| 1 |
/* |
| 2 |
====================================================================== |
| 3 |
Out-of-core octree data structure |
| 4 |
|
| 5 |
Roland Schregle (roland.schregle@{hslu.ch, gmail.com}) |
| 6 |
(c) Lucerne University of Applied Sciences and Arts, |
| 7 |
supported by the Swiss National Science Foundation (SNSF, #147053) |
| 8 |
====================================================================== |
| 9 |
|
| 10 |
$Id: oococt.c,v 1.28 2016/04/25 17:49:50 taschreg Exp taschreg $ |
| 11 |
*/ |
| 12 |
|
| 13 |
|
| 14 |
|
| 15 |
#include "oococt.h" |
| 16 |
#include "rtio.h" |
| 17 |
#include <stdlib.h> |
| 18 |
#include <unistd.h> |
| 19 |
|
| 20 |
|
| 21 |
|
| 22 |
void OOC_Null (OOC_Octree *oct) |
| 23 |
/* Init empty octree */ |
| 24 |
{ |
| 25 |
oct -> maxNodes = oct -> numNodes = oct -> leafMax = oct -> maxDepth = |
| 26 |
oct -> numData = oct -> size = oct -> recSize = oct -> mortonScale = 0; |
| 27 |
oct -> org [0] = oct -> org [1] = oct -> org [2] = |
| 28 |
oct -> bound [0] = oct -> bound [1] = oct -> bound [2] = 0; |
| 29 |
oct -> key = NULL; |
| 30 |
oct -> nodes = NULL; |
| 31 |
oct -> leafFile = NULL; |
| 32 |
oct -> cache = NULL; |
| 33 |
} |
| 34 |
|
| 35 |
|
| 36 |
|
| 37 |
void OOC_Init (OOC_Octree *oct, unsigned recSize, FVECT org, RREAL size, |
| 38 |
RREAL *(*key)(const void*), FILE *leafFile) |
| 39 |
{ |
| 40 |
oct -> maxNodes = oct -> numNodes = oct -> leafMax = |
| 41 |
oct -> maxDepth = oct -> numData = 0; |
| 42 |
VCOPY(oct -> org, org); |
| 43 |
oct -> size = oct -> bound[0] = oct -> bound[1] = oct -> bound[2] = size; |
| 44 |
VADD(oct -> bound, oct -> bound, org); |
| 45 |
oct -> mortonScale = size > 0 ? OOC_MORTON_MAX / size : 0; |
| 46 |
oct -> recSize = recSize; |
| 47 |
oct -> key = key; |
| 48 |
oct -> nodes = NULL; |
| 49 |
oct -> leafFile = leafFile; |
| 50 |
oct -> cache = NULL; /* Cache currently initialised externally */ |
| 51 |
} |
| 52 |
|
| 53 |
|
| 54 |
|
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OOC_Node *NewNode (OOC_Octree *oct) |
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/* Allocate new octree node, enlarge array if necessary. |
| 57 |
Return pointer to new node or NULL if failed. */ |
| 58 |
{ |
| 59 |
OOC_Node *n = NULL; |
| 60 |
|
| 61 |
if (oct -> numNodes >= OOC_NODEIDX_MAX) { |
| 62 |
/* Node index overflow */ |
| 63 |
fprintf(stderr, "OOC_NewNode: node index overflow (numNodes = %d)\n", |
| 64 |
oct -> numNodes); |
| 65 |
return NULL; |
| 66 |
} |
| 67 |
|
| 68 |
if (++oct -> numNodes > oct -> maxNodes) { |
| 69 |
/* Need to allocate root or enlarge array */ |
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oct -> maxNodes += OOC_BLKSIZE / sizeof(OOC_Node); |
| 71 |
oct -> nodes = realloc(oct -> nodes, |
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oct -> maxNodes * sizeof(OOC_Node)); |
| 73 |
if (!oct -> nodes) { |
| 74 |
perror("OOC_NewNode: couldn't realloc() nodes"); |
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return NULL; |
| 76 |
} |
| 77 |
} |
| 78 |
|
| 79 |
n = oct -> nodes + oct -> numNodes - 1; |
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n -> node.num = n -> node.kid = n -> node.branch = n -> node.type = 0; |
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|
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return n; |
| 83 |
} |
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|
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|
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|
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int OOC_GetData (OOC_Octree *oct, OOC_DataIdx idx, void *rec) |
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/* Reads indexed data record from leaf file and copies it to rec, else |
| 89 |
* returns -1 on failure */ |
| 90 |
{ |
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if (!oct || !rec) |
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return -1; |
| 93 |
|
| 94 |
if (idx >= oct -> numData) { |
| 95 |
fprintf(stderr, "OOC_GetData: invalid data record index %u\n", idx); |
| 96 |
return -1; |
| 97 |
} |
| 98 |
|
| 99 |
if (oct -> cache) { |
| 100 |
/* Retrieve record from leaf file via I/O cache */ |
| 101 |
void *cachedRec; |
| 102 |
|
| 103 |
if (!(cachedRec = OOC_CacheData(oct -> cache, oct -> leafFile, idx))) |
| 104 |
return -1; |
| 105 |
|
| 106 |
/* It's safer to copy the record to the caller's local buffer as a |
| 107 |
* returned pointer may be invalidated by subsequent calls if the |
| 108 |
* page it points to is swapped out */ |
| 109 |
memcpy(rec, cachedRec, oct -> recSize); |
| 110 |
} |
| 111 |
else { |
| 112 |
