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use std::collections::BinaryHeap;
use alga::general::Real;
use na;
use partitioning::{BVTCostFn, BVTTVisitor, BVTVisitor};
use bounding_volume::BoundingVolume;
use utils::RefWithCost;
use utils;
use math::{Point, DIM};
#[derive(Clone)]
pub struct BVT<B, BV> {
tree: Option<BVTNode<B, BV>>,
}
#[derive(Clone)]
pub enum BVTNode<B, BV> {
Internal(BV, Box<BVTNode<B, BV>>, Box<BVTNode<B, BV>>),
Leaf(BV, B),
}
pub enum BinaryPartition<B, BV> {
Part(B),
Parts(Vec<(B, BV)>, Vec<(B, BV)>),
}
impl<B, BV> BVT<B, BV> {
pub fn new_with_partitioner<F: FnMut(usize, Vec<(B, BV)>) -> (BV, BinaryPartition<B, BV>)>(
leaves: Vec<(B, BV)>,
partitioner: &mut F,
) -> BVT<B, BV> {
if leaves.len() == 0 {
BVT { tree: None }
} else {
BVT {
tree: Some(Self::_new_with_partitioner(0, leaves, partitioner)),
}
}
}
pub fn visit<Vis: BVTVisitor<B, BV>>(&self, visitor: &mut Vis) {
match self.tree {
Some(ref t) => t.visit(visitor),
None => {}
}
}
pub fn visit_bvtt<Vis: BVTTVisitor<B, BV>>(&self, other: &BVT<B, BV>, visitor: &mut Vis) {
match (&self.tree, &other.tree) {
(&Some(ref ta), &Some(ref tb)) => ta.visit_bvtt(tb, visitor),
_ => {}
}
}
pub fn best_first_search<'a, N, BFS>(
&'a self,
algorithm: &mut BFS,
) -> Option<(&'a B, BFS::UserData)>
where
N: Real,
BFS: BVTCostFn<N, B, BV>,
{
match self.tree {
Some(ref t) => t.best_first_search(algorithm),
None => None,
}
}
pub fn root_bounding_volume<'r>(&'r self) -> Option<&'r BV> {
match self.tree {
Some(ref n) => match *n {
BVTNode::Internal(ref bv, _, _) => Some(bv),
BVTNode::Leaf(ref bv, _) => Some(bv),
},
None => None,
}
}
pub fn depth(&self) -> usize {
match self.tree {
Some(ref n) => n.depth(),
None => 0,
}
}
}
impl<B, BV> BVT<B, BV> {
pub fn new_balanced<N>(leaves: Vec<(B, BV)>) -> BVT<B, BV>
where
N: Real,
BV: BoundingVolume<N> + Clone,
{
BVT::new_with_partitioner(leaves, &mut Self::median_partitioner)
}
pub fn median_partitioner_with_centers<N, F: FnMut(&B, &BV) -> Point<N>>(
depth: usize,
leaves: Vec<(B, BV)>,
center: &mut F,
) -> (BV, BinaryPartition<B, BV>)
where
N: Real,
BV: BoundingVolume<N> + Clone,
{
if leaves.len() == 0 {
panic!("Cannot build a tree without leaves.");
} else if leaves.len() == 1 {
let (b, bv) = leaves.into_iter().next().unwrap();
(bv, BinaryPartition::Part(b))
} else {
let sep_axis = depth % DIM;
let mut median = Vec::new();
for l in leaves.iter() {
let c = (*center)(&l.0, &l.1);
median.push(c[sep_axis]);
}
let median = utils::median(&mut median[..]);
let mut right = Vec::new();
let mut left = Vec::new();
let mut bounding_bounding_volume = leaves[0].1.clone();
let mut insert_left = false;
for (b, bv) in leaves.into_iter() {
bounding_bounding_volume.merge(&bv);
let pos = (*center)(&b, &bv)[sep_axis];
if pos < median || (pos == median && insert_left) {
left.push((b, bv));
insert_left = false;
} else {
right.push((b, bv));
insert_left = true;
}
}
if left.len() == 0 {
left.push(right.pop().unwrap());
} else if right.len() == 0 {
right.push(left.pop().unwrap());
}
(
bounding_bounding_volume,
BinaryPartition::Parts(left, right),
)
}
}
pub fn median_partitioner<N>(depth: usize, leaves: Vec<(B, BV)>) -> (BV, BinaryPartition<B, BV>)
where
N: Real,
BV: BoundingVolume<N> + Clone,
{
