16 #ifndef SURGSIM_DATASTRUCTURES_OCTREENODE_H 17 #define SURGSIM_DATASTRUCTURES_OCTREENODE_H 37 namespace DataStructures
56 result = (result << 3) | i;
59 return m_hasher(result);
103 OctreePath
getNeighbor(
const OctreePath& origin,
const std::array<Symbol, 3>& direction);
110 std::vector<OctreePath>
getNeighbors(
const OctreePath& origin,
int type);
112 template <
typename Data>
132 public std::enable_shared_from_this<OctreeNode<Data>>
156 std::string getClassName()
const override;
171 bool isActive()
const;
175 void setIsActive(
bool isActive);
179 bool hasChildren()
const;
197 std::array<std::shared_ptr<OctreeNode<Data>>, 8>& getChildren();
201 const std::array<std::shared_ptr<OctreeNode<Data>>, 8>& getChildren()
const;
207 std::shared_ptr<OctreeNode<Data>> getChild(
size_t index);
213 const std::shared_ptr<OctreeNode<Data>> getChild(
size_t index)
const;
221 virtual std::shared_ptr<OctreeNode<Data>> getNode(
const OctreePath& path,
bool returnLastValid =
false);
234 const int currentLevel);
236 bool doLoad(
const std::string& filePath)
override;
259 #endif // SURGSIM_DATASTRUCTURES_OCTREENODE_H Definition: OctreeNode.h:81
Definition: OctreeNode.h:69
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Math::Aabbd m_boundingBox
The bounding box of the current OctreeNode.
Definition: OctreeNode.h:239
This class is used to facilitate file loading.
Definition: Asset.h:39
size_t operator()(const OctreePath &path) const
Definition: OctreeNode.h:51
Enable the OctreePath to be used as a key in an unordered map, if the int range is exceeded this will...
Definition: OctreeNode.h:48
Definition: OctreeNode.h:71
Definition: OctreeNode.h:80
SurgSim::DataStructures::OctreePath getNeighbor(const OctreePath &origin, const std::array< Symbol, 3 > &direction)
Calculate the neighbor of an node in the octree by traversing a state machine, see http://ww1...
Definition: OctreeNode.cpp:155
std::vector< size_t > OctreePath
Typedef of octree path The path is a vector of children indexes (each within 0 to 7) that lead to the...
Definition: OctreeNode.h:43
Definition: OctreeNode.h:70
Definition: OctreeNode.h:72
std::hash< size_t > m_hasher
Definition: OctreeNode.h:62
Definition: OctreeNode.h:83
Eigen::AlignedBox< double, 3 > Aabbd
Wrapper around the Eigen type.
Definition: Aabb.h:30
Subclass the OctreeNodePLyReaderDelegateBase class to enable processing of the templated data...
Definition: OctreeNode.h:113
Definition: OctreeNode.h:68
Definition: OctreeNode.h:79
Definition: OctreeNode.h:84
Definitions of small fixed-size vector types.
bool m_hasChildren
True if the node has children.
Definition: OctreeNode.h:245
bool m_isActive
True if there is any data inside this node, including data held by children, children's children...
Definition: OctreeNode.h:242
Eigen::AlignedBox< double, 3 > AxisAlignedBoundingBox
Bounding box type for convenience.
Definition: OctreeNode.h:140
Definition: OctreeNode.h:78
Definition: OctreeNode.h:82
Neighborhood
Indicates what neighbors to grab.
Definition: OctreeNode.h:66
std::vector< OctreePath > getNeighbors(const OctreePath &origin, int type)
Fetch a list of neighbors, indicated by the type, Face, Edge and Vertex are possible types and can be...
Definition: OctreeNode.cpp:216
std::array< std::shared_ptr< OctreeNode< Data > >, 8 > m_children
The children of this node.
Definition: OctreeNode.h:248
Data data
Extra node data.
Definition: OctreeNode.h:224
static std::string m_className
Definition: OctreeNode.h:251
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:57
Octree data structure.
Definition: OctreeNode.h:131
Octree Shape A defined by an octree data structure.
Definition: OctreeShape.h:34
Symbol
Direction code for the neighborhood search.
Definition: OctreeNode.h:76