initial commit, 4.5 stable

thirdparty/rvo2/rvo2_2d/KdTree2d.h

@@ -0,0 +1,203 @@
+/*
+ * 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_ */