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DT_BBoxTree.cpp

/*
 * SOLID - Software Library for Interference Detection
 * 
 * Copyright (C) 2001-2003  Dtecta.  All rights reserved.
 *
 * This library may be distributed under the terms of the Q Public License
 * (QPL) as defined by Trolltech AS of Norway and appearing in the file
 * LICENSE.QPL included in the packaging of this file.
 *
 * This library may be distributed and/or modified under the terms of the
 * GNU General Public License (GPL) version 2 as published by the Free Software
 * Foundation and appearing in the file LICENSE.GPL included in the
 * packaging of this file.
 *
 * This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Commercial use or any other use of this library not covered by either 
 * the QPL or the GPL requires an additional license from Dtecta. 
 * Please contact info@dtecta.com for enquiries about the terms of commercial
 * use of this library.
 */

#include "DT_BBoxTree.h"

inline DT_CBox getBBox(int first, int last, const DT_CBox *boxes, const DT_Index *indices) 
{
      assert(last - first >= 1);

      DT_CBox bbox = boxes[indices[first]];
      int i;
      for (i = first; i < last; ++i) 
      {
            bbox = bbox.hull(boxes[indices[i]]);
      }

      return bbox;
}

DT_BBoxNode::DT_BBoxNode(int first, int last, int& node, DT_BBoxNode *free_nodes, const DT_CBox *boxes, DT_Index *indices, const DT_CBox& bbox)
{
      assert(last - first >= 2);
      
      int axis = bbox.longestAxis();
      MT_Scalar abscissa = bbox.getCenter()[axis];
      int i = first, mid = last;
      while (i < mid) 
      {
            if (boxes[indices[i]].getCenter()[axis] < abscissa)
            {
                  ++i;
            }
            else
            {
                  --mid;
                  std::swap(indices[i], indices[mid]);
            }
      }

      if (mid == first || mid == last) 
      {
            mid = (first + last) / 2;
      }
      
      m_lbox = getBBox(first, mid, boxes, indices);
      m_rbox = getBBox(mid, last, boxes, indices);
      m_flags = 0x0;

      if (mid - first == 1)
      {
            m_flags |= LLEAF;
            m_lchild = indices[first];
      }
      else 
      {     
            m_lchild = node++;
            new(&free_nodes[m_lchild]) DT_BBoxNode(first, mid, node, free_nodes, boxes, indices, m_lbox);
      }

      if (last - mid == 1)
      {
            m_flags |= RLEAF;
            m_rchild = indices[mid];
      }
      else 
      {
            m_rchild = node++;
            new(&free_nodes[m_rchild]) DT_BBoxNode(mid, last, node, free_nodes, boxes, indices, m_rbox); 
      }
}

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