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quad_tree_detail.h
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quad_tree_detail.h
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//
// quad_tree_detail.h
//
//
#pragma once
#include "bbox.h"
#include <algorithm>
#include <vector>
namespace spatial {
namespace detail {
template <class NodeClass> class QuadTreeStack {
protected:
struct StackElement {
NodeClass *node;
size_t childIndex;
int objectIndex;
};
protected:
QuadTreeStack() : m_tos(0) {}
void push(NodeClass *node, size_t childIndex, int objectIndex) {
assert(node);
StackElement &el = m_stack[m_tos++];
el.node = node;
el.childIndex = childIndex;
el.objectIndex = objectIndex;
assert(m_tos <= kMaxStackchildIndexze);
}
void push(NodeClass *node, int objectIndex) {
assert(node);
StackElement &el = m_stack[m_tos++];
el.node = node;
el.objectIndex = objectIndex;
assert(m_tos <= kMaxStackchildIndexze);
}
StackElement &pop() {
assert(m_tos > 0);
StackElement &el = m_stack[--m_tos];
return el;
}
protected:
// Max stack size. Allows almost n^16 where n is number of branches in node
static const int kMaxStackchildIndexze = 16;
StackElement m_stack[kMaxStackchildIndexze]; ///< Stack as we are doing
/// iteration instead of recursion
int m_tos; ///< Top Of Stack index
};
template <typename ValueType, class BBoxClass, class NodeClass>
struct QuadTreeObject {
ValueType value;
BBoxClass box;
QuadTreeObject() {}
template <typename indexable_getter>
QuadTreeObject(ValueType value, const indexable_getter &indexable)
: value(value), box(indexable.min(value), indexable.max(value)) {}
};
template <class T, class ValueType, int max_child_items> struct QuadTreeNode {
typedef BoundingBox<T, 2> bbox_type;
typedef QuadTreeObject<ValueType, bbox_type, QuadTreeNode> object_type;
typedef std::vector<object_type> ObjectList;
const int level;
ValueType value;
ObjectList objects;
bbox_type box;
QuadTreeNode *children[4];
QuadTreeNode(int level);
template <typename custom_allocator>
void copy(const QuadTreeNode &src, custom_allocator &allocator);
template <typename custom_allocator>
bool insert(const object_type &obj, int &levels, custom_allocator &allocator);
template <typename Predicate, typename OutIter>
size_t query(const Predicate &predicate, float factor, OutIter out_it) const;
template <typename Predicate, typename OutIter>
size_t queryHierachical(const Predicate &predicate, float factor,
OutIter out_it) const;
template <typename custom_allocator> void clear(custom_allocator &allocator);
void translate(const T point[2]);
size_t count() const;
bool isEmpty() const;
bool isBranch() const { return !isLeaf(); }
bool isLeaf() const { return children[0] == NULL; }
size_t objectCount() const { return objects.size(); }
ValueType &objectValue(size_t objectIndex) {
return objects[objectIndex].value;
}
const ValueType &objectValue(size_t objectIndex) const {
return objects[objectIndex].value;
}
ValueType &objectValue(int objectIndex) {
assert(objectIndex >= 0);
return objects[(size_t)objectIndex].value;
}
const ValueType &objectValue(int objectIndex) const {
assert(objectIndex >= 0);
return objects[(size_t)objectIndex].value;
}
void updateCount() {
m_count = count();
m_invCount = 1.f / m_count;
}
private:
size_t m_count;
float m_invCount;
template <typename custom_allocator>
void subdivide(custom_allocator &allocator);
void addObject(const object_type &obj);
template <typename custom_allocator>
bool addObjectsToChildren(custom_allocator &allocator);
template <typename OutIter>
void insertAll(size_t &foundCount, OutIter out_it) const;
};
#define TREE_TEMPLATE template <class T, class ValueType, int max_child_items>
#define TREE_QUAL QuadTreeNode<T, ValueType, max_child_items>
TREE_TEMPLATE
TREE_QUAL::QuadTreeNode(int level)
: level(level), children()
#ifndef NDEBUG
,
m_count(0)
#endif
{
}
TREE_TEMPLATE
template <typename custom_allocator>
void TREE_QUAL::copy(const QuadTreeNode &src, custom_allocator &allocator) {
assert(m_count == 0);
value = src.value;
objects = src.objects;
box = src.box;
m_count = src.m_count;
m_invCount = src.m_invCount;
if (src.isBranch()) {
for (int i = 0; i < 4; ++i) {
const QuadTreeNode *srcCurrent = src.children[i];
QuadTreeNode *dstCurrent = children[i] =
detail::allocate(allocator, srcCurrent->level);
dstCurrent->copy(*srcCurrent, allocator);
}
}
}
TREE_TEMPLATE
template <typename custom_allocator>
bool TREE_QUAL::insert(const object_type &obj, int &levels,
custom_allocator &allocator) {
if (!this->box.contains(obj.box))
// this object doesn't fit in this quadtree
return false;
if (isLeaf()) // No subdivision yet
{
if (objects.size() < max_child_items + 1) {
addObject(obj);
updateCount();
return true;
}
// subdivide node
subdivide(allocator);
if (addObjectsToChildren(allocator)) {
levels = std::max(levels, level + 1);
}
else {
// could not insert anything in any of the sub-trees
for (int i = 0; i < 4; ++i) {
detail::deallocate(allocator, children[i]);
children[i] = NULL;
}
addObject(obj);
updateCount();
return true;
