libsofa1-dev 1.0~beta4-10ubuntu2 / usr / include / sofa / component / container / SpatialGridContainer.h

/******************************************************************************
*       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                             *
******************************************************************************/
//
// C++ Interface: SpatialGridContainer
//
// Description: 
//
//
// Author: The SOFA team <http://www.sofa-framework.org>, (C) 2006
//
// Copyright: See COPYING file that comes with this distribution
//
//

#ifndef SOFA_COMPONENT_CONTAINER_SPATIALGRIDCONTAINER_H
#define SOFA_COMPONENT_CONTAINER_SPATIALGRIDCONTAINER_H

#include <sofa/helper/system/config.h>
#include <sofa/defaulttype/Vec3Types.h>
#include <sofa/core/objectmodel/BaseObject.h>
#include <sofa/core/objectmodel/Event.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/helper/rmath.h>
#include <sofa/component/component.h>
#include <list>


// I need C++0x !!!
#ifndef HASH_NAMESPACE
#  ifdef _MSC_VER
#    if _MSC_VER >= 1300
#      include <hash_map>
//#      if _MSC_VER >= 1400
#        define HASH_NAMESPACE stdext
//#      else
//#        define HASH_NAMESPACE std
//#      endif
#    else
#      include <map>
#      define HASH_NAMESPACE std
#    endif
#  else
#    if __GNUC__ > 4 || (__GNUC__ == 4 && (__GNUC_MINOR__ >= 3 ))
#      include <tr1/unordered_map>
#      define HASH_NAMESPACE std::tr1
#    else
#      include <ext/hash_map>
#      define HASH_NAMESPACE __gnu_cxx
#    endif
#  endif
#endif

namespace sofa
{

namespace component
{

namespace container
{

using namespace sofa::defaulttype;

class EmptyClass
{
public:
	void clear() {}
};

template<class TDataTypes>
class SpatialGridTypes
{
public:
    typedef TDataTypes DataTypes;
    typedef typename DataTypes::VecCoord VecCoord;
    typedef typename DataTypes::Coord Coord;
    typedef typename DataTypes::Real Real;
	//typedef EmptyClass                 CellData;
	typedef EmptyClass                 GridData;
	typedef EmptyClass                 ParticleField;
	class CellData
	{
	public:
		void clear()
		{
		}
		void add(ParticleField* /*field*/, int /*i*/, Real /*r2*/, Real /*h2*/)
		{
		}
	};

//	class NeighborListener
//	{
//		public:
//			void addNeighbor(int /*i1*/, int /*i2*/, Real /*r2*/, Real /*h2*/)
//			{
//			}
//	};

	enum { GRIDDIM_LOG2 = 3 };
};

template<class DataTypes>
class SpatialGrid
{
public:
    typedef typename DataTypes::Real Real;
    typedef typename DataTypes::Coord Coord;
    typedef typename DataTypes::VecCoord VecCoord;
	typedef typename DataTypes::CellData CellData;
	typedef typename DataTypes::GridData GridData;
    //typedef typename DataTypes::NeighborListener NeighborListener;
	typedef typename DataTypes::ParticleField ParticleField;

public:
	SpatialGrid(Real cellWidth);

	void begin();

	void add(int i, const Coord& pos, bool allNeighbors = false);

	void end();

    void update(const VecCoord& x)
    {
	begin();
	for (unsigned int i=0;i<x.size();i++)
	{
	    add(i, x[i]);
	}
	end();
    }
    
	void draw();

    template<class NeighborListener>
	void findNeighbors(NeighborListener* dest, Real dist);

	void computeField(ParticleField* field, Real dist);

    /// Change particles ordering inside a given cell have contiguous indices
    ///
    /// Fill the old2new and new2old arrays giving the permutation to apply
    void reorderIndices(helper::vector<unsigned int>* old2new, helper::vector<unsigned int>* new2old);

	enum { GRIDDIM_LOG2 = DataTypes::GRIDDIM_LOG2, GRIDDIM = 1<<GRIDDIM_LOG2 };
	enum { NCELL = GRIDDIM*GRIDDIM*GRIDDIM };
	enum { DX = 1, DY = GRIDDIM, DZ = GRIDDIM*GRIDDIM };
	
	class Entry
	{
	public:
		int index;
		Coord pos;
		Entry(int i, const Coord& p) : index(i), pos(p) {}
	};
	
	class Cell
	{
	public:
		std::list<Entry> plist;
		CellData data;
		void clear()
		{
			plist.clear();
			data.clear();
		}
	};

	class Grid
	{
	public:
		Cell cell[NCELL];
		const Grid* neighbors[6];
		bool empty;
		GridData data;
		Grid() : empty(true) { std::fill(neighbors,neighbors+6, this); }
		void clear()
		{
			empty = true;
			for (unsigned int i=0; i<NCELL; i++)
				cell[i].clear();
			data.clear();
		}
	};

	static Grid emptyGrid;

