[136] | 1 | // This file is part of Eigen, a lightweight C++ template library
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| 2 | // for linear algebra.
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| 3 | //
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| 4 | // Copyright (C) 2009 Ilya Baran <ibaran@mit.edu>
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| 5 | //
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| 6 | // This Source Code Form is subject to the terms of the Mozilla
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| 7 | // Public License v. 2.0. If a copy of the MPL was not distributed
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| 8 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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| 9 |
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| 10 | #ifndef EIGEN_BVALGORITHMS_H
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| 11 | #define EIGEN_BVALGORITHMS_H
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| 12 |
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| 13 | namespace Eigen {
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| 14 |
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| 15 | namespace internal {
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| 16 |
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| 17 | #ifndef EIGEN_PARSED_BY_DOXYGEN
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| 18 | template<typename BVH, typename Intersector>
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| 19 | bool intersect_helper(const BVH &tree, Intersector &intersector, typename BVH::Index root)
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| 20 | {
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| 21 | typedef typename BVH::Index Index;
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| 22 | typedef typename BVH::VolumeIterator VolIter;
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| 23 | typedef typename BVH::ObjectIterator ObjIter;
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| 24 |
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| 25 | VolIter vBegin = VolIter(), vEnd = VolIter();
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| 26 | ObjIter oBegin = ObjIter(), oEnd = ObjIter();
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| 27 |
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| 28 | std::vector<Index> todo(1, root);
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| 29 |
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| 30 | while(!todo.empty()) {
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| 31 | tree.getChildren(todo.back(), vBegin, vEnd, oBegin, oEnd);
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| 32 | todo.pop_back();
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| 33 |
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| 34 | for(; vBegin != vEnd; ++vBegin) //go through child volumes
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| 35 | if(intersector.intersectVolume(tree.getVolume(*vBegin)))
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| 36 | todo.push_back(*vBegin);
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| 37 |
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| 38 | for(; oBegin != oEnd; ++oBegin) //go through child objects
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| 39 | if(intersector.intersectObject(*oBegin))
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| 40 | return true; //intersector said to stop query
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| 41 | }
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| 42 | return false;
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| 43 | }
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| 44 | #endif //not EIGEN_PARSED_BY_DOXYGEN
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| 45 |
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| 46 | template<typename Volume1, typename Object1, typename Object2, typename Intersector>
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| 47 | struct intersector_helper1
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| 48 | {
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| 49 | intersector_helper1(const Object2 &inStored, Intersector &in) : stored(inStored), intersector(in) {}
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| 50 | bool intersectVolume(const Volume1 &vol) { return intersector.intersectVolumeObject(vol, stored); }
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| 51 | bool intersectObject(const Object1 &obj) { return intersector.intersectObjectObject(obj, stored); }
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| 52 | Object2 stored;
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| 53 | Intersector &intersector;
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| 54 | private:
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| 55 | intersector_helper1& operator=(const intersector_helper1&);
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| 56 | };
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| 57 |
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| 58 | template<typename Volume2, typename Object2, typename Object1, typename Intersector>
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| 59 | struct intersector_helper2
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| 60 | {
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| 61 | intersector_helper2(const Object1 &inStored, Intersector &in) : stored(inStored), intersector(in) {}
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| 62 | bool intersectVolume(const Volume2 &vol) { return intersector.intersectObjectVolume(stored, vol); }
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| 63 | bool intersectObject(const Object2 &obj) { return intersector.intersectObjectObject(stored, obj); }
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| 64 | Object1 stored;
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| 65 | Intersector &intersector;
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| 66 | private:
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| 67 | intersector_helper2& operator=(const intersector_helper2&);
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| 68 | };
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| 69 |
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| 70 | } // end namespace internal
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| 71 |
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| 72 | /** Given a BVH, runs the query encapsulated by \a intersector.
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| 73 | * The Intersector type must provide the following members: \code
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| 74 | bool intersectVolume(const BVH::Volume &volume) //returns true if volume intersects the query
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| 75 | bool intersectObject(const BVH::Object &object) //returns true if the search should terminate immediately
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| 76 | \endcode
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| 77 | */
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| 78 | template<typename BVH, typename Intersector>
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| 79 | void BVIntersect(const BVH &tree, Intersector &intersector)
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| 80 | {
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| 81 | internal::intersect_helper(tree, intersector, tree.getRootIndex());
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| 82 | }
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| 83 |
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| 84 | /** Given two BVH's, runs the query on their Cartesian product encapsulated by \a intersector.
