octree_container.h

/*
MIT License

Copyright (c) 2021 Attila Csik�s

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of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
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SOFTWARE.
*/

#ifndef ORTHOTREE_CONTAINER_GUARD
#define ORTHOTREE_CONTAINER_GUARD

//////////////////////////////////////////////////////////////////////////
// Container type to make easier the OrthoTree usage
//////////////////////////////////////////////////////////////////////////


namespace OrthoTree
{
  template<typename OrthoTreeCore, typename TData>
  class OrthoTreeContainerBase
  {
  public:
    using AD = typename OrthoTreeCore::AD;

    using TGeometry = typename OrthoTreeCore::TGeometry;
    using TVector = typename OrthoTreeCore::TVector;
    using TBox = typename OrthoTreeCore::TBox;
    using TRay = typename OrthoTreeCore::TRay;
    using TPlane = typename OrthoTreeCore::TPlane;

  protected:
    OrthoTreeCore m_tree;
    std::vector<TData> m_geometryCollection;

  public: // Constructors
    OrthoTreeContainerBase() noexcept = default;
    OrthoTreeContainerBase(
      std::span<TData const> const& geometryCollection,
      std::optional<depth_t> maxDepthNo = std::nullopt,
      std::optional<TBox> const& boxSpace = std::nullopt,
      std::size_t maxElementNoInNode = OrthoTreeCore::DEFAULT_MAX_ELEMENT,
      bool isParallelCreation = false) noexcept
    : m_geometryCollection(geometryCollection.begin(), geometryCollection.end())
    {
      if (isParallelCreation)
        OrthoTreeCore::template Create<std::execution::parallel_unsequenced_policy>(m_tree, m_geometryCollection, maxDepthNo, boxSpace, maxElementNoInNode);
      else
        OrthoTreeCore::Create(m_tree, m_geometryCollection, maxDepthNo, boxSpace, maxElementNoInNode);
    }

    OrthoTreeContainerBase(
      std::vector<TData>&& geometryCollection,
      std::optional<depth_t> maxDepthNo = std::nullopt,
      std::optional<TBox> const& boxSpace = std::nullopt,
      std::size_t maxElementNoInNode = OrthoTreeCore::DEFAULT_MAX_ELEMENT,
      bool isParallelCreation = false) noexcept
    : m_geometryCollection(geometryCollection)
    {
      if (isParallelCreation)
        OrthoTreeCore::template Create<std::execution::parallel_unsequenced_policy>(m_tree, geometryCollection, maxDepthNo, boxSpace, maxElementNoInNode);
      else
        OrthoTreeCore::Create(m_tree, geometryCollection, maxDepthNo, boxSpace, maxElementNoInNode);
    }


  public: // Member functions
    constexpr OrthoTreeCore const& GetCore() const noexcept { return m_tree; }
    constexpr std::vector<TData> const& GetData() const noexcept { return m_geometryCollection; }

    constexpr void Init(TBox const& boxSpace, depth_t maxDepthNo, std::size_t maxElementNoInNode = OrthoTreeCore::DEFAULT_MAX_ELEMENT) noexcept
    {
      m_tree.Init(boxSpace, maxDepthNo, maxElementNoInNode);
    }

    TData const& Get(std::size_t entityID) const noexcept { return m_geometryCollection[entityID]; }

    bool Add(TData const& data, bool doInsertToLeaf = false) noexcept
    {
      autoc id = m_geometryCollection.size();
      if (m_tree.Insert(id, data, doInsertToLeaf))
      {
        m_geometryCollection.emplace_back(data);
        return true;
      }

      return false;
    }

    bool Update(std::size_t id, TData const& newData, bool doInsertToLeaf = false) noexcept
    {
      if (m_tree.Update(id, m_geometryCollection[id], newData, doInsertToLeaf))
      {
        m_geometryCollection[id] = newData;
        return true;
      }

      return false;
    }

    bool Erase(std::size_t id) noexcept
    {
      if (m_geometryCollection.size() <= id)
        return false;

      if (m_tree.Erase(id, m_geometryCollection[id]))
      {
        m_geometryCollection.erase(std::next(std::begin(m_geometryCollection), id));
        return true;
      }

      return false;
    }

    inline void Clear() noexcept
    {
      m_tree.Clear();
      m_geometryCollection.clear();
    }

    inline void Reset() noexcept
    {
      m_tree.Reset();
      m_geometryCollection.clear();
    }

    inline std::vector<std::size_t> CollectAllIdInBFS(OrthoTreeCore::MortonNodeIDCR parentKey = OrthoTreeCore::GetRootKey()) const noexcept
    {
      return m_tree.CollectAllIdInBFS(parentKey);
    }

    inline std::vector<std::size_t> CollectAllIdInDFS(OrthoTreeCore::MortonNodeIDCR parentKey = OrthoTreeCore::GetRootKey()) const noexcept
    {
      return m_tree.CollectAllIdInDFS(parentKey);
    }


