Bsp 空间分割模拟实现

Bsp：二叉分割树，在游戏中用来分割局部空间，方便碰撞检测等的实现。

下面介绍一种简单易用的分割方法：

分割步骤：

一、将空间中的所有的面，加入的根部节点。

二、遍历根部节点的所有面，分别找到x、y、z的最大最小值，给根节点指定一个合适的包围空间。

三、在这个节点的包围空间里找到最长轴、并按这个最长轴的中间点做为新的分割点，遍历该节点的所有面将其分在其左右子节点中。

四、返回第2步，直到达到一定限制条件，结束，此时空间已经被分开了。

当然闲话不说，贴上实现模拟代码：

// StBSPTree.cpp : Defines the entry point for the console application. // #include "stdafx.h" #include <map> #include <vector> #include <iostream> using namespace std; struct point { float x,y,z; point():x(0.0f),y(0.0f),z(0.0f){}; point(float a,float b,float c):x(a),y(b),z(c){} void operator += (int n) { x += n; y += n; z += n; } void operator = (point& p) { memcpy(this,(void*)&p,sizeof(*this)); } }; struct face { point P[3]; void operator +=(int n) { P[0] += n; P[1] += n; P[2] += n; } }; struct BBox { point Min; point Max; BBox():Min(),Max(){} }; enum EAxis { Axis_X, Axis_Y, Axis_Z, }; struct TreeNode { TreeNode():box(),nDepth(0),pLChild(NULL),pRChild(NULL),Axis(Axis_X),Split(0.0f){vFaceId.reserve(16);} int nDepth; TreeNode* pLChild; TreeNode* pRChild; std::vector<int> vFaceId; int Axis; BBox box; float Split; }; std::map<int,face> m_mFace; face* GetFaceByID(int nID) { std::map<int,face>::iterator itr = m_mFace.find(nID); if (itr != m_mFace.end() ) { return &(m_mFace[nID]); } return NULL; } class BspTree { public: BspTree():m_pRoot(NULL){}; ~BspTree() { if (m_pRoot) { DeleteNode(m_pRoot); } } //初始化树根 void InitTreeRoot(TreeNode *pNode); //释放整个树的资源 void DeleteNode(TreeNode * pNode); //生成AABB包围盒 void BuildAABB(TreeNode * pNode); //切分整个空间 void SplitSpace(TreeNode* pRoot,int nAxis,int ndepth); //切分面 void SplitFace( int nFaceId, float fSplit, int nAxis, int* pLeftNum, int* pRightNum, int* pBothNum ); //遍历整个树 void ErgodicTree(TreeNode * pNode); protected: private: TreeNode *m_pRoot; }; void BspTree::InitTreeRoot(TreeNode *pNode) { if (pNode == NULL) return; m_pRoot = pNode; } void BspTree::DeleteNode(TreeNode * pNode) { if (pNode == NULL) return; DeleteNode(pNode->pLChild); DeleteNode(pNode->pRChild); delete pNode; } //遍历整个树 void BspTree::ErgodicTree(TreeNode * pNode) { if (pNode == NULL) return; ErgodicTree(pNode->pLChild); cout<<"节点深度: "<<pNode->nDepth<<"含有多少个面: "<<pNode->vFaceId.size(); switch (pNode->Axis) { case Axis_X: { cout<<" 沿 X轴 分割 "<<"分割点是: x ="<<pNode->Split<<endl; break; } case Axis_Y: { cout<<" 沿 Y轴 分割 "<<"分割点是: y ="<<pNode->Split<<endl; break; } case Axis_Z: { cout<<" 沿 Z轴 分割 "<<"分割点是: z ="<<pNode->Split<<endl; break; } } ErgodicTree(pNode->pRChild); } void BspTree::BuildAABB(TreeNode * pNode) { if(!pNode) return; point Min(1000000,1000000,1000000); point Max(-1000000,-1000000,-1000000); for(int n = 0; n < pNode->vFaceId.size(); ++n) { face *pFa = GetFaceByID(n); if (pFa == NULL) continue; for(int m = 0; m < 3; ++m) { if (pFa->P[m].x > Max.x) Max.x = pFa->P[m].x; if (pFa->P[m].y > Max.y) Max.y = pFa->P[m].y; if (pFa->P[m].z > Max.z) Max.z = pFa->P[m].z; if (pFa->P[m].x < Min.x) Min.x = pFa->P[m].x; if (pFa->P[m].y < Min.y) Min.y = pFa->P[m].y; if (pFa->P[m].z < Min.z) Min.z = pFa->P[m].z; } } pNode->box.Max = Max; pNode->box.Min = Min; } int CompareFloat(float a,float