From 533d6bffb8aa96395e04a47b5524cd64da289b59 Mon Sep 17 00:00:00 2001
From: Tristan Carrier Baudouin <tristan.carrier@uclouvain.be>
Date: Wed, 22 Feb 2012 15:12:26 +0000
Subject: [PATCH] 3D lloyd et rtree
---
contrib/rtree/rtree.h | 1593 +++++++++++++++++++++++++++++++++++++++++
1 file changed, 1593 insertions(+)
create mode 100644 contrib/rtree/rtree.h
diff --git a/contrib/rtree/rtree.h b/contrib/rtree/rtree.h
new file mode 100644
index 0000000000..ffd63ed751
--- /dev/null
+++ b/contrib/rtree/rtree.h
@@ -0,0 +1,1593 @@
+#ifndef RTREE_H
+#define RTREE_H
+#include <algorithm>
+
+// NOTE This file compiles under MSVC 6 SP5 and MSVC .Net 2003 it may not work on other compilers without modification.
+
+// NOTE These next few lines may be win32 specific, you may need to modify them to compile on other platform
+#include <stdio.h>
+#include <math.h>
+#include <assert.h>
+#include <stdlib.h>
+
+#define ASSERT assert // RTree uses ASSERT( condition )
+#ifndef Min
+ #define Min std::min
+#endif //Min
+#ifndef Max
+ #define Max std::max
+#endif //Max
+
+//
+// RTree.h
+//
+
+#define RTREE_TEMPLATE template<class DATATYPE, class ELEMTYPE, int NUMDIMS, class ELEMTYPEREAL, int TMAXNODES, int TMINNODES>
+#define RTREE_QUAL RTree<DATATYPE, ELEMTYPE, NUMDIMS, ELEMTYPEREAL, TMAXNODES, TMINNODES>
+
+#define RTREE_DONT_USE_MEMPOOLS // This version does not contain a fixed memory allocator, fill in lines with EXAMPLE to implement one.
+#define RTREE_USE_SPHERICAL_VOLUME // Better split classification, may be slower on some systems
+
+// Fwd decl
+class RTFileStream; // File I/O helper class, look below for implementation and notes.
+
+
+/// \class RTree
+/// Implementation of RTree, a multidimensional bounding rectangle tree.
+/// Example usage: For a 3-dimensional tree use RTree<Object*, float, 3> myTree;
+///
+/// This modified, templated C++ version by Greg Douglas at Auran (http://www.auran.com)
+///
+/// DATATYPE Referenced data, should be int, void*, obj* etc. no larger than sizeof<void*> and simple type
+/// ELEMTYPE Type of element such as int or float
+/// NUMDIMS Number of dimensions such as 2 or 3
+/// ELEMTYPEREAL Type of element that allows fractional and large values such as float or double, for use in volume calcs
+///
+/// NOTES: Inserting and removing data requires the knowledge of its constant Minimal Bounding Rectangle.
+/// This version uses new/delete for nodes, I recommend using a fixed size allocator for efficiency.
+/// Instead of using a callback function for returned results, I recommend and efficient pre-sized, grow-only memory
+/// array similar to MFC CArray or STL Vector for returning search query result.
+///
+template<class DATATYPE, class ELEMTYPE, int NUMDIMS,
+ class ELEMTYPEREAL = ELEMTYPE, int TMAXNODES = 8, int TMINNODES = TMAXNODES / 2>
+class RTree
+{
+protected:
+
+ struct Node; // Fwd decl. Used by other internal structs and iterator
+
+public:
+
+ // These constant must be declared after Branch and before Node struct
+ // Stuck up here for MSVC 6 compiler. NSVC .NET 2003 is much happier.
+ enum
+ {
+ MAXNODES = TMAXNODES, ///< Max elements in node
+ MINNODES = TMINNODES, ///< Min elements in node
+ };
+
+
+public:
+
+ RTree();
+ virtual ~RTree();
+
+ /// Insert entry
+ /// \param a_min Min of bounding rect
+ /// \param a_max Max of bounding rect
+ /// \param a_dataId Positive Id of data. Maybe zero, but negative numbers not allowed.
+ void Insert(const ELEMTYPE a_min[NUMDIMS], const ELEMTYPE a_max[NUMDIMS], const DATATYPE& a_dataId);
+
+ /// Remove entry
+ /// \param a_min Min of bounding rect
+ /// \param a_max Max of bounding rect
+ /// \param a_dataId Positive Id of data. Maybe zero, but negative numbers not allowed.
+ void Remove(const ELEMTYPE a_min[NUMDIMS], const ELEMTYPE a_max[NUMDIMS], const DATATYPE& a_dataId);
+
+ /// Find all within search rectangle
+ /// \param a_min Min of search bounding rect
+ /// \param a_max Max of search bounding rect
+ /// \param a_resultCallback Callback function to return result. Callback should return 'true' to continue searching
+ /// \param a_context User context to pass as parameter to a_resultCallback
+ /// \return Returns the number of entries found
+ int Search(const ELEMTYPE a_min[NUMDIMS], const ELEMTYPE a_max[NUMDIMS], bool a_resultCallback(DATATYPE a_data, void* a_context), void* a_context);
+
+ /// Remove all entries from tree
+ void RemoveAll();
+
+ /// Count the data elements in this container. This is slow as no internal counter is maintained.
+ int Count();
+
+ /// Load tree contents from file
+ bool Load(const char* a_fileName);
+ /// Load tree contents from stream
+ bool Load(RTFileStream& a_stream);
+
+
+ /// Save tree contents to file
+ bool Save(const char* a_fileName);
+ /// Save tree contents to stream
+ bool Save(RTFileStream& a_stream);
+
+ /// Iterator is not remove safe.
+ class Iterator
+ {
+ private:
+
+ enum { MAX_STACK = 32 }; // Max stack size. Allows almost n^32 where n is number of branches in node
+
+ struct StackElement
+ {
+ Node* m_node;
+ int m_branchIndex;
+ };
+
+ public:
+
+ Iterator() { Init(); }
+
+ ~Iterator() { }
+
+ /// Is iterator invalid
+ bool IsNull() { return (m_tos <= 0); }
+
+ /// Is iterator pointing to valid data
+ bool IsNotNull() { return (m_tos > 0); }
+
+ /// Access the current data element. Caller must be sure iterator is not NULL first.
+ DATATYPE& operator*()
+ {
+ ASSERT(IsNotNull());
+ StackElement& curTos = m_stack[m_tos - 1];
+ return curTos.m_node->m_branch[curTos.m_branchIndex].m_data;
+ }
+
+ /// Access the current data element. Caller must be sure iterator is not NULL first.
