CRUD
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Yggdrasil75
@@ -45,7 +45,6 @@ public:
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color(color), size(size), light(light), emittance(emittance), refraction(refraction),
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reflection(reflection) {}
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// Default constructor for serialization
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NodeData() : active(false), visible(false), size(0.0f), light(false),
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emittance(0.0f), refraction(0.0f), reflection(0.0f) {}
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};
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@@ -433,7 +432,6 @@ public:
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return true;
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}
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// Load Octree from binary file
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bool load(const std::string& filename) {
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std::ifstream in(filename, std::ios::binary);
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if (!in) return false;
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@@ -460,6 +458,222 @@ public:
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return true;
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}
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std::shared_ptr<NodeData> find(const PointType& pos, float tolerance = 0.0001f) {
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std::function<std::shared_ptr<NodeData>(OctreeNode*)> searchNode = [&](OctreeNode* node) -> std::shared_ptr<NodeData> {
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if (!node->contains(pos)) return nullptr;
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if (node->isLeaf) {
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for (const auto& pointData : node->points) {
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if (!pointData->active) continue;
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float distSq = (pointData->position - pos).squaredNorm();
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if (distSq <= tolerance * tolerance) {
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return pointData;
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}
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}
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return nullptr;
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} else {
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int octant = getOctant(pos, node->center);
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if (node->children[octant]) {
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return searchNode(node->children[octant].get());
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}
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}
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return nullptr;
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};
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return searchNode(root_.get());
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}
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bool remove(const PointType& pos, float tolerance = 0.0001f) {
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bool found = false;
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std::function<bool(OctreeNode*)> removeNode = [&](OctreeNode* node) -> bool {
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if (!node->contains(pos)) return false;
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if (node->isLeaf) {
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auto it = std::remove_if(node->points.begin(), node->points.end(),
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[&](const std::shared_ptr<NodeData>& pointData) {
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if (!pointData->active) return false;
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float distSq = (pointData->position - pos).squaredNorm();
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if (distSq <= tolerance * tolerance) {
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found = true;
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return true;
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}
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return false;
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});
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if (found) {
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node->points.erase(it, node->points.end());
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size--; // Decrement size counter
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return true;
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}
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return false;
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} else {
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int octant = getOctant(pos, node->center);
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if (node->children[octant]) {
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return removeNode(node->children[octant].get());
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}
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}
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return false;
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};
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return removeNode(root_.get());
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}
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std::vector<std::shared_ptr<NodeData>> findInRadius(const PointType& center, float radius) {
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std::vector<std::shared_ptr<NodeData>> results;
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if (!root_) return results;
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float radiusSq = radius * radius;
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std::function<void(OctreeNode*)> searchNode = [&](OctreeNode* node) {
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// Check if node's bounding box intersects with search sphere
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PointType boxCenter = (node->bounds.first + node->bounds.second) * 0.5f;
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PointType boxHalfSize = (node->bounds.second - node->bounds.first) * 0.5f;
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PointType closestPoint;
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for (int i = 0; i < Dim; ++i) {
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closestPoint[i] = std::max(node->bounds.first[i],
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std::min(center[i], node->bounds.second[i]));
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}
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float distSq = (closestPoint - center).squaredNorm();
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if (distSq > (radius + boxHalfSize.norm()) * (radius + boxHalfSize.norm())) {
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return; // No intersection
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}
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if (node->isLeaf) {
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for (const auto& pointData : node->points) {
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if (!pointData->active) continue;
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float pointDistSq = (pointData->position - center).squaredNorm();
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if (pointDistSq <= radiusSq) {
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results.emplace_back(pointData);
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}
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}
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} else {
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for (const auto& child : node->children) {
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if (child) {
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searchNode(child.get());
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}
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}
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}
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};
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searchNode(root_.get());
