PointHashGridSearcher3.h

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/*************************************************************************
> File Name: PointHashGridSearcher3.h
> Project Name: CubbyFlow
> Author: Chan-Ho Chris Ohk
> Purpose: Hash grid-based 3-D point searcher.
> Created Time: 2017/05/23
> Copyright (c) 2018, Chan-Ho Chris Ohk
*************************************************************************/
#ifndef CUBBYFLOW_POINT_HASH_GRID_SEARCHER3_H
#define CUBBYFLOW_POINT_HASH_GRID_SEARCHER3_H

#include <Core/Searcher/PointNeighborSearcher3.h>
#include <Core/Size/Size3.h>

#include <vector>

namespace CubbyFlow
{
    class PointHashGridSearcher3 final : public PointNeighborSearcher3
    {
    public:
        CUBBYFLOW_NEIGHBOR_SEARCHER3_TYPE_NAME(PointHashGridSearcher3)

        class Builder;

        PointHashGridSearcher3(const Size3& resolution, double gridSpacing);

        PointHashGridSearcher3(size_t resolutionX, size_t resolutionY, size_t resolutionZ, double gridSpacing);

        PointHashGridSearcher3(const PointHashGridSearcher3& other);

        void Build(const ConstArrayAccessor1<Vector3D>& points) override;

        void ForEachNearbyPoint(
            const Vector3D& origin,
            double radius,
            const ForEachNearbyPointFunc& callback) const override;

        bool HasNearbyPoint(const Vector3D& origin, double radius) const override;

        void Add(const Vector3D& point);

        const std::vector<std::vector<size_t>>& GetBuckets() const;

        size_t GetHashKeyFromBucketIndex(const Point3I& bucketIndex) const;

        Point3I GetBucketIndex(const Vector3D& position) const;

        PointNeighborSearcher3Ptr Clone() const override;

        PointHashGridSearcher3& operator=(const PointHashGridSearcher3& other);

        void Set(const PointHashGridSearcher3& other);

        void Serialize(std::vector<uint8_t>* buffer) const override;

        void Deserialize(const std::vector<uint8_t>& buffer) override;

        static Builder GetBuilder();

    private:
        double m_gridSpacing = 1.0;
        Point3I m_resolution = Point3I(1, 1, 1);
        std::vector<Vector3D> m_points;
        std::vector<std::vector<size_t>> m_buckets;

        size_t GetHashKeyFromPosition(const Vector3D& position) const;

        void GetNearbyKeys(const Vector3D& position, size_t* nearbyKeys) const;
    };

    using PointHashGridSearcher3Ptr = std::shared_ptr<PointHashGridSearcher3>;

    class PointHashGridSearcher3::Builder final : public PointNeighborSearcherBuilder3
    {
    public:
        Builder& WithResolution(const Size3& resolution);

        Builder& WithGridSpacing(double gridSpacing);

        PointHashGridSearcher3 Build() const;

        PointHashGridSearcher3Ptr MakeShared() const;

        PointNeighborSearcher3Ptr BuildPointNeighborSearcher() const override;

    private:
        Size3 m_resolution{ 64, 64, 64 };
        double m_gridSpacing = 1.0;
    };
}

#endif