+ const DATATYPE& operator*() const
+ {
+ ASSERT(IsNotNull());
+ StackElement& curTos = m_stack[m_tos - 1];
+ return curTos.m_node->m_branch[curTos.m_branchIndex].m_data;
+ }
+
+ /// Find the next data element
+ bool operator++() { return FindNextData(); }
+
+ /// Get the bounds for this node
+ void GetBounds(ELEMTYPE a_min[NUMDIMS], ELEMTYPE a_max[NUMDIMS])
+ {
+ ASSERT(IsNotNull());
+ StackElement& curTos = m_stack[m_tos - 1];
+ Branch& curBranch = curTos.m_node->m_branch[curTos.m_branchIndex];
+
+ for(int index = 0; index < NUMDIMS; ++index)
+ {
+ a_min[index] = curBranch.m_rect.m_min[index];
+ a_max[index] = curBranch.m_rect.m_max[index];
+ }
+ }
+
+ private:
+
+ /// Reset iterator
+ void Init() { m_tos = 0; }
+
+ /// Find the next data element in the tree (For internal use only)
+ bool FindNextData()
+ {
+ for(;;)
+ {
+ if(m_tos <= 0)
+ {
+ return false;
+ }
+ StackElement curTos = Pop(); // Copy stack top cause it may change as we use it
+
+ if(curTos.m_node->IsLeaf())
+ {
+ // Keep walking through data while we can
+ if(curTos.m_branchIndex+1 < curTos.m_node->m_count)
+ {
+ // There is more data, just point to the next one
+ Push(curTos.m_node, curTos.m_branchIndex + 1);
+ return true;
+ }
+ // No more data, so it will fall back to previous level
+ }
+ else
+ {
+ if(curTos.m_branchIndex+1 < curTos.m_node->m_count)
+ {
+ // Push sibling on for future tree walk
+ // This is the 'fall back' node when we finish with the current level
+ Push(curTos.m_node, curTos.m_branchIndex + 1);
+ }
+ // Since cur node is not a leaf, push first of next level to get deeper into the tree
+ Node* nextLevelnode = curTos.m_node->m_branch[curTos.m_branchIndex].m_child;
+ Push(nextLevelnode, 0);
+
+ // If we pushed on a new leaf, exit as the data is ready at TOS
+ if(nextLevelnode->IsLeaf())
+ {
+ return true;
+ }
+ }
+ }
+ }
+
+ /// Push node and branch onto iteration stack (For internal use only)
+ void Push(Node* a_node, int a_branchIndex)
+ {
+ m_stack[m_tos].m_node = a_node;
+ m_stack[m_tos].m_branchIndex = a_branchIndex;
+ ++m_tos;
+ ASSERT(m_tos <= MAX_STACK);
+ }
+
+ /// Pop element off iteration stack (For internal use only)
+ StackElement& Pop()
+ {
+ ASSERT(m_tos > 0);
+ --m_tos;
+ return m_stack[m_tos];
+ }
+
+ StackElement m_stack[MAX_STACK]; ///< Stack as we are doing iteration instead of recursion
+ int m_tos; ///< Top Of Stack index
+
+ friend class RTree; // Allow hiding of non-public functions while allowing manipulation by logical owner
+ };
+
+ /// Get 'first' for iteration
+ void GetFirst(Iterator& a_it)
+ {
+ a_it.Init();
+ Node* first = m_root;
+ while(first)
+ {
+ if(first->IsInternalNode() && first->m_count > 1)
+ {
+ a_it.Push(first, 1); // Descend sibling branch later
+ }
+ else if(first->IsLeaf())
+ {
+ if(first->m_count)
+ {
+ a_it.Push(first, 0);
+ }
+ break;
+ }
+ first = first->m_branch[0].m_child;
+ }
+ }
+
+ /// Get Next for iteration
+ void GetNext(Iterator& a_it) { ++a_it; }
+
+ /// Is iterator NULL, or at end?
+ bool IsNull(Iterator& a_it) { return a_it.IsNull(); }
+
+ /// Get object at iterator position
+ DATATYPE& GetAt(Iterator& a_it) { return *a_it; }
+
+protected:
+
+ /// Minimal bounding rectangle (n-dimensional)
+ struct Rect
+ {
+ ELEMTYPE m_min[NUMDIMS]; ///< Min dimensions of bounding box
+ ELEMTYPE m_max[NUMDIMS]; ///< Max dimensions of bounding box
+ };
+
+ /// May be data or may be another subtree
+ /// The parents level determines this.
+ /// If the parents level is 0, then this is data
+ struct Branch
+ {
+ Rect m_rect; ///< Bounds
+ union
+ {
+ Node* m_child; ///< Child node
+ DATATYPE m_data; ///< Data Id or Ptr
+ };
+ };
+
+ /// Node for each branch level
+ struct Node
+ {
+ bool IsInternalNode() { return (m_level > 0); } // Not a leaf, but a internal node
+ bool IsLeaf() { return (m_level == 0); } // A leaf, contains data
+
+ int m_count; ///< Count
+ int m_level; ///< Leaf is zero, others positive
+ Branch m_branch[MAXNODES]; ///< Branch
+ };
+
+ /// A link list of nodes for reinsertion after a delete operation
+ struct ListNode
+ {
+ ListNode* m_next; ///< Next in list
+ Node* m_node; ///< Node
+ };
+
+ /// Variables for finding a split partition
+ struct PartitionVars
+ {
+ int m_partition[MAXNODES+1];
+ int m_total;
+ int m_minFill;
+ int m_taken[MAXNODES+1];
+ int m_count[2];
+ Rect m_cover[2];
+ ELEMTYPEREAL m_area[2];
+
+ Branch m_branchBuf[MAXNODES+1];
+ int m_branchCount;
+ Rect m_coverSplit;
+ ELEMTYPEREAL m_coverSplitArea;
+ };
+
+ Node* AllocNode();
+ void FreeNode(Node* a_node);
+ void InitNode(Node* a_node);
+ void InitRect(Rect* a_rect);
+ bool InsertRectRec(Rect* a_rect, const DATATYPE& a_id, Node* a_node, Node** a_newNode, int a_level);
+ bool InsertRect(Rect* a_rect, const DATATYPE& a_id, Node** a_root, int a_level);
+ Rect NodeCover(Node* a_node);
+ bool AddBranch(Branch* a_branch, Node* a_node, Node** a_newNode);
+ void DisconnectBranch(Node* a_node, int a_index);
+ int PickBranch(Rect* a_rect, Node* a_node);
+ Rect CombineRect(Rect* a_rectA, Rect* a_rectB);
+ void SplitNode(Node* a_node, Branch* a_branch, Node** a_newNode);
+ ELEMTYPEREAL RectSphericalVolume(Rect* a_rect);
+ ELEMTYPEREAL RectVolume(Rect* a_rect);
+ ELEMTYPEREAL CalcRectVolume(Rect* a_rect);
+ void GetBranches(Node* a_node, Branch* a_branch, PartitionVars* a_parVars);
+ void ChoosePartition(PartitionVars* a_parVars, int a_minFill);
+ void LoadNodes(Node* a_nodeA, Node* a_nodeB, PartitionVars* a_parVars);
+ void InitParVars(PartitionVars* a_parVars, int a_maxRects, int a_minFill);
+ void PickSeeds(PartitionVars* a_parVars);
+ void Classify(int a_index, int a_group, PartitionVars* a_parVars);
+ bool RemoveRect(Rect* a_rect, const DATATYPE& a_id, Node** a_root);
+ bool RemoveRectRec(Rect* a_rect, const DATATYPE& a_id, Node* a_node, ListNode** a_listNode);
+ ListNode* AllocListNode();
+ void FreeListNode(ListNode* a_listNode);
+ bool Overlap(Rect* a_rectA, Rect* a_rectB);
+ void ReInsert(Node* a_node, ListNode** a_listNode);
+ bool Search(Node* a_node, Rect* a_rect, int& a_foundCount, bool a_resultCallback(DATATYPE a_data, void* a_context), void* a_context);
+ void RemoveAllRec(Node* a_node);
+ void Reset();
+ void CountRec(Node* a_node, int& a_count);
+
+ bool SaveRec(Node* a_node, RTFileStream& a_stream);
+ bool LoadRec(Node* a_node, RTFileStream& a_stream);
+
+ Node* m_root; ///< Root of tree
+ ELEMTYPEREAL m_unitSphereVolume; ///< Unit sphere constant for required number of dimensions
+};
+
+
+// Because there is not stream support, this is a quick and dirty file I/O helper.
