973 lines
34 KiB
C++
973 lines
34 KiB
C++
// Copyright (c) 2008,2011 INRIA Sophia-Antipolis (France).
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// All rights reserved.
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//
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// This file is part of CGAL (www.cgal.org).
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//
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// $URL: https://github.com/CGAL/cgal/blob/v5.1/AABB_tree/include/CGAL/AABB_tree.h $
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// $Id: AABB_tree.h 1379710 2020-04-29T17:02:48+02:00 Sébastien Loriot
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// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial
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//
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//
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// Author(s) : Camille Wormser, Pierre Alliez, Stephane Tayeb
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#ifndef CGAL_AABB_TREE_H
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#define CGAL_AABB_TREE_H
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#include <CGAL/license/AABB_tree.h>
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#include <CGAL/disable_warnings.h>
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#include <vector>
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#include <iterator>
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#include <CGAL/internal/AABB_tree/AABB_traversal_traits.h>
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#include <CGAL/internal/AABB_tree/AABB_node.h>
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#include <CGAL/internal/AABB_tree/AABB_search_tree.h>
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#include <CGAL/internal/AABB_tree/Has_nested_type_Shared_data.h>
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#include <CGAL/internal/AABB_tree/Primitive_helper.h>
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#include <boost/optional.hpp>
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#include <boost/lambda/lambda.hpp>
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#ifdef CGAL_HAS_THREADS
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#include <CGAL/mutex.h>
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#endif
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/// \file AABB_tree.h
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namespace CGAL {
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/// \addtogroup PkgAABBTreeRef
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/// @{
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/**
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* Static data structure for efficient
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* intersection and distance computations in 3D. It builds a
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* hierarchy of axis-aligned bounding boxes (an AABB tree) from a set
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* of 3D geometric objects, and can receive intersection and distance
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* queries, provided that the corresponding predicates are
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* implemented in the traits class AABBTraits.
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* An instance of the class `AABBTraits` is internally stored.
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*
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* \sa `AABBTraits`
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* \sa `AABBPrimitive`
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*
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*/
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template <typename AABBTraits>
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class AABB_tree
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{
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private:
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// internal KD-tree used to accelerate the distance queries
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typedef AABB_search_tree<AABBTraits> Search_tree;
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// type of the primitives container
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typedef std::vector<typename AABBTraits::Primitive> Primitives;
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typedef internal::Primitive_helper<AABBTraits> Helper;
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public:
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typedef AABBTraits AABB_traits;
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/// \name Types
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///@{
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/// Number type returned by the distance queries.
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typedef typename AABBTraits::FT FT;
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/// Type of 3D point.
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typedef typename AABBTraits::Point_3 Point;
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/// Type of input primitive.
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typedef typename AABBTraits::Primitive Primitive;
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/// Identifier for a primitive in the tree.
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typedef typename Primitive::Id Primitive_id;
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/// Unsigned integral size type.
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typedef typename Primitives::size_type size_type;
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/// Type of bounding box.
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typedef typename AABBTraits::Bounding_box Bounding_box;
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/// 3D Point and Primitive Id type
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typedef typename AABBTraits::Point_and_primitive_id Point_and_primitive_id;
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/// \deprecated
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typedef typename AABBTraits::Object_and_primitive_id Object_and_primitive_id;
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/*!
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An alias to `AABBTraits::Intersection_and_primitive_id<Query>`
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*/
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#ifdef DOXYGEN_RUNNING
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template<typename Query>
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using Intersection_and_primitive_id = AABBTraits::Intersection_and_primitive_id<Query>;
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#else
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template<typename Query>
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struct Intersection_and_primitive_id {
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typedef typename AABBTraits::template Intersection_and_primitive_id<Query>::Type Type;
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};
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#endif
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///@}
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public:
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/// \name Creation
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///@{
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/// constructs an empty tree, and initializes the internally stored traits
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/// class using `traits`.
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AABB_tree(const AABBTraits& traits = AABBTraits());
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/**
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* @brief Builds the datastructure from a sequence of primitives.
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* @param first iterator over first primitive to insert
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* @param beyond past-the-end iterator
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*
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* constructs an empty tree followed by a call to `insert(first,last,t...)`.
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* The tree stays empty if the memory allocation is not successful.
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*/
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template<typename InputIterator,typename ... T>
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AABB_tree(InputIterator first, InputIterator beyond,T&& ...);
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/// triggers the (re)construction of the internal tree structure.
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/// The internal tree structure is automatically invalidated by the insertion of any primitives
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/// after one or more calls to `insert()`.
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/// This procedure is called implicitly at the first call to a query member function.
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/// An explicit call to `build()` must be made to ensure that the next call to
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/// a query function will not trigger the construction of the data structure.
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/// A call to `AABBTraits::set_shared_data(t...)` is made using the internally stored traits.
