865 lines
31 KiB
C++
865 lines
31 KiB
C++
#ifndef GRID3_HPP
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#define GRID3_HPP
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#include <unordered_map>
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#include "../vectorlogic/vec3.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 "../noise/pnoise2.hpp"
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#include <vector>
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#include <unordered_set>
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#include <execution>
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#include <algorithm>
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#include "../ray3.hpp"
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constexpr float EPSILON = 0.0000000000000000000000001;
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/// @brief A bidirectional lookup helper to map internal IDs to 2D positions and vice-versa.
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/// @details Maintains two hashmaps to allow O(1) lookup in either direction.
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class reverselookupassistant3 {
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private:
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std::unordered_map<size_t, Vec3> Positions;
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/// "Positions" reversed - stores the reverse mapping from Vec3 to ID.
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std::unordered_map<Vec3, size_t, Vec3::Hash> ƨnoiƚiƨoꟼ;
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size_t next_id;
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public:
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/// @brief Get the Position associated with a specific ID.
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/// @throws std::out_of_range if the ID does not exist.
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Vec3 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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/// @brief Get the ID associated with a specific Position.
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/// @throws std::out_of_range if the Position does not exist.
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size_t at(const Vec3& 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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/// @brief Finds a position by ID (Wrapper for at).
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Vec3 find(size_t id) {
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return Positions.at(id);
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}
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/// @brief Registers a new position and assigns it a unique ID.
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/// @return The newly generated ID.
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size_t set(const Vec3& 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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/// @brief Removes an entry by ID.
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size_t remove(size_t id) {
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Vec3& 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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/// @brief Removes an entry by Position.
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size_t remove(const Vec3& 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() const {
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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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Positions.rehash(0);
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ƨnoiƚiƨoꟼ.clear();
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ƨnoiƚiƨoꟼ.rehash(0);
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next_id = 0;
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}
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using iterator = typename std::unordered_map<size_t, Vec3>::iterator;
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using const_iterator = typename std::unordered_map<size_t, Vec3>::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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bool contains(size_t id) const {
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return (Positions.find(id) != Positions.end());
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}
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bool contains(const Vec3& pos) const {
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return (ƨnoiƚiƨoꟼ.find(pos) != ƨnoiƚiƨoꟼ.end());
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}
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};
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/// @brief Accelerates spatial queries by bucketizing positions into a grid.
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class SpatialGrid3 {
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private:
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float cellSize;
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public:
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std::unordered_map<Vec3, std::unordered_set<size_t>, Vec3::Hash> grid;
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/// @brief Initializes the spatial grid.
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/// @param cellSize The dimension of the spatial buckets. Larger cells mean more items per bucket but fewer buckets.
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SpatialGrid3(float cellSize = 2.0f) : cellSize(cellSize) {}
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/// @brief Converts world coordinates to spatial grid coordinates.
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Vec3 worldToGrid(const Vec3& worldPos) const {
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return (worldPos / cellSize).floor();
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}
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/// @brief Adds an object ID to the spatial index at the given position.
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void insert(size_t id, const Vec3& pos) {
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Vec3 gridPos = worldToGrid(pos);
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grid[gridPos].insert(id);
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}
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/// @brief Removes an object ID from the spatial index.
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void remove(size_t id, const Vec3& pos) {
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Vec3 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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/// @brief Moves an object within the spatial index (removes from old cell, adds to new if changed).
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void update(size_t id, const Vec3& oldPos, const Vec3& newPos) {
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Vec3 oldGridPos = worldToGrid(oldPos);
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Vec3 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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/// @brief Returns all IDs located in the specific grid cell containing 'center'.
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std::unordered_set<size_t> find(const Vec3& center) const {
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auto cellIt = grid.find(worldToGrid(center));
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if (cellIt != grid.end()) {
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return cellIt->second;
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}
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return std::unordered_set<size_t>();
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}
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/// @brief Finds all object IDs within a square area around the center.
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/// @param center The world position center.
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/// @param radius The search radius (defines the bounds of grid cells to check).
