spatial_query_octree.hpp

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#ifndef FOOLSENGINE_SPATIALQUERYOCTREE_H
#define FOOLSENGINE_SPATIALQUERYOCTREE_H
 
#include <memory>
#include <array>
#include <algorithm>
#include <cmath>
 
#include "spatial_query_math.hpp"
#include "spatial_query_basic_types.hpp"
#include "core/ecs_world.hpp"
 
namespace ToyMaker {
    class Octree;

    class OctreeNode: public std::enable_shared_from_this<OctreeNode> {
    public:
        using Octant = uint8_t;

        using Depth = uint8_t;

        using Address = uint64_t;

        enum OctantSpecifier: Octant {
            RIGHT=0x1,
            TOP=0x2,
            FRONT=0x4,
        };

        static constexpr uint8_t knDepthBits { 5 };

        static constexpr uint8_t kDepthBitOffset { sizeof(Address)*8 - knDepthBits };

        static constexpr uint8_t knRouteBits { (kDepthBitOffset/3) * 3};

        static constexpr Depth kMaxDepthInclusive {std::min(
            1 + knRouteBits/3, 
            1 + (1<<knDepthBits) 
        )}; // +1 as depth 0 needs no bits

        static constexpr Address kNoAddress { 0x0 };

        static Address MakeAddress(Octant childOctant, Address parentAddress);

        static Depth GetDepth(Address address);

        static Octant ToGrowthDirection(Octant octant);

        static Octant ToOctant(Octant growthDirection);

        static Octant GetOctant(Address address);

        static Address GetBaseRouteMask(Depth baseDepth);

        static Address GetBaseRoute(Address address, Depth baseDepth);

        static Octant GetOctantAt(Address address, Depth depth);

        static Address GrowAddress(Address address, Address rootAddress);

        static Address ShrinkAddress(Address address, Depth depthRemoved);

        static bool SharesBranch(Address one, Address two);

        enum AddressMasks: Address {
            DEPTH_MASK = -(1ull << kDepthBitOffset), //< Mask for the most significant knDepthBits of the address; mask corresponding to the depth section of the address.
            ROUTE_MASK = ~(-(1ull << knRouteBits)), //< Mask for the least significant knRouteBits of the address; mask corresponding to the route section of the address.
        };
        static_assert(DEPTH_MASK != 0 && "Depth mask cannot be zero");
        static_assert(ROUTE_MASK != 0 && "Route mask cannot be zero");
        static_assert(knDepthBits + kDepthBitOffset == sizeof(Address)*8 && "sum of depth bits and depth offset must add up to the size of the address in bits");
        static_assert(kDepthBitOffset >= knRouteBits && "There must be at least as many bits in the depth bit offset as those used to make the route");
        static_assert(kNoAddress == 0 && "NoAddress must correspond with 0");

        static std::shared_ptr<OctreeNode> CreateRootNode(
            uint8_t subdivisionThreshold, AxisAlignedBounds boundRegion
        );

        static std::shared_ptr<OctreeNode> GrowTreeAndCreateRoot(
            std::shared_ptr<OctreeNode> oldRoot,
            const AxisAlignedBounds& regionToCover
        );


        std::vector<std::pair<EntityID, AxisAlignedBounds>> findAllMemberEntities() const;

        std::vector<std::pair<EntityID, AxisAlignedBounds>> findEntitiesOverlapping(const AxisAlignedBounds& searchBounds) const;
        std::vector<std::pair<EntityID, AxisAlignedBounds>> findEntitiesOverlapping(const Ray& searchRay) const;

        uint8_t getChildCount() const;

        Address getAddress() const { return mAddress; }

        inline AxisAlignedBounds getWorldBounds() const { return mWorldBounds; }

        Address insertEntity(EntityID entityID, const AxisAlignedBounds& entityWorldBounds);

        std::shared_ptr<OctreeNode> removeEntity(EntityID entityID, Address entityAddressHint=kNoAddress);

        std::shared_ptr<OctreeNode> getNode(Address octantAddress);

        std::shared_ptr<OctreeNode> nextNodeInAddress(Address octantAddress);

        std::shared_ptr<OctreeNode> getSmallestNodeContaining(const AxisAlignedBounds& entityWorldBounds);

        std::shared_ptr<OctreeNode> findCandidateRoot();

        Address getBaseRoute(Address address) const;

        Depth getDepth() const;

        Octant getOctant() const;

        Octant nextOctant(Address address) const;

        void shrinkTreeAndBecomeRoot();
 
    private:
        OctreeNode(
            Address octantAddress,
            uint8_t subdivisionThreshold,
            AxisAlignedBounds worldBounds,
            std::shared_ptr<OctreeNode> parent
        ):
        mAddress { octantAddress },
        mSubdivisionThreshold { subdivisionThreshold },
        mWorldBounds { worldBounds },
        mParent { parent }
        {}

        Address mAddress { 0x0 };

        uint8_t mSubdivisionThreshold { 40 };

        AxisAlignedBounds mWorldBounds {};

        std::weak_ptr<OctreeNode> mParent {};

        std::array<std::shared_ptr<OctreeNode>, 8> mChildren {};

        std::map<EntityID, AxisAlignedBounds> mEntities{};
    };

    class Octree {
    public:
        static constexpr float kMaxDimensionRatio { 20.f };

        using EntityAddressPair = std::pair<EntityID, OctreeNode::Address>;

        Octree(uint8_t subdivisionThreshold, const AxisAlignedBounds& totalWorldBounds):
        mRootNode { OctreeNode::CreateRootNode(subdivisionThreshold, totalWorldBounds) }
        {}


        inline std::vector<std::pair<EntityID, AxisAlignedBounds>> findAllMemberEntities() const {
            return mRootNode->findAllMemberEntities();
        }

        inline std::vector<std::pair<EntityID, AxisAlignedBounds>> findEntitiesOverlapping(const AxisAlignedBounds& searchBounds) const {
            return mRootNode->findEntitiesOverlapping(searchBounds);
        }

        std::vector<std::pair<EntityID, AxisAlignedBounds>> findEntitiesOverlapping(const Ray& searchRay) const;

        void insertEntity(EntityID entityID, const AxisAlignedBounds& entityWorldBounds);

        void removeEntity(EntityID entityID);
 
    private:
        std::shared_ptr<OctreeNode> mRootNode;

        std::map<EntityID, OctreeNode::Address> mEntityAddresses {};
    };
}
 
#endif