/* No I/O caching; do (SLOW!) per-record I/O from leaf file */ |
| 113 |
const unsigned long pos = (unsigned long)oct -> recSize * idx; |
| 114 |
|
| 115 |
if (pread(fileno(oct -> leafFile), rec, oct -> recSize, pos) != |
| 116 |
oct -> recSize) { |
| 117 |
perror("OOC_GetData: failed seek/read in leaf file"); |
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return -1; |
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} |
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} |
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|
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return 0; |
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} |
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|
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|
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|
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int OOC_InBBox (const OOC_Octree *oct, const FVECT org, RREAL size, |
| 128 |
const FVECT key) |
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/* Check whether key lies within bounding box defined by org and size. |
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* Compares Morton codes rather than the coordinates directly to account |
| 131 |
* for dicretisation error introduced by the former. */ |
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{ |
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const OOC_MortonIdx keyZ = OOC_KEY2MORTON(key, oct); |
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FVECT bbox = {size, size, size}; |
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|
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VADD(bbox, org, bbox); |
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return keyZ > OOC_KEY2MORTON(org, oct) && |
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keyZ < OOC_KEY2MORTON(bbox, oct); |
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} |
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|
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|
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|
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int OOC_Branch (const OOC_Octree *oct, const FVECT org, RREAL size, |
| 144 |
const FVECT key, FVECT nuOrg) |
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/* Return index of octant containing key and corresponding origin if nuOrg |
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* != NULL, or -1 if key lies outside all octants. Size is already assumed |
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* to be halved, i.e. corresponding to the length of an octant axis. |
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* Compares Morton codes rather than the coordinates directly to account |
| 149 |
* for dicretisation error introduced by the former. */ |
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{ |
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int o; |
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FVECT octOrg; |
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|
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for (o = 0; o < 8; o++) { |
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VCOPY(octOrg, org); |
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OOC_OCTORIGIN(octOrg, o, size); |
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|
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if (OOC_InBBox(oct, octOrg, size, key)) { |
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if (nuOrg) |
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VCOPY(nuOrg, octOrg); |
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|
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return o; |
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} |
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} |
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|
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return -1; |
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} |
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|
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|
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|
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int OOC_BranchZ (const OOC_Octree *oct, const FVECT org, RREAL size, |
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OOC_MortonIdx keyZ, FVECT nuOrg) |
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/* Optimised version of OOC_Branch() with precomputed key Morton code */ |
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{ |