Self::median_partitioner_with_centers(depth, leaves, &mut |_, bv| bv.center())
}
fn _new_with_partitioner<F: FnMut(usize, Vec<(B, BV)>) -> (BV, BinaryPartition<B, BV>)>(
depth: usize,
leaves: Vec<(B, BV)>,
partitioner: &mut F,
) -> BVTNode<B, BV> {
let (bv, partitions) = partitioner(depth, leaves);
match partitions {
BinaryPartition::Part(b) => BVTNode::Leaf(bv, b),
BinaryPartition::Parts(left, right) => {
let left = Self::_new_with_partitioner(depth + 1, left, partitioner);
let right = Self::_new_with_partitioner(depth + 1, right, partitioner);
BVTNode::Internal(bv, Box::new(left), Box::new(right))
}
}
}
}
impl<B, BV> BVTNode<B, BV> {
#[inline]
pub fn bounding_volume<'a>(&'a self) -> &'a BV {
match *self {
BVTNode::Internal(ref bv, _, _) => bv,
BVTNode::Leaf(ref bv, _) => bv,
}
}
fn visit<Vis: BVTVisitor<B, BV>>(&self, visitor: &mut Vis) {
match *self {
BVTNode::Internal(ref bv, ref left, ref right) => {
if visitor.visit_internal(bv) {
left.visit(visitor);
right.visit(visitor);
}
}
BVTNode::Leaf(ref bv, ref b) => {
visitor.visit_leaf(b, bv);
}
}
}
fn visit_bvtt<Vis: BVTTVisitor<B, BV>>(&self, other: &BVTNode<B, BV>, visitor: &mut Vis) {
match (self, other) {
(
&BVTNode::Internal(ref bva, ref la, ref ra),
&BVTNode::Internal(ref bvb, ref lb, ref rb),
) => {
if visitor.visit_internal_internal(bva, bvb) {
la.visit_bvtt(&**lb, visitor);
la.visit_bvtt(&**rb, visitor);
ra.visit_bvtt(&**lb, visitor);
ra.visit_bvtt(&**rb, visitor);
}
}
(&BVTNode::Internal(ref bva, ref la, ref ra), &BVTNode::Leaf(ref bvb, ref bb)) => {
if visitor.visit_internal_leaf(bva, bb, bvb) {
la.visit_bvtt(other, visitor);
ra.visit_bvtt(other, visitor);
}
}
(&BVTNode::Leaf(ref bva, ref ba), &BVTNode::Internal(ref bvb, ref lb, ref rb)) => {
if visitor.visit_leaf_internal(ba, bva, bvb) {
self.visit_bvtt(&**lb, visitor);
self.visit_bvtt(&**rb, visitor);
}
}
(&BVTNode::Leaf(ref bva, ref ba), &BVTNode::Leaf(ref bvb, ref bb)) => {
visitor.visit_leaf_leaf(ba, bva, bb, bvb)
}
}
}
fn best_first_search<'a, N, BFS>(
&'a self,
algorithm: &mut BFS,
) -> Option<(&'a B, BFS::UserData)>
where
N: Real,
BFS: BVTCostFn<N, B, BV>,
{
let mut queue: BinaryHeap<RefWithCost<'a, N, BVTNode<B, BV>>> = BinaryHeap::new();
let mut best_cost = N::max_value();
let mut result = None;
match algorithm.compute_bv_cost(self.bounding_volume()) {
Some(cost) => queue.push(RefWithCost::new(self, cost)),
None => return None,
}
loop {
match queue.pop() {
Some(node) => {
if -node.cost >= best_cost {
break; }
match *node.object {
BVTNode::Internal(_, ref left, ref right) => {
match algorithm.compute_bv_cost(left.bounding_volume()) {
Some(lcost) => {
if lcost < best_cost {
queue.push(RefWithCost::new(&**left, -lcost))
}
}
None => {}
}
match algorithm.compute_bv_cost(right.bounding_volume()) {
Some(rcost) => {
if rcost < best_cost {
queue.push(RefWithCost::new(&**right, -rcost))
}
}
None => {}
}
}
BVTNode::Leaf(_, ref b) => match algorithm.compute_b_cost(b) {
Some((candidate_cost, candidate_result)) => {
if candidate_cost < best_cost {
best_cost = candidate_cost;
result = Some((b, candidate_result));
}
}
None => {}
},
}
}
None => break,
}
}
result
}
fn depth(&self) -> usize {
match *self {
BVTNode::Internal(_, ref left, ref right) => 1 + na::max(left.depth(), right.depth()),
BVTNode::Leaf(_, _) => 1,
}
}
}