hierarchy_tree.h

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#ifndef FCL_HIERARCHY_TREE_H
#define FCL_HIERARCHY_TREE_H

#include <vector>
#include <map>
#include <functional>
#include <iostream>
#include "fcl/common/warning.h"
#include "fcl/math/bv/AABB.h"
#include "fcl/broadphase/detail/morton.h"
#include "fcl/broadphase/detail/node_base.h"

namespace fcl
{

namespace detail
{

template<typename BV>
class HierarchyTree
{
public:

  using S = typename BV::S;

  typedef NodeBase<BV> NodeType;

  HierarchyTree(int bu_threshold_ = 16, int topdown_level_ = 0);

  ~HierarchyTree();
  
  void init(std::vector<NodeType*>& leaves, int level = 0);

  NodeType* insert(const BV& bv, void* data);

  void remove(NodeType* leaf);

  void clear();

  bool empty() const;

  void update(NodeType* leaf, int lookahead_level = -1);

  bool update(NodeType* leaf, const BV& bv);

  bool update(NodeType* leaf, const BV& bv, const Vector3<S>& vel, S margin);

  bool update(NodeType* leaf, const BV& bv, const Vector3<S>& vel);

  size_t getMaxHeight() const;

  size_t getMaxDepth() const;

  void balanceBottomup();

  void balanceTopdown();
  
  void balanceIncremental(int iterations);
  
  void refit();

  void extractLeaves(const NodeType* root, std::vector<NodeType*>& leaves) const;

  size_t size() const;

  NodeType* getRoot() const;

  NodeType*& getRoot();

  void print(NodeType* root, int depth);

private:

  typedef typename std::vector<NodeBase<BV>* >::iterator NodeVecIterator;
  typedef typename std::vector<NodeBase<BV>* >::const_iterator NodeVecConstIterator;

  struct SortByMorton
  {
    bool operator() (const NodeType* a, const NodeType* b) const
    {
      return a->code < b->code;
    }
  };

  void bottomup(const NodeVecIterator lbeg, const NodeVecIterator lend);

  NodeType* topdown(const NodeVecIterator lbeg, const NodeVecIterator lend);

  size_t getMaxHeight(NodeType* node) const;

  void getMaxDepth(NodeType* node, size_t depth, size_t& max_depth) const;

  NodeType* topdown_0(const NodeVecIterator lbeg, const NodeVecIterator lend);

  NodeType* topdown_1(const NodeVecIterator lbeg, const NodeVecIterator lend);

  void init_0(std::vector<NodeType*>& leaves);

  void init_1(std::vector<NodeType*>& leaves);

  void init_2(std::vector<NodeType*>& leaves);

  void init_3(std::vector<NodeType*>& leaves);
  
  NodeType* mortonRecurse_0(const NodeVecIterator lbeg, const NodeVecIterator lend, const uint32& split, int bits);

  NodeType* mortonRecurse_1(const NodeVecIterator lbeg, const NodeVecIterator lend, const uint32& split, int bits);

  NodeType* mortonRecurse_2(const NodeVecIterator lbeg, const NodeVecIterator lend);

  void update_(NodeType* leaf, const BV& bv);

  NodeType* sort(NodeType* n, NodeType*& r);
  
  void insertLeaf(NodeType* root, NodeType* leaf);

  NodeType* removeLeaf(NodeType* leaf);

  void fetchLeaves(NodeType* root, std::vector<NodeType*>& leaves, int depth = -1);

  static size_t indexOf(NodeType* node);

  NodeType* createNode(NodeType* parent, 
                       const BV& bv,
                       void* data);

  NodeType* createNode(NodeType* parent,
                       const BV& bv1,
                       const BV& bv2,
                       void* data);
  
  NodeType* createNode(NodeType* parent,
                       void* data);

  void deleteNode(NodeType* node);

  void recurseDeleteNode(NodeType* node);

  void recurseRefit(NodeType* node);

  static BV bounds(const std::vector<NodeType*>& leaves);

  static BV bounds(const NodeVecIterator lbeg, const NodeVecIterator lend);

protected:
  NodeType* root_node;

  size_t n_leaves;

  unsigned int opath;

  NodeType* free_node; 

  int max_lookahead_level;
  
public:
  int topdown_level;

  int bu_threshold;
};

template<typename BV>
bool nodeBaseLess(NodeBase<BV>* a, NodeBase<BV>* b, int d);

template<typename BV>
size_t select(
    const NodeBase<BV>& query,
    const NodeBase<BV>& node1,
    const NodeBase<BV>& node2);

template<typename BV>
size_t select(
    const BV& query, const NodeBase<BV>& node1, const NodeBase<BV>& node2);

} // namespace detail
} // namespace fcl

#include "fcl/broadphase/detail/hierarchy_tree-inl.h"

#endif