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OctTree.cpp
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125 lines (87 loc) · 3.51 KB
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/******************************************************************************\
CAMotics is an Open-Source simulation and CAM software.
Copyright (C) 2011-2019 Joseph Coffland <joseph@cauldrondevelopment.com>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 2 of the License, or
(at your option) any later version.
This program 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 General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
\******************************************************************************/
#include "OctTree.h"
using namespace std;
using namespace cb;
using namespace CAMotics;
OctTree::OctNode::OctNode(const Rectangle3D &bounds, unsigned depth) :
bounds(bounds), depth(depth) {
for (int i = 0; i < 8; i++) children[i] = 0;
}
OctTree::OctNode::~OctNode() {
for (int i = 0; i < 8; i++)
if (children[i]) delete children[i];
}
void OctTree::OctNode::insert(const GCode::Move *move,
const Rectangle3D &bbox) {
if (!bounds.intersects(bbox)) return;
if (!depth || bbox.contains(bounds)) {
moves.insert(move);
return;
}
Vector3D dims = bounds.getDimensions();
static Vector3D cubes[16] = {
Vector3D(0.0, 0.0, 0.0), Vector3D(0.5, 0.5, 0.5),
Vector3D(0.5, 0.0, 0.0), Vector3D(1.0, 0.5, 0.5),
Vector3D(0.0, 0.5, 0.0), Vector3D(0.5, 1.0, 0.5),
Vector3D(0.5, 0.5, 0.0), Vector3D(1.0, 1.0, 0.5),
Vector3D(0.0, 0.0, 0.5), Vector3D(0.5, 0.5, 1.0),
Vector3D(0.5, 0.0, 0.5), Vector3D(1.0, 0.5, 1.0),
Vector3D(0.0, 0.5, 0.5), Vector3D(0.5, 1.0, 1.0),
Vector3D(0.5, 0.5, 0.5), Vector3D(1.0, 1.0, 1.0),
};
for (int i = 0; i < 8; i++) {
if (!children[i]) {
Rectangle3D cBounds(bounds.getMin() + dims * cubes[i * 2],
bounds.getMin() + dims * cubes[i * 2 + 1]);
children[i] = new OctNode(cBounds, depth - 1);
}
children[i]->insert(move, bbox);
}
}
bool OctTree::OctNode::intersects(const Rectangle3D &r) const {
if (!bounds.intersects(r)) return false;
if (!moves.empty()) return true;
if (depth)
for (int i = 0; i < 8; i++)
if (children[i] && children[i]->intersects(r))
return true;
return false;
}
void OctTree::OctNode::collisions(const Vector3D &p,
vector<const GCode::Move *> &moves) const {
if (!bounds.contains(p)) return;
moves.insert(moves.end(), this->moves.begin(), this->moves.end());
if (depth)
for (int i = 0; i < 8; i++)
if (children[i]) children[i]->collisions(p, moves);
}
OctTree::OctTree(const Rectangle3D &bounds, unsigned depth) {
double m = bounds.getDimensions().max();
root = new OctNode(Rectangle3D(bounds.getMin(), bounds.getMin() +
Vector3D(m, m, m)), depth);
}
OctTree::~OctTree() {delete root;}
void OctTree::insert(const GCode::Move *move, const Rectangle3D &bbox) {
this->bbox.add(bbox);
root->insert(move, bbox);
}
bool OctTree::intersects(const Rectangle3D &r) const {
return root->intersects(r);
}
void OctTree::collisions(const Vector3D &p,
vector<const GCode::Move *> &moves) const {
root->collisions(p, moves);
}