808 lines
26 KiB
C++
808 lines
26 KiB
C++
#include <unordered_map>
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#include "../vectorlogic/vec2.hpp"
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#include "../vectorlogic/vec4.hpp"
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#include "../timing_decorator.hpp"
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#include "../output/frame.hpp"
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#include <vector>
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#include <unordered_set>
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#ifndef GRID2_HPP
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#define GRID2_HPP
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class reverselookupassistantclasscausecppisdumb {
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private:
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std::unordered_map<size_t, Vec2> Positions;
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std::unordered_map<Vec2, size_t, Vec2::Hash> ƨnoiƚiƨoꟼ;
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size_t next_id;
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public:
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Vec2 at(size_t id) const {
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auto it = Positions.at(id);
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return it;
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}
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size_t at(const Vec2& pos) const {
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size_t id = ƨnoiƚiƨoꟼ.at(pos);
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return id;
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}
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Vec2 find(size_t id) {
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return Positions.at(id);
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}
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size_t set(const Vec2& pos) {
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size_t id = next_id++;
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Positions[id] = pos;
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ƨnoiƚiƨoꟼ[pos] = id;
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return id;
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}
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size_t remove(size_t id) {
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Vec2& pos = Positions[id];
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Positions.erase(id);
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ƨnoiƚiƨoꟼ.erase(pos);
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return id;
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}
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size_t remove(const Vec2& pos) {
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size_t id = ƨnoiƚiƨoꟼ[pos];
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Positions.erase(id);
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ƨnoiƚiƨoꟼ.erase(pos);
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return id;
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}
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void reserve(size_t size) {
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Positions.reserve(size);
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ƨnoiƚiƨoꟼ.reserve(size);
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}
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size_t size() const {
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return Positions.size();
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}
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size_t getNext_id() {
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return next_id + 1;
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}
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size_t bucket_count() {
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return Positions.bucket_count();
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}
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bool empty() {
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return Positions.empty();
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}
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void clear() {
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Positions.clear();
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ƨnoiƚiƨoꟼ.clear();
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next_id = 0;
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}
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using iterator = typename std::unordered_map<size_t, Vec2>::iterator;
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using const_iterator = typename std::unordered_map<size_t, Vec2>::const_iterator;
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iterator begin() {
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return Positions.begin();
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}
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iterator end() {
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return Positions.end();
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}
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const_iterator begin() const {
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return Positions.begin();
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}
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const_iterator end() const {
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return Positions.end();
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}
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const_iterator cbegin() const {
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return Positions.cbegin();
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}
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const_iterator cend() const {
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return Positions.cend();
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}
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};
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class SpatialGrid {
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private:
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float cellSize;
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public:
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std::unordered_map<Vec2, std::unordered_set<size_t>, Vec2::Hash> grid;
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SpatialGrid(float cellSize = 2.0f) : cellSize(cellSize) {}
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Vec2 worldToGrid(const Vec2& worldPos) const {
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return (worldPos / cellSize).floor();
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}
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void insert(size_t id, const Vec2& pos) {
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Vec2 gridPos = worldToGrid(pos);
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grid[gridPos].insert(id);
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}
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void remove(size_t id, const Vec2& pos) {
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Vec2 gridPos = worldToGrid(pos);
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auto cellIt = grid.find(gridPos);
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if (cellIt != grid.end()) {
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cellIt->second.erase(id);
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if (cellIt->second.empty()) {
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grid.erase(cellIt);
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}
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}
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}
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void update(size_t id, const Vec2& oldPos, const Vec2& newPos) {
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Vec2 oldGridPos = worldToGrid(oldPos);
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Vec2 newGridPos = worldToGrid(newPos);
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if (oldGridPos != newGridPos) {
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remove(id, oldPos);
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insert(id, newPos);
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}
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}
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std::vector<size_t> queryRange(const Vec2& center, float radius) const {
