443 lines
15 KiB
C++
443 lines
15 KiB
C++
#include <unordered_map>
|
|
#include "../vectorlogic/vec2.hpp"
|
|
#include "../vectorlogic/vec4.hpp"
|
|
#include "../timing_decorator.hpp"
|
|
#include <vector>
|
|
#ifndef GRID2_HPP
|
|
#define GRID2_HPP
|
|
|
|
class Grid2 {
|
|
private:
|
|
//all positions
|
|
std::unordered_map<size_t, Vec2> Positions;
|
|
//all colors
|
|
std::unordered_map<size_t, Vec4> Colors;
|
|
//all sizes
|
|
std::unordered_map<size_t, float> Sizes;
|
|
|
|
std::vector<size_t> unassignedIDs;
|
|
|
|
//grid min
|
|
Vec2 gridMin;
|
|
//grid max
|
|
Vec2 gridMax;
|
|
//next id
|
|
size_t next_id;
|
|
|
|
//TODO: neighbor map
|
|
std::unordered_map<size_t, std::vector<size_t>> neighborMap;
|
|
float neighborRadius = 1.0f; // Default neighbor search radius
|
|
//TODO: spatial map
|
|
public:
|
|
//get position from id
|
|
Vec2 getPositionID(size_t id) const {
|
|
auto it = Positions.find(id);
|
|
return it != Positions.end() ? it->second : Vec2();
|
|
}
|
|
//get id from position (optional radius, picks first found. radius of 0 becomes epsilon if none are found)
|
|
size_t getPositionVec(Vec2 pos, float radius = 0.0f) {
|
|
float searchRadius = (radius == 0.0f) ? std::numeric_limits<float>::epsilon() : radius;
|
|
|
|
float radiusSq = searchRadius*searchRadius;
|
|
|
|
for (const auto& pair : Positions) {
|
|
if (pair.second.distanceSquared(pos) <= radiusSq) {
|
|
return pair.first;
|
|
}
|
|
}
|
|
return -1;
|
|
}
|
|
|
|
size_t getPositionVec(float x, float y, float radius = 0.0f) {
|
|
return getPositionVec(Vec2(x,y), radius);
|
|
}
|
|
//get all id in region
|
|
std::vector<size_t> getPositionVecRegion(Vec2 pos, float radius = 1.0f) {
|
|
float searchRadius = (radius == 0.0f) ? std::numeric_limits<float>::epsilon() : radius;
|
|
|
|
float radiusSq = searchRadius*searchRadius;
|
|
std::vector<size_t> posvec;
|
|
for (const auto& pair : Positions) {
|
|
if (pair.second.distanceSquared(pos) <= radiusSq) {
|
|
posvec.push_back(pair.first);
|
|
}
|
|
}
|
|
return posvec;
|
|
}
|
|
//get color from id
|
|
Vec4 getColor(size_t id) {
|
|
return Colors.at(id);
|
|
}
|
|
//get color from position (use get id from position and then get color from id)
|
|
Vec4 getColor(float x, float y) {
|
|
size_t id = getPositionVec(Vec2(x,y),0.0);
|
|
return getColor(id);
|
|
}
|
|
//get size from id
|
|
Vec4 getSize(size_t id) {
|
|
return Colors.at(id);
|
|
}
|
|
//get size from position (use get id from position and then get size from id)
|
|
Vec4 getSize(float x, float y) {
|
|
size_t id = getPositionVec(Vec2(x,y),0.0);
|
|
return getSize(id);
|
|
}
|
|
|
|
//add pixel (default color and default size provided)
|
|
size_t addObject(const Vec2& pos, const Vec4& color, float size = 1.0f) {
|
|
size_t id = next_id++;
|
|
Positions[id] = pos;
|
|
Colors[id] = color;
|
|
Sizes[id] = size;
|
|
return id;
|
|
updateNeighborForID(id);
|
|
}
|
|
//set position by id
|
|
void setPosition(size_t id, const Vec2& position) {
|
|
Positions.at(id).move(position);
|
|
updateNeighborForID(id);
|
|
}
|
|
void setPosition(size_t id, float x, float y) {
|
|
Positions.at(id).move(Vec2(x,y));
|
|
updateNeighborForID(id);
|
|
}
|
|
//set color by id (by pos same as get color)
|
|
void setColor(size_t id, const Vec4 color) {
|
|
Colors.at(id).recolor(color);
|
|
}
|
|
void setColor(size_t id, float r, float g, float b, float a=1.0f) {
|
|
Colors.at(id).recolor(Vec4(r,g,b,a));
|
|
}
|
|
void setColor(float x, float y, const Vec4 color) {
|
|
