iMSTK: imstk::OctreeNode Class Reference

#include <imstkLooseOctree.h>

Collaboration diagram for imstk::OctreeNode:

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Public Member Functions
	OctreeNode (const OctreeNode &)=delete

OctreeNode &	operator= (const OctreeNode &)=delete

	OctreeNode ()
	Dummy constructor, called only during memory allocation in memory pool.

	OctreeNode (LooseOctree const tree, OctreeNode const pParent, const Vec3d &nodeCenter, const double halfWidth, const uint32_t depth)
	OctreeNode constructor, called during node splitting when initializing children node.

bool	isLeaf () const
	Check if this node is a leaf node.

OctreeNode *	getChildNode (const uint32_t childIdx) const
	Get a child node. More...

OctreePrimitive *	getPrimitiveList (const OctreePrimitiveType type) const
	For the given primitive type, return the head node of the primitive list of that type.

uint32_t	getPrimitiveCount (const OctreePrimitiveType type) const
	Get the number of primitives of the given type in this node.

const Vec6d	getBounds ()
	Get the bounds of the node.

const Vec6d	getLooseBounds ()
	Get the loose bounds of the node.

void	clearPrimitiveData (const OctreePrimitiveType type)
	Recursively clear primitive data (linked lists and counters) Note that the primitives are still exist in the octree primitive list, they are just removed from the node. More...

void	split ()
	Split node (requesting 8 children nodes from memory pool)

void	removeAllDescendants ()
	Recursively remove all descendant nodes (return them back to memory pool) As a result, after calling to this function, the current node will become a leaf node.

void	removeEmptyDescendants ()
	Recursively remove all descendant nodes that do not contain primitives (all 8 children of a node are removed at the same time)

void	keepPrimitive (OctreePrimitive *const pPrimitive, const OctreePrimitiveType type)
	Keep the primitive at this node as cannot pass it down further to any child node.

void	insertPoint (OctreePrimitive *const pPrimitive)
	Insert a point primitive into the subtree in a top-down manner.

void	insertNonPointPrimitive (OctreePrimitive *const pPrimitive, const OctreePrimitiveType type)
	Insert a non-point primitive into the subtree in a top-down manner.

bool	contains (const Vec3d &point)
	Check if the given point is contained exactly in the node boundary (bounding box)

bool	contains (const std::array< double, 3 > &point)

bool	contains (const double x, const double y, const double z)

bool	contains (const std::array< double, 3 > &lowerCorner, const std::array< double, 3 > &upperCorner)
	Check if the given non-point primitive (triangle/analytical geometry) is exactly contained in the node boundary (bounding box) More...

bool	looselyContains (const Vec3d &point)
	Check if the given point is contained in the node loose boundary (which is 2X bigger than the bounding box)

bool	looselyContains (const std::array< double, 3 > &point)

bool	looselyContains (const double x, const double y, const double z)

bool	looselyContains (const std::array< double, 3 > &lowerCorner, const std::array< double, 3 > &upperCorner)
	Check if the given non-point primitive (triangle/analytical geometry) is contained in the node loose boundary (which is 2X bigger than the bounding box) More...

bool	looselyOverlaps (const std::array< double, 3 > &lowerCorner, const std::array< double, 3 > &upperCorner)
	Check if the bounding box of the given primitive (triangle/analytical geometry) overlaps with the loose boundary of this tree node (which is 2X bigger than the bounding box) More...

Public Attributes
LooseOctree *	m_pTree
	Pointer to the octree, used to request children from memory pool during splitting node.

OctreeNode *	m_pParent
	Pointer to the parent node.

