ObstacleKDTree.h

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/*

License

Menge
Copyright © and trademark ™ 2012-14 University of North Carolina at Chapel Hill. 
All rights reserved.

Permission to use, copy, modify, and distribute this software and its documentation 
for educational, research, and non-profit purposes, without fee, and without a 
written agreement is hereby granted, provided that the above copyright notice, 
this paragraph, and the following four paragraphs appear in all copies.

This software program and documentation are copyrighted by the University of North 
Carolina at Chapel Hill. The software program and documentation are supplied "as is," 
without any accompanying services from the University of North Carolina at Chapel 
Hill or the authors. The University of North Carolina at Chapel Hill and the 
authors do not warrant that the operation of the program will be uninterrupted 
or error-free. The end-user understands that the program was developed for research 
purposes and is advised not to rely exclusively on the program for any reason.

IN NO EVENT SHALL THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL OR THE AUTHORS 
BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL 
DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS 
DOCUMENTATION, EVEN IF THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL OR THE 
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DISCLAIM ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES 
OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AND ANY STATUTORY WARRANTY 
OF NON-INFRINGEMENT. THE SOFTWARE PROVIDED HEREUNDER IS ON AN "AS IS" BASIS, AND 
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*/

#ifndef __OBSTACLE_KD_TREE_H__
#define __OBSTACLE_KD_TREE_H__

// STL
#include <vector>

// PedModels
#include "CoreConfig.h"
#include "Obstacle.h"
#include "SpatialQueries/ProximityQuery.h"

namespace Menge {

    namespace Agents {

        // FORWARD DECLARATIONS
        class BaseAgent;

        // Forward declarations

        // TODO: This chops up obstacles for the kd-tree.  I need to be able to reconstruct them
        //      i.e. if a piece is close to the agent, I'd like to be able to provide the full
        //      original line obstacle.

        struct ObstacleTreeNode {
              ObstacleTreeNode* _left;
              
              const Obstacle* _obstacle;
              
              ObstacleTreeNode* _right;
            };

        class MENGE_API ObstacleKDTree {
        public:
            explicit ObstacleKDTree();
            
            ~ObstacleKDTree();

            void buildTree( const std::vector< Obstacle * > obstacles );    

            void obstacleQuery( ProximityQuery *query) const;

            bool queryVisibility(const Vector2& q1, const Vector2& q2, float radius) const;

        protected:
            ObstacleTreeNode* buildTreeRecursive( const std::vector<Obstacle*>& obstacles );

            void queryTreeRecursive( ProximityQuery *query, Vector2 pt, float& rangeSq, const ObstacleTreeNode* node) const;

            bool queryVisibilityRecursive(const Vector2& q1, const Vector2& q2,
                                          float radius, 
                                          const ObstacleTreeNode* node) const;

            void deleteTree();

            void deleteSubTree( ObstacleTreeNode * node );

            std::vector<Obstacle*> _obstacles;

            ObstacleTreeNode* _tree;
            
            static const size_t MAX_LEAF_SIZE = 10;
        };
    }   // namespace Agents
}   // namespace Menge

#endif   // __OBSTACLE_KD_TREE_H__