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TIME_FUNCTION;
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std::vector<size_t> results;
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float radiusSq = radius * radius;
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// Calculate grid bounds for the query
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Vec2 minGrid = worldToGrid(center - Vec2(radius, radius));
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Vec2 maxGrid = worldToGrid(center + Vec2(radius, radius));
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// Check all relevant grid cells
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for (int x = minGrid.x; x <= maxGrid.x; ++x) {
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for (int y = minGrid.y; y <= maxGrid.y; ++y) {
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Vec2 gridPos(x, y);
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auto cellIt = grid.find(gridPos);
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if (cellIt != grid.end()) {
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for (size_t id : cellIt->second) {
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results.push_back(id);
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}
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}
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}
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}
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return results;
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}
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void clear() {
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grid.clear();
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}
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};
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class Grid2 {
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private:
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//all positions
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reverselookupassistantclasscausecppisdumb Positions;
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//all colors
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std::unordered_map<size_t, Vec4> Colors;
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//all sizes
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std::unordered_map<size_t, float> Sizes;
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std::vector<size_t> unassignedIDs;
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//grid min
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Vec2 gridMin;
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//grid max
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Vec2 gridMax;
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//neighbor map
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std::unordered_map<size_t, std::vector<size_t>> neighborMap;
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float neighborRadius = 1.0f;
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//TODO: spatial map
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SpatialGrid spatialGrid;
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float spatialCellSize = 2.0f;
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public:
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//get position from id
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Vec2 getPositionID(size_t id) const {
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Vec2 it = Positions.at(id);
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return it;
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}
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//get id from position (optional radius, picks first found. radius of 0 becomes epsilon if none are found)
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size_t getPositionVec(const Vec2& pos, float radius = 0.0f) {
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TIME_FUNCTION;
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if (radius == 0.0f) {
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// Exact match - use spatial grid to find the cell
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Vec2 gridPos = spatialGrid.worldToGrid(pos);
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auto cellIt = spatialGrid.grid.find(gridPos);
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if (cellIt != spatialGrid.grid.end()) {
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for (size_t id : cellIt->second) {
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if (Positions.at(id) == pos) {
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return id;
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}
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}
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}
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throw std::out_of_range("Position not found");
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} else {
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auto results = getPositionVecRegion(pos, radius);
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if (!results.empty()) {
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return results[0]; // Return first found
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}
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throw std::out_of_range("No positions found in radius");
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}
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}
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size_t getPositionVec(float x, float y, float radius = 0.0f) {
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return getPositionVec(Vec2(x,y), radius);
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}
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//get all id in region
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std::vector<size_t> getPositionVecRegion(const Vec2& pos, float radius = 1.0f) {
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TIME_FUNCTION;
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float searchRadius = (radius == 0.0f) ? std::numeric_limits<float>::epsilon() : radius;
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// Get candidates from spatial grid
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std::vector<size_t> candidates = spatialGrid.queryRange(pos, searchRadius);
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// Fine-filter by exact distance
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std::vector<size_t> results;
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float radiusSq = searchRadius * searchRadius;
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for (size_t id : candidates) {
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if (Positions.at(id).distanceSquared(pos) <= radiusSq) {
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results.push_back(id);
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}
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}
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return results;
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}
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//get color from id
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Vec4 getColor(size_t id) {
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return Colors.at(id);
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}
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//get color from position (use get id from position and then get color from id)
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Vec4 getColor(float x, float y) {
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size_t id = getPositionVec(Vec2(x,y),0.0);
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return getColor(id);
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}
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//get size from id
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Vec4 getSize(size_t id) {
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return Colors.at(id);
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}
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//get size from position (use get id from position and then get size from id)
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Vec4 getSize(float x, float y) {
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size_t id = getPositionVec(Vec2(x,y),0.0);
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return getSize(id);
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}
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//add pixel (default color and default size provided)
