)
{
float a=((float*)(data+pos))[0];
pts[i]=(double)a;
pos+=sizeof(float);
}
for (int i=0;i<ptsize;i++)
rgbs.push_back(data[pos++]);
if (data[pos++]!=0)
{
pcNodes=new CPcNode* [8];
for (size_t i=0;i<8;i++)
{
pcNodes[i]=new CPcNode();
pcNodes[i]->deserializeOld(data,pos);
}
}
}
size_t CPcNode::countCellsWithContent() const
{
size_t retVal=0;
if (pcNodes==nullptr)
{
if (pts.size()>0)
retVal=1;
}
else
{
for (size_t i=0;i<8;i++)
retVal+=pcNodes[i]->countCellsWithContent();
}
return(retVal);
}
void CPcNode::getPointsPosAndRgb_all(double boxS,const C3Vector& boxCenter,std::vector<double>& data) const
{
if (pcNodes!=nullptr)
{
for (size_t i=0;i<8;i++)
pcNodes[i]->getPointsPosAndRgb_all(boxS*0.5,boxCenter+ocNodeTranslations[i]*boxS,data);
}
for (size_t i=0;i<pts.size()/3;i++)
{
C3Vector pt(&pts[3*i]);
pt+=boxCenter;
data.push_back(pt(0));
data.push_back(pt(1));
data.push_back(pt(2));
data.push_back(double(rgbs[3*i+0])/double(254.8));
data.push_back(double(rgbs[3*i+1])/double(254.8));
data.push_back(double(rgbs[3*i+2])/double(254.8));
}
}
void CPcNode::getPointsPosAndRgb_subset(double boxS,const C3Vector& boxCenter,double prop,std::vector<double>& data) const
{
if (pcNodes!=nullptr)
{
for (size_t i=0;i<8;i++)
pcNodes[i]->getPointsPosAndRgb_subset(boxS*0.5,boxCenter+ocNodeTranslations[i]*boxS,prop,data);
}
double step=(1.0/prop)+double(0.0001);
for (double fi=0.0;size_t(fi)<pts.size()/3;fi+=step)
{
C3Vector pt(&pts[3*size_t(fi)]);
pt+=boxCenter;
data.push_back(pt(0));
data.push_back(pt(1));
data.push_back(pt(2));
data.push_back(double(rgbs[3*size_t(fi)+0])/double(254.8));
data.push_back(double(rgbs[3*size_t(fi)+1])/double(254.8));
data.push_back(double(rgbs[3*size_t(fi)+2])/double(254.8));
}
}
void CPcNode::getOctreeCorners(double boxS,const C3Vector& boxCenter,std::vector<double>& data) const
{
if (pcNodes!=nullptr)
{
for (size_t i=0;i<8;i++)
pcNodes[i]->getOctreeCorners(boxS*0.5,boxCenter+ocNodeTranslations[i]*boxS,data);
}
for (size_t i=0;i<8;i++)
{
C3Vector shift(ocNodeTranslations[i]*boxS*2.0);
data.push_back(boxCenter(0)+shift(0));
data.push_back(boxCenter(1)+shift(1));
data.push_back(boxCenter(2)+shift(2));
}
}
const double* CPcNode::getPoints(double boxS,const C3Vector& boxCenter,unsigned long long int pcCaching,size_t* ptCnt,C3Vector& totalTransl) const
{
const double* retVal=nullptr;
unsigned long long int cellPath=(pcCaching>>6)<<6;
unsigned long long int cellDepth=pcCaching&63;
if (cellDepth>0)
{
if (pcNodes!=nullptr)
{
int index=(cellPath>>(6+(cellDepth-1)*3))&7;
unsigned long long int _pcCaching=cellPath|(cellDepth-1);
retVal=pcNodes[index]->getPoints(boxS*0.5,boxCenter+ocNodeTranslations[index]*boxS,_pcCaching,ptCnt,totalTransl);
}
}
else
{
if (pts.size()>0)
{
totalTransl=boxCenter;
ptCnt[0]=pts.size()/3;