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| 85 | * The Intersector type must provide the following members: \code
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| 86 | bool intersectVolumeVolume(const BVH1::Volume &v1, const BVH2::Volume &v2) //returns true if product of volumes intersects the query
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| 87 | bool intersectVolumeObject(const BVH1::Volume &v1, const BVH2::Object &o2) //returns true if the volume-object product intersects the query
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| 88 | bool intersectObjectVolume(const BVH1::Object &o1, const BVH2::Volume &v2) //returns true if the volume-object product intersects the query
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| 89 | bool intersectObjectObject(const BVH1::Object &o1, const BVH2::Object &o2) //returns true if the search should terminate immediately
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| 90 | \endcode
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| 91 | */
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| 92 | template<typename BVH1, typename BVH2, typename Intersector>
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| 93 | void BVIntersect(const BVH1 &tree1, const BVH2 &tree2, Intersector &intersector) //TODO: tandem descent when it makes sense
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| 94 | {
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| 95 | typedef typename BVH1::Index Index1;
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| 96 | typedef typename BVH2::Index Index2;
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| 97 | typedef internal::intersector_helper1<typename BVH1::Volume, typename BVH1::Object, typename BVH2::Object, Intersector> Helper1;
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| 98 | typedef internal::intersector_helper2<typename BVH2::Volume, typename BVH2::Object, typename BVH1::Object, Intersector> Helper2;
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| 99 | typedef typename BVH1::VolumeIterator VolIter1;
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| 100 | typedef typename BVH1::ObjectIterator ObjIter1;
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| 101 | typedef typename BVH2::VolumeIterator VolIter2;
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| 102 | typedef typename BVH2::ObjectIterator ObjIter2;
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| 103 |
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| 104 | VolIter1 vBegin1 = VolIter1(), vEnd1 = VolIter1();
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| 105 | ObjIter1 oBegin1 = ObjIter1(), oEnd1 = ObjIter1();
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| 106 | VolIter2 vBegin2 = VolIter2(), vEnd2 = VolIter2(), vCur2 = VolIter2();
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| 107 | ObjIter2 oBegin2 = ObjIter2(), oEnd2 = ObjIter2(), oCur2 = ObjIter2();
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| 108 |
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| 109 | std::vector<std::pair<Index1, Index2> > todo(1, std::make_pair(tree1.getRootIndex(), tree2.getRootIndex()));
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| 110 |
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| 111 | while(!todo.empty()) {
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| 112 | tree1.getChildren(todo.back().first, vBegin1, vEnd1, oBegin1, oEnd1);
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| 113 | tree2.getChildren(todo.back().second, vBegin2, vEnd2, oBegin2, oEnd2);
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| 114 | todo.pop_back();
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| 115 |
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| 116 | for(; vBegin1 != vEnd1; ++vBegin1) { //go through child volumes of first tree
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| 117 | const typename BVH1::Volume &vol1 = tree1.getVolume(*vBegin1);
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| 118 | for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree
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| 119 | if(intersector.intersectVolumeVolume(vol1, tree2.getVolume(*vCur2)))
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| 120 | todo.push_back(std::make_pair(*vBegin1, *vCur2));
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| 121 | }
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| 122 |
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| 123 | for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree
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| 124 | Helper1 helper(*oCur2, intersector);
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| 125 | if(internal::intersect_helper(tree1, helper, *vBegin1))
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| 126 | return; //intersector said to stop query
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| 127 | }
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| 128 | }
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| 129 |
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| 130 | for(; oBegin1 != oEnd1; ++oBegin1) { //go through child objects of first tree
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| 131 | for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree
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| 132 | Helper2 helper(*oBegin1, intersector);
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| 133 | if(internal::intersect_helper(tree2, helper, *vCur2))
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| 134 | return; //intersector said to stop query
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| 135 | }
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| 136 |
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| 137 | for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree
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| 138 | if(intersector.intersectObjectObject(*oBegin1, *oCur2))
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| 139 | return; //intersector said to stop query
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| 140 | }
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| 141 | }
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| 142 | }
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| 143 | }
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| 144 |
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| 145 | namespace internal {
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| 146 |
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| 147 | #ifndef EIGEN_PARSED_BY_DOXYGEN
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| 148 | template<typename BVH, typename Minimizer>
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| 149 | typename Minimizer::Scalar minimize_helper(const BVH &tree, Minimizer &minimizer, typename BVH::Index root, typename Minimizer::Scalar minimum)
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| 150 | {
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| 151 | typedef typename Minimizer::Scalar Scalar;
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| 152 | typedef typename BVH::Index Index;
