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use traits::is_buildable_nd::*;
use traits::is_buildable_3d::*;
use traits::is_editable_3d::*;
use traits::has_center_of_gravity_3d::*;
use traits::is_random_insertible::*;
use point_cloud_3d::{PointCloud3D};
use functions::{calc_sub_min_max, in_bb};
pub enum OcNode<P> where
P: IsEditable3D + IsBuildable3D {
Leaf(P),
Node(Internal<P>)
}
pub struct Internal<P> where
P: IsEditable3D + IsBuildable3D {
ppp: Option<Box<OcNode<P>>>,
ppn: Option<Box<OcNode<P>>>,
pnp: Option<Box<OcNode<P>>>,
pnn: Option<Box<OcNode<P>>>,
npp: Option<Box<OcNode<P>>>,
npn: Option<Box<OcNode<P>>>,
nnp: Option<Box<OcNode<P>>>,
nnn: Option<Box<OcNode<P>>>
}
pub enum Direction {
PPP,
PPN,
PNP,
PNN,
NPP,
NPN,
NNP,
NNN
}
fn collect_center_or_all<P>(n: &OcNode<P>, only_collect_centers: bool, depth: i8, maxdepth: i8, mut pc: &mut PointCloud3D<P>) where
P: IsEditable3D + IsBuildableND + IsBuildable3D + Clone {
if only_collect_centers {
let mut sub_pc = PointCloud3D::new();
n.collect(depth+1, maxdepth, &mut sub_pc);
if let Ok(c) = sub_pc.center_of_gravity() {
let mut p = *P::new();
p.from(c);
pc.push(p);
}
} else {
n.collect(depth+1, maxdepth, pc);
}
}
fn build_subnode<P>(pc: Vec<P>,bb: (P, P)) -> Option<Box<OcNode<P>>> where
P: IsEditable3D + IsBuildableND + IsBuildable3D + Clone {
match pc.len() {
0 => None,
_ => {
let (new_min, new_max) = bb;
Some(Box::new(OcNode::new(&new_min, &new_max, pc)))
}
}
}
impl<P> OcNode<P> where
P: IsEditable3D + IsBuildableND + IsBuildable3D + Clone {
pub fn new(min: &P, max: &P, pc: Vec<P>) -> OcNode<P> {
if pc.len() == 1 { return OcNode::Leaf(pc[0].clone()); };
let mut pcppp = Vec::new();
let mut pcppn = Vec::new();
let mut pcpnp = Vec::new();
let mut pcpnn = Vec::new();
let mut pcnpp = Vec::new();
let mut pcnpn = Vec::new();
let mut pcnnp = Vec::new();
let mut pcnnn = Vec::new();
let bbppp = calc_sub_min_max(Direction::PPP, min, max);
let bbppn = calc_sub_min_max(Direction::PPN, min, max);
let bbpnp = calc_sub_min_max(Direction::PNP, min, max);
let bbpnn = calc_sub_min_max(Direction::PNN, min, max);
let bbnpp = calc_sub_min_max(Direction::NPP, min, max);
let bbnpn = calc_sub_min_max(Direction::NPN, min, max);
let bbnnp = calc_sub_min_max(Direction::NNP, min, max);
let bbnnn = calc_sub_min_max(Direction::NNN, min, max);
for p in pc {
if in_bb(&p, &bbppp.0, &bbppp.1) {
pcppp.push(p);
} else if in_bb(&p, &bbppn.0, &bbppn.1) {
pcppn.push(p);
} else if in_bb(&p, &bbpnp.0, &bbpnp.1) {
pcpnp.push(p);
} else if in_bb(&p, &bbpnn.0, &bbpnn.1) {
pcpnn.push(p);
} else if in_bb(&p, &bbnpp.0, &bbnpp.1) {
pcnpp.push(p);
} else if in_bb(&p, &bbnpn.0, &bbnpn.1) {
pcnpn.push(p);
} else if in_bb(&p, &bbnnp.0, &bbnnp.1) {
pcnnp.push(p);
} else if in_bb(&p, &bbnnn.0, &bbnnn.1) {
pcnnn.push(p);
}
}
let ppp = build_subnode(pcppp, bbppp);
let ppn = build_subnode(pcppn, bbppn);
let pnp = build_subnode(pcpnp, bbpnp);
let pnn = build_subnode(pcpnn, bbpnn);
let npp = build_subnode(pcnpp, bbnpp);
let npn = build_subnode(pcnpn, bbnpn);
let nnp = build_subnode(pcnnp, bbnnp);
let nnn = build_subnode(pcnnn, bbnnn);
let result: Internal<P> = Internal {
ppp: ppp,
ppn: ppn,
pnp: pnp,
pnn: pnn,
npp: npp,
npn: npn,
nnp: nnp,
nnn: nnn
};
OcNode::Node(result)
}
pub fn size(&self) -> usize {
match self {
&OcNode::Leaf(_) => 1,
&OcNode::Node(ref internal) => {
let mut result: usize = 0;
if let Some(ref n) = internal.ppp { result += n.size(); }
if let Some(ref n) = internal.ppn { result += n.size(); }
if let Some(ref n) = internal.pnp { result += n.size(); }
if let Some(ref n) = internal.pnn { result += n.size(); }
if let Some(ref n) = internal.npp { result += n.size(); }
if let Some(ref n) = internal.npn { result += n.size(); }
if let Some(ref n) = internal.nnp { result += n.size(); }
if let Some(ref n) = internal.nnn { result += n.size(); }
result
}
}
}
pub fn collect(&self, depth: i8, maxdepth: i8, pc: &mut PointCloud3D<P>) {
let only_collect_centers = maxdepth >= 0 && depth > maxdepth;
match self {
&OcNode::Leaf(ref p) => pc.push(p.clone()),
&OcNode::Node(ref internal) => {
if let Some(ref n) = internal.ppp {
collect_center_or_all(n, only_collect_centers, depth, maxdepth, pc);
}
if let Some(ref n) = internal.ppn {
collect_center_or_all(n, only_collect_centers, depth, maxdepth, pc);
}
if let Some(ref n) = internal.pnp {
collect_center_or_all(n, only_collect_centers, depth, maxdepth, pc);
}
if let Some(ref n) = internal.pnn {
collect_center_or_all(n, only_collect_centers, depth, maxdepth, pc);
}
if let Some(ref n) = internal.npp {
collect_center_or_all(n, only_collect_centers, depth, maxdepth, pc);
}
if let Some(ref n) = internal.npn {
collect_center_or_all(n, only_collect_centers, depth, maxdepth, pc);
}
if let Some(ref n) = internal.nnp {
collect_center_or_all(n, only_collect_centers, depth, maxdepth, pc);
}
if let Some(ref n) = internal.nnn {
collect_center_or_all(n, only_collect_centers, depth, maxdepth, pc);
}
}
}
}
}