return(&pts[0]);
}
}
return(retVal);
}
void CPcNode::add_pts(double boxS,const C3Vector& boxCenter,double cellS,int cellPts,const std::vector<double>& points,std::vector<size_t>& ptsOriginalIndices,std::vector<bool>& ptsInvalidityIndicators,const std::vector<unsigned char>& rgbData,bool rgbForEachPt)
{
double boxHsp=boxS*double(0.5001);
// Compute points relative to this box:
std::vector<double> points2;
std::vector<unsigned char> rgbData2;
std::vector<size_t> ptsOriginalIndices2;
for (size_t i=0;i<points.size()/3;i++)
{
C3Vector pt(&points[3*i]);
pt-=boxCenter;
if ( (fabs(pt(0))<boxHsp)&&(fabs(pt(1))<boxHsp)&&(fabs(pt(2))<boxHsp) )
{
points2.push_back(pt(0));
points2.push_back(pt(1));
points2.push_back(pt(2));
ptsOriginalIndices2.push_back(ptsOriginalIndices[i]);
if (rgbForEachPt)
{
rgbData2.push_back(rgbData[3*i+0]);
rgbData2.push_back(rgbData[3*i+1]);
rgbData2.push_back(rgbData[3*i+2]);
}
}
}
if (!rgbForEachPt)
{
rgbData2.push_back(rgbData[0]);
rgbData2.push_back(rgbData[1]);
rgbData2.push_back(rgbData[2]);
}
if (points2.size()>0)
{
if (pts.size()==0)
{
if (pcNodes==nullptr)
{ // can we add the points here?
if ( ((points2.size()/3)<=size_t(cellPts))&&(boxS<cellS*double(1.5)) )
{ // yes
for (size_t i=0;i<points2.size()/3;i++)
{
if (!ptsInvalidityIndicators[ptsOriginalIndices2[i]])
{
ptsInvalidityIndicators[ptsOriginalIndices2[i]]=true;
pts.push_back(points2[3*i+0]);
pts.push_back(points2[3*i+1]);
pts.push_back(points2[3*i+2]);
if (rgbForEachPt)
{
rgbs.push_back(rgbData2[3*i+0]);
rgbs.push_back(rgbData2[3*i+1]);
rgbs.push_back(rgbData2[3*i+2]);
}
else
{
rgbs.push_back(rgbData2[0]);
rgbs.push_back(rgbData2[1]);
rgbs.push_back(rgbData2[2]);
}
}
}
}
else
{ // we create new children..
pcNodes=new CPcNode* [8];
for (size_t i=0;i<8;i++)
pcNodes[i]=new CPcNode(boxS*0.5,ocNodeTranslations[i]*boxS,cellS,cellPts,points2,ptsOriginalIndices2,ptsInvalidityIndicators,rgbData2,rgbForEachPt);
}
}
else
{ // continue exploring...
for (size_t i=0;i<8;i++)
pcNodes[i]->add_pts(boxS*0.5,ocNodeTranslations[i]*boxS,cellS,cellPts,points2,ptsOriginalIndices2,ptsInvalidityIndicators,rgbData2,rgbForEachPt);
}
}
else
{ // can we add more points to this cell?
if ( (points2.size()+pts.size())/3<=size_t(cellPts) )
{ // yes, we do it
for (size_t i=0;i<points2.size()/3;i++)
{
if (!ptsInvalidityIndicators[ptsOriginalIndices2[i]])
{
ptsInvalidityIndicators[ptsOriginalIndices2[i]]=true;
pts.push_back(points2[3*i+0]);
pts.push_back(points2[3*i+1]);
pts.push_back(points2[3*i+2]);
if (rgbForEachPt)
{
rgbs.push_back(rgbData2[3*i+0]);
rgbs.push_back(rgbData2[3*i+1]);
rgbs.push_back(rgbData2[3*i+2]);
}
else
{
rgbs.push_back(rgbData2[0]);
rgbs.push_back(rgbData2[1]);
rgbs.push_back(rgbData2[2]);
}
}
}
}
else
{ // we have to create children...
