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Copy pathngraph.cpp
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401 lines (361 loc) · 11.3 KB
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#include "mgraph440/ngraph.h"
#include "mgraph440/mgraph_consts.h"
#include "mgraph440/legacyconverters.h"
namespace mgraph440 {
inline int processoctant(int bin)
{
int q = -1;
switch (bin) {
case 0: case 1: case 2: case 3: case 4:
q = 1; break;
case 5: case 6: case 7:
q = 7; break;
case 8: case 9: case 10: case 11:
q = 6; break;
case 12: case 13: case 14: case 15: case 16:
q = 0; break;
case 17: case 18: case 19: case 20:
q = 2; break;
case 21: case 22: case 23:
q = 4; break;
case 24: case 25: case 26: case 27:
q = 5; break;
case 28: case 29: case 30: case 31:
q = 3; break;
}
return (1 << q);
}
void Node::make(const PixelRef pix, PixelRefVector *bins, float *bin_far_dists, int q_octants)
{
m_pixel = pix;
for (int i = 0; i < 32; i++) {
if (q_octants != 0x00FF) {
// now, an octant filter has been used... note that the exact q-octants that
// will have been processed rely on adjacenies in the q_octants...
if (!(q_octants & processoctant(i))) {
continue;
}
}
m_bins[i].m_distance = bin_far_dists[i];
if (i == 4 || i == 20) {
m_bins[i].make(bins[i], PixelRef::POSDIAGONAL);
}
else if (i == 12 || i == 28) {
m_bins[i].make(bins[i], PixelRef::NEGDIAGONAL);
}
else if ((i > 4 && i < 12) || (i > 20 && i < 28)) {
m_bins[i].make(bins[i], PixelRef::VERTICAL);
}
else {
m_bins[i].make(bins[i], PixelRef::HORIZONTAL);
}
// Now clear the bin!
bins[i].clear();
}
}
void Bin::make(const PixelRefVector& pixels, char dir)
{
if (m_pixel_vecs) {
delete [] m_pixel_vecs;
m_pixel_vecs = NULL;
}
m_length = 0;
m_node_count = 0;
if (pixels.size()) {
m_dir = dir;
if (m_dir & PixelRef::DIAGONAL) {
PixelVec cur( pixels[0], pixels[0] );
// Special, the diagonal should be pixels directly along the diagonal
// Both posdiagonal and negdiagonal are positive in the x direction
// Note that it is ordered anyway, so no need for anything too fancy:
if (pixels.back().x < cur.start().x) {
cur.m_start = pixels.back();
}
if (pixels.back().x > cur.end().x) {
cur.m_end = pixels.back();
}
m_length = 1;
m_pixel_vecs = new PixelVec[1];
m_pixel_vecs[0] = cur;
m_node_count = pixels.size();
}
else {
prefvec<PixelVec> pixel_vecs;
// Reorder the pixels:
if (m_dir == PixelRef::HORIZONTAL) {
pvector<PixelRefH> pixels_h;
for (size_t i = 0; i < pixels.size(); i++) {
pixels_h.add(pixels[i]);
}
// this looks like a simple bubble sort
pixel_vecs.push_back(PixelVec(pixels_h[0],pixels_h[0]));
for (size_t j = 1; j < pixels_h.size(); j++) {
if (pixels_h[j-1].y != pixels_h[j].y || pixels_h[j-1].x + 1 != pixels_h[j].x) {
pixel_vecs.tail().m_end = pixels_h[j-1];
pixel_vecs.push_back(PixelVec(pixels_h[j],pixels_h[j]));
}
}
pixel_vecs.tail().m_end = pixels_h.tail();
}
if (m_dir == PixelRef::VERTICAL) {
pvector<PixelRefV> pixels_v;
for (size_t i = 0; i < pixels.size(); i++) {
pixels_v.add(pixels[i]);
}
// this looks like a simple bubble sort
pixel_vecs.push_back(PixelVec(pixels_v[0],pixels_v[0]));
for (size_t j = 1; j < pixels_v.size(); j++) {
if (pixels_v[j-1].x != pixels_v[j].x || pixels_v[j-1].y + 1 != pixels_v[j].y) {