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/// @return A vector of candidate IDs (Note: this returns objects in valid grid cells, further distance checks may be required).
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std::vector<size_t> queryRange(const Vec3& center, float radius) const {
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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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Vec3 minGrid = worldToGrid(center - Vec3(radius, radius, radius));
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Vec3 maxGrid = worldToGrid(center + Vec3(radius, radius, radius));
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size_t estimatedSize = (maxGrid.x - minGrid.x + 1) * (maxGrid.y - minGrid.y + 1) * (maxGrid.z - minGrid.z + 1) * 10;
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results.reserve(estimatedSize);
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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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for (int z = minGrid.z; z <= minGrid.z; ++z) {
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auto cellIt = grid.find(Vec3(x, y, z));
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if (cellIt != grid.end()) {
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results.insert(results.end(), cellIt->second.begin(), cellIt->second.end());
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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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grid.rehash(0);
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}
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};
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/// @brief Represents a single point in the grid with an ID, color, and position.
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class GenericVoxel {
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protected:
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size_t id;
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Vec4 color;
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Vec3 pos;
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public:
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//constructors
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GenericVoxel(size_t id, Vec4 color, Vec3 pos) : id(id), color(color), pos(pos) {};
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//getters
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Vec4 getColor() const {
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return color;
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}
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//setters
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void setColor(Vec4 newColor) {
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color = newColor;
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}
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void move(Vec3 newPos) {
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pos = newPos;
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}
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void recolor(Vec4 newColor) {
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color.recolor(newColor);
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}
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};
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class Grid3 {
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protected:
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//all positions
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reverselookupassistant3 Positions;
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std::unordered_map<size_t, GenericVoxel> Pixels;
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std::vector<size_t> unassignedIDs;
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float neighborRadius = 1.0f;
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SpatialGrid3 spatialGrid;
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float spatialCellSize = neighborRadius * 1.5f;
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// Default background color for empty spaces
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Vec4 defaultBackgroundColor = Vec4(0.0f, 0.0f, 0.0f, 0.0f);
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PNoise2 noisegen;
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bool regenpreventer = false;
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public:
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Grid3 noiseGenGrid(Vec3 min, Vec3 max, float minChance = 0.1f
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, float maxChance = 1.0f, bool color = true, int noisemod = 42) {
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TIME_FUNCTION;
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noisegen = PNoise2(noisemod);
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std::cout << "generating a noise grid with the following: "<< min << " by " << max << "chance min: " << minChance
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<< " max: " << maxChance << " gen colors: " << color << std::endl;
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std::vector<Vec3> poses;
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std::vector<Vec4> colors;
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for (int x = min.x; x < max.x; x++) {
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for (int y = min.y; y < max.y; y++) {
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for (int z = min.z; z < max.z; z++) {
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float nx = (x+noisemod)/(max.x+EPSILON)/0.1;
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float ny = (y+noisemod)/(max.y+EPSILON)/0.1;
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float nz = (z+noisemod)/(max.z+EPSILON)/0.1;
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Vec3 pos = Vec3(nx,ny,nz);
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float alpha = noisegen.permute(pos);
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if (alpha > minChance && alpha < maxChance) {
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if (color) {
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float red = noisegen.permute(Vec3(nx, ny, nz)*0.3);
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float green = noisegen.permute(Vec3(nx, ny, nz)*0.6);
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float blue = noisegen.permute(Vec3(nx, ny, nz)*0.9);
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Vec4 newc = Vec4(red,green,blue,1.0);
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colors.push_back(newc);
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poses.push_back(Vec3(x,y,z));
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} else {
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Vec4 newc = Vec4(alpha,alpha,alpha,1.0);
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colors.push_back(newc);
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poses.push_back(Vec3(x,y,z));
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}
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}
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}
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}
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}
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std::cout << "noise generated" << std::endl;
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bulkAddObjects(poses,colors);
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return *this;
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}
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size_t addObject(const Vec3& pos, const Vec4& color, float size = 1.0f) {
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size_t id = Positions.set(pos);
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Pixels.emplace(id, GenericVoxel(id, color, pos));
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spatialGrid.insert(id, pos);
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return id;
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}
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/// @brief Sets the default background color.