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size_t addObject(const Vec2& pos, const Vec4& color, float size = 1.0f) {
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size_t id = Positions.set(pos);
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Colors[id] = color;
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Sizes[id] = size;
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// Add to spatial grid
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spatialGrid.insert(id, pos);
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updateNeighborForID(id);
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return id;
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}
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//set position by id
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void setPosition(size_t id, const Vec2& newPosition) {
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Vec2 oldPosition = Positions.at(id);
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spatialGrid.update(id, oldPosition, newPosition);
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Positions.at(id).move(newPosition);
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updateNeighborForID(id);
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}
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void setPosition(size_t id, float x, float y) {
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Vec2 newPos = Vec2(x,y);
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Vec2 oldPos = Positions.at(id);
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spatialGrid.update(id, oldPos, newPos);
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Positions.at(id).move(newPos);
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updateNeighborForID(id);
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}
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//set color by id (by pos same as get color)
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void setColor(size_t id, const Vec4 color) {
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Colors.at(id).recolor(color);
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}
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void setColor(size_t id, float r, float g, float b, float a=1.0f) {
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Colors.at(id).recolor(Vec4(r,g,b,a));
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}
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void setColor(float x, float y, const Vec4 color) {
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size_t id = getPositionVec(Vec2(x,y));
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Colors.at(id).recolor(color);
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}
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void setColor(float x, float y, float r, float g, float b, float a=1.0f) {
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size_t id = getPositionVec(Vec2(x,y));
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Colors.at(id).recolor(Vec4(r,g,b,a));
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}
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void setColor(const Vec2& pos, const Vec4 color) {
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size_t id = getPositionVec(pos);
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Colors.at(id).recolor(color);
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}
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void setColor(const Vec2& pos, float r, float g, float b, float a=1.0f) {
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size_t id = getPositionVec(pos);
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Colors.at(id).recolor(Vec4(r,g,b,a));
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}
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//set size by id (by pos same as get size)
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void setSize(size_t id, float size) {
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Sizes.at(id) = size;
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}
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void setSize(float x, float y, float size) {
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size_t id = getPositionVec(Vec2(x,y));
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Sizes.at(id) = size;
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}
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void setSize(const Vec2& pos, float size) {
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size_t id = getPositionVec(pos);
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Sizes.at(id) = size;
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}
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//remove object (should remove the id, the color, the position, and the size)
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size_t removeID(size_t id) {
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Vec2 oldPosition = Positions.at(id);
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Positions.remove(id);
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Colors.erase(id);
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Sizes.erase(id);
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unassignedIDs.push_back(id);
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spatialGrid.remove(id, oldPosition);
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updateNeighborForID(id);
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return id;
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}
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size_t removeID(Vec2 pos) {
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size_t id = getPositionVec(pos);
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Positions.remove(id);
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Colors.erase(id);
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Sizes.erase(id);
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unassignedIDs.push_back(id);
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spatialGrid.remove(id, pos);
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updateNeighborForID(id);
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return id;
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}
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//bulk update positions
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void bulkUpdatePositions(const std::unordered_map<size_t, Vec2>& newPositions) {
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TIME_FUNCTION;
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for (const auto& [id, newPos] : newPositions) {
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Vec2 oldPosition = Positions.at(id);
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Positions.at(id).move(newPos);
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spatialGrid.update(id, oldPosition, newPos);
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}
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updateNeighborMap();
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}
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// Bulk update colors
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void bulkUpdateColors(const std::unordered_map<size_t, Vec4>& newColors) {
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TIME_FUNCTION;
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for (const auto& [id, newColor] : newColors) {
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auto it = Colors.find(id);
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if (it != Colors.end()) {
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it->second = newColor;
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}
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}
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}
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// Bulk update sizes
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void bulkUpdateSizes(const std::unordered_map<size_t, float>& newSizes) {
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TIME_FUNCTION;
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for (const auto& [id, newSize] : newSizes) {
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auto it = Sizes.find(id);
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if (it != Sizes.end()) {
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it->second = newSize;
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}
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}
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}
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void shrinkIfNeeded() {
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//TODO: cleanup all as needed.
