aabb_tree.h

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/** @file
 *  @author Bram de Greve (bramz@users.sourceforge.net)
 *  @author Tom De Muer (tomdemuer@users.sourceforge.net)
 *
 *  *** BEGIN LICENSE INFORMATION ***
 *  
 *  The contents of this file are subject to the Common Public Attribution License 
 *  Version 1.0 (the "License"); you may not use this file except in compliance with 
 *  the License. You may obtain a copy of the License at 
 *  http://lass.sourceforge.net/cpal-license. The License is based on the 
 *  Mozilla Public License Version 1.1 but Sections 14 and 15 have been added to cover 
 *  use of software over a computer network and provide for limited attribution for 
 *  the Original Developer. In addition, Exhibit A has been modified to be consistent 
 *  with Exhibit B.
 *  
 *  Software distributed under the License is distributed on an "AS IS" basis, WITHOUT 
 *  WARRANTY OF ANY KIND, either express or implied. See the License for the specific 
 *  language governing rights and limitations under the License.
 *  
 *  The Original Code is LASS - Library of Assembled Shared Sources.
 *  
 *  The Initial Developer of the Original Code is Bram de Greve and Tom De Muer.
 *  The Original Developer is the Initial Developer.
 *  
 *  All portions of the code written by the Initial Developer are:
 *  Copyright (C) 2004-2007 the Initial Developer.
 *  All Rights Reserved.
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 *
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 *  GNU General Public License Version 2 or later (the GPL), in which case the 
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 *  of your version of this file only under the terms of the GPL and not to allow 
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 *  deleting the provisions above and replace them with the notice and other 
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 *  *** END LICENSE INFORMATION ***
 */



/** @class lass::spat::AabbTree
 *  @brief an AABB bounding volume tree that looks similar to a KdTree
 *  @author Bram de Greve [BdG]
 *
 *  the AabbTree does NOT own the objects.  You must keep them yourself!
 */

#ifndef LASS_GUARDIAN_OF_INCLUSION_SPAT_AABB_TREE_H
#define LASS_GUARDIAN_OF_INCLUSION_SPAT_AABB_TREE_H

//#define LASS_SPAT_AABB_TREE_DIAGNOSTICS

#include "spat_common.h"
#include "default_object_traits.h"
#include "split_heuristics.h"

namespace lass
{
namespace spat
{

template
<
    typename ObjectType,
    typename ObjectTraits = DefaultObjectTraits<ObjectType>,
    typename SplitHeuristics = DefaultSplitHeuristics<>
>
class AabbTree
{
public:

    typedef AabbTree<ObjectType, ObjectTraits, SplitHeuristics> TSelf;

    typedef ObjectType TObject;
    typedef ObjectTraits TObjectTraits;
    typedef SplitHeuristics TSplitHeuristics;

    typedef typename TObjectTraits::TObjectIterator TObjectIterator;
    typedef typename TObjectTraits::TObjectReference TObjectReference;
    typedef typename TObjectTraits::TAabb TAabb;
    typedef typename TObjectTraits::TRay TRay;
    typedef typename TObjectTraits::TPoint TPoint;
    typedef typename TObjectTraits::TVector TVector;
    typedef typename TObjectTraits::TValue TValue;
    typedef typename TObjectTraits::TParam TParam;
    typedef typename TObjectTraits::TReference TReference;
    typedef typename TObjectTraits::TConstReference TConstReference;
    typedef typename TObjectTraits::TInfo TInfo;

    enum { dimension = TObjectTraits::dimension };

    typedef std::vector<TObjectIterator> TObjectIterators;

    class Neighbour
    {
    public:
        Neighbour() {}
        Neighbour(TObjectIterator object, TValue squaredDistance): 
            object_(object), squaredDistance_(squaredDistance) {}
        TObjectIterator object() const { return object_; }
        TValue squaredDistance() const { return squaredDistance_; }
        TObjectIterator operator->() const { return object_; }
        TObjectReference operator*() const { return TObjectTraits::object(object_); }
        bool operator<(const Neighbour& other) const { return squaredDistance_ < other.squaredDistance_; }
    private:
        TObjectIterator object_;
        TValue squaredDistance_;
    };

