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Parallel AABB tree

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This commit is contained in:
Gaute Lindkvist
2020-05-13 12:09:07 +02:00
parent 0922b68302
commit 64b0687dee
1 changed files with 100 additions and 20 deletions
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120
Fwk/VizFwk/LibGeometry/cvfBoundingBoxTree.cpp
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@@ -176,8 +176,9 @@ namespace cvf {
size_t treeSize(const AABBTreeNode* pNode) const;
size_t treeHeight(const AABBTreeNode* pNode, size_t iLevel, size_t* piMin, size_t* piMax) const;
void leafBoundingBox(cvf::BoundingBox& pBox, size_t iStartIdx, size_t iEndIdx) const;
bool buildTree(AABBTreeNodeInternal* pNode, size_t iFromIdx, size_t iToIdx);
cvf::BoundingBox leafBoundingBox(size_t iStartIdx, size_t iEndIdx) const;
cvf::BoundingBox leafBoundingBoxParallel(size_t iStartIdx, size_t iEndIdx) const;
bool buildTree(AABBTreeNodeInternal* pNode, size_t iFromIdx, size_t iToIdx, int currentLevel, int maxLevel = -1);
// Queries
bool intersect(const AABBTreeNode* pA, const AABBTreeNode* pB) const;
@@ -194,6 +195,21 @@ namespace cvf {
std::deque<AABBTreeNodeInternal> m_nodePool;
std::deque<AABBTreeNodeLeaf> m_leafPool;
size_t m_nextNodeIndex;
struct InternalNodeAndRange
{
AABBTreeNodeInternal* node;
size_t fromIdx;
size_t toIdx;
InternalNodeAndRange(AABBTreeNodeInternal* node, size_t fromIdx, size_t toIdx)
: node(node)
, fromIdx(fromIdx)
, toIdx(toIdx)
{}
};
std::deque<InternalNodeAndRange> m_previousLevelNodes;
};
class BoundingBoxTreeImpl : public AABBTree
@@ -449,8 +465,7 @@ bool AABBTree::buildTree()
m_nodePool.resize(m_iNumLeaves);
// Then find the bounding box of all items in the tree
cvf::BoundingBox box;
leafBoundingBox(box, 0, m_iNumLeaves - 1);
cvf::BoundingBox box = leafBoundingBoxParallel(0, m_iNumLeaves - 1);
// Create the root
if (m_iNumLeaves == 1)
@@ -463,18 +478,57 @@ bool AABBTree::buildTree()
m_pRoot = createNode();
m_pRoot->setBoundingBox(box);
bool bRes = buildTree((AABBTreeNodeInternal*)m_pRoot, 0, m_iNumLeaves - 1);
bool bRes = buildTree((AABBTreeNodeInternal*)m_pRoot, 0, m_iNumLeaves - 1, 0, 3);
return bRes;
#pragma omp parallel
{
bool bThreadRes = bRes;
#pragma omp for
for (int i = 0; i < m_previousLevelNodes.size(); ++i)
{
bThreadRes = bThreadRes && buildTree(m_previousLevelNodes[i].node, m_previousLevelNodes[i].fromIdx, m_previousLevelNodes[i].toIdx, 3, 6);
}
#pragma omp critical
{
bRes = bRes && bThreadRes;
}
}
m_previousLevelNodes.clear();
#pragma omp parallel
{
bool bThreadRes = bRes;
#pragma omp for schedule(guided)
for (int i = 0; i < m_previousLevelNodes.size(); ++i)
{
bThreadRes = bThreadRes && buildTree(m_previousLevelNodes[i].node, m_previousLevelNodes[i].fromIdx, m_previousLevelNodes[i].toIdx, 7);
}
#pragma omp critical
{
bRes = bRes && bThreadRes;
}
}
m_previousLevelNodes.clear();
return bRes;
}
//--------------------------------------------------------------------------------------------------
///
//--------------------------------------------------------------------------------------------------