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}
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//bulk add
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std::vector<size_t> bulkAddObjects(const std::vector<std::tuple<Vec2, Vec4, float>>& objects) {
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TIME_FUNCTION;
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std::vector<size_t> ids;
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ids.reserve(objects.size());
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// Reserve space in maps to avoid rehashing
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Positions.reserve(Positions.size() + objects.size());
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Colors.reserve(Colors.size() + objects.size());
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Sizes.reserve(Sizes.size() + objects.size());
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// Batch insertion
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#pragma omp parallel for
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for (size_t i = 0; i < objects.size(); ++i) {
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const auto& [pos, color, size] = objects[i];
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size_t id = Positions.set(pos);
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Colors[id] = color;
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Sizes[id] = size;
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spatialGrid.insert(id,pos);
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}
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shrinkIfNeeded();
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updateNeighborMap();
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return getAllIDs(); // Or generate ID range
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}
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std::vector<size_t> bulkAddObjects(const std::vector<Vec2> poses, std::vector<Vec4> colors, std::vector<float>& sizes) {
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TIME_FUNCTION;
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std::vector<size_t> ids;
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ids.reserve(poses.size());
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// Reserve space in maps to avoid rehashing
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if (Positions.bucket_count() < Positions.size() + poses.size()) {
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Positions.reserve(Positions.size() + poses.size());
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Colors.reserve(Colors.size() + colors.size());
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Sizes.reserve(Sizes.size() + sizes.size());
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}
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// Batch insertion
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#pragma omp parallel for
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for (size_t i = 0; i < poses.size(); ++i) {
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size_t id = Positions.set(poses[i]);
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Colors[id] = colors[i];
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Sizes[id] = sizes[i];
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spatialGrid.insert(id,poses[i]);
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}
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shrinkIfNeeded();
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updateNeighborMap();
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return getAllIDs();
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}
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//get all ids
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std::vector<size_t> getAllIDs() {
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TIME_FUNCTION;
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std::vector<size_t> ids;
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ids.reserve(Positions.size());
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for (const auto& pair : Positions) {
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ids.push_back(pair.first);
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}
