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