428 lines
16 KiB
C++
428 lines
16 KiB
C++
#ifndef GRID3_HPP
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#define GRID3_HPP
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#include "vec3.hpp"
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#include "vec4.hpp"
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#include <vector>
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#include <unordered_map>
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#include <string>
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#include <algorithm>
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#include <map>
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#include <unordered_set>
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class Grid3 {
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private:
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// size_t is index
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// Vec3 is x,y,z position of the sparse voxel
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std::multimap<size_t, Vec3> positions;
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// Vec4 is rgba color at the position
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std::multimap<size_t, Vec4> colors;
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// size is a floating size to assign to a voxel to allow larger or smaller assignments
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std::multimap<size_t, float> sizes;
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size_t next_id;
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std::unordered_map<size_t, std::tuple<int, int, int>> cellIndices; // object ID -> grid cell
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std::unordered_map<std::tuple<int, int, int>, std::unordered_set<size_t>> spatialGrid; // cell -> object IDs
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float cellSize;
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public:
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Grid3() : next_id(0), cellSize(1.0f) {}
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Grid3(float cellSize) : next_id(0), cellSize(cellSize) {}
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size_t addObject(const Vec3& position, const Vec4& color, float size = 1.0f) {
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size_t id = next_id++;
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positions.insert({id, position});
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colors.insert({id, color});
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sizes.insert({id, size});
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auto cell = worldToGrid(position);
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spatialGrid[cell].insert(id);
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cellIndices[id] = cell;
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return id;
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}
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// Gets
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Vec3 getPosition(size_t id) const {
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auto it = positions.find(id);
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if (it != positions.end()) return it->second;
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return Vec3();
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}
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Vec4 getColor(size_t id) const {
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auto it = colors.find(id);
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if (it != colors.end()) return it->second;
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return Vec4();
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}
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float getSize(size_t id) const {
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auto it = sizes.find(id);
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if (it != sizes.end()) return it->second;
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return 1.0f;
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}
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// Sets
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void setPosition(size_t id, const Vec3& position) {
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if (!hasObject(id)) return;
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Vec3 oldPos = getPosition(id);
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positions.erase(id);
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positions.insert({id, position});
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updateSpatialIndex(id, oldPos, position);
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}
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void setColor(size_t id, const Vec4& color) {
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colors.erase(id);
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colors.insert({id, color});
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}
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void setSize(size_t id, float size) {
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sizes.erase(id);
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sizes.insert({id, size});
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}
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// Batch add/remove operations
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void addObjects(const std::vector<std::tuple<Vec3, Vec4, float>>& objects) {
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for (const auto& obj : objects) {
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addObject(std::get<0>(obj), std::get<1>(obj), std::get<2>(obj));
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}
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}
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void removeObjects(const std::vector<size_t>& ids) {
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for (size_t id : ids) {
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removeObject(id);
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}
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}
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// Batch position updates
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void updatePositions(const std::unordered_map<size_t, Vec3>& newPositions) {
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// Bulk update spatial grid - collect all changes first
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std::vector<std::tuple<size_t, Vec3, Vec3>> spatialUpdates;
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for (const auto& pair : newPositions) {
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if (hasObject(pair.first)) {
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Vec3 oldPos = getPosition(pair.first);
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positions.erase(pair.first);
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positions.insert({pair.first, pair.second});
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spatialUpdates.emplace_back(pair.first, oldPos, pair.second);
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}
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}
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// Apply all spatial updates at once
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for (const auto& update : spatialUpdates) {
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updateSpatialIndex(std::get<0>(update), std::get<1>(update), std::get<2>(update));
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}
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}
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// Other
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bool hasObject(size_t id) const {
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return positions.find(id) != positions.end();
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}
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void removeObject(size_t id) {
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// Remove from spatial grid first
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auto cellIt = cellIndices.find(id);
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if (cellIt != cellIndices.end()) {
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auto& cellObjects = spatialGrid[cellIt->second];
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cellObjects.erase(id);
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if (cellObjects.empty()) {
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spatialGrid.erase(cellIt->second);
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}
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cellIndices.erase(id);
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}
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// Remove from data maps
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positions.erase(id);
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colors.erase(id);
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sizes.erase(id);
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}
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std::vector<size_t> getIndicesAt(float x, float y, float z, float radius = 0.0f) const {
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return getIndicesAt(Vec3(x, y, z), radius);
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}
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std::vector<size_t> getIndicesAt(const Vec3& position, float radius = 0.0f) const {
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std::vector<size_t> result;
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if (radius <= 0.0f) {
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// Exact position match
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for (const auto& pair : positions) {
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if (pair.second == position) {
