EdgeAABBTree.h

/*
 * Copyright 2020 Adobe. All rights reserved.
 * This file is licensed to you under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License. You may obtain a copy
 * of the License at http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software distributed under
 * the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR REPRESENTATIONS
 * OF ANY KIND, either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
 */
#pragma once
 
#include <lagrange/bvh/AABB.h>
#include <lagrange/common.h>
#include <lagrange/utils/function_ref.h>
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
namespace lagrange {
namespace bvh {

 
// AABB tree for an edge graph
template <typename VertexArray, typename EdgeArray, int Dim = 3>
struct EdgeAABBTree
{
    using Scalar = typename VertexArray::Scalar;
    using Index = typename EdgeArray::Scalar;
    using AlignedBoxType = typename AABB<Scalar, Dim>::Box;
    using RowVectorType = Eigen::Matrix<Scalar, 1, Dim>;
 
private:
    const VertexArray* m_vertices = nullptr;
    const EdgeArray* m_edges = nullptr;
 
    // Use AABB for spatial indexing
    AABB<Scalar, Dim> m_aabb;
 
public:
    using ActionCallback = function_ref<void(Scalar, Index, const RowVectorType&)>;
 
    EdgeAABBTree() = default; // Default empty constructor

    EdgeAABBTree(const VertexArray& V, const EdgeArray& E);

    bool empty() const { return m_aabb.empty(); }

    void get_element_closest_point(
        const RowVectorType& p,
        Index element_id,
        RowVectorType& closest_point,
        Scalar& closest_sq_dist) const;

    void foreach_element_in_radius(const RowVectorType& p, Scalar sq_dist, ActionCallback func)
        const;

    void foreach_element_containing(const RowVectorType& p, ActionCallback func) const;

    void get_closest_point(
        const RowVectorType& p,
        Index& element_id,
        RowVectorType& closest_point,
        Scalar& closest_sq_dist,
        function_ref<bool(Index)> filter_func = [](Index) { return true; }) const;
};

 
} // namespace bvh
} // namespace lagrange
 
// Templated definitions
#include <lagrange/bvh/EdgeAABBTree.impl.h>