interval_tree.h

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#ifndef FCL_INTERVAL_TREE_H
#define FCL_INTERVAL_TREE_H
 
#include <deque>
#include <limits>
#include <cstdlib>
#include <iostream>
#include "fcl/broadphase/detail/interval_tree_node.h"
 
namespace fcl {
namespace detail {
 
template <typename S>
struct FCL_EXPORT it_recursion_node
{
public:
  IntervalTreeNode<S>* start_node;
 
  unsigned int parent_index;
 
  bool try_right_branch;
};
 
using it_recursion_nodef = it_recursion_node<float>;
using it_recursion_noded = it_recursion_node<double>;
 
extern template
struct it_recursion_node<double>;
 
template <typename S>
class FCL_EXPORT IntervalTree
{
public:
 
  IntervalTree();
 
  ~IntervalTree();
 
  void print() const;
 
  SimpleInterval<S>* deleteNode(IntervalTreeNode<S>* node);
 
  void deleteNode(SimpleInterval<S>* ivl);
 
  IntervalTreeNode<S>* insert(SimpleInterval<S>* new_interval);
 
  IntervalTreeNode<S>* getPredecessor(IntervalTreeNode<S>* node) const;
 
  IntervalTreeNode<S>* getSuccessor(IntervalTreeNode<S>* node) const;
 
  std::deque<SimpleInterval<S>*> query(S low, S high);
 
protected:
 
  IntervalTreeNode<S>* root;
 
  IntervalTreeNode<S>* nil;
 
  void leftRotate(IntervalTreeNode<S>* node);
 
  void rightRotate(IntervalTreeNode<S>* node);
 
  void recursiveInsert(IntervalTreeNode<S>* node);
 
  void recursivePrint(IntervalTreeNode<S>* node) const;
 
  IntervalTreeNode<S>* recursiveSearch(IntervalTreeNode<S>* node, SimpleInterval<S>* ivl) const;
 
  void fixupMaxHigh(IntervalTreeNode<S>* node);
 
  void deleteFixup(IntervalTreeNode<S>* node);
 
private:
  unsigned int recursion_node_stack_size;
  it_recursion_node<S>* recursion_node_stack;
  unsigned int current_parent;
  unsigned int recursion_node_stack_top;
};
 
using IntervalTreef = IntervalTree<float>;
using IntervalTreed = IntervalTree<double>;
 
} // namespace detail
} // namespace fcl
 
#include "fcl/broadphase/detail/interval_tree-inl.h"
 
#endif