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void setDefault(const Vec4& color) {
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defaultBackgroundColor = color;
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}
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/// @brief Moves an object to a new position and updates spatial indexing.
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void setPosition(size_t id, const Vec3& newPosition) {
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Vec3 oldPosition = Positions.at(id);
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Pixels.at(id).move(newPosition);
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spatialGrid.update(id, oldPosition, newPosition);
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Positions.at(id).move(newPosition);
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}
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void setColor(size_t id, const Vec4 color) {
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Pixels.at(id).recolor(color);
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}
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void setNeighborRadius(float radius) {
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neighborRadius = radius;
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//optimizeSpatialGrid();
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}
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Vec4 getDefaultBackgroundColor() const {
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return defaultBackgroundColor;
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}
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Vec3 getPositionID(size_t id) const {
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Vec3 it = Positions.at(id);
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return it;
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}
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size_t getPositionVec(const Vec3& pos, float radius = 0.0f) const {
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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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Vec3 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 getOrCreatePositionVec(const Vec3& pos, float radius = 0.0f, bool create = true) {
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//TIME_FUNCTION; //called too many times and average time is less than 0.0000001 so ignore it.
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if (radius == 0.0f) {
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Vec3 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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if (create) {
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return addObject(pos, defaultBackgroundColor, 1.0f);
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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];
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}
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if (create) {
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return addObject(pos, defaultBackgroundColor, 1.0f);
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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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std::vector<size_t> getPositionVecRegion(const Vec3& pos, float radius = 1.0f) const {
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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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Vec4 getColor(size_t id) {
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return Pixels.at(id).getColor();
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}
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std::pair<Vec3,Vec3> getBoundingBox(Vec3& minCorner, Vec3& maxCorner) const {
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TIME_FUNCTION;
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if (Positions.empty()) {
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std::cout << "empty" << std::endl;