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result.push_back(pair.first);
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}
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}
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} else {
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// Radius-based search
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float radius_sq = radius * radius;
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for (const auto& pair : positions) {
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float dx = pair.second.x - position.x;
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float dy = pair.second.y - position.y;
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float dz = pair.second.z - position.z;
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if (dx * dx + dy * dy + dz * dz <= radius_sq) {
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result.push_back(pair.first);
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}
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}
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}
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return result;
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}
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void getBoundingBox(Vec3& minCorner, Vec3& maxCorner) const {
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if (positions.empty()) {
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minCorner = Vec3(0.0f, 0.0f, 0.0f);
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maxCorner = Vec3(0.0f, 0.0f, 0.0f);
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return;
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}
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auto it = positions.begin();
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minCorner = it->second;
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maxCorner = it->second;
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for (const auto& pair : positions) {
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const Vec3& pos = pair.second;
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minCorner.x = std::min(minCorner.x, pos.x);
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minCorner.y = std::min(minCorner.y, pos.y);
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minCorner.z = std::min(minCorner.z, pos.z);
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maxCorner.x = std::max(maxCorner.x, pos.x);
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maxCorner.y = std::max(maxCorner.y, pos.y);
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maxCorner.z = std::max(maxCorner.z, pos.z);
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}
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}
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// Get 2D slice of the 3D grid (useful for visualization)
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void getSliceAsRGB(int axis, float slicePos,
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int& width, int& height, std::vector<int>& rgbData) const {
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Vec3 minCorner, maxCorner;
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getBoundingBox(minCorner, maxCorner);
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// Determine slice dimensions based on axis (0=x, 1=y, 2=z)
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if (axis == 0) { // X-slice
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width = static_cast<int>(std::ceil(maxCorner.z - minCorner.z)) + 1;
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height = static_cast<int>(std::ceil(maxCorner.y - minCorner.y)) + 1;
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} else if (axis == 1) { // Y-slice
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width = static_cast<int>(std::ceil(maxCorner.z - minCorner.z)) + 1;
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height = static_cast<int>(std::ceil(maxCorner.x - minCorner.x)) + 1;
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} else { // Z-slice
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width = static_cast<int>(std::ceil(maxCorner.x - minCorner.x)) + 1;
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height = static_cast<int>(std::ceil(maxCorner.y - minCorner.y)) + 1;
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}
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// Initialize with black (0,0,0)
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rgbData.resize(width * height * 3, 0);
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// Fill the slice with object colors
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for (const auto& posPair : positions) {
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size_t id = posPair.first;
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const Vec3& pos = posPair.second;
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// Check if position is within slice tolerance
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float tolerance = 0.5f; // Half voxel tolerance
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bool inSlice = false;
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int gridX = 0, gridY = 0;
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if (axis == 0 && std::abs(pos.x - slicePos) <= tolerance) { // X-slice
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gridX = static_cast<int>(pos.z - minCorner.z);
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gridY = static_cast<int>(pos.y - minCorner.y);
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inSlice = true;
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} else if (axis == 1 && std::abs(pos.y - slicePos) <= tolerance) { // Y-slice
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gridX = static_cast<int>(pos.z - minCorner.z);
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gridY = static_cast<int>(pos.x - minCorner.x);
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inSlice = true;
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} else if (axis == 2 && std::abs(pos.z - slicePos) <= tolerance) { // Z-slice
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gridX = static_cast<int>(pos.x - minCorner.x);
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gridY = static_cast<int>(pos.y - minCorner.y);
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inSlice = true;
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}
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if (inSlice && gridX >= 0 && gridX < width && gridY >= 0 && gridY < height) {
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const Vec4& color = getColor(id);
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int index = (gridY * width + gridX) * 3;
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// Convert float color [0,1] to int [0,255]
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rgbData[index] = static_cast<int>(color.r * 255);
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rgbData[index + 1] = static_cast<int>(color.g * 255);
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rgbData[index + 2] = static_cast<int>(color.b * 255);
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}
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}
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}
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void getRegionAsRGB(float minX, float minY, float minZ, float maxX, float maxY, float maxZ,
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int& width, int& height, std::vector<int>& rgbData) const {
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// For 3D, this creates a 2D projection (XY plane at average Z)
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if (minX >= maxX || minY >= maxY || minZ >= maxZ) {
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width = 0;
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height = 0;
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rgbData.clear();
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return;
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}
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// Calculate grid dimensions for XY projection
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width = static_cast<int>(std::ceil(maxX - minX));
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height = static_cast<int>(std::ceil(maxY - minY));
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// Initialize with black (0,0,0)
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rgbData.resize(width * height * 3, 0);
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// Fill the grid with object colors in the region (XY projection)
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for (const auto& posPair : positions) {
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size_t id = posPair.first;
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const Vec3& pos = posPair.second;
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// Check if position is within the region
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if (pos.x >= minX && pos.x < maxX &&
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pos.y >= minY && pos.y < maxY &&
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pos.z >= minZ && pos.z < maxZ) {
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// Convert world position to grid coordinates (XY projection)
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int gridX = static_cast<int>(pos.x - minX);
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int gridY = static_cast<int>(pos.y - minY);
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if (gridX >= 0 && gridX < width && gridY >= 0 && gridY < height) {
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const Vec4& color = getColor(id);
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int index = (gridY * width + gridX) * 3;
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// Convert float color [0,1] to int [0,255]
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rgbData[index] = static_cast<int>(color.r * 255);