    // Hyperplane segmentation, get all elements in positive side (Plane equation: dotProduct(planeNormal, point) = distanceOfOrigo)
    inline std::vector<std::size_t> PlanePositiveSegmentation(TGeometry distanceOfOrigo, TVector const& planeNormal, TGeometry tolerance) const noexcept
    {
      return this->m_tree.PlanePositiveSegmentation(distanceOfOrigo, planeNormal, tolerance, this->m_geometryCollection);
    }

    // Hyperplane segmentation, get all elements in positive side (Plane equation: dotProduct(planeNormal, point) = distanceOfOrigo)
    inline std::vector<std::size_t> PlanePositiveSegmentation(TPlane const& plane, TGeometry tolerance) const noexcept
    {
      return this->m_tree.PlanePositiveSegmentation(plane, tolerance, this->m_geometryCollection);
    }

    // Hyperplane segmentation, get all elements in positive side (Plane equation: dotProduct(planeNormal, point) = distanceOfOrigo)
    inline std::vector<std::size_t> FrustumCulling(std::span<TPlane const> const& boundaryPlanes, TGeometry tolerance) const noexcept
    {
      return this->m_tree.FrustumCulling(boundaryPlanes, tolerance, this->m_geometryCollection);
    }
  };


  // General OrthoTree container for point types
  template<typename OrthoTreeCore, typename TData>
  class OrthoTreeContainerPoint final : public OrthoTreeContainerBase<OrthoTreeCore, TData>
  {
  public:
    using base = OrthoTreeContainerBase<OrthoTreeCore, TData>;
    using AD = typename base::AD;

    using TGeometry = typename base::TGeometry;
    using TVector = typename base::TVector;
    using TBox = typename base::TBox;
    using TRay = typename base::TRay;
    using TPlane = typename base::TPlane;

    using base::base; // inherits all constructors

  public: // Edit functions
    template<typename TExecutionPolicy = std::execution::unsequenced_policy>
    static OrthoTreeContainerPoint Create(
      std::span<TData const> const& geometryCollection,
      depth_t maxDepthNo = 0,
      std::optional<TBox> const& boxSpace = std::nullopt,
      std::size_t maxElementNoInNode = OrthoTreeCore::DEFAULT_MAX_ELEMENT) noexcept
    {
      auto otc = OrthoTreeContainerPoint();
      otc.m_geometryCollection = std::vector(geometryCollection.begin(), geometryCollection.end());
      OrthoTreeCore::template Create<TExecutionPolicy>(otc.m_tree, geometryCollection, maxDepthNo, boxSpace, maxElementNoInNode);
      return otc;
    }

    template<typename TExecutionPolicy = std::execution::unsequenced_policy>
    static OrthoTreeContainerPoint Create(
      std::vector<TData>&& geometryCollection,
      depth_t maxDepthNo = 0,
      std::optional<TBox> const& boxSpace = std::nullopt,
      std::size_t maxElementNoInNode = OrthoTreeCore::DEFAULT_MAX_ELEMENT) noexcept
    {
      auto otc = OrthoTreeContainerPoint();
      otc.m_geometryCollection = std::move(geometryCollection);
      OrthoTreeCore::template Create<TExecutionPolicy>(otc.m_tree, geometryCollection, maxDepthNo, boxSpace, maxElementNoInNode);
      return otc;
    }

    template<typename TExecutionPolicy = std::execution::unsequenced_policy>
    void Move(TVector const& vMove) noexcept
    {
      this->m_tree.template Move<TExecutionPolicy>(vMove);
      auto ep = TExecutionPolicy{}; // GCC 11.3
      std::for_each(ep, std::begin(this->m_geometryCollection), std::end(this->m_geometryCollection), [&vMove](auto& pt) { pt = AD::Add(pt, vMove); });
    }


  public:
    // Range search
    template<bool DOES_LEAF_NODE_CONTAIN_ELEMENT_ONLY = false>
    inline std::vector<std::size_t> RangeSearch(TBox const& range) const noexcept
    {
      return this->m_tree.template RangeSearch<DOES_LEAF_NODE_CONTAIN_ELEMENT_ONLY>(range, this->m_geometryCollection);
    }

