Class for hierarchy tree structure. More...

#include <hierarchy_tree_array.h>

Classes
struct	SortByMorton

Public Types
typedef NodeBase< BV >	Node

Public Member Functions
void	balanceBottomup ()
	balance the tree from bottom More...

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

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

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

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

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

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

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

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

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

	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...

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	print (size_t root, int depth)
	print the tree in a recursive 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	remove (size_t leaf)
	Remove a leaf node. More...

size_t	size () const
	number of leaves in the tree 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)
	update one leaf's bounding volume, with prediction More...

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

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

	~HierarchyTree ()

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

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

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

Protected Attributes
size_t	freelist

int	max_lookahead_level

size_t	n_leaves

size_t	n_nodes

size_t	n_nodes_alloc

Node *	nodes

unsigned int	opath

size_t	root_node

Private Member Functions
size_t	allocateNode ()

void	bottomup (size_t lbeg, size_t lend)
	construct a tree for a set of leaves from bottom – very heavy way More...

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

size_t	createNode (size_t parent, const BV &bv1, const BV &bv2, void *data)
	create one node (leaf or internal) More...

size_t	createNode (size_t parent, void *data)

void	deleteNode (size_t node)

void	fetchLeaves (size_t root, Node *&leaves, int depth=-1)
	Delete all internal nodes and return all leaves nodes with given depth from root. More...

void	getMaxDepth (size_t node, size_t depth, size_t &max_depth) const
	compute the maximum depth of a subtree rooted from a given node More...

size_t	getMaxHeight (size_t node) const
	compute the maximum height of a subtree rooted from a given node More...

size_t	indexOf (size_t node)

void	init_0 (Node *leaves, int n_leaves_)
	init tree from leaves in the topdown manner (topdown_0 or topdown_1) More...

void	init_1 (Node *leaves, int n_leaves_)
	init tree from leaves using morton code. It uses morton_0, i.e., for nodes which is of depth more than the maximum bits of the morton code, we use bottomup method to construct the subtree, which is slow but can construct tree with high quality. More...

void	init_2 (Node *leaves, int n_leaves_)
	init tree from leaves using morton code. It uses morton_0, i.e., for nodes which is of depth more than the maximum bits of the morton code, we split the leaves into two parts with the same size simply using the node index. More...

void	init_3 (Node *leaves, int n_leaves_)
	init tree from leaves using morton code. It uses morton_2, i.e., for all nodes, we simply divide the leaves into parts with the same size simply using the node index. More...

void	insertLeaf (size_t root, size_t leaf)
	Insert a leaf node and also update its ancestors. More...

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	recurseRefit (size_t node)

size_t	removeLeaf (size_t leaf)
	Remove a leaf. The leaf node itself is not deleted yet, but all the unnecessary internal nodes are deleted. return the node with the smallest depth and is influenced by the remove operation. More...

size_t	topdown (size_t lbeg, size_t lend)
	construct a tree for a set of leaves from top More...

size_t	topdown_0 (size_t lbeg, size_t lend)
	construct a tree from a list of nodes stored in [lbeg, lend) in a topdown manner. During construction, first compute the best split axis as the axis along with the longest AABB edge. Then compute the median of all nodes' center projection onto the axis and using it as the split threshold. More...

size_t	topdown_1 (size_t lbeg, size_t lend)
	construct a tree from a list of nodes stored in [lbeg, lend) in a topdown manner. During construction, first compute the best split thresholds for different axes as the average of all nodes' center. Then choose the split axis as the axis whose threshold can divide the nodes into two parts with almost similar size. This construction is more expensive then topdown_0, but also can provide tree with better quality. More...

void	update_ (size_t leaf, const BV &bv)
	update one leaf node's bounding volume More...

Detailed Description

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

Class for hierarchy tree structure.

Definition at line 58 of file coal/broadphase/detail/hierarchy_tree_array.h.