if (!rgbForEachPt)
{ // create individual colors anyway (but same), since we need to also handle previous points:
rgbData2.clear();
for (size_t i=0;i<points2.size()/3;i++)
{
rgbData2.push_back(rgbData[0]);
rgbData2.push_back(rgbData[1]);
rgbData2.push_back(rgbData[2]);
}
}
rgbData2.insert(rgbData2.end(),rgbs.begin(),rgbs.end());
rgbs.clear();
points2.insert(points2.end(),pts.begin(),pts.end());
for (size_t i=0;i<pts.size()/3;i++)
{
ptsOriginalIndices2.push_back(ptsInvalidityIndicators.size());
ptsInvalidityIndicators.push_back(false);
}
pts.clear();
pcNodes=new CPcNode* [8];
for (size_t i=0;i<8;i++)
pcNodes[i]=new CPcNode(boxS*0.5,ocNodeTranslations[i]*boxS,cellS,cellPts,points2,ptsOriginalIndices2,ptsInvalidityIndicators,rgbData2,true);
}
}
}
}
bool CPcNode::delete_pts(double boxS,const C3Vector& boxCenter,const std::vector<double>& points,double proximityTol,int* count)
{
if ( (pcNodes==nullptr)&&(pts.size()==0) )
return(true); // nothing to remove, node is empty. Remove this node (maybe)
double boxHsp=boxS*double(0.5001)+proximityTol;
// Compute points relative to this box:
std::vector<double> points2;
for (size_t i=0;i<points.size()/3;i++)
{
C3Vector pt(&points[3*i]);
pt-=boxCenter;
if ( (fabs(pt(0))<boxHsp)&&(fabs(pt(1))<boxHsp)&&(fabs(pt(2))<boxHsp) )
{
points2.push_back(pt(0));
points2.push_back(pt(1));
points2.push_back(pt(2));
}
}
if (points2.size()>0)
{
if (pts.size()==0)
{ // no points here
if (pcNodes==nullptr)
return(true); // this node could be removed
else
{ // explore further...
bool removeChildNodes=true;
for (size_t i=0;i<8;i++)
{
bool bb=pcNodes[i]->delete_pts(boxS*0.5,ocNodeTranslations[i]*boxS,points2,proximityTol,count);
removeChildNodes=removeChildNodes&&bb;
}
if (removeChildNodes)
{
for (size_t i=0;i<8;i++)
delete pcNodes[i];
delete[] pcNodes;
pcNodes=nullptr;
return(true); // this node could be removed
}
else
return(false); // keep this node
}
}
else
{ // we have points here that could be removed...
double dTol=proximityTol*proximityTol;
for (size_t i=0;i<points2.size()/3;i++)
{
C3Vector pt1(&points2[3*i]);
for (size_t j=0;j<pts.size()/3;j++)
{
C3Vector pt2(&pts[3*j]);
pt2-=pt1;
double d=pt2(0)*pt2(0)+pt2(1)*pt2(1)+pt2(2)*pt2(2);
if (d<dTol)
{
pts.erase(pts.begin()+3*j,pts.begin()+3*j+3);
rgbs.erase(rgbs.begin()+3*j,rgbs.begin()+3*j+3);
if (count!=nullptr)
count[0]++;
j--; // reprocess this pos
}
}
if (pts.size()==0)
return(true); // this node could be removed
}
return(false); // keep this node
}
}
return(false); // keep this node
}
bool CPcNode::delete_octree(double pcBoxS,const C3Vector& pcBoxCenter,const C4X4Matrix& pcM,double ocBoxS,const C3Vector& ocBoxCenter,const COcNode* ocNode,const C4X4Matrix& ocM,int* count)
{
if ( (pcNodes==nullptr)&&(pts.size()==0) )
return(true); // nothing to remove, node is empty. Remove this node (maybe)
double pcBoxHsp=pcBoxS*double(0.5001);
double ocBoxHsp=ocBoxS*double(0.5001);
C4X4Matrix m1(pcM);
m1.X+=pcM.M*pcBoxCenter;
C4X4Matrix m2(ocM);
m2.X+=ocM.M*ocBoxCenter;
C4X4Matrix relPcM(m2.getInverse()*m1);
if (pts.size()==0)
{
if (pcNodes!=nullptr)
{ // we have to continue exploring, maybe.