    AabbTree();
    AabbTree(TObjectIterator first, TObjectIterator last);

    void reset();
    void reset(TObjectIterator first, TObjectIterator last);

    const TAabb aabb() const;

    bool contains(const TPoint& point, const TInfo* info = 0) const;
    template <typename OutputIterator> 
    OutputIterator find(const TPoint& point, OutputIterator result, const TInfo* info = 0) const;
    TObjectIterator intersect(const TRay& ray, TReference t, TParam tMin = 0, const TInfo* info = 0) const;
    bool intersects(const TRay& ray, TParam tMin = 0, 
        TParam tMax = std::numeric_limits<TValue>::infinity(), const TInfo* info = 0) const;
    const Neighbour nearestNeighbour(const TPoint& point, const TInfo* info = 0) const;
    template <typename RandomIterator>
    RandomIterator rangeSearch(const TPoint& center, TParam maxRadius, size_t maxCount,
            RandomIterator first, const TInfo* info = 0) const; 

    const bool isEmpty() const;
    const TObjectIterator end() const;
    void swap(TSelf& other);

private:

    struct Input
    {
        TAabb aabb;
        TObjectIterator object;
        Input(const TAabb& aabb, TObjectIterator object): aabb(aabb), object(object) {}
    };
    typedef std::vector<Input> TInputs;
    typedef typename TInputs::iterator TInputIterator;

    class Node
    {
    public:
        explicit Node(const TAabb& aabb): 
            aabb_(aabb), 
            first_(-1) 
        {
        }
        Node(const TAabb& aabb, int first, int last): 
            aabb_(aabb), 
            first_(first)
        {
            LASS_ASSERT(first >= 0 && last > first);
            last_ = last; // do union stuff here
        }

        const bool isInternal() const { return first_ < 0; }
        const TAabb& aabb() const { return aabb_; }
        const int right() const { LASS_ASSERT(isInternal()); return right_; }
        int& right() { LASS_ASSERT(isInternal()); return right_; }

        const bool isLeaf() const { return first_ >= 0; }
        const int first() const { LASS_ASSERT(isLeaf()); return first_; }
        const int last() const { LASS_ASSERT(isLeaf()); return last_; }
    private:
        TAabb aabb_; // both
        int first_; // ==-1:internal, >=0:leaf
        union 
        {
            int right_; // internal
            int last_; // leaf
        };
    };
    typedef std::deque<Node> TNodes;

    const int balance(TInputIterator first, TInputIterator last);
    const int addLeafNode(const TAabb& aabb, TInputIterator first, TInputIterator last);
    const int addInternalNode(const TAabb& aabb);

    bool doContains(int index, const TPoint& point, const TInfo* info) const;
    template <typename OutputIterator> 
    OutputIterator doFind(int index, const TPoint& point, OutputIterator first, const TInfo* info) const;
    TObjectIterator doIntersect(int index, const TRay& ray, TReference t, TParam tMin, const TInfo* info) const;
    bool doIntersects(int iIndex, const TRay& ray, TParam tMin, TParam tMax, const TInfo* info) const;
    void doNearestNeighbour(int index, const TPoint& point, const TInfo* info, Neighbour& best) const;
    template <typename RandomIterator>
    RandomIterator doRangeSearch(int index, const TPoint& point, TReference squaredRadius, 
        size_t maxCount, RandomIterator first, RandomIterator last, const TInfo* info) const;

    void getChildren(int index, const TPoint& target, int indices[2], TValue squaredDistances[2]) const;

    TObjectIterators objects_;
    TNodes nodes_;
    TObjectIterator end_;
};


}

}

#include "aabb_tree.inl"

#endif

// EOF