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minCorner = Vec3(0, 0, 0);
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maxCorner = Vec3(0, 0, 0);
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}
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// Initialize with first position
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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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// Find min and max coordinates
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for (const auto& [id, pos] : Positions) {
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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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std::cout << "bounding box: " << minCorner << ", " << maxCorner << std::endl;
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return std::make_pair(minCorner, maxCorner);
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}
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frame getGridRegionAsFrame(const Vec3& minCorner, const Vec3& maxCorner, const Vec2& res,
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const Ray3& View, frame::colormap outChannels = frame::colormap::RGB) const {
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TIME_FUNCTION;
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// Calculate volume dimensions
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float width = maxCorner.x - minCorner.x;
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float height = maxCorner.y - minCorner.y;
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float depth = maxCorner.z - minCorner.z;
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size_t outputWidth = static_cast<int>(res.x);
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size_t outputHeight = static_cast<int>(res.y);
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// Validate dimensions
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if (width <= 0 || height <= 0 || depth <= 0 || outputWidth <= 0 || outputHeight <= 0) {
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frame outframe = frame();
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outframe.colorFormat = outChannels;
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return outframe;
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}
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// if (regenpreventer) {
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// frame outframe = frame();
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// outframe.colorFormat = outChannels;
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// return outframe;
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// }
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// regenpreventer = true;
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std::cout << "Rendering 3D region: " << minCorner << " to " << maxCorner
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<< " at resolution: " << res << " with view: " << View.origin << std::endl;
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// Create output frame
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frame outframe(outputWidth, outputHeight, outChannels);
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// Create buffers for accumulation
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std::unordered_map<Vec2, Vec4> colorBuffer; // Final blended colors per pixel
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std::unordered_map<Vec2, Vec4> colorAccumBuffer; // Accumulated colors per pixel
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std::unordered_map<Vec2, int> countBuffer; // Count of voxels per pixel
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std::unordered_map<Vec2, float> depthBuffer; // Depth buffer for visibility
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// Reserve memory for better performance
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size_t bufferSize = outputWidth * outputHeight;
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colorBuffer.reserve(bufferSize);
