/usr/include/sofa/component/topology/MultiResSparseGridTopology.h is in libsofa1-dev 1.0~beta4-6.
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* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_COMPONENT_TOPOLOGY_MULTIRESSPARSEGRIDTOPOLOGY_H
#define SOFA_COMPONENT_TOPOLOGY_MULTIRESSPARSEGRIDTOPOLOGY_H
#include <sofa/component/topology/GridTopology.h>
#include <sofa/defaulttype/Vec.h>
#include <sofa/helper/vector.h>
#include <stdio.h>
#include <stdlib.h>
#include <string>
#include <fstream>
#include <iostream>
#include <map>
using std::cout;
using std::cerr;
using std::endl;
namespace sofa
{
namespace component
{
namespace topology
{
using namespace sofa::defaulttype;
using helper::vector;
class MultiResSparseGridTopology : public core::componentmodel::topology::Topology
{
int nbPoints;
public:
/** Make all resolution of sparse grid create with a .vox file
512 // Image's size x
512 // Image's size y
246 // Image's size z
0.7 // Voxels's size x
0.7 // Voxels's size y
2 // Voxels's size z
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 255 0 0 0 0 ........................
This is a sparse voxel grid:
-vertexMap contains all vertices without repeating. It consists of Index3D(int i,j,k), vertex(SbVector3f,int)
-voxelsMap contains all voxels with the indices of each one. It consists of Index3D which represent the voxel center,
and of int[8] which leads to the 8 vertices of that voxel in vertices array or in the map
-surfaceSparseGrid is a vector of Index3D, contains centers of the voxels of the surface
*/
class SparseGrid
{
public :
///to represent vertices of voxels
struct Vertex
{
//Vector3 vertexPosition;
int index;
/* Vertex(float x=0, float y=0, float z=0)
{
//position = new float(3);
vertexPosition[0]=x;
vertexPosition[1]=y;
vertexPosition[2]=z;
};*/
};
///To represent voxels centers
struct Index3D
{
int i,j,k;
Index3D(int a=0,int b=0,int c=0):i(a),j(b),k(c)
{}
bool operator < (const Index3D& ind ) const
{
return ( i<ind.i || i==ind.i && j<ind.j || i==ind.i && j==ind.j && k<ind.k );
}
};
///to represent the 8 vertices of one voxel
struct Voxel
{
int vertices[8];
float density;
Voxel(int v1=0,int v2=0,int v3=0,int v4=0,int v5=0,int v6=0,int v7=0,int v8=0,float d=0.0)
{
vertices[0]=v1;
vertices[1]=v2;
vertices[2]=v3;
vertices[3]=v4;
vertices[4]=v5;
vertices[5]=v6;
vertices[6]=v7;
vertices[7]=v8;
density = d;
}
};
protected :
/// End of list for surface voxel
int FIN_DE_LISTE;
/// Grid's scale
float scale;
/// array of vertices
vector<Vector3> vertices;
/// contains centers of the voxels of the surface
vector<Index3D> surfaceSparseGrid;
/// number and array of the 6 faces corresponding to each voxels
int numIndices;
vector<int> indices;
/// number and array of the visible faces
int numSurfaceIndices;
vector<int> surfaceIndices;
/// array of density
float* voxelsDensity;
/// size of the voxels
float dimVoxX, dimVoxY, dimVoxZ;
/// size of the grid
int dimX,dimY,dimZ;
typedef std::map<Index3D, Vertex> VertexMap;
typedef std::map<Index3D, Voxel> VoxelMap;
/// contains all vertices without repeating
VertexMap vertexMap;
/// contains all the voxels, each represented by its centers and its 8 vertices
VoxelMap voxelsMap;
public:
SparseGrid(void);//sans rien
SparseGrid(int);// avec un indice de fin de liste
SparseGrid(float); // avec uune echelle
~SparseGrid(void);
/// Init filesNo of pgm images, and the by calling the suitable functions, constructs the grid of voxels
void initFromPNG( char* fileName,int color,int filesNo );
/// Init vox file, and the by calling the suitable functions, constructs the grid of voxels
void initFromVOX( char* fileName,int color);
///returns the num of the voxels
unsigned getNumSparseGrid() const
{
return voxelsMap.size();
}
///returns the number of vertices of the grid
unsigned getNumVertices() const
{
return vertexMap.size();
}
/// returns the size of the indices array for all the voxels
unsigned getNumFaceIndices() const
{
return numIndices;
}
/// returns the size of the indices array for faces of the surface
unsigned getNumSurfaceIndices() const
{
return numSurfaceIndices;
}
/// returns the array of vertices
vector< Vector3>& getVertices()
{
return vertices;
}
const vector<Vector3>& getVertices() const
{
return vertices;
}
/// returns the array of indices for all the voxels
vector<int>& getFaceIndices()
{
return indices;
}
/// return the voxelMap of the voxels
std::map<Index3D,Voxel>& getSparseGridMap()
{
return voxelsMap;
}
const std::map<Index3D,Voxel>& getSparseGridMap() const
{
return voxelsMap;
}
///return the begin and the end of the map
std::map<Index3D,Voxel>::iterator getVoxelsMapBegin()
{
return voxelsMap.begin();