    // K Nearest Neighbor
    inline std::vector<std::size_t> GetNearestNeighbors(TVector const& pt, std::size_t k) const noexcept
    {
      return this->m_tree.GetNearestNeighbors(pt, k, this->m_geometryCollection);
    }

  public: // Plane
    // Hyperplane intersection (Plane equation: dotProduct(planeNormal, point) = distanceOfOrigo)
    inline std::vector<std::size_t> PlaneSearch(TGeometry distanceOfOrigo, TVector const& planeNormal, TGeometry tolerance) const noexcept
    {
      return this->m_tree.PlaneSearch(distanceOfOrigo, planeNormal, tolerance, this->m_geometryCollection);
    }

    // Hyperplane intersection using built-in plane
    inline std::vector<std::size_t> PlaneSearch(TPlane const& plane, TGeometry tolerance) const noexcept
    {
      return this->m_tree.PlaneSearch(AD::GetPlaneOrigoDistance(plane), AD::GetPlaneNormal(plane), tolerance, this->m_geometryCollection);
    }
  };


  // General OrthoTreeCore container for Box types
  template<typename OrthoTreeCore, typename TData>
  class OrthoTreeContainerBox final : public OrthoTreeContainerBase<OrthoTreeCore, TData>
  {
  public:
    using base = OrthoTreeContainerBase<OrthoTreeCore, TData>;
    using AD = typename base::AD;

    using TGeometry = typename base::TGeometry;
    using TVector = typename base::TVector;
    using TBox = typename base::TBox;
    using TRay = typename base::TRay;
    using TPlane = typename base::TPlane;

    using base::base; // inherits all constructors

  public: // Edit functions
    template<typename TExecutionPolicy = std::execution::unsequenced_policy>
    static OrthoTreeContainerBox Create(
      std::span<TData const> const& geometryCollection,
      std::optional<depth_t> maxDepthNo = std::nullopt,
      std::optional<TBox> const& boxSpace = std::nullopt,
      std::size_t maxElementNoInNode = OrthoTreeCore::DEFAULT_MAX_ELEMENT) noexcept
    {
      auto otc = OrthoTreeContainerBox();
      otc.m_geometryCollection = std::vector(geometryCollection.begin(), geometryCollection.end());
      OrthoTreeCore::template Create<TExecutionPolicy>(otc.m_tree, otc.m_geometryCollection, maxDepthNo, boxSpace, maxElementNoInNode);
      return otc;
    }

    template<typename TExecutionPolicy = std::execution::unsequenced_policy>
    static OrthoTreeContainerBox Create(
      std::vector<TData>&& geometryCollection,
      std::optional<depth_t> maxDepthNo = std::nullopt,
      std::optional<TBox> const& boxSpace = std::nullopt,
      std::size_t maxElementNoInNode = OrthoTreeCore::DEFAULT_MAX_ELEMENT) noexcept
    {
      auto otc = OrthoTreeContainerBox();
      otc.m_geometryCollection = std::move(geometryCollection);
      OrthoTreeCore::template Create<TExecutionPolicy>(otc.m_tree, otc.m_geometryCollection, maxDepthNo, boxSpace, maxElementNoInNode);
      return otc;
    }

    template<typename TExecutionPolicy = std::execution::unsequenced_policy>
    void Move(TVector const& moveVector) noexcept
    {
      this->m_tree.template Move<TExecutionPolicy>(moveVector);
      auto ep = TExecutionPolicy{}; // GCC 11.3
      std::for_each(ep, std::begin(this->m_geometryCollection), std::end(this->m_geometryCollection), [&moveVector](auto& Box) {
        AD::MoveBox(Box, moveVector);
      });
    }


  public: // Search functions
    // Pick search
    inline std::vector<std::size_t> PickSearch(TVector const& pickPoint) const noexcept
    {
      return this->m_tree.PickSearch(pickPoint, this->m_geometryCollection);
    }

    // Range search
    template<bool isFullyContained = true>
    inline std::vector<std::size_t> RangeSearch(TBox const& range) const noexcept
    {
      return this->m_tree.template RangeSearch<isFullyContained>(range, this->m_geometryCollection);
    }

  public: // Collision detection
    // Collision detection between the contained elements
    template<typename TExecutionPolicy = std::execution::unsequenced_policy>
    inline std::vector<std::pair<std::size_t, std::size_t>> CollisionDetection() const noexcept
    {
      return this->m_tree.template CollisionDetection<TExecutionPolicy>(this->m_geometryCollection);
    }

