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Diffstat (limited to 'Opcode/OPC_BoxPruning.cpp')
| -rw-r--r-- | Opcode/OPC_BoxPruning.cpp | 367 |
1 files changed, 367 insertions, 0 deletions
diff --git a/Opcode/OPC_BoxPruning.cpp b/Opcode/OPC_BoxPruning.cpp new file mode 100644 index 0000000..adc2d24 --- /dev/null +++ b/Opcode/OPC_BoxPruning.cpp @@ -0,0 +1,367 @@ +///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ * OPCODE - Optimized Collision Detection
+ * Copyright (C) 2001 Pierre Terdiman
+ * Homepage: http://www.codercorner.com/Opcode.htm
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ * Contains code for box pruning.
+ * \file IceBoxPruning.cpp
+ * \author Pierre Terdiman
+ * \date January, 29, 2000
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+ You could use a complex sweep-and-prune as implemented in I-Collide.
+ You could use a complex hashing scheme as implemented in V-Clip or recently in ODE it seems.
+ You could use a "Recursive Dimensional Clustering" algorithm as implemented in GPG2.
+
+ Or you could use this.
+ Faster ? I don't know. Probably not. It would be a shame. But who knows ?
+ Easier ? Definitely. Enjoy the sheer simplicity.
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+*/
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Precompiled Header
+#include "Stdafx.h"
+
+using namespace Opcode;
+
+ inline_ void FindRunningIndex(udword& index, float* array, udword* sorted, int last, float max)
+ {
+ int First=index;
+ while(First<=last)
+ {
+ index = (First+last)>>1;
+
+ if(max>array[sorted[index]]) First = index+1;
+ else last = index-1;
+ }
+ }
+// ### could be log(n) !
+// and maybe use cmp integers
+
+// InsertionSort has better coherence, RadixSort is better for one-shot queries.
+#define PRUNING_SORTER RadixSort
+//#define PRUNING_SORTER InsertionSort
+
+// Static for coherence
+static PRUNING_SORTER* gCompletePruningSorter = null;
+static PRUNING_SORTER* gBipartitePruningSorter0 = null;
+static PRUNING_SORTER* gBipartitePruningSorter1 = null;
+inline_ PRUNING_SORTER* GetCompletePruningSorter()
+{
+ if(!gCompletePruningSorter) gCompletePruningSorter = new PRUNING_SORTER;
+ return gCompletePruningSorter;
+}
+inline_ PRUNING_SORTER* GetBipartitePruningSorter0()
+{
+ if(!gBipartitePruningSorter0) gBipartitePruningSorter0 = new PRUNING_SORTER;
+ return gBipartitePruningSorter0;
+}
+inline_ PRUNING_SORTER* GetBipartitePruningSorter1()
+{
+ if(!gBipartitePruningSorter1) gBipartitePruningSorter1 = new PRUNING_SORTER;
+ return gBipartitePruningSorter1;
+}
+void ReleasePruningSorters()
+{
+ DELETESINGLE(gBipartitePruningSorter1);
+ DELETESINGLE(gBipartitePruningSorter0);
+ DELETESINGLE(gCompletePruningSorter);
+}
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ * Bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.