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| 153 | typedef std::pair<Scalar, Index> QueueElement; //first element is priority
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| 154 | typedef typename BVH::VolumeIterator VolIter;
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| 155 | typedef typename BVH::ObjectIterator ObjIter;
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| 156 |
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| 157 | VolIter vBegin = VolIter(), vEnd = VolIter();
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| 158 | ObjIter oBegin = ObjIter(), oEnd = ObjIter();
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| 159 | std::priority_queue<QueueElement, std::vector<QueueElement>, std::greater<QueueElement> > todo; //smallest is at the top
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| 160 |
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| 161 | todo.push(std::make_pair(Scalar(), root));
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| 162 |
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| 163 | while(!todo.empty()) {
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| 164 | tree.getChildren(todo.top().second, vBegin, vEnd, oBegin, oEnd);
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| 165 | todo.pop();
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| 166 |
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| 167 | for(; oBegin != oEnd; ++oBegin) //go through child objects
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| 168 | minimum = (std::min)(minimum, minimizer.minimumOnObject(*oBegin));
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| 169 |
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| 170 | for(; vBegin != vEnd; ++vBegin) { //go through child volumes
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| 171 | Scalar val = minimizer.minimumOnVolume(tree.getVolume(*vBegin));
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| 172 | if(val < minimum)
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| 173 | todo.push(std::make_pair(val, *vBegin));
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| 174 | }
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| 175 | }
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| 176 |
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| 177 | return minimum;
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| 178 | }
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| 179 | #endif //not EIGEN_PARSED_BY_DOXYGEN
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| 180 |
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| 181 |
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| 182 | template<typename Volume1, typename Object1, typename Object2, typename Minimizer>
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| 183 | struct minimizer_helper1
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| 184 | {
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| 185 | typedef typename Minimizer::Scalar Scalar;
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| 186 | minimizer_helper1(const Object2 &inStored, Minimizer &m) : stored(inStored), minimizer(m) {}
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| 187 | Scalar minimumOnVolume(const Volume1 &vol) { return minimizer.minimumOnVolumeObject(vol, stored); }
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| 188 | Scalar minimumOnObject(const Object1 &obj) { return minimizer.minimumOnObjectObject(obj, stored); }
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| 189 | Object2 stored;
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| 190 | Minimizer &minimizer;
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| 191 | private:
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| 192 | minimizer_helper1& operator=(const minimizer_helper1&);
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| 193 | };
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| 194 |
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| 195 | template<typename Volume2, typename Object2, typename Object1, typename Minimizer>
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| 196 | struct minimizer_helper2
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| 197 | {
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| 198 | typedef typename Minimizer::Scalar Scalar;
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| 199 | minimizer_helper2(const Object1 &inStored, Minimizer &m) : stored(inStored), minimizer(m) {}
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| 200 | Scalar minimumOnVolume(const Volume2 &vol) { return minimizer.minimumOnObjectVolume(stored, vol); }
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| 201 | Scalar minimumOnObject(const Object2 &obj) { return minimizer.minimumOnObjectObject(stored, obj); }
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| 202 | Object1 stored;
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| 203 | Minimizer &minimizer;
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| 204 | private:
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| 205 | minimizer_helper2& operator=(const minimizer_helper2&);
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| 206 | };
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| 207 |
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| 208 | } // end namespace internal
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| 209 |
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| 210 | /** Given a BVH, runs the query encapsulated by \a minimizer.
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| 211 | * \returns the minimum value.
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| 212 | * The Minimizer type must provide the following members: \code
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| 213 | typedef Scalar //the numeric type of what is being minimized--not necessarily the Scalar type of the BVH (if it has one)
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| 214 | Scalar minimumOnVolume(const BVH::Volume &volume)
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| 215 | Scalar minimumOnObject(const BVH::Object &object)
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| 216 | \endcode
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| 217 | */
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| 218 | template<typename BVH, typename Minimizer>
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| 219 | typename Minimizer::Scalar BVMinimize(const BVH &tree, Minimizer &minimizer)
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| 220 | {
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| 221 | return internal::minimize_helper(tree, minimizer, tree.getRootIndex(), (std::numeric_limits<typename Minimizer::Scalar>::max)());
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| 222 | }
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| 223 |
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| 224 | /** Given two BVH's, runs the query on their cartesian product encapsulated by \a minimizer.
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| 225 | * \returns the minimum value.