+// Users will likely replace its usage with a Stream implementation from their favorite API.
+class RTFileStream
+{
+ FILE* m_file;
+
+public:
+
+
+ RTFileStream()
+ {
+ m_file = NULL;
+ }
+
+ ~RTFileStream()
+ {
+ Close();
+ }
+
+ bool OpenRead(const char* a_fileName)
+ {
+ m_file = fopen(a_fileName, "rb");
+ if(!m_file)
+ {
+ return false;
+ }
+ return true;
+ }
+
+ bool OpenWrite(const char* a_fileName)
+ {
+ m_file = fopen(a_fileName, "wb");
+ if(!m_file)
+ {
+ return false;
+ }
+ return true;
+ }
+
+ void Close()
+ {
+ if(m_file)
+ {
+ fclose(m_file);
+ m_file = NULL;
+ }
+ }
+
+ template< typename TYPE >
+ size_t Write(const TYPE& a_value)
+ {
+ ASSERT(m_file);
+ return fwrite((void*)&a_value, sizeof(a_value), 1, m_file);
+ }
+
+ template< typename TYPE >
+ size_t WriteArray(const TYPE* a_array, int a_count)
+ {
+ ASSERT(m_file);
+ return fwrite((void*)a_array, sizeof(TYPE) * a_count, 1, m_file);
+ }
+
+ template< typename TYPE >
+ size_t Read(TYPE& a_value)
+ {
+ ASSERT(m_file);
+ return fread((void*)&a_value, sizeof(a_value), 1, m_file);
+ }
+
+ template< typename TYPE >
+ size_t ReadArray(TYPE* a_array, int a_count)
+ {
+ ASSERT(m_file);
+ return fread((void*)a_array, sizeof(TYPE) * a_count, 1, m_file);
+ }
+};
+
+
+RTREE_TEMPLATE
+RTREE_QUAL::RTree()
+{
+ ASSERT(MAXNODES > MINNODES);
+ ASSERT(MINNODES > 0);
+
+
+ // We only support machine word size simple data type eg. integer index or object pointer.
+ // Since we are storing as union with non data branch
+ ASSERT(sizeof(DATATYPE) == sizeof(void*) || sizeof(DATATYPE) == sizeof(int));
+
+ // Precomputed volumes of the unit spheres for the first few dimensions
+ const float UNIT_SPHERE_VOLUMES[] = {
+ 0.000000f, 2.000000f, 3.141593f, // Dimension 0,1,2
+ 4.188790f, 4.934802f, 5.263789f, // Dimension 3,4,5
+ 5.167713f, 4.724766f, 4.058712f, // Dimension 6,7,8
+ 3.298509f, 2.550164f, 1.884104f, // Dimension 9,10,11
+ 1.335263f, 0.910629f, 0.599265f, // Dimension 12,13,14
+ 0.381443f, 0.235331f, 0.140981f, // Dimension 15,16,17
+ 0.082146f, 0.046622f, 0.025807f, // Dimension 18,19,20
+ };
+
+ m_root = AllocNode();
+ m_root->m_level = 0;
+ m_unitSphereVolume = (ELEMTYPEREAL)UNIT_SPHERE_VOLUMES[NUMDIMS];
+}
+
+
+RTREE_TEMPLATE
+RTREE_QUAL::~RTree()
+{
+ Reset(); // Free, or reset node memory
+}
+
+
+RTREE_TEMPLATE
+void RTREE_QUAL::Insert(const ELEMTYPE a_min[NUMDIMS], const ELEMTYPE a_max[NUMDIMS], const DATATYPE& a_dataId)
+{
+#ifdef _DEBUG
+ for(int index=0; index<NUMDIMS; ++index)
+ {
+ ASSERT(a_min[index] <= a_max[index]);
+ }
+#endif //_DEBUG
+
+ Rect rect;
+
+ for(int axis=0; axis<NUMDIMS; ++axis)
+ {
+ rect.m_min[axis] = a_min[axis];
+ rect.m_max[axis] = a_max[axis];
+ }
+
+ InsertRect(&rect, a_dataId, &m_root, 0);
+}
+
+
+RTREE_TEMPLATE
+void RTREE_QUAL::Remove(const ELEMTYPE a_min[NUMDIMS], const ELEMTYPE a_max[NUMDIMS], const DATATYPE& a_dataId)
+{
+#ifdef _DEBUG
+ for(int index=0; index<NUMDIMS; ++index)
+ {
+ ASSERT(a_min[index] <= a_max[index]);
+ }
+#endif //_DEBUG
+
+ Rect rect;
+
+ for(int axis=0; axis<NUMDIMS; ++axis)
+ {
+ rect.m_min[axis] = a_min[axis];
+ rect.m_max[axis] = a_max[axis];
+ }
+
+ RemoveRect(&rect, a_dataId, &m_root);
+}
+
+
+RTREE_TEMPLATE
+int RTREE_QUAL::Search(const ELEMTYPE a_min[NUMDIMS], const ELEMTYPE a_max[NUMDIMS], bool a_resultCallback(DATATYPE a_data, void* a_context), void* a_context)
+{
+#ifdef _DEBUG
+ for(int index=0; index<NUMDIMS; ++index)
+ {
+ ASSERT(a_min[index] <= a_max[index]);
+ }
+#endif //_DEBUG
+
+ Rect rect;
+
+ for(int axis=0; axis<NUMDIMS; ++axis)
+ {
+ rect.m_min[axis] = a_min[axis];
+ rect.m_max[axis] = a_max[axis];
+ }
+
+ // NOTE: May want to return search result another way, perhaps returning the number of found elements here.