if ( (ocNode->ocNodes!=nullptr)||(!ocNode->empty) )
{
// Fast check first:
if (CCalcUtils::doCollide_box_cell(relPcM,C3Vector(pcBoxHsp,pcBoxHsp,pcBoxHsp),ocBoxHsp,true))
{ // now explore large volume first:
if ( (pcBoxHsp*pcBoxHsp*pcBoxHsp>ocBoxHsp*ocBoxHsp*ocBoxHsp)||(ocNode->ocNodes==nullptr) )
{ // explore the point cloud...
bool removeChildNodes=true;
for (size_t i=0;i<8;i++)
{
bool bb=pcNodes[i]->delete_octree(pcBoxS*0.5,pcBoxCenter+ocNodeTranslations[i]*pcBoxS,pcM,ocBoxS,ocBoxCenter,ocNode,ocM,count);
removeChildNodes=removeChildNodes&&bb;
}
if (removeChildNodes)
{
for (size_t i=0;i<8;i++)
delete pcNodes[i];
delete[] pcNodes;
pcNodes=nullptr;
return(true); // this node could be removed
}
}
else
{ // explore the OC tree..
for (size_t i=0;i<8;i++)
{
if (delete_octree(pcBoxS,pcBoxCenter,pcM,ocBoxS*0.5,ocBoxCenter+ocNodeTranslations[i]*ocBoxS,ocNode->ocNodes[i],ocM,count))
return(true); // this node could be removed
}
}
}
}
}
else
return(true); // this node could be removed
}
else
{ // we have pts here..
if ( (ocNode->ocNodes!=nullptr)||(!ocNode->empty) )
{
// fast check:
if (CCalcUtils::doCollide_box_cell(relPcM,C3Vector(pcBoxHsp,pcBoxHsp,pcBoxHsp),ocBoxHsp,true))
{
if (ocNode->ocNodes==nullptr)
{ // check pts-cell collision and remove pts that collide:
for (size_t i=0;i<pts.size()/3;i++)
{
C3Vector pt(&pts[3*i]);
pt*=relPcM;
if ( (fabs(pt(0))<ocBoxHsp)&&(fabs(pt(1))<ocBoxHsp)&&(fabs(pt(2))<ocBoxHsp) )
{
pts.erase(pts.begin()+3*i,pts.begin()+3*i+3);
rgbs.erase(rgbs.begin()+3*i,rgbs.begin()+3*i+3);
if (count!=nullptr)
count[0]++;
i--; // reprocess this pos
}
}
if (pts.size()==0)
return(true); // this node could be removed
}
else
{ // continue exploring the oc tree...