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return ids;
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}
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// no return because it passes back a 1d vector of ints between 0 and 255 with a width and height
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//get region as rgb
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void getGridRegionAsRGB(const Vec2& minCorner, const Vec2& maxCorner,
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int& width, int& height, std::vector<uint8_t>& rgbData) const {
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TIME_FUNCTION;
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// Calculate dimensions
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width = static_cast<int>(maxCorner.x - minCorner.x);
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height = static_cast<int>(maxCorner.y - minCorner.y);
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if (width <= 0 || height <= 0) {
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width = height = 0;
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rgbData.clear();
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return;
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}
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// Initialize RGB data (3 bytes per pixel: R, G, B)
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rgbData.resize(width * height * 3, 0);
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// For each position in the grid, find the corresponding pixel
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for (const auto& [id, pos] : Positions) {
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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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// Calculate pixel coordinates
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int pixelX = static_cast<int>(pos.x - minCorner.x);
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int pixelY = static_cast<int>(pos.y - minCorner.y);
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// Ensure within bounds
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if (pixelX >= 0 && pixelX < width && pixelY >= 0 && pixelY < height) {
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// Get color and convert to RGB
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const Vec4& color = Colors.at(id);
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int index = (pixelY * width + pixelX) * 3;
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// Convert from [0,1] to [0,255] and store as RGB
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rgbData[index] = static_cast<unsigned char>(color.r * 255);
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rgbData[index + 1] = static_cast<unsigned char>(color.g * 255);
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rgbData[index + 2] = static_cast<unsigned char>(color.b * 255);
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}
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}
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}
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}
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// Get region as BGR
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void getGridRegionAsBGR(const Vec2& minCorner, const Vec2& maxCorner,
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int& width, int& height, std::vector<uint8_t>& bgrData) const {
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TIME_FUNCTION;
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// Calculate dimensions
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width = static_cast<int>(maxCorner.x - minCorner.x);
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height = static_cast<int>(maxCorner.y - minCorner.y);
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if (width <= 0 || height <= 0) {
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width = height = 0;
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bgrData.clear();
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return;
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}
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// Initialize BGR data (3 bytes per pixel: B, G, R)
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bgrData.resize(width * height * 3, 0);
|
|
|
|
