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broadphase: fix compatibility with recent APPLE compilers
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nil is used as macro definition on recent APPLE platforms, as shown by this compilation error:
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/usr/include/MacTypes.h:92:19: note: expanded from macro 'nil'
      #define nil nullptr
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@jcarpent
jcarpent committed Mar 3, 2024
1 parent 4406d1e commit 087a3e2
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Showing 4 changed files with 43 additions and 40 deletions.
2 changes: 1 addition & 1 deletion include/hpp/fcl/broadphase/detail/interval_tree.h
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Original file line number Diff line number Diff line change
Expand Up @@ -91,7 +91,7 @@ class HPP_FCL_DLLAPI IntervalTree {
protected:
IntervalTreeNode* root;

IntervalTreeNode* nil;
IntervalTreeNode* invalid_node;

/// @brief left rotation of tree node
void leftRotate(IntervalTreeNode* node);
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4 changes: 2 additions & 2 deletions include/hpp/fcl/broadphase/detail/interval_tree_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -61,8 +61,8 @@ class HPP_FCL_DLLAPI IntervalTreeNode {

~IntervalTreeNode();

/// @brief Print the interval node information: set left = nil and right =
/// root
/// @brief Print the interval node information: set left = invalid_node and
/// right = root
void print(IntervalTreeNode* left, IntervalTreeNode* right) const;

protected:
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71 changes: 37 additions & 34 deletions src/broadphase/detail/interval_tree.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,15 +48,16 @@ namespace detail {

//==============================================================================
IntervalTree::IntervalTree() {
nil = new IntervalTreeNode;
nil->left = nil->right = nil->parent = nil;
nil->red = false;
nil->key = nil->high = nil->max_high =
invalid_node = new IntervalTreeNode;
invalid_node->left = invalid_node->right = invalid_node->parent =
invalid_node;
invalid_node->red = false;
invalid_node->key = invalid_node->high = invalid_node->max_high =
-(std::numeric_limits<FCL_REAL>::max)();
nil->stored_interval = nullptr;
invalid_node->stored_interval = nullptr;

root = new IntervalTreeNode;
root->parent = root->left = root->right = nil;
root->parent = root->left = root->right = invalid_node;
root->key = root->high = root->max_high =
(std::numeric_limits<FCL_REAL>::max)();
root->red = false;
Expand All @@ -75,28 +76,28 @@ IntervalTree::~IntervalTree() {
IntervalTreeNode* x = root->left;
std::deque<IntervalTreeNode*> nodes_to_free;

if (x != nil) {
if (x->left != nil) {
if (x != invalid_node) {
if (x->left != invalid_node) {
nodes_to_free.push_back(x->left);
}
if (x->right != nil) {
if (x->right != invalid_node) {
nodes_to_free.push_back(x->right);
}

delete x;
while (nodes_to_free.size() > 0) {
x = nodes_to_free.back();
nodes_to_free.pop_back();
if (x->left != nil) {
if (x->left != invalid_node) {
nodes_to_free.push_back(x->left);
}
if (x->right != nil) {
if (x->right != invalid_node) {
nodes_to_free.push_back(x->right);
}
delete x;
}
}
delete nil;
delete invalid_node;
delete root;
free(recursion_node_stack);
}
Expand All @@ -108,7 +109,7 @@ void IntervalTree::leftRotate(IntervalTreeNode* x) {
y = x->right;
x->right = y->left;

if (y->left != nil) y->left->parent = x;
if (y->left != invalid_node) y->left->parent = x;

y->parent = x->parent;

Expand All @@ -132,7 +133,7 @@ void IntervalTree::rightRotate(IntervalTreeNode* y) {
x = y->left;
y->left = x->right;

if (nil != x->right) x->right->parent = y;
if (invalid_node != x->right) x->right->parent = y;

x->parent = y->parent;
if (y == y->parent->left)
Expand All @@ -153,10 +154,10 @@ void IntervalTree::recursiveInsert(IntervalTreeNode* z) {
IntervalTreeNode* x;
IntervalTreeNode* y;

z->left = z->right = nil;
z->left = z->right = invalid_node;
y = root;
x = root->left;
while (x != nil) {
while (x != invalid_node) {
y = x;
if (x->key > z->key)
x = x->left;
Expand Down Expand Up @@ -234,16 +235,16 @@ IntervalTreeNode* IntervalTree::insert(SimpleInterval* new_interval) {
IntervalTreeNode* IntervalTree::getSuccessor(IntervalTreeNode* x) const {
IntervalTreeNode* y;

