AabbTree.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// 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.

#ifndef SURGSIM_DATASTRUCTURES_AABBTREE_H
#define SURGSIM_DATASTRUCTURES_AABBTREE_H

#include <list>
#include <vector>

#include "SurgSim/DataStructures/Tree.h"
#include "SurgSim/DataStructures/AabbTreeData.h"
#include "SurgSim/Math/Aabb.h"

namespace SurgSim
{

namespace DataStructures
{

class AabbTreeNode;

class AabbTree : public Tree
{
public:

    AabbTree();

    explicit AabbTree(size_t maxObjectsPerNode);

    virtual ~AabbTree();

    size_t getMaxObjectsPerNode() const;

    void add(const SurgSim::Math::Aabbd& aabb, size_t objectId);

    void set(const AabbTreeData::ItemList& items);

    void set(AabbTreeData::ItemList&& items);

    const SurgSim::Math::Aabbd& getAabb() const;

    typedef std::pair<AabbTreeNode*, AabbTreeNode*> TreeNodePairType;

    std::vector<TreeNodePairType> spatialJoin(const AabbTree& otherTree) const;

    void spatialJoin(AabbTreeNode* lhsParent, AabbTreeNode* rhsParent,
        std::vector<TreeNodePairType>* result) const;

    void updateBounds(const std::vector<Math::Aabbd>& bounds);

    void updateNodeBounds(const std::vector<Math::Aabbd>& bounds, SurgSim::DataStructures::AabbTreeNode* node);

private:

    size_t m_maxObjectsPerNode;

    std::shared_ptr<AabbTreeNode> m_typedRoot;
};

}
}

#endif