}
std::map<Index3D,Voxel>::iterator getVoxelsMapEnd()
{
return voxelsMap.end();
}
/// return the vertexMap of the voxels
std::map<Index3D,Vertex>& getVertexMap()
{
return vertexMap;
}
const std::map<Index3D,Vertex>& getVertexMap() const
{
return vertexMap;
}
///return the begin and the end of the map
std::map<Index3D,Vertex>::iterator getVertexMapBegin()
{
return vertexMap.begin();
}
std::map<Index3D,Vertex>::iterator const getVertexMapEnd()
{
return vertexMap.end();
}
/// returns the array of density
float* getSparseGridDensity()
{
return voxelsDensity;
}
/// returns the array of indices for faces of the surface
vector<int>& getSurfaceIndices()
{
return surfaceIndices;
}
/// make the child grid
int pasResolution(SparseGrid vg);
/// get voxel size
float getDimVoxX()
{
return dimVoxX;
}
float getDimVoxY()
{
return dimVoxY;
}
float getDimVoxZ()
{
return dimVoxZ;
}
/// get grid's size
int getDimX() const
{
return dimX;
}
int getDimY() const
{
return dimY;
}
int getDimZ() const
{
return dimZ;
}
/// get the density of a voxel
float getDensity(int i,int j,int k);
/// print the arry of vertices
void afficherVertices();
/// print the voxel of the sparse grid map
void afficherSparseGridMap();
/// print the vertex of the vertew map
void afficherVertexMap();
/// print the arry of indices
void afficherIndices();
protected:
/// Reads filesNo of pgm images, and the by calling the suitable functions, constructs the grid of voxels
int readFilePNG( char* fileName,int color,int filesNo );
/// read .voxel file
int readFileVOX( char* fileName,int color);
/// gets the pixels of the given color from each image.
int setPixels( const char *FileName, int color,float plane);
/// gets the vertices of each voxels and puts them in the map of vertices
void setVertexMap();
/// gets the indices necessary to view the grid of voxels, and making the map of voxels
void setIndicesMap();
/// gets the surface voxels, and the indices for faces of the surface
void setSurfaceSparseGrid();
/// insert a voxel in the sparse grid map wtih his density
void insertVoxel(int i,int j,int k,float d);
/// build the rest of the information
void buildFromSparseGridMap(int allPixels);
/// gets the vertices of each voxels and puts them in the map of vertices
void setDensity();
/// set sparge grid size
void setDimX(int x)
{
dimX = x;
}
void setDimY(int y)
{
dimY = y;
}
void setDimZ(int z)
{
dimZ = z;
}
/// set voxel size
void setDimVoxX(float x)
{
dimVoxX = x;
}
void setDimVoxY(float y)
{
dimVoxY = y;
}
void setDimVoxZ(float z)
{
dimVoxZ = z;
}
};
typedef GridTopology::Cube Cube;
MultiResSparseGridTopology();
MultiResSparseGridTopology(const char* filevoxel, int resol,float scale);
/// contain all resolution of the sparse grid
vector <SparseGrid> vectorSparseGrid;
/// indices of the current grid
int resolution;
///Size of the grid and its position
int dimx,dimy,dimz,px,py,pz;
/// get the postion of the voxel i
SReal getPX(int i) const ;
SReal getPY(int i) const ;
SReal getPZ(int i) const ;
/// get the vertex's psotion with its indice or its index
Vector3 getPoint(int i) const ;
//Vector3 getPoint(int ,int ,int );
/// ??????
bool hasPos() const;
/// number of voxels in the current grid
int getNbVoxels() const;
/// number of vertices int th current grid
int getNbPoints() const;
/// get the indices of the voxel x y z
int point(int x, int y, int z);
/// get the cube of the voxel i for the mapping
GridTopology::Cube getCube (int i);
/// get the indice of the cube at the coordinates pos and the barycentric coordinates
int findCube(const Vector3& pos, SReal& fx, SReal &fy, SReal &fz) const;
/// get the indice of the nearest cube of the coordinates pos and the barycentric coordinates
int findNearestCube(const Vector3& pos, SReal& fx, SReal &fy, SReal &fz) const;
/// set the position (not used)
void setP0(const Vector3& val)
{
p0 = val;
}
/// set the interval between voxels
void setDx(const Vector3& val)
{
dx = val;
inv_dx2 = 1/(dx*dx);
}
void setDy(const Vector3& val)
{
dy = val;
inv_dy2 = 1/(dy*dy);
}
void setDz(const Vector3& val)
{
dz = val;
inv_dz2 = 1/(dz*dz);
}
/// get the position (not used)
const Vector3& getP0() const
{
return p0;
}
/// get the interval between voxels
const Vector3& getDx() const
{
return dx;
}
const Vector3& getDy() const
{
return dy;
}
const Vector3& getDz() const
{
return dz;
}
protected:
/// Position of point 0
Vector3 p0;
/// Distance between points in the grid. Must be perpendicular to each other
Vector3 dx,dy,dz;
SReal inv_dx2, inv_dy2, inv_dz2;
};
} // namespace topology
} // namespace component
} // namespace sofa
#endif
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