	class Key : public helper::fixed_array<int, 3>
	{
	public:
		Key() {}
		Key(int i1, int i2, int i3) { (*this)[0] = i1; (*this)[1] = i2; (*this)[2] = i3; };
		bool operator==(const Key& a) const
		{
			return (*this)[0] == a[0] && (*this)[1] == a[1] && (*this)[2] == a[2];
		}
	};

	static std::size_t hash(const Key& x)
	{
//		return x[0]^x[1]^x[2];
	    const unsigned int p0 = 73856093; // large prime numbers
	    const unsigned int p1 = 19349663;
	    const unsigned int p2 = 83492791;
	    return (p0*x[0])^(p1*x[1])^(p2*x[2]);
	}

	class key_hash_fun
#ifdef _MSC_VER
	: public HASH_NAMESPACE::hash_compare<Key>
	{
	public:
		//enum
		//{ // parameters for hash table
		//	bucket_size = 4, // 0 < bucket_size
		//	min_buckets = 8
		//}; // min_buckets = 2 ^^ N, 0 < N
		inline bool operator()(const Key& s1, const Key& s2) const
		{
			for (unsigned int i=0;i<s1.size();++i)
				if (s1[i] < s2[i]) return true;
				else if (s1[i] > s2[i]) return false;
			return false; // s1 == s2
		}
#else
	{
	public:
#endif
		inline std::size_t operator()(const Key &s) const
		{
			return hash(s);
		}
	};


#ifndef _MSC_VER     
#    if __GNUC__ > 4 || (__GNUC__ == 4 && (__GNUC_MINOR__ >= 3 ))        //hash_map is deprecated since gcc-4.3
        typedef HASH_NAMESPACE::unordered_map<Key, Grid*, key_hash_fun> Map;          
#    else       
        typedef HASH_NAMESPACE::hash_map<Key, Grid*, key_hash_fun> Map;  
#    endif       
#else               
        typedef HASH_NAMESPACE::hash_map<Key, Grid*, key_hash_fun> Map;       
#endif
       
       
	
	typedef typename Map::const_iterator const_iterator;
	typedef typename Map::iterator iterator;
	
	const_iterator gridBegin() const { return map.begin(); }
	const_iterator gridEnd() const { return map.end(); }
	
	iterator gridBegin() { return map.begin(); }
	iterator gridEnd() { return map.end(); }
	
	Real getCellWidth() const { return cellWidth; }
	Real getInvCellWidth() const { return invCellWidth; }

protected:
	Map map;
	const Real cellWidth;
	const Real invCellWidth;

	const Grid* findGrid(const Key& k) const;

	Grid* getGrid(const Key& k);

	Cell* getCell(const Coord& x);

	const Cell* getCell(const Grid* g, int x, int y, int z);

    template<class NeighborListener>
	void findNeighbors(NeighborListener* dest, const Real dist2, const Cell** cellsBegin, const Cell** cellsEnd);

};

template<class DataTypes>
class SpatialGridContainer : public virtual core::objectmodel::BaseObject
{
public:
    typedef typename DataTypes::Real Real;
    typedef typename DataTypes::Coord Coord;
    typedef typename DataTypes::VecCoord VecCoord;
    typedef SpatialGridTypes<DataTypes> GridTypes;
    typedef SpatialGrid< GridTypes > Grid;
    Grid* grid;
    Data<Real> d_cellWidth;
    Data<bool> d_showGrid;
    Data<bool> d_autoUpdate;
    Data<bool> d_sortPoints;

    /// Pre-construction check method called by ObjectFactory.
    /// Check that DataTypes matches the MechanicalState.
    template<class T>
    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
    {
        if (dynamic_cast<core::componentmodel::behavior::MechanicalState<DataTypes>*>(context->getMechanicalState()) == NULL)
            return false;
        return core::objectmodel::BaseObject::canCreate(obj, context, arg);
    }

    SpatialGridContainer();
    virtual ~SpatialGridContainer();

    virtual void init();
    virtual void reinit();
    virtual void draw();
    virtual void handleEvent(sofa::core::objectmodel::Event* event);

    Grid* getGrid() { return grid; }
    void updateGrid(const VecCoord& x)
    {
        grid->update(x);
	//grid->begin();
	//for (unsigned int i=0;i<x.size();i++)
	//{
	//    grid->add(i, x[i]);
	//}
	//grid->end();
    }
    template<class NeighborListener>
    void findNeighbors(NeighborListener* listener, Real r)
    {
	grid->findNeighbors(listener, r);
    }
    bool sortPoints();

    virtual std::string getTemplateName() const
    {
      return templateName(this);
    }

    static std::string templateName(const SpatialGridContainer<DataTypes>* = NULL)
    {
      return DataTypes::Name();
    }
protected:
    core::componentmodel::behavior::MechanicalState<DataTypes>* mstate;
};

} // namespace container

} // namespace component

} // namespace sofa

#endif