b,float fOff) { if (abs(a - b) < fOff) return 0; if ( a > b) return 1; else return -1; } void BspTree::SplitFace( int nFaceId, float fSplit, int nAxis, int* pLeftNum, int* pRightNum, int* pBothNum ) { face* pFace = GetFaceByID(nFaceId); int nLeftCount = 0; int nRightCount = 0; int nBothCount = 0; float t[3]; switch( nAxis ) { case Axis_X: t[0] = pFace->P[0].x; t[1] = pFace->P[1].x; t[2] = pFace->P[2].x; break; case Axis_Y: t[0] = pFace->P[0].y; t[1] = pFace->P[1].y; t[2] = pFace->P[2].y; break; case Axis_Z: t[0] = pFace->P[0].z; t[1] = pFace->P[1].z; t[2] = pFace->P[2].z; break; } for( int i = 0; i < 3; i++ ) { int c = CompareFloat( t[i], fSplit ,0.001f); if( c < 0 ) // 左边 nLeftCount++; else if( c > 0 ) // 右边 nRightCount++; else // 正中间 nBothCount++; } *pLeftNum = nLeftCount; *pRightNum = nRightCount; *pBothNum = nBothCount; } void BspTree::SplitSpace(TreeNode* pRoot,int nAxis,int ndepth) { if(!pRoot) return; pRoot->nDepth = ndepth; pRoot->Axis = nAxis; if (pRoot->vFaceId.size() < 3 || ndepth > 2) { pRoot->pLChild = NULL; pRoot->pRChild = NULL; return; } pRoot->pLChild = new TreeNode; pRoot->pRChild = new TreeNode; pRoot->pLChild->box.Max = pRoot->box.Max; pRoot->pLChild->box.Min = pRoot->box.Min; pRoot->pRChild->box.Max = pRoot->box.Max; pRoot->pRChild->box.Min = pRoot->box.Min; nAxis = (int)Axis_X; float XLength = pRoot->box.Max.x - pRoot->box.Min.x; float YLength = pRoot->box.Max.y - pRoot->box.Min.y; float ZLength = pRoot->box.Max.z - pRoot->box.Min.z; if (YLength > XLength) { nAxis = Axis_Y; XLength = YLength; } if (ZLength > XLength) { nAxis = Axis_Z; } float fslit = 0.0f; switch (nAxis) { case Axis_X: { fslit = (pRoot->box.Max.x + pRoot->box.Min.x)/2.0; pRoot->pLChild->box.Max.x = fslit; pRoot->pRChild->box.Min.x = fslit; }break; case Axis_Y: { fslit = (pRoot->box.Max.y + pRoot->box.Min.y)/2.0; pRoot->pLChild->box.Max.y = fslit; pRoot->pRChild->box.Min.y = fslit; }break; case Axis_Z: { fslit = (pRoot->box.Max.z + pRoot->box.Min.z)/2.0; pRoot->pLChild->box.Max.z = fslit; pRoot->pRChild->box.Min.z = fslit; }break; } pRoot->Split = fslit; int nSize = pRoot->vFaceId.size(); int nLeftCount,nRightCount,nBothCount; for (int n = 0; n < nSize; ++n) { SplitFace(pRoot->vFaceId.at(n),fslit,nAxis,&nLeftCount,&nRightCount,&nBothCount); // 如果左边有 if( nLeftCount > 0 || nBothCount > 0 ) pRoot->pLChild->vFaceId.push_back( pRoot->vFaceId.at(n) ); if( nRightCount > 0 || nBothCount > 0 ) pRoot->pRChild->vFaceId.push_back( pRoot->vFaceId.at(n) ); } pRoot->vFaceId.clear(); // 递归 SplitSpace( pRoot->pLChild, nAxis , ndepth+1); SplitSpace( pRoot->pRChild, nAxis , ndepth+1); } int _tmain(int argc, _TCHAR* argv[]) { BspTree bspTree; TreeNode *pRoot = new TreeNode; face fa; fa.P[0].x = -10;fa.P[0].y = -10;fa.P[0].z = -10; fa.P[1].x = 2;fa.P[1].y = 2;fa.P[1].z = 2; fa.P[2].x = 5;fa.P[2].y = 5;fa.P[2].z = 5; for (int n = 0; n < 16; ++n) { if (n % 5 == 0) fa += 2*(-n); else fa += 2*n; m_mFace[n] = fa; pRoot->vFaceId.push_back(n); } bspTree.InitTreeRoot(pRoot); bspTree.BuildAABB(pRoot); bspTree.SplitSpace(pRoot,0,0); bspTree.ErgodicTree(pRoot); getchar(); return 0; }