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/* ----------------------------------------------------------------------- *
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* This file is part of GEL, http://www.imm.dtu.dk/GEL
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* Copyright (C) the authors and DTU Informatics
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* For license and list of authors, see ../../doc/intro.pdf
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* ----------------------------------------------------------------------- */
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/**
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* @file HGrid.h
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* @brief Hierarchical voxel grid - space saving.
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*/
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#ifndef __GEOMETRY_HGRID_H
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#define __GEOMETRY_HGRID_H
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// Author: J. Andreas Bærentzen,
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// Created: Wed Jan 24 18:29:0
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#include <vector>
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#include "AncestorGrid.h"
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#include "Cell.h"
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namespace Geometry
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{
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/** \brief Hierarchical voxel grid.
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In many cases we wish to save on the storage requirements of volumes.
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A hierarchical voxel grid is a volume representation where the volume
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is divided into box shaped regions, and each region is represented only
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if it contains voxels. This class template is for such a grid.
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*/
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template<class T, class CellT=DefaultCell<T,8> >
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class HGrid: public AncestorGrid<T,HGrid<T,CellT> >
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{
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public:
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typedef T DataType;
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typedef CellT CellType;
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private:
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/// Dimensions of top level grid.
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const CGLA::Vec3i top_dims;
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/// Top level grid. I.e. vector of sub grids.
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std::vector<CellT> top_grid;
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/// The default grid value, used to clear grid.
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DataType default_val;
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/// Size of the top grid (number of cells x*y*z)
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int top_grid_size;
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public:
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const CGLA::Vec3i& get_top_dims() const {return top_dims;}
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int get_bottom_dim() const {return CellT::get_dim();}
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private:
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/// Get index into top level grid from int vector position.
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int get_top_index(const CGLA::Vec3i& idx) const
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{
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const CGLA::Vec3i top_idx = idx/get_bottom_dim();
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return (top_idx[2]*top_dims[1]+top_idx[1])*top_dims[0]+top_idx[0];
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}
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public:
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/// Construct grid of specified dimensions
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HGrid(const CGLA::Vec3i& dims, const T& val = T()):
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AncestorGrid<T,HGrid<T,CellT> >(dims),
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top_dims(dims/CellT::get_dim()+
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CGLA::Vec3i(dims[0]%CellT::get_dim()?1:0,
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dims[1]%CellT::get_dim()?1:0,
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dims[2]%CellT::get_dim()?1:0)),
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top_grid(top_dims[0]*top_dims[1]*top_dims[2],CellT(val)),
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default_val(val), top_grid_size(top_grid.size())
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{}
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/** Store a voxel vox at position p in grid. The Cell will
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automatically subdivide if it is not already subdivided. */
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void store(const CGLA::Vec3i& p, const T& vox)
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{
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assert(this->in_domain(p));
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top_grid[get_top_index(p)].store(p, vox);
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}
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/** Read only access to a voxel in the grid. */
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const T& operator[](const CGLA::Vec3i& p) const
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{
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assert(this->in_domain(p));
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return top_grid[get_top_index(p)][p];
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}
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// bool get(const CGLA::Vec3i& p, T* voxel)
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// {
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// assert(in_domain(p));
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// CellT* cell = top_grid[get_top_index(p)];
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// if(cell->is_coalesced()) return false;
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// voxel = cell[p];
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// }
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CellT& get_cell(const CGLA::Vec3i& p)
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{
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return top_grid[(p[2]*top_dims[1]+p[1])*top_dims[0]+p[0]];
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}
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const CellT& get_cell(const CGLA::Vec3i& p) const
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{
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return top_grid[(p[2]*top_dims[1]+p[1])*top_dims[0]+p[0]];
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}
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CellT& get_cell(int i)
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{
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return top_grid[i];
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}
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const CellT& get_cell(int i) const
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{
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return top_grid[i];
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}
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void clear()
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{
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int N = top_grid.size();
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for(int i=0;i<N;++i)
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top_grid[i].coalesce(default_val);
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}
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};
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}
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#endif
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