pixel_vecs.tail().m_end = pixels_v[j-1];
pixel_vecs.push_back(PixelVec(pixels_v[j],pixels_v[j]));
}
}
pixel_vecs.tail().m_end = pixels_v.tail();
}
// Now compact the representation:
m_length = pixel_vecs.size();
m_pixel_vecs = new PixelVec[m_length];
for (int k = 0; k < m_length; k++) {
m_pixel_vecs[k] = pixel_vecs[k];
}
m_node_count = pixels.size();
}
}
}
void Bin::first() const
{
m_curvec = 0;
if (m_length)
m_curpix = m_pixel_vecs[m_curvec].m_start;
}
void Bin::next() const
{
if (m_curpix.move(m_dir).col(m_dir) > m_pixel_vecs[m_curvec].end().col(m_dir)) {
m_curvec++;
if (m_curvec < m_length)
m_curpix = m_pixel_vecs[m_curvec].m_start;
}
}
bool Bin::is_tail() const
{
return m_curvec >= m_length;
}
PixelRef Bin::cursor() const
{
return (int) m_curpix;
}
::std::ifstream& Node::read(::std::ifstream& stream, int version)
{
int i;
for (i = 0; i < 32; i++) {
m_bins[i].read(stream, version);
}
if (version >= VERSION_OCCLUSIONS) {
for (i = 0; i < 32; i++) {
pvector<PixelRef> tempPvector;
tempPvector.read(stream);
m_occlusion_bins[i] = genshim440::toSTLVector(tempPvector);
}
}
return stream;
}
std::ostream& Node::write(std::ostream& stream, int version)
{
int i;
for (i = 0; i < 32; i++) {
m_bins[i].write(stream,version);
}
for (i = 0; i < 32; i++) {
pvector<PixelRef> tempPvector = genshim440::toPVector(m_occlusion_bins[i]);
tempPvector.write(stream);
}
return stream;
}
::std::ifstream& Bin::read(::std::ifstream& stream, int version)
{
stream.read( (char *) &m_dir, sizeof(m_dir) );
stream.read( (char *) &m_node_count, sizeof(m_node_count) );
if (version >= VERSION_FILE_COMPRESSION) {
if (version >= VERSION_ALWAYS_RECORD_BINDISTANCES) {
stream.read( (char *) &m_distance, sizeof(m_distance) );
stream.read( (char *) &m_occ_distance, sizeof(m_occ_distance) );
}
if (m_node_count) {
if (version < VERSION_ALWAYS_RECORD_BINDISTANCES) {
stream.read( (char *) &m_distance, sizeof(m_distance) );
}
if (m_dir & PixelRef::DIAGONAL) {
m_length = 1;
m_pixel_vecs = new PixelVec [m_length];
m_pixel_vecs[0].read(stream, version, m_dir);
}
else {
stream.read( (char *) &m_length, sizeof(m_length) );
m_pixel_vecs = new PixelVec [m_length];
m_pixel_vecs[0].read(stream, version, m_dir);
for (int i = 1; i < m_length; i++) {
m_pixel_vecs[i].read(stream, version, m_dir,m_pixel_vecs[i-1]);
}
}
if (version < VERSION_ALWAYS_RECORD_BINDISTANCES) {
if (version >= VERSION_OCCDISTANCES) {
stream.read( (char *) &m_occ_distance, sizeof(m_occ_distance) );
}
else {
m_occ_distance = 0.0f;
}
}
}
else {
m_pixel_vecs = NULL;
m_length = 0;
if (version < VERSION_ALWAYS_RECORD_BINDISTANCES) {
m_distance = 0.0f;
m_occ_distance = 0.0f;
}
}
}
else {
stream.read( (char *) &m_length, sizeof(m_length) );
if (version >= VERSION_BINDISTANCES) {
stream.read( (char *) &m_distance, sizeof(m_distance) );
}
else {
m_distance = 0.0f;
}
if (m_pixel_vecs) {
delete m_pixel_vecs;
m_pixel_vecs = NULL;
}
if (m_length) {
m_pixel_vecs = new PixelVec [m_length];
stream.read( (char *) m_pixel_vecs, sizeof(PixelVec) * m_length);
}
}
return stream;
}
std::ostream& Bin::write(std::ostream& stream, int version)
{
stream.write( (char *) &m_dir, sizeof(m_dir) );
stream.write( (char *) &m_node_count, sizeof(m_node_count) );
