[Bf-blender-cvs] [b70eb59] mesh-transfer-data: Islands 'TubeCase' WIP: implementation of AStar path algo.
Bastien Montagne
noreply at git.blender.org
Tue Nov 25 20:16:08 CET 2014
Commit: b70eb596a4c5887c4c4009ec8835bd40b744aab9
Author: Bastien Montagne
Date: Tue Nov 25 09:54:40 2014 +0100
Branches: mesh-transfer-data
https://developer.blender.org/rBb70eb596a4c5887c4c4009ec8835bd40b744aab9
Islands 'TubeCase' WIP: implementation of AStar path algo.
Theoritical code for now, not linked to anything yet.
===================================================================
M source/blender/blenkernel/intern/mesh_remap.c
M source/blender/blenlib/BLI_bitmap.h
===================================================================
diff --git a/source/blender/blenkernel/intern/mesh_remap.c b/source/blender/blenkernel/intern/mesh_remap.c
index c0a7db7..4e58c10 100644
--- a/source/blender/blenkernel/intern/mesh_remap.c
+++ b/source/blender/blenkernel/intern/mesh_remap.c
@@ -31,7 +31,10 @@
#include "DNA_meshdata_types.h"
#include "BLI_utildefines.h"
+#include "BLI_alloca.h"
#include "BLI_bitmap.h"
+#include "BLI_heap.h"
+#include "BLI_listbase.h"
#include "BLI_math.h"
#include "BLI_memarena.h"
#include "BLI_polyfill2d.h"
@@ -774,6 +777,341 @@ void BKE_mesh_remap_calc_edges_from_dm(
}
}
+typedef struct AStarPathLink {
+ int nodes[2];
+ float cost;
+
+ void *custom_data;
+} AStarPathLink;
+
+typedef struct AStarPathNode {
+ ListBase neighbor_links;
+
+ void *custom_data;
+} AStarPathNode;
+
+typedef struct AStarPathGraph {
+ int node_num;
+ AStarPathNode *nodes;
+
+ void *custom_data;
+
+ struct MemArena *mem; /* Memory arena. */
+} AStarPathGraph;
+
+typedef struct AStarPathSolution {
+ /* Final 'most useful' data. */
+ ListBase path; /* as nodes' indices */
+ int steps; /* number of steps (i.e. walked links) in path (nodes num, including start and end, is steps + 1). */
+
+ void *custom_data;
+
+ /* Mostly runtime data. */
+ BLI_bitmap *done_nodes;
+ int *prev_nodes;
+ float *g_costs;
+ int *g_steps;
+
+ struct MemArena *mem; /* Memory arena. */
+} AStarPathSolution;
+
+typedef float (*astar_f_cost)(AStarPathGraph *as_graph, AStarPathSolution *as_solution, AStarPathLink *link,
+ const int node_idx_curr, const int node_idx_next, const int node_idx_dst);
+
+static void astar_path_graph_init(AStarPathGraph *as_graph, const int node_num, void *custom_data)
+{
+ MemArena *mem = as_graph->mem;
+
+ if (mem == NULL) {
+ mem = BLI_memarena_new(BLI_MEMARENA_STD_BUFSIZE, __func__);
+ }
+ /* else memarena should be cleared */
+
+ as_graph->node_num = node_num;
+ as_graph->nodes = BLI_memarena_calloc(mem, sizeof(*as_graph->nodes) * (size_t)node_num);
+
+ as_graph->custom_data = custom_data;
+}
+
+static void astar_path_node_init(AStarPathGraph *as_graph, const int node_index, void *custom_data)
+{
+ as_graph->nodes[node_index].custom_data = custom_data;
+}
+
+static void astar_path_node_link_add(
+ AStarPathGraph *as_graph, const int node1_index, const int node2_index, const float cost, void *custom_data)
+{
+ MemArena *mem = as_graph->mem;
+ AStarPathLink *link = BLI_memarena_alloc(mem, sizeof(*link));
+ LinkData *ld = BLI_memarena_alloc(mem, sizeof(*ld) * 2);
+
+ link->nodes[0] = node1_index;
+ link->nodes[1] = node2_index;
+ link->cost = cost;
+ link->custom_data = custom_data;
+
+ ld[0].data = ld[1].data = link;
+
+ BLI_addtail(&(as_graph->nodes[node1_index].neighbor_links), &ld[0]);
+ BLI_addtail(&(as_graph->nodes[node2_index].neighbor_links), &ld[1]);
+}
+
+static int astar_path_node_link_other_node(AStarPathLink *lnk, const int idx)
