SurgSim::DataStructures::AabbTree Class Reference

AabbTree is a tree that is organized by the bounding boxes of the referenced objects, the bounding box used is the Axis Aligned Bounding Box (AABB), with the extents of an AABB describing the min and max of each coordinate for the given object. More...

#include <AabbTree.h>

Inheritance diagram for SurgSim::DataStructures::AabbTree:

Public Types
typedef std::pair< AabbTreeNode *, AabbTreeNode * >	TreeNodePairType
	Type indicating a relationship between two AabbTreeNodes.

Public Member Functions
	AabbTree ()
	Constructor.
	AabbTree (size_t maxObjectsPerNode)
	Constructor. More...
virtual	~AabbTree ()
	Destructor.
size_t	getMaxObjectsPerNode () const
void	add (const SurgSim::Math::Aabbd &aabb, size_t objectId)
	Add a give object identified by objectId to the tree, this id should be unqiue on the users side, but no checks are made in the inside of the tree. More...
void	set (const AabbTreeData::ItemList &items)
	Create the tree from a list of tree items, all the tree information will be deleted. More...
void	set (AabbTreeData::ItemList &&items)
	Create the tree from a list of tree items, all the tree information will be deleted. More...
const SurgSim::Math::Aabbd &	getAabb () const
std::vector< TreeNodePairType >	spatialJoin (const AabbTree &otherTree) const
	Query to find all pairs of intersecting nodes between two aabb r-trees. More...
void	spatialJoin (AabbTreeNode *lhsParent, AabbTreeNode *rhsParent, std::vector< TreeNodePairType > *result) const
	Query to find all pairs of intersecting nodes between two aabb r-trees. More...
void	updateBounds (const std::vector< Math::Aabbd > &bounds)
void	updateNodeBounds (const std::vector< Math::Aabbd > &bounds, SurgSim::DataStructures::AabbTreeNode *node)
Public Member Functions inherited from SurgSim::DataStructures::Tree
	Tree ()
	Constructor. After construction, the root is null.
virtual	~Tree ()
	Destructor.
void	setRoot (std::shared_ptr< TreeNode > root)
	Sets the root of the tree. More...
std::shared_ptr< TreeNode >	getRoot () const
bool	operator== (const Tree &tree) const
	If the trees are not of the same type, returns false; otherwise, compares with the implementation of isEqual(const Tree&). More...
bool	operator!= (const Tree &tree) const
	If the trees are not of the same type, returns false; otherwise, compares with the implementation of isEqual(const Tree&). More...

Additional Inherited Members
Protected Member Functions inherited from SurgSim::DataStructures::Tree
virtual bool	isEqual (const Tree &tree) const
	Recurses through the tree, starting at the root. More...

Detailed Description

AabbTree is a tree that is organized by the bounding boxes of the referenced objects, the bounding box used is the Axis Aligned Bounding Box (AABB), with the extents of an AABB describing the min and max of each coordinate for the given object.

Constructor & Destructor Documentation

AabbTree()

SurgSim::DataStructures::AabbTree::AabbTree ( size_t  maxObjectsPerNode )

explicit

Constructor.

Parameters

maxObjectsPerNode

if the number of objects exceeds this a split of the node will be triggered

Member Function Documentation

add()

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

Add a give object identified by objectId to the tree, this id should be unqiue on the users side, but no checks are made in the inside of the tree.

Parameters

aabb	AABB of this object.
objectId	Id for the object to be identified with this bounding box

getAabb()

const SurgSim::Math::Aabbd & SurgSim::DataStructures::AabbTree::getAabb

(

)

const

Returns

the AABB for the tree

getMaxObjectsPerNode()

size_t SurgSim::DataStructures::AabbTree::getMaxObjectsPerNode

(

)

const

Returns

the number of objects per node that will trigger a split for this tree

set() [1/2]

void SurgSim::DataStructures::AabbTree::set

(

const AabbTreeData::ItemList &

items

)

Create the tree from a list of tree items, all the tree information will be deleted.

Parameters

items

list of items to insert into the tree

set() [2/2]

void SurgSim::DataStructures::AabbTree::set

(

AabbTreeData::ItemList &&

items

)

Create the tree from a list of tree items, all the tree information will be deleted.

Parameters

items

rvalue reference to list of items to insert into the tree

spatialJoin() [1/2]

std::vector< AabbTree::TreeNodePairType > SurgSim::DataStructures::AabbTree::spatialJoin

(

const AabbTree &

otherTree

)

const

Query to find all pairs of intersecting nodes between two aabb r-trees.

Parameters

otherTree

The other tree to compare against

Returns

The list of all pairs of intersecting nodes

spatialJoin() [2/2]

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

Query to find all pairs of intersecting nodes between two aabb r-trees.

Parameters

lhsParent	root node of the first tree
rhsParent	root node of the second tree
result	the list of all pairs of intersecting nodes

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The documentation for this class was generated from the following files:

• SurgSim/DataStructures/AabbTree.h
• SurgSim/DataStructures/AabbTree.cpp