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oocnn.c
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#ifndef lint
static const char RCSid[] = "$Id: oocnn.c,v 1.2 2020/11/10 01:09:47 u-no-hoo Exp u-no-hoo $";
#endif
/*
=========================================================================
k-nearest neighbour lookup routines for out-of-core octree data structure
Roland Schregle (roland.schregle@{hslu.ch, gmail.com})
(c) Lucerne University of Applied Sciences and Arts,
supported by the Swiss National Science Foundation
(SNSF #147053, "Daylight Redirecting Components")
(c) Tokyo University of Science,
supported by the JSPS Grants-in-Aid for Scientific Research
(KAKENHI JP19KK0115, "Three-Dimensional Light Flow")
=========================================================================
$Id: oocnn.c,v 1.2 2020/11/10 01:09:47 u-no-hoo Exp u-no-hoo $
*/
#if !defined(_WIN32) && !defined(_WIN64) && defined(PMAP_OOC)
/* No Windoze support for now */
#include "oocnn.h"
#include "oocsort.h"
#include <stdlib.h>
#include <string.h>
#include <math.h>
/* ========================= SEARCH QUEUE STUFF ========================= */
#ifdef DEBUG_OOC_NN
static int OOC_CheckSearchQueue (
OOC_SearchQueue *squeue, const FVECT key,
RREAL *(*keyFunc)(const void*), unsigned root
)
/* Priority queue sanity check */
{
unsigned kid;
const OOC_SearchQueueNode *sqn = squeue -> node;
void *rec;
float d2;
if (root < squeue -> tail) {
rec = OOC_GetNearest(squeue, sqn [root].idx);
d2 = dist2(keyFunc(rec), key);
if (sqn [root].dist2 != d2)
return -1;
if ((kid = (root << 1) + 1) < squeue -> tail) {
if (sqn [kid].dist2 > sqn [root].dist2)
return -1;
else return OOC_CheckSearchQueue(squeue, key, keyFunc, kid);
}
if (++kid < squeue -> tail) {
if (sqn [kid].dist2 > sqn [root].dist2)
return -1;
else return OOC_CheckSearchQueue(squeue, key, keyFunc, kid);
}
}
return 0;
}
#endif
static float OOC_PutNearest (
OOC_SearchQueue *squeue, float d2, void *rec,
const OOC_SearchAttribCallback *attrib
)
/* Insert data record with SQUARED distance to query point into search
* priority queue, maintaining the most distant record at the queue head.
* If the queue is full, the new record is only inserted if it is closer
* than the queue head.
*
* The search priority queue is represented as a linearised binary tree with
* the root corresponding to the queue head, and the tail corresponding to
* the last leaf.
*
* The optional attrib callback maps record attributes to their queue nodes
* by calling attrib->findFunc() if attrib != NULL. It enables finding a
* previously queued data record and replacing it by rec if the latter's
* SQUARED distance d2 is lower.
*
* The record is copied into the queue's local record buffa for post-search
* retrieval to minimise redundant disk access. Note that it suffices to
* only rearrange the corresponding indices in the queue nodes when
* restoring the priority queue after every insertion, rather than moving
* the actual records.
*
* This function returns the new maximum SQUARED distance at the head if the
* search queue is full. Otherwise it returns -1, indicating a maximum for
* the entire queue is as yet undefined.
*/
{
void *tRec = NULL;
OOC_SearchQueueNode *sqn = squeue -> node,
**attribSqn = NULL, **tAttribSqn = NULL;
unsigned root, kid, kid2, rootIdx;
/* Start with undefined max distance */
float d2max = -1;
#ifdef PMAP_PATHFILT
/* Find previously enqueued record with same attribute if callback
defined */
#ifdef PMAP_DEBUGPATHS
printf("-------- Enqueue --------\n");
#endif
attribSqn = (OOC_SearchQueueNode**)(
attrib ? attrib -> findFunc(rec, attrib -> state) : NULL
);
#ifdef PMAP_DEBUGPATHS
printf(attribSqn ? "found\n" : "not found\n");
#endif
#endif
if (!attribSqn && squeue -> tail < squeue -> len) {
/* No duplicate attribute in queue, and queue not full;
insert record at tail and resort towards head */
kid = squeue -> tail++;
while (kid) {
root = (kid - 1) >> 1;
/* Compare with parent and swap if necessary (bubble up),
else terminate */
if (d2 > sqn [root].dist2) {
sqn [kid].dist2 = sqn [root].dist2;
