SpatialQueryKDTree.h File Reference

A spatial query object based on Jur van den Berg's kd-tree as defined in the RVO2 library (http://gamma.cs.unc.edu/RVO2). More...

#include "SpatialQueries/SpatialQuery.h"
#include "SpatialQueries/SpatialQueryFactory.h"
#include "SpatialQueries/AgentKDTree.h"
#include "SpatialQueries/ObstacleKDTree.h"

Go to the source code of this file.

Classes
class	Menge::Agents::BergKDTree
	Spatial query object. Used to determine obstacles and agents near an agent – based on a kd-tree. More...
class	Menge::Agents::BergKDTreeFactory
	Factory for the BergKDTree. More...

Namespaces
	Menge
	The core namespace. All elements of Menge are contained in this namespace.

Detailed Description

A spatial query object based on Jur van den Berg's kd-tree as defined in the RVO2 library (http://gamma.cs.unc.edu/RVO2).

This spatial query implementation uses a kd-tree for agents and a bsp-tree for obstacles. The BSP Tree changes the input obstacle set. Single line segments can end up cut into two or more pieces. This may have a deleterious effect on simulation.