hierarchy_tree_array.h

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#ifndef HPP_FCL_HIERARCHY_TREE_ARRAY_H
#define HPP_FCL_HIERARCHY_TREE_ARRAY_H
 
#include <vector>
#include <map>
#include <functional>
 
#include "hpp/fcl/fwd.hh"
#include "hpp/fcl/BV/AABB.h"
#include "hpp/fcl/broadphase/detail/morton.h"
#include "hpp/fcl/broadphase/detail/node_base_array.h"
 
namespace hpp {
namespace fcl {
 
namespace detail {
 
namespace implementation_array {
 
template <typename BV>
class HierarchyTree {
 public:
  typedef NodeBase<BV> Node;
 
 private:
  struct SortByMorton {
    SortByMorton(Node* nodes_in) : nodes(nodes_in) {}
    SortByMorton(Node* nodes_in, uint32_t split_in)
        : nodes(nodes_in), split(split_in) {}
    bool operator()(size_t a, size_t b) const {
      if ((a != NULL_NODE) && (b != NULL_NODE))
        return nodes[a].code < nodes[b].code;
      else if (a == NULL_NODE)
        return split < nodes[b].code;
      else if (b == NULL_NODE)
        return nodes[a].code < split;
 
      return false;
    }
 
    Node* nodes{};
    uint32_t split{};
  };
 
 public:
  HierarchyTree(int bu_threshold_ = 16, int topdown_level_ = 0);
 
  ~HierarchyTree();
 
  void init(Node* leaves, int n_leaves_, int level = 0);
 
  size_t insert(const BV& bv, void* data);
 
  void remove(size_t leaf);
 
  void clear();
 
  bool empty() const;
 
  void update(size_t leaf, int lookahead_level = -1);
 
  bool update(size_t leaf, const BV& bv);
 
  bool update(size_t leaf, const BV& bv, const Vec3f& vel, FCL_REAL margin);
 
  bool update(size_t leaf, const BV& bv, const Vec3f& vel);
 
  size_t getMaxHeight() const;
 
  size_t getMaxDepth() const;
 
  void balanceBottomup();
 
  void balanceTopdown();
 
  void balanceIncremental(int iterations);
 
  void refit();
 
  void extractLeaves(size_t root, Node*& leaves) const;
 
  size_t size() const;
 
  size_t getRoot() const;
 
  Node* getNodes() const;
 
  void print(size_t root, int depth);
 
 private:
  void bottomup(size_t* lbeg, size_t* lend);
 
  size_t topdown(size_t* lbeg, size_t* lend);
 
  size_t getMaxHeight(size_t node) const;
 
  void getMaxDepth(size_t node, size_t depth, size_t& max_depth) const;
 
  size_t topdown_0(size_t* lbeg, size_t* lend);
 
  size_t topdown_1(size_t* lbeg, size_t* lend);
 
  void init_0(Node* leaves, int n_leaves_);
 
  void init_1(Node* leaves, int n_leaves_);
 
  void init_2(Node* leaves, int n_leaves_);
 
  void init_3(Node* leaves, int n_leaves_);
 
  size_t mortonRecurse_0(size_t* lbeg, size_t* lend, const uint32_t& split,
                         int bits);
 
  size_t mortonRecurse_1(size_t* lbeg, size_t* lend, const uint32_t& split,
                         int bits);
 
  size_t mortonRecurse_2(size_t* lbeg, size_t* lend);
 
  void update_(size_t leaf, const BV& bv);
 
  void insertLeaf(size_t root, size_t leaf);
 
  size_t removeLeaf(size_t leaf);
 
  void fetchLeaves(size_t root, Node*& leaves, int depth = -1);
 
  size_t indexOf(size_t node);
 
  size_t allocateNode();
 
  size_t createNode(size_t parent, const BV& bv1, const BV& bv2, void* data);
 
  size_t createNode(size_t parent, const BV& bv, void* data);
 
  size_t createNode(size_t parent, void* data);
 
  void deleteNode(size_t node);
 
  void recurseRefit(size_t node);
 
 protected:
  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;
 
 public:
  int topdown_level;
 
  int bu_threshold;
 
 public:
  static const size_t NULL_NODE = std::numeric_limits<size_t>::max();
};
 
template <typename BV>
const size_t HierarchyTree<BV>::NULL_NODE;
 
template <typename BV>
struct nodeBaseLess {
  nodeBaseLess(const NodeBase<BV>* nodes_, size_t d_);
 
  bool operator()(size_t i, size_t j) const;
 
 private:
  const NodeBase<BV>* nodes;
 
  size_t d;
};
 
template <typename BV>
size_t select(size_t query, size_t node1, size_t node2, NodeBase<BV>* nodes);
 
template <typename BV>
size_t select(const BV& query, size_t node1, size_t node2, NodeBase<BV>* nodes);
 
}  // namespace implementation_array
}  // namespace detail
}  // namespace fcl
}  // namespace hpp
 
#include "hpp/fcl/broadphase/detail/hierarchy_tree_array-inl.h"
 
#endif