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/// This procedure has a complexity of \f$O(n log(n))\f$, where \f$n\f$ is the number of
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/// primitives of the tree.
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template<typename ... T>
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void build(T&& ...);
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#ifndef DOXYGEN_RUNNING
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void build();
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/// triggers the (re)construction of the tree similarly to a call to `build()`
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/// but the traits functors `Compute_bbox` and `Split_primitives` are ignored
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/// and `compute_bbox` and `split_primitives` are used instead.
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template <class ComputeBbox, class SplitPrimitives>
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void custom_build(const ComputeBbox& compute_bbox,
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const SplitPrimitives& split_primitives);
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#endif
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///@}
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/// \name Operations
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///@{
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/// is equivalent to calling `clear()`, `insert(first,last,t...)`, and `build()`
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template<typename ConstPrimitiveIterator,typename ... T>
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void rebuild(ConstPrimitiveIterator first, ConstPrimitiveIterator beyond,T&& ...);
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/// adds a sequence of primitives to the set of primitives of the AABB tree.
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/// `%InputIterator` is any iterator and the parameter pack `T` contains any types
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/// such that `Primitive` has a constructor with the following signature:
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/// `Primitive(%InputIterator, T...)`. If `Primitive` is a model of the concept
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/// `AABBPrimitiveWithSharedData`, a call to `AABBTraits::set_shared_data(t...)`
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/// is made using the internally stored traits.
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template<typename InputIterator,typename ... T>
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void insert(InputIterator first, InputIterator beyond,T&& ...);
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/// adds a primitive to the set of primitives of the tree.
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inline void insert(const Primitive& p);
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/// clears and destroys the tree.
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~AABB_tree()
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{
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clear();
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}
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/// returns a const reference to the internally stored traits class.
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const AABBTraits& traits() const{
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return m_traits;
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}
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/// clears the tree and the search tree if it was constructed,
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/// and switches on the usage of the search tree to find the hint for the distance queries
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void clear()
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{
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// clear AABB tree
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clear_nodes();
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m_primitives.clear();
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clear_search_tree();
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m_use_default_search_tree = true;
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}
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/// returns the axis-aligned bounding box of the whole tree.
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/// \pre `!empty()`
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const Bounding_box bbox() const {
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CGAL_precondition(!empty());
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if(size() > 1)
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return root_node()->bbox();
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else
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return traits().compute_bbox_object()(m_primitives.begin(),
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m_primitives.end());
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}
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/// returns the number of primitives in the tree.
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size_type size() const { return m_primitives.size(); }
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/// returns \c true, iff the tree contains no primitive.
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bool empty() const { return m_primitives.empty(); }
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///@}
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private:
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template <typename ... T>
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void set_primitive_data_impl(CGAL::Boolean_tag<false>,T ... ){}
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template <typename ... T>
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void set_primitive_data_impl(CGAL::Boolean_tag<true>,T&& ... t)
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{m_traits.set_shared_data(std::forward<T>(t)...);}
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template <typename ... T>
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void set_shared_data(T&& ...t){
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set_primitive_data_impl(CGAL::Boolean_tag<internal::Has_nested_type_Shared_data<Primitive>::value>(),std::forward<T>(t)...);
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}
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bool build_kd_tree();
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template<typename ConstPointIterator>
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bool build_kd_tree(ConstPointIterator first, ConstPointIterator beyond);
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public:
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/// \name Intersection Tests
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///@{
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/// returns `true`, iff the query intersects at least one of
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/// the input primitives.
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/// \tparam Query must be a type for which `Do_intersect` operators are
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/// defined in the traits class `AABBTraits`.
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template<typename Query>
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bool do_intersect(const Query& query) const;
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/// returns the number of primitives intersected by the
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/// query.
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/// \tparam Query must be a type for which `Do_intersect` operators are
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/// defined in the traits class `AABBTraits`.
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template<typename Query>
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size_type number_of_intersected_primitives(const Query& query) const;
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/// puts in `out` the ids of all intersected primitives.
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/// This function does not compute the intersection points
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/// and is hence faster than the function `all_intersections()`
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/// function below.
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/// \tparam Query must be a type for which `Do_intersect` operators are
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/// defined in the traits class `AABBTraits`.
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template<typename Query, typename OutputIterator>
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OutputIterator all_intersected_primitives(const Query& query, OutputIterator out) const;
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/// returns the id of the intersected primitive that is encountered first
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/// in the tree traversal, iff
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/// the query intersects at least one of the input primitives. No
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/// particular order is guaranteed over the tree traversal, such
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/// that, e.g, the primitive returned is not necessarily the
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/// closest from the source point of a ray query.
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/// \tparam Query must be a type for which `Do_intersect` operators are
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/// defined in the traits class `AABBTraits`.