stream.write( (char *) &m_distance, sizeof(m_distance) );
stream.write( (char *) &m_occ_distance, sizeof(m_occ_distance) );
if (m_node_count) {
if (m_dir & PixelRef::DIAGONAL) {
m_pixel_vecs[0].write(stream,m_dir);
}
else {
stream.write( (char *) &m_length, sizeof(m_length) );
m_pixel_vecs[0].write(stream,m_dir);
for (int i = 1; i < m_length; i++) {
m_pixel_vecs[i].write(stream,m_dir,m_pixel_vecs[i-1]);
}
}
}
return stream;
}
::std::ifstream& PixelVec::read(::std::ifstream& stream, int version, const char dir)
{
unsigned short runlength;
stream.read((char *) &m_start, sizeof(m_start));
stream.read((char *) &runlength, sizeof(runlength));
switch (dir) {
case PixelRef::POSDIAGONAL:
m_end.x = m_start.x + runlength;
m_end.y = m_start.y + runlength;
break;
case PixelRef::NEGDIAGONAL:
m_end.x = m_start.x + runlength;
m_end.y = m_start.y - runlength;
break;
case PixelRef::HORIZONTAL:
m_end.x = m_start.x + runlength;
m_end.y = m_start.y;
break;
case PixelRef::VERTICAL:
m_end.x = m_start.x;
m_end.y = m_start.y + runlength;
break;
}
return stream;
}
struct ShiftLength {
unsigned short shift : 4;
unsigned short runlength : 12;
};
::std::ifstream& PixelVec::read(::std::ifstream& stream, int version, const char dir, const PixelVec& context)
{
short primary;
ShiftLength shiftlength;
stream.read((char *) &primary, sizeof(primary));
stream.read((char *) &shiftlength, sizeof(shiftlength));
switch (dir) {
case PixelRef::HORIZONTAL:
m_start.x = primary;
m_start.y = context.m_start.y + shiftlength.shift;
m_end.x = m_start.x + shiftlength.runlength;
m_end.y = m_start.y;
break;
case PixelRef::VERTICAL:
m_start.x = context.m_start.x + shiftlength.shift;
m_start.y = primary;
m_end.x = m_start.x;
m_end.y = m_start.y + shiftlength.runlength;
break;
}
return stream;
}
std::ostream& PixelVec::write(std::ostream& stream, const char dir)
{
stream.write((char *) &m_start, sizeof(m_start));
unsigned short runlength;
switch (dir) {
case PixelRef::HORIZONTAL:
case PixelRef::POSDIAGONAL:
case PixelRef::NEGDIAGONAL:
runlength = m_end.x - m_start.x;
break;
case PixelRef::VERTICAL:
runlength = m_end.y - m_start.y;
break;
}
stream.write((char *) &runlength, sizeof(runlength));
return stream;
}
std::ostream& PixelVec::write(std::ostream& stream, const char dir, const PixelVec& context)
{
ShiftLength shiftlength;
switch (dir) {
case PixelRef::HORIZONTAL:
stream.write((char *) &(m_start.x), sizeof(m_start.x));
shiftlength.runlength = m_end.x - m_start.x;
shiftlength.shift = m_start.y - context.m_start.y;
break;
case PixelRef::VERTICAL:
stream.write((char *) &(m_start.y), sizeof(m_start.y));
shiftlength.runlength = m_end.y - m_start.y;
shiftlength.shift = m_start.x - context.m_start.x;
break;
}
stream.write((char *) &shiftlength, sizeof(shiftlength));
return stream;
}
void Node::first() const
{
m_curbin = 0;
do {
m_bins[m_curbin].first();
} while (m_bins[m_curbin].is_tail() && ++m_curbin < 32);
}
void Node::next() const
{
m_bins[m_curbin].next();
while (m_bins[m_curbin].is_tail() && ++m_curbin < 32) {
m_bins[m_curbin].first();
}
}
PixelRef Node::cursor() const
{
return m_bins[m_curbin].cursor();
}
}
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