sqn [kid].idx = sqn [root].idx;
#ifdef PMAP_PATHFILT
if (attrib) {
/* Update root's attribute map entry to refer to kid */
tRec = OOC_GetNearest(squeue, sqn [root].idx);
tAttribSqn = (OOC_SearchQueueNode**)(
attrib -> findFunc(tRec, attrib -> state)
);
#ifdef PMAP_DEBUGPATHS
printf("update\n");
#endif
if (!tAttribSqn) {
/* Consistency error: a previously enqueued record must
* have an entry in the attribute map! */
fputs("OOC_PutNearest: corrupt attribute map\n", stderr);
exit(-1);
}
*tAttribSqn = &sqn [kid];
}
#endif
kid = root;
}
else break;
}
/* Priority queue restored; assign tail position as linear index into
* record buffa squeue -> nnRec and append record */
sqn [kid].dist2 = d2;
sqn [kid].idx = squeue -> tail - 1;
memcpy(OOC_GetNearest(squeue, sqn [kid].idx), rec, squeue -> recSize);
#ifdef PMAP_PATHFILT
if (attrib)
/* Add new record to attribute map */
attrib -> addFunc(rec, &sqn [kid], attrib -> state);
#endif
}
else {
/* Search queue full or duplicate attribute in queue and new node may
be closer; set root to replaced node, otherwise to queue head */
root = attribSqn ? *attribSqn - sqn : 0;
if (d2 < sqn [root].dist2) {
/* New record closer than maximum at root; replace and resort
towards leaves (=search queue tail) */
rootIdx = sqn [root].idx;
#ifdef PMAP_PATHFILT
if (attrib && !attribSqn) {
/* New record will replace root and has unique attribute; delete
* root from the attribute map */
tRec = OOC_GetNearest(squeue, sqn [root].idx);
attrib -> delFunc(tRec, attrib -> state);
}
#endif
while ((kid = (root << 1) + 1) < squeue -> tail) {
/* Compare with larger kid & swap if necessary (bubble down),
else terminate */
if (
(kid2 = (kid + 1)) < squeue -> tail &&
sqn [kid2].dist2 > sqn [kid].dist2
)
kid = kid2;
if (d2 < sqn [kid].dist2) {
sqn [root].dist2 = sqn [kid].dist2;
sqn [root].idx = sqn [kid].idx;
#ifdef PMAP_PATHFILT
if (attrib) {
/* Update kid's attribute map entry to refer to root */
tRec = OOC_GetNearest(squeue, sqn [kid].idx);
tAttribSqn = (OOC_SearchQueueNode**)(
attrib -> findFunc(tRec, attrib -> state)
);
#ifdef PMAP_DEBUGPATHS
printf("update\n");
#endif
if (!tAttribSqn) {
/* Consistency error: a previously enqueued record must
* have an entry in the attribute map! */
fputs("OOC_PutNearest: corrupt attribute map\n", stderr);
exit(-1);
}
*tAttribSqn = &sqn [root];
}
#endif
}
else break;
root = kid;
}
/* Reassign head's / replaced node's previous buffa index and
overwrite corresponding record */
sqn [root].dist2 = d2;
sqn [root].idx = rootIdx;
memcpy(OOC_GetNearest(squeue, sqn[root].idx), rec, squeue->recSize);
#ifdef PMAP_PATHFILT
if (attrib) {
if (!attribSqn)
/* Add new record to attribute map */
attrib -> addFunc(rec, &sqn [root], attrib -> state);
else {
#ifdef PMAP_DEBUGPATHS
attrib -> findFunc(rec, attrib -> state);
printf("update\n");
#endif
/* Update new record's existing attribute map entry */
*attribSqn = &sqn [root];
}
}
#endif
}
}
if (squeue -> tail >= squeue -> len)
/* Search queue full; update max distance^2 from head node */
d2max = sqn [0].dist2;
#if defined(PMAP_PATHFILT) && defined(PMAP_DEBUGPATHS)
if (attrib)
/* Run sanity check on attribute map */
attrib -> checkFunc(attrib -> state);
#endif
return d2max;
}
int OOC_InitNearest (OOC_SearchQueue *squeue, unsigned len, unsigned recSize)
{
squeue -> len = len;
squeue -> recSize = recSize;
squeue -> node = calloc(len, sizeof(OOC_SearchQueueNode));
squeue -> nnRec = calloc(len, recSize);
if (!squeue -> node || !squeue -> nnRec) {
perror("OOC_InitNearest: failed search queue allocation");
return -1;
}
return 0;
}
void *OOC_GetNearest (const OOC_SearchQueue *squeue, unsigned idx)
{
return squeue -> nnRec + idx * squeue -> recSize;
}
/* ============================ OCTREE STUFF ============================ */
static float OOC_BBoxDist2 (const FVECT bbOrg, RREAL bbSiz, const FVECT key)
/* Return minimum *SQUARED* distance between key and bounding box defined by
* bbOrg and bbSiz; a distance of 0 implies the key lies INSIDE the bbox */
{
/* Explicit comparison with bbox corners */
int i;