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template <typename Query>
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boost::optional<Primitive_id> any_intersected_primitive(const Query& query) const;
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///@}
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/// \name Intersections
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///@{
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/// puts in `out` all intersections, as objects of
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/// `Intersection_and_primitive_id<Query>::%Type`,
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/// between the query and the input data to
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/// the iterator.
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/// \tparam Query must be a type for which `Do_intersect` and `Intersection` operators are
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/// defined in the traits class `AABBTraits`.
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template<typename Query, typename OutputIterator>
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OutputIterator all_intersections(const Query& query, OutputIterator out) const;
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/// returns if any the intersection that is encountered first
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/// in the tree traversal. No particular
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/// order is guaranteed over the tree traversal, e.g, the
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/// primitive returned is not necessarily the closest from the query.
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/// \tparam Query must be a type for which `Do_intersect` and `Intersection` operators are
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/// defined in the traits class `AABBTraits`.
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template <typename Query>
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boost::optional< typename Intersection_and_primitive_id<Query>::Type >
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any_intersection(const Query& query) const;
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/// returns the intersection and primitive id closest to the source point of the ray
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/// query.
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/// \tparam Ray must be the same as `AABBTraits::Ray_3` and
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/// `do_intersect` predicates and intersections for it must be
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/// defined.
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/// \tparam Skip a functor with an operator
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/// `bool operator()(const Primitive_id& id) const`
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/// that returns `true` in order to skip the primitive.
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/// Defaults to a functor that always returns `false`.
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///
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/// \note `skip` might be given some primitives that are not intersected by `query`
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/// because the intersection test is done after the skip test. Also note that
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/// the order the primitives are given to `skip` is not necessarily the
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/// intersection order with `query`.
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///
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///
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/// `AABBTraits` must be a model of `AABBRayIntersectionTraits` to
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/// call this member function.
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template<typename Ray, typename SkipFunctor>
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boost::optional< typename Intersection_and_primitive_id<Ray>::Type >
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first_intersection(const Ray& query, const SkipFunctor& skip) const;
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/// \cond
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template<typename Ray>
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boost::optional< typename Intersection_and_primitive_id<Ray>::Type >
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first_intersection(const Ray& query) const
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{
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return first_intersection(query, boost::lambda::constant(false));
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}
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/// \endcond
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/// returns the primitive id closest to the source point of the ray
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/// query.
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/// \tparam Ray must be the same as `AABBTraits::Ray_3` and
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/// `do_intersect` predicates and intersections for it must be
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/// defined.
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/// \tparam Skip a functor with an operator
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/// `bool operator()(const Primitive_id& id) const`
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/// that returns `true` in order to skip the primitive.
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/// Defaults to a functor that always returns `false`.
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///
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/// `AABBTraits` must be a model of `AABBRayIntersectionTraits` to
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/// call this member function.
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template<typename Ray, typename SkipFunctor>
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boost::optional<Primitive_id>
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first_intersected_primitive(const Ray& query, const SkipFunctor& skip) const;
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/// \cond
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template<typename Ray>
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boost::optional<Primitive_id>
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first_intersected_primitive(const Ray& query) const
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{
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return first_intersected_primitive(query, boost::lambda::constant(false));
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}
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/// \endcond
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///@}
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/// \name Distance Queries
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///@{
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/// returns the minimum squared distance between the query point
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/// and all input primitives.
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/// \pre `!empty()`
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FT squared_distance(const Point& query) const;
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/// returns the point in the union of all input primitives which
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/// is closest to the query. In case there are several closest
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/// points, one arbitrarily chosen closest point is
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/// returned.
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/// \pre `!empty()`
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Point closest_point(const Point& query) const;
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/// returns a `Point_and_primitive_id` which realizes the
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/// smallest distance between the query point and all input
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/// primitives.
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/// \pre `!empty()`
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Point_and_primitive_id closest_point_and_primitive(const Point& query) const;
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///@}
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/// \name Accelerating the Distance Queries
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///
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/// In the following paragraphs, we discuss details of the
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/// implementation of the distance queries. We explain the
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/// internal use of hints, how the user can pass his own hints to
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/// the tree, and how the user can influence the construction of
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/// the secondary data structure used for accelerating distance
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/// queries.
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/// Internally, the distance queries algorithms are initialized
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/// with some hint, which has the same type as the return type of
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/// the query, and this value is refined along a traversal of the
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/// tree, until it is optimal, that is to say until it realizes
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/// the shortest distance to the primitives. In particular, the
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/// exact specification of these internal algorithms is that they
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/// minimize the distance to the object composed of the union of
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/// the primitives and the hint.
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/// It follows that
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/// - in order to return the exact distance to the set of
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/// primitives, the algorithms need the hint to be exactly on the
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/// primitives;
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/// - if this is not the case, and if the hint happens to be closer
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/// to the query point than any of the primitives, then the hint
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/// is returned.