+
+ int foundCount = 0;
+ Search(m_root, &rect, foundCount, a_resultCallback, a_context);
+
+ return foundCount;
+}
+
+
+RTREE_TEMPLATE
+int RTREE_QUAL::Count()
+{
+ int count = 0;
+ CountRec(m_root, count);
+
+ return count;
+}
+
+
+
+RTREE_TEMPLATE
+void RTREE_QUAL::CountRec(Node* a_node, int& a_count)
+{
+ if(a_node->IsInternalNode()) // not a leaf node
+ {
+ for(int index = 0; index < a_node->m_count; ++index)
+ {
+ CountRec(a_node->m_branch[index].m_child, a_count);
+ }
+ }
+ else // A leaf node
+ {
+ a_count += a_node->m_count;
+ }
+}
+
+
+RTREE_TEMPLATE
+bool RTREE_QUAL::Load(const char* a_fileName)
+{
+ RemoveAll(); // Clear existing tree
+
+ RTFileStream stream;
+ if(!stream.OpenRead(a_fileName))
+ {
+ return false;
+ }
+
+ bool result = Load(stream);
+
+ stream.Close();
+
+ return result;
+};
+
+
+
+RTREE_TEMPLATE
+bool RTREE_QUAL::Load(RTFileStream& a_stream)
+{
+ // Write some kind of header
+ int _dataFileId = ('R'<<0)|('T'<<8)|('R'<<16)|('E'<<24);
+ int _dataSize = sizeof(DATATYPE);
+ int _dataNumDims = NUMDIMS;
+ int _dataElemSize = sizeof(ELEMTYPE);
+ int _dataElemRealSize = sizeof(ELEMTYPEREAL);
+ int _dataMaxNodes = TMAXNODES;
+ int _dataMinNodes = TMINNODES;
+
+ int dataFileId = 0;
+ int dataSize = 0;
+ int dataNumDims = 0;
+ int dataElemSize = 0;
+ int dataElemRealSize = 0;
+ int dataMaxNodes = 0;
+ int dataMinNodes = 0;
+
+ a_stream.Read(dataFileId);
+ a_stream.Read(dataSize);
+ a_stream.Read(dataNumDims);
+ a_stream.Read(dataElemSize);
+ a_stream.Read(dataElemRealSize);
+ a_stream.Read(dataMaxNodes);
+ a_stream.Read(dataMinNodes);
+
+ bool result = false;
+
+ // Test if header was valid and compatible
+ if( (dataFileId == _dataFileId)
+ && (dataSize == _dataSize)
+ && (dataNumDims == _dataNumDims)
+ && (dataElemSize == _dataElemSize)
+ && (dataElemRealSize == _dataElemRealSize)
+ && (dataMaxNodes == _dataMaxNodes)
+ && (dataMinNodes == _dataMinNodes)
+ )
+ {
+ // Recursively load tree
+ result = LoadRec(m_root, a_stream);
+ }
+
+ return result;
+}
+
+
+RTREE_TEMPLATE
+bool RTREE_QUAL::LoadRec(Node* a_node, RTFileStream& a_stream)
+{
+ a_stream.Read(a_node->m_level);
+ a_stream.Read(a_node->m_count);
+
+ if(a_node->IsInternalNode()) // not a leaf node
+ {
+ for(int index = 0; index < a_node->m_count; ++index)
+ {
+ Branch* curBranch = &a_node->m_branch[index];
+
+ a_stream.ReadArray(curBranch->m_rect.m_min, NUMDIMS);
+ a_stream.ReadArray(curBranch->m_rect.m_max, NUMDIMS);
+
+ curBranch->m_child = AllocNode();
+ LoadRec(curBranch->m_child, a_stream);
+ }
+ }
+ else // A leaf node
+ {
+ for(int index = 0; index < a_node->m_count; ++index)
+ {
+ Branch* curBranch = &a_node->m_branch[index];
+
+ a_stream.ReadArray(curBranch->m_rect.m_min, NUMDIMS);
+ a_stream.ReadArray(curBranch->m_rect.m_max, NUMDIMS);
+
+ a_stream.Read(curBranch->m_data);
+ }
+ }
+
+ return true; // Should do more error checking on I/O operations
+}
+
+
+RTREE_TEMPLATE
+bool RTREE_QUAL::Save(const char* a_fileName)
+{
+ RTFileStream stream;
+ if(!stream.OpenWrite(a_fileName))
+ {
+ return false;
+ }
+
+ bool result = Save(stream);
+
+ stream.Close();
+
+ return result;
+}
+
+
+RTREE_TEMPLATE
+bool RTREE_QUAL::Save(RTFileStream& a_stream)
+{
+ // Write some kind of header
+ int dataFileId = ('R'<<0)|('T'<<8)|('R'<<16)|('E'<<24);
+ int dataSize = sizeof(DATATYPE);
+ int dataNumDims = NUMDIMS;
+ int dataElemSize = sizeof(ELEMTYPE);
+ int dataElemRealSize = sizeof(ELEMTYPEREAL);
+ int dataMaxNodes = TMAXNODES;
+ int dataMinNodes = TMINNODES;
+
+ a_stream.Write(dataFileId);
+ a_stream.Write(dataSize);
+ a_stream.Write(dataNumDims);
+ a_stream.Write(dataElemSize);
+ a_stream.Write(dataElemRealSize);
+ a_stream.Write(dataMaxNodes);
+ a_stream.Write(dataMinNodes);
+
+ // Recursively save tree
+ bool result = SaveRec(m_root, a_stream);
+
+ return result;
+}
+
+
+RTREE_TEMPLATE
+bool RTREE_QUAL::SaveRec(Node* a_node, RTFileStream& a_stream)
+{
+ a_stream.Write(a_node->m_level);
+ a_stream.Write(a_node->m_count);
+
+ if(a_node->IsInternalNode()) // not a leaf node
+ {
+ for(int index = 0; index < a_node->m_count; ++index)
+ {
+ Branch* curBranch = &a_node->m_branch[index];
+
+ a_stream.WriteArray(curBranch->m_rect.m_min, NUMDIMS);
+ a_stream.WriteArray(curBranch->m_rect.m_max, NUMDIMS);
+
+ SaveRec(curBranch->m_child, a_stream);
+ }
+ }
+ else // A leaf node
+ {
+ for(int index = 0; index < a_node->m_count; ++index)
+ {
+ Branch* curBranch = &a_node->m_branch[index];
+
+ a_stream.WriteArray(curBranch->m_rect.m_min, NUMDIMS);
+ a_stream.WriteArray(curBranch->m_rect.m_max, NUMDIMS);
+
+ a_stream.Write(curBranch->m_data);
+ }
+ }
+
+ return true; // Should do more error checking on I/O operations
+}
+
+
+RTREE_TEMPLATE
+void RTREE_QUAL::RemoveAll()
+{
+ // Delete all existing nodes
+ Reset();
+
+ m_root = AllocNode();
+ m_root->m_level = 0;
+}
+
+
+RTREE_TEMPLATE
+void RTREE_QUAL::Reset()
+{
+#ifdef RTREE_DONT_USE_MEMPOOLS
+ // Delete all existing nodes
+ RemoveAllRec(m_root);
+#else // RTREE_DONT_USE_MEMPOOLS
+ // Just reset memory pools. We are not using complex types
+ // EXAMPLE
+#endif // RTREE_DONT_USE_MEMPOOLS
+}
+
+
+RTREE_TEMPLATE
+void RTREE_QUAL::RemoveAllRec(Node* a_node)
+{
+ ASSERT(a_node);
+ ASSERT(a_node->m_level >= 0);
+
+ if(a_node->IsInternalNode()) // This is an internal node in the tree
+ {
+ for(int index=0; index < a_node->m_count; ++index)
+ {
+ RemoveAllRec(a_node->m_branch[index].m_child);
+ }
+ }
+ FreeNode(a_node);
+}
+
+
+RTREE_TEMPLATE
+typename RTREE_QUAL::Node* RTREE_QUAL::AllocNode()
+{
+ Node* newNode;
+#ifdef RTREE_DONT_USE_MEMPOOLS
+ newNode = new Node;
+#else // RTREE_DONT_USE_MEMPOOLS
+ // EXAMPLE
+#endif // RTREE_DONT_USE_MEMPOOLS
+ InitNode(newNode);
+ return newNode;
+}
+
+
+RTREE_TEMPLATE
+void RTREE_QUAL::FreeNode(Node* a_node)
+{
+ ASSERT(a_node);
+
+#ifdef RTREE_DONT_USE_MEMPOOLS
+ delete a_node;
+#else // RTREE_DONT_USE_MEMPOOLS
+ // EXAMPLE
+#endif // RTREE_DONT_USE_MEMPOOLS
+}
+
+
+// Allocate space for a node in the list used in DeletRect to
+// store Nodes that are too empty.