+ * \param nb0 [in] number of boxes in the first set
+ * \param array0 [in] array of boxes for the first set
+ * \param nb1 [in] number of boxes in the second set
+ * \param array1 [in] array of boxes for the second set
+ * \param pairs [out] array of overlapping pairs
+ * \param axes [in] projection order (0,2,1 is often best)
+ * \return true if success.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool Opcode::BipartiteBoxPruning(udword nb0, const AABB** array0, udword nb1, const AABB** array1, Pairs& pairs, const Axes& axes)
+{
+ // Checkings
+ if(!nb0 || !array0 || !nb1 || !array1) return false;
+
+ // Catch axes
+ udword Axis0 = axes.mAxis0;
+ udword Axis1 = axes.mAxis1;
+ udword Axis2 = axes.mAxis2;
+
+ // Allocate some temporary data
+ float* MinPosList0 = new float[nb0];
+ float* MinPosList1 = new float[nb1];
+
+ // 1) Build main lists using the primary axis
+ for(udword i=0;i<nb0;i++) MinPosList0[i] = array0[i]->GetMin(Axis0);
+ for(udword i=0;i<nb1;i++) MinPosList1[i] = array1[i]->GetMin(Axis0);
+
+ // 2) Sort the lists
+ PRUNING_SORTER* RS0 = GetBipartitePruningSorter0();
+ PRUNING_SORTER* RS1 = GetBipartitePruningSorter1();
+ const udword* Sorted0 = RS0->Sort(MinPosList0, nb0).GetRanks();
+ const udword* Sorted1 = RS1->Sort(MinPosList1, nb1).GetRanks();
+
+ // 3) Prune the lists
+ udword Index0, Index1;
+
+ const udword* const LastSorted0 = &Sorted0[nb0];
+ const udword* const LastSorted1 = &Sorted1[nb1];
+ const udword* RunningAddress0 = Sorted0;
+ const udword* RunningAddress1 = Sorted1;
+
+ while(RunningAddress1<LastSorted1 && Sorted0<LastSorted0)
+ {
+ Index0 = *Sorted0++;
+
+ while(RunningAddress1<LastSorted1 && MinPosList1[*RunningAddress1]<MinPosList0[Index0]) RunningAddress1++;
+
+ const udword* RunningAddress2_1 = RunningAddress1;
+
+ while(RunningAddress2_1<LastSorted1 && MinPosList1[Index1 = *RunningAddress2_1++]<=array0[Index0]->GetMax(Axis0))
+ {
+ if(array0[Index0]->Intersect(*array1[Index1], Axis1))
+ {
+ if(array0[Index0]->Intersect(*array1[Index1], Axis2))
+ {
+ pairs.AddPair(Index0, Index1);
+ }
+ }
+ }
+ }
+
+ ////
+
+ while(RunningAddress0<LastSorted0 && Sorted1<LastSorted1)
+ {
+ Index0 = *Sorted1++;
+
+ while(RunningAddress0<LastSorted0 && MinPosList0[*RunningAddress0]<=MinPosList1[Index0]) RunningAddress0++;
+
+ const udword* RunningAddress2_0 = RunningAddress0;
+
+ while(RunningAddress2_0<LastSorted0 && MinPosList0[Index1 = *RunningAddress2_0++]<=array1[Index0]->GetMax(Axis0))
+ {
+ if(array0[Index1]->Intersect(*array1[Index0], Axis1))
+ {
+ if(array0[Index1]->Intersect(*array1[Index0], Axis2))
+ {
+ pairs.AddPair(Index1, Index0);
+ }
+ }
+
+ }
+ }
+
+ DELETEARRAY(MinPosList1);
+ DELETEARRAY(MinPosList0);
+
+ return true;
+}
+
+#define ORIGINAL_VERSION
+//#define JOAKIM
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ * Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.
+ * \param nb [in] number of boxes
+ * \param array [in] array of boxes
+ * \param pairs [out] array of overlapping pairs
+ * \param axes [in] projection order (0,2,1 is often best)
+ * \return true if success.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool Opcode::CompleteBoxPruning(udword nb, const AABB** array, Pairs& pairs, const Axes& axes)
+{
+ // Checkings
+ if(!nb || !array) return false;
+
+ // Catch axes
+ udword Axis0 = axes.mAxis0;
+ udword Axis1 = axes.mAxis1;
+ udword Axis2 = axes.mAxis2;
+
+#ifdef ORIGINAL_VERSION
+ // Allocate some temporary data
+// float* PosList = new float[nb];
+ float* PosList = new float[nb+1];
+
+ // 1) Build main list using the primary axis
+ for(udword i=0;i<nb;i++) PosList[i] = array[i]->GetMin(Axis0);
+PosList[nb++] = MAX_FLOAT;
+
+ // 2) Sort the list
+ PRUNING_SORTER* RS = GetCompletePruningSorter();
+ const udword* Sorted = RS->Sort(PosList, nb).GetRanks();
+
+ // 3) Prune the list
+ const udword* const LastSorted = &Sorted[nb];
+ const udword* RunningAddress = Sorted;
+ udword Index0, Index1;
+ while(RunningAddress<LastSorted && Sorted<LastSorted)
+ {
+ Index0 = *Sorted++;
+
+// while(RunningAddress<LastSorted && PosList[*RunningAddress++]<PosList[Index0]);