for (size_t i=0;i<8;i++)
{
if (delete_octree(pcBoxS,pcBoxCenter,pcM,ocBoxS*0.5,ocBoxCenter+ocNodeTranslations[i]*ocBoxS,ocNode->ocNodes[i],ocM,count))
return(true); // this node could be removed
}
}
}
}
}
return(false); // keep this node
}
bool CPcNode::intersect_pts(double boxS,const C3Vector& boxCenter,const std::vector<double>& points,double proximityTol)
{
if ( (pcNodes==nullptr)&&(pts.size()==0) )
return(true); // nothing to intersect, node is empty. Remove this node (maybe)
double boxHsp=boxS*double(0.5001)+proximityTol;
// Compute points relative to this box:
std::vector<double> points2;
for (size_t i=0;i<points.size()/3;i++)
{
C3Vector pt(&points[3*i]);
pt-=boxCenter;
if ( (fabs(pt(0))<boxHsp)&&(fabs(pt(1))<boxHsp)&&(fabs(pt(2))<boxHsp) )
{
points2.push_back(pt(0));
points2.push_back(pt(1));
points2.push_back(pt(2));
}
}
if (points2.size()>0)
{
if (pts.size()==0)
{ // continue exploration... maybe
if (pcNodes!=nullptr)
{
bool removeChildNodes=true;
for (size_t i=0;i<8;i++)
{
bool bb=pcNodes[i]->intersect_pts(boxS*0.5,ocNodeTranslations[i]*boxS,points2,proximityTol);
removeChildNodes=removeChildNodes&&bb;
}
if (removeChildNodes)
{
for (size_t i=0;i<8;i++)
delete pcNodes[i];
delete[] pcNodes;
pcNodes=nullptr;
return(true); // this node could be removed
}
else
return(false); // keep this node
}
else
return(true); // this node could be removed
}
else
{ //check the points here (cell points vs points2):
double dTol=proximityTol*proximityTol;
size_t removableCnt=pts.size()/3;
std::vector<bool> removableFlags(pts.size()/3,true);
for (size_t i=0;i<points2.size()/3;i++)
{
C3Vector pt1(&points2[3*i]);
for (size_t j=0;j<pts.size()/3;j++)
{
if (removableFlags[j])
{
C3Vector pt2(&pts[3*j]);
pt2-=pt1;
double d=pt2(0)*pt2(0)+pt2(1)*pt2(1)+pt2(2)*pt2(2);
if (d<dTol)
{
removableFlags[j]=false;
removableCnt--;
}
}
}
}
if (removableCnt==pts.size()/3)
{
pts.clear();
rgbs.clear();
return(true); // this node could be removed
}
std::vector<double> pts2(pts);
std::vector<unsigned char> rgbs2(rgbs);
pts.clear();
rgbs.clear();
for (size_t i=0;i<removableFlags.size();i++)
{
if (!removableFlags[i])
{
pts.push_back(pts2[3*i+0]);
pts.push_back(pts2[3*i+1]);
pts.push_back(pts2[3*i+2]);
rgbs.push_back(rgbs2[3*i+0]);
rgbs.push_back(rgbs2[3*i+1]);
rgbs.push_back(rgbs2[3*i+2]);
}
}
return(false); // keep this node
}
}
return(true); // nothing to intersect, remove this node (maybe)
}
void CPcNode::flagDuplicates(double boxS,const C3Vector& boxCenter,const std::vector<double>& points,const std::vector<size_t>& ptsOriginalIndices,std::vector<bool>& duplicateIndicators,double proximityTol) const
{
if ( (pcNodes==nullptr)&&(pts.size()==0) )
return; // no duplicates here
double boxHsp=boxS*double(0.5001)+proximityTol;
// Compute points relative to this box:
std::vector<double> points2;
std::vector<size_t> ptsOriginalIndices2;
for (size_t i=0;i<points.size()/3;i++)
{
C3Vector pt(&points[3*i]);
pt-=boxCenter;
if ( (fabs(pt(0))<boxHsp)&&(fabs(pt(1))<boxHsp)&&(fabs(pt(2))<boxHsp) )
{
points2.push_back(pt(0));
points2.push_back(pt(1));
points2.push_back(pt(2));
ptsOriginalIndices2.push_back(ptsOriginalIndices[i]);
}
}
if (points2.size()>0)
{
if (pts.size()==0)
{
if (pcNodes!=nullptr)
{ // continue exploration..