Member Typedef Documentation

◆ Node

template<typename BV >

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

Definition at line 60 of file coal/broadphase/detail/hierarchy_tree_array.h.

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.

Definition at line 54 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ ~HierarchyTree()

template<typename BV >

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

Definition at line 71 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

Member Function Documentation

◆ allocateNode()

template<typename BV >

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

private

Definition at line 807 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ balanceBottomup()

template<typename BV >

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

balance the tree from bottom

Definition at line 339 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ balanceIncremental()

template<typename BV >

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

balance the tree in an incremental way

Definition at line 385 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ balanceTopdown()

template<typename BV >

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

balance the tree from top

Definition at line 363 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ bottomup()

template<typename BV >

void coal::detail::implementation_array::HierarchyTree< BV >::bottomup	(	size_t *	lbeg,
		size_t *	lend
	)

private

construct a tree for a set of leaves from bottom – very heavy way

Definition at line 476 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ clear()

template<typename BV >

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

Clear the tree.

Definition at line 253 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ createNode() [1/3]

template<typename BV >

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

private

Definition at line 842 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ createNode() [2/3]

template<typename BV >

size_t coal::detail::implementation_array::HierarchyTree< BV >::createNode	(	size_t	parent,
		const BV &	bv1,
		const BV &	bv2,
		void *	data
	)

private

create one node (leaf or internal)

Definition at line 831 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ createNode() [3/3]

template<typename BV >

size_t coal::detail::implementation_array::HierarchyTree< BV >::createNode	(	size_t	parent,
		void *	data
	)

private

Definition at line 852 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ deleteNode()

template<typename BV >

void coal::detail::implementation_array::HierarchyTree< BV >::deleteNode ( size_t node )

private

Definition at line 861 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ empty()

template<typename BV >

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

Whether the tree is empty.

Definition at line 269 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ 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

Definition at line 409 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ fetchLeaves()

template<typename BV >

void coal::detail::implementation_array::HierarchyTree< BV >::fetchLeaves	(	size_t	root,
		Node *&	leaves,
		int	depth = `-1`
	)

private

Delete all internal nodes and return all leaves nodes with given depth from root.

Definition at line 881 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ getMaxDepth() [1/2]

template<typename BV >

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

get the max depth of the tree

Definition at line 329 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ getMaxDepth() [2/2]

template<typename BV >

void coal::detail::implementation_array::HierarchyTree< BV >::getMaxDepth	(	size_t	node,
		size_t	depth,
		size_t &	max_depth
	)		const

private

compute the maximum depth of a subtree rooted from a given node

Definition at line 465 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ getMaxHeight() [1/2]

template<typename BV >

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

get the max height of the tree

Definition at line 321 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ getMaxHeight() [2/2]

template<typename BV >

size_t coal::detail::implementation_array::HierarchyTree< BV >::getMaxHeight ( size_t node ) const

private

compute the maximum height of a subtree rooted from a given node

Definition at line 454 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ getNodes()

template<typename BV >

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

get the pointer to the nodes array

Definition at line 433 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ getRoot()

template<typename BV >

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

get the root of the tree

Definition at line 427 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ indexOf()

template<typename BV >

size_t coal::detail::implementation_array::HierarchyTree< BV >::indexOf ( size_t node )

private

Definition at line 801 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ 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.

Definition at line 77 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ init_0()

template<typename BV >

void coal::detail::implementation_array::HierarchyTree< BV >::init_0	(	Node *	leaves,
		int	n_leaves_
	)

private

init tree from leaves in the topdown manner (topdown_0 or topdown_1)

Definition at line 98 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ init_1()

template<typename BV >

void coal::detail::implementation_array::HierarchyTree< BV >::init_1	(	Node *	leaves,
		int	n_leaves_
	)

private

init tree from leaves using morton code. It uses morton_0, i.e., for nodes which is of depth more than the maximum bits of the morton code, we use bottomup method to construct the subtree, which is slow but can construct tree with high quality.

