338 lines
12 KiB
C
338 lines
12 KiB
C
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// ----------------------------------------------------------------------------
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//
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//
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// OpenSteer -- Steering Behaviors for Autonomous Characters
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//
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// Copyright (c) 2002-2005, Sony Computer Entertainment America
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// Original author: Craig Reynolds <craig_reynolds@playstation.sony.com>
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//
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// Permission is hereby granted, free of charge, to any person obtaining a
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// copy of this software and associated documentation files (the "Software"),
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// to deal in the Software without restriction, including without limitation
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// the rights to use, copy, modify, merge, publish, distribute, sublicense,
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// and/or sell copies of the Software, and to permit persons to whom the
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// Software is furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
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// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
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// DEALINGS IN THE SOFTWARE.
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//
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//
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// ----------------------------------------------------------------------------
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//
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//
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// Proximity
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//
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// Data structures for accelerating proximity/locality/neighborhood queries
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//
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// 10-04-04 bk: put everything into the OpenSteer namespace
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// 06-20-01 cwr: created
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//
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//
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// ----------------------------------------------------------------------------
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#ifndef OPENSTEER_PROXIMITY_H
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#define OPENSTEER_PROXIMITY_H
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#include <algorithm>
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#include <vector>
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#include "OpenSteer/Vec3.h"
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#include "OpenSteer/lq.h" // XXX temp?
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namespace OpenSteer {
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// ----------------------------------------------------------------------------
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// "tokens" are the objects manipulated by the spatial database
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template <class ContentType>
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class AbstractTokenForProximityDatabase
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{
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public:
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virtual ~AbstractTokenForProximityDatabase () {}
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// the client object calls this each time its position changes
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virtual void updateForNewPosition (const Vec3& position) = 0;
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// find all neighbors within the given sphere (as center and radius)
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virtual void findNeighbors (const Vec3& center,
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const float radius,
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std::vector<ContentType>& results) = 0;
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#ifndef NO_LQ_BIN_STATS
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// only meaningful for LQProximityDatabase, provide dummy default
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virtual void getBinPopulationStats (int& min, int& max, float& average)
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{min=max=0; average=0.0;}
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#endif // NO_LQ_BIN_STATS
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};
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// ----------------------------------------------------------------------------
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// abstract type for all kinds of proximity databases
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template <class ContentType>
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class AbstractProximityDatabase
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{
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public:
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// type for the "tokens" manipulated by this spatial database
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typedef AbstractTokenForProximityDatabase<ContentType> tokenType;
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virtual ~AbstractProximityDatabase() { /* Nothing to do? */ }
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// allocate a token to represent a given client object in this database
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virtual tokenType* allocateToken (ContentType parentObject) = 0;
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// insert
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// XXX maybe this should return an iterator?
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// XXX see http://www.sgi.com/tech/stl/set.html
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// virtual void insert (const ContentType& x) = 0;
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// XXX name?
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// returns the number of tokens in the proximity database
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virtual int getPopulation (void) = 0;
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};
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// ----------------------------------------------------------------------------
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// This is the "brute force" O(n^2) approach implemented in terms of the
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// AbstractProximityDatabase protocol so it can be compared directly to other
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// approaches. (e.g. the Boids plugin allows switching at runtime.)
