G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc > Class Template Reference

#include <PointKDTree.h>

Classes
class	AxisComparator
class	BoxIntersectionIterator
class	Handle
class	Iterator
class	Node

Public Member Functions
	PointKDTree ()
	PointKDTree (const PointKDTree &src)
PointKDTree &	operator= (const PointKDTree &src)
	~PointKDTree ()
void	clear ()
void	clearData ()
size_t	size () const
void	insert (const T &value)
void	insert (const Array< T > &valueArray)
bool	contains (const T &value)
void	remove (const T &value)
void	update (const T &value)
void	balance (int valuesPerNode=40, int numMeanSplits=3)
void	getIntersectingMembers (const Array< Plane > &plane, Array< T > &members) const
void	getIntersectingMembers (const Frustum &frustum, Array< T > &members) const
BoxIntersectionIterator	beginBoxIntersection (const AABox &box) const
BoxIntersectionIterator	endBoxIntersection () const
void	getIntersectingMembers (const AABox &box, Array< T > &members) const
void	getIntersectingMembers (const Sphere &sphere, Array< T > &members) const
void	serializeStructure (BinaryOutput &bo) const
void	deserializeStructure (BinaryInput &bi)
void	getMembers (Array< T > &members) const
Iterator	begin () const
Iterator	end () const

Protected Types
typedef Table< T, Node *, HashFunc, EqualsFunc >	MemberTable

Protected Member Functions
Node *	makeNode (Array< Handle > &source, Array< Handle > &temp, int valuesPerNode, int numMeanSplits)
Node *	cloneTree (Node *src)

Static Protected Member Functions
static AABox	computeBounds (const Array< Handle > &point)

Protected Attributes
MemberTable	memberTable
Node *	root

Static Private Member Functions
static void	getIntersectingMembers (const Array< Plane > &plane, Array< T > &members, Node *node, uint32 parentMask)

Detailed Description

template<class T, class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>
class G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >

A set data structure that supports spatial queries using an axis-aligned BSP tree for speed.

PointKDTree allows you to quickly find points in 3D that lie within a box or sphere. For large sets of objects it is much faster than testing each object for a collision. See also G3D::KDTree; this class is optimized for point sets, e.g.,for use in photon mapping and mesh processing.

Template Parameters

The template parameter T must be one for which the following functions are overloaded:

     T::T(); (public constructor of no arguments)

      template<> struct PositionTrait<class T> {
        static void getPosition(const T& v, G3D::Vector3& p);};

      template <> struct HashTrait<class T> {
        static size_t hashCode(const T& key);};

      template<> struct EqualsTrait<class T> {
          static bool equals(const T& a, const T& b); };
   

G3D provides these for the Vector2, Vector3, and Vector4 classes. If you use a custom class, or a pointer to a custom class, you will need to define those functions.

Moving Set Members

It is important that objects do not move without updating the PointKDTree. If the position of an object is about to change, PointKDTree::remove it before they change and PointKDTree::insert it again afterward. For objects where the hashCode and == operator are invariant with respect to the 3D position, you can use the PointKDTree::update method as a shortcut to insert/remove an object in one step after it has moved.

Note: Do not mutate any value once it has been inserted into PointKDTree. Values are copied interally. All PointKDTree iterators convert to pointers to constant values to reinforce this.

If you want to mutate the objects you intend to store in a PointKDTree simply insert pointers to your objects instead of the objects themselves, and ensure that the above operations are defined. (And actually, because values are copied, if your values are large you may want to insert pointers anyway, to save space and make the balance operation faster.)

Dimensions Although designed as a 3D-data structure, you can use the PointKDTree for data distributed along 2 or 1 axes by simply returning bounds that are always zero along one or more dimensions.

Member Typedef Documentation

template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

typedef Table<T, Node*, HashFunc, EqualsFunc> G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::MemberTable

protected

Maps members to the node containing them

Constructor & Destructor Documentation

template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::PointKDTree ( )

inline

To construct a balanced tree, insert the elements and then call PointKDTree::balance().

: root(NULL) {}

template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::PointKDTree ( const PointKDTree< T, PositionFunc, HashFunc, EqualsFunc > &  src )

inline

 : root(NULL) {
 *this = src;
 }

template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::~PointKDTree ( )

inline

 {
 clear();
 }

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Member Function Documentation

template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

void G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::balance ( int  valuesPerNode = 40, int  numMeanSplits = 3  )

inline

Rebalances the tree (slow). Call when objects have moved substantially from their original positions (which unbalances the tree and causes the spatial queries to be slow).

