TriangleAABBTree.h

/*
 * Copyright 2025 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/SurfaceMesh.h>
#include <lagrange/bvh/AABB.h>
#include <lagrange/utils/function_ref.h>
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
namespace lagrange::bvh {


template <typename Scalar, typename Index, int Dim = 3>
class TriangleAABBTree
{
public:
    using AlignedBoxType = typename AABB<Scalar, Dim>::Box;
    using RowVectorType = Eigen::Matrix<Scalar, 1, Dim>;
 
public:
    using ActionCallback = function_ref<void(Scalar, Index, const RowVectorType&)>;

    TriangleAABBTree(const SurfaceMesh<Scalar, Index>& mesh);

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

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

    bool get_closest_point(
        const RowVectorType& p,
        Index& triangle_id,
        RowVectorType& closest_point,
        Scalar& closest_sq_dist) const;
 
private:
    SurfaceMesh<Scalar, Index> m_mesh;
 
    // Use AABB for spatial indexing
    AABB<Scalar, Dim> m_aabb;
};

 
} // namespace lagrange::bvh