// For each position in the grid, find the corresponding pixel
|
|
for (const auto& [id, pos] : Positions) {
|
|
if (pos.x >= minCorner.x && pos.x < maxCorner.x &&
|
|
pos.y >= minCorner.y && pos.y < maxCorner.y) {
|
|
|
|
// Calculate pixel coordinates
|
|
int pixelX = static_cast<int>(pos.x - minCorner.x);
|
|
int pixelY = static_cast<int>(pos.y - minCorner.y);
|
|
|
|
// Ensure within bounds
|
|
if (pixelX >= 0 && pixelX < width && pixelY >= 0 && pixelY < height) {
|
|
// Get color and convert to BGR
|
|
const Vec4& color = Colors.at(id);
|
|
int index = (pixelY * width + pixelX) * 3;
|
|
|
|
// Convert from [0,1] to [0,255] and store as BGR
|
|
bgrData[index] = static_cast<unsigned char>(color.b * 255); // Blue
|
|
bgrData[index + 1] = static_cast<unsigned char>(color.g * 255); // Green
|
|
bgrData[index + 2] = static_cast<unsigned char>(color.r * 255); // Red
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
//get full as rgb/bgr
|
|
void getGridAsRGB(int& width, int& height, std::vector<uint8_t>& rgbData) {
|
|
Vec2 minCorner, maxCorner;
|
|
getBoundingBox(minCorner, maxCorner);
|
|
getGridRegionAsRGB(minCorner, maxCorner, width, height, rgbData);
|
|
}
|
|
|
|
void getGridAsBGR(int& width, int& height, std::vector<uint8_t>& bgrData) {
|
|
Vec2 minCorner, maxCorner;
|
|
getBoundingBox(minCorner, maxCorner);
|
|
getGridRegionAsBGR(minCorner, maxCorner, width, height, bgrData);
|
|
}
|
|
|
|
|
|
//frame stuff
|
|
frame getGridRegionAsFrameRGB(const Vec2& minCorner, const Vec2& maxCorner) const {
|
|
TIME_FUNCTION;
|
|
int width, height;
|
|
std::vector<uint8_t> rgbData;
|
|
getGridRegionAsRGB(minCorner, maxCorner, width, height, rgbData);
|
|
|
|
frame resultFrame(width, height, frame::colormap::RGB);
|
|
resultFrame.setData(rgbData);
|
|
return resultFrame;
|
|
}
|
|
|
|
// Get region as frame (BGR format)
|
|
frame getGridRegionAsFrameBGR(const Vec2& minCorner, const Vec2& maxCorner) const {
|
|
TIME_FUNCTION;
|
|
int width, height;
|
|
std::vector<uint8_t> bgrData;
|
|
getGridRegionAsBGR(minCorner, maxCorner, width, height, bgrData);
|
|
|
|
frame resultFrame(width, height, frame::colormap::BGR);
|
|
resultFrame.setData(bgrData);
|
|
return resultFrame;
|
|
}
|
|
|
|
// Get region as frame (RGBA format)
|
|
frame getGridRegionAsFrameRGBA(const Vec2& minCorner, const Vec2& maxCorner) const {
|
|
TIME_FUNCTION;
|
|
int width, height;
|
|
std::vector<uint8_t> rgbData;
|
|
getGridRegionAsRGB(minCorner, maxCorner, width, height, rgbData);
|
|
|
|
// Convert RGB to RGBA
|
|
std::vector<uint8_t> rgbaData;
|
|
rgbaData.reserve(width * height * 4);
|
|
|
|
for (size_t i = 0; i < rgbData.size(); i += 3) {
|
|
rgbaData.push_back(rgbData[i]); // R
|
|
rgbaData.push_back(rgbData[i + 1]); // G
|
|
rgbaData.push_back(rgbData[i + 2]); // B
|
|
rgbaData.push_back(255); // A (fully opaque)
|
|
}
|
|
|
|
frame resultFrame(width, height, frame::colormap::RGBA);
|
|
resultFrame.setData(rgbaData);
|
|
return resultFrame;
|
|
}
|
|
|
|
// Get region as frame (BGRA format)
|
|
frame getGridRegionAsFrameBGRA(const Vec2& minCorner, const Vec2& maxCorner) const {
|
|
TIME_FUNCTION;
|
|
int width, height;
|
|
std::vector<uint8_t> bgrData;
|
|
getGridRegionAsBGR(minCorner, maxCorner, width, height, bgrData);
|
|
|
|
// Convert BGR to BGRA
|
|
std::vector<uint8_t> bgraData;
|
|
bgraData.reserve(width * height * 4);
|
|
|
|
for (size_t i = 0; i < bgrData.size(); i += 3) {
|
|
bgraData.push_back(bgrData[i]); // B
|
|
bgraData.push_back(bgrData[i + 1]); // G
|
|
bgraData.push_back(bgrData[i + 2]); // R
|
|
bgraData.push_back(255); // A (fully opaque)
|
|
}
|
|
|
|
frame resultFrame(width, height, frame::colormap::BGRA);
|
|
resultFrame.setData(bgraData);
|
|
return resultFrame;
|
|
}
|
|
|
|
// Get region as frame (Grayscale format)
|
|
frame getGridRegionAsFrameGrayscale(const Vec2& minCorner, const Vec2& maxCorner) const {
|
|
TIME_FUNCTION;
|
|
int width, height;
|
|
std::vector<uint8_t> rgbData;
|
|
getGridRegionAsRGB(minCorner, maxCorner, width, height, rgbData);
|
|
|
|
// Convert RGB to grayscale
|
|
std::vector<uint8_t> grayData;
|
|
grayData.reserve(width * height);
|
|
|
|
for (size_t i = 0; i < rgbData.size(); i += 3) {
|
|
uint8_t r = rgbData[i];
|
|
uint8_t g = rgbData[i + 1];
|
|
uint8_t b = rgbData[i + 2];
|
|
// Standard grayscale conversion formula
|
|
uint8_t gray = static_cast<uint8_t>(0.299 * r + 0.587 * g + 0.114 * b);
|
|
grayData.push_back(gray);
