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/*
* KdTree3d.h
* RVO2-3D Library
*
* SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill
* SPDX-License-Identifier: Apache-2.0
*
* 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
*
* https://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
*
* <https://gamma.cs.unc.edu/RVO2/>
*/
#ifndef RVO3D_KD_TREE_H_
#define RVO3D_KD_TREE_H_
/**
* @file KdTree3d.h
* @brief Contains the KdTree3D class.
*/
#include <cstddef>
#include <vector>
namespace RVO3D {
class Agent3D;
class RVOSimulator3D;
/**
* @brief Defines a k-D tree for agents in the simulation.
*/
class KdTree3D {
public:
class AgentTreeNode;
/**
* @brief Constructs a k-D tree instance.
* @param[in] sim The simulator instance.
*/
explicit KdTree3D(RVOSimulator3D *sim);
/**
* @brief Destroys this k-D tree instance.
*/
~KdTree3D();
/**
* @brief Builds an agent k-D tree.
*/
void buildAgentTree(std::vector<Agent3D *> agents);
/**
* @brief Recursive function to build a k-D tree.
* @param[in] begin The beginning k-D tree node.
* @param[in] end The ending k-D tree node.
* @param[in] node The current k-D tree node.
*/
void buildAgentTreeRecursive(std::size_t begin, std::size_t end,
std::size_t node);
/**
* @brief Computes the agent neighbors of the specified agent.
* @param[in] agent A pointer to the agent for which agent neighbors are to
* be computed.
* @param[in] rangeSq The squared range around the agent.
*/
void computeAgentNeighbors(Agent3D *agent, float rangeSq) const;
/**
* @brief Recursive function to compute the neighbors of the specified
* agent.
* @param[in] agent A pointer to the agent for which neighbors are to be
* computed.
* @param[in,out] rangeSq The squared range around the agent.
* @param[in] node The current k-D tree node.
*/
void queryAgentTreeRecursive(Agent3D *agent,
float &rangeSq, /* NOLINT(runtime/references) */
std::size_t node) const;
/* Not implemented. */
KdTree3D(const KdTree3D &other);
/* Not implemented. */
KdTree3D &operator=(const KdTree3D &other);
std::vector<Agent3D *> agents_;
std::vector<AgentTreeNode> agentTree_;
RVOSimulator3D *sim_;
friend class Agent3D;
friend class RVOSimulator3D;
};
} /* namespace RVO3D */
#endif /* RVO3D_KD_TREE_H_ */
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