+{
+ return (lnk->nodes[0] == idx) ? lnk->nodes[1] : lnk->nodes[0];
+}
+
+
+static void astar_path_solution_init(AStarPathGraph *as_graph, AStarPathSolution *as_solution, void *custom_data)
+{
+ MemArena *mem = as_solution->mem;
+ size_t node_num = (size_t)as_graph->node_num;
+
+ if (mem == NULL) {
+ mem = BLI_memarena_new(BLI_MEMARENA_STD_BUFSIZE, __func__);
+ }
+ /* else memarena should be cleared */
+
+ BLI_listbase_clear(&as_solution->path);
+ as_solution->steps = 0;
+ as_solution->custom_data = custom_data;
+
+ as_solution->done_nodes = BLI_BITMAP_NEW_MEMARENA(mem, node_num);
+ as_solution->prev_nodes = BLI_memarena_alloc(mem, sizeof(*as_solution->prev_nodes) * node_num);
+ as_solution->g_costs = BLI_memarena_alloc(mem, sizeof(*as_solution->g_costs) * node_num);
+ as_solution->g_steps = BLI_memarena_alloc(mem, sizeof(*as_solution->g_steps) * node_num);
+
+}
+
+static void astar_path_solution_clear(AStarPathSolution *as_solution)
+{
+ if (as_solution->mem) {
+ BLI_memarena_clear(as_solution->mem);
+ }
+
+ BLI_listbase_clear(&as_solution->path);
+ as_solution->steps = 0;
+ as_solution->custom_data = NULL;
+
+ as_solution->done_nodes = NULL;
+ as_solution->prev_nodes = NULL;
+ as_solution->g_costs = NULL;
+ as_solution->g_steps = NULL;
+}
+
+static void astar_path_solution_free(AStarPathSolution *as_solution)
+{
+ if (as_solution->mem) {
+ BLI_memarena_free(as_solution->mem);
+ as_solution->mem = NULL;
+ }
+}
+
+static bool astar_solve(
+ AStarPathGraph *as_graph, const int node_index_src, const int node_index_dst, astar_f_cost f_cost_cb,
+ AStarPathSolution *r_solution, const int max_steps)
+{
+ Heap *todo_nodes;
+
+ MemArena *mem = r_solution->mem;
+ BLI_bitmap *done_nodes = r_solution->done_nodes;
+ int *prev_nodes = r_solution->prev_nodes;
+ float *g_costs = r_solution->g_costs;
+ int *g_steps = r_solution->g_steps;
+
+ todo_nodes = BLI_heap_new();
+
+ prev_nodes[node_index_src] = -1;
+ fill_vn_fl(g_costs, as_graph->node_num, FLT_MAX);
+ g_costs[node_index_src] = 0.0f;
+ g_steps[node_index_src] = 0;
+
+ BLI_heap_insert(todo_nodes,
+ f_cost_cb(as_graph, r_solution, NULL, -1, node_index_src, node_index_dst),
+ SET_INT_IN_POINTER(node_index_src));
+
+ while (!BLI_heap_is_empty(todo_nodes)) {
+ const int node_curr_idx = GET_INT_FROM_POINTER(BLI_heap_popmin(todo_nodes));
+ AStarPathNode *node_curr = &as_graph->nodes[node_curr_idx];
+ LinkData *ld;
+
+ if (BLI_BITMAP_TEST(done_nodes, node_curr_idx)) {
+ /* Might happen, because we always add nodes to heap when evaluating them, without ever removing them. */
+ continue;
+ }
+
+ /* If we are limited in amount of steps to find a path, fail if we reached limit. */
+ if (max_steps && g_steps[node_curr_idx] > max_steps) {
+ break;
+ }
+
+ if (node_curr_idx == node_index_dst) {
+ LinkData *steps_data, *sd;
+ int steps = g_steps[node_curr_idx];
+ int i;
+
+ r_solution->steps = steps++;
+ sd = steps_data = BLI_memarena_alloc(mem, sizeof(*steps_data) * ((size_t)steps));
+
+ for (i = node_curr_idx; i != -1; i = prev_nodes[i], sd++, steps--) {
+ sd->data = SET_INT_IN_POINTER(i);
+ BLI_addhead(&r_solution->path, sd);
+ }
+ BLI_assert(steps >= 0);
+
+ BLI_heap_free(todo_nodes, NULL);
+ return true;
+ }
+
+ BLI_BITMAP_ENABLE(done_nodes, node_curr_idx);
+
+ for (ld = node_curr->neighbor_links.first; ld; ld = ld->next) {
+ AStarPathLink *link = ld->data;
+ const int node_next_idx = astar_path_node_link_other_node(link, node_curr_idx);
+
+ if (!BLI_BITMAP_TEST(done_nodes, node_next_idx)) {
+ float g_cst = g_costs[node_curr_idx] + link->cost;
+
