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Diffstat (limited to 'thirdparty/rvo2/src/KdTree.cpp')
| -rw-r--r-- | thirdparty/rvo2/src/KdTree.cpp | 152 |
1 files changed, 152 insertions, 0 deletions
diff --git a/thirdparty/rvo2/src/KdTree.cpp b/thirdparty/rvo2/src/KdTree.cpp new file mode 100644 index 0000000000..bc224614f0 --- /dev/null +++ b/thirdparty/rvo2/src/KdTree.cpp @@ -0,0 +1,152 @@ +/* + * KdTree.cpp + * RVO2-3D Library + * + * Copyright 2008 University of North Carolina at Chapel Hill + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * Please send all bug reports to <geom@cs.unc.edu>. + * + * The authors may be contacted via: + * + * Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha + * Dept. of Computer Science + * 201 S. Columbia St. + * Frederick P. Brooks, Jr. Computer Science Bldg. + * Chapel Hill, N.C. 27599-3175 + * United States of America + * + * <http://gamma.cs.unc.edu/RVO2/> + */ + +#include "KdTree.h" + +#include <algorithm> + +#include "Agent.h" +#include "Definitions.h" + +namespace RVO { +const size_t RVO_MAX_LEAF_SIZE = 10; + +KdTree::KdTree() {} + +void KdTree::buildAgentTree(std::vector<Agent *> agents) { + agents_.swap(agents); + + if (!agents_.empty()) { + agentTree_.resize(2 * agents_.size() - 1); + buildAgentTreeRecursive(0, agents_.size(), 0); + } +} + +void KdTree::buildAgentTreeRecursive(size_t begin, size_t end, size_t node) { + agentTree_[node].begin = begin; + agentTree_[node].end = end; + agentTree_[node].minCoord = agents_[begin]->position_; + agentTree_[node].maxCoord = agents_[begin]->position_; + + for (size_t i = begin + 1; i < end; ++i) { + agentTree_[node].maxCoord[0] = std::max(agentTree_[node].maxCoord[0], agents_[i]->position_.x()); + agentTree_[node].minCoord[0] = std::min(agentTree_[node].minCoord[0], agents_[i]->position_.x()); + agentTree_[node].maxCoord[1] = std::max(agentTree_[node].maxCoord[1], agents_[i]->position_.y()); + agentTree_[node].minCoord[1] = std::min(agentTree_[node].minCoord[1], agents_[i]->position_.y()); + agentTree_[node].maxCoord[2] = std::max(agentTree_[node].maxCoord[2], agents_[i]->position_.z()); + agentTree_[node].minCoord[2] = std::min(agentTree_[node].minCoord[2], agents_[i]->position_.z()); + } + + if (end - begin > RVO_MAX_LEAF_SIZE) { + /* No leaf node. */ + size_t coord; + + if (agentTree_[node].maxCoord[0] - agentTree_[node].minCoord[0] > agentTree_[node].maxCoord[1] - agentTree_[node].minCoord[1] && agentTree_[node].maxCoord[0] - agentTree_[node].minCoord[0] > agentTree_[node].maxCoord[2] - agentTree_[node].minCoord[2]) { + coord = 0; + } else if (agentTree_[node].maxCoord[1] - agentTree_[node].minCoord[1] > agentTree_[node].maxCoord[2] - agentTree_[node].minCoord[2]) { + coord = 1; + } else { + coord = 2; + } + + const float splitValue = 0.5f * (agentTree_[node].maxCoord[coord] + agentTree_[node].minCoord[coord]); + + size_t left = begin; + + size_t right = end; + + while (left < right) { + while (left < right && agents_[left]->position_[coord] < splitValue) { + ++left; + } + + while (right > left && agents_[right - 1]->position_[coord] >= splitValue) { + --right; + } + + if (left < right) { + std::swap(agents_[left], agents_[right - 1]); + ++left; + --right; + } + } + + size_t leftSize = left - begin; + + if (leftSize == 0) { + ++leftSize; + ++left; + ++right; + } + + agentTree_[node].left = node + 1; + agentTree_[node].right = node + 2 * leftSize; + + buildAgentTreeRecursive(begin, left, agentTree_[node].left); + buildAgentTreeRecursive(left, end, agentTree_[node].right); + } +} + +void KdTree::computeAgentNeighbors(Agent *agent, float rangeSq) const { + queryAgentTreeRecursive(agent, rangeSq, 0); +} + +void KdTree::queryAgentTreeRecursive(Agent *agent, float &rangeSq, size_t node) const { + if (agentTree_[node].end - agentTree_[node].begin <= RVO_MAX_LEAF_SIZE) { + for (size_t i = agentTree_[node].begin; i < agentTree_[node].end; ++i) { + agent->insertAgentNeighbor(agents_[i], rangeSq); + } + } else { + const float distSqLeft = sqr(std::max(0.0f, agentTree_[agentTree_[node].left].minCoord[0] - agent->position_.x())) + sqr(std::max(0.0f, agent->position_.x() - agentTree_[agentTree_[node].left].maxCoord[0])) + sqr(std::max(0.0f, agentTree_[agentTree_[node].left].minCoord[1] - agent->position_.y())) + sqr(std::max(0.0f, agent->position_.y() - agentTree_[agentTree_[node].left].maxCoord[1])) + sqr(std::max(0.0f, agentTree_[agentTree_[node].left].minCoord[2] - agent->position_.z())) + sqr(std::max(0.0f, agent->position_.z() - agentTree_[agentTree_[node].left].maxCoord[2])); + + const float distSqRight = sqr(std::max(0.0f, agentTree_[agentTree_[node].right].minCoord[0] - agent->position_.x())) + sqr(std::max(0.0f, agent->position_.x() - agentTree_[agentTree_[node].right].maxCoord[0])) + sqr(std::max(0.0f, agentTree_[agentTree_[node].right].minCoord[1] - agent->position_.y())) + sqr(std::max(0.0f, agent->position_.y() - agentTree_[agentTree_[node].right].maxCoord[1])) + sqr(std::max(0.0f, agentTree_[agentTree_[node].right].minCoord[2] - agent->position_.z())) + sqr(std::max(0.0f, agent->position_.z() - agentTree_[agentTree_[node].right].maxCoord[2])); + + if (distSqLeft < distSqRight) { + if (distSqLeft < rangeSq) { + queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].left); + + if (distSqRight < rangeSq) { + queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].right); + } + } + } else { + if (distSqRight < rangeSq) { + queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].right); + + if (distSqLeft < rangeSq) { + queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].left); + } + } + } + } +} +} // namespace RVO |