+ while(PosList[*RunningAddress++]<PosList[Index0]);
+
+ if(RunningAddress<LastSorted)
+ {
+ const udword* RunningAddress2 = RunningAddress;
+
+// while(RunningAddress2<LastSorted && PosList[Index1 = *RunningAddress2++]<=array[Index0]->GetMax(Axis0))
+ while(PosList[Index1 = *RunningAddress2++]<=array[Index0]->GetMax(Axis0))
+ {
+// if(Index0!=Index1)
+// {
+ if(array[Index0]->Intersect(*array[Index1], Axis1))
+ {
+ if(array[Index0]->Intersect(*array[Index1], Axis2))
+ {
+ pairs.AddPair(Index0, Index1);
+ }
+ }
+// }
+ }
+ }
+ }
+
+ DELETEARRAY(PosList);
+#endif
+
+#ifdef JOAKIM
+ // Allocate some temporary data
+// float* PosList = new float[nb];
+ float* MinList = new float[nb+1];
+
+ // 1) Build main list using the primary axis
+ for(udword i=0;i<nb;i++) MinList[i] = array[i]->GetMin(Axis0);
+ MinList[nb] = MAX_FLOAT;
+
+ // 2) Sort the list
+ PRUNING_SORTER* RS = GetCompletePruningSorter();
+ udword* Sorted = RS->Sort(MinList, nb+1).GetRanks();
+
+ // 3) Prune the list
+// const udword* const LastSorted = &Sorted[nb];
+// const udword* const LastSorted = &Sorted[nb-1];
+ const udword* RunningAddress = Sorted;
+ udword Index0, Index1;
+
+// while(RunningAddress<LastSorted && Sorted<LastSorted)
+// while(RunningAddress<LastSorted)
+ while(RunningAddress<&Sorted[nb])
+// while(Sorted<LastSorted)
+ {
+// Index0 = *Sorted++;
+ Index0 = *RunningAddress++;
+
+// while(RunningAddress<LastSorted && PosList[*RunningAddress++]<PosList[Index0]);
+// while(PosList[*RunningAddress++]<PosList[Index0]);
+//RunningAddress = Sorted;
+// if(RunningAddress<LastSorted)
+ {
+ const udword* RunningAddress2 = RunningAddress;
+
+// while(RunningAddress2<LastSorted && PosList[Index1 = *RunningAddress2++]<=array[Index0]->GetMax(Axis0))
+
+// float CurrentMin = array[Index0]->GetMin(Axis0);
+ float CurrentMax = array[Index0]->GetMax(Axis0);
+
+ while(MinList[Index1 = *RunningAddress2] <= CurrentMax)
+// while(PosList[Index1 = *RunningAddress] <= CurrentMax)
+ {
+// if(Index0!=Index1)
+// {
+ if(array[Index0]->Intersect(*array[Index1], Axis1))
+ {
+ if(array[Index0]->Intersect(*array[Index1], Axis2))
+ {
+ pairs.AddPair(Index0, Index1);
+ }
+ }
+// }
+
+ RunningAddress2++;
+// RunningAddress++;
+ }
+ }
+ }
+
+ DELETEARRAY(MinList);
+#endif
+
+ return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Brute-force versions are kept:
+// - to check the optimized versions return the correct list of intersections
+// - to check the speed of the optimized code against the brute-force one
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ * Brute-force bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.
+ * \param nb0 [in] number of boxes in the first set
+ * \param array0 [in] array of boxes for the first set
+ * \param nb1 [in] number of boxes in the second set
+ * \param array1 [in] array of boxes for the second set
+ * \param pairs [out] array of overlapping pairs
+ * \return true if success.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool Opcode::BruteForceBipartiteBoxTest(udword nb0, const AABB** array0, udword nb1, const AABB** array1, Pairs& pairs)
+{
+ // Checkings
+ if(!nb0 || !array0 || !nb1 || !array1) return false;
+
+ // Brute-force nb0*nb1 overlap tests
+ for(udword i=0;i<nb0;i++)
+ {
+ for(udword j=0;j<nb1;j++)
+ {
+ if(array0[i]->Intersect(*array1[j])) pairs.AddPair(i, j);
+ }
+ }
+ return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ * Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.
+ * \param nb [in] number of boxes
+ * \param array [in] array of boxes
+ * \param pairs [out] array of overlapping pairs
+ * \return true if success.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool Opcode::BruteForceCompleteBoxTest(udword nb, const AABB** array, Pairs& pairs)
+{
+ // Checkings
+ if(!nb || !array) return false;
+
+ // Brute-force n(n-1)/2 overlap tests
+ for(udword i=0;i<nb;i++)
+ {
+ for(udword j=i+1;j<nb;j++)
+ {
+ if(array[i]->Intersect(*array[j])) pairs.AddPair(i, j);
+ }
+ }
+ return true;
+}
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