for (size_t i=0;i<8;i++)
pcNodes[i]->flagDuplicates(boxS*0.5,ocNodeTranslations[i]*boxS,points2,ptsOriginalIndices2,duplicateIndicators,proximityTol);
}
}
else
{ // check duplicates:
double dTol=proximityTol*proximityTol;
for (size_t i=0;i<points2.size()/3;i++)
{
C3Vector pt1(&points2[3*i]);
for (size_t j=0;j<pts.size()/3;j++)
{
C3Vector pt2(&pts[3*j]);
pt2-=pt1;
double d=pt2(0)*pt2(0)+pt2(1)*pt2(1)+pt2(2)*pt2(2);
if (d<dTol)
{
duplicateIndicators[ptsOriginalIndices2[i]]=true;
break;
}
}
}
}
}
}
bool CPcNode::getDistance_pt(double boxS,const C3Vector& boxCenter,const C3Vector& point,double& dist,C3Vector* pcMinDistSegPt,unsigned long long int* pcCaching,unsigned long long int pcCachePos) const
{
bool retVal=false;
if (dist==0.0)
return(retVal);
double pcBoxHsp=boxS*double(0.5001);
C3Vector relPoint(point-boxCenter);
double l=relPoint.getLength();
l-=sqrtf(3*pcBoxHsp*pcBoxHsp);
if (l<dist)
{ // we could be in that box..
if (pts.size()==0)
{
if (pcNodes!=nullptr)
{ // continue exploration...
unsigned long long int cellPath=(pcCachePos>>6)<<(6+3);
unsigned long long int cellDepth=(pcCachePos&63);
for (size_t i=0;i<8;i++)
{
bool bb=pcNodes[i]->getDistance_pt(boxS*0.5,boxCenter+ocNodeTranslations[i]*boxS,point,dist,pcMinDistSegPt,pcCaching,cellPath|(i<<6)|(cellDepth+1));
retVal=retVal||bb;
}
}
}
else
{ // check the points in that cell:
for (size_t i=0;i<pts.size()/3;i++)
{
C3Vector pt(&pts[3*i]);
double d=(relPoint-pt).getLength();
if (d<dist)
{
dist=d;
if (pcMinDistSegPt!=nullptr)
pcMinDistSegPt[0]=boxCenter+pt;
retVal=true;
if (pcCaching!=nullptr)
pcCaching[0]=pcCachePos;
}
}
}
}
return(retVal);
}
bool CPcNode::getDistance_seg(double boxS,const C3Vector& boxCenter,const C3Vector& segMiddle,const C3Vector& segHs,double& dist,C3Vector* pcMinDistSegPt,C3Vector* segMinDistSegPt,unsigned long long int* pcCaching,unsigned long long int pcCachePos) const
{
bool retVal=false;
if (dist==0.0)
return(retVal);
double pcBoxHsp=boxS*double(0.5001);
C3Vector relSegMiddle(segMiddle-boxCenter);
double l=relSegMiddle.getLength();
l=l-sqrtf(3*pcBoxHsp*pcBoxHsp)-segHs.getLength();
if (l<dist)
{ // we could be in that box..
if (pts.size()==0)
{
if (pcNodes!=nullptr)
{ // continue exploration...
unsigned long long int cellPath=(pcCachePos>>6)<<(6+3);
unsigned long long int cellDepth=(pcCachePos&63);
for (size_t i=0;i<8;i++)
{
bool bb=pcNodes[i]->getDistance_seg(boxS*0.5,boxCenter+ocNodeTranslations[i]*boxS,segMiddle,segHs,dist,pcMinDistSegPt,segMinDistSegPt,pcCaching,cellPath|(i<<6)|(cellDepth+1));
retVal=retVal||bb;
}
}
}
else
{ // check the points in that cell:
for (size_t i=0;i<pts.size()/3;i++)
{
C3Vector pt(&pts[3*i]);
if (CCalcUtils::getDistance_segp_pt(relSegMiddle-segHs,segHs*2.0,pt,dist,segMinDistSegPt))
{
retVal=true;
if (pcMinDistSegPt!=nullptr)
pcMinDistSegPt[0]=boxCenter+pt;
if (segMinDistSegPt!=nullptr)
segMinDistSegPt[0]+=boxCenter;
if (pcCaching!=nullptr)
pcCaching[0]=pcCachePos;
}
}
}
}
return(retVal);
}
bool CPcNode::getDistance_tri(double boxS,const C3Vector& boxCenter,const C3Vector& p,const C3Vector& v,const C3Vector& w,double& dist,C3Vector* pcMinDistSegPt,C3Vector* triMinDistSegPt,unsigned long long int* pcCaching,unsigned long long int pcCachePos) const
{
bool retVal=false;
if (dist==0.0)
return(retVal);
double pcBoxHsp=boxS*double(0.5001);
C3Vector relP(p-boxCenter);
double l=relP.getLength();
l=l-sqrtf(3*pcBoxHsp*pcBoxHsp)-std::max<double>(v.getLength(),w.getLength());
if (l<dist)
{ // we could be in that box..