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///
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/// This second observation is reasonable, in the sense that
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/// providing a hint to the algorithm means claiming that this
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/// hint belongs to the union of the primitives. These
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/// considerations about the hints being exactly on the primitives
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/// or not are important: in the case where the set of primitives
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/// is a triangle soup, and if some of the primitives are large,
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/// one may want to provide a much better hint than a vertex of
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/// the triangle soup could be. It could be, for example, the
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/// barycenter of one of the triangles. But, except with the use
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/// of a kernel with exact constructions, one cannot easily construct
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/// points other than the vertices, that lie exactly on a triangle
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/// soup. Hence, providing a good hint sometimes means not being
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/// able to provide it exactly on the primitives. In rare
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/// occasions, this hint can be returned as the closest point.
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/// In order to accelerate distance queries significantly, the
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/// AABB tree builds an internal KD-tree containing a set of
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/// potential hints. This KD-tree provides very good hints
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/// that allow the algorithms to run much faster than
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/// when `do_not_accelerate_distance_queries()` that makes the
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/// hint to always be the `reference_point` of the first primitive.
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/// The set of potential hints is a sampling of the union of the primitives,
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/// which is obtained, by default, by calling the method
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/// `reference_point` of each of the primitives. However, such
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/// a sampling with one point per primitive may not be the most
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/// relevant one: if some primitives are very large, it helps
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/// inserting more than one sample on them. Conversely, a sparser
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/// sampling with less than one point per input primitive is
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/// relevant in some cases.
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/// The internal KD-tree is always used if no call to `do_not_accelerate_distance_queries()`
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/// was made since object creation or the last call to `clear()`. It will be built by
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/// the first distance query or by a call to `accelerate_distance_queries()`.
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///@{
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/// constructs the internal search tree from
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/// a point set taken on the internal primitives
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/// returns `true` iff successful memory allocation
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bool accelerate_distance_queries();
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/// turns off the usage of the internal search tree and clears it if it was already constructed.
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void do_not_accelerate_distance_queries();
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/// constructs an internal KD-tree containing the specified point
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/// set, to be used as the set of potential hints for accelerating
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/// the distance queries. Note that the search tree built in
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/// this function will not be invalidated by the insertion of a new
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/// primitive, and an explicit call to `accelerate_distance_queries()`
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/// is needed to update the search tree.
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/// \tparam ConstPointIterator is an iterator with
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/// value type `Point_and_primitive_id`.
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template<typename ConstPointIterator>
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bool accelerate_distance_queries(ConstPointIterator first, ConstPointIterator beyond)
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{
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m_use_default_search_tree = false;
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return build_kd_tree(first,beyond);
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}
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/// returns the minimum squared distance between the query point
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/// and all input primitives. The internal KD-tree is not used.
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/// \pre `!empty()`
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FT squared_distance(const Point& query, const Point& hint) const;
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/// returns the point in the union of all input primitives which
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/// is closest to the query. In case there are several closest
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/// points, one arbitrarily chosen closest point is returned. The
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/// internal KD-tree is not used.
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/// \pre `!empty()`
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Point closest_point(const Point& query, const Point& hint) const;
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/// returns a `Point_and_primitive_id` which realizes the
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/// smallest distance between the query point and all input
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/// primitives. The internal KD-tree is not used.