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int o; |
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const FVECT cent = {size, size, size}; |
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FVECT octOrg, bbox; |
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|
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for (o = 0; o < 8; o++) { |
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VCOPY(octOrg, org); |
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OOC_OCTORIGIN(octOrg, o, size); |
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VADD(bbox, octOrg, cent); |
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|
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if (keyZ > OOC_KEY2MORTON(octOrg, oct) && |
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keyZ < OOC_KEY2MORTON(bbox, oct)) { |
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if (nuOrg) |
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VCOPY(nuOrg, octOrg); |
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|
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return o; |
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} |
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} |
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|
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return -1; |
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} |
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|
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|
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|
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OOC_DataIdx OOC_GetKid (const OOC_Octree *oct, OOC_Node **node, unsigned kid) |
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/* For a given octree node, return the sum of the data counters for kids |
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* [0..k-1]. On return, the node either points to the k'th kid, or |
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* NULL if the kid is nonexistent or the node is a leaf */ |
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{ |
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unsigned k; |
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OOC_Node *kidNode = OOC_KID1(oct, *node); /* NULL if leaf */ |
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OOC_DataIdx dataIdx = 0; |
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|
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for (k = 0; k < kid; k++) { |
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if (OOC_ISLEAF(*node)) |
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/* Sum data counters of leaf octants */ |
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dataIdx += (*node) -> leaf.num [k]; |
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else |
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/* Sum data counter of inner node's nonempty kids and advance |
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* pointer to sibling */ |
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if (OOC_ISBRANCH(*node, k)) { |
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dataIdx += OOC_DATACNT(kidNode); |
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kidNode++; |
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} |
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} |
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|
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/* Update node pointer to selected kid (or NULL if nonexistent or node is |
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* a leaf) */ |
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*node = OOC_ISBRANCH(*node, kid) ? kidNode : NULL; |
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return dataIdx; |
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} |
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|
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|
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|
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#ifdef DEBUG_OOC |
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int OOC_Check (OOC_Octree *oct, const OOC_Node *node, |
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FVECT org, RREAL size, OOC_DataIdx dataIdx) |
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/* Traverse tree & check for valid nodes; oct -> leafFile must be open; |
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* return 0 if ok, otherwise -1 */ |
| 233 |
{ |
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unsigned k; |
