273 lines
13 KiB
C++
273 lines
13 KiB
C++
/***************************************************************************
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* Copyright (c) 2004 Werner Mayer <wmayer[at]users.sourceforge.net> *
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* *
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* This file is part of the FreeCAD CAx development system. *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Library General Public *
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* License as published by the Free Software Foundation; either *
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* version 2 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Library General Public License for more details. *
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* *
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* You should have received a copy of the GNU Library General Public *
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* License along with this library; see the file COPYING.LIB. If not, *
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* write to the Free Software Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307, USA *
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* *
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***************************************************************************/
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#ifndef POINTS_GRID_H
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#define POINTS_GRID_H
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#include <set>
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#include "Points.h"
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#include <Base/Vector3D.h>
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#include <Base/BoundBox.h>
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#define POINTS_CT_GRID 256 // Default value for number of elements per grid
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#define POINTS_MAX_GRIDS 100000 // Default value for maximum number of grids
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#define POINTS_CT_GRID_PER_AXIS 20
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#define PONTSGRID_BBOX_EXTENSION 10.0f
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namespace Points {
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class PointsGrid;
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/**
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* The PointsGrid allows to divide a global point cloud into smaller regions of elements depending on the resolution of the grid.
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* All grid elements in the grid structure have the same size.
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*
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* Grids can be used within algorithms to avoid to iterate through all elements, so grids can speed up algorithms dramatically.
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* @author Werner Mayer
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*/
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class PointsExport PointsGrid
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{
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public:
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/** @name Construction */
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//@{
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/// Construction
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PointsGrid (const PointKernel &rclM);
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/// Construction
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PointsGrid (void);
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/// Construction
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PointsGrid (const PointKernel &rclM, int iCtGridPerAxis);
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/// Construction
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PointsGrid (const PointKernel &rclM, double fGridLen);
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/// Construction
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PointsGrid (const PointKernel &rclM, unsigned long ulX, unsigned long ulY, unsigned long ulZ);
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/// Destruction
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virtual ~PointsGrid (void) { }
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//@}
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public:
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/** Attaches the point kernel to this grid, an already attached point cloud gets detached. The grid gets rebuilt
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* automatically. */
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virtual void Attach (const PointKernel &rclM);
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/** Rebuilds the grid structure. */
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virtual void Rebuild (unsigned long ulPerGrid = POINTS_CT_GRID, unsigned long ulMaxGrid = POINTS_MAX_GRIDS);
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/** Rebuilds the grid structure. */
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virtual void Rebuild (int iCtGridPerAxis = POINTS_CT_GRID_PER_AXIS);
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/** Rebuilds the grid structure. */
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virtual void Rebuild (unsigned long ulX, unsigned long ulY, unsigned long ulZ);
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/** @name Search */
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//@{
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/** Searches for elements lying in the intersection area of the grid and the bounding box. */
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virtual unsigned long InSide (const Base::BoundBox3d &rclBB, std::vector<unsigned long> &raulElements, bool bDelDoubles = true) const;
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/** Searches for elements lying in the intersection area of the grid and the bounding box. */
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virtual unsigned long InSide (const Base::BoundBox3d &rclBB, std::set<unsigned long> &raulElementss) const;
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/** Searches for elements lying in the intersection area of the grid and the bounding box. */
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virtual unsigned long InSide (const Base::BoundBox3d &rclBB, std::vector<unsigned long> &raulElements,
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const Base::Vector3d &rclOrg, double fMaxDist, bool bDelDoubles = true) const;
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/** Searches for the nearest grids that contain elements from a point, the result are grid indices. */
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void SearchNearestFromPoint (const Base::Vector3d &rclPt, std::set<unsigned long> &rclInd) const;
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//@}
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/** Returns the lengths of the grid elements in x,y and z direction. */
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virtual void GetGridLengths (double &rfLenX, double &rfLenY, double &rfLenZ) const
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{ rfLenX = _fGridLenX; rfLenY = _fGridLenY; rfLenZ = _fGridLenZ; }
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/** Returns the number of grid elements in x,y and z direction. */