    // Collision detection with another tree
    inline std::vector<std::pair<std::size_t, std::size_t>> CollisionDetection(OrthoTreeContainerBox const& otherTree) const noexcept
    {
      return this->m_tree.CollisionDetection(this->m_tree, this->m_geometryCollection, otherTree.m_tree, otherTree.m_geometryCollection);
    }

    // Collision detection between trees
    static inline std::vector<std::pair<std::size_t, std::size_t>> CollisionDetection(
      OrthoTreeContainerBox const& leftTree, OrthoTreeContainerBox const& rightTree) noexcept
    {
      return leftTree.CollisionDetection(rightTree);
    }


  public: // Ray intersection
    // Get all Box which is intersected by the ray in order
    inline std::vector<std::size_t> RayIntersectedAll(
      TRay const& ray, TGeometry tolerance, TGeometry maxDistance = std::numeric_limits<TGeometry>::max()) const noexcept
    {
      return this->m_tree.RayIntersectedAll(ray, this->m_geometryCollection, tolerance, maxDistance);
    }

    // Get first Box which is intersected by the ray
    inline std::optional<std::size_t> RayIntersectedFirst(TRay const& ray, TGeometry tolerance) const noexcept
    {
      return this->m_tree.RayIntersectedFirst(ray, this->m_geometryCollection, tolerance);
    }

  public: // Plane
    // Hyperplane intersection (Plane equation: dotProduct(planeNormal, point) = distanceOfOrigo)
    inline std::vector<std::size_t> PlaneIntersection(TGeometry distanceOfOrigo, TVector const& planeNormal, TGeometry tolerance) const noexcept
    {
      return this->m_tree.PlaneIntersection(distanceOfOrigo, planeNormal, tolerance, this->m_geometryCollection);
    }

    // Hyperplane intersection using built-in plane
    inline std::vector<std::size_t> PlaneIntersection(TPlane const& plane, TGeometry tolerance) const noexcept
    {
      return this->m_tree.PlaneIntersection(plane, tolerance, this->m_geometryCollection);
    }
  };

  template<dim_t DIMENSION_NO, typename TGeometry = BaseGeometryType>
  using TreePointContainerND = OrthoTreeContainerPoint<TreePointND<DIMENSION_NO, TGeometry>, VectorND<DIMENSION_NO, TGeometry>>;

  template<dim_t DIMENSION_NO, uint32_t SPLIT_DEPTH_INCREASEMENT = 2, typename TGeometry = BaseGeometryType>
  using TreeBoxContainerND =
    OrthoTreeContainerBox<TreeBoxND<DIMENSION_NO, SPLIT_DEPTH_INCREASEMENT, TGeometry>, BoundingBoxND<DIMENSION_NO, TGeometry>>;

  // Dualtree for points
  using DualtreePointC = TreePointContainerND<1, BaseGeometryType>;

  // Dualtree for bounding boxes
  template<uint32_t SPLIT_DEPTH_INCREASEMENT = 2>
  using DualtreeBoxCs = TreeBoxContainerND<1, SPLIT_DEPTH_INCREASEMENT, BaseGeometryType>;
  using DualtreeBoxC = TreeBoxContainerND<1, 2, BaseGeometryType>;

  // Quadtree for points
  using QuadtreePointC = TreePointContainerND<2, BaseGeometryType>;

  // Quadtree for bounding boxes
  template<uint32_t SPLIT_DEPTH_INCREASEMENT = 2>
  using QuadtreeBoxCs = TreeBoxContainerND<2, SPLIT_DEPTH_INCREASEMENT, BaseGeometryType>;
  using QuadtreeBoxC = TreeBoxContainerND<2, 2, BaseGeometryType>;

  // Octree for points
  using OctreePointC = TreePointContainerND<3, BaseGeometryType>;

  // Octree for bounding boxes
  template<uint32_t SPLIT_DEPTH_INCREASEMENT = 2>
  using OctreeBoxCs = TreeBoxContainerND<3, 2, BaseGeometryType>;
  using OctreeBoxC = TreeBoxContainerND<3, 2, BaseGeometryType>;

} // namespace OrthoTree
#endif // ORTHOTREE_CONTAINER_GUARD