if (pts.size()==0)
{
if (pcNodes!=nullptr)
{ // continue exploration...
unsigned long long int cellPath=(pcCachePos>>6)<<(6+3);
unsigned long long int cellDepth=(pcCachePos&63);
for (size_t i=0;i<8;i++)
{
bool bb=pcNodes[i]->getDistance_tri(boxS*0.5,boxCenter+ocNodeTranslations[i]*boxS,p,v,w,dist,pcMinDistSegPt,triMinDistSegPt,pcCaching,cellPath|(i<<6)|(cellDepth+1));
retVal=retVal||bb;
}
}
}
else
{ // check the points in that cell:
for (size_t i=0;i<pts.size()/3;i++)
{
C3Vector pt(&pts[3*i]);
if (CCalcUtils::getDistance_tri_pt(relP,v,w,pt,dist,triMinDistSegPt))
{
retVal=true;
if (pcMinDistSegPt!=nullptr)
pcMinDistSegPt[0]=boxCenter+pt;
if (triMinDistSegPt!=nullptr)
triMinDistSegPt[0]+=boxCenter;
if (pcCaching!=nullptr)
pcCaching[0]=pcCachePos;
}
}
}
}
return(retVal);
}
bool CPcNode::getDistance_shape(double boxS,const C3Vector& boxCenter,const C4X4Matrix& pcM,const CObbStruct* obbStruct,const CObbNode* obb,const C4X4Matrix& shapeM,double& dist,C3Vector* pcMinDistSegPt,C3Vector* shapeMinDistSegPt,unsigned long long int* pcCaching,unsigned long long int pcCachePos,int* obbCaching) const
{
bool retVal=false;
if (dist==0.0)
return(retVal);
C4X4Matrix pcTr(pcM);
pcTr.X+=pcM.M*boxCenter;
C4X4Matrix shapeTr(shapeM*obb->boxM);
// Make a quick check:
double d=CCalcUtils::getApproxDistance_box_box(pcTr,C3Vector(boxS*0.5,boxS*0.5,boxS*0.5),shapeTr,obb->boxHs);
if (d<dist)
{ // we may be closer than dist
bool exploreObbNode=false;
if (pcNodes!=nullptr)
{ // PC node can be explored further
if ( (obb->leafTris!=nullptr)||(boxS*boxS*boxS>obb->boxHs(0)*obb->boxHs(1)*obb->boxHs(2)) )
{ // explore the PC node. Pick the box closer to the OBB box
C4X4Matrix shapeTrRel(pcTr.getInverse()*shapeTr);
std::vector<std::pair<double,SNodeTranslation>> nodesToExplore;
for (size_t i=0;i<8;i++)
{
SNodeTranslation nodeTranslation;
nodeTranslation.transl=ocNodeTranslations[i]*boxS;
nodeTranslation.index=i;
nodesToExplore.push_back(std::make_pair((nodeTranslation.transl-shapeTrRel.X).getLength(),nodeTranslation));
}
std::sort(nodesToExplore.begin(),nodesToExplore.end());
unsigned long long int cellPath=(pcCachePos>>6)<<(6+3);
unsigned long long int cellDepth=(pcCachePos&63);
for (size_t i=0;i<nodesToExplore.size();i++)
{
C3Vector transl(nodesToExplore[i].second.transl);
size_t index=nodesToExplore[i].second.index;
unsigned long long int _pcCacheValueHere=cellPath|(index<<6)|(cellDepth+1);