bool AABBTree::buildTree(AABBTreeNodeInternal* pNode, size_t iFromIdx, size_t iToIdx)
bool AABBTree::buildTree(AABBTreeNodeInternal* pNode, size_t iFromIdx, size_t iToIdx, int currentLevel, int maxLevel)
{
if (!pNode->boundingBox().isValid()) return false;
if (currentLevel == maxLevel)
{
#pragma omp critical
{
m_previousLevelNodes.emplace_back(pNode, iFromIdx, iToIdx);
}
return true;
}
int iLongestAxis = largestComponent(pNode->boundingBox().extent());
double splitValue = pNode->boundingBox().center()[iLongestAxis];
@@ -513,14 +567,13 @@ bool AABBTree::buildTree(AABBTreeNodeInternal* pNode, size_t iFromIdx, size_t iT
// Create the left tree
if (iMid > iFromIdx)
{
cvf::BoundingBox box;
leafBoundingBox(box, iFromIdx, iMid);
cvf::BoundingBox box = leafBoundingBox(iFromIdx, iMid);
AABBTreeNodeInternal* newNode = createNode();
newNode->setBoundingBox(box);
pNode->setLeft(newNode);
if (!buildTree((AABBTreeNodeInternal*)pNode->left(), iFromIdx, iMid)) return false;
if (!buildTree((AABBTreeNodeInternal*)pNode->left(), iFromIdx, iMid, currentLevel + 1, maxLevel)) return false;
}
else
{
@@ -530,14 +583,13 @@ bool AABBTree::buildTree(AABBTreeNodeInternal* pNode, size_t iFromIdx, size_t iT
// Create the right tree
if (iMid < (iToIdx - 1))
{
cvf::BoundingBox box;
leafBoundingBox(box, iMid + 1, iToIdx);
cvf::BoundingBox box = leafBoundingBox(iMid + 1, iToIdx);
AABBTreeNodeInternal* newNode = createNode();
newNode->setBoundingBox(box);
pNode->setRight(newNode);
if (!buildTree((AABBTreeNodeInternal*)pNode->right(), iMid + 1, iToIdx)) return false;
if (!buildTree((AABBTreeNodeInternal*)pNode->right(), iMid + 1, iToIdx, currentLevel + 1, maxLevel)) return false;
}
else
{
@@ -570,18 +622,46 @@ void AABBTree::freeThis()
//--------------------------------------------------------------------------------------------------
///
//--------------------------------------------------------------------------------------------------
void AABBTree::leafBoundingBox(cvf::BoundingBox& bb, size_t iStartIdx, size_t iEndIdx) const
cvf::BoundingBox AABBTree::leafBoundingBox(size_t iStartIdx, size_t iEndIdx) const
{
CVF_ASSERT(iStartIdx <= iEndIdx);
CVF_ASSERT(iStartIdx <= iEndIdx);
bb.reset();
cvf::BoundingBox bb;
size_t i;
for (i = iStartIdx; i <= iEndIdx; i++)
size_t i;
for (i = iStartIdx; i <= iEndIdx; i++)
{
CVF_ASSERT(m_ppLeaves[i]);
bb.add(m_ppLeaves[i]->boundingBox());
}
return bb;
}
//--------------------------------------------------------------------------------------------------
///
//--------------------------------------------------------------------------------------------------
cvf::BoundingBox AABBTree::leafBoundingBoxParallel(size_t iStartIdx, size_t iEndIdx) const
{
CVF_ASSERT(iStartIdx <= iEndIdx);
cvf::BoundingBox bb;
#pragma omp parallel
{
CVF_ASSERT(m_ppLeaves[i]);
bb.add(m_ppLeaves[i]->boundingBox());
cvf::BoundingBox threadBB;
#pragma omp parallel for
for (int i = (int)iStartIdx; i <= (int)iEndIdx; i++)
{
CVF_ASSERT(m_ppLeaves[i]);
threadBB.add(m_ppLeaves[i]->boundingBox());
}
#pragma omp critical
{
bb.add(threadBB);
}
}
return bb;
}
//--------------------------------------------------------------------------------------------------