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colorAccumBuffer.reserve(bufferSize);
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countBuffer.reserve(bufferSize);
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depthBuffer.reserve(bufferSize);
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std::cout << "Built buffers for " << bufferSize << " pixels" << std::endl;
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// Pre-calculate view parameters
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Vec3 viewDirection = View.direction;
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Vec3 viewOrigin = View.origin;
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// Define view plane axes (simplified orthographic projection)
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Vec3 viewRight = Vec3(1, 0, 0);
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Vec3 viewUp = Vec3(0, 1, 0);
|
|
|
|
// If we want perspective projection, we can use the ray direction
|
|
// For now, using orthographic projection aligned with view direction
|
|
|
|
// Calculate scaling factors for projection
|
|
float xScale = outputWidth / width;
|
|
float yScale = outputHeight / height;
|
|
|
|
std::cout << "Processing voxels..." << std::endl;
|
|
size_t voxelCount = 0;
|
|
|
|
// Process all voxels in the region
|
|
for (const auto& [id, pos] : Positions) {
|
|
// Check if voxel is within the region
|
|
if (pos.x >= minCorner.x && pos.x <= maxCorner.x &&
|
|
pos.y >= minCorner.y && pos.y <= maxCorner.y &&
|
|
pos.z >= minCorner.z && pos.z <= maxCorner.z) {
|
|
|
|
voxelCount++;
|
|
|
|
// Project 3D position to 2D screen coordinates
|
|
// Simple orthographic projection: ignore Z for position, use Z for depth sorting
|
|
|
|
// Calculate relative position within region
|
|
float relX = pos.x - minCorner.x;
|
|
float relY = pos.y - minCorner.y;
|
|
float relZ = pos.z - minCorner.z;
|
|
|
|
// Project to 2D pixel coordinates
|
|
// Using perspective projection based on view direction
|
|
Vec3 toVoxel = pos - viewOrigin;
|
|
float distance = toVoxel.length();
|
|
|
|
// Simple projection: parallel to view direction
|
|
// For proper perspective, we'd need to calculate intersection with view plane
|
|
// Here's a simplified approach:
|
|
Vec3 viewPlanePos = pos - (toVoxel.dot(viewDirection)) * viewDirection;
|
|
|
|
// Transform to screen coordinates
|
|
float screenX = viewPlanePos.dot(viewRight);
|
|
float screenY = viewPlanePos.dot(viewUp);
|
|
|
|
// Convert to pixel coordinates
|
|
int pixX = static_cast<int>((screenX - minCorner.x) * xScale);
|
|
int pixY = static_cast<int>((screenY - minCorner.y) * yScale);
|
|
|
|
// Clamp to output bounds
|
|
pixX = std::max(0, std::min(pixX, static_cast<int>(outputWidth) - 1));
|
|
pixY = std::max(0, std::min(pixY, static_cast<int>(outputHeight) - 1));
|
|
|
|
Vec2 pixelPos(pixX, pixY);
|
|
|
|
// Get voxel color and opacity
|
|
Vec4 voxelColor = Pixels.at(id).getColor();
|
|
|
|
// Use depth for visibility (simplified: use Z coordinate)
|
|
float depth = relZ; // Or use distance for perspective
|
|
|
|
// Check if this voxel is closer than previous ones at this pixel
|
|
bool shouldRender = true;
|
|
auto depthIt = depthBuffer.find(pixelPos);
|
|
if (depthIt != depthBuffer.end()) {
|
|
// Existing voxel at this pixel - check if new one is closer
|
|
if (depth > depthIt->second) {
|
|
// New voxel is behind existing one
|
|
shouldRender = false;
|
|
} else {
|
|
// New voxel is in front, update depth
|
|
depthBuffer[pixelPos] = depth;
|
|
}
|
|
} else {
|
|
// First voxel at this pixel
|
|
depthBuffer[pixelPos] = depth;
|
|
}
|
|
|
|
if (shouldRender) {
|
|
// Accumulate color (we'll average later)
|
|
colorAccumBuffer[pixelPos] += voxelColor;
|
|
countBuffer[pixelPos]++;
|
|
|
|
// For depth-based rendering, we could store the closest color
|
|
colorBuffer[pixelPos] = voxelColor; // Simple: overwrite with closest
|
|
}
|
|
}
|
|
}
|
|
|
|
std::cout << "Processed " << voxelCount << " voxels" << std::endl;
|
|
std::cout << "Blending colors..." << std::endl;
|
|
|
|
// Prepare output buffer based on color format
|
|
switch (outChannels) {
|
|
case frame::colormap::RGBA: {