+RTREE_TEMPLATE
+typename RTREE_QUAL::ListNode* RTREE_QUAL::AllocListNode()
+{
+#ifdef RTREE_DONT_USE_MEMPOOLS
+ return new ListNode;
+#else // RTREE_DONT_USE_MEMPOOLS
+ // EXAMPLE
+#endif // RTREE_DONT_USE_MEMPOOLS
+}
+
+
+RTREE_TEMPLATE
+void RTREE_QUAL::FreeListNode(ListNode* a_listNode)
+{
+#ifdef RTREE_DONT_USE_MEMPOOLS
+ delete a_listNode;
+#else // RTREE_DONT_USE_MEMPOOLS
+ // EXAMPLE
+#endif // RTREE_DONT_USE_MEMPOOLS
+}
+
+
+RTREE_TEMPLATE
+void RTREE_QUAL::InitNode(Node* a_node)
+{
+ a_node->m_count = 0;
+ a_node->m_level = -1;
+}
+
+
+RTREE_TEMPLATE
+void RTREE_QUAL::InitRect(Rect* a_rect)
+{
+ for(int index = 0; index < NUMDIMS; ++index)
+ {
+ a_rect->m_min[index] = (ELEMTYPE)0;
+ a_rect->m_max[index] = (ELEMTYPE)0;
+ }
+}
+
+
+// Inserts a new data rectangle into the index structure.
+// Recursively descends tree, propagates splits back up.
+// Returns 0 if node was not split. Old node updated.
+// If node was split, returns 1 and sets the pointer pointed to by
+// new_node to point to the new node. Old node updated to become one of two.
+// The level argument specifies the number of steps up from the leaf
+// level to insert; e.g. a data rectangle goes in at level = 0.
+RTREE_TEMPLATE
+bool RTREE_QUAL::InsertRectRec(Rect* a_rect, const DATATYPE& a_id, Node* a_node, Node** a_newNode, int a_level)
+{
+ ASSERT(a_rect && a_node && a_newNode);
+ ASSERT(a_level >= 0 && a_level <= a_node->m_level);
+
+ int index;
+ Branch branch;
+ Node* otherNode;
+
+ // Still above level for insertion, go down tree recursively
+ if(a_node->m_level > a_level)
+ {
+ index = PickBranch(a_rect, a_node);
+ if (!InsertRectRec(a_rect, a_id, a_node->m_branch[index].m_child, &otherNode, a_level))
+ {
+ // Child was not split
+ a_node->m_branch[index].m_rect = CombineRect(a_rect, &(a_node->m_branch[index].m_rect));
+ return false;
+ }
+ else // Child was split
+ {
+ a_node->m_branch[index].m_rect = NodeCover(a_node->m_branch[index].m_child);
+ branch.m_child = otherNode;
+ branch.m_rect = NodeCover(otherNode);
+ return AddBranch(&branch, a_node, a_newNode);
+ }
+ }
+ else if(a_node->m_level == a_level) // Have reached level for insertion. Add rect, split if necessary
+ {
+ branch.m_rect = *a_rect;
+ branch.m_child = (Node*) a_id;
+ // Child field of leaves contains id of data record
+ return AddBranch(&branch, a_node, a_newNode);
+ }
+ else
+ {
+ // Should never occur
+ ASSERT(0);
+ return false;
+ }
+}
+
+
+// Insert a data rectangle into an index structure.
+// InsertRect provides for splitting the root;
+// returns 1 if root was split, 0 if it was not.
+// The level argument specifies the number of steps up from the leaf
+// level to insert; e.g. a data rectangle goes in at level = 0.
+// InsertRect2 does the recursion.
+//
+RTREE_TEMPLATE
+bool RTREE_QUAL::InsertRect(Rect* a_rect, const DATATYPE& a_id, Node** a_root, int a_level)
+{
+ ASSERT(a_rect && a_root);
+ ASSERT(a_level >= 0 && a_level <= (*a_root)->m_level);
+#ifdef _DEBUG
+ for(int index=0; index < NUMDIMS; ++index)
+ {
+ ASSERT(a_rect->m_min[index] <= a_rect->m_max[index]);
+ }
+#endif //_DEBUG
+
+ Node* newRoot;
+ Node* newNode;
+ Branch branch;
+
+ if(InsertRectRec(a_rect, a_id, *a_root, &newNode, a_level)) // Root split
+ {
+ newRoot = AllocNode(); // Grow tree taller and new root
+ newRoot->m_level = (*a_root)->m_level + 1;
+ branch.m_rect = NodeCover(*a_root);
+ branch.m_child = *a_root;
+ AddBranch(&branch, newRoot, NULL);
+ branch.m_rect = NodeCover(newNode);
+ branch.m_child = newNode;
+ AddBranch(&branch, newRoot, NULL);
+ *a_root = newRoot;
+ return true;
+ }
+
+ return false;
+}
+
+
+// Find the smallest rectangle that includes all rectangles in branches of a node.
+RTREE_TEMPLATE
+typename RTREE_QUAL::Rect RTREE_QUAL::NodeCover(Node* a_node)
+{
+ ASSERT(a_node);
+
+ int firstTime = true;
+ Rect rect;
+ InitRect(&rect);
+
+ for(int index = 0; index < a_node->m_count; ++index)
+ {
+ if(firstTime)
+ {
+ rect = a_node->m_branch[index].m_rect;
+ firstTime = false;
+ }
+ else
+ {
+ rect = CombineRect(&rect, &(a_node->m_branch[index].m_rect));
+ }
+ }
+
+ return rect;
+}
+
+
+// Add a branch to a node. Split the node if necessary.
+// Returns 0 if node not split. Old node updated.
+// Returns 1 if node split, sets *new_node to address of new node.
+// Old node updated, becomes one of two.
