Program Listing for File 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