size_t id = getPositionVec(Vec2(x,y));
|
|
Colors.at(id).recolor(color);
|
|
}
|
|
void setColor(float x, float y, float r, float g, float b, float a=1.0f) {
|
|
size_t id = getPositionVec(Vec2(x,y));
|
|
Colors.at(id).recolor(Vec4(r,g,b,a));
|
|
}
|
|
void setColor(const Vec2& pos, const Vec4 color) {
|
|
size_t id = getPositionVec(pos);
|
|
Colors.at(id).recolor(color);
|
|
}
|
|
void setColor(const Vec2& pos, float r, float g, float b, float a=1.0f) {
|
|
size_t id = getPositionVec(pos);
|
|
Colors.at(id).recolor(Vec4(r,g,b,a));
|
|
}
|
|
//set size by id (by pos same as get size)
|
|
void setSize(size_t id, float size) {
|
|
Sizes.at(id) = size;
|
|
}
|
|
void setSize(float x, float y, float size) {
|
|
size_t id = getPositionVec(Vec2(x,y));
|
|
Sizes.at(id) = size;
|
|
}
|
|
void setSize(const Vec2& pos, float size) {
|
|
size_t id = getPositionVec(pos);
|
|
Sizes.at(id) = size;
|
|
}
|
|
|
|
//remove object (should remove the id, the color, the position, and the size)
|
|
size_t removeID(size_t id) {
|
|
Positions.erase(id);
|
|
Colors.erase(id);
|
|
Sizes.erase(id);
|
|
unassignedIDs.push_back(id);
|
|
updateNeighborForID(id);
|
|
return id;
|
|
}
|
|
size_t removeID(Vec2 pos) {
|
|
size_t id = getPositionVec(pos);
|
|
Positions.erase(id);
|
|
Colors.erase(id);
|
|
Sizes.erase(id);
|
|
unassignedIDs.push_back(id);
|
|
updateNeighborForID(id);
|
|
return id;
|
|
}
|
|
|
|
//bulk update positions
|
|
void bulkUpdatePositions(const std::unordered_map<size_t, Vec2>& newPositions) {
|
|
TIME_FUNCTION;
|
|
for (const auto& [id, newPos] : newPositions) {
|
|
auto it = Positions.find(id);
|
|
if (it != Positions.end()) {
|
|
it->second = newPos;
|
|
}
|
|
}
|
|
updateNeighborMap();
|
|
}
|
|
// Bulk update colors
|
|
void bulkUpdateColors(const std::unordered_map<size_t, Vec4>& newColors) {
|
|
TIME_FUNCTION;
|
|
for (const auto& [id, newColor] : newColors) {
|
|
auto it = Colors.find(id);
|
|
if (it != Colors.end()) {
|
|
it->second = newColor;
|
|
}
|
|
}
|
|
}
|
|
// Bulk update sizes
|
|
void bulkUpdateSizes(const std::unordered_map<size_t, float>& newSizes) {
|
|
TIME_FUNCTION;
|
|
for (const auto& [id, newSize] : newSizes) {
|
|
auto it = Sizes.find(id);
|
|
if (it != Sizes.end()) {
|
|
it->second = newSize;
|
|
}
|
|
}
|
|
}
|
|
//bulk add
|
|
std::vector<size_t> bulkAddObjects(const std::vector<std::tuple<Vec2, Vec4, float>>& objects) {
|
|
TIME_FUNCTION;
|
|
std::vector<size_t> ids;
|
|
ids.reserve(objects.size());
|
|
|
|
// Reserve space in maps to avoid rehashing
|
|
if (Positions.bucket_count() < Positions.size() + objects.size()) {
|
|
Positions.reserve(Positions.size() + objects.size());
|
|
Colors.reserve(Colors.size() + objects.size());
|
|
Sizes.reserve(Sizes.size() + objects.size());
|
|
}
|
|
|
|
// Batch insertion
|
|
#pragma omp parallel for
|
|
for (size_t i = 0; i < objects.size(); ++i) {
|
|
size_t id = next_id + i;
|
|
const auto& [pos, color, size] = objects[i];
|
|
|
|
Positions[id] = pos;
|
|
Colors[id] = color;
|
|
Sizes[id] = size;
|
|
}
|
|
|
|
// Update next_id atomically
|
|
next_id += objects.size();
|
|
return getAllIDs(); // Or generate ID range
|
|
}
|
|
|
|
std::vector<size_t> bulkAddObjects(const std::vector<Vec2> poses, std::vector<Vec4> colors, std::vector<float>& sizes) {
|
|
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());
|
|
Colors.reserve(Colors.size() + colors.size());
|
|
Sizes.reserve(Sizes.size() + sizes.size());
|
|
}
|
|
|
|
// Batch insertion
|
|
#pragma omp parallel for
|
|