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FVECT kidOrg; |
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const RREAL kidSize = size * 0.5; |
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|
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if (!oct || !node) |
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return -1; |
| 240 |
|
| 241 |
if (OOC_ISLEAF(node)) { |
| 242 |
/* Node is a leaf; check records in each octant */ |
| 243 |
char rec [oct -> recSize]; /* Violates C89! */ |
| 244 |
OOC_OctCnt d; |
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RREAL *key; |
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|
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for (k = 0; k < 8; k++) { |
| 248 |
VCOPY(kidOrg, org); |
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OOC_OCTORIGIN(kidOrg, k, kidSize); |
| 250 |
|
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for (d = node -> leaf.num [k]; d; d--, dataIdx++) { |
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#ifdef DEBUG_OOC_CHECK |
| 253 |
fprintf(stderr, "OOC_Check: checking record %lu\n", |
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(unsigned long)dataIdx); |
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#endif |
| 256 |
if (OOC_GetData(oct, dataIdx, rec)) { |
| 257 |
fprintf(stderr, "OOC_Check: failed getting record at %lu\n", |
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(unsigned long)dataIdx); |
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return -1; |
| 260 |
} |
| 261 |
|
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key = oct -> key(rec); |
| 263 |
if (!OOC_InBBox(oct, kidOrg, kidSize, key)) { |
| 264 |
fprintf(stderr, "OOC_Check: key [%f, %f, %f] (zIdx %020lu) " |
| 265 |
"outside bbox [[%f-%f], [%f-%f], [%f-%f]] " |
| 266 |
"in octant %d (should be %d)\n", |
| 267 |
key [0], key [1], key [2], |
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OOC_KEY2MORTON(key, oct), |
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kidOrg [0], kidOrg [0] + kidSize, |
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kidOrg [1], kidOrg [1] + kidSize, |
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kidOrg [2], kidOrg [2] + kidSize, |
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k, OOC_Branch(oct, org, kidSize, key, NULL)); |
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/* return -1; */ |
| 274 |
} |
| 275 |
} |
| 276 |
} |
| 277 |
} |
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else { |
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/* Internal node; recurse on all kids */ |
| 280 |
const OOC_Node *kid = OOC_KID1(oct, node); |
| 281 |
OOC_DataIdx numData = 0; |
| 282 |
|
| 283 |
if (node -> node.kid >= oct -> numNodes) { |
| 284 |
fprintf(stderr, "OOC_Check: invalid node index %u\n", |
| 285 |
node -> node.kid); |
| 286 |
return -1; |
| 287 |
} |
| 288 |
|
| 289 |
if (!node -> node.num) { |
| 290 |
fputs("OOC_Check: empty octree node\n", stderr); |
| 291 |
return -1; |
| 292 |
} |
| 293 |
|
| 294 |
for (k = 0; k < 8; k++) |
| 295 |
if (OOC_ISBRANCH(node, k)) { |
| 296 |
VCOPY(kidOrg, org); |
| 297 |
OOC_OCTORIGIN(kidOrg, k, kidSize); |
| 298 |
|
| 299 |
if (OOC_Check(oct, kid, kidOrg, kidSize, dataIdx)) |
| 300 |
return -1; |
| 301 |
|
| 302 |
dataIdx += OOC_DATACNT(kid); |
| 303 |
numData += OOC_DATACNT(kid); |
| 304 |
kid++; |
| 305 |
} |
| 306 |
|
| 307 |
if (node -> node.num != numData) { |
| 308 |
fprintf(stderr, |
| 309 |
"Parent/kid data count mismatch; expected %u, found %u\n", |
| 310 |
node -> node.num, numData); |
| 311 |
return -1; |
| 312 |
} |
| 313 |
} |
| 314 |
|
| 315 |
return 0; |
| 316 |
} |
| 317 |
#endif |
| 318 |
|
| 319 |
|
| 320 |
|
| 321 |
int OOC_SaveOctree (const OOC_Octree *oct, FILE *out) |
| 322 |
/* Appends octree nodes to specified file along with metadata. Uses |
| 323 |
* RADIANCE's portable I/O routines. Returns 0 on success, else -1. Note |
| 324 |
* the internal representation of the nodes is platform specific as they |
| 325 |
* contain unions, therefore we use the portable I/O routines from the |
| 326 |
* RADIANCE library */ |
| 327 |
{ |
| 328 |
int i; |
| 329 |
OOC_NodeIdx nc; |
| 330 |
OOC_Node *np = NULL; |
| 331 |
|
| 332 |
if (!oct || !oct->nodes || !oct->numData || !oct->numNodes || !out) { |
| 333 |
fputs("OOC_SaveOctree: empty octree\n", stderr); |
| 334 |
return -1; |
| 335 |
} |
| 336 |
|
| 337 |
/* Write octree origin, size, data record size, number of records, and |
| 338 |
* number of nodes */ |
| 339 |
for (i = 0; i < 3; i++) |
| 340 |
putflt(oct -> org [i], out); |
| 341 |
|
| 342 |