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/// \pre `!empty()`
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Point_and_primitive_id closest_point_and_primitive(const Point& query, const Point_and_primitive_id& hint) const;
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///@}
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private:
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template<typename AABBTree, typename SkipFunctor>
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friend class AABB_ray_intersection;
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// clear nodes
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void clear_nodes()
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{
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if( size() > 1 ) {
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delete [] m_p_root_node;
|
|
}
|
|
m_p_root_node = nullptr;
|
|
}
|
|
|
|
// clears internal KD tree
|
|
void clear_search_tree()
|
|
{
|
|
#ifdef CGAL_HAS_THREADS
|
|
if ( m_atomic_search_tree_constructed.load(std::memory_order_relaxed) )
|
|
#else
|
|
if ( m_search_tree_constructed )
|
|
#endif
|
|
{
|
|
CGAL_assertion( m_p_search_tree!=nullptr );
|
|
delete m_p_search_tree;
|
|
m_p_search_tree = nullptr;
|
|
#ifdef CGAL_HAS_THREADS
|
|
m_atomic_search_tree_constructed.store(false, std::memory_order_relaxed);
|
|
#else
|
|
m_search_tree_constructed = false;
|
|
#endif
|
|
}
|
|
}
|
|
|
|
public:
|
|
|
|
/// \internal
|
|
template <class Query, class Traversal_traits>
|
|
void traversal(const Query& query, Traversal_traits& traits) const
|
|
{
|
|
switch(size())
|
|
{
|
|
case 0:
|
|
break;
|
|
case 1:
|
|
traits.intersection(query, singleton_data());
|
|
break;
|
|
default: // if(size() >= 2)
|
|
root_node()->template traversal<Traversal_traits,Query>(query, traits, m_primitives.size());
|
|
}
|
|
}
|
|
|
|
private:
|
|
typedef AABB_node<AABBTraits> Node;
|
|
|
|
|
|
public:
|
|
// returns a point which must be on one primitive
|
|
Point_and_primitive_id any_reference_point_and_id() const
|
|
{
|
|
CGAL_assertion(!empty());
|
|
return Point_and_primitive_id(
|
|
Helper::get_reference_point(m_primitives[0],m_traits), m_primitives[0].id()
|
|
);
|
|
}
|
|
|
|
public:
|
|
Point_and_primitive_id best_hint(const Point& query) const
|
|
{
|
|
#ifdef CGAL_HAS_THREADS
|
|
bool m_search_tree_constructed = m_atomic_search_tree_constructed.load(std::memory_order_acquire);
|
|
#endif
|
|
|
|
// lazily build the search tree in case the default should be used
|
|
if (m_use_default_search_tree && !m_search_tree_constructed)
|
|
{
|
|
#ifdef CGAL_HAS_THREADS
|
|
CGAL_SCOPED_LOCK(build_mutex);
|
|
m_search_tree_constructed = m_atomic_search_tree_constructed.load(std::memory_order_relaxed);
|
|
if (!m_search_tree_constructed)
|
|
#endif
|
|
m_search_tree_constructed = const_cast<AABB_tree*>(this)->build_kd_tree();
|
|
}
|
|
|
|
if(m_search_tree_constructed)
|
|
return m_p_search_tree->closest_point(query);
|
|
else
|
|
return this->any_reference_point_and_id();
|
|
}
|
|
|
|
//! Returns the datum (geometric object) represented `p`.
|
|
#ifndef DOXYGEN_RUNNING
|
|
typename Helper::Datum_type
|
|
#else
|
|
typename AABBTraits::Primitive::Datum_reference
|
|
#endif
|
|
datum(Primitive& p)const
|
|
{
|
|
return Helper::get_datum(p, this->traits());
|
|
}
|
|
|
|
private:
|
|
//Traits class
|
|
AABBTraits m_traits;
|
|
// set of input primitives
|
|
Primitives m_primitives;
|
|
// single root node
|
|
Node* m_p_root_node = nullptr;
|
|
#ifdef CGAL_HAS_THREADS
|
|
mutable CGAL_MUTEX build_mutex; // mutex used to protect const calls inducing build() and build_kd_tree()
|
|
#endif
|
|
|
|
const Node* root_node() const {
|
|
CGAL_assertion(size() > 1);
|
|
|
|
#ifdef CGAL_HAS_THREADS
|
|
bool m_need_build = m_atomic_need_build.load(std::memory_order_acquire);
|
|
#endif
|
|
if(m_need_build){
|
|
#ifdef CGAL_HAS_THREADS
|
|
//this ensures that build() will be called once
|
|
CGAL_SCOPED_LOCK(build_mutex);
|
|
