OctreeNode.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_OCTREENODE_H
17 #define SURGSIM_DATASTRUCTURES_OCTREENODE_H
18 
19 #include <array>
20 #include <memory>
21 #include <functional>
22 
25 #include "SurgSim/Math/Vector.h"
26 #include "SurgSim/Math/Aabb.h"
27 
28 
29 namespace SurgSim
30 {
31 
32 namespace Math
33 {
34 class OctreeShape;
35 }
36 
37 namespace DataStructures
38 {
39 
43 typedef std::vector<size_t> OctreePath;
44 
49 {
50 public:
51  size_t operator()(const OctreePath& path) const
52  {
53  size_t result = 0;
54  for (auto i : path)
55  {
56  result = (result << 3) | i;
57  }
58 
59  return m_hasher(result);
60  }
61 private:
62  std::hash<size_t> m_hasher;
63 };
64 
67 {
72  NEIGHBORHOOD_ALL = 0x1 | 0x2 | 0x4
73 };
74 
76 enum Symbol
77 {
80  SYMBOL_UP = 1,
85 };
86 
103 OctreePath getNeighbor(const OctreePath& origin, const std::array<Symbol, 3>& direction);
104 
110 std::vector<OctreePath> getNeighbors(const OctreePath& origin, int type);
111 
112 template <typename Data>
114 
130 template<class Data>
132  public std::enable_shared_from_this<OctreeNode<Data>>
133 {
136 
137 public:
138 
140  typedef Eigen::AlignedBox<double, 3> AxisAlignedBoundingBox;
141 
143  OctreeNode();
144 
147  OctreeNode(const OctreeNode& other);
148 
153  template <class T>
154  OctreeNode(const OctreeNode<T>& other);
155 
156  std::string getClassName() const override;
157 
160  explicit OctreeNode(const SurgSim::Math::Aabbd& boundingBox);
161 
163  virtual ~OctreeNode();
164 
167  const SurgSim::Math::Aabbd& getBoundingBox() const;
168 
171  bool isActive() const;
172 
175  void setIsActive(bool isActive);
176 
179  bool hasChildren() const;
180 
184  void subdivide();
185 
193  bool addData(const SurgSim::Math::Vector3d& position, const int level, const Data& nodeData = Data());
194 
197  std::array<std::shared_ptr<OctreeNode<Data>>, 8>& getChildren();
198 
201  const std::array<std::shared_ptr<OctreeNode<Data>>, 8>& getChildren() const;
202 
207  std::shared_ptr<OctreeNode<Data>> getChild(size_t index);
208 
213  const std::shared_ptr<OctreeNode<Data>> getChild(size_t index) const;
214 
219  // the last node on a given path, otherwise it will throw.
221  virtual std::shared_ptr<OctreeNode<Data>> getNode(const OctreePath& path, bool returnLastValid = false);
222 
224  Data data;
225 
226 protected:
233  bool doAddData(const SurgSim::Math::Vector3d& position, const Data& nodeData, const int level,
234  const int currentLevel);
235 
236  bool doLoad(const std::string& filePath) override;
237 
240 
243 
246 
248  std::array<std::shared_ptr<OctreeNode<Data>>, 8> m_children;
249 
250 private:
251  static std::string m_className;
252 };
253 
254 }; // namespace DataStructures
255 }; // namespace SurgSim
256 
258 
259 #endif // SURGSIM_DATASTRUCTURES_OCTREENODE_H
Definition: OctreeNode.h:81
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Math::Aabbd m_boundingBox
The bounding box of the current OctreeNode.
Definition: OctreeNode.h:239
This class is used to facilitate file loading.
Definition: Asset.h:39
size_t operator()(const OctreePath &path) const
Definition: OctreeNode.h:51
Enable the OctreePath to be used as a key in an unordered map, if the int range is exceeded this will...
Definition: OctreeNode.h:48
Definition: OctreeNode.h:80
SurgSim::DataStructures::OctreePath getNeighbor(const OctreePath &origin, const std::array< Symbol, 3 > &direction)
Calculate the neighbor of an node in the octree by traversing a state machine, see http://ww1...
Definition: OctreeNode.cpp:155
std::vector< size_t > OctreePath
Typedef of octree path The path is a vector of children indexes (each within 0 to 7) that lead to the...
Definition: OctreeNode.h:43
std::hash< size_t > m_hasher
Definition: OctreeNode.h:62
Definition: OctreeNode.h:83
Eigen::AlignedBox< double, 3 > Aabbd
Wrapper around the Eigen type.
Definition: Aabb.h:30
Subclass the OctreeNodePLyReaderDelegateBase class to enable processing of the templated data...
Definition: OctreeNode.h:113
Definition: OctreeNode.h:79
Definition: OctreeNode.h:84
Definitions of small fixed-size vector types.
bool m_hasChildren
True if the node has children.
Definition: OctreeNode.h:245
bool m_isActive
True if there is any data inside this node, including data held by children, children&#39;s children...
Definition: OctreeNode.h:242
Eigen::AlignedBox< double, 3 > AxisAlignedBoundingBox
Bounding box type for convenience.
Definition: OctreeNode.h:140
Definition: OctreeNode.h:78
Definition: OctreeNode.h:82
Neighborhood
Indicates what neighbors to grab.
Definition: OctreeNode.h:66
std::vector< OctreePath > getNeighbors(const OctreePath &origin, int type)
Fetch a list of neighbors, indicated by the type, Face, Edge and Vertex are possible types and can be...
Definition: OctreeNode.cpp:216
std::array< std::shared_ptr< OctreeNode< Data > >, 8 > m_children
The children of this node.
Definition: OctreeNode.h:248
Data data
Extra node data.
Definition: OctreeNode.h:224
static std::string m_className
Definition: OctreeNode.h:251
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:57
Octree data structure.
Definition: OctreeNode.h:131
Octree Shape A defined by an octree data structure.
Definition: OctreeShape.h:34
Symbol
Direction code for the neighborhood search.
Definition: OctreeNode.h:76