interval_tree.h

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#ifndef FCL_INTERVAL_TREE_H
#define FCL_INTERVAL_TREE_H

#include <deque>
#include <limits>
#include <cstdlib>
#include <iostream>
#include "fcl/broadphase/detail/interval_tree_node.h"

namespace fcl {
namespace detail {

template <typename S>
struct it_recursion_node
{
public:
  IntervalTreeNode<S>* start_node;

  unsigned int parent_index;

  bool try_right_branch;
};

using it_recursion_nodef = it_recursion_node<float>;
using it_recursion_noded = it_recursion_node<double>;

extern template
struct it_recursion_node<double>;

template <typename S>
class IntervalTree
{
public:

  IntervalTree();

  ~IntervalTree();

  void print() const;

  SimpleInterval<S>* deleteNode(IntervalTreeNode<S>* node);

  void deleteNode(SimpleInterval<S>* ivl);

  IntervalTreeNode<S>* insert(SimpleInterval<S>* new_interval);

  IntervalTreeNode<S>* getPredecessor(IntervalTreeNode<S>* node) const;

  IntervalTreeNode<S>* getSuccessor(IntervalTreeNode<S>* node) const;

  std::deque<SimpleInterval<S>*> query(S low, S high);

protected:

  IntervalTreeNode<S>* root;

  IntervalTreeNode<S>* nil;

  void leftRotate(IntervalTreeNode<S>* node);

  void rightRotate(IntervalTreeNode<S>* node);

  void recursiveInsert(IntervalTreeNode<S>* node);

  void recursivePrint(IntervalTreeNode<S>* node) const;

  IntervalTreeNode<S>* recursiveSearch(IntervalTreeNode<S>* node, SimpleInterval<S>* ivl) const;

  void fixupMaxHigh(IntervalTreeNode<S>* node);

  void deleteFixup(IntervalTreeNode<S>* node);

private:
  unsigned int recursion_node_stack_size;
  it_recursion_node<S>* recursion_node_stack;
  unsigned int current_parent;
  unsigned int recursion_node_stack_top;
};

using IntervalTreef = IntervalTree<float>;
using IntervalTreed = IntervalTree<double>;

} // namespace detail
} // namespace fcl

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

#endif