m_need_build = m_atomic_need_build.load(std::memory_order_relaxed);
|
|
if(m_need_build)
|
|
#endif
|
|
const_cast< AABB_tree<AABBTraits>* >(this)->build();
|
|
}
|
|
return m_p_root_node;
|
|
}
|
|
|
|
const Primitive& singleton_data() const {
|
|
CGAL_assertion(size() == 1);
|
|
return *m_primitives.begin();
|
|
}
|
|
|
|
// search KD-tree
|
|
const Search_tree* m_p_search_tree = nullptr;
|
|
bool m_use_default_search_tree = true; // indicates whether the internal kd-tree should be built
|
|
#ifdef CGAL_HAS_THREADS
|
|
std::atomic<bool> m_atomic_need_build;
|
|
std::atomic<bool> m_atomic_search_tree_constructed;
|
|
#else
|
|
bool m_need_build = false;
|
|
mutable bool m_search_tree_constructed = false;
|
|
#endif
|
|
|
|
private:
|
|
// Disabled copy constructor & assignment operator
|
|
typedef AABB_tree<AABBTraits> Self;
|
|
AABB_tree(const Self& src);
|
|
Self& operator=(const Self& src);
|
|
|
|
}; // end class AABB_tree
|
|
|
|
/// @}
|
|
|
|
template<typename Tr>
|
|
AABB_tree<Tr>::AABB_tree(const Tr& traits)
|
|
: m_traits(traits)
|
|
#ifdef CGAL_HAS_THREADS
|
|
, m_atomic_need_build(false)
|
|
, m_atomic_search_tree_constructed(false)
|
|
#endif
|
|
{}
|
|
|
|
template<typename Tr>
|
|
template<typename ConstPrimitiveIterator, typename ... T>
|
|
AABB_tree<Tr>::AABB_tree(ConstPrimitiveIterator first,
|
|
ConstPrimitiveIterator beyond,
|
|
T&& ... t)
|
|
#ifdef CGAL_HAS_THREADS
|
|
: m_atomic_need_build(false)
|
|
, m_atomic_search_tree_constructed(false)
|
|
#endif
|
|
{
|
|
// Insert each primitive into tree
|
|
insert(first, beyond,std::forward<T>(t)...);
|
|
}
|
|
|
|
template<typename Tr>
|
|
template<typename ConstPrimitiveIterator, typename ... T>
|
|
void AABB_tree<Tr>::insert(ConstPrimitiveIterator first,
|
|
ConstPrimitiveIterator beyond,
|
|
T&& ... t)
|
|
{
|
|
if (m_use_default_search_tree && first!=beyond)
|
|
clear_search_tree();
|
|
set_shared_data(std::forward<T>(t)...);
|
|
while(first != beyond)
|
|
{
|
|
m_primitives.push_back(Primitive(first,std::forward<T>(t)...));
|
|
++first;
|
|
}
|
|
#ifdef CGAL_HAS_THREADS
|
|
m_atomic_need_build.store(true, std::memory_order_relaxed);
|
|
#else
|
|
m_need_build = true;
|
|
#endif
|
|
}
|
|
|
|
// Clears tree and insert a set of primitives
|
|
template<typename Tr>
|
|
template<typename ConstPrimitiveIterator, typename ... T>
|
|
void AABB_tree<Tr>::rebuild(ConstPrimitiveIterator first,
|
|
ConstPrimitiveIterator beyond,
|
|
T&& ... t)
|
|
{
|
|
// cleanup current tree and internal KD tree
|
|
clear();
|
|
|
|
// inserts primitives
|
|
insert(first, beyond,std::forward<T>(t)...);
|
|
|
|
build();
|
|
}
|
|
|
|
template<typename Tr>
|
|
template<typename ... T>
|
|
void AABB_tree<Tr>::build(T&& ... t)
|
|
{
|
|
set_shared_data(std::forward<T>(t)...);
|
|
build();
|
|
}
|
|
|
|
template<typename Tr>
|
|
void AABB_tree<Tr>::insert(const Primitive& p)
|
|
{
|
|
if (m_use_default_search_tree)
|
|
clear_search_tree();
|
|
m_primitives.push_back(p);
|
|
#ifdef CGAL_HAS_THREADS
|
|
m_atomic_need_build.store(true, std::memory_order_relaxed);
|
|
#else
|
|
m_need_build = true;
|
|
#endif
|
|
}
|
|
|
|
template<typename Tr>
|
|
void AABB_tree<Tr>::build()
|
|
{
|
|
custom_build(m_traits.compute_bbox_object(),
|
|
m_traits.split_primitives_object());
|
|
}
|
|
#ifndef DOXYGEN_RUNNING
|
|
// Build the data structure, after calls to insert(..)
|
|
template<typename Tr>
|
|
template <class ComputeBbox, class SplitPrimitives>
|
|
void AABB_tree<Tr>::custom_build(
|
|
const ComputeBbox& compute_bbox,
|
|
const SplitPrimitives& split_primitives)
|
|
{
|
|
clear_nodes();
|
|
if(m_primitives.size() > 1) {
|
|
|
|
// allocates tree nodes
|
|
m_p_root_node = new Node[m_primitives.size()-1]();
|
|
if(m_p_root_node == nullptr)
|
|
{
|
|
std::cerr << "Unable to allocate memory for AABB tree" << std::endl;
|
|
CGAL_assertion(m_p_root_node != nullptr);
|
|
m_primitives.clear();
|
|
clear();
|
|
}
|
|
|
|
// constructs the tree
|
|
m_p_root_node->expand(m_primitives.begin(), m_primitives.end(),
|
|
m_primitives.size(),
|
|
compute_bbox,