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rgbData[index + 1] = static_cast<int>(color.g * 255);
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rgbData[index + 2] = static_cast<int>(color.b * 255);
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}
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}
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}
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}
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void getRegionAsRGB(const Vec3& minCorner, const Vec3& maxCorner,
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int& width, int& height, std::vector<int>& rgbData) const {
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getRegionAsRGB(minCorner.x, minCorner.y, minCorner.z,
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maxCorner.x, maxCorner.y, maxCorner.z,
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width, height, rgbData);
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}
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// Spatial grid methods for 3D
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std::tuple<int, int, int> worldToGrid(const Vec3& pos) const {
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return {
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static_cast<int>(std::floor(pos.x / cellSize)),
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static_cast<int>(std::floor(pos.y / cellSize)),
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static_cast<int>(std::floor(pos.z / cellSize))
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};
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}
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void updateSpatialIndex(size_t id, const Vec3& oldPos, const Vec3& newPos) {
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auto oldCell = worldToGrid(oldPos);
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auto newCell = worldToGrid(newPos);
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if (oldCell != newCell) {
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// Remove from old cell
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auto oldIt = spatialGrid.find(oldCell);
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if (oldIt != spatialGrid.end()) {
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oldIt->second.erase(id);
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if (oldIt->second.empty()) {
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spatialGrid.erase(oldIt);
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}
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}
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// Add to new cell
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spatialGrid[newCell].insert(id);
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cellIndices[id] = newCell;
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}
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}
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std::vector<size_t> getIndicesInRadius(const Vec3& position, float radius) const {
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std::vector<size_t> result;
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Vec3 minPos(position.x - radius, position.y - radius, position.z - radius);
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Vec3 maxPos(position.x + radius, position.y + radius, position.z + radius);
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auto minCell = worldToGrid(minPos);
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auto maxCell = worldToGrid(maxPos);
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float radiusSq = radius * radius;
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// Only check relevant cells
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for (int x = std::get<0>(minCell); x <= std::get<0>(maxCell); ++x) {
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for (int y = std::get<1>(minCell); y <= std::get<1>(maxCell); ++y) {
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for (int z = std::get<2>(minCell); z <= std::get<2>(maxCell); ++z) {
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auto cell = std::make_tuple(x, y, z);
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auto it = spatialGrid.find(cell);
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if (it != spatialGrid.end()) {
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for (size_t id : it->second) {
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const Vec3& objPos = getPosition(id);
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float dx = objPos.x - position.x;
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float dy = objPos.y - position.y;
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float dz = objPos.z - position.z;
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if (dx * dx + dy * dy + dz * dz <= radiusSq) {
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result.push_back(id);
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}
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}
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}
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}
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}
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}
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return result;
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}
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std::vector<size_t> getIndicesInRegion(const Vec3& minCorner, const Vec3& maxCorner) const {
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std::vector<size_t> result;
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auto minCell = worldToGrid(minCorner);
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auto maxCell = worldToGrid(maxCorner);
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for (int x = std::get<0>(minCell); x <= std::get<0>(maxCell); ++x) {
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for (int y = std::get<1>(minCell); y <= std::get<1>(maxCell); ++y) {
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for (int z = std::get<2>(minCell); z <= std::get<2>(maxCell); ++z) {
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auto cell = std::make_tuple(x, y, z);
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auto it = spatialGrid.find(cell);
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if (it != spatialGrid.end()) {
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for (size_t id : it->second) {
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const Vec3& pos = getPosition(id);
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if (pos.x >= minCorner.x && pos.x <= maxCorner.x &&
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pos.y >= minCorner.y && pos.y <= maxCorner.y &&
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pos.z >= minCorner.z && pos.z <= maxCorner.z) {
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result.push_back(id);
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}
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}
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}
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}
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}
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}
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return result;
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}
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size_t getSpatialGridCellCount() const { return spatialGrid.size(); }
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size_t getSpatialGridObjectCount() const { return cellIndices.size(); }
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float getCellSize() const { return cellSize; }
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// 3D-specific utility methods
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size_t getVoxelCount() const { return positions.size(); }
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// Get density information (useful for volume rendering)
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std::vector<float> getDensityGrid(int resX, int resY, int resZ) const {
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std::vector<float> density(resX * resY * resZ, 0.0f);
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Vec3 minCorner, maxCorner;
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getBoundingBox(minCorner, maxCorner);
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Vec3 gridSize = maxCorner - minCorner;
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if (gridSize.x <= 0 || gridSize.y <= 0 || gridSize.z <= 0) {
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return density;
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}
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Vec3 voxelSize(gridSize.x / resX, gridSize.y / resY, gridSize.z / resZ);
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for (const auto& posPair : positions) {
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const Vec3& pos = posPair.second;
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// Convert to grid coordinates
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int gx = static_cast<int>((pos.x - minCorner.x) / gridSize.x * resX);
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int gy = static_cast<int>((pos.y - minCorner.y) / gridSize.y * resY);
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int gz = static_cast<int>((pos.z - minCorner.z) / gridSize.z * resZ);
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if (gx >= 0 && gx < resX && gy >= 0 && gy < resY && gz >= 0 && gz < resZ) {
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density[gz * resX * resY + gy * resX + gx] += 1.0f;
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}
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}
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return density;
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}
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};
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#endif |