|
|
std::vector<uint8_t> pixelBuffer(outputWidth * outputHeight * 4, 0);
|
|
|
|
// Fill buffer with blended colors or background
|
|
for (size_t y = 0; y < outputHeight; ++y) {
|
|
for (size_t x = 0; x < outputWidth; ++x) {
|
|
Vec2 pixelPos(x, y);
|
|
size_t index = (y * outputWidth + x) * 4;
|
|
|
|
Vec4 finalColor;
|
|
auto countIt = countBuffer.find(pixelPos);
|
|
|
|
if (countIt != countBuffer.end() && countIt->second > 0) {
|
|
// Average accumulated colors
|
|
finalColor = colorAccumBuffer[pixelPos] / static_cast<float>(countIt->second);
|
|
// Apply gamma correction and clamp
|
|
finalColor = finalColor.clamp(0.0f, 1.0f);
|
|
finalColor = finalColor * 255.0f;
|
|
} else {
|
|
// Use background color
|
|
finalColor = defaultBackgroundColor * 255.0f;
|
|
}
|
|
|
|
pixelBuffer[index + 0] = static_cast<uint8_t>(finalColor.r);
|
|
pixelBuffer[index + 1] = static_cast<uint8_t>(finalColor.g);
|
|
pixelBuffer[index + 2] = static_cast<uint8_t>(finalColor.b);
|
|
pixelBuffer[index + 3] = static_cast<uint8_t>(finalColor.a);
|
|
}
|
|
}
|
|
|
|
outframe.setData(pixelBuffer);
|
|
break;
|
|
}
|
|
|
|
case frame::colormap::BGR: {
|
|
std::vector<uint8_t> pixelBuffer(outputWidth * outputHeight * 3, 0);
|
|
|
|
for (size_t y = 0; y < outputHeight; ++y) {
|
|
for (size_t x = 0; x < outputWidth; ++x) {
|
|
Vec2 pixelPos(x, y);
|
|
size_t index = (y * outputWidth + x) * 3;
|
|
|
|
Vec4 finalColor;
|
|
auto countIt = countBuffer.find(pixelPos);
|
|
|
|
if (countIt != countBuffer.end() && countIt->second > 0) {
|
|
finalColor = colorAccumBuffer[pixelPos] / static_cast<float>(countIt->second);
|
|
finalColor = finalColor.clamp(0.0f, 1.0f);
|
|
finalColor = finalColor * 255.0f;
|
|
} else {
|
|
finalColor = defaultBackgroundColor * 255.0f;
|
|
}
|
|
|
|
pixelBuffer[index + 2] = static_cast<uint8_t>(finalColor.r); // BGR swap
|
|
pixelBuffer[index + 1] = static_cast<uint8_t>(finalColor.g);
|
|
pixelBuffer[index + 0] = static_cast<uint8_t>(finalColor.b);
|
|
}
|
|
}
|
|
|
|
outframe.setData(pixelBuffer);
|
|
break;
|
|
}
|
|
|
|
case frame::colormap::RGB:
|
|
default: {
|
|
std::vector<uint8_t> pixelBuffer(outputWidth * outputHeight * 3, 0);
|
|
|
|
for (size_t y = 0; y < outputHeight; ++y) {
|
|
for (size_t x = 0; x < outputWidth; ++x) {
|
|
Vec2 pixelPos(x, y);
|
|
size_t index = (y * outputWidth + x) * 3;
|
|
|
|
Vec4 finalColor;
|
|
auto countIt = countBuffer.find(pixelPos);
|
|
|
|
if (countIt != countBuffer.end() && countIt->second > 0) {
|
|
finalColor = colorAccumBuffer[pixelPos] / static_cast<float>(countIt->second);
|
|
finalColor = finalColor.clamp(0.0f, 1.0f);
|
|
finalColor = finalColor * 255.0f;
|
|
} else {
|
|
finalColor = defaultBackgroundColor * 255.0f;
|
|
}
|
|
|
|
pixelBuffer[index + 0] = static_cast<uint8_t>(finalColor.r);
|
|
pixelBuffer[index + 1] = static_cast<uint8_t>(finalColor.g);
|
|
pixelBuffer[index + 2] = static_cast<uint8_t>(finalColor.b);
|
|
}
|
|
}
|
|
|
|
outframe.setData(pixelBuffer);
|
|
break;
|
|
}
|
|
}
|
|
|
|
std::cout << "Rendering complete" << std::endl;
|
|
// regenpreventer = false;
|
|
|
|
return outframe;
|
|
}
|
|
|
|
frame getGridAsFrame(const Vec2& res, const Ray3& View, frame::colormap outChannels = frame::colormap::RGB) const {
|
|
Vec3 Min;
|
|
Vec3 Max;
|
|
auto a = getBoundingBox(Min, Max);
|
|
|
|
return getGridRegionAsFrame(a.first, a.second, res, View, outChannels);
|
|
}
|
|
|
|
size_t removeID(size_t id) {
|
|
Vec3 oldPosition = Positions.at(id);
|
|
Positions.remove(id);
|
|
Pixels.erase(id);
|
|
unassignedIDs.push_back(id);
|
|
spatialGrid.remove(id, oldPosition);
|
|
return id;
|
|
}
|
|
|
|
void bulkUpdatePositions(const std::unordered_map<size_t, Vec3>& newPositions) {
|
|
TIME_FUNCTION;
|
|
for (const auto& [id, newPos] : newPositions) {
|
|
Vec3 oldPosition = Positions.at(id);
|
|
Positions.at(id).move(newPos);
|
|
Pixels.at(id).move(newPos);
|
|
spatialGrid.update(id, oldPosition, newPos);
|
|
}
|
|
}
|
|
|
|
std::vector<size_t> bulkAddObjects(const std::vector<Vec3> poses, std::vector<Vec4> colors) {
|
|
TIME_FUNCTION;
|
|
std::vector<size_t> ids;
|
|
ids.reserve(poses.size());
|
|
|
|
// Reserve space in maps to avoid rehashing
|
