@ -68,28 +68,15 @@ bool IsLeaf(const uint64_t descriptor) {
Map : : Map ( sf : : Vector3i position ) {
//srand(time(NULL));
//load_unload(position);
srand ( time ( NULL ) ) ;
for ( int i = 0 ; i < OCT_DIM * OCT_DIM * OCT_DIM ; i + + ) {
if ( rand ( ) % 25 > 1 )
if ( rand ( ) % 25 < 2 )
voxel_data [ i ] = 1 ;
else
voxel_data [ i ] = 1 ;
voxel_data [ i ] = 0 ;
}
//voxel_data[1 + OCT_DIM * (0 + OCT_DIM * 0)] = 0;
//voxel_data[1 + OCT_DIM * (1 + OCT_DIM * 0)] = 0;
//voxel_data[1 + OCT_DIM * (0 + OCT_DIM * 1)] = 0;
//voxel_data[1 + OCT_DIM * (1 + OCT_DIM * 1)] = 0;
//voxel_data[0 + OCT_DIM * (0 + OCT_DIM * 0)] = 0;
//voxel_data[0 + OCT_DIM * (1 + OCT_DIM * 0)] = 0;
//voxel_data[0 + OCT_DIM * (0 + OCT_DIM * 1)] = 0;
//voxel_data[0 + OCT_DIM * (1 + OCT_DIM * 1)] = 0;
}
uint64_t Map : : generate_children ( sf : : Vector3i pos , int voxel_scale ) {
@ -108,72 +95,73 @@ uint64_t Map::generate_children(sf::Vector3i pos, int voxel_scale) {
sf : : Vector3i ( pos . x + voxel_scale , pos . y + voxel_scale , pos . z + voxel_scale )
} ;
// If we hit the 1th voxel scale then we need to query the 3D grid
// and get the voxel at that position. I assume in the future when I
// want to do chunking / loading of raw data I can edit the voxel access
if ( voxel_scale = = 1 ) {
// Return the base 2x2 leaf node
uint64_t tmp = 0 ;
//
uint64_t child_descriptor = 0 ;
// These don't bound check, should they?
// Setting the individual valid mask bits
// These don't bound check, should they?
for ( int i = 0 ; i < v . size ( ) ; i + + ) {
if ( getVoxel ( v . at ( i ) ) )
SetBit ( i + 16 , & tmp ) ;
SetBit ( i + 16 , & child_descriptor ) ;
}
// Set the leaf mask to full
tmp | = 0xFF000000 ;
// We are querying leafs, so we need to fill the leaf mask
child_descriptor | = 0xFF000000 ;
// This is where contours
// The CP will be left blank, contours will be added maybe
return tmp ;
return child_descriptor ;
}
else {
uint64_t tmp = 0 ;
uint64_t child = 0 ;
// Init a blank child descriptor for this node
uint64_t child _descriptor = 0 ;
std : : vector < uint64_t > children ;
std : : vector < uint64_t > descriptor_array ;
// Generate down the recursion, returning the descriptor of the current node
for ( int i = 0 ; i < v . size ( ) ; i + + ) {
uint64_t child = 0 ;
// Get the child descriptor from the i'th to 8th subvoxel
child = generate_children ( v . at ( i ) , voxel_scale / 2 ) ;
//
// =========== Debug ===========
PrettyPrintUINT64 ( child , & output_stream ) ;
output_stream < < " " < < voxel_scale < < " " < < counter + + < < std : : endl ;
// =============================
if ( IsLeaf ( child ) ) {
if ( CheckLeafSign ( child ) ) {
SetBit ( i + 16 , & tmp ) ;
children . push_back ( child ) ;
} else {
SetBit ( i + 16 + 8 , & tmp ) ;
}
// If the child is a leaf (contiguous) of non-valid values
if ( IsLeaf ( child ) & & ! CheckLeafSign ( child ) ) {
// Leave the valid mask 0, set leaf mask to 1
SetBit ( i + 16 + 8 , & child_descriptor ) ;
}
// If the child is valid and not a leaf
else {
SetBit ( i + 16 , & tmp ) ;
children . push_back ( child ) ;
// Set the valid mask, and add it to the descriptor array
SetBit ( i + 16 , & child_descriptor ) ;
descriptor_array . push_back ( child ) ;
}
}
// Now put those values onto the block stack, it returns the
// 16 bit topmost pointer to the block. The 16th bit being
// a switch to jump to a far pointer.