OctreeNodeBlock *	m_pChildren = nullptr
	Pointer to a memory block containing 8 children nodes.

const Vec3d	m_Center
	Center of this node.

const Vec3d	m_LowerBound
	The AABB's lower corner of the node.

const Vec3d	m_UpperBound
	The AABB's upper corner of the node.

const Vec3d	m_LowerExtendedBound
	The extended AABB's lower corner of the node, which is 2X bigger than the exact AABB.

const Vec3d	m_UpperExtendedBound
	The extended AABB's upper corner of the node, which is 2X bigger than the exact AABB.

const double	m_HalfWidth
	Half width of the node AABB.

const uint32_t	m_Depth
	Depth of this node (depth > 0, depth = 1 starting at the root node)

uint32_t	m_MaxDepth
	Cache the max depth of the tree (maximum depth level possible)

bool	m_bIsLeaf = true
	True if this node does not have any child node (a node should have either 0 or 8 children)

OctreePrimitive *	m_pPrimitiveListHeads [OctreePrimitiveType::NumPrimitiveTypes]
	Heads of the link lists storing (Classified) primitives.

uint32_t	m_PrimitiveCounts [OctreePrimitiveType::NumPrimitiveTypes]
	Count the number of (classified) primitives stored in this node.

ParallelUtils::SpinLock	m_PrimitiveLock [OctreePrimitiveType::NumPrimitiveTypes]
	Mutex lock for thread-safe primitive list modification.

ParallelUtils::SpinLock	m_NodeSplitingLock
	Mutex lock for thread-safe splitting node.

Friends
class	LooseOctree

class	OctreeBasedCD

class	LooseOctreeTest

Detailed Description

The OctreeNode class.

Definition at line 83 of file imstkLooseOctree.h.

Member Function Documentation

◆ clearPrimitiveData()

void imstk::OctreeNode::clearPrimitiveData ( const OctreePrimitiveType type )

Recursively clear primitive data (linked lists and counters) Note that the primitives are still exist in the octree primitive list, they are just removed from the node.

Parameters

type	The type of primitives that will be clear

Definition at line 44 of file imstkLooseOctree.cpp.

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◆ contains()

bool imstk::OctreeNode::contains	(	const std::array< double, 3 > &	lowerCorner,
		const std::array< double, 3 > &	upperCorner
	)

inline

Check if the given non-point primitive (triangle/analytical geometry) is exactly contained in the node boundary (bounding box)

Parameters

lowerCorner	The AABB's lower corner of the primitive
upperCorner	The AABB's upper corner of the primitive

Definition at line 209 of file imstkLooseOctree.h.

◆ getChildNode()

OctreeNode * imstk::OctreeNode::getChildNode ( const uint32_t childIdx ) const

Get a child node.

Parameters

childIdx The index of child node (from 0 to 7)

Definition at line 35 of file imstkLooseOctree.cpp.

◆ looselyContains()

bool imstk::OctreeNode::looselyContains	(	const std::array< double, 3 > &	lowerCorner,
		const std::array< double, 3 > &	upperCorner
	)

inline

Check if the given non-point primitive (triangle/analytical geometry) is contained in the node loose boundary (which is 2X bigger than the bounding box)

Parameters

lowerCorner	The AABB's lower corner of the primitive
upperCorner	The AABB's upper corner of the primitive

Definition at line 240 of file imstkLooseOctree.h.

◆ looselyOverlaps()

bool imstk::OctreeNode::looselyOverlaps	(	const std::array< double, 3 > &	lowerCorner,
		const std::array< double, 3 > &	upperCorner
	)

inline

Check if the bounding box of the given primitive (triangle/analytical geometry) overlaps with the loose boundary of this tree node (which is 2X bigger than the bounding box)

Parameters

lowerCorner	The AABB's lower corner of the primitive
upperCorner	The AABB's upper corner of the primitive

Definition at line 256 of file imstkLooseOctree.h.

The documentation for this class was generated from the following files:

Source/DataStructures/imstkLooseOctree.h
Source/DataStructures/imstkLooseOctree.cpp

Public Member Functions

Public Attributes

Friends

Detailed Description

Member Function Documentation

◆ clearPrimitiveData()

◆ contains()

◆ getChildNode()

◆ looselyContains()

◆ looselyOverlaps()