point_hash_grid_searcher2.h

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// Copyright (c) 2018 Doyub Kim
//
// I am making my contributions/submissions to this project solely in my
// personal capacity and am not conveying any rights to any intellectual
// property of any third parties.
 
#ifndef INCLUDE_JET_POINT_HASH_GRID_SEARCHER2_H_
#define INCLUDE_JET_POINT_HASH_GRID_SEARCHER2_H_
 
#include <jet/point_neighbor_searcher2.h>
#include <jet/point2.h>
#include <jet/size2.h>
 
#include <vector>
 
namespace jet {
 
class PointHashGridSearcher2 final : public PointNeighborSearcher2 {
 public:
    JET_NEIGHBOR_SEARCHER2_TYPE_NAME(PointHashGridSearcher2)
 
    class Builder;
 
    PointHashGridSearcher2(const Size2& resolution, double gridSpacing);
 
    PointHashGridSearcher2(
        size_t resolutionX,
        size_t resolutionY,
        double gridSpacing);
 
    PointHashGridSearcher2(const PointHashGridSearcher2& other);
 
    void build(const ConstArrayAccessor1<Vector2D>& points) override;
 
    void forEachNearbyPoint(
        const Vector2D& origin,
        double radius,
        const ForEachNearbyPointFunc& callback) const override;
 
    bool hasNearbyPoint(
        const Vector2D& origin, double radius) const override;
 
    void add(const Vector2D& point);
 
    const std::vector<std::vector<size_t>>& buckets() const;
 
    size_t getHashKeyFromBucketIndex(const Point2I& bucketIndex) const;
 
    Point2I getBucketIndex(const Vector2D& position) const;
 
    PointNeighborSearcher2Ptr clone() const override;
 
    PointHashGridSearcher2& operator=(const PointHashGridSearcher2& other);
 
    void set(const PointHashGridSearcher2& other);
 
    void serialize(std::vector<uint8_t>* buffer) const override;
 
    void deserialize(const std::vector<uint8_t>& buffer) override;
 
    static Builder builder();
 
 private:
    double _gridSpacing = 1.0;
    Point2I _resolution = Point2I(1, 1);
    std::vector<Vector2D> _points;
    std::vector<std::vector<size_t>> _buckets;
 
    size_t getHashKeyFromPosition(const Vector2D& position) const;
 
    void getNearbyKeys(const Vector2D& position, size_t* bucketIndices) const;
};
 
typedef std::shared_ptr<PointHashGridSearcher2> PointHashGridSearcher2Ptr;
 
class PointHashGridSearcher2::Builder final
    : public PointNeighborSearcherBuilder2 {
 public:
    Builder& withResolution(const Size2& resolution);
 
    Builder& withGridSpacing(double gridSpacing);
 
    PointHashGridSearcher2 build() const;
 
    PointHashGridSearcher2Ptr makeShared() const;
 
    PointNeighborSearcher2Ptr buildPointNeighborSearcher() const override;
 
 private:
    Size2 _resolution{64, 64};
    double _gridSpacing = 1.0;
};
 
}  // namespace jet
 
#endif  // INCLUDE_JET_POINT_HASH_GRID_SEARCHER2_H_