Class for hierarchy tree structure. More...

#include <coal/broadphase/detail/hierarchy_tree_array.h>

Collaboration diagram for coal::detail::implementation_array::HierarchyTree< BV >:

Public Types
typedef NodeBase< BV >	Node

Public Member Functions
	HierarchyTree (int bu_threshold_=16, int topdown_level_=0)
	Create hierarchy tree with suitable setting. bu_threshold decides the height of tree node to start bottom-up construction / optimization; topdown_level decides different methods to construct tree in topdown manner. lower level method constructs tree with better quality but is slower. More...

	~HierarchyTree ()

void	init (Node *leaves, int n_leaves_, int level=0)
	Initialize the tree by a set of leaves using algorithm with a given level. More...

size_t	insert (const BV &bv, void *data)
	Initialize the tree by a set of leaves using algorithm with a given level. More...

void	remove (size_t leaf)
	Remove a leaf node. More...

void	clear ()
	Clear the tree. More...

bool	empty () const
	Whether the tree is empty. More...

void	update (size_t leaf, int lookahead_level=-1)
	update one leaf node More...

bool	update (size_t leaf, const BV &bv)
	update the tree when the bounding volume of a given leaf has changed More...

bool	update (size_t leaf, const BV &bv, const Vec3s &vel, Scalar margin)
	update one leaf's bounding volume, with prediction More...

bool	update (size_t leaf, const BV &bv, const Vec3s &vel)
	update one leaf's bounding volume, with prediction More...

size_t	getMaxHeight () const
	get the max height of the tree More...

size_t	getMaxDepth () const
	get the max depth of the tree More...

void	balanceBottomup ()
	balance the tree from bottom More...

void	balanceTopdown ()
	balance the tree from top More...

void	balanceIncremental (int iterations)
	balance the tree in an incremental way More...

void	refit ()
	refit the tree, i.e., when the leaf nodes' bounding volumes change, update the entire tree in a bottom-up manner More...

void	extractLeaves (size_t root, Node *&leaves) const
	extract all the leaves of the tree More...

size_t	size () const
	number of leaves in the tree More...

size_t	getRoot () const
	get the root of the tree More...

Node *	getNodes () const
	get the pointer to the nodes array More...

void	print (size_t root, int depth)
	print the tree in a recursive way More...

Public Attributes
int	topdown_level
	decide which topdown algorithm to use More...

int	bu_threshold
	decide the depth to use expensive bottom-up algorithm More...

Static Public Attributes
static const size_t	NULL_NODE = std::numeric_limits<size_t>::max()

Protected Attributes
size_t	root_node

Node *	nodes

size_t	n_nodes

size_t	n_nodes_alloc

size_t	n_leaves

size_t	freelist

unsigned int	opath

int	max_lookahead_level

Detailed Description

template<typename BV>
class coal::detail::implementation_array::HierarchyTree< BV >

Class for hierarchy tree structure.

Member Typedef Documentation

◆ Node

template<typename BV >

typedef NodeBase<BV> coal::detail::implementation_array::HierarchyTree< BV >::Node

Constructor & Destructor Documentation

◆ HierarchyTree()

template<typename BV >

coal::detail::implementation_array::HierarchyTree< BV >::HierarchyTree	(	int	bu_threshold_ = `16`,
		int	topdown_level_ = `0`
	)

Create hierarchy tree with suitable setting. bu_threshold decides the height of tree node to start bottom-up construction / optimization; topdown_level decides different methods to construct tree in topdown manner. lower level method constructs tree with better quality but is slower.

◆ ~HierarchyTree()

template<typename BV >

coal::detail::implementation_array::HierarchyTree< BV >::~HierarchyTree

Member Function Documentation

◆ balanceBottomup()

template<typename BV >

void coal::detail::implementation_array::HierarchyTree< BV >::balanceBottomup

balance the tree from bottom

◆ balanceIncremental()

template<typename BV >

void coal::detail::implementation_array::HierarchyTree< BV >::balanceIncremental ( int iterations )

balance the tree in an incremental way

◆ balanceTopdown()

template<typename BV >

void coal::detail::implementation_array::HierarchyTree< BV >::balanceTopdown

balance the tree from top

◆ clear()

template<typename BV >

void coal::detail::implementation_array::HierarchyTree< BV >::clear

Clear the tree.

◆ empty()

template<typename BV >

bool coal::detail::implementation_array::HierarchyTree< BV >::empty

Whether the tree is empty.

◆ extractLeaves()

template<typename BV >

void coal::detail::implementation_array::HierarchyTree< BV >::extractLeaves	(	size_t	root,
		Node *&	leaves
	)		const

extract all the leaves of the tree

◆ getMaxDepth()

template<typename BV >

size_t coal::detail::implementation_array::HierarchyTree< BV >::getMaxDepth

get the max depth of the tree

◆ getMaxHeight()

template<typename BV >

size_t coal::detail::implementation_array::HierarchyTree< BV >::getMaxHeight

get the max height of the tree

◆ getNodes()

template<typename BV >

HierarchyTree< BV >::Node * coal::detail::implementation_array::HierarchyTree< BV >::getNodes

get the pointer to the nodes array

◆ getRoot()

template<typename BV >

size_t coal::detail::implementation_array::HierarchyTree< BV >::getRoot

get the root of the tree

◆ init()

template<typename BV >

void coal::detail::implementation_array::HierarchyTree< BV >::init	(	Node *	leaves,
		int	n_leaves_,
		int	level = `0`
	)

Initialize the tree by a set of leaves using algorithm with a given level.