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| 226 | * The Minimizer type must provide the following members: \code
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| 227 | typedef Scalar //the numeric type of what is being minimized--not necessarily the Scalar type of the BVH (if it has one)
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| 228 | Scalar minimumOnVolumeVolume(const BVH1::Volume &v1, const BVH2::Volume &v2)
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| 229 | Scalar minimumOnVolumeObject(const BVH1::Volume &v1, const BVH2::Object &o2)
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| 230 | Scalar minimumOnObjectVolume(const BVH1::Object &o1, const BVH2::Volume &v2)
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| 231 | Scalar minimumOnObjectObject(const BVH1::Object &o1, const BVH2::Object &o2)
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| 232 | \endcode
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| 233 | */
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| 234 | template<typename BVH1, typename BVH2, typename Minimizer>
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| 235 | typename Minimizer::Scalar BVMinimize(const BVH1 &tree1, const BVH2 &tree2, Minimizer &minimizer)
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| 236 | {
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| 237 | typedef typename Minimizer::Scalar Scalar;
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| 238 | typedef typename BVH1::Index Index1;
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| 239 | typedef typename BVH2::Index Index2;
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| 240 | typedef internal::minimizer_helper1<typename BVH1::Volume, typename BVH1::Object, typename BVH2::Object, Minimizer> Helper1;
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| 241 | typedef internal::minimizer_helper2<typename BVH2::Volume, typename BVH2::Object, typename BVH1::Object, Minimizer> Helper2;
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| 242 | typedef std::pair<Scalar, std::pair<Index1, Index2> > QueueElement; //first element is priority
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| 243 | typedef typename BVH1::VolumeIterator VolIter1;
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| 244 | typedef typename BVH1::ObjectIterator ObjIter1;
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| 245 | typedef typename BVH2::VolumeIterator VolIter2;
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| 246 | typedef typename BVH2::ObjectIterator ObjIter2;
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| 247 |
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| 248 | VolIter1 vBegin1 = VolIter1(), vEnd1 = VolIter1();
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| 249 | ObjIter1 oBegin1 = ObjIter1(), oEnd1 = ObjIter1();
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| 250 | VolIter2 vBegin2 = VolIter2(), vEnd2 = VolIter2(), vCur2 = VolIter2();
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| 251 | ObjIter2 oBegin2 = ObjIter2(), oEnd2 = ObjIter2(), oCur2 = ObjIter2();
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| 252 | std::priority_queue<QueueElement, std::vector<QueueElement>, std::greater<QueueElement> > todo; //smallest is at the top
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| 253 |
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| 254 | Scalar minimum = (std::numeric_limits<Scalar>::max)();
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| 255 | todo.push(std::make_pair(Scalar(), std::make_pair(tree1.getRootIndex(), tree2.getRootIndex())));
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| 256 |
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| 257 | while(!todo.empty()) {
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| 258 | tree1.getChildren(todo.top().second.first, vBegin1, vEnd1, oBegin1, oEnd1);
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| 259 | tree2.getChildren(todo.top().second.second, vBegin2, vEnd2, oBegin2, oEnd2);
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| 260 | todo.pop();
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| 261 |
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| 262 | for(; oBegin1 != oEnd1; ++oBegin1) { //go through child objects of first tree
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| 263 | for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree
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| 264 | minimum = (std::min)(minimum, minimizer.minimumOnObjectObject(*oBegin1, *oCur2));
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| 265 | }
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| 266 |
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| 267 | for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree
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| 268 | Helper2 helper(*oBegin1, minimizer);
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| 269 | minimum = (std::min)(minimum, internal::minimize_helper(tree2, helper, *vCur2, minimum));
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| 270 | }
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| 271 | }
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| 272 |
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| 273 | for(; vBegin1 != vEnd1; ++vBegin1) { //go through child volumes of first tree
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| 274 | const typename BVH1::Volume &vol1 = tree1.getVolume(*vBegin1);
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| 275 |
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| 276 | for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree
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| 277 | Helper1 helper(*oCur2, minimizer);
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| 278 | minimum = (std::min)(minimum, internal::minimize_helper(tree1, helper, *vBegin1, minimum));
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| 279 | }
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| 280 |
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| 281 | for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree
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| 282 | Scalar val = minimizer.minimumOnVolumeVolume(vol1, tree2.getVolume(*vCur2));
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| 283 | if(val < minimum)
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| 284 | todo.push(std::make_pair(val, std::make_pair(*vBegin1, *vCur2)));
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| 285 | }
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| 286 | }
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| 287 | }
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| 288 | return minimum;
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| 289 | }
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| 290 |
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| 291 | } // end namespace Eigen
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| 292 |
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| 293 | #endif // EIGEN_BVALGORITHMS_H
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