|
if (Positions.bucket_count() < Positions.size() + poses.size()) {
|
|
Positions.reserve(Positions.size() + poses.size());
|
|
Pixels.reserve(Positions.size() + poses.size());
|
|
}
|
|
|
|
// Batch insertion
|
|
std::vector<size_t> newids;
|
|
for (size_t i = 0; i < poses.size(); ++i) {
|
|
size_t id = Positions.set(poses[i]);
|
|
Pixels.emplace(id, GenericVoxel(id, colors[i], poses[i]));
|
|
spatialGrid.insert(id,poses[i]);
|
|
newids.push_back(id);
|
|
}
|
|
|
|
shrinkIfNeeded();
|
|
|
|
return newids;
|
|
}
|
|
|
|
void shrinkIfNeeded() {
|
|
//TODO: garbage collector
|
|
}
|
|
|
|
void clear() {
|
|
Positions.clear();
|
|
Pixels.clear();
|
|
spatialGrid.clear();
|
|
Pixels.rehash(0);
|
|
defaultBackgroundColor = Vec4(0.0f, 0.0f, 0.0f, 0.0f);
|
|
}
|
|
|
|
void optimizeSpatialGrid() {
|
|
TIME_FUNCTION;
|
|
//std::cout << "optimizeSpatialGrid()" << std::endl;
|
|
spatialCellSize = neighborRadius * neighborRadius;
|
|
spatialGrid = SpatialGrid3(spatialCellSize);
|
|
|
|
// Rebuild spatial grid
|
|
spatialGrid.clear();
|
|
for (const auto& [id, pos] : Positions) {
|
|
spatialGrid.insert(id, pos);
|
|
}
|
|
}
|
|
|
|
std::vector<size_t> getNeighbors(size_t id) const {
|
|
Vec3 pos = Positions.at(id);
|
|
// std::cout << "something something neighbors blah blah" << std::endl;
|
|
std::vector<size_t> candidates = spatialGrid.queryRange(pos, neighborRadius);
|
|
// std::cout << "something something neighbors blah blah got em" << std::endl;
|
|
std::vector<size_t> neighbors;
|
|
float radiusSq = neighborRadius * neighborRadius;
|
|
|
|
for (size_t candidateId : candidates) {
|
|
if (candidateId == id) continue;
|
|
if (!Positions.contains(candidateId)) continue;
|
|
|
|
// std::cout << "something something neighbors blah blah validating" << std::endl;
|
|
if (pos.distanceSquared(Positions.at(candidateId)) <= radiusSq) {
|
|
if (Pixels.find(candidateId) != Pixels.end()) {
|
|
std::cerr << "NOT IN PIXELS! ERROR! ERROR!" <<std::endl;
|
|
continue;
|
|
}
|
|
neighbors.push_back(candidateId);
|
|
}
|
|
}
|
|
// std::cout << "something something neighbors blah blah done" << std::endl;
|
|
return neighbors;
|
|
}
|
|
|
|
std::vector<size_t> getNeighborsRange(size_t id, float dist) const {
|
|
Vec3 pos = Positions.at(id);
|
|
std::vector<size_t> candidates = spatialGrid.queryRange(pos, neighborRadius);
|
|
|
|
std::vector<size_t> neighbors;
|
|
float radiusSq = dist * dist;
|
|
|
|
for (size_t candidateId : candidates) {
|
|
if (candidateId != id &&
|
|
pos.distanceSquared(Positions.at(candidateId)) <= radiusSq) {
|
|
neighbors.push_back(candidateId);
|
|
}
|
|
}
|
|
|
|
return neighbors;
|
|
}
|
|
|
|
Grid3 backfillGrid() {
|
|
TIME_FUNCTION;
|
|
Vec3 Min;
|
|
Vec3 Max;
|
|
getBoundingBox(Min, Max);
|
|
std::vector<Vec3> newPos;
|
|
std::vector<Vec4> newColors;
|
|
for (size_t x = Min.x; x < Max.x; x++) {
|
|
for (size_t y = Min.y; y < Max.y; y++) {
|
|
for (size_t z = Min.z; z < Max.z; z++) {
|
|
Vec3 pos = Vec3(x,y,z);
|
|
if (Positions.contains(pos)) continue;
|
|
Vec4 color = defaultBackgroundColor;
|
|
float size = 0.1;
|
|
newPos.push_back(pos);
|
|
newColors.push_back(color);
|
|
}
|
|
}
|
|
}
|
|
bulkAddObjects(newPos, newColors);
|
|
return *this;
|
|
}
|
|
|
|
bool checkConsistency() const {
|
|
std::cout << "=== Consistency Check ===" << std::endl;
|
|
std::cout << "Positions size: " << Positions.size() << std::endl;
|
|
std::cout << "Pixels size: " << Pixels.size() << std::endl;
|
|
|
|
// Check 1: All Pixels should have corresponding Positions
|
|
for (const auto& [id, voxel] : Pixels) {
|
|
if (!Positions.contains(id)) {
|
|
std::cout << "ERROR: Pixel ID " << id << " not in Positions!" << std::endl;
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// Check 2: All Positions should have corresponding Pixels (maybe not always true?)
|
|
for (const auto& [id, pos] : Positions) {
|
|
if (Pixels.find(id) == Pixels.end()) {
|
|
std::cout << "ERROR: Position ID " << id << " not in Pixels!" << std::endl;
|
|
std::cout << " Position: " << pos << std::endl;
|
|
return false;
|
|
}
|
|
}
|
|
|
|
std::cout << "Consistency check passed!" << std::endl;
|
|
return true;
|
|
}
|
|
|
|
|
|
};
|
|
|
|
#endif |