◆ insert()

template<typename BV >

size_t coal::detail::implementation_array::HierarchyTree< BV >::insert	(	const BV &	bv,
		void *	data
	)

Initialize the tree by a set of leaves using algorithm with a given level.

◆ print()

template<typename BV >

void coal::detail::implementation_array::HierarchyTree< BV >::print	(	size_t	root,
		int	depth
	)

print the tree in a recursive way

◆ refit()

template<typename BV >

void coal::detail::implementation_array::HierarchyTree< BV >::refit

refit the tree, i.e., when the leaf nodes' bounding volumes change, update the entire tree in a bottom-up manner

◆ remove()

template<typename BV >

void coal::detail::implementation_array::HierarchyTree< BV >::remove ( size_t leaf )

Remove a leaf node.

◆ size()

template<typename BV >

size_t coal::detail::implementation_array::HierarchyTree< BV >::size

number of leaves in the tree

◆ update() [1/4]

template<typename BV >

bool coal::detail::implementation_array::HierarchyTree< BV >::update	(	size_t	leaf,
		const BV &	bv
	)

update the tree when the bounding volume of a given leaf has changed

◆ update() [2/4]

template<typename BV >

bool coal::detail::implementation_array::HierarchyTree< BV >::update	(	size_t	leaf,
		const BV &	bv,
		const Vec3s &	vel
	)

update one leaf's bounding volume, with prediction

◆ update() [3/4]

template<typename BV >

bool coal::detail::implementation_array::HierarchyTree< BV >::update	(	size_t	leaf,
		const BV &	bv,
		const Vec3s &	vel,
		Scalar	margin
	)

update one leaf's bounding volume, with prediction

◆ update() [4/4]

template<typename BV >

void coal::detail::implementation_array::HierarchyTree< BV >::update	(	size_t	leaf,
		int	lookahead_level = `-1`
	)

update one leaf node

Member Data Documentation

◆ bu_threshold

template<typename BV >

int coal::detail::implementation_array::HierarchyTree< BV >::bu_threshold

decide the depth to use expensive bottom-up algorithm

◆ freelist

template<typename BV >

size_t coal::detail::implementation_array::HierarchyTree< BV >::freelist

protected

◆ max_lookahead_level

template<typename BV >

int coal::detail::implementation_array::HierarchyTree< BV >::max_lookahead_level

protected

◆ n_leaves

template<typename BV >

size_t coal::detail::implementation_array::HierarchyTree< BV >::n_leaves

protected

◆ n_nodes

template<typename BV >

size_t coal::detail::implementation_array::HierarchyTree< BV >::n_nodes

protected

◆ n_nodes_alloc

template<typename BV >

size_t coal::detail::implementation_array::HierarchyTree< BV >::n_nodes_alloc

protected

◆ nodes

template<typename BV >

Node* coal::detail::implementation_array::HierarchyTree< BV >::nodes

protected

◆ NULL_NODE

template<typename BV >

const size_t coal::detail::implementation_array::HierarchyTree< BV >::NULL_NODE = std::numeric_limits<size_t>::max()

static

◆ opath

template<typename BV >

unsigned int coal::detail::implementation_array::HierarchyTree< BV >::opath

protected

◆ root_node

template<typename BV >

size_t coal::detail::implementation_array::HierarchyTree< BV >::root_node

protected

◆ topdown_level

template<typename BV >

int coal::detail::implementation_array::HierarchyTree< BV >::topdown_level

decide which topdown algorithm to use

The documentation for this class was generated from the following files:

include/coal/broadphase/detail/hierarchy_tree_array.h
include/coal/broadphase/detail/hierarchy_tree_array-inl.h

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Detailed Description

template<typename BV> class coal::detail::implementation_array::HierarchyTree< BV >

Member Typedef Documentation

◆ Node

Constructor & Destructor Documentation

◆ HierarchyTree()

◆ ~HierarchyTree()

Member Function Documentation

◆ balanceBottomup()

◆ balanceIncremental()

◆ balanceTopdown()

◆ clear()

◆ empty()

◆ extractLeaves()

◆ getMaxDepth()

◆ getMaxHeight()

◆ getNodes()

◆ getRoot()

◆ init()

◆ insert()

◆ print()

◆ refit()

◆ remove()

◆ size()

◆ update() [1/4]

◆ update() [2/4]

◆ update() [3/4]

◆ update() [4/4]

Member Data Documentation

◆ bu_threshold

◆ freelist

◆ max_lookahead_level

◆ n_leaves

◆ n_nodes

◆ n_nodes_alloc

◆ nodes

◆ NULL_NODE

◆ opath

◆ root_node

◆ topdown_level

template<typename BV>
class coal::detail::implementation_array::HierarchyTree< BV >