int y = 0 ;
tmp | = a . copy_to_stack ( children ) ;
// Any free space between the child descriptors must be added here in order to
// interlace them and allow the memory handler to work correctly.
if ( ( tmp & 0xFFFFFFFF00000000 ) ! = 0 ) {
abort ( ) ;
}
// Copy the children to the stack and set the child_descriptors pointer to the correct value
child_descriptor | = a . copy_to_stack ( descriptor_array ) ;
return tmp ;
}
// Free space may also be allocated here as well
return 0 ;
// Return the node up the stack
return child_descriptor ;
}
void Map : : generate_octree ( ) {
@ -183,77 +171,20 @@ void Map::generate_octree() {
uint64_t root_node = generate_children ( sf : : Vector3i ( 0 , 0 , 0 ) , OCT_DIM / 2 ) ;
uint64_t tmp = 0 ;
PrettyPrintUINT64 ( root_node , & output_stream ) ;
output_stream < < " " < < OCT_DIM < < " " < < counter + + < < std : : endl ;
// ========= DEBUG ==============
// PrettyPrintUINT64(root_node, &output_stream);
// output_stream << " " << OCT_DIM << " " << counter++ << std::endl;
// ==============================
if ( IsLeaf ( root_node ) ) {
if ( CheckLeafSign ( root_node ) )
SetBit ( 0 + 16 , & tmp ) ;
int position = a . copy_to_stack ( std : : vector < uint64_t > { root_node } ) ;
SetBit ( 0 + 16 + 8 , & tmp ) ;
}
else {
SetBit ( 0 + 16 , & tmp ) ;
// Dump the debug log
// DumpLog(&output_stream, "raw_output.txt");
}
tmp | = a . copy_to_stack ( std : : vector < uint64_t > { root_node } ) ;
DumpLog ( & output_stream , " raw_output.txt " ) ;
a . print_block ( 0 ) ;
}
void Map : : load_unload ( sf : : Vector3i world_position ) {
//sf::Vector3i chunk_pos(world_to_chunk(world_position));
//
////Don't forget the middle chunk
//if (chunk_map.find(chunk_pos) == chunk_map.end()) {
// chunk_map[chunk_pos] = Chunk(5);
//}
//for (int x = chunk_pos.x - chunk_radius / 2; x < chunk_pos.x + chunk_radius / 2; x++) {
// for (int y = chunk_pos.y - chunk_radius / 2; y < chunk_pos.y + chunk_radius / 2; y++) {
// for (int z = chunk_pos.z - chunk_radius / 2; z < chunk_pos.z + chunk_radius / 2; z++) {
// if (chunk_map.find(sf::Vector3i(x, y, z)) == chunk_map.end()) {
// chunk_map.emplace(sf::Vector3i(x, y, z), Chunk(rand() % 6));
// //chunk_map[sf::Vector3i(x, y, z)] = Chunk(rand() % 6);
// }
// }
// }
//}
}
void Map : : load_single ( sf : : Vector3i world_position ) {
//sf::Vector3i chunk_pos(world_to_chunk(world_position));
////Don't forget the middle chunk
//if (chunk_map.find(chunk_pos) == chunk_map.end()) {
// chunk_map[chunk_pos] = Chunk(0);
//}
}
sf : : Vector3i Map : : getDimensions ( ) {
return sf : : Vector3i ( 0 , 0 , 0 ) ;
}
void Map : : setVoxel ( sf : : Vector3i world_position , int val ) {
//load_single(world_position);
//sf::Vector3i chunk_pos(world_to_chunk(world_position));
//sf::Vector3i in_chunk_pos(
// world_position.x % CHUNK_DIM,
// world_position.y % CHUNK_DIM,
// world_position.z % CHUNK_DIM
//);
//chunk_map.at(chunk_pos).voxel_data[in_chunk_pos.x + CHUNK_DIM * (in_chunk_pos.y + CHUNK_DIM * in_chunk_pos.z)]
// = val;
}
char Map : : getVoxelFromOctree ( sf : : Vector3i position )