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virtual void GetCtGrids (unsigned long &rulX, unsigned long &rulY, unsigned long &rulZ) const
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{ rulX = _ulCtGridsX; rulY = _ulCtGridsY; rulZ = _ulCtGridsZ; }
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/** @name Boundings */
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//@{
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/** Returns the bounding box of a given grid element. */
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inline Base::BoundBox3d GetBoundBox (unsigned long ulX, unsigned long ulY, unsigned long ulZ) const;
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/** Returns the bounding box of the whole. */
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inline Base::BoundBox3d GetBoundBox (void) const;
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//@}
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/** Returns the number of elements in a given grid. */
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unsigned long GetCtElements(unsigned long ulX, unsigned long ulY, unsigned long ulZ) const
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{ return _aulGrid[ulX][ulY][ulZ].size(); }
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/** Finds all points that lie in the same grid as the point \a rclPoint. */
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unsigned long FindElements(const Base::Vector3d &rclPoint, std::set<unsigned long>& aulElements) const;
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/** Validates the grid structure and rebuilds it if needed. */
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virtual void Validate (const PointKernel &rclM);
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/** Validates the grid structure and rebuilds it if needed. */
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virtual void Validate (void);
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/** Verifies the grid structure and returns false if inconsistencies are found. */
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virtual bool Verify() const;
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/** Returns the indices of the grid this point lies in. If the point is outside the grid then the indices of
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* the nearest grid element are taken.*/
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virtual void Position (const Base::Vector3d &rclPoint, unsigned long &rulX, unsigned long &rulY, unsigned long &rulZ) const;
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/** Returns the indices of the elements in the given grid. */
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unsigned long GetElements (unsigned long ulX, unsigned long ulY, unsigned long ulZ, std::set<unsigned long> &raclInd) const;
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protected:
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/** Checks if this is a valid grid position. */
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inline bool CheckPos (unsigned long ulX, unsigned long ulY, unsigned long ulZ) const;
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/** Initializes the size of the internal structure. */
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virtual void InitGrid (void);
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/** Deletes the grid structure. */
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virtual void Clear (void);
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/** Calculates the grid length dependent on maximum number of grids. */
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virtual void CalculateGridLength (unsigned long ulCtGrid, unsigned long ulMaxGrids);
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/** Calculates the grid length dependent on the number of grids per axis. */
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virtual void CalculateGridLength (int iCtGridPerAxis);
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/** Rebuilds the grid structure. */
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virtual void RebuildGrid (void);
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/** Returns the number of stored elements. */
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unsigned long HasElements (void) const
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{ return _pclPoints->size(); }
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/** Get the indices of all elements lying in the grids around a given grid with distance \a ulDistance. */
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void GetHull (unsigned long ulX, unsigned long ulY, unsigned long ulZ, unsigned long ulDistance, std::set<unsigned long> &raclInd) const;
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protected:
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std::vector<std::vector<std::vector<std::set<unsigned long> > > > _aulGrid; /**< Grid data structure. */
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const PointKernel* _pclPoints; /**< The point kernel. */
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unsigned long _ulCtElements;/**< Number of grid elements for validation issues. */
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unsigned long _ulCtGridsX; /**< Number of grid elements in z. */
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unsigned long _ulCtGridsY; /**< Number of grid elements in z. */
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unsigned long _ulCtGridsZ; /**< Number of grid elements in z. */
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double _fGridLenX; /**< Length of grid elements in x. */
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double _fGridLenY; /**< Length of grid elements in y. */
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double _fGridLenZ; /**< Length of grid elements in z. */
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double _fMinX; /**< Grid null position in x. */
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double _fMinY; /**< Grid null position in y. */
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double _fMinZ; /**< Grid null position in z. */
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// friends
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friend class PointsGridIterator;
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friend class PointsGridIteratorStatistic;
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public:
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protected:
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/** Adds a new point element to the grid structure. \a rclPt is the geometric point and \a ulPtIndex
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* the corresponding index in the point kernel. */
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void AddPoint (const Base::Vector3d &rclPt, unsigned long ulPtIndex, float fEpsilon = 0.0f);
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/** Returns the grid numbers to the given point \a rclPoint. */
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void Pos(const Base::Vector3d &rclPoint, unsigned long &rulX, unsigned long &rulY, unsigned long &rulZ) const;
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};
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/**
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* The PointsGridIterator class provides an interface to walk through
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* all grid elements of a point grid.