}
}
// try to add to children
for (int i = 0; i < 4; ++i) {
assert(children[i]);
if (children[i]->insert(obj, levels, allocator)) {
updateCount();
return true;
}
}
addObject(obj);
updateCount();
return true;
}
TREE_TEMPLATE
template <typename Predicate, typename OutIter>
size_t TREE_QUAL::query(const Predicate &predicate, float containmentFactor,
OutIter out_it) const {
assert(m_count == count());
size_t foundCount = 0;
// go further into the tree
for (typename ObjectList::const_iterator it = objects.begin();
it != objects.end(); ++it) {
if (predicate(it->box)) {
*out_it = it->value;
++out_it;
++foundCount;
}
}
if (isLeaf()) {
// reached leaves
return foundCount;
}
for (int i = 0; i < 4; i++) {
assert(children[i]);
QuadTreeNode &node = *children[i];
// Break if we know that the zone is fully contained by a region
if (predicate.bbox.overlaps(node.box)) {
foundCount += node.query(predicate, containmentFactor, out_it);
if (node.box.contains(predicate.bbox)) {
break;
}
}
}
return foundCount;
}
TREE_TEMPLATE
template <typename Predicate, typename OutIter>
size_t TREE_QUAL::queryHierachical(const Predicate &predicate,
float containmentFactor,
OutIter out_it) const {
assert(m_count == count());
size_t foundCount = 0;
if (predicate.bbox.contains(this->box) && !isEmpty()) {
// node is fully contained by the query
*out_it = value;
++out_it;
foundCount += m_count;
return foundCount;
}
const OutIter start = out_it;
// go further into the tree
for (typename ObjectList::const_iterator it = objects.begin();
it != objects.end(); ++it) {
if (predicate(it->box)) {
*out_it = it->value;
++out_it;
++foundCount;
}
}
if (isLeaf()) {
if (foundCount) {
const float factor = foundCount * m_invCount;
if (factor > containmentFactor) {
out_it = start;
// node is fully contained by the query
*out_it = value;
++out_it;
foundCount = m_count;
}
}
// reached leaves
return foundCount;
}
for (int i = 0; i < 4; i++) {
assert(children[i]);
QuadTreeNode &node = *children[i];
// Break if we know that the zone is fully contained by a region
if (predicate.bbox.overlaps(node.box)) {
foundCount += node.query(predicate, containmentFactor, out_it);
if (node.box.contains(predicate.bbox)) {
break;
}
}
}
if (foundCount) {
const float factor = foundCount * m_invCount;
if (factor > containmentFactor) {
out_it = start;
// node is fully contained by the query
*out_it = value;
++out_it;
foundCount = m_count;
}
}
return foundCount;
}
TREE_TEMPLATE
void TREE_QUAL::translate(const T point[2]) {
for (typename ObjectList::iterator it = objects.begin(); it != objects.end();
++it) {
it->box.translate(point);
}
box.translate(point);
if (isBranch()) {
for (int i = 0; i < 4; ++i) {
if (children[i]) {
children[i]->translate(point);
}
}
}
}
TREE_TEMPLATE
size_t TREE_QUAL::count() const {
size_t count = objectCount();
if (isBranch()) {
for (int i = 0; i < 4; ++i) {
count += children[i]->count();
}
}
return count;
}
TREE_TEMPLATE
bool TREE_QUAL::isEmpty() const {
if (!objects.empty())
return false;
if (isBranch()) {
for (int i = 0; i < 4; ++i) {
if (!children[i]->isEmpty())
return false;
}
}
return true;
}
TREE_TEMPLATE
template <typename custom_allocator>
void TREE_QUAL::clear(custom_allocator &allocator) {
if (isLeaf())
return;
for (int i = 0; i < 4; ++i) {
children[i]->clear(allocator);
detail::deallocate(allocator, children[i]);
}
}
TREE_TEMPLATE
template <typename custom_allocator>
void TREE_QUAL::subdivide(custom_allocator &allocator) {
for (int i = 0; i < 4; ++i) {
assert(children[i] == NULL);
children[i] = detail::allocate(allocator, level + 1);
QuadTreeNode &node = *children[i];
node.box = box.quad2d(static_cast<box::RegionType>(i));
}
}
TREE_TEMPLATE
void TREE_QUAL::addObject(const object_type &obj) { objects.push_back(obj); }
TREE_TEMPLATE
template <typename custom_allocator>
bool TREE_QUAL::addObjectsToChildren(custom_allocator &allocator) {
int dummy = 0;
const size_t prevSize = objects.size();
for (typename ObjectList::iterator it = objects.begin(); it != objects.end();
++it) {
for (int i = 0; i < 4; ++i) {
if (children[i]->insert(*it, dummy, allocator)) {
it = objects.erase(it);
if (it == objects.end()) {
objects.shrink_to_fit();
for (int i = 0; i < 4; ++i) {
children[i]->updateCount();
assert(children[i]->m_count == children[i]->count());
}
return true;
}
break;
}
}
}
objects.shrink_to_fit();
for (int i = 0; i < 4; ++i) {
children[i]->updateCount();
assert(children[i]->m_count == children[i]->count());
}
// return if we could insert anything in any of the sub-trees
return prevSize != objects.size();
}
TREE_TEMPLATE
template <typename OutIter>
void TREE_QUAL::insertAll(size_t &foundCount, OutIter out_it) const {
for (typename ObjectList::const_iterator it = objects.begin();
it != objects.end(); ++it) {
// add crossing/overlapping results
*out_it = it->value;
++out_it;
}
foundCount += objects.size();
if (isBranch()) {
for (int i = 0; i < 4; ++i) {
children[i]->insertAll(foundCount, out_it);
}
}
}
} // namespace detail
#undef TREE_TEMPLATE
#undef TREE_QUAL
} // namespace spatial