@ -272,6 +203,8 @@ bool Map::getVoxel(sf::Vector3i pos){
void Map : : test_map ( ) {
std : : cout < < " Validating map... " < < std : : endl ;
for ( int x = 0 ; x < OCT_DIM ; x + + ) {
for ( int y = 0 ; y < OCT_DIM ; y + + ) {
for ( int z = 0 ; z < OCT_DIM ; z + + ) {
@ -282,14 +215,212 @@ void Map::test_map() {
bool arr2 = getVoxelFromOctree ( pos ) ;
if ( arr1 ! = arr2 ) {
std : : cout < < " MISMATCH " < < std : : endl ;
std : : cout < < " X: " < < pos . x < < " Y: " < < pos . y < < " Z: " < < pos . z < < std : : endl ;
}
}
}
}
std : : cout < < " Done " < < std : : endl ;
sf : : Clock timer ;
timer . restart ( ) ;
for ( int x = 0 ; x < OCT_DIM ; x + + ) {
for ( int y = 0 ; y < OCT_DIM ; y + + ) {
for ( int z = 0 ; z < OCT_DIM ; z + + ) {
sf : : Vector3i pos ( x , y , z ) ;
bool arr2 = getVoxelFromOctree ( pos ) ;
}
}
}
std : : cout < < " Octree linear xyz access : " ;
std : : cout < < timer . restart ( ) . asMicroseconds ( ) < < " microseconds " < < std : : endl ;
for ( int x = 0 ; x < OCT_DIM ; x + + ) {
for ( int y = 0 ; y < OCT_DIM ; y + + ) {
for ( int z = 0 ; z < OCT_DIM ; z + + ) {
sf : : Vector3i pos ( x , y , z ) ;
bool arr1 = getVoxel ( pos ) ;
}
}
}
std : : cout < < " Array linear xyz access : " ;
std : : cout < < timer . restart ( ) . asMicroseconds ( ) < < " microseconds " < < std : : endl ;
}
Octree : : Octree ( ) {
// initialize the first stack block
for ( int i = 0 ; i < 0x8000 ; i + + ) {
blob [ i ] = 0 ;
}
}
uint64_t Octree : : copy_to_stack ( std : : vector < uint64_t > children ) {
// Check for the 15 bit boundry
if ( stack_pos - children . size ( ) > stack_pos ) {
global_pos = stack_pos ;
stack_pos = 0x8000 ;
}
else {
stack_pos - = children . size ( ) ;
}
// Check for the far bit
memcpy ( & blob [ stack_pos + global_pos ] , children . data ( ) , children . size ( ) * sizeof ( uint64_t ) ) ;
std : : cout < < " \n GOOD " < < std : : endl ;
// Return the bitmask encoding the index of that value
// If we tripped the far bit, allocate a far index to the stack and place
// it at the bottom of the child_descriptor node level array
// And then shift the far bit to 1
// If not, shift the index to its correct place
return stack_pos ;
}
bool Octree : : get_voxel ( sf : : Vector3i position ) {
// Init the parent stack
int parent_stack_position = 0 ;
uint64_t parent_stack [ 32 ] = { 0 } ;
// and push the head node
uint64_t head = blob [ stack_pos ] ;
parent_stack [ parent_stack_position ] = head ;
// Get the index of the first child of the head node
uint64_t index = head & child_pointer_mask ;
// Init the idx stack
uint8_t scale = 0 ;
uint8_t idx_stack [ 32 ] = { 0 } ;
// Init the idx stack (DEBUG)
//std::vector<std::bitset<3>> scale_stack(static_cast<uint64_t>(log2(OCT_DIM)));
// Set our initial dimension and the position at the corner of the oct to keep track of our position
int dimension = OCT_DIM ;
sf : : Vector3i quad_position ( 0 , 0 , 0 ) ;
// While we are not at the required resolution
// Traverse down by setting the valid/leaf mask to the subvoxel
// Check to see if it is valid
// Yes?