FVECT d;
for (i = 0; i < 3; i++) {
d [i] = key [i] - bbOrg [i];
d [i] = d [i] < 0 ? -d [i] : d [i] - bbSiz;
/* Set to 0 if inside bbox */
if (d [i] < 0)
d [i] = 0;
}
return DOT(d, d);
}
float OOC_FindNearest (
OOC_Octree *oct, OOC_Node *node, OOC_DataIdx dataIdx,
const FVECT org, float size, const FVECT key,
const OOC_SearchFilterCallback *filter,
const OOC_SearchAttribCallback *attrib,
OOC_SearchQueue *squeue, float maxDist2
)
{
const float kidSize = size * 0.5;
unsigned i, kid, kid0;
float d2;
char rec [oct -> recSize];
FVECT kidOrg;
OOC_DataIdx kidDataIdx, recIdx;
OOC_Node *kidNode;
/* Start with suboctant closest to key */
for (kid0 = 0, i = 0; i < 3; i++)
kid0 |= (key [i] > org [i] + kidSize) << i;
for (i = 0; i < 8; i++) {
kid = kid0 ^ i;
kidNode = node;
kidDataIdx = dataIdx + OOC_GetKid(oct, &kidNode, kid);
/* Prune empty suboctant */
if (
(!kidNode && !OOC_ISLEAF(node)) ||
(OOC_ISLEAF(node) && !node -> leaf.num [kid])
)
continue;
/* Set up suboctant */
VCOPY(kidOrg, org);
OOC_OCTORIGIN(kidOrg, kid, kidSize);
/* Prune suboctant if not overlapped by maxDist2 */
if (OOC_BBoxDist2(kidOrg, kidSize, key) > maxDist2)
continue;
if (kidNode) {
/* Internal node; recurse into non-empty suboctant */
maxDist2 = OOC_FindNearest(
oct, kidNode, kidDataIdx, kidOrg, kidSize, key,
filter, attrib, squeue, maxDist2
);
if (maxDist2 < 0)
/* Bail out on error */
break;
}
else if (OOC_ISLEAF(node)) {
/* Leaf node; do linear check of all records in suboctant */
for (
recIdx = kidDataIdx;
recIdx < kidDataIdx + node -> leaf.num [kid];
recIdx++
) {
if (OOC_GetData(oct, recIdx, rec))
return -1;
if (!filter || filter -> filtFunc(rec, filter -> state)) {
/* Insert record in search queue if it passes filter
* and its SQUARED dist to key is below maxDist2 */
if ((d2 = dist2(key, oct -> key(rec))) < maxDist2) {
if ((d2 = OOC_PutNearest(squeue, d2, rec, attrib)) >= 0)
/* Update maxDist2 if search queue is full */
maxDist2 = d2;
#ifdef DEBUG_OOC_NN
if (OOC_CheckSearchQueue(squeue, key, oct->key, 0)) {
fprintf(
stderr, "OOC_PutNearest: corrupt search queue\n"
);
return -1;
}
#endif
}
}
}
}
}
/* XXX: Note this will not correspond to the maximum distance in a
partially filled search queue, since it hasn't been finalised;
this distance should therefore be obtained from the search queue
head by the caller when this func returns! */
return maxDist2;
}
float OOC_Find1Nearest (
OOC_Octree *oct, OOC_Node *node, OOC_DataIdx dataIdx,
const FVECT org, float size, const FVECT key,
const OOC_SearchFilterCallback *filter, void *nnRec, float maxDist2
)
{
const float kidSize = size * 0.5;
unsigned i, kid, kid0;
float d2;
char rec [oct -> recSize];
FVECT kidOrg;
OOC_DataIdx kidDataIdx, recIdx;
OOC_Node *kidNode;
/* Start with suboctant closest to key */
for (kid0 = 0, i = 0; i < 3; i++)
kid0 |= (key [i] > org [i] + kidSize) << i;
for (i = 0; i < 8; i++) {
kid = kid0 ^ i;
kidNode = node;
kidDataIdx = dataIdx + OOC_GetKid(oct, &kidNode, kid);
/* Prune empty suboctant */
if (
(!kidNode && !OOC_ISLEAF(node)) ||
(OOC_ISLEAF(node) && !node -> leaf.num [kid])
)
continue;
/* Set up suboctant */
VCOPY(kidOrg, org);
OOC_OCTORIGIN(kidOrg, kid, kidSize);
/* Prune suboctant if not overlapped by maxDist2 */
if (OOC_BBoxDist2(kidOrg, kidSize, key) > maxDist2)
continue;
if (kidNode) {
/* Internal node; recurse into non-empty suboctant */
maxDist2 = OOC_Find1Nearest(
oct, kidNode, kidDataIdx, kidOrg, kidSize,
key, filter, nnRec, maxDist2
);
if (maxDist2 < 0)
/* Bail out on error */
break;
}
else if (OOC_ISLEAF(node))
/* Leaf node; do linear check of all records in suboctant */
for (
recIdx = kidDataIdx;
recIdx < kidDataIdx + node -> leaf.num [kid];
recIdx++
) {
if (OOC_GetData(oct, recIdx, rec))
return -1;
if (!filter || filter -> filtFunc(rec, filter -> state))
/* Update closest record and max SQUARED dist to key if it
* passes filter */
if ((d2 = dist2(key, oct -> key(rec))) < maxDist2) {
memcpy(nnRec, rec, oct -> recSize);
maxDist2 = d2;
}
}
}
return maxDist2;
}
#endif /* NIX / PMAP_OOC */
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