v0.1.0: 初始工程骨架 — 7模块 40头文件 32源文件 17文档 Apache-2.0

include/vde/spatial/bvh.h

@@ -0,0 +1,48 @@
+#pragma once
+#include "vde/spatial/spatial_index.h"
+#include "vde/core/aabb.h"
+#include "vde/core/triangle.h"
+
+namespace vde::spatial {
+
+enum class BVHSplitStrategy { Middle, Equal, SAH };
+
+struct BVHBuildOptions {
+    BVHSplitStrategy strategy = BVHSplitStrategy::SAH;
+    int leaf_size = 4;
+    int max_depth = 64;
+};
+
+class BVH : public SpatialIndex<Triangle3D> {
+public:
+    explicit BVH(const BVHBuildOptions& opts = {}) : opts_(opts) {}
+
+    void build(const std::vector<Triangle3D>& tris) override;
+    void insert(const Triangle3D& tri) override;
+    bool remove(const Triangle3D& tri) override;
+    std::vector<Triangle3D> query_range(const AABB3D& range) const override;
+    std::vector<Triangle3D> query_knn(const Point3D& point, size_t k) const override;
+    std::vector<Triangle3D> query_ray(const Ray3Dd& ray) const override;
+    void clear() override;
+    size_t size() const override { return primitives_.size(); }
+
+    /// Find closest hit along ray
+    struct HitResult { double t; Triangle3D tri; Point3D point; };
+    std::optional<HitResult> query_ray_nearest(const Ray3Dd& ray) const;
+
+private:
+    struct Node {
+        AABB3D bounds;
+        int left = -1, right = -1;
+        int first_prim = 0, prim_count = 0;
+        bool leaf() const { return left < 0; }
+    };
+    std::vector<Node> nodes_;
+    std::vector<Triangle3D> primitives_;
+    BVHBuildOptions opts_;
+
+    void build_recursive(int node, int first, int count, int depth);
+    double sah_cost(int n_left, int n_right, const AABB3D& left, const AABB3D& right) const;
+};
+
+}  // namespace vde::spatial

include/vde/spatial/kd_tree.h

@@ -0,0 +1,21 @@
+#pragma once
+#include "vde/spatial/spatial_index.h"
+
+namespace vde::spatial {
+
+template <typename T>
+class KDTree : public SpatialIndex<T> {
+public:
+    void build(const std::vector<T>& items) override;
+    void insert(const T& item) override;
+    bool remove(const T& item) override;
+    std::vector<T> query_range(const AABB3D& range) const override;
+    std::vector<T> query_knn(const Point3D& point, size_t k) const override;
+    std::vector<T> query_ray(const Ray3Dd& ray) const override;
+    void clear() override;
+    size_t size() const override { return items_.size(); }
+private:
+    std::vector<T> items_;
+};
+
+}  // namespace vde::spatial

include/vde/spatial/octree.h

@@ -0,0 +1,24 @@
+#pragma once
+#include "vde/spatial/spatial_index.h"
+
+namespace vde::spatial {
+
+template <typename T>
+class Octree : public SpatialIndex<T> {
+public:
+    explicit Octree(int max_depth = 8, int max_items = 16)
+        : max_depth_(max_depth), max_items_(max_items) {}
+    void build(const std::vector<T>& items) override;
+    void insert(const T& item) override;
+    bool remove(const T& item) override;
+    std::vector<T> query_range(const AABB3D& range) const override;
+    std::vector<T> query_knn(const Point3D& point, size_t k) const override;
+    std::vector<T> query_ray(const Ray3Dd& ray) const override;
+    void clear() override;
+    size_t size() const override { return count_; }
+private:
+    int max_depth_, max_items_;
+    size_t count_ = 0;
+};
+
+}  // namespace vde::spatial

include/vde/spatial/r_tree.h

@@ -0,0 +1,21 @@
+#pragma once
+#include "vde/spatial/spatial_index.h"
+
+namespace vde::spatial {
+
+template <typename T>
+class RTree : public SpatialIndex<T> {
+public:
+    void build(const std::vector<T>& items) override;
+    void insert(const T& item) override;
+    bool remove(const T& item) override;
+    std::vector<T> query_range(const AABB3D& range) const override;
+    std::vector<T> query_knn(const Point3D& point, size_t k) const override;
+    std::vector<T> query_ray(const Ray3Dd& ray) const override;
+    void clear() override;
+    size_t size() const override { return count_; }
+private:
+    size_t count_ = 0;
+};
+
+}  // namespace vde::spatial

include/vde/spatial/spatial_index.h

@@ -0,0 +1,23 @@
+#pragma once
+#include "vde/core/aabb.h"
+#include "vde/core/line.h"
+#include <vector>
+#include <memory>
+
+namespace vde::spatial {
+
+template <typename T>
+class SpatialIndex {
+public:
+    virtual ~SpatialIndex() = default;
+    virtual void build(const std::vector<T>& items) = 0;
+    virtual void insert(const T& item) = 0;
+    virtual bool remove(const T& item) = 0;
+    virtual std::vector<T> query_range(const AABB3D& range) const = 0;
+    virtual std::vector<T> query_knn(const Point3D& point, size_t k) const = 0;
+    virtual std::vector<T> query_ray(const Ray3Dd& ray) const = 0;
+    virtual void clear() = 0;
+    virtual size_t size() const = 0;
+};
+
+}  // namespace vde::spatial