// Check to see if it is a leaf
// No? Break
// Yes? Scale down to the next hierarchy, push the parent to the stack
//
// No?
// Break
while ( dimension > 1 ) {
// So we can be a little bit tricky here and increment our
// array index that holds our masks as we build the idx.
// Adding 1 for X, 2 for Y, and 4 for Z
int mask_index = 0 ;
// Do the logic steps to find which sub oct we step down into
if ( position . x > = ( dimension / 2 ) + quad_position . x ) {
// Set our voxel position to the (0,0) of the correct oct
quad_position . x + = ( dimension / 2 ) ;
// increment the mask index and mentioned above
mask_index + = 1 ;
// Set the idx to represent the move
idx_stack [ scale ] | = idx_set_x_mask ;
// Debug
//scale_stack.at(static_cast<uint64_t>(log2(OCT_DIM) - log2(dimension))).set(0);
}
if ( position . y > = ( dimension / 2 ) + quad_position . y ) {
quad_position . y | = ( dimension / 2 ) ;
mask_index + = 2 ;
idx_stack [ scale ] ^ = idx_set_y_mask ;
//scale_stack.at(static_cast<uint64_t>(log2(OCT_DIM) - log2(dimension))).set(1);
}
if ( position . z > = ( dimension / 2 ) + quad_position . z ) {
quad_position . z + = ( dimension / 2 ) ;
mask_index + = 4 ;
idx_stack [ scale ] | = idx_set_z_mask ;
//scale_stack.at(static_cast<uint64_t>(log2(OCT_DIM) - log2(dimension))).set(2);
}
uint64_t out1 = ( head > > 16 ) & mask_8 [ mask_index ] ;
uint64_t out2 = ( head > > 24 ) & mask_8 [ mask_index ] ;
// Check to see if we are on a valid oct
if ( ( head > > 16 ) & mask_8 [ mask_index ] ) {
// Check to see if it is a leaf
if ( ( head > > 24 ) & mask_8 [ mask_index ] ) {
// If it is, then we cannot traverse further as CP's won't have been generated
return true ;
}
// If all went well and we found a valid non-leaf oct then we will traverse further down the hierarchy
scale + + ;
dimension / = 2 ;
// Count the number of valid octs that come before and add it to the index to get the position
int count = count_bits ( ( uint8_t ) ( head > > 16 ) & count_mask_8 [ mask_index ] ) ;
// Because we are getting the position at the first child we need to back up one
// Or maybe it's because my count bits function is wrong...
index = ( head & child_pointer_mask ) + count - 1 ;
head = blob [ index ] ;
// Increment the parent stack position and put the new oct node as the parent
parent_stack_position + + ;
parent_stack [ parent_stack_position ] = head ;
}
else {
// If the oct was not valid, then no CP's exists any further
// This implicitly says that if it's non-valid then it must be a leaf!!
// It appears that the traversal is now working but I need
// to focus on how to now take care of the end condition.
// Currently it adds the last parent on the second to lowest
// oct CP. Not sure if thats correct
return false ;
}
}
return true ;
}
void Octree : : print_block ( int block_pos ) {
std : : stringstream sss ;
for ( int i = block_pos ; i < ( int ) pow ( 2 , 15 ) ; i + + ) {
PrettyPrintUINT64 ( blob [ i ] , & sss ) ;
sss < < " \n " ;
}
DumpLog ( & sss , " raw_data.txt " ) ;
}
MitchellHansen
8 years ago