Parameters

valuesPerNode	Maximum number of elements to put at a node.
numMeanSplits	numMeanSplits = 0 gives a fully axis aligned BSP-tree, where the balance operation attempts to balance the tree so that every splitting plane has an equal number of left and right children (i.e. it is a median split along that axis). This tends to maximize average performance; all querries will return in the same amount of time.

You can override this behavior by setting a number of mean (average) splits. numMeanSplits = MAX_INT creates a full oct-tree, which tends to optimize peak performance (some areas of the scene will terminate after few recursive splits) at the expense of peak performance.

 {
 if (root == NULL) {
 // Tree is empty
 return;
 }

 Array<Handle> handleArray;
 root->getHandles(handleArray);

 // Delete the old tree
 clear();

 Array<Handle> temp;
 root = makeNode(handleArray, temp, valuesPerNode, numMeanSplits);
 temp.fastClear();

 // Walk the tree, assigning splitBounds. We start with unbounded
 // space.
 root->assignSplitBounds(AABox::maxFinite());

# ifdef _DEBUG
 root->verifyNode(Vector3::minFinite(), Vector3::maxFinite());
# endif
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

Iterator G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::begin ( ) const

inline

C++ STL style iterator method. Returns the first member. Use preincrement (++entry) to get to the next element (iteration order is arbitrary). Do not modify the set while iterating.

 {
 return Iterator(memberTable.begin());
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

BoxIntersectionIterator G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::beginBoxIntersection ( const AABox &  box ) const

inline

Iterates through the members that intersect the box

 {
 return BoxIntersectionIterator(box, root);
 }

template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

void G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::clear ( )

inline

Throws out all elements of the set and erases the structure of the tree.

 {
 memberTable.clear();
 delete root;
 root = NULL;
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

void G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::clearData ( )

inline

Removes all elements of the set while maintaining the structure of the tree

 {
 memberTable.clear();
 Array<Node*> stack;
 stack.push(root);
 while (stack.size() > 0) {
 Node* node = stack.pop();
 node->valueArray.fastClear();

 for (int i = 0; i < 2; ++i) {
 if (node->child[i] != NULL) {
 stack.push(node->child[i]);
 }
 }
 }
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

Node* G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::cloneTree ( Node *  src )

inlineprotected

Recursively clone the passed in node tree, setting pointers for members in the memberTable as appropriate. called by the assignment operator.

 {
 Node* dst = new Node(*src);

 // Make back pointers
 for (int i = 0; i < dst->valueArray.size(); ++i) {
 memberTable.set(dst->valueArray[i].value, dst);
 }

 // Clone children
 for (int i = 0; i < 2; ++i) {
 if (src->child[i] != NULL) {
 dst->child[i] = cloneTree(src->child[i]);
 }
 }

 return dst;
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

static AABox G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::computeBounds ( const Array< Handle > &  point )

inlinestaticprotected

Returns the bounds of the sub array. Used by makeNode.

 {
 
 if (point.size() == 0) {
 return AABox(Vector3::inf(), Vector3::inf());
 }

 AABox bounds(point[0].position());

 for (int p = 0; p < point.size(); ++p) {
 bounds.merge(point[p].position());
 }

 return bounds;
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

bool G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::contains ( const T &  value )

inline

Returns true if this object is in the set, otherwise returns false. O(1) time.

 {
 return memberTable.containsKey(value);
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

void G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::deserializeStructure ( BinaryInput &  bi )

inline

Clears the member table

 {
 clear();
 root = Node::deserializeStructure(bi);
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

Iterator G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::end ( ) const

inline

C++ STL style iterator method. Returns one after the last iterator element.

 {
 return Iterator(memberTable.end());
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

BoxIntersectionIterator G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::endBoxIntersection ( ) const

inline

 {
 // The "end" iterator instance
 return BoxIntersectionIterator();
 }

template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

static void G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::getIntersectingMembers ( const Array< Plane > &  plane, Array< T > &  members, Node *  node, uint32  parentMask  )

inlinestaticprivate

Returns the elements

Parameters

parentMask

The mask that this node returned from culledBy.