|
|
}
|
|
|
|
frame resultFrame(width, height, frame::colormap::B); // B for single channel/grayscale
|
|
resultFrame.setData(grayData);
|
|
return resultFrame;
|
|
}
|
|
|
|
// Get entire grid as frame with specified format
|
|
frame getGridAsFrame(frame::colormap format = frame::colormap::RGB) {
|
|
TIME_FUNCTION;
|
|
Vec2 minCorner, maxCorner;
|
|
getBoundingBox(minCorner, maxCorner);
|
|
frame Frame;
|
|
|
|
switch (format) {
|
|
case frame::colormap::RGB:
|
|
Frame = getGridRegionAsFrameRGB(minCorner, maxCorner);
|
|
case frame::colormap::BGR:
|
|
Frame = getGridRegionAsFrameBGR(minCorner, maxCorner);
|
|
case frame::colormap::RGBA:
|
|
Frame = getGridRegionAsFrameRGBA(minCorner, maxCorner);
|
|
case frame::colormap::BGRA:
|
|
Frame = getGridRegionAsFrameBGRA(minCorner, maxCorner);
|
|
case frame::colormap::B:
|
|
Frame = getGridRegionAsFrameGrayscale(minCorner, maxCorner);
|
|
default:
|
|
Frame = getGridRegionAsFrameRGB(minCorner, maxCorner);
|
|
}
|
|
Frame.compressFrameZigZagRLE();
|
|
return Frame;
|
|
}
|
|
|
|
// Get compressed frame with specified compression
|
|
frame getGridAsCompressedFrame(frame::colormap format = frame::colormap::RGB,
|
|
frame::compresstype compression = frame::compresstype::RLE) {
|
|
TIME_FUNCTION;
|
|
frame gridFrame = getGridAsFrame(format);
|
|
|
|
if (gridFrame.getData().empty()) {
|
|
return gridFrame;
|
|
}
|
|
|
|
switch (compression) {
|
|
case frame::compresstype::RLE:
|
|
return gridFrame.compressFrameRLE();
|
|
case frame::compresstype::ZIGZAG:
|
|
return gridFrame.compressFrameZigZag();
|
|
case frame::compresstype::DIFF:
|
|
return gridFrame.compressFrameDiff();
|
|
case frame::compresstype::ZIGZAGRLE:
|
|
return gridFrame.compressFrameZigZagRLE();
|
|
case frame::compresstype::DIFFRLE:
|
|
return gridFrame.compressFrameDiffRLE();
|
|
case frame::compresstype::HUFFMAN:
|
|
return gridFrame.compressFrameHuffman();
|
|
case frame::compresstype::RAW:
|
|
default:
|
|
return gridFrame;
|
|
}
|
|
}
|
|
|
|
|
|
//get bounding box
|
|
void getBoundingBox(Vec2& minCorner, Vec2& maxCorner) {
|
|
TIME_FUNCTION;
|
|
if (Positions.empty()) {
|
|
minCorner = Vec2(0, 0);
|
|
maxCorner = Vec2(0, 0);
|
|
return;
|
|
}
|
|
|
|
// Initialize with first position
|
|
auto it = Positions.begin();
|
|
minCorner = it->second;
|
|
maxCorner = it->second;
|
|
|
|
// Find min and max coordinates
|
|
for (const auto& [id, pos] : Positions) {
|
|
minCorner.x = std::min(minCorner.x, pos.x);
|
|
minCorner.y = std::min(minCorner.y, pos.y);
|
|
maxCorner.x = std::max(maxCorner.x, pos.x);
|
|
maxCorner.y = std::max(maxCorner.y, pos.y);
|
|
}
|
|
|
|
// Add a small margin to avoid edge cases
|
|
float margin = 1.0f;
|
|
minCorner.x -= margin;
|
|
minCorner.y -= margin;
|
|
maxCorner.x += margin;
|
|
maxCorner.y += margin;
|
|
}
|
|
|
|
//clear
|
|
void clear() {
|
|
Positions.clear();
|
|
Colors.clear();
|
|
Sizes.clear();
|
|
spatialGrid.clear();
|
|
neighborMap.clear();
|
|
}
|
|
|
|
// neighbor map
|
|
void updateNeighborMap() {
|
|
TIME_FUNCTION;
|
|
neighborMap.clear();
|
|
|
|
// For each object, find nearby neighbors
|
|
for (const auto& [id1, pos1] : Positions) {
|
|
std::vector<size_t> neighbors;
|
|
float radiusSq = neighborRadius * neighborRadius;
|
|
auto candidate_ids = spatialGrid.queryRange(pos1, neighborRadius);
|
|
|
|
for (size_t id2 : candidate_ids) {
|
|
if (id1 != id2 && Positions.at(id1).distanceSquared(Positions.at(id2)) <= radiusSq) {
|
|
neighbors.push_back(id2);
|
|
}
|
|
}
|
|
neighborMap[id1] = std::move(neighbors);
|
|
}
|
|
}
|
|
|
|
// Update neighbor map for a single object
|
|
void updateNeighborForID(size_t id) {
|
|
TIME_FUNCTION;
|
|
Vec2 pos_it = Positions.at(id);
|
|
|
|
std::vector<size_t> neighbors;
|
|
float radiusSq = neighborRadius * neighborRadius;
|
|
|
|
for (const auto& [id2, pos2] : Positions) {
|
|
if (id != id2 && pos_it.distanceSquared(pos2) <= radiusSq) {
|
|
neighbors.push_back(id2);
|
|
}
|
|
}
|
|
neighborMap[id] = std::move(neighbors);
|
|
}
|
|
|
|
// Get neighbors for an ID
|
|
const std::vector<size_t>& getNeighbors(size_t id) const {
|
|
static const std::vector<size_t> empty;
|
|
auto it = neighborMap.find(id);
|
|
return it != neighborMap.end() ? it->second : empty;
|
|
}
|
|
|
|
// Set neighbor search radius
|
|
void setNeighborRadius(float radius) {
|
|
neighborRadius = radius;
|
|
updateNeighborMap(); // Recompute all neighbors
|
|
}
|
|
|
|
};
|
|
|
|
#endif |