putflt(oct -> size, out); |
| 343 |
|
| 344 |
#if 0 |
| 345 |
for (i = 0; i < 3; i++) |
| 346 |
putflt(oct -> bound [i], out); |
| 347 |
|
| 348 |
putint(oct -> mortonScale, sizeof(oct -> mortonScale), out); |
| 349 |
#endif |
| 350 |
putint(oct -> recSize, sizeof(oct -> recSize), out); |
| 351 |
putint(oct -> numData, sizeof(oct -> numData), out); |
| 352 |
putint(oct -> numNodes, sizeof(oct -> numNodes), out); |
| 353 |
|
| 354 |
/* Write nodes to file */ |
| 355 |
for (nc = oct -> numNodes, np = oct -> nodes; nc; nc--, np++) { |
| 356 |
if (OOC_ISLEAF(np)) { |
| 357 |
/* Write leaf marker */ |
| 358 |
putint(-1, 1, out); |
| 359 |
|
| 360 |
/* Write leaf octant counters */ |
| 361 |
for (i = 0; i < 8; i++) |
| 362 |
putint(np -> leaf.num [i], sizeof(np -> leaf.num [i]), out); |
| 363 |
} |
| 364 |
else { |
| 365 |
/* Write node marker */ |
| 366 |
putint(0, 1, out); |
| 367 |
|
| 368 |
/* Write node, rounding field size up to nearest number of bytes */ |
| 369 |
putint(np -> node.kid, (OOC_NODEIDX_BITS + 7) >> 3, out); |
| 370 |
putint(np -> node.num, (OOC_DATAIDX_BITS + 7) >> 3, out); |
| 371 |
putint(np -> node.branch, 1, out); |
| 372 |
} |
| 373 |
|
| 374 |
if (ferror(out)) { |
| 375 |
fputs("OOC_SaveOctree: failed writing to node file", stderr); |
| 376 |
return -1; |
| 377 |
} |
| 378 |
} |
| 379 |
|
| 380 |
fflush(out); |
| 381 |
return 0; |
| 382 |
} |
| 383 |
|
| 384 |
|
| 385 |
|
| 386 |
int OOC_LoadOctree (OOC_Octree *oct, FILE *nodeFile, |
| 387 |
RREAL *(*key)(const void*), FILE *leafFile) |
| 388 |
/* Load octree nodes and metadata from nodeFile and associate with records |
| 389 |
* in leafFile. Uses RADIANCE's portable I/O routines. Returns 0 on |
| 390 |
* success, else -1. */ |
| 391 |
{ |
| 392 |
int i; |
| 393 |
OOC_NodeIdx nc; |
| 394 |
OOC_Node *np = NULL; |
| 395 |
|
| 396 |
if (!oct || !nodeFile) |
| 397 |
return -1; |
| 398 |
|
| 399 |
OOC_Null(oct); |
| 400 |
|
| 401 |
/* Read octree origin, size, record size, #records and #nodes */ |
| 402 |
for (i = 0; i < 3; i++) |
| 403 |
oct -> org [i] = getflt(nodeFile); |
| 404 |
|
| 405 |
oct -> size = getflt(nodeFile); |
| 406 |
|
| 407 |
#if 0 |
| 408 |
for (i = 0; i < 3; i++) |
| 409 |
oct -> bound [i] = getflt(nodeFile); |
| 410 |
|
| 411 |
oct -> mortonScale = getint(sizeof(oct -> mortonScale), nodeFile); |
| 412 |
#else |
| 413 |
oct -> bound [0] = oct -> bound [1] = oct -> bound [2] = oct -> size; |
| 414 |
VADD(oct -> bound, oct -> bound, oct -> org); |
| 415 |
|
| 416 |
oct -> mortonScale = OOC_MORTON_MAX / oct -> size; |
| 417 |
#endif |
| 418 |
|
| 419 |
#if 0 |
| 420 |
fprintf(stderr, "OOC_LoadOctree: mortonScale = %lf\n", oct -> mortonScale); |
| 421 |
#endif |
| 422 |
|
| 423 |
oct -> recSize = getint(sizeof(oct -> recSize), nodeFile); |
| 424 |
oct -> numData = getint(sizeof(oct -> numData), nodeFile); |
| 425 |
oct -> numNodes = getint(sizeof(oct -> numNodes), nodeFile); |
| 426 |
oct -> key = key; |
| 427 |
oct -> leafFile = leafFile; |
| 428 |
|
| 429 |
if (feof(nodeFile) || !oct -> numData || !oct -> numNodes) { |
| 430 |
fputs("OOC_LoadOctree: empty octree\n", stderr); |
| 431 |
return -1; |
| 432 |
} |
| 433 |
|
| 434 |
/* Allocate octree nodes */ |
| 435 |
if (!(oct -> nodes = calloc(oct -> numNodes, sizeof(OOC_Node)))) { |
| 436 |
fputs("OOC_LoadOctree: failed octree allocation\n", stderr); |
| 437 |
return -1; |
| 438 |
} |
| 439 |
|
| 440 |
/* Read nodes from file */ |
| 441 |
for (nc = oct -> numNodes, np = oct -> nodes; nc; nc--, np++) { |
| 442 |
OOC_CLEARNODE(np); |
| 443 |
|
| 444 |
/* Read node type marker */ |
| 445 |
if (getint(1, nodeFile)) { |
| 446 |
/* Read leaf octant counters and set node type */ |
| 447 |
for (i = 0; i < 8; i++) |
| 448 |
np -> leaf.num [i] = getint(sizeof(np -> leaf.num [i]), |
| 449 |
nodeFile); |
| 450 |
|
| 451 |
OOC_SETLEAF(np); |
| 452 |
} |
| 453 |
else { |
| 454 |
/* Read node, rounding field size up to nearest number of bytes */ |
| 455 |
np -> node.kid = getint((OOC_NODEIDX_BITS + 7) >> 3, nodeFile); |
| 456 |
np -> node.num = getint((OOC_DATAIDX_BITS + 7) >> 3, nodeFile); |
| 457 |
np -> node.branch = getint(1, nodeFile); |
| 458 |
} |
| 459 |
|
| 460 |
if (ferror(nodeFile)) { |
| 461 |
fputs("OOC_LoadOctree: failed reading from node file\n", stderr); |
| 462 |
return -1; |
| 463 |
} |
| 464 |
} |
| 465 |
|
| 466 |
return 0; |
| 467 |
} |
| 468 |
|
| 469 |
|
| 470 |
|
| 471 |
void OOC_Delete (OOC_Octree *oct) |
| 472 |
/* Self-destruct */ |
| 473 |
{ |
| 474 |
free(oct -> nodes); |
| 475 |
fclose(oct -> leafFile); |
| 476 |
|
| 477 |
if (oct -> cache) |
| 478 |
OOC_DeleteCache(oct -> cache); |
| 479 |
} |