|
|
split_primitives,
|
|
m_traits);
|
|
}
|
|
#ifdef CGAL_HAS_THREADS
|
|
m_atomic_need_build.store(false, std::memory_order_release); // in case build() is triggered by a call to root_node()
|
|
#else
|
|
m_need_build = false;
|
|
#endif
|
|
}
|
|
#endif
|
|
// constructs the search KD tree from given points
|
|
// to accelerate the distance queries
|
|
template<typename Tr>
|
|
bool AABB_tree<Tr>::build_kd_tree()
|
|
{
|
|
// iterate over primitives to get reference points on them
|
|
std::vector<Point_and_primitive_id> points;
|
|
points.reserve(m_primitives.size());
|
|
for(const Primitive& p : m_primitives)
|
|
points.push_back( Point_and_primitive_id( Helper::get_reference_point(p, m_traits), p.id() ) );
|
|
|
|
// clears current KD tree
|
|
return build_kd_tree(points.begin(), points.end());
|
|
}
|
|
|
|
// constructs the search KD tree from given points
|
|
// to accelerate the distance queries
|
|
template<typename Tr>
|
|
template<typename ConstPointIterator>
|
|
bool AABB_tree<Tr>::build_kd_tree(ConstPointIterator first,
|
|
ConstPointIterator beyond)
|
|
{
|
|
clear_search_tree();
|
|
m_p_search_tree = new Search_tree(first, beyond);
|
|
|
|
if(m_p_search_tree != nullptr)
|
|
{
|
|
#ifdef CGAL_HAS_THREADS
|
|
m_atomic_search_tree_constructed.store(true, std::memory_order_release); // in case build_kd_tree() is triggered by a call to best_hint()
|
|
#else
|
|
m_search_tree_constructed = true;
|
|
#endif
|
|
return true;
|
|
}
|
|
else
|
|
{
|
|
std::cerr << "Unable to allocate memory for accelerating distance queries" << std::endl;
|
|
return false;
|
|
}
|
|
}
|
|
|
|
template<typename Tr>
|
|
void AABB_tree<Tr>::do_not_accelerate_distance_queries()
|
|
{
|
|
clear_search_tree();
|
|
m_use_default_search_tree = false;
|
|
}
|
|
|
|
|
|
// constructs the search KD tree from internal primitives
|
|
template<typename Tr>
|
|
bool AABB_tree<Tr>::accelerate_distance_queries()
|
|
{
|
|
m_use_default_search_tree = true;
|
|
if(m_primitives.empty()) return true;
|
|
return build_kd_tree();
|
|
}
|
|
|
|
template<typename Tr>
|
|
template<typename Query>
|
|
bool
|
|
AABB_tree<Tr>::do_intersect(const Query& query) const
|
|
{
|
|
using namespace CGAL::internal::AABB_tree;
|
|
typedef typename AABB_tree<Tr>::AABB_traits AABBTraits;
|
|
Do_intersect_traits<AABBTraits, Query> traversal_traits(m_traits);
|
|
this->traversal(query, traversal_traits);
|
|
return traversal_traits.is_intersection_found();
|
|
}
|
|
#ifndef DOXYGEN_RUNNING //To avoid doxygen to consider definition and declaration as 2 different functions (size_type causes problems)
|
|
template<typename Tr>
|
|
template<typename Query>
|
|
typename AABB_tree<Tr>::size_type
|
|
AABB_tree<Tr>::number_of_intersected_primitives(const Query& query) const
|
|
{
|
|
using namespace CGAL::internal::AABB_tree;
|
|
using CGAL::internal::AABB_tree::Counting_output_iterator;
|
|
typedef typename AABB_tree<Tr>::AABB_traits AABBTraits;
|
|
typedef Counting_output_iterator<Primitive_id, size_type> Counting_iterator;
|
|
|
|
size_type counter = 0;
|
|
Counting_iterator out(&counter);
|
|
|
|
Listing_primitive_traits<AABBTraits,
|
|
Query, Counting_iterator> traversal_traits(out,m_traits);
|
|
this->traversal(query, traversal_traits);
|
|
return counter;
|
|
}
|
|
#endif
|
|
template<typename Tr>
|
|
template<typename Query, typename OutputIterator>
|
|
OutputIterator
|
|
AABB_tree<Tr>::all_intersected_primitives(const Query& query,
|
|
OutputIterator out) const
|
|
{
|
|
using namespace CGAL::internal::AABB_tree;
|
|
typedef typename AABB_tree<Tr>::AABB_traits AABBTraits;
|
|
Listing_primitive_traits<AABBTraits,
|
|
Query, OutputIterator> traversal_traits(out,m_traits);
|
|
this->traversal(query, traversal_traits);
|
|
return out;
|
|
}
|
|
|
|
template<typename Tr>
|
|
template<typename Query, typename OutputIterator>
|
|
OutputIterator
|
|
AABB_tree<Tr>::all_intersections(const Query& query,
|
|
OutputIterator out) const
|
|
{
|
|
using namespace CGAL::internal::AABB_tree;
|
|
typedef typename AABB_tree<Tr>::AABB_traits AABBTraits;