+RTREE_TEMPLATE
+bool RTREE_QUAL::AddBranch(Branch* a_branch, Node* a_node, Node** a_newNode)
+{
+ ASSERT(a_branch);
+ ASSERT(a_node);
+
+ if(a_node->m_count < MAXNODES) // Split won't be necessary
+ {
+ a_node->m_branch[a_node->m_count] = *a_branch;
+ ++a_node->m_count;
+
+ return false;
+ }
+ else
+ {
+ ASSERT(a_newNode);
+
+ SplitNode(a_node, a_branch, a_newNode);
+ return true;
+ }
+}
+
+
+// Disconnect a dependent node.
+// Caller must return (or stop using iteration index) after this as count has changed
+RTREE_TEMPLATE
+void RTREE_QUAL::DisconnectBranch(Node* a_node, int a_index)
+{
+ ASSERT(a_node && (a_index >= 0) && (a_index < MAXNODES));
+ ASSERT(a_node->m_count > 0);
+
+ // Remove element by swapping with the last element to prevent gaps in array
+ a_node->m_branch[a_index] = a_node->m_branch[a_node->m_count - 1];
+
+ --a_node->m_count;
+}
+
+
+// Pick a branch. Pick the one that will need the smallest increase
+// in area to accomodate the new rectangle. This will result in the
+// least total area for the covering rectangles in the current node.
+// In case of a tie, pick the one which was smaller before, to get
+// the best resolution when searching.
+RTREE_TEMPLATE
+int RTREE_QUAL::PickBranch(Rect* a_rect, Node* a_node)
+{
+ ASSERT(a_rect && a_node);
+
+ bool firstTime = true;
+ ELEMTYPEREAL increase;
+ ELEMTYPEREAL bestIncr = (ELEMTYPEREAL)-1;
+ ELEMTYPEREAL area;
+ ELEMTYPEREAL bestArea;
+ int best;
+ Rect tempRect;
+
+ for(int index=0; index < a_node->m_count; ++index)
+ {
+ Rect* curRect = &a_node->m_branch[index].m_rect;
+ area = CalcRectVolume(curRect);
+ tempRect = CombineRect(a_rect, curRect);
+ increase = CalcRectVolume(&tempRect) - area;
+ if((increase < bestIncr) || firstTime)
+ {
+ best = index;
+ bestArea = area;
+ bestIncr = increase;
+ firstTime = false;
+ }
+ else if((increase == bestIncr) && (area < bestArea))
+ {
+ best = index;
+ bestArea = area;
+ bestIncr = increase;
+ }
+ }
+ return best;
+}
+
+
+// Combine two rectangles into larger one containing both
+RTREE_TEMPLATE
+typename RTREE_QUAL::Rect RTREE_QUAL::CombineRect(Rect* a_rectA, Rect* a_rectB)
+{
+ ASSERT(a_rectA && a_rectB);
+
+ Rect newRect;
+
+ for(int index = 0; index < NUMDIMS; ++index)
+ {
+ newRect.m_min[index] = Min(a_rectA->m_min[index], a_rectB->m_min[index]);
+ newRect.m_max[index] = Max(a_rectA->m_max[index], a_rectB->m_max[index]);
+ }
+
+ return newRect;
+}
+
+
+
+// Split a node.
+// Divides the nodes branches and the extra one between two nodes.
+// Old node is one of the new ones, and one really new one is created.
+// Tries more than one method for choosing a partition, uses best result.
+RTREE_TEMPLATE
+void RTREE_QUAL::SplitNode(Node* a_node, Branch* a_branch, Node** a_newNode)
+{
+ ASSERT(a_node);
+ ASSERT(a_branch);
+
+ // Could just use local here, but member or external is faster since it is reused
+ PartitionVars localVars;
+ PartitionVars* parVars = &localVars;
+ int level;
+
+ // Load all the branches into a buffer, initialize old node
+ level = a_node->m_level;
+ GetBranches(a_node, a_branch, parVars);
+
+ // Find partition
+ ChoosePartition(parVars, MINNODES);
+
+ // Put branches from buffer into 2 nodes according to chosen partition
+ *a_newNode = AllocNode();
+ (*a_newNode)->m_level = a_node->m_level = level;
+ LoadNodes(a_node, *a_newNode, parVars);
+
+ ASSERT((a_node->m_count + (*a_newNode)->m_count) == parVars->m_total);
+}
+
+
+// Calculate the n-dimensional volume of a rectangle
+RTREE_TEMPLATE
+ELEMTYPEREAL RTREE_QUAL::RectVolume(Rect* a_rect)
+{
+ ASSERT(a_rect);
+
+ ELEMTYPEREAL volume = (ELEMTYPEREAL)1;
+
+ for(int index=0; index<NUMDIMS; ++index)
+ {
+ volume *= a_rect->m_max[index] - a_rect->m_min[index];
+ }
+
+ ASSERT(volume >= (ELEMTYPEREAL)0);
+
+ return volume;
+}
+
+
+// The exact volume of the bounding sphere for the given Rect
+RTREE_TEMPLATE
+ELEMTYPEREAL RTREE_QUAL::RectSphericalVolume(Rect* a_rect)
+{
+ ASSERT(a_rect);
+
+ ELEMTYPEREAL sumOfSquares = (ELEMTYPEREAL)0;
+ ELEMTYPEREAL radius;
+
+ for(int index=0; index < NUMDIMS; ++index)
+ {
+ ELEMTYPEREAL halfExtent = ((ELEMTYPEREAL)a_rect->m_max[index] - (ELEMTYPEREAL)a_rect->m_min[index]) * 0.5f;
+ sumOfSquares += halfExtent * halfExtent;
+ }
+
+ radius = (ELEMTYPEREAL)sqrt(sumOfSquares);
+
+ // Pow maybe slow, so test for common dims like 2,3 and just use x*x, x*x*x.
+ if(NUMDIMS == 3)
+ {
+ return (radius * radius * radius * m_unitSphereVolume);
+ }
+ else if(NUMDIMS == 2)
+ {
+ return (radius * radius * m_unitSphereVolume);
+ }
+ else
+ {
+ return (ELEMTYPEREAL)(pow(radius, NUMDIMS) * m_unitSphereVolume);
+ }
+}
+
+
+// Use one of the methods to calculate retangle volume
+RTREE_TEMPLATE
+ELEMTYPEREAL RTREE_QUAL::CalcRectVolume(Rect* a_rect)
+{
+#ifdef RTREE_USE_SPHERICAL_VOLUME
+ return RectSphericalVolume(a_rect); // Slower but helps certain merge cases
+#else // RTREE_USE_SPHERICAL_VOLUME
+ return RectVolume(a_rect); // Faster but can cause poor merges
+#endif // RTREE_USE_SPHERICAL_VOLUME
+}
+
+
+// Load branch buffer with branches from full node plus the extra branch.