 {

 int dummy;

 if (parentMask == 0) {
 // None of these planes can cull anything
 for (int v = node->valueArray.size() - 1; v >= 0; --v) {
 members.append(node->valueArray[v].value);
 }

 // Iterate through child nodes
 for (int c = 0; c < 2; ++c) {
 if (node->child[c]) {
 getIntersectingMembers(plane, members, node->child[c], 0);
 }
 }
 } else {

 if (node->valueArray.size() > 0) {
 // This is a leaf; check the points
 debugAssertM(node->child[0] == NULL, "Malformed Point tree");
 debugAssertM(node->child[1] == NULL, "Malformed Point tree");

 // Test values at this node against remaining planes
 for (int p = 0; p < plane.size(); ++p) {
 if (((parentMask >> p) & 1) != 0) {
 // Test against this plane
 const Plane& curPlane = plane[p];
 for (int v = node->valueArray.size() - 1; v >= 0; --v) {
 if (curPlane.halfSpaceContains(node->valueArray[v].position())) {
 members.append(node->valueArray[v].value);
 }
 }
 }
 }
 } else {

 uint32 childMask = 0xFFFFFF;

 // Iterate through child nodes
 for (int c = 0; c < 2; ++c) {
 if (node->child[c] &&
 ! node->child[c]->splitBounds.culledBy(plane, dummy, parentMask, childMask)) {
 // This node was not culled
 getIntersectingMembers(plane, members, node->child[c], childMask);
 }
 }
 }
 }
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

void G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::getIntersectingMembers ( const Array< Plane > &  plane, Array< T > &  members  ) const

inline

Returns all members inside the set of planes.

Parameters

members

The results are appended to this array.

 {
 if (root == NULL) {
 return;
 }

 getIntersectingMembers(plane, members, root, 0xFFFFFF);
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

void G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::getIntersectingMembers ( const Frustum &  frustum, Array< T > &  members  ) const

inline

Typically used to find all visible objects inside the view frustum (see also Camera::getClipPlanes)... i.e. all objects not culled by frustum.

Example:

   Array<Object*>  visible;
   tree.getIntersectingMembers(camera.frustum(), visible);
   // ... Draw all objects in the visible array.
 

Parameters

members

The results are appended to this array.

 {
 Array<Plane> plane;
 
 for (int i = 0; i < frustum.faceArray.size(); ++i) {
 plane.append(frustum.faceArray[i].plane);
 }

 getIntersectingMembers(plane, members);
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

void G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::getIntersectingMembers ( const AABox &  box, Array< T > &  members  ) const

inline

Appends all members whose bounds intersect the box. See also PointKDTree::beginBoxIntersection.

 {
 if (root == NULL) {
 return;
 }
 root->getIntersectingMembers(box, Sphere(Vector3::zero(), 0), members, false);
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

void G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::getIntersectingMembers ( const Sphere &  sphere, Array< T > &  members  ) const

inline

Parameters

members

The results are appended to this array.

 {
 if (root == NULL) {
 return;
 }

 AABox box;
 sphere.getBounds(box);
 root->getIntersectingMembers(box, sphere, members);

 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

void G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::getMembers ( Array< T > &  members ) const

inline

Returns an array of all members of the set. See also PointKDTree::begin.

 {
 memberTable.getKeys(members);
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

void G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::insert ( const T &  value )

inline

Inserts an object into the set if it is not already present. O(log n) time. Does not cause the tree to be balanced.

 {
 if (contains(value)) {
 // Already in the set
 return;
 }

 Handle h(value);

 if (root == NULL) {
 // This is the first node; create a root node
 root = new Node();
 }

 Node* node = root->findDeepestContainingNode(h.position());

 // Insert into the node
 node->valueArray.append(h);
 
 // Insert into the node table
 memberTable.set(value, node);
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

void G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::insert ( const Array< T > &  valueArray )

inline

Inserts each elements in the array in turn. If the tree begins empty (no structure and no elements), this is faster than inserting each element in turn. You still need to balance the tree at the end.

 {
 // Pre-size the member table to avoid multiple allocations
 memberTable.setSizeHint(valueArray.size() + size());

 if (root == NULL) {
 // Optimized case for an empty tree; don't bother
 // searching or reallocating the root node's valueArray
 // as we incrementally insert.
 root = new Node();
 root->valueArray.resize(valueArray.size());
 for (int i = 0; i < valueArray.size(); ++i) {
 // Insert in opposite order so that we have the exact same
 // data structure as if we inserted each (i.e., order is reversed
 // from array).
 root->valueArray[valueArray.size() - i - 1] = Handle(valueArray[i]);
 memberTable.set(valueArray[i], root);
 }
 } else {
 // Insert at appropriate tree depth.
 for (int i = 0; i < valueArray.size(); ++i) {
 insert(valueArray[i]);
 }
 }
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

Node* G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::makeNode ( Array< Handle > &  source, Array< Handle > &  temp, int  valuesPerNode, int  numMeanSplits  )

inlineprotected

Recursively subdivides the subarray.

The source array will be cleared after it is used

Call assignSplitBounds() on the root node after making a tree.

