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// Copyright Matt Overby 2020.
// Distributed under the MIT License.
#ifndef ADMMPD_BVH_H_
#define ADMMPD_BVH_H_ 1
#include "admmpd_bvh_traverse.h"
#include <vector>
#include <memory>
#include <functional>
namespace admmpd {
template <typename T, int DIM>
class AABBTree
{
protected:
typedef Eigen::AlignedBox<T,DIM> AABB;
typedef Eigen::Matrix<T,DIM,1> VecType;
public:
// Removes all BVH data
void clear();
// Initializes the BVH with a list of leaf bounding boxes.
// Sorts each split by largest axis.
void init(const std::vector<AABB> &leaves);
// Recomputes the bounding boxes of leaf and parent
// nodes but does not sort the tree.
void update(const std::vector<AABB> &leaves);
// Traverse the tree. Returns result of traverser
bool traverse(Traverser<T,DIM> &traverser) const;
// Traverse the tree with function pointers instead of class:
// void traverse(
// const AABB &left_aabb, bool &go_left,
// const AABB &right_aabb, bool &go_right,
// bool &go_left_first);
// bool stop_traversing( const AABB &aabb, int prim );
bool traverse(
std::function<void(const AABB&, bool&, const AABB&, bool&, bool&)> t,
std::function<bool(const AABB&, int)> s) const;
protected:
struct Node
{
AABB aabb;
Node *left, *right;
std::vector<int> prims;
bool is_leaf() const { return prims.size()>0; }
Node() : left(nullptr), right(nullptr) {}
~Node()
{
if(left){ delete left; }
if(right){ delete right; }
}
};
std::shared_ptr<Node> root;
void create_children(
Node *node,
std::vector<int> &queue,
const std::vector<AABB> &leaves);
void update_children(
Node *node,
const std::vector<AABB> &leaves);
bool traverse_children(
const Node *node,
Traverser<T,DIM> &traverser ) const;
}; // class AABBtree
} // namespace admmpd
#endif // ADMMPD_BVH_H_
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