hierarchy_tree_array.h

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#ifndef FCL_HIERARCHY_TREE_ARRAY_H
#define FCL_HIERARCHY_TREE_ARRAY_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_array.h"

namespace fcl
{

namespace detail
{

namespace implementation_array
{

template<typename BV>
class FCL_EXPORT HierarchyTree
{
  using S = typename BV::S;
  typedef NodeBase<BV> NodeType;
  
  struct SortByMorton
  {
    SortByMorton(NodeType* nodes_in) : nodes(nodes_in) {}
    SortByMorton(NodeType* nodes_in, uint32 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;
    }

    NodeType* nodes{};
    uint32 split{};
  };

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

  ~HierarchyTree();

  void init(NodeType* 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 Vector3<S>& vel, S margin);

  bool update(size_t 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(size_t root, NodeType*& leaves) const;

  size_t size() const;

  size_t getRoot() const;

  NodeType* 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(NodeType* leaves, int n_leaves_);

  void init_1(NodeType* leaves, int n_leaves_);

  void init_2(NodeType* leaves, int n_leaves_);

  void init_3(NodeType* leaves, int n_leaves_);

  size_t mortonRecurse_0(size_t* lbeg, size_t* lend, const uint32& split, int bits);

  size_t mortonRecurse_1(size_t* lbeg, size_t* lend, const uint32& 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, NodeType*& 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;
  NodeType* 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 = -1;
};

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

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

#endif