+RTREE_TEMPLATE
+void RTREE_QUAL::GetBranches(Node* a_node, Branch* a_branch, PartitionVars* a_parVars)
+{
+ ASSERT(a_node);
+ ASSERT(a_branch);
+
+ ASSERT(a_node->m_count == MAXNODES);
+
+ // Load the branch buffer
+ for(int index=0; index < MAXNODES; ++index)
+ {
+ a_parVars->m_branchBuf[index] = a_node->m_branch[index];
+ }
+ a_parVars->m_branchBuf[MAXNODES] = *a_branch;
+ a_parVars->m_branchCount = MAXNODES + 1;
+
+ // Calculate rect containing all in the set
+ a_parVars->m_coverSplit = a_parVars->m_branchBuf[0].m_rect;
+ for(int index=1; index < MAXNODES+1; ++index)
+ {
+ a_parVars->m_coverSplit = CombineRect(&a_parVars->m_coverSplit, &a_parVars->m_branchBuf[index].m_rect);
+ }
+ a_parVars->m_coverSplitArea = CalcRectVolume(&a_parVars->m_coverSplit);
+
+ InitNode(a_node);
+}
+
+
+// Method #0 for choosing a partition:
+// As the seeds for the two groups, pick the two rects that would waste the
+// most area if covered by a single rectangle, i.e. evidently the worst pair
+// to have in the same group.
+// Of the remaining, one at a time is chosen to be put in one of the two groups.
+// The one chosen is the one with the greatest difference in area expansion
+// depending on which group - the rect most strongly attracted to one group
+// and repelled from the other.
+// If one group gets too full (more would force other group to violate min
+// fill requirement) then other group gets the rest.
+// These last are the ones that can go in either group most easily.
+RTREE_TEMPLATE
+void RTREE_QUAL::ChoosePartition(PartitionVars* a_parVars, int a_minFill)
+{
+ ASSERT(a_parVars);
+
+ ELEMTYPEREAL biggestDiff;
+ int group, chosen, betterGroup;
+
+ InitParVars(a_parVars, a_parVars->m_branchCount, a_minFill);
+ PickSeeds(a_parVars);
+
+ while (((a_parVars->m_count[0] + a_parVars->m_count[1]) < a_parVars->m_total)
+ && (a_parVars->m_count[0] < (a_parVars->m_total - a_parVars->m_minFill))
+ && (a_parVars->m_count[1] < (a_parVars->m_total - a_parVars->m_minFill)))
+ {
+ biggestDiff = (ELEMTYPEREAL) -1;
+ for(int index=0; index<a_parVars->m_total; ++index)
+ {
+ if(!a_parVars->m_taken[index])
+ {
+ Rect* curRect = &a_parVars->m_branchBuf[index].m_rect;
+ Rect rect0 = CombineRect(curRect, &a_parVars->m_cover[0]);
+ Rect rect1 = CombineRect(curRect, &a_parVars->m_cover[1]);
+ ELEMTYPEREAL growth0 = CalcRectVolume(&rect0) - a_parVars->m_area[0];
+ ELEMTYPEREAL growth1 = CalcRectVolume(&rect1) - a_parVars->m_area[1];
+ ELEMTYPEREAL diff = growth1 - growth0;
+ if(diff >= 0)
+ {
+ group = 0;
+ }
+ else
+ {
+ group = 1;
+ diff = -diff;
+ }
+
+ if(diff > biggestDiff)
+ {
+ biggestDiff = diff;
+ chosen = index;
+ betterGroup = group;
+ }
+ else if((diff == biggestDiff) && (a_parVars->m_count[group] < a_parVars->m_count[betterGroup]))
+ {
+ chosen = index;
+ betterGroup = group;
+ }
+ }
+ }
+ Classify(chosen, betterGroup, a_parVars);
+ }
+
+ // If one group too full, put remaining rects in the other
+ if((a_parVars->m_count[0] + a_parVars->m_count[1]) < a_parVars->m_total)
+ {
+ if(a_parVars->m_count[0] >= a_parVars->m_total - a_parVars->m_minFill)
+ {
+ group = 1;
+ }
+ else
+ {
+ group = 0;
+ }
+ for(int index=0; index<a_parVars->m_total; ++index)
+ {
+ if(!a_parVars->m_taken[index])
+ {
+ Classify(index, group, a_parVars);
+ }
+ }
+ }
+
+ ASSERT((a_parVars->m_count[0] + a_parVars->m_count[1]) == a_parVars->m_total);
+ ASSERT((a_parVars->m_count[0] >= a_parVars->m_minFill) &&
+ (a_parVars->m_count[1] >= a_parVars->m_minFill));
+}
+
+
+// Copy branches from the buffer into two nodes according to the partition.
+RTREE_TEMPLATE
+void RTREE_QUAL::LoadNodes(Node* a_nodeA, Node* a_nodeB, PartitionVars* a_parVars)
+{
+ ASSERT(a_nodeA);
+ ASSERT(a_nodeB);
+ ASSERT(a_parVars);
+
+ for(int index=0; index < a_parVars->m_total; ++index)
+ {
+ ASSERT(a_parVars->m_partition[index] == 0 || a_parVars->m_partition[index] == 1);
+
+ if(a_parVars->m_partition[index] == 0)
+ {
+ AddBranch(&a_parVars->m_branchBuf[index], a_nodeA, NULL);
+ }
+ else if(a_parVars->m_partition[index] == 1)
+ {
+ AddBranch(&a_parVars->m_branchBuf[index], a_nodeB, NULL);
+ }
+ }
+}
+
+
+// Initialize a PartitionVars structure.
+RTREE_TEMPLATE
+void RTREE_QUAL::InitParVars(PartitionVars* a_parVars, int a_maxRects, int a_minFill)
+{
+ ASSERT(a_parVars);
+
+ a_parVars->m_count[0] = a_parVars->m_count[1] = 0;
+ a_parVars->m_area[0] = a_parVars->m_area[1] = (ELEMTYPEREAL)0;
+ a_parVars->m_total = a_maxRects;
+ a_parVars->m_minFill = a_minFill;
+ for(int index=0; index < a_maxRects; ++index)
+ {
+ a_parVars->m_taken[index] = false;
+ a_parVars->m_partition[index] = -1;
+ }
+}
+
+
+RTREE_TEMPLATE
+void RTREE_QUAL::PickSeeds(PartitionVars* a_parVars)
+{
+ int seed0, seed1;
+ ELEMTYPEREAL worst, waste;
+ ELEMTYPEREAL area[MAXNODES+1];
+
+ for(int index=0; index<a_parVars->m_total; ++index)
+ {
+ area[index] = CalcRectVolume(&a_parVars->m_branchBuf[index].m_rect);
+ }
+
+ worst = -a_parVars->m_coverSplitArea - 1;
+ for(int indexA=0; indexA < a_parVars->m_total-1; ++indexA)
+ {
+ for(int indexB = indexA+1; indexB < a_parVars->m_total; ++indexB)
+ {
+ Rect oneRect = CombineRect(&a_parVars->m_branchBuf[indexA].m_rect, &a_parVars->m_branchBuf[indexB].m_rect);
+ waste = CalcRectVolume(&oneRect) - area[indexA] - area[indexB];
+ if(waste > worst)
+ {
+ worst = waste;
+ seed0 = indexA;
+ seed1 = indexB;
+ }
+ }
+ }
+ Classify(seed0, 0, a_parVars);
+ Classify(seed1, 1, a_parVars);
+}
+
+
+// Put a branch in one of the groups.
