118 lines
3.2 KiB
C++
118 lines
3.2 KiB
C++
/*
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* KdTree3d.h
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* RVO2-3D Library
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*
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* SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* https://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* Please send all bug reports to <geom@cs.unc.edu>.
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*
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* The authors may be contacted via:
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*
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* Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha
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* Dept. of Computer Science
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* 201 S. Columbia St.
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* Frederick P. Brooks, Jr. Computer Science Bldg.
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* Chapel Hill, N.C. 27599-3175
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* United States of America
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*
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* <https://gamma.cs.unc.edu/RVO2/>
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*/
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#ifndef RVO3D_KD_TREE_H_
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#define RVO3D_KD_TREE_H_
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/**
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* @file KdTree3d.h
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* @brief Contains the KdTree3D class.
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*/
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#include <cstddef>
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#include <vector>
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namespace RVO3D {
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class Agent3D;
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class RVOSimulator3D;
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/**
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* @brief Defines a k-D tree for agents in the simulation.
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*/
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class KdTree3D {
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public:
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class AgentTreeNode;
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/**
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* @brief Constructs a k-D tree instance.
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* @param[in] sim The simulator instance.
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*/
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explicit KdTree3D(RVOSimulator3D *sim);
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/**
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* @brief Destroys this k-D tree instance.
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*/
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~KdTree3D();
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/**
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* @brief Builds an agent k-D tree.
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*/
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void buildAgentTree(std::vector<Agent3D *> agents);
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/**
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* @brief Recursive function to build a k-D tree.
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* @param[in] begin The beginning k-D tree node.
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* @param[in] end The ending k-D tree node.
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* @param[in] node The current k-D tree node.
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*/
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void buildAgentTreeRecursive(std::size_t begin, std::size_t end,
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std::size_t node);
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/**
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* @brief Computes the agent neighbors of the specified agent.
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* @param[in] agent A pointer to the agent for which agent neighbors are to
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* be computed.
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* @param[in] rangeSq The squared range around the agent.
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*/
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void computeAgentNeighbors(Agent3D *agent, float rangeSq) const;
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/**
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* @brief Recursive function to compute the neighbors of the specified
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* agent.
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* @param[in] agent A pointer to the agent for which neighbors are to be
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* computed.
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* @param[in,out] rangeSq The squared range around the agent.
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* @param[in] node The current k-D tree node.
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*/
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void queryAgentTreeRecursive(Agent3D *agent,
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float &rangeSq, /* NOLINT(runtime/references) */
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std::size_t node) const;
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/* Not implemented. */
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KdTree3D(const KdTree3D &other);
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/* Not implemented. */
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KdTree3D &operator=(const KdTree3D &other);
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std::vector<Agent3D *> agents_;
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std::vector<AgentTreeNode> agentTree_;
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RVOSimulator3D *sim_;
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friend class Agent3D;
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friend class RVOSimulator3D;
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};
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} /* namespace RVO3D */
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#endif /* RVO3D_KD_TREE_H_ */
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