Menge
Modular Pedestrian Simulation Framework for Research and Development
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AgentKDTree.h
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38 
39 #ifndef __AGENT_KD_TREE_H__
40 #define __AGENT_KD_TREE_H__
41 
48 // STL
49 #include "CoreConfig.h"
50 #include <vector>
51 #include <cstddef>
53 
54 
55 namespace Menge {
56 
61  namespace Agents {
62 
63  // FORWARD DECLARATIONS
64  class BaseAgent;
65 
66  // TODO: Adapt this so that the number of agents can be changed -- i.e. removing and
67  // introducing new agents in the simulation
68 
74  class MENGE_API AgentKDTree {
75  private:
79  struct AgentTreeNode {
83  size_t _begin;
84 
88  size_t _end;
89 
93  size_t _left;
94 
98  float _maxX;
99 
103  float _maxY;
104 
108  float _minX;
109 
113  float _minY;
114 
118  size_t _right;
119  };
120  public:
124  explicit AgentKDTree();
125 
129  void setAgents( const std::vector< BaseAgent * > & agents );
130 
134  void buildTree();
135 
140  void agentQuery( ProximityQuery *filter) const;
141 
142  protected:
151  void buildTreeRecursive(size_t begin, size_t end, size_t node);
152 
162  void queryTreeRecursive( ProximityQuery *filter, Vector2 pt, float& rangeSq, size_t node) const;
163 
167  std::vector< const BaseAgent * > _agents;
168 
172  std::vector<AgentTreeNode> _tree;
173 
177  static const size_t MAX_LEAF_SIZE = 10;
178  };
179  } // namespace Agents
180 } // namespace Menge
181 
182 #endif // __AGENT_KD_TREE_H__
The core namespace. All elements of Menge are contained in this namespace.
Definition: AgentGenerator.cpp:43
Sets up the proper compiler directives for platform and dll export/import.
std::vector< const BaseAgent * > _agents
The agents being partitioned by the kd-tree.
Definition: AgentKDTree.h:167
The base class for filtering spatial queries according to proximity.
Definition: ProximityQuery.h:72
std::vector< AgentTreeNode > _tree
The tree structure.
Definition: AgentKDTree.h:172
The base class for all objects which actually perform filtering and store results from spatial querie...
The namespace that contains the basic simulation mechanisms.
A kd-tree for performing nearest-neighbor searches.
Definition: AgentKDTree.h:74