 {

 Node* node = NULL;
 
 if (source.size() <= valuesPerNode) {
 // Make a new leaf node
 node = new Node(source);
 
 // Set the pointers in the memberTable
 for (int i = 0; i < source.size(); ++i) {
 memberTable.set(source[i].value, node);
 }
 
 } else {
 // Make a new internal node
 node = new Node();
 
 const AABox bounds = computeBounds(source);
 const Vector3 extent = bounds.high() - bounds.low();
 
 Vector3::Axis splitAxis = extent.primaryAxis();
 
 float splitLocation;
 
 Array<Handle> lt, gt;

 if (numMeanSplits <= 0) {
 source.medianPartition(lt, node->valueArray, gt, temp, AxisComparator(splitAxis));
 splitLocation = node->valueArray[0].position()[splitAxis];
 
 if ((node->valueArray.size() > source.size() / 2) &&
 (source.size() > 10)) {
 // Our median split put an awful lot of points on the splitting plane. Try a mean
 // split instead
 numMeanSplits = 1;
 }
 }

 if (numMeanSplits > 0) {
 // Compute the mean along the axis

 splitLocation = (bounds.high()[splitAxis] + 
 bounds.low()[splitAxis]) / 2.0f;

 Handle splitHandle;
 Vector3 v;
 v[splitAxis] = splitLocation;
 splitHandle.setPosition(v);

 source.partition(splitHandle, lt, node->valueArray, gt, AxisComparator(splitAxis));
 }

# if defined(G3D_DEBUG) && defined(VERIFY_TREE)
 for (int i = 0; i < lt.size(); ++i) {
 const Vector3& v = lt[i].position(); 
 debugAssert(v[splitAxis] < splitLocation);
 }
 for (int i = 0; i < gt.size(); ++i) {
 debugAssert(gt[i].position()[splitAxis] > splitLocation);
 }
 for (int i = 0; i < node->valueArray.size(); ++i) {
 debugAssert(node->valueArray[i].position()[splitAxis] == splitLocation);
 }
# endif

 node->splitAxis = splitAxis;
 node->splitLocation = splitLocation;

 // Throw away the source array to save memory
 source.fastClear();
 
 if (lt.size() > 0) {
 node->child[0] = makeNode(lt, temp, valuesPerNode, numMeanSplits - 1);
 }

 if (gt.size() > 0) {
 node->child[1] = makeNode(gt, temp, valuesPerNode, numMeanSplits - 1);
 }

 // Add the values stored at this interior node to the member table
 for(int i = 0; i < node->valueArray.size(); ++i) {
 memberTable.set(node->valueArray[i].value, node);
 }
 
 }
 
 return node;
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

PointKDTree& G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::operator= ( const PointKDTree< T, PositionFunc, HashFunc, EqualsFunc > &  src )

inline

 {
 delete root;
 // Clone tree takes care of filling out the memberTable.
 root = cloneTree(src.root);
 return *this;
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

void G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::remove ( const T &  value )

inline

Removes an object from the set in O(1) time. It is an error to remove members that are not already present. May unbalance the tree.

Removing an element never causes a node (split plane) to be removed... nodes are only changed when the tree is rebalanced. This behavior is desirable because it allows the split planes to be serialized, and then deserialized into an empty tree which can be repopulated.

 {
 debugAssertM(contains(value),
 "Tried to remove an element from a "
 "PointKDTree that was not present");

 Array<Handle>& list = memberTable[value]->valueArray;

 // Find the element and remove it
 for (int i = list.length() - 1; i >= 0; --i) {
 if (list[i].value == value) {
 list.fastRemove(i);
 break;
 }
 }
 memberTable.remove(value);
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

void G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::serializeStructure ( BinaryOutput &  bo ) const

inline

Stores the locations of the splitting planes (the structure but not the content) so that the tree can be quickly rebuilt from a previous configuration without calling balance.

 {
 Node::serializeStructure(root, bo);
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

size_t G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::size ( ) const

inline

 {
 return memberTable.size();
 }

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template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

void G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::update ( const T &  value )

inline

If the element is in the set, it is removed. The element is then inserted.

This is useful when the == and hashCode methods on T are independent of the bounds. In that case, you may call update(v) to insert an element for the first time and call update(v) again every time it moves to keep the tree up to date.

 {
 if (contains(value)) {
 remove(value);
 }
 insert(value);
 }

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Member Data Documentation

template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

MemberTable G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::memberTable

protected

template<class T , class PositionFunc = PositionTrait<T>, class HashFunc = HashTrait<T>, class EqualsFunc = EqualsTrait<T>>

Node* G3D::PointKDTree< T, PositionFunc, HashFunc, EqualsFunc >::root

protected

---

The documentation for this class was generated from the following file:

• dep/g3dlite/include/G3D/PointKDTree.h