aabp_tree.h

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/** @file
 *  @author Bram de Greve (bram@cocamware.com)
 *  @author Tom De Muer (tom@cocamware.com)
 *
 *  *** 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.
 *  
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 *  Copyright (C) 2004-2024 the Initial Developer.
 *  All Rights Reserved.
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 *  GNU General Public License Version 2 or later (the GPL), in which case the 
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 */
 
 
 
/** @class lass::spat::AabpTree
 *  @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_AABP_TREE_H
#define LASS_GUARDIAN_OF_INCLUSION_SPAT_AABP_TREE_H
 
//#define LASS_SPAT_AABB_TREE_DIAGNOSTICS
 
#include "spat_common.h"
#include "default_object_traits.h"
#include "split_heuristics.h"
#include "../util/shared_ptr.h"
 
namespace lass
{
namespace spat
{
 
template
<
    class ObjectType,
    class ObjectTraits = DefaultObjectTraits<ObjectType>,
    typename SplitHeuristics = DefaultSplitHeuristics
>
class AabpTree: public SplitHeuristics
{
public:
 
    typedef AabpTree<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,
        defaultMaxObjectsPerLeaf = 1,
        defaultMaxDepth = 20
    };
 
    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_;
    };
 
    AabpTree(const TSplitHeuristics& heuristics = TSplitHeuristics(defaultMaxObjectsPerLeaf, defaultMaxDepth));
    AabpTree(TObjectIterator first, TObjectIterator last, const TSplitHeuristics& heuristics = TSplitHeuristics(defaultMaxObjectsPerLeaf, defaultMaxDepth));
    AabpTree(TSelf&& other) noexcept;
 
    TSelf& operator=(TSelf&& other) noexcept;
 
    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;
    template <typename OutputIterator> 
    OutputIterator find(const TAabb& box, OutputIterator result, const TInfo* info = 0) const;
    template <typename OutputIterator>
    OutputIterator find(const TRay& ray, TParam minT, TParam maxT, OutputIterator result, const TInfo* info = 0) const;
 
    const TObjectIterator intersect(const TRay& ray, TReference t, TParam minT = 0, const TInfo* info = 0) const;
    bool intersects(const TRay& ray, TParam minT = 0, TParam maxT = 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;
 
    void swap(TSelf& other);
    bool isEmpty() const;
    const TObjectIterator end() const;
 
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;
 
    typedef unsigned TIndex;
    typedef num::NumTraits<TIndex>::signedType TSignedIndex;
    static constexpr size_t maxSize = static_cast<size_t>(num::NumTraits<TSignedIndex>::max) + 1;
 
    class Node
    {
    public:
        Node(size_t axis)
        {
            LASS_ASSERT(axis < dimension);
            axis_ = static_cast<TSignedIndex>(axis);
        }
        Node(TIndex first, TIndex last)
        {
            LASS_ASSERT(last > first);
            first_ = first;
            last_ = -static_cast<TSignedIndex>(last) - 1;
            LASS_ASSERT(last_ < 0);
        }
 
        bool isInternal() const { return axis_ >= 0; }
        TParam leftBound() const { LASS_ASSERT(isInternal()); return leftBound_; }
        void setLeftBound(TParam x) { LASS_ASSERT(isInternal()); leftBound_ = x; }
        TParam rightBound() const { LASS_ASSERT(isInternal()); return rightBound_; }
        void setRightBound(TParam x) { LASS_ASSERT(isInternal()); rightBound_ = x; }
        size_t axis() const { LASS_ASSERT(isInternal()); return static_cast<size_t>(axis_); }
        TIndex right() const { LASS_ASSERT(isInternal()); return right_; }
        void setRight(TIndex right) { LASS_ASSERT(isInternal()); right_ = right; }
 
        bool isLeaf() const { return last_ < 0; }
        TIndex first() const { LASS_ASSERT(isLeaf()); return first_; }
        TIndex last() const { LASS_ASSERT(isLeaf()); return static_cast<TIndex>(-(last_ + 1)); }
 
    private:
        TValue leftBound_;  // internal
        TValue rightBound_; // internal
        union
        {
            TIndex right_; // internal
            TIndex first_; // leaf
        };
        union
        {
            TSignedIndex axis_; // internal
            TSignedIndex last_; // leaf
        };
    };
    typedef std::vector<Node> TNodes;
 
    struct BalanceResult
    {
        TAabb aabb;
        TIndex index;
        BalanceResult(const TAabb& aabb, TIndex index): aabb(aabb), index(index) {}
    };
 
    const BalanceResult balance(TInputIterator iFirst, TInputIterator iLast);
    TIndex addLeafNode(TInputIterator iFirst, TInputIterator iLast);
    TIndex addInternalNode(size_t iAxis);
 
    bool doContains(TIndex index, const TPoint& point, const TInfo* info) const;
 
    template <typename OutputIterator> 
    OutputIterator doFind(TIndex index, const TPoint& point, OutputIterator iResult, const TInfo* info) const;
    template <typename OutputIterator> 
    OutputIterator doFind(TIndex index, const TAabb& box, OutputIterator iResult, const TInfo* info) const;
    template <typename OutputIterator> 
    OutputIterator doFind(TIndex index, const TRay& ray, TParam tMin, TParam tMax, OutputIterator iResult, const TInfo* info,
        const TVector& reciprocalDirection, TParam tNear, TParam tFar) const;
 
    const TObjectIterator doIntersect(
        TIndex index, const TRay& ray, TReference t, TParam tMin, const TInfo* info,
        const TVector& reciprocalDirection, TParam tNear, TParam tFar) const;
    bool doIntersects(TIndex index, const TRay& ray, TParam tMin, TParam tMax, const TInfo* info,
        const TVector& reciprocalDirection, TParam tNear, TParam tFar) const;
 
    void doNearestNeighbour(TIndex index, const TPoint& point, const TInfo* info, Neighbour& best) const;
    template <typename RandomIterator>
    RandomIterator doRangeSearch(TIndex index, const TPoint& point, TReference squaredRadius,
        size_t maxCount, RandomIterator first, RandomIterator last, const TInfo* info) const;
 
    void getChildren(TIndex index, const TPoint& target, TIndex indices[2], TValue signedDistances[2]) const;
 
    TAabb aabb_;
    TObjectIterators objects_;
    TNodes nodes_;
    std::unique_ptr<TObjectIterator> end_;
};
 
}
 
}
 
#include "aabp_tree.inl"
 
#endif
 
// EOF