for (size_t i = 0; i < poses.size(); ++i) {
|
|
size_t id = next_id + i;
|
|
|
|
Positions[id] = poses[i];
|
|
Colors[id] = colors[i];
|
|
Sizes[id] = sizes[i];
|
|
}
|
|
|
|
// Update next_id atomically
|
|
next_id += poses.size();
|
|
return getAllIDs(); // Or generate ID range
|
|
}
|
|
//get all ids
|
|
std::vector<size_t> getAllIDs() const {
|
|
TIME_FUNCTION;
|
|
std::vector<size_t> ids;
|
|
ids.reserve(Positions.size());
|
|
|
|
for (const auto& pair : Positions) {
|
|
ids.push_back(pair.first);
|
|
}
|
|
|
|
return ids;
|
|
}
|
|
|
|
// no return because it passes back a 1d vector of ints between 0 and 255 with a width and height
|
|
//get region as rgb
|
|
void getGridRegionAsRGB(const Vec2& minCorner, const Vec2& maxCorner,
|
|
int& width, int& height, std::vector<uint8_t>& rgbData) const {
|
|
TIME_FUNCTION;
|
|
// Calculate dimensions
|
|
width = static_cast<int>(maxCorner.x - minCorner.x);
|
|
height = static_cast<int>(maxCorner.y - minCorner.y);
|
|
|
|
if (width <= 0 || height <= 0) {
|
|
width = height = 0;
|
|
rgbData.clear();
|
|
return;
|
|
}
|
|
|
|
// Initialize RGB data (3 bytes per pixel: R, G, B)
|
|
rgbData.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 RGB
|
|
const Vec4& color = Colors.at(id);
|
|
int index = (pixelY * width + pixelX) * 3;
|
|
|
|
// Convert from [0,1] to [0,255] and store as RGB
|
|
rgbData[index] = static_cast<unsigned char>(color.r * 255);
|
|
rgbData[index + 1] = static_cast<unsigned char>(color.g * 255);
|
|
rgbData[index + 2] = static_cast<unsigned char>(color.b * 255);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Get region as BGR
|
|
void getGridRegionAsBGR(const Vec2& minCorner, const Vec2& maxCorner,
|
|
int& width, int& height, std::vector<uint8_t>& bgrData) const {
|
|
TIME_FUNCTION;
|
|
// Calculate dimensions
|
|
width = static_cast<int>(maxCorner.x - minCorner.x);
|
|
height = static_cast<int>(maxCorner.y - minCorner.y);
|
|
|
|
if (width <= 0 || height <= 0) {
|
|
width = height = 0;
|
|
bgrData.clear();
|
|
return;
|
|
}
|
|
|
|
// Initialize BGR data (3 bytes per pixel: B, G, R)
|
|
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) const {
|
|
Vec2 minCorner, maxCorner;
|
|
getBoundingBox(minCorner, maxCorner);
|
|
getGridRegionAsRGB(minCorner, maxCorner, width, height, rgbData);
|
|
}
|
|
|
|
void getGridAsBGR(int& width, int& height, std::vector<uint8_t>& bgrData) const {
|
|
Vec2 minCorner, maxCorner;
|
|
getBoundingBox(minCorner, maxCorner);
|
|
getGridRegionAsBGR(minCorner, maxCorner, width, height, bgrData);
|
|
}
|
|
|
|
//get bounding box
|
|
void getBoundingBox(Vec2& minCorner, Vec2& maxCorner) const {
|
|
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();
|
|
next_id = 0;
|
|
}
|
|
|
|
// 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;
|
|
|
|
for (const auto& [id2, pos2] : Positions) {
|
|
if (id1 != id2 && pos1.distanceSquared(pos2) <= radiusSq) {
|
|
neighbors.push_back(id2);
|
|
}
|
|
}
|
|
neighborMap[id1] = std::move(neighbors);
|
|
}
|
|
}
|
|
|
|
// Update neighbor map for a single object (more efficient)
|
|
void updateNeighborForID(size_t id) {
|
|
TIME_FUNCTION;
|
|
auto pos_it = Positions.find(id);
|
|
if (pos_it == Positions.end()) return;
|
|
|
|
Vec2 pos1 = pos_it->second;
|
|
std::vector<size_t> neighbors;
|
|
float radiusSq = neighborRadius * neighborRadius;
|
|
|
|
for (const auto& [id2, pos2] : Positions) {
|
|
if (id != id2 && pos1.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
|
|
}
|
|
// spatial map
|
|
};
|
|
|
|
#endif |