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return results;
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}
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bool update(const PointType& oldPos, const PointType& newPos, const T& newData = T(), bool newVisible = true,
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Eigen::Vector3f newColor = Eigen::Vector3f(1.0f, 1.0f, 1.0f), float newSize = 0.01f, bool newActive = true,
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bool newLight = false, float newEmittance = 0.0f, float newRefraction = 0.0f, float newReflection = 0.0f,
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float tolerance = 0.0001f) {
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// Find the existing point
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auto pointData = find(oldPos, tolerance);
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if (!pointData) return false;
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// If position changed, we need to remove and reinsert
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float moveDistSq = (newPos - oldPos).squaredNorm();
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if (moveDistSq > tolerance * tolerance) {
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// Save the data
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T dataCopy = pointData->data;
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bool activeCopy = pointData->active;
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bool visibleCopy = pointData->visible;
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Eigen::Vector3f colorCopy = pointData->color;
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float sizeCopy = pointData->size;
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bool lightCopy = pointData->light;
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float emittanceCopy = pointData->emittance;
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float refractionCopy = pointData->refraction;
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float reflectionCopy = pointData->reflection;
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// Remove the old point
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if (!remove(oldPos, tolerance)) {
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return false;
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}
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// Insert at new position with updated properties
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return set(newData != T() ? newData : dataCopy, newPos,
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newVisible ? newVisible : visibleCopy,
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newColor != Eigen::Vector3f(1.0f, 1.0f, 1.0f) ? newColor : colorCopy,
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newSize > 0 ? newSize : sizeCopy,
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newActive ? newActive : activeCopy,
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newLight ? newLight : lightCopy,
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newEmittance > 0 ? newEmittance : emittanceCopy,
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newRefraction >= 0 ? newRefraction : refractionCopy,
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newReflection >= 0 ? newReflection : reflectionCopy);
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} else {
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// Just update properties in place
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pointData->data = newData;
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pointData->position = newPos; // Minor adjustment within tolerance
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pointData->visible = newVisible;
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pointData->color = newColor;
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pointData->size = newSize;
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pointData->active = newActive;
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pointData->light = newLight;
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pointData->emittance = newEmittance;
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pointData->refraction = newRefraction;
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pointData->reflection = newReflection;
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return true;
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}
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}
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bool updateData(const PointType& pos, const T& newData, float tolerance = 0.0001f) {
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auto pointData = find(pos, tolerance);
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if (!pointData) return false;
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pointData->data = newData;
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return true;
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}
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bool setActive(const PointType& pos, bool active, float tolerance = 0.0001f) {
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auto pointData = find(pos, tolerance);
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if (!pointData) return false;
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pointData->active = active;
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return true;
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}
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bool setVisible(const PointType& pos, bool visible, float tolerance = 0.0001f) {
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auto pointData = find(pos, tolerance);
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if (!pointData) return false;
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pointData->visible = visible;
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return true;
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}
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bool setLight(const PointType& pos, bool light, float tolerance = 0.0001f) {
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auto pointData = find(pos, tolerance);
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if (!pointData) return false;
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pointData->light = light;
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return true;
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}
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bool setColor(const PointType& pos, Eigen::Vector3f color, float tolerance = 0.0001f) {
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auto pointData = find(pos, tolerance);
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if (!pointData) return false;
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pointData->color = color;
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return true;
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}
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bool setReflection(const PointType& pos, float reflection, float tolerance = 0.0001f) {
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auto pointData = find(pos, tolerance);
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if (!pointData) return false;
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pointData->reflection = reflection;
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return true;
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}
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bool setEmittance(const PointType& pos, float emittance, float tolerance = 0.0001f) {
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auto pointData = find(pos, tolerance);
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if (!pointData) return false;
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pointData->emittance = emittance;
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return true;
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}
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std::vector<std::shared_ptr<NodeData>> voxelTraverse(const PointType& origin, const PointType& direction,
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float maxDist, bool stopAtFirstHit) {
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std::vector<std::shared_ptr<NodeData>> hits;
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