+ if (g_cst < g_costs[node_next_idx]) {
+ prev_nodes[node_next_idx] = node_curr_idx;
+ g_costs[node_next_idx] = g_cst;
+ g_steps[node_next_idx] = g_steps[node_curr_idx] + 1;
+ /* We might have this node already in heap, but since this 'instance' will be evaluated first,
+ * no problem. */
+ BLI_heap_insert(todo_nodes,
+ f_cost_cb(as_graph, r_solution, link, node_curr_idx, node_next_idx, node_index_dst),
+ SET_INT_IN_POINTER(node_next_idx));
+ }
+ }
+ }
+ }
+
+ BLI_heap_free(todo_nodes, NULL);
+ return false;
+}
+
+#define POLY_UNSET 0
+#define POLY_CENTER_INIT 1
+#define POLY_COMPLETE 2
+
+static void mesh_island_to_astar_path_graph_edge_process(
+ MeshIslandStore *islands, const int island_index, AStarPathGraph *as_graph,
+ MVert *verts, MPoly *polys, MLoop *loops,
+ const int edge_idx, BLI_bitmap *done_edges, MeshElemMap *edge_to_poly_map, const bool is_einnercut,
+ int *poly_isld_indices, float (*poly_centers)[3], unsigned char *poly_status)
+{
+ int *p_isld_indices = BLI_array_alloca(p_isld_indices, (size_t)edge_to_poly_map[edge_idx].count);
+ int i, j;
+
+ for (i = 0; i < edge_to_poly_map[edge_idx].count; i++) {
+ const int p_idx = edge_to_poly_map[edge_idx].indices[i];
+ MPoly *mp = &polys[p_idx];
+ const int p_isld_idx = poly_isld_indices[p_idx];
+
+ if (UNLIKELY(islands->items_to_islands[mp->loopstart] != island_index)) {
+ /* poly not in current island, happens with border edges... */
+ continue;
+ }
+
+ if (poly_status[p_isld_idx] == POLY_COMPLETE) {
+ continue;
+ }
+
+ if (poly_status[p_isld_idx] == POLY_UNSET) {
+ BKE_mesh_calc_poly_center(mp, &loops[mp->loopstart], verts, poly_centers[p_isld_idx]);
+ astar_path_node_init(as_graph, p_isld_idx, poly_centers[p_isld_idx]);
+ poly_status[p_isld_idx] = POLY_CENTER_INIT;
+ }
+
+ for (j = i; j--;) {
+ float dist_cost;
+
+ if (poly_status[p_isld_indices[j]] == POLY_COMPLETE) {
+ /* If the other poly is complete, that link has already been added! */
+ continue;
+ }
+ dist_cost = len_v3v3(poly_centers[p_isld_indices[j]], poly_centers[p_isld_idx]);
+ astar_path_node_link_add(as_graph, p_isld_indices[j], p_isld_idx, dist_cost, SET_INT_IN_POINTER(is_einnercut));
+ }
+
+ p_isld_indices[i] = p_isld_idx;
+ }
+
+ BLI_BITMAP_ENABLE(done_edges, edge_idx);
+}
+
+static void mesh_island_to_astar_path_graph(
+ MeshIslandStore *islands, const int island_index,
+ MVert *verts, const int UNUSED(numverts), MEdge *edges, const int numedges,
+ MLoop *loops, const int numloops, MPoly *polys, const int numpolys,
+ AStarPathGraph *r_as_graph)
+{
+ MeshElemMap *island_poly_map = islands->islands[island_index];
+ MeshElemMap *island_einnercut_map = islands->innercuts[island_index];
+
+ int *poly_isld_indices = MEM_mallocN(sizeof(*poly_isld_indices) * (size_t)numpolys, __func__);
+ BLI_bitmap *done_edges = BLI_BITMAP_NEW(numpolys, __func__);
+
+ const int node_num = island_poly_map->count;
+ unsigned char *poly_status = MEM_callocN(sizeof(*poly_status) * (size_t)node_num, __func__);
+ /* polycenters are owned by graph memarena. */
+ float (*poly_centers)[3] = BLI_memarena_calloc(r_as_graph->mem, sizeof(*poly_centers) * (size_t)node_num);
+
+ int p_isld_idx;
+ int i;
+
+ MeshElemMap *edge_to_poly_map = NULL;
+ int *edge_to_poly_map_buff = NULL;
+
+ BKE_mesh_edge_poly_map_create(&edge_to_poly_map, &edge_to_poly_map_buff,
+ edges, numedges, polys, numpolys, loops, numloops);
+
+ astar_path_graph_init(r_as_graph, node_num, NULL);
+
+ for (i = island_poly_map->count; i--;) {
+ poly_isld_indices[is
@@ Diff output truncated at 10240 characters. @@
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