bool bb=pcNodes[index]->getDistance_shape(boxS*0.5,boxCenter+transl,pcM,obbStruct,obb,shapeM,dist,pcMinDistSegPt,shapeMinDistSegPt,pcCaching,_pcCacheValueHere,obbCaching);
retVal=retVal||bb;
}
}
else
exploreObbNode=true;
}
else
{ // PC node can't be explored further
if (pts.size()>0)
{ // there are points in the PC cell
if (obb->leafTris==nullptr)
exploreObbNode=true;
else
{ // Check triangles of OBB node vs this voxel's pts
C4X4Matrix shapeMRel(pcTr.getInverse()*shapeM);
for (size_t i=0;i<obb->leafTris->size();i++)
{
int ind=3*obb->leafTris[0][i];
C3Vector p(&obbStruct->vertices[3*size_t(obbStruct->indices[size_t(ind)+0])+0]);
C3Vector v(&obbStruct->vertices[3*size_t(obbStruct->indices[size_t(ind)+1])+0]);
C3Vector w(&obbStruct->vertices[3*size_t(obbStruct->indices[size_t(ind)+2])+0]);
p*=shapeMRel;
v*=shapeMRel;
w*=shapeMRel;
v-=p;
w-=p;
for (size_t j=0;j<pts.size()/3;j++)
{
C3Vector pcPt(&pts[3*j]);
if (CCalcUtils::getDistance_tri_pt(p,v,w,pcPt,dist,shapeMinDistSegPt))
{
if (pcMinDistSegPt!=nullptr)
pcMinDistSegPt[0]=pcTr*pcPt;
if (shapeMinDistSegPt!=nullptr)
shapeMinDistSegPt[0]*=pcTr;
if (pcCaching!=nullptr)
pcCaching[0]=pcCachePos;
if (obbCaching!=nullptr)
obbCaching[0]=ind/3;
retVal=true;
}
}
}
}
}
}
if (exploreObbNode)
{
const CObbNode* nodes[2];
double d[2]={dist,dist};
CCalcUtils::isApproxDistanceSmaller_box_box_fast(pcTr,C3Vector(boxS,boxS,boxS),shapeM*obb->obbNodes[0]->boxM,obb->obbNodes[0]->boxHs,d[0]);
CCalcUtils::isApproxDistanceSmaller_box_box_fast(pcTr,C3Vector(boxS,boxS,boxS),shapeM*obb->obbNodes[1]->boxM,obb->obbNodes[1]->boxHs,d[1]);
if (d[0]<=d[1])
{ // we first explore the closest box
nodes[0]=obb->obbNodes[0];
nodes[1]=obb->obbNodes[1];
}
else
{
nodes[0]=obb->obbNodes[1];
nodes[1]=obb->obbNodes[0];
}
for (size_t i=0;i<2;i++)
{
bool bb=getDistance_shape(boxS,boxCenter,pcM,obbStruct,nodes[i],shapeM,dist,pcMinDistSegPt,shapeMinDistSegPt,pcCaching,pcCachePos,obbCaching);
retVal=retVal||bb;
if (dist<=d[1])
break;
}
}
}
return(retVal);
}
bool CPcNode::getDistance_ptcloud(double box1Size,const C3Vector& box1Center,const C4X4Matrix& pc1M,const CPcNode* pc2Node,double box2Size,const C3Vector& box2Center,const C4X4Matrix& pc2M,double& dist,C3Vector* pc1MinDistSegPt,C3Vector* pc2MinDistSegPt,unsigned long long int* pc1Caching,unsigned long long int pc1CachePos,unsigned long long int* pc2Caching,unsigned long long int pc2CachePos) const
{
bool retVal=false;
if (dist==0.0)
return(retVal);
C4X4Matrix m1(pc1M);
m1.X+=pc1M.M*box1Center;
C4X4Matrix m2(pc2M);