if (nil != (y = x->right)) {
while (y->left != nil) y = y->left;
if (invalid_node != (y = x->right)) {
while (y->left != invalid_node) y = y->left;
return y;
} else {
y = x->parent;
while (x == y->right) {
x = y;
y = y->parent;
}
if (y == root) return nil;
if (y == root) return invalid_node;
return y;
}
}
Expand All @@ -252,13 +253,13 @@ IntervalTreeNode* IntervalTree::getSuccessor(IntervalTreeNode* x) const {
IntervalTreeNode* IntervalTree::getPredecessor(IntervalTreeNode* x) const {
IntervalTreeNode* y;

if (nil != (y = x->left)) {
while (y->right != nil) y = y->right;
if (invalid_node != (y = x->left)) {
while (y->right != invalid_node) y = y->right;
return y;
} else {
y = x->parent;
while (x == y->left) {
if (y == root) return nil;
if (y == root) return invalid_node;
x = y;
y = y->parent;
}
Expand All @@ -268,9 +269,9 @@ IntervalTreeNode* IntervalTree::getPredecessor(IntervalTreeNode* x) const {

//==============================================================================
void IntervalTree::recursivePrint(IntervalTreeNode* x) const {
if (x != nil) {
if (x != invalid_node) {
recursivePrint(x->left);
x->print(nil, root);
x->print(invalid_node, root);
recursivePrint(x->right);
}
}
Expand Down Expand Up @@ -346,16 +347,16 @@ void IntervalTree::deleteNode(SimpleInterval* ivl) {
//==============================================================================
IntervalTreeNode* IntervalTree::recursiveSearch(IntervalTreeNode* node,
SimpleInterval* ivl) const {
if (node != nil) {
if (node != invalid_node) {
if (node->stored_interval == ivl) return node;

IntervalTreeNode* left = recursiveSearch(node->left, ivl);
if (left != nil) return left;
if (left != invalid_node) return left;
IntervalTreeNode* right = recursiveSearch(node->right, ivl);
if (right != nil) return right;
if (right != invalid_node) return right;
}

return nil;
return invalid_node;
}

//==============================================================================
Expand All @@ -364,8 +365,10 @@ SimpleInterval* IntervalTree::deleteNode(IntervalTreeNode* z) {
IntervalTreeNode* x;
SimpleInterval* node_to_delete = z->stored_interval;

y = ((z->left == nil) || (z->right == nil)) ? z : getSuccessor(z);
x = (y->left == nil) ? y->right : y->left;
y = ((z->left == invalid_node) || (z->right == invalid_node))
? z
: getSuccessor(z);
x = (y->left == invalid_node) ? y->right : y->left;
if (root == (x->parent = y->parent)) {
root->left = x;
} else {
Expand All @@ -376,7 +379,7 @@ SimpleInterval* IntervalTree::deleteNode(IntervalTreeNode* z) {
}
}

/// @brief y should not be nil in this case
/// @brief y should not be invalid_node in this case
/// y is the node to splice out and x is its child
if (y != z) {
y->max_high = -(std::numeric_limits<FCL_REAL>::max)();
Expand Down Expand Up @@ -419,7 +422,7 @@ bool overlap(FCL_REAL a1, FCL_REAL a2, FCL_REAL b1, FCL_REAL b2) {
std::deque<SimpleInterval*> IntervalTree::query(FCL_REAL low, FCL_REAL high) {
std::deque<SimpleInterval*> result_stack;
IntervalTreeNode* x = root->left;
bool run = (x != nil);
bool run = (x != invalid_node);

current_parent = 0;

Expand All @@ -445,14 +448,14 @@ std::deque<SimpleInterval*> IntervalTree::query(FCL_REAL low, FCL_REAL high) {
} else
x = x->right;

run = (x != nil);
run = (x != invalid_node);
while ((!run) && (recursion_node_stack_top > 1)) {
if (recursion_node_stack[--recursion_node_stack_top].try_right_branch) {
x = recursion_node_stack[recursion_node_stack_top].start_node->right;
current_parent =
recursion_node_stack[recursion_node_stack_top].parent_index;
recursion_node_stack[current_parent].try_right_branch = true;
run = (x != nil);
run = (x != invalid_node);
}
}
}
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6 changes: 3 additions & 3 deletions src/broadphase/detail/interval_tree_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,17 +67,17 @@ IntervalTreeNode::~IntervalTreeNode() {
}

//==============================================================================
void IntervalTreeNode::print(IntervalTreeNode* nil,
void IntervalTreeNode::print(IntervalTreeNode* invalid_node,
IntervalTreeNode* root) const {
stored_interval->print();
std::cout << ", k = " << key << ", h = " << high << ", mH = " << max_high;
std::cout << " l->key = ";
if (left == nil)
if (left == invalid_node)
std::cout << "nullptr";
else
std::cout << left->key;
std::cout << " r->key = ";
if (right == nil)
if (right == invalid_node)
std::cout << "nullptr";
else
std::cout << right->key;
Expand Down

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