kdtree (2D) for collider #1160
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| // Copyright 2025 The Manifold Authors. | ||
| // | ||
| // Licensed 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 CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include "tree2d.h" | ||
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| #include "./parallel.h" | ||
| #include "./utils.h" | ||
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| namespace manifold { | ||
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| // Not really a proper KD-tree, but a kd tree with k = 2 and alternating x/y | ||
| // partition. | ||
| // Recursive sorting is not the most efficient, but simple and guaranteed to | ||
| // result in a balanced tree. | ||
| void BuildTwoDTreeImpl(VecView<PolyVert> points, bool sortX) { | ||
| using CmpFn = std::function<bool(const PolyVert&, const PolyVert&)>; | ||
| CmpFn cmpx = [](const PolyVert& a, const PolyVert& b) { | ||
| return a.pos.x < b.pos.x; | ||
| }; | ||
| CmpFn cmpy = [](const PolyVert& a, const PolyVert& b) { | ||
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| return a.pos.y < b.pos.y; | ||
| }; | ||
| manifold::stable_sort(points.begin(), points.end(), sortX ? cmpx : cmpy); | ||
| if (points.size() < 2) return; | ||
| BuildTwoDTreeImpl(points.view(0, points.size() / 2), !sortX); | ||
| BuildTwoDTreeImpl(points.view(points.size() / 2 + 1), !sortX); | ||
| } | ||
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| void BuildTwoDTree(VecView<PolyVert> points) { | ||
| ZoneScoped; | ||
| // don't even bother... | ||
| if (points.size() <= 8) return; | ||
| BuildTwoDTreeImpl(points, true); | ||
| } | ||
| } // namespace manifold | ||
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| // Copyright 2025 The Manifold Authors. | ||
| // | ||
| // Licensed 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 CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #pragma once | ||
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| #include "manifold/common.h" | ||
| #include "manifold/optional_assert.h" | ||
| #include "manifold/polygon.h" | ||
| #include "manifold/vec_view.h" | ||
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| namespace manifold { | ||
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| void BuildTwoDTreeImpl(VecView<PolyVert> points, bool sortX); | ||
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| void BuildTwoDTree(VecView<PolyVert> points); | ||
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| template <typename F> | ||
| void QueryTwoDTree(VecView<PolyVert> points, Rect r, F f) { | ||
| if (points.size() <= 8) { | ||
| for (const auto& p : points) | ||
| if (r.Contains(p.pos)) f(p); | ||
| return; | ||
| } | ||
| Rect current; | ||
| current.min = vec2(-std::numeric_limits<double>::infinity()); | ||
| current.max = vec2(std::numeric_limits<double>::infinity()); | ||
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| int level = 0; | ||
| VecView<PolyVert> currentView = points; | ||
| std::array<Rect, 64> rectStack; | ||
| std::array<VecView<PolyVert>, 64> viewStack; | ||
| std::array<int, 64> levelStack; | ||
| int stackPointer = 0; | ||
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| while (1) { | ||
| if (currentView.size() <= 2) { | ||
| for (const auto& p : currentView) | ||
| if (r.Contains(p.pos)) f(p); | ||
| if (--stackPointer < 0) break; | ||
| level = levelStack[stackPointer]; | ||
| currentView = viewStack[stackPointer]; | ||
| current = rectStack[stackPointer]; | ||
| continue; | ||
| } | ||
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| // these are conceptual left/right trees | ||
| Rect left = current; | ||
| Rect right = current; | ||
| const PolyVert middle = currentView[currentView.size() / 2]; | ||
| if (level % 2 == 0) | ||
| left.max.x = right.min.x = middle.pos.x; | ||
| else | ||
| left.max.y = right.min.y = middle.pos.y; | ||
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| if (r.Contains(middle.pos)) f(middle); | ||
| if (left.DoesOverlap(r)) { | ||
| if (right.DoesOverlap(r)) { | ||
| DEBUG_ASSERT(stackPointer < 64, logicErr, "Stack overflow"); | ||
| rectStack[stackPointer] = right; | ||
| viewStack[stackPointer] = currentView.view(currentView.size() / 2 + 1); | ||
| levelStack[stackPointer] = level + 1; | ||
| stackPointer++; | ||
| } | ||
| current = left; | ||
| currentView = currentView.view(0, currentView.size() / 2); | ||
| level++; | ||
| } else { | ||
| current = right; | ||
| currentView = currentView.view(currentView.size() / 2 + 1); | ||
| level++; | ||
| } | ||
| } | ||
| } | ||
| } // namespace manifold |
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Good call - surprised this wasn't a problem before.
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We do need it previously, just that I forgot to add it back. Previously, we enlarge the bbox of each vertex, but now we enlarge the bbox of the query.