+RTREE_TEMPLATE
+void RTREE_QUAL::Classify(int a_index, int a_group, PartitionVars* a_parVars)
+{
+ ASSERT(a_parVars);
+ ASSERT(!a_parVars->m_taken[a_index]);
+
+ a_parVars->m_partition[a_index] = a_group;
+ a_parVars->m_taken[a_index] = true;
+
+ if (a_parVars->m_count[a_group] == 0)
+ {
+ a_parVars->m_cover[a_group] = a_parVars->m_branchBuf[a_index].m_rect;
+ }
+ else
+ {
+ a_parVars->m_cover[a_group] = CombineRect(&a_parVars->m_branchBuf[a_index].m_rect, &a_parVars->m_cover[a_group]);
+ }
+ a_parVars->m_area[a_group] = CalcRectVolume(&a_parVars->m_cover[a_group]);
+ ++a_parVars->m_count[a_group];
+}
+
+
+// Delete a data rectangle from an index structure.
+// Pass in a pointer to a Rect, the tid of the record, ptr to ptr to root node.
+// Returns 1 if record not found, 0 if success.
+// RemoveRect provides for eliminating the root.
+RTREE_TEMPLATE
+bool RTREE_QUAL::RemoveRect(Rect* a_rect, const DATATYPE& a_id, Node** a_root)
+{
+ ASSERT(a_rect && a_root);
+ ASSERT(*a_root);
+
+ Node* tempNode;
+ ListNode* reInsertList = NULL;
+
+ if(!RemoveRectRec(a_rect, a_id, *a_root, &reInsertList))
+ {
+ // Found and deleted a data item
+ // Reinsert any branches from eliminated nodes
+ while(reInsertList)
+ {
+ tempNode = reInsertList->m_node;
+
+ for(int index = 0; index < tempNode->m_count; ++index)
+ {
+ InsertRect(&(tempNode->m_branch[index].m_rect),
+ tempNode->m_branch[index].m_data,
+ a_root,
+ tempNode->m_level);
+ }
+
+ ListNode* remLNode = reInsertList;
+ reInsertList = reInsertList->m_next;
+
+ FreeNode(remLNode->m_node);
+ FreeListNode(remLNode);
+ }
+
+ // Check for redundant root (not leaf, 1 child) and eliminate
+ if((*a_root)->m_count == 1 && (*a_root)->IsInternalNode())
+ {
+ tempNode = (*a_root)->m_branch[0].m_child;
+
+ ASSERT(tempNode);
+ FreeNode(*a_root);
+ *a_root = tempNode;
+ }
+ return false;
+ }
+ else
+ {
+ return true;
+ }
+}
+
+
+// Delete a rectangle from non-root part of an index structure.
+// Called by RemoveRect. Descends tree recursively,
+// merges branches on the way back up.
+// Returns 1 if record not found, 0 if success.
+RTREE_TEMPLATE
+bool RTREE_QUAL::RemoveRectRec(Rect* a_rect, const DATATYPE& a_id, Node* a_node, ListNode** a_listNode)
+{
+ ASSERT(a_rect && a_node && a_listNode);
+ ASSERT(a_node->m_level >= 0);
+
+ if(a_node->IsInternalNode()) // not a leaf node
+ {
+ for(int index = 0; index < a_node->m_count; ++index)
+ {
+ if(Overlap(a_rect, &(a_node->m_branch[index].m_rect)))
+ {
+ if(!RemoveRectRec(a_rect, a_id, a_node->m_branch[index].m_child, a_listNode))
+ {
+ if(a_node->m_branch[index].m_child->m_count >= MINNODES)
+ {
+ // child removed, just resize parent rect
+ a_node->m_branch[index].m_rect = NodeCover(a_node->m_branch[index].m_child);
+ }
+ else
+ {
+ // child removed, not enough entries in node, eliminate node
+ ReInsert(a_node->m_branch[index].m_child, a_listNode);
+ DisconnectBranch(a_node, index); // Must return after this call as count has changed
+ }
+ return false;
+ }
+ }
+ }
+ return true;
+ }
+ else // A leaf node
+ {
+ for(int index = 0; index < a_node->m_count; ++index)
+ {
+ if(a_node->m_branch[index].m_child == (Node*)a_id)
+ {
+ DisconnectBranch(a_node, index); // Must return after this call as count has changed
+ return false;
+ }
+ }
+ return true;
+ }
+}
+
+
+// Decide whether two rectangles overlap.
+RTREE_TEMPLATE
+bool RTREE_QUAL::Overlap(Rect* a_rectA, Rect* a_rectB)
+{
+ ASSERT(a_rectA && a_rectB);
+
+ for(int index=0; index < NUMDIMS; ++index)
+ {
+ if (a_rectA->m_min[index] > a_rectB->m_max[index] ||
+ a_rectB->m_min[index] > a_rectA->m_max[index])
+ {
+ return false;
+ }
+ }
+ return true;
+}
+
+
+// Add a node to the reinsertion list. All its branches will later
+// be reinserted into the index structure.
+RTREE_TEMPLATE
+void RTREE_QUAL::ReInsert(Node* a_node, ListNode** a_listNode)
+{
+ ListNode* newListNode;
+
+ newListNode = AllocListNode();
+ newListNode->m_node = a_node;
+ newListNode->m_next = *a_listNode;
+ *a_listNode = newListNode;
+}
+
+
+// Search in an index tree or subtree for all data retangles that overlap the argument rectangle.
+RTREE_TEMPLATE
+bool RTREE_QUAL::Search(Node* a_node, Rect* a_rect, int& a_foundCount, bool a_resultCallback(DATATYPE a_data, void* a_context), void* a_context)
+{
+ ASSERT(a_node);
+ ASSERT(a_node->m_level >= 0);
+ ASSERT(a_rect);
+
+ if(a_node->IsInternalNode()) // This is an internal node in the tree
+ {
+ for(int index=0; index < a_node->m_count; ++index)
+ {
+ if(Overlap(a_rect, &a_node->m_branch[index].m_rect))
+ {
+ if(!Search(a_node->m_branch[index].m_child, a_rect, a_foundCount, a_resultCallback, a_context))
+ {
+ return false; // Don't continue searching
+ }
+ }
+ }
+ }
+ else // This is a leaf node
+ {
+ for(int index=0; index < a_node->m_count; ++index)
+ {
+ if(Overlap(a_rect, &a_node->m_branch[index].m_rect))
+ {
+ DATATYPE& id = a_node->m_branch[index].m_data;
+
+ // NOTE: There are different ways to return results. Here's where to modify
+ if(&a_resultCallback)
+ {
+ ++a_foundCount;
+ if(!a_resultCallback(id, a_context))
+ {
+ return false; // Don't continue searching
+ }
+ }
+ }
+ }
+ }
+
+ return true; // Continue searching
+}
+
+
+#undef RTREE_TEMPLATE
+#undef RTREE_QUAL
+
+#endif //RTREE_H
--
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