Program Listing for File hierarchy_tree.h
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#ifndef HPP_FCL_HIERARCHY_TREE_H
#define HPP_FCL_HIERARCHY_TREE_H
#include <vector>
#include <map>
#include <functional>
#include <iostream>
#include "hpp/fcl/warning.hh"
#include "hpp/fcl/BV/AABB.h"
#include "hpp/fcl/broadphase/detail/morton.h"
#include "hpp/fcl/broadphase/detail/node_base.h"
namespace hpp {
namespace fcl {
namespace detail {
template <typename BV>
class HierarchyTree {
public:
typedef NodeBase<BV> Node;
HierarchyTree(int bu_threshold_ = 16, int topdown_level_ = 0);
~HierarchyTree();
void init(std::vector<Node*>& leaves, int level = 0);
Node* insert(const BV& bv, void* data);
void remove(Node* leaf);
void clear();
bool empty() const;
void update(Node* leaf, int lookahead_level = -1);
bool update(Node* leaf, const BV& bv);
bool update(Node* leaf, const BV& bv, const Vec3f& vel, FCL_REAL margin);
bool update(Node* 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(const Node* root, std::vector<Node*>& leaves) const;
size_t size() const;
Node* getRoot() const;
Node*& getRoot();
void print(Node* 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 Node* a, const Node* b) const {
return a->code < b->code;
}
};
void bottomup(const NodeVecIterator lbeg, const NodeVecIterator lend);
Node* topdown(const NodeVecIterator lbeg, const NodeVecIterator lend);
size_t getMaxHeight(Node* node) const;
void getMaxDepth(Node* node, size_t depth, size_t& max_depth) const;
Node* topdown_0(const NodeVecIterator lbeg, const NodeVecIterator lend);
Node* topdown_1(const NodeVecIterator lbeg, const NodeVecIterator lend);
void init_0(std::vector<Node*>& leaves);
void init_1(std::vector<Node*>& leaves);
void init_2(std::vector<Node*>& leaves);
void init_3(std::vector<Node*>& leaves);
Node* mortonRecurse_0(const NodeVecIterator lbeg, const NodeVecIterator lend,
const uint32_t& split, int bits);
Node* mortonRecurse_1(const NodeVecIterator lbeg, const NodeVecIterator lend,
const uint32_t& split, int bits);
Node* mortonRecurse_2(const NodeVecIterator lbeg, const NodeVecIterator lend);
void update_(Node* leaf, const BV& bv);
Node* sort(Node* n, Node*& r);
// leaf node.
void insertLeaf(Node* const sub_root, Node* const leaf);
// adjusted.
Node* removeLeaf(Node* const leaf);
void fetchLeaves(Node* root, std::vector<Node*>& leaves, int depth = -1);
static size_t indexOf(Node* node);
Node* createNode(Node* parent, const BV& bv, void* data);
Node* createNode(Node* parent, const BV& bv1, const BV& bv2, void* data);
Node* createNode(Node* parent, void* data);
void deleteNode(Node* node);
void recurseDeleteNode(Node* node);
void recurseRefit(Node* node);
protected:
Node* root_node;
size_t n_leaves;
unsigned int opath;
Node* 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
} // namespace hpp
#include "hpp/fcl/broadphase/detail/hierarchy_tree-inl.h"
#endif