Definition at line 123 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ init_2()

template<typename BV >

void coal::detail::implementation_array::HierarchyTree< BV >::init_2	(	Node *	leaves,
		int	n_leaves_
	)

private

init tree from leaves using morton code. It uses morton_0, i.e., for nodes which is of depth more than the maximum bits of the morton code, we split the leaves into two parts with the same size simply using the node index.

Definition at line 161 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ init_3()

template<typename BV >

void coal::detail::implementation_array::HierarchyTree< BV >::init_3	(	Node *	leaves,
		int	n_leaves_
	)

private

init tree from leaves using morton code. It uses morton_2, i.e., for all nodes, we simply divide the leaves into parts with the same size simply using the node index.

Definition at line 199 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ 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.

Definition at line 236 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ insertLeaf()

template<typename BV >

void coal::detail::implementation_array::HierarchyTree< BV >::insertLeaf	(	size_t	root,
		size_t	leaf
	)

private

Insert a leaf node and also update its ancestors.

Definition at line 710 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ mortonRecurse_0()

template<typename BV >

size_t coal::detail::implementation_array::HierarchyTree< BV >::mortonRecurse_0	(	size_t *	lbeg,
		size_t *	lend,
		const uint32_t &	split,
		int	bits
	)

private

Definition at line 613 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ mortonRecurse_1()

template<typename BV >

size_t coal::detail::implementation_array::HierarchyTree< BV >::mortonRecurse_1	(	size_t *	lbeg,
		size_t *	lend,
		const uint32_t &	split,
		int	bits
	)

private

Definition at line 650 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ mortonRecurse_2()

template<typename BV >

size_t coal::detail::implementation_array::HierarchyTree< BV >::mortonRecurse_2	(	size_t *	lbeg,
		size_t *	lend
	)

private

Definition at line 693 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ print()

template<typename BV >

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

print the tree in a recursive way

Definition at line 439 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ recurseRefit()

template<typename BV >

void coal::detail::implementation_array::HierarchyTree< BV >::recurseRefit ( size_t node )

private

Definition at line 869 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ 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

Definition at line 403 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ remove()

template<typename BV >

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

Remove a leaf node.

Definition at line 245 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ removeLeaf()

template<typename BV >

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

private

Remove a leaf. The leaf node itself is not deleted yet, but all the unnecessary internal nodes are deleted. return the node with the smallest depth and is influenced by the remove operation.

Definition at line 750 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ size()

template<typename BV >

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

number of leaves in the tree

Definition at line 421 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ topdown()

template<typename BV >

size_t coal::detail::implementation_array::HierarchyTree< BV >::topdown	(	size_t *	lbeg,
		size_t *	lend
	)

private

construct a tree for a set of leaves from top

Definition at line 508 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ topdown_0()

template<typename BV >

size_t coal::detail::implementation_array::HierarchyTree< BV >::topdown_0	(	size_t *	lbeg,
		size_t *	lend
	)

private

construct a tree from a list of nodes stored in [lbeg, lend) in a topdown manner. During construction, first compute the best split axis as the axis along with the longest AABB edge. Then compute the median of all nodes' center projection onto the axis and using it as the split threshold.

Definition at line 523 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.

◆ topdown_1()

template<typename BV >

size_t coal::detail::implementation_array::HierarchyTree< BV >::topdown_1	(	size_t *	lbeg,
		size_t *	lend
	)

private

construct a tree from a list of nodes stored in [lbeg, lend) in a topdown manner. During construction, first compute the best split thresholds for different axes as the average of all nodes' center. Then choose the split axis as the axis whose threshold can divide the nodes into two parts with almost similar size. This construction is more expensive then topdown_0, but also can provide tree with better quality.

Definition at line 555 of file coal/broadphase/detail/hierarchy_tree_array-inl.h.