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*/
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class PointsExport PointsGridIterator
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{
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public:
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/// Construction
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PointsGridIterator (const PointsGrid &rclG);
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/** Returns the bounding box of the current grid element. */
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Base::BoundBox3d GetBoundBox (void) const
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{ return _rclGrid.GetBoundBox(_ulX, _ulY, _ulZ); }
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/** Returns indices of the elements in the current grid. */
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void GetElements (std::vector<unsigned long> &raulElements) const
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{
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raulElements.insert(raulElements.end(), _rclGrid._aulGrid[_ulX][_ulY][_ulZ].begin(), _rclGrid._aulGrid[_ulX][_ulY][_ulZ].end());
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}
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/** @name Iteration */
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//@{
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/** Sets the iterator to the first element*/
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void Init (void)
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{ _ulX = _ulY = _ulZ = 0; }
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/** Checks if the iterator has not yet reached the end position. */
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bool More (void) const
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{ return (_ulZ < _rclGrid._ulCtGridsZ); }
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/** Go to the next grid. */
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void Next (void)
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{
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if (++_ulX >= (_rclGrid._ulCtGridsX)) _ulX = 0; else return;
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if (++_ulY >= (_rclGrid._ulCtGridsY)) { _ulY = 0; _ulZ++; } else return;
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}
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//@}
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/** @name Tests with rays */
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//@{
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/** Searches for facets around the ray. */
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bool InitOnRay (const Base::Vector3d &rclPt, const Base::Vector3d &rclDir, std::vector<unsigned long> &raulElements);
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/** Searches for facets around the ray. */
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bool InitOnRay (const Base::Vector3d &rclPt, const Base::Vector3d &rclDir, float fMaxSearchArea, std::vector<unsigned long> &raulElements);
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/** Searches for facets around the ray. */
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bool NextOnRay (std::vector<unsigned long> &raulElements);
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//@}
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/** Returns the grid number of the current position. */
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void GetGridPos (unsigned long &rulX, unsigned long &rulY, unsigned long &rulZ) const
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{ rulX = _ulX; rulY = _ulY; rulZ = _ulZ; }
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protected:
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const PointsGrid& _rclGrid; /**< The point grid. */
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unsigned long _ulX; /**< Number of grids in x. */
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unsigned long _ulY; /**< Number of grids in y. */
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unsigned long _ulZ; /**< Number of grids in z. */
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Base::Vector3d _clPt; /**< Base point of search ray. */
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Base::Vector3d _clDir; /**< Direction of search ray. */
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bool _bValidRay; /**< Search ray ok? */
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float _fMaxSearchArea;
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/** Checks if a grid position is already visited by NextOnRay(). */
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struct GridElement
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{
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GridElement( unsigned long x, unsigned long y, unsigned long z)
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{ this->x = x; this->y = y; this->z = z; }
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bool operator < (const GridElement& pos) const
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{
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if ( x == pos.x)
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{ if ( y == pos.y) return z < pos.z; else return y < pos.y; }
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else
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{ return x < pos.x; }
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}
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private:
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unsigned long x,y,z;
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};
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std::set<GridElement> _cSearchPositions;
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};
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// --------------------------------------------------------------
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inline Base::BoundBox3d PointsGrid::GetBoundBox (unsigned long ulX, unsigned long ulY, unsigned long ulZ) const
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{
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double fX, fY, fZ;
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fX = _fMinX + (double(ulX) * _fGridLenX);
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fY = _fMinY + (double(ulY) * _fGridLenY);
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fZ = _fMinZ + (double(ulZ) * _fGridLenZ);
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return Base::BoundBox3d(fX, fY, fZ, fX + _fGridLenX, fY + _fGridLenY, fZ + _fGridLenZ);
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}
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inline Base::BoundBox3d PointsGrid::GetBoundBox (void) const
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{
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return Base::BoundBox3d(_fMinX, _fMinY, _fMinZ, _fMinX + (_fGridLenX * double(_ulCtGridsX)),
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_fMinY + (_fGridLenY * double(_ulCtGridsY)), _fMinZ + (_fGridLenZ * double(_ulCtGridsZ)));
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}
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inline bool PointsGrid::CheckPos (unsigned long ulX, unsigned long ulY, unsigned long ulZ) const
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{
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return ((ulX < _ulCtGridsX) && (ulY < _ulCtGridsY) && (ulZ < _ulCtGridsZ));
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}
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// --------------------------------------------------------------
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} // namespace Points
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#endif // POINTS_GRID_H
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