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template <class ContentType>
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class BruteForceProximityDatabase
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: public AbstractProximityDatabase<ContentType>
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{
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public:
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// constructor
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BruteForceProximityDatabase (void)
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{
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}
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// destructor
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virtual ~BruteForceProximityDatabase ()
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{
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}
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// "token" to represent objects stored in the database
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class tokenType : public AbstractTokenForProximityDatabase<ContentType>
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{
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public:
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// constructor
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tokenType (ContentType parentObject, BruteForceProximityDatabase& pd)
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{
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// store pointer to our associated database and the object this
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// token represents, and store this token on the database's vector
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bfpd = &pd;
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object = parentObject;
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bfpd->group.push_back (this);
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}
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// destructor
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virtual ~tokenType ()
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{
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// remove this token from the database's vector
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bfpd->group.erase (std::find (bfpd->group.begin(),
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bfpd->group.end(),
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this));
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}
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// the client object calls this each time its position changes
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void updateForNewPosition (const Vec3& newPosition)
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{
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position = newPosition;
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}
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// find all neighbors within the given sphere (as center and radius)
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void findNeighbors (const Vec3& center,
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const float radius,
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std::vector<ContentType>& results)
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{
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// loop over all tokens
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const float r2 = radius * radius;
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for (tokenIterator i = bfpd->group.begin();
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i != bfpd->group.end();
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i++)
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{
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const Vec3 offset = center - (**i).position;
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const float d2 = offset.lengthSquared();
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// push onto result vector when within given radius
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if (d2 < r2) results.push_back ((**i).object);
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}
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}
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private:
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BruteForceProximityDatabase* bfpd;
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ContentType object;
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Vec3 position;
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};
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typedef std::vector<tokenType*> tokenVector;
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typedef typename tokenVector::const_iterator tokenIterator;
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// allocate a token to represent a given client object in this database
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tokenType* allocateToken (ContentType parentObject)
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{
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return new tokenType (parentObject, *this);
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}
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// return the number of tokens currently in the database
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int getPopulation (void)
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{
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return (int) group.size();
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}
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private:
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// STL vector containing all tokens in database
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tokenVector group;
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};
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// ----------------------------------------------------------------------------
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// A AbstractProximityDatabase-style wrapper for the LQ bin lattice system
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template <class ContentType>
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class LQProximityDatabase : public AbstractProximityDatabase<ContentType>
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{
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public:
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// constructor
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LQProximityDatabase (const Vec3& center,
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const Vec3& dimensions,
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const Vec3& divisions)
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{
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const Vec3 halfsize (dimensions * 0.5f);
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const Vec3 origin (center - halfsize);
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lq = lqCreateDatabase (origin.x, origin.y, origin.z,
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dimensions.x, dimensions.y, dimensions.z,
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(int) round (divisions.x),
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(int) round (divisions.y),
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(int) round (divisions.z));
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}
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// destructor
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virtual ~LQProximityDatabase ()
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{
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lqDeleteDatabase (lq);
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lq = NULL;
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}
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// "token" to represent objects stored in the database
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class tokenType : public AbstractTokenForProximityDatabase<ContentType>
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{
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public:
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// constructor
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tokenType (ContentType parentObject, LQProximityDatabase& lqsd)
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{
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lqInitClientProxy (&proxy, parentObject);
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lq = lqsd.lq;
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}
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// destructor
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virtual ~tokenType (void)
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{
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lqRemoveFromBin (&proxy);
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}
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// the client object calls this each time its position changes
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void updateForNewPosition (const Vec3& p)
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{
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lqUpdateForNewLocation (lq, &proxy, p.x, p.y, p.z);
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}
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// find all neighbors within the given sphere (as center and radius)
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void findNeighbors (const Vec3& center,
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const float radius,
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std::vector<ContentType>& results)
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{
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lqMapOverAllObjectsInLocality (lq,
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center.x, center.y, center.z,
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radius,
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perNeighborCallBackFunction,
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(void*)&results);
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}
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// called by LQ for each clientObject in the specified neighborhood:
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// push that clientObject onto the ContentType vector in void*
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// clientQueryState
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// (parameter names commented out to prevent compiler warning from "-W")
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static void perNeighborCallBackFunction (void* clientObject,
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float /*distanceSquared*/,
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void* clientQueryState)
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{
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typedef std::vector<ContentType> ctv;
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ctv& results = *((ctv*) clientQueryState);
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results.push_back ((ContentType) clientObject);
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}
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#ifndef NO_LQ_BIN_STATS
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// Get statistics about bin populations: min, max and
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// average of non-empty bins.
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void getBinPopulationStats (int& min, int& max, float& average)
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{
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lqGetBinPopulationStats (lq, &min, &max, &average);
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}
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#endif // NO_LQ_BIN_STATS
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private:
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lqClientProxy proxy;
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lqDB* lq;
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};
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// allocate a token to represent a given client object in this database
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tokenType* allocateToken (ContentType parentObject)
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{
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return new tokenType (parentObject, *this);
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}
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// count the number of tokens currently in the database
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int getPopulation (void)
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{
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int count = 0;
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lqMapOverAllObjects (lq, counterCallBackFunction, &count);
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return count;
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}
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// (parameter names commented out to prevent compiler warning from "-W")
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static void counterCallBackFunction (void* /*clientObject*/,
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float /*distanceSquared*/,
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void* clientQueryState)
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{
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int& counter = *(int*)clientQueryState;
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counter++;
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}
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private:
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lqDB* lq;
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};
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} // namespace OpenSteer
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// ----------------------------------------------------------------------------
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#endif // OPENSTEER_PROXIMITY_H
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