hierarchy_tree_array.h

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#ifndef HPP_FCL_HIERARCHY_TREE_ARRAY_H
#define HPP_FCL_HIERARCHY_TREE_ARRAY_H

#include <vector>
#include <map>
#include <functional>

#include "hpp/fcl/fwd.hh"
#include "hpp/fcl/BV/AABB.h"
#include "hpp/fcl/broadphase/detail/morton.h"
#include "hpp/fcl/broadphase/detail/node_base_array.h"

namespace hpp {
namespace fcl {

namespace detail {

namespace implementation_array {

template <typename BV>
class HierarchyTree {
 public:
  typedef NodeBase<BV> Node;

 private:
  struct SortByMorton {
    SortByMorton(Node* nodes_in) : nodes(nodes_in) {}
    SortByMorton(Node* nodes_in, uint32_t 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;
    }

    Node* nodes{};
    uint32_t split{};
  };

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

  ~HierarchyTree();

  void init(Node* 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 Vec3f& vel, FCL_REAL margin);

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

  size_t size() const;

  size_t getRoot() const;

  Node* 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(Node* leaves, int n_leaves_);

  void init_1(Node* leaves, int n_leaves_);

  void init_2(Node* leaves, int n_leaves_);

  void init_3(Node* leaves, int n_leaves_);

  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 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, Node*& 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;
  Node* 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 = std::numeric_limits<size_t>::max();
};

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
}  // namespace hpp

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

#endif