AabbTreeNode.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
14 // limitations under the License.
15 
16 #ifndef SURGSIM_DATASTRUCTURES_AABBTREENODE_H
17 #define SURGSIM_DATASTRUCTURES_AABBTREENODE_H
18 
21 
22 #include "SurgSim/Math/Aabb.h"
23 
24 namespace SurgSim
25 {
26 namespace DataStructures
27 {
28 
30 class AabbTreeNode : public TreeNode
31 {
32 public:
33 
35  AabbTreeNode();
36 
38  virtual ~AabbTreeNode();
39 
42  void splitNode();
43 
47  const SurgSim::Math::Aabbd& getAabb() const;
48 
54  void addData(const SurgSim::Math::Aabbd& aabb, size_t id, size_t maxNodeData = -1);
55 
59  void getIntersections(const SurgSim::Math::Aabbd& aabb, std::list<size_t>* result);
60 
61 protected:
62 
63  virtual bool doAccept(TreeVisitor* visitor) override;
64 
65 private:
66 
69 
71  size_t m_axis;
72 };
73 
74 }
75 }
76 
77 #endif
Definition: DriveElementFromInputBehavior.cpp:27
AabbTreeNode()
Constructor.
Definition: AabbTreeNode.cpp:26
virtual bool doAccept(TreeVisitor *visitor) override
Private function for use with the visitor pattern, this needs to be implemented to make the correct d...
Definition: AabbTreeNode.cpp:101
virtual ~AabbTreeNode()
Destructor.
Definition: AabbTreeNode.cpp:30
Abstract Class for visitors, this needs to be extended for other tree nodes when necessary return fal...
Definition: TreeVisitor.h:31
void addData(const SurgSim::Math::Aabbd &aabb, size_t id, size_t maxNodeData=-1)
Add data to this node, if maxNodeData is >0 the node will split if the number of data items exceeds m...
Definition: AabbTreeNode.cpp:75
Basic tree node structure.
Definition: TreeNode.h:36
const SurgSim::Math::Aabbd & getAabb() const
Get the aabb of this node, it is the union of the aabb of all the items in the data when the node has...
Definition: AabbTreeNode.cpp:62
size_t m_axis
Cache for the index of the longest axis on this node.
Definition: AabbTreeNode.h:71
SurgSim::Math::Aabbd m_aabb
The internal bounding box for this node, it is used when the node does not have any data...
Definition: AabbTreeNode.h:68
Eigen::AlignedBox< double, 3 > Aabbd
Wrapper around the Eigen type.
Definition: Aabb.h:30
void splitNode()
Splits the data into two parts, creates two children and puts the split data into the children the aa...
Definition: AabbTreeNode.cpp:35
void getIntersections(const SurgSim::Math::Aabbd &aabb, std::list< size_t > *result)
Fetch a list of items that have AABBs intersecting with the given AABB.
Definition: AabbTreeNode.cpp:106
Node class for the AabbTree, this handles groups of items and subdivision if the number of items gets...
Definition: AabbTreeNode.h:30