茂之钳
47 lines
1.3 KiB
C++
47 lines
1.3 KiB
C++
#pragma once
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#include "vde/spatial/spatial_index.h"
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#include "vde/core/aabb.h"
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#include <queue>
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#include <limits>
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namespace vde::spatial {
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using core::Point3D;
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using core::Vector3D;
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using core::Ray3Dd;
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using core::Triangle3D;
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template <typename T>
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struct RTreeNode {
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AABB3D bbox;
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bool is_leaf = true;
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std::vector<size_t> children; // internal: indices into nodes_
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std::vector<size_t> item_indices; // leaf: indices into items_
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size_t parent = static_cast<size_t>(-1);
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};
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template <typename T>
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class RTree : public SpatialIndex<T> {
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public:
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void build(const std::vector<T>& items) override;
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void insert(const T& item) override;
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bool remove(const T& item) override;
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std::vector<T> query_range(const AABB3D& range) const override;
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std::vector<T> query_knn(const Point3D& point, size_t k) const override;
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std::vector<T> query_ray(const Ray3Dd& ray) const override;
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void clear() override;
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size_t size() const override { return count_; }
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size_t node_count() const { return nodes_.size(); }
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private:
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void query_range_recursive(size_t node_idx, const AABB3D& range,
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std::vector<T>& result) const;
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std::vector<T> items_;
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std::vector<AABB3D> item_bounds_;
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std::vector<RTreeNode<T>> nodes_;
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size_t root_idx_ = 0;
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size_t count_ = 0;
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};
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} // namespace vde::spatial
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