|
|
Listing_intersection_traits<AABBTraits,
|
|
Query, OutputIterator> traversal_traits(out,m_traits);
|
|
this->traversal(query, traversal_traits);
|
|
return out;
|
|
}
|
|
|
|
|
|
template <typename Tr>
|
|
template <typename Query>
|
|
boost::optional< typename AABB_tree<Tr>::template Intersection_and_primitive_id<Query>::Type >
|
|
AABB_tree<Tr>::any_intersection(const Query& query) const
|
|
{
|
|
using namespace CGAL::internal::AABB_tree;
|
|
typedef typename AABB_tree<Tr>::AABB_traits AABBTraits;
|
|
First_intersection_traits<AABBTraits, Query> traversal_traits(m_traits);
|
|
this->traversal(query, traversal_traits);
|
|
return traversal_traits.result();
|
|
}
|
|
|
|
template <typename Tr>
|
|
template <typename Query>
|
|
boost::optional<typename AABB_tree<Tr>::Primitive_id>
|
|
AABB_tree<Tr>::any_intersected_primitive(const Query& query) const
|
|
{
|
|
using namespace CGAL::internal::AABB_tree;
|
|
typedef typename AABB_tree<Tr>::AABB_traits AABBTraits;
|
|
First_primitive_traits<AABBTraits, Query> traversal_traits(m_traits);
|
|
this->traversal(query, traversal_traits);
|
|
return traversal_traits.result();
|
|
}
|
|
|
|
// closest point with user-specified hint
|
|
template<typename Tr>
|
|
typename AABB_tree<Tr>::Point
|
|
AABB_tree<Tr>::closest_point(const Point& query,
|
|
const Point& hint) const
|
|
{
|
|
CGAL_precondition(!empty());
|
|
typename Primitive::Id hint_primitive = m_primitives[0].id();
|
|
using namespace CGAL::internal::AABB_tree;
|
|
typedef typename AABB_tree<Tr>::AABB_traits AABBTraits;
|
|
Projection_traits<AABBTraits> projection_traits(hint,hint_primitive,m_traits);
|
|
this->traversal(query, projection_traits);
|
|
return projection_traits.closest_point();
|
|
}
|
|
|
|
// closest point without hint, the search KD-tree is queried for the
|
|
// first closest neighbor point to get a hint
|
|
template<typename Tr>
|
|
typename AABB_tree<Tr>::Point
|
|
AABB_tree<Tr>::closest_point(const Point& query) const
|
|
{
|
|
CGAL_precondition(!empty());
|
|
const Point_and_primitive_id hint = best_hint(query);
|
|
return closest_point(query,hint.first);
|
|
}
|
|
|
|
// squared distance with user-specified hint
|
|
template<typename Tr>
|
|
typename AABB_tree<Tr>::FT
|
|
AABB_tree<Tr>::squared_distance(const Point& query,
|
|
const Point& hint) const
|
|
{
|
|
CGAL_precondition(!empty());
|
|
const Point closest = this->closest_point(query, hint);
|
|
return Tr().squared_distance_object()(query, closest);
|
|
}
|
|
|
|
// squared distance without user-specified hint
|
|
template<typename Tr>
|
|
typename AABB_tree<Tr>::FT
|
|
AABB_tree<Tr>::squared_distance(const Point& query) const
|
|
{
|
|
CGAL_precondition(!empty());
|
|
const Point closest = this->closest_point(query);
|
|
return Tr().squared_distance_object()(query, closest);
|
|
}
|
|
|
|
// closest point with user-specified hint
|
|
template<typename Tr>
|
|
typename AABB_tree<Tr>::Point_and_primitive_id
|
|
AABB_tree<Tr>::closest_point_and_primitive(const Point& query) const
|
|
{
|
|
CGAL_precondition(!empty());
|
|
return closest_point_and_primitive(query,best_hint(query));
|
|
}
|
|
|
|
// closest point with user-specified hint
|
|
template<typename Tr>
|
|
typename AABB_tree<Tr>::Point_and_primitive_id
|
|
AABB_tree<Tr>::closest_point_and_primitive(const Point& query,
|
|
const Point_and_primitive_id& hint) const
|
|
{
|
|
CGAL_precondition(!empty());
|
|
using namespace CGAL::internal::AABB_tree;
|
|
typedef typename AABB_tree<Tr>::AABB_traits AABBTraits;
|
|
Projection_traits<AABBTraits> projection_traits(hint.first,hint.second,m_traits);
|
|
this->traversal(query, projection_traits);
|
|
return projection_traits.closest_point_and_primitive();
|
|
}
|
|
|
|
} // end namespace CGAL
|
|
|
|
#include <CGAL/internal/AABB_tree/AABB_ray_intersection.h>
|
|
|
|
#include <CGAL/enable_warnings.h>
|
|
|
|
#endif // CGAL_AABB_TREE_H
|
|
|
|
/***EMACS SETTINGS** */
|
|
/* Local Variables: */
|
|
/* tab-width: 2 */
|
|
/* indent-tabs-mode: t */
|
|
/* End: */
|