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/*
* KdTree2d.h
* RVO2 Library
*
* Copyright 2008 University of North Carolina at Chapel Hill
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
* Please send all bug reports to <geom@cs.unc.edu>.
*
* The authors may be contacted via:
*
* Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha
* Dept. of Computer Science
* 201 S. Columbia St.
* Frederick P. Brooks, Jr. Computer Science Bldg.
* Chapel Hill, N.C. 27599-3175
* United States of America
*
* <http://gamma.cs.unc.edu/RVO2/>
*/
#ifndef RVO2D_KD_TREE_H_
#define RVO2D_KD_TREE_H_
/**
* \file KdTree2d.h
* \brief Contains the KdTree class.
*/
#include "Definitions.h"
namespace RVO2D {
/**
* \brief Defines <i>k</i>d-trees for agents and static obstacles in the
* simulation.
*/
class KdTree2D {
public:
/**
* \brief Defines an agent <i>k</i>d-tree node.
*/
class AgentTreeNode {
public:
/**
* \brief The beginning node number.
*/
size_t begin;
/**
* \brief The ending node number.
*/
size_t end;
/**
* \brief The left node number.
*/
size_t left;
/**
* \brief The maximum x-coordinate.
*/
float maxX;
/**
* \brief The maximum y-coordinate.
*/
float maxY;
/**
* \brief The minimum x-coordinate.
*/
float minX;
/**
* \brief The minimum y-coordinate.
*/
float minY;
/**
* \brief The right node number.
*/
size_t right;
};
/**
* \brief Defines an obstacle <i>k</i>d-tree node.
*/
class ObstacleTreeNode {
public:
/**
* \brief The left obstacle tree node.
*/
ObstacleTreeNode *left;
/**
* \brief The obstacle number.
*/
const Obstacle2D *obstacle;
/**
* \brief The right obstacle tree node.
*/
ObstacleTreeNode *right;
};
/**
* \brief Constructs a <i>k</i>d-tree instance.
* \param sim The simulator instance.
*/
explicit KdTree2D(RVOSimulator2D *sim);
/**
* \brief Destroys this kd-tree instance.
*/
~KdTree2D();
/**
* \brief Builds an agent <i>k</i>d-tree.
*/
void buildAgentTree(std::vector<Agent2D *> agents);
void buildAgentTreeRecursive(size_t begin, size_t end, size_t node);
/**
* \brief Builds an obstacle <i>k</i>d-tree.
*/
void buildObstacleTree(std::vector<Obstacle2D *> obstacles);
ObstacleTreeNode *buildObstacleTreeRecursive(const std::vector<Obstacle2D *> &
obstacles);
/**
* \brief Computes the agent neighbors of the specified agent.
* \param agent A pointer to the agent for which agent
* neighbors are to be computed.
* \param rangeSq The squared range around the agent.
*/
void computeAgentNeighbors(Agent2D *agent, float &rangeSq) const;
/**
* \brief Computes the obstacle neighbors of the specified agent.
* \param agent A pointer to the agent for which obstacle
* neighbors are to be computed.
* \param rangeSq The squared range around the agent.
*/
void computeObstacleNeighbors(Agent2D *agent, float rangeSq) const;
/**
* \brief Deletes the specified obstacle tree node.
* \param node A pointer to the obstacle tree node to be
* deleted.
*/
void deleteObstacleTree(ObstacleTreeNode *node);
void queryAgentTreeRecursive(Agent2D *agent, float &rangeSq,
size_t node) const;
void queryObstacleTreeRecursive(Agent2D *agent, float rangeSq,
const ObstacleTreeNode *node) const;
/**
* \brief Queries the visibility between two points within a
* specified radius.
* \param q1 The first point between which visibility is
* to be tested.
* \param q2 The second point between which visibility is
* to be tested.
* \param radius The radius within which visibility is to be
* tested.
* \return True if q1 and q2 are mutually visible within the radius;
* false otherwise.
*/
bool queryVisibility(const Vector2 &q1, const Vector2 &q2,
float radius) const;
bool queryVisibilityRecursive(const Vector2 &q1, const Vector2 &q2,
float radius,
const ObstacleTreeNode *node) const;
std::vector<Agent2D *> agents_;
std::vector<AgentTreeNode> agentTree_;
ObstacleTreeNode *obstacleTree_;
RVOSimulator2D *sim_;
static const size_t MAX_LEAF_SIZE = 10;
friend class Agent2D;
friend